Double rood beam high-sensitivity six-dimensional moment sensor

A sensitivity and six-dimensional force technology, applied in the field of robotics, can solve the problems of inter-dimensional crosstalk, complex data processing, difficult processing, etc., to achieve the effect of improving output sensitivity

Active Publication Date: 2011-06-15
SHANGHAI JIAO TONG UNIV
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Problems solved by technology

Although this type of six-dimensional force sensor utilizes the characteristics of the average effect of the parallel structure, the parallel structure itself is relatively complex, with a large volume and complex data processing.
And its elastic body of the six-dimensional force sensor of the cross elastic beam structure form described in CN101672705 is obtained by hollowing out a cylinder, the structure is complicated, and it is not easy to process; meanwhile, the cross elastic beam also brings inconvenience to pasting the resistance strain gauge on the inside of the housing
In addition, due to the existence of floating beams, the structure still has the problem of crosstalk between dimensions.

Method used

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Embodiment Construction

[0019] The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.

[0020] Such as figure 1 As shown, this embodiment includes: including: a first cross beam 1, a second cross beam 2, a first fastening ring 3, a second fastening ring 4, an outer ring 5 and several strain gauges 6, wherein: the first A cross beam 1 and a second cross beam 2 are respectively arranged on both sides of the outer ring 5 and are used as sensor elastic bodies for sensitive force, and the first fastening ring 3 and the second fastening ring 4 are respectively arranged on the first cross beam 1 and the outside of the second cross beam 2, the resistance strain gauge 6 is pasted on the cross beam; the cross ...

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Abstract

The invention discloses a double rood beam high-sensitivity six-dimensional moment sensor in the technical field of robots. The double rood beam high-sensitivity six-dimensional moment sensor comprises two rood beams, two dead rings, one outer ring, and a plurality of resistance strain gages; a first rood beam and a second rood beam are arranged outside the outer ring respectively and are used as elastic bodies of the sensor for sensing stress; two dead rings are arranged outside the first rood beam and the second rood beam respectively; the resistance strain gages are adhered to the rood beams; each of the rood beams consists of four identical double-hole parallel sub beams; each double-hole parallel sub beam is provided with an I-shaped through hole; and a center hole is formed in the geometric center of each rood beam. In the double rood beam high-sensitivity six-dimensional moment sensor, floating beams used by the conventional six-dimensional moment sensor and crosstalk caused by the floating beams are removed, multi-component coupling is reduced conveniently and the measurement accuracy is improved.

Description

technical field [0001] The invention relates to a device in the technical field of robots, in particular to a double-cross beam high-sensitivity six-dimensional moment sensor. Background technique [0002] Multidimensional torque sensor, also known as multidimensional force sensor, refers to a sensor that can measure force and torque components in more than two directions at the same time. It is widely used in robotic joints; robotic surgery; force sense, tactile feedback; precision assembly, cutting; plastic surgery; astronaut training and other occasions. The industry covers robotics, automobile manufacturing, automated assembly line assembly, biomedicine, aerospace and other fields. The multi-dimensional torque sensor is generally composed of an elastic body sensitive to multi-component force and a resistance strain gauge. The elastic body is a force-sensitive device, and the resistance strain gauge converts the strain into a change in electric quantity. The six-dimensi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L1/22G01L5/16G01L3/00
Inventor 何小辉蔡萍赵鼎鼎武博谢叻
Owner SHANGHAI JIAO TONG UNIV
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