CN103698076A - Six-dimensional force-torque sensor for realizing extension of measuring range - Google Patents
Six-dimensional force-torque sensor for realizing extension of measuring range Download PDFInfo
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- CN103698076A CN103698076A CN201410001468.2A CN201410001468A CN103698076A CN 103698076 A CN103698076 A CN 103698076A CN 201410001468 A CN201410001468 A CN 201410001468A CN 103698076 A CN103698076 A CN 103698076A
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Abstract
The invention discloses a six-dimensional force-torque sensor for realizing the extension of a measuring range. The six-dimensional force-torque sensor comprises a resilient body and straining plates which are arranged on the resilient body; the resilient body comprises four fixed platform, a central loading platform and four beam units, and each beam unit is arranged between two adjacent fixed platforms; each beam unit comprises an outer floating beam, an inner floating beam and a resilient beam, the outer floating beam is parallel to the inner floating beam, the outer floating beam and the inner floating beam form a pair of double-beam, two ends of the double-beam are respectively fixedly connected onto the side walls of the two fixed platforms, the resilient beam is vertical to the double-beam, one end of the resilient beam is fixedly connected onto the inner wall of the outer floating beam, and the other end of the resilient beam is fixedly connected onto one side wall of the central loading platform; the straining plates are divided into six groups and adhered onto the resilient beam; each group of straining plates form a Wheatstone bridge. By adopting the six-dimensional force-torque sensor, under the condition that the peripheral size of the sensor is not changed, the measuring range is effectively increased, and the rigidness of the sensor is improved.
Description
Technical field
The present invention relates to a kind of six-dimensional force and torque sensor, specifically, relate to a kind of for realizing six-dimensional force and the torque sensor of Range Extension.
Background technology
Six-dimension force sensor is the load of detection space six direction simultaneously, i.e. the force information (Fx, Fy, Fz) of three change in coordinate axis direction and around the moment information (Mx, My, Mz) of three axles in the cartesian coordinate system of space.As a kind of important force sensor, it is to guarantee accurate assembling and the base components of controlling, Ye Shi robot completes the guarantee of contact task, is therefore widely used in the fields such as industrial robot, anthropomorphic robot, control automatically, Aero-Space, underwater robot.
Strain-type power/torque sensor, because have good precision and sensitivity, is the study hotspot in power feel perception field always.Mono-kind of patent CN102353482A < < can realize the sensor that torque sensor > > that sextuple space power measures discloses a kind of six-dimensional space torgue measurement.This invention has adopted combination method, by nine one dimension force sensor combinations, measures multidimensional moment.Although such sensor has good dirigibility, need complicated assembling, be easy to cause rigging error, and cost is higher simultaneously.The advantages such as monoblock type six-dimension force sensor is simple and compact for structure because of it, sensitivity is high are widely used, and its force sensing element is inner elastic body, and its structural design is also the core of strain-type six-dimension force sensor design.The elastomer structure of this sensor internal has cross beam type, vertical beam formula, stewart formula etc. conventionally, and wherein, the cruciform girder formula elastic body advantage such as little that is easy to because it is simple in structure crosstalk between processing, highly sensitive, dimension is widely used.The elastic body > > of a patent CN201561825U < < six-dimension force sensor discloses a kind of elastic body of cross elastic beam structure, but owing to having adopted the structure of housing hollow out, cause certain difficulty to processing and paster.The six-dimension force sensor > > of a patent CN202720078U < < strain-type discloses the more simple rood beam elastic body of a kind of structure, alleviated between dimension and crosstalked, and improved output accuracy, but be difficult to ensure higher rigidity, be difficult to measure large-scale power/moment.
And for the demand of different field, also different to the performance requirement of six-dimensional force/torque sensor, along with developing rapidly of space exploration technology, Ocean Development Technology and Robotics, in the urgent need to the multiple dimension force/moment sensor of research and development large range high precision.
For the rigidity of extension sensor, make it have higher range, the size that expands exponentially sensor not only can expand cost and volume exponentially, and sensitivity is dwindled exponentially, because of rather than a kind of optimal way.The thickness that suitably increases floating beam is also a kind of mode that improves rigidity, and a significant limitation of this mode is: floating beam can only be thickeied among a small circle, surpasses certain limit and can make strain transducer minimum, cannot measure force and moment at all.Similarly, adopt the method for overstriking elastic beam also to have such problem: sensitivity meeting reduces, and surpass certain limit and can make the sensor non-coplanar force/moment properties that loses induction.
Therefore, on the basis of existing cross elastic beam structure, seek a kind of Range Extension method, make sensor under large range measuring ability, still possess original advantage, significant.
Summary of the invention
Technical matters: technical matters to be solved by this invention is: providing a kind of not changing under the condition of sensor Outside Dimensions, increases its range for realizing six-dimensional force and the torque sensor of Range Extension effectively, expands its rigidity.
Technical scheme: for solving the problems of the technologies described above, the technical solution used in the present invention is:
For realizing six-dimensional force and the torque sensor of Range Extension, this sensor comprises elastic body and is positioned at the foil gauge on elastic body; Described elastic body comprises four fixed stations, a center loaded platform and four beam elements, and four fixed stations are evenly distributed on center loaded platform periphery; Each beam element is laid between adjacent two fixed stations; Each described beam element comprises outer floating beam, interior floating beam and elastic beam, outer floating beam and interior floating beam are parallel to each other, form a pair of twin beams, the two ends of twin beams are fixedly connected on respectively on the sidewall of adjacent two fixed stations, elastic beam is perpendicular to twin beams, and one end of elastic beam is fixedly connected with on the inwall of floating beam outside, and the other end of elastic beam is fixedly connected on a sidewall of center loaded platform, and the middle part of elastic beam is fixedly connected with interior floating beam; Four described elastic beams are cruciform; Described foil gauge is six groups, sticks on elastic beam, and inside elastic beam and center loaded platform joint and elastic beam and interior floating beam between joint; Six groups of foil gauges are located on the central axis of each side of elastic beam, and every group of foil gauge forms a Hui Sitong full-bridge.
Further, described elastic body is monolithic construction, and about Descartes's three-dimensional coordinate rotational symmetry, Descartes's 3-D walls and floor be take elastomeric geometric center as initial point, and x is to along continuous straight runs, y to x in same plane, and y to x to vertical, z to perpendicular to y to the plane of x to place.
Further, described interior floating beam to the distance of elastic beam and center loaded platform joint is 0.5-0.8 times of elastic beam length, and the width of interior floating beam is less than 1/10th of elastic beam length.
Further, four described elastic beams are cruciform, each central axis of elastic beam forms four group switching centre axis groups, this four group switching centres axis group is respectively: by y to the first central axis group of forming of four central axis of two elastic beam two sides, by x to the second central axis group of forming of the central axis of two elastic beam two sides, by y to the 3rd central axis group that forms of the central axis of two elastic beam front and backs, by x to the 4th central axis group that forms of the central axis of two elastic beam front and backs; At every central axis of the first central axis group, near one end of center loaded platform, be provided with a foil gauge, form the first foil gauge group R
1, R
2, R
3and R
4; At every central axis of the second central axis group, near one end of center loaded platform, be provided with a foil gauge, form the second foil gauge group R
5, R
6, R
7and R
8; At every central axis of the 3rd central axis group, near one end of center loaded platform, be provided with a foil gauge, form the 3rd foil gauge group R
9, R
10, R
11and R
12; Middle part at every central axis of the 3rd central axis group is provided with a foil gauge, forms the 4th foil gauge group R
13, R
14, R
15and R
16; Middle part at every central axis of the 4th central axis group is provided with a foil gauge, forms the 5th foil gauge group R
17, R
18, R
19and R
20; Every central axis middle part in the second central axis group is provided with a foil gauge, forms the 6th foil gauge group R
21, R
22, R
23and R
24; Four foil gauges in every group of foil gauge group form a Hui Sitong full-bridge.
Beneficial effect: the present invention is the same to the research of multi-dimensional force and torque sensor with great majority, makes every effort to obtain relatively higher sensitivity and relative higher rigidity, is considering under the prerequisite of the various factorss such as cost, performance, and expectation obtains the performance of optimization relatively.Compare with existing typical cruciform elastomer structure, it is larger that sensor of the present invention has rigidity, the larger feature of range ability that can survey.In prior art, the sensor of measuring wide range force and moment is mostly stewart structure and distortion thereof.But the sensor construction of stewart structure is very complicated, processing, assembling are all inconvenient.Therefore, the present invention, in the situation that completing Range Extension equally, has advantages of simple in structure, compactly, and owing to being integral structure, has larger advantage in rigidity, repeatability and dynamic property, and can effectively reduce rigging error.The technology of the distortion of cruciform girder structure is also had a lot, in the technical field of research wide range, is to increase a cross elastic beam to reach same effect mostly.Compare with the structure of this class, that the present invention obviously has advantages of is again simple in structure, be easy to processing.
Relevant Range Extension technology is the range that expands exponentially each dimension of sensor mostly, and meanwhile, sensitivity also reduces at double.Another beneficial effect of the present invention is, different to the Range Extension degree of force and moment.The dimensional parameters of this sensor of choose reasonable, can be so that the different dimension of this sensor measurement has different abilities, thereby more with practical value in field.
Therefore, beneficial effect of the present invention can be summarized as: the advantage that has retained cross elastic beam structure: highly sensitive, simple in structure, dimension between crosstalk little.Compare with typical cruciform elastic body, have advantages of that rigidity is high, range ability is large; Realizing under the prerequisite of Range Extension, compared with prior art have advantages of simple and compact for structure, processing is simple, repeatability and dynamic property good; Simultaneously different to the extended capability of range on different dimensions, more there is in actual applications dirigibility.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is be hit by a bullet the first central axis group on gonosome and the position view of the second central axis group of the present invention.
Fig. 3 is be hit by a bullet the 3rd central axis group on gonosome and the position view of the 4th central axis group of the present invention.
Fig. 4 is the foil gauge group position view that the present invention is hit by a bullet on gonosome front.
Fig. 5 is the foil gauge group position view that the present invention is hit by a bullet on the gonosome back side.
Fig. 6 is the vertical view of comparative example of the present invention.
Fig. 7 is the vertical view of the embodiment of the present invention.
Fig. 8 is the side view of the embodiment of the present invention.
Fig. 9 be the embodiment of the present invention to the Range Extension multiple of Fx with k
1and k
2the planimetric map changing.
Figure 10 be the embodiment of the present invention to the Range Extension multiple of Fz with k
1and k
2the planimetric map changing.
Figure 11 be the embodiment of the present invention to the Range Extension multiple of Mx with k
1and k
2the planimetric map changing.
Figure 12 be the embodiment of the present invention to the Range Extension multiple of Mz with k
1and k
2the planimetric map changing.
In figure, have: fixed station 1, center loaded platform 2, outer floating beam 3, interior floating beam 4, elastic beam 5, the first central axis group 21, the second central axis group 22, the 3rd central axis group 23, the 4th central axis group 24.
Embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail.
As shown in Figure 1, of the present invention a kind of for realizing six-dimensional force and the torque sensor of Range Extension, comprise elastic body and be positioned at the foil gauge on elastic body.Elastic body comprises 1, one center loaded platform 2 of four fixed stations and four beam elements, and four fixed stations 1 are evenly distributed on center loaded platform 2 peripheries.Each beam element is laid between adjacent two fixed stations 1.Each described beam element comprises outer floating beam 3, interior floating beam 4 and elastic beam 5.Outer floating beam 3 and interior floating beam 4 are parallel to each other, and form a pair of twin beams.The two ends of twin beams are fixedly connected on respectively on the sidewall of adjacent two fixed stations 1.Elastic beam 5 is perpendicular to twin beams, and one end of elastic beam 5 is fixedly connected with on the inwall of floating beam 3 outside, and the other end of elastic beam 5 is fixedly connected on a sidewall of center loaded platform 2.The middle part of elastic beam 5 is fixedly connected with interior floating beam 4.Foil gauge is six groups, sticks on elastic beam 5, and between elastic beam 5 and center loaded platform 2 joints and elastic beam 5 and interior floating beam 4 joints, inner side; Six groups of foil gauges are located on the central axis of elastic beam 5 each sides, and every group of foil gauge forms a Hui Sitong full-bridge.
Further, described elastic body is monolithic construction, and about Descartes's three-dimensional coordinate rotational symmetry, Descartes's 3-D walls and floor be take elastomeric geometric center as initial point, and x is to along continuous straight runs, y to x in same plane, and y to x to vertical, z to perpendicular to y to the plane of x to place.Elastic body is monolithic construction, and for complicated stewart structure and other elastic bodys that need to assemble, monolithic construction of the present invention is more easily processed, intensity is large, and shock resistance is good, and anti-overload ability is strong, and reduced rigging error, be conducive to the raising of sensor accuracy.
Further, described center loaded platform 2 is prismatic, and the xsect of center loaded platform 2 is square, and the center of center loaded platform 2 is provided with axially extending bore; Fixed station 1 center is provided with mounting hole.The center of center loaded platform 2 is provided with axially extending bore, for coordinating with external shaft.Fixed station 1 center is provided with mounting hole, for pedestal mounted externally.
Further, described four outer floating beams 3 and four interior floating beams 4 are all laminar, and highly equal.Outer floating beam 3 and interior floating beam 4 are highly equal, are mainly to consider to be convenient to processing.Interior floating beam 4 should not exceed outer floating beam 3, this be because shell in when design, guarantee elastic body deformation not with housing contacts.After exceeding, interior floating beam 4 can make shell mechanism more complicated.
Further, described interior floating beam 4 to the distance of elastic beam 5 and center loaded platform 2 joints is 0.5-0.8 times of elastic beam 5 length, and the width of interior floating beam 4 is less than 1/10th of elastic beam 5 length.Interior floating beam 4 is selected suitable distance and width, can realize the object of Range Extension.
Further, as Fig. 2, Fig. 3, shown in Fig. 4 and Fig. 5, four described elastic beams 5 are cruciform, each central axis of elastic beam 5 forms four group switching centre axis groups, this four group switching centres axis group is respectively: by y to the first central axis group 21 of forming of four central axis of two elastic beam two sides, by x to the second central axis group 22 of forming of the central axis of two elastic beam two sides, by y to the 3rd central axis group 23 that forms of the central axis of two elastic beam front and backs, by x to the 4th central axis group 24 that forms of the central axis of two elastic beam front and backs, at every central axis of the first central axis group 21, near one end of center loaded platform, be provided with a foil gauge, form the first foil gauge group R
1, R
2, R
3and R
4, at every central axis of the second central axis group 22, near one end of center loaded platform, be provided with a foil gauge, form the second foil gauge group R
5, R
6, R
7and R
8, at every central axis of the 3rd central axis group 23, near one end of center loaded platform, be provided with a foil gauge, form the 3rd foil gauge group R
9, R
10, R
11and R
12, middle part at every central axis of the 3rd central axis group 23 is provided with a foil gauge, forms the 4th foil gauge group R
13, R
14,r
15and R
16, middle part at every central axis of the 4th central axis group 24 is provided with a foil gauge, forms the 5th foil gauge group R
17, R
18, R
19and R
20, every central axis middle part in the second central axis group 22 is provided with a foil gauge, forms the 6th foil gauge group R
21, R
22, R
23and R
24.Four foil gauges in every group of foil gauge group form a Hui Sitong full-bridge, measure respectively F
x, F
y, F
z, M
x, M
y, M
zsextuple force and moment data, the first foil gauge group is measured F
x, the second foil gauge group is measured F
y, the 3rd foil gauge group is measured F
z, the 4th foil gauge group is measured M
x, the 5th foil gauge group is measured M
y, the 6th foil gauge group is measured M
z.
Exemplify an embodiment below.
As shown in Figure 7, adopt the sensor elastomer of structure of the present invention, monnolithic case is long is 78mm, and wide is 78mm, high 7mm.Elastic beam 5 length are 25mm, and sectional dimension is 5mm * 5mm, and outer floating beam 3 width are 1mm, long 32mm, high 5mm.The size of interior floating beam 4 is identical with outer floating beam 3, and the outer floating beam 3 of distance is 12mm.Fig. 6 is a sensor elastomer as a comparison case, and interior floating beam is not set in this sensor elastomer, and this elastomeric size is identical with previous elastic body.The elastomeric lateral dimension of the elastic body of embodiment and comparative example is identical, and as shown in Figure 8, floating beam height is lower than elastic body whole height, and up and down all than the low 1mm of fixed station, thereby this is not produce correct deformation with housing contacts during for deformation.To the sensor of these two kinds of structures be compared below, analyze advantage of the present invention.
ANSYS finite element analysis software is the critical software of sensor field inner analysis architectural characteristic.Can the deformation result of analyte sensors structure under certain force according to this software.In order to analyze its performance, introduce the concept of normalization range, that is: the strain in foil gauge patch location is 1 * 10
-3time, corresponding loading force and moment values.This normalization range is the rigidity of response sensor effectively, thus the range that reaction can be measured.Due to the symmetry of elastomer structure, the performance of Fx and Fy is identical; The performance of Mx and My is identical, therefore analyzes normalization range Fx, Fz, Mx, Mz.If elastic beam length is L, L=25mm in this example, interior floating beam is k apart from elastic beam root (near one end of center pillow block) distance
1l, the cross-sectional width of floating beam is k
2l.Different dimensional parameters (k
1, k
2) sensor there is different Range Extension effects.
The present embodiment, in ANSYS analysis software, has been set up reference elasticity body, dimensional parameters of the present invention 1, dimensional parameters of the present invention 2 and 3 four kinds of models of dimensional parameters of the present invention.Following table has been listed the normalization range of four kinds of models.
Visible, sensor of the present invention can be expanded the range of force and moment on control sensor basis, and the extended capability of the power/moment of different dimensions is different.Within the scope of elastic deformation, it is linear that the change in size of sensor and strain are.Therefore, along with k
1and k
2variation, the Range Extension multiple of each dimension is approximately to plane.Fig. 9-Figure 12 is respectively that the Range Extension multiple of Fx, Fz, Mx, Mz is with k
1and k
2the planimetric map changing.Wherein, consider in practical application, interior floating beam will still will keep certain interval relatively near outer floating beam, gets 0.5<k
1<0.8, because interior floating beam width is narrower, gets 0<k
2<0.1.With A, represent Range Extension multiple, plane equation can roughly be expressed as follows:
A
Fx=-3.25x+29.54y+3.01
A
Fz=-3.50x+4.67y+3.81
A
Mx=-0.78x+1.14y+1.66
A
Mz=-1.14x+0.64y+1.96
By planimetric map, can be found out, within the specific limits, interior floating beam is nearer by elastic beam root, and range expands more obvious; Floating beam thickness is larger, and range expands larger.At interior floating beam, near the position of elastic beam root, can realize the range expansion capability of power value stronger, thereby realize the measurement of wide range power, high resolving power moment.
After sensor of the present invention has increased interior floating beam 4, the expanded range of sensor measurement, the rigidity of sensor is expanded.The present invention can realize the Range Extension of force and moment effectively, and compact conformation, rigidity are large, realize the miniaturization of sensor, and simple in structure, is easy to processing.
Claims (6)
1. for realizing six-dimensional force and the torque sensor of Range Extension, it is characterized in that: this sensor comprises elastic body and is positioned at the foil gauge on elastic body;
Described elastic body comprises four fixed stations (1), a center loaded platform (2) and four beam elements, and four fixed stations (1) are evenly distributed on center loaded platform (2) periphery; Each beam element is laid between adjacent two fixed stations (1); Each described beam element comprises outer floating beam (3), interior floating beam (4) and elastic beam (5), outer floating beam (3) and interior floating beam (4) are parallel to each other, form a pair of twin beams, the two ends of twin beams are fixedly connected on respectively on the sidewall of adjacent two fixed stations (1), elastic beam (5) is perpendicular to twin beams, and one end of elastic beam (5) is fixedly connected with on the inwall of floating beam (3) outside, the other end of elastic beam (5) is fixedly connected on a sidewall of center loaded platform (2), and the middle part of elastic beam (5) is fixedly connected with interior floating beam (4); Described four elastic beams (5) are cruciform;
Described foil gauge is six groups, sticks on elastic beam (5) above, and is positioned between elastic beam (5) and center loaded platform (2) joint and elastic beam (5) and joint, floating beam (4) inner side; Six groups of foil gauges are located on the central axis of each side of elastic beam (5), and every group of foil gauge forms a Hui Sitong full-bridge.
2. according to the two unsteady beam type elastic body described in claims 1, it is characterized in that: described elastic body is monolithic construction, and about Descartes's three-dimensional coordinate rotational symmetry, Descartes's 3-D walls and floor be take elastomeric geometric center as initial point,
xto along continuous straight runs,
yto with
xto in same plane, and
yto with
xto vertically, z to perpendicular to
yto with
xplane to place.
3. according to the two unsteady beam type elastic body described in claims 1, it is characterized in that: described center loaded platform (2) is prismatic, and the center of center loaded platform (2) is provided with axially extending bore; Described fixed station (1) center is provided with mounting hole.
4. according to the two unsteady beam type elastic body described in claims 1, it is characterized in that: described four outer floating beams (3) and four interior floating beams (4) are all laminar, and highly equal.
5. according to the two unsteady beam type elastic body described in claims 4, it is characterized in that: described interior floating beam (4) to the distance of elastic beam (5) and center loaded platform (2) joint is 0.5-0.8 times of elastic beam (5) length, and the width of interior floating beam (4) is less than 1/10th of elastic beam (5) length.
6. according to the two unsteady beam type elastic body described in claims 1, it is characterized in that: described four elastic beams (5) are cruciform, each central axis of elastic beam (5) forms four group switching centre axis groups, this four group switching centres axis group respectively: by
yto the first central axis group (21) of forming of four central axis of two elastic beam two sides, by
xto the second central axis group (22) of forming of the central axis of two elastic beam two sides, by
yto the 3rd central axis group (23) that forms of the central axis of two elastic beam front and backs, by
xto the 4th central axis group (24) that forms of the central axis of two elastic beam front and backs;
At every central axis of the first central axis group (21), near one end of center loaded platform, be provided with a foil gauge, form the first foil gauge group
r 1 ,
r 2 ,
r 3 with
r 4 ; At every central axis of the second central axis group (22), near one end of center loaded platform, be provided with a foil gauge, form the second foil gauge group
r 5 ,
r 6 ,
r 7 with
r 8 ; At every central axis of the 3rd central axis group (23), near one end of center loaded platform, be provided with a foil gauge, form the 3rd foil gauge group
r 9 ,
r 10 ,
r 11 with
r 12 ; Middle part at every central axis of the 3rd central axis group (23) is provided with a foil gauge, forms the 4th foil gauge group
r 13 ,
r 14 ,
r 15 with
r 16 ; Middle part at every central axis of the 4th central axis group (24) is provided with a foil gauge, forms the 5th foil gauge group
r 17 ,
r 18 ,
r 19 with
r 20 ; Every central axis middle part in the second central axis group (22) is provided with a foil gauge, forms the 6th foil gauge group
r 21 ,
r 22 ,
r 23 with
r 24 ; Four foil gauges in every group of foil gauge group form a Hui Sitong full-bridge.
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