CN110243508A - A kind of embedded staged sensing device and its method for measuring six-dimensional force - Google Patents
A kind of embedded staged sensing device and its method for measuring six-dimensional force Download PDFInfo
- Publication number
- CN110243508A CN110243508A CN201910676843.6A CN201910676843A CN110243508A CN 110243508 A CN110243508 A CN 110243508A CN 201910676843 A CN201910676843 A CN 201910676843A CN 110243508 A CN110243508 A CN 110243508A
- Authority
- CN
- China
- Prior art keywords
- buckstay
- lower layer
- ladder
- cascaded surface
- slot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
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
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
- G01L1/2206—Special supports with preselected places to mount the resistance strain gauges; Mounting of supports
-
- 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
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
- G01L1/225—Measuring circuits therefor
- G01L1/2262—Measuring circuits therefor involving simple electrical bridges
-
- 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
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
- G01L1/2287—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges constructional details of the strain gauges
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
A kind of method that the present invention provides embedded staged sensing device and its measures six-dimensional force, comprising: upper flange, shell, pedestal, lower flange, sensing unit；Sensing unit includes upper layer ladder buckstay, lower layer's ladder buckstay, upper prefabricating plate, right prefabricating plate, sleeve and the totally 32 pieces of magnetic rheology elastic bodies being distributed on upper layer ladder buckstay and lower layer's ladder buckstay；Upper layer ladder buckstay and lower layer's ladder buckstay are cooperated by way of ladder；32 pieces of magnetic rheology elastic bodies form six groups of half-bridge double bridge circuits by conducting wire, and sensing unit converts electric signal for opposite face pressure signal by magnetic rheology elastic body；Six groups of half-bridge double bridge circuits independently export six electric signals, respectively correspond power/torque of the six direction of six-dimensional force；Through the above scheme, innovation proposes embedded staged tube-in-tube structure, effectively reduces precompressed difficulty, improves precompressed precision, increases the reliability and measurement accuracy of sensor entirety, realizes structure decoupling.
Description
Technical field
The present invention relates to sensing device technical fields, specifically, being a kind of embedded staged sensing device and its measurement six
The method for tieing up power.
Background technique
The reliability of existing six-dimension force sensor itself and the reliability of sensing unit are lower, bulk life time decline；Letter
Single sleeve prepressing device is not easy to carry out pre- press operation to cause operating process cumbersome；In general, existing six-dimension force sensor is logical
When crossing electric bridge resistance signal being changed into voltage signal, the electric signal of generation is faint, needs amplifying circuit to amplify, but telecommunications
It can be distorted after number being amplified；And there is certain coupling in each power/torque, influence sensing accuracy between each other.
On the whole, existing Six-dimension force sensing device have in terms of precompressed mode and signal transmitting it is unsatisfactory it
Place, finally affects the sensing accuracy of Six-dimension force sensing device.
Summary of the invention
A kind of method it is an object of the invention to propose embedded staged sensing device and its measure six-dimensional force, it is intended to solve
Certainly in the prior art, Six-dimension force sensing device has unsatisfactory place in terms of precompressed mode and signal transmitting, final to influence
The problem of sensing accuracy of Six-dimension force sensing device.
In order to solve the above technical problems, the present invention provides a kind of embedded staged sensing device, comprising:
Upper flange (1), shell (7), pedestal (8), lower flange (9) and sensing unit (10)；The sensing unit (10)
Including upper layer ladder buckstay (2), lower layer's ladder buckstay (3), upper prefabricating plate (4), right prefabricating plate (5), sleeve (6) and distribution
Totally 32 pieces of magnetic rheology elastic bodies on the upper layer ladder buckstay (2) and lower layer's ladder buckstay (3)；The upper layer ladder
Buckstay (2) and lower layer's ladder buckstay (3) are cooperated by way of ladder；The shell (7) is for connecting institute
State sleeve (6) and the pedestal (8)；The pedestal (8) is for fixing the sleeve (6) and connecting the lower flange (9)；Institute
Lower flange (9) is stated to be connected with robot end；The upper flange (1) connect with the upper layer ladder buckstay (2)；It is described pre-
Pressing plate (4) is connected with the sleeve (6) and the shell (7) respectively；The upper prefabricating plate (4) also respectively with the upper layer rank
Terraced buckstay (2) is connected with lower layer's ladder buckstay (3)；Lower layer's ladder buckstay (3) also with the right precompressed
Plate (5) connection；32 pieces of magnetic rheology elastic bodies form six groups of half-bridge double bridge circuits by conducting wire, are denoted as respectively, first
Circuit, second circuit, tertiary circuit, the 4th circuit, the 5th circuit and the 6th circuit；The sensing unit (10) passes through magnetorheological
Opposite face pressure signal is converted electric signal by elastomer；
The six independent electric signals of output of six groups of half-bridge double bridges circuit independently, six electric signal difference
Power/torque of six direction in corresponding six-dimensional force.
Optionally, the upper layer ladder buckstay (2) includes the first threaded hole (2-1) connecting with the upper flange, passes
Pass the force transmission shaft (2-2) of externally applied force, the upper layer slot (2-3) of the storage magnetic rheology elastic body, described pre- for connecting
The second threaded hole (2-4) of pressing plate (4) and the right prefabricating plate (5)；The upper layer ladder buckstay (2) is integrally formed；Institute
Fillet is fallen in the inside for stating upper layer slot (2-3)；Two hem width degrees of the upper layer slot (2-3) are greater than the magnetic rheology elastic body itself
Width.
Optionally, lower layer's ladder buckstay (3) includes the lower layer's slot (3-1) for storing the magnetic rheology elastic body, uses
In the third threaded hole (3-2) for connecting the upper prefabricating plate (4) and the right prefabricating plate (5)；The inside of lower layer's slot (3-1)
Fillet is fallen；Two hem width degrees of lower layer's slot (3-1) are greater than the width of the magnetic rheology elastic body itself.
Optionally, the upper prefabricating plate (4) includes the 4 for being connected with the sleeve (6) and the shell (7)
Threaded hole (4-1), and the first countersunk head being connected with the upper layer ladder buckstay (2), lower layer's ladder buckstay (3)
Hole (4-2).
Optionally, the right prefabricating plate (5) includes the 5th threaded hole (5-1) for being connected with the sleeve (6), with
And the second counter sink (5-2) being connected with the upper layer ladder buckstay (2), lower layer's ladder buckstay (3).
Optionally, the sleeve (6) include the first through hole (6-1) for lead, the triangular groove (6-2) for lineation,
For connecting the second through-hole (6-3) of the shell (7) and the upper prefabricating plate (4), for by the bolt of interim precompressed above
The third through-hole (6-4) of taking-up, for by the fourth hole (6-5) of the bolt of the interim precompressed in right side taking-up, described for connecting
The fifth hole (6-6) of upper prefabricating plate (4).
Optionally, the sleeve (6) includes the second through-hole for connecting the shell (7) and the upper prefabricating plate (4)
(6-3) and for by the third through-hole (6-4) of the bolt of interim precompressed above taking-up；The upper prefabricating plate (4) include for
The 4th threaded hole (4-1) that the sleeve (6) and the shell (7) are connected；Totally 32 pieces of magnetic rheology elastic bodies are placed in institute
State between upper layer ladder buckstay (2) and lower layer's ladder buckstay (3), the upper layer ladder buckstay (2) and it is described on
Between prefabricating plate (4), between lower layer's ladder buckstay (3) and the right prefabricating plate (5)；By the upper layer ladder rigidity
Beam (2) and lower layer's ladder buckstay (3) are first along Z-direction precompressed, then to be rotated clockwise precompressed about the z axis, then
Precompressed is carried out by the upper prefabricating plate (4) and the right prefabricating plate (5) again, and be bolted the upper prefabricating plate (4),
The upper layer ladder buckstay (2) and lower layer's ladder buckstay (3), and the right prefabricating plate (5), institute is bolted
State upper layer ladder buckstay (2) and lower layer's ladder buckstay (3)；Then the sleeve (6) is inserted in, and by described
Third through-hole (6-4) takes out the bolt of precompressed, incites somebody to action finally by second through-hole (6-3), the 4th threaded hole (4-1)
The sleeve (6) is bolted with the upper prefabricating plate (4) and the right prefabricating plate (5)；It is surveyed by first circuit
X is measured to power, Y-direction power is measured by the second circuit, Z-direction power is measured by the tertiary circuit, passes through the 4th circuit
It measures X and the 6th circuit measuring Z-direction torque is passed through by the 5th circuit measuring Y-direction torque to torque.
Optionally, the upper layer ladder buckstay (2) includes the upper layer slot (2-3) for storing the magnetic rheology elastic body；Institute
Stating lower layer's ladder buckstay (3) includes the lower layer's slot (3-1) for storing the magnetic rheology elastic body；In terms of Y-axis positive direction, from up to
Under can be divided into the first cascaded surface, the second cascaded surface, third cascaded surface, fourth order tread, the 5th cascaded surface and the 6th cascaded surface, often
Lower layer's slot (3-1) is distributed in one cascaded surface；And it is distributed in the of lower layer's ladder buckstay (3) right side
Seven right planes, be distributed in the upper layer ladder buckstay (2) above the 8th on plane, in each face distribution one it is described on
Layer slot (2-3)；In terms of X-axis positive direction, the 9th cascaded surface, the tenth cascaded surface, the 11st cascaded surface, can be divided into from top to bottom
12 cascaded surfaces, the 13rd cascaded surface and the tenth quadravalence tread, each cascaded surface is interior to be distributed lower layer's slot (3-1)；
And it is distributed in the 15th right plane on lower layer's ladder buckstay (3) right side, it is distributed in the upper layer ladder buckstay (2)
Plane on the 16th above is distributed a upper layer slot (2-3) in each face；In terms of Y-axis negative direction, from top to bottom may be used
It is divided into the 17th cascaded surface, the 18th cascaded surface, the 19th cascaded surface, the 20th cascaded surface, the 21st cascaded surface and second
12 cascaded surfaces, each cascaded surface is interior to be distributed lower layer's slot (3-1)；And it is distributed in lower layer's ladder buckstay
(3) the 23rd right plane on the right side, be distributed in the upper layer ladder buckstay (2) above the 24th on plane, it is each
A upper layer slot (2-3) is distributed in a face；In terms of X-axis negative direction, the 25th cascaded surface, second can be divided into from top to bottom
16 cascaded surfaces, the 27th cascaded surface, the 28th cascaded surface, the 29th cascaded surface and the 30th cascaded surface, each
Lower layer's slot (3-1) is distributed in cascaded surface；And it is distributed in the 31st of lower layer's ladder buckstay (3) right side
Right plane, be distributed in the upper layer ladder buckstay (2) above the 32nd on plane, in each face described in distribution one
Upper layer slot (2-3)；Totally 32 magnetic rheology elastic bodies are placed in the upper layer slot (2-3) and lower layer's slot (3-1).
Optionally, totally 32 pieces of magnetic rheology elastic bodies, which are specifically provided that, is set to first cascaded surface lower layer slot
Magnetic rheology elastic body on (3-1) is R1, the magnetic rheology elastic body being set on second cascaded surface lower layer slot (3-1) is
R2, the magnetic rheology elastic body being set on third cascaded surface lower layer slot (3-1) is R3, it is set under the fourth order tread
Magnetic rheology elastic body on layer slot (3-1) is R4, the magnetic rheology elastic body that is set on the 5th cascaded surface lower layer slot (3-1)
For R5, the magnetic rheology elastic body being set on the 6th cascaded surface lower layer slot (3-1) is R6, it is set to the 7th right plane
Magnetic rheology elastic body on upper layer slot (2-3) is R7, it is set to the magnetorheological bullet on the described 8th on plane upper layer slot (2-3)
Property body be R8；The magnetic rheology elastic body being set on the 9th cascaded surface lower layer slot (3-1) is R9, it is set to the tenth rank
Magnetic rheology elastic body on tread lower layer slot (3-1) is R10, the magnetic current that is set on the 11st cascaded surface lower layer slot (3-1)
Change elastomer is R11, the magnetic rheology elastic body being set on the 12nd cascaded surface lower layer slot (3-1) is R12, it is set to institute
Stating the magnetic rheology elastic body on the 13rd cascaded surface lower layer slot (3-1) is R13, it is set to the tenth quadravalence tread lower layer slot
Magnetic rheology elastic body on (3-1) is R14, the magnetic rheology elastic body being set on the 15th right plane upper layer slot (2-3) is
R15, being set to the magnetic rheology elastic body on the described 16th on plane upper layer slot (2-3) is R16；It is set to the 17th rank
Magnetic rheology elastic body on tread lower layer slot (3-1) is R17, the magnetic current that is set on the 18th cascaded surface lower layer slot (3-1)
Change elastomer is R18, the magnetic rheology elastic body being set on the 19th cascaded surface lower layer slot (3-1) is R19, it is set to institute
Stating the magnetic rheology elastic body on the 20th cascaded surface lower layer slot (3-1) is R20, it is set to the 21st cascaded surface lower layer slot
Magnetic rheology elastic body on (3-1) is R21, the magnetic rheology elastic body that is set on the 22nd cascaded surface lower layer slot (3-1)
For R22, the magnetic rheology elastic body being set on the 23rd right plane upper layer slot (2-3) is R23, it is set to described second
Magnetic rheology elastic body on 14 on plane upper layer slot (2-3) is R24；It is set to the 25th cascaded surface lower layer slot (3-1)
On magnetic rheology elastic body be R25, the magnetic rheology elastic body being set on the 26th cascaded surface lower layer slot (3-1) is
R26, the magnetic rheology elastic body being set on the 27th cascaded surface lower layer slot (3-1) is R27, it is set to the described 20th
Magnetic rheology elastic body on eight cascaded surface lower layer slots (3-1) is R28, it is set to the 29th cascaded surface lower layer slot (3-1)
On magnetic rheology elastic body be R29, the magnetic rheology elastic body being set on the 30th cascaded surface lower layer slot (3-1) is R30,
The magnetic rheology elastic body being set on the 31st right plane upper layer slot (2-3) is R31, it is set on the described 32nd
Magnetic rheology elastic body on plane upper layer slot (2-3) is R32；
The structure of first circuit are as follows: R3With R19、R5With R21It is in parallel again after series connection respectively, finally it is integrally connected to electricity
The positive and negative anodes in source, R3With R19Between be arranged binding post C1, R5With R21Between post D is set1, in C1With D1Between access signal
Acquisition Circuit；The structure of the second circuit are as follows: R11With R27、 R13With R29It is in parallel again after series connection respectively, finally it is connected
To the positive and negative anodes of power supply, R11With R27Between be arranged binding post C2, R13With R29Between post D is set2, in C2With D2Between access
Signal acquisition circuit；The structure of the tertiary circuit are as follows: R4、R20、R8With R24Series connection after again with connect after R16、R32、R12
With R28Parallel connection is finally integrally connected to the positive and negative anodes of power supply, R20With R8Between be arranged binding post C3, R32With R12Between be arranged and connect
Terminal D3, in C3With D3Between access signal acquisition circuit；The structure of 4th circuit are as follows: the R2With the R18, the R6
With the R22It is in parallel again after series connection respectively, finally it is integrally connected to the positive and negative anodes of power supply, the R2With the R18Between be arranged
Binding post C4, the R6With the R22Between post D is set4, in C4With D4Between access signal acquisition circuit；Described 5th
The structure of circuit are as follows: the R10With the R26, the R30With the R14It is in parallel again after series connection respectively, finally it is integrally connected to
The positive and negative anodes of power supply, the R10With the R26Between be arranged binding post C5, the R30With the R14Between post D is set5,
In C5With D5Between access signal acquisition circuit；The structure of 6th circuit are as follows: the R1, the R17, the R7With the R23
Series connection after again with connect after the R15, the R31, the R9With the R25Parallel connection is finally integrally connected to power supply
Positive and negative anodes, the R17With the R7Between be arranged binding post C6, the R31With the R9Between post D is set6, in C6With D6
Between access signal acquisition circuit.
In order to solve the above technical problems, being surveyed the present invention also provides a kind of using such as above-mentioned embedded staged sensing device
Measure six-dimensional force method, comprising: S1, by the upper layer ladder buckstay (2) and lower layer's ladder buckstay (3) along Z axis side
To precompressed；S2, the upper layer ladder buckstay (2) and lower layer's ladder buckstay (3) edge are rotated clockwise about the z axis
Precompressed；S3, the upper prefabricating plate (4) and the right prefabricating plate (5) are bolted and carry out precompressed to it；S4, will be described
Sleeve (6) is inserted in, and is taken out the bolt of precompressed by the third through-hole (6-4)；S5, by second through-hole (6-3),
The sleeve (6) and the upper prefabricating plate (4) and the right prefabricating plate (5) are carried out bolt company by the 4th threaded hole (4-1)
It connects；S6, it is surveyed to power by second circuit measurement Y-direction power by the tertiary circuit by the first circuit measuring X
Z-direction power is measured, passes through the described 6th by the 5th circuit measuring Y-direction torque to torque by the 4th circuit measuring X
Circuit measuring Z-direction torque.
Beneficial effect
A kind of method that the present invention provides embedded staged sensing device and its measures six-dimensional force, comprising: upper flange (1),
Shell (7), pedestal (8), lower flange (9) and sensing unit (10)；Sensing unit (10) include upper layer ladder buckstay (2),
Lower layer's ladder buckstay (3), upper prefabricating plate (4), right prefabricating plate (5), sleeve (6) and be distributed in upper layer ladder buckstay (2) and
Totally 32 pieces of magnetic rheology elastic bodies on lower layer's ladder buckstay (3)；Upper layer ladder buckstay (2) and lower layer's ladder buckstay (3)
It is cooperated by way of ladder；Shell (7) is for connecting sleeve (6) and pedestal (8)；Pedestal (8) is used for fixes sleeve
(6) and lower flange (9) are connected；Lower flange (9) is connected with robot end；Upper flange (1) and upper layer ladder buckstay (2) are even
It connects；Upper prefabricating plate (4) is connected with sleeve (6) and shell (7) respectively；Upper prefabricating plate (4) also respectively with upper layer ladder buckstay
(2) it is connected with lower layer's ladder buckstay (3)；Lower layer's ladder buckstay (3) is also connect with right prefabricating plate (5)；Wherein it is distributed in
Totally 32 pieces of magnetic rheology elastic bodies on each ladder buckstay form six groups of half-bridge double bridge circuits by conducting wire, remember respectively
For the first circuit, second circuit, tertiary circuit, the 4th circuit, the 5th circuit and the 6th circuit；Sensing unit (10) passes through magnetic
Opposite face pressure signal is converted electric signal by magnetorheological elastomer；Six groups of half-bridge double bridge circuits independently output six
Independent electric signal, six electric signals respectively correspond power/torque of the six direction in six-dimensional force；Through the above scheme, it innovates
Embedded staged tube-in-tube structure is proposed, precompressed difficulty can be effectively reduced, improves precompressed precision, increases sensor entirety
Reliability and measurement accuracy.Compared to the six-dimension force sensor for using traditional foil gauge, sensing unit (10) and half-bridge both arms are used
When pressure signal is changed into voltage signal by the novel embedded staged sensing device of electric bridge composition, the electric signal of generation is not needed
Amplifying circuit, which amplifies, directly to be acquired, and the adverse effect that can be distorted after electric signal amplifies is avoided, and increase biography
The sensitivity of sensor, realizes high-acruracy survey, which can be obtained by the electric signal-pressure model derived；And due to
Embedded hierarchic structure is merged with half-bridge double bridge circuit, and the Six-dimension force sensing device is made to have reached the beneficial of structure decoupling
Effect.
Detailed description of the invention
Fig. 1 is a kind of front view schematic diagram of embedded staged sensing device provided in an embodiment of the present invention；
Fig. 2 is a kind of bottom view schematic diagram of embedded staged sensing device provided in an embodiment of the present invention；
Fig. 3 is a kind of main view signal of the removal shell of embedded staged sensing device provided in an embodiment of the present invention
Figure；
Fig. 4 is a kind of top view signal of the removal shell of embedded staged sensing device provided in an embodiment of the present invention
Figure；
Fig. 5 is the main view of the removal shell and sleeve of a kind of embedded staged sensing device provided in an embodiment of the present invention
Schematic diagram；
Fig. 6 is the top view of the removal shell and sleeve of a kind of embedded staged sensing device provided in an embodiment of the present invention
Schematic diagram；
Fig. 7 is a kind of isometric measuring of upper layer ladder buckstay of embedded staged sensing device provided in an embodiment of the present invention
It is intended to；
Fig. 8 is a kind of isometric measuring of lower layer's ladder buckstay of embedded staged sensing device provided in an embodiment of the present invention
It is intended to；
Fig. 9 is a kind of shell bottom view schematic diagram of embedded staged sensing device provided in an embodiment of the present invention；
Figure 10 is a kind of pedestal isometric view of embedded staged sensing device provided in an embodiment of the present invention；
Figure 11 is a kind of pedestal bottom view schematic diagram of embedded staged sensing device provided in an embodiment of the present invention；
Figure 12 is a kind of schematic diagram of the first circuit of embedded staged sensing device provided in an embodiment of the present invention；
Figure 13 is a kind of schematic diagram of the second circuit of embedded staged sensing device provided in an embodiment of the present invention；
Figure 14 is a kind of schematic diagram of the tertiary circuit of embedded staged sensing device provided in an embodiment of the present invention；
Figure 15 is a kind of schematic diagram of the 4th circuit of embedded staged sensing device provided in an embodiment of the present invention；
Figure 16 is a kind of schematic diagram of the 5th circuit of embedded staged sensing device provided in an embodiment of the present invention；
Figure 17 is a kind of schematic diagram of the 6th circuit of embedded staged sensing device provided in an embodiment of the present invention；
Figure 18 is that a kind of magnetic rheology elastic body provided in an embodiment of the present invention is rigid in upper layer ladder buckstay and lower layer's ladder
The position view of property beam.
Specific embodiment
In order to be apparent to the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to tool
Body diagram, the present invention is further explained.
Embodiment one
The X-axis mentioned in the present embodiment, Y-axis, Z axis are subject to Figure 18.
Referring to Fig. 1 to Figure 18, the present embodiment provides a kind of embedded staged sensing devices, comprising:
Upper flange (1), shell (7), pedestal (8), lower flange (9) and sensing unit (10)；Sensing unit (10) includes
It upper layer ladder buckstay (2), lower layer's ladder buckstay (3), upper prefabricating plate (4), right prefabricating plate (5), sleeve (6) and is distributed in
Totally 32 pieces of magnetic rheology elastic bodies on layer ladder buckstay (2) and lower layer's ladder buckstay (3)；Upper layer ladder buckstay (2) with
Lower layer's ladder buckstay (3) is cooperated by way of ladder；Shell (7) is for connecting sleeve (6) and pedestal (8)；Pedestal
(8) fixes sleeve (6) are used for and connect lower flange (9)；Lower flange (9) is connected with robot end；Upper flange (1) and upper layer
Ladder buckstay (2) connection；Upper prefabricating plate (4) is connected with sleeve (6) and shell (7) respectively；Upper prefabricating plate (4) also respectively with
Upper layer ladder buckstay (2) is connected with lower layer's ladder buckstay (3)；Lower layer's ladder buckstay (3) also connects with right prefabricating plate (5)
It connects；The totally 32 pieces of magnetic rheology elastic bodies being wherein distributed on each ladder buckstay form six groups of half-bridge double bridges by conducting wire
Circuit is denoted as respectively, the first circuit, second circuit, tertiary circuit, the 4th circuit, the 5th circuit and the 6th circuit；Sensing unit
(10) electric signal is converted for opposite face pressure signal by magnetic rheology elastic body；Six groups of half-bridge double bridge circuits are independently
Six independent electric signals of output, six electric signals respectively correspond power/torque of the six direction in six-dimensional force；
Six groups of independent half-bridge double bridge circuits of composition, six independent electric signals of output independently, six
Electric signal respectively corresponds power/torque of the six direction in six-dimensional force, and does not interfere with each other between each other, for example, measurement X-direction power
When, in addition 5 half-bridge double bridges do not have electric signal output, realize the effect of structure decoupling；
Pedestal (8) can be used for overload protection；
Pressure change can be changed into resistance variations by magnetic rheology elastic body, then be connected by half-bridge double bridge circuit
It connects, the voltage value of measurement half-bridge double bridge circuit can acquire its pressure value；
Through the above scheme, innovation proposes embedded staged tube-in-tube structure, can effectively reduce precompressed difficulty, improves
Precompressed precision increases the reliability and measurement accuracy of sensor entirety.Compared to the six-dimension force sensor for using traditional foil gauge, make
Pressure signal is changed into voltage with the novel embedded staged sensing device that sensing unit (10) and half-bridge double bridge form
When signal, the electric signal of generation does not need amplifying circuit and amplifies and can directly acquire, and avoids after electric signal amplifies
The adverse effect that can be distorted increases the sensitivity of sensor, realizes high-acruracy survey, which can be by the telecommunications derived
Number-pressure model obtains；Namely pass through the combination of sensing unit (10) and half-bridge double bridge circuit, relative to traditional strain
Piece combination bridge circuit increases the sensitivity of sensor, and the electric signal exported does not need amplifying circuit and can be used, and keeps away
The distortion of electric signal is exempted from；And due to merging for embedded hierarchic structure and half-bridge double bridge circuit, pass the six-dimensional force
Induction device has reached the beneficial effect of structure decoupling.
Optionally, in the present embodiment, upper layer ladder buckstay (2) includes the first threaded hole connecting with upper flange (1)
(2-1), the force transmission shaft (2-2) for transmitting externally applied force, the upper layer slot (2-3), upper pre- for connecting for storing magnetic rheology elastic body
The second threaded hole (2-4) of pressing plate (4) and right prefabricating plate (5)；Upper layer ladder buckstay (2) is integrally formed, and guarantees transmission force
Accurate and reliability；Fallen fillet for the inside of upper layer slot (2-3), guarantees the convenience and operability of processing；Upper layer slot
Two hem width degrees of (2-3) are greater than the width of magnetic rheology elastic body itself, magnetorheological when preventing from applying pressure to magnetic rheology elastic body
Elastomer expands.
Optionally, in the present embodiment, lower layer's ladder buckstay (3) includes the lower layer slot (3- for storing magnetic rheology elastic body
1), for connecting the third threaded hole (3-2) of upper prefabricating plate (4) and right prefabricating plate (5)；Fallen circle for the inside of lower layer's slot (3-1)
Angle guarantees the convenience and operability of processing；Two hem width degrees of lower layer's slot (3-1) are greater than the width of magnetic rheology elastic body itself
Degree, when preventing from applying pressure to magnetic rheology elastic body, magnetic rheology elastic body is expanded.
Optionally, in the present embodiment, upper prefabricating plate (4) includes for being connected with sleeve (6) and shell (7)
Four threaded holes (4-1), and the first counter sink (4- being connected with upper layer ladder buckstay (2), lower layer's ladder buckstay (3)
2)。
Optionally, in the present embodiment, right prefabricating plate (5) includes the 5th threaded hole (5- for being connected with sleeve (6)
1) the second counter sink (5-2), and with upper layer ladder buckstay (2), lower layer's ladder buckstay (3) being connected.
Upper prefabricating plate (4) and the effect of right prefabricating plate (5) are mainly: first, in order to upper layer ladder buckstay (2) and under
Layer ladder buckstay (3) carries out an interim precompressed, guarantees that sleeve (6) can smoothly, reliably be set up；Second, be for
Above precompressed and the magnetic rheology elastic body on the right side, the power and torque of Z axis direction are measured.
Optionally, in the present embodiment, sleeve (6) includes for the first through hole (6-1) of lead, for the triangle of lineation
Slot (6-2), for the second through-hole (6-3) of connected with outer casing (7) and upper prefabricating plate (4), for by the bolt of interim precompressed above
The third through-hole (6-4) of taking-up, for by the fourth hole (6-5) of the bolt of the interim precompressed in right side taking-up, upper pre- for connecting
The fifth hole (6-6) of pressing plate (4).
The main function of sleeve (6) is: first, for upper layer ladder buckstay (2) and lower layer's ladder buckstay (3) into
Row one secured, reliable, accurately precompressed；Second, itself is connected with upper prefabricating plate (4) and right prefabricating plate (5), makes it more
Accurately transmission force/torque.Upper layer ladder buckstay (2), lower layer's ladder buckstay (3), upper prefabricating plate (4), right prefabricating plate (5)
And the design of sleeve (6), not only solve traditional six-dimension force sensor, can not precompressed, be difficult to precompressed or precompressed inaccuracy
Problem also greatly improves six-dimension force sensor signal acquisition mode and structure decoupling form.
Optionally, in the present embodiment, upper flange (1) includes the third counter sink connecting with upper layer ladder buckstay (2)
(1-1) and the 6th through-hole (1-2) being connected with external tool.The structure, which designs, is independent flange arrangement: first, it is to add
The convenience of work；Second, it is the easy to assembly of convenient disassembly and the shell entirety for six-dimension force sensor.
Optionally, in the present embodiment, shell (7) includes the 6th threaded hole (7-1) for placing aviation plug, is used
The 5th counter sink (7- in the 4th counter sink (7-2) being connect with pedestal (8), for being connect with sleeve (6), upper prefabricating plate (4)
3), the 7th threaded hole (7-4) for being connect with pedestal (8).The effect of shell (7) is mainly first, and connection pedestal (8) is simultaneously
Sleeve (6) and upper prefabricating plate (4) are connected, guarantee the equilibrium of magnetic rheology elastic body；Second, keep six-dimension force sensor formation one whole
Body.
Optionally, in the present embodiment, pedestal (8) includes overload protection platform (8-1), convex disk (8-2), for connecting lower layer
8th threaded hole (8-3) of ladder buckstay (3), is used for connected with outer casing at the 6th counter sink (7-4) for being used for connected with outer casing (7)
(7) the 9th threaded hole (8-5), the tenth threaded hole (8-6) for connecting the fixing seat for arranging conducting wire, for connecting lower flange
(9) blind hole (8-7), wherein fixation of the overload protection platform (8-1) for the overload protection and sleeve (6) of six-dimension force sensor.
Optionally, in the present embodiment, lower flange (9) includes the 7th counter sink (9-1) and use for connecting pedestal (8)
In the 11st threaded hole (9-2) of connection robot end.Lower flange (9) uses the work of modular design and upper flange (1)
With roughly the same.First, it is the convenience for processing；Second, it is convenient disassembly and the robot end for six-dimension force sensor
That holds is easy to connect.
Optionally, in the present embodiment, sleeve (6) includes leading to for the second of connected with outer casing (7) and upper prefabricating plate (4)
Hole (6-3) and for by the third through-hole (6-4) of the bolt of interim precompressed above taking-up；Upper prefabricating plate (4) include for set
The 4th threaded hole (4-1) that cylinder (6) and shell (7) are connected；Totally 32 pieces of magnetic rheology elastic bodies are placed in upper layer ladder buckstay (2)
Between lower layer's ladder buckstay (3), between upper layer ladder buckstay (2) and upper prefabricating plate (4), lower layer's ladder buckstay (3)
Between right prefabricating plate (5)；By upper layer ladder buckstay (2) and lower layer's ladder buckstay (3) first along Z-direction precompressed, then with
It is rotated clockwise precompressed about the z axis, precompressed is then carried out by upper prefabricating plate (4) and right prefabricating plate (5) again, and pass through bolt
Prefabricating plate (4), upper layer ladder buckstay (2) and lower layer's ladder buckstay (3) in connection, and right prefabricating plate is bolted
(5), upper layer ladder buckstay (2) and lower layer's ladder buckstay (3)；Then sleeve (6) is inserted in, and passes through third through-hole (6-
4) bolt of precompressed is taken out, finally by the second through-hole (6-3), the 4th threaded hole (4-1) by sleeve (6) and upper prefabricating plate
(4) and right prefabricating plate (5) is bolted；By the first circuit measuring X to power, Y-direction power is measured by second circuit, is passed through
Tertiary circuit measures Z-direction power, passes through the 6th electricity by the 5th circuit measuring Y-direction torque to torque by the 4th circuit measuring X
Drive test amount Z-direction torque.
By hierarchic structure, magnetic rheology elastic body is distributed in hierarchic structure, by upper layer ladder buckstay (2) under
Layer ladder buckstay (3) is first along Z-direction precompressed, then to be rotated clockwise precompressed about the z axis, then passes through upper prefabricating plate again
(4) and right prefabricating plate (5) carries out precompressed, and prefabricating plate (4), upper layer ladder buckstay (2) and lower layer's rank is bolted
Terraced buckstay (3), right prefabricating plate (5), upper layer ladder buckstay (2) and lower layer's ladder buckstay (3)；Then sleeve (6) are covered
Enter, and taken out the bolt of precompressed by the through-hole (6-4) on sleeve (6), finally by counter sink (7-3), the second through-hole
Shell (7), sleeve (6) and upper prefabricating plate (4) and right prefabricating plate (5) are bolted by (6-3), the 4th threaded hole (4-1),
Guarantee the accurate conduction of power.
Optionally, in the present embodiment, upper layer ladder buckstay (2) includes the upper layer slot (2- for storing magnetic rheology elastic body
3)；Lower layer's ladder buckstay (3) includes the lower layer's slot (3-1) for storing magnetic rheology elastic body；In terms of Y-axis positive direction, from top to bottom
The first cascaded surface, the second cascaded surface, third cascaded surface, fourth order tread, the 5th cascaded surface and the 6th cascaded surface can be divided into, it is each
Lower layer's slot (3-1) is distributed in a cascaded surface；And it is distributed in the 7th right plane on lower layer ladder buckstay (3) right side, point
Cloth upper layer ladder buckstay (2) above the 8th on plane, a upper layer slot (2-3) is distributed in each face；Just from X-axis
Direction is seen, can be divided into the 9th cascaded surface, the tenth cascaded surface, the 11st cascaded surface, the 12nd cascaded surface, the 13rd rank from top to bottom
Tread and the tenth quadravalence tread, each cascaded surface is interior to be distributed lower layer's slot (3-1)；And it is distributed in lower layer's ladder buckstay
(3) the 15th right plane on the right side, be distributed in upper layer ladder buckstay (2) above the 16th on plane, in each face point
One upper layer slot (2-3) of cloth；In terms of Y-axis negative direction, the 17th cascaded surface, the 18th cascaded surface, the tenth can be divided into from top to bottom
Nine cascaded surfaces, the 20th cascaded surface, the 21st cascaded surface and the 22nd cascaded surface, under the interior distribution one of each cascaded surface
Layer slot (3-1)；And it is distributed in the 23rd right plane on lower layer ladder buckstay (3) right side, it is distributed in upper layer ladder rigidity
Beam (2) above the 24th on plane, a upper layer slot (2-3) is distributed in each face；In terms of X axis negative direction, from up to
Under can be divided into the 25th cascaded surface, the 26th cascaded surface, the 27th cascaded surface, the 28th cascaded surface, the 29th
Cascaded surface and the 30th cascaded surface, each cascaded surface is interior to be distributed lower layer's slot (3-1)；And it is distributed in lower layer's ladder rigidity
The 31st right plane on beam (3) right side, be distributed in upper layer ladder buckstay (2) above the 32nd on plane, each
A upper layer slot (2-3) is distributed in face；Totally 32 magnetic rheology elastic bodies are placed in upper layer slot (2-3) and lower layer's slot (3-1).
Optionally, in the present embodiment, totally 32 pieces of magnetic rheology elastic bodies are specifically provided that and are set under the first cascaded surface
Magnetic rheology elastic body on layer slot (3-1) is R1, the magnetic rheology elastic body being set on the second cascaded surface lower layer slot (3-1) is
R2, the magnetic rheology elastic body being set on third cascaded surface lower layer slot (3-1) is R3, it is set to fourth order tread lower layer slot (3-1)
On magnetic rheology elastic body be R4, the magnetic rheology elastic body being set on the 5th cascaded surface lower layer slot (3-1) is R5, it is set to
Magnetic rheology elastic body on six cascaded surface lower layer slots (3-1) is R6, the magnetic current that is set on the 7th right plane upper layer slot (2-3)
Change elastomer is R7, being set to the magnetic rheology elastic body on the 8th on plane upper layer slot (2-3) is R8；It is set to the 9th cascaded surface
Magnetic rheology elastic body on lower layer's slot (3-1) is R9, the magnetic rheology elastic body that is set on the tenth cascaded surface lower layer slot (3-1)
For R10, the magnetic rheology elastic body being set on the 11st cascaded surface lower layer slot (3-1) is R11, it is set under the 12nd cascaded surface
Magnetic rheology elastic body on layer slot (3-1) is R12, the magnetic rheology elastic body being set on the 13rd cascaded surface lower layer slot (3-1) is
R13, the magnetic rheology elastic body being set on the tenth quadravalence tread lower layer slot (3-1) is R14, it is set to the 15th right plane upper layer
Magnetic rheology elastic body on slot (2-3) is R15, being set to the magnetic rheology elastic body on the 16th on plane upper layer slot (2-3) is
R16；The magnetic rheology elastic body being set on the 17th cascaded surface lower layer slot (3-1) is R17, it is set to the 18th cascaded surface lower layer
Magnetic rheology elastic body on slot (3-1) is R18, the magnetic rheology elastic body being set on the 19th cascaded surface lower layer slot (3-1) is
R19, the magnetic rheology elastic body being set on the 20th cascaded surface lower layer slot (3-1) is R20, it is set under the 21st cascaded surface
Magnetic rheology elastic body on layer slot (3-1) is R21, the magnetic rheology elastic body that is set on the 22nd cascaded surface lower layer slot (3-1)
For R22, the magnetic rheology elastic body being set on the 23rd right plane upper layer slot (2-3) is R23, it is set on the 24th and puts down
Magnetic rheology elastic body on face upper layer slot (2-3) is R24；It is set to magnetorheological on the 25th cascaded surface lower layer slot (3-1)
Elastomer is R25, the magnetic rheology elastic body being set on the 26th cascaded surface lower layer slot (3-1) is R26, it is set to the 20th
Magnetic rheology elastic body on seven cascaded surface lower layer slots (3-1) is R27, the magnetic that is set on the 28th cascaded surface lower layer slot (3-1)
Magnetorheological elastomer is R28, the magnetic rheology elastic body being set on the 29th cascaded surface lower layer slot (3-1) is R29, it is set to
Magnetic rheology elastic body on 30 cascaded surface lower layer slots (3-1) is R30, it is set on the 31st right plane upper layer slot (2-3)
Magnetic rheology elastic body is R31, being set to the magnetic rheology elastic body on the 32nd on plane upper layer slot (2-3) is R32；According to this
A rule setting magnetic rheology elastic body converts external force to 32 in the component of six dimensions while facilitating precompressed
The pressure that magnetic rheology elastic body applies, then be attached 32 magnetic rheology elastic bodies by electric bridge, realize six-dimensional force sensing
The structure decoupling of device.
The structure of first circuit are as follows: R3With R19、R5With R21It is in parallel again after series connection respectively, finally it is integrally connected to power supply
Positive and negative anodes, R3With R19Between be arranged binding post C1, R5With R21Between post D is set1, in C1With D1Between access signal acquisition
Circuit；The structure of second circuit are as follows: R11With R27、R13With R29It is in parallel again after series connection respectively, finally it is being integrally connected to power supply just
Cathode, R11With R27Between be arranged binding post C2, R13With R29Between post D is set2, in C2With D2Between access signal acquisition
Circuit；The structure of tertiary circuit are as follows: R4、R20、R8With R24Series connection after again with connect after R16、R32、R12With R28Parallel connection, most
It is integrally connected to the positive and negative anodes of power supply, R afterwards20With R8Between be arranged binding post C3, R32With R12Between post D is set3, in C3With
D3Between access signal acquisition circuit；The structure of 4th circuit are as follows: R2With R18、R6With R22It is in parallel again after series connection respectively, finally
It is integrally connected to the positive and negative anodes of power supply, R2With R18Between be arranged binding post C4, R6With R22Between post D is set4, in C4With D4
Between access signal acquisition circuit；The structure of 5th circuit are as follows: R10With R26、R30With R14It is in parallel again after series connection respectively, it is last whole
Body is connected to the positive and negative anodes of power supply, R10With R26Between be arranged binding post C5, R30With R14Between post D is set5, in C5With D5
Between access signal acquisition circuit；The structure of 6th circuit are as follows: R1、R17、R7With R23Series connection after again with connect after R15、
R31、R9With R25Parallel connection is finally integrally connected to the positive and negative anodes of power supply, R17With R7Between be arranged binding post C6, R31With R9Between set
Set post D6, in C6With D6Between access signal acquisition circuit.
Sensing unit (10) is separately constituted into six groups of independent half-bridge double bridge circuits, six groups of independent circuit outputs six
A independent electric signal, and six groups of electric signals independently exported, noiseless from each other, six electric signals respectively correspond six-dimensional force
In six direction power/torque, realize the effect of structure decoupling.
Model foundation between electric signal and pressure is as follows:
We select the power of measurement X-direction to carry out establishing model, and the power on other directions is consistent therewith with torgue measurement.
eyThe electric signal acquired between C, D point；
Work as eyWhen=0, bridge balance should meet following condition at this time:
R17R19=R3R5
Such as when minor change Δ R occurs for each arm resistance3、ΔR5、ΔR17、ΔR19Afterwards, electric bridge disequilibrium, at this time defeated
Voltage out are as follows:
The full equal arm bridge that we use four arm resistances equal, i.e. R3=R5=R17=R19
When we measure X-axis positive force, Δ R3=Δ R5=Δ R, Δ R17=Δ R19=0
Because
σ is the power that magnetic rheology elastic body piece is subject to；
λ=3；
R (σ) is magnetic rheology elastic body piece by the resistance value after the power of σ size；
R (0) is the resistance value of magnetic rheology elastic body piece original state；
For the barrier height (nickel powder of magnetic rheology elastic body piece silicone rubber matrix and conductive particle)；
d0The minimum clearance distance between conductive particle under zero pressure；
D is the partial size of nickel powder；
φ is the volume fraction of nickel powder filling, and the present invention uses 15% volume fraction.
G is the compression modulus of magnetic rheology elastic body piece, G=a+b σ+c σ2；
Use nickel powder content for 15% magnetic rheology elastic body piece compression modulus are as follows: G=-0.02959 σ2+ 6.659σ+
138
R (0)=R
Δ R=R (σ)-R (0)
It enables
When we measure X-axis negative force, Δ R3=Δ R5=0, Δ R17=Δ R19=Δ R
Because
σ is the power that magnetic rheology elastic body piece is subject to；
λ=3；
R (σ) is magnetic rheology elastic body piece by the resistance value after the power of σ size；
R (0) is the resistance value of magnetic rheology elastic body piece original state；
For the barrier height (nickel powder of magnetic rheology elastic body piece silicone rubber matrix and conductive particle)
d0The minimum clearance distance between conductive particle under zero pressure；
D is the partial size of nickel powder；
φ is the volume fraction of nickel powder filling, and the present invention uses 15%.
G is the compression modulus of MRE, G=a+b σ+c σ2；
Use nickel powder content for 15% MRE compression modulus are as follows: G=-0.02959 σ2+6.659σ+138
R (0)=R
Δ R=R (σ)-R (0)
It enables
So far, we have obtained the relationship of pressure and electric signal in X-direction.By this relational expression, we can be seen
Out, relative to traditional foil gauge, the electric signal that sensitivity of the invention is greatly improved, and obtained requires no amplifying circuit just
It can be used directly, avoid the distortion that signal passes through amplifying circuit.
The present embodiment also provides a kind of method for measuring six-dimensional force using such as above-mentioned embedded staged sensing device, packet
It includes:
S1, by upper layer ladder buckstay (2) and lower layer's ladder buckstay (3) along Z-direction precompressed；
S2, upper layer ladder buckstay (2) and lower layer's ladder buckstay (3) edge are rotated clockwise precompressed about the z axis；
S3, upper prefabricating plate (4) and right prefabricating plate (5) are bolted and carry out precompressed to it；
S4, sleeve (6) is inserted in, and is taken out the bolt of precompressed by third through-hole (6-4)；
S5, by the second through-hole (6-3), the 4th threaded hole (4-1) by sleeve (6) and upper prefabricating plate (4) and right prefabricating plate
(5) it is bolted；
S6, Z-direction power is measured by tertiary circuit by second circuit measurement Y-direction power to power by the first circuit measuring X,
The 6th circuit measuring Z-direction torque is passed through by the 5th circuit measuring Y-direction torque to torque by the 4th circuit measuring X.
Step S6 introduces six half-bridge double bridge circuits to measure six-dimensional force, can directly pass through six half-bridge both arms electricity
Signal acquisition circuit in bridge circuit in each circuit obtains the size of six-dimensional force.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above embodiments and description only illustrates original of the invention
Reason, without departing from the spirit and scope of the present invention, the present invention also has other changes and improvements, these changes and improvements
It all fall within the protetion scope of the claimed invention.The scope of protection of present invention is by appended claims and its equivalent
It defines.
Claims (10)
1. a kind of embedded staged sensing device characterized by comprising upper flange (1), shell (7), pedestal (8), lower flange
(9) and sensing unit (10)；The sensing unit (10) include upper layer ladder buckstay (2), lower layer's ladder buckstay (3),
Upper prefabricating plate (4), right prefabricating plate (5), sleeve (6) and it is distributed in the upper layer ladder buckstay (2) and lower layer's ladder buckstay
(3) totally 32 pieces of magnetic rheology elastic bodies on；The upper layer ladder buckstay (2) and lower layer's ladder buckstay (3) pass through rank
The form of ladder cooperates；The shell (7) is for connecting the sleeve (6) and the pedestal (8)；The pedestal (8) is used for
The fixed sleeve (6) simultaneously connects the lower flange (9)；The lower flange (9) is connected with robot end；The upper flange
(1) it is connect with the upper layer ladder buckstay (2)；The upper prefabricating plate (4) respectively with the sleeve (6) and the shell (7)
It is connected；The upper prefabricating plate (4) also respectively with the upper layer ladder buckstay (2) and lower layer's ladder buckstay (3) phase
Connection；Lower layer's ladder buckstay (3) also connect with the right prefabricating plate (5)；32 pieces of magnetic rheology elastic bodies are by leading
Line forms six groups of half-bridge double bridge circuits, is denoted as respectively, the first circuit, second circuit, tertiary circuit, the 4th circuit, the 5th
Circuit and the 6th circuit；The sensing unit (10) converts electric signal for opposite face pressure signal by magnetic rheology elastic body；
The six independent electric signals of output of six groups of half-bridge double bridges circuit independently, six electric signals respectively correspond
Power/torque of six direction in six-dimensional force.
2. embedded staged sensing device according to claim 1, which is characterized in that the upper layer ladder buckstay (2)
Force transmission shaft (2-2), the storage magnetic including the first threaded hole (2-1), transmitting externally applied force that are connect with the upper flange
The upper layer slot (2-3) of magnetorheological elastomer, the second threaded hole for connecting the upper prefabricating plate (4) and the right prefabricating plate (5)
(2-4)；The upper layer ladder buckstay (2) is integrally formed；Fallen fillet for the inside of the upper layer slot (2-3)；The upper layer
Two hem width degrees of slot (2-3) are greater than the width of the magnetic rheology elastic body itself.
3. embedded staged sensing device according to claim 1, which is characterized in that lower layer's ladder buckstay (3)
Including storing lower layer's slot (3-1) of the magnetic rheology elastic body, for connecting the upper prefabricating plate (4) and the right prefabricating plate
(5) third threaded hole (3-2)；Fallen fillet for the inside of lower layer's slot (3-1)；Two hem width degrees of lower layer's slot (3-1)
Greater than the width of the magnetic rheology elastic body itself.
4. embedded staged sensing device according to claim 1, which is characterized in that the upper prefabricating plate (4) includes using
In the 4th threaded hole (4-1) being connected with the sleeve (6) and the shell (7), and with the upper layer ladder buckstay
(2), the first counter sink (4-2) that lower layer's ladder buckstay (3) is connected.
5. embedded staged sensing device according to claim 1, which is characterized in that the right prefabricating plate (5) includes using
In the 5th threaded hole (5-1) being connected with the sleeve (6), and with the upper layer ladder buckstay (2), lower layer's rank
The second counter sink (5-2) that terraced buckstay (3) is connected.
6. embedded staged sensing device according to claim 1, which is characterized in that the sleeve (6) includes for drawing
The first through hole (6-1) of line, for the triangular groove (6-2) of lineation, for connecting the shell (7) and the upper prefabricating plate (4)
The second through-hole (6-3), for by the third through-hole (6-4) of the bolt of interim precompressed above taking-up, for the right side is temporarily pre-
Fourth hole (6-5), the fifth hole (6-6) for connecting the upper prefabricating plate (4) of the bolt taking-up of pressure.
7. embedded staged sensing device according to any one of claims 1 to 6, which is characterized in that sleeve (6) packet
Include the second through-hole (6-3) for connecting the shell (7) and the upper prefabricating plate (4) and for by the spiral shell of interim precompressed above
The third through-hole (6-4) that bolt takes out；The upper prefabricating plate (4) includes for being connected with the sleeve (6) and the shell (7)
The 4th threaded hole (4-1)；Totally 32 pieces of magnetic rheology elastic bodies are placed in the upper layer ladder buckstay (2) and lower layer's rank
Between terraced buckstay (3), between the upper layer ladder buckstay (2) and the upper prefabricating plate (4), lower layer's ladder buckstay
(3) between the right prefabricating plate (5)；By the upper layer ladder buckstay (2) and lower layer's ladder buckstay (3) first along Z
Axis direction precompressed, then to be rotated clockwise precompressed about the z axis, then pass through the upper prefabricating plate (4) and the right precompressed again
Plate (5) carries out precompressed, and the upper prefabricating plate (4), the upper layer ladder buckstay (2) and lower layer's rank is bolted
Terraced buckstay (3), and the right prefabricating plate (5), the upper layer ladder buckstay (2) and lower layer's ladder is bolted
Buckstay (3)；Then the sleeve (6) is inserted in, and is taken out the bolt of precompressed by the third through-hole (6-4), finally
By second through-hole (6-3), the 4th threaded hole (4-1) by the sleeve (6) and the upper prefabricating plate (4) and described
Right prefabricating plate (5) is bolted；By the first circuit measuring X to power, Y-direction power is measured by the second circuit,
Z-direction power, which is measured, by the tertiary circuit passes through the 5th circuit measuring Y-direction by the 4th circuit measuring X to torque
Torque passes through the 6th circuit measuring Z-direction torque.
8. embedded staged sensing device according to claim 7, which is characterized in that the upper layer ladder buckstay (2)
Upper layer slot (2-3) including storing the magnetic rheology elastic body；Lower layer's ladder buckstay (3) includes that storage is described magnetorheological
Lower layer's slot (3-1) of elastomer；In terms of Y-axis positive direction, the first cascaded surface, the second cascaded surface, third rank can be divided into from top to bottom
Tread, fourth order tread, the 5th cascaded surface and the 6th cascaded surface, each cascaded surface is interior to be distributed lower layer's slot (3-1)；
And it is distributed in the 7th right plane on lower layer's ladder buckstay (3) right side, it is distributed on the upper layer ladder buckstay (2)
Plane on the 8th of face is distributed a upper layer slot (2-3) in each face；In terms of X-axis positive direction, it can be divided into from top to bottom
9th cascaded surface, the tenth cascaded surface, the 11st cascaded surface, the 12nd cascaded surface, the 13rd cascaded surface and the tenth quadravalence tread, often
Lower layer's slot (3-1) is distributed in one cascaded surface；And it is distributed in the tenth of lower layer's ladder buckstay (3) right side
Five right planes, be distributed in the upper layer ladder buckstay (2) above the 16th on plane, in each face described in distribution one
Upper layer slot (2-3)；In terms of Y-axis negative direction, the 17th cascaded surface, the 18th cascaded surface, the 19th ladder can be divided into from top to bottom
Face, the 20th cascaded surface, the 21st cascaded surface and the 22nd cascaded surface, each cascaded surface is interior to be distributed a lower layer
Slot (3-1)；And it is distributed in the 23rd right plane on lower layer's ladder buckstay (3) right side, it is distributed in the upper layer rank
Terraced buckstay (2) above the 24th on plane, a upper layer slot (2-3) is distributed in each face；From X-axis negative direction
See, can be divided into from top to bottom the 25th cascaded surface, the 26th cascaded surface, the 27th cascaded surface, the 28th cascaded surface,
29th cascaded surface and the 30th cascaded surface, each cascaded surface is interior to be distributed lower layer's slot (3-1)；And it is distributed in
The 31st right plane on lower layer's ladder buckstay (3) right side is distributed in of the upper layer ladder buckstay (2) above
Plane on 32 is distributed a upper layer slot (2-3) in each face；Totally 32 magnetic rheology elastic bodies are placed on institute
It states in upper layer slot (2-3) and lower layer's slot (3-1).
9. embedded staged sensing device according to claim 8, which is characterized in that totally 32 pieces of magnetic rheology elastic bodies
Specifically it is provided that the magnetic rheology elastic body being set on first cascaded surface lower layer slot (3-1) is R1, it is set to described
Magnetic rheology elastic body on two cascaded surface lower layer slots (3-1) is R2, the magnetic that is set on third cascaded surface lower layer slot (3-1)
Magnetorheological elastomer is R3, the magnetic rheology elastic body being set on fourth order tread lower layer slot (3-1) is R4, it is set to described
Magnetic rheology elastic body on 5th cascaded surface lower layer slot (3-1) is R5, it is set on the 6th cascaded surface lower layer slot (3-1)
Magnetic rheology elastic body is R6, the magnetic rheology elastic body being set on the 7th right plane upper layer slot (2-3) is R7, it is set to institute
Stating the magnetic rheology elastic body on the 8th on plane upper layer slot (2-3) is R8；It is set on the 9th cascaded surface lower layer slot (3-1)
Magnetic rheology elastic body be R9, the magnetic rheology elastic body being set on the tenth cascaded surface lower layer slot (3-1) is R10, it is set to
Magnetic rheology elastic body on the 11st cascaded surface lower layer slot (3-1) is R11, it is set to the 12nd cascaded surface lower layer slot
Magnetic rheology elastic body on (3-1) is R12, the magnetic rheology elastic body being set on the 13rd cascaded surface lower layer slot (3-1) is
R13, the magnetic rheology elastic body being set on the tenth quadravalence tread lower layer's slot (3-1) is R14, it is right to be set to the described 15th
Magnetic rheology elastic body on plane upper layer slot (2-3) is R15, it is set to the magnetic current on the described 16th on plane upper layer slot (2-3)
Change elastomer is R16；The magnetic rheology elastic body being set on the 17th cascaded surface lower layer slot (3-1) is R17, it is set to institute
Stating the magnetic rheology elastic body on the 18th cascaded surface lower layer slot (3-1) is R18, it is set to the 19th cascaded surface lower layer slot (3-
1) magnetic rheology elastic body on is R19, the magnetic rheology elastic body being set on the 20th cascaded surface lower layer slot (3-1) is
R20, the magnetic rheology elastic body being set on the 21st cascaded surface lower layer slot (3-1) is R21, it is set to the described 20th
Magnetic rheology elastic body on two cascaded surface lower layer slots (3-1) is R22, it is set on the 23rd right plane upper layer slot (2-3)
Magnetic rheology elastic body be R23, being set to the magnetic rheology elastic body on the described 24th on plane upper layer slot (2-3) is R24；
The magnetic rheology elastic body being set on the 25th cascaded surface lower layer slot (3-1) is R25, it is set to the 26th rank
Magnetic rheology elastic body on tread lower layer slot (3-1) is R26, the magnetic that is set on the 27th cascaded surface lower layer slot (3-1)
Magnetorheological elastomer is R27, the magnetic rheology elastic body being set on the 28th cascaded surface lower layer slot (3-1) is R28, setting
In the magnetic rheology elastic body on the 29th cascaded surface lower layer slot (3-1) be R29, it is set under the 30th cascaded surface
Magnetic rheology elastic body on layer slot (3-1) is R30, the magnetorheological bullet that is set on the 31st right plane upper layer slot (2-3)
Property body be R31, being set to the magnetic rheology elastic body on the described 32nd on plane upper layer slot (2-3) is R32；
The structure of first circuit are as follows: R3With R19、R5With R21It is in parallel again after series connection respectively, finally it is integrally connected to power supply
Positive and negative anodes, R3With R19Between be arranged binding post C1, R5With R21Between post D is set1, in C1With D1Between access signal acquisition
Circuit；The structure of the second circuit are as follows: R11With R27、R13With R29It is in parallel again after series connection respectively, finally it is integrally connected to power supply
Positive and negative anodes, R11With R27Between be arranged binding post C2, R13With R29Between post D is set2, in C2With D2Between access signal adopt
Collector；The structure of the tertiary circuit are as follows: R4、R20、R8With R24Series connection after again with connect after R16、R32、R12With R28And
Connection, is finally integrally connected to the positive and negative anodes of power supply, R20With R8Between be arranged binding post C3, R32With R12Between post D is set3,
In C3With D3Between access signal acquisition circuit；The structure of 4th circuit are as follows: the R2With the R18, the R6With it is described
R22It is in parallel again after series connection respectively, finally it is integrally connected to the positive and negative anodes of power supply, the R2With the R18Between binding post is set
C4, the R6With the R22Between post D is set4, in C4With D4Between access signal acquisition circuit；5th circuit
Structure are as follows: the R10With the R26, the R30With the R14It is in parallel again after series connection respectively, finally it is integrally connected to power supply
Positive and negative anodes, the R10With the R26Between be arranged binding post C5, the R30With the R14Between post D is set5, in C5With D5
Between access signal acquisition circuit；The structure of 6th circuit are as follows: the R1, the R17, the R7With the R23Connect it
Afterwards again with connect after the R15, the R31, the R9With the R25Parallel connection is finally integrally connected to the positive and negative anodes of power supply,
The R17With the R7Between be arranged binding post C6, the R31With the R9Between post D is set6, in C6With D6Between access
Signal acquisition circuit.
10. a kind of method for measuring six-dimensional force using embedded staged sensing device as claimed in claim 9, feature exist
In, comprising: S1, by the upper layer ladder buckstay (2) and lower layer's ladder buckstay (3) along Z-direction precompressed；S2, general
The upper layer ladder buckstay (2) and lower layer's ladder buckstay (3) edge are rotated clockwise precompressed about the z axis；S3, by institute
It states prefabricating plate (4) and the right prefabricating plate (5) is bolted and carries out precompressed to it；S4, the sleeve (6) is inserted in,
And the bolt of precompressed is taken out by the third through-hole (6-4)；S5, pass through second through-hole (6-3), the 4th screw thread
The sleeve (6) and the upper prefabricating plate (4) and the right prefabricating plate (5) are bolted by hole (4-1)；S6, pass through institute
The first circuit measuring X is stated to power, Y-direction power is measured by the second circuit, Z-direction power is measured by the tertiary circuit, is passed through
The 4th circuit measuring X passes through the 6th circuit measuring Z-direction power by the 5th circuit measuring Y-direction torque to torque
Square.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910676843.6A CN110243508B (en) | 2019-07-25 | 2019-07-25 | Embedded stepped sensing device and method for measuring six-dimensional force by using same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910676843.6A CN110243508B (en) | 2019-07-25 | 2019-07-25 | Embedded stepped sensing device and method for measuring six-dimensional force by using same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110243508A true CN110243508A (en) | 2019-09-17 |
| CN110243508B CN110243508B (en) | 2021-02-05 |
Family
ID=67893443
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910676843.6A Active CN110243508B (en) | 2019-07-25 | 2019-07-25 | Embedded stepped sensing device and method for measuring six-dimensional force by using same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110243508B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015740A (en) * | 2019-12-12 | 2020-04-17 | 中国科学院重庆绿色智能技术研究院 | Tactile and slippery sensation sensor, flexible finger grabbing system and grabbing method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7284444B2 (en) * | 2005-12-30 | 2007-10-23 | Kulite Semiconductor Products, Inc. | Hermetically sealed displacement sensor apparatus |
| CN101149301A (en) * | 2007-11-01 | 2008-03-26 | 大连理工大学 | Large value piezoelectric quartz multi-component force sensor |
| CN102288334A (en) * | 2011-07-28 | 2011-12-21 | 济南大学 | Parallel piezoelectric six-dimensional large force sensor |
| CN107471085A (en) * | 2017-09-17 | 2017-12-15 | 长春工业大学 | Six-dimensional force device for measuring force and force measuring method based on viscoelastic material polishing |
| CN109282933A (en) * | 2018-10-12 | 2019-01-29 | 柳州欧维姆结构检测技术有限公司 | A kind of sensitizing type temperature self-compensation dynamometry ring sensor |
| CN109974919A (en) * | 2019-04-29 | 2019-07-05 | 重庆鲁班机器人技术研究院有限公司 | A kind of new six Force sensor |
-
2019
- 2019-07-25 CN CN201910676843.6A patent/CN110243508B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7284444B2 (en) * | 2005-12-30 | 2007-10-23 | Kulite Semiconductor Products, Inc. | Hermetically sealed displacement sensor apparatus |
| CN101149301A (en) * | 2007-11-01 | 2008-03-26 | 大连理工大学 | Large value piezoelectric quartz multi-component force sensor |
| CN102288334A (en) * | 2011-07-28 | 2011-12-21 | 济南大学 | Parallel piezoelectric six-dimensional large force sensor |
| CN107471085A (en) * | 2017-09-17 | 2017-12-15 | 长春工业大学 | Six-dimensional force device for measuring force and force measuring method based on viscoelastic material polishing |
| CN109282933A (en) * | 2018-10-12 | 2019-01-29 | 柳州欧维姆结构检测技术有限公司 | A kind of sensitizing type temperature self-compensation dynamometry ring sensor |
| CN109974919A (en) * | 2019-04-29 | 2019-07-05 | 重庆鲁班机器人技术研究院有限公司 | A kind of new six Force sensor |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015740A (en) * | 2019-12-12 | 2020-04-17 | 中国科学院重庆绿色智能技术研究院 | Tactile and slippery sensation sensor, flexible finger grabbing system and grabbing method thereof |
| CN111015740B (en) * | 2019-12-12 | 2022-05-13 | 中国科学院重庆绿色智能技术研究院 | Touch and slide sensation sensor, flexible finger grabbing system and grabbing method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110243508B (en) | 2021-02-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202276369U (en) | Weight acquisition device for internet of things | |
| CN103471751B (en) | High-precision strain type torque sensor | |
| CN105698992B (en) | Torque sensor and its measurement method built in a kind of high-precision Harmonic Gears | |
| CN110243508A (en) | A kind of embedded staged sensing device and its method for measuring six-dimensional force | |
| CN110068418A (en) | A kind of pressure that can be worked in vibration environment and acceleration Multifunction Sensor | |
| CN210322103U (en) | Small-torque flange type torque sensor | |
| CN110068704A (en) | A kind of multi-functional self-compensating high temperature acceleration transducer | |
| CN114115181A (en) | Voltage acquisition circuit of solid-state power controller | |
| CN103293355A (en) | Voltage measuring circuit | |
| CN106092391B (en) | A kind of split type 2 D force sensor | |
| CN208207069U (en) | Resistance detecting circuit, sensor and acquisition device | |
| CN203519229U (en) | Quartz piezoelectric six-dimensional force detecting device | |
| CN101477182B (en) | Portable alternating field measuring instrument based on magnetostriction principle | |
| CN201104213Y (en) | High-precision deformation displacement measurer | |
| CN210198632U (en) | Double-range pressure sensor | |
| CN105852821A (en) | Body temperature measurement device and measurement method thereof | |
| CN214793477U (en) | Differential signal processing circuit of blasting vibration meter and blasting vibration meter | |
| CN213301542U (en) | Cantilever type tension sensor | |
| CN213842481U (en) | Accurate torque tester | |
| CN206848359U (en) | A kind of high precision electro flow measurement circuitry | |
| CN2338726Y (en) | Electronic digital displaying inside micrometer | |
| CN211527692U (en) | Multi-combination sensor fine-tuning static contact tester | |
| CN216280293U (en) | Electronic truck scale fixing device for metrological verification | |
| CN218239137U (en) | Single-axis force sensor | |
| CN108387208A (en) | A kind of fixation kit of high-precision tilt angle sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |