CN111103084A - Integrated six-dimensional force sensor with double-cross beam structure - Google Patents
Integrated six-dimensional force sensor with double-cross beam structure Download PDFInfo
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- 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
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Abstract
The invention provides an integrated six-dimensional force sensor with a double I-shaped cross beam structure, which comprises: the double I-shaped cross beams and the plurality of resistance strain gauges are arranged on the outer side of the double I-shaped cross beams; the double I-shaped cross beam comprises an outer ring, four elastic bodies and an inner ring; the four elastic bodies are uniformly distributed between the outer ring and the inner ring in a spoke form, and are symmetrically distributed in a cross shape to form a cross beam for sensitive stress; the elastic body comprises a first I-shaped member and a second I-shaped member which are arranged vertically to each other, and the cross beams of the first I-shaped member and the second I-shaped member form a horizontal plate and a vertical plate which are vertical to each other respectively; the plurality of resistance strain gauges are respectively arranged on the upper surface and the lower surface of the horizontal plate and the two side surfaces of the vertical plate. The invention has the advantages of simple structure, convenient processing, small dimensional coupling, high sensitivity, strong overload resistance and the like, integrates the mechanical structure of the sensor and the signal control circuit, carries out integrated design and can be flexibly and conveniently integrated at the tail end of the robot actuating mechanism.
Description
Technical Field
The invention belongs to the field of robots and sensor application thereof, relates to a force sensor, and particularly relates to an integrated six-dimensional force sensor with a double I-shaped cross beam structure.
Background
With the continuous development of the robot technology, the force control requirement on the tail end of the robot executing mechanism is increased increasingly. The six-dimensional force sensor can detect the three-dimensional force and the moment in the space and can meet the force control requirement of the tail end of the robot actuating mechanism. The existing six-dimensional force sensor is developed more mature, but in the field of robots, particularly aiming at the force control requirements at the tail end of a robot actuating mechanism, the six-dimensional force sensor has higher requirements on the performance, such as small volume, high sensitivity, high safety and the like.
According to the prior art, the Chinese patent with the application number of CN201010577466 is found through the document retrieval, the six-dimensional force sensor adopts the double-cross-beam sensor design, the inter-dimensional coupling is reduced, the sensor precision is improved, and the double-cross-beam design enables the sensor to be large in size and high in height.
Chinese patent No. CN201620008204 provides a six-dimensional force sensor with more compact overall structure, small overall volume, low height, but also has the characteristic of small measurement range.
Chinese patent No. CN201710227696 provides a six-dimensional force sensor, and an axial sliding positioning component is designed at the end of a cross beam, so that orthogonal force decoupling is realized.
The Chinese patent with the application number of CN201910064852 provides a force sensor with a snakelike structure beam, and the force sensor is improved and designed for a traditional cross beam, so that the sensitivity of an elastic body when the elastic body is stressed is improved. However, when the overall size of the force sensor is small, the gap of the serpentine-structure beam is small, and the serpentine-structure beam is difficult to machine and manufacture.
The Chinese patent with the application number of CN201910524444 provides a six-dimensional force sensor applied to an industrial field, adopts the traditional cross beam knot design, is provided with a limiting structure, has certain overload capacity, but has higher rigidity of the cross beam and lower sensitivity of the sensor, and is difficult to be applied to the tail end of a robot actuating mechanism.
Although the above patents provide innovative force sensor designs, the current six-dimensional force sensor still has problems including complex structure, weak overload resistance, low sensitivity, complex installation, etc. in response to the demands in the robot field, especially the force control demands of the robot actuator end.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an integrated six-dimensional force sensor with a double I-shaped cross beam structure.
In order to realize the aim, the invention provides an integrated six-dimensional force sensor with a double I-shaped cross beam structure; the utility model provides an integration six dimension force transducer of two "worker" shape cross beam structures which characterized in that: the method comprises the following steps: the double I-shaped cross beams and the plurality of resistance strain gauges are arranged on the outer side of the double I-shaped cross beams; wherein the content of the first and second substances,
the double I-shaped cross beam comprises an outer ring, four elastic bodies and an inner ring; the four elastic bodies are uniformly distributed between the outer ring and the inner ring in a spoke form, and are symmetrically distributed in a cross shape to form a cross beam for sensitive stress;
the elastic body comprises a first I-shaped member and a second I-shaped member which are arranged vertically, and the cross beams of the first I-shaped member and the second I-shaped member form a horizontal plate and a vertical plate which are vertical to each other respectively;
the plurality of resistance strain gauges are respectively arranged on the upper surface and the lower surface of the horizontal plate and the two side surfaces of the vertical plate.
Preferably, the cross beam structure further comprises a cross beam base, wherein the cross beam base is arranged below the double I-shaped cross beams and is connected with the double I-shaped cross beams into a whole;
the cross beam base comprises a flat plate and four positioning bosses; wherein the content of the first and second substances,
the four positioning bosses are arranged on the upper surface of the flat plate, are uniformly distributed on the upper surface of the flat plate and are used for connecting the outer ring of the double I-shaped cross beam;
the upper surface of the positioning boss is in contact with the lower surface of the double I-shaped cross beam, and a threaded hole is formed in the center of the positioning boss;
the flat plate is provided with a plurality of first through holes penetrating through the upper surface and the lower surface of the flat plate, and the first through holes are used for bolt connection and wire connection of the resistance strain gauge;
a circular boss is arranged in the center of the flat plate, and a gap with a set distance is formed between the upper surface of the circular boss and the lower surface of the inner ring of the double I-shaped cross beam and used for limiting the deformation of the double I-shaped cross beam.
Preferably, the outer ring is of an annular structure, four convex plates extending inwards are arranged on the inner wall of the outer ring, and the four convex plates are uniformly distributed;
the convex plate is provided with a second through hole, the second through hole and the threaded hole of the positioning boss are positioned on the same axis, and the second through hole is connected with the threaded hole through a bolt so as to realize the connection between the outer ring and the cross beam base;
the inner ring is of a cylindrical structure, four threaded holes which are uniformly distributed are formed in the inner ring, and the threaded holes penetrate through the upper surface and the lower surface of the inner ring.
Preferably, the size of a gap between the circular boss of the cross beam base and the lower end face of the inner ring of the double I-shaped cross beam is 0.12mm-0.24 mm.
Preferably, the double-I-shaped cross beam and the cross beam base are arranged in the shell;
the shell comprises a cover plate, an annular shell and a bottom plate; the cover plate is arranged at the upper part of the annular shell, so that the upper end of the annular shell is closed; the bottom plate is arranged at the lower end of the annular shell, a circle of outer edge is arranged on the outer wall of the lower end of the annular shell, and the outer edge is connected with the bottom plate through a bolt, so that a closed cavity is formed after the cover plate, the annular shell and the bottom plate are assembled;
the center of the cover plate is provided with a center hole and an annular boss, and the center hole penetrates through the upper surface and the lower surface of the cover plate; the annular boss is positioned on the lower end face of the cover plate and extends downwards along the lower surface of the central hole to form a circle of bulges; a gap with a set distance is formed between the lower surface of the annular boss and the upper end surface of the inner ring of the double I-shaped cross beam and is used for limiting the stress deformation of the double I-shaped cross beam; four second bosses are uniformly distributed on the periphery of the central hole, are positioned on the lower surface of the cover plate, extend downwards along the lower surface of the cover plate to form a circle of bulges, and are provided with countersunk holes for bolt connection;
the side surface of the annular shell is provided with a round hole for arranging a cable signal wire;
the cross beam base is located on the annular bulge and connected with the annular bulge through bolts.
Preferably, the size of a gap between the annular boss of the cover plate and the upper end face of the inner ring of the double I-shaped cross beam is 0.12mm-0.24 mm.
Preferably, the cross beam type solar cell module further comprises a circuit board, wherein the circuit board is arranged in the shell and located below the cross beam base, and the circuit board is connected with the flat plate of the cross beam base through a copper column and a bolt.
Preferably, the double-I-shaped cross beam further comprises a transition joint, the transition joint is arranged above the double-I-shaped cross beam, the transition joint penetrates through the cover plate of the shell, and a gap with a set distance is formed between the outer wall of the transition joint and the inner wall of the annular boss of the cover plate;
the cross joint is a circular truncated cone-shaped component, four bolt countersunk holes are formed in the lower end face of the circular truncated cone-shaped component, and the cross joint and the double I-shaped cross beams are connected into a whole through bolts.
Preferably, the size of the gap between the inner wall of the annular boss of the cover plate and the outer wall of the transition joint is 0.08-0.16 mm.
Preferably, the number of the resistance strain gauges is twenty-four, and twenty-four resistance strain gauges are distributed on four vertical plates and four horizontal plates as follows:
the resistance strain gauges are arranged on the horizontal plates, and are distributed on the upper surface and the lower surface of the horizontal plates in the number form of one resistance strain gauge and two resistance strain gauges; two resistance strain gauges are distributed on two adjacent horizontal plates in one group of the four horizontal plates, and one resistance strain gauge is distributed on the other two adjacent horizontal plates;
each vertical plate is provided with three resistance strain gauges which are respectively distributed on two side surfaces of the vertical plate in the form of one or two; the number of the distributed resistance strain gauges on the same side face of the two vertical plates on the same straight line in the four vertical plates is the same.
Compared with the prior art, the invention has at least the following beneficial effects:
1. in the structure, the rigidity of the cross beam is reduced by adopting the double I-shaped cross beams, the deformation of the cross beam is larger when the cross beam is stressed, the strain is concentrated on the cross beam of the I-shaped member, the coupling between the dimensions of the sensor is small, and the measurement sensitivity is high.
2. In the structure, the double I-shaped cross beam has a simple structure, can be directly processed by a numerical control milling machine, and has the advantages of low processing difficulty, low cost and convenience in installation.
3. Furthermore, the invention designs a limit structure of a three-dimensional space, so that the excessive large deformation of the cross beam is limited, the overload protection effect is realized on the cross beam structure, and the overload resistance and the use safety of the sensor are improved.
4. Furthermore, the mechanical structure of the sensor and the signal control circuit are integrated to be designed integrally, a sensor signal amplifier is not required to be connected externally, and the mechanical structure and the signal control circuit can be flexibly and conveniently integrated at the tail end of the robot actuating mechanism.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic view of the overall appearance of a preferred embodiment of the present invention;
FIG. 2 is a cross-sectional view of the general construction of a preferred embodiment of the present invention;
FIG. 3 is a schematic three-dimensional assembly in a preferred embodiment of the invention;
FIG. 4 is a cross-sectional view of a cover plate structure in a preferred embodiment of the present invention;
FIG. 5 is a schematic view of a double "I" shaped cross beam in a preferred embodiment of the present invention;
FIG. 6 is a schematic top view of the position of a resistance strain gage in a preferred embodiment of the invention;
FIG. 7 is a schematic bottom view of the position of a resistance strain gage in a preferred embodiment of the invention;
FIG. 8 is a schematic diagram of a resistance strain gauge bridge circuit in a preferred embodiment of the present invention;
the scores in the figure are indicated as: the device comprises a cover plate 1, an annular shell 2, a bottom plate 3, a flat plate 4, a positioning boss 5, a double I-shaped cross beam 6, a circuit board 7, a copper column 8, a transition joint 9, a resistance strain gauge 10, a central hole 1-1, an annular boss 1-2, a second boss 1-3, a counter sink hole 1-4, an outer ring 6-1, an inner ring 6-3, elastic bodies 6-2A, 6-2B, 6-2C and 6-2D.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
Referring to fig. 1, 2 and 3, a schematic structural diagram of an integrated six-dimensional force sensor with a double-i-shaped cross beam structure according to an embodiment of the present invention is shown.
Referring to fig. 1, the sensor includes: the double I-shaped cross beams 6 and a plurality of resistance strain gauges 10; the double I-shaped cross beam 6 comprises an outer ring 6-1, four elastic bodies 6-2A, 6-2B, 6-2C, 6-2D and an inner ring 6-3; the four elastic bodies 6-2A, 6-2B, 6-2C and 6-2D are uniformly distributed between the outer ring 6-1 and the inner ring 6-3 in a spoke form, and the four elastic bodies 6-2A, 6-2B, 6-2C and 6-2D are symmetrically distributed in a cross shape to form a cross beam for sensitive stress; the elastic bodies 6-2A, 6-2B, 6-2C and 6-2D comprise a first I-shaped member and a second I-shaped member which are arranged vertically to each other, and the cross beams of the first I-shaped member and the second I-shaped member form a horizontal plate and a vertical plate which are vertical to each other respectively; referring to fig. 5, one side of the first i-shaped member is connected to the outer race 6-1, one side of the second i-shaped member is connected to the inner race 6-3, and both share the other side. The cross beam of the first I-shaped member is parallel to the plane of the inner ring 6-3 of the double I-shaped cross beam 6 and is the horizontal plate, and the cross beam of the second I-shaped member is perpendicular to the plane of the inner ring 6-3 of the double I-shaped cross beam 6 and is the vertical plate. The plurality of resistance strain gauges 10 are respectively arranged on the upper and lower surfaces of the horizontal plate and the two side surfaces of the vertical plate.
In other preferred embodiments, the sensor further comprises a cross beam base, wherein the cross beam base is arranged below the double I-shaped cross beam 6 and is connected with the double I-shaped cross beam 6 into a whole; the cross beam base comprises a flat plate 4 and four positioning bosses 5; wherein, four location bosss 5 set up in the upper surface of dull and stereotyped 4, and evenly distributed is in the upper surface of dull and stereotyped 4 to be connected with dull and stereotyped 4 through the bolt. The upper surface of the positioning boss 5 is contacted with the lower surface of the outer ring 6-1 of the double I-shaped cross beam 6, the center of the positioning boss 5 is provided with a threaded hole and a first boss, and the outer ring 6-1 of the double I-shaped cross beam 6 is connected through a bolt; the center of the flat plate 4 is provided with a circular boss which is parallel to the bottom surface of the inner ring 6-3 of the double I-shaped cross beam 6 but not contacted with the bottom surface, and a gap with a certain distance is formed between the two planes and is used for limiting the deformation of the double I-shaped cross beam 6. A plurality of first through holes penetrating through the upper surface and the lower surface of the circular boss are uniformly distributed around the circular boss and are used for bolt connection and wire connection of the resistance strain gauge 10.
In other preferred embodiments, the outer ring 6-1 is of an annular structure, four convex plates extending inwards are arranged on the inner wall of the outer ring 6-1, and the four convex plates are uniformly distributed; the four convex plates are respectively provided with a second through hole, the second through holes and the threaded holes of the positioning bosses 5 are positioned on the same axis, and the outer ring 6-1 is connected with the cross beam base through the fixation of bolts; the inner ring 6-3 is of a cylindrical structure, four threaded holes which are uniformly distributed are formed in the inner ring 6-3, and the threaded holes penetrate through the upper surface and the lower surface of the inner ring 6-3.
In other partial preferred embodiments, the device further comprises a shell, wherein the double I-shaped cross beams 6 and the cross beam base are arranged in the shell; the shell comprises a cover plate 1, an annular shell 2 and a bottom plate 3; wherein, the cover plate 1 is arranged at the upper part of the annular shell 2 to ensure that the upper end of the annular shell 2 is closed; the base plate 3 is mounted on the lower end of the annular housing 2. The outer wall of the lower end of the annular shell 2 is provided with a circle of outer edge, and the outer edge is connected with the bottom plate 3 through bolts, so that a closed cavity is formed after the cover plate 1, the annular shell 2 and the bottom plate 3 are assembled.
Referring to fig. 4, the center of the cover plate 1 is provided with a center hole 1-1 and an annular boss 1-2, and the center hole 1-1 penetrates through the upper and lower surfaces of the cover plate 1. The annular boss 1-2 is positioned on the lower end face of the cover plate 1 and extends downwards along the lower surface of the central hole 1-1 to form a circle of bulges. A certain gap is formed between the lower surface of the annular boss 1-2 of the cover plate 1 and the upper end surface of the inner ring 6-3 of the double I-shaped cross beam 6, and is used for limiting the stress deformation of the double I-shaped cross beam 6; four second bosses 1-3 are uniformly distributed on the periphery of the central hole 1-1, the second bosses 1-3 are positioned on the lower surface of the cover plate 1, extend downwards along the lower surface of the cover plate 1 to form a circle of bulges, and are provided with counter bores 1-4; the four second bosses 1-3 are in contact with the outer ring 6-1 of the double I-shaped cross beam 6, the second bosses 1-3 at the countersunk holes of the cover plate 1 are in contact with the upper surface of the double I-shaped cross beam 6, the countersunk holes 1-4 are used for being connected through bolts, the countersunk holes 1-4 and the second through holes of the four convex plates of the double I-shaped cross beam 6 are positioned on the same axis with the central threaded holes of the positioning bosses 5, and the three bosses are fixed in the axis direction through bolts.
A round hole is formed in the side face of the annular shell 2 and used for arranging a cable signal wire;
the annular shell 2 is internally provided with an annular bulge extending inwards, a circle of inner edge is formed on the inner wall of the annular shell 2, the cross beam base is arranged above the annular bulge, and the cross beam base is connected with the annular bulge through a bolt.
In other partial preferred embodiments, the cross beam type power supply further comprises a circuit board 7, wherein the circuit board 7 is arranged in the shell and is positioned below the cross beam base, and the circuit board 7 is connected with the flat plate 4 of the cross beam base through a copper column 8 and a bolt. The mechanical structures of the sensors such as the double I-shaped cross beams 6 and the like are integrated with the signal control circuits such as the circuit board 7 and the like, integrated design is carried out, a sensor signal amplifier does not need to be connected outside, and the sensors can be flexibly and conveniently integrated at the tail end of each robot actuating mechanism.
In other preferred embodiments, the double-H-shaped cross beam structure further comprises a transition joint 9, the transition joint 9 is arranged above the double-H-shaped cross beam 6, the transition joint 9 penetrates through the cover plate 1 of the shell and is connected with the inner ring 6-3 of the double-H-shaped cross beam 6 and used for connecting external loads, and a certain gap is formed between the outer wall of the transition joint 9 and the inner wall of the cover plate 1 to limit the deformation of the double-H-shaped cross beam 6 under stress. The transition joint is a circular truncated cone-shaped component, 4 bolt countersunk holes are formed in the lower end face of the circular truncated cone-shaped component and used for bolt connection, and the four bolt countersunk holes of the transition joint 9 are respectively connected with four threaded holes of the inner ring 6-3 of the double I-shaped cross beam 6 through bolts.
In other preferred embodiments, after the shell, the cross beam base, the double I-shaped cross beam 6 and the transition joint 9 are connected and assembled through bolts, the size of a gap between a central annular boss 1-2 of the cover plate 1 and the upper end surface of an inner ring 6-3 of the double I-shaped cross beam 6 is 0.12mm-0.24 mm; the size of a gap between the inner wall of the central annular boss 1-2 of the cover plate 1 and the outer wall of the transition joint 9 is 0.08mm-0.16 mm; the size of a gap between a central circular boss of a flat plate 4 of the cross beam base and the lower end face of the inner ring 6-3 of the double I-shaped cross beam 6 is 0.12-0.24 mm. Through the limitation to the gap, the limit protection to the double I-shaped cross beams 6 is formed, and the overload resistance and the safety of the six-dimensional force sensor are improved.
In other preferred embodiments, the number of the resistance strain gauges 10 is twenty-four, and the twenty-four resistance strain gauges 10 are distributed on four vertical plates and four horizontal plates as follows:
wherein, each horizontal plate is provided with three resistance strain gauges 10 which are respectively distributed on the upper surface and the lower surface of the horizontal plate in the form of one or two; two resistance strain gauges 10 are distributed on two adjacent horizontal plates in one group of the four horizontal plates, and one resistance strain gauge 10 is distributed on the other two adjacent horizontal plates;
three resistance strain gauges 10 are arranged on each vertical plate and are respectively distributed on two side surfaces of each vertical plate in the form of one or two; the distribution quantity of the resistance strain gauges 10 on the same side of two vertical plates on the same straight line in the four vertical plates is the same.
Referring to fig. 5, defining a normal line passing through the center of the cross section of the elastic body 6-2B as an X-axis, a normal line passing through the center of the cross section of the elastic body 6-2C as a Y-axis, and determining by a right hand rule in a three-dimensional coordinate system, a Z-axis is obtained, and three axial forces and moments are respectively defined as Fx, Fy, Fz, Mx, My, Mz in a three-dimensional space.
Twenty-four resistance strain gauges 10 are arranged on the surface of the elastic body 6-2 of the double I-shaped cross beam 6, wherein two resistance strain gauges 10 are arranged on one sides, facing the positive direction of the X axis, of the elastic bodies 6-2A and 6-2C on a cross beam of a second I-shaped member close to the inner ring 6-3 of the double I-shaped cross beam 6, and one resistance strain gauge 10 is arranged on one side, facing the negative direction of the X axis; one side of each of the elastic bodies 6-2B and 6-2D facing the positive direction of the Y axis is provided with one resistance strain gauge 10, and one side facing the negative direction of the Y axis is provided with two resistance strain gauges 10; on a beam of a first I-shaped component close to an outer ring 6-1 of the double I-shaped cross beam 6, one side of the elastic bodies 6-2A and 6-2B facing the positive direction of the Z axis is provided with two resistance strain gauges 10, and one side facing the negative direction of the Z axis is provided with one resistance strain gauge 10; one resistance strain gauge 10 is arranged on one side of the elastic bodies 6-2C and 6-2D facing the positive direction of the Z axis, and two resistance strain gauges 10 are arranged on one side facing the negative direction of the Z axis.
Referring to fig. 6, 7 and 8, among the twenty-four resistance strain gauges 10, R1, R2, R3 and R4 form a wheatstone full bridge circuit that measures the force Fx; r5, R6, R7 and R8 form a wheatstone full bridge circuit that measures force Fy; r9, R10, R11 and R12 form a wheatstone full bridge circuit that measures force Fz; r13, R14, R15 and R16 form a Wheatstone full bridge circuit for measuring the moment Mx; r17, R18, R19 and R20 form a Wheatstone full bridge circuit for measuring the torque My; r21, R22, R23 and R24 form a wheatstone full bridge circuit that measures the moment Mz.
Through the optimization design of various structures, the invention has the characteristics of simple structure, convenient processing, low cost, small inter-dimensional coupling, high sensitivity, strong overload resistance, integrated design, flexible application and the like.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (10)
1. The utility model provides an integration six dimension force transducer of two "worker" shape cross beam structures which characterized in that: the method comprises the following steps: the double I-shaped cross beams and the plurality of resistance strain gauges are arranged on the outer side of the double I-shaped cross beams; wherein the content of the first and second substances,
the double I-shaped cross beam comprises an outer ring, four elastic bodies and an inner ring; the four elastic bodies are uniformly distributed between the outer ring and the inner ring in a spoke form, and are symmetrically distributed in a cross shape to form a cross beam for sensitive stress;
the elastic body comprises a first I-shaped member and a second I-shaped member which are arranged vertically, and the cross beams of the first I-shaped member and the second I-shaped member form a horizontal plate and a vertical plate which are vertical to each other respectively;
the plurality of resistance strain gauges are respectively arranged on the upper surface and the lower surface of the horizontal plate and the two side surfaces of the vertical plate.
2. The integrated six-dimensional force sensor of a double I-shaped cross beam structure as claimed in claim 1, wherein: the cross beam base is arranged below the double I-shaped cross beams and is connected with the double I-shaped cross beams into a whole;
the cross beam base comprises a flat plate and four positioning bosses; wherein the content of the first and second substances,
the four positioning bosses are arranged on the upper surface of the flat plate, are uniformly distributed on the upper surface of the flat plate and are used for connecting the outer ring of the double I-shaped cross beam;
the upper surface of the positioning boss is in contact with the lower surface of the double I-shaped cross beam, and a threaded hole is formed in the center of the positioning boss;
the flat plate is provided with a plurality of first through holes penetrating through the upper surface and the lower surface of the flat plate, and the first through holes are used for bolt connection and wire connection of the resistance strain gauge;
a circular boss is arranged in the center of the flat plate, and a gap with a set distance is formed between the upper surface of the circular boss and the lower surface of the inner ring of the double I-shaped cross beam and used for limiting the deformation of the double I-shaped cross beam.
3. The integrated six-dimensional force sensor of a double I-shaped cross beam structure as claimed in claim 2, wherein:
the outer ring is of an annular structure, four convex plates extending inwards are arranged on the inner wall of the outer ring, and the four convex plates are uniformly distributed;
the convex plate is provided with a second through hole, the second through hole and the threaded hole of the positioning boss are positioned on the same axis, and the second through hole is connected with the threaded hole through a bolt so as to realize the connection between the outer ring and the cross beam base;
the inner ring is of a cylindrical structure, four threaded holes which are uniformly distributed are formed in the inner ring, and the threaded holes penetrate through the upper surface and the lower surface of the inner ring.
4. The integrated six-dimensional force sensor of a double I-shaped cross beam structure as claimed in claim 2, wherein: the size of a gap between the circular boss of the cross beam base and the lower end face of the inner ring of the double I-shaped cross beam is 0.12-0.24 mm.
5. The integrated six-dimensional force sensor of a double I-shaped cross beam structure as claimed in claim 2, wherein: the double I-shaped cross beams and the cross beam base are arranged in the shell;
the shell comprises a cover plate, an annular shell and a bottom plate; the cover plate is arranged at the upper part of the annular shell, so that the upper end of the annular shell is closed; the bottom plate is arranged at the lower end of the annular shell, a circle of outer edge is arranged on the outer wall of the lower end of the annular shell, and the outer edge is connected with the bottom plate through a bolt, so that a closed cavity is formed after the cover plate, the annular shell and the bottom plate are assembled;
the center of the cover plate is provided with a center hole and an annular boss, and the center hole penetrates through the upper surface and the lower surface of the cover plate; the annular boss is positioned on the lower end face of the cover plate and extends downwards along the lower surface of the central hole to form a circle of bulges; a gap with a set distance is formed between the lower surface of the annular boss and the upper end surface of the inner ring of the double I-shaped cross beam and is used for limiting the stress deformation of the double I-shaped cross beam; four second bosses are uniformly distributed on the periphery of the central hole, are positioned on the lower surface of the cover plate, extend downwards along the lower surface of the cover plate to form a circle of bulges, and are provided with countersunk holes for bolt connection;
the side surface of the annular shell is provided with a round hole for arranging a cable signal wire;
the cross beam base is located on the annular bulge and connected with the annular bulge through bolts.
6. The integrated six-dimensional force sensor of a double I-shaped cross beam structure as claimed in claim 5, wherein: the size of a gap between the annular boss of the cover plate and the upper end face of the inner ring of the double I-shaped cross beam is 0.12-0.24 mm.
7. The integrated six-dimensional force sensor of a double I-shaped cross beam structure as claimed in claim 5, wherein: the circuit board is arranged in the shell and located below the cross beam base, and the circuit board is connected with the flat plate of the cross beam base through a copper column and a bolt.
8. The integrated six-dimensional force sensor of a double I-shaped cross beam structure as claimed in claim 5, wherein: the transition joint is arranged above the double I-shaped cross beams, penetrates through the cover plate of the shell, and a gap with a set distance is formed between the outer wall of the transition joint and the inner wall of the annular boss of the cover plate;
the cross joint is a circular truncated cone-shaped component, four bolt countersunk holes are formed in the lower end face of the circular truncated cone-shaped component, and the cross joint and the double I-shaped cross beams are connected into a whole through bolts.
9. The integrated six-dimensional force sensor of a double I-shaped cross beam structure according to claim 8, wherein: the size of a gap between the inner wall of the annular boss of the cover plate and the outer wall of the transition joint is 0.08-0.16 mm.
10. The integrated six-dimensional force sensor of a double I-shaped cross beam structure as claimed in claim 1, wherein: the number of the resistance strain gauges is twenty-four, and the distribution of the twenty-four resistance strain gauges on the four vertical plates and the four horizontal plates is as follows:
the resistance strain gauges are arranged on the horizontal plates, and are distributed on the upper surface and the lower surface of the horizontal plates in the number form of one resistance strain gauge and two resistance strain gauges; two resistance strain gauges are distributed on two adjacent horizontal plates in one group of the four horizontal plates, and one resistance strain gauge is distributed on the other two adjacent horizontal plates;
each vertical plate is provided with three resistance strain gauges which are respectively distributed on two side surfaces of the vertical plate in the form of one or two; the number of the distributed resistance strain gauges on the same side face of the two vertical plates on the same straight line in the four vertical plates is the same.
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| CN201911306482.2A CN111103084B (en) | 2019-12-18 | 2019-12-18 | Integrated six-dimensional force sensor with double-cross beam structure |
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| CN201911306482.2A CN111103084B (en) | 2019-12-18 | 2019-12-18 | Integrated six-dimensional force sensor with double-cross beam structure |
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| 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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| CN111103084B (en) | 2022-04-26 |
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