WO2021248681A1 - 一种集成数据采集***和惯性力补偿***的六维力传感器 - Google Patents

一种集成数据采集***和惯性力补偿***的六维力传感器 Download PDF

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Publication number
WO2021248681A1
WO2021248681A1 PCT/CN2020/108753 CN2020108753W WO2021248681A1 WO 2021248681 A1 WO2021248681 A1 WO 2021248681A1 CN 2020108753 W CN2020108753 W CN 2020108753W WO 2021248681 A1 WO2021248681 A1 WO 2021248681A1
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Prior art keywords
pcb
communication
circuit
analog
elastic body
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PCT/CN2020/108753
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English (en)
French (fr)
Inventor
李晨
黄肖飞
相立峰
戴振东
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南京神源生智能科技有限公司
南京溧航仿生产业研究院有限公司
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Publication of WO2021248681A1 publication Critical patent/WO2021248681A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia

Definitions

  • the invention relates to the field of robot application, especially a six-dimensional force sensor used in the field of automation and industrial robots, and specifically a six-dimensional force sensor integrating a data acquisition system and an inertial force compensation system.
  • Multi-dimensional force sensor and torque sensor refer to a force sensor that can measure force and torque components in more than two directions at the same time.
  • force and torque can each be decomposed into three components, and six-dimensional force sensors can measure space.
  • Six-dimensional force sensors are widely used in robotics, industrial automation, military industry and other fields. In various fields of application, six-dimensional force sensors play a pivotal role, which is equivalent to the human brain.
  • the force and torque measured by the six-dimensional force sensor on the robot wrist generally consist of four parts, namely: 1, the influence of the weight of the sensor body; 2, the influence of the load's own weight; 3, the influence of the load inertial force; 4The load is affected by the external contact force.
  • the six-dimensional force sensor is usually installed at the end of the robotic arm in the application field of industrial robots, and then connected to the end actuator through a series of adapters, the posture of the load changes during the movement of the robot, and the gravity The direction of the load is always vertical downwards. Therefore, the load’s own weight or inertial force will affect the test data of the six-dimensional force sensor, resulting in inaccurate data measured by the six-dimensional force sensor, large measurement errors, and poor data repeatability. And so on related issues.
  • the purpose of the present invention is to provide a six-dimensional force sensor integrating a data acquisition system and an inertial force compensation system, which can reduce the influence of gravity or inertial force on the measurement error of the six-dimensional force sensor and improve the measurement accuracy of the six-dimensional force sensor. , Reduce the measurement error and improve the repeatability of the sensor.
  • the technical scheme adopted by the present invention is: a six-dimensional force sensor integrating a data acquisition system and an inertial force compensation system, comprising an upper cover plate, an elastic body and a lower cover plate, the upper cover plate and the lower cover plate are respectively arranged on the elastic body At the upper and lower ends, the elastic body is the sensitive element of the sensor.
  • the bridge PCB, the analog PCB and the communication PCB are set on the elastic body.
  • the bridge PCB and the analog PCB are connected by enameled wire welding, and the analog PCB and the communication PCB are connected through the header pins. Connect, the group bridge PCB is glued to the elastic body.
  • Metal strain gauges are pasted on the strain beam in the elastic body and wiring terminals are pasted on the bridge PCB to form a Wheatstone bridge.
  • the differential signal of the Wheatstone bridge is connected to the analog PCB through the connecting line.
  • the analog PCB integrates an attitude angle sensor, analog
  • the output of the quantity PCB is connected to the outside by the communication port of the communication PCB.
  • the six-dimensional force sensor of the technical scheme of the present invention is a measurement method in which the mechanical quantity is converted into an electrical signal through the sensitive element strain gauge, the strain gauge is pasted on the elastic body, and the bridge is formed by the connecting terminal.
  • the six-dimensional force sensor of the technical scheme of the present invention integrates a posture angle sensor on an analog PCB to realize inertial force compensation, which can improve the accuracy and precision of measurement when the six-dimensional force sensor is used on a robot, and reduce measurement errors.
  • the processing circuit of the six-dimensional force sensor includes an amplifying circuit, an analog/digital conversion circuit, a microcontroller circuit and a communication circuit.
  • the differential signal of the Wheatstone bridge is connected and amplified by the amplifying circuit.
  • the signal from the analog/digital conversion circuit converts the analog signal into a digital signal, enters the microcontroller circuit for data collection, and the collected data is transmitted through the communication circuit.
  • the amplifying circuit is integrated on the analog PCB.
  • the amplifying circuit includes instrumentation amplifier AD8222ACPZ, amplifying multiple matching resistor R3 and differential low-pass filter to form a fixed gain multiple to amplify weak differential signals.
  • the analog/digital conversion circuit, micro-controller circuit and communication circuit are all integrated on the communication PCB.
  • the analog/digital conversion circuit adopts the 16-bit, 8-channel high-precision conversion circuit AD7606, which can convert 8-channel signals at the same time, and the sampling rate is up to 200KSPS , Fast response and high real-time performance; the microcontroller uses STM32F103RET6 to transmit data with AD7606 through SPI, and connects to the communication circuit through the URAT ⁇ RMII interface.
  • the communication circuit is an RS485 communication circuit, a CAN communication circuit, a UDP communication circuit or an Ether Cat communication circuit.
  • the RS485 communication circuit is composed of a transceiver converter MAX485, a digital isolator ADuM1301 and a communication port.
  • the communication port is used for external connection.
  • the CAN communication circuit is composed of a transceiver converter TJA1042T, a digital isolator ADuM1301, and a communication port.
  • the communication port is used for external connection.
  • the UDP communication circuit is composed of a transceiver converter DP83848C, a network isolation transformer HR601680, and a network interface.
  • the network interface is used for external connection.
  • the Ether Cat communication circuit is composed of a transceiver converter LAN9252, a network isolation transformer HR601680, and a network interface.
  • the network interface is used for external connection.
  • the communication PCB covers the current common communication methods, mainly including: UDP, Ether Cat, CAN and 485, which can meet the current needs of various industries.
  • the elastic body is composed of 12 strain beams.
  • Elastomers are known products in the technical field.
  • the technical solution of the present invention is provided with a crimping block for fixing the cable on the elastic body.
  • the attitude angle sensor is a WT931 attitude angle sensor.
  • the WT931 attitude angle sensor is a purchased part, directly purchased and soldered on the analog PCB.
  • the present invention has the following beneficial effects.
  • the six-dimensional force sensor of the present invention integrates a data acquisition system and an inertial force compensation system, can reduce the influence of gravity or inertial force on the measurement error caused by the six-dimensional force sensor measurement, can improve the measurement accuracy of the six-dimensional force sensor, and reduce the measurement Error, improve the repeatability of the sensor, and so on.
  • Fig. 1 is an exploded view of the overall structure of the six-dimensional force sensor of this embodiment.
  • Fig. 2 is a schematic diagram of the elastic body and the strain gauge cloth in the six-dimensional force sensor of this embodiment.
  • Fig. 3 is a schematic diagram of the bridge assembly of the six-dimensional force sensor of this embodiment.
  • FIG. 4 is a schematic diagram of the bonding position of the bridge PCB and the strain gauge of the six-dimensional force sensor of this embodiment.
  • Fig. 5 is a schematic diagram of the assembly bridge PCB of the six-dimensional force sensor of this embodiment installed in the annular groove under the elastic body force platform.
  • FIG. 6 is a schematic diagram of the group bridge PCB, the analog PCB and the communication PCB 5 of the six-dimensional force sensor of this embodiment are all integrated into the elastic body.
  • Fig. 7 is a schematic diagram of the WT931 attitude angle sensor used in the six-dimensional force sensor of this embodiment.
  • Figure 8 is a schematic diagram of the WT931 attitude angle sensor integrated on the analog PCB.
  • Fig. 9 is a schematic circuit diagram of the amplifying circuit on the analog PCB in the six-dimensional force sensor of this embodiment.
  • FIG. 10 is a schematic circuit diagram of the analog/digital conversion circuit on the communication PCB in the six-dimensional force sensor of this embodiment.
  • FIG. 11 is a schematic circuit diagram of the microcontroller on the communication PCB in the six-dimensional force sensor of this embodiment.
  • Figure 12 is a schematic circuit diagram of the RS485 communication circuit on the communication PCB.
  • Figure 13 is a schematic circuit diagram of the CAN communication circuit on the communication PCB.
  • Figure 14 is a circuit diagram of the UDP communication circuit on the communication PCB.
  • Figure 15 is a circuit diagram of the Ether Cat communication circuit on the communication PCB.
  • a six-dimensional force sensor integrating a data acquisition system and an inertial force compensation system includes an upper cover 1, an elastic body 2 and a lower cover 4.
  • the upper cover 1 and the lower cover 4 are respectively arranged on The upper and lower ends of the elastic body 2, the upper cover plate 1 and the elastic body 2 are connected by 4 M4 screws, the elastic body 2 and the lower cover plate 4 are first positioned by 2 cylindrical pins, and then connected by 8 M5 bolts.
  • the elastic body 2 is the sensitive element of the sensor, and the elastic body 2 is a known technology in the technical field; in this embodiment, the elastic body 2 is composed of 12 strain beams. After finite element calculation, the elastic body 2 is Paste metal strain gauges on appropriate positions to form a Wheatstone bridge to measure force or moment in all directions.
  • the elastomer 2 selected in this embodiment is a known elastomer 2 in the technical field.
  • a total of 24 strain gauges are attached to the 12 strain beams of elastomer 2, and the 24 strain gauges are marked as R1-R24, respectively.
  • the elastic body 2 is equipped with a bridge PCB7, an analog PCB6 and a communication PCB5.
  • the bridge PCB7 and the analog PCB6 are connected by enameled wire welding, the analog PCB6 and the communication PCB5 are connected by pin headers, and the bridge PCB7 is connected Bonded to the elastic body 2.
  • a metal strain gauge is pasted on the strain beam in the elastic body 2 and a connection terminal is pasted on the bridge PCB to form a Wheatstone bridge.
  • the differential signal of the Wheatstone bridge is connected to the analog signal through the connecting line.
  • PCB6 an attitude angle sensor is integrated on the analog PCB6, and the output of the analog PCB6 is connected to the outside through the communication port of the communication PCB5.
  • the terminal blocks are pasted on the bridge PCB7.
  • the terminal blocks must be pasted to the designated position on the bridge PCB7.
  • the bridge is grouped according to Figure 3.
  • the white 704 is used after the inspection is correct.
  • the glue is sealed in the annular groove under the force platform of the elastic body 2.
  • the analog PCB6 is fixed inside the elastomer 2 by four M2 screws, and is connected to the bridge PCB7 by welding through two power lines.
  • the analog PCB6 and the communication PCB5 are plugged in through pin headers.
  • the communication PCB5 covers the current commonly used communication methods, mainly including: UDP, Ether Cat, CAN and RS485.
  • the cables are soldered on the designated solder joints of the communication PCB5, and finally lead out of the sensor.
  • the elastic body 2 is provided with a crimping block 3 for fixing the cable, and the crimping block 3 and the elastic body 2 are connected by two M2 bolts.
  • the six-dimensional force sensor When the six-dimensional force sensor is used on the robot, it is usually installed on the flange at the end of the robot arm, and then connected to the end effector through a series of adapters. In this way, the load is The posture changes, and the direction of gravity is always vertical downwards. Therefore, the measurement of the six-dimensional force sensor by the load gravity will change with the continuous changes of the robot, which will inevitably affect the accuracy and precision of the six-dimensional force sensor. At the same time, acceleration will inevitably occur during the robot movement, and the inertial force generated by acceleration will also affect the accuracy and precision of the six-dimensional force sensor measurement. Therefore, the gravity compensation system and inertial force compensation are integrated in the six-dimensional force sensor. The system can improve the accuracy and precision of the measurement of the six-dimensional force sensor when used on the robot, and reduce the measurement error. There are two schemes for integrating the gravity compensation system and the inertial force compensation system in the six-dimensional force sensor.
  • the other is to integrate a 9-axis attitude angle sensor in the system.
  • the 9-axis attitude angle sensor is integrated into the above-mentioned analog quantity board, and the displacement, velocity and acceleration related data in various attitudes are also obtained through the data acquisition system.
  • Relevant algorithms perform gravity compensation and inertial force compensation to achieve the above goals.
  • the present invention integrates a 9-axis attitude angle sensor, namely the WT931 attitude angle sensor, in the analog PCB6.
  • the WT931 attitude angle sensor As shown in Figure 6, the WT931 attitude angle sensor
  • the angle sensor is integrated in the analog PCB6, and the displacement, velocity and acceleration related data in various postures are also obtained through the data acquisition system, and the relevant algorithms are used for gravity compensation and inertial force compensation to achieve the above objectives.
  • the WT931 attitude angle sensor selected in this embodiment is an outsourcing part, which is directly soldered on the analog PCB6 after purchase. As shown in Figure 8.
  • the processing circuit of the six-dimensional force sensor in this embodiment includes an amplifier circuit, an analog/digital conversion circuit, a microcontroller circuit, and a communication circuit.
  • the differential signal of the Wheatstone bridge is connected and amplified by the amplifier circuit.
  • the /digital conversion circuit converts the analog signal into a digital signal, and enters the microcontroller circuit for data collection, and the collected data is transmitted through the communication circuit.
  • the amplifying circuit is integrated on the analog PCB6.
  • the amplifying circuit includes instrumentation amplifier AD8222ACPZ, amplifying multiple matching resistor R3 and differential low-pass filter to form a fixed gain multiple to amplify weak differential signals.
  • the analog/digital conversion circuit, the microcontroller circuit and the communication circuit are all integrated on the communication PCB5.
  • the analog/digital conversion circuit adopts the 16-bit, 8-channel high-precision conversion circuit AD7606, which can simultaneously respond to 8-channel signals. Conversion, sampling rate up to 200KSPS, fast response and high real-time performance.
  • the microcontroller uses STM32F103RET6 to transmit data with AD7606 through SPI, and is connected to the communication circuit through the URAT ⁇ RMII interface.
  • the communication PCB covers the currently commonly used communication methods, mainly including: UDP, Ether Cat, CAN, and RS485, which can meet the current needs of various industries.
  • the communication PCB5 is RS485 communication circuit, CAN communication circuit, UDP communication circuit or Ether Cat communication circuit.
  • the RS485 communication circuit is composed of a transceiver converter MAX485, a digital isolator ADuM1301 and a communication port.
  • the communication port is used for external connection.
  • the CAN communication circuit is composed of a transceiver converter TJA1042T, a digital isolator ADuM1301, and a communication port.
  • the communication port is used for external connections.
  • the UDP communication circuit consists of a transceiver converter DP83848C, a network isolation transformer HR601680, and a network interface.
  • the network interface is used for external connections.
  • the Ether Cat communication circuit consists of a transceiver converter LAN9252, a network isolation transformer HR601680, and a network interface.
  • the network interface is used for external connections.
  • the bridge board and the analog board are connected by enameled wire welding, and the analog board and the communication board are connected by pin headers. Plug connection.
  • the wiring terminal is pasted on the designated position on the bridge board to form a Wheatstone bridge.
  • the differential signal of the Wheatstone circuit in elastomer 2 is connected to the analog PCB through the connecting wire, and is amplified by the instrument amplifying circuit on the analog PCB.
  • the amplified signal is then converted by the analog-to-digital conversion circuit to convert the analog signal into a digital signal.
  • Data acquisition is carried out through the MCU circuit.
  • the collected data is transmitted through the communication circuit UDP/Ether Cat/CAN/RS485.
  • the communication board covers the current common communication methods, mainly including: UDP, Ether Cat, CAN and 485 can meet the current needs of all walks of life.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)

Abstract

本发明公开一种集成数据采集***和惯性力补偿***的六维力传感器，包括上盖板、弹性体和下盖板，上盖板和下盖板分别设置在弹性体的上下两端，弹性体上设置组桥PCB、模拟量PCB和通讯PCB，组桥PCB和模拟量PCB通过漆包线焊接连接，模拟量PCB与通讯PCB通过排针接插连接，组桥PCB粘接在弹性体上，弹性体内的惠斯通电桥的差分信号接入模拟量PCB，模拟量PCB上集成姿态角度传感器，模拟量PCB的输出由通讯PCB的通讯端口接到外部。优点：本六维力传感器，集成数据采集***和惯性力补偿***，降低惯性力对六维力传感器测量造成测量误差的影响，提高测量精度、减小测量误差、提高传感器的重复性。

Description

一种集成数据采集***和惯性力补偿***的六维力传感器 技术领域
本发明涉及机器人应用领域，尤其在自动化和工业机器人领域内应用的六维力传感器，具体一种集成数据采集***和惯性力补偿***的六维力传感器。
 背景技术
多维力传感器和力矩传感器指的是一种能够同时测量两个方向以上力及力矩分量的力传感器，在笛卡尔坐标系中力和力矩可以各自分解为三个分量，六维力传感器能够测量空间任意力系中的三维正交力（Fx、Fy、Fz）和三维正交力矩（Tx、Ty、Tz）。六维力传感器广泛应用于机器人、工业自动化、军工等领域中，在应用的各个领域中六维力传感器发挥举足轻重的作用，相当于人的大脑。
在静态条件下，机器人腕部六维力传感器测得的力和力矩一般有四部分组成，即：①、传感器本体自重的影响；②、负载自重的影响；③、负载惯性力作用的影响；④负载所受外部接触力的影响。由于六维力传感器在工业机器人应用领域通常都是安装在机械臂的末端，再通过一系列的转接装置和末端的执行器连接，在机器人运动过程中，负载的姿态随之改变，而重力的方向始终竖直向下，因此，负载的自重或者惯性力将对六维力传感器测试数据产生影响，造成了六维力传感器所测量的数据不准确、测量误差大、数据重复性较差、等等相关问题。
 技术问题
本发明目的是，提出一种集成数据采集***和惯性力补偿***的六维力传感器，能够降低由重力或者惯性力对六维力传感器测量造成测量误差的影响，能够提高六维力传感器测量精度、减小测量误差、提高传感器的重复性。
 技术解决方案
本发明采用的技术方案是：一种集成数据采集***和惯性力补偿***的六维力传感器，包括上盖板、弹性体和下盖板，上盖板和下盖板分别设置在弹性体的上下两端，弹性体是传感器的敏感元件，弹性体上设置组桥PCB、模拟量PCB和通讯PCB，组桥PCB和模拟量PCB通过漆包线焊接连接，模拟量PCB与通讯PCB通过排针接插连接，组桥PCB粘接在弹性体上。
弹性体内应变梁上粘贴金属应变片和组桥PCB上粘贴接线端子，组成惠斯通电桥，惠斯通电桥的差分信号通过连接线接入模拟量PCB，模拟量PCB上集成姿态角度传感器，模拟量PCB的输出由通讯PCB的通讯端口接到外部。
本发明技术方案的六维力传感器，通过敏感元件应变片将力学量转化为电信号的一种测量方式，将应变片粘贴在弹性体上面，通过接线端子组桥。
本发明技术方案的六维力传感器，在模拟量PCB上集成了姿态角度传感器，实现惯性力补偿，能够提高六维力传感器在机器人上使用时测量的精确性和精度，减小测量误差。
对本发明技术方案的进一步优选，六维力传感器的处理电路包括放大电路、模/数转换电路、微型控制器电路和通讯电路，惠斯通电桥的差分信号接入，由放大电路放大，放大后的信号由模/数转换电路，把模拟信号转换成数字信号，进入微型控制器电路进行数据采集，采集的数据通过通讯电路进行数据传输。
放大电路集成在模拟量PCB上，放大电路包括仪表放大器AD8222ACPZ、放大倍数匹配电阻R3和差分低通滤波器组成固定增益倍数实现对微弱差分信号放大。
模/数转换电路、微型控制器电路和通讯电路都集成在通讯PCB上，模\数转换电路采用16位、8通道的高精度转换电路AD7606，可对8通道信号同时转换，采样速率达200KSPS，响应快、实时性高；微控制器采用STM32F103RET6通过SPI方式与AD7606进行数据传输，通过URAT\RMII接口与通讯电路连接。
对本发明技术方案的进一步优选，通讯电路为RS485通讯电路、CAN通讯电路、UDP通讯电路或Ether Cat通讯电路。
RS485通讯电路由收发转换器MAX485、数字隔离器ADuM1301和通讯端口组成，通讯端口用于外部连接。
CAN通讯电路由收发转换器TJA1042T、数字隔离器ADuM1301、通讯端口组成，通讯端口用于外部连接。
UDP通讯电路由收发转换器DP83848C、网络隔离变压器HR601680、网络接口组成，网络接口用于外部连接。
Ether Cat通讯电路由收发转换器LAN9252、网络隔离变压器HR601680、网络接口组成，网络接口用于外部连接。
本发明技术方案中，通讯PCB涵盖了目前常用通讯方式，主要包括：UDP、Ether Cat、CAN和485，能够满足目前各行各业的需求。
对本发明技术方案的优选，弹性体由12根应变梁组成。弹性体为本技术领域内的已知产品。
对本发明技术方案的优选，弹性体上设置用于固定线缆的压线块。
对本发明技术方案的优选，姿态角度传感器为WT931姿态角度传感器。WT931姿态角度传感器为外购件，直接购买获得并焊接在模拟量PCB上。
 有益效果
本发明与现有技术相比，其有益效果是。
本发明的六维力传感器，集成数据采集***和惯性力补偿***，具有能够降低由重力或者惯性力对六维力传感器测量造成测量误差的影响，能够提高六维力传感器测量精度、减小测量误差、提高传感器的重复性、等等优点。
 附图说明
图1是本实施例的六维力传感器整体结构的***视图。
图2是本实施例的六维力传感器内的弹性体及应变片布片示意图。
图3是本实施例的六维力传感器的组桥原理图。
图4是本实施例的六维力传感器的组桥PCB及应变片粘贴位置示意图。
图5是本实施例的六维力传感器的组桥PCB装在弹性体受力台下面环形槽内的示意图。
图6是本实施例的六维力传感器的组桥PCB、模拟量PCB和通讯PCB5全部集成到弹性体中示意图。
图7是本实施例的六维力传感器中应用的WT931姿态角度传感器的示意图。
图8是WT931姿态角度传感器集成到模拟量PCB上的示意图。
图9是本实施例的六维力传感器中模拟量PCB上的放大电路的电路示意图。
图10是本实施例的六维力传感器中通讯PCB上的模/数转换电路的电路示意图。
图11是本实施例的六维力传感器中通讯PCB上的微控制器的电路示意图。
图12是通讯PCB上的RS485通讯电路的电路示意图。
图13是通讯PCB上的CAN通讯电路的电路示意图。
图14是通讯PCB上的UDP通讯电路的电路示意图。
图15是通讯PCB上的Ether Cat通讯电路的电路示意图。
 本发明的实施方式
下面对本发明技术方案进行详细说明，但是本发明的保护范围不局限于所述实施例。
为使本发明的内容更加明显易懂，以下结合附图1-图15和具体实施方式做进一步的描述。
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。
如图1所示，一种集成数据采集***和惯性力补偿***的六维力传感器，包括上盖板1、弹性体2和下盖板4，上盖板1和下盖板4分别设置在弹性体2的上下两端，上盖板1和弹性体2通过4个M4的螺钉连接，弹性体2和下盖板4先用2个圆柱销定位，再用8个M5的螺栓连接。
如图2所示，弹性体2是传感器的敏感元件，弹性体2为本技术领域内的已知技术；本实施例中弹性体2由12根应变梁组成，经过有限元计算，在应变梁上合适的位置粘贴金属应变片，组成惠斯通电桥，来测量各个方向的力或者力矩。
如图2和3所示，本实施例中选用的弹性体2为本技术领域内的已知的弹性体2。弹性体2的12根应变梁上总粘贴24片应变片，24片应变片分别标记为R1-R24。
如图1所示，弹性体2上设置组桥PCB7、模拟量PCB6和通讯PCB5，组桥PCB7和模拟量PCB6通过漆包线焊接连接，模拟量PCB6与通讯PCB5通过排针接插连接，组桥PCB7粘接在弹性体2上。
如图1、2和3所示，弹性体2内应变梁上粘贴金属应变片和组桥PCB上粘贴接线端子，组成惠斯通电桥，惠斯通电桥的差分信号通过连接线接入模拟量PCB6，模拟量PCB6上集成姿态角度传感器，模拟量PCB6的输出由通讯PCB5的通讯端口接到外部。
如图1和4所示，组桥PCB7上粘贴接线端子，接线端子必须粘贴到组桥PCB7上的指定位置，粘贴好接线端子后按照图3组桥，组桥完成后检验无误后用白色704胶封死在弹性体2受力台下面环形槽里面。
如图1、5和6所示，模拟量PCB6通过4个M2的螺钉固定在弹性体2内部，通过两根电源线与组桥PCB7焊接连接，模拟量PCB6与通讯PCB5通过排针接插，通讯PCB5涵盖了目前常用的通讯方式，主要包括：UDP、Ether Cat、CAN和RS485，线缆焊接在通讯PCB5指定焊点上，最后在引出传感器的外面。弹性体2上设置用于固定线缆的压线块3，压线块3与弹性体2通过2个M2螺栓连接。
由于六维力传感器在机器人上使用时，一般情况下都是安装在机械臂末端的法兰上，再通过一系列的转接装置与末端执行器连接，这样在机器人的运动过程中，负载的姿态随之改变，而重力的方向始终竖直向下，因此，负载重力对六维力传感器的测量会随着机器人的不断变化而变化，势必会影响六维力传感器测量的精确性和精度，与此同时，在机器人运动过程中，必定会产生加速度，由加速度产生的惯性力也会影响六维力传感器测量的精确性和精度，因此，在六维力传感器中集成重力补偿***和惯性力补偿***，能够提高六维力传感器在机器人上使用时测量的精确性和精度，减小测量误差。在六维力传感器中集成重力补偿***和惯性力补偿***有两种方案。
一种是通过测量机器人相关过节的姿态，通过数据采集***得到各种姿态下的位移、速度和加速度相关数据，采用相关算法进行重力补偿和惯性力补偿来达到上述目的。
另一种是在***中集成9轴姿态角度传感器，将这9轴姿态角度传感器集成到上述的模拟量板上，同样通过数据采集***得到各种姿态下的位移、速度和加速度相关数据，采用相关算法进行重力补偿和惯性力补偿来达到上述目的。
本实施例中，为了达到克服重力（或惯性力）对传感器测量结果的影响，本发明在模拟量PCB6集成了9轴姿态角度传感器，即WT931姿态角度传感器，如图6所示，将WT931姿态角度传感器就集成在模拟量PCB6，同样通过数据采集***得到各种姿态下的位移、速度和加速度相关数据，采用相关算法进行重力补偿和惯性力补偿来达到上述目的。
如图7所示，本实施例中选用的WT931姿态角度传感器为外购件，采购后直接焊接在模拟量PCB6上。如图8所示。
本实施例中六维力传感器的处理电路包括放大电路、模/数转换电路、微型控制器电路和通讯电路，惠斯通电桥的差分信号接入，由放大电路放大，放大后的信号由模/数转换电路，把模拟信号转换成数字信号，进入微型控制器电路进行数据采集，采集的数据通过通讯电路进行数据传输。
如图9所示，放大电路集成在模拟量PCB6上，放大电路包括仪表放大器AD8222ACPZ、放大倍数匹配电阻R3和差分低通滤波器组成固定增益倍数实现对微弱差分信号放大。
如图10所示，模/数转换电路、微型控制器电路和通讯电路都集成在通讯PCB5上，模\数转换电路采用16位、8通道的高精度转换电路AD7606，可对8通道信号同时转换，采样速率达200KSPS，响应快、实时性高。
如图11所示，微控制器采用STM32F103RET6通过SPI方式与AD7606进行数据传输，通过URAT\RMII接口与通讯电路连接。
本实施例中，通讯PCB涵盖了目前常用的通讯方式，主要包括：UDP、Ether Cat、CAN和RS485，能够满足目前各行各业的需求。通讯PCB5为RS485通讯电路、CAN通讯电路、UDP通讯电路或Ether Cat通讯电路。
如图12所示，RS485通讯电路由收发转换器MAX485、数字隔离器ADuM1301和通讯端口组成，通讯端口用于外部连接。
如图13所示，CAN通讯电路由收发转换器TJA1042T、数字隔离器ADuM1301、通讯端口组成，通讯端口用于外部连接。
如图14所示，UDP通讯电路由收发转换器DP83848C、网络隔离变压器HR601680、网络接口组成，网络接口用于外部连接。
如图15所示，Ether Cat通讯电路由收发转换器LAN9252、网络隔离变压器HR601680、网络接口组成，网络接口用于外部连接。
本实施例中的六维力传感器，通过敏感元件应变片将力学量转化为电信号的一种测量方式，将应变片粘贴在弹性体上面，通过接线端子组桥。传感器本体内部有三块PCB板，一块是组桥板，第二块是模拟量板、第三块是通讯板，组桥板和模拟量板通过漆包线焊接连接，模拟量板和通讯板通过排针接插连接。接线端子粘贴在组桥板上的指定位置，组成惠斯通电桥。弹性体2内惠斯通电路的差分信号通过连接线接入模拟量PCB，由模拟量PCB上的仪表放大电路放大，放大后的信号再由模数转换电路，把模拟信号转换成数字信号，通过MCU电路进行数据采集。采集的数据通过通讯电路UDP/Ether Cat/CAN/RS485进行数据传输。通讯板涵盖了目前常用通讯方式，主要包括：UDP、Ether Cat、CAN和485，能够满足目前各行各业的需求。
本发明未涉及部分均与现有技术相同或可采用现有技术加以实现。
如上所述，尽管参照特定的优选实施例已经表示和表述了本发明，但其不得解释为对本发明自身的限制。在不脱离所附权利要求定义的本发明的精神和范围前提下，可对其在形式上和细节上作出各种变化。

Claims (6)

  1. 一种集成数据采集***和惯性力补偿***的六维力传感器，其特征在于，包括上盖板（1）、弹性体（2）和下盖板（4），上盖板（1）和下盖板（4）分别设置在弹性体（2）的上下两端，弹性体（2）是传感器的敏感元件，弹性体（2）上设置组桥PCB（7）、模拟量PCB（6）和通讯PCB（5），组桥PCB（7）和模拟量PCB（6）通过漆包线焊接连接，模拟量PCB（6）与通讯PCB（5）通过排针接插连接，组桥PCB（7）粘接在弹性体（2）上，
    弹性体（2）内应变梁上粘贴金属应变片和组桥PCB上粘贴接线端子，组成惠斯通电桥，惠斯通电桥的差分信号通过连接线接入模拟量PCB（6），模拟量PCB（6）上集成姿态角度传感器，模拟量PCB（6）的输出由通讯PCB（5）的通讯端口接到外部。
  2. 权利要求1所述的集成数据采集***和惯性力补偿***的六维力传感器，其特征在于，六维力传感器的处理电路包括放大电路、模/数转换电路、微型控制器电路和通讯电路，惠斯通电桥的差分信号接入，由放大电路放大，放大后的信号由模/数转换电路，把模拟信号转换成数字信号，进入微型控制器电路进行数据采集，采集的数据通过通讯电路进行数据传输；
    放大电路集成在模拟量PCB（6）上，放大电路包括仪表放大器AD8222ACPZ、放大倍数匹配电阻R3和差分低通滤波器组成固定增益倍数实现对微弱差分信号放大；
    模/数转换电路、微型控制器电路和通讯电路都集成在通讯PCB（5）上，模\数转换电路采用16位、8通道的高精度转换电路AD7606，可对8通道信号同时转换，采样速率达200KSPS，响应快、实时性高；微控制器采用STM32F103RET6通过SPI方式与AD7606进行数据传输，通过URAT\RMII接口与通讯电路连接。
  3. 根据权利要求3所述的集成数据采集***和惯性力补偿***的六维力传感器，其特征在于，通讯电路为RS485通讯电路、CAN通讯电路、UDP通讯电路或Ether Cat通讯电路，
    RS485通讯电路由收发转换器MAX485、数字隔离器ADuM1301和通讯端口组成，通讯端口用于外部连接；
    CAN通讯电路由收发转换器TJA1042T、数字隔离器ADuM1301、通讯端口组成，通讯端口用于外部连接；
    UDP通讯电路由收发转换器DP83848C、网络隔离变压器HR601680、网络接口组成，网络接口用于外部连接；
    Ether Cat通讯电路由收发转换器LAN9252、网络隔离变压器HR601680、网络接口组成，网络接口用于外部连接。
  4. 根据权利要求1所述的集成数据采集***和惯性力补偿***的六维力传感器，其特征在于，弹性体（2）由12根应变梁组成。
  5. 根据权利要求4所述的集成数据采集***和惯性力补偿***的六维力传感器，其特征在于，弹性体（2）上设置用于固定线缆的压线块（3）。
  6. 根据权利要求1所述的集成数据采集***和惯性力补偿***的六维力传感器，其特征在于，姿态角度传感器为WT931姿态角度传感器。
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CN115157260A (zh) * 2022-07-27 2022-10-11 北京航空航天大学 一种机械臂末端六维力传感器重力和惯性力补偿方法

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