CN204346630U - A kind of six-dimension force sensor - Google Patents
A kind of six-dimension force sensor Download PDFInfo
- Publication number
- CN204346630U CN204346630U CN201520038526.9U CN201520038526U CN204346630U CN 204346630 U CN204346630 U CN 204346630U CN 201520038526 U CN201520038526 U CN 201520038526U CN 204346630 U CN204346630 U CN 204346630U
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- curb girder
- cylindrical shell
- elastic
- round platform
- ball pivot
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Abstract
The utility model discloses a kind of six-dimension force sensor, comprise the cylindrical shell that inside is provided with hollow space, cylindrical shell lower central projects upwards formation one round platform, round platform top surrounding lays an elastic beam every 90 °, 4 elastic beams form rood beam, each elastic beam is hinged a curb girder near the end of cylindrical shell by elastic ball, and the two ends of described curb girder are fixed on cylinder inner surface, has a fixed gap away from the side of the curb girder of elastic beam and cylinder inner surface; Also be provided with loading bench in described cylindrical shell, this loading bench is connected with rood beam by elasticity ball pivot; A foil gauge is arranged on surface near round platform on four faces of each elastic beam; A foil gauge is arranged on surface near elasticity ball pivot on four faces of each curb girder.The utility model adopts new loading mode of transfer force and compact structure form, and can realize the stable and uniform loading power transmission process, significantly improve the strain sensitivity of elastic beam, structure decoupling is good.
Description
Technical field
The utility model relates to sensor design and manufactures field, particularly relates to a kind of six-dimension force sensor being applicable to industrial robot dynamic performance and detecting.
Background technology
Six-dimension force sensor can detect three-dimensional all one's effort information simultaneously, i.e. three force components and three moment components.Be widely used in, in the operations such as Fine Boring, automatic grinding, Contour extraction, two hands coordination, zero-g teaching, in intelligent robot, Aero-Space, machining and automobile and other industries, having very important application.
In six-dimension force sensor design, the topology layout of force sensing element and the stickup form of resistance strain gage determine the performance index such as the precision of designed sensor, sensitivity and rigidity to a great extent.Therefore, design the force sensing element of reasonable and adopt suitable paster mode to seem particularly crucial.In the last few years, the Patents about six-dimension force sensor research was issued successively, although these patents have certain advantage, also there are some shortcomings.
A kind of integrated six-dimensional force/torque sensor combined by body structure and tube structure is disclosed in patent CN223308Y, this sensor have be easy to processing, sensitivity advantages of higher, but the couple of force that its structure itself exists to a certain degree closes, cannot realize full decoupled, power transmission process is unstable.Patent ZL99102421.4 discloses a kind of parallel institution six-dimension force sensor based on elasticity ball pivot, adopts elasticity ball pivot to replace common ball pivot, eliminates gap and the friction of the existence of common ball pivot; Patent ZL200810054666.x discloses a kind of elastic hinge parallel 6-UPUR six-dimension force-measuring platform with six branches, makes such sensor comparable elasticity ball pivot sensor bear larger load.Can find, said structure also also exists the shortcoming comparatively large, structure is not compact, power transmission is uneven that takes up room.
Utility model content
The purpose of this utility model is to provide a kind of six-dimension force sensor, and this sensor can detect three dimensions force and moment.
The purpose of this utility model is realized by such technical scheme, a kind of six-dimension force sensor, comprise the cylindrical shell 42 that inside is provided with hollow space, cylindrical shell lower central projects upwards formation one round platform 44, round platform top surrounding lays an elastic beam 43 every 90 °, 4 elastic beams form rood beam, each elastic beam connects a curb girder 45 near the end of cylindrical shell by elasticity ball pivot 46, the two ends of described curb girder are fixed on cylinder inner surface, have a fixed gap away from the side of the curb girder of elastic beam and cylinder inner surface; Also be provided with loading bench in described cylindrical shell, this loading bench is connected with rood beam by elasticity ball pivot; A foil gauge is arranged on surface near round platform on four faces of each elastic beam; A foil gauge is arranged on surface near elasticity ball pivot on four faces of each curb girder.
Further, each curb girder and cylindrical shell junction are provided with groove 49, and the two ends of curb girder are fixedly connected with the cell wall of groove.
Further, described loading bench comprises the circular configuration being positioned at center and 4 the power transmission legs 47 extended outward along circular configuration, and the short cylinder 48 with its one is all arranged at the bottom of each power transmission leg end, and each right cylinder is connected with curb girder by elasticity ball pivot.
Further, described circular configuration center is provided with a manhole.
Further, each power transmission leg is provided with a tapped through hole.
Owing to adopting technique scheme, the utility model has following advantage:
The utility model adopts new loading mode of transfer force and compact structure form, and can realize the stable and uniform loading power transmission process, significantly improve the strain sensitivity of elastic beam, structure decoupling is good; The compact of structure also substantially increases integral rigidity simultaneously, and each flank force photosensitive elements also significantly improves measuring accuracy while design size reduces.Can be used for industrial robot key mechanics Performance Detection.
Accompanying drawing explanation
In order to make the purpose of this utility model, technical scheme and advantage clearly, below in conjunction with accompanying drawing, the utility model is described in further detail, wherein:
Fig. 1 is contour structures schematic diagram of the present utility model;
Fig. 2 is loading bench contour structures schematic diagram;
Fig. 3 is the construction profile schematic diagram of round platform and rood beam;
Fig. 4 is resistance strain gauge adhesion schematic diagram on curb girder and rood beam.
Embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearly, below in conjunction with accompanying drawing, the utility model is described in further detail.
As shown in Figures 1 to 3, a kind of six-dimension force sensor, comprises cylindrical shell 41, round platform 42, rood beam, curb girder 45, loading bench 44, elasticity ball pivot 46, the several key component of foil gauge.Except the loading bench that elastic ball is hinged, remainder adopts monolithic construction.The overall appearance of sensor is embodied by the outer curved surface of cylindrical shell, and cylindrical shell upper and lower surface is parallel, periphery surface is joined by plane and circular arc camber and forms, and inner barrel has hollow space, is furnished with other part-structures.
Described round platform is projected upwards by cylindrical shell lower central and is formed, and round platform and cylindrical shell have identical central axis, and round platform diameter is less than cylinder internal diameter, and it is highly no more than 1/2 of cylindrical shell height.Round platform top surrounding is laid an elastic beam 43,4 elastic beams every 90 ° and is formed rood beam, and rood beam and round platform are also integrated.
Each elastic beam end is hinged a curb girder by elastic ball, and two relative curb girders are parallel to each other.Each curb girder and cylindrical shell junction are provided with groove 49, and the two ends of curb girder are fixedly connected with the cell wall of groove, have a fixed gap away from the side of the curb girder of elastic beam and cylinder inner surface.Also be provided with loading bench in described cylindrical shell, described loading bench is used for the loading of power or moment, and this loading bench is connected with rood beam by elasticity ball pivot; A foil gauge is arranged on surface near round platform on four faces of each elastic beam; A foil gauge is arranged on surface near elasticity ball pivot on four faces of each curb girder.
In the present embodiment, loading bench comprises that to be positioned at center be circular configuration and outwards evenly extend 4 power transmission legs 47 along arc-shaped edges, each power transmission leg bottom all have with its one short cylinder 48,4 tapped through holes and 1 manhole be evenly distributed on loading bench.Loading bench and cylindrical shell are also located as coaxial line structure, and loading bench upper surface is a little more than cylindrical shell upper surface, and the short cylinder in face, loading bench every collateral underfooting is positioned in the middle part of corresponding curb girder above upper surface, and is connected with curb girder by elasticity ball pivot, realizes power transmission function.
As shown in Figure 1 and Figure 2, loading bench center is circular and outwards evenly extends 4 power transmission legs along arc-shaped edges, and the short cylinder with its one is all arranged at each power transmission leg bottom, and 4 tapped through holes and 1 manhole are evenly distributed on loading bench.Compare the mode of traditional concentrated loading power (square), concentrated force (square) can be distributed on four power transmission legs by this kind of load mode, the junction of rood beam and curb girder is delivered to through short cylinder, power transmission stability is better, and the shape of loading bench is also conducive to the homogeneity of power transmission simultaneously.
As shown in Figure 1, Figure 3, round platform top surrounding is uniformly distributed 4 cross elastic beams, and round platform bottom and cylindrical shell are integrated.The value-added tax function of round platform is in the past transformed to the function of carrying rood beam by this kind of structure, stressed 4 side ends being also transformed to rood beam by the center of rood beam of rood beam, ensure rood beam stressed more even, answer variation more sensitive.
As Figure 1 and Figure 4, in the utility model structure, 8 elasticity ball pivots play a part to connect different piece, and wherein 4 elastic balls are hinged then rood beam and curb girder, and 4 elastic balls are hinged then loading bench and curb girder.Compare with traditional simple rood beam stand under load mode, this kind of structure ensure that curb girder and rood beam can be subject to the effect of load, and the dependent variable needed for producing smoothly.Compare common ball pivot, elasticity ball pivot does not have the impact of structure interval simultaneously, ensure that stand under load produces the precision of strain.
Force sensing element of the present utility model is curb girder and rood beam, and paste 32 foil gauges altogether in its surface, its distribution situation is as follows: lay foil gauge 1,3 at+y ,-y respectively to the place of the close round platform of rood beam upper surface; Foil gauge 2,4 is laid respectively to the place of the close round platform of rood beam lower surface at+y ,-y; Foil gauge 8,5 is laid respectively to the place of the close round platform of rood beam upper surface at+x ,-x; Foil gauge 7,6 is laid respectively to the place of the close round platform of rood beam lower surface at+x ,-x; Foil gauge 9,10,11,12 is laid respectively in the place of+the y ,-y close round platform in surface to about rood beam; Foil gauge 15,16,13,14 is laid respectively in the place of+the x ,-x close round platform in surface to about rood beam; Foil gauge 23,31 is laid respectively to the place of the close elasticity ball pivot of curb girder upper surface at+y ,-y; Foil gauge 24,32 is laid respectively to the place of the close elasticity ball pivot of curb girder lower surface at+y ,-y; Foil gauge 27,19 is laid respectively to the place of the close elasticity ball pivot of curb girder upper surface at+x ,-x; Foil gauge 28,20 is laid respectively to the place of the close elasticity ball pivot of curb girder lower surface at+x ,-x; Foil gauge 21,22,29,30 is laid respectively to the place of the close elasticity ball pivot of curb girder both side surface at+y ,-y; Foil gauge 25,26,17,18 is laid respectively to the place of the close elasticity ball pivot of curb girder both side surface at+x ,-x.
In the utility model, foil gauge group bridge mode is full-bridge favour Stone circuit, and direct decoupling exports the power F along x, y, z direction
x, F
y, F
zand the moment M around x, y, z direction
x, M
y, M
z, wherein: x forms one group of full-bridge favour Stone circuit, for detecting F to foil gauge on curb girder 17,18,25,26
x; Y forms one group of full-bridge favour Stone circuit, for detecting F to foil gauge on curb girder 21,22,29,30
y; X, y form one group of full-bridge favour Stone circuit, for detecting F to foil gauge on rood beam 1,2,3,4,5,6,7,8
z; Y forms one group of full-bridge favour Stone circuit, for detecting M to foil gauge on curb girder 23,24,31,32
x; X forms one group of full-bridge favour Stone circuit, for detecting M to foil gauge on curb girder 19,20,27,28
y; X, y form one group of full-bridge favour Stone circuit, for detecting M to foil gauge on rood beam 9,10,11,12,13,14,15,16
z.
To measure F
zfor example, axial force F
zload on loading bench upper surface, be delivered on the short cylinder of 4 underfooting by loading bench 4 leg dispersions, the short cylinder of every side transfers loads on 4 curb girders by elasticity ball pivot, every side curb girder is while generation elastic deformation, also transfer loads on rood beam by elasticity ball pivot, the elastic deformation that rood beam produces can cause the foil gauge 1,2,3,4,5,6,7,8 pasted to produce strain above, and by electric bridge by F
zthe elastic strain produced is converted to voltage signal, then through signal amplification circuit amplification, filtering circuit filtering, finally carries out A/D conversion by signal acquiring system, hands over computing machine read and be scaled magnitude of voltage the data obtained, and is converted to F in conjunction with calibration coefficient
zforce value.
The present embodiment according to the range of industrial robot motion situation determination six-dimension force sensor, wherein along x, y, z to strength journey F
x, F
y, F
z2500N, 2500N, 5000N respectively, around x, y, z to moment range M
x, M
y, M
z60Nm, 60Nm, 30Nm respectively.Tentatively determine that the critical size of sensor is: curb girder height 3mm, wide 2mm according to range and numerical simulation result; Cross deck-molding 3mm, wide 2mm; Round platform diameter 20mm; Cylindrical shell external diameter 50mm, high 45mm.
The utility model adopts new loading mode of transfer force and compact structure form, and can realize the stable and uniform loading power transmission process, significantly improve the strain sensitivity of elastic beam, structure decoupling is good; The compact of structure also substantially increases integral rigidity simultaneously, and each flank force photosensitive elements also significantly improves measuring accuracy while design size reduces.Can be used for industrial robot key mechanics Performance Detection.
What finally illustrate is, above embodiment is only in order to illustrate the technical solution of the utility model and unrestricted, although be described in detail the utility model with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify to the technical solution of the utility model or equivalent replacement, and not departing from aim and the scope of the technical program, it all should be encompassed in the middle of right of the present utility model.
Claims (5)
1. a six-dimension force sensor, it is characterized in that: comprise the cylindrical shell (42) that inside is provided with hollow space, cylindrical shell lower central projects upwards formation one round platform (44), round platform top surrounding lays an elastic beam (43) every 90 °, 4 elastic beams form rood beam, each elastic beam connects a curb girder (45) near the end of cylindrical shell by elasticity ball pivot (46), the two ends of described curb girder are fixed on cylinder inner surface, have a fixed gap away from the side of the curb girder of elastic beam and cylinder inner surface;
Also be provided with loading bench in described cylindrical shell, this loading bench is connected with rood beam by elasticity ball pivot; A foil gauge is arranged on surface near round platform on four faces of each elastic beam; A foil gauge is arranged on surface near elasticity ball pivot on four faces of each curb girder.
2. six-dimension force sensor according to claim 1, is characterized in that: each curb girder and cylindrical shell junction are provided with groove (49), and the two ends of curb girder are fixedly connected with the cell wall of groove.
3. six-dimension force sensor according to claim 1, it is characterized in that: described loading bench comprises the circular configuration being positioned at center and 4 the power transmission legs (47) extended outward along circular configuration, short cylinder (48) with its one is all arranged at the bottom of each power transmission leg end, and each right cylinder is connected with curb girder by elasticity ball pivot.
4. six-dimension force sensor according to claim 3, is characterized in that: described circular configuration center is provided with a manhole.
5. six-dimension force sensor according to claim 3, is characterized in that: each power transmission leg is provided with a tapped through hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520038526.9U CN204346630U (en) | 2015-01-20 | 2015-01-20 | A kind of six-dimension force sensor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520038526.9U CN204346630U (en) | 2015-01-20 | 2015-01-20 | A kind of six-dimension force sensor |
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| Publication Number | Publication Date |
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| CN204346630U true CN204346630U (en) | 2015-05-20 |
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| CN201520038526.9U Expired - Fee Related CN204346630U (en) | 2015-01-20 | 2015-01-20 | A kind of six-dimension force sensor |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106124113A (en) * | 2016-06-14 | 2016-11-16 | 南京神源生智能科技有限公司 | A kind of new six power and torque sensor |
| CN106153237A (en) * | 2016-06-14 | 2016-11-23 | 南京神源生智能科技有限公司 | A kind of small-sized six-dimensional force and torque sensor |
| 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 |
| CN108041764A (en) * | 2018-01-17 | 2018-05-18 | 彭玉鑫 | A kind of wearable vola array three-dimensional strength measurement system |
| CN109974917A (en) * | 2019-04-16 | 2019-07-05 | 上海交通大学 | A kind of six-dimension force sensor cloth chip architecture that strain is concentrated |
| CN110514341A (en) * | 2019-08-30 | 2019-11-29 | 中国科学院长春光学精密机械与物理研究所 | A kind of six-dimensional force and torque sensor of the space flight mechanical arm with fault-tolerant ability |
| CN112611499A (en) * | 2019-09-18 | 2021-04-06 | 马洪文 | Method for measuring micro displacement of load platform of multi-dimensional force sensor and method for mounting measuring sensitive element |
| CN113567030A (en) * | 2021-07-28 | 2021-10-29 | 华北水利水电大学 | Plane series non-coupling six-dimensional wrist force sensor |
| CN115711698A (en) * | 2022-11-22 | 2023-02-24 | 东南大学深圳研究院 | Variable structure elastic beam of six-dimensional force sensor |
-
2015
- 2015-01-20 CN CN201520038526.9U patent/CN204346630U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106124113B (en) * | 2016-06-14 | 2020-08-21 | 南京神源生智能科技有限公司 | Novel six-dimensional force and torque sensor |
| CN106153237A (en) * | 2016-06-14 | 2016-11-23 | 南京神源生智能科技有限公司 | A kind of small-sized six-dimensional force and torque sensor |
| WO2017215333A1 (en) * | 2016-06-14 | 2017-12-21 | 南京神源生智能科技有限公司 | Compact six-dimensional force and torque sensor |
| CN106124113A (en) * | 2016-06-14 | 2016-11-16 | 南京神源生智能科技有限公司 | A kind of new six power and torque sensor |
| US10520380B2 (en) | 2016-06-14 | 2019-12-31 | Nanjing Bio-Inspired Intelligent Technology Co., Ltd. | Small six-dimensional force and torque sensor |
| 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 |
| CN108041764A (en) * | 2018-01-17 | 2018-05-18 | 彭玉鑫 | A kind of wearable vola array three-dimensional strength measurement system |
| CN109974917A (en) * | 2019-04-16 | 2019-07-05 | 上海交通大学 | A kind of six-dimension force sensor cloth chip architecture that strain is concentrated |
| CN110514341A (en) * | 2019-08-30 | 2019-11-29 | 中国科学院长春光学精密机械与物理研究所 | A kind of six-dimensional force and torque sensor of the space flight mechanical arm with fault-tolerant ability |
| CN112611499A (en) * | 2019-09-18 | 2021-04-06 | 马洪文 | Method for measuring micro displacement of load platform of multi-dimensional force sensor and method for mounting measuring sensitive element |
| CN112611499B (en) * | 2019-09-18 | 2022-01-28 | 马洪文 | Method for measuring micro displacement of load platform of multi-dimensional force sensor and method for mounting measuring sensitive element |
| CN113567030A (en) * | 2021-07-28 | 2021-10-29 | 华北水利水电大学 | Plane series non-coupling six-dimensional wrist force sensor |
| CN115711698A (en) * | 2022-11-22 | 2023-02-24 | 东南大学深圳研究院 | Variable structure elastic beam of six-dimensional force sensor |
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Legal Events
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150520 Termination date: 20210120 |