CN220508289U - Six-dimensional force sensor signal acquisition system - Google Patents
Six-dimensional force sensor signal acquisition system Download PDFInfo
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- CN220508289U CN220508289U CN202320854793.8U CN202320854793U CN220508289U CN 220508289 U CN220508289 U CN 220508289U CN 202320854793 U CN202320854793 U CN 202320854793U CN 220508289 U CN220508289 U CN 220508289U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The utility model provides a six-dimensional force sensor signal acquisition system which comprises a power supply module, a main control processing module, an ADC conversion module and a communication transmission module, wherein the main control processing module is connected with the power supply module; the communication transmission module comprises an RS485 transmission circuit, an Ethernet transmission circuit and a USART serial port transmission circuit; the ADC conversion module comprises an ADC conversion circuit, a reference voltage ADC reference source circuit and a pre-filter circuit, wherein the reference voltage ADC reference source circuit is provided for the ADC conversion circuit; the pre-filter circuit is used for carrying out filter processing on the analog signals sent by the six-dimensional force sensor; the ADC conversion circuit is used for receiving the filtered analog signals, converting the analog signals into digital signals and sending the digital signals to the main control processing module; the main control processing module is used for carrying out operation processing on the digital signals sent by the ADC conversion circuit, converting the digital signals into force signals and sending the force signals to the communication transmission module; the communication transmission module is used for transmitting the received force signal to the upper computer, receiving the control instruction transmitted by the upper computer and transmitting the control instruction to the main control processing module.
Description
Technical Field
The utility model relates to the technical field of six-dimensional force sensors, in particular to a signal acquisition system of a six-dimensional force sensor.
Background
A multidimensional force sensor refers to a force sensor capable of measuring force and moment components in more than two directions simultaneously. In a Cartesian coordinate system, the forces and moments can each be decomposed into three components, namely three-dimensional forces (fx, fy, fz) and three-dimensional moments (Tx, ty, tz); the most complete form of multi-dimensional force is therefore a six-dimensional force/moment sensor capable of sensing forces and moments in three directions. When the six-dimensional force sensor is used, six paths of signals are required to be collected simultaneously, and the six-dimensional force sensor can be divided into the following steps: 1. differential amplification is carried out on the signals through an instrument operational amplifier, and single-ended output is carried out; 2. filtering the amplified signal, preserving an effective frequency range; 3. converting the analog signal output by the single end into a digital signal by adopting a multiplexing channel analog-digital conversion chip (adc); 4. the converted digital signal is read and processed by the processing chip. However, the conventional six-dimensional force sensor has the following disadvantages when acquiring signals: 1. the temperature drift of the instrument operational amplifier is large (at uv level), and when the ambient temperature changes greatly, the signal drift can be caused to influence the measurement result; 2. the signal of single-ended output entering the adc is interfered by various kinds of interference in the pcb, so that noise is brought in, and the performance of the differential input adc cannot be effectively exerted.
Disclosure of Invention
In order to overcome the above-mentioned problems in the prior art, the present application provides a signal acquisition system of a six-dimensional force sensor, which is used for acquiring, processing and transmitting a voltage signal generated by the six-dimensional force sensor. The six-dimensional force sensor signal acquisition system is provided with a specific circuit structure, and has the advantages of good signal acquisition instantaneity, strong anti-interference capability, high measurement precision and the like; and the signal acquisition system is integrated with various transmission circuits, so that the signal acquisition system can be applied to different industrial scenes and has a wide application range.
The technical scheme of the application is as follows: the six-dimensional force sensor signal acquisition system comprises a power supply circuit for supplying power to the system, and an ADC (analog-to-digital converter) conversion module, a main control processing module and a communication transmission module which are electrically connected with the power supply circuit; the communication transmission module comprises an RS485 transmission circuit, an Ethernet transmission circuit and a USART serial port transmission circuit; the ADC conversion module comprises an ADC conversion circuit and a pre-filter circuit; the pre-filter circuit is used for carrying out filter processing on the analog signals sent by the six-dimensional force sensor; the ADC conversion circuit is used for receiving the filtered analog signals, converting the analog signals into digital signals and sending the digital signals to the main control processing module; the main control processing module is used for carrying out operation processing on the digital signals sent by the ADC conversion circuit, converting the digital signals into force signals and sending the force signals to the communication transmission module; the communication transmission module is used for transmitting the received force signal to the upper computer, receiving the control instruction transmitted by the upper computer and transmitting the control instruction to the main control processing module.
Compared with the prior art, the signal acquisition system of the six-dimensional force sensor is used for acquiring, processing and transmitting voltage signals generated by the six-dimensional force sensor; when the power supply voltage sensor is used, the voltage signals generated by the six-dimensional force sensor are acquired through the ADC conversion module and converted into digital signals and then sent to the main control processing module, wherein a pre-filter circuit is arranged in the ADC conversion module and used for filtering the acquired voltage signals, so that the interference of the power supply ripple voltage on the six-dimensional force sensor can be effectively reduced, and the acquired voltage signals are more reliable; the main control processing module is used for carrying out operation processing on the received digital signals and converting the digital signals into force signals, and finally, the communication transmission module is used for establishing communication between the main control processing module and the upper computer, sending the force signals to the upper computer, receiving control instructions sent by the upper computer and adopting a specific circuit structure, so that the signal acquisition system has the advantages of good signal acquisition instantaneity, strong anti-interference capability, small measurement error and the like; in addition, three transmission circuits including an RS485 transmission circuit, an Ethernet transmission circuit and a USART serial port transmission circuit are integrated in the signal acquisition system, so that the signal acquisition system can be applied to different industrial scenes and is wide in application range.
As an optimization, in the six-dimensional force sensor signal acquisition system, the main control processing module comprises a processor and an external memory which are electrically connected. Therefore, the memory of the processor can be expanded, and the main control processing module can store more data conveniently.
As an optimization, in the six-dimensional force sensor signal acquisition system, an analog-to-digital converter in the ADC conversion circuit is max11254.max11254 is a 24-bit precision analog-to-digital converter, a 128-time amplifying circuit is arranged in the converter, communication is carried out through an SPI serial interface, and the power dissipation is low and the performance is excellent; and the max11254 analog-to-digital converter has a 6-channel acquisition function, the highest sampling frequency can reach 12.8Khz, and the method is suitable for accurate direct current measurement. In the ADC conversion circuit, max11254 is adopted as an analog-to-digital converter, and the ADC conversion circuit has the advantages of less noise, low energy consumption, high sampling frequency, high measurement precision and the like.
As an optimization, in the six-dimensional force sensor signal acquisition system, the ADC conversion module is further provided with an ADC reference source circuit, and the ADC reference source circuit is configured to provide a reference voltage for the ADC conversion circuit. Therefore, a datum point can be provided for the ADC conversion module to collect the voltage signal, so that the collected voltage signal is more accurate, and the error is small when the collected voltage signal is converted into a digital signal. Further, the main control chip of the ADC reference source circuit is a REF5025 chip, and can provide 2.5V reference voltage for the ADC conversion circuit. The REF5025 chip has the characteristics of high precision, low temperature drift, low noise and the like, and has excellent line and load adjusting performance, so that the voltage signal can be acquired with better precision.
As an optimization, in the six-dimensional force sensor signal acquisition system, the processor in the main control processing module is a stm32f103 series microprocessor. The stm32f103 series microprocessor is provided with a built-in ARM core, provides a low-cost platform, reduced pin number and reduced system power consumption for realizing MCU requirements, and provides excellent computing performance and advanced interrupt response, so that the whole signal acquisition system is facilitated to realize more compact size and lower power consumption, the construction cost of the whole system is lower, and the construction is more convenient.
As an optimization, in the six-dimensional force sensor signal acquisition system, the main control chip in the USART serial port transmission circuit is a CH340G chip. The number of peripheral components required by CH340G is small, so that the USART serial transmission circuit is simple in design and convenient to implement; and the CH340G chip is low in price, thereby being beneficial to controlling the cost.
In the six-dimensional force sensor signal acquisition system, as optimization, a master control chip in the RS485 transmission circuit is a MAX485 chip. The MAX485 chip has very simple structure and pins, and is convenient for circuit wiring.
As an optimization, in the six-dimensional force sensor signal acquisition system, the main control chip in the ethernet transmission circuit is a W5500 chip. The W5500 chip integrates a TCP/IP protocol stack, a 10/100M Ethernet data link layer (MAC) and a physical layer (PHY), so that a user can expand network connection in industrial application by using a single chip; and the W5500 chip can support the rate of 80 MHz; the W5500 chip is used in the Ethernet transmission circuit, a simpler Internet connection scheme is provided for the whole signal acquisition system, high-speed network communication can be better realized, and the system energy consumption is reduced.
Drawings
FIG. 1 is a block diagram of a six-dimensional force sensor signal acquisition system of the present application;
FIG. 2 is a schematic circuit diagram of a six-dimensional force sensor signal acquisition system in an embodiment of the present application;
FIG. 3 is a circuit schematic of an ADC interface circuit in an embodiment of the present application;
FIG. 4 is a circuit schematic of an ADC conversion circuit in an embodiment of the present application;
FIG. 5 is a circuit schematic of an RS485 transmission circuit in an embodiment of the application;
FIG. 6 is a schematic circuit diagram of a USART serial port transmission circuit in an embodiment of the present application;
FIG. 7 is a circuit schematic of an ADC reference source circuit in an embodiment of the present application;
FIG. 8 is a schematic circuit diagram of a master control processing module in an embodiment of the present application;
FIG. 9 is a schematic diagram of the circuit connections of an external memory in an embodiment of the present application;
fig. 10 is a circuit schematic of an ethernet transmission circuit in an embodiment of the present application;
FIG. 11 is a block diagram of a power supply module in an embodiment of the present application;
FIG. 12 is a circuit schematic of a power filter output circuit in an embodiment of the present application;
FIG. 13 is a circuit schematic of a 5V power supply output circuit in an embodiment of the present application;
FIG. 14 is a circuit schematic of a 3.3V power supply output circuit in an embodiment of the present application;
FIG. 15 is a circuit schematic of a 2.5V power supply output circuit in an embodiment of the present application;
FIG. 16 is a circuit schematic of a 3.3V digital power supply output circuit in an embodiment of the present application;
fig. 17 is a circuit schematic of a 3.3V analog power supply output circuit in an embodiment of the present application.
Detailed Description
The present application is further illustrated in the following figures and examples, which are not intended to be limiting.
Referring to fig. 1 to 17, the six-dimensional force sensor signal acquisition system of the present application includes a power supply module for supplying power to the system, and a main control processing module, an ADC conversion module and a communication transmission module electrically connected to the power supply module; the communication transmission module comprises an RS485 transmission circuit, an Ethernet transmission circuit and a USART serial port transmission circuit; the ADC conversion module comprises an ADC conversion circuit, a pre-filter circuit and an ADC reference source circuit; the ADC reference source circuit is used for providing reference voltage for the ADC conversion circuit; the pre-filter circuit is used for carrying out filter processing on the analog signals sent by the six-dimensional force sensor; the ADC conversion circuit is used for receiving the filtered analog signals, converting the analog signals into digital signals and sending the digital signals to the main control processing module; the main control processing module is used for carrying out operation processing on the digital signals sent by the ADC conversion circuit, converting the digital signals into force signals and sending the force signals to the communication transmission module; the communication transmission module is used for transmitting the received force signal to the upper computer, receiving the control instruction transmitted by the upper computer and transmitting the control instruction to the main control processing module.
Examples:
in this embodiment, the analog-to-digital converter in the ADC conversion circuit is max11254.max11254 is a 24-bit precision analog-to-digital converter, a 128-time amplifying circuit is arranged in the converter, communication is carried out through an SPI serial interface, and the power dissipation is low and the performance is excellent; the max11254 analog-to-digital converter has a 6-channel acquisition function (see fig. 4,6 analog input channels AIN0N-AIN0P are used as channel 0, AIN1N-AIN1P are used as channel 1, AIN2N-AIN2P are used as channel 2, AIN3N-AIN3P are used as channel 3, AIN4N-AIN4P are used as channel 4, AIN5N-AIN5P are used as channel 5, each channel is connected with a pre-filter circuit, and analog signals output by the six-dimensional force sensor are filtered to remove noise), the highest sampling frequency can reach 12.8Khz, and the analog-to-digital converter is suitable for accurate direct current measurement; in the ADC conversion circuit, max11254 is adopted as an analog-to-digital converter, and the ADC conversion circuit has the advantages of less noise, low energy consumption, high sampling frequency, high measurement precision and the like. And an ADC interface circuit is arranged at the input end of the ADC conversion circuit.
In this embodiment, the main control chip of the ADC reference source circuit is a REF5025 chip, configured to provide a reference voltage of 2.5V for the ADC conversion circuit. The REF5025 chip has the characteristics of high precision, low temperature drift, low noise and the like, and has excellent line and load regulation performance; the REF5025 chip provides 2.5V reference voltage for the ADC conversion circuit, so that better precision can be achieved in signal acquisition.
In this embodiment, the main control processing module includes a processor and an external memory that are electrically connected. Therefore, the memory of the processor can be expanded, more data can be stored conveniently, and the simultaneous acquisition of a plurality of six-dimensional force sensors can be realized. The processor is a stm32f103 series microprocessor. The stm32f103 series microprocessor is provided with a built-in ARM core, provides a low-cost platform, reduced pin number and reduced system power consumption for realizing MCU requirements, and provides excellent computing performance and advanced interrupt response, so that the whole signal acquisition system is facilitated to realize more compact size and lower power consumption, the construction cost of the whole system is lower, and the construction is more convenient. The external memory is an N25S830HAT221 memory; the 32KB memory may be extended additionally.
In this embodiment, the main control chip in the USART serial port transmission circuit is a CH340G chip. The number of peripheral components required by CH340G is small, so that the USART serial transmission circuit is simple in design and convenient to implement; and the CH340G chip is low in price, thereby being beneficial to controlling the cost.
In this embodiment, the main control chip in the RS485 transmission circuit is a MAX485 chip. The MAX485 chip has very simple structure and pins, and is convenient for circuit wiring.
In this embodiment, the main control chip in the ethernet transmission circuit is a W5500 chip. The W5500 chip integrates a TCP/IP protocol stack, a 10/100M Ethernet data link layer (MAC) and a physical layer (PHY), so that a user can expand network connection in industrial application by using a single chip; and the W5500 chip can support the rate of 80 MHz; the W5500 chip is used in the Ethernet transmission circuit, a simpler Internet connection scheme is provided for the whole signal acquisition system, high-speed network communication can be better realized, and the system energy consumption is reduced.
In this embodiment, the input end of the power supply module is connected to a 12V power supply, and the power supply module includes a power supply filtering output circuit, a 5V power supply output circuit and a 3.3V power supply output circuit which are connected to the power supply filtering output circuit, and a 2.5V power supply output circuit, a 3.3V digital power supply output circuit and a 3.3V analog power supply output circuit which are connected to the 5V power supply output circuit; the power supply filtering output circuit is used for filtering an externally connected 12V power supply to output low-noise 12V voltage; the 5V power supply output circuit is used for converting the input 12V voltage into 5V power supply output and supplying power for the RS485 transmission circuit, the USART serial port transmission circuit and the ADC reference source circuit; the 3.3V power supply output circuit is used for converting the input 12V voltage into 3.3V power supply output to supply power for the Ethernet transmission circuit; the 2.5V power supply output circuit is used for converting an input 5V power supply into a 2.5V power supply for outputting and supplying power to the external bridge; the 3.3V digital power supply output circuit is used for converting an input 5V power supply into a 3.3V digital power supply for output and providing a digital power supply for the main control processing module; the 3.3V analog power supply output circuit is used for converting an input 5V power supply into a 3.3V analog power supply and outputting the 3.3V analog power supply, and provides an analog power supply for the ADC conversion circuit.
The signal acquisition system is integrated with three transmission circuits, namely an RS485 transmission circuit, an Ethernet transmission circuit and a USART serial port transmission circuit, and can select different communication modes according to different industrial scenes. If the RS485 transmission circuit is selected for communication, one end of the RS485 bus is connected to an RS485 interface in the signal acquisition system, and the other end of the RS485 bus is connected to an upper computer; if the USART serial port transmission circuit is selected for communication, one end of the serial port line is connected to a USART interface in the signal acquisition system, and the other end of the serial port line is connected to an upper computer; if the Ethernet transmission circuit is selected for communication, one end of the Ethernet cable is connected to an Ethernet interface in the signal acquisition system, and the other end of the Ethernet cable is connected to the upper computer.
The above general description of the utility model and the description of specific embodiments thereof referred to in this application should not be construed as limiting the scope of the utility model. Those skilled in the art can add, subtract or combine the features disclosed in the foregoing general description and/or the detailed description (including examples) to form other technical solutions within the scope of the present application without departing from the disclosure of the present application.
Claims (8)
1. Six-dimensional force sensor signal acquisition system, its characterized in that: the system comprises a power supply module, a main control processing module, an ADC conversion module and a communication transmission module, wherein the power supply module is used for supplying power to the system; the communication transmission module comprises an RS485 transmission circuit, an Ethernet transmission circuit and a USART serial port transmission circuit; the ADC conversion module comprises an ADC conversion circuit and a pre-filter circuit; the pre-filter circuit is used for carrying out filter processing on the analog signals sent by the six-dimensional force sensor; the ADC conversion circuit is used for receiving the filtered analog signals, converting the analog signals into digital signals and sending the digital signals to the main control processing module; the main control processing module is used for carrying out operation processing on the digital signals sent by the ADC conversion circuit, converting the digital signals into force signals and sending the force signals to the communication transmission module; the communication transmission module is used for transmitting the received force signal to the upper computer, receiving the control instruction transmitted by the upper computer and transmitting the control instruction to the main control processing module.
2. The six-dimensional force sensor signal acquisition system of claim 1, wherein: the main control processing module comprises a processor and an external memory which are electrically connected.
3. The six-dimensional force sensor signal acquisition system of claim 2, wherein: the processor is a stm32f103 series microprocessor.
4. The six-dimensional force sensor signal acquisition system of claim 1, wherein: and the ADC conversion module is also provided with an ADC reference source circuit, and the ADC reference source circuit is used for providing reference voltage for the ADC conversion circuit.
5. The six-dimensional force sensor signal acquisition system of claim 1, wherein: the analog-to-digital converter in the ADC conversion circuit is max11254.
6. The six-dimensional force sensor signal acquisition system of claim 1, wherein: the main control chip in the USART serial port transmission circuit is a CH340G chip.
7. The six-dimensional force sensor signal acquisition system of claim 1, wherein: and a master control chip in the RS485 transmission circuit is a MAX485 chip.
8. The six-dimensional force sensor signal acquisition system of claim 1, wherein: the main control chip in the Ethernet transmission circuit is a W5500 chip.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202320854793.8U CN220508289U (en) | 2023-04-07 | 2023-04-07 | Six-dimensional force sensor signal acquisition system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202320854793.8U CN220508289U (en) | 2023-04-07 | 2023-04-07 | Six-dimensional force sensor signal acquisition system |
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| CN220508289U true CN220508289U (en) | 2024-02-20 |
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