Cross-shaped beam type elastomer for six-dimensional force sensor

A six-dimensional force sensor and elastomer technology, applied in the direction of measuring force components, etc., can solve the problems of low sensitivity and large inter-dimensional coupling, so as to ensure the sensitivity, eliminate the interference of axial force measurement, and reduce the inter-dimensional coupling. Effect

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

[0004] The purpose of the present invention is to provide a cross-beam type six-dimensional force sensor elastic body for the problems of low sensitivity and large inter-dimensional coupling in the existing six-dimensional force sensor elastic body

Method used

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  • Cross-shaped beam type elastomer for six-dimensional force sensor
  • Cross-shaped beam type elastomer for six-dimensional force sensor

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specific Embodiment approach 1

[0011] Specific implementation mode one: combine figure 1 with 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 and eight connecting plates 6, 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 the four outer beams 5 are arranged in one-to-one correspondence with the four inner beams 2, and the outer The beam 5 is fixedly connected with the corresponding inner beam 2, and an outer ring 4 is arranged on the outside of each overload protection beam 3, and an outer beam 5 is arranged between two adjacent outer rings 4, and the two ends of the outer beam 5 are respectively The outer ring 4 is fixedly connected by a connecting plate 6, two outer ring through holes 4-1 are arranged on the upper and lower e...

specific Embodiment approach 2

[0012] Specific implementation mode two: combination figure 1 with figure 2 The present embodiment will be described. The four inner beams 2 and the four overload protection beams 3 of the present embodiment are integrated with the inner ring 1 . Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0013] Specific implementation mode three: combination figure 1 with figure 2 The present embodiment will be described. The four outer beams 5 and the four inner beams 2 of the present embodiment are integrated. Other compositions and connections are the same as those in Embodiment 1 or 2.

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Abstract

The invention relates to an elastomer for a six-dimensional force sensor, and provides a cross-shaped beam type elastomer for the six-dimensional force sensor to solve the problems of low sensibility and large coupling among dimensions of the existing elastomer for the six-dimensional force sensor. Four inner beams and four overload protection beams are uniformly distributed and staggered along an outer wall of an inner ring, four outer beams are arranged on the outer sides of the four inner beams, the four outer beams and the four inner beams are in one-to-one correspondence, the outer beams are fixedly connected with the corresponding inner beams, an outer ring is correspondingly arranged on the outer side of each overload protection beam, one outer beam is arranged between every two adjacent outer rings, and each of the two ends of the outer beam is fixedly connected with one outer ring through a connecting plate, two outer ring through holes are formed in the upper end surface and the lower end surface of each outer ring, eight inner ring through holes are uniformly distributed in the upper end surface and the lower end surface of the inner ring along the same circumference, each inner ring through hole is located between the adjacent outer ring and the outer beam, and an overload protection beam through hole and an outer ring process through hole are communicated with an inner ring process through hole. The cross-shaped beam type elastomer for the six-dimensional force sensor is suitable for industrial automation, automobiles, shipbuilding, military projects or robots.

Description

technical field [0001] The invention relates to a six-dimensional force sensor elastic body, in particular to a cross-beam type six-dimensional force sensor elastic body. 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 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 sensitivity, stiffness, linearity, hysteresis, repeatability, and natural frequency of the entire sensor, which is the key to the performance of the sensor. [0003] At present, the elastic bodies of six-dimensional force sensors are mostly in the form...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L5/16
Inventor 刘宏孙永军刘伊威邹添倪风雷胡志勇
Owner HARBIN INST OF TECH
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