CN107131983A - A kind of no-coupling six-dimensional force sensor of binocular structure - Google Patents
A kind of no-coupling six-dimensional force sensor of binocular structure Download PDFInfo
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- CN107131983A CN107131983A CN201710340000.XA CN201710340000A CN107131983A CN 107131983 A CN107131983 A CN 107131983A CN 201710340000 A CN201710340000 A CN 201710340000A CN 107131983 A CN107131983 A CN 107131983A
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- 238000010168 coupling process Methods 0.000 title claims abstract description 26
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 26
- 239000011888 foil Substances 0.000 claims abstract description 134
- 239000004575 stone Substances 0.000 claims abstract description 32
- 238000012360 testing method Methods 0.000 claims abstract description 4
- 229910000838 Al alloy Inorganic materials 0.000 claims description 2
- 229910000851 Alloy steel Inorganic materials 0.000 claims description 2
- 229910000737 Duralumin Inorganic materials 0.000 claims description 2
- 239000010935 stainless steel Substances 0.000 claims description 2
- 229910001220 stainless steel Inorganic materials 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 10
- 230000035945 sensitivity Effects 0.000 abstract description 10
- 230000008878 coupling Effects 0.000 abstract description 9
- 208000032464 Retinoic acid syndrome Diseases 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 229920001971 elastomer Polymers 0.000 description 4
- 239000000806 elastomer Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
-
- 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
- G01L1/16—Measuring force or stress, in general using properties of piezoelectric devices
-
- 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
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
A kind of no-coupling six-dimensional force sensor of binocular structure, belongs to sensor technical field, is related to a kind of force snesor, in order to solve the problem of existing six-dimension force sensor sensitivity is low, retinoic acid syndrome is big.The upper mounting plate loading bench and lower platform fixed station of the present invention is annular shape；Center hub is simultaneously centrally located；Lower platform sensitive beam and upper mounting plate sensitive beam are each attached in center hub, and lower platform sensitive beam is fixed on the inwall of lower platform fixed station；Lower platform sensitive beam is provided with a binocular structure through hole；Upper mounting plate sensitive beam is fixed on the inwall of upper mounting plate loading bench, and upper mounting plate sensitive beam is provided with No. two binocular structure through holes；Every four foil gauges constitute one group of favour stone full-bridge；Eight groups of favour stone full-bridges are used to realize the measurement of sextuple force information；Multiple screwed holes are provided with the upper and lower platform fixed station of upper mounting plate loading bench；Multiple screwed holes are used to be attached with outside Devices to test.Have the beneficial effect that sensitivity is high, without coupling between dimension.
Description
Technical field
The invention belongs to sensor technical field, it is related to a kind of force snesor.
Background technology
With developing rapidly for robot technology, for proposing higher want with the robot that multisensor is perceived
Ask.Power is felt as one very important function of robot, and vital effect is played in robot development.Perceptually
Robot Force feels a kind of most important sensor, and six-dimension force sensor is perceived in the wrist power of robot, dexterous robot finger
Very big effect is played in terms of sharp power detection, the measurement of humanoid robot foot section power.Therefore, the correlation of six-dimension force sensor
Technology is the big study hotspot and difficulties of robot field.The sensitivity of six-dimension force sensor, retinoic acid syndrome, precision and
Sluggishness etc. is to influence the most important index of sensor performance.Sensitivity, the precision of six-dimension force sensor how are improved, is reduced
Retinoic acid syndrome, reduction sluggishness are the focal issue for enjoying research all the time, but do not have a solution well so far
Method.
It is existing to be used to detect that the elastomer after six-dimension force sensor stress is often solid beam, such as China Patent Publication No.
Respectively CN 103940544 B, CN 103487194 B, CN 103528746 B, CN 103528726 B, CN
104048790 A, CN 100535620 C, CN 105651446 A patent, it is existing be used for detect six-dimension force sensor knot
The advantage of structure is that the rigidity of sensor is big, sluggish small, but has the disadvantage that sensitivity is low, retinoic acid syndrome is big.Patent CN 106225977
A employs unidirectional transducer and improves measurement accuracy, and the spring beam of unidirectional transducer is binocular structure, but the elastomer of the patent
For the elastomer of combination, thus there are problems that gap, so as to cause six-dimension force sensor to there is larger sluggish effect
Should, influence measurement accuracy.Although the couple of force that the B of patent CN 102323000 can reduce sensor presence is closed, due to there is spiral shell
Tether to connect and can produce uneven pretightning force, cause sensor that there is larger sluggishness, reduce measurement accuracy.Paper《One kind is sliding
The Decoupling Analysis of the six-dimension force sensor of dynamic structure》(detailed source is：Wu B,Cai P.Decoupling analysis of
a sliding structure six-axis force/torque sensor[J].Measurement Science
Review,2013,13(4):187-193) although the decoupling six-dimension force snesor based on Sliding Structures proposed also uses double
Mesh structure improve sensitivity, but be due to Sliding Structures presence so that sensor elastomer be non-integral type, therefore exist compared with
Big sluggishness, reduces measurement accuracy.
The content of the invention
The invention aims to solve the problem of existing six-dimension force sensor sensitivity is low, retinoic acid syndrome is big, carry
A kind of no-coupling six-dimensional force sensor of binocular structure is gone out.
A kind of no-coupling six-dimensional force sensor of binocular structure of the present invention, including 32 foil gauges, centers
Wheel hub, upper mounting plate loading bench, four upper mounting plate sensitive beams, lower platform fixed station and four lower platform sensitive beams；
Upper mounting plate loading bench and lower platform fixed station are annular shape；
Center hub is simultaneously positioned at the center of upper mounting plate loading bench and the center of lower platform fixed station；
One end of each lower platform sensitive beam is each attached on the outer wall of center hub bottom, each lower platform sensitive beam
The other end is each attached on the inwall of lower platform fixed station；And each lower platform sensitive beam is provided with a binocular structure and led to
Hole；
One end of each upper mounting plate sensitive beam is each attached on the outer wall on center hub top, each upper mounting plate sensitive beam
The other end is each attached on the inwall of upper mounting plate loading bench, and each upper mounting plate sensitive beam is provided with No. two binocular structures and led to
Hole；
Every four foil gauges constitute one group of favour stone full-bridge；Eight groups of favour stone full-bridges are used to realize the survey of sextuple force information
Amount；
It is provided with upper mounting plate loading bench on multiple upper mounting plate screwed holes, lower platform fixed station and is provided with multiple lower platform screw threads
Hole；Multiple upper mounting plate screwed holes and multiple lower platform screwed holes are used to be attached with outside Devices to test.
The invention has the advantages that：
First, a binocular structure through hole is provided with each lower platform sensitive beam of the present invention, each upper mounting plate sensitive beam is provided with
No. two binocular structure through holes；Under conditions of equal external dimension, compared to solid sensitive beam, lower platform of the invention is quick
Sense beam and the composite bending modulus of upper mounting plate sensitive beam diminish, therefore, under the conditions of equal external load, and lower platform of the invention is sensitive
Beam and the ess-strain of upper mounting plate sensitive beam are larger, therefore can greatly improve the sensitivity of sensor；
2nd, the present invention, should using a kind of complicated six-dimension force sensor with direct decoupling of sensing element structure design
Sensor has non-coupling advantage.
Brief description of the drawings
Fig. 1 is that a kind of cross-section structure of the no-coupling six-dimensional force sensor of binocular structure described in embodiment one shows
It is intended to；
Fig. 2 is the position relationship schematic diagram of foil gauge on lower platform fixed station in embodiment four；
Fig. 3 is the position relationship schematic diagram of foil gauge on upper mounting plate loading bench in embodiment four.
Embodiment
Embodiment one：Illustrate present embodiment, a kind of nothing of binocular structure described in present embodiment with reference to Fig. 1
Couple six-dimension force sensor, including 32 foil gauges 1, center hub 4, upper mounting plate loading bench 5, four upper mounting plate sensitive beams
7th, lower platform fixed station 8 and four lower platform sensitive beams 9；
Upper mounting plate loading bench 5 and lower platform fixed station 8 are annular shape；
Center hub 4 is simultaneously positioned at the center of upper mounting plate loading bench 5 and the center of lower platform fixed station 8；
One end of each lower platform sensitive beam 9 is each attached on the outer wall of the bottom of center hub 4, each lower platform sensitive beam
9 other end is each attached on the inwall of lower platform fixed station 8；And each lower platform sensitive beam 9 is provided with a binocular knot
Structure through hole 2；
One end of each upper mounting plate sensitive beam 7 is each attached on the outer wall on the top of center hub 4, each upper mounting plate sensitive beam
7 other end is each attached on the inwall of upper mounting plate loading bench 5, and each upper mounting plate sensitive beam 7 is provided with No. two binocular knots
Structure through hole 3；
Every four foil gauges 1 constitute one group of favour stone full-bridge；Eight groups of favour stone full-bridges are used to realize sextuple force information
Measurement；
It is provided with upper mounting plate loading bench 5 on multiple upper mounting plate screwed holes 6, lower platform fixed station 8 and is provided with multiple lower platform spiral shells
Pit 10；Multiple upper mounting plate screwed holes 6 and multiple lower platform screwed holes 10 are used to be attached with outside Devices to test, so that
Six-dimensional force infomation detection for actual condition.
In the present embodiment, a binocular structure through hole 2 is provided with each lower platform sensitive beam 9, each upper mounting plate is quick
Sense beam 7 is provided with No. two binocular structure through holes 3；Under conditions of equal external dimension, compared to solid sensitive beam, this implementation
The composite bending modulus of lower platform sensitive beam 9 and upper mounting plate sensitive beam 7 in mode diminishes, therefore, under the conditions of equal external load,
The ess-strain of lower platform sensitive beam 9 and upper mounting plate sensitive beam 7 in present embodiment is larger, therefore can greatly improve sensor
Sensitivity；Present embodiment is using a kind of complicated six-dimensional force sensing with direct decoupling of sensing element structure design simultaneously
Device, the sensor has non-coupling advantage.
Embodiment two：Present embodiment is without coupling to a kind of binocular structure described in embodiment one
Six-dimension force sensor is further limited, in the present embodiment, and the shape and No. two binocular structures of a binocular structure through hole 2 are led to
The shape in hole 3 is identical；And the cross-sectional area of binocular structure through hole 2 and the cross-sectional area of No. two binocular structure through holes 3 according to
Set according to the range of the no-coupling six-dimensional force sensor of the binocular structure.
In the present embodiment, the cross section of the cross-sectional area of binocular structure through hole 2 and No. two binocular structure through holes 3
Product be able to can also be differed with identical.
Embodiment three：Present embodiment is without coupling to a kind of binocular structure described in embodiment one
Six-dimension force sensor is further limited, in the present embodiment, circumferential direction of four lower platform sensitive beams 9 along center hub 4
It is uniformly distributed；Circumferential direction of four upper mounting plate sensitive beams 7 along center hub 4 is uniformly distributed.
In the present embodiment, the angle between two adjacent lower platform sensitive beams 9 is 90 degree, and adjacent two are upper flat
Angle between platform sensitive beam 7 is all 90 degree.
Embodiment four：Illustrate present embodiment with reference to Fig. 2 and Fig. 3, present embodiment is to embodiment
A kind of no-coupling six-dimensional force sensor of binocular structure described in three is further limited, in the present embodiment, and 32 should
It is respectively foil gauge S1-S32 to become piece 1；And foil gauge S1-S32 initial resistivity value is identical；
Foil gauge S5, foil gauge S6, foil gauge S19 and foil gauge S17 constitute first group of favour stone full-bridge；
Foil gauge S11, foil gauge S12, foil gauge S22 and foil gauge S24 constitute second group of favour stone full-bridge；
Foil gauge S27, foil gauge S28, foil gauge S31 and foil gauge S32 constitute the 3rd group of favour stone full-bridge；
Foil gauge S25, foil gauge S26, foil gauge S29 and foil gauge S30 constitute the 4th group of favour stone full-bridge；
Foil gauge S1, foil gauge S2, foil gauge S9 and foil gauge S10 constitute the 5th group of favour stone full-bridge；
Foil gauge S15, foil gauge S7, foil gauge S8 and foil gauge S16 constitute the 6th group of favour stone full-bridge；
Foil gauge S13, foil gauge S14, foil gauge S21 and foil gauge S23 constitute the 7th group of favour stone full-bridge；
Foil gauge S3, foil gauge S4, foil gauge S18 and foil gauge S20 constitute the 8th group of favour stone full-bridge.
Embodiment five：Present embodiment is without coupling to a kind of binocular structure described in embodiment four
Six-dimension force sensor is further limited, in the present embodiment, and a binocular structure through hole 2 is upper lower through-hole；
It is quick that four lower platform sensitive beams 9 are along the circumferential direction followed successively by the first lower platform sensitive beam 9-1, the second lower platform
Feel beam 9-2, the 3rd lower platform sensitive beam 9-3 and the 4th lower platform sensitive beam 9-4；
Foil gauge S3 and foil gauge S4 are pasted onto on a first lower platform sensitive beam 9-1 side wall, foil gauge S18 and should
Become piece S20 to be pasted onto on a 3rd lower platform sensitive beam 9-3 side wall；
Foil gauge S7 and foil gauge S8 are pasted onto on the first lower platform sensitive beam 9-1 another side wall, foil gauge S15 and
Foil gauge S16 is pasted onto on the 3rd lower platform sensitive beam 9-3 another side wall；
Foil gauge S1 and foil gauge S2 are pasted onto on a 4th lower platform sensitive beam 9-4 side wall, foil gauge S9 and should
Become piece S10 to be pasted onto on a second lower platform sensitive beam 9-2 side wall；
Foil gauge S23 and foil gauge S21 are pasted onto on the 4th lower platform sensitive beam 9-4 another side wall, foil gauge S13
On another side wall that the second lower platform sensitive beam 9-2 is pasted onto with foil gauge S14.
In the present embodiment, the 5th group of favour stone full-bridge is used to measure tangential force Fy；8th group of favour stone full-bridge is used for
Measure tangential force Fx；6th group of favour stone full-bridge and the 7th group of favour stone full-bridge are used to measurement moment of torsion Mz.
Embodiment six：Present embodiment is without coupling to a kind of binocular structure described in embodiment five
Six-dimension force sensor is further limited, in the present embodiment, No. two binocular structure through holes 3 and binocular structure through hole 2
Perforate direction is vertical；
It is quick that four upper mounting plate sensitive beams 7 are along the circumferential direction followed successively by the first upper mounting plate sensitive beam 7-1, the second upper mounting plate
Feel beam 7-2, the 3rd upper mounting plate sensitive beam 7-3 and the 4th upper mounting plate sensitive beam 7-4；
Foil gauge S27 and foil gauge S28 are pasted onto on the first upper mounting plate sensitive beam 7-1 bottom surface, foil gauge S31 and strain
Piece S32 is pasted onto on the 3rd upper mounting plate sensitive beam 7-3 bottom surface；
Foil gauge S5 and foil gauge S6 are pasted onto on the first upper mounting plate sensitive beam 7-1 top surface, foil gauge S17 and foil gauge
S19 is pasted onto on the 3rd upper mounting plate sensitive beam 7-3 top surface；
Foil gauge S29 and foil gauge S30 are pasted onto on the 4th upper mounting plate sensitive beam 7-4 bottom surface, foil gauge S25 and strain
Piece S26 is pasted onto on the second upper mounting plate sensitive beam 7-2 bottom surface；
Foil gauge S11 and foil gauge S12 are pasted onto on the 4th upper mounting plate sensitive beam 7-4 top surface, foil gauge S22 and strain
Piece S24 is pasted onto on the second upper mounting plate sensitive beam 7-2 top surface.
In the present embodiment, first group of favour stone full-bridge is used to measure moment M x；Second group of favour stone full-bridge is used to survey
Measure moment M y；3rd group of favour stone full-bridge and the 4th group of favour stone full-bridge are used to measurement axial force F z.
Embodiment seven：Present embodiment is without coupling to a kind of binocular structure described in embodiment one
Six-dimension force sensor is further limited, in the present embodiment, and multiple upper mounting plate screwed holes 6 are on upper mounting plate loading bench 5 along circle
Circumferential direction is uniformly distributed；Multiple lower platform screwed holes 10 are distributed uniformly and circumferentially on lower platform fixed station 8.
Embodiment eight：Present embodiment is without coupling to a kind of binocular structure described in embodiment one
Six-dimension force sensor is further limited, in the present embodiment, center hub 4, upper mounting plate loading bench 5, four upper mounting plate sensitivities
Beam 7, lower platform fixed station 8 and four lower platform sensitive beams 9 are structure as a whole；And the integrative-structure using duralumin, hard alumin ium alloy,
Stainless steel or structural alloy steel are made.
In the present embodiment, center hub 4, upper mounting plate loading bench 5, four upper mounting plate sensitive beams 7, lower platforms is adopted to fix
Platform 8 and four lower platform sensitive beams 9 are structure as a whole, the problems such as pretightning force and fit-up gap is not present in sensing element, so
Sluggish small, precision is high.
Claims (8)
1. a kind of no-coupling six-dimensional force sensor of binocular structure, it is characterised in that including 32 foil gauges (1), centers
Wheel hub (4), upper mounting plate loading bench (5), four upper mounting plate sensitive beams (7), lower platform fixed station (8) and four lower platform sensitive beams
(9)；
Upper mounting plate loading bench (5) and lower platform fixed station (8) are annular shape；
Center hub (4) is while positioned at the center of upper mounting plate loading bench (5) and the center of lower platform fixed station (8)；
One end of each lower platform sensitive beam (9) is each attached on the outer wall of center hub (4) bottom, each lower platform sensitive beam
(9) the other end is each attached on the inwall of lower platform fixed station (8)；And each lower platform sensitive beam (9) is provided with No. one
Binocular structure through hole (2)；
One end of each upper mounting plate sensitive beam (7) is each attached on the outer wall on center hub (4) top, each upper mounting plate sensitive beam
(7) the other end is each attached on the inwall of upper mounting plate loading bench (5), and each upper mounting plate sensitive beam (7) is provided with No. two
Binocular structure through hole (3)；
Every four foil gauges (1) constitute one group of favour stone full-bridge；Eight groups of favour stone full-bridges are used to realize the survey of sextuple force information
Amount；
Multiple upper mounting plate screwed holes (6) are provided with upper mounting plate loading bench (5), lower platform fixed station is provided with multiple lower platforms on (8)
Screwed hole (10)；Multiple upper mounting plate screwed holes (6) and multiple lower platform screwed holes (10) are used to carry out with outside Devices to test
Connection.
2. a kind of no-coupling six-dimensional force sensor of binocular structure according to claim 1 a, it is characterised in that binocular
The shape of structure through hole (2) is identical with the shape of No. two binocular structure through holes (3)；And the horizontal stroke of a binocular structure through hole (2)
The amount of sectional area and the cross-sectional area of No. two binocular structure through holes (3) according to the no-coupling six-dimensional force sensor of the binocular structure
Cheng Jinhang is set.
3. the no-coupling six-dimensional force sensor of a kind of binocular structure according to claim 1, it is characterised in that put down under four
Circumferential direction of the platform sensitive beam (9) along center hub (4) is uniformly distributed；Four upper mounting plate sensitive beams (7) are along center hub (4)
Circumferential direction is uniformly distributed.
4. the no-coupling six-dimensional force sensor of a kind of binocular structure according to claim 3, it is characterised in that 32
Foil gauge (1) is respectively foil gauge S1-S32；And foil gauge S1-S32 initial resistivity value is identical；
Foil gauge S5, foil gauge S6, foil gauge S19 and foil gauge S17 constitute first group of favour stone full-bridge；
Foil gauge S11, foil gauge S12, foil gauge S22 and foil gauge S24 constitute second group of favour stone full-bridge；
Foil gauge S27, foil gauge S28, foil gauge S31 and foil gauge S32 constitute the 3rd group of favour stone full-bridge；
Foil gauge S25, foil gauge S26, foil gauge S29 and foil gauge S30 constitute the 4th group of favour stone full-bridge；
Foil gauge S1, foil gauge S2, foil gauge S9 and foil gauge S10 constitute the 5th group of favour stone full-bridge；
Foil gauge S15, foil gauge S7, foil gauge S8 and foil gauge S16 constitute the 6th group of favour stone full-bridge；
Foil gauge S13, foil gauge S14, foil gauge S21 and foil gauge S23 constitute the 7th group of favour stone full-bridge；
Foil gauge S3, foil gauge S4, foil gauge S18 and foil gauge S20 constitute the 8th group of favour stone full-bridge.
5. a kind of no-coupling six-dimensional force sensor of binocular structure according to claim 4 a, it is characterised in that binocular
Structure through hole (2) is upper lower through-hole；
It is quick that four lower platform sensitive beams (9) are along the circumferential direction followed successively by the first lower platform sensitive beam (9-1), the second lower platform
Feel beam (9-2), the 3rd lower platform sensitive beam (9-3) and the 4th lower platform sensitive beam (9-4)；
Foil gauge S3 and foil gauge S4 are pasted onto on a side wall of the first lower platform sensitive beam (9-1), foil gauge S18 and strain
Piece S20 is pasted onto on a side wall of the 3rd lower platform sensitive beam (9-3)；
Foil gauge S7 and foil gauge S8 are pasted onto on another side wall of the first lower platform sensitive beam (9-1), foil gauge S15 and should
Become piece S16 to be pasted onto on another side wall of the 3rd lower platform sensitive beam (9-3)；
Foil gauge S1 and foil gauge S2 are pasted onto on a side wall of the 4th lower platform sensitive beam (9-4), foil gauge S9 and strain
Piece S10 is pasted onto on a side wall of the second lower platform sensitive beam (9-2)；
Foil gauge S23 and foil gauge S21 are pasted onto on another side wall of the 4th lower platform sensitive beam (9-4), foil gauge S13 and
Foil gauge S14 is pasted onto on another side wall of the second lower platform sensitive beam (9-2).
6. a kind of no-coupling six-dimensional force sensor of binocular structure according to claim 5, it is characterised in that No. two binoculars
Structure through hole (3) is vertical with the perforate direction of a binocular structure through hole (2)；
It is quick that four upper mounting plate sensitive beams (7) are along the circumferential direction followed successively by the first upper mounting plate sensitive beam (7-1), the second upper mounting plate
Feel beam (7-2), the 3rd upper mounting plate sensitive beam (7-3) and the 4th upper mounting plate sensitive beam (7-4)；
Foil gauge S27 and foil gauge S28 are pasted onto on the bottom surface of the first upper mounting plate sensitive beam (7-1), foil gauge S31 and foil gauge
S32 is pasted onto on the bottom surface of the 3rd upper mounting plate sensitive beam (7-3)；
Foil gauge S5 and foil gauge S6 are pasted onto on the top surface of the first upper mounting plate sensitive beam (7-1), foil gauge S17 and foil gauge
S19 is pasted onto on the top surface of the 3rd upper mounting plate sensitive beam (7-3)；
Foil gauge S29 and foil gauge S30 are pasted onto on the bottom surface of the 4th upper mounting plate sensitive beam (7-4), foil gauge S25 and foil gauge
S26 is pasted onto on the bottom surface of the second upper mounting plate sensitive beam (7-2)；
Foil gauge S11 and foil gauge S12 are pasted onto on the top surface of the 4th upper mounting plate sensitive beam (7-4), foil gauge S22 and foil gauge
S24 is pasted onto on the top surface of the second upper mounting plate sensitive beam (7-2).
7. the no-coupling six-dimensional force sensor of a kind of binocular structure according to claim 1, it is characterised in that multiple flat
Platform screwed hole (6) is distributed uniformly and circumferentially on upper mounting plate loading bench (5)；Multiple lower platform screwed holes (10) are in lower platform
Fixed station is distributed uniformly and circumferentially on (8).
8. a kind of no-coupling six-dimensional force sensor of binocular structure according to claim 1, it is characterised in that center hub
(4), upper mounting plate loading bench (5), four upper mounting plate sensitive beams (7), lower platform fixed station (8) and four lower platform sensitive beams (9)
It is structure as a whole；And the integrative-structure is made of duralumin, hard alumin ium alloy, stainless steel or structural alloy steel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710340000.XA CN107131983A (en) | 2017-05-15 | 2017-05-15 | A kind of no-coupling six-dimensional force sensor of binocular structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710340000.XA CN107131983A (en) | 2017-05-15 | 2017-05-15 | A kind of no-coupling six-dimensional force sensor of binocular structure |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108041764A (en) * | 2018-01-17 | 2018-05-18 | 彭玉鑫 | A kind of wearable vola array three-dimensional strength measurement system |
| CN109100073A (en) * | 2018-07-06 | 2018-12-28 | 江西洪都航空工业集团有限责任公司 | A kind of six-dimension force sensor and its measurement method based on strain inverting |
| CN112014008A (en) * | 2020-07-28 | 2020-12-01 | 北京电子工程总体研究所 | Three-dimensional force sensor and force measurement system |
| CN112414606A (en) * | 2020-10-26 | 2021-02-26 | 珠海格力电器股份有限公司 | Load cell elastomer, load cell and motion control device with load cell elastomer |
| CN114136524A (en) * | 2021-10-29 | 2022-03-04 | 西安交通大学 | Six-dimensional force measuring platform and decoupling method thereof |
| CN115060405A (en) * | 2022-06-10 | 2022-09-16 | 深圳市森斯维尔技术有限公司 | Miniaturized six-dimensional force sensor based on special amorphous alloy material |
| US11650117B2 (en) | 2020-02-25 | 2023-05-16 | Southeast University | Six-dimensional force sensor with high sensitivity and low inter-dimensional coupling |
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| CN103528746A (en) * | 2013-11-01 | 2014-01-22 | 哈尔滨工业大学 | Cross-shaped beam type elastomer for six-dimensional force sensor |
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| US11650117B2 (en) | 2020-02-25 | 2023-05-16 | Southeast University | Six-dimensional force sensor with high sensitivity and low inter-dimensional coupling |
| CN112014008A (en) * | 2020-07-28 | 2020-12-01 | 北京电子工程总体研究所 | Three-dimensional force sensor and force measurement system |
| CN112414606A (en) * | 2020-10-26 | 2021-02-26 | 珠海格力电器股份有限公司 | Load cell elastomer, load cell and motion control device with load cell elastomer |
| CN114136524A (en) * | 2021-10-29 | 2022-03-04 | 西安交通大学 | Six-dimensional force measuring platform and decoupling method thereof |
| CN115060405A (en) * | 2022-06-10 | 2022-09-16 | 深圳市森斯维尔技术有限公司 | Miniaturized six-dimensional force sensor based on special amorphous alloy material |
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