A six-dimensional force sensor

Abstract

The invention discloses a six-dimensional force sensor, which relates to the field of sensor technology. The outer end of the radial beam is connected to the middle of the floating beam to form a "T" beam; each beam is evenly distributed in the circumference, and its radial beam is arranged along the radial direction, and the floating beam is arranged vertically, and the inner end of each radial beam is connected to the center platform; the top and bottom ends of each floating beam are respectively fixedly connected to the circumferential support, and the center platform and the circumferential support are provided with positioning holes; the radial beam is provided with a radial beam vertical through hole penetrating its upper surface and lower surface and a radial beam transverse through hole penetrating its two side surfaces, and the floating beam is provided with a floating beam transverse through hole penetrating its two side surfaces; strain gauges are arranged on both sides of the radial beam vertical through hole, the radial beam transverse through hole and the floating beam transverse through hole. The sensor of the present invention is provided with transverse through holes and vertical through holes on each radial beam, and transverse through holes on each floating beam, so that the strain on the beam is concentrated on both sides of each through hole, which can effectively improve the resolution of the sensor while ensuring the rigidity of the sensor.

Description

Technical Field

[0001] The present invention relates to the technical field of sensors, and in particular to a force sensor for measuring force. Background Art

[0002] Multi-dimensional force sensors are an important source of information for robots to obtain the forces acting on the environment. At present, there have been many aspects of research on multi-dimensional force sensors, such as the Watson multi-dimensional force sensor developed by the DraPer Institute in the United States, the SAFMS multi-dimensional force sensor jointly developed by the Hefei Institute of Intelligent Technology of the Chinese Academy of Sciences and Southeast University, the multi-dimensional force sensor based on the Stewart platform, the HUST FS6 multi-dimensional force sensor studied by Professor Huang Xinhan, and the two-level parallel structure six-dimensional force sensor designed by Dr. R. Seitner of Germany, etc. A lot of research has been done on multi-dimensional force sensors at home and abroad. The designed multi-dimensional force sensors are diverse, each with different advantages and disadvantages and application occasions, but the decoupling of multi-dimensional force sensors, the contradiction between stiffness and sensitivity, and other issues need to be further studied.

[0003] The design of the sensitive element of a multi-dimensional force sensor is a key issue in the application of the force sensor. With regard to the structural form of the elastic body of the existing multi-dimensional force sensor, it is difficult to further improve the stiffness and sensitivity of the sensor at the same time. In addition, the elastic body of some existing multi-dimensional force sensors also has a decoupling problem. Summary of the invention

[0004] The present invention provides a six-dimensional force sensor to avoid the above-mentioned deficiencies in the prior art.

[0005] The present invention adopts the following technical solutions to solve the technical problems: a six-dimensional force sensor, wherein the outer end of the radial beam is connected to the middle of the floating beam to form a beam of a T-shaped structure; each beam is evenly distributed in the circumferential direction, the radial beam is arranged in the radial direction, the floating beam is arranged vertically, and the inner end of each radial beam is connected to the center platform; the top and bottom ends of each floating beam are respectively fixedly connected to the circumferential support, and the center platform and the circumferential support are provided with positioning holes;

[0006] The radial beam is provided with radial beam vertical through holes penetrating the upper surface and the lower surface thereof and radial beam transverse through holes penetrating the two side surfaces thereof; the floating beam is symmetrically provided with floating beam transverse through holes penetrating the two side surfaces thereof; strain gauges are provided on both sides of the radial beam vertical through holes, the radial beam transverse through holes and the floating beam transverse through holes.

[0007] Furthermore, each of the circumferential supports disposed at the top end of each of the floating beams constitutes an integral structure, and each of the circumferential supports disposed at the bottom end of each of the floating beams constitutes an integral structure.

[0008] Furthermore, the circumferential supports of the two integral structures form an integral structure through the connecting parts evenly distributed therebetween.

[0009] Furthermore, the circumferential supports are separately arranged and connected as a whole through the sensor housing.

[0010] Furthermore, the transverse through holes of the radial beam and the vertical through holes of the radial beam are arranged at both ends of the radial beam and a spacing is left between the ends thereof, and a spacing is left between the transverse through holes of the radial beam and the vertical through holes of the radial beam.

[0011] Furthermore, each of the radial beams and the central platform is horizontally arranged, the floating beam is vertically arranged, the radial beam transverse through holes and the floating beam transverse through holes are horizontal through holes, and the radial beam vertical through holes are vertical through holes.

[0012] Furthermore, the radial beam vertical through holes, the radial beam transverse through holes and the floating beam transverse through holes are in the form of interconnected double cylindrical holes, rectangular holes, waist holes or dumbbell-shaped holes.

[0013] Furthermore, the number of the beams of the T-shaped structure is four, and the beams of the T-shaped structure are evenly arranged at an angle of 90° to form a "cross" structure.

[0014] Furthermore, the number of the beams of the T-shaped structure is three, and the beams of the T-shaped structure are evenly arranged at an angle of 120°.

[0015] Furthermore, the central platform is a round platform or a square platform.

[0016] The present invention provides a six-dimensional force sensor, which has the following beneficial effects:

[0017] 1. The sensor of the present invention is provided with transverse through holes and vertical through holes on each radial beam, and transverse through holes on each floating beam, so that the strain on the beam is concentrated on both sides of the transverse through holes or the vertical through holes, which is convenient for using strain gauges to measure the strain on the beam, and can effectively improve the resolution of the sensor while ensuring the rigidity of the sensor;

[0018] 2. The sensor of the present invention adopts a "T"-shaped beam structure combining a horizontal beam and a vertical beam, so that the sensor has high sensitivity and high load-bearing capacity;

[0019] 3. The sensor of the present invention adopts a symmetrical structure, and the floating beam is arranged vertically, which can realize the structural decoupling of the six-dimensional force sensor;

[0020] 4. The elastomer can be processed as a whole to reduce repeatability errors, and its structure is simple and easy to process. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1It is a structural schematic diagram of the first structure of the present invention;

[0022] Figure 2 A top view of the first structure of the present invention;

[0023] Figure 3 It is a cross-sectional view at AA of the first structure of the present invention;

[0024] Figure 4 It is a structural schematic diagram of the second structure of the present invention;

[0025] Figure 5 It is a schematic structural diagram of the third structure of the present invention.

[0026] In the figure:

[0027] 1. Center table, 2. Radial beam, 3. Floating beam, 4. Circumferential support, 5. Horizontal through hole of radial beam, 6. Vertical through hole of radial beam, 7. Horizontal through hole of floating beam, 8. Positioning hole. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] like Figure 1~Figure 5 As shown, the structural relationship is as follows: the outer end of the radial beam 2 is connected to the middle of the floating beam 3 to form a beam of a T-shaped structure; each beam is evenly distributed in the circumferential direction, the radial beam 2 is arranged radially, the floating beam 3 is arranged vertically, and the inner end of each radial beam 2 is connected to the central platform 1; the top and bottom ends of each floating beam 3 are respectively fixedly connected to the circumferential support 4, and positioning holes 8 are arranged on the central platform 1 and the circumferential support 4;

[0030] The radial beam 2 is provided with radial beam vertical through holes 6 penetrating the upper and lower surfaces thereof and radial beam transverse through holes 5 penetrating the two side surfaces thereof, and the floating beam 3 is symmetrically provided with floating beam transverse through holes 7 penetrating the two side surfaces thereof; strain gauges are provided on both sides of the radial beam vertical through holes 6, the radial beam transverse through holes 5 and the floating beam transverse through holes 7.

[0031] Preferably, each circumferential support 4 provided at the top end of each floating beam 3 constitutes an integral structure, and each circumferential support 4 provided at the bottom end of each floating beam 3 constitutes an integral structure.

[0032] Preferably, the two integrally structured circumferential supports 4 form an integrated structure through connecting portions evenly distributed therebetween.

[0033] Preferably, the circumferential supports 4 are arranged separately and connected as a whole through the sensor housing.

[0034] Preferably, the radial beam transverse through holes 5 and the radial beam vertical through holes 6 are arranged at both ends of the radial beam 3 with a spacing therebetween, and a spacing is left between the radial beam transverse through holes 5 and the radial beam vertical through holes 6 .

[0035] Preferably, each radial beam 2 and the central platform 1 are arranged horizontally, the floating beam 3 is arranged vertically, the radial beam transverse through hole 5 and the floating beam transverse through hole 7 are horizontal through holes, and the radial beam vertical through hole 6 is a vertical through hole.

[0036] Preferably, the radial beam vertical through holes 6, the radial beam transverse through holes 5 and the floating beam transverse through holes 7 are in the form of interconnected double cylindrical holes, rectangular holes, waist holes or dumbbell-shaped holes.

[0037] Preferably, the number of the T-shaped beams is four, and the beams of the T-shaped structures are evenly arranged at an angle of 90° to form a "cross" structure.

[0038] Preferably, the number of the T-shaped beams is three, and the beams of the T-shaped structures are evenly arranged at an angle of 120°.

[0039] Preferably, the center platform 1 is a round platform or a square platform.

[0040] Example 1

[0041] This embodiment adopts the first structure of the present invention.

[0042] The sensor with the traditional cross beam structure and the first structure of the present invention were tested under the premise of maintaining the same external dimensions.

[0043] The test results of the traditional cross beam structure sensor are as follows:

[0044]

[0045] The test results of the present invention are as follows:

[0046]

[0047] It can be seen from the above results that, compared with the existing cross-beam structure sensor, the present invention significantly improves the stiffness in all directions while ensuring a slight improvement in resolution (reflected in a decrease in value).

[0048] At the same time, because resolution and stiffness are a set of related performance data, an increase in stiffness while controlling other variables will inevitably lead to a decrease in resolution, and correspondingly, a decrease in stiffness will increase resolution. It can be undoubtedly inferred from the above data that, on the basis of ensuring a slight increase in stiffness, the resolution of the present invention can be greatly improved compared to traditional cross-beam structure sensors.

[0049] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0050] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A six-dimensional force sensor, characterized in that: The outer end of the radial beam (2) is connected to the middle of the floating beam (3) to form a beam of a T-shaped structure; the beams are evenly distributed in the circumferential direction, the radial beams (2) are arranged radially, and the floating beams (3) are arranged vertically, and the inner end of each radial beam (2) is connected to the central platform (1); the top and bottom ends of each floating beam (3) are respectively fixedly connected to the circumferential support (4), and positioning holes (8) are provided on the central platform (1) and the circumferential support (4); The radial beam (2) is provided with a radial beam vertical through hole (6) penetrating the upper surface and the lower surface thereof and a radial beam transverse through hole (5) penetrating the two side surfaces thereof, and the floating beam (3) is symmetrically provided with a floating beam transverse through hole (7) penetrating the two side surfaces thereof; strain gauges are provided on both sides of the radial beam vertical through hole (6), the radial beam transverse through hole (5) and the floating beam transverse through hole (7); The circumferential supports (4) arranged at the top end of each floating beam (3) form an integral structure, and the circumferential supports (4) arranged at the bottom end of each floating beam (3) form an integral structure. The circumferential supports (4) of the two integral structures form an integrated structure through the connecting parts evenly arranged therebetween; or the circumferential supports (4) are arranged separately and connected as a whole through the sensor housing.

2. A six-dimensional force sensor according to claim 1, characterized in that: The radial beam transverse through hole (5) and the radial beam vertical through hole (6) are arranged at both ends of the radial beam (3) and a spacing is left between the ends thereof, and a spacing is left between the radial beam transverse through hole (5) and the radial beam vertical through hole (6).

3. A six-dimensional force sensor according to claim 1, characterized in that: The radial beams (2) and the central platform (1) are arranged horizontally, the floating beam (3) is arranged vertically, the radial beam transverse through holes (5) and the floating beam transverse through holes (7) are horizontal through holes, and the radial beam vertical through holes (6) are vertical through holes.

4. A six-dimensional force sensor according to any one of claim 1, characterized in that: The radial beam vertical through hole (6), the radial beam transverse through hole (5) and the floating beam transverse through hole (7) are in the form of interconnected double cylindrical holes, rectangular holes, waist holes or dumbbell-shaped holes.

5. The six-dimensional force sensor according to claim 1, characterized in that: The number of the beams of the T-shaped structure is four, and the beams of the T-shaped structure are evenly arranged at an angle of 90° to form a "cross" structure.

6. A six-dimensional force sensor according to claim 1, characterized in that: The number of the beams of the T-shaped structure is three, and the beams of the T-shaped structure are evenly arranged at an angle of 120°.

7. A six-dimensional force sensor according to claim 1, characterized in that: The central platform (1) is a round platform or a square platform.

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