CN106644233B - Six-dimensional force sensor - Google Patents
Six-dimensional force sensor Download PDFInfo
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- CN106644233B CN106644233B CN201710051809.0A CN201710051809A CN106644233B CN 106644233 B CN106644233 B CN 106644233B CN 201710051809 A CN201710051809 A CN 201710051809A CN 106644233 B CN106644233 B CN 106644233B
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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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Abstract
The invention discloses a six-dimensional force sensor which is characterized by comprising a circumferential support, a central platform and a radial beam, wherein the circumferential support is arranged on the central platform; the radial direction Liang Junyun is distributed on the periphery of the central platform, one end of the radial beam is connected with the outer side wall of the central platform in a T shape, the other end of the radial beam is connected with the inner side wall of the circumferential support in a T shape, and Liang Tongkong is arranged on the radial beam, so that stress is concentrated on two sides of Liang Tongkong. The six-dimensional force sensor is used for realizing structural decoupling of the six-dimensional force sensor, can improve the sensitivity of the sensor and ensures the rigidity of the sensor.
Description
Technical Field
The invention belongs to the technical field of sensors, and particularly relates to a sensor capable of measuring spatial six-dimensional force.
Background
The multidimensional force sensor is an important information source for the robot to obtain the acting force with the environment. At present, there are many researches on multi-dimensional force sensors, such as a Waston multi-dimensional force sensor developed by DraPer institute of america, a SAFMS type multi-dimensional force sensor developed by combined institute of fertilizer and fertilizer of the chinese academy of sciences and the southeast university, a multi-dimensional force sensor based on a Stewart platform, a HUST FS6 type multi-dimensional force sensor developed by professor han of huang, a two-stage parallel connection configuration six-dimensional force sensor designed by dr. A large amount of research is carried out on the multi-dimensional force sensor at home and abroad, the designed multi-dimensional force sensor is various and has different advantages and disadvantages and application occasions, but the problems of decoupling, contradiction between rigidity and sensitivity and the like of the multi-dimensional force sensor need to be further researched.
Disclosure of Invention
The invention provides a six-dimensional force sensor with a new structural form for avoiding the defects of the prior art, which is used for realizing the structural decoupling of the six-dimensional force sensor and ensuring the rigidity of the sensor while improving the sensitivity of the sensor.
The invention adopts the following technical scheme for solving the technical problems:
the six-dimensional force sensor has the structural characteristics that: having a circumferential support, a center table and a radial beam; the radial beams Liang Junyun are distributed on the periphery of the central platform, one end of each radial beam is connected with the outer side wall of the central platform in a T shape, the other end of each radial beam is connected with the inner side wall of the circumferential support in a T shape, and Liang Tongkong is arranged on each radial beam to enable stress to be concentrated on two sides of Liang Tongkong.
The six-dimensional force sensor of the invention is also characterized in that: the four radial beams are distributed in a cross shape by taking the center of the central platform as the center.
The six-dimensional force sensor of the invention is also characterized in that: the central platform and each radial beam are in a horizontal state; establishing a three-dimensional coordinate system by taking a central point of a central platform as a coordinate origin, wherein in the three-dimensional coordinate system, one beam of four radial beams Liang Zhongdi is positioned in the positive direction of an X axis, the second beam is positioned in the positive direction of a Y axis, the third beam is positioned in the negative direction of the X axis, and the fourth beam is positioned in the negative direction of the Y axis; the Z-axis is vertical.
The six-dimensional force sensor of the invention is also characterized in that: the radial beam is provided with a vertical through hole and two horizontal through holes, and the arrangement modes are two;
the first method is as follows: a vertical radial Liang Shan through hole is formed in one end, far away from the origin of coordinates, of each radial beam; a first horizontal radial direction Liang Tongkong is arranged at one end close to the coordinate origin, a second horizontal radial direction Liang Tongkong is arranged on one side of the first horizontal radial direction Liang Tongkong far away from the coordinate origin in parallel, and the first horizontal radial direction Liang Tongkong and the second horizontal radial direction Liang Tongkong are communicated with each other to form a horizontal double-through hole;
the second method comprises the following steps: vertical radial Liang Shan through holes are arranged in the middle of each radial beam; a first horizontal radial direction Liang Tongkong is arranged at one end close to the coordinate origin, and a second horizontal radial direction Liang Tongkong is arranged at one end far away from the coordinate origin;
the first horizontal radial direction Liang Tongkong on the four radial beams are positioned at the symmetrical position of the shape of the Chinese character 'ten', and the second horizontal radial through holes on the four radial beams are also positioned at the symmetrical position of the shape of the Chinese character 'ten'; the vertical radial Liang Shan through holes on the four radial beams are also positioned at the cross-shaped symmetrical positions.
The six-dimensional force sensor of the invention is also characterized in that: and strain gauges are distributed on the surface of the radial beam in the following form:
the method I comprises the following steps:
the strain gauges R11, R12, R13 and R14 constitute a first Wheatstone full-bridge circuit, and the strain gauges R11, R12, R13 and R14 are used for detecting strain in the X-axis direction and obtaining a force F in the Z-axis direction z (ii) a The strain gauges R11 and R12 are vertically and symmetrically positioned on the upper surface and the lower surface of the third beam corresponding to the position of the second horizontal radial direction Liang Tongkong; the strain gauges R13 and R14 are vertically and symmetrically positioned on the upper surface and the lower surface of the first beam corresponding to the position of the second horizontal radial direction Liang Tongkong;
the strain gauges R21, R22, R23 and R24 constitute a second Wheatstone full bridge circuit, and the strain gauges R21, R22, R23 and R24 are used for detecting the strain in the X-axis direction and obtaining the moment M in the Y-axis direction y (ii) a The strain gauges R21 and R22 are vertically and symmetrically positioned on the upper surface and the lower surface of the third beam corresponding to the position of the first horizontal radial direction Liang Tongkong; the strain gauges R23 and R24 are symmetrically positioned on the upper surface and the lower surface of the first beam corresponding to the position of the first horizontal radial direction Liang Tongkong;
the strain gauges R31, R32, R33 and R34 constitute a third Wheatstone full-bridge circuit, and the strain gauges R31, R32, R33 and R34 are used for detecting strain in the Y-axis direction and obtaining a moment M in the X-axis direction x (ii) a The strain gauges R31 and R32 are vertically and symmetrically positioned on the upper surface and the lower surface of the second beam corresponding to the position of the first horizontal radial direction Liang Tongkong; the strain gauges R33 and R34 are vertically and symmetrically arranged on the upper surface and the lower surface of the fourth beam corresponding to the position of the first horizontal radial direction Liang Tongkong;
the second method comprises the following steps:
the strain gauges R11, R12, R13 and R14 constitute a first Wheatstone full bridge circuit, and the strain gauges R11, R12, R13 and R14 are used for detecting strain in the X-axis direction and obtaining a force F in the Z-axis direction according to the strain z (ii) a Wherein, the strain gauges R11 and R12 are positioned in the third beam in an up-and-down symmetrical manner and correspond to the first horizontal radial beam channelAn upper surface and a lower surface where the hole is located; the strain gauges R13 and R14 are vertically and symmetrically arranged on the upper surface and the lower surface of the first beam corresponding to the position of the first horizontal radial direction Liang Tongkong;
the strain gauges R21, R22, R23, and R24 constitute a second wheatstone full bridge circuit, and the strain gauges R21, R22, R23, and R24 are used to detect strain in the X-axis direction; and thereby obtaining a Y-axis direction moment M y (ii) a The strain gauges R21 and R22 are vertically and symmetrically positioned on the upper surface and the lower surface of the third beam corresponding to the position of the second horizontal radial direction Liang Tongkong; the strain gauges R23 and R24 are symmetrically positioned on the upper surface and the lower surface of the first beam corresponding to the position of the second horizontal radial direction Liang Tongkong;
the strain gauges R31, R32, R33 and R34 constitute a third Wheatstone full-bridge circuit, and the strain gauges R31, R32, R33 and R34 are used for detecting strain in the Y-axis direction and obtaining a moment M in the X-axis direction x (ii) a The strain gauges R31 and R32 are vertically and symmetrically positioned on the upper surface and the lower surface of the second beam corresponding to the position of the second horizontal radial direction Liang Tongkong; the strain gauges R33 and R34 are located on the upper and lower surfaces of the fourth beam in the positions corresponding to the second horizontal radial direction Liang Tongkong, vertically symmetrically.
The six-dimensional force sensor of the invention is also characterized in that: the center platform is arranged as a ring body, and a vertical center platform through hole is formed in the position, close to the center platform, connected with each radial beam, on the center platform, so that stress is concentrated on two sides of the vertical center platform through hole; the vertical center platform through holes are respectively provided with a pair corresponding to each radial beam, and the pair of vertical center platform through holes are respectively positioned at the left and right symmetrical positions at two sides of the axial line extension line of the radial beam.
The six-dimensional force sensor of the invention is also characterized in that: distributing strain gauges on the surface of the central platform in the following form:
the strain gages R41, R41', R42', R43', R44 and R44' form a fourth Wheatstone full-bridge circuit, the strain gauges R41, R41', R42', R43', R44 and R44' are used for detecting strain in the Y-axis direction and obtaining force F in the X-axis direction x (ii) a Wherein: should be takenThe transformers R41, R41', R43 and R43' are arranged on the inner ring surface of the ring body of the center platform, and R42, R42', R44 and R44' are arranged on the outer ring surface of the ring body of the center platform (2); r41 and R42 are positioned at two sides of a through hole of the vertical central platform corresponding to the position of the third beam, and the positions of the through holes deviate from the center of the through hole of the vertical central platform and are close to the third beam; r41 'and R42' are positioned at two sides of the through hole of the other vertical central platform corresponding to the position of the third beam, and the positions deviate from the center of the through hole of the vertical central platform and are close to the third beam; r43 and R44 are positioned at two sides of one vertical center platform through hole corresponding to the position of the first beam, the position of the R43 and R44' deviates from the center of the vertical center platform through hole and is close to the first beam, and the position of the R43' and R44' is positioned at two sides of the other vertical center platform through hole corresponding to the position of the first beam, the position of the R43' and R44' deviates from the center of the vertical center platform through hole and is close to the first beam;
the strain gauges R51, R51', R52', R53', R54 and R54' form a fifth Wheatstone full-bridge circuit, and the strain gauges R51, R51', R52', R53', R54 and R54' are used for detecting strain in the X-axis direction and obtaining force F in the Y-axis direction according to the strain y (ii) a Wherein: the strain gauges R51, R51', R53 and R53' are arranged on the inner ring surface of the ring body of the center platform, and R52, R52', R54 and R54' are arranged on the outer ring surface of the ring body of the center platform; r51 and R52 are positioned at two sides of one vertical center platform through hole corresponding to the position of the second beam, are positioned off the center of the vertical center platform through hole and are close to the second beam, R51 'and R52' are positioned at two sides of the other vertical center platform through hole corresponding to the position of the second beam, are positioned off the center of the vertical center platform through hole and are close to the second beam; r53 and R54 are positioned at two sides of a through hole of the vertical central platform corresponding to the position of the fourth beam, and the positions of the through holes deviate from the center of the through hole of the vertical central platform and are close to the fourth beam; r53 'and R54' are positioned at two sides of the other through hole of the vertical central platform corresponding to the position of the fourth beam, and the position of the through hole of the vertical central platform deviates from the center of the through hole of the vertical central platform and is close to the fourth beam.
The strain gauges R61, R62, R63 and R64 constitute a sixth Wheatstone full-bridge circuit, and the strain gauges R61, R62, R63 and R64 are used for detecting the strain in the X-axis direction and obtaining the Z-axis direction moment M z (ii) a Wherein the content of the first and second substances,the strain gauges R61 and R62 are symmetrically positioned on the left side surface and the right side surface of the third beam corresponding to the position of the vertical radial Liang Shantong hole; the strain gauges R63 and R64 are symmetrically positioned on the left side surface and the right side surface of the first beam corresponding to the position of the vertical radial Liang Shantong hole; the positions of the strain gauges R61 and R64 are symmetrical with respect to the origin of coordinates.
The six-dimensional force sensor of the invention is also characterized in that:
in the first Wheatstone full-bridge circuit: r11 and R14 are adjacent arms, R12 and R13 are adjacent arms, R11 and R13 are opposite arms, the connection point of R11 and R12 is an input end A1, the connection point of R14 and R13 is an input end B1, the connection point of R11 and R14 is an output end C1, the connection point of R12 and R13 is an output end D1, an input voltage is inputted between the input ends A1 and B1, and a detection signal is outputted between the output end C1 and the output end D1.
In the second Wheatstone full-bridge circuit: r21 and R23 are adjacent arms, R22 and R24 are adjacent arms, R21 and R24 are opposite arms, the connection point of R21 and R22 is an input end A2, the connection point of R23 and R24 is an input end B2, the connection point of R21 and R23 is an output end C2, the connection point of R22 and R24 is an output end D2, an output voltage is input between the input ends A2 and B2, and a detection signal voltage connection point is output between the output end C2 and the output end D2.
In the third Wheatstone full-bridge circuit: r31 and R33 are adjacent arms, R32 and R34 are adjacent arms, R31 and R34 are opposite arms, the connection point of R31 and R32 is an input end A3, the connection point of R33 and R34 is an input end B3, the connection point of R31 and R33 is an output end C3, the connection point of R32 and R34 is an output end D3, an output voltage is input between the input ends A3 and B3, and a detection signal voltage connection point is output between the output end C3 and the output end D3.
The six-dimensional force sensor of the invention is also characterized in that:
in the fourth Wheatstone full-bridge circuit: r41 and R41 'are connected in series to form a first arm, R42 and R42' are connected in series to form a second arm, R43 and R43 'are connected in series to form a third arm, R44 and R44' are connected in series to form a fourth arm, the connection point of the first arm and the second arm is an output end A4, the connection point of the third arm and the fourth arm is an input end B4, the connection point of the first arm and the third arm is an output end C4, the connection point of the second arm and the fourth arm is an output end D4, input voltage is connected between the output ends A4 and B4, and a detection signal is output between the output ends C4 and D4.
In the fifth Wheatstone full-bridge circuit: r51 and R51 'are connected in series to form a first arm, R52 and R52' are connected in series to form a second arm, R53 and R53 'are connected in series to form a third arm, R54 and R54' are connected in series to form a fourth arm, the connection point of the first arm and the second arm is an output end A5, the connection point of the third arm and the fourth arm is an input end B5, the connection point of the first arm and the third arm is an output end C5, the connection point of the second arm and the fourth arm is an output end D5, input voltage is connected between the output ends A5 and B5, and a detection signal is output between the output ends C5 and D5.
In the sixth Wheatstone full-bridge circuit: r61 and R63 are adjacent arms, R62 and R64 are adjacent arms, R61 and R64 are opposite arms, the connection point of R61 and R62 is an input end A6, the connection point of R63 and R64 is an input end B6, the connection point of R61 and R63 is an output end C6, the connection point of R62 and R64 is an output end D6, an input voltage is inputted between the input ends A6 and B6, and a detection signal voltage connection point is outputted between the output end C6 and the output end D6.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention realizes structural decoupling. Aiming at the structural form of the elastic body, resistance strain gauges can be pasted on different positions of the radial beam and the circumferential beam, six-dimensional force measurement is realized by applying a Wheatstone full-bridge circuit according to the force sensor principle, and mutual interference of force among dimensions can be effectively avoided.
2. The invention can obtain higher detection sensitivity, and the through holes arranged on the radial beams and the circumferential beams can concentrate the strain in the detected area.
3. The center platform adopts an I-shaped structure, so that the dynamic performance of the sensor structure is effectively improved.
4. The elastomer can be integrally processed, the repeatability error is reduced, and the elastomer is simple in structure and easy to process.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the distribution of the radial beams and strain gauges on the upper surface of the center table in the present invention;
FIG. 3 is a schematic view of the distribution of the radial beams and the strain gauges on the lower surface of the center table according to the present invention;
FIG. 4a is a schematic diagram of a first Wheatstone full-bridge circuit a according to the present invention;
FIG. 4b is a schematic diagram of a second Wheatstone full-bridge circuit b according to the present invention;
FIG. 4c is a schematic diagram of a third Wheatstone full-bridge circuit c according to the present invention;
FIG. 4d is a schematic diagram of a fourth Wheatstone full-bridge circuit d according to the present invention;
FIG. 4e is a schematic diagram of a fifth Wheatstone full-bridge circuit e according to the present invention;
FIG. 4f is a schematic diagram of a sixth Wheatstone full-bridge circuit f according to the present invention;
reference numbers in the figures: 1 circumferential support, 2 central platforms, 3 radial beams, 3a first beam, 3b second beam, 3c third beam, 3d fourth beam, 4 vertical radial Liang Shan through hole, 5 second horizontal radial Liang Tongkong, 6 vertical central platform through hole, 7 first horizontal radial Liang Tongkong.
Detailed Description
Referring to fig. 1, 2 and 3, the six-dimensional force sensor in the present embodiment has a circumferential support 1, a center stage 2 and radial beams 3;
the radial beams 3 are uniformly distributed on the periphery of the central platform 2, one end of each radial beam 3 is connected with the outer side wall of the central platform 2 in a T shape, the other end of each radial beam 3 is connected with the inner side wall of the circumferential support 1 in a T shape, and Liang Tongkong are arranged on the radial beams 3 so as to enable stress to be concentrated on two sides of Liang Tongkong.
The number of the radial beams 3 shown in fig. 1 is four, and the four radial beams 3 are distributed in a cross shape by taking the center of the central platform 1 as the center; the central platform 2 and each radial beam 3 are in a horizontal state; establishing a three-dimensional coordinate system by taking the central point of the central platform 1 as a coordinate origin, wherein in the three-dimensional coordinate system, one beam 3a of four radial beams Liang Zhongdi is positioned in the positive direction of an X axis, a second beam 3b is positioned in the positive direction of a Y axis, a third beam 3c is positioned in the negative direction of the X axis, and a fourth beam 3d is positioned in the negative direction of the Y axis; the Z-axis is vertical.
In the embodiment, the radial beams 3 are provided with a vertical through hole and two horizontal through holes, and in the structure shown in fig. 1, a vertical radial Liang Shantong hole 4 is arranged at one end, far away from the origin of coordinates, of each radial beam 3; a first horizontal radial direction Liang Tongkong is arranged at one end close to the coordinate origin, a second horizontal radial direction Liang Tongkong is arranged in parallel on one side of the first horizontal radial direction Liang Tongkong away from the coordinate origin, and the first horizontal radial direction Liang Tongkong and the second horizontal radial direction Liang Tongkong are communicated with each other to form a horizontal double-through hole. Besides, one vertical through hole and two horizontal through holes on the radial beam 3 may also be provided as: vertical radial Liang Shantong holes 4 are formed in the middle of each radial beam 3 and located in the middle of the radial beam 3; a first horizontal radial direction Liang Tongkong is disposed at an end near the origin of coordinates and a second horizontal radial direction Liang Tongkong is disposed at an end far from the origin of coordinates.
The first horizontal radial beam through holes 7 on the four radial beams are positioned at the cross-shaped symmetrical positions, and the second horizontal radial through holes 5 on the four radial beams are also positioned at the cross-shaped symmetrical positions; the vertical radial Liang Shan through holes 4 on the four radial beams are also positioned at the cross-shaped symmetrical positions.
In the present embodiment, as shown in fig. 2 and 3, the strain gauges are distributed on the surface of the radial beam 3 as follows:
the strain gauges R11, R12, R13 and R14 form a first Wheatstone full bridge circuit a, and the strain gauges R11, R12, R13 and R14 are used for detecting strain in the X-axis direction and obtaining a force F in the Z-axis direction according to the strain z (ii) a The strain gauges R11 and R12 are vertically and symmetrically positioned on the upper surface and the lower surface of the third beam 3c corresponding to the position of the second horizontal radial direction Liang Tongkong; the strain gauges R13 and R14 are located on the upper and lower surfaces of the first beam 3a at positions corresponding to the second horizontal radial direction Liang Tongkong in an up-down symmetry manner.
The strain gauges R21, R22, R23 and R24 form a second Wheatstone full bridge circuit b, and the strain gauges R21, R22, R23 and R24 are used for detecting strain in the X-axis direction and obtaining a moment M in the Y-axis direction y (ii) a The strain gauges R21 and R22 are vertically and symmetrically positioned on the upper surface and the lower surface of the third beam 3c corresponding to the position of the first horizontal radial direction Liang Tongkong; the strain gauges R23 and R24 are positioned at the second place in an up-and-down symmetrical mannerAn upper surface and a lower surface of one beam 3a corresponding to the position of the first horizontal radial direction Liang Tongkong.
The strain gauges R31, R32, R33 and R34 form a third Wheatstone full-bridge circuit c, and the strain gauges R31, R32, R33 and R34 are used for detecting strain in the Y-axis direction and obtaining a moment M in the X-axis direction x (ii) a The strain gauges R31 and R32 are vertically and symmetrically positioned on the upper surface and the lower surface of the second beam 3b corresponding to the position of the first horizontal radial direction Liang Tongkong; the strain gauges R33 and R34 are located on the upper and lower surfaces of the fourth beam 3d at positions corresponding to the through holes of the first horizontal radial beam 7, symmetrically up and down.
In this embodiment, for the structural forms shown in fig. 1, 2, and 3, the central platform 2 is configured as a ring, a vertical central platform through hole 6 is provided on the central platform 2 at a position close to the central platform 2 and connected to each radial beam 3, so that stress is concentrated on two sides of the vertical central platform through hole 6, and the vertical central platform through hole 6 on the central platform enables the connection end of the central platform and the radial beam to form an i-shaped structure, which can effectively improve the dynamic performance of the sensor structure; the vertical center platform through holes 6 correspond to each radial beam 3 and are respectively provided with a pair, and the pair of vertical center platform through holes 6 are respectively positioned at the left and right symmetrical positions at the two sides of the axial extension line of the radial beam 3; the strain gauges are distributed on the surface of the center table 2 in the following form:
the strain gauges R41, R41', R42', R43', R44 and R44' form a fourth Wheatstone full-bridge circuit d, and the strain gauges R41, R41', R42', R43', R44 and R44' are used for detecting strain in the Y-axis direction and obtaining force F in the X-axis direction x (ii) a Wherein: the strain gauges R41, R41', R43 and R43' are provided on the inner ring surface of the ring body of the center stage 2, and R42, R42', R44 and R44' are provided on the outer ring surface of the ring body of the center stage 2; r41 and R42 are positioned at two sides of a through hole of a vertical central platform corresponding to the position of the third beam 3c, and the positions of the through holes deviate from the center of the through hole 6 of the vertical central platform and are close to the third beam 3c; r41 'and R42' are positioned at two sides of the other through hole of the vertical central platform corresponding to the position of the third beam 3c, and the positions deviate from the center of the through hole 6 of the vertical central platform and are close to the third beam 3c; r43 and R44 are in positions corresponding to the positions of the first beams 3aThe two sides of one vertical center block through hole are offset from the center of the vertical center block through hole 6, near the first beam 3a, on the two sides of the other vertical center block through hole corresponding to the position of the first beam 3a, at positions offset from the center of the vertical center block through hole 6, near the first beam 3a.
The strain gauges R51, R51', R52', R53', R54 and R54' form a fifth Wheatstone full-bridge circuit e, and the strain gauges R51, R51', R52', R53', R54 and R54' are used for detecting strain in the X-axis direction and obtaining force F in the Y-axis direction y (ii) a Wherein: the strain gauges R51, R51', R53 and R53' are arranged on the inner ring surface of the ring body of the center platform 2, and R52, R52', R54 and R54' are arranged on the outer ring surface of the ring body of the center platform 2; r51 and R52 are positioned at two sides of one vertical center platform through hole corresponding to the position of the second beam 3b, the position of the R51 and R52 is deviated from the center of the vertical center platform through hole 6, the R51' and R52' are positioned at two sides of the other vertical center platform through hole corresponding to the position of the second beam 3b, the position of the R51 and R52' is deviated from the center of the vertical center platform through hole 6 and is close to the second beam 3b; r53 and R54 are positioned at two sides of a through hole of a vertical central platform corresponding to the position of the fourth beam 3d, and the positions of the through holes deviate from the center of the through hole 6 of the vertical central platform and are close to the fourth beam 3d; r53 'and R54' are located on either side of the other vertical central platform through hole corresponding to the position of the fourth beam 3d, offset from the center of the vertical central platform through hole 6, close to the fourth beam 3d.
The strain gauges R61, R62, R63 and R64 form a sixth Wheatstone full-bridge circuit f, and the strain gauges R61, R62, R63 and R64 are used for detecting the strain in the X-axis direction and obtaining the Z-axis direction moment M z (ii) a The strain gauges R61 and R62 are symmetrically positioned on the left side surface and the right side surface of the third beam 3c corresponding to the position of the vertical radial Liang Shantong hole 4; the strain gauges R63 and R64 are symmetrically positioned on the left side surface and the right side surface of the first beam 3a corresponding to the position of the vertical radial Liang Shantong hole 4; the positions of the strain gauges R61 and R64 are symmetrical with respect to the origin of coordinates.
Referring to fig. 4a, the first wheatstone full bridge circuit a in this embodiment has the following structural form: r11 and R14 are adjacent arms, R12 and R13 are adjacent arms, R11 and R13 are opposite arms, the connection point of R11 and R12 is an input end A1, the connection point of R14 and R13 is an input end B1, the connection point of R11 and R14 is an output end C1, the connection point of R12 and R13 is an output end D1, an input voltage is inputted between the input ends A1 and B1, and a detection signal is outputted between the output end C1 and the output end D1.
Referring to fig. 4b, the second wheatstone full bridge circuit b in the present embodiment is in the form of: r21 and R23 are adjacent arms, R22 and R24 are adjacent arms, R21 and R24 are opposite arms, the connection point of R21 and R22 is an input end A2, the connection point of R23 and R24 is an input end B2, the connection point of R21 and R23 is an output end C2, the connection point of R22 and R24 is an output end D2, an output voltage is input between the input ends A2 and B2, and a detection signal voltage connection point is output between the output end C2 and the output end D2.
Referring to fig. 4c, the third wheatstone full-bridge circuit c in this embodiment has the following structural form: r31 and R33 are adjacent arms, R32 and R34 are adjacent arms, R31 and R34 are opposite arms, the connection point of R31 and R32 is an input end A3, the connection point of R33 and R34 is an input end B3, the connection point of R31 and R33 is an output end C3, the connection point of R32 and R34 is an output end D3, an output voltage is input between the input ends A3 and B3, and a detection signal voltage connection point is output between the output end C3 and the output end D3.
Referring to fig. 4d, the fourth wheatstone full-bridge circuit d in the present embodiment has the following structural form: r41 and R41 'are connected in series to form a first arm, R42 and R42' are connected in series to form a second arm, R43 and R43 'are connected in series to form a third arm, R44 and R44' are connected in series to form a fourth arm, the connection point of the first arm and the second arm is an output end A4, the connection point of the third arm and the fourth arm is an input end B4, the connection point of the first arm and the third arm is an output end C4, the connection point of the second arm and the fourth arm is an output end D4, input voltage is connected between the output ends A4 and B4, and a detection signal is output between the output ends C4 and D4.
Referring to fig. 4e, the fifth wheatstone full-bridge circuit e in this embodiment has the following structural form: r51 and R51 'are connected in series to form a first arm, R52 and R52' are connected in series to form a second arm, R53 and R53 'are connected in series to form a third arm, R54 and R54' are connected in series to form a fourth arm, the connection point of the first arm and the second arm is an output end A5, the connection point of the third arm and the fourth arm is an input end B5, the connection point of the first arm and the third arm is an output end C5, the connection point of the second arm and the fourth arm is an output end D5, input voltage is connected between the output ends A5 and B5, and a detection signal is output between the output ends C5 and D5.
Referring to fig. 4f, the sixth wheatstone full-bridge circuit f in the present embodiment has the following structural form: r61 and R63 are adjacent arms, R62 and R64 are adjacent arms, R61 and R64 are opposite arms, the connection point of R61 and R62 is an input end A6, the connection point of R63 and R64 is an input end B6, the connection point of R61 and R63 is an output end C6, the connection point of R62 and R64 is an output end D6, an input voltage is inputted between the input ends A6 and B6, and a detection signal voltage connection point is outputted between the output end C6 and the output end D6.
In a specific implementation, in addition to the structural form given in the present embodiment, the strain gauges may also be distributed on the surface of the radial beam 3 in the following form:
the strain gauges R11, R12, R13 and R14 form a first Wheatstone full-bridge circuit a, and the strain gauges R11, R12, R13 and R14 are used for detecting strain in the X-axis direction and obtaining a force F in the Z-axis direction z (ii) a The strain gauges R11 and R12 are vertically and symmetrically positioned on the upper surface and the lower surface of the third beam 3c corresponding to the position of the first horizontal radial direction Liang Tongkong; the strain gauges R13 and R14 are located on the upper and lower surfaces of the first beam 3a at positions corresponding to the first horizontal radial direction Liang Tongkong, in an up-down symmetry manner.
The strain gauges R21, R22, R23, and R24 constitute a second wheatstone full bridge circuit b, and the strain gauges R21, R22, R23, and R24 are used to detect strain in the X-axis direction; and thereby obtaining a moment M in the Y-axis direction y (ii) a The strain gauges R21 and R22 are symmetrically arranged on the upper surface and the lower surface of the third beam 3c corresponding to the position of the second horizontal radial direction Liang Tongkong; the strain gauges R23 and R24 are located on the upper and lower surfaces of the first beam 3a at positions corresponding to the second horizontal radial direction Liang Tongkong, in an up-down symmetry manner.
The strain gauges R31, R32, R33 and R34 form a third Wheatstone full-bridge circuit c, and the strain gauges R31, R32, R33 and R34 are used for detecting strain in the Y-axis direction and obtaining a moment M in the X-axis direction x (ii) a Wherein the strain gauges R31 and R32 are located in the second beam 3b in an up-down symmetrical manner corresponding to the second horizontal radial direction5363 a top surface and a bottom surface where Liang Tongkong is located; the strain gauges R33 and R34 are located on the upper and lower surfaces of the fourth beam 3d at positions corresponding to the second horizontal radial direction Liang Tongkong, in an up-down symmetry manner.
The patch position of the strain gauge and the connection of the Wheatstone full-bridge circuit can enable the six-dimensional force sensor to be completely decoupled structurally, and when one force or moment is measured, other forces or moments have no influence on the measurement.
Claims (4)
1. A six-dimensional force sensor is characterized by comprising a circumferential support (1), a center platform (2) and a radial beam (3); the radial beams (3) are uniformly distributed on the periphery of the central platform (2), one end of each radial beam (3) is connected with the outer side wall of the central platform (2) in a T shape, the other end of each radial beam (3) is connected with the inner side wall of the circumferential support (1) in a T shape, and Liang Tongkong are arranged on each radial beam (3) so that stress is concentrated on two sides of Liang Tongkong; the number of the radial beams (3) is four, and the four radial beams (3) are distributed in a cross shape by taking the center of the central platform (1) as the center; the central platform (2) and each radial beam (3) are in a horizontal state; establishing a three-dimensional coordinate system by taking a central point of a central platform (1) as a coordinate origin, wherein in the three-dimensional coordinate system, one beam (3 a) of four radial Liang Zhongdi is positioned in the positive direction of an X axis, a second beam (3 b) is positioned in the positive direction of a Y axis, a third beam (3 c) is positioned in the negative direction of the X axis, and a fourth beam (3 d) is positioned in the negative direction of the Y axis; the Z-axis is vertical;
the radial beam (3) is provided with a vertical through hole and two horizontal through holes in two arrangement modes;
the first method is as follows: a vertical radial Liang Shan through hole (4) is arranged at one end of each radial beam (3) far away from the origin of coordinates; a first horizontal radial direction Liang Tongkong (7) is arranged at one end close to the coordinate origin, a second horizontal radial direction Liang Tongkong (5) is arranged on one side of the first horizontal radial direction Liang Tongkong (7) far away from the coordinate origin in parallel, and the first horizontal radial direction Liang Tongkong (7) and the second horizontal radial direction Liang Tongkong (5) are communicated with each other to form a horizontal double-through hole;
the second method comprises the following steps: vertical radial Liang Shan through holes (4) are formed in the middle of each radial beam (3) and located in the middle of the radial beam (3); a first horizontal radial direction Liang Tongkong (7) is arranged at one end close to the coordinate origin, and a second horizontal radial direction Liang Tongkong (5) is arranged at one end far away from the coordinate origin;
the first horizontal radial Liang Tongkong (7) on the four radial beams are positioned at the symmetrical cross position, and the second horizontal radial through holes (5) on the four radial beams are also positioned at the symmetrical cross position; the vertical radial Liang Shan through holes (4) on the four radial beams are also positioned at the cross-shaped symmetrical positions;
distributing strain gauges on the surface of the radial beam (3) in the following mode:
the first method is as follows:
the strain gauges R11, R12, R13 and R14 constitute a first Wheatstone full-bridge circuit (a), and the strain gauges R11, R12, R13 and R14 are used for detecting strain in the X-axis direction and obtaining a force F in the Z-axis direction z (ii) a The strain gauges R11 and R12 are vertically and symmetrically arranged on the upper surface and the lower surface of the third beam (3 c) corresponding to the position of the second horizontal radial direction Liang Tongkong (5); the strain gauges R13 and R14 are vertically symmetrically arranged on the upper surface and the lower surface of the first beam (3 a) at the position corresponding to the second horizontal radial direction Liang Tongkong (5);
the strain gauges R21, R22, R23 and R24 constitute a second Wheatstone full bridge circuit (b), and the strain gauges R21, R22, R23 and R24 are used for detecting strain in the X-axis direction and obtaining a Y-axis direction moment M by the strain in the X-axis direction y (ii) a The strain gauges R21 and R22 are vertically and symmetrically arranged on the upper surface and the lower surface of the third beam (3 c) corresponding to the position of the first horizontal radial direction Liang Tongkong (7); the strain gauges R23 and R24 are symmetrically arranged on the upper surface and the lower surface of the first beam (3 a) at the position corresponding to the first horizontal radial direction Liang Tongkong (7);
the strain gauges R31, R32, R33 and R34 constitute a third Wheatstone full bridge circuit (c), and the strain gauges R31, R32, R33 and R34 are used for detecting strain in the Y-axis direction and obtaining X-axis direction moment M according to the strain in the Y-axis direction x (ii) a The strain gauges R31 and R32 are vertically and symmetrically arranged on the upper surface and the lower surface of the second beam (3 b) corresponding to the position of the first horizontal radial direction Liang Tongkong; the strain gauges R33 and R34 are positioned in the fourth beam (3 d) in an up-and-down symmetrical manner corresponding to the first horizontal radial direction Liang TongkongUpper and lower surfaces in position;
the second method comprises the following steps:
the strain gauges R11, R12, R13 and R14 constitute a first Wheatstone full bridge circuit (a), and the strain gauges R11, R12, R13 and R14 are used for detecting strain in the X-axis direction and obtaining a Z-axis direction force F according to the strain z (ii) a The strain gauges R11 and R12 are vertically and symmetrically arranged on the upper surface and the lower surface of the third beam (3 c) corresponding to the position of the first horizontal radial direction Liang Tongkong (7); the strain gauges R13 and R14 are vertically symmetrically arranged on the upper surface and the lower surface of the first beam (3 a) at the position corresponding to the first horizontal radial direction Liang Tongkong (7);
the strain gauges R21, R22, R23, and R24 constitute a second wheatstone full bridge circuit (b), the strain gauges R21, R22, R23, and R24 are used to detect strain in the X-axis direction; and thereby obtaining a moment M in the Y-axis direction y (ii) a The strain gauges R21 and R22 are vertically and symmetrically arranged on the upper surface and the lower surface of the third beam (3 c) corresponding to the position of the second horizontal radial direction Liang Tongkong (5); the strain gauges R23 and R24 are symmetrically arranged on the upper surface and the lower surface of the first beam (3 a) at the position corresponding to the second horizontal radial direction Liang Tongkong (5);
the strain gauges R31, R32, R33 and R34 constitute a third Wheatstone full bridge circuit (c), and the strain gauges R31, R32, R33 and R34 are used for detecting strain in the Y-axis direction and obtaining a moment M in the X-axis direction x (ii) a The strain gauges R31 and R32 are vertically and symmetrically arranged on the upper surface and the lower surface of the second beam (3 b) corresponding to the position of the second horizontal radial direction Liang Tongkong (5); the strain gauges R33 and R34 are symmetrically arranged on the upper surface and the lower surface of the fourth beam (3 d) at positions corresponding to the second horizontal radial direction Liang Tongkong (5);
the central platform (2) is arranged as a ring body, and vertical central platform through holes (6) are formed in the central platform (2) at positions close to the central platform (2) and connected with the radial beams (3) so that stress is concentrated on two sides of the vertical central platform through holes (6); the vertical center platform through holes (6) correspond to each radial beam (3) in a pair, and the pair of vertical center platform through holes (6) are respectively arranged at the left and right symmetrical positions on two sides of the axial extension line of the radial beam (3).
2. The six-dimensional force sensor of claim 1, wherein: distributing strain gauges on the surface of the central platform (2) in the following form:
the strain gauges R41, R41', R42', R43', R44 and R44' form a fourth Wheatstone full-bridge circuit (d), and the strain gauges R41, R41', R42', R43', R44 and R44' are used for detecting strain in the Y-axis direction and obtaining force F in the X-axis direction x (ii) a Wherein: the strain gauges R41, R41', R43 and R43' are arranged on the inner ring surface of the ring body of the center platform (2), and R42, R42', R44 and R44' are arranged on the outer ring surface of the ring body of the center platform (2); r41 and R42 are positioned at two sides of a through hole of a vertical central platform corresponding to the position of the third beam (3 c), and the positions of the through holes deviate from the center of the through hole (6) of the vertical central platform and are close to the third beam (3 c); r41 'and R42' are positioned at two sides of the other vertical central platform through hole corresponding to the position of the third beam (3 c), and the positions deviate from the center of the vertical central platform through hole (6) and are close to the third beam (3 c); r43 and R44 are positioned at two sides of one vertical center platform through hole corresponding to the position of the first beam (3 a), are positioned at a position deviated from the center of the vertical center platform through hole (6) and close to the first beam (3 a), and R43 'and R44' are positioned at two sides of the other vertical center platform through hole corresponding to the position of the first beam (3 a), are positioned at a position deviated from the center of the vertical center platform through hole (6) and close to the first beam (3 a);
the strain gauges R51, R51', R52', R53', R54 and R54' form a fifth Wheatstone full-bridge circuit (e), and the strain gauges R51, R51', R52', R53', R54 and R54' are used for detecting strain in the X-axis direction and obtaining force F in the Y-axis direction y (ii) a Wherein: the strain gauges R51, R51', R53 and R53' are arranged on the inner ring surface of the ring body of the center platform (2), and R52, R52', R54 and R54' are arranged on the outer ring surface of the ring body of the center platform (2); r51 and R52 are positioned at two sides of one vertical central platform through hole corresponding to the position of the second beam (3 b), the positions of the R51 and the R52 are deviated from the center of the vertical central platform through hole (6) and are close to the second beam (3 b), R51 'and R52' are positioned at two sides of the other vertical central platform through hole corresponding to the position of the second beam (3 b), the positions of the R51 'and the R52' are deviated from the center of the vertical central platform through hole (6),close to the second beam (3 b); r53 and R54 are positioned at two sides of a through hole of a vertical central platform corresponding to the position of the fourth beam (3 d), and the positions of the through holes deviate from the center of the through hole (6) of the vertical central platform and are close to the fourth beam (3 d); r53 'and R54' are positioned at two sides of the other vertical central platform through hole corresponding to the position of the fourth beam (3 d), the positions of the R53 'and the R54' deviate from the center of the vertical central platform through hole (6) and are close to the fourth beam (3 d);
the strain gauges R61, R62, R63 and R64 constitute a sixth Wheatstone full-bridge circuit (f), and the strain gauges R61, R62, R63 and R64 are used for detecting the strain in the X-axis direction and obtaining the Z-axis direction moment M z (ii) a The strain gauges R61 and R62 are symmetrically positioned on the left side surface and the right side surface of the third beam (3 c) corresponding to the position of the vertical radial Liang Shan through hole (4); the strain gauges R63 and R64 are symmetrically positioned on the left side surface and the right side surface of the first beam (3 a) corresponding to the position of the vertical radial Liang Shan through hole (4); the positions of the strain gauges R61 and R64 are symmetrical with respect to the origin of coordinates.
3. The six-dimensional force sensor of claim 1, wherein:
in the first Wheatstone full-bridge circuit (a): r11 and R14 are adjacent arms, R12 and R13 are adjacent arms, R11 and R13 are opposite arms, the connection point of R11 and R12 is an input end A1, the connection point of R14 and R13 is an input end B1, the connection point of R11 and R14 is an output end C1, the connection point of R12 and R13 is an output end D1, an input voltage is input between the input ends A1 and B1, and a detection signal is output between the output end C1 and the output end D1;
in the second Wheatstone full-bridge circuit (b): r21 and R23 are adjacent arms, R22 and R24 are adjacent arms, R21 and R24 are opposite arms, the connection point of R21 and R22 is an input end A2, the connection point of R23 and R24 is an input end B2, the connection point of R21 and R23 is an output end C2, the connection point of R22 and R24 is an output end D2, an output voltage is input between the input ends A2 and B2, and a detection signal voltage connection point is output between the output end C2 and the output end D2;
in the third Wheatstone full-bridge circuit (c): r31 and R33 are adjacent arms, R32 and R34 are adjacent arms, R31 and R34 are opposite arms, the connection point of R31 and R32 is an input end A3, the connection point of R33 and R34 is an input end B3, the connection point of R31 and R33 is an output end C3, the connection point of R32 and R34 is an output end D3, an output voltage is input between the input ends A3 and B3, and a detection signal voltage connection point is output between the output end C3 and the output end D3.
4. The six-dimensional force sensor of claim 2, wherein:
in the fourth Wheatstone full-bridge circuit (d): r41 and R41 'are connected in series to form a first arm, R42 and R42' are connected in series to form a second arm, R43 and R43 'are connected in series to form a third arm, R44 and R44' are connected in series to form a fourth arm, the connection point of the first arm and the second arm is an output end A4, the connection point of the third arm and the fourth arm is an input end B4, the connection point of the first arm and the third arm is an output end C4, the connection point of the second arm and the fourth arm is an output end D4, input voltage is connected between the output ends A4 and B4, and a detection signal is output between the output ends C4 and D4;
in the fifth Wheatstone full-bridge circuit (e): r51 and R51 'are connected in series to form a first arm, R52 and R52' are connected in series to form a second arm, R53 and R53 'are connected in series to form a third arm, R54 and R54' are connected in series to form a fourth arm, the connection point of the first arm and the second arm is an output end A5, the connection point of the third arm and the fourth arm is an input end B5, the connection point of the first arm and the third arm is an output end C5, the connection point of the second arm and the fourth arm is an output end D5, input voltage is connected between the output ends A5 and B5, and a detection signal is output between the output ends C5 and D5;
in the sixth Wheatstone full-bridge circuit (f): r61 and R63 are adjacent arms, R62 and R64 are adjacent arms, R61 and R64 are opposite arms, the connection point of R61 and R62 is an input end A6, the connection point of R63 and R64 is an input end B6, the connection point of R61 and R63 is an output end C6, the connection point of R62 and R64 is an output end D6, an input voltage is inputted between the input ends A6 and B6, and a detection signal voltage connection point is outputted between the output end C6 and the output end D6.
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| CN109238528B (en) * | 2018-11-16 | 2023-09-12 | 合肥工业大学 | 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 |
| 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 |
| JP6999586B2 (en) * | 2019-01-28 | 2022-01-18 | 日本電産コパル電子株式会社 | Elastic body and force sensor using it |
| CN109974919B (en) * | 2019-04-29 | 2021-03-02 | 重庆鲁班机器人技术研究院有限公司 | Six-dimensional force sensing device |
| CN111272328B (en) | 2020-02-25 | 2020-11-06 | 东南大学 | High-sensitivity low-dimensional coupling six-dimensional force sensor |
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