CN106768522B - Six-dimensional force sensor elastomer - Google Patents
Six-dimensional force sensor elastomer Download PDFInfo
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- CN106768522B CN106768522B CN201710051681.8A CN201710051681A CN106768522B CN 106768522 B CN106768522 B CN 106768522B CN 201710051681 A CN201710051681 A CN 201710051681A CN 106768522 B CN106768522 B CN 106768522B
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- 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
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- 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
- G01L1/2287—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 constructional details of the strain gauges
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- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a six-dimensional force sensor elastomer which is characterized by comprising a central platform, radial beams, circumferential beams and circumferential supports, wherein the radial beams are arranged on the central platform; the radial beams Liang Junyun are distributed on the periphery of the central platform, one end of each radial beam is fixedly connected with the periphery of the central platform, and the other end of each radial beam is connected with the circumferential beam in a T shape; the radial beam is provided with a through hole, so that stress is concentrated on two sides of the through hole; the circumferential beams and the circumferential supports are uniformly distributed on the periphery of the central platform; and the circumferential beams and the circumferential supports are arranged at intervals one by one, and two ends of each circumferential support are respectively fixedly connected with the end parts of two adjacent circumferential beams, so that the circumferential beams and the circumferential supports are connected to form an annular body. The six-dimensional force sensor is used for realizing structural decoupling of the six-dimensional force sensor, can improve the sensitivity of the sensor and ensures the rigidity of the sensor.
Description
Technical Field
The invention belongs to the technical field of sensors, and particularly relates to a sensor elastomer member capable of measuring spatial six-dimensional force.
Background
The multidimensional force sensor is an important information source for the robot to obtain the acting force with the environment. At present, there are many researches on multi-dimensional force sensors, such as a Waston multi-dimensional force sensor developed by DraPer institute of america, a SAFMS type multi-dimensional force sensor developed by combined institute of fertilizer and fertilizer of the chinese academy of sciences and the southeast university, a multi-dimensional force sensor based on a Stewart platform, a HUST FS6 type multi-dimensional force sensor developed by professor han of huang, a two-stage parallel connection configuration six-dimensional force sensor designed by dr. A large amount of research is carried out on the multi-dimensional force sensor at home and abroad, the designed multi-dimensional force sensor is various and has different advantages and disadvantages and application occasions, but the problems of decoupling, contradiction between rigidity and sensitivity and the like of the multi-dimensional force sensor need to be further researched.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides an elastic body of a six-dimensional force sensor, which is used for realizing the structural decoupling of the six-dimensional force sensor, improving the sensitivity of the sensor and ensuring the rigidity of the sensor.
The invention adopts the following technical scheme for solving the technical problems:
the elastic body of the six-dimensional force sensor has the structural characteristics that: the device comprises a central platform, radial beams, circumferential beams and circumferential supports; the radial beams Liang Junyun are distributed on the periphery of the central platform, one end of each radial beam is fixedly connected with the periphery of the central platform, the other end of each radial beam is connected with the corresponding circumferential beam in a T shape, each circumferential beam is a T-shaped top cross arm, and each radial beam is a T-shaped vertical rod section; the radial beam is provided with a through hole, so that stress is concentrated on two sides of the through hole; the circumferential beams and the circumferential supports are uniformly distributed on the periphery of the central platform; the circumferential beams and the circumferential supports are arranged at intervals one by one, and two ends of each circumferential support are respectively and fixedly connected with the end parts of two adjacent circumferential beams, so that the circumferential beams and the circumferential supports are connected to form an annular body; order: the central platform and the annular body formed by connecting the circumferential beams and the circumferential supports are in a horizontal state.
The elastic body of the six-dimensional force sensor is also characterized in that: the number of the radial beams, the number of the circumferential beams and the number of the circumferential supports are equal, and the number of the radial beams, the number of the circumferential beams and the number of the circumferential supports are all three or four.
The elastic body of the six-dimensional force sensor is also characterized in that: and the circumferential beam is provided with a through hole, so that the stress is concentrated on two sides of the through hole.
The elastic body of the six-dimensional force sensor is also characterized in that: the through holes in the circumferential beam are first through holes in two vertical directions, and the two first through holes are symmetrically arranged at two ends of the circumferential beam.
The elastic body of the six-dimensional force sensor is also characterized in that:
the through holes on the radial beams are as follows: one end of the radial beam is provided with a second through hole, and the other end of the radial beam is provided with a double through hole;
the through holes on the radial beams are either: a third through hole is formed in one end, close to the circumferential beam, of the radial beam, a fourth through hole is formed in one end, close to the center platform, of the radial beam, and a second through hole is formed in the middle of the radial beam;
the through holes on the radial beams are either: a second through hole is formed in one end, close to the circumferential beam, of the radial beam, a fifth through hole is formed in one end, close to the center platform, of the radial beam, and a double through hole is formed in the middle of the radial beam;
the elastic body of the six-dimensional force sensor is also characterized in that: the second through hole and the fifth through hole are vertical through holes penetrating through the upper surface and the lower surface of the radial beam; the third through hole, the fourth through hole and the double through holes are horizontal through holes penetrating through two side faces of the radial beam; the double through holes are two through holes which are parallel in the horizontal plane and are communicated with each other.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention realizes structural decoupling. Aiming at the structural form of the elastic body, resistance strain gauges can be pasted on different positions of the radial beam and the circumferential beam, six-dimensional force measurement is realized by applying a Wheatstone full-bridge circuit according to the force sensor principle, and mutual interference of force among dimensions can be effectively avoided.
2. The invention can obtain higher detection sensitivity, and the through holes arranged on the radial beams and the circumferential beams can concentrate the strain in the detected area.
3. According to the invention, the T-shaped arrangement between the circumferential beam and the radial beam obtains good rigidity, and the dynamic performance of the sensor structure is effectively improved.
4. The elastomer can be integrally processed, the repeatability error is reduced, and the elastomer is simple in structure and easy to process.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of another embodiment of the present invention;
FIG. 3 is a schematic structural diagram of another embodiment of the present invention;
reference numbers in the figures: 1, a central platform; 2, a radial beam; 3 circumferential beams; 4, circumferential support; 5 a second through hole; 6 double through holes; 7 a first through hole; 8 a third via hole; 9 a fourth through hole; 10 fifth via.
Detailed Description
Referring to fig. 1, 2 and 3, the elastic body of the six-dimensional force sensor in the present embodiment has the following structural form: comprises a central platform 1, radial beams 2, circumferential beams 3 and circumferential supports 4.
The radial beams 2 are uniformly distributed on the periphery of the central platform 1, one end of each radial beam 2 is fixedly connected with the periphery of the central platform 1, the other end of each radial beam 2 is connected with the circumferential beam 3 in a T shape, the circumferential beam 3 is a T-shaped top cross arm, and the radial beams 2 are T-shaped vertical rod sections; the radial beam 2 is provided with a through hole, so that stress is concentrated on two sides of the through hole.
The circumferential beams 3 and the circumferential supports 4 are uniformly distributed on the periphery of the central platform 1; and the circumferential beams 3 and the circumferential supports 4 are arranged at intervals one by one, and two ends of each circumferential support 4 are respectively and fixedly connected with the end parts of two adjacent circumferential beams 3, so that the circumferential beams 3 and the circumferential supports 4 are connected to form an annular body.
In this embodiment, let: the center table 1 and the ring body formed by connecting the circumferential beams 3 and the circumferential supports 4 are horizontal.
The number of the radial beams 2, the circumferential beams 3 and the circumferential supports 4 is equal, the number of the radial beams 2, the number of the circumferential beams 3 and the number of the circumferential supports 4 are all three or four as shown in fig. 1, the structural characteristics of the radial beams 2 are the same, and the structural characteristics of the circumferential beams 3 are the same.
In this embodiment, the through holes are formed in the circumferential beam 3, so that stress is concentrated on two sides of the through holes, in specific implementation, the through holes in the circumferential beam 3 are the first through holes 7 in two vertical directions, and the two first through holes 7 are symmetrically formed at two ends of the circumferential beam 3.
Three different arrangements of the through holes in the radial beam 2 are given in this embodiment as follows:
fig. 1 shows that a second through-hole 5 is provided at one end of the radial beam 2 and a double through-hole 6 is provided at the other end.
Fig. 2 shows that a third through hole 8 is arranged at one end of the radial beam 2 close to the circumferential beam 3, a fourth through hole 9 is arranged at one end close to the center table, and a second through hole 5 is arranged in the middle of the radial beam 2.
Fig. 3 shows that the through holes on the radial beam 2 are either: a second through hole 5 is formed in one end, close to the circumferential beam 3, of the radial beam 2, a fifth through hole 10 is formed in one end, close to the center platform 1, of the radial beam, and a double-through hole 6 is formed in the middle of the radial beam 2.
The second and fifth through holes 5 and 10 shown in fig. 1, 2 and 3 are vertical through holes penetrating the upper and lower surfaces of the radial beam; the third through hole 8, the fourth through hole 9 and the double through holes 6 are horizontal through holes penetrating through two side faces of the radial beam; the double through holes 6 are two through holes which are parallel in the horizontal plane and are communicated with each other.
In consideration of the size and the strain concentration of a measured area, the first through hole 7, the second through hole 5 and the fifth through hole 10 can be a cylindrical hole, an elliptic cylindrical hole or a kidney-shaped cylindrical hole, or two vertical double-through holes formed by mutually communicating cylindrical through holes which are parallel in a vertical plane; the third through hole 8 and the fourth through hole 9 may be a cylindrical hole, an elliptic cylindrical hole or a kidney-shaped cylindrical hole, or two horizontal double through holes formed by mutually communicating cylindrical through holes arranged in parallel in a horizontal plane.
Claims (6)
1. A six-dimensional force sensor elastomer is characterized by comprising a central platform (1), a radial beam (2), a circumferential beam (3) and a circumferential support (4); the radial beams (2) are uniformly distributed on the periphery of the central platform (1), one end of each radial beam (2) is fixedly connected with the periphery of the central platform (1), the other end of each radial beam is connected with the circumferential beam (3) in a T-shaped manner, the circumferential beam (3) is a T-shaped top cross arm, and the radial beams (2) are T-shaped vertical rod sections; the radial beam (2) is provided with a through hole, so that stress is concentrated on two sides of the through hole; the circumferential beams (3) and the circumferential supports (4) are uniformly distributed on the periphery of the central platform (1); the circumferential beams (3) and the circumferential supports (4) are arranged at intervals one by one, and two ends of each circumferential support (4) are respectively fixedly connected with the end parts of two adjacent circumferential beams (3), so that the circumferential beams (3) and the circumferential supports (4) are connected to form an annular body; order: the central platform (1) and the annular body formed by connecting the circumferential beams (3) and the circumferential supports (4) are in a horizontal state.
2. The six-dimensional force sensor elastomer of claim 1, wherein: the number of the radial beams (2), the number of the circumferential beams (3) and the number of the circumferential supports (4) are equal, and the number of the radial beams, the number of the circumferential beams and the number of the circumferential supports are all three or four.
3. The six-dimensional force sensor elastomer of claim 1, wherein: and the circumferential beam (3) is provided with a through hole, so that the stress is concentrated on two sides of the through hole.
4. The six-dimensional force sensor elastomer of claim 3, wherein: the through holes in the circumferential beam (3) are first through holes (7) in two vertical directions, and the two first through holes (7) are symmetrically arranged at two ends of the circumferential beam (3).
5. The six-dimensional force sensor elastomer of claim 1, wherein:
the through holes on the radial beam (2) are as follows: one end of the radial beam (2) is provided with a second through hole (5), and the other end is provided with a double-through hole (6);
the through holes on the radial beam (2) are either: a third through hole (8) is formed in one end, close to the circumferential beam (3), of the radial beam (2), a fourth through hole (9) is formed in one end, close to the center platform, of the radial beam, and a second through hole (5) is formed in the middle of the radial beam (2);
the through holes on the radial beam (2) are either: a second through hole (5) is formed in one end, close to the circumferential beam (3), of the radial beam (2), a fifth through hole (10) is formed in one end, close to the central platform (1), and a double through hole (6) is formed in the middle of the radial beam (2);
6. the six-dimensional force sensor elastomer of claim 5, wherein: the second through hole (5) and the fifth through hole (10) are vertical through holes penetrating through the upper surface and the lower surface of the radial beam; the third through hole (8), the fourth through hole (9) and the double through holes (6) are horizontal through holes penetrating through two side faces of the radial beam; the double through holes (6) are two through holes which are parallel in the horizontal plane and are communicated with each other.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710051681.8A CN106768522B (en) | 2017-01-20 | 2017-01-20 | Six-dimensional force sensor elastomer |
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| CN201710051681.8A CN106768522B (en) | 2017-01-20 | 2017-01-20 | Six-dimensional force sensor elastomer |
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| CN106768522A CN106768522A (en) | 2017-05-31 |
| CN106768522B true CN106768522B (en) | 2023-03-24 |
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| CN201710051681.8A Active CN106768522B (en) | 2017-01-20 | 2017-01-20 | Six-dimensional force sensor elastomer |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108225622B (en) * | 2017-12-25 | 2020-10-16 | 广州中国科学院工业技术研究院 | Three-dimensional force sensor |
| CN109238527A (en) * | 2018-11-16 | 2019-01-18 | 合肥工业大学 | A kind of cross beam type elastomer for six-dimensional force sensor |
| CN109238530B (en) * | 2018-11-16 | 2023-09-29 | 合肥工业大学 | Cloth piece measuring method of six-dimensional force sensor |
| CN109238528B (en) * | 2018-11-16 | 2023-09-12 | 合肥工业大学 | Six-dimensional force sensor |
| CN109238531B (en) * | 2018-11-16 | 2023-09-26 | 合肥工业大学 | Double-ring six-dimensional force sensor |
| CN109238529A (en) * | 2018-11-16 | 2019-01-18 | 合肥工业大学 | A kind of six-dimension force sensor |
| CN109781330B (en) * | 2019-02-25 | 2020-08-04 | 重庆大学 | Nested beam pressure-volume sensing six-dimensional force sensor based on circumferential array |
| CN113252227A (en) * | 2021-06-21 | 2021-08-13 | 深圳市鑫精诚科技有限公司 | Six-dimensional force sensor with overload protection structure |
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| CN201561825U (en) * | 2009-09-29 | 2010-08-25 | 西北工业大学 | Elastomer of six-dimensional force sensor |
| CN103528726A (en) * | 2013-11-01 | 2014-01-22 | 哈尔滨工业大学 | Cross-beam-type six-dimensional force sensor with overload protection function |
| CN103698076A (en) * | 2014-01-03 | 2014-04-02 | 东南大学 | Six-dimensional force-torque sensor for realizing extension of measuring range |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7516675B2 (en) * | 2007-07-03 | 2009-04-14 | Kulite Semiconductor Products, Inc. | Joystick sensor apparatus |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201561825U (en) * | 2009-09-29 | 2010-08-25 | 西北工业大学 | Elastomer of six-dimensional force sensor |
| CN103528726A (en) * | 2013-11-01 | 2014-01-22 | 哈尔滨工业大学 | Cross-beam-type six-dimensional force sensor with overload protection function |
| CN103698076A (en) * | 2014-01-03 | 2014-04-02 | 东南大学 | Six-dimensional force-torque sensor for realizing extension of measuring range |
Non-Patent Citations (1)
| Title |
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| 大量程六维力传感器设计与标定研究;韩康等;《传感器与微系统》;20161231;第35卷(第05期);全文 * |
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