Non-coupling six-dimensional force sensor with binocular structure

A six-dimensional force sensor without coupling technology, applied in the field of sensors, can solve the problems of low sensitivity and large coupling between dimensions, and achieve the effect of improving sensitivity

Inactive Publication Date: 2017-09-05
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 solve the problems of low sensitivity and large inter-dimensional coupling of the existing six-dimensional force sensor, and propose a non-coupling six-dimensional force sensor with binocular structure

Method used

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  • Non-coupling six-dimensional force sensor with binocular structure
  • Non-coupling six-dimensional force sensor with binocular structure
  • Non-coupling six-dimensional force sensor with binocular structure

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Experimental program
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specific Embodiment approach 1

[0018] Specific implementation mode one: combine figure 1 Describe this embodiment, a binocular structure uncoupled six-dimensional force sensor described in this embodiment includes thirty-two strain gauges 1, a central hub 4, an upper platform loading platform 5, and four upper platform sensitive beams 7 , lower platform fixed platform 8 and four lower platform sensitive beams 9;

[0019] The upper platform loading platform 5 and the lower platform fixing platform 8 are both ring-shaped;

[0020] The center hub 4 is located at the center of the upper platform loading platform 5 and the center of the lower platform fixing platform 8 at the same time;

[0021] One end of each lower platform sensitive beam 9 is fixed on the outer wall of the center hub 4 bottom, and the other end of each lower platform sensitive beam 9 is fixed on the inner wall of the lower platform fixed platform 8; and each lower platform sensitive beam 9 is There is a No. 1 binocular structure through hol...

specific Embodiment approach 2

[0026] Specific Embodiment 2: This embodiment is to further limit the uncoupled six-dimensional force sensor of a binocular structure described in Specific Embodiment 1. In this embodiment, the shape of the through hole 2 of No. 1 binocular structure and the The shape of the No. binocular structure through hole 3 is identical; to set the measuring range.

[0027] In this embodiment, the cross-sectional area of ​​the No. 1 binocular structure through hole 2 and the cross-sectional area of ​​the No. 2 binocular structure through hole 3 may be the same or different.

specific Embodiment approach 3

[0028] Specific embodiment three: This embodiment is to further limit the uncoupled six-dimensional force sensor of a binocular structure described in specific embodiment one. In this embodiment, four lower platform sensitive beams 9 The circumferential direction is evenly distributed; the four upper platform sensitive beams 7 are evenly distributed along the circumferential direction of the central hub 4 .

[0029] In this embodiment, the included angle between two adjacent lower platform sensitive beams 9 is 90 degrees, and the included angle between two adjacent upper platform sensitive beams 7 is also 90 degrees.

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Abstract

A non-coupling six-dimensional force sensor with a binocular structure belongs to the technical field of sensors, relates to a force sensor, and is aimed at solving the problems that a conventional six-dimensional force sensor is low in sensitivity and large in dimension coupling. An upper platform loading bench and a lower platform fixed bench are both circular benches. A central wheel hub is positioned in the center. Lower platform sensitive beams and upper platform sensitive beams are fixed in the central wheel hub. The lower platform sensitive beams are fixed on the inner wall of the lower platform fixed bench. Each lower platform sensitive beam is equipped with a No.1 binocular structured through hole. The upper platform sensitive beams are fixed on the inner wall of the upper platform loading bench. Each upper platform sensitive beam is equipped with a No.2 binocular structured through hole. Every four of strain gauges form one Wheatstone full bridge. The eight Wheatstone full bridges are all used for measuring six-dimensional force information. Both the upper platform loading bench and the lower platform fixed bench are equipped with multiple screwed holes. The screwed holes are used for being connected with external to-be-measured equipment. The beneficial effects are that the sensitivity is high and no coupling exists among dimensions.

Description

technical field [0001] The invention belongs to the technical field of sensors and relates to a force sensor. Background technique [0002] With the rapid development of robot technology, higher requirements are put forward for robots with multi-sensor perception. As a very important function of robots, force sense plays a vital role in the development of robots. As the most important sensor for robot force perception, the six-dimensional force sensor plays a very important role in robot wrist force perception, robot dexterous fingertip force detection, and humanoid robot foot force measurement. Therefore, the related technology of the six-dimensional force sensor is a major research hotspot and difficult problem in the field of robotics. The sensitivity, inter-dimensional coupling, precision and hysteresis of the six-dimensional force sensor are the most important indicators affecting the performance of the sensor. How to improve the sensitivity and accuracy of the six-d...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L1/16G01L5/16
CPCG01L1/16G01L5/167
Inventor 孙永军刘伊威刘宏
Owner HARBIN INST OF TECH
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