CN210953202U - Six-dimensional force detection sensor based on eddy current effect and intelligent equipment - Google Patents
Six-dimensional force detection sensor based on eddy current effect and intelligent equipment Download PDFInfo
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- CN210953202U CN210953202U CN201921669251.3U CN201921669251U CN210953202U CN 210953202 U CN210953202 U CN 210953202U CN 201921669251 U CN201921669251 U CN 201921669251U CN 210953202 U CN210953202 U CN 210953202U
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- 238000001514 detection method Methods 0.000 title claims abstract description 57
- 230000000694 effects Effects 0.000 title claims abstract description 31
- 239000000523 sample Substances 0.000 claims abstract description 189
- 229920001971 elastomer Polymers 0.000 claims abstract description 40
- 239000000806 elastomer Substances 0.000 claims abstract description 40
- 230000008859 change Effects 0.000 claims description 20
- 230000006698 induction Effects 0.000 claims description 5
- 238000005259 measurement Methods 0.000 abstract description 3
- 230000003247 decreasing effect Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000004907 flux Effects 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000565 sealant Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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Abstract
The utility model provides a six-dimensional force detection sensor and intelligence are equipped based on eddy current effect, including casing, elastomer, end cover, first probe, second probe, third probe, fourth probe and fifth probe, the elastomer is installed inside the casing, the end cover sets up the casing bottom, first probe, second probe, third probe and the even interval setting of fourth probe are in on the side of elastomer, the fifth probe sets up in the elastomer bottom, first probe, second probe, third probe, fourth probe and fifth probe can arouse the deformation volume and the deformation direction that the vortex magnetic field changes and then respond to out the elastomer through the electric current. The utility model provides a force transducer has characteristics such as small, anti-interference, bearing capacity are strong to possess the ability of direct follow sensor force measurement scope and precision on the mechanical body, the flexibility is extremely strong.
Description
Technical Field
The utility model relates to a force transducer technical field, concretely relates to six-dimensional force detection sensor and smart machine based on eddy current effect.
Background
Along with the rapid development of intelligent equipment, the key for how to more accurately perceive the external environment becomes the development of intelligent industry, and the force sensor is used as the intermediate medium of interaction between the robot and the environment, so that the robot is more succinct, accurate and efficient to control.
The existing force sensor mainly uses a resistance strain gauge for detection, and the strain gauge is adhered to the position with the maximum strain through designing a proper elastic body structure. For example, chinese patent No. CN102095534 discloses a double-cross beam high-sensitivity six-dimensional force sensor, wherein two cross beam elastomers are used in combination, I-shaped double holes are formed on the cross beam, and a strain gauge is adhered thereon, so that compared with a common six-dimensional force sensor, the structure removes crosstalk, and is beneficial to reducing inter-dimensional coupling and improving measurement accuracy; chinese patent No. CN102323000 discloses a safety force-coupling-free six-dimensional force sensor, which is safe and stable by sticking a strain gauge on an elastic body in each force direction; however, the bonding process of the strain gauge has a great influence on the performance of the strain-type force sensor, and the use of the adhesive can cause serious problems of creep deformation, hysteresis and the like, so that the measurement accuracy of the sensor is not high; the elastomer is difficult to miniaturize in volume in order to obtain larger strain capacity and larger bearing capacity; in addition, the grid wires of the strain gauge are metal wires, so that the strain type force sensor is difficult to popularize and use in occasions with large magnetic field interference.
SUMMERY OF THE UTILITY MODEL
Not enough to prior art, the utility model provides a six-dimensional force detection sensor and smart machine based on eddy current effect.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model provides a six-dimensional force detection sensor based on eddy current effect, includes casing, elastomer, end cover, first probe, second probe, third probe, fourth probe and fifth probe, the elastomer is installed inside the casing, the end cover sets up the casing bottom, first probe, second probe, third probe and fourth probe uniform separation set up on the side of elastomer, the fifth probe sets up in the elastomer bottom, first probe, second probe, third probe, fourth probe and fifth probe can arouse the deformation volume and the deformation direction of eddy current magnetic field change and then induction elastomer through the electric current. When force loading exists, the elastic body deforms, the deformation amount and the deformation direction of the elastic body are induced through the change of an eddy current magnetic field excited by the inductance coil which is electrified with high-frequency direct current, then a voltage-force characteristic curve can be obtained through collecting the voltage change at the two ends of the coil through a general collecting circuit, and the magnitude and the direction of the output force can be detected.
Furthermore, the shell is specifically of a thin-wall cylindrical structure, a first internal thread, a second internal thread, a third internal thread and a fourth internal thread are uniformly distributed on the cylinder wall, the first internal thread is connected with the external thread of the first probe, the second internal thread is connected with the external thread of the second probe, the third internal thread is connected with the external thread of the third probe, and the fourth internal thread is connected with the external thread of the fourth probe. Because inductive probe does not contact with the elastomer, consequently can allow the sensor to have great load capacity and great deflection, the frequency of eddy current field can reach hundreds of kilohertz simultaneously, has higher resolution ratio and can effectively resist magnetic field interference on a large scale, consequently the utility model has the characteristics of small, resolution ratio height, anti-jamming.
Furthermore, the wall of the shell is symmetrically provided with two bulges close to the bottom, and the top of the shell is provided with a first through hole. The installation of the shell is guided by the protrusion, and the elastic body can be conveniently extended out through the first through hole so as to install the load.
Furthermore, the elastomer is of a dumbbell-shaped structure, a positioning hole is formed in the center of the top of the elastomer, four first screw holes are uniformly distributed in the edge of the top of the elastomer, and a first flange is arranged radially below the top of the elastomer. The locating hole is used for the central positioning to the load, and first screw hole is used for the installation of load fixed, and first flange can carry out effective dustproof protection to the sensor.
Furthermore, a second through hole is formed in the side wall of the elastic body, and four tooth-shaped structures are further arranged on the side wall of the elastic body. The second through hole is convenient for leading out the signal cable, and the four tooth-shaped structures play a role in a force detection surface.
Further, elastomer bottom is provided with guide way and second flange radially downwards, elastomer bottom central point puts and is provided with first counter bore, first counter bore outside concentric position is provided with the fifth internal thread, with fifth internal thread outside concentric position is provided with the sixth internal thread, with sixth internal thread outside concentric position is provided with heavy groove, the elastomer bottom still is provided with the second screw hole of four equipartitions, with the second screw hole is separated by 45 positions and is provided with the second counter bore of two equipartitions. The guide groove and the second flange are used for circumferential positioning and axial positioning of the shell respectively, the counter bore penetrates into the interior of the elastic body and is connected with the second through hole in a cross mode to be used for leading out a signal cable, the fifth internal thread is used for screwing in and assembling a fifth probe, the sixth internal thread and the sinking groove are used for connecting and positioning the screwing-in position of the end cover, the second screw hole is used for installing and fixing the sensor, the size of the sinking groove is larger than that of the sixth internal thread, and the size of the sixth internal thread is larger than that of the fifth internal thread.
Further, the end cover is of a flat structure, outer threads of the end cover are arranged on the circumference of the outer side of the end cover, a boss is arranged at the end part of the end cover, a third counter bore and a fourth counter bore are formed in the bottom of the end cover, and a third flange is further arranged on the edge of the bottom of the end cover. The external thread is used for being assembled and fixed with the shell, the boss is used as an axial detection surface, the third counter bore and the fourth counter bore are used for screwing the end cover, and the third flange is used for positioning the end cover, so that the accuracy of the installation position of the end cover is guaranteed.
Further, first probe includes probe bracket and coil, the coil sets up in probe bracket, probe bracket specifically is the columnar structure, be provided with the support external screw thread on the circumference of probe bracket outside, probe bracket still opens four local breachs in the outside, probe bracket tip is provided with the straight flute. The external thread on the probe bracket is used for being matched with the shell, and the notch and the straight groove are convenient for screwing the probe.
Furthermore, the probe bracket is hollow, and a cylinder is arranged at the center inside the probe bracket. The inner hollow part is convenient for assembling with the coil, and the cylinder plays a positioning role.
Further, the coil is of a hollow cylindrical structure, a third through hole is formed in the center of the coil, and the inner diameter of the third through hole is consistent with the outer diameter of the cylinder. The coil and the probe bracket can be conveniently assembled, and the mounting accuracy is ensured.
Further, the second, third, fourth and fifth probe configurations are identical to the first probe. The design of the structure is convenient for leading out the signal wire and adjusting the detection distance, and the force measuring range of the sensor can be adjusted by screwing and adjusting the distance from the detection surface
Further, the first probe, the second probe, the third probe and the fourth probe are arranged at positions 0.3-0.6mm away from the outer side of the dentate structure. The distance ensures the detection accuracy, and the induction probe does not contact with the elastic body, so that the sensor can be allowed to have larger load capacity and larger deformation, and simultaneously, the frequency of the eddy current field can reach hundreds of kilohertz, the sensor has higher resolution and can effectively resist the magnetic field interference in a larger range.
Further, the end cover is arranged at a position 0.3-0.5mm away from the end face of the fifth probe. The influence of the contact of the end cover and the fifth probe on the detection precision is avoided, and the detection accuracy of the sensor is ensured.
A six-dimensional force detection method based on the eddy current effect uses the six-dimensional force detection sensor based on the eddy current effect, and comprises the following steps: when force loading exists, the elastic body deforms, the deformation amount and the deformation direction of the elastic body are induced through the change of an eddy current magnetic field excited by the inductance coil which is electrified with high-frequency direct current, and then a voltage-force characteristic curve can be obtained through collecting the voltage change at the two ends of the coil through a common collecting circuit, namely the magnitude of the detected output force.
Furthermore, the direction of the force is judged through detection feedback data of the first probe, the second probe, the third probe, the fourth probe and the fifth probe in the detection process.
A smart device comprising a sensor, in particular a six-dimensional force detection sensor based on the eddy current effect as defined in any one of the above.
The utility model provides a pair of six-dimensional force detection sensor and smart machine's based on eddy current effect beneficial effect lies in: when force loading exists, the elastic body deforms, the deformation amount and the deformation direction of the elastic body are induced through the change of an eddy current magnetic field excited by the inductance coil which is electrified with high-frequency direct current, and then the voltage-force characteristic curve can be obtained through collecting the voltage change at the two ends of the coil through a common collecting circuit. Because the inductive probe does not contact with the elastomer, the sensor can be allowed to have larger load capacity and larger deformation, and the frequency of the eddy current field can reach hundreds of kilohertz, so that the sensor has higher resolution and can effectively resist the magnetic field interference in a larger range, and therefore, the sensor has the characteristics of small volume, high resolution and interference resistance; the design of probe structure is convenient for leading out of signal line and adjustment of detection distance, can adjust the sensor dynamometry range through twisting the distance of adjusting apart from the detection face, realizes the function of adjusting sensor dynamometry range and precision from the mechanical body, and the flexibility is extremely strong.
Drawings
FIG. 1 is a schematic view of an exploded structure of the sensor of the present invention;
FIG. 2 is a schematic diagram of a three-dimensional cutting structure of the sensor of the present invention;
FIG. 3 is a schematic view of the housing structure of the present invention;
FIG. 4 is a schematic view A of the structure of the elastomer of the present invention;
fig. 5 is a schematic diagram B of the structure of the elastomer of the present invention;
fig. 6 is a schematic structural view a of the end cap of the present invention;
fig. 7 is a schematic view B of the end cap structure of the present invention;
FIG. 8 is a schematic structural view A of the probe holder of the present invention;
fig. 9 is a schematic structural view B of the probe holder of the present invention;
fig. 10 is a schematic diagram of the coil structure of the present invention.
In the figure: 1. a housing; 2. an elastomer; 3. an end cap; 4. a first probe; 5. a second probe; 6. a third probe; 7. a fourth probe; 8. a fifth probe; 101. a first internal thread; 102. a second internal thread; 103. a third internal thread; 104. a fourth internal thread; 105. a protrusion; 106. a first through hole; 201. positioning holes; 202 a first screw hole; 203. a first flange; 204. a second through hole; 205. a tooth-shaped structure; 206. a guide groove; 207. a second flange; 208. a first counterbore; 209. a fifth internal thread; 210. sinking a groove; 211. a sixth internal thread; 212. a second counterbore; 213. a second screw hole; 301. an end cap external thread; 302. a boss; 303. a third counterbore; 304. a fourth counterbore; 305. a third flange; 401. a probe holder; 402. a coil; 411. a bracket external thread; 412. a straight groove; 413. a notch; 414. a cylinder; 421. a third via.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by a person skilled in the art without any inventive step are within the scope of the present invention.
Example (b): a six-dimensional force detection sensor based on an eddy current effect.
The utility model provides a six-dimensional force detection sensor based on eddy current effect, includes casing 1, elastomer 2, end cover 3, first probe 4, second probe 5, third probe 6, fourth probe 7 and fifth probe 8, elastomer 2 installs inside casing 1, end cover 3 sets up 1 bottom of casing, first probe 4, second probe 5, third probe 6 and fourth probe 7 are even the interval setting on the side of elastomer 2, fifth probe 8 sets up in elastomer 2 bottom, first probe 4, second probe 5, third probe 6, fourth probe 7 and fifth probe 8 can arouse the deformation volume and the deformation direction of eddy current magnetic field change and then induction elastomer 2 through the electric current.
The shell 1 is of a thin-wall cylindrical structure, a first internal thread 101, a second internal thread 102, a third internal thread 103 and a fourth internal thread 104 are uniformly distributed on the wall of the cylinder, the first internal thread 101 is connected with the external thread of the first probe 4, the second internal thread 102 is connected with the external thread of the second probe 5, the third internal thread 103 is connected with the external thread of the third probe 6, and the fourth internal thread 104 is connected with the external thread of the fourth probe 7. The wall of the shell 1 is symmetrically provided with two protrusions 105 near the bottom, and the top of the shell 1 is provided with a first through hole 106.
The elastic body 2 is in a dumbbell-shaped structure, a positioning hole 201 is formed in the center of the top of the elastic body 2, four first screw holes 202 are uniformly distributed in the edge of the top of the elastic body 2, and a first flange 203 is arranged on the top of the elastic body 2 in the radial downward direction. The side wall of the elastic body 2 is provided with a second through hole 204, and the side wall of the elastic body 2 is further provided with four tooth-shaped structures 205. 2 bottom radial downwardly disposed guide way 206 and second flange 207 of elastomer, 2 bottom central point of elastomer puts and is provided with first counter bore 208, the concentric position in first counter bore 208 outside is provided with fifth internal thread 209, with the concentric position in the fifth internal thread 209 outside is provided with sixth internal thread 211, with the concentric position in the sixth internal thread 211 outside is provided with heavy groove 210, 2 bottoms of elastomer still are provided with the second screw hole 213 of four equipartitions, with second screw hole 213 is separated by 45 positions and is provided with the second counter bore 212 of two equipartitions.
The end cover 3 is specifically of a flat structure, an end cover external thread 301 is arranged on the circumference of the outer side of the end cover 3, a boss 302 is arranged at the end part of the end cover 3, a third counter bore 303 and a fourth counter bore 304 are arranged at the bottom of the end cover 3, and a third flange 305 is further arranged at the edge of the bottom of the end cover 3. The third counterbore 303 is specifically a round counterbore, and the fourth counterbore 304 is specifically an inner hexagonal counterbore.
The first probe 4 comprises a probe support 401 and a coil 402, the coil 402 is arranged in the probe support 401, the probe support 401 is of a columnar structure, a support external thread 411 is arranged on the circumference of the outer side of the probe support 401, four local notches 413 are further formed in the outer side of the probe support 401, and a straight groove 412 is formed in the end portion of the probe support 401. The probe bracket 401 is hollow, and a cylinder 414 is arranged in the center of the probe bracket 401. The coil 402 is specifically a hollow cylindrical structure, a third through hole 421 is arranged in the center of the coil 402, and the inner diameter of the third through hole 421 is the same as the outer diameter of the cylinder 414. The second probe 5, the third probe 6, the fourth probe 7 and the fifth probe 8 are structurally identical to the first probe 4.
The first probe 4, the second probe 5, the third probe 6 and the fourth probe 7 are arranged at positions 0.5mm away from the outer side of the tooth-shaped structure 205, the tooth tops of the four tooth-shaped structures 205 on the elastic body 2 serving as radial detection surfaces are required to be smooth and clean, and the elastic body 2 is made of stainless steel; the end cover 3 is arranged at a position 0.4mm away from the end face of the fifth probe 8, the surface of a boss 302 arranged on the end cover 3 is required to be smooth and clean, and the end cover 3 is made of aluminum alloy.
In this embodiment, the housing 1 and the elastic body 2 are connected together by cold pressing interference fit, the protrusion 105 is connected with the guide groove 206 in a fit manner, the fifth probe 8 is in threaded connection with the fifth internal thread 209 on the elastic body 2, the end cover 3 is connected with the sixth internal thread 211 on the elastic body 2 by the end cover external thread 301, the first probe 4 and the second probe 5 are oppositely arranged, the third probe 6 and the fourth probe 7 are oppositely arranged, the first probe 4, the second probe 5, the third probe 6 and the fourth probe 7 are screwed in positions which respectively face one side edge of the tooth-shaped structure 205, that is, half of the probe senses the protrusion surface and half of the probe senses the depression surface, the center of the probe must face the edge of the side surface of the notch 413, so that the condition that the magnetic flux change is caused by the micro-torsion. The probe bracket 401 is made of plastic, the coil 402 is made of copper wire, and the probe position and the end cover 3 are adjusted and then sealed and fixed by filling sealant. When force loading exists, the elastic body 2 deforms, the magnetic flux passing through the inductance coil 402 is changed due to the change of the eddy magnetic field, so that the voltage at two ends of the coil 402 changes, then the voltage-force characteristic curve can be obtained by collecting the voltage change at two ends of the coil 402 through a common collecting circuit, the deformation amount and the deformation direction of the elastic body 2 can be judged according to the voltage change conditions of different inductance coils 402, and the force loading magnitude and direction can be judged.
The working principle of the sensor is as follows: when the sensor is used, power is supplied to the probe firstly, based on the eddy current effect, a stable eddy magnetic field exists on the detection surface of the elastic body 2, then when the force is detected, the elastic body 2 can be caused to incline or displace in a certain direction, such as front, back, left and right directions, so that the eddy magnetic field excited by the probe is caused to change, the respective impedance of the probes arranged on the circumference can change, then the bias displacement can be calculated by testing the voltage at the two ends of the probe in a common acquisition circuit, and then the bias displacement is converted into the force by comparing the calibration data.
Example 2: a six-dimensional force detection method based on an eddy current effect.
The six-dimensional force detection method based on the eddy current effect uses the six-dimensional force detection sensor based on the eddy current effect as described in embodiment 1, and the specific method is as follows: when force loading exists, the elastic body 2 deforms, the deformation amount and the deformation direction of the elastic body 2 are induced through the change of an eddy current magnetic field excited by the induction coil 402 which is electrified with high-frequency direct current, and then a voltage-force characteristic curve, namely the magnitude of the detected output force, can be obtained by acquiring the voltage change at two ends of the coil 402 through a general acquisition circuit.
The direction of the force is judged through detection feedback data of the first probe 4, the second probe 5, the third probe 6, the fourth probe 7 and the fifth probe 8 in the detection process. The method specifically comprises the following steps: when the sensor is loaded, if only the fifth probe 8 feeds back the detection distance change, the first probe 4, the second probe 5, the third probe 6 and the fourth probe 7 feed back the detection distance not to change, and the force direction is the Z direction; if the feedback detection distances of the first probe 4, the second probe 5, the third probe 6 and the fourth probe 7 change simultaneously and are consistent (increase or decrease simultaneously), the force direction is a torque around the Z axis; if the feedback detection distance of the first probe 4 is reduced (increased), and the feedback detection distance of the second probe 5 is increased (decreased) at the same time, and the variation is consistent, when the feedback detection distance of the third probe 6 and the feedback detection distance of the fourth probe 7 are not changed, the force direction is the torque around the Y axis, when the feedback detection distance of the third probe 6 is increased (decreased), the feedback detection distance of the fourth probe 7 is decreased (increased), and when the variation is consistent, the force direction is the X direction; similarly, if the feedback detection distance of the third probe 6 is decreased (increased), and the feedback detection distance of the fourth probe 7 is increased (decreased), and the variation amounts are the same, when the feedback detection distances of the first probe 4 and the second probe 5 are not changed, the force direction is the torque around the X axis, and when the feedback detection distance of the first probe 4 is increased (decreased), the feedback detection distance of the second probe 5 is decreased (increased), and when the variation amounts are the same, the force direction is the Y direction.
Example 3: an intelligent device.
A smart device comprising a sensor, in particular a six-dimensional force detection sensor based on the eddy current effect as described in example 1.
The above description is a preferred embodiment of the present invention, but the present invention should not be limited to the disclosure of the embodiment and the accompanying drawings, and therefore, all equivalents and modifications that can be accomplished without departing from the spirit of the present invention are within the protection scope of the present invention.
Claims (14)
1. The utility model provides a six-dimensional force detection sensor based on eddy current effect, its characterized in that, includes casing, elastomer, end cover, first probe, second probe, third probe, fourth probe and fifth probe, the elastomer is installed inside the casing, the end cover sets up the casing bottom, first probe, second probe, third probe and fourth probe evenly spaced set up on the side of elastomer, the fifth probe sets up in the elastomer bottom, first probe, second probe, third probe, fourth probe and fifth probe can arouse the deformation volume and the deformation direction of eddy current magnetic field change and then induction elastomer through the electric current.
2. The six-dimensional force detection sensor based on eddy current effect of claim 1, wherein: the shell is specifically of a thin-wall cylindrical structure, a first internal thread, a second internal thread, a third internal thread and a fourth internal thread are uniformly distributed on the wall of the cylinder, the first internal thread is connected with the external thread of the first probe, the second internal thread is connected with the external thread of the second probe, the third internal thread is connected with the external thread of the third probe, and the fourth internal thread is connected with the external thread of the fourth probe.
3. The six-dimensional force detection sensor based on eddy current effect of claim 1, wherein: the wall of the shell is symmetrically provided with two bulges close to the bottom, and the top of the shell is provided with a first through hole.
4. The six-dimensional force detection sensor based on eddy current effect of claim 1, wherein: the elastic body is of a dumbbell-shaped structure, a positioning hole is formed in the center of the top of the elastic body, four first screw holes are uniformly distributed in the edge of the top of the elastic body, and a first flange is arranged radially below the top of the elastic body.
5. The six-dimensional force detection sensor based on eddy current effect of claim 1, wherein: the side wall of the elastic body is provided with a second through hole, and the side wall of the elastic body is also provided with four dentations.
6. The six-dimensional force detection sensor based on eddy current effect of claim 1, wherein: the elastomer bottom is provided with guide way and second flange under radial, elastomer bottom central point puts and is provided with first counter bore, the concentric position in first counter bore outside is provided with the fifth internal thread, with the concentric position in the fifth internal thread outside is provided with the sixth internal thread, with the concentric position in the sixth internal thread outside is provided with the heavy groove, the elastomer bottom still is provided with the second screw hole of four equipartitions, with the second screw hole is separated by 45 positions and is provided with the second counter bore of two equipartitions.
7. The six-dimensional force detection sensor based on eddy current effect of claim 1, wherein: the end cover is of a flat structure, an outer end cover thread is arranged on the circumference of the outer side of the end cover, a boss is arranged at the end part of the end cover, a third counter bore and a fourth counter bore are formed in the bottom of the end cover, and a third flange is further arranged on the edge of the bottom of the end cover.
8. The six-dimensional force detection sensor based on eddy current effect of claim 1, wherein: the first probe comprises a probe bracket and a coil, the coil is arranged in the probe bracket, the probe bracket is of a columnar structure, bracket external threads are arranged on the circumference of the outer side of the probe bracket, four local notches are further formed in the outer side of the probe bracket, and a straight groove is formed in the end part of the probe bracket.
9. The six-dimensional force sensing sensor based on eddy current effect of claim 8, wherein: the probe bracket is hollow, and a cylinder is arranged at the central position in the probe bracket.
10. The six-dimensional force sensing sensor based on eddy current effect of claim 9, wherein: the coil is of a hollow cylindrical structure, a third through hole is formed in the center of the coil, and the inner diameter of the third through hole is consistent with the outer diameter of the cylinder.
11. The six-dimensional force sensing sensor based on eddy current effect of claim 10, wherein: the second, third, fourth and fifth probe configurations are identical to the first probe.
12. The six-dimensional force detection sensor based on eddy current effect as claimed in claim 5, wherein: the first probe, the second probe, the third probe and the fourth probe are arranged at positions 0.3-0.6mm away from the outer side of the tooth-shaped structure.
13. The six-dimensional force detection sensor based on eddy current effect of claim 1, wherein: the end cover is arranged at a position 0.3-0.5mm away from the end face of the fifth probe.
14. Smart device comprising a sensor, characterized in that said sensor is in particular a six-dimensional force detection sensor based on the eddy current effect according to any of claims 1-13.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921669251.3U CN210953202U (en) | 2019-10-08 | 2019-10-08 | Six-dimensional force detection sensor based on eddy current effect and intelligent equipment |
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| CN201921669251.3U CN210953202U (en) | 2019-10-08 | 2019-10-08 | Six-dimensional force detection sensor based on eddy current effect and intelligent equipment |
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| CN210953202U true CN210953202U (en) | 2020-07-07 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110823436A (en) * | 2019-10-08 | 2020-02-21 | 珠海格力电器股份有限公司 | Six-dimensional force detection method based on eddy current effect, sensor and intelligent equipment |
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2019
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110823436A (en) * | 2019-10-08 | 2020-02-21 | 珠海格力电器股份有限公司 | Six-dimensional force detection method based on eddy current effect, sensor and intelligent equipment |
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