WO2017215334A1 - 一种新型六维力和力矩传感器 - Google Patents

一种新型六维力和力矩传感器 Download PDF

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Publication number
WO2017215334A1
WO2017215334A1 PCT/CN2017/080439 CN2017080439W WO2017215334A1 WO 2017215334 A1 WO2017215334 A1 WO 2017215334A1 CN 2017080439 W CN2017080439 W CN 2017080439W WO 2017215334 A1 WO2017215334 A1 WO 2017215334A1
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WIPO (PCT)
Prior art keywords
central boss
dimensional force
novel
beam body
torque sensor
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PCT/CN2017/080439
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English (en)
French (fr)
Inventor
李晨
姚举禄
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南京神源生智能科技有限公司
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Application filed by 南京神源生智能科技有限公司 filed Critical 南京神源生智能科技有限公司
Priority to EP17812446.7A priority Critical patent/EP3454032B1/en
Priority to JP2018563120A priority patent/JP6605159B2/ja
Priority to US16/081,422 priority patent/US10401245B2/en
Priority to KR1020187036165A priority patent/KR102147064B1/ko
Publication of WO2017215334A1 publication Critical patent/WO2017215334A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
    • G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
    • G01L1/2206—Special supports with preselected places to mount the resistance strain gauges; Mounting of supports
    • G01L1/2231—Special supports with preselected places to mount the resistance strain gauges; Mounting of supports the supports being disc- or ring-shaped, adapted for measuring a force along a single direction
    • G—PHYSICS
    • 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
    • G—PHYSICS
    • 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
    • G01L5/167—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using piezoelectric means
    • G—PHYSICS
    • 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
    • G01L5/0028—Force sensors associated with force applying means
    • G01L5/0042—Force sensors associated with force applying means applying a torque
    • G—PHYSICS
    • 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
    • G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
    • G01L5/162—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of piezoresistors

Definitions

  • the invention relates to the field of automation technology, in particular to a novel six-dimensional force and torque sensor.
  • the multi-dimensional force and torque sensor refers to a force sensor capable of simultaneously measuring force or moment components in two directions.
  • the force and the moment can be respectively decomposed into three components, so the most complete form of the multi-dimensional force
  • It is a six-dimensional force and torque sensor, that is, a sensor capable of measuring three force components and three torque components simultaneously.
  • Multi-dimensional force and torque sensors are widely used in robotics, industrial automation, military and other fields.
  • the metal foil patch type six-dimensional sensor is widely used because of its mature technology, better stability than piezoelectric and semiconductor sensors, and low requirements on the working environment.
  • drawbacks in the prior art metal foil patch type six-dimensional sensor there are many drawbacks in the prior art metal foil patch type six-dimensional sensor:
  • the structure of the existing multi-dimensional force sensor cannot realize the self-decoupling of the structure itself.
  • the force (torque) of one or several directions of some multi-dimensional force sensors needs to be estimated by the output of other directions and the size of the structure, which will make the system
  • the error increases; the existing multi-dimensional force sensor with three-beam structure, although relatively simple in structure, cannot achieve self-decoupling of the structure; in addition, the above-mentioned metal foil patch type six-dimensional sensor generally measures a low range of torque, The main reason is that the increase of the torque has high requirements on the strength and rigidity of the elastomer, and also has high strength and rigidity requirements for the connecting pin or other positioning parts.
  • the present invention provides a novel six-dimensional force and torque sensor, which is capable of measuring large torque, self-decoupling structure, high strength, high rigidity, high natural frequency, dynamic testing, high resolution and high precision.
  • the present invention solves the above problems by the following technical means:
  • the novel six-dimensional force and torque sensor of the present invention is characterized by comprising a central boss, a cylindrical outer casing disposed outside the central boss, and 12 elastic beams for connecting the central boss and the cylindrical casing
  • the 12 elastic beams are respectively provided with strain gauges according to requirements, and the bottom of the central boss is provided with a mounting hole for mounting the signal processing module;
  • the first beam group includes 8 first beam bodies of the same size and structure
  • the second beam group includes 4 sizes and structures identical
  • the second beam body, the eight first beam bodies are divided into four groups respectively disposed at the upper end, the lower end, the left end and the right end of the central boss, and the four second beam bodies are respectively disposed in the same group of two Between the first beam bodies.
  • center boss is a square pillar structure.
  • a top of the first beam body is higher than a top of the second beam body, a bottom of the first beam body is lower than a bottom of the second beam body, and the first beam body and the first beam body The central section of the second beam body is in the same plane.
  • the first beam body is an L-shaped structure, and the first beam body includes a first patch area adjacent to the center boss and a first coordination area adjacent to the cylindrical casing.
  • the second beam body has a three-stage structure, and includes a second patch area symmetrically opening two grooves on both sides, and a second coordination area adjacent to the center boss and adjacent to the cylindrical casing .
  • strain gauges respectively R1, R2, R3, R4, R5, R6, R7, R8, R9, R10, R11, R12, R13, R14, R15, R16, R17, R18, R19, R20, R21, R22, R23, R24, and 24 of the strain gauges form a full bridge circuit every 4 as needed, and each of the full bridge circuits is respectively connected to an input end of the signal processing module, the signal The output of the processing module is connected to the terminal, then:
  • the R1 and the R2, the R3 and the R4, the R5 and the R6, the R7 and the R8, the R9 and the R10, the R11 and the R12 are symmetrically arranged respectively In the first patch area of the upper surface and the lower surface of the first beam body, the R15 and the R16, the R13 and the R14 are respectively symmetric about a vertical center line of the center boss Arranging on both outer sides of the first beam body, the R17 and the R18, the R19 and the R20, the R21 and the R22, the R23 and the R24 are symmetrically arranged in the first The second patch region of the upper surface and the lower surface of the two beam body.
  • the upper end of the central boss is provided with a square push-pull, the square push-pull cooperates with the connecting flange, and the top of the square push-out is provided with an M10 threaded hole, and the threaded hole is used for the square push Pull out the fastening connection to the connecting flange.
  • the novel six-dimensional force and torque sensor of the present invention 12 strain gauges distributed on the elastic beam
  • the four strain gauge bridge arm voltages in the coupling direction bridge cancel each other, which can realize self-decoupling of the structure; when the center boss forces and moments, 12 roots
  • the elastic beam will produce tensile or compressive deformation or bending deformation, which will cause the voltage signal outputted by each full-bridge circuit to change.
  • the force or moment received in each direction can be conveniently obtained.
  • the present invention has the characteristics of self-decoupling, high rigidity, high natural frequency, linearity, repeatability and hysteresis, and can measure a large torque (50 N ⁇ m), and further, the size of each of the elastic beams. Variations can be designed for sensors of different ranges and sensitivities.
  • FIG. 1 is a schematic structural view of a new six-dimensional force and torque sensor of the present invention when the strain gauge is not attached;
  • FIG. 2 is a schematic structural view of a novel six-dimensional force and torque sensor of the present invention with a strain gauge attached thereto;
  • FIG. 3 is a circuit block diagram of a novel six-dimensional force and torque sensor of the present invention.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining “first” and “second” may include one or more of the features either explicitly or implicitly. In the description of the present invention, "a plurality” means two or more unless otherwise stated.
  • the novel six-dimensional force and torque sensor includes a central boss 2 and a cylindrical shape disposed outside the center boss 2.
  • a strain gauge 4 is disposed on the elastic beam as needed, and a bottom of the center boss 2 is provided with a mounting hole (not shown) for mounting the signal processing module 5, and the signal processing module 5 is passed through during installation.
  • the mounting hole is mounted at a lower end of the center boss 2;
  • the 12 elastic beams are divided into a first beam group and a second beam group
  • the first beam group includes 8 first beam bodies 31 of the same size and structure
  • the second beam group includes 4 a second beam body 32 having the same size and structure
  • the eight first beam bodies 31 are divided into four groups respectively disposed at the upper end, the lower end, the left end and the right end of the center boss 2, and the four second beam bodies 32 is respectively disposed between the two first beam bodies 31 of the same group to realize the structural form of measuring the force and the moment, and at the same time, the structural strength, the rigidity and the natural frequency are improved.
  • 12 strain gauges 4 distributed on the elastic beam form a full bridge detection circuit as needed, and four strain gauges 4 in the coupling direction bridge
  • the bridge arm voltages cancel each other out, and the structure self-decoupling can be realized; when the center boss 2 exerts a force and a moment, 12 of the elastic beams will generate tensile deformation or bending deformation, thereby causing voltages outputted by the respective full bridge circuits.
  • the present invention has the characteristics of self-decoupling, high rigidity, high natural frequency, linearity, repeatability and hysteresis, and can measure a large torque (50 N ⁇ m), and further, the size of each of the elastic beams. Variations can be designed for sensors of different ranges and sensitivities.
  • the center boss 2 has a square columnar structure.
  • the top of the first beam body 31 is higher than the top of the second beam body 32, and the bottom of the first beam body 31 is lower than the second The bottom of the beam body 32.
  • the upper end of the center boss 2 is provided with a square push-pull 6 which has a large carrying capacity, and the square push-pull 6 is matched with a connecting flange (not shown).
  • the top of the square pusher 6 is provided with an M10 threaded hole for the square push and pull 6 and the connecting flange.
  • the fastening connection, the square push-pull 6 cooperates with the connecting flange to realize the movement without gap, and can be used for Dynamic measurement (such as reciprocating motion), at the same time, the rigidity and strength of the square push-pull 6 and the connecting flange assembly method satisfy the large torque action condition.
  • the first beam body 31 is an L-shaped structure, and the first beam body 31 includes a first patch area 311 adjacent to the center boss 2 and a portion close to the cylindrical casing 1 a coordination area 312;
  • the second beam body 32 has a three-stage structure, and includes a second patch area 321 symmetrically opened with two grooves on both sides, and a second coordination area adjacent to the center boss and adjacent to the cylindrical casing. 322.
  • first coordination area 312 and the second coordination area 322 are respectively for improving the strain of the first patch area 311 and the second patch area 321 and improving the first beam body. 31 and the structure of the strength of the second beam body 32 and the overall stiffness of the elastomer.
  • the strain gauges 4 have 24, which are respectively R1, R2, R3, and R4. , R5, R6, R7, R8, R9, R10, R11, R12, R13, R14, R15, R16, R17, R18, R19, R20, R21, R22, R23, R24, and 24 of the strain gauges 4 according to It is necessary to form one full bridge circuit every four, each of the full bridge circuits is respectively connected to the input end of the signal processing module 5, and the output end of the signal processing module is connected to the terminal, then:
  • the R1 and the R2, the R3 and the R4, the R5 and the R6, the R7 and the R8, the R9 and the R10, the R11 and the R12 are symmetrically arranged respectively
  • the R13 and the R14, the R16 and the R15 are respectively perpendicular to the vertical direction of the center boss 2
  • the center line is symmetrically arranged on both outer sides of the first beam body 31, and the R17 and the R18, the R19 and the R20, the R21 and the R22, the R23 and the R24 are symmetrically arranged respectively
  • the R1 and the R2, the R7 and the R8 are symmetrically arranged on the upper surface and the lower surface of the first beam body 31, respectively, and the R1 and the R7 and the R2 are R8 is said to be in opposition to the arrangement.
  • the R3 and the R4, the R5 and the R6, the R9 and the R10, the R11 and the R12 are symmetrically arranged on the upper surface and the lower surface of the first beam body 31, respectively, and
  • the R3 and the institute R9, the R4 and the R10 are respectively symmetrically arranged with respect to a center line of the vertical direction of the center boss 2, and the R5 and the R11, the R6 and the R12 are respectively horizontal with respect to the center boss 2
  • the direction center line is symmetrically set;
  • the R17 and the R21, the R18 and the R22 are respectively symmetrically disposed about a center line of the vertical direction of the center boss 2, and the R19 and the R23, the R20 and the R24 are respectively related to the
  • the central boss 2 is symmetrically disposed in the horizontal direction center line, and the R17 and the R18, the R19 and the R20, the R21 and the R22, the R23 and the R24 are symmetrically arranged in the first The upper surface and the lower surface of the second beam body 32.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

一种六维力和力矩传感器，包括中心凸台（2）、设置在中心凸台（2）外侧的筒形外壳（1）、用于连接所述中心凸台（2）与所述筒形外壳（1）的12根弹性梁，12根所述弹性梁上根据需要分别布有应变片（4），所述中心凸台（2）的底部开设有用于安装信号处理模块（5）的安装孔。具有结构自解耦，刚度大，固有频率高，线性度、重复性和迟滞理想的特点，可以测量较大的力矩。此外，通过各个所述弹性梁的尺寸变化可以设计成不同量程和灵敏度的传感器。

Description

一种新型六维力和力矩传感器 技术领域
本发明涉及自动化技术领域，尤其涉及一种新型六维力和力矩传感器。
背景技术
多维力和力矩传感器指的是一种能够同时测量两个方向以上力或力矩分量的力传感器，在笛卡尔坐标系中力和力矩可以各自分解为三个分量，因此，多维力最完整的形式是六维力和力矩传感器，即能够同时测量三个力分量和三个力矩分量的传感器。多维力和力矩传感器广泛应用于机器人、工业自动化、军工等领域中。
金属箔贴片式六维传感器由于技术成熟，相比压电式和半导体式传感器稳定性能好，对工作环境要求不高，因而被广泛应用。但是在现有技术的金属箔贴片式六维传感器存在很多缺陷：
现有的多维力传感器的结构本身不能实现结构自解耦，某些多维力传感器某一个或某几个方向的力(力矩)需要通过其他方向的输出和结构的尺寸进行推算，这会使系统误差增大；现有的具有三梁结构的多维力传感器，虽然结构相对简单，但不能实现结构自解耦；此外，上述的金属箔贴片式六维传感器测量力矩的量程普遍偏低，其主要原因为力矩的增大对弹性体的强度和刚度都有较高的要求，对连接用的销钉或其他定位零件也有很高的强度和刚度要求。
发明内容
有鉴于此，本发明提供一种新型六维力和力矩传感器，具有能够测量大力矩，结构自解耦，强度高，刚度大，固有频率高，能够进行动态测试，分辨力和精度高等特点。
本发明通过以下技术手段解决上述问题：
本发明的新型六维力和力矩传感器，其特征在于：包括中心凸台、设置在中心凸台外侧的筒形外壳和用于连接所述中心凸台与所述筒形外壳的12根弹性梁，12根所述弹性梁上根据需要分别布有应变片，所述中心凸台的底部开设有用于安装信号处理模块的安装孔；
12根所述弹性梁分为第一梁组和第二梁组，所述第一梁组包括8个尺寸和结构相同的第一梁体，所述第二梁组包括4个尺寸和结构相同的第二梁体，8个所述第一梁体分为四组分别设置在所述中心凸台的上端、下端、左端和右端，4个所述第二梁体分别设置在同一组的两个所述第一梁体之间。
进一步，所述中心凸台为方柱形结构。
进一步，所述第一梁体的顶部高于所述第二梁体的顶部，所述第一梁体的底部低于所述第二梁体的底部，且所述第一梁体和所述第二梁体的中心截面在同一平面。
进一步，所述第一梁体为L形结构，所述第一梁体包括靠近所述中心凸台的第一贴片区和靠近所述筒形外壳的第一协调区。
进一步，所述第二梁体为三段式结构，包括两侧对称开设有两个凹槽的第二贴片区，以及靠近所述中心凸台和靠近所述筒形外壳的第二协调区。
进一步，所述应变片有24个，分别为R1、R2、R3、R4、R5、R6、R7、R8、R9、R10、R11、R12、R13、R14、R15、R16、R17、R18、R19、R20、R21、R22、R23、R24，且24个所述应变片根据需要每4个组成一个全桥电路，每个所述全桥电路分别与所述信号处理模块的输入端连接，所述信号处理模块的输出端连接终端，则：
所述R1与所述R2、所述R3与所述R4、所述R5与所述R6、所述R7与所述R8、所述R9与所述R10、所述R11与所述R12分别对称布置于所述第一梁体的上表面和下表面的所述第一贴片区，所述R15与所述R16、所述R13与所述R14分别关于所述中心凸台的竖向中心线对称布置于所述第一梁体的两外侧，所述R17与所述R18、所述R19与所述R20、所述R21与所述R22、所述R23与所述R24分别对称布置于所述第二梁体的上表面和下表面的所述第二贴片区。
进一步，所述中心凸台的上端设有方形推拔，所述方形推拔与连接法兰配合，所述方形推拔的顶部设有一个M10螺纹孔，所述螺纹孔用于所述方形推拔与所述连接法兰的紧固连接。
本发明的新型六维力和力矩传感器，12根所述弹性梁上分布的多个应变片 根据需要各自组成全桥式检测电路，耦合方向桥路中的4个所述应变片桥臂电压相互抵消，可实现结构自解耦；当所述中心凸台作用力和力矩时，12根所述弹性梁均会产生拉压变形或者弯曲变形，从而引起各全桥式电路输出的电压信号发生变化，通过对这些信号的分析处理，方便地得出各方向受到的作用力或力矩。因此，本发明具有结构自解耦，刚度大，固有频率高，线性度、重复性和迟滞理想的特点，可以测量较大的力矩(50N·m)，此外，通过各个所述弹性梁的尺寸变化可以设计成不同量程和灵敏度的传感器。
附图说明
图1为本发明的新型六维力和力矩传感器的未贴应变片时的结构示意图；
图2为本发明的新型六维力和力矩传感器的贴有应变片时的结构示意图；
图3为本发明新型六维力和力矩传感器的电路原理框图。
如图1、图2、图3，筒形外壳-1、中心凸台-2、第一梁体-31、第一贴片区-311、第一协调区-312、第二梁体-32、第二贴片区-321、第二协调区-322、应变片-4、信号处理模块-5、方形推拔-6。
具体实施方式
在本发明的描述中，需要理解的是，术语“中心”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。
以下将结合附图对本发明进行详细说明，如图1至图3所示：本实施例所述的新型六维力和力矩传感器，包括中心凸台2、设置在中心凸台2外侧的筒形外壳1和用于连接所述中心凸台2与所述筒形外壳1的12根弹性梁，12根 所述弹性梁上根据需要分别布有应变片4，所述中心凸台2的底部开设有用于安装信号处理模块5的安装孔(图中未示出)，在安装时将信号处理模块5通过所述安装孔安装在所述中心凸台2的下端；
具体的，12根所述弹性梁分为第一梁组和第二梁组，所述第一梁组包括8个尺寸和结构相同的第一梁体31，所述第二梁组包括4个尺寸和结构相同的第二梁体32，8个所述第一梁体31分为四组分别设置在所述中心凸台2的上端、下端、左端和右端，4个所述第二梁体32分别设置在同一组的两个所述第一梁体31之间，实现了力、力矩的测量的结构形式，同时提高了结构强度、刚度和固有频率。
本实施例所述的新型六维力和力矩传感器，12根所述弹性梁上分布的多个应变片4根据需要组成全桥式检测电路，耦合方向桥路中的4个所述应变片4桥臂电压相互抵消，可实现结构自解耦；当所述中心凸台2作用力和力矩时，12根所述弹性梁均会产生拉压变形或者弯曲变形，从而引起各全桥式电路输出的电压信号发生变化，通过对这些信号的分析处理，方便地得出各方向受到的作用力或力矩。因此，本发明具有结构自解耦，刚度大，固有频率高，线性度、重复性和迟滞理想的特点，可以测量较大的力矩(50N·m)，此外，通过各个所述弹性梁的尺寸变化可以设计成不同量程和灵敏度的传感器。
为了提高弹性体刚度，作为上述技术方案的进一步改进，所述中心凸台2为方柱形结构。
为了提高弹性体强度，作为上述技术方案的进一步改进，所述第一梁体31的顶部高于所述第二梁体32的顶部，所述第一梁体31的底部低于所述第二梁体32的底部。
为了便于使用和提高弹性体强度，作为上述技术方案的进一步改进，所述中心凸台2的上端设有方形推拔6，所述方形推拔6具有较大的承载能力，所述方形推拔6与连接法兰(图中未示出)配合，具体的，所述方形推拔6的顶部设有一个M10螺纹孔，所述螺纹孔用于所述方形推拔6与所述连接法兰的紧固连接，所述方形推拔6与所述连接法兰配合可以实现无间隙运动，能够用于 动态测量(如往复运动)，同时所述方形推拔6与连接法兰装配方式刚度和强度均满足大力矩作用工况。
在本实施例中，所述第一梁体31为L形结构，所述第一梁体31包括靠近所述中心凸台2的第一贴片区311和靠近所述筒形外壳1的第一协调区312；
所述第二梁体32为三段式结构，包括两侧对称开设有两个凹槽的第二贴片区321，以及靠近所述中心凸台和靠近所述筒形外壳的第二协调区322。
具体的，所述第一协调区312和所述第二协调区322分别是为了提高所述第一贴片区311和所述第二贴片区321的应变，并提高所述第一梁体31和所述第二梁体32的强度和弹性体整体刚度的结构。
多个所述应变片4分别由Rn(n＝1，2，3，4……)来表示，在本实施例中，所述应变片4有24个，分别为R1、R2、R3、R4、R5、R6、R7、R8、R9、R10、R11、R12、R13、R14、R15、R16、R17、R18、R19、R20、R21、R22、R23、R24，且24个所述应变片4根据需要每4个组成一个全桥电路，每个所述全桥电路分别与所述信号处理模块5的输入端连接，所述信号处理模块的输出端连接终端，则：
所述R1与所述R2、所述R3与所述R4、所述R5与所述R6、所述R7与所述R8、所述R9与所述R10、所述R11与所述R12分别对称布置于所述第一梁体31的上表面和下表面的所述第一贴片区311，所述R13与所述R14、所述R16与所述R15分别关于所述中心凸台2的竖向中心线对称布置于所述第一梁体31的两外侧，所述R17与所述R18、所述R19与所述R20、所述R21与所述R22、所述R23与所述R24分别对称布置于所述第二梁体32的上表面和下表面的所述第二贴片区321。
具体的，所述R1与所述R2、所述R7与所述R8分别对称布置于所述第一梁体31的上表面和下表面，且所述R1与所述R7、所述R2与所述R8分别呈反对称布置。
所述R3与所述R4、所述R5与所述R6、所述R9与所述R10、所述R11与所述R12分别对称布置于所述第一梁体31的上表面和下表面，且所述R3与所 述R9、所述R4与所述R10分别关于所述中心凸台2竖直方向中心线对称设置，所述R5与所述R11、所述R6与所述R12分别关于所述中心凸台2水平方向中心线对称设置；
所述R17与所述R21、所述R18与所述R22分别关于所述中心凸台2竖直方向中心线对称设置，所述R19与所述R23、所述R20与所述R24分别关于所述中心凸台2水平方向中心线对称设置，且所述R17与所述R18、所述R19与所述R20、所述R21与所述R22、所述R23与所述R24分别对称布置于所述第二梁体32的上表面和下表面。
最后说明的是，以上实施例仅用以说明本发明的技术方案而非限制，尽管参照较佳实施例对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或者等同替换，而不脱离本发明技术方案的宗旨和范围，其均应涵盖在本发明的权利要求范围当中。

Claims (7)

  1. 一种新型六维力和力矩传感器，其特征在于：包括中心凸台、设置在中心凸台外侧的筒形外壳和用于连接所述中心凸台与所述筒形外壳的12根弹性梁，12根所述弹性梁上根据需要分别布有应变片，所述中心凸台的底部开设有用于安装信号处理模块的安装孔。
    12根所述弹性梁分为第一梁组和第二梁组，所述第一梁组包括8个尺寸和结构相同的第一梁体，所述第二梁组包括4个尺寸和结构相同的第二梁体，8个所述第一梁体分为四组分别设置在所述中心凸台的上端、下端、左端和右端，4个所述第二梁体分别设置在同一组的两个所述第一梁体之间。
  2. 根据权利要求1所述的新型六维力和力矩传感器，其特征在于：所述中心凸台为方柱形结构。
  3. 根据权利要求1所述的新型六维力和力矩传感器，其特征在于：所述第一梁体的顶部高于所述第二梁体的顶部，所述第一梁体的底部低于所述第二梁体的底部。
  4. 根据权利要求1或3所述的新型六维力和力矩传感器，其特征在于：所述第一梁体为L形结构，所述第一梁体包括靠近所述中心凸台的第一贴片区和靠近所述筒形外壳的第一协调区。
  5. 根据权利要求1或3所述的新型六维力和力矩传感器，其特征在于：所述第二梁体为三段式结构，包括两侧对称开设有两个凹槽的第二贴片区，以及靠近所述中心凸台和靠近所述筒形外壳的第二协调区。
  6. 根据权利要求5所述的新型六维力和力矩传感器，其特征在于：所述应变片有24个，分别为R1、R2、R3、R4、R5、R6、R7、R8、R9、R10、R11、R12、R13、R14、R15、R16、R17、R18、R19、R20、R21、R22、R23、R24，且24个所述应变片根据需要每4个组成一个全桥电路，每个所述全桥电路分别与所述信号处理模块的输入端连接，所述信号处理模块的输出端连接终端，则：
    所述R1与所述R2、所述R3与所述R4、所述R5与所述R6、所述R7与所述R8、所述R9与所述R10、所述R11与所述R12分别对称布置于所述第一梁体的上表面和下表面的所述第一贴片区，所述R13与所述R14、所述R16与所述 R15分别关于所述中心凸台的竖向中心线对称布置于所述第一梁体的两外侧，所述R17与所述R18、所述R19与所述R20、所述R21与所述R22、所述R23与所述R24分别对称布置于所述第二梁体的上表面和下表面的所述第二贴片区。
  7. 根据权利要求1所述的新型六维力和力矩传感器，其特征在于：所述中心凸台的上端设有方形推拔，所述方形推拔与连接法兰配合，所述方形推拔的顶部设有一个M10螺纹孔，所述螺纹孔用于所述方形推拔与所述连接法兰的紧固连接。
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CN103076131A (zh) * 2012-12-31 2013-05-01 东南大学 用于测量大型机械臂大力与小力矩的六维力与力矩传感器
CN103698076A (zh) * 2014-01-03 2014-04-02 东南大学 一种用于实现量程扩展的六维力和力矩传感器
CN106124113A (zh) * 2016-06-14 2016-11-16 南京神源生智能科技有限公司 一种新型六维力和力矩传感器

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EP3919882A4 (en) * 2019-01-28 2022-10-26 Nidec Copal Electronics Corporation ELASTIC BODY AND FORCE SENSOR USING THEM
CN110553781A (zh) * 2019-09-26 2019-12-10 深圳市鑫精诚科技有限公司 一种新型应变式六轴力传感器
CN113008428A (zh) * 2021-04-13 2021-06-22 中国科学院宁波材料技术与工程研究所 一种用于压电材料力频特性检测的力矩传感器
CN114459660A (zh) * 2021-12-14 2022-05-10 北京无线电计量测试研究所 一种去耦空间六维力测量装置
CN117249936A (zh) * 2023-09-27 2023-12-19 北京科技大学 基于柔性光波导的柔顺六维力传感器
CN117249936B (zh) * 2023-09-27 2024-05-07 北京科技大学 基于柔性光波导的柔顺六维力传感器

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