CN101672705A - Six-dimensional force sensor - Google Patents
Six-dimensional force sensor Download PDFInfo
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- CN101672705A CN101672705A CN200910024143A CN200910024143A CN101672705A CN 101672705 A CN101672705 A CN 101672705A CN 200910024143 A CN200910024143 A CN 200910024143A CN 200910024143 A CN200910024143 A CN 200910024143A CN 101672705 A CN101672705 A CN 101672705A
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Abstract
The invention relates to a six-dimensional force sensor which comprises a sensor elastomer and resistance strain gages, wherein the sensor elastomer comprises a cylindrical shell and a crossed elasticbeam; the crossed elastic beam is positioned in the center in the shell and comprises a strain beam (1) and a loading platform (3); an upper base (6) and a lower base (10) are respectively positionedat both ends of the shell; force transmission columns (7) are positioned in the middle of the shell and connected with an upper elastic beam (4) and a lower elastic beam (8); a flexible beam (2) is positioned between the force transmission columns, and the inner side of the flexible beam (2) is connected with the strain beam. A sensor force sensing element comprises the upper elastic beam, the lower elastic beam and the strain beam, and 28 resistance strain gages are attached to the proper position on the force sensing element, wherein 24 strain gages form six groups of full-bridge detectingcircuits for realizing the acquisition of six-dimensional force information, and other four strain gages are reserved. The invention has the characteristics of compact structure, large rigidity, lessdimensional coupling, high precision and good dynamic performance and can be used for the research of an intelligent robot, automated detection and control, bionic motion analysis and sports research.
Description
Technical field
The present invention relates to force transducer and manufacture and design the field, specifically is a kind of six-dimension force sensor.
Background technology
Six-dimension force sensor can be measured three-dimensional all one's effort information, is widely used in research fields such as intelligent robot, control automatically, Aero-Space, bionic movement, plays an important role in commercial production, national defense construction and scientific technological advance.For the research of six-dimension force sensor, its key problem is elastomeric structural design, and elastomeric structures shape rigidity, resolution, sensitivity and the dynamic property etc. of sensor, is the key point of sensor performance quality.Research about six-dimension force sensor, formed multiple patented technology, as: a kind of integrated sextuple power/torque sensor that is combined by disk body structure and tube structure is disclosed among the patent CN 2233081Y, have advantages such as highly sensitive, easy processing, but its disk body structure has reduced Z to rigidity, and exist couple of force to a certain degree to close, can't realize full decoupled; Patent CN 2066134U discloses the sextuple power/torque sensor of a kind of cylindrical shape up-down structure, and this structure radially dynamometry disturbs to axial dynamometry, and the columnar structured axial dimension that increased has reduced the dynamic property of sensor; Two kinds of double-deck up-down structure six-dimension force sensors are disclosed in publication number is the patent of CN 101329208A and CN 101329207A, the both is a Stewart formula parallel-connection structure subassembly, have that measuring principle is simple, precision is high, can bear bigger characteristics such as disturbing moment, but structure is not compact, volume is bigger, and late time data is handled complicated.
Summary of the invention
In order to overcome problems of the prior art and defective, the present invention proposes a kind of six-dimension force sensor.
The present invention includes sensor elastomer and resistance strain gage, elastic body is made of cylindrical shell and cross elastic beam structure.With the housing hollow out, flexible beam, last elastic beam, force-transmitting pole, following elastic beam, convex platform, lower convex platform, top base, bottom base, upper support and lower support have been formed respectively; The cross elastic beam is positioned at the cylinder center, is made of strain beam and loading bench.Top base and bottom base lay respectively at the two ends of cylinder.Below top base, along the even hollow out of the circumferencial direction of the housing rectangular opening that to go out four two ends be circular arc, and there is convex platform at the middle part of the same side of each rectangular opening; Housing between per two adjacent rectangular openings forms upper support; The tapped through hole that connects housing wall is arranged on upper support.Above bottom base, along the even hollow out of the circumferencial direction of the housing rectangular opening that to go out four two ends be circular arc, and there is lower convex platform at the middle part of the same side of each rectangular opening; Housing between per two adjacent rectangular openings forms lower support; The tapped through hole that axial perforation bottom base and lower support are arranged on bottom base.
Have two rows to be symmetrical in the bar hole at housing center up and down at the housing circumferencial direction, on arrange bar hole under upper support, following row's bar hole is directly over lower support; Align in adjacent with two convex platforms respectively limit, the two ends of each bar hole in the last row bar hole; Align in adjacent with two lower convex platforms respectively limit, the two ends of arranging each bar hole in the bar hole down.Force-transmitting pole and is formed by the housing between two adjacent bar holes between convex platform, lower convex platform.Last row bar hole and above it, have the housing between the rectangular opening of boss to form elastic beam; Arrange bar hole down and below it, have the housing between the rectangular opening of boss to form down elastic beam.Between per two the adjacent force-transmitting poles in circular cylindrical shell middle part, cut the housing circular arc external surface and form flexible beam; The middle part of flexible beam is connected with strain beam is terminal.
Loading bench is positioned at cross elastic beam center; The one axial manhole that connects loading bench is arranged at loading bench end face center; A threaded hole that axially connects loading bench is all arranged on four angles of loading bench end face; Four sides of loading bench periphery are extended a strain beam respectively, and the end of this strain beam links to each other with flexible beam; The hole that axially connects along loading bench is arranged on the strain beam, be used to improve the strain sensitivity of strain beam.
Gap between convex platform upper surface and the top base lower surface equates with gap between lower convex platform lower surface and the bottom base upper surface; Convex platform and top base constitute overload protection arrangement with lower convex platform and bottom base, realize overload protection function.
Radially the axis direction mounts foil gauge R1～R8 near each symmetry of loading bench in the side, upper edge, two sides of strain beam, and wherein foil gauge R1, R2, R3, R4 form one group of full-bridge testing circuit a, are used to detect Fy; Foil gauge R5, R6, R7, R8 form one group of full-bridge testing circuit b, are used to detect Fx; Two strain beam two sides in X-direction mount foil gauge R9～R12 near flexible beam along each symmetry of X-axis, form one group of full-bridge testing circuit c, are used to detect Mz.
Respectively be pasted with foil gauge R17～R20 near the same sides of four upper supports along the tangent to periphery direction at the upper surface of last elastic beam; Respectively be pasted with foil gauge R25～R28 near the opposite side of four upper supports along the tangent to periphery direction at the upper surface of last elastic beam; And the foil gauge that is numbered R17 and the foil gauge that is numbered R25 lay respectively at the both sides of same upper support, and other foil gauge also is symmetrical in the both sides of residing upper support one by one by numeral order.The residing upper support of R17 and R25 is positioned at the negative direction of sensor Y coordinate axis.
The same side near four lower supports on the lower surface of following elastic beam is pasted with foil gauge R13～R16 respectively along the tangent to periphery direction; Opposite side near four lower supports on the lower surface of following elastic beam is pasted with foil gauge R21～R24 respectively along the tangent to periphery direction; And the foil gauge that is numbered R13 and the foil gauge that is numbered R21 lay respectively at the both sides of same lower support, and other foil gauge also is symmetrical in the both sides of residing lower support one by one by numeral order.The residing lower support of R13 and R21 is positioned at the positive dirction of sensor Y coordinate axis.
Foil gauge R13, R15, R17, R19 form one group of full-bridge testing circuit d, are used to detect Mx; Foil gauge R14, R16, R18, R20 form one group of full-bridge testing circuit e, are used to detect My; Foil gauge R21, R23, R25, R27 form one group of Wheatstone full-bridge testing circuit f, are used to detect Fz; Foil gauge R22, R24, R26, R28 are redundant foil gauge, are used for pick up calibration or foil gauge defect compensating.
To measure Fz is example, axial force F z loads on the loading bench upper surface of cross elastic beam, is delivered to by strain beam on the flexible beam that is attached thereto, and the height dimension of flexible beam is much larger than its gauge, the height dimension direction of Fz direction and flexible beam is consistent, so flexible beam can be regarded buckstay as; Axial force F z is delivered on four force-transmitting poles by equally distributed four flexible beams of periphery, four force-transmitting poles drive elastic beam and following elastic beam generation elastic deformation simultaneously, cause that strain takes place foil gauge R13～R24, the R25～R28 that is attached on elastic beam and the following elastic beam, the elastic strain that Fz is produced changes voltage signal into.Since Fz and Mx, My foil gauge R13～R24 mount a little cause answer Variable Polarity different, the voltage signal polarity of corresponding foil gauge generation is also inequality, can measure Fz power by full-bridge testing circuit f in view of the above.
The form that the present invention adopts cross elastic beam structure and cylinder type to combine, compare with cross elastic beam structure six-dimension force transducer and to have dwindled radial dimension, compare with the cylinder type six-dimension force sensor and to have dwindled axial dimension, thereby dwindle the overall dimensions of sensor; The cross elastic beam of this sensor is used to measure Fx, Fy, Mz three-dimensional force/moment, and the upper and lower elastic beam of cylinder type is used to measure Fz, Mx, My three-dimensional force/moment, realizes sextuple power decoupling zero from structure, reaches direct output effect; Adopt symmetrical structure up and down, eliminated radially that dynamometry has strengthened power decoupling zero effect to the interference of axial dynamometry, increased Z to range and rigidity, and adopted convex platform and lower convex platform to realize the sensor overload protection; The monoblock type symmetrical structure has improved the rigidity and the dynamic property of sensor, has reduced reproducibility error, has guaranteed the measuring accuracy of sensor.This sensor adopts integral structure, can detect six-dimensional space power simultaneously, advantage such as have that compact conformation, rigidity are big, coupling is little between dimension, precision is high, dynamic property is good, change the needs that physical dimension can satisfy different occasions, be applicable to Research on Intelligent Robots, robotization detection and control, bionic movement analysis, sports movement research field.
Description of drawings
Accompanying drawing 5 is foil gauge paster synoptic diagram of elastic beam part on the sensor elastomer, and view is from the prone cut-open view of top base following table.
Accompanying drawing 6 is foil gauge paster synoptic diagram of elastic beam part under the sensor elastomer, the cut-open view of view for making progress from the lower convex platform lower surface.In the accompanying drawing,
1. elastic beam 5. convex platforms on strain beam 2. flexible beams 3. loading bench 4.
6. 8. times elastic beams of top base 7. force-transmitting poles, 9. lower convex platforms, 10. bottom bases
11. upper support 12. lower supports
Embodiment
Present embodiment is the six-dimension force sensor that is used for the four-leg bionic robot foot section.
Present embodiment requires to determine range according to the robot motion, Fz strength journey 2000N, Fx, Fy strength journey 1500N, Mz, Mx, My moment range 75Nm, it is as follows to determine the sensor elastomer critical size according to range: strain beam minimum thickness 2.3mm, last elastic beam and the thick 2mm of following elastic beam, sensor elastomer maximum outside diameter φ 45mm, overall height 32mm.
As shown in Figure 1, present embodiment comprises sensor elastomer and resistance strain gage, and elastic body is made of cylindrical shell and cross elastic beam structure.With the housing hollow out, the flexible beam 2 of present embodiment, last elastic beam 4, force-transmitting pole 7, following elastic beam 8, convex platform 5, lower convex platform 9, top base 6, bottom base 10, upper support 11 and lower support 12 have been formed respectively; The cross elastic beam is positioned at the cylinder center, is made of strain beam 1 and loading bench 3.Top base 6 and bottom base 10 lay respectively at the two ends of cylinder.As shown in Figure 2, below top base 6, along the even hollow out of the circumferencial direction of the housing rectangular opening that to go out four two ends be circular arc, and there is boss at the middle part of the same side of each rectangular opening, and this boss has formed convex platform 5; Housing between per two adjacent rectangular openings forms upper support 11; The tapped through hole that connects housing wall is arranged on upper support 11.Above bottom base 10, along the even hollow out of the circumferencial direction of the housing rectangular opening that to go out four two ends be circular arc, and there is boss at the middle part of the same side of each rectangular opening, and this boss has formed lower convex platform 9; Housing between per two adjacent rectangular openings forms lower support 12; The tapped through hole that axial perforation bottom base and lower support 12 are arranged on bottom base 10.
As shown in Figure 3, there are two rows to be symmetrical in the bar hole at housing center up and down at the housing circumferencial direction; Last row's bar hole is under upper support, and following row's bar hole is directly over lower support; Align in adjacent with two convex platforms 5 respectively limit, the two ends of each bar hole in the last row bar hole; Align in adjacent with two lower convex platforms 9 respectively limit, the two ends of arranging each bar hole in the bar hole down.Force-transmitting pole 7 and is formed by the housing between two adjacent bar holes between convex platform 5, lower convex platform 9.Last row bar hole and above it, have the housing between the rectangular opening of boss to form elastic beam 4; Arrange bar hole down and below it, have the housing between the rectangular opening of boss to form down elastic beam 8.Between per two the adjacent force-transmitting poles 7 in circular cylindrical shell middle part, cut the housing circular arc external surface and form flexible beam 2; The middle part of flexible beam 2 and 1 terminal connection of strain beam.
Present embodiment is that last elastic beam 4, convex platform 5, top base 6, upper support 11 are the symmetrical structure that shape is identical, direction is opposite with following elastic beam 8, lower convex platform 9, bottom base 10, lower support 12 along the axial symmetrical structure up and down of circular cylindrical shell; Force-transmitting pole 7 is between top base 6 and bottom base 10.
The profile of cross elastic beam structure is cruciform, and the center is the loading bench 3 of cuboid; The one axial manhole that connects loading bench 3 is arranged at loading bench 3 end face centers; A threaded hole that axially connects loading bench 3 is all arranged on four angles of loading bench 3 end faces; Four sides of loading bench 3 peripheries are extended a strain beam 1 respectively, and the end of this strain beam 1 links to each other with flexible beam 2; The hole that axially connects along loading bench 3 is arranged on the strain beam 1, be used to improve the strain sensitivity of strain beam 1.
Gap between convex platform 5 upper surfaces and top base 6 lower surfaces equates with gap between lower convex platform 9 lower surfaces and bottom base 10 upper surfaces, gets gap 0.3mm in the present embodiment; Convex platform 5 and top base 6 constitute overload protection arrangement with lower convex platform 9 and bottom base 10, realize overload protection function.
Paster mode on four strain beams 1 as shown in Figure 4, radially the axis direction mounts foil gauge R1～R8 near loading bench 3 each symmetry in the side, upper edge, two sides of strain beam 1, wherein foil gauge R1, R2, R3, R4 form one group of Wheatstone full-bridge testing circuit a, are used to detect Fy; Foil gauge R5, R6, R7, R8 form one group of Wheatstone full-bridge testing circuit b, are used to detect Fx; Two strain beam two sides in Y direction mount foil gauge R9～R12 near flexible beam 2 along each symmetry of Y-axis, form one group of Wheatstone full-bridge testing circuit c, are used to detect Mz.
As Fig. 5, paster mode shown in Figure 6, the same side near four lower supports 12 on the lower surface of following elastic beam 8 is pasted with foil gauge respectively along the tangent to periphery direction, and the numbering of each foil gauge is compiled successively in the counterclockwise direction and is R13～R16; Opposite side near four lower supports 12 on the lower surface of following elastic beam 8 is pasted with foil gauge respectively along the tangent to periphery direction, and the numbering of each foil gauge is compiled successively in the counterclockwise direction and is R21～R24; And the foil gauge that is numbered R13 and the foil gauge that is numbered R21 lay respectively at the both sides of same lower support 12, and other foil gauge also press the numeral order both sides of symmetry and residing lower support 12 one by one.The residing lower support 12 of R13 and R21 is positioned at the positive dirction of sensor Y coordinate axis.
Respectively be pasted with foil gauge near the same sides of four upper supports 11 along the tangent to periphery direction at the upper surface of last elastic beam 4, the numbering of each foil gauge is compiled successively in the counterclockwise direction and is R17～R20; Respectively be pasted with foil gauge near the opposite side of four upper supports 11 along the tangent to periphery direction at the upper surface of last elastic beam 4, the numbering of each foil gauge is compiled successively in the counterclockwise direction and is R25～R28; And the foil gauge that is numbered R17 and the foil gauge that is numbered R25 lay respectively at the both sides of same upper support 11, and other foil gauge also is symmetrical in the both sides of residing upper support 11 one by one by numeral order.The residing upper support 11 of R17 and R25 is positioned at the negative direction of sensor Y coordinate axis.
Foil gauge R13, R15, R17, R19 form one group of Wheatstone full-bridge testing circuit d, are used to detect Mx; Foil gauge R14, R16, R18, R20 form one group of Wheatstone full-bridge testing circuit e, are used to detect My; Foil gauge R21, R23, R25, R27 form one group of Wheatstone full-bridge testing circuit f, are used to detect Fz; Foil gauge R22, R24, R26, R28 are redundant foil gauge, are used for pick up calibration or foil gauge defect compensating.
To measure Fz is example, axial force F z loads on loading bench 3 upper surfaces of cross elastic beam, be delivered on the flexible beam 2 that is attached thereto by strain beam 1, the height dimension of flexible beam 2 is much larger than its gauge, the height dimension direction of Fz direction and flexible beam 2 is consistent, so flexible beam 2 can be regarded buckstay as; Axial force F z is delivered on four force-transmitting poles 7 by equally distributed four flexible beams 2 of periphery, four force-transmitting poles 7 drive elastic beam 4 and following elastic beam 8 generation elastic deformations simultaneously, as Fig. 5, shown in Figure 6, cause that strain takes place foil gauge R13～R24, the R25～R28 that is attached on elastic beam 4 and the following elastic beam 8, the elastic strain that Fz is produced changes voltage signal into.Since Fz and Mx, My foil gauge R13～R24 mount a little cause answer Variable Polarity different, the voltage signal polarity of corresponding foil gauge generation is also inequality, can measure Fz power by full-bridge testing circuit f in view of the above.
Claims (4)
1. six-dimension force sensor comprises the elastic body and the resistance strain gage of sensor, and elastic body is made of cylindrical shell and cross elastic beam structure; It is characterized in that, form elastomeric housing and be along housing shaft symmetrical structure up and down,
A. with the housing hollow out, flexible beam (2), last elastic beam (4), force-transmitting pole (7), following elastic beam (8), convex platform (5), lower convex platform (9), top base (6), bottom base (10), upper support (11) and lower support (12) have been formed respectively; The cross elastic beam is positioned at the cylinder center, is made of strain beam (1) and loading bench (3);
B. top base (6) and bottom base (10) lay respectively at the two ends of cylinder; Below in top base (6) goes out four rectangular openings along the even hollow out of the circumferencial direction of housing, and there is boss (5) at the middle part of the same side of each rectangular opening; Housing between per two adjacent rectangular openings forms upper support (11); Top in bottom base (10) goes out four rectangular openings along the even hollow out of the circumferencial direction of housing, and there is lower convex platform (9) at the middle part of the same side of each rectangular opening; Housing between per two adjacent rectangular openings forms lower support (12); Force-transmitting pole (7) is positioned between top base (6) and the bottom base (10);
C. there are two rows to be symmetrical in the bar hole at housing center up and down at the housing circumferencial direction; Align in adjacent with two convex platforms (5) the respectively limit, two ends of each bar hole in last row's bar hole; Arranging adjacent with two lower convex platforms (9) the respectively limit, two ends of each bar hole in the bar hole down aligns; Last row bar hole and top have the housing between the rectangular opening of boss to form elastic beam (4); The housing of arranging down between the rectangular opening that there is boss bar hole and below forms down elastic beam (8);
D. force-transmitting pole (7) is positioned between convex platform (5), the lower convex platform (9), and is formed by the housing between two adjacent bar holes; Between circular cylindrical shell per two the adjacent force-transmitting poles in middle part (7), cut the housing circular arc external surface and form flexible beam (2); The middle part of flexible beam (2) is connected with strain beam (1) is terminal;
E. on the two sides of strain beam (1) respectively symmetry mount foil gauge R1～R8, wherein foil gauge R1, R2, R3, R4 form one group of full-bridge testing circuit a, are used to detect Fy; Foil gauge R5, R6, R7, R8 form one group of full-bridge testing circuit b, are used to detect Fx; Two strain beam two sides in X-direction mount foil gauge R9～R12 near flexible beam (2) along each symmetry of X-axis, form one group of full-bridge testing circuit C, are used to detect Mz;
F. the same side near four lower supports (12) is pasted with foil gauge R13～R16 respectively on the lower surface of following elastic beam (8); Lower surface at following elastic beam (8) is pasted with foil gauge R21～R24 respectively;
G. the upper surface at last elastic beam (4) is pasted with foil gauge R17～R20 respectively; Upper surface opposite side at last elastic beam (4) is pasted with foil gauge R25～R28 respectively;
H. foil gauge R13, R15, R17, R19 form one group of full-bridge testing circuit d, are used to detect Mx; Foil gauge R14, R16, R18, R20 form one group of full-bridge testing circuit e, are used to detect My; Foil gauge R21, R23, R25, R27 form one group of full-bridge testing circuit f, are used to detect Fz.
2. a kind of according to claim 1 six-dimension force sensor is characterized in that, an axial manhole that connects loading bench (3) is arranged at loading bench (3) end face center; Four sides of loading bench (3) periphery are extended strain beam (1) respectively; The hole that axially connects along loading bench (3) is arranged on the strain beam (1).
3. a kind of according to claim 1 six-dimension force sensor is characterized in that, the gap between convex platform (5) upper surface and top base (6) lower surface equates with gap between lower convex platform (9) lower surface and bottom base (10) upper surface.
4. a kind of according to claim 1 six-dimension force sensor is characterized in that, the tapped through hole that connects housing wall is arranged on upper support (11).
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| CN102062630A (en) * | 2010-12-06 | 2011-05-18 | 中国航天空气动力技术研究院 | Floating frame type axial force strain balance |
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| CN102062630A (en) * | 2010-12-06 | 2011-05-18 | 中国航天空气动力技术研究院 | Floating frame type axial force strain balance |
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