CN110146212A - Joint of mechanical arm torque posture wireless sensor - Google Patents
Joint of mechanical arm torque posture wireless sensor Download PDFInfo
- Publication number
- CN110146212A CN110146212A CN201910404152.0A CN201910404152A CN110146212A CN 110146212 A CN110146212 A CN 110146212A CN 201910404152 A CN201910404152 A CN 201910404152A CN 110146212 A CN110146212 A CN 110146212A
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- Prior art keywords
- stress
- circuit board
- sensor
- elastomer
- integrated circuit
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
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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
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
- G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
Present invention discloses a kind of joint of mechanical arm torque posture wireless sensors, including sensor outer housing, stress elastomer, the first integrated circuit board and the second integrated circuit board, both first integrated circuit board and second integrated circuit board are fixedly installed on inside the sensor outer housing, the stress elastomer includes stress axis and elastomer, the elastomer is set to inside the sensor outer housing, and one end of the stress axis is touched with the elastomer hardness, the other end stretches out on the outside of the sensor outer housing.The present invention combines torque sensor in the prior art with attitude transducer, realizes to the advanced control of mechanical arm and multi-mode control, improves the operation precision of mechanical arm entirety, improve the intelligence and safety of human-computer interaction process significantly.
Description
Technical field
The present invention relates to a kind of integrated sensing device for combining torque sensor with attitude transducer and being formed, tools
Body is related to a kind of joint of mechanical arm torque posture wireless sensor, belongs to sensor technical field.
Background technique
In recent years, as human society enters the age of information comprehensively, all kinds of artificial intelligence technologys have obtained considerable
Development and progress, various service robots come into being and are widely applied in the production and living of people.With each neck at present
In domain for relatively conventional mechanical arm, in the use process of mechanical arm, when need mechanical arm to the various information in environment
When carrying out complete perception, accurately being manipulated to environmental goals, it is necessary to be completed using the sensor into joint of mechanical arm
The monitoring of mechanical arm operations parameter.
In the prior art, the Functional Design of unification is generallyd use applied to the sensor of joint of mechanical arm, it is single to sense
Device only carries out the measurement and feedback of single data, and control model is single.When needing to carry out complete detection to joint of mechanical arm,
With regard to needing to install the sensor of multiple and different types in joint of mechanical arm.Unquestionably, the setting side of multiple sensors is loaded
The complication that formula not only occupies excessive space in mechanical arm, causes mechanical arm internal wiring, but also but also mechanical arm very
Hardly possible realizes lighting, miniaturization, seriously hinders mechanical arm in the application of production and living, affects the real-time performance of mechanical arm
With the efficiency of the task of execution.
In addition to drawbacks described above, at present when controlling mechanical arm, since the sensor effect of simple function is limited, have
Thing even needs human assistance control, therefore operation precision is difficult to control, cannot achieve intelligentized human-computer interaction.
It is based on above-mentioned reason, how to propose a kind of to blend multisensor function on the basis of existing technology
Miniature Sensor also just becomes the common goal in research of those skilled in that art to realize the advanced control to mechanical arm.
Summary of the invention
In view of the prior art, there are drawbacks described above, and the purpose of the present invention is to propose to a kind of joint of mechanical arm torque posture is wireless
Sensor, including sensor outer housing, further includes: stress elastomer, the first integrated circuit board and the second integrated circuit board, it is described
Both first integrated circuit board and second integrated circuit board are fixedly installed on inside the sensor outer housing, the stress
Elastomer includes stress axis and elastomer, and the elastomer is set to inside the sensor outer housing, one end of the stress axis
It is touched with the elastomer hardness, the other end stretches out on the outside of the sensor outer housing.
Preferably, the sensor outer housing includes sensor top cover, sensor sleeve and the sensing being sequentially fixedly connected
Device bottom cover, the sensor top cover, sensor sleeve and sensor bottom cover three's bolt are affixed, the elastomer, the first collection
Sequentially overlapped at circuit board and the second integrated circuit board three be fixedly installed in the sensor sleeve, the elastomer is set
It is disposed adjacent to the side of the sensor top cover, second integrated circuit board is disposed in proximity to the one of the sensor bottom cover
Side.
Preferably, it is fixedly installed what multiple groups were fixed for realizing component each in sensor outer housing on the sensor bottom cover
Mounting post offers one group of mounting hole on the elastomer, the first integrated circuit board and the second integrated circuit board three respectively,
Mounting hole described in every group matches with mounting post described in one group, is additionally provided in the sensor outer housing and the mounting post number
The installation bolt that amount, specification match, the installation bolt passes through the mounting hole and is fixedly connected with the mounting post, described
Elastomer, the first integrated circuit board and the second integrated circuit board three are fixedly set in by the installation bolt described
On sensor bottom cover.
Preferably, the elastomer is in spoke structure, and the center of the elastomer offers one for connecting institute
State the link slot of stress axis, shape, the specification of the link slot matched one by one with the shape of the stress axis, specification it is corresponding,
Under the assembled state of the elastomer and stress axis, the two hardness is touched and the stress axis is embedded and is fixed on the link slot
It is interior.
Preferably, four stress crossbeams are set on the elastomer, and the angle between adjacent two stress crossbeams is in
90 °, four stress crossbeams collectively constitute cross force structure, paste on four side end faces of the every stress crossbeam
It is fixed with the foil gauge for acquiring deformation data.
Preferably, it pastes and is fixed with for acquiring texturing variables on four side end faces up and down of the every stress crossbeam
According to foil gauge, paste on every side end face of the every stress crossbeam and be fixed with foil gauge described in two panels.
Preferably, four foil gauges on the both sides of the face up and down of the every stress crossbeam collectively constitute an electric bridge
Circuit, every stress crossbeam left and right sides end face on four foil gauges collectively constitute another bridge circuit.
Preferably, the posture chip and use for obtaining nine axis posture informations are provided on first integrated circuit board
In the amplification circuit module of amplifying moment information, both the posture chip and amplification circuit module are fixedly welded on described
On one integrated circuit board, the amplification circuit module and the elastomer are electrically connected.
Preferably, be provided with the central processing unit for realizing data processing on second integrated circuit board, it is described in
Central processor is fixedly welded on second integrated circuit board, and the central processing unit is respectively by data line and the posture
Chip and amplification circuit module are electrically connected, and in the central processing unit are included one for realizing data and are instructed the wireless of transmission
Acquired torque posture information is transferred to host computer, the nothing by the wireless module by module, the central processing unit
The data transfer mode of wire module is Bluetooth transmission.
It preferably, further include one for the power module for component power supply each in sensor, the power module is integrated with
5V Switching Power Supply offers a power supply groove, shape, the specification point of the power supply groove on the sensor bottom cover inner side end
Correspondence is not matched one by one in the power module shape, specification, and the power module, which is embedded, to be fixed in the power supply groove, institute
State each electrical component in stress elastomer, the first integrated circuit board and the second integrated circuit board three with the power supply mould
Block is electrically connected and by its power supply.
Compared with prior art, advantages of the present invention is mainly reflected in the following aspects:
The invention proposes a kind of joint of mechanical arm torque posture wireless sensors, by torque sensor in the prior art
It is combined with attitude transducer, realizes to the advanced control of mechanical arm and multi-mode control, improve the behaviour of mechanical arm entirety
Make precision, improves the intelligence and safety of human-computer interaction process significantly.
Meanwhile the present invention efficiently reduces the volume of sensor entirety by the Integration Design to multiple sensors,
Realize sensor miniaturization, it is integrated while but also the overall weight of mechanical arm has obtained significantly reducing,
Efficiency of the mechanical arm in terms of task execution is improved, provides hardware foundation for the large-scale promotion application of mechanical arm.
In addition, the present invention also provides reference for other relevant issues in same domain, can be opened up on this basis
Extension is stretched, and is applied in other technologies scheme related with integrated transducer, has very wide application prospect.
Just attached drawing in conjunction with the embodiments below, the embodiment of the present invention is described in further detail, so that of the invention
Technical solution is more readily understood, grasps.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structure and torgue measurement schematic diagram of elastomer of the present invention；
Fig. 3 is the structural schematic diagram of the first integrated circuit board in the present invention；
Fig. 4 is the measuring principle schematic diagram of middle line acceleration and angular speed of the present invention；
Fig. 5 is the measuring principle schematic diagram of Eulerian angles in the present invention；
Fig. 6 is the structural schematic diagram of the second integrated circuit board in the present invention.
Wherein: 1, sensor top cover；2, sensor sleeve；3, sensor bottom cover；4, stress axis；5, elastomer；6, it connects
Slot；7, stress crossbeam；8, the first integrated circuit board；9, posture chip；10, amplification circuit module；11, the second integrated circuit board；
12, central processing unit；13, power supply groove.
Specific embodiment
Present invention discloses a kind of joint of mechanical arm torque posture wireless sensors.
As shown in Figure 1, joint of mechanical arm torque posture wireless sensor of the invention includes sensor outer housing, further include by
Power elastomer, the first integrated circuit board 8 and the second integrated circuit board 11, first integrated circuit board 8 and second collection
It is fixedly installed on inside the sensor outer housing at both circuit boards 11, the stress elastomer includes stress axis 4 and elasticity
Body 5, the elastomer 5 are set to inside the sensor outer housing, and one end of the stress axis 4 and 5 hardness of the elastomer are touched
It connects, the other end stretches out on the outside of the sensor outer housing.
The sensor outer housing includes the sensor top cover 1 being sequentially fixedly connected, sensor sleeve 2 and sensor bottom cover
3, the sensor top cover 1, sensor sleeve 2 and 3 three's bolt of sensor bottom cover are affixed, and the elastomer 5, first is integrated
Circuit board 8 and 11 three of the second integrated circuit board, which sequentially overlap, is fixedly installed on interior, the described elastomer of the sensor sleeve 2
5 are disposed in proximity to the side of the sensor top cover 1, second integrated circuit board 11 is disposed in proximity to the sensor bottom cover
3 side.
The multiple groups installation fixed for realizing component each in sensor outer housing is fixedly installed on the sensor bottom cover 3
Column, in order to adapt to the needs of installation, the height of installation intercolumniation described in multiple groups is different, and specific height selection can be according to reality
The installation needs on border further determine that.It is corresponding with the mounting post, the elastomer 5, the first integrated circuit board 8 and
Offer one group of mounting hole on two integrated circuit boards, 11 three respectively, mounting hole described in every group with mounting post phase described in one group
Match, the installation bolt to match with the mounting post quantity, specification, the installation bolt are additionally provided in the sensor outer housing
It is fixedly connected across the mounting hole and with the mounting post, the elastomer 5, the first integrated circuit board 8 and second are integrated
11 three of circuit board is fixedly set on the sensor bottom cover 3 by the installation bolt.
The elastomer 5 is in spoke structure, and the center of the elastomer 5 offers one for connecting the stress
The link slot 6 of axis 4, shape, the specification of the link slot 6 matched one by one with the shape of the stress axis 4, specification it is corresponding, in institute
Under the assembled state for stating elastomer 5 and stress axis 4, the two hardness is touched and the stress axis 4 is embedded and is fixed on the link slot 6
It is interior.
Four stress crossbeams 7 are set on the elastomer 5, the angle between adjacent two stress crossbeams 7 is in 90 °,
Four stress crossbeams 7 collectively constitute the cross force structure as main stress structure, and the four of the every stress crossbeam 7
The foil gauge (not shown) being fixed with for acquiring deformation data is pasted on side end face.
The stress demonstrating of the elastomer 5 receives 3 direction stress datas, i.e., as shown in rotation arrows in Fig. 2 respectively
Z-axis stress data FzWith x-axis stress data F in planexWith y-axis stress data Fy, receive the torque data in 3 directions, i.e. z-axis
Stress torque data MzWith x-axis stress torque data M in planexWith y-axis stress torque data My。
Foil gauge patch on four stress crossbeams 7 is completed by the way of symmetrical compensation patch, as shown in Fig. 2,
The foil gauge being fixed with for acquiring deformation data is pasted on four side end faces up and down of the every stress crossbeam 7, often
It is pasted on every side end face of stress crossbeam 7 described in root and is fixed with foil gauge described in two panels.Every stress crossbeam 7 up and down
Four foil gauges on both sides of the face collectively constitute the left and right sides end face of a bridge circuit, every stress crossbeam 7
On four foil gauges collectively constitute another bridge circuit.
Straining size approximate can regard linear relationship as with patch distance of the foil gauge on stress crossbeam 7, and distance center is got over
Nearly deformation is bigger.For convenient for paste and lead, and avoid deformation cross ambassador's foil gauge damage, foil gauge should be affixed on stress cross
Away from the suitable section in center on beam 7.
In addition, the four fan-shaped on piece of elastomer 5 respectively has a screw hole, four crossbeams are inscribed within the circular arc of fanning strip, reserve arc
Cabling is convenient in space, and elastomer 5 is aligned installation with the circular slightly higher mounting post in lower part by the screw hole on fanning strip, and fans
Shape piece lower part thickeies the electrical components such as the circuit board being disposed below convenient for isolation.
As shown in figure 3, being provided with the posture chip 9 for obtaining nine axis posture informations on first integrated circuit board 8
And the amplification circuit module 10 for amplifying moment information, both the posture chip 9 and amplification circuit module 10 weld
It is fixed on first integrated circuit board 8, the amplification circuit module 10 is electrically connected with the elastomer 5.
9 initial position of posture chip is initialized according to calibration, as shown in figure 4, the posture chip 9 measurement three
The mobile acceleration of a axis direction, and the angular speed caused by the axis.That is, cartesian coordinate system is established by origin of chip,
In vertical direction, the linear acceleration a of z-axis axial direction is measuredz, and using z-axis as axle center, around the angular speed w of axis formationz；In water
Square to, measure x-axis axial direction linear acceleration ax, and using x-axis as axle center, around the angular speed w of axis formationx；Vertically with
In the y-axis of x-axis, the linear acceleration a of y-axis axial direction is measuredy, and using y-axis as axle center, around the angular speed w of axis formationy。
As shown in figure 5, the posture chip 9 measures Eulerian angles, whole posture informations are obtained.It is with above-mentioned xyz coordinate system
Basis system, tri- axis of xyz are standard shaft, and rotating acquisition XYZ system by space three-dimensional is rotation system.By basis system around z-axis rotation alpha degree,
Around X-axis rotation β degree, γ degree is rotated about the z axis, obtains rotation system, as the surveyed posture of chip.The intersection of xy- plane and XY-plane
For the line of nodes, represented with English alphabet (N).α is the angle of x-axis and the line of nodes, and β is the angle of z-axis and Z axis, and γ is the line of nodes
With the angle of X-axis.
The amplification circuit module 10 is made of two-stage amplifying unit, and the amplification circuit module 10 can will be collected
0~3.3V of voltage class needed for torque signals are amplified to acquisition signal through two-stage amplifying unit, six tunnel output signals are in the first order
Amplification factor in amplifying unit is 10 times, and the amplification factor in the amplifying unit of the second level is 100 times or so, can be according to calibration
It adjusts, and is filtered.
In general, the effect of first integrated circuit board 8 is to measure connection measuring circuit, by the 9 of acquisition simultaneously
Axis posture information and amplified 6 axle power square data are uniformly sent into the central processing unit 12 of measuring circuit, and described first is integrated
Circuit board 8 passes through side screw hole and mounting post alignment installation.
As shown in fig. 6, the central processing unit 12 for realizing data processing is provided on second integrated circuit board 11,
The central processing unit 12 is fixedly welded on second integrated circuit board 11, and the central processing unit 12 is respectively by data
Line and the posture chip 9 and amplification circuit module 10 are electrically connected, and include one in the central processing unit 12 for realizing number
According to and instruction transmission wireless module, the central processing unit passes acquired torque posture information by the wireless module
It is defeated by host computer, the data transfer mode of the wireless module is Bluetooth transmission.
Herein it should be noted that under the installation condition of second integrated circuit board 11, second integrated circuit
Between plate 11 and 3 inner side end of sensor bottom cover should there are certain spaces, to guarantee the installation of subsequent power module.
The joint of mechanical arm torque posture wireless sensor further includes one for powering for each component in sensor
Power module (not shown), the power module are integrated with 5V Switching Power Supply, open on 3 inner side end of sensor bottom cover
Equipped with a power supply groove 13, shape, the specification of the power supply groove 13 match one by one respectively at the power module shape, specification
Corresponding, the power module, which is embedded, to be fixed in the power supply groove 13 and the two is welded and fixed, the stress elastomer, the
Each electrical component in 11 three of one integrated circuit board 8 and the second integrated circuit board is electrically connected simultaneously with the power module
By its power supply.
In conclusion the invention proposes a kind of joint of mechanical arm torque posture wireless sensor, it will be in the prior art
Torque sensor is combined with attitude transducer, is realized to the advanced control of mechanical arm and multi-mode control, is improved machinery
The operation precision of arm entirety improves the intelligence and safety of human-computer interaction process significantly.
Meanwhile the present invention efficiently reduces the volume of sensor entirety by the Integration Design to multiple sensors,
Realize sensor miniaturization, it is integrated while but also the overall weight of mechanical arm has obtained significantly reducing,
Efficiency of the mechanical arm in terms of task execution is improved, provides hardware foundation for the large-scale promotion application of mechanical arm.
In addition, the present invention also provides reference for other relevant issues in same domain, can be opened up on this basis
Extension is stretched, and is applied in other technologies scheme related with integrated transducer, has very wide application prospect.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit and essential characteristics of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention, and any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (10)
1. a kind of joint of mechanical arm torque posture wireless sensor, including sensor outer housing, which is characterized in that further include: stress
Elastomer, the first integrated circuit board (8) and the second integrated circuit board (11), first integrated circuit board (8) and described
Both two integrated circuit boards (11) are fixedly installed on inside the sensor outer housing, and the stress elastomer includes stress axis
(4) and elastomer (5), the elastomer (5) are set to inside the sensor outer housing, one end of the stress axis (4) and institute
State that elastomer (5) hardness touches, the other end stretches out on the outside of the sensor outer housing.
2. joint of mechanical arm torque posture wireless sensor according to claim 1, it is characterised in that: outside the sensor
Shell includes the sensor top cover (1) being sequentially fixedly connected, sensor sleeve (2) and sensor bottom cover (3), the sensor top
It is affixed to cover (1), sensor sleeve (2) and sensor bottom cover (3) three's bolt, the elastomer (5), the first integrated circuit board
(8) and the second integrated circuit board (11) three sequentially overlap be fixedly installed in the sensor sleeve (2), the elastomer
(5) it is disposed in proximity to the side of the sensor top cover (1), second integrated circuit board (11) is disposed in proximity to the sensing
The side of device bottom cover (3).
3. joint of mechanical arm torque posture wireless sensor according to claim 1, it is characterised in that: the sensor bottom
It is fixedly installed the multiple groups mounting post fixed for realizing component each in sensor outer housing on lid (3), the elastomer (5), the
One group of mounting hole is offered respectively on one integrated circuit board (8) and the second integrated circuit board (11) three, is installed described in every group
Mounting post described in mono- group of Kong Junyu matches, and is additionally provided in the sensor outer housing and the mounting post quantity, specification phase
The installation bolt matched, the installation bolt pass through the mounting hole and are fixedly connected with the mounting post, the elastomer (5),
First integrated circuit board (8) and the second integrated circuit board (11) three are fixedly set in by the installation bolt described
On sensor bottom cover (3).
4. joint of mechanical arm torque posture wireless sensor according to claim 1, it is characterised in that: the elastomer
It (5) is in spoke structure, the center of the elastomer (5) offers one for connecting the link slot of the stress axis (4)
(6), the shape, specification with shape, the specification of the stress axis (4) of the link slot (6) match corresponding one by one, in the elasticity
Under the assembled state of body (5) and stress axis (4), the two hardness is touched and the stress axis (4) is embedded and is fixed on the link slot
(6) in.
5. joint of mechanical arm torque posture wireless sensor according to claim 4, it is characterised in that: the elastomer
(5) four stress crossbeams (7) are set on, and the angle between adjacent two stress crossbeams (7) is in 90 °, four stress
Crossbeam (7) collectively constitutes cross force structure, pastes to be fixed on four side end faces of the every stress crossbeam (7) and is used for
Acquire the foil gauge of deformation data.
6. joint of mechanical arm torque posture wireless sensor according to claim 5, it is characterised in that: the every stress
The foil gauge being fixed with for acquiring deformation data, the every stress are pasted on four side end faces up and down of crossbeam (7)
It is pasted on every side end face of crossbeam (7) and is fixed with foil gauge described in two panels.
7. joint of mechanical arm torque posture wireless sensor according to claim 6, it is characterised in that: the every stress
Four foil gauges on the both sides of the face up and down of crossbeam (7) collectively constitute a bridge circuit, the every stress crossbeam (7)
Left and right sides end face on four foil gauges collectively constitute another bridge circuit.
8. joint of mechanical arm torque posture wireless sensor according to claim 1, it is characterised in that: described first is integrated
Posture chip (9) for obtaining nine axis posture informations is provided on circuit board (8) and for the amplification of amplifying moment information
Both circuit module (10), the posture chip (9) and amplification circuit module (10) are fixedly welded on the described first integrated electricity
On road plate (8), the amplification circuit module (10) and the elastomer (5) are electrically connected.
9. joint of mechanical arm torque posture wireless sensor according to claim 8, it is characterised in that: described second is integrated
The central processing unit (12) for realizing data processing is provided on circuit board (11), the central processing unit (12) is welded and fixed
In on second integrated circuit board (11), the central processing unit (12) is respectively by data line and the posture chip (9)
And amplification circuit module (10) is electrically connected, and includes one in the central processing unit (12) for realizing data and instruction transmission
Acquired torque posture information is transferred to host computer by the wireless module by wireless module, the central processing unit, institute
The data transfer mode for stating wireless module is Bluetooth transmission.
10. joint of mechanical arm torque posture wireless sensor according to claim 2, it is characterised in that: further include a use
The power module of each component power supply, the power module are integrated with 5V Switching Power Supply, the sensor bottom cover in for sensor
(3) a power supply groove (13) is offered on inner side end, the shape of the power supply groove (13), specification are respectively at the power supply mould
Block-shaped, specification matches correspondence one by one, and the power module, which is embedded, to be fixed in the power supply groove (13), the stress elasticity
Each electrical component in body, the first integrated circuit board (8) and the second integrated circuit board (11) three with the power module
It is electrically connected and by its power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910404152.0A CN110146212A (en) | 2019-05-15 | 2019-05-15 | Joint of mechanical arm torque posture wireless sensor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910404152.0A CN110146212A (en) | 2019-05-15 | 2019-05-15 | Joint of mechanical arm torque posture wireless sensor |
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| CN110146212A true CN110146212A (en) | 2019-08-20 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021248681A1 (en) * | 2020-06-12 | 2021-12-16 | 南京神源生智能科技有限公司 | Six-dimensional force sensor integrating data acquisition system and inertia force compensation system |
| CN114636489A (en) * | 2022-05-18 | 2022-06-17 | 湖南大学 | Curved array type touch sensor and working method and manipulator thereof |
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| CN108195495A (en) * | 2018-04-19 | 2018-06-22 | 郑州舒柯科技有限公司 | A kind of sensor |
| CN108839042A (en) * | 2018-07-23 | 2018-11-20 | 清华大学 | Control integrated module driving device |
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| WO2021248681A1 (en) * | 2020-06-12 | 2021-12-16 | 南京神源生智能科技有限公司 | Six-dimensional force sensor integrating data acquisition system and inertia force compensation system |
| CN114636489A (en) * | 2022-05-18 | 2022-06-17 | 湖南大学 | Curved array type touch sensor and working method and manipulator thereof |
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