CN201561825U - A kind of elastic body of six-dimensional force sensor - Google Patents
A kind of elastic body of six-dimensional force sensor Download PDFInfo
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- CN201561825U CN201561825U CN200920034818XU CN200920034818U CN201561825U CN 201561825 U CN201561825 U CN 201561825U CN 200920034818X U CN200920034818X U CN 200920034818XU CN 200920034818 U CN200920034818 U CN 200920034818U CN 201561825 U CN201561825 U CN 201561825U
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- 239000011664 nicotinic acid Substances 0.000 abstract description 3
- 230000008878 coupling Effects 0.000 abstract description 2
- 238000010168 coupling process Methods 0.000 abstract description 2
- 238000005859 coupling reaction Methods 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 abstract 2
- 229920001971 elastomer Polymers 0.000 description 5
- 239000000806 elastomer Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
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- 238000010276 construction Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
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Abstract
一种六维力传感器的弹性体，由圆筒形壳体和十字弹性梁结构构成，并且将壳体镂空，分别形成柔性梁(2)、上弹性梁(4)、传力柱(7)、下弹性梁(8)、上凸台(5)、下凸台(9)、上基座(6)、下基座(10)、上支撑(11)和下支撑(12)；十字弹性梁位于壳体内中心；加载台(3)位于十字弹性梁中心；加载台四边分别延伸出应变梁(1)；应变梁的末端与柔性梁相连。上基座(6)和下基座(10)分别位于壳体两端；传力柱(7)位于上凸台(5)、下凸台(9)之间，并由两个相邻的条形孔之间的壳体形成。本实用新型具有结构紧凑、刚度大、维间耦合小、精度高、动态性能好的特点，能够用于智能机器人研究、自动化检测和控制、仿生运动分析和体育运动研究。
An elastic body of a six-dimensional force sensor, which is composed of a cylindrical shell and a cross elastic beam structure, and the shell is hollowed out to form a flexible beam (2), an upper elastic beam (4), and a force transmission column (7) , lower elastic beam (8), upper boss (5), lower boss (9), upper base (6), lower base (10), upper support (11) and lower support (12); cross elastic The beam is located at the center of the shell; the loading platform (3) is located at the center of the cross elastic beam; the four sides of the loading platform respectively extend the strain beams (1); the end of the strain beam is connected with the flexible beam. The upper base (6) and the lower base (10) are respectively located at both ends of the housing; the force transmission column (7) is located between the upper boss (5) and the lower boss (9), and is formed by two A shell is formed between the strip holes. The utility model has the characteristics of compact structure, high rigidity, small coupling between dimensions, high precision and good dynamic performance, and can be used for intelligent robot research, automatic detection and control, bionic motion analysis and sports research.
Description
Technical field
The present invention relates to force transducer and manufacture and design the field, specifically is a kind of elastic body of six-dimension force sensor.
Background technology
Six-dimension force sensor can be measured three-dimensional all one's effort information, is widely used in research fields such as intelligent robot, control automatically, Aero-Space, bionic movement, plays an important role in commercial production, national defense construction and scientific technological advance.For the research of six-dimension force sensor, its key problem is elastomeric structural design, and elastomeric structures shape rigidity, resolution, sensitivity and the dynamic property etc. of sensor, is the key point of sensor performance quality.Research about six-dimension force sensor, formed multiple patented technology, as: patent CN 2233081Y discloses a kind of integrated sextuple power/torque sensor that is combined by disk body structure and tube structure, have advantages such as highly sensitive, easy processing, but its disk body structure has reduced Z to rigidity, and exist couple of force to a certain degree to close, can't realize full decoupled; Patent CN 2066134U discloses the sextuple power/torque sensor of a kind of cylindrical shape up-down structure, and this structure radially dynamometry disturbs to axial dynamometry, and the columnar structured axial dimension that increased has reduced the dynamic property of sensor; Two kinds of double-deck up-down structure six-dimension force sensors are disclosed in publication number is the patent of CN 101329208A and CN 101329207A, the both is a Stewart formula parallel-connection structure subassembly, have that measuring principle is simple, precision is high, can bear bigger characteristics such as disturbing moment, but structure is not compact, volume is bigger, and late time data is handled complicated.
Summary of the invention
In order to overcome problems of the prior art and defective, the present invention proposes a kind of elastic body of six-dimension force sensor.
The present invention is made of cylindrical shell and cross elastic beam structure, it is characterized in that, form elastomeric housing and be along housing shaft symmetrical structure up and down, and, flexible beam, last elastic beam, force-transmitting pole, following elastic beam, convex platform, lower convex platform, top base, bottom base, upper support and lower support have been formed respectively with the housing hollow out; The cross elastic beam is positioned at the cylinder center, is made of strain beam and loading bench.Top base and bottom base lay respectively at the two ends of cylinder; Below top base, go out four rectangular openings along the even hollow out of the circumferencial direction of housing, and the middle part of the same side of each rectangular opening there is boss.Housing between per two adjacent rectangular openings forms upper support.Above bottom base, go out four rectangular openings along the even hollow out of the circumferencial direction of housing, and the middle part of the same side of each rectangular opening there is lower convex platform.Housing between per two adjacent rectangular openings forms lower support.Force-transmitting pole is between top base and bottom base.There are two rows to be symmetrical in the bar hole at housing center up and down at the housing circumferencial direction; Align in adjacent with two convex platforms respectively limit, the two ends of each bar hole in the last row bar hole; Align in adjacent with two lower convex platforms respectively limit, the two ends of arranging each bar hole in the bar hole down; Last row bar hole and top have the housing between the rectangular opening of boss to form elastic beam; The housing of arranging down between the rectangular opening that there is boss bar hole and below forms down elastic beam.Force-transmitting pole and is formed by the housing between two adjacent bar holes between convex platform, lower convex platform.Between per two the adjacent force-transmitting poles in circular cylindrical shell middle part, cut the housing circular arc external surface and form flexible beam; The middle part of flexible beam is connected with strain beam is terminal.
The one axial manhole that connects loading bench is arranged at loading bench end face center; Four sides of loading bench periphery are extended strain beam respectively; The hole that axially connects along loading bench is arranged on the strain beam.
Gap between convex platform upper surface and the top base lower surface equates with gap between lower convex platform lower surface and the bottom base upper surface.The tapped through hole that connects housing wall is arranged on upper support.
The form that the present invention adopts cross elastic beam structure and cylinder type to combine, compare with cross elastic beam structure six-dimension force transducer and to have dwindled radial dimension, compare with the cylinder type six-dimension force sensor and to have dwindled axial dimension, thereby dwindle the overall dimensions of sensor; The cross elastic beam of this sensor is used to measure Fx, Fy, Mz three-dimensional force/moment, and the upper and lower elastic beam of cylinder type is used to measure Fz, Mx, My three-dimensional force/moment, realizes sextuple power decoupling zero from structure, reaches direct output effect; Adopt symmetrical structure up and down, eliminated radially that dynamometry has strengthened power decoupling zero effect to the interference of axial dynamometry, increased Z to range and rigidity, and adopted convex platform and lower convex platform to realize the sensor overload protection; The monoblock type symmetrical structure has improved the rigidity and the dynamic property of sensor, has reduced reproducibility error, has guaranteed the measuring accuracy of sensor.This sensor adopts integral structure, can detect six-dimensional space power simultaneously, advantage such as have that compact conformation, rigidity are big, coupling is little between dimension, precision is high, dynamic property is good, change the needs that physical dimension can satisfy different occasions, be applicable to fields such as Research on Intelligent Robots, robotization detection and control, bionic movement analysis, sports movement research.
Description of drawings
Accompanying drawing 3 is expansion synoptic diagram of sensor elastomer housing inner periphery.In the accompanying drawing,
1. elastic beam 5. convex platforms on strain beam 2. flexible beams 3. loading bench 4.
6. 8. times elastic beams of top base 7. force-transmitting poles, 9. lower convex platforms, 10. bottom bases
11. upper support 12. lower supports
Embodiment
Present embodiment is a kind of elastic body of symmetrical structure six-dimension force sensor.
Present embodiment requires to determine range according to the robot motion, Fz strength journey 2000N, Fx, Fy strength journey 1500N, Mz, Mx, My moment range 75Nm, it is as follows to determine the sensor elastomer critical size according to range: strain beam minimum thickness 2.3mm, last elastic beam and the thick 2mm of following elastic beam, sensor elastomer maximum outside diameter φ 45mm, overall height 32mm.
As shown in Figure 1, present embodiment comprises sensor elastomer and resistance strain gage, and elastic body is made of cylindrical shell and cross elastic beam structure.With the housing hollow out, the flexible beam 2 of present embodiment, last elastic beam 4, force-transmitting pole 7, following elastic beam 8, convex platform 5, lower convex platform 9, top base 6, bottom base 10, upper support 11 and lower support 12 have been formed respectively; The cross elastic beam is positioned at the cylinder center, is made of strain beam 1 and loading bench 3.Top base 6 and bottom base 10 lay respectively at the two ends of cylinder.As shown in Figure 2, below top base 6, along the even hollow out of the circumferencial direction of the housing rectangular opening that to go out four two ends inside surfaces be circular arc, and there is boss at the middle part of the same side of each rectangular opening, and this boss has formed convex platform 5; Housing between per two adjacent rectangular openings forms upper support 11; The tapped through hole that connects housing wall is arranged on upper support 11.Above bottom base 10, along the even hollow out of the circumferencial direction of the housing rectangular opening that to go out four two ends inside surfaces be circular arc, and there is boss at the middle part of the same side of each rectangular opening, and this boss has formed lower convex platform 9; Housing between per two adjacent rectangular openings forms lower support 12; The tapped through hole that axial perforation bottom base and lower support 12 are arranged on bottom base 10.
As shown in Figure 3, there are two rows to be symmetrical in the bar hole at housing center up and down at the housing circumferencial direction; Last row's bar hole is under upper support, and following row's bar hole is directly over lower support; Align in adjacent with two convex platforms 5 respectively limit, the two ends of each bar hole in the last row bar hole; Align in adjacent with two lower convex platforms 9 respectively limit, the two ends of arranging each bar hole in the bar hole down.Force-transmitting pole 7 and is formed by the housing between two adjacent bar holes between convex platform 5, lower convex platform 9.Last row bar hole and top have the housing between the rectangular opening of boss to form elastic beam 4; The housing of arranging down between the rectangular opening that there is boss bar hole and below forms down elastic beam 8.Between per two the adjacent force-transmitting poles 7 in circular cylindrical shell middle part, cut the housing circular arc external surface and form flexible beam 2; The middle part of flexible beam 2 and 1 terminal connection of strain beam.
Present embodiment is that last elastic beam 4, convex platform 5, top base 6, upper support 11 are the symmetrical structure that shape is identical, direction is opposite with following elastic beam 8, lower convex platform 9, bottom base 10, lower support 12 along the axial symmetrical structure up and down of circular cylindrical shell; Force-transmitting pole 7 is between top base 6 and bottom base 10.
The profile of cross elastic beam structure is cruciform, and the center is the loading bench 3 of cuboid; The one axial manhole that connects loading bench 3 is arranged at loading bench 3 end face centers; A threaded hole that axially connects loading bench 3 is all arranged on four angles of loading bench 3 end faces; Four sides of loading bench 3 peripheries are extended a strain beam 1 respectively, and the end of this strain beam 1 links to each other with flexible beam 2; The hole that axially connects along loading bench 3 is arranged on the strain beam 1, be used to improve the strain sensitivity of strain beam 1.
Gap between convex platform 5 upper surfaces and top base 6 lower surfaces equates with gap between lower convex platform 9 lower surfaces and bottom base 10 upper surfaces, gets gap 0.3mm in the present embodiment; Convex platform 5 and top base 6 constitute overload protection arrangement with lower convex platform 9 and bottom base 10, realize overload protection function.
To measure Fz is example, axial force F z loads on loading bench 3 upper surfaces of cross elastic beam, be delivered on the flexible beam 2 that is attached thereto by strain beam 1, the height dimension of flexible beam 2 is much larger than its gauge, the height dimension direction of Fz direction and flexible beam 2 is consistent, so flexible beam can be regarded buckstay as; Axial force F z is delivered on four force-transmitting poles 7 by equally distributed four flexible beams 2 of periphery, four force-transmitting poles 7 drive elastic beam 4 simultaneously and elastic deformations take place following elastic beam 8, in the measurement on elastic beam 4 and the following elastic beam 8 dependent variable in strain sensitive zone get final product; Since Fz and Mx, My on last elastic beam 4 and following elastic beam 8 the strain sensitive zone answer Variable Polarity different, can judge in view of the above and measure Fz.
Claims (4)
1. the elastic body of a six-dimension force sensor is made of cylindrical hull structural and cross elastic beam structure; It is characterized in that, form elastomeric housing and be along housing shaft symmetrical structure up and down, and
A. with the housing hollow out, flexible beam (2), last elastic beam (4), force-transmitting pole (7), following elastic beam (8), convex platform (5), lower convex platform (9), top base (6), bottom base (10), upper support (11) and lower support (12) have been formed respectively; The cross elastic beam is positioned at the cylinder center, is made of strain beam (1) and loading bench (3);
B. top base (6) and bottom base (10) lay respectively at the two ends of cylinder; Below in top base (6) goes out four rectangular openings along the even hollow out of the circumferencial direction of housing, and there is boss (5) at the middle part of the same side of each rectangular opening; Housing between per two adjacent rectangular openings forms upper support (11); Top in bottom base (10) goes out four rectangular openings along the even hollow out of the circumferencial direction of housing, and there is lower convex platform (9) at the middle part of the same side of each rectangular opening; Housing between per two adjacent rectangular openings forms lower support (12); Force-transmitting pole (7) is positioned between top base (6) and the bottom base (10);
C. there are two rows to be symmetrical in the bar hole at housing center up and down at the housing circumferencial direction; Align in adjacent with two convex platforms (5) the respectively limit, two ends of each bar hole in last row's bar hole; Arranging adjacent with two lower convex platforms (9) the respectively limit, two ends of each bar hole in the bar hole down aligns; Last row bar hole and top have the housing between the rectangular opening of boss to form elastic beam (4); The housing of arranging down between the rectangular opening that there is boss bar hole and below forms down elastic beam (8);
D. force-transmitting pole (7) is positioned between convex platform (5), the lower convex platform (9), and is formed by the housing between two adjacent bar holes; Between circular cylindrical shell per two the adjacent force-transmitting poles in middle part (7), cut the housing circular arc external surface and form flexible beam (2); The middle part of flexible beam (2) is connected with strain beam (1) is terminal;
2. a kind of elastic body of six-dimension force sensor according to claim 1 is characterized in that, a manhole that axially connects loading bench (3) is arranged at loading bench (3) end face center; Four sides of loading bench (3) periphery are extended strain beam (1) respectively; The hole that axially connects along loading bench (3) is arranged on the strain beam (1).
3. a kind of elastic body of six-dimension force sensor according to claim 1 is characterized in that, the gap between convex platform (5) upper surface and top base (6) lower surface equates with gap between lower convex platform (9) lower surface and bottom base (10) upper surface.
4. a kind of elastic body of six-dimension force sensor according to claim 1 is characterized in that, the tapped through hole that connects housing wall is arranged on upper support (11).
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| Application Number | Priority Date | Filing Date | Title |
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| CN200920034818XU CN201561825U (en) | 2009-09-29 | 2009-09-29 | A kind of elastic body of six-dimensional force sensor |
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| CN200920034818XU CN201561825U (en) | 2009-09-29 | 2009-09-29 | A kind of elastic body of six-dimensional force sensor |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102353483A (en) * | 2011-07-08 | 2012-02-15 | 吉林大学 | Device for detecting three-dimensional micro mechanical signal |
| CN105181193A (en) * | 2015-10-21 | 2015-12-23 | 武汉科技大学 | Optical bragg grating six-dimension-force sensor, as well as main body structure and measurement method thereof |
| CN105841856A (en) * | 2016-05-10 | 2016-08-10 | 东南大学 | Whisker sensor for perceiving three-dimensional force displacement and three-dimensional force of contact point |
| CN106482877A (en) * | 2016-11-25 | 2017-03-08 | 天津大寰胞融科技有限公司 | Five-dimensional force sensor structure based on double-layer planar spring |
| CN106768522A (en) * | 2017-01-20 | 2017-05-31 | 合肥工业大学 | A kind of elastomer for six-dimensional force sensor |
| CN107044898A (en) * | 2017-03-28 | 2017-08-15 | 东南大学 | A kind of six-dimension force sensor of flexible body structure |
| CN107750329A (en) * | 2015-05-08 | 2018-03-02 | Mts系统公司 | Multi-axis force sensor body |
| CN109238529A (en) * | 2018-11-16 | 2019-01-18 | 合肥工业大学 | A kind of six-dimension force sensor |
| CN110703407A (en) * | 2019-10-17 | 2020-01-17 | 中国科学院长春光学精密机械与物理研究所 | High-precision spliced reflector supporting and driving structure |
| CN110987244A (en) * | 2019-10-08 | 2020-04-10 | 珠海格力电器股份有限公司 | Flat disc type six-dimensional force sensor based on eddy current effect, detection method and intelligent equipment |
| CN114001855A (en) * | 2021-11-12 | 2022-02-01 | 珠海格力电器股份有限公司 | A six-dimensional force sensor and calibration device |
| CN114018462A (en) * | 2021-10-22 | 2022-02-08 | 珠海格力电器股份有限公司 | Elastomer structure, force sensor and smart machine |
| CN114842988A (en) * | 2022-05-10 | 2022-08-02 | 西安交通大学 | Evacuation flow washing device and method for ICF helium chamber |
| CN114842986A (en) * | 2022-05-10 | 2022-08-02 | 西安交通大学 | Evacuation flow washing device and method for ICF target pellets |
| CN115290232A (en) * | 2022-06-20 | 2022-11-04 | 无锡盛赛传感科技有限公司 | Annular microminiature force-sensitive ceramic tension sensor |
| CN118342487A (en) * | 2024-06-13 | 2024-07-16 | 中国人民解放军军事科学院国防科技创新研究院 | Mechanical arm for multipoint measurement based on distributed flexible sensor and control method |
-
2009
- 2009-09-29 CN CN200920034818XU patent/CN201561825U/en not_active Expired - Fee Related
Cited By (22)
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| CN102353483A (en) * | 2011-07-08 | 2012-02-15 | 吉林大学 | Device for detecting three-dimensional micro mechanical signal |
| CN107750329B (en) * | 2015-05-08 | 2020-08-14 | Mts系统公司 | Multi-axis force cell sensor body |
| CN107750329A (en) * | 2015-05-08 | 2018-03-02 | Mts系统公司 | Multi-axis force sensor body |
| CN105181193B (en) * | 2015-10-21 | 2017-10-10 | 武汉科技大学 | Fiber grating six-dimension force sensor and its agent structure and measuring method |
| CN105181193A (en) * | 2015-10-21 | 2015-12-23 | 武汉科技大学 | Optical bragg grating six-dimension-force sensor, as well as main body structure and measurement method thereof |
| CN105841856B (en) * | 2016-05-10 | 2019-01-29 | 东南大学 | A kind of Whisker Sensor of perception contact point three-dimensional force displacement and three-dimensional force |
| CN105841856A (en) * | 2016-05-10 | 2016-08-10 | 东南大学 | Whisker sensor for perceiving three-dimensional force displacement and three-dimensional force of contact point |
| CN106482877A (en) * | 2016-11-25 | 2017-03-08 | 天津大寰胞融科技有限公司 | Five-dimensional force sensor structure based on double-layer planar spring |
| CN106768522A (en) * | 2017-01-20 | 2017-05-31 | 合肥工业大学 | A kind of elastomer for six-dimensional force sensor |
| CN106768522B (en) * | 2017-01-20 | 2023-03-24 | 合肥工业大学 | Six-dimensional force sensor elastomer |
| CN107044898A (en) * | 2017-03-28 | 2017-08-15 | 东南大学 | A kind of six-dimension force sensor of flexible body structure |
| CN107044898B (en) * | 2017-03-28 | 2022-11-29 | 东南大学 | Six-dimensional force sensor with elastomer structure |
| CN109238529A (en) * | 2018-11-16 | 2019-01-18 | 合肥工业大学 | A kind of six-dimension force sensor |
| CN110987244A (en) * | 2019-10-08 | 2020-04-10 | 珠海格力电器股份有限公司 | Flat disc type six-dimensional force sensor based on eddy current effect, detection method and intelligent equipment |
| CN110987244B (en) * | 2019-10-08 | 2021-01-29 | 珠海格力电器股份有限公司 | Flat disc type six-dimensional force sensor, detection method and intelligent equipment |
| CN110703407A (en) * | 2019-10-17 | 2020-01-17 | 中国科学院长春光学精密机械与物理研究所 | High-precision spliced reflector supporting and driving structure |
| CN114018462A (en) * | 2021-10-22 | 2022-02-08 | 珠海格力电器股份有限公司 | Elastomer structure, force sensor and smart machine |
| CN114001855A (en) * | 2021-11-12 | 2022-02-01 | 珠海格力电器股份有限公司 | A six-dimensional force sensor and calibration device |
| CN114842988A (en) * | 2022-05-10 | 2022-08-02 | 西安交通大学 | Evacuation flow washing device and method for ICF helium chamber |
| CN114842986A (en) * | 2022-05-10 | 2022-08-02 | 西安交通大学 | Evacuation flow washing device and method for ICF target pellets |
| CN115290232A (en) * | 2022-06-20 | 2022-11-04 | 无锡盛赛传感科技有限公司 | Annular microminiature force-sensitive ceramic tension sensor |
| CN118342487A (en) * | 2024-06-13 | 2024-07-16 | 中国人民解放军军事科学院国防科技创新研究院 | Mechanical arm for multipoint measurement based on distributed flexible sensor and control method |
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Granted publication date: 20100825 Termination date: 20130929 |