CN2156494Y

CN2156494Y - Three-dimension force sensor

Info

Publication number: CN2156494Y
Application number: CN 93213754
Authority: CN
Inventors: 唐建柳
Original assignee: China Guangxi Foreign Economic And Cultural Exchange Center
Current assignee: China Guangxi Foreign Economic And Cultural Exchange Center
Priority date: 1993-05-22
Filing date: 1993-05-22
Publication date: 1994-02-16
Anticipated expiration: 2003-05-22

Abstract

The utility model relates to a three-dimension force sensor. A body of the sensor is provided with square columns (5) (8) which are in vertical cross, and the square column (8) is hollow. Two pairs of strain gauges are respectively bonded at the outer surfaces of two groups of parallel wall plates at the columns of which the corners are cut out, and the head parts of the columns are fixedly connected with a finger stall (3). The square column (5) is provided with a square through hole (11). A pair of strain gauges are respectively stuck at the outer surface of the parallel wall plates outside the square hole. The wedge-shaped tail parts of the columns are fixedly connected with a finger base (1), and a gap (2) is formed between the finger stall (3) and the finger base (1). The sensor which has the advantages of small volume, light weight and good sensitivity can be installed on fingers of a mechanical hand and accurately and reliably measure three-dimension force.

Description

Three-dimension force sensor

The utility model belongs to the sensor field of the sensor of ergometry, particularly mechanical arm.

Along with being extensive use of of robot and mechanical hand, to mechanical arm, comprise that the sensor research to still its mechanical arm of latest generation has obtained many achievements, some position transducers and touch sensor have for example been arranged, but Shang Weijian there is the report in research aspect the control of mechanical arm realizable force.Power has been done in the jet propeller laboratory of Californai by U.S. spaceflight portion---torque sensor, people such as the Japan KYOTO YOSHIKAWA of university have made the force transducer of cross type etc., but their force transducer is respectively solid type or two-sided parallel-plate wall type, volume and weight is all bigger, they can not be contained in the finger of mechanical arm use as the sensor that refers to.

The purpose of this utility model provide a kind of in light weight, volume is little, can be installed on the finger of mechanical arm and realize the three-dimensional force measured sensor accurately and reliably.

The utility model is realized its purpose as follows: sensor body has the

square body

5 and 8 that intersects vertically, square body 8 is surrounded by the wall plate, four angles in cylinder stage casing are cut out, two pairs of foil gauges 6 are attached to two groups of parallel relative wallboard outside surfaces that cut out the angle respectively with 7, and the cylinder head is fixedlyed connected with fingerstall 3; Square body 5 has a break-through square hole 11, and a pair of foil gauge 10 is attached to the outer parallel two relative wallboard outside surfaces of square hole respectively, and the wedge shape afterbody of cylinder is fixedlyed connected with referring to seat 1; Referring to has a gap 2 between seat 1 and the fingerstall 3.

Three-dimensional force sensor of the present utility model not only volume is little, in light weight, can place the finger of robot, and susceptibility is good; can measure the function that has touch sensor less than the power of 5 grams concurrently; and overcurrent protection structure is arranged, even stressed, sensor is also unlikely impaired when surpassing permissible value.This sensor also can be applicable to others, for example all kinds of probe measurement instrument, the mechanical arm of automatic production line etc.

Embodiment further specifies the utility model below in conjunction with accompanying drawing:

Fig. 1 is the wiring layout of this three-dimensional force sensor.

Fig. 2 is the sensor body structural representation.

Fig. 3 is the right view of Fig. 2.

Fig. 4 is the A-A sectional view.

The major part of sensor body is the

square body

5 and 8 that intersects vertically; Square body 8 is the hollow cylinders that surrounded by the wall plate, and four angles that are positioned at cylinder middle part antagonism stress deformation ability maximum are cut out, and two pairs of pressure-strain sheets 6 are attached to respectively on two groups of parallel relative wallboard outside surfaces that cut out the angle with 7; Square body 5 has a break-through square hole 11, and a pair of pressure-strain sheet 10 is attached to respectively on the outer two parallel relatively wallboard outside surfaces of square hole, and three pairs of foil gauges are formed three Hui Sideng measuring bridges power of measured X, Y, three directions of Z respectively.The head of square body 8 is fixedlyed connected with fingerstall 3 with screw 9, and the wedge shape afterbody of square body 5 is fixedlyed connected with mechanical finger seat 1.The appearance of fingerstall 3 is wrapped up in and is posted rubber coating 4, can the reliable article of taking to guarantee finger.At fingerstall 3 and refer to leave a minim gap 2 between the seat 1, when sensor is subjected to the power of overload, fingerstall can directly pass to power and refer to that seat is with the protection sensor body.During use, when the variation of pressure-strain sheet stressed generation distortion can causing bridge voltage, this voltage is sent into computer after amplifying, become the electric signal that can read.

Fingerstall 3 and sensor body can adopt metallic aluminium and stainless steel to make respectively, and gap 2 can be selected 0.1mm for use, and the volume of sensor body can be as small as 6.35 * 14.7 * 14.7cm ³

Claims

1, a kind of three-dimensional force sensor, fingerstall (3) is arranged, refer to seat (1), it is characterized in that sensor body has square body (5) and (8) that intersect vertically, square body (8) is surrounded by the wall plate, four angles in cylinder stage casing are cut out, two pairs of foil gauges (6) are attached to two groups of parallel relative wallboard outside surfaces that cut out the angle respectively with (7), and the cylinder head is fixedlyed connected with fingerstall (3); Square body (5) has a break-through square hole (11), and a pair of foil gauge is attached to the outer parallel two relative wallboard outside surfaces of square hole respectively, and the wedge shape afterbody of cylinder is fixedlyed connected with referring to seat (1), and referring to has a gap (2) between seat (1) and the fingerstall (3).