Six-component sensing technology suitable for wide-range test

Abstract

The invention provides a six-component sensing technology suitable for a wide-range test, the structure of the sensor comprises two connecting ends and a force measuring structure, the force measuring structure is provided with a plurality of force measuring beams and force bearing beams which are alternately distributed in a distribution circle, and each force measuring beam is provided with a strain gauge used for load test. By adjusting the radiuses of the distribution circles of the force measuring beam and the force bearing beam, the design of sensors with different test ranges is realized. According to the decoupling scheme of the sensor, strain gauges in a sensor structure are utilized to form a plurality of full-bridge circuits, and complete decoupling of output signals of all channels is achieved. The large-range load test requirement can be met, and the test precision is improved.

Description

Technical Field

[0001] The present invention relates to the field of sensor technology, and specifically to a six-component force sensing technology suitable for large-scale testing, which is used to accurately test the multi-component loads borne and transmitted by the output / load-bearing structure of large-output / load-bearing equipment such as robotic arms when the equipment is in service. Background Art

[0002] When large-output / load-bearing equipment such as robotic arms are in service, the load borne and transmitted by the equipment's output / load-bearing structure determines the equipment's service performance. Accurately obtaining this multi-component load plays an important role in the equipment's structural design.

[0003] Six-component force sensor, also known as six-component force sensor or six-axis force sensor, is a kind of metrological sensor specially used to test the multi-component load borne and transmitted by the output / load-bearing structure of equipment during service. It is widely used in the fields of automotive technology, robots, engineering machinery and other equipment. It decomposes the multi-component load borne and transmitted by the output / load-bearing structure of the equipment in the Cartesian coordinate system xyz through signal testing and decoupling calculation, and finally obtains the force signal F along the x, y, and z axes. x 、F y 、F z and the torque signal M around the x, y, and z axes x 、M y 、M z .

[0004] In the prior art, most six-component force sensors adopt an integrated circular ring theme, with a connecting beam set between the inner ring and the outer ring, and strain gauges pasted on the connecting beam to measure the six-component force. However, this type of sensor is difficult to meet the range requirements when performing a large-range six-component force measurement. At the same time, a single large-range sensor also has the problems of high cost and difficulty in processing and manufacturing, which makes it difficult to measure a large range of six-component force.

[0005] It should be noted that the information disclosed in this background technology section is only intended to deepen the understanding of the overall background technology of the present invention, and should not be regarded as an admission or any form of suggestion that the information constitutes prior art known to those skilled in the art. When large-output / load-bearing equipment such as robotic arms are in service, the load borne and transmitted by the output / load-bearing structure of the equipment determines the service performance of the equipment. Accurately obtaining the multi-component load plays an important role in the design of the equipment structure.

[0006] Six-component force sensor, also known as six-component force sensor or six-axis force sensor, is a kind of metrological sensor specially used to test the multi-component load borne and transmitted by the output / load-bearing structure of equipment during service. It is widely used in the fields of automotive technology, robots, engineering machinery and other equipment. It decomposes the multi-component load borne and transmitted by the output / load-bearing structure of the equipment in the Cartesian coordinate system xyz through signal testing and decoupling calculation, and finally obtains the force signal F along the x, y, and z axes. x 、F y 、F z and the torque signal M around the x, y, and z axes x 、M y 、M z .

[0007] In the prior art, most six-component force sensors adopt an integrated circular ring theme, with a connecting beam set between the inner ring and the outer ring, and strain gauges pasted on the connecting beam to measure the six-component force. However, this type of sensor is difficult to meet the range requirements when performing a large-range six-component force measurement. At the same time, a single large-range sensor also has the problems of high cost and difficulty in processing and manufacturing, which makes it difficult to measure a large range of six-component force.

[0008] It should be noted that the information disclosed in this background technology section is only intended to deepen the understanding of the overall background technology of the present invention, and should not be regarded as an admission or suggestion in any form that the information constitutes the prior art known to those skilled in the art. Summary of the invention

[0009] In view of this, the purpose of the present invention is to provide a six-component force sensing technology suitable for large-scale testing, which can carry out multi-component load testing on equipment with large-scale multi-component load testing requirements, and achieve effective decoupling between the load components through reasonable design of the structure and test scheme, so as to realize accurate testing of the multi-component loads borne and transmitted by the equipment structure when the high-output / load-bearing equipment is in service.

[0010] To achieve the above object, the present invention adopts the following technical solutions: The present invention provides a six-component force sensing technology suitable for large-scale testing, and its structural features include: Two connection ends, used to connect equipment and equipment output / load bearing components respectively; A force measuring structure is connected to the two connection ends respectively. The force measuring structure is designed with a force measuring beam and a load-bearing beam. The force measuring beam and the load-bearing beam are alternately and evenly distributed in a distribution circle with the same radius. A strain gauge is arranged on the force measuring beam.

[0011] Furthermore, the force measuring structure includes 8 force measuring beams with rectangular cross-sections and 8 load-bearing beams with fan-shaped cross-sections, wherein the 8 force measuring beams are named A, B, C, D, E, F, G, and H beams in a clockwise direction, and a strain gauge is arranged on each of the four surfaces of each force measuring beam.

[0012] Furthermore, the strain gauges are arranged at the root and middle position of the force measuring beam in a specific manner. The arrangement of the strain gauges in beams A, C, E and G is consistent, and are all located in the middle position of the four faces of each beam close to the connecting end; the arrangement of the strain gauges on beams B, D, F and H is inconsistent with that on beam A. Specifically, the strain gauges on the upper and lower surfaces of beam B are perpendicular to each other and have an angle of 45° with the Y direction. The strain gauge on the right side of beam B is arranged toward the Y direction, and the strain gauge on the left side of beam B is arranged perpendicular to the Y axis. The arrangement of the strain gauges on beams D, F and H is consistent with that on the corresponding positions of beam B; wherein the Y direction is the axial direction of the sensor.

[0013] Furthermore, the force measuring structure and the two connecting ends are formed by integral processing.

[0014] Furthermore, by adjusting the radius of the distribution circle of the force measuring beam and the load-bearing beam, the design of sensors for different test ranges can be achieved.

[0015] Furthermore, a plurality of bolt holes are evenly arranged on the connection end, and the connection end is connected to the equipment and the equipment output / load-bearing component through bolts.

[0016] A six-component force sensing technology suitable for a large-scale test of the present invention comprises the following steps: S1 Utilize the 32 strain gauges in the above-mentioned six-component force sensor structure of the claim to form 6 full-bridge circuits; When testing multi-component loads, the six full-bridge circuits output only the F x 、F y 、F z 、M x 、M y 、M z Corresponding voltage signals, each group of signals is completely decoupled.

[0017] Furthermore, the bridge assembly method of the full-bridge circuit is as follows: for F x The full-bridge circuit for load testing uses strain gauges No. 17 and No. 25 on beam A and No. 21 and No. 29 on beam E to form a full-bridge circuit; for F y The full-bridge circuit for load testing uses strain gauges No. 18 and No. 26 on beam B, No. 20 and No. 28 on beam D, No. 22 and No. 30 on beam F, and No. 24 and No. 32 on beam H to form a full-bridge circuit; for F zThe full-bridge circuit for load testing uses strain gauges No. 19 and No. 27 on the C beam and No. 23 and No. 31 on the G beam to form a full-bridge circuit; for M x The full-bridge circuit for load testing uses strain gauges No. 1 and No. 2 on beam A and No. 9 and No. 10 on beam E to form a full-bridge circuit; for M y The full-bridge circuit for load testing uses strain gauges No. 3 and No. 4 on beam B, No. 7 and No. 8 on beam D, No. 11 and No. 12 on beam F, and No. 15 and No. 16 on beam H to form a full-bridge circuit; for M z The full-bridge circuit for load testing uses strain gauges No. 5 and No. 6 on the C beam and No. 13 and No. 14 on the G beam to form a full-bridge circuit.

[0018] The beneficial effects of the present invention are: 1. The core load-bearing area of ​​the sensor is designed with a circular structure, which can meet the large-range load test requirements of large-output / load-bearing equipment; 2. The sensor structure adopts a scheme of arranging the force measuring beam and the load-bearing beam together. By adjusting the radius of the distribution circle of the force measuring beam and the load-bearing beam, the design requirements of sensors with different measuring ranges can be realized; 3. The strain signals of the force beam are designed to form a bridge according to specific rules, which achieves complete decoupling of the output signals of each channel in structure, avoids the "series coupling" phenomenon of the output signals of each channel, and improves the test accuracy of the sensor; 4. The full-bridge method is used to design the bridges of each channel, which reduces the impact of temperature on the sensor test accuracy and increases the application range of the sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 According to some embodiments of the present invention, the spatial coordinate system and F of the six-component force sensor are shown. x 、F y 、F z 、M x 、M y 、M z Schematic diagram of the six load components; Figure 2 According to some embodiments of the present invention, a schematic diagram of the overall structure of a six-component force sensor is shown; Figure 3 According to some embodiments of the present invention, a schematic structural diagram of a force measuring beam and a load bearing beam in a force measuring structure of a six-component force sensor is shown; Figure 4 According to some embodiments of the present invention, a schematic diagram of numbering of force beams and strain gauges in a six-component force sensor is shown; Figure 5 According to some embodiments of the present invention, a schematic diagram of a strain group bridge solution corresponding to six output channels in a six-component force sensor is shown; Figure 6 According to some embodiments of the present invention, a schematic diagram of the arrangement of force measuring beams A, B, C and some strain gauges in a six-component force sensor is shown. DETAILED DESCRIPTION

[0020] The technical features and advantages of the present invention are described in more detail below in conjunction with the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0021] In the following description, the present invention will be described in detail according to exemplary embodiments.

[0022] The embodiment of the present invention provides a six-component force sensor based on a large-scale equipment. The main structure of the sensor includes a first connection end 11, a second connection end 12 and a force measuring structure 13. Figure 2 As shown, the first connection end 11 and the second connection end 12 are respectively connected to the force measuring structure 13 and formed by integral processing. A certain number of bolt holes 121 are arranged on the first connection end 11 / the second connection end 12, the first connection end 11 is connected to the equipment through bolts, and the second connection end 12 is connected to the equipment output / load bearing component through bolts. The force measuring structure 13 is designed with a force measuring beam 131 and a load bearing beam 132, as shown in FIG. Figure 3 As shown, the force measuring beams 131 and the load bearing beams 132 are alternately and evenly distributed on the distribution circle 14 of the same radius. When designing the sensor, the radius of the distribution circle 14 is selected according to the actual measured load size. The larger the radius, the larger the corresponding sensor test range.

[0023] There are a total of 8 force measuring beams 131 in the force measuring structure 13. The force measuring beams 131 are named A, B, C, D, E, F, G, and H beams in a clockwise direction. Figure 4 A strain gauge is arranged on each of the four surfaces of each force measuring beam 131, and a total of 32 strain gauges are arranged. All the strain gauges are named as strain gauge No. 1 to strain gauge No. 32 according to the positions of the strain gauges.

[0024] The strain gauges on the force measuring beam 131 are arranged in a specific manner at the root and middle of the beam. Figure 6 The arrangement of the strain gauges on the force measuring beams A, B, and C is provided. The arrangement of the strain gauges in the beams A, C, E, and G is the same, and they are all located in the middle of the four faces of each beam near the connection end 11, such as Figure 6The arrangement of the strain gauges on the beams B, D, F, and H is different from that on the beams A. The strain gauges on the upper and lower surfaces of the beams B 134 are perpendicular to each other and are at an angle of 45° to the Y direction, as shown in FIG. Figure 6 As shown in the No. 3 strain gauge 1341 of the beam B, the No. 26 strain gauge on the right side of the beam B 134 is arranged in the Y direction, and the No. 18 strain gauge on the left side of the beam B is arranged perpendicular to the Y axis, as shown in the Figure 6 The arrangement of the strain gauge 1342 is shown in FIG. 7 ; the arrangement of the strain gauge No. 7 on the D beam is consistent with the arrangement of the strain gauge No. 3 on the B beam 1341 ; the arrangement of the strain gauge No. 8 on the D beam is consistent with the arrangement of the strain gauge No. 4 on the B beam ; the arrangement of the strain gauge No. 20 on the D beam is consistent with the arrangement of the strain gauge No. 26 on the B beam ; the arrangement of the strain gauge No. 28 on the D beam is consistent with the arrangement of the strain gauge No. 18 on the B beam ; the arrangement of the strain gauge No. 11 on the F beam is consistent with the arrangement of the strain gauge No. 3 on the B beam ; the arrangement of the strain gauge No. 12 on the F beam is consistent with the arrangement of the strain gauge No. 4 on the B beam The arrangement mode of the No. 30 strain gauge on the F beam is consistent with that of the No. 26 strain gauge on the B beam, and the arrangement mode of the No. 22 strain gauge on the F beam is consistent with that of the No. 18 strain gauge on the B beam; the arrangement mode of the No. 15 strain gauge on the H beam is consistent with that of the No. 3 strain gauge on the B beam, the arrangement mode of the No. 16 strain gauge on the H beam is consistent with that of the No. 4 strain gauge on the B beam, the arrangement mode of the No. 24 strain gauge on the H beam is consistent with that of the No. 26 strain gauge on the B beam, and the arrangement mode of the No. 32 strain gauge on the H beam is consistent with that of the No. 18 strain gauge on the B beam.

[0025] Based on the above six-component force sensor structure, the embodiment of the present invention further provides a structural decoupling method of a six-component force sensor suitable for a large range test. The decoupling method uses the above 32 strain gauges to form 6 full-bridge circuits. When testing multi-component loads, the 6 full-bridge circuits respectively output only the F x 、F y 、F z 、M x 、M y 、M z The corresponding voltage signals are completely decoupled from each other. Figure 5 As shown, for F x The full-bridge circuit for load testing uses strain gauges No. 17 and No. 25 on beam A and No. 21 and No. 29 on beam E to form a full-bridge circuit; for F y The full-bridge circuit for load testing uses strain gauges No. 18 and No. 26 on beam B, No. 20 and No. 28 on beam D, No. 22 and No. 30 on beam F, and No. 24 and No. 32 on beam H to form a full-bridge circuit; for F zThe full-bridge circuit for load testing uses strain gauges No. 19 and No. 27 on the C beam and No. 23 and No. 31 on the G beam to form a full-bridge circuit; for M x The full-bridge circuit for load testing uses strain gauges No. 1 and No. 2 on beam A and No. 9 and No. 10 on beam E to form a full-bridge circuit; for M y The full-bridge circuit for load testing uses strain gauges No. 3 and No. 4 on beam B, No. 7 and No. 8 on beam D, No. 11 and No. 12 on beam F, and No. 15 and No. 16 on beam H to form a full-bridge circuit; for M z The full-bridge circuit for load testing uses strain gauges No. 5 and No. 6 on the C beam and No. 13 and No. 14 on the G beam to form a full-bridge circuit.

[0026] The embodiment of the present invention provides a six-component force sensing technology suitable for large-scale testing. Through the above structural design, strain gauge arrangement method and full-bridge circuit bridge scheme, a six-component force sensor structure and decoupling suitable for large-scale testing are realized. At the same time, in order to meet the requirements of multi-component load testing for different ranges, without changing the main structural features, strain gauge arrangement and full-bridge circuit bridge scheme, the six-component force sensor structure and decoupling suitable for large-scale testing are realized. Figure 3 The radius value of the distribution circle 14 can be used to realize the design and adjustment of the sensor test range.

[0027] In the description of the embodiments of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "center", "top", "bottom", "top", "bottom", "inside", "outside", "inner side", "outer side" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the purpose of facilitating the description of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. Among them, "inside" refers to an internal or enclosed area or space. "Periphery" refers to the area surrounding a specific component or a specific area.

[0028] In the description of the embodiments of the present invention, the terms "first", "second", "third", and "fourth" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", "third", and "fourth" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0029] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", and "assemble" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] In the description of the embodiments of the present invention, specific features, structures, materials or characteristics may be combined in a suitable manner in any one or more embodiments or examples.

[0031] In the description of the embodiments of the present invention, it should be understood that "-" and "~" represent the range between two values, and the range includes the endpoints. For example: "AB" represents a range greater than or equal to A and less than or equal to B. "A~B" represents a range greater than or equal to A and less than or equal to B.

[0032] In the description of the embodiments of the present invention, the term "and / or" herein is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " herein generally indicates that the associated objects before and after are in an "or" relationship.

[0033] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A six-component force sensing technology suitable for a large range of tests, the structural features of which include: Two connection ends, used for connection with equipment and equipment output / load bearing components respectively; A force measuring structure is respectively connected to the two connecting ends, the force measuring structure comprises a plurality of force measuring beams and a plurality of load-bearing beams, the force measuring beams and the load-bearing beams are alternately and evenly distributed in distribution circles of the same radius, and strain gauges are arranged on the force measuring beams.

2. The six-component force sensor structure according to claim 1, characterized in that: The force measuring structure includes 8 force measuring beams with rectangular cross-sections and 8 load-bearing beams with fan-shaped cross-sections, wherein the 8 force measuring beams are named A, B, C, D, E, F, G, and H beams in a clockwise direction, and a strain gauge is arranged on each of the four surfaces of each force measuring beam.

3. The six-component force sensor structure according to claim 2, characterized in that: The strain gauges are arranged at the root and middle position of the force measuring beam in a specific manner, wherein the strain gauges in beams A, C, E and G are arranged in the same manner and are all located in the middle position of the four surfaces of each beam close to the connecting end; the arrangement of the strain gauges on beams B, D, F and H is inconsistent with that on beam A, specifically, the strain gauges on the upper and lower surfaces of beam B are perpendicular to each other in pairs and have an angle of 45° with the Y direction, the strain gauge on the right side of beam B is arranged toward the Y direction, the strain gauge on the left side of beam B is arranged perpendicular to the Y axis, and the arrangement of the strain gauges on beams D, F and H is consistent with that on the corresponding positions of beam B; wherein the Y direction is the axial direction of the sensor.

4. The six-component force sensor structure according to claim 1, characterized in that: The force measuring structure and the two connecting ends are formed by integral processing.

5. The six-component force sensor structure according to any one of claims 1 to 4, characterized in that: By adjusting the radius of the distribution circle of the force measuring beam and the load-bearing beam, the design of sensors for different test ranges can be achieved.

6. The six-component force sensor structure according to any one of claims 1 to 4, characterized in that: A plurality of bolt holes are evenly arranged along the circumferential direction on the connection end, and the connection end is connected to the equipment and the equipment output / load bearing component through bolts.

7. A six-component force sensing technology suitable for large-scale testing, characterized in that: The following steps are involved: S1 Utilize 32 strain gauges in the six-component force sensor structure according to any one of claims 1 to 4 to form 6 full-bridge circuits; When testing multi-component loads, the six full-bridge circuits output only the F x 、F y 、F z 、M x 、M y 、M z Corresponding voltage signals, each group of signals is completely decoupled.

8. The decoupling method according to claim 6, characterized in that: The bridge assembly method of the full-bridge circuit is as follows: x The full-bridge circuit for load testing uses strain gauges No. 17 and No. 25 on beam A and No. 21 and No. 29 on beam E to form a full-bridge circuit; F y The full-bridge circuit for load testing uses strain gauges No. 18 and No. 26 on beam B, No. 20 and No. 28 on beam D, No. 22 and No. 30 on beam F, and No. 24 and No. 32 on beam H to form a full-bridge circuit; for F z The full-bridge circuit for load testing uses strain gauges No. 19 and No. 27 on the C beam and No. 23 and No. 31 on the G beam to form a full-bridge circuit; for M x The full-bridge circuit for load testing uses strain gauges No. 1 and No. 2 on beam A and No. 9 and No. 10 on beam E to form a full-bridge circuit; for M y The full-bridge circuit for load testing uses strain gauges No. 3 and No. 4 on beam B, No. 7 and No. 8 on beam D, No. 11 and No. 12 on beam F, and No. 15 and No. 16 on beam H to form a full-bridge circuit; for M z The full-bridge circuit for load testing uses strain gauges No. 5 and No. 6 on the C beam and No. 13 and No. 14 on the G beam to form a full-bridge circuit.

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