CN117249936B - Flexible six-dimensional force sensor based on flexible optical waveguide - Google Patents

Flexible six-dimensional force sensor based on flexible optical waveguide Download PDF

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Publication number
CN117249936B
CN117249936B CN202311261819.9A CN202311261819A CN117249936B CN 117249936 B CN117249936 B CN 117249936B CN 202311261819 A CN202311261819 A CN 202311261819A CN 117249936 B CN117249936 B CN 117249936B
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China
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seat
hole
annular
optical waveguide
flexible optical
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CN117249936A (en
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尹忠俊
黄小明
韩天
陈兵
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University of Science and Technology Beijing USTB
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University of Science and Technology Beijing USTB
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G01L5/166—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using photoelectric means

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

The invention relates to a flexible optical waveguide-based flexible six-dimensional force sensor which comprises a base, an upper stress plate, a first sensing unit, a single body seat, a double body seat, a limiting seat, a balancing seat, a first compression spring, a data acquisition and processing module, a rubber support, a second sensing unit and a connector, wherein the upper stress plate is arranged above the base, the rubber support is arranged between the base and the upper stress plate, the single body seat, the double body seat, the limiting seat, the balancing seat, the data acquisition and processing module and the connector are all arranged on the base, the first compression spring is arranged between the balancing seat and a first vertical plate on the upper stress plate, the connector is communicated with the data acquisition and processing module, and the first sensing unit and the second sensing unit are all arranged between the base and the upper stress plate. The six-dimensional force sensor has good flexibility, can select rubber supports with different rigidities to be suitable for different application scenes, can realize mechanical decoupling among partial dimensions, and can relatively reduce the processing time of algorithm decoupling.

Description

Flexible six-dimensional force sensor based on flexible optical waveguide
Technical Field
The invention belongs to the technical field of sensing, and particularly relates to a flexible six-dimensional force sensor based on a flexible optical waveguide.
Background
The six-dimensional force sensor can realize the simultaneous perception of force components along three coordinate axes and three moment components around the coordinate axes in a three-dimensional space, is based on different detection principles and has different six-dimensional force sensors with different configurations, and can be divided into resistance strain type, piezoelectric type, piezoresistive type, capacitive type, photoelectric type and other types according to different measurement principles. The existing six-dimensional force sensor is high in rigidity, can influence the natural posture of human body movement in the fields of medical rehabilitation instruments, wearable equipment and the like, and is easy to cause human body fatigue. Chinese patent CN114659697a proposes a flexible six-dimensional force sensor based on a capacitive sensor, and proposes that the six-dimensional force sensor based on capacitance has better compliance characteristics, but the coupling crosstalk between dimensions is larger when the poured integral rubber block is loaded, a complex decoupling algorithm is required to be utilized, and the sensor is sensitive to electromagnetic interference. Therefore, there is an urgent need to study a six-dimensional force sensor with high interference resistance.
Disclosure of Invention
Aiming at the problems existing in the prior art, the flexible optical waveguide-based flexible six-dimensional force sensor provided by the invention adopts the flexible optical waveguide as the core of the sensing unit, so that the optical loss caused by physical deformation is effectively increased relative to the direct correlation form of the light-emitting element and the photosensitive element, the variation range of a corresponding voltage signal generated by the photosensitive element is enlarged, the detection sensitivity is further improved, the light interference of each dimension can be avoided without packaging, the flexible six-dimensional force sensor has higher flexibility, and meanwhile, the problem that the weak signal generated by deformation in the direct correlation form of the light-emitting element and the photosensitive element is easily interfered by clutter is solved. The six-dimensional force sensor integrally adopts a split sliding structure, so that mechanical decoupling among partial dimensions can be realized, rubber supports with different hardness can be selected, and the integral rigidity of the six-dimensional force sensor can be changed to adapt to different application occasions. In addition, the anti-overload device also has overload resistance.
The technical scheme adopted by the invention is that the flexible optical waveguide-based flexible six-dimensional force sensor comprises a base, an upper stress plate, four first sensing units, a single seat, a double-body seat, a limit seat, a balance seat, a first compression spring, a data acquisition processing module, a rubber support, two second sensing units and a connector, wherein the upper stress plate is arranged above the base, the rubber support is arranged between the base and the upper stress plate, the single seat, the double-body seat, the limit seat and the balance seat are respectively arranged on a single seat groove, a double-body seat groove, a limit seat groove and a balance seat groove of the base, the first compression spring is arranged between the balance seat and a first vertical plate on the upper stress plate, the data acquisition processing module is arranged on the base, the connector is arranged in a connector mounting hole of the base, and the connector is communicated with the data acquisition processing module; the four first sensing units are arranged between the base and the upper stress plate, the lower ends of the sleeves in the four first sensing units are respectively arranged in a central annular bulge, a first annular bulge, a second annular bulge and a connected annular seat hole on the inner side of the double-body seat, the upper ends of the first sliding covers in the four first sensing units are respectively contacted with the lower end surface of the upper stress plate and the acting surface of the first vertical plate in the upper stress plate, the first sensing units comprise sleeves, sliding shafts, first sliding covers, locking blocks, second compression springs, flexible optical waveguides, locking cones, light emitting elements and photosensitive elements, the locking cones are symmetrically arranged at the upper ends of the flexible optical waveguides, the flexible optical waveguides are arranged in the sliding shafts, the locking cones are arranged in tapered holes of the sliding shafts, the third glue injection hole of the locking cone is coaxially arranged with the first glue injection hole of the sliding shaft, the first sliding cover is covered on the sliding shaft, the light-emitting element is arranged between the first sliding cover and the sliding shaft, the lower end face of the light-emitting element is attached to the upper end face of the flexible optical waveguide, two wires of the light-emitting element respectively penetrate out from the first wire holes on two sides of the first sliding cover from inside to outside, the sliding shaft is arranged in the sleeve, the limiting block on the sliding shaft is arranged in the limiting groove of the sleeve in a sliding manner, the locking block is symmetrically arranged at the lower end of the flexible optical waveguide and arranged in the guide hole of the sleeve, the second compression spring is arranged on the flexible optical waveguide and between the sliding shaft and the locking block, the photosensitive element is arranged at the lower end of the flexible optical waveguide, the upper end face of the photosensitive element is attached to the lower end face of the flexible optical waveguide; the two second sensing units are arranged between the base and the upper stress plate, the lower ends of the sleeves in the two second sensing units are respectively arranged in the connected annular seat holes at the outer sides of the double-body seat and the single annular seat holes of the single-body seat, the upper ends of the second sliding covers in the two second sensing units are respectively connected with the acting surfaces of the second vertical plate and the third vertical plate in the upper stress plate, the second sensing units comprise a sleeve, a sliding shaft, a second sliding cover, a locking block, a second compression spring, a flexible optical waveguide, a locking cone, a light emitting element and a photosensitive element, the locking cones are symmetrically arranged at the upper ends of the flexible optical waveguide, the flexible optical waveguide is arranged in the sliding shaft, the locking cones are arranged in conical holes of the sliding shaft, the third glue injection holes of the locking cones are coaxially arranged with the first glue injection holes of the sliding shaft, the second sliding covers are covered on the sliding shaft, the second sliding covers are arranged between the sliding cover and the sliding shaft, the second sliding guide blocks are arranged between the sliding shaft and the flexible optical waveguide, the light emitting element is arranged at the lower ends of the sliding shaft, the light emitting element is arranged at the upper ends of the sliding sleeve and the two sides of the flexible optical waveguide, the light emitting element is symmetrically arranged at the lower ends of the sliding sleeve, the flexible optical waveguide is arranged at the two sides of the sliding guide blocks, the light emitting element is symmetrically arranged at the lower ends of the sliding sleeve, the flexible optical waveguide is respectively, the light emitting element is arranged at the lower ends of the flexible optical waveguide, and the light guide sleeve is symmetrically arranged at the lower ends of the flexible optical waveguide, and the light guide sleeve is respectively, and the light emitting element is symmetrically arranged at the lower ends of the sliding guide hole, and the light guide sleeve is respectively, and the upper end face of the photosensitive element is attached to the lower end face of the flexible optical waveguide.
Further, the base is circular plate structure, just the up end equipartition of base is equipped with four lower cylinder bosss, the center department of base is equipped with central annular bulge, just base center department is 90 quadrature position and is close to the marginal position punishment and do not is equipped with first annular bulge and second annular bulge, the bellied inboard of central annular bulge, first annular bulge and second annular bulge all is equipped with the internal thread, just central annular bulge, first annular bulge and the bellied center department of second annular bulge all are equipped with protruding through-hole, be provided with the wire hole on the central connecting line of first annular bulge and second annular bulge, just the lower terminal surface of base is equipped with the intercommunication wire hole and protruding through-hole's recess, the external diameter equals on the circumferencial direction of base is symmetrically put the curved surface thin wall flange of base external diameter, just base upside thin wall flange's one end is equipped with the connector mounting hole, the bellied oblique top of center annular bulge is equipped with the balancing seat groove, just center annular bulge right side is equipped with spacing seat, the bellied right side is equipped with the annular bulge right side thin wall flange department is equipped with the spacing seat, annular bulge right side boss center is equipped with the annular bulge is equipped with the annular boss center groove down the centre of annular bulge is equipped with the centre groove.
Further, go up the atress board and be circular structure, the lower terminal surface equipartition of going up the atress board is equipped with four and goes up the cylinder boss, just the external diameter of going up the cylinder boss with the external diameter of going up the atress board is tangent, go up the right side of atress board and downside distance go up the position that atress board center department distance equals is equipped with second riser and third riser respectively, second riser and third riser orientation go up the medial surface at atress board center is the working face, just the working face with the lower terminal surface of last atress board is perpendicular, the left side of going up the atress board is equipped with first riser, just the working face of first riser faces to the right side, the side of first riser is equipped with riser cylinder boss.
Further, the sleeve is of a circular ring structure, the upper end of the sleeve is an upper circular ring, the lower end of the sleeve is a lower circular ring, an external thread is arranged on the outer side of the lower circular ring, a guide hole is formed in the middle of the sleeve, a limit groove penetrating through the sleeve is formed in one side of the guide hole, and a circular groove with the diameter larger than that of the guide hole is formed in the lower end of the lower circular ring; the sliding shaft is of a cylindrical structure and consists of a lower sliding shaft and an upper sliding shaft, an annular groove is formed in the lower end face of the lower sliding shaft, an element hole is formed in the middle of the upper sliding shaft, a conical hole is coaxially formed below the element hole, a waveguide hole is coaxially formed below the conical hole, the aperture of the upper end of the conical hole is equal to that of the element hole, the aperture of the lower end of the conical hole is equal to that of the waveguide hole, a first glue injection hole is formed in the middle of the conical hole, and a limiting block is arranged on one side of the lower end of the lower sliding shaft; the first sliding cover consists of a first torus and a dome, wherein an inner side surface of the first torus is provided with an inner thread, a first round hole coaxial with the first torus is formed in the inner side of the first torus, and a first wire hole is radially formed at a contact position of the side surface of the dome and the first torus; the locking block is of a T-shaped semi-cylindrical structure, a locking block annular body is arranged on the lower end face of the locking block main body, a semi-annular groove is formed in the upper end face of the locking block main body, a first locking half hole is formed in the middle of the locking block main body, and a second glue injection hole is formed in the middle of the first locking half hole in the radial direction; the locking cone is of a semi-conical structure, a second locking half hole is formed in the middle of the locking cone main body, and a third glue injection hole is formed in the middle of the second locking half hole in the radial direction.
Preferably, the second sliding cover is composed of a second torus, a first dome and a second dome, the radiuses of the first dome and the second dome are different and are arranged in the orthogonal direction, the radiuses of the first dome and the radiuses of the second dome are tangential at the highest point, the inner side surface of the second torus is provided with an internal thread, the inner side of the second torus is provided with a second round hole coaxial with the second torus, a second line hole is radially arranged at the contact position of the side surface of the second dome and the second dome, and the axial direction of the second line hole is the same as the direction of the second dome.
Preferably, the single body seat is composed of a single body pillar at the lower part and a single body annular seat at the upper part, the right end face of the single body annular seat is coplanar with the right end face of the single body pillar, the left end face of the single body annular seat is provided with a single body annular seat hole, the middle part of the single body annular seat hole is provided with a single body annular seat through hole, and the depth of the single body annular seat through hole is equal to the height of the photosensitive element.
Preferably, the double-body seat is composed of a lower conjoined pillar and an upper conjoined annular seat, wherein the conjoined pillar is in staggered arrangement with two rectangular columns, the two conjoined pillars are connected through a rib plate, the width of the end faces of the left end face and the right end face of the conjoined pillar is equal to the thickness of the conjoined annular seat, the two ends of the conjoined annular seat are reversely provided with conjoined annular seat holes, the middle part of each conjoined annular seat hole is provided with conjoined annular seat through holes, and the depth of each conjoined annular seat through hole is equal to the height of the photosensitive element.
Preferably, the limiting seat is of a U-shaped structure, and two step through holes are symmetrically arranged at the bottom of the U-shaped body and close to two ends of the U-shaped body.
Preferably, the balancing seat main body of the balancing seat is of an L-shaped structure, a balancing seat boss is arranged at the upper end of the side face of the balancing seat main body, a thin through hole is formed in the radial direction of the balancing seat boss, and a straight slot hole is formed in the bottom of the balancing seat main body.
The invention has the characteristics and beneficial effects that:
1. The flexible optical waveguide-based flexible six-dimensional force sensor provided by the invention adopts the flexible optical waveguide as the core of the sensing unit, improves the sensitivity relative to the direct correlation form of the light-emitting element and the photosensitive element, can avoid the light interference of each dimension without packaging, has higher flexible characteristic, and can realize mechanical decoupling among partial dimensions by adopting a split sliding structure as a whole.
2. According to the flexible optical waveguide-based flexible six-dimensional force sensor provided by the invention, the base and the stress plate are connected by adopting the rubber support, and the six-dimensional force sensor with the corresponding hardness rubber support can be selected and configured according to testers with different physique so as to adapt to different application occasions. The invention has large deformation capability, has better compliance, does not influence the natural gait of a user, and simultaneously causes fatigue due to long-time wearing.
3. Compared with the six-dimensional force sensor with an elastomer as a whole, the flexible six-dimensional force sensor based on the flexible optical waveguide provided by the invention has the advantages that the coupling data which is required to be processed in real time by an algorithm is greatly simplified, and the timeliness of data processing and output can be effectively improved by adopting the same algorithm.
4. The flexible optical waveguide-based flexible six-dimensional force sensor provided by the invention can be applied to various fields, such as intelligent shoes, and the like, and the flexible six-dimensional force sensor is respectively arranged at the sole and the heel of the sole and is used for detecting gait of human body movement and ground reaction force information.
Drawings
FIG. 1 is an exploded view of a compliant six-dimensional force sensor based on flexible optical waveguides of the present invention;
FIG. 2 is a cross-sectional view of a compliant six-dimensional force sensor based on flexible optical waveguides of the present invention;
FIG. 3 is a block diagram of a base of the present invention;
FIG. 4 is a block diagram of an upper force plate of the present invention;
FIG. 5 is a block diagram of a monoblock seat of the present invention;
FIG. 6 is a block diagram of a duplex receptacle according to the invention;
FIG. 7 is a block diagram of a limit seat of the present invention;
FIG. 8 is a block diagram of a balancing stand of the present invention;
FIG. 9 is an exploded view of a first sensing unit of the present invention;
FIG. 10 is a cross-sectional view of a first sensing unit of the present invention;
FIG. 11 is a block diagram of a sleeve in a first sensing unit of the present invention;
FIG. 12 is a block diagram of a slide shaft in a first sensing unit of the present invention;
FIG. 13 is a block diagram of a first slider in a first sensor unit according to the present invention;
FIG. 14 is a block diagram of a latch block in a first sensing unit of the present invention;
FIG. 15 is a block diagram of a locking cone in a first sensing unit of the present invention;
fig. 16 is a structural view of a second slider in the second sensing unit of the present invention.
Detailed Description
In order to make the technical content, the structural features, the achieved objects and the effects of the present invention more detailed, the following description will be taken in conjunction with the accompanying drawings.
The invention discloses a flexible optical waveguide-based flexible six-dimensional force sensor, which is shown in fig. 1 and 2 and comprises a base 1, an upper stress plate 2, four first sensing units 3, a single body seat 4, a double body seat 5, a limiting seat 6, a balance seat 7, a first compression spring 8, a data acquisition and processing module 9, a rubber support 10, two second sensing units 11 and a connector 12.
As shown in fig. 1 and 2, the upper stress plate 2 is disposed above the base 1, a rubber support 10 is disposed between the base 1 and the upper stress plate 2, the lower end of the rubber support 10 is connected with a lower cylindrical boss 101 on the base, the upper end of the rubber support is connected with an upper cylindrical boss 201 on the lower end surface of the upper stress plate 2, the diameter of the lower cylindrical boss 101 is equal to that of the rubber support 10, and the diameter of the lower cylindrical boss is equal to that of the upper cylindrical boss 201.
As shown in fig. 3, the base 1 is in a circular plate structure, four lower cylindrical bosses 101 are uniformly distributed on the upper end surface of the base 1, a first countersunk hole 1018 is coaxially arranged on the lower end surface of the base 1 and the lower cylindrical bosses 101, first mounting threaded holes 102 are uniformly distributed along the circumferential direction at the position close to the edge of the base 1, a central annular boss 1021 is arranged at the center of the base 1, a first annular boss 104 and a second annular boss 1022 are respectively arranged at the position close to the edge in a 90-degree orthogonal direction at the center of the base 1, internal threads are arranged on the inner sides of the central annular boss 1021, the first annular boss 104 and the second annular boss 1022, boss through holes 103 are respectively arranged at the centers of the central annular boss 1021, the first annular boss 104 and the second annular boss 1022, a wire passing hole 1019 is arranged on the central connecting line of the first annular boss 104 and the second annular boss 1022, the lower end surface of the base is provided with a groove 1016 connected with a wire hole 1019 and a bulge through hole 103, a curved thin-wall flange 1017 with the outer diameter equal to the outer diameter of the base 1 is symmetrically arranged on the circumference direction of the base 1, one end of the thin-wall flange 1017 on the upper side of the base 1 is provided with a connector mounting hole 105, a balance seat groove 106 is arranged on the upper side of the central annular bulge 1021, a balance seat threaded hole 107 is arranged on the balance seat groove 106, a limit seat groove 108 is arranged on the right side of the central annular bulge 1021 near the right side of the base thin-wall flange 1017, two limit seat threaded holes 109 are arranged at two ends of the limit seat groove 108, a single seat groove 1010 is arranged on the right side of the central annular bulge 1021 near the central annular bulge 1021, a second countersunk hole 1011 is arranged on the lower end surface of the base 1 and two cushion blocks 1013 are symmetrically arranged below the central annular bulge 1021, cushion block threaded holes 1012 are arranged on the cushion blocks 1013, a diamond-like double-body seat groove 1014 is arranged under the central annular protrusion 1021 and close to the central annular protrusion 1021, and third counter sunk holes 1015 are arranged at two ends of the double-body seat groove 1014 on the lower end surface of the base 1.
As shown in fig. 4, the upper stress plate 2 is in a circular structure, four upper cylindrical bosses 201 are uniformly distributed on the lower end surface of the upper stress plate 2, the outer diameter of the upper cylindrical bosses 201 is tangential to the outer diameter of the upper stress plate 2, an upper countersink 202 is arranged at the center of the upper cylindrical bosses 201, second mounting threaded holes 203 are uniformly distributed on the upper stress plate 2 near the edge along the circumferential direction, a second vertical plate 206 and a third vertical plate 207 are respectively arranged on the right side and the lower side of the upper stress plate 2, which are equidistant from the center of the upper stress plate 2, the inner side surfaces of the second vertical plate 206 and the third vertical plate 207 facing the center of the upper stress plate 2 are acting surfaces, the acting surfaces are perpendicular to the lower end surface of the upper stress plate 2, a first vertical plate 204 is arranged on the left side of the upper stress plate 2, the acting surfaces of the first vertical plate 204 face to the right side, and the side of the first vertical plate 204 is provided with a vertical plate cylindrical boss 205, and the acting surfaces of the first vertical plate 204 are parallel to the acting surfaces of the second vertical plate 206 and perpendicular to the acting surfaces of the third vertical plate 207.
As shown in fig. 1, fig. 2, fig. 5 to fig. 8, the single body seat 4, the double body seat 5, the limit seat 6 and the balance seat 7 are respectively arranged on the single body seat 1010, the double body seat 1014, the limit seat 108 and the balance seat 106 of the base 1, the single body seat 1010 is matched with the single body pillar 4011 of the single body seat 4, the second counter bore 1011 passing through the center of the single body seat 1010 is matched with the single body seat tight threaded hole 405 of the single body seat, the double body seat 1014 is matched with the bottom surface of the conjoined pillar 501 on the double body seat 5, the third counter bore 1015 arranged in the double body seat 1014 is respectively matched with the lower threaded hole 505 on the double body seat 5, the two limit seat threaded holes 109 arranged in the limit seat 108 are matched with the step through holes 602 on the limit seat 6, the first compression spring 8 is arranged between the balance seat 7 and the first vertical plate 204 on the upper stress plate 2, the first end of the first compression spring 8 is sleeved on the balance seat 702 of the balance seat 7, the second end of the first compression spring 8 is sleeved on the first vertical plate 204 and the second end 205 is sleeved on the first vertical plate 205, the data acquisition module 1013 is correspondingly arranged on the cushion block 9 and is connected with the data acquisition module 9 of the data acquisition module 12.
As shown in fig. 5, the single body seat 4 is composed of a lower single body pillar 401 and an upper single body annular seat 402, the right end face of the single body annular seat 402 is coplanar with the right end face of the single body pillar 401, a single body seat fastening threaded hole 405 is formed in the bottom of the single body pillar 401, a single body annular seat hole 404 is formed in the left end face of the single body annular seat 402, a single body annular seat through hole 403 is formed in the middle of the single body annular seat hole 404, and the depth of the single body annular seat through hole 403 is equal to the height of the photosensitive element.
As shown in fig. 6, the double-body seat 5 is composed of a lower conjoined pillar 501 and an upper conjoined annular seat 502, the conjoined pillar 501 is in staggered arrangement with two rectangular columns, the two columns are connected through a rib plate, a lower threaded hole 505 is arranged at the center of each rectangular surface at the bottom of the conjoined pillar 501, the width of the end faces at the left and right ends of the conjoined pillar 501 is equal to the thickness of the conjoined annular seat 502, conjoined annular seat holes 504 are reversely arranged at the two ends of the conjoined annular seat 502, conjoined annular seat through holes 503 are arranged in the middle of the conjoined annular seat holes 504, and the depth of the conjoined annular seat through holes 503 is equal to the height of the photosensitive element.
As shown in fig. 7, the limiting seat 6 has a U-shaped structure, and two stepped through holes 602 are symmetrically arranged at the bottom of the U-shaped body 601 near two ends of the U-shaped body.
As shown in fig. 8, the balance seat body 701 of the balance seat 7 has an L-shaped structure, the upper end of the side elevation of the balance seat body 701 is provided with a balance seat boss 702, a thin through hole 703 is provided along the radial direction of the balance seat boss 702, and the bottom of the balance seat body 701 is provided with a straight slot 704.
As shown in fig. 1,2, 9 and 10, four first sensing units 3 are all arranged between the base 1 and the upper stress plate 2, the lower ends of the sleeves 31 in the four first sensing units 3 are respectively arranged in a central annular boss 1021, a first annular boss 104, a second annular boss 1022 of the base and a connecting annular seat hole 504 at the inner side of the double-body seat 5, internal threads at the inner sides of the central annular boss 1021, the first annular boss 104 and the second annular boss 1022 are in threaded connection with external threads at the outer side of the lower circular ring 3102 in the sleeve 31, the upper ends of the first sliding covers 33 in the four first sensing units are respectively contacted with the lower end surface of the upper stress plate 2 and the acting surface of the first vertical plate 204 in the upper stress plate 2, the first sensing units 3 comprise the sleeves 31, the sliding shafts 32, the first sliding covers 33, the locking blocks 34, the second compression springs 35, the flexible optical waveguides 36, the locking cones 37, the light emitting elements 38 and the photosensitive elements 39, the locking cone 37 is symmetrically arranged at the upper end of the flexible optical waveguide 36, the second locking half holes 3702 in the locking cone 37 are respectively jointed with the flexible optical waveguide 36, the upper end face of the locking cone 37 is overlapped with the upper end face of the flexible optical waveguide 36, the flexible optical waveguide 36 is arranged in the sliding shaft 32, the locking cone 37 is arranged in the conical hole 3205 of the sliding shaft 32, the third glue injection hole 3703 of the locking cone 37 is coaxially arranged with the first glue injection hole 3204 of the sliding shaft 32, the first sliding cover 33 covers the sliding shaft 32, the internal thread 3303 of the first sliding cover 33 is in threaded connection with the upper sliding shaft 3202 of the sliding shaft 32, a light-emitting element 38 is arranged between the first sliding cover 33 and the sliding shaft 32, the lower end of the light-emitting element 38 is arranged in the element hole 3207 of the sliding shaft 32, the upper end of the light-emitting element 38 is arranged in the round hole 3304 of the first sliding cover 33, the lower end face of the light-emitting element 38 is jointed with the upper end face of the flexible optical waveguide 36, the two wires of the light-emitting element 38 respectively penetrate through the first wire holes 3305 on two sides of the first sliding cover 33 from inside to outside, the sliding shaft 32 is arranged in the sleeve 31, the limiting block 3208 on the sliding shaft 32 is arranged in the limiting groove 3105 of the sleeve 31 in a sliding mode, the locking blocks 34 are symmetrically arranged at the lower end of the flexible optical waveguide 36, the first locking half holes 3404 of the locking blocks 34 are respectively attached to the flexible optical waveguide 36, the locking blocks 34 are arranged in the guide holes 3103 of the sleeve 31, the locking block annular bodies 3402 of the locking blocks 34 are arranged in the circular grooves 3104 of the sleeve 31, the second compression springs 35 are arranged on the flexible optical waveguide 36 and are arranged between the sliding shaft 32 and the locking blocks 34, the upper ends of the second compression springs 35 are arranged in the circular grooves 3203 of the sliding shaft 32, the lower ends of the second compression springs 35 are arranged in the semi-annular grooves 3403 of the locking blocks 34, the photosensitive elements 39 are arranged at the lower end of the flexible optical waveguide 36, and the upper end faces of the photosensitive elements 39 are attached to the lower end faces of the flexible optical waveguide 36.
As shown in fig. 11, the sleeve 31 has a circular structure, the upper end of the sleeve 31 is an upper circular ring 3101, the lower end of the sleeve 31 is a lower circular ring 3102, external threads are arranged on the outer side of the lower circular ring 3102, a guide hole 3103 is arranged in the middle of the sleeve 31, a limit groove 3105 penetrating through the sleeve 31 is arranged on one side of the guide hole 3103, and a circular groove 3104 with a diameter larger than that of the guide hole 3103 is arranged at the lower end of the lower circular ring 3102.
As shown in fig. 12, the sliding shaft 32 is in a cylindrical structure, the sliding shaft 32 is composed of a lower sliding shaft 3201 and an upper sliding shaft 3202, an annular groove 3203 is arranged on the lower end face of the lower sliding shaft 3201, an element hole 3207 is arranged in the middle of the upper sliding shaft 3202, a tapered hole 3205 is coaxially arranged below the element hole 3207, a waveguide hole 3206 is coaxially arranged below the tapered hole 3205, the aperture of the upper end of the tapered hole 3205 is equal to that of the element hole 3207, the aperture of the lower end of the tapered hole 3205 is equal to that of the waveguide hole 3206, a first glue injection hole 3204 is arranged in the middle of the tapered hole 3205, and a limiting block 3208 is arranged on one side of the lower end of the lower sliding shaft 3201.
As shown in fig. 13, the first sliding cover 33 is composed of a first torus 3301 and a dome 3302, the inner side surface of the first torus 3301 is provided with an internal thread 3303, the inner side of the first torus 3301 is provided with a first round hole 3304 coaxial with the first torus 3301, and the contact part of the side surface of the dome 3302 and the first torus 3302 is radially provided with a first thread hole 3305.
As shown in fig. 14, the lock block 34 is of a T-shaped semi-cylindrical structure, and a lower end surface of the lock block main body 3401 is provided with a lock block torus 3402, an upper end surface of the lock block main body 3401 is provided with a semi-annular groove 3403, a middle portion of the lock block main body 3401 is provided with a first lock half hole 3404, and a middle portion of the first lock half hole 3404 is provided with a second glue injection hole 3405 in a radial direction.
As shown in fig. 15, the locking cone 37 has a half cone structure, and a second locking half hole 3702 is provided at a middle portion of the locking cone body 3701, and a third glue injection hole 3703 is provided at a middle portion of the second locking half hole 3702 in a radial direction.
As shown in fig. 9, 10 and 11, the two second sensing units 11 are all disposed between the base 1 and the upper force-bearing plate 2, the lower ends of the sleeves 31 in the two second sensing units 11 are respectively disposed in the conjoined annular seat holes 504 on the outer sides of the double body seat 5 and the monomer annular seat holes 404 of the single body seat 4, the upper ends of the second sliding covers 111 in the two second sensing units 11 are respectively contacted with the acting surfaces of the second vertical plates 206 and the third vertical plates 207 in the upper force-bearing plate 2, and the second sensing units 11 comprise the sleeves 31, the sliding shafts 32, the second sliding covers 111, the locking blocks 34, the second compression springs 35, the flexible optical waveguides 36, the locking cones 37, the light emitting elements 38 and the photosensitive elements 39.
As shown in fig. 16, the second slide cover 111 is composed of a second torus 1111, a first dome 1112 and a second dome 1113, the radii of the first dome 1112 and the second dome 1113 are different and are arranged in orthogonal directions, and are tangential at the highest point, an inner thread 1116 is arranged on the inner side surface of the second torus 1111, a second round hole 1114 coaxial with the second torus 1111 is arranged on the inner side of the second torus 1111, a second line hole 1115 is radially arranged at the contact position of the side surface of the second dome 1113 and the second dome 1113, and the axis direction of the second line hole 1115 is the same as the direction of the second dome 1113.
The specific steps of the invention are as follows:
The invention discloses a flexible optical waveguide-based flexible six-dimensional force sensor, which is shown in fig. 1-16, and comprises a base 1, an upper stress plate 2, four first sensing units 3, a single body seat 4, a double body seat 5, a limiting seat 6, a balance seat 7, a first compression spring 8, a data acquisition and processing module 9, a rubber support 10, two second sensing units 11 and a connector 12.
In use, the lower ends of the 4 cylindrical rubber supports 10 are first connected with the lower cylindrical boss 101 on the base 1, and the rubber supports 10 are screwed into the lower cylindrical boss 101 from the back of the base 1 through countersunk holes by countersunk screws. The single body seat 4, the double body seat 5, the limiting seat 6 and the balance seat 7 are respectively connected and fixed on the base 1. The data acquisition and processing module 9 is embedded and fixed on the base 1. The single body seat 4 is connected with the second sensing unit 11, the photosensitive element 39 is embedded into the single body annular seat through hole 403 of the single body seat 4, the larger diameter second dome 1113 of the second sliding cover 111 on the second sensing unit 11 is ensured to be perpendicular to the plane of the base 1, and the second sensing unit 11 is used for detecting the force of the Y axis. The second sensor unit 11 is connected with the threaded hole on the inner side of the double body seat 5, the corresponding photosensitive element 39 is embedded into the connected annular seat through hole 503 on the inner side of the double body seat 5, and meanwhile, the second dome 1113 with a larger diameter on the second sliding cover 111 is ensured to be perpendicular to the plane of the base 1, the second sensor unit 11 is used for detecting the force of the X axis, when the six-dimensional force sensor receives the torque around the Z axis, the radius of the second dome 1113 at the front end of the second sensor unit 11 is equal to the radius of the acting surface of the second vertical plate 206 contacted with the second dome 1113 and the radius of the acting surface of the third vertical plate 207 rotating around the Z axis, so that the two second sensor units 11 cannot stretch and change, namely cannot generate corresponding signal output.
Specifically, the threaded hole on the outer side of the double-body seat 5 is connected with the first sensing unit 3, the corresponding photosensitive element 39 is embedded into the connected annular seat through hole 503 corresponding to the double-body seat 5, and the first sensing unit 3 is used for detecting torque around the Z axis. The central annular protrusion 1021, the first annular protrusion 104 and the second annular protrusion 1022 on the base 1 are respectively connected with the first sensing unit 3, and the photosensitive elements 39 are respectively correspondingly embedded into the protrusion through holes 103 coaxial with the central annular protrusion 1021, the first annular protrusion 104 and the second annular protrusion 1022 on the base 1. For the three vertically arranged first sensing units 3, the first sensing unit 3 located at the center of the base 1 is used for detecting force in the Z direction, the first sensing unit 3 located on the negative direction of the X axis is used for detecting torque around the Y axis, and the first sensing unit 3 located on the negative direction of the Y axis is used for detecting torque around the X axis.
The connector 12 is arranged in the connector mounting hole 105 of the base 1, and an interface on the inner side of the connector 12 is communicated with a corresponding interface of the data acquisition processing module 9. The first end of the first compression spring 8 is sleeved on the balancing seat boss 702 of the balancing seat 7, and the second end of the first compression spring 8 is sleeved on the vertical plate cylindrical boss 205 of the first vertical plate 204. The first vertical plate 204, the second vertical plate 206 and the third vertical plate 207 of the upper stress plate 2 face downwards, the vertical plate cylindrical boss 205 on the first vertical plate 204 is adjusted to be aligned with the balance seat boss 702 on the balance seat 7, the free end of the first compression spring 8 is embedded on the cylindrical boss 205 of the first vertical plate 204, and the first compression spring 8 plays a role in balancing internal stress. The upper cylindrical boss 201 of the upper stress plate 2 is correspondingly and coaxially connected with the 4 rubber supports 10 connected to the base 1 respectively, so that the second vertical plate 206 and the third vertical plate 207, which are close to the edges, on the upper stress plate 2 are respectively located in the positive directions of the X axis and the Y axis, and the action surfaces of the second vertical plate 206 and the third vertical plate 207 are necessarily opposite to the first sensing unit 3 which is transversely arranged and used for detecting torque around the Z axis.
After the upper stress plate 2 is installed in place, the vertical distance between the upper stress plate 2 and the curved thin-wall flange 1017 on the base 1 is larger than the vertical distance between the top ends of the second vertical plate 206 and the third vertical plate 207 and the horizontal plane of the inner side of the limit seat 6, and meanwhile, the horizontal distance between the two side surfaces of the second vertical plate 206 and the third vertical plate 207 and the inner side vertical plane of the limit seat 6 is larger than the distance between the outer cylindrical surface of the rubber support 10 and the curved thin-wall flange 1017 on the adjacent base 1, so that the limit seat 6 plays a limiting protection role when the six-dimensional force sensor is excessively stressed and deformed, and other parts are prevented from being damaged. After the upper stress plate 2 is installed in place, the 4 first sensing units 3 and the 2 second sensing units 11 are in the same compression state, and have consistency, and the state is zero positions of the six sensing units. The flexible optical waveguide is prepared from doped polydimethylsiloxane, has a stretchable range of 100% of strain, and is set to be a total measurement range by 0-40% of strain, and in zero position, the flexible optical waveguide is in a 20% stretched state. The present invention, like a commercial six-dimensional force sensor, also requires recalibration for use over time due to creep effects of the flexible optical waveguide.
Specifically, the flexible six-dimensional force sensor of the invention has the advantages that as the sensing unit for detecting the torque around the Z axis is arranged on the outer side of the double-body seat 5 deviating from the coordinate axis, an unbalanced stress state is generated around the positive and negative directions of the Z axis, and the balance seat 7 is arranged to extrude the first compression spring 8 to generate directional force for compensation, so that the torque around the positive and negative directions of the Z axis is in a balanced state.
Specifically, the second sensing unit 11 on the double body seat 5 along the X axis is used for detecting the force applied in the X direction, the first sensing unit 3 on the double body seat 5 which is reversely installed and parallel to the X axis is used for detecting the torque around the Z axis, the second sensing unit 11 on the single body seat 4 along the Y axis is used for detecting the force applied in the Y direction, and the three first sensing units 3 are vertically installed, wherein one of the first sensing units 3 is used for detecting the force applied in the Z direction, the first sensing unit 3 corresponding to the negative direction of the Y axis is used for detecting the torque around the X axis, and the first sensing unit 3 corresponding to the negative direction of the X axis is used for detecting the torque around the Y axis.
Specifically, the radius of the second dome 1113 of the second sliding cover 111 mounted on the second sensing unit 11 transversely arranged on the X axis and the Y axis is equal to the distance from the center of the base 1 to the acting surface of the second vertical plate 206 and the third vertical plate 207 in the corresponding direction of the upper stress plate 2, so when the flexible six-dimensional force sensor is subjected to torque around the Z axis, only the corresponding sensing unit outputs signals, and the first sliding cover 33 or the second sliding cover 111 of the other sensing units in each dimension slides with the contact surface to avoid the deformation of the internal flexible optical waveguide, thereby realizing complete mechanical decoupling; similarly, when a force or torque is applied in a certain direction, the first sensing unit 3 or the second sensing unit 11 corresponding to the other dimensions can realize mechanical decoupling between all or part of the dimensions in a manner that the first sliding cover 33 or the second sliding cover 111 slides with the contact surface.
The decoupling output of each dimension of the invention when being acted by the load is as follows:
When force Fx acts along the X-axis direction, the upper force plate 2 generates a certain displacement in the force direction, because the rubber support of the six-dimensional force sensor is uniformly distributed on the Z-axis cylinder of the six-dimensional force sensor coordinate system, and the second sensing units 11 for detecting the X-axis force are arranged in parallel, reversely and not coaxially with the first sensing units 3 for detecting the torque around the Z-axis, when the force Fx acts on the X-axis, the second sensing units 11 for detecting the Fx arranged on the X-axis extend to generate electric signal output, and meanwhile, the first sensing units 3 for detecting the torque around the Z-axis, which are arranged in anti-parallel with the X-axis, are compressed to generate electric signal output, because of the calibration on the X-axis, the recovery of the Tz value can be realized through the logic judgment of the internal control unit, but the coupling on the Tz-axis caused by errors such as processing and assembly is represented as k xTz by equivalent rigidity, and the other sensing units in each dimension slide with the upper force plate 2, so that the coupling is eliminated;
Under the action of load in the Y-axis direction, due to the structural design of the body of the six-dimensional force sensor, when the Y-axis direction is loaded, the upper force-bearing plate 2 translates relative to the base 1, and a certain amount of expansion and contraction are generated by the second sensing units 11 which are arranged along the Y-axis and are parallel to the base 1 and used for detecting Fy, so that corresponding electric signal output is generated, and the sensing units in other dimensions slide with the upper force-bearing plate 2, so that expansion and contraction changes are avoided, and coupling is eliminated;
The Z-axis is subjected to the load action, the first sensing units 3 which are positioned at the center and are arranged on the vertical base 1 and used for detecting the Z-axis force Fz are arranged in parallel with the two first sensing units 3 which are respectively arranged on the vertical base 1 and used for detecting the X-axis negative direction and the Y-axis negative direction and used for detecting the torque around the X-axis and the Y-axis, so that when the upper stress plate 2 is subjected to the action of the Z-axis force Fz, the displacement change of the base 1 is relatively generated along the Z-axis, the two first sensing units 3 which are theoretically used for detecting the torque around the X-axis and the torque around the Y-axis and the torque around the Ty are output with the equivalent value of the first sensing units 3 which are positioned at the center and are used for detecting the Z-axis force Fz and are arranged on the vertical base 1, the equivalent rigidity of the Tx and Ty can be recovered through logic judgment of the internal control unit, but the equivalent rigidity for coupling generated around the X-axis and the Y-axis due to errors such as processing and assembling is respectively expressed as k zTx,kzTy, and the expansion and contraction change of the other sensing units are not generated with the upper stress plate 2, so that the coupling is eliminated;
The first sensing unit 3 which is arranged on the vertical base 1 and is positioned on the negative direction of the y axis and used for detecting the torque Tx around the X axis is mutually coupled with the second sensing unit 11 which is arranged along the y axis and is parallel to the base 1 and used for detecting the force Fy, so that when the torque around the X axis acts, the upper stress plate 2 tilts around the X axis, a certain amount of coupling output which is expressed as k Tx,y exists on the force Fy along the y axis theoretically, the sensing units of the other dimensions slide with the upper stress plate 2, and the telescopic change does not exist, so that the coupling is eliminated;
The first sensing unit 3 which is arranged on the negative direction of the X axis and is used for detecting the torque Ty around the Y axis and is arranged on the vertical base 1 is mutually coupled with the second sensing unit 11 which is arranged along the X axis and is parallel to the base 1 and is used for detecting the torque Fx around the Z axis, and meanwhile, the first sensing unit 3 which is arranged in anti-parallel with the X axis and is used for detecting the torque Tz around the Z axis is also coupled, so that under the action of the torque around the Y axis, the upper stress plate 2 tilts around the Y axis, a certain amount of coupling electric signal output exists for the second sensing unit 11 which is theoretically arranged along the X axis and the first sensing unit 3 which is arranged in anti-parallel with the X axis and is used for detecting the torque Tz around the Z axis, the sensing units of the other dimensions are respectively indicated as k Ty,x,kTyTz, and the sensing units of the other dimensions are slipped with the upper stress plate 2, and the telescopic change is avoided, and the coupling is eliminated;
Due to the body structural design of the six-dimensional force sensor, when the Y axis is loaded, the upper stress plate 2 is twisted along the Z axis, the first sensing unit 3 which is arranged in anti-parallel with the X axis and used for detecting the torque Tz around the Z axis stretches out and draws back, corresponding electric signals are output, the sensing units in other dimensions slide with the upper stress plate 2, stretching change does not exist, and coupling is eliminated.
From the stiffness matrices of the individual dimensions of formulas (1) - (6) above, the overall stiffness matrix K of the six-dimensional force sensor of the present invention can be obtained as follows:
in the formulas (1) - (7), k ij represents equivalent stiffness in the corresponding j direction when the i direction is loaded; i, j=x, Y, Z represents the force of the coordinate system X, Y, Z in the corresponding axial direction when loaded in the axial direction; i, j=tx, ty, tz denote the torque about the corresponding axis when the coordinate system X, Y, Z is torqued about the axis.
In the equivalent stiffness matrix K, elements on the main diagonal represent equivalent stiffness of the six-dimensional force sensor corresponding to each loading direction under an orthogonal coordinate system, and elements on the non-main diagonal represent stiffness of coupling output generated to other dimensions when each dimension is loaded. After the hardness of the selected rubber support is determined, the specific value of the equivalent stiffness in the corresponding direction can be deduced according to the loaded deformation in the corresponding direction, and then the equivalent stiffness matrix K is obtained. From the equivalent stiffness matrix formula (7), it is intuitively possible to derive:
Under the action of Fx, the Fy, fz, tx, ty-direction mechanical decoupling can be realized;
Under Fy effect, mechanical decoupling to Fx, fz, tx, ty, tz directions can be realized;
Under Fz action, mechanical decoupling of Fx, fy and Tz directions can be realized through logic judgment;
Under the action of Tx, the Fx, fz, ty, tz-direction mechanical decoupling can be realized;
Under the action of Ty, the mechanical decoupling of Fy, fz and Tx directions can be realized;
Under the action of Tz, mechanical decoupling of Fx, fy, fz, tx, ty in each dimension can be realized.
The invention has the advantages that compared with the six-dimensional force sensor with an integrated elastic body, the coupling data which is required to be processed in real time by the algorithm is greatly simplified, and the timeliness of data processing and output can be effectively improved by adopting the same algorithm.
The six-dimensional force sensor is used for detecting the reaction force of the ground to the human body when the human body moves, and the upper stress plates 2 of the two six-dimensional force sensors are respectively embedded into the sole position and the heel position of the intelligent sole to a certain depth, so that the base 3 of the six-dimensional force sensor protrudes out of the intelligent sole to a certain height, and the height is larger than the change stroke of the six-dimensional force sensor, so that the movement natural gait of a tester and the reaction force information of the ground to the human body can be accurately acquired.
The second vertical plate and the third vertical plate of the upper stress plate are positioned in the U-shaped body of the limiting seat, and when the six-dimensional force sensor is overloaded under the action of torque around the Z axis, the side edges of the second vertical plate and the third vertical plate of the upper stress plate touch the vertical surface on the left side or the right side of the U-shaped body of the limiting seat, so that the limiting effect is achieved; when the six-dimensional force sensor is overloaded under the action of torque around the X or Y axis, the bottom surfaces of the second vertical plate and the third vertical plate of the upper stress plate touch the inner side plane of the U-shaped body of the limiting seat to play a limiting role; when the six-dimensional force sensor is overloaded by reverse torque action around an X or Y axis, a first sensing unit arranged on the opposite side of a second vertical plate and a third vertical plate of the upper stress plate plays a limiting role, specifically, the upper stress plate is inclined, a first sliding cover of the first sensing unit is compressed to slide downwards along the sleeve, and a limiting position is reached when the first sliding cover contacts the sleeve; when the six-dimensional force sensor is overloaded by the force along the X direction of the coordinate axis, the side edges of the second vertical plate and the third vertical plate which are positioned on the Y axis are in contact with the side vertical surface of the U-shaped body of the limiting seat to limit, and similarly, when the six-dimensional force sensor is overloaded by the force along the Y direction of the coordinate axis, the side edges of the second vertical plate and the third vertical plate which are positioned on the X axis are in contact with the side vertical surface of the U-shaped body of the limiting seat to limit; meanwhile, the second sensing unit which is horizontally arranged and used for detecting the acting force of the X axis and the Y axis, and the first sensing unit which is used for detecting the rotating torque around the Z axis can also play a role in auxiliary limit when the corresponding second sliding cover or the first sliding cover slides to contact the corresponding sleeve when the corresponding load generates compression deformation.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.

Claims (9)

1. A flexible optical waveguide-based compliant six-dimensional force sensor is characterized by comprising a base, an upper stress plate, four first sensing units, a single body seat, a double body seat, a limiting seat, a balance seat, a first compression spring, a data acquisition and processing module, a rubber support, two second sensing units and a connector,
The upper stress plate is arranged above the base, the rubber support is arranged between the base and the upper stress plate, the single body seat, the double body seat, the limiting seat and the balance seat are respectively arranged on the single body seat groove, the double body seat groove, the limiting seat groove and the balance seat groove of the base, the first compression spring is arranged between the balance seat and a first vertical plate on the upper stress plate, the data acquisition and processing module is arranged on the base, the connector is arranged in a connector mounting hole of the base, and the connector is communicated with the data acquisition and processing module;
The four first sensing units are arranged between the base and the upper stress plate, the lower ends of the sleeves in the four first sensing units are respectively arranged in a central annular bulge, a first annular bulge, a second annular bulge and a connected annular seat hole on the inner side of the double-body seat, the upper ends of the first sliding covers in the four first sensing units are respectively contacted with the lower end surface of the upper stress plate and the acting surface of the first vertical plate in the upper stress plate, the first sensing units comprise sleeves, sliding shafts, first sliding covers, locking blocks, second compression springs, flexible optical waveguides, locking cones, light emitting elements and photosensitive elements, the locking cones are symmetrically arranged at the upper ends of the flexible optical waveguides, the flexible optical waveguides are arranged in the sliding shafts, the locking cones are arranged in tapered holes of the sliding shafts, the third glue injection hole of the locking cone is coaxially arranged with the first glue injection hole of the sliding shaft, the first sliding cover is covered on the sliding shaft, the light-emitting element is arranged between the first sliding cover and the sliding shaft, the lower end face of the light-emitting element is attached to the upper end face of the flexible optical waveguide, two wires of the light-emitting element respectively penetrate out from the first wire holes on two sides of the first sliding cover from inside to outside, the sliding shaft is arranged in the sleeve, the limiting block on the sliding shaft is arranged in the limiting groove of the sleeve in a sliding manner, the locking block is symmetrically arranged at the lower end of the flexible optical waveguide and arranged in the guide hole of the sleeve, the second compression spring is arranged on the flexible optical waveguide and between the sliding shaft and the locking block, the photosensitive element is arranged at the lower end of the flexible optical waveguide, the upper end face of the photosensitive element is attached to the lower end face of the flexible optical waveguide;
The two second sensing units are arranged between the base and the upper stress plate, the lower ends of the sleeves in the two second sensing units are respectively arranged in the connected annular seat holes at the outer sides of the double-body seat and the single annular seat holes of the single-body seat, the upper ends of the second sliding covers in the two second sensing units are respectively connected with the acting surfaces of the second vertical plate and the third vertical plate in the upper stress plate, the second sensing units comprise a sleeve, a sliding shaft, a second sliding cover, a locking block, a second compression spring, a flexible optical waveguide, a locking cone, a light emitting element and a photosensitive element, the locking cones are symmetrically arranged at the upper ends of the flexible optical waveguide, the flexible optical waveguide is arranged in the sliding shaft, the locking cones are arranged in conical holes of the sliding shaft, the third glue injection holes of the locking cones are coaxially arranged with the first glue injection holes of the sliding shaft, the second sliding covers are covered on the sliding shaft, the second sliding covers are arranged between the sliding cover and the sliding shaft, the second sliding guide blocks are arranged between the sliding shaft and the flexible optical waveguide, the light emitting element is arranged at the lower ends of the sliding shaft, the light emitting element is arranged at the upper ends of the sliding sleeve and the two sides of the flexible optical waveguide, the light emitting element is symmetrically arranged at the lower ends of the sliding sleeve, the flexible optical waveguide is arranged at the two sides of the sliding guide blocks, the light emitting element is symmetrically arranged at the lower ends of the sliding sleeve, the flexible optical waveguide is respectively, the light emitting element is arranged at the lower ends of the flexible optical waveguide, and the light guide sleeve is symmetrically arranged at the lower ends of the flexible optical waveguide, and the light guide sleeve is respectively, and the light emitting element is symmetrically arranged at the lower ends of the sliding guide hole, and the light guide sleeve is respectively, and the upper end face of the photosensitive element is attached to the lower end face of the flexible optical waveguide.
2. The flexible optical waveguide-based compliant six-dimensional force sensor according to claim 1, wherein the base is of a circular plate structure, four lower cylindrical bosses are uniformly distributed on the upper end face of the base, a central annular boss is arranged at the center of the base, a first annular boss and a second annular boss are respectively arranged at the positions, close to the edge, of the base in 90-degree orthogonal directions, inner threads are arranged on the inner sides of the central annular boss, the first annular boss and the second annular boss, boss through holes are formed in the centers of the central annular boss, the first annular boss and the second annular boss, a wire passing hole is formed in the central connecting line of the first annular boss and the second annular boss, grooves for communicating the wire passing hole and the boss through holes are formed in the lower end face of the base, curved thin-wall flanges with outer diameters equal to the outer diameters of the base are symmetrically arranged on the circumference direction of the base, connector mounting holes are formed in one end of the upper thin-wall flange of the base, a balancing seat groove is formed in the upper side of the central annular boss, boss through holes are formed in the inner sides of the base, boss through holes are formed in the lower end of the base, annular boss through holes are formed in the center of the annular boss through holes, annular boss through holes are formed in the center of the annular boss, annular boss through holes are formed in the grooves, and the annular boss are formed in the lower side of the annular boss through holes, and are closely adjacent to the boss through grooves, and are formed in the annular boss through grooves, respectively.
3. The flexible optical waveguide-based flexible six-dimensional force sensor according to claim 1, wherein the upper force bearing plate is of a circular structure, four upper cylindrical bosses are uniformly distributed on the lower end face of the upper force bearing plate, the outer diameter of the upper cylindrical bosses is tangential to the outer diameter of the upper force bearing plate, a second vertical plate and a third vertical plate are respectively arranged at positions, which are equal in distance from the right side and the lower side of the upper force bearing plate to the center of the upper force bearing plate, the inner side faces, facing the center of the upper force bearing plate, of the second vertical plate and the third vertical plate are acting surfaces, the acting surfaces are perpendicular to the lower end face of the upper force bearing plate, a first vertical plate is arranged on the left side of the upper force bearing plate, the acting surfaces of the first vertical plate face to the right side, and vertical plate cylindrical bosses are arranged on the side surfaces of the first vertical plate.
4. The flexible optical waveguide-based flexible six-dimensional force sensor according to claim 1, wherein the sleeve is of a circular structure, the upper end of the sleeve is of an upper circular ring, the lower end of the sleeve is of a lower circular ring, external threads are arranged on the outer side of the lower circular ring, a guide hole is formed in the middle of the sleeve, a limit groove penetrating through the sleeve is formed in one side of the guide hole, and a circular groove with the diameter larger than the diameter of the guide hole is formed in the lower end of the lower circular ring;
The sliding shaft is of a cylindrical structure and consists of a lower sliding shaft and an upper sliding shaft, an annular groove is formed in the lower end face of the lower sliding shaft, an element hole is formed in the middle of the upper sliding shaft, a conical hole is coaxially formed below the element hole, a waveguide hole is coaxially formed below the conical hole, the aperture of the upper end of the conical hole is equal to that of the element hole, the aperture of the lower end of the conical hole is equal to that of the waveguide hole, a first glue injection hole is formed in the middle of the conical hole, and a limiting block is arranged on one side of the lower end of the lower sliding shaft;
the first sliding cover consists of a first torus and a dome, wherein an inner side surface of the first torus is provided with an inner thread, a first round hole coaxial with the first torus is formed in the inner side of the first torus, and a first wire hole is radially formed at a contact position of the side surface of the dome and the first torus;
the locking block is of a T-shaped semi-cylindrical structure, a locking block annular body is arranged on the lower end face of the locking block main body, a semi-annular groove is formed in the upper end face of the locking block main body, a first locking half hole is formed in the middle of the locking block main body, and a second glue injection hole is formed in the middle of the first locking half hole in the radial direction;
the locking cone is of a semi-conical structure, a second locking half hole is formed in the middle of the locking cone main body, and a third glue injection hole is formed in the middle of the second locking half hole in the radial direction.
5. The flexible optical waveguide-based compliant six-dimensional force sensor according to claim 4, wherein the second slider is composed of a second torus, a first dome and a second dome, the radii of the first dome and the second dome are different and are arranged in an orthogonal direction, the radii of the first dome and the second dome are tangential at the highest point, an inner side surface of the second torus is provided with an inner thread, a second round hole coaxial with the second torus is arranged on the inner side of the second torus, and a second line hole is radially arranged at a contact position of a side surface of the second dome and the second dome, and the axis direction of the second line hole is the same as the direction of the second dome.
6. The flexible optical waveguide-based compliant six-dimensional force sensor of claim 1, wherein the single body seat is composed of a single body pillar at the lower part and a single body annular seat at the upper part, the right end face of the single body annular seat is coplanar with the right end face of the single body pillar, the left end face of the single body annular seat is provided with a single body annular seat hole, the middle part of the single body annular seat hole is provided with a single body annular seat through hole, and the depth of the single body annular seat through hole is equal to the height of the photosensitive element.
7. The flexible optical waveguide-based compliant six-dimensional force sensor according to claim 1, wherein the double-body seat is composed of a lower connected support column and an upper connected annular seat, the connected support columns are arranged in a staggered mode and are connected through rib plates, the width of the end faces of the left end face and the right end face of the connected support column is equal to the thickness of the connected annular seat, two ends of the connected annular seat are reversely provided with connected annular seat holes, a connected annular seat through hole is formed in the middle of each connected annular seat hole, and the depth of each connected annular seat through hole is equal to the height of the photosensitive element.
8. The flexible optical waveguide-based compliant six-dimensional force sensor of claim 1, wherein the limit seat is a U-shaped body, and two step through holes are symmetrically arranged at the bottom of the U-shaped body near two ends of the U-shaped body.
9. The flexible optical waveguide-based compliant six-dimensional force sensor according to claim 1, wherein the balance seat main body of the balance seat is of an L-shaped structure, a balance seat boss is arranged at the upper end of the side face elevation of the balance seat main body, a thin through hole is arranged along the radial direction of the balance seat boss, and a straight slot hole is arranged at the bottom of the balance seat main body.
CN202311261819.9A 2023-09-27 2023-09-27 Flexible six-dimensional force sensor based on flexible optical waveguide Active CN117249936B (en)

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