CN106918413A - A kind of embedded sextuple torque sensor based on photo-electric - Google Patents
A kind of embedded sextuple torque sensor based on photo-electric Download PDFInfo
- Publication number
- CN106918413A CN106918413A CN201510988713.8A CN201510988713A CN106918413A CN 106918413 A CN106918413 A CN 106918413A CN 201510988713 A CN201510988713 A CN 201510988713A CN 106918413 A CN106918413 A CN 106918413A
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- displacement sensor
- photoelectric displacement
- light barrier
- mounting seat
- outer ring
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 87
- 230000004888 barrier function Effects 0.000 claims abstract description 46
- 238000005259 measurement Methods 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 description 4
- 230000005622 photoelectricity Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229910000639 Spring steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optical Transform (AREA)
Abstract
The invention belongs to intelligent robot equipment technical field, specifically a kind of embedded sextuple torque sensor based on photo-electric.Disk, photoelectric displacement sensor mounting seat, light barrier and photoelectric displacement sensor are turned round including vane type, vane type turns round disk includes inner ring, outer ring and blade, the inner ring and outer ring are connected by multigroup blade, photoelectric displacement sensor mounting seat and light barrier are equipped between two adjacent groups blade, the photoelectric displacement sensor mounting seat is connected with inner ring, photoelectric displacement sensor is arranged in photoelectric displacement sensor mounting seat, light barrier is connected with outer ring and light barrier is corresponding with photoelectric displacement sensor, inner ring and motor connection, outer ring is connected with external equipment.The present invention has the advantages that light and handy big measurement range, compact conformation, entirety, reliability high, low cost, is easily installed.
Description
Technical field
It is specifically a kind of based on the embedding of photo-electric the invention belongs to intelligent robot equipment technical field
Enter formula 6 DOF torque sensor.
Background technology
With continuing to develop for intellectual technology, there has been proposed to the smart machine security such as robot and height
The pursuit of precision controllability.Because relative to business torque sensor, embedded torque sensor has knot
Structure is compact, entirety is light and handy, the advantages of be easy to integrated, small size, meet Embedded use requirement,
The design and application of embedded torque sensor little by little turn into present hot research direction.And photoelectricity
Formula torque sensor due to without electromagnetic interference, response is rapid, reliability is high the features such as, and with recent years
Carry out continuing to develop for optical technology, the untouchable metering system that has with precision optics measuring principle and
The torque sensor of macroscopic measurement principle obviously can more be satisfied with future robot develop the need for, gradually into
It is the study hotspot of embedded torque sensor.But because photoelectric sensor is based on macroscopic measurement, deformation quantity
There is contradiction with maximum stress, therefore the embedded sextuple torque sensor technology of photoelectricity of multidimensional measure is also located
The stage is improved in development.
The content of the invention
Regarding to the issue above, it is an object of the invention to provide a kind of embedded six-dimensional force based on photo-electric
Square sensor.The vane type of the sensor is turned round disk and effectively solved between deformation quantity and maximum stress to be present
Contradiction, the photoelectric displacement sensor location adjusting device of separate type uses more convenient.
To achieve these goals, the present invention uses following technical scheme：
A kind of embedded sextuple torque sensor based on photo-electric, including vane type turns round disk, photoelectric displacement
Sensor installation seat, light barrier and photoelectric displacement sensor, the vane type turns round disk includes inner ring, outer ring
And blade, the inner ring and outer ring connected by multigroup blade, and photoelectricity is equipped between two adjacent groups blade
Displacement transducer mounting seat and light barrier, the photoelectric displacement sensor mounting seat are connected with the inner ring,
The photoelectric displacement sensor is arranged in photoelectric displacement sensor mounting seat, and the light barrier is outer with described
Circle is connected and light barrier is corresponding with photoelectric displacement sensor.
The photoelectric displacement sensor mounting seat is provided with screw thread positioning adjustment hole, the screw thread positioning regulation
Hole is used to adjust photoelectric displacement sensor and light barrier relative position in the horizontal direction.
The one side of the photoelectric displacement sensor mounting seat is provided with for fixing photoelectric displacement sensor
Photoelectric displacement sensor fixing hole, the photoelectric displacement sensor mounting seat is provided with and is passed positioned at photoelectric displacement
Ear mount above sensor fixing hole, the ear mount is provided with the photoelectric displacement sensor for being connected with inner ring
Seat mounting hole.
Circumferentially arranged with multiple inner ring mounting seats on the inner ring, the photoelectric displacement sensor mounting seat is led to
Photoelectric displacement sensor seat mounting hole is crossed to be connected with inner ring mounting seat.
Spring shim is provided between the light barrier and the outer ring, is in the light by described in spring shim adjustment
Piece and photoelectric displacement sensor relative position vertically.
The light barrier is provided with the light barrier mounting hole for being connected with the outer ring, is set on the outer ring
There is outer ring mounting seat, the light barrier is connected by light barrier mounting hole with outer ring mounting seat.
The blade is six groups and is evenly distributed.There are two blades, the blade in every group of blade
Using folium of Descartes structure.
The inner ring and motor connection, the outer ring are connected with external equipment.Circumferentially set on the inner ring
Have for the motor installing hole with motor connection, circumferentially arranged with for connecting with external equipment on the outer ring
The external equipment mounting hole for connecing.
Advantages of the present invention and beneficial effect are：
1. vane type of the present invention turns round disk has that deflection is big, maximum stress is small, be easy to photoelectric sensor to install
Advantage, preferably resolve contradiction between deformation quantity and maximum stress, effectively raise photo-electric biography
Sensor turns round the reliability of disk.
2. photoelectric displacement sensor of the present invention and its light barrier initial alignment adjusting means, due to setting up separately in light
Its positioning regulation is completed in electric displacement sensor mounting seat and light barrier jointly, therefore with all directions positioning
It does not interfere with each other, be easy to the advantage of regulation.
3., suitable for the multidimensional torgue measurement of the smart machines such as robot, entirety is with measurement range for the present invention
Greatly, compact conformation, overall light and handy, reliability high, low cost, the advantages of be easily installed.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention；
Fig. 2 is the structural representation of torsion disk in the present invention；
Fig. 3 is photoelectric displacement sensor location adjusting device schematic diagram of the invention.
Wherein：1 is that vane type turns round disk, and 2 is photoelectric displacement sensor mounting seat, and 3 is light barrier, and 5 are
Photoelectric displacement sensor, 4 is spring shim, and 11 is motor installing hole, and 12 is external equipment mounting hole,
13 is blade, and 14 is inner ring, and 15 is outer ring, and 16 is inner ring mounting seat, and 17 is outer ring mounting seat, 21
For screw thread positions adjustment hole, 22 is photoelectric displacement sensor fixing hole, and 23 is photoelectric displacement sensor seat peace
Dress hole, 31 is light barrier mounting hole.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Figure 1-2, a kind of embedded sextuple torque sensor based on photo-electric that the present invention is provided,
Disk 1, photoelectric displacement sensor mounting seat 2, light barrier 3 and photoelectric displacement sensor 5 are turned round including vane type,
The vane type turns round disk 1 includes inner ring 14, outer ring 15 and blade 13, the inner ring 14 and outer ring 15
Connected by multigroup blade 13, photoelectric displacement sensor mounting seat 2 is equipped between two adjacent groups blade 13
With light barrier 3, the photoelectric displacement sensor mounting seat 2 is connected with the inner ring 14, the photopotential
Displacement sensor 5 is arranged in photoelectric displacement sensor mounting seat 2, the light barrier 3 and the outer ring 15
Connect and light barrier 3 is corresponding with photoelectric displacement sensor 5.
Circumferentially arranged with for the motor installing hole 11 with motor connection, the outer ring on the inner ring 14
Circumferentially arranged with the external equipment mounting hole 12 for being connected with external equipment on 15.The inner ring 14 exists
By bolt and motor connection at motor installing hole 11, the outer ring 15 is at external equipment mounting hole 12
It is connected with external equipment by bolt, realizes embedded connection.
As shown in figure 3, the photoelectric displacement sensor mounting seat 2 is provided with screw thread positioning adjustment hole 21,
Screw thread positioning adjustment hole 21 is used to adjusting photoelectric displacement sensor 5 and light barrier 3 in the horizontal direction
Relative position.
The one side of the photoelectric displacement sensor mounting seat 2 is provided with for fixing photoelectric displacement sensor 5
Photoelectric displacement sensor fixing hole 22, the photoelectric displacement sensor mounting seat 2 is provided with positioned at photoelectricity
The ear mount of the top of displacement transducer fixing hole 22, the ear mount is provided with the light for being connected with inner ring 14
Electric displacement sensor seat mounting hole 23.Circumferentially arranged with multiple inner ring mounting seats 16 on the inner ring 14,
The photoelectric displacement sensor mounting seat 2 photoelectric displacement sensor seat mounting hole 23 at by bolt with it is interior
Circle mounting seat 16 is connected.
The light barrier 3 is provided with the light barrier mounting hole 31 for being connected with the outer ring 15, described outer
Circle 15 is provided with outer ring mounting seat 17, the light barrier 3 at light barrier mounting hole 31 by bolt with
Outer ring mounting seat 17 is connected.Spring shim 4, spring are provided between the light barrier 3 and the outer ring 15
Pad 4 is located at the lower section of light barrier mounting hole 31, and the light barrier 3 and light are adjusted by spring shim 4
The relative position vertically of electric displacement sensor 5.
The blade 13 is six groups and is evenly distributed.There are two blades, institute in every group of blade 13
State blade 13 and use folium of Descartes structure.Six photoelectric displacements are provided between six groups of blades 13 altogether to pass
Sensor 5.
The positioning regulation of the photoelectric displacement sensor 5 positions adjustment hole 21 and spring shim 4 by screw thread
It is common to complete to realize.Screw thread positioning adjustment hole 21 is located in photoelectric displacement sensor mounting seat 2, spring pad
Piece 4 is located under light barrier 3, is each responsible for the different direction of regulation positioning photoelectric displacement sensor 5.
Screw thread positions adjustment hole 21 and spring shim 4 and completes determining for photoelectric displacement sensor 5 and light barrier 3 jointly
Position regulation.
The screw thread positioning adjustment hole 21 completes photoelectric displacement sensor by rotating the screw coordinated with it
5 are turning round the fine setting of disk in-plane, realize being accurately positioned for this direction；The spring shim 4 is by rotating
Mounting screw thereon, completes light barrier 3 in the vertical fine setting for turning round disk in-plane, realizes this direction
It is accurately positioned；Screw thread positions adjustment hole 21 and spring shim 4 and completes photoelectric displacement sensor 5 and gear jointly
The positioning regulation of mating plate 3.
Vane type of the invention turns round disk 1, photoelectric displacement sensor mounting seat 2 and light barrier 3 and uses carbon
Spring steel 65Mn.
Operation principle of the invention is：
The present invention is fixed by the motor installing hole 11 and motor that vane type turns round disk 1, external equipment mounting hole
12 are fixedly connected with external equipment；Photoelectric displacement sensor 5 is by photoelectric displacement sensor mounting seat 2
Photoelectric displacement sensor fixing hole 22 be fixedly connected in the way of pin；Photoelectric displacement sensor mounting seat 2
Vane type is fixed on light barrier 3 by mounting hole to turn round in the corresponding mounting seat of disk 11.When external equipment is received
During to power/torque, inner ring 14 and outer ring 15 will be caused to change in the relative displacement of both direction.Due to
When receiving different power/torques, inner ring 14 is different in the relative displacement of both direction with outer ring 15, and then
The output valve of each photoelectric displacement sensor 5 is also different.According to six voltage outputs of photoelectric sensor 5
Value can calculate on x, y, z direction power/moment values (with vane type turn round disk plane as x/y plane,
It is 0 that vane type turns round disk center, sets up three-dimensional orthogonal coordinate system).Solution formula is F=C*U+G；Wherein：F
It is power/torque vector, C is coefficient matrix, and U is magnitude of voltage vector, and G is constant vector.
In the present embodiment, the model selection of the photoelectric displacement sensor is RPI-131.The photoelectric displacement is passed
The construction profile size of sensor is 4.2*4.2*5.2mm, and quality is 0.05g, the linear model in two direction
Enclose respectively 0.7mm and 0.3mm.The photoelectric displacement sensor small volume, light weight, the range of linearity are big,
Can effectively ensure that the measurement range and certainty of measurement of the embedded sextuple torque sensor.
Claims (10)
1. a kind of embedded sextuple torque sensor based on photo-electric, it is characterised in that：Including blade
Formula turns round disk (1), photoelectric displacement sensor mounting seat (2), light barrier (3) and photoelectric displacement sensor
(5), the vane type turns round disk (1) includes inner ring (14), outer ring (15) and blade (13), institute
State inner ring (14) and outer ring (15) to be connected by multigroup blade (13), two adjacent groups blade (13)
Between be equipped with photoelectric displacement sensor mounting seat (2) and light barrier (3), the photoelectric displacement sensing
Device mounting seat (2) is connected with the inner ring (14), and the photoelectric displacement sensor (5) is arranged on
In photoelectric displacement sensor mounting seat (2), the light barrier (3) is connected with the outer ring (15),
And light barrier (3) is corresponding with photoelectric displacement sensor (5).
2. the embedded sextuple torque sensor based on photo-electric according to claim 1, it is special
Levy and be：The photoelectric displacement sensor mounting seat (2) is provided with screw thread and positions adjustment hole (21),
The screw thread positions adjustment hole (21) for adjusting photoelectric displacement sensor (5) and light barrier (3)
Relative position in the horizontal direction.
3. the embedded sextuple torque sensor based on photo-electric according to claim 2, it is special
Levy and be：The one side of the photoelectric displacement sensor mounting seat (2) is provided with for fixing photopotential
The photoelectric displacement sensor fixing hole (22) of displacement sensor (5), the photoelectric displacement sensor is installed
Seat (2) is provided with the ear mount above photoelectric displacement sensor fixing hole (22), in the ear mount
It is provided with photoelectric displacement sensor seat mounting hole (23) for being connected with inner ring (14).
4. the embedded sextuple torque sensor based on photo-electric according to claim 3, it is special
Levy and be：Circumferentially arranged with multiple inner ring mounting seats (16), the photopotential on the inner ring (14)
Displacement sensor mounting seat (2) is by photoelectric displacement sensor seat mounting hole (23) and inner ring mounting seat (16)
Connection.
5. the embedded sextuple torque sensor based on photo-electric according to claim 2, it is special
Levy and be：Spring shim (4) is provided between the light barrier (3) and the outer ring (15), is passed through
Spring shim (4) adjusts the light barrier (3) and photoelectric displacement sensor (5) vertically
Relative position.
6. the embedded sextuple torque sensor based on photo-electric according to claim 5, it is special
Levy and be：The light barrier that the light barrier (3) is provided with for being connected with the outer ring (15) is installed
Hole (31), the outer ring (15) is provided with outer ring mounting seat (17), and the light barrier (3) passes through
Light barrier mounting hole (31) is connected with outer ring mounting seat (17).
7. the embedded sextuple torque sensor based on photo-electric according to claim 1, it is special
Levy and be：The blade (13) is for six groups and is evenly distributed.
8. the embedded sextuple torque sensor based on photo-electric according to claim 7, it is special
Levy and be：There are two blades in every group of blade (13), the blade (13) uses cartesian leaf
Shape cable architecture.
9. the embedded sextuple moment sensing based on photo-electric according to claim any one of 1-8
Device, it is characterised in that：The inner ring (14) and motor connection, the outer ring (15) set with outside
Standby connection.
10. the embedded sextuple torque sensor based on photo-electric according to claim 9, it is special
Levy and be：Circumferentially arranged with for the motor installing hole (11) with motor connection on the inner ring (14),
Circumferentially arranged with the external equipment mounting hole (12) for being connected with external equipment on the outer ring (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510988713.8A CN106918413B (en) | 2015-12-24 | 2015-12-24 | A kind of embedded sextuple torque sensor based on photo-electric |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510988713.8A CN106918413B (en) | 2015-12-24 | 2015-12-24 | A kind of embedded sextuple torque sensor based on photo-electric |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106918413A true CN106918413A (en) | 2017-07-04 |
| CN106918413B CN106918413B (en) | 2019-01-04 |
Family
ID=59458077
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510988713.8A Active CN106918413B (en) | 2015-12-24 | 2015-12-24 | A kind of embedded sextuple torque sensor based on photo-electric |
Country Status (1)
| Country | Link |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108981987A (en) * | 2018-08-07 | 2018-12-11 | 东南大学 | A kind of small retinoic acid syndrome spring beam six-dimension force sensor |
| CN110154065A (en) * | 2019-05-15 | 2019-08-23 | 西安电子科技大学 | Flexible light electric-type torque sensor and application method for flexible mechanical shoulder joint |
| CN112213009A (en) * | 2020-10-30 | 2021-01-12 | 华力创科学(深圳)有限公司 | Multi-axis force sensor based on optical principle |
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|---|---|---|---|---|
| US4763531A (en) * | 1986-04-04 | 1988-08-16 | Deutsche Forschungs-Und Versuchsanstalt Fur Luft Und Raumfahrt E.V. | Force-torque sensor |
| CN103076131A (en) * | 2012-12-31 | 2013-05-01 | 东南大学 | Six-dimensional force and torque sensor for measuring large force and small torque of large mechanical arm |
| CN103698076A (en) * | 2014-01-03 | 2014-04-02 | 东南大学 | Six-dimensional force-torque sensor for realizing extension of measuring range |
| CN104048791A (en) * | 2014-06-24 | 2014-09-17 | 东南大学 | Double cross beam type six-dimensional force and torque sensor based on low-dimensional coupling |
| CN104677543A (en) * | 2015-01-29 | 2015-06-03 | 重庆大学 | Piezoelectric type six-dimensional force/torque sensor adopting six groups of force-measuring sensitive units |
-
2015
- 2015-12-24 CN CN201510988713.8A patent/CN106918413B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4763531A (en) * | 1986-04-04 | 1988-08-16 | Deutsche Forschungs-Und Versuchsanstalt Fur Luft Und Raumfahrt E.V. | Force-torque sensor |
| CN103076131A (en) * | 2012-12-31 | 2013-05-01 | 东南大学 | Six-dimensional force and torque sensor for measuring large force and small torque of large mechanical arm |
| CN103698076A (en) * | 2014-01-03 | 2014-04-02 | 东南大学 | Six-dimensional force-torque sensor for realizing extension of measuring range |
| CN104048791A (en) * | 2014-06-24 | 2014-09-17 | 东南大学 | Double cross beam type six-dimensional force and torque sensor based on low-dimensional coupling |
| CN104677543A (en) * | 2015-01-29 | 2015-06-03 | 重庆大学 | Piezoelectric type six-dimensional force/torque sensor adopting six groups of force-measuring sensitive units |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108981987A (en) * | 2018-08-07 | 2018-12-11 | 东南大学 | A kind of small retinoic acid syndrome spring beam six-dimension force sensor |
| CN108981987B (en) * | 2018-08-07 | 2020-08-11 | 东南大学 | Small-dimension space coupling elastic beam six-dimension force sensor |
| CN110154065A (en) * | 2019-05-15 | 2019-08-23 | 西安电子科技大学 | Flexible light electric-type torque sensor and application method for flexible mechanical shoulder joint |
| CN112213009A (en) * | 2020-10-30 | 2021-01-12 | 华力创科学(深圳)有限公司 | Multi-axis force sensor based on optical principle |
| CN112213009B (en) * | 2020-10-30 | 2021-12-14 | 华力创科学(深圳)有限公司 | Multi-axis force sensor based on optical principle |
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| CN106918413B (en) | 2019-01-04 |
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