Wireless intelligent power and torque measuring device

Abstract

The utility model discloses a wireless intelligent capability and torque measuring device, relates to the technical field of force and torque measuring equipment, and mainly aims to provide a wireless intelligent capability and torque measuring device capable of wireless transmission and automatic calibration. The main technical scheme of the utility model is that the wireless intelligent power and torque measuring device comprises a housing part, the upper part of which is provided with a first mounting hole; the torque sensor is mounted in the first mounting hole, the connecting interface is arranged in the center of the shell, and the central control chip is connected to the zero calibration module, the force and torque measurement module, the signal processing module and the battery management module; the stop block component is arranged at the upper part of the shell component and is positioned on the side surface of the torque sensor; and the communication component is connected to the signal processing module. The device is mainly used for measuring the force and the torque.

Description

Technical Field

[0001] The utility model relates to the technical field of force and torque measuring equipment, in particular to a wireless intelligent force and torque measuring device. Background Art

[0002] In the process of processing, assembling and testing workpieces, it is necessary to accurately feedback the contact force between the workpiece and the outside world in real time, control the normal movement of the workpiece, and ensure production safety. In existing applications, force sensors are usually used for measurement. In order to accurately perceive the data of force and torque, the use of six-dimensional force and torque sensors to measure the three-dimensional orthogonal force and three-dimensional orthogonal torque in the spatial force system can meet the needs of practical applications for accurate measurement of force and torque. At present, six-dimensional force and torque sensors have been widely used in robotics, aerospace, biomedicine and other fields. Especially in the field of robotics, they play a key role in realizing the "touch", "force" and "hearing" of intelligent robots. As a sensor that measures the force and torque that the workpiece is subjected to when it contacts the external environment, the six-dimensional force and torque sensor provides force information for workpiece force control and motion control, and plays an important role in realizing machine intelligence.

[0003] Most force sensor data is transmitted by wire. However, due to the diversity and complexity of force sensor application scenarios, wired transmission has great limitations on practical applications. Different installation environments require different wiring methods. During the measurement test, it is also necessary to avoid repeated bending and excessive twisting of the transmission cable to ensure the quality of the signal. In practice, the requirements for force and torque measurement accuracy are constantly increasing, and the demand for intelligent force sensor applications is gradually increasing. How to improve the accuracy of force and torque sensor measurements and design methods for wireless sensor signal transmission are problems that force and torque measurement equipment needs to solve. Utility Model Content

[0004] In view of this, an embodiment of the utility model provides a wireless intelligent force and torque measuring device, the main purpose of which is to provide a wireless intelligent force and torque measuring device capable of wireless transmission and automatic calibration.

[0005] In order to achieve the above purpose, the utility model mainly provides the following technical solutions:

[0006] The present invention provides a wireless intelligent force and torque measuring device, which comprises:

[0007] A shell component, wherein a first mounting hole is arranged on an upper portion of the shell component;

[0008] A torque sensor, the torque sensor is installed in the first mounting hole, the torque sensor comprises a housing, a central control chip, a connection interface, a zero position calibration module, a force and torque measurement module, a signal processing module and a battery management module, the connection interface is arranged at the center of the housing, and the central control chip is respectively connected to the zero position calibration module, the force and torque measurement module, the signal processing module and the battery management module;

[0009] A stopper component, the stopper component is arranged on the upper part of the housing component and is located on the side of the torque sensor;

[0010] A communication component is connected to the signal processing module.

[0011] Furthermore, the torque sensor also includes a sensing hole, a clamping ring and a fixing plug, the sensing hole is arranged at the upper part of the shell, the clamping ring is arranged between the sensing hole and the connecting interface, and the fixing plug is arranged on the side of the shell.

[0012] Furthermore, there are a plurality of sensing holes, and the plurality of sensing holes are arranged around the outer side of the clamping ring.

[0013] Furthermore, the block component includes a block body, a clamping bolt and a fixing bolt. The block body is arranged on the upper part of the shell component. The clamping bolt and the fixing bolt pass through the block body and are connected to the shell component.

[0014] Furthermore, the block body has a clamping hole and a plurality of fixing holes, the clamping hole is arranged in the middle of the block body, and the plurality of fixing holes are arranged on both sides of the clamping hole.

[0015] Furthermore, the clamping hole and the plurality of fixing holes are waist-shaped holes.

[0016] Furthermore, the zero position calibration module, the force and torque measurement module, the signal processing module and the battery management module are respectively arranged at edge positions of the connection interface.

[0017] Furthermore, handles are provided at both ends of the shell component.

[0018] Furthermore, the communication component includes a repeater, a base station and a communication device, the repeater is connected to the signal processing module, and the base station is connected to the repeater and the communication device.

[0019] Compared with the prior art, the utility model has the following technical effects:

[0020] In the technical solution provided by the embodiment of the utility model, the function of the shell component is to support the torque sensor and the block component, and a first mounting hole is arranged on the upper part of the shell component; the function of the torque sensor is to measure the torque of the wrench or the workpiece, and the torque sensor is installed in the first mounting hole, and the torque sensor includes a shell, a central control chip, a connection interface, a zero position calibration module, a force and torque measurement module, a signal processing module and a battery management module, and the connection interface is arranged at the center position of the shell, and the central control chip is respectively connected to the zero position calibration module, the force and torque measurement module, the signal processing module and the battery management module; the function of the block component is to limit the position of the wrench or the workpiece, and the block component is arranged on the upper part of the shell component and is located on the side of the torque sensor; the function of the communication component is to wirelessly transmit data, and the communication component is connected to the signal processing module. Compared with the prior art, most of the force sensor data However, due to the diversity and complexity of force sensor application scenarios, wired transmission has caused great limitations on practical applications. Different installation environments need to consider different wiring methods. During the measurement test, it is also necessary to avoid repeated bending and excessive twisting of the transmission cable to ensure the quality of the signal. In this technical solution, a central control chip, a connection interface, a zero position calibration module, a force and torque measurement module, a signal processing module and a battery management module are set on the torque sensor. The connection interface is used to install a wrench or a workpiece. The central control chip is respectively connected to the zero position calibration module, the force and torque measurement module, the signal processing module and the battery management module. The zero position calibration module and the force and torque measurement module measure and calibrate the torque of the wrench or the workpiece, and then transmit it to the communication component through the signal processing module for data transmission. This can not only improve the accuracy of force and torque measurement, but also perform data transmission and command adjustment through a wireless network, thereby achieving the technical effect of remote operation and control. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of the three-dimensional structure of a wireless intelligent force and torque measurement device provided by an embodiment of the utility model;

[0022] Figure 2 A schematic diagram of a top view structure of a wireless intelligent force and torque measurement device provided by an embodiment of the utility model;

[0023] Figure 3 A schematic diagram of the three-dimensional structure of a torque sensor provided by an embodiment of the utility model;

[0024] Figure 4 A schematic diagram of a transverse cross-sectional structure of a torque sensor provided in an embodiment of the utility model;

[0025] Figure 5A schematic structural diagram of a communication component provided in an embodiment of the utility model. DETAILED DESCRIPTION

[0026] The utility model is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0027] like Figures 1 to 5 As shown, the embodiment of the utility model provides a wireless intelligent force and torque measurement device, the device comprising:

[0028] A housing component 1, wherein a first mounting hole is provided on an upper portion of the housing component 1;

[0029] A torque sensor 2, wherein the torque sensor 2 is installed in the first mounting hole, and the torque sensor 2 comprises a housing 21, a central control chip 20, a connection interface 22, a zero position calibration module 23, a force and torque measurement module 24, a signal processing module 25 and a battery management module 26, wherein the connection interface 22 is arranged at the center of the housing 21, and the central control chip 20 is respectively connected to the zero position calibration module 23, the force and torque measurement module 24, the signal processing module 25 and the battery management module 26;

[0030] a stopper component 3, wherein the stopper component 3 is arranged on the upper portion of the housing component 1 and is located on the side of the torque sensor 2;

[0031] A communication component, wherein the communication component is connected to the signal processing module 25 .

[0032] In the technical solution provided by the embodiment of the utility model, the function of the shell component 1 is to support the torque sensor 2 and the block component 3, and the first mounting hole is arranged on the upper part of the shell component 1; the function of the torque sensor 2 is to measure the torque of the wrench or the workpiece, and the torque sensor 2 is installed in the first mounting hole, and the torque sensor 2 includes a shell 21, a central control chip 20, a connection interface 22, a zero position calibration module 23, a force and torque measurement module 24, a signal processing module 25 and a battery management module 26, and the connection interface 22 is arranged at the center position of the shell 21, and the central control chip 20 is respectively connected to the zero position calibration module 23, the force and torque measurement module 24, the signal processing module 25 and the battery management module 26; the function of the block component 3 is to limit the position of the wrench or the workpiece, and the block component 3 is arranged on the upper part of the shell component 1 and is located on the side of the torque sensor 2; the function of the communication component is to wirelessly transmit data, and the communication component is connected to the signal processing module 25. Compared with the prior art, the force sensor Most of the data of the force sensor is transmitted by wire, but due to the diversity and complexity of the application scenarios of the force sensor, wired transmission has caused great limitations on practical applications. Different installation environments need to consider different wiring methods. During the measurement test, it is also necessary to avoid repeated bending and excessive twisting of the transmission cable to ensure the quality of the signal. In this technical solution, a central control chip 20, a connection interface 22, a zero position calibration module 23, a force and torque measurement module 24, a signal processing module 25 and a battery management module 26 are set on the torque sensor 2, and the connection interface 22 is used to install a wrench or a workpiece. The central control chip 20 is respectively connected to the zero position calibration module 23, the force and torque measurement module 24, the signal processing module 25 and the battery management module 26. The zero position calibration module 23 and the force and torque measurement module 24 measure and calibrate the torque of the wrench or the workpiece, and then transmit it to the communication component through the signal processing module 25 for data transmission, which can not only improve the accuracy of the force and torque measurement, but also can perform data transmission and command adjustment through a wireless network, thereby achieving the technical effect of remote operation and control.

[0033] The function of the above-mentioned shell component 1 is to support the torque sensor 2 and the block component 3. The upper part of the shell component 1 is provided with a first mounting hole. The shell component 1 is a rectangular parallelepiped structure. Rollers can be provided at the bottom of the shell component 1 for easy movement. The upper part of the shell component 1 is provided with a first mounting hole. The first mounting hole is a circular hole for mounting the torque sensor 2. The upper part of the shell component 1 is also provided with a plurality of connecting holes. The connecting holes are threaded holes for connecting fixing bolts. Mounting holes are provided in the area surrounded by the fixing holes. The mounting holes are waist-shaped holes for connecting clamping bolts. Optionally, a handle 12 is added. The handle 12 is provided at both ends of the shell component 1 to facilitate the movement of the shell component 1.The function of the torque sensor 2 is to measure the torque of the wrench or workpiece. The torque sensor 2 is installed in the first mounting hole. The torque sensor 2 includes a shell 21, a central control chip 20, a connection interface 22, a zero position calibration module 23, a force and torque measurement module 24, a signal processing module 25 and a battery management module 26. The connection interface 22 is arranged at the center of the shell 21. The central control chip 20 is respectively connected to the zero position calibration module 23, the force and torque measurement module 24, the signal processing module 25 and the battery management module 26. The shell 21 contains the central control chip 20, the zero position calibration module 23, the force and torque measurement module 24, the signal processing module 25 and the battery management module 26. The chip 20 is respectively connected to the zero position calibration module 23, the force and torque measurement module 24, the signal processing module 25 and the battery management module 26. The zero position calibration module 23, the force and torque measurement module 24, the signal processing module 25 and the battery management module 26 are respectively arranged at the edge of the connection interface 22, which is convenient for connecting the modules. The torque sensor 2 uses a six-dimensional force and torque sensor 2 to measure the force and torque in six directions of X, Y, Z and Mx, My, Mz. The force and torque measurement module 24 applies force or torque to the load handle 12 or the workpiece, calculates the force and torque data in each direction through an algorithm, and then transmits the data to the communication component through the signal processing module 25. The six-dimensional force and torque sensor The sensor can measure the three-dimensional orthogonal force and three-dimensional orthogonal moment of any force system in space. The internal high-accuracy and high-precision algorithm can decouple the interference between forces and moments in various directions, and has its own calibration function to make the measurement of force and moment more accurate. It is suitable for situations where the point of action of the force is far away from the calibration coordinate system and the position of the point of action changes randomly. After the device is turned on, the user can send a calibration instruction through a mobile phone or computer, and the central control chip 20 inside the sensor will start the zero position calibration module 23 and the battery management module 26. The zero position calibration module 23 can set an ultra-wide zero position adjustment range to check the performance of the sensor. The adjustment range can reach -150% to 150% of the set range. It is particularly suitable for measuring small dynamic loads under large static loads. It can store and call 32 sensors with different ranges. Calibration data, the central control chip 20 can restore and transplant high-precision data. When necessary, for example, when the calibration data to be retained is accidentally deleted or the instrument fails, the calibration data can be restored or downloaded and saved to ensure data security. In addition, an independent hardware monitoring circuit is used to fully ensure the reliable operation of the instrument. It is equipped with a serial printing interface and a standard RS232 interface that can be connected to a printer or computer as an optional accessory. The sensor power supply uses an internal 7.4V lithium battery for power supply, and can also be powered by an external 12VDC power adapter to charge the lithium battery. The power management module will monitor the power and battery status in real time, and the user interface will display the current power. The instrument communication serial port is electrically isolated, and the communication has strong anti-interference ability;The function of the block component 3 is to limit the position of the wrench or workpiece. The block component 3 is arranged on the upper part of the shell component 1 and is located on the side of the torque sensor 2. The block component 3 clamps the wrench or workpiece to be tested. The block component 3 can also be adjusted according to the size of the wrench or workpiece; the function of the communication component is to wirelessly transmit data. The communication component is connected to the signal processing module 25. The communication component adopts narrowband Internet of Things technology to realize wireless long-distance data transmission, and can be directly deployed in the mobile communication network to realize 10km signal transmission, low power consumption, low cost, access to the Internet, and strong mobility. In this technical solution, by setting a central control chip on the torque sensor 2 The central control chip 20, the connection interface 22, the zero calibration module 23, the force and torque measurement module 24, the signal processing module 25 and the battery management module 26, the connection interface 22 is used to install the wrench or the workpiece, the central control chip 20 is respectively connected to the zero calibration module 23, the force and torque measurement module 24, the signal processing module 25 and the battery management module 26, the zero calibration module 23 and the force and torque measurement module 24 measure and calibrate the torque of the wrench or the workpiece, and then transmit the data to the communication component through the signal processing module 25 for data transmission, which can not only improve the accuracy of the force and torque measurement, but also can transmit data and adjust instructions through the wireless network, so as to achieve the technical effect of remote operation and control. ;

[0034] Furthermore, the torque sensor 2 further includes a sensing hole 27, a clamping ring 28 and a fixing plug 29, wherein the sensing hole 27 is arranged at the upper part of the housing 21, the clamping ring 28 is arranged between the sensing hole 27 and the connection interface 22, and the fixing plug 29 is arranged on the side of the housing 21. In this embodiment, the torque sensor 2 is further defined, the sensing hole 27 is arranged at the upper part of the housing 21, there are multiple sensing holes 27, multiple sensing holes 27 are arranged around the outer side of the clamping ring 28, multiple sensors are arranged in the sensing hole 27, the sensors are connected to the force and torque measurement module 24 and the central control chip 20, the clamping ring 28 and the fixing plug 29 can fix the torque sensor 2 on the housing component 1, measure the force and torque of the load wrench or the workpiece after normal startup calibration, and the measurement data of the orthogonal force direction (X, Y, Z) and the orthogonal torque direction (Mx, My, Mz) can be converted into signals for transmission after complex coordinate transformation and calculation, thereby achieving the technical effect of fixing the torque sensor 2.

[0035] Furthermore, the block component 3 includes a block body 31, a clamping bolt 32 and a fixing bolt 33. The block body 31 is arranged at the upper part of the shell component 1. The clamping bolt 32 and the fixing bolt 33 pass through the block body 31 and are connected to the shell component 1. In this embodiment, the block component 3 is further defined, and one end of the clamping bolt 32 passes through the block body 31 and is connected to the shell component 1, so that the block body 31 can move under the limiting action of the clamping bolt 32, that is, the block body 31 can only move laterally within the limiting space of the mounting hole. When the position of the block body 31 needs to be fixed, the fixing bolt 33 is rotated to fix the block body 31 on the shell component 1. Specifically, the block body 31 has a clamping hole 34 and a plurality of fixing holes 35. The clamping hole 34 is arranged on the block body In the middle part of 31, a plurality of fixing holes 35 are arranged on both sides of the clamping hole 34, and the clamping hole 34 and the plurality of fixing holes 35 are waist-shaped holes. The edge position of the clamping bolt 32 overlaps with a part of the edge position of the clamping hole 34, and the edge position of the fixing hole 35 overlaps with a part of the fixing bolt 33. When it is necessary to fix the block body 31, the fixing bolt 33 is rotated to move the fixing bolt 33 toward the direction of the shell component 1, so that the block body 31 is fixed on the shell component 1, thereby achieving the technical effect of fixing the position of the block body 31.

[0036] Furthermore, the communication component includes a repeater 41, a base station 42 and a communication device 43, wherein the repeater 41 is connected to the signal processing module 25, and the base station 42 is connected to the repeater 41 and the communication device 43. In this embodiment, the communication component is further defined, the repeater 41 receives the measurement signal, and transmits the signal to the communication device 43 after amplifying the signal, and the communication device 43 is a software system for collecting or computing. When the distance is relatively long, the repeater 41 can also send the signal to the base station 42, and then the base station 42 transmits the signal to the mobile phone and the computer. The user can send the measurement test instruction to the repeater 41 or the base station 42 in real time as needed, and the instruction signal will be received by the built-in signal processing module 25 of the six-dimensional force and torque sensor to adjust the measurement process and mode. The mobile phone or computer user end can design the force and torque measurement process, and the supporting software supports multiple unit conversions, calibration unit switching, data clearing function, simultaneous display of force and torque measurement values ​​and peak values, data change curves, etc. Users can receive force and torque measurement signals and decrypt them in real time and display them on the screen, and can also send test instructions to transmit them back to the test end.

[0037] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A wireless intelligent force and torque measurement device, characterized in that: include: A shell component, wherein a first mounting hole is arranged on an upper portion of the shell component; A torque sensor, the torque sensor is installed in the first mounting hole, the torque sensor comprises a housing, a central control chip, a connection interface, a zero position calibration module, a force and torque measurement module, a signal processing module and a battery management module, the connection interface is arranged at the center of the housing, and the central control chip is respectively connected to the zero position calibration module, the force and torque measurement module, the signal processing module and the battery management module; A stopper component, the stopper component is arranged on the upper part of the housing component and is located on the side of the torque sensor; A communication component is connected to the signal processing module.

2. A wireless intelligent force and torque measurement device according to claim 1, characterized in that: The torque sensor also includes a sensing hole, a clamping ring and a fixing plug. The sensing hole is arranged at the upper part of the shell, the clamping ring is arranged between the sensing hole and the connecting interface, and the fixing plug is arranged on the side of the shell.

3. A wireless intelligent force and torque measurement device according to claim 2, characterized in that: There are a plurality of sensing holes, and the plurality of sensing holes are arranged around the outer side of the clamping ring.

4. A wireless intelligent force and torque measurement device according to claim 1, characterized in that: The stopper component comprises a stopper body, a clamping bolt and a fixing bolt. The stopper body is arranged on the upper part of the shell component. The clamping bolt and the fixing bolt pass through the stopper body and are connected to the shell component.

5. A wireless intelligent force and torque measurement device according to claim 4, characterized in that: The block body has a pressing hole and a plurality of fixing holes, wherein the pressing hole is arranged in the middle of the block body, and the plurality of fixing holes are arranged on both sides of the pressing hole.

6. A wireless intelligent force and torque measurement device according to claim 5, characterized in that: The pressing hole and the plurality of fixing holes are waist-shaped holes.

7. A wireless intelligent force and torque measurement device according to any one of claims 1 to 6, characterized in that: The zero position calibration module, the force and torque measurement module, the signal processing module and the battery management module are respectively arranged at the edge positions of the connection interface.

8. A wireless intelligent force and torque measuring device according to any one of claims 1 to 6, characterized in that: Also includes: Handles are arranged at two ends of the shell component.

9. A wireless intelligent force and torque measuring device according to any one of claims 1 to 6, characterized in that: The communication component includes a repeater, a base station and a communication device. The repeater is connected to the signal processing module, and the base station is connected to the repeater and the communication device.

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