Cross-shaped beam type elastomer for six-dimensional force sensor

Abstract

The invention relates to an elastomer for a six-dimensional force sensor, and provides a cross-shaped beam type elastomer for the six-dimensional force sensor to solve the problems of low sensibility and large coupling among dimensions of the existing elastomer for the six-dimensional force sensor. Four inner beams and four overload protection beams are uniformly distributed and staggered along an outer wall of an inner ring, four outer beams are arranged on the outer sides of the four inner beams, the four outer beams and the four inner beams are in one-to-one correspondence, the outer beams are fixedly connected with the corresponding inner beams, an outer ring is correspondingly arranged on the outer side of each overload protection beam, one outer beam is arranged between every two adjacent outer rings, and each of the two ends of the outer beam is fixedly connected with one outer ring through a connecting plate, two outer ring through holes are formed in the upper end surface and the lower end surface of each outer ring, eight inner ring through holes are uniformly distributed in the upper end surface and the lower end surface of the inner ring along the same circumference, each inner ring through hole is located between the adjacent outer ring and the outer beam, and an overload protection beam through hole and an outer ring process through hole are communicated with an inner ring process through hole. The cross-shaped beam type elastomer for the six-dimensional force sensor is suitable for industrial automation, automobiles, shipbuilding, military projects or robots.

Description

technical field [0001] The invention relates to a six-dimensional force sensor elastic body, in particular to a cross-beam type six-dimensional force sensor elastic body. Background technique [0002] With the development of science and technology, more and more robot technology is used in various occasions, such as handling, welding, assembly and so on. One of the core issues of robot technology is intelligence. The six-dimensional force sensor is a key component of the intelligent feature of robots because it can perceive full force information in three-dimensional space at the same time. The core of the six-dimensional force sensor is the design of the elastic body. The structure of the elastic body directly determines the sensitivity, stiffness, linearity, hysteresis, repeatability, and natural frequency of the entire sensor, which is the key to the performance of the sensor. [0003] At present, the elastic bodies of six-dimensional force sensors are mostly in the form...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a cross-beam type six-dimensional force sensor elastic body for the problems of low sensitivity and large inter-dimensional coupling in the existing six-dimensional force sensor elastic body

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