CN106644233A - Six-dimensional force sensor - Google Patents
Six-dimensional force sensor Download PDFInfo
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- CN106644233A CN106644233A CN201710051809.0A CN201710051809A CN106644233A CN 106644233 A CN106644233 A CN 106644233A CN 201710051809 A CN201710051809 A CN 201710051809A CN 106644233 A CN106644233 A CN 106644233A
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- foil gauge
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- radial girders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
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- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a six-dimensional force sensor. The six-dimensional force sensor is characterized by comprising a circumferential support, a center platform and radial beams, wherein the radial beams are uniformly distributed on the periphery of the center platform; one end of each radial beam and the outer side wall of the center platform are in T-shaped connection, and the other end of each radial beam and the inner side wall of the circumferential support are in T-shaped connection; and beam through holes are formed in the radial beams, so that the stress is concentrated at two sides of the beam through holes. The six-dimensional force sensor is used for achieving decoupling of the six-dimensional force sensor in structure, the sensitivity of the sensor can be improved, and the rigidity of the sensor is ensured.
Description
Technical field
The invention belongs to sensor technical field, more specifically can be used for the sensor of measurement space six-dimensional force.
Background technology
Multi-dimension force sensor is the important information source of robot acquisition and the intermolecular forces of environment.It is existing at present many-sided
Multi-dimension force sensor research, such as Waston multi-dimension force sensors of U.S. DraPer Research Institutes, Chinese Academy of Sciences's Hefei intelligence
Can institute and Southeast China University's joint research and development SAFMS type multi-dimension force sensors, based on the multi-dimension force sensor of Stewart platforms, Huang
The HUST FS6 type multi-dimension force sensors of heart Chinese professor research, two grades of parallel-connection structures of the Dr.R.Seitner companies design of Germany
Type six-dimension force sensor etc..Both at home and abroad substantial amounts of research is done to multi-dimension force sensor, designed multi-dimension force sensor is more
It is kind various, the pluses and minuses having nothing in common with each other and application scenario, but the contradiction of decoupling, rigidity and sensitivity of multi-dimension force sensor etc. asks
Topic also needs further to be studied.
The content of the invention
The present invention is to avoid the deficiency existing for above-mentioned prior art, there is provided a kind of 6 DOF with new version
Force snesor, for realizing that six-dimension force sensor is decoupled in structure, and ensures sensing while transducer sensitivity is improved
The rigidity of device.
The present invention is adopted the following technical scheme that to solve technical problem：
Six-dimension force sensor of the present invention is structurally characterized in that：With circumferential support, zone center and radial girders；The radial girders
It is evenly distributed on the periphery of zone center, one end of radial girders and the " T " shape connection of the lateral wall of zone center, the other end of radial girders
It is connected in T-shape with the circumferential madial wall for supporting, beam through hole is provided with the radial girders, so that stress concentration is in beam through hole
Both sides.
The design feature of six-dimension force sensor of the present invention lies also in：The radial girders have four, and four radial girders are with
Centered on the center of heart platform, in the distribution of " ten " word.
The design feature of six-dimension force sensor of the present invention lies also in：The zone center and each radial girders are the level of state；
Three-dimensional system of coordinate is set up as the origin of coordinates with the central point of zone center, in the three-dimensional system of coordinate, first in four radial girders
Beam is in X-axis forward, and the second beam is in Y-axis forward, and the 3rd beam is on X-axis negative sense, and the 4th beam is on Y-axis negative sense；Z
It is axially vertical.
The design feature of six-dimension force sensor of the present invention lies also in：There are a vertical through holes and two water in the radial girders
Flat through hole, arrangement has two kinds；
Mode one：In each radial girders, it is in the one end away from the origin of coordinates and is provided with vertical radial girders single-pass hole；It is in
One end near the origin of coordinates is provided with first level radial girders through hole, is in first level radial girders through hole away from the origin of coordinates
Side and show the second horizontal radial beam through hole, the first level radial girders through hole is mutual with the second horizontal radial beam through hole
Connection is formed as horizontal doubled via；
Mode two：In each radial girders, it is on radial girders centre position and is provided with vertical radial girders single-pass hole；It is in and leans on
One end of the nearly origin of coordinates is provided with first level radial girders through hole, is in the one end away from the origin of coordinates and is provided with the second level
Radial girders through hole；
First level radial girders through hole is on the symmetrical position of " ten " word in four radial girders, in four radial girders
Second horizontal radial through hole is also on the symmetrical position of " ten " word；Vertical radial girders single-pass hole is also in four radial girders
In " ten " word symmetric position.
The design feature of six-dimension force sensor of the present invention lies also in：Should by following formal distribution on the surface of the radial girders
Become piece：
Mode one：
Foil gauge R11, R12, R13 and R14 constitute the first favour stone full-bridge circuit, described foil gauge R11, R12, R13 and
R14 is used to detect the strain in X-direction, and obtains Z-direction power F with thisz；Wherein, foil gauge R11 and R12 are symmetrical above and below
Ground is located in the 3rd beam corresponding to the upper and lower surface on the second horizontal radial beam through hole position；Foil gauge R13 and
R14 is symmetrical above and belowly corresponding to the upper and lower surface on the second horizontal radial beam through hole position in the first beam；
Foil gauge R21, R22, R23 and R24 constitute the second favour stone full-bridge circuit, described foil gauge R21, R22, R23 and
R24 is used to detect the strain in X-direction, and obtains Y direction torque M with thisy；Wherein, foil gauge R21 and R22 are right up and down
Ground is claimed to be located in the 3rd beam corresponding to the upper and lower surface on first level radial girders through hole position；Foil gauge R23
Symmetrical above and belowly with R24 corresponding to the upper surface on first level radial girders through hole position and following table in the first beam
Face；
Foil gauge R31, R32, R33 and R34 constitute the 3rd favour stone full-bridge circuit, described foil gauge R31, R32, R33 and
R34 is used to detect the strain in Y direction, and obtains X-direction torque M with thisx；Wherein, foil gauge R31 and R32 are right up and down
Ground is claimed to be located in the second beam corresponding to the upper and lower surface on first level radial girders through hole position；Foil gauge R33
Symmetrical above and belowly with R34 corresponding to the upper surface on first level radial girders through hole position and following table in the 4th beam
Face；
Mode two：
Foil gauge R11, R12, R13 and R14 constitute the first favour stone full-bridge circuit, described foil gauge R11, R12, R13 and
R14 is used to detect the strain in X-direction, and obtains Z-direction power F with thisz；Wherein, foil gauge R11 and R12 are symmetrical above and below
Ground is located in the 3rd beam corresponding to the upper and lower surface on first level radial girders through hole position；Foil gauge R13 and
R14 is symmetrical above and belowly corresponding to the upper and lower surface on first level radial girders through hole position in the first beam；
Foil gauge R21, R22, R23 and R24 constitute the second favour stone full-bridge circuit, described foil gauge R21, R22, R23 and
R24 is used to detect the strain in X-direction；And Y direction torque M is obtained with thisy；Wherein, foil gauge R21 and R22 are right up and down
Ground is claimed to be located in the 3rd beam corresponding to the upper and lower surface on the second horizontal radial beam through hole position；Foil gauge R23
Symmetrical above and belowly with R24 corresponding to the upper surface on the second horizontal radial beam through hole position and following table in the first beam
Face；
Foil gauge R31, R32, R33 and R34 constitute the 3rd favour stone full-bridge circuit, described foil gauge R31, R32, R33 and
R34 is used to detect the strain in Y direction, and obtains X-direction torque M with thisx；Wherein, foil gauge R31 and R32 are right up and down
Ground is claimed to be located in the second beam corresponding to the upper and lower surface on the second horizontal radial beam through hole position；Foil gauge R33
Symmetrical above and belowly with R34 corresponding to the upper surface on the second horizontal radial beam through hole position and following table in the 4th beam
Face.
The design feature of six-dimension force sensor of the present invention lies also in：The zone center is set to ring body, in the zone center
On, vertical zone center through hole is provided with the position that zone center is connected with each radial girders, so that stress concentration is in vertical
The both sides of zone center through hole；The vertical zone center through hole has a pair corresponding to every radial girders, and a pair vertical zone centers lead to
Hole office is on the symmetrical position in both sides of radial girders axis extended line.
The design feature of six-dimension force sensor of the present invention lies also in：Should by following formal distribution on the surface of the zone center
Become piece：
Foil gauge R41, R41 ', R42, R42 ', R43, R43 ', R44 and R44 ' constitute the 4th favour stone full-bridge circuit, it is described
Foil gauge R41, R41 ', R42, R42 ', R43, R43 ', R44 and R44 ' is used to detect the strain of Y direction, and obtains X-axis with this
Direction force Fx；Wherein：Foil gauge R41, R41 ', the inner ring surface of the ring body of centrally disposed of R43 and R43 ', R42, R42 ',
The external annular surface of the ring body of R44 and R44 ' centrally disposed (2)；R41 and R42 are in corresponding to the 3rd beam position one
The both sides of vertical zone center through hole, the center of the vertical zone center through hole of its positional deviation, near the 3rd beam；R41 ' and R42 ' are in
Corresponding to the both sides of the vertical zone center through hole of the 3rd beam position another, the center of the vertical zone center through hole of positional deviation,
Near the 3rd beam；R43 and R44 are in the both sides corresponding to the one vertical zone center through hole in the first beam position, positional deviation
The center of vertical zone center through hole, near the first beam, R43 ' and R44 ' is in vertical corresponding to the first beam position another
The both sides of zone center through hole, the center of the vertical zone center through hole of its positional deviation, near the first beam；
Foil gauge R51, R51 ', R52, R52 ', R53, R53 ', R54 and R54 ' constitute the 5th favour stone full-bridge circuit, it is described
Foil gauge R51, R51 ', R52, R52 ', R53, R53 ', R54 and R54 ' is used to detect that X-direction is strained, and obtains Y direction with this
Power Fy；Wherein：Foil gauge R51, R51 ', the inner ring surface of the ring body of centrally disposed of R53 and R53 ', R52, R52 ', R54 and
The external annular surface of the ring body that R54 ' is centrally disposed；R51 and R52 are in corresponding to the vertical center in the second beam position one
The both sides of platform through hole, the center of the vertical zone center through hole of positional deviation, near the second beam, R51 ' and R52 ' is in corresponding to second
The both sides of the vertical zone center through hole of beam position another, the center of the vertical zone center through hole of positional deviation, near the second beam；
R53 and R54 are in the both sides corresponding to the one vertical zone center through hole in the 4th beam position, the vertical zone center of its positional deviation
The center of through hole, near the 4th beam；R53 ' and R54 ' are in zone center through hole vertical corresponding to the 4th beam position another
Both sides, the center of the vertical zone center through hole of its positional deviation, near the 4th beam.
Foil gauge R61, R62, R63 and R64 constitute the 6th favour stone full-bridge circuit, described foil gauge R61, R62, R63 and
R64 is used to detect the strain of X-direction, and obtains Z-direction torque M with thisz；Wherein, foil gauge R61 and R62 are symmetrical
Ground is located in the 3rd beam corresponding to the left and right sides surface of vertical radial girders single-pass hole position；Foil gauge R63 and R64 or so
Left and right sides surface corresponding to vertical radial girders single-pass hole position is symmetrically located in the first beam；Foil gauge R61 and R64
Position it is symmetrical with regard to the origin of coordinates.
The design feature of six-dimension force sensor of the present invention lies also in：
In the first favour stone full-bridge circuit：R11 and R14 is alternate arm, and R12 and R13 is alternate arm, R11 and R13
For opposing arms, R11 and R12 tie point for input A1, R14 and R13 tie point for input B1, R11 and R14 connection
Point is output end D1 for the tie point of output end C1, R12 and R13, input voltage is accessed between input A1 and B1, in output end
Detection signal is exported between C1 and output end D1.
In the second favour stone full-bridge circuit：The mutual alternate arms of R21 and R23, R22 and R24 is alternate arm, R21 and R24
For opposing arms, R21 and R22 tie point for input A2, R23 and R24 tie point for input B2, R21 and R23 connection
Point is output end D2 for the tie point of output end C2, R22 and R24, output voltage is accessed between input A2 and B2, in output end
Detection signal voltage tie point is exported between C2 and output end D2.
In the 3rd favour stone full-bridge circuit：The mutual alternate arms of R31 and R33, R32 and R34 is alternate arm, R31 and R34
For opposing arms, R31 and R32 tie point for input A3, R33 and R34 tie point for input B3, R31 and R33 connection
Point is output end D3 for the tie point of output end C3, R32 and R34, output voltage is accessed between input A3 and B3, in output end
Detection signal voltage tie point is exported between C3 and output end D3.
The design feature of six-dimension force sensor of the present invention lies also in：
In the 4th favour stone full-bridge circuit：R41 and R41 ' series connection is the first arm, and R42 and R42 ' series connection is second
Arm, R43 and R43 ' series connection is the 3rd arm, and R44 and R44 ' series connection is output end for the tie point of the 4th arm, the first arm and the second arm
The tie point of A4, the 3rd arm and the 4th arm for input B4, the first arm and the 3rd arm tie point be output end C4, the second arm and
The tie point of the 4th arm is output end D4, and between output terminals A 4 and B4 input voltage is accessed, the output inspection between output end C4 and D4
Survey signal.
In the 5th favour stone full-bridge circuit：R51 and R51 ' series connection is the first arm, and R52 and R52 ' series connection is second
Arm, R53 and R53 ' series connection is the 3rd arm, and R54 and R54 ' series connection is output end for the tie point of the 4th arm, the first arm and the second arm
The tie point of A5, the 3rd arm and the 4th arm for input B5, the first arm and the 3rd arm tie point be output end C5, the second arm and
The tie point of the 4th arm is output end D5, and between output terminals A 5 and B5 input voltage is accessed, the output inspection between output end C5 and D5
Survey signal.
In the 6th favour stone full-bridge circuit：The mutual alternate arms of R61 and R63, R62 and R64 is alternate arm, R61 and R64
For opposing arms, R61 and R62 tie point for input A6, R63 and R64 tie point for input B6, R61 and R63 connection
Point is output end D6 for the tie point of output end C6, R62 and R64, input voltage is accessed between input A6 and B6, in output end
Detection signal voltage tie point is exported between C6 and output end D6.
Compared with the prior art, the present invention has the beneficial effect that：
1st, present invention achieves structure decoupling.For the version of elastomer of the present invention, can be in radial girders and week
The adhering resistance strain sheets on the diverse location of beam, according to force snesor principle, with favour stone full-bridge circuit, realize six-dimensional force
Measurement, and power between dimension can be prevented effectively from interfere.
2nd, the present invention can obtain higher detection sensitivity, and the through hole opened up in each radial girders and circumferential beam collects strain
In in surveyed region.
3rd, dies are adopted in the present invention on zone center, the dynamic property of sensor construction is effectively increased.
4th, elastomer of the present invention can overall processing, reduce repeatability error, its simple structure, it is easy to process.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is radial girders and zone center upper surface foil gauge distribution schematic diagram in the present invention；
Fig. 3 is radial girders and zone center lower surface foil gauge distribution schematic diagram in the present invention；
Fig. 4 a are the first favour stone full-bridge circuit a schematic diagrams in the present invention；
Fig. 4 b are the second favour stone full-bridge circuit b schematic diagrams in the present invention；
Fig. 4 c are the 3rd favour stone full-bridge circuit c schematic diagrams in the present invention；
Fig. 4 d are the 4th favour stone full-bridge circuit d schematic diagrams in the present invention；
Fig. 4 e are the 5th favour stone full-bridge circuit e schematic diagrams in the present invention；
Fig. 4 f are the 6th favour stone full-bridge circuit f schematic diagrams in the present invention；
Label in figure：1 circumferential support, 2 zone centers, 3 radial girders, the beams of 3a first, the beams of 3b second, the beams of 3c the 3rd, 3d the 4th
Beam, 4 vertical radial girders single-pass holes, 5 second horizontal radial beam through holes, 6 vertical zone center through holes, 7 first level radial girders through holes.
Specific embodiment
Referring to Fig. 1, Fig. 2 and Fig. 3, six-dimension force sensor has circumferential support 1, zone center 2 and radial girders in the present embodiment
3；
Radial girders 3 are evenly distributed on the periphery of zone center 2, and one end of radial girders 3 is " T " shape with the lateral wall of zone center 2
Connection, the other end of radial girders 3 supports 1 madial wall to be connected in T-shape with circumferential, and beam through hole is provided with radial girders 3, so that
Stress concentration is in the both sides of beam through hole.
Radial girders 3 shown in Fig. 1 have four, and four radial girders 3 are distributed centered on the center of zone center 1 in " ten " word；
Zone center 2 and each radial girders 3 are the level of state；Three-dimensional system of coordinate is set up as the origin of coordinates with the central point of zone center 1, three
In dimension coordinate system, the first beam 3a is in X-axis forward in four radial girders, and the second beam 3b is in Y-axis forward, the 3rd Liang3cChu
On X-axis negative sense, the 4th beam 3d is on Y-axis negative sense；Z axis are to for vertically.
There are a vertical through holes and two horizontal through hole in the present embodiment in radial girders 3, in structure shown in Fig. 1, in each footpath
To on beam 3, it is in the one end away from the origin of coordinates and is provided with vertical radial girders single-pass hole 4；It is near one end of the origin of coordinates
First level radial girders through hole 7 is provided with, first level radial girders through hole 7 is in away from the side of the origin of coordinates and is shown second
Horizontal radial beam through hole 5, first level radial girders through hole 7 and the second horizontal radial beam through hole 5 are interconnected and are formed as level pair
Through hole.In addition, it is also possible to be set to the vertical through holes and two horizontal through hole in radial girders 3：In each radial girders 3
On, it is on the centre position of radial girders 3 and is provided with vertical radial girders single-pass hole 4；It is in and is provided near one end of the origin of coordinates
First level radial girders through hole 7, is in the one end away from the origin of coordinates and is provided with the second horizontal radial beam through hole 5.
First level radial girders through hole 7 is on the symmetrical position of " ten " word in four radial girders, in four radial girders
Two horizontal radial through holes 5 are also on the symmetrical position of " ten " word；Vertical radial girders single-pass hole 4 is also in four radial girders
In " ten " word symmetric position.
In the present embodiment, as shown in Figures 2 and 3, on the surface of radial girders 3 following formal distribution foil gauge is pressed：
Foil gauge R11, R12, R13 and R14 constitute the first favour stone full-bridge circuit a, foil gauge R11, R12, R13 and R14
For detecting the strain in X-direction, and Z-direction power F is obtained with thisz；Wherein, foil gauge R11 and R12 status symmetrical above and below
Corresponding to the upper and lower surface on the position of the second horizontal radial beam through hole 5 in the 3rd beam 3c；Foil gauge R13 and
R14 is symmetrical above and belowly corresponding to the upper surface on the position of the second horizontal radial beam through hole 5 and following table in the first beam 3a
Face.
Foil gauge R21, R22, R23 and R24 constitute the second favour stone full-bridge circuit b, foil gauge R21, R22, R23 and R24
For detecting the strain in X-direction, and Y direction torque M is obtained with thisy；Wherein, foil gauge R21 and R22 be symmetrical above and belowly
Corresponding to the upper and lower surface on the position of first level radial girders through hole 7 in the 3rd beam 3c；Foil gauge R23 and
R24 is symmetrical above and belowly corresponding to the upper surface on the position of first level radial girders through hole 7 and following table in the first beam 3a
Face.
Foil gauge R31, R32, R33 and R34 constitute the 3rd favour stone full-bridge circuit c, foil gauge R31, R32, R33 and R34
For detecting the strain in Y direction, and X-direction torque M is obtained with thisx；Wherein, foil gauge R31 and R32 be symmetrical above and belowly
Corresponding to the upper and lower surface on the position of first level radial girders through hole 7 in the second beam 3b；Foil gauge R33 and
R34 is symmetrical above and belowly corresponding to the upper surface on the through hole position of first level radial girders 7 and following table in the 4th beam 3d
Face.
In the present embodiment, for the version shown in Fig. 1, Fig. 2 and Fig. 3, zone center 2 is set to into ring body, at center
On platform 2, vertical zone center through hole 6 is provided with the position that zone center 2 is connected with each radial girders 3, so that stress concentration
In the both sides of vertical zone center through hole 6, the vertical zone center through hole 6 on zone center makes zone center be formed with radial girders connection end
Dies, can effectively improve the dynamic property of sensor construction；Vertical zone center through hole 6 corresponds to every radial girders
3 respectively have a pair, and a pair vertical offices of zone center through hole 6 are on the symmetrical position in both sides of the axis extended line of radial girders 3；
Press following formal distribution foil gauge in the surface of zone center 2：
Foil gauge R41, R41 ', R42, R42 ', R43, R43 ', R44 and R44 ' constitute the 4th favour stone full-bridge circuit d, should
Become piece R41, R41 ', R42, R42 ', R43, R43 ', R44 and R44 ' is used to detect the strain of Y direction, and obtains X-axis side with this
To power Fx；Wherein：Foil gauge R41, R41 ', the inner ring surface of the ring body of R43 and R43 ' centrally disposed 2, R42, R42 ',
The external annular surface of the ring body that R44 and R44 ' is centrally disposed 2；R41 and R42 are in corresponding to the 3rd beam 3c positions one
The both sides of vertical zone center through hole, the center of the vertical zone center through hole 6 of its positional deviation, near the 3rd beam 3c；R41 ' and R42 '
It is in the both sides corresponding to the vertical zone center through hole of the 3rd beam 3c positions another, the vertical zone center through hole 6 of positional deviation
Center, near the 3rd beam 3c；R43 and R44 are in two corresponding to the vertical zone center through hole in the first beam 3a positions one
Side, the center of the vertical zone center through hole 6 of positional deviation, near the first beam 3a, R43 ' and R44 ' is in corresponding to the first beam 3a institutes
The both sides of the vertical zone center through hole of another in position, the center of the vertical zone center through hole 6 of its positional deviation, near the first beam
3a。
Foil gauge R51, R51 ', R52, R52 ', R53, R53 ', R54 and R54 ' constitute the 5th favour stone full-bridge circuit e, should
Become piece R51, R51 ', R52, R52 ', R53, R53 ', R54 and R54 ' is used to detect that X-direction is strained, and obtains Y direction power with this
Fy；Wherein：Foil gauge R51, R51 ', the inner ring surface of the ring body of R53 and R53 ' centrally disposed 2, R52, R52 ', R54 and
The external annular surface of the ring body that R54 ' is centrally disposed 2；R51 and R52 are in vertical corresponding to the second beam 3b positions one
The both sides of zone center through hole, the center of the vertical zone center through hole 6 of positional deviation, near the second beam 3b, it is right that R51 ' and R52 ' is in
Should in the both sides of the vertical zone center through hole of the second beam 3b positions another, the center of the vertical zone center through hole 6 of positional deviation,
Near the second beam 3b；R53 and R54 are in the both sides corresponding to the vertical zone center through hole in the 4th beam 3d positions one, its position
The center for deviateing vertical zone center through hole 6 is put, near the 4th beam 3d；R53 ' and R54 ' are in corresponding to the 4th beam 3d positions
The both sides of the vertical zone center through hole of another, the center of the vertical zone center through hole 6 of its positional deviation, near the 4th beam 3d.
Foil gauge R61, R62, R63 and R64 constitute the 6th favour stone full-bridge circuit f, foil gauge R61, R62, R63 and R64
For detecting the strain of X-direction, and Z-direction torque M is obtained with thisz；Wherein, the symmetrical status of foil gauge R61 and R62
Corresponding to the left and right sides surface of the vertical position of radial girders single-pass hole 4 in the 3rd beam 3c；Foil gauge R63 and R64 or so
Left and right sides surface corresponding to the vertical position of radial girders single-pass hole 4 is symmetrically located in the first beam 3a；Foil gauge R61 and
The position of R64 is symmetrical with regard to the origin of coordinates.
Referring to Fig. 4 a, the version of the first favour stone full-bridge circuit a is in the present embodiment：R11 and R14 is alternate arm,
R12 and R13 is alternate arm, and R11 and R13 is the tie point of the tie point for input A1, R14 and R13 of opposing arms, R11 and R12
Tie point for input B1, R11 and R14 is output end D1 for the tie point of output end C1, R12 and R13, in input A1 and
Input voltage is accessed between B1, detection signal is exported between output end C1 and output end D1.
Referring to Fig. 4 b, the version of the second favour stone full-bridge circuit b is in the present embodiment：The mutual alternate arms of R21 and R23,
R22 and R24 is alternate arm, and R21 and R24 is the tie point of the tie point for input A2, R23 and R24 of opposing arms, R21 and R22
Tie point for input B2, R21 and R23 is output end D2 for the tie point of output end C2, R22 and R24, in input A2 and
Output voltage is accessed between B2, detection signal voltage tie point is exported between output end C2 and output end D2.
Referring to Fig. 4 c, the version of the 3rd favour stone full-bridge circuit c is in the present embodiment：The mutual alternate arms of R31 and R33,
R32 and R34 is alternate arm, and R31 and R34 is the tie point of the tie point for input A3, R33 and R34 of opposing arms, R31 and R32
Tie point for input B3, R31 and R33 is output end D3 for the tie point of output end C3, R32 and R34, in input A3 and
Output voltage is accessed between B3, detection signal voltage tie point is exported between output end C3 and output end D3.
Referring to Fig. 4 d, the version of the 4th favour stone full-bridge circuit d is in the present embodiment：R41 and R41 ' series connection is the
It is the second arm that one arm, R42 and R42 ' connect, and R43 and R43 ' series connection is the 3rd arm, and R44 and R44 ' connects as the 4th arm, the first arm
Tie point with the second arm is input B4, the first arm and the 3rd arm for the tie point of output terminals A 4, the 3rd arm and the 4th arm
Tie point is output end D4 for the tie point of output end C4, the second arm and the 4th arm, and input electricity is accessed between output terminals A 4 and B4
Pressure, exports detection signal between output end C4 and D4.
Referring to Fig. 4 e, the 5th favour stone full-bridge circuit e versions are in the present embodiment：R51 and R51 ' series connection is first
Arm, R52 and R52 ' series connection be the second arm, R53 and R53 ' series connection be the 3rd arm, R54 and R54 ' series connection be the 4th arm, the first arm with
The tie point of the second arm is the company of the tie point for input B5, the first arm and the 3rd arm of output terminals A 5, the 3rd arm and the 4th arm
Contact is output end D5 for the tie point of output end C5, the second arm and the 4th arm, and between output terminals A 5 and B5 input voltage is accessed,
Detection signal is exported between output end C5 and D5.
Referring to Fig. 4 f, the 6th favour stone full-bridge circuit f versions are in the present embodiment：The mutual alternate arms of R61 and R63, R62
It is alternate arm with R64, R61 and R64 is for the tie point of input A6, R63 and R64 for the tie point of opposing arms, R61 and R62
The tie point of input B6, R61 and R63 is output end D6 for the tie point of output end C6, R62 and R64, in input A6 and B6
Between access input voltage, between output end C6 and output end D6 export detection signal voltage tie point.
In being embodied as, except the version be given in the present embodiment, can also be by following shape on the surface of radial girders 3
Formula is distributed foil gauge：
Foil gauge R11, R12, R13 and R14 constitute the first favour stone full-bridge circuit a, foil gauge R11, R12, R13 and R14
For detecting the strain in X-direction, and Z-direction power F is obtained with thisz；Wherein, foil gauge R11 and R12 status symmetrical above and below
Corresponding to the upper and lower surface on the position of first level radial girders through hole 7 in the 3rd beam 3c；Foil gauge R13 and
R14 is symmetrical above and belowly corresponding to the upper surface on the position of first level radial girders through hole 7 and following table in the first beam 3a
Face.
Foil gauge R21, R22, R23 and R24 constitute the second favour stone full-bridge circuit b, foil gauge R21, R22, R23 and R24
For detecting the strain in X-direction；And Y direction torque M is obtained with thisy；Wherein, foil gauge R21 and R22 be symmetrical above and belowly
Corresponding to the upper and lower surface on the position of the second horizontal radial beam through hole 5 in the 3rd beam 3c；Foil gauge R23 and
R24 is symmetrical above and belowly corresponding to the upper surface on the position of the second horizontal radial beam through hole 5 and following table in the first beam 3a
Face.
Foil gauge R31, R32, R33 and R34 constitute the 3rd favour stone full-bridge circuit c, foil gauge R31, R32, R33 and R34
For detecting the strain in Y direction, and X-direction torque M is obtained with thisx；Wherein, foil gauge R31 and R32 be symmetrical above and belowly
Corresponding to the upper and lower surface on the position of the second horizontal radial beam through hole 5 in the second beam 3b；Foil gauge R33 and
R34 is symmetrical above and belowly corresponding to the upper surface on the position of the second horizontal radial beam through hole 5 and following table in the 4th beam 3d
Face.
The patch location of foil gauge and the connection of favour stone full-bridge circuit, can cause the six-dimension force sensor in structure
On realize full decoupled, when measuring one of power or torque, other power or torque are measured it and not affected.
Claims (9)
1. a kind of six-dimension force sensor, is characterized in that thering is circumferential support (1), zone center (2) and radial girders (3)；The radial direction
Beam (3) is evenly distributed on the periphery of zone center (2), one end of radial girders (3) and the " T " shape connection of lateral wall of zone center (2),
The other end of radial girders (3) supports the madial wall of (1) to be connected in T-shape with circumferential, beam is provided with the radial girders (3) and is led to
Hole, so that stress concentration is in the both sides of beam through hole.
2. six-dimension force sensor according to claim 1, is characterized in that：The radial girders (3) have four, four radial girders
(3) centered on the center of zone center (1), in the distribution of " ten " word.
3. six-dimension force sensor according to claim 2, is characterized in that：The zone center (2) and each radial girders (3) are in
Horizontality；Three-dimensional system of coordinate is set up as the origin of coordinates with the central point of zone center (1), in the three-dimensional system of coordinate, four
The first beam (3a) is in X-axis forward in radial girders, and the second beam (3b) is in Y-axis forward, and the 3rd beam (3c) is in X-axis negative sense
On, the 4th beam (3d) is on Y-axis negative sense；Z axis are to for vertically.
4. six-dimension force sensor according to claim 3, is characterized in that：There are a vertical through holes on the radial girders (3)
With two horizontal through hole, arrangement has two kinds；
Mode one：In each radial girders (3), it is in the one end away from the origin of coordinates and is provided with vertical radial girders single-pass hole (4)；Place
Being provided with first level radial girders through hole (7) near one end of the origin of coordinates, be in first level radial girders through hole (7) away from
The second horizontal radial beam through hole (5) is simultaneously shown in the side of the origin of coordinates, the first level radial girders through hole (7) and the second level
Radial girders through hole (5) is interconnected and is formed as horizontal doubled via；
Mode two：In each radial girders (3), it is on radial girders (3) centre position and is provided with vertical radial girders single-pass hole (4)；
It is in and one end of the origin of coordinates is provided with first level radial girders through hole (7), is in one end setting away from the origin of coordinates
There is the second horizontal radial beam through hole (5)；
First level radial girders through hole (7) is on the symmetrical position of " ten " word, in four radial girders in four radial girders
Second horizontal radial through hole (5) is also on the symmetrical position of " ten " word；Vertical radial girders single-pass hole (4) is also in four radial girders
It is in " ten " word symmetric position.
5. six-dimension force sensor according to claim 4, is characterized in that：Following shape is pressed on the surface of the radial girders (3)
Formula is distributed foil gauge：
Mode one：
Foil gauge R11, R12, R13 and R14 constitute the first favour stone full-bridge circuit (a), described foil gauge R11, R12, R13 and
R14 is used to detect the strain in X-direction, and obtains Z-direction power F with thisz；Wherein, foil gauge R11 and R12 are symmetrical above and below
Ground is located in the 3rd beam (3c) corresponding to the upper and lower surface on the second horizontal radial beam through hole (5) position；Strain
Piece R13 and R14 are located in the first beam (3a) corresponding to upper on the second horizontal radial beam through hole (5) position symmetrical above and belowly
Surface and lower surface；
Foil gauge R21, R22, R23 and R24 constitute the second favour stone full-bridge circuit (b), described foil gauge R21, R22, R23 and
R24 is used to detect the strain in X-direction, and obtains Y direction torque M with thisy；Wherein, foil gauge R21 and R22 are right up and down
Ground is claimed to be located in the 3rd beam (3c) corresponding to the upper and lower surface on first level radial girders through hole (7) position；Should
Become piece R23 and R24 to be located at symmetrical above and belowly in the first beam (3a) corresponding on first level radial girders through hole (7) position
Upper and lower surface；
Foil gauge R31, R32, R33 and R34 constitute the 3rd favour stone full-bridge circuit (c), described foil gauge R31, R32, R33 and
R34 is used to detect the strain in Y direction, and obtains X-direction torque M with thisx；Wherein, foil gauge R31 and R32 are right up and down
Ground is claimed to be located in the second beam (3b) corresponding to the upper and lower surface on first level radial girders through hole position；Foil gauge
R33 and R34 are located in the 4th beam (3d) corresponding to the upper surface on first level radial girders through hole position symmetrical above and belowly
And lower surface；
Mode two：
Foil gauge R11, R12, R13 and R14 constitute the first favour stone full-bridge circuit (a), described foil gauge R11, R12, R13 and
R14 is used to detect the strain in X-direction, and obtains Z-direction power F with thisz；Wherein, foil gauge R11 and R12 are symmetrical above and below
Ground is located in the 3rd beam (3c) corresponding to the upper and lower surface on first level radial girders through hole (7) position；Strain
Piece R13 and R14 are located in the first beam (3a) corresponding to upper on first level radial girders through hole (7) position symmetrical above and belowly
Surface and lower surface；
Foil gauge R21, R22, R23 and R24 constitute the second favour stone full-bridge circuit (b), described foil gauge R21, R22, R23 and
R24 is used to detect the strain in X-direction；And Y direction torque M is obtained with thisy；Wherein, foil gauge R21 and R22 are right up and down
Ground is claimed to be located in the 3rd beam (3c) corresponding to the upper and lower surface on the second horizontal radial beam through hole (5) position；Should
Become piece R23 and R24 to be located at symmetrical above and belowly in the first beam (3a) corresponding on the second horizontal radial beam through hole (5) position
Upper and lower surface；
Foil gauge R31, R32, R33 and R34 constitute the 3rd favour stone full-bridge circuit (c), described foil gauge R31, R32, R33 and
R34 is used to detect the strain in Y direction, and obtains X-direction torque M with thisx；Wherein, foil gauge R31 and R32 are right up and down
Ground is claimed to be located in the second beam (3b) corresponding to the upper and lower surface on the second horizontal radial beam through hole (5) position；Should
Become piece R33 and R34 to be located at symmetrical above and belowly in the 4th beam (3d) corresponding on the second horizontal radial beam through hole (5) position
Upper and lower surface.
6. six-dimension force sensor according to claim 3, is characterized in that：The zone center (2) is set to ring body, described
On zone center (2), vertical zone center through hole (6) is provided with the position that zone center (2) is connected with each radial girders (3),
So that stress concentration is in the both sides of vertical zone center through hole (6)；The vertical zone center through hole (6) is corresponding to every radial girders
(3) respectively have a pair, a pair vertical zone center through hole (6) offices are in the symmetrical position in both sides of radial girders (3) axis extended line
Put.
7. six-dimension force sensor according to claim 6, is characterized in that：Following shape is pressed on the surface of the zone center (2)
Formula is distributed foil gauge：
Foil gauge R41, R41 ', R42, R42 ', R43, R43 ', R44 and R44 ' constitute the 4th favour stone full-bridge circuit (d), it is described
Foil gauge R41, R41 ', R42, R42 ', R43, R43 ', R44 and R44 ' is used to detect the strain of Y direction, and obtains X-axis with this
Direction force Fx；Wherein：Foil gauge R41, R41 ', the inner ring surface of the ring body of R43 and R43 ' centrally disposed (2), R42,
The external annular surface of the ring body of R42 ', R44 and R44 ' centrally disposed (2)；R41 and R42 are in corresponding to the 3rd beam (3c) institute
In the both sides of the one vertical zone center through hole in position, the center of the vertical zone center through hole (6) of its positional deviation, near the 3rd beam
(3c)；R41 ' and R42 ' are in the both sides corresponding to the vertical zone center through hole of the 3rd beam (3c) position another, and position is inclined
From the center of vertical zone center through hole (6), near the 3rd beam (3c)；R43 and R44 are in corresponding to the first beam (3a) position
The both sides of one vertical zone center through hole, the center of the vertical zone center through hole (6) of positional deviation, near the first beam (3a), R43 '
And R44 ' is in the both sides corresponding to the vertical zone center through hole of the first beam (3a) position another, during its positional deviation is vertical
The center of heart platform through hole (6), near the first beam (3a)；
Foil gauge R51, R51 ', R52, R52 ', R53, R53 ', R54 and R54 ' constitute the 5th favour stone full-bridge circuit (e), it is described
Foil gauge R51, R51 ', R52, R52 ', R53, R53 ', R54 and R54 ' is used to detect that X-direction is strained, and obtains Y direction with this
Power Fy；Wherein：Foil gauge R51, R51 ', the inner ring surface of the ring body of R53 and R53 ' centrally disposed (2), R52, R52 ',
The external annular surface of the ring body of R54 and R54 ' centrally disposed (2)；R51 and R52 are in corresponding to the second beam (3b) position
The both sides of one vertical zone center through hole, the center of the vertical zone center through hole (6) of positional deviation, near the second beam (3b), R51 '
And R52 ' is in the both sides corresponding to the vertical zone center through hole of the second beam (3b) position another, the vertical center of positional deviation
The center of platform through hole (6), near the second beam (3b)；R53 and R54 be in corresponding to the 4th beam (3d) position one it is vertical in
The both sides of heart platform through hole, the center of the vertical zone center through hole (6) of its positional deviation, near the 4th beam (3d)；R53 ' and R54 ' places
In the both sides corresponding to the vertical zone center through hole of the 4th beam (3d) position another, the vertical zone center through hole of its positional deviation
(6) center, near the 4th beam (3d).
Foil gauge R61, R62, R63 and R64 constitute the 6th favour stone full-bridge circuit (f), described foil gauge R61, R62, R63 and
R64 is used to detect the strain of X-direction, and obtains Z-direction torque M with thisz；Wherein, foil gauge R61 and R62 are symmetrical
Ground is located in the 3rd beam (3c) corresponding to the left and right sides surface of vertical radial girders single-pass hole (4) position；Foil gauge R63 and
R64 is symmetrically located in the first beam (3a) corresponding to the left and right sides surface of vertical radial girders single-pass hole (4) position；
The position of foil gauge R61 and R64 is symmetrical with regard to the origin of coordinates.
8. six-dimension force sensor according to claim 5, is characterized in that：
In first favour stone full-bridge circuit (a)：R11 and R14 is alternate arm, and R12 and R13 is alternate arm, R11 and R13
For opposing arms, R11 and R12 tie point for input A1, R14 and R13 tie point for input B1, R11 and R14 connection
Point is output end D1 for the tie point of output end C1, R12 and R13, input voltage is accessed between input A1 and B1, in output end
Detection signal is exported between C1 and output end D1.
In second favour stone full-bridge circuit (b)：The mutual alternate arms of R21 and R23, R22 and R24 is alternate arm, R21 and R24
For opposing arms, R21 and R22 tie point for input A2, R23 and R24 tie point for input B2, R21 and R23 connection
Point is output end D2 for the tie point of output end C2, R22 and R24, output voltage is accessed between input A2 and B2, in output end
Detection signal voltage tie point is exported between C2 and output end D2.
In the 3rd favour stone full-bridge circuit (c)：The mutual alternate arms of R31 and R33, R32 and R34 is alternate arm, R31 and R34
For opposing arms, R31 and R32 tie point for input A3, R33 and R34 tie point for input B3, R31 and R33 connection
Point is output end D3 for the tie point of output end C3, R32 and R34, output voltage is accessed between input A3 and B3, in output end
Detection signal voltage tie point is exported between C3 and output end D3.
9. six-dimension force sensor according to claim 7, is characterized in that：
In the 4th favour stone full-bridge circuit (d)：R41 and R41 ' series connection is the first arm, and R42 and R42 ' series connection is second
Arm, R43 and R43 ' series connection is the 3rd arm, and R44 and R44 ' series connection is output end for the tie point of the 4th arm, the first arm and the second arm
The tie point of A4, the 3rd arm and the 4th arm for input B4, the first arm and the 3rd arm tie point be output end C4, the second arm and
The tie point of the 4th arm is output end D4, and between output terminals A 4 and B4 input voltage is accessed, the output inspection between output end C4 and D4
Survey signal.
In the 5th favour stone full-bridge circuit (e)：R51 and R51 ' series connection is the first arm, and R52 and R52 ' series connection is second
Arm, R53 and R53 ' series connection is the 3rd arm, and R54 and R54 ' series connection is output end for the tie point of the 4th arm, the first arm and the second arm
The tie point of A5, the 3rd arm and the 4th arm for input B5, the first arm and the 3rd arm tie point be output end C5, the second arm and
The tie point of the 4th arm is output end D5, and between output terminals A 5 and B5 input voltage is accessed, the output inspection between output end C5 and D5
Survey signal.
In the 6th favour stone full-bridge circuit (f)：The mutual alternate arms of R61 and R63, R62 and R64 is alternate arm, R61 and R64
For opposing arms, R61 and R62 tie point for input A6, R63 and R64 tie point for input B6, R61 and R63 connection
Point is output end D6 for the tie point of output end C6, R62 and R64, input voltage is accessed between input A6 and B6, in output end
Detection signal voltage tie point is exported between C6 and output end D6.
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| CN109238531A (en) * | 2018-11-16 | 2019-01-18 | 合肥工业大学 | A kind of dicyclic six-dimension force sensor |
| CN109238530A (en) * | 2018-11-16 | 2019-01-18 | 合肥工业大学 | A kind of pieces of cloth measurement method of six-dimension force sensor |
| CN109238527A (en) * | 2018-11-16 | 2019-01-18 | 合肥工业大学 | A kind of cross beam type elastomer for six-dimensional force sensor |
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| CN111966120A (en) * | 2020-07-28 | 2020-11-20 | 西安类脑感知科技发展有限公司 | Robot foot-end multi-dimensional information acquisition system |
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| CN113167669A (en) * | 2019-01-28 | 2021-07-23 | 日本电产科宝电子株式会社 | Elastic body and force sensor using same |
| CN115290232A (en) * | 2022-06-20 | 2022-11-04 | 无锡盛赛传感科技有限公司 | Annular microminiature force-sensitive ceramic tension sensor |
| CN115414572A (en) * | 2022-10-09 | 2022-12-02 | 深圳市爱博医疗机器人有限公司 | Manual feedback device for guide wire and interventional operation machine |
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| CN108444632A (en) * | 2018-02-08 | 2018-08-24 | 上海交通大学 | Parallel-connection structure 6 DOF force measuring sensors based on SPS branches |
| CN109238528A (en) * | 2018-11-16 | 2019-01-18 | 合肥工业大学 | A kind of six-dimension force sensor |
| CN109238531A (en) * | 2018-11-16 | 2019-01-18 | 合肥工业大学 | A kind of dicyclic six-dimension force sensor |
| CN109238530A (en) * | 2018-11-16 | 2019-01-18 | 合肥工业大学 | A kind of pieces of cloth measurement method of six-dimension force sensor |
| CN109238527A (en) * | 2018-11-16 | 2019-01-18 | 合肥工业大学 | A kind of cross beam type elastomer for six-dimensional force sensor |
| CN109238530B (en) * | 2018-11-16 | 2023-09-29 | 合肥工业大学 | Cloth piece measuring method of six-dimensional force sensor |
| CN109238531B (en) * | 2018-11-16 | 2023-09-26 | 合肥工业大学 | Double-ring six-dimensional force sensor |
| CN109238528B (en) * | 2018-11-16 | 2023-09-12 | 合肥工业大学 | Six-dimensional force sensor |
| CN113167669A (en) * | 2019-01-28 | 2021-07-23 | 日本电产科宝电子株式会社 | Elastic body and force sensor using same |
| CN109974919A (en) * | 2019-04-29 | 2019-07-05 | 重庆鲁班机器人技术研究院有限公司 | A kind of new six Force sensor |
| US11650117B2 (en) | 2020-02-25 | 2023-05-16 | Southeast University | Six-dimensional force sensor with high sensitivity and low inter-dimensional coupling |
| CN111966120A (en) * | 2020-07-28 | 2020-11-20 | 西安类脑感知科技发展有限公司 | Robot foot-end multi-dimensional information acquisition system |
| CN112014008A (en) * | 2020-07-28 | 2020-12-01 | 北京电子工程总体研究所 | Three-dimensional force sensor and force measurement system |
| CN115290232A (en) * | 2022-06-20 | 2022-11-04 | 无锡盛赛传感科技有限公司 | Annular microminiature force-sensitive ceramic tension sensor |
| CN115414572A (en) * | 2022-10-09 | 2022-12-02 | 深圳市爱博医疗机器人有限公司 | Manual feedback device for guide wire and interventional operation machine |
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