Low crosstalk six-dimensional force sensor

Abstract

The utility model relates to six -dimensional force sensor technical field, concretely is a kind of low crosstalk six -dimensional force sensor, including elastomer, and elastomer includes fixed part, force receiving part and four strain beams, and fixed part is equipped with accommodating cavity;Force receiving part is located in accommodating cavity and there is gap between fixed part;Two strain beams are located at the two sides of force receiving part and respectively coaxially extend to fixed part along X-axis direction, two strain beams are located at the two sides of force receiving part and respectively coaxially extend to fixed part along Y-axis direction, recess is equipped on each strain beam, and the groove bottom of recess is equipped with first patch site.The utility model is decomposed to each independent strain beam by the strain beam arrangement structure of cross orthogonal to force and moment, realizes mechanical decoupling, reduces the crosstalk of force and moment signal, and simultaneously by setting recess on strain beam, make strain concentrate in the first patch site on strain beam, further improve detection accuracy.

Description

Technical Field

[0001] This utility model relates to the field of six-dimensional force sensor technology, specifically a low-crosstalk six-dimensional force sensor. Background Technology

[0002] Six-dimensional force sensors are widely used in industrial manufacturing and automation, medical and health, aerospace, automotive research and kinematics, and other fields. In applications requiring high precision, such as precision machining of products, six-dimensional force sensors are mounted on collaborative robotic arms. By detecting forces (Fx, Fy, Fz) and torques (Mx, My, Mz) in three-dimensional space, real-time monitoring of forces and torques in operations such as gripping, assembly, and grinding can be achieved, ensuring operational accuracy. However, some current six-dimensional force sensors are prone to mutual interference between force and torque signals, resulting in large detection errors and consequently, significant errors in operational accuracy. Utility Model Content

[0003] The purpose of this invention is to provide a low crosstalk six-dimensional force sensor to solve the problem of large detection error in existing six-dimensional sensors.

[0004] To solve the above problems, the present invention provides the following technical solution: A low-crosstalk six-dimensional force sensor includes an elastic body, the elastic body comprising: The fixing part is provided with a receiving cavity; The force-bearing part is located within the accommodating cavity and has a gap with the fixing part; Two strain beams are disposed on both sides of the force-bearing part and extend coaxially to the fixing part along the X-axis direction, respectively. Two strain beams are disposed on both sides of the force-bearing part and extend coaxially to the fixing part along the Y-axis direction, respectively. Each strain beam is provided with a groove, and the bottom of the groove is provided with a first patch position.

[0005] As described above, in a low crosstalk six-dimensional force sensor, the grooves on the two strain beams extending coaxially along the X-axis are formed by recessing from the side of the strain beam towards the center along the Y-axis; the grooves on the two strain beams extending coaxially along the Y-axis are formed by recessing from the side of the strain beam towards the center along the X-axis.

[0006] As described above, a low crosstalk six-dimensional force sensor has two grooves on each strain beam, with the two grooves symmetrically arranged on both sides of the strain beam.

[0007] As described above, the low crosstalk six-dimensional force sensor further includes four connecting modules. Each connecting module is disposed on the fixing part and is respectively connected to one of the strain beams. The connecting modules are provided with stress relief through holes.

[0008] As described above, in a low crosstalk six-dimensional force sensor, one end of the connection module connected to the strain beam has a connection end face perpendicular to the strain beam, and the connection end face has a second patch position.

[0009] As described above, in a low crosstalk six-dimensional force sensor, the stress relief through-hole includes at least one first through-hole opposite to the strain beam and two second through-holes opposite to the second patch position. The two second through-holes are circular holes and their sidewalls are connected.

[0010] In the low crosstalk six-dimensional force sensor described above, the distance between the centers of the two second through holes is equal to the spacing of the strain gauge wire grid in the strain gauge corresponding to the second patch position.

[0011] As described above, a low crosstalk six-dimensional force sensor includes a strain beam comprising a first strain section and a second strain section. The first strain section is connected to the fixing part, and the second strain section is connected to the force-receiving part. The groove is provided on the second strain section.

[0012] As described above, a low crosstalk six-dimensional force sensor has two first end faces perpendicular to the Z-axis and two second end faces perpendicularly connected to the first end faces on the first end face. A third patch position is provided on the first end face, and a fourth patch position is provided on the second end face.

[0013] The low crosstalk six-dimensional force sensor described above further includes a first strain gauge, a second strain gauge, a third strain gauge, and a fourth strain gauge; the first strain gauge is disposed on a first patch position on the strain beam extending along the X-axis direction and is used to detect the Y-axis torque My; the first strain gauge is disposed on a first patch position on the strain beam extending along the Y-axis direction and is used to detect the X-axis torque Mx; the second strain gauge is disposed on a second patch position on a connecting end face perpendicular to the strain beam extending along the X-axis direction and is used to detect the X-axis pressure Fx; the second strain gauge is disposed on a second patch position on a connecting end face perpendicular to the strain beam extending along the Y-axis direction and is used to detect the Y-axis pressure Fy; the third strain gauge is disposed on the third patch position and is used to detect the Z-axis pressure Fz; the fourth strain gauge is disposed on the fourth patch position and is used to detect the Z-axis torque Mz.

[0014] Compared with the prior art, the present invention has the following advantages: This utility model provides a low crosstalk six-dimensional force sensor, which decomposes force and torque onto each independent strain beam through a cross-shaped orthogonal strain beam arrangement structure, thereby achieving mechanical decoupling and reducing crosstalk between force and torque signals. At the same time, by setting grooves on the strain beams, the strain is concentrated at the first patch position on the strain beam, further improving the detection accuracy. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of an elastic body for a low crosstalk six-dimensional force sensor according to an embodiment of the present invention.

[0017] Figure 2 This is a schematic diagram of the connection structure between the elastic body and strain gauge of a low crosstalk six-dimensional force sensor according to an embodiment of the present invention.

[0018] The corresponding numbers for the attached figures are as follows: 1. Elastomer; 101. First patch position; 102. Second patch position; 103. Third patch position; 104. Fourth patch position; 11. Fixing part; 111. Receiving cavity; 12. Force-bearing part; 13. Strain beam; 1301. First strain segment; 1302. Second strain segment; 131. Groove; 14. Connecting module; 141. Stress relief through hole; 1411. First through hole; 1412. Second through hole; 142. Connecting end face; 21. First strain gauge; 22. Second strain gauge; 23. Third strain gauge; 24. Fourth strain gauge. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present utility model, and not all of them. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] Please see Figure 1 and Figure 2This embodiment provides a low crosstalk six-dimensional force sensor, including an elastic body 1. The elastic body 1 includes a fixing part 11, a force-receiving part 12, and four strain beams 13. The fixing part 11 is provided with a receiving cavity 111. The force-receiving part 12 is disposed in the receiving cavity 111 and has a gap with the fixing part 11. Two strain beams 13 are disposed on both sides of the force-receiving part 12 and extend coaxially to the fixing part 11 along the X-axis. Two strain beams 13 are disposed on both sides of the force-receiving part 12 and extend coaxially to the fixing part 11 along the Y-axis. Each strain beam 13 is provided with a groove 131, and the bottom of the groove 131 is provided with a first patch position 101. This embodiment of a low-crosstalk six-dimensional force sensor decomposes force and torque onto each independent strain beam 13 through a cross-shaped orthogonal strain beam arrangement structure, thereby achieving mechanical decoupling and reducing crosstalk between force and torque signals. At the same time, by setting grooves 131 on the strain beams 13, the strain is concentrated at the first patch position 101 on the strain beams 131, further improving the detection accuracy.

[0021] Specifically, the grooves 131 on the two strain beams 13 extending coaxially along the X-axis are formed by recessing from the side of the strain beam 13 towards the center along the Y-axis; the grooves 131 on the two strain beams 13 extending coaxially along the Y-axis are formed by recessing from the side of the strain beam 13 towards the center along the X-axis. Adding grooves 131 to one end of the strain beam 13 significantly changes its local stiffness and stress distribution, thereby increasing strain and causing strain concentration. Specifically, the introduction of the groove weakens the effective cross-sectional area of ​​the beam, especially in the area near the groove, where its bending stiffness decreases. According to the bending theory of beams, when the groove weakens the cross-section, the moment of inertia of the cross-section decreases, and under the same bending moment, the strain increases. The first patch position 101 is correspondingly set on the groove 131, which is beneficial for strain concentration at the first patch position 101 and improves detection accuracy.

[0022] Furthermore, the strain beam 13 may have one groove 131 or two grooves 131. Preferably, each strain beam 13 in this embodiment has two grooves 131, which are symmetrically arranged on both sides of the strain beam 13, which is beneficial to increasing the strain of the strain beam 13.

[0023] Furthermore, the elastic body 1 also includes four connecting modules 14, each of which is disposed on the fixing part 11 and is respectively connected to one of the strain beams 13. The connecting module 14 is provided with stress relief through holes 141. By providing stress relief through holes 141 on the connecting module 14, the strain of each strain beam 13 is increased, the strain point area is concentrated, the detection error is further reduced, and the detection accuracy is improved.

[0024] Furthermore, one end of the connecting module 14 connected to the strain beam 13 is provided with a connecting end face 142 perpendicular to the strain beam 13, and the connecting end face 142 is provided with a second patch position 102. Since the connecting module 14 is provided with a stress relief through hole 141, the strain of the connecting end face 142 on the connecting module 14 increases, which is beneficial to the stress concentration of the second patch position 102, thereby improving the detection accuracy.

[0025] Furthermore, the stress-relieving through-hole 141 includes at least one first through-hole 1411 opposite to the strain beam 13 and two second through-holes 1412 opposite to the second patch position 102. The two second through-holes 1412 are circular holes with interconnected sidewalls. Therefore, the distance between the connection point of the two second through-holes 1412 and the connecting end face 142 is relatively large, and the distance between each second through-hole 1412 and the connecting end face 142 exhibits a trend of smaller distance in the middle and larger distance on both sides. This is beneficial for concentrating strain at positions where the distance between each second through-hole 1412 and the connecting end face 142 is smaller.

[0026] Furthermore, the center-to-center distance between the two second through holes 1412 is equal to the spacing of the strain gauge wire grids in the strain gauge corresponding to the second patch position 102. At this time, the strain gauge wire grids correspond to the position where the distance between the second through hole 1412 and the connecting end face 142 is smaller, that is, the position where the strain is larger, which is beneficial to improving the detection accuracy.

[0027] Preferably, the connecting end face 142 is provided with two second patch positions 102. The strain beam 13 is connected to the middle of the connecting end face 142 and located between the two second patch positions 102. The stress relief through hole 141 includes one first through hole 1411 and four second through holes 1412, wherein two second through holes 1412 are provided on one side of the first through hole 1411 and opposite to one of its second patch positions 102, and the other two second through holes 1412 are provided on the other side of the first through hole 1411 and opposite to the other second patch position 102. In this embodiment, the first through hole 1411 connects to the second through holes 1412 on both sides.

[0028] Furthermore, the strain beam 13 includes a first strain section 1301 and a second strain section 1302. The first strain section 1301 is connected to the fixing part 11, and the second strain section 1302 is connected to the force-receiving part 12. The groove 131 is provided on the second strain section 1302. This is beneficial for improving detection accuracy.

[0029] Furthermore, the first strain section 1301 is provided with two first end faces perpendicular to the Z-axis and two second end faces perpendicularly connected to the first end faces. The first end faces are provided with third patch positions 103, and the second end faces are provided with fourth patch positions 104. The first strain section 1301 is provided with patch positions on all four sides, and each side is used to detect stress or torque, which helps to reduce crosstalk between force and torque and improve detection accuracy.

[0030] Furthermore, the low crosstalk six-dimensional force sensor of this embodiment also includes a first strain gauge 21, a second strain gauge 22, a third strain gauge 23, and a fourth strain gauge 24; the first strain gauge 21 is disposed on the first patch position 101 on the strain beam 13 extending along the X-axis direction, and is used to detect the Y-axis torque My; the second strain gauge 22 is disposed on the first patch position 101 on the strain beam 13 extending along the Y-axis direction, and is used to detect the X-axis torque Mx; the third strain gauge 23 is disposed on the strain beam 13 perpendicular to the X-axis direction. The second patch position 102 on the connecting end face 142 of the strain beam 13 extending towards the Y-axis is used to detect the X-axis pressure Fx; the second strain gauge 22 is disposed on the second patch position 102 on the connecting end face 142 of the strain beam 13 extending perpendicular to the Y-axis direction, and is used to detect the Y-axis pressure Fy; the third strain gauge 23 is disposed on the third patch position 103, and is used to detect the Z-axis pressure Fz; the fourth strain gauge 24 is disposed on the fourth patch position 104, and is used to detect the Z-axis torque Mz. The groove 131 on the strain beam 13 helps to increase the strain of the strain beam 13 and concentrate the stress at the first patch position 101, thereby improving the detection accuracy of the X-axis torque Mx and the Y-axis torque My. The stress-relieving through-hole 141 on the connecting module 14 helps increase the strain of the strain beam 13 and concentrates the stress at the second patch position 102, improving the detection accuracy of X-axis pressure Fx and Y-axis pressure Fy; at the same time, it concentrates the stress at the third patch position 103 and the fourth patch position 104, improving the detection accuracy of Z-axis pressure Fz and Z-axis torque Mz. Each patch position detects force or torque in each direction, effectively reducing mutual interference between force and torque signals, reducing crosstalk to within 0.5%FS (full scale), effectively improving detection accuracy, and providing better results for applications with small range and high accuracy.

[0031] It should be understood that the terms "first," "second," etc., are used in this utility model to describe various information, but this information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this utility model, "first" information can also be referred to as "second" information, and similarly, "second" information can also be referred to as "first" information. In addition, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0032] The above description is the preferred embodiment of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications are also considered to be within the protection scope of this utility model.

Claims

1. A low-crosstalk six-dimensional force sensor, comprising an elastic body (1), characterized in that, The elastomer (1) comprises: The fixing part (11) is provided with a receiving cavity (111). The force-bearing part (12) is provided in the accommodating cavity (111) and has a gap with the fixing part (11); Two strain beams (13) are provided on both sides of the force-bearing part (12) and extend coaxially to the fixing part (11) along the X-axis direction. Two strain beams (13) are provided on both sides of the force-bearing part (12) and extend coaxially to the fixing part (11) along the Y-axis direction. Each strain beam (13) is provided with a groove (131), and the bottom of the groove (131) is provided with a first patch position (101).

2. The low crosstalk six-dimensional force sensor according to claim 1, characterized in that, The grooves (131) on the two strain beams (13) that extend coaxially along the X-axis are formed by recessing from the side of the strain beam (13) toward the center along the Y-axis; the grooves (131) on the two strain beams (13) that extend coaxially along the Y-axis are formed by recessing from the side of the strain beam (13) toward the center along the X-axis.

3. A low-crosstalk six-dimensional force sensor according to claim 2, characterized in that, Each strain beam (13) is provided with two grooves (131), and the two grooves (131) are symmetrically arranged on both sides of the strain beam (13).

4. A low-crosstalk six-dimensional force sensor according to claim 1, characterized in that, The elastic body (1) also includes four connecting modules (14), each connecting module (14) is provided on the fixing part (11) and is respectively connected to one of the strain beams (13), and the connecting module (14) is provided with stress relief through holes (141).

5. A low-crosstalk six-dimensional force sensor according to claim 4, characterized in that, The end of the connecting module (14) connected to the strain beam (13) is provided with a connecting end face (142) perpendicular to the strain beam (13), and the connecting end face (142) is provided with a second patch position (102).

6. A low-crosstalk six-dimensional force sensor according to claim 5, characterized in that, The stress relief through hole (141) includes at least one first through hole (1411) opposite to the strain beam (13) and two second through holes (1412) opposite to the second patch position (102), the two second through holes (1412) are circular holes and their sidewalls are connected.

7. A low-crosstalk six-dimensional force sensor according to claim 6, characterized in that, The center-to-center distance between the two second through holes (1412) is equal to the spacing of the strain wire grid in the strain gauge corresponding to the second patch position (102).

8. A low-crosstalk six-dimensional force sensor according to claim 5, characterized in that, The strain beam (13) includes a first strain section (1301) and a second strain section (1302). The first strain section (1301) is connected to the fixing part (11), and the second strain section (1302) is connected to the force-bearing part (12). The groove (131) is provided on the second strain section (1302).

9. A low-crosstalk six-dimensional force sensor according to claim 8, characterized in that, The first strain section (1301) has two first end faces perpendicular to the Z-axis and two second end faces perpendicularly connected to the first end faces. The first end face has a third patch position (103) and the second end face has a fourth patch position (104).

10. A low-crosstalk six-dimensional force sensor according to claim 9, characterized in that, It also includes a first strain gauge (21), a second strain gauge (22), a third strain gauge (23), and a fourth strain gauge (24). The first strain gauge (21) is disposed on the first patch position (101) on the strain beam (13) extending along the X-axis direction, and is used to detect the Y-axis torque My; The first strain gauge (21) is disposed on the first patch position (101) on the strain beam (13) extending along the Y-axis direction, and is used to detect the X-axis torque Mx; The second strain gauge (22) is disposed on the second patch position (102) on the connection end face (142) of the strain beam (13) extending perpendicularly along the X-axis direction, and is used to detect the X-axis pressure Fx; The second strain gauge (22) is disposed on the second patch position (102) on the connection end face (142) of the strain beam (13) extending perpendicularly along the Y-axis direction, and is used to detect the Y-axis pressure Fy; The third strain gauge (23) is located on the third patch position (103) and is used to detect the Z-axis pressure Fz; The fourth strain gauge (24) is located on the fourth patch position (104) and is used to detect the Z-axis torque Mz.

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