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Safe force-coupling-free six-dimensional force sensor

A six-dimensional force sensor, safe technology, applied in the field of sensors, can solve the problems of reducing the dynamic response characteristics of sensors, low sensor safety, etc., achieve effective overload protection, avoid complex decoupling algorithms, and eliminate coupling effects

Active Publication Date: 2012-01-18
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problems of low safety of the existing resistance strain type six-dimensional force sensor and the existence of force coupling phenomenon which reduces the dynamic response characteristics of the sensor itself and the measurement accuracy of the sensor, the present invention further proposes a safe forceless coupling six-dimensional force sensor

Method used

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specific Embodiment approach 1

[0009] Specific implementation mode one: as Figure 1-2 As shown, a safe forceless coupling six-dimensional force sensor described in this embodiment includes an upper plate 1, a lower plate 2 and two support blocks 3, the two support blocks 3 are arranged side by side in parallel, and the upper plate 1 and the lower plate 2 are parallel Set, two support blocks 3 are located between the upper plate 1 and the lower plate 2, and the upper surface of each support block 3 is connected to the lower surface of the upper plate 1, and two measurement F x The elastic body 4, two measurements F z The elastomer 5, two measurements F y The elastic body 6 and two force guide rods 7, the outer sides of the two support blocks 3 and the space between the upper plate 1 and the lower plate 2 are respectively provided with a measuring F x The elastomer 4, a measurement of F z The elastomer 5, a measure F y of elastomer 6, and measure F x 4. Measure F z 5. Measure F y The elastic body 6 is...

specific Embodiment approach 2

[0011]Specific implementation mode two: as image 3 As shown, each measurement F of a safe forceless coupling six-dimensional force sensor described in this embodiment x The elastic body 4 consists of a long rod 4-1 and a rectangular plate 4-2, one long side of the rectangular plate 4-2 is fixedly connected to the side of the long rod 4-1, and the rectangular plate 4-2 There are rectangular through holes on the side. Other compositions and connections are the same as those in Embodiment 1

specific Embodiment approach 3

[0012] Specific implementation mode three: as Figure 4 As shown, each measurement F of a safe forceless coupling six-dimensional force sensor described in this embodiment z The elastic body 5 is composed of a base plate 5-1, two vertical plates 5-2 and a rectangular long plate 5-3, the rectangular long plate 5-3 and the base plate 5-1 are arranged side by side in parallel, and the two vertical plates 5-2 are parallel to each other It is arranged between the rectangular long plate 5-3 and the bottom plate 5-1, and the two ends of each vertical plate 5-2 are fixedly integrated with the rectangular long plate 5-3 and the bottom plate 5-2 respectively, and the rectangular long plate A rectangular through hole is opened in the middle of the side of the 5-3, and a rectangular through hole is opened in the sides of the two ends of the rectangular long plate 5-3. Other compositions and connections are the same as those in Embodiment 2

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Abstract

The invention relates to a sensor and particularly relates to safe force-coupling-free six-dimensional force sensor, which solves the problem that the dynamic response characteristic and the measurement accuracy of a resistive strain gauge sensor six-dimensional force sensor are reduced because a force coupling phenomenon exists in the sensor. The safe force-coupling-free six-dimensional force sensor comprises an upper plate, a lower plate, two supporting blocks, two elastic bodies for measuring Fx, two elastic bodies for measuring Fy, two elastic bodies for measuring Fz and two force guide bars. One elastic body for measuring Fx, one elastic body for measuring Fy and one elastic body for measuring Fz are arranged on the external side of each supporting block. The two force guide bars areabreast arranged between the two supporting blocks and are arranged perpendicular to the two supporting blocks. Four first strain gauges are stuck on each of two external side surfaces of each elastic body for measuring Fx, four second strain gauges are stuck on each of two ends of each elastic body for measuring Fy and four third strain gauges are stuck on each of two ends of each elastic body for measuring Fz. The safe force-coupling-free six-dimensional force sensor is used for accurately detecting six-dimensional information in real time.

Description

technical field [0001] The invention relates to a sensor, in particular to a safe forceless coupling six-dimensional force sensor. Background technique [0002] The so-called six-dimensional force refers to the three axial component forces F that are orthogonal to each other x , F y , F z And the component moment M of rotation around the three axes x , M y , M z . At present, real-time and accurate six-dimensional force information is required in many fields, such as robotics, aerospace, automobiles, construction and shipbuilding, etc., in order to achieve the purpose of stable control or accurate measurement, especially in the application of biped walking humanoid The robot's feet are used to control its walking, and real-time and accurate six-dimensional force information is of great significance to the robot's walking stability. Six-dimensional force sensor, also known as six-axis force / torque sensor and six-component force sensor, is a device specially used to det...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L5/16
Inventor 吴伟国马新科
Owner HARBIN INST OF TECH
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