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Parallel structure six-dimension force sensor

A six-dimensional force sensor, parallel technology, applied in the direction of measuring force components, etc., can solve the problems of difficult processing and complex structure, and achieve the effect of convenient processing, simple measurement principle and simple structure

Inactive Publication Date: 2013-05-08
NORTH CHINA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Among the above types of six-dimensional force sensors with parallel structures, most of the sensitive elements are arranged in space, and the structure is relatively complex and difficult to process, so it can be applied in actual production There are still relatively few commercialized six-dimensional force sensors

Method used

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Embodiment Construction

[0023] The six-dimensional force sensor in this embodiment is composed of a force measuring platform 1 , a cylinder 4 , a fixed platform 5 and six detection branches 2 .

[0024] The fixed platform 5 is set horizontally, and the force measuring platform 1 and the fixed platform 5 are set in a parallel state; the detection branch 2 is equipped with strain gauges, and the strain gauges are used to measure the axial tensile pressure on it; the strain gauges are placed on the detection branch 2 side surface.

[0025] The two ends of the detection branch 2 are respectively equipped with elastic ball hinges 3 .

[0026] The detection branch 2 is provided with two groups, each group of three, wherein one group of detection branches 2 is vertical to the fixed platform 5 and is set in a vertical state, and the other group of detection branches 2 is horizontal; The ends are respectively connected with the fixed platform 5 and the force measuring platform 1 through the elastic spherical...

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Abstract

The invention relates to the field of sensor design and manufacturing, and particularly relates to a parallel structure six-dimension force sensor which can achieve partial decoupling. The parallel structure six-dimension force sensor comprises a fixed platform, a force measuring platform, a column body and a detection branches, wherein the fixed platform is located horizontally, the force measuring platform is parallel to the fixed platform, strain gages are arranged on the detection branches, elastic spherical hinges are respectively arranged at two ends of each of the detection branches, two groups of detection branches are arranged, each group comprises three detection branches, wherein one group of the detection branches is vertically arranged, the other group of the detection branches is horizontally arranged, two ends of each of the detection branches vertically arranged are respectively connected with the fixed platform and the force measuring platform through the elastic spherical hinges, and the detection branches horizontally arranged are located on the force measuring platform. The parallel structure six-dimension force sensor has the advantages of being simple in structure, convenient to process, simple in measuring principle, capable of achieving the partial decoupling of six-dimension force measuring, convenient to operate, and wide in application occasions.

Description

technical field [0001] The invention relates to the field of design and manufacture of force sensors, in particular to a six-dimensional force sensor with a parallel structure that can realize partial decoupling, and can measure the spatial three-dimensional force component and three-dimensional moment component acting on it. Background technique [0002] The six-dimensional force sensor is a type of force sensor that can simultaneously detect three-dimensional force information and three-dimensional torque information in space. It can be used to monitor the force with changing direction and magnitude, so that the robot can complete complex operation tasks such as force / position control, contour tracking, shaft-hole cooperation, and double-arm coordination. With the development of technology, six-dimensional force sensors have been widely used in various fields such as national defense technology and industrial production. [0003] Since the 1970s, the six-dimensional force...

Claims

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Application Information

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IPC IPC(8): G01L5/16
Inventor 王志军贺静李占贤
Owner NORTH CHINA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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