CN106124113B - 一种新型六维力和力矩传感器 - Google Patents
一种新型六维力和力矩传感器 Download PDFInfo
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- CN106124113B CN106124113B CN201610428832.2A CN201610428832A CN106124113B CN 106124113 B CN106124113 B CN 106124113B CN 201610428832 A CN201610428832 A CN 201610428832A CN 106124113 B CN106124113 B CN 106124113B
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- 230000008859 change Effects 0.000 abstract description 3
- 230000035945 sensitivity Effects 0.000 abstract description 3
- 239000011888 foil Substances 0.000 description 4
- 239000002184 metal Substances 0.000 description 4
- 230000006872 improvement Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 229920001971 elastomer Polymers 0.000 description 2
- 239000000806 elastomer Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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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
-
- 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
- G01L5/167—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using piezoelectric means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
- G01L1/2206—Special supports with preselected places to mount the resistance strain gauges; Mounting of supports
- G01L1/2231—Special supports with preselected places to mount the resistance strain gauges; Mounting of supports the supports being disc- or ring-shaped, adapted for measuring a force along a single direction
-
- 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
- G01L5/0028—Force sensors associated with force applying means
- G01L5/0042—Force sensors associated with force applying means applying a torque
-
- 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
- G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
- G01L5/162—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of piezoresistors
Abstract
Description
Claims (4)
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610428832.2A CN106124113B (zh) | 2016-06-14 | 2016-06-14 | 一种新型六维力和力矩传感器 |
US16/081,422 US10401245B2 (en) | 2016-06-14 | 2017-04-13 | Six-dimensional force and torque sensor |
JP2018563120A JP6605159B2 (ja) | 2016-06-14 | 2017-04-13 | 新型の6軸力センサおよびトルクセンサ |
PCT/CN2017/080439 WO2017215334A1 (zh) | 2016-06-14 | 2017-04-13 | 一种新型六维力和力矩传感器 |
EP17812446.7A EP3454032B1 (en) | 2016-06-14 | 2017-04-13 | Six-dimensional force and torque sensor |
KR1020187036165A KR102147064B1 (ko) | 2016-06-14 | 2017-04-13 | 새로운 6 차원 힘과 토크 센서 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610428832.2A CN106124113B (zh) | 2016-06-14 | 2016-06-14 | 一种新型六维力和力矩传感器 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106124113A CN106124113A (zh) | 2016-11-16 |
CN106124113B true CN106124113B (zh) | 2020-08-21 |
Family
ID=57470738
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610428832.2A Active CN106124113B (zh) | 2016-06-14 | 2016-06-14 | 一种新型六维力和力矩传感器 |
Country Status (6)
Country | Link |
---|---|
US (1) | US10401245B2 (zh) |
EP (1) | EP3454032B1 (zh) |
JP (1) | JP6605159B2 (zh) |
KR (1) | KR102147064B1 (zh) |
CN (1) | CN106124113B (zh) |
WO (1) | WO2017215334A1 (zh) |
Families Citing this family (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106124113B (zh) | 2016-06-14 | 2020-08-21 | 南京神源生智能科技有限公司 | 一种新型六维力和力矩传感器 |
CN106706188A (zh) * | 2016-12-08 | 2017-05-24 | 陕西电器研究所 | 一种高刚度扭矩传感器 |
KR20180137695A (ko) * | 2017-06-19 | 2018-12-28 | 주식회사 마이크로오토메이션 | 토크의 측정이 가능한 동력전달장치 및 이를 이용한 동력 발생장치 |
CN109100073B (zh) * | 2018-07-06 | 2020-09-11 | 江西洪都航空工业集团有限责任公司 | 一种基于应变反演的六维力传感器及其测量方法 |
CN108918013A (zh) * | 2018-09-14 | 2018-11-30 | 哈尔滨工业大学(威海) | 一种柔性机构自解耦六维力传感器 |
CN109781328B (zh) * | 2019-01-23 | 2020-05-01 | 重庆大学 | 一种八梁结构的六维力传感器 |
CN109781329B (zh) * | 2019-01-23 | 2020-05-05 | 重庆大学 | 一种六梁结构的六维力传感器 |
JP6999586B2 (ja) * | 2019-01-28 | 2022-01-18 | 日本電産コパル電子株式会社 | 弾性体とそれを用いた力覚センサ |
JP7154178B2 (ja) * | 2019-03-29 | 2022-10-17 | 株式会社レプトリノ | 力覚センサ及び起歪体 |
CN110608824A (zh) * | 2019-07-17 | 2019-12-24 | 台州中清科技有限公司 | 一种六维力传感器 |
CN110608837A (zh) * | 2019-10-30 | 2019-12-24 | 南京神源生智能科技有限公司 | 一种小量程三维传感器及其测试方法 |
JP7295067B2 (ja) * | 2020-06-29 | 2023-06-20 | トヨタ自動車株式会社 | 力覚センサ |
CN111998982B (zh) * | 2020-09-11 | 2022-03-18 | 上海智籍机器人有限公司 | 一种六维力传感器 |
CN112629717B (zh) * | 2020-12-15 | 2021-11-23 | 珠海格力电器股份有限公司 | 力传感器的弹性梁、力传感器的感应组件及力传感器 |
CN113049165B (zh) * | 2021-04-08 | 2022-08-05 | 哈尔滨工业大学 | 航天器飞行过程中液体晃动造成干扰力的测量装置 |
CN113203511B (zh) * | 2021-04-30 | 2023-03-07 | 中国航天空气动力技术研究院 | 一种双十字梁结构六维力传感器 |
CN113561163B (zh) * | 2021-07-27 | 2023-06-27 | 苏州艾利特机器人有限公司 | 双通道多维力传感器及机器人 |
CN113567030B (zh) * | 2021-07-28 | 2023-02-07 | 华北水利水电大学 | 平面串联无耦合型六维腕力传感器 |
CN113739975B (zh) * | 2021-08-27 | 2022-11-25 | 南京航空航天大学 | 一种结构解耦六维力传感器 |
CN114136524B (zh) * | 2021-10-29 | 2022-10-25 | 西安交通大学 | 一种六维力测量平台及其解耦方法 |
CN114459660A (zh) * | 2021-12-14 | 2022-05-10 | 北京无线电计量测试研究所 | 一种去耦空间六维力测量装置 |
CN114323394A (zh) * | 2021-12-30 | 2022-04-12 | 航天南洋(浙江)科技有限公司 | 一种六维力传感器 |
CN114964597B (zh) * | 2022-07-27 | 2022-11-08 | 南京航空航天大学 | 一种基于逆磁致伸缩效应的六维力/力矩传感器 |
Citations (8)
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DE4012829A1 (de) * | 1990-04-23 | 1991-10-24 | Walter Rieger | Vorrichtung zur mehrdimensionalen kraftmessung und daraus abgeleiteten groessen durch messwertaufnahme mittels elektrischer sensoren, z. b. dehnungsmessstreifen |
CN101672705A (zh) * | 2009-09-29 | 2010-03-17 | 西北工业大学 | 一种六维力传感器 |
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CN102840944A (zh) * | 2012-08-08 | 2012-12-26 | 燕山大学 | 一种近奇异构型的大量程并联六维力传感器 |
CN102865947A (zh) * | 2012-08-08 | 2013-01-09 | 燕山大学 | 容错式大量程并联六维力传感器 |
CN103076131A (zh) * | 2012-12-31 | 2013-05-01 | 东南大学 | 用于测量大型机械臂大力与小力矩的六维力与力矩传感器 |
CN103698076A (zh) * | 2014-01-03 | 2014-04-02 | 东南大学 | 一种用于实现量程扩展的六维力和力矩传感器 |
CN204346630U (zh) * | 2015-01-20 | 2015-05-20 | 中国科学院重庆绿色智能技术研究院 | 一种六维力传感器 |
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DE3611336A1 (de) * | 1986-04-04 | 1987-10-15 | Deutsche Forsch Luft Raumfahrt | Kraft-drehmoment-fuehler |
JPH041540A (ja) * | 1990-04-12 | 1992-01-07 | Fuji Electric Co Ltd | 力覚センサ |
US6823744B2 (en) * | 2002-01-11 | 2004-11-30 | Honda Giken Kogyo Kabushiki Kaisha | Six-axis force sensor |
JP4764619B2 (ja) * | 2004-08-23 | 2011-09-07 | 株式会社エー・アンド・デイ | 回転型分力計測装置 |
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2016
- 2016-06-14 CN CN201610428832.2A patent/CN106124113B/zh active Active
-
2017
- 2017-04-13 JP JP2018563120A patent/JP6605159B2/ja active Active
- 2017-04-13 KR KR1020187036165A patent/KR102147064B1/ko active IP Right Grant
- 2017-04-13 EP EP17812446.7A patent/EP3454032B1/en active Active
- 2017-04-13 US US16/081,422 patent/US10401245B2/en active Active
- 2017-04-13 WO PCT/CN2017/080439 patent/WO2017215334A1/zh unknown
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CN204346630U (zh) * | 2015-01-20 | 2015-05-20 | 中国科学院重庆绿色智能技术研究院 | 一种六维力传感器 |
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Title |
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Also Published As
Publication number | Publication date |
---|---|
KR102147064B1 (ko) | 2020-08-21 |
EP3454032B1 (en) | 2021-07-28 |
CN106124113A (zh) | 2016-11-16 |
JP6605159B2 (ja) | 2019-11-13 |
KR20190024893A (ko) | 2019-03-08 |
WO2017215334A1 (zh) | 2017-12-21 |
EP3454032A4 (en) | 2019-06-19 |
US20190056279A1 (en) | 2019-02-21 |
JP2019518215A (ja) | 2019-06-27 |
US10401245B2 (en) | 2019-09-03 |
EP3454032A1 (en) | 2019-03-13 |
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Address after: 210012 Lishui Economic Development Zone, Lishui City, Nanjing, Jiangsu Applicant after: Nanjing Bio-Insired Intelligent Technology Co., Ltd. Address before: 210012 Room 101, building A1, South Science and Technology Park, 129-3 Guanghua Road, Nanjing, Jiangsu. Applicant before: Nanjing Bio-Insired Intelligent Technology Co., Ltd. |
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Inventor after: Li Chen Inventor after: Yao Julu Inventor after: Dai Zhendong Inventor before: Li Chen Inventor before: Yao Julu |