CN107718047A - Light-duty mechanical arm self-adaption two-dimensional force feedback wrist connector and sensor - Google Patents
Light-duty mechanical arm self-adaption two-dimensional force feedback wrist connector and sensor Download PDFInfo
- Publication number
- CN107718047A CN107718047A CN201710720504.4A CN201710720504A CN107718047A CN 107718047 A CN107718047 A CN 107718047A CN 201710720504 A CN201710720504 A CN 201710720504A CN 107718047 A CN107718047 A CN 107718047A
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- China
- Prior art keywords
- mechanical arm
- spring
- force feedback
- adaption
- light
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
-
- 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
- G01L1/04—Measuring force or stress, in general by measuring elastic deformation of gauges, e.g. of springs
-
- 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
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
- G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
Abstract
The present invention relates to light-duty mechanical arm self-adaption two-dimensional force feedback wrist connector and sensor, wherein connector is by moving plate, fixed board, center, first spring lamination and second spring piece component composition, fixed board is connected with mechanical arm, dynamic plate is connected with end effector, dynamic plate can follow the deformation of two groups of spring leafs and move, spring leaf is used for the stress for sensing both direction, during so that mechanical arm performing assembly manipulation, with certain PT positional tolerance, the required precision of mechanical arm can be reduced, mechanical arm can be prevented to being assembled the mechanical failure of object simultaneously, improve assembly reliability；Mechanical arm self-adaption two-dimensional force feedback wrist connector of the present invention, effectively lifting force feedback accuracy, the tolerance of elevating mechanism arm assembly manipulation, the device it can be expected to the standard configuration as light-duty mechanical arm.
Description
Technical field
The present invention relates to light-duty mechanical arm self-adaption two-dimensional force feedback wrist connector and sensor, belongs to Robot Force biography
Sense field.
Background technology
Traditional industry mechanical arm uses position control mode, can not perceive end stressing conditions, and power control type mechanical arm uses
Current sense, but precision is not high, and the small power of accurate operation effectively can not be measured, and force snesor in the market is difficult
In being integrated into mechanical arm tail end, the application of force snesor on the robotic arm is limited.
Existing force snesor mainly takes spoke wheel type sensing element, and this sensor has simple in construction, and precision is high
Advantage, but due to end effector all directions stress, couple state is complicated on sensing element so that in various terminal angle
Under stress, stress solution process is excessively complicated；In addition, the sensing element of this sensor is structural support, and
Can not be spacing to elastic deformation progress, its flexible member must be designed to comparatively robust, cause measurement sensitivity insufficient.
The content of the invention
It is an object of the invention to overcome the above-mentioned deficiency of prior art, there is provided light-duty mechanical arm self-adaption two-dimensional force feedback
Wrist connector, is mountable between mechanical arm and end effector, and as robot wrist connector, operating physical force can be entered
Row perceives and adjustment in real time, has preferable adaptive ability.
Another object of the present invention is to provide light-duty mechanical arm self-adaption two-dimensional force feedback wrist sensor.
What the above-mentioned purpose of the present invention was mainly achieved by following technical solution：
Light-duty mechanical arm self-adaption two-dimensional force feedback wrist connector, including dynamic plate, fixed board, center, the first spring plate group
Part and second spring piece component, wherein fixed board are connected with mechanical arm, and dynamic plate is connected with end effector, first spring plate group
Part includes n the first spring leafs, and n the first spring leafs are arranged in parallel, are fixed between fixed board and center, second spring piece component
Including m second spring piece, m second spring piece is arranged in parallel, is fixed between dynamic plate and center, the n the first springs
Piece produces elastic deformation in A directions, and the m second spring piece produces elastic deformation in B directions, and A directions and B directions do not weigh
Close, wherein n, m is positive integer, and n >=2, m >=2.
In above-mentioned light-duty mechanical arm self-adaption two-dimensional force feedback wrist connector, the A directions and B directions are hung down mutually
Directly.
In above-mentioned light-duty mechanical arm self-adaption two-dimensional force feedback wrist connector, the n the first spring leafs with m the
Two spring leafs are fixedly connected with to be moved between plate and fixed board not in the same surface of center, i.e., dynamic plate between fixed board and center
Contact.
In above-mentioned light-duty mechanical arm self-adaption two-dimensional force feedback wrist connector, first spring leaf and second spring
The number of piece is two.
In above-mentioned light-duty mechanical arm self-adaption two-dimensional force feedback wrist connector, in addition to set on fixed board spacing
Part, it is spacing for being carried out to dynamic plate；The locating part includes A directions locating part and B directions locating part, wherein A directions locating part
Parallel with the first spring leaf, B directions locating part is parallel with second spring piece.
In above-mentioned light-duty mechanical arm self-adaption two-dimensional force feedback wrist connector, the n the first spring leafs with m the
Two spring leafs are respectively fixedly connected with two surfaces of center, i.e., center, which is located at, moves between plate and fixed board.
In above-mentioned light-duty mechanical arm self-adaption two-dimensional force feedback wrist connector, first spring leaf and second spring
The number of piece is all higher than or equal to two.
In above-mentioned light-duty mechanical arm self-adaption two-dimensional force feedback wrist connector, in addition to set on housing and housing
Locating part, it is spacing for being carried out to dynamic plate；The locating part includes A directions locating part and B directions locating part, and wherein A directions limit
Position part is parallel with the first spring leaf, and B directions locating part is parallel with second spring piece.
In above-mentioned light-duty mechanical arm self-adaption two-dimensional force feedback wrist connector, first spring leaf and second spring
The amount of elastic deformation of piece is 0.5mm~2mm.
In above-mentioned light-duty mechanical arm self-adaption two-dimensional force feedback wrist connector, first spring leaf and second spring
The length L and width W of piece meet：L:W=3.5~6:1, wherein length L are the length on the side that spring leaf is connected with center.
In above-mentioned light-duty mechanical arm self-adaption two-dimensional force feedback wrist connector, dynamic plate, fixed board and the center are gold
Belong to material.
Light-duty mechanical arm self-adaption two-dimensional force feedback wrist sensor, including above-mentioned light-duty mechanical arm self-adaption two-dimensional power are anti-
Wrist connector, in addition to foil gauge and measuring circuit are presented, wherein each first spring leaf on each second spring piece with pacifying
A foil gauge is filled, foil gauge is connected with measuring circuit.
In above-mentioned light-duty mechanical arm self-adaption two-dimensional force feedback wrist sensor, the foil gauge is used to sense the first bullet
The strain of reed or second spring piece, Straining current is exported and calculated to measuring circuit, measuring circuit according to the Straining current
Strain, stress and the deformation of first spring leaf or second spring piece.
In the above-mentioned light-duty mechanical arm self-adaption two-dimensional force feedback wrist sensor, the measuring circuit will be calculated
Strain, stress and deformation are outwards exported by EtherCAT agreements.
In above-mentioned light-duty mechanical arm self-adaption two-dimensional force feedback wrist sensor, the foil gauge is positioned close to first
The junction of spring leaf and fixed board, or close to the junction of the first spring leaf and center；Or it is positioned close to second spring piece
With the junction of dynamic plate, or the junction of close second spring piece and center.
In above-mentioned light-duty mechanical arm self-adaption two-dimensional force feedback wrist sensor, the spring leaf of foil gauge distance first
Or the distance at second spring piece edge, it is the 1/5~1/4 of the first spring leaf or second spring piece width W.
The present invention has the advantages that compared with prior art：
(1) a kind of, new mechanical arm self-adaption two-dimensional force feedback wrist connector of innovative design of the present invention, by dynamic plate,
Fixed board, center, the first spring lamination and second spring piece component composition, fixed board are connected with mechanical arm, are moved plate and are performed with end
Device connects, and dynamic plate can follow the deformation of two groups of spring leafs and move, and spring leaf is used for the stress for sensing both direction so that machine
When tool arm performs assembly manipulation, there is certain PT positional tolerance, the required precision of mechanical arm can be reduced, while machine can be prevented
Tool arm improves assembly reliability to being assembled the mechanical failure of object.
(2), mechanical arm self-adaption two-dimensional force feedback wrist connector of the present invention, can effective lifting force feedback accuracy, carry
The tolerance of mechanical arm assembly manipulation is risen, the device is expected to the standard configuration as light-duty mechanical arm；
(3), mechanical arm self-adaption two-dimensional force feedback wrist connector construction flexible design of the present invention is changeable, can be according to not
Same sensitive direction needs to be designed as different structure type, can also be set according to installing space size using different structures
Meter, such as compact structure design of the dynamic plate between center and fixed board can be used, center can also be used to be located at dynamic plate
Ground structure designs between fixed board, can also increase the quantity of spring leaf as needed, meet different application requirements；
(4) locating part, is employed in mechanical arm self-adaption two-dimensional force feedback wrist connector of the present invention to limit dynamic plate
Position, so as to the dependent variable of limited spring piece, it can prevent flexible member from being damaged because of permanent deformation so that the high-precision sensor
Heavier end effector can be connected；
(5), its flexible member of mechanical arm self-adaption two-dimensional force feedback wrist sensor of the present invention can design cleverer
It is quick, it is possible to achieve small power measurement.
Brief description of the drawings
Fig. 1 is the two-dimentional force feedback wrist connector of the present invention and end effector mechanism connection diagram；
Fig. 2 is the two-dimentional force feedback wrist connector construction schematic diagram 1 of the present invention；
Fig. 3 is the two-dimentional force feedback wrist connector construction schematic diagram 2 of the present invention；
Fig. 4 is spring lamination scheme of installation of the present invention, and wherein Fig. 4 a are the first spring lamination scheme of installation, figure
4b is second spring piece component scheme of installation；
Fig. 5 is the two-dimentional force feedback wrist connector deformation emulating figure of the present invention, and wherein Fig. 5 a are A directions deformation emulating figure,
Fig. 5 b are B directions deformation emulating figure；
Fig. 6 is the two-dimentional force feedback wrist sensor construction schematic diagram of the present invention.
Embodiment
The present invention is described in further detail for example in real time below in conjunction with the accompanying drawings and specifically：
It is as shown in Figure 1 the two-dimentional force feedback wrist connector of the present invention and end effector mechanism connection diagram, the present invention
Two-dimentional force feedback wrist connector is mountable between mechanical arm and end effector, as robot wrist connector, and is had
There is certain adaptive ability.Two-dimentional force feedback wrist connector include dynamic plate 1, fixed board 2, center 3, the first spring lamination and
Second spring piece component, wherein fixed board 2 are connected with mechanical arm 10, and dynamic plate 1 is connected with end effector 11.
First spring lamination includes n the first spring leafs 5, and n the first spring leafs 5 are arranged in parallel, and it is fixed to be fixedly connected on
Between plate 2 and center 3, and the first spring leaf 5 and fixed board 2, center 3 are vertical.Second spring piece component includes m second spring
Piece 6, m second spring piece 6 is arranged in parallel, is fixedly connected between dynamic plate 1 and center 3, and second spring piece 6 and dynamic plate 1, in
Frame 3 is vertical.Wherein n the first spring leafs 5 and m second spring piece 6 are in two different places to generation elastic deformation so that
When mechanical arm performs assembly manipulation, there is certain PT positional tolerance.
The two-dimentional force feedback wrist connector of the present invention can take different structure type, be respectively this as shown in Figure 2,3
Invent two-dimentional two kinds of structure type schematic diagrames of force feedback wrist connector.Give the first spring leaf 5 and the second bullet as shown in Figure 2
Structure type when reed 6 is two, two the first spring leafs 5 and two second spring pieces 6 are vertical to be fixedly connected on
The same surface of frame 3, i.e. two edges of two the first spring leafs 5 along its length are respectively fixedly connected with the following table in center 3
Face and the upper surface of fixed board 2 (can use and mechanically connect), and two the first spring leafs 5 are parallel to each other；Two second spring pieces 6
Two edges along its length are respectively fixedly connected with (can use machinery even in the lower surface of center 3 and the upper surface of dynamic plate 1
Connect), and two second spring pieces 6 are parallel to each other, now move plate 1 between fixed board 2 and center 3, move between plate 1 and fixed board 2
Do not contact, keep certain gap.Dynamic plate 1, fixed board 2 are rectangular flat structure in the present embodiment, and center 3 is hollow rectangle
Mount structure.
Plate 1 is moved in the present embodiment can be subjected to displacement that (X-direction and Y-direction are hung down in the plane that X-direction and Y-direction determine
Directly), the displacement can be decomposed into the component of X-direction and Y-direction so that the first spring leaf 5 and second spring piece 6 can edges respectively
Elastic deformation occurs for X-direction and Y-direction.
The quantity of the first spring leaf 5 can also be increased in the present embodiment between fixed board 2 and center 3, in dynamic plate 1 and center
Increase the quantity of second spring piece 6 between 3, you can with the length by increasing dynamic plate 1, fixed board 2 and center 3, respectively at two
The side of first spring leaf 5 increases some first spring leafs 5 parallel with it, two second spring pieces 6 side increase with
Parallel some second spring pieces 6.
Locating part can also be set on fixed board 2 in addition, and spacing for being carried out to dynamic plate 1, locating part can be with the one of fixed board 2
Shaping, can also be mechanically mounted on fixed board 2.Locating part includes X-direction locating part 12 and Y side normal thereto in the present embodiment
To locating part 13, wherein X-direction locating part 12 is parallel with the first spring leaf 5, and Y-direction locating part 13 is parallel with second spring piece 6,
Locating part can be limited block or banking stop etc., and the locating part of both direction can be multiple, be illustrated in figure 4 bullet of the present invention
Spring assembly scheme of installation, wherein Fig. 4 a are the first spring lamination scheme of installation (arrangement of X-direction shell fragment), and Fig. 4 b are the
Two spring lamination scheme of installations (arrangement of Y-direction shell fragment).
It is illustrated in figure 3 another structure type of the two-dimentional force feedback wrist connector of the present invention, the first spring leaf 5 and the
Two spring leafs 6 are three, and three the first spring leafs 5 and three second spring pieces 6 are respectively perpendicular and are fixedly connected on the two of center 3
Individual surface, i.e. two edges of three the first spring leafs 5 along its length are respectively fixedly connected with the lower surface of center 3 and fixed board
2 upper surface (can use and mechanically connect), and three the first spring leafs 5 are parallel to each other, two the first spring leafs 5 of arbitrary neighborhood
The distance between it is equal.Two edges of three second spring pieces 6 along its length are respectively fixedly connected with the upper surface of center 3
(it can use and mechanically connect) with the lower surface of dynamic plate 1, and three second spring pieces 6 are parallel to each other, arbitrary neighborhood two second
The distance between spring leaf 6 is equal, and now center 3, which is located at, moves between plate 1 and fixed board 2.The structure type can also increase basis
Need the quantity of the first spring leaf of increase by 5 and second spring piece 6.
, it is necessary to increase shell structure when the structure type sets locating part, locating part is arranged on and moved the position correspondence of plate 1
Housing on, it is spacing for being carried out to dynamic plate 1；Locating part equally includes X-direction locating part and Y-direction locating part, wherein X-direction
Locating part is parallel with the first spring leaf 5, and Y-direction locating part is parallel with second spring piece 6.
The amount of elastic deformation of first spring leaf 5 and second spring piece 6 is 0.5mm~2mm, is 1.12mm in the present embodiment.
The length L and width W of first spring leaf 5 and second spring piece 6 meet：L:W=3.5~6:1, wherein length L be spring leaf with
The length on the side that center 3 connects, it is 3.75 in the present embodiment：1.
The two-dimentional force feedback wrist connector deformation emulating figure of the present invention is illustrated in figure 5, wherein Fig. 5 a are that the deformation of A directions is imitated
True figure (X-direction deformation emulating), Fig. 5 b are B directions deformation emulating figure (Y-direction deformation emulating)；The present invention two as seen from the figure
Force feedback wrist connector is tieed up in the deformation of X-direction and the deformation form of Y-direction.
It is illustrated in figure 6 the two-dimentional force feedback wrist sensor construction schematic diagram of the present invention, two-dimentional force feedback wrist sensor
Including above-mentioned two-dimentional force feedback wrist connector, in addition to foil gauge 4 and measuring circuit, wherein each first spring leaf 5 with it is every
A foil gauge 4 is respectively mounted on individual second spring piece 6, foil gauge 4 is connected with measuring circuit.Foil gauge 4 is positioned close to first
The junction of spring leaf 5 and fixed board 2, or close to the junction of the first spring leaf 5 and center 3；Or it is positioned close to the second bullet
The junction of reed 6 and dynamic plate 1, or close to the junction of second spring piece 6 and center 3.The first spring leaf of distance 5 of foil gauge 4
Or the distance at the edge of second spring piece 6, it is the 1/5~1/4 of the first spring leaf 5 or the width W of second spring piece 6, in the present embodiment
For 1/4.
Foil gauge 4 is used for the strain for sensing the first spring leaf 5 or second spring piece 6, and Straining current is exported and gives measurement electricity
Road, measuring circuit calculate strain, stress and the deformation of the first spring leaf 5 or second spring piece 6 according to Straining current.Measuring circuit
The strain being calculated, stress and deformation are outwards exported by EtherCAT agreements.
Dynamic plate 1, fixed board 2 and center 3 are to use 2024 aluminium in metal material, such as the present embodiment.
Double-spring piece length of the present invention is larger, and width is smaller, more sensitive to the stress perpendicular to spring leaf surface direction,
Insensitive to the power parallel to shell fragment and moment of torsion, double elastic piece structures can effectively exclude the Moment Influence perpendicular to shell fragment, and this sets
Meter is effectively decoupled with simple and reliable structure type to complicated applied force state so that foil gauge can be to X, the stress of Y-direction
Measured respectively.Full-bridge foil gauge is posted on sensing element, foil gauge output signal is passed to measuring circuit, is converted to measurement and puts
Exported afterwards by EtherCAT agreements.
The present embodiment can be used for the 2 D force sensor of mechanical arm tail end junction, within measurable X, Y both direction 15N
Operation stress, have 0.1% sensing accuracy, and with 1mm gaps adaptivity, available for all kinds of precision assembly fields
Scape, hoisting machine people by force-sensing ability.
It is described above, it is only the optimal embodiment of the present invention, but protection scope of the present invention is not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can readily occur in,
It should all be included within the scope of the present invention.
The content not being described in detail in description of the invention belongs to the known technology of professional and technical personnel in the field.
Claims (16)
1. light-duty mechanical arm self-adaption two-dimensional force feedback wrist connector, it is characterised in that：Including dynamic plate (1), fixed board (2), in
Frame (3), the first spring lamination and second spring piece component, wherein fixed board (2) are connected with mechanical arm (10), move plate (1) and end
Actuator (11) connection is held, first spring lamination includes n the first spring leafs (5), and n the first spring leafs (5) are parallel
Arrangement, is fixed between fixed board (2) and center (3), and second spring piece component includes m second spring piece (6), m the second bullets
Reed (6) is arranged in parallel, is fixed between dynamic plate (1) and center (3), and the n the first spring leafs (5) produce bullet in A directions
Property deformation, the m second spring piece (6) B directions produce elastic deformation, A directions and B directions are misaligned, and wherein n, m are
Positive integer, and n >=2, m >=2.
2. light-duty mechanical arm self-adaption two-dimensional force feedback wrist connector according to claim 1, it is characterised in that：It is described
A directions and B directions are orthogonal.
3. light-duty mechanical arm self-adaption two-dimensional force feedback wrist connector according to claim 1, it is characterised in that：It is described
N the first spring leafs (5) are fixedly connected with m second spring piece (6) to be located in the same surface of center (3), i.e., dynamic plate (1)
It is dynamic not contacted between plate (1) and fixed board (2) between fixed board (2) and center (3).
4. light-duty mechanical arm self-adaption two-dimensional force feedback wrist connector according to claim 3, it is characterised in that：It is described
The number of first spring leaf (5) and second spring piece (6) is two.
5. the light-duty mechanical arm self-adaption two-dimensional force feedback wrist connector according to claim 3 or 4, it is characterised in that：
Also include the locating part set on fixed board (2), it is spacing for being carried out to dynamic plate (1)；The locating part includes A directions locating part
(12) and B directions locating part (13), wherein A directions locating part (12) is parallel with the first spring leaf (5), B directions locating part (13)
It is parallel with second spring piece (6).
6. light-duty mechanical arm self-adaption two-dimensional force feedback wrist connector according to claim 1, it is characterised in that：It is described
N the first spring leafs (5) are respectively fixedly connected with two surfaces of center (3), i.e. center (3) position with m second spring piece (6)
Between dynamic plate (1) and fixed board (2).
7. light-duty mechanical arm self-adaption two-dimensional force feedback wrist connector according to claim 6, it is characterised in that：It is described
The number of first spring leaf (5) and second spring piece (6) is all higher than or equal to two.
8. the light-duty mechanical arm self-adaption two-dimensional force feedback wrist connector according to claim 6 or 7, it is characterised in that：
Also include the locating part set on housing and housing, it is spacing for being carried out to dynamic plate (1)；It is spacing that the locating part includes A directions
Part and B directions locating part, wherein A directions locating part are parallel with the first spring leaf (5), B directions locating part and second spring piece (6)
It is parallel.
9. the light-duty mechanical arm self-adaption two-dimensional force feedback wrist connector according to one of claim 1-4,6-7, it is special
Sign is：First spring leaf (5) and the amount of elastic deformation of second spring piece (6) are 0.5mm~2mm.
10. the light-duty mechanical arm self-adaption two-dimensional force feedback wrist connector according to one of claim 1-4,6-7, it is special
Sign is：First spring leaf (5) and the length L and width W of second spring piece (6) meet：L:W=3.5~6:1, wherein
Length L is the length on the side that spring leaf is connected with center (3).
11. the light-duty mechanical arm self-adaption two-dimensional force feedback wrist connector according to one of claim 1-4,6-7, it is special
Sign is：The dynamic plate (1), fixed board (2) and center (3) are metal material.
12. light-duty mechanical arm self-adaption two-dimensional force feedback wrist sensor, it is characterised in that：Including described in claim 1~10
Light-duty mechanical arm self-adaption two-dimensional force feedback wrist connector, in addition to foil gauge (4) and measuring circuit, wherein each first
With being respectively mounted a foil gauge (4) on each second spring piece (6), foil gauge (4) is connected spring leaf (5) with measuring circuit.
13. light-duty mechanical arm self-adaption two-dimensional force feedback wrist sensor according to claim 12, it is characterised in that：Institute
State foil gauge (4) be used for sense the first spring leaf (5) or second spring piece (6) strain, Straining current is exported electric to measurement
Road, measuring circuit calculate strain, stress and the deformation of the first spring leaf (5) or second spring piece (6) according to the Straining current.
14. light-duty mechanical arm self-adaption two-dimensional force feedback wrist sensor according to claim 12, it is characterised in that：Institute
Measuring circuit is stated outwards to export the strain being calculated, stress and deformation by EtherCAT agreements.
15. the light-duty mechanical arm self-adaption two-dimensional force feedback wrist sensor according to one of claim 12~14, it is special
Sign is：The foil gauge (4) is positioned close to the junction of the first spring leaf (5) and fixed board (2), or close to the first spring leaf
(5) with the junction of center (3)；Or the junction of second spring piece (6) and dynamic plate (1) is positioned close to, or close to second
The junction of spring leaf (6) and center (3).
16. light-duty mechanical arm self-adaption two-dimensional force feedback wrist sensor according to claim 15, it is characterised in that：Institute
The distance at foil gauge (4) first spring leaf of distance (5) or second spring piece (6) edge is stated, is the first spring leaf (5) or the second bullet
The 1/5~1/4 of reed (6) width W.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710720504.4A CN107718047B (en) | 2017-08-21 | 2017-08-21 | Light mechanical arm self-adaptive two-dimensional force feedback wrist connector and sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710720504.4A CN107718047B (en) | 2017-08-21 | 2017-08-21 | Light mechanical arm self-adaptive two-dimensional force feedback wrist connector and sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107718047A true CN107718047A (en) | 2018-02-23 |
| CN107718047B CN107718047B (en) | 2020-08-14 |
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ID=61205240
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710720504.4A Active CN107718047B (en) | 2017-08-21 | 2017-08-21 | Light mechanical arm self-adaptive two-dimensional force feedback wrist connector and sensor |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1534276A (en) * | 1976-02-02 | 1978-11-29 | Emi Ltd | Force transducers |
| CN2359684Y (en) * | 1998-12-26 | 2000-01-19 | 中国科学院合肥智能机械研究所 | Frame type three-D force transducer |
| CN1645077A (en) * | 2005-01-27 | 2005-07-27 | 上海交通大学 | Two-dimensional micro-force measuring sensors |
| CN101975632A (en) * | 2010-11-04 | 2011-02-16 | 西北工业大学 | Temperature self-compensating fiber grating rod force sensor and using method thereof |
| CN104483046A (en) * | 2014-11-27 | 2015-04-01 | 清华大学 | Novel shear force measuring device and measuring method |
-
2017
- 2017-08-21 CN CN201710720504.4A patent/CN107718047B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1534276A (en) * | 1976-02-02 | 1978-11-29 | Emi Ltd | Force transducers |
| CN2359684Y (en) * | 1998-12-26 | 2000-01-19 | 中国科学院合肥智能机械研究所 | Frame type three-D force transducer |
| CN1645077A (en) * | 2005-01-27 | 2005-07-27 | 上海交通大学 | Two-dimensional micro-force measuring sensors |
| CN101975632A (en) * | 2010-11-04 | 2011-02-16 | 西北工业大学 | Temperature self-compensating fiber grating rod force sensor and using method thereof |
| CN104483046A (en) * | 2014-11-27 | 2015-04-01 | 清华大学 | Novel shear force measuring device and measuring method |
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| Publication number | Publication date |
|---|---|
| CN107718047B (en) | 2020-08-14 |
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