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Double-hole parallel beam type six-dimensional force sensor

A six-dimensional force sensor and parallel beam technology, applied in the field of sensors, can solve the problems of large inter-dimensional coupling, large nonlinearity, and low sensitivity, and achieve the effects of small inter-dimensional coupling, good linearity, and low 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 present invention aims to solve the problems of low sensitivity, large inter-dimensional coupling, large nonlinearity, low precision and

Method used

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  • Double-hole parallel beam type six-dimensional force sensor
  • Double-hole parallel beam type six-dimensional force sensor
  • Double-hole parallel beam type six-dimensional force sensor

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0025] Specific embodiment one: reference Figure 1 to Figure 4 Specifically describing this embodiment, a dual-hole parallel beam type six-dimensional force sensor described in this embodiment includes: a housing 1, a plurality of lower end fixing screws 2, an upper end cover 3, an elastic body 4, a plurality of upper end fixing screws 5, and Multiple resistance strain gauges 6;

[0026] The shell 1 is in the shape of a barrel, a central through hole is opened in the center of the bottom surface of the shell 1, and the upper end cover 3 is in a circular ring shape.

[0027] The elastic body 4 includes: four inner elastic beams 4-1, four outer elastic beams 4-2, eight floating beams 4-4, four fixed platforms 4-5 and loading platforms 4-6;

[0028] The loading platform 4-6 is cylindrical, one end of the four inner elastic beams 4-1 is fixed on the outside of the loading platform 4-6, and the four inner elastic beams 4-1 are evenly arranged on the outside of the loading platform 4-6, ...

Example Embodiment

[0033] Embodiment 2: This embodiment is a further description of a double-hole parallel beam type six-dimensional force sensor described in Embodiment 1. In this embodiment, there are 8 shell threaded holes 1 on the bottom surface of the shell 1 -1 and 8 shell through holes 1-2, the upper end cover 3 has 8 upper end cover threaded holes 3-1 and 8 upper end cover through holes 3-2,

[0034] 8 shell threaded holes 1-1 in pairs form a total of 4 sets of threaded hole groups, the 4 sets of threaded holes are evenly arranged along the circumference of the shell, and the adjacent two sets of threaded hole sets are separated by 90°, 8 A total of 4 sets of through hole groups are formed in two sets of two through-holes of the shell, and the four sets of through holes are evenly arranged along the circumferential direction of the shell, and the adjacent two sets of through hole sets are separated by 90°, 4 sets The radius of the circumference of the threaded hole group is smaller than the...

Example Embodiment

[0037] Specific embodiment three: this embodiment is a further description of a double-hole parallel beam type six-dimensional force sensor described in specific embodiment two. In this embodiment, the loading platform 4-6 is provided with 8 platform threads Holes 4-7, the 8 screw holes 4-7 of the carrier are respectively aligned with the 8 upper end cover through holes 3-2, and the upper fixing screw 5 passes through the upper end cover through holes 3-2 and threaded holes 4-7. Threaded connection,

[0038] Each fixing table 4-5 is provided with two fixing table threaded holes 4-8. The 8 fixing table threaded holes 4-8 are directly opposite to the 8 shell through holes 1-2, and the lower end fixing screws 2 pass through. The threaded connection is realized through the shell through hole 1-2 and the screw hole 4-8 of the fixing table.

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Abstract

A double-hole parallel beam type six-dimensional force sensor relates to the technical field of sensors, and is aimed at solving the problems that a conventional six-dimensional force sensor is low in sensitivity, large in dimension coupling, high in non-linearity, low in precision and high in retardation. One end of each of four inner elastic beams is fixed outside a loading bench. Each of four outer elastic beams is fixed on the other end of one corresponding inner elastic beam. Each of four fixed stands is positioned between every two adjacent outer elastic beams. The two ends of each fixed stand are connected with the corresponding adjacent outer elastic beams through floating beams. The top surface and the bottom surface of each inner elastic beam are each provided with two resistance strain gauges. Four resistance strain gauges are arranged outside each outer elastic beam. An elastic body is arranged in a cavity of a housing. An upper cover covers the opening of the housing. The external diameter of the upper end cover is smaller than the internal diameter of the housing. The double-hole parallel beam type six-dimensional force sensor is used for measuring six-dimensional force information.

Description

technical field [0001] The invention belongs to the technical field of sensors, in particular to a double-hole parallel beam type six-dimensional 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 huge 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, linearity, precision and hysteresis of the six-dimensional force sensor are the most important indicators affecting the performance of the sensor. How t...

Claims

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Application Information

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IPC IPC(8): G01L1/22G01L5/16
CPCG01L1/2206G01L5/16
Inventor 孙永军刘伊威刘宏
Owner HARBIN INST OF TECH
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