A six-dimensional force sensing device

Abstract

The invention relates to a six-dimensional force sensing device, comprising a first part connected with a supporting part, a rigid second part transmitting a six-dimensional force, and converting the relative surface pressure change of the first part and the second part into a digital signal induction unit. The six-dimensional force sensing device using strain gauges and elastic beams in the prior art has the following problems: (1) The strain gauge has a deformation limit, and the sensitivity is low in the case of a large range; The viscosity will drop or even fall off after service; (2) The elastic beam is prone to plastic deformation, which makes the sensor malfunction. The invention provides a six-dimensional force sensing device, which uses a magnetorheological elastomer instead of a strain gauge, and has an interference fit with the contact surface, and a rigid beam instead of an elastic beam; the matrix of the magnetorheological elastomer is rubber, which is extremely difficult to damage and has a high sensitivity. Higher, avoiding the use of glue for pasting; the rigid beam replaces the elastic beam, effectively prevents the plastic deformation of the beam, and solves the problems in the prior art.

Description

technical field [0001] The present invention relates to the technical field of sensing devices, in particular to a six-dimensional force sensing device. Background technique [0002] Existing six-dimensional force sensing devices mostly use elastic beams and strain gauges inside. By pasting the strain gauges in the largest area of ​​structural deformation under the action of external loads, the force of the six-dimensional force sensor is finally obtained by collecting the voltage data of the strain gauges. and torque data. The existing technology has the following problems: 1. The deformation of the strain gauge has a limit and is easy to be damaged; in the case of a large range, the sensitivity is low; 2. The six-dimensional force sensor uses an elastic deformation beam, which deforms after the beam is stressed, and the strain gauge passes through the sensing beam. The size of the deformation, sensing force and moment, but the elastic deformation beam is prone to plastic ...

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Problems solved by technology

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a six-dimensional force sensing device, which uses magnetorheological elastomers instead of strain gauges. The matrix of magnetorheological elastomers is rubber, which is difficult to damage and The sensitivity is higher; the rigid beam replaces the elastic deformation beam, which effectively prevents the plastic deformation of the beam; the magnetorheological elastomer and the contact surface are interference fit, compared with the traditional six-dimensional force sensing device pasting the strain on the elastic beam The form of the strain gauge solves the problem that the glue used for the strain gauge sticking falls off after a long period of service, the viscosity drops, and the induction of the strain gauge fails.

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