CN106768522B - Six-dimensional force sensor elastomer - Google Patents

Abstract

The invention discloses a six-dimensional force sensor elastomer which is characterized by comprising a central platform, radial beams, circumferential beams and circumferential supports, wherein the radial beams are arranged on the central platform; the radial beams Liang Junyun are distributed on the periphery of the central platform, one end of each radial beam is fixedly connected with the periphery of the central platform, and the other end of each radial beam is connected with the circumferential beam in a T shape; the radial beam is provided with a through hole, so that stress is concentrated on two sides of the through hole; the circumferential beams and the circumferential supports are uniformly distributed on the periphery of the central platform; and the circumferential beams and the circumferential supports are arranged at intervals one by one, and two ends of each circumferential support are respectively fixedly connected with the end parts of two adjacent circumferential beams, so that the circumferential beams and the circumferential supports are connected to form an annular body. The six-dimensional force sensor is used for realizing structural decoupling of the six-dimensional force sensor, can improve the sensitivity of the sensor and ensures the rigidity of the sensor.

Description

A six-dimensional force sensor elastic body

technical field

The invention belongs to the technical field of sensors, and more specifically relates to a sensor elastic member that can be used to measure six-dimensional force in space.

Background technique

The multi-dimensional force sensor is an important source of information for the robot to obtain the force between the robot and the environment. At present, there have been many researches on multi-dimensional force sensors, such as the Watton 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 Intelligence of the Chinese Academy of Sciences and Southeast University, and the multi-dimensional force sensor based on the Stewart platform. Professor Huang Xinhan The researched HUST FS6 multi-dimensional force sensor, the two-level parallel structure type six-dimensional force sensor designed by Dr. R. Seitner Company in Germany, etc. A lot of research has been done on multi-dimensional force sensors at home and abroad. There are many kinds of multi-dimensional force sensors designed, each with different advantages and disadvantages and application occasions. further research.

Contents of the invention

The present invention aims to solve the above-mentioned problems in the prior art, and provides an elastic body of a six-dimensional force sensor, which is used to realize structural decoupling of the six-dimensional force sensor, and ensure the stiffness of the sensor while improving the sensitivity of the sensor.

The present invention adopts following technical scheme for solving technical problems:

The structural characteristics of the elastic body of the six-dimensional force sensor of the present invention are: comprising a central platform, a radial beam, a circumferential beam and a circumferential support; The other end is connected to the circumferential beam in a "T" shape. The circumferential beam is a "T"-shaped top cross arm, and the radial beam is a "T"-shaped vertical bar section; hole, so that the stress is concentrated on both sides of the through hole; the circumferential beam and the circumferential support are evenly distributed on the periphery of the center platform; and the circumferential beam and the circumferential support are arranged at intervals one by one, and the two ends of the circumferential The ends of the circumferential beams are fixedly connected so that the circumferential beams and the circumferential supports are connected to form an annular body; the center platform and the annular body formed by the circumferential beams and the circumferential supports are connected to be in a horizontal state.

The structural feature of the elastic body of the six-dimensional force sensor of the present invention is also that: the number of radial beams, circumferential beams and circumferential supports is equal, all three or four.

The structural feature of the elastic body of the six-dimensional force sensor of the present invention is also that a through hole is provided on the circumferential beam, so that the stress is concentrated on both sides of the through hole.

The structural feature of the elastic body of the six-dimensional force sensor of the present invention is also that: the through holes on the circumferential beam are two first through holes in the vertical direction, and the two first through holes are symmetrically arranged at both ends of the circumferential beam.

The structural characteristics of the elastic body of the six-dimensional force sensor of the present invention also lie in:

The through holes on the radial beam are as follows: a second through hole is set at one end of the radial beam, and a double through hole is set at the other end;

The through hole on the radial beam may be: a third through hole is set at the end of the radial beam close to the circumferential beam, a fourth through hole is set at the end close to the central platform, and a second through hole is set in the middle of the radial beam;

The through hole on the radial beam may be: a second through hole is set at one end of the radial beam close to the circumferential beam, a fifth through hole is set at an end close to the center platform, and double through holes are set in the middle of the radial beam;

The structural feature of the elastic body of the six-dimensional force sensor of the present invention is also that: the second through hole and the fifth through hole are vertical through holes penetrating through the upper surface and the lower surface of the radial beam; the third through hole, the fourth through hole The through hole and the double through hole are horizontal through holes that run through the two sides of the radial beam; the double through hole refers to two through holes that are juxtaposed in the horizontal plane and communicate with each other.

Compared with the prior art, the beneficial effects of the present invention are reflected in:

1. The present invention realizes structural decoupling. In view of the structural form of the elastic body in the present invention, resistance strain gauges can be pasted on different positions of the radial beam and the circumferential beam. According to the principle of the force sensor, the Wheatstone full-bridge circuit is used to realize six-dimensional force measurement, and can effectively avoid dimensionality. mutual interference between forces.

2. The present invention can obtain higher detection sensitivity, and the through-holes opened on each radial beam and circumferential beam make the strain concentrate in the measured area.

3. The "T" shape arrangement between the circumferential beam and the radial beam in the present invention obtains good rigidity and effectively improves the dynamic performance of the sensor structure.

4. The elastomer of the present invention can be processed as a whole, reducing repeatability errors, and has a simple structure and is easy to process.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is a schematic structural diagram of another embodiment of the present invention;

Fig. 3 is a schematic structural diagram of yet another embodiment of the present invention;

Numbers in the figure: 1 central platform; 2 radial beam; 3 circumferential beam; 4 circumferential support; 5 second through hole; 6 double through hole; 7 first through hole; 8 third through hole; 9 fourth through hole; 10 the fifth through hole.

Detailed ways

Referring to FIG. 1 , FIG. 2 and FIG. 3 , the structure of the elastic body of the six-dimensional force sensor in this embodiment is: including a central platform 1 , a radial beam 2 , a circumferential beam 3 and a circumferential support 4 .

Radial beams 2 are evenly distributed around the center platform 1. One end of the radial beam 2 is fixedly connected to the periphery of the center platform 1, and the other end is connected to the circumferential beam 3 in a "T" shape. The circumferential beam 3 is a "T"-shaped top transverse beam. Bear, the radial beam 2 is a "T"-shaped vertical bar section; a through hole is provided on the radial beam 2, so that the stress is concentrated on both sides of the through hole.

The circumferential beam 3 and the circumferential support 4 are evenly distributed on the periphery of the center platform 1; and the circumferential beam 3 and the circumferential support 4 are arranged at intervals one by one, and the two ends of the circumferential support 4 are respectively fixedly connected to the ends of two adjacent circumferential beams 3 , so that the circumferential beam 3 and the circumferential support 4 are connected to form an annular body.

In this embodiment, the central platform 1 and the annular body connected by the circumferential beam 3 and the circumferential support 4 are in a horizontal state.

The number of radial beams 2, circumferential beams 3 and circumferential supports 4 is equal, all three or four as shown in Figure 1, the structural characteristics of each radial beam 2 are the same, and the structural characteristics of each circumferential beam 3 are the same. same.

In this embodiment, a through hole is provided on the circumferential beam 3, so that the stress is concentrated on both sides of the through hole. The through holes 7 are symmetrically arranged at both ends of the circumferential beam 3 .

In this embodiment, the following three different arrangements of the through holes on the radial beam 2 are given:

As shown in FIG. 1 , a second through hole 5 is provided at one end of the radial beam 2 , and a double through hole 6 is provided at the other end.

As shown in FIG. 2 , a third through hole 8 is provided at one end of the radial beam 2 close to the circumferential beam 3 , a fourth through hole 9 is provided at an end close to the center platform, and a second through hole 5 is provided at the middle of the radial beam 2 .

As shown in Fig. 3, the through hole on the radial beam 2 may be: the second through hole 5 is set at the end of the radial beam 2 close to the circumferential beam 3, and the fifth through hole 10 is set near the end of the central platform 1, and in the radial direction The middle part of the beam 2 is provided with double through holes 6 .

The second through hole 5 and the fifth through hole 10 shown in Figure 1, Figure 2 and Figure 3 are vertical through holes that run through the upper and lower surfaces of the radial beam; the third through hole 8, the fourth through hole 9 And the double through hole 6 is the horizontal through hole that runs through the two sides of the radial beam; the double through hole 6 refers to two through holes that are juxtaposed in the horizontal plane and communicate with each other.

Considering the size and strain concentration of the measured area, the first through hole 7, the second through hole 5, and the fifth through hole 10 can be a cylindrical hole, an elliptical cylindrical hole or a waisted cylindrical hole, or a A vertical double through hole formed by connecting two parallel cylindrical through holes in the vertical plane; the third through hole 8 and the fourth through hole 9 can be a cylindrical hole, an elliptical cylindrical hole or a waist-shaped hole. A column hole, or a horizontal double through hole formed by connecting two parallel cylindrical through holes in the horizontal plane.

Claims (6)

1. A six-dimensional force sensor elastic body is characterized in that it comprises center platform (1), radial beam (2), circumferential beam (3) and circumferential support (4); said radial beam (2) is evenly distributed On the periphery of the center platform (1), one end of the radial beam (2) is fixedly connected to the periphery of the center platform (1), and the other end is connected to the circumferential beam (3) in a "T" shape, and the circumferential beam (3) is " T"-shaped top cross arm, the radial beam (2) is a "T"-shaped vertical bar section; a through hole is provided on the radial beam (2), so that the stress is concentrated on both sides of the through hole; The circumferential beam (3) and the circumferential support (4) are evenly distributed on the periphery of the central platform (1); and the circumferential beam (3) and the circumferential support (4) are arranged at intervals one by one, and the two ends of the circumferential support (4) are respectively connected to The ends of two adjacent circumferential beams (3) are fixedly connected, so that the circumferential beams (3) and the circumferential support (4) are connected in a ring shape; order: the central platform (1) and the circumferential beam (3) The annular body connected with the circumferential support (4) is in a horizontal state. 2. The six-dimensional force sensor elastic body according to claim 1, characterized in that: the radial beams (2), circumferential beams (3) and circumferential supports (4) are equal in number, all three or equal for four. 3. The elastic body of the six-dimensional force sensor according to claim 1, characterized in that: a through hole is provided on the circumferential beam (3), so that the stress is concentrated on both sides of the through hole. 4. The six-dimensional force sensor elastic body according to claim 3, characterized in that: the through holes on the circumferential beam (3) are the first through holes (7) in two vertical directions, the two first through holes Through holes (7) are arranged symmetrically at both ends of the circumferential beam (3). 5. The six-dimensional force sensor elastic body according to claim 1, characterized in that: The through holes on the radial beam (2) are: a second through hole (5) is set at one end of the radial beam (2), and a double through hole (6) is set at the other end; The through hole on the radial beam (2) may be: a third through hole (8) is set at the end of the radial beam (2) close to the circumferential beam (3), and a fourth through hole (9) is set near the end of the central platform. ), a second through hole (5) is set in the middle of the radial beam (2); The through hole on the radial beam (2) may be: a second through hole (5) is set at the end of the radial beam (2) close to the circumferential beam (3), and a fifth through hole is set near the end of the center platform (1). Holes (10), double through holes (6) are set in the middle of the radial beam (2); 6. The elastic body of the six-dimensional force sensor according to claim 5, characterized in that: the second through hole (5) and the fifth through hole (10) are vertical through the upper surface and the lower surface of the radial beam. through holes; the third through hole (8), the fourth through hole (9) and the double through hole (6) are horizontal through holes running through the two sides of the radial beam; the double through hole (6) refers to two Through holes juxtaposed in the horizontal plane and communicate with each other.

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