Six-dimensional force sensor

Abstract

The present invention discloses a six-dimensional force sensor. The sensor comprises a sensor pedestal and a housing arranged on the sensor pedestal, and the sensor pedestal is provided with an elastomer. The elastomer is a rood beam, the rood beam comprises a center matrix and four cantilever beams connected on the center matrix, the sensor pedestal is provided with four positioning parts sliding along the axial direction, the tail end of each cantilever beam sleeves the four positioning parts sliding along the axial direction and slides along the axial direction of the positioning parts, each cantilever beam is provided with a first stress concentration position where stress concentration is generated in the horizontal plane and a second stress concentration position where stress concentration is generated in the vertical plane, strain gages configured to measure the size of the stress at the stress concentration position are respectively arranged at the first stress concentration position and the second stress concentration position. The sensor is simple and compact in structure and high in modularization to realize force decoupling, is accurate in measurement and has an overload protection effect.

Description

technical field [0001] The invention belongs to the field of sensors, in particular to a six-dimensional force sensor, and is especially suitable for the field of industrial automatic grinding. Background technique [0002] At present, most of the grinding work is manual. Manual grinding has problems such as high processing costs, endangering the health of workers, and great potential safety hazards. The more critical problem is that because of the complex shape of the workpiece, such as glass molds, castings, jade handicrafts, etc., manual grinding wastes man-hours, low processing efficiency, and low grinding output. The use of robot grinding has the advantages of high flexibility, high safety, and strong stability, and can realize the grinding work of large quantities of workpieces with complex geometric shapes. Breaking the traditional wheel hub grinding processing mode, integrating robot technology, control technology, sensor technology and other technologies, adopting ...

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Problems solved by technology

Using the principle of sensor measurement, the six-dimensional force sensor mainly consists of capacitive, piezoresistive, strain, and piezoelectric. Low, capacitive and piezoelectric sensors have the disadvantage of small range

Chinese patent CN201310479891.9 uses double-layer cross beams to achieve decoupling, and discloses an orthogonal decoupling six-dimensional force sensor, which has the disadvantages of large z-direction size, small z-direction load and high processing cost. Chinese patent CN201620008204 .4 discloses a compact six-dimensional force se...

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