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Cross-beam-type six-dimensional force sensor with overload protection function

A technology of six-dimensional force sensor and overload protection, which is applied in the field of cross-beam six-dimensional force sensor, which can solve the problems such as difficulty in guaranteeing the strength and stiffness of the gap precision sensor, and achieve the effect of high stiffness, improved stiffness and dynamic performance, and improved sensitivity

Active Publication Date: 2014-01-22
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a cross-beam type six-dimensional force sensor with overload protection function in view of the problem that the existing six-dimensional force sensor adopts the screw method to realize overload protection, and the gap accuracy and the strength and stiffness of the entire sensor after overload are difficult to guarantee. force sensor

Method used

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  • Cross-beam-type six-dimensional force sensor with overload protection function
  • Cross-beam-type six-dimensional force sensor with overload protection function
  • Cross-beam-type six-dimensional force sensor with overload protection function

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specific Embodiment approach 1

[0022] Specific implementation mode one: combine figure 1 and figure 2 Describe this embodiment, this embodiment includes inner ring 1, four inner beams 2, four overload protection beams 3, four outer rings 4, four outer beams 5, four protection pins 7, eight connecting plates 6 and Thirty-two resistance strain gauges 8, four inner beams 2 and four overload protection beams 3 are evenly distributed and staggered along the outer wall of the inner ring 1, four outer beams 5 are arranged on the outside of the four inner beams 2, and four outer beams The beam 5 is arranged in one-to-one correspondence with the four inner beams 2, and the outer beam 5 is fixedly connected to the corresponding inner beam 2. An outer ring 4 is arranged on the outer side of each overload protection beam 3, and an outer ring 4 is arranged between two adjacent outer rings 4. An outer beam 5 is arranged between them, and the two ends of the outer beam 5 are respectively fixedly connected with the outer...

specific Embodiment approach 2

[0023] Specific implementation mode two: combination figure 2 Describe this embodiment, the determination of the inner diameter D of the outer ring process through hole 4-2 of this embodiment: under the rated load of Fx, Fz, Mx and Mz calculated respectively in the finite element analysis software, the protection pin 7 is relatively outer The maximum displacements along the radial direction of the through hole 4-2 of the ring process are respectively S1, S2, S3 and S4, and the minimum displacement is set as S0=min{S1, S2, S3, S4}, and the six-dimensional force sensor is set at The overload multiple under the minimum displacement condition is x, then the sum of the outer diameter D0 of the protection pin 7 and x times the minimum displacement S0 is the inner diameter D of the through hole 4-2 of the outer ring process, that is, D=D0+x*S0 . Fx is the tangential force along the X-axis, Fz is the axial force along the Z-axis, Mx is the bending moment around the X-axis, and Mz is...

specific Embodiment approach 3

[0024] Specific implementation mode three: combination figure 2 To describe this embodiment, the axes of each corresponding inner ring process through hole 1-2, overload protection beam through hole 3-1 and outer ring process through hole 4-2 in this embodiment are on the same line. Other compositions and connections are the same as those in Embodiment 1 or 2.

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Abstract

The invention provides a cross-beam-type six-dimensional force sensor with an overload protection function, relates to a six-dimensional force sensor, and aims to solve the problems that the conventional six-dimensional force sensor adopts a bolt way for achieving overload protection, so that the gap precision and the strength and the rigidity of the whole sensor after overload are difficultly guaranteed. Four inner beams and four overload protection beams are uniformly arranged along the outer wall of an inner ring in a staggered way; four outer beams are arranged on the outer sides of the four inner beams; the four outer beams are in one-to-one correspondence with the four inner beams; an outer ring is correspondingly arranged on the outer side of each overload protection beam; one outer beam is arranged between each two adjacent outer rings; the two ends of each outer beam are fixedly connected with the outer rings through connecting plates respectively; protection pins are in interference fit with through holes of the overload protection beams; the protection pins are in clearance fit with technical through holes of the outer rings; two resistance strain gauges are adhered to each of the two side surface of each inner beam; two resistance strain gauges are adhered to each of the two sides of the upper end surface of each outer beam. The cross-beam-type six-dimensional force sensor with the overload protection function is applied to industrial automation, automobiles, ship building, military industry or robots.

Description

technical field [0001] The invention relates to a six-dimensional force sensor, in particular to a cross beam type six-dimensional force sensor with an overload protection function. Background technique [0002] With the development of science and technology, more and more robot technology is used in various occasions, such as handling, welding, assembly and so on. One of the core issues of robot technology is intelligence. The six-dimensional force sensor is a key component of the intelligent feature of space robots because it can perceive full force information in three-dimensional space at the same time. The core of the six-dimensional force sensor is the design of the elastic body. The structure of the elastic body directly determines the performance of the entire sensor and is the key to the performance of the sensor. [0003] The overload protection of the six-dimensional force sensor is directly related to the use and safety of the six-dimensional force sensor, and h...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L1/22
Inventor 刘伊威孙永军刘宏邹添倪风雷胡志勇
Owner HARBIN INST OF TECH
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