CN208579854U - A horizontal and vertical beam type six-axis force sensor - Google Patents
A horizontal and vertical beam type six-axis force sensor Download PDFInfo
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- CN208579854U CN208579854U CN201821540743.8U CN201821540743U CN208579854U CN 208579854 U CN208579854 U CN 208579854U CN 201821540743 U CN201821540743 U CN 201821540743U CN 208579854 U CN208579854 U CN 208579854U
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Abstract
本实用新型公开了一种横竖梁式六轴力传感器，包括上平台、底座螺纹通孔、应变片、中心体螺纹孔、底座、测力横梁、镂空结构、结构竖梁、中心体、测力竖梁、信号采集电路等结构，所述底座为方形结构，其设置有四个均匀分布的底座螺纹通孔，用于连接机器人手臂，所述中心体为方形结构，其设置有四个中心体螺纹孔，用于连接末端执行器。本实用新型通过设置有一系列的结构使本装置在使用过程中，首先在结构上能够实现解耦，具有各维间抗耦合干扰的优点，其次，多个结构竖梁和测力竖梁使得该传感器具有刚度大、体积较小的优点，另外能提高其在使用时的散热效率，提高传感器的精度，增加其安装的稳定，优化使用过程。
The utility model discloses a horizontal and vertical beam type six-axis force sensor, comprising an upper platform, a threaded through hole of a base, a strain gauge, a threaded hole of a central body, a base, a force measuring beam, a hollow structure, a structural vertical beam, a central body, a force measuring beam Vertical beams, signal acquisition circuits and other structures, the base is a square structure, which is provided with four evenly distributed base threaded through holes for connecting the robot arm, the central body is a square structure, which is provided with four central bodies Threaded holes for attaching end effectors. The utility model is provided with a series of structures, so that the device can firstly realize decoupling in the structure during the use process, and has the advantages of anti-coupling interference between dimensions. The sensor has the advantages of high rigidity and small volume, and in addition, it can improve the heat dissipation efficiency during use, improve the accuracy of the sensor, increase the stability of its installation, and optimize the use process.
Description
Technical field
The utility model belongs to sensor technical field more particularly to a kind of vertical and horizontal beam type six-axis force sensor.
Background technique
Sensor is the essential element of modern intelligent robot.Force snesor is most popular sensor again.
When robot needs to detect space all one's effort information, the six-axis force sensor of three axial forces and three axial moments can be perceived
It is indispensable element.It is typically mounted between robot arm and end effector, for detecting robot and the external world
Interaction force.
Currently, six-axis force sensor can be divided into resistance-strain type, inductance type, condenser type, piezoelectric type according to dynamometry principle
With the six-axis force sensors such as photo-electric.In these classification, resistance-strain type six-axis force sensor is most widely used
It is a kind of.And there is retinoic acid syndrome is serious, rigidity is low, volume is big etc. in resistance-strain type six-axis force sensor designed at present mostly
Disadvantage.The reason of causing these disadvantages is mostly the unreasonable structural design of six-axis force sensor.Retinoic acid syndrome seriously makes electricity
It is more difficult to hinder the decoupling of strain-type six-axis force sensor；Rigidity is low so that resistance-strain type six-axis force sensor is not suitable for work
The biggish occasion of intensity；And volume makes greatly the installation of resistance-strain type six-axis force sensor inconvenient, is not suitable for being mounted on minicomputer
On device people.
Utility model content
The purpose of the use of the new type is to be to design a kind of vertical and horizontal beam type six-axis force sensor, is passed with solving above-mentioned six axle power
Retinoic acid syndrome existing for sensor is serious and rigidity is low, bulky problem.
To achieve the above object: the utility model provides the following technical solutions: a kind of vertical and horizontal beam type six-axis force sensor, packet
Include upper mounting plate, whorl of base through-hole, foil gauge, centerbody threaded hole, pedestal, dynamometry crossbeam, engraved structure, structure vertical beam, in
The structures such as heart body, dynamometry vertical beam, signal acquisition circuit, the pedestal are square structure, and there are four equally distributed bottoms for setting
Seat tapped through hole, for connecting robot arm, the centerbody is square structure, is arranged there are four centerbody threaded hole,
For connecting end effector, the centerbody surrounding is fixedly connected there are four dynamometry crossbeam, and each dynamometry crossbeam is fixed
It is connected with a dynamometry vertical beam, the dynamometry vertical beam is provided with engraved structure, between the upper mounting plate and pedestal there are four connections
Structure vertical beam and four dynamometry vertical beams, 24 foil gauges are distributed in dynamometry crossbeam, on dynamometry vertical beam, the lower end of the pedestal
Outer surface is fixedly installed with electromagnetic shielding plate, and the lower end outer surface of electromagnetic shielding plate is inlaid with magnetite at surrounding, described
Weight loss groove is provided between structure vertical beam and dynamometry vertical beam.
Preferably, 8 foil gauges are affixed on dynamometry vertical beam, respectively R1, R2, R3, R4, R5, R6, R7, R8,
In, R1, R2, R3, R4 form one group of favour stone full-bridge circuit, and R5, R6, R7, R8 form one group of favour stone full-bridge circuit.
Preferably, 8 foil gauges are affixed on along the dynamometry crossbeam of X-axis.Respectively R9, R10, R11, R12, R17,
R18, R19, R20, wherein R9, R10, R11, R12 form one group of favour stone full-bridge circuit, and R17, R18, R19, R20 form one group
Favour stone full-bridge circuit.
Preferred 8 foil gauges are affixed on along the dynamometry crossbeam of Y-axis.Respectively R13, R14, R15, R16, R21,
R22, R23, R24, wherein R13, R14, R15, R16 form one group of favour stone full-bridge circuit, R21, R22, R23, R24 composition one
Group favour stone full-bridge circuit.
Compared with prior art, the utility model has the beneficial effects that a kind of vertical and horizontal beam type six of the utility model design
Axial force sensor, simple and compact for structure first, patch is reasonable, and vertical and horizontal beam force measuring structure makes error coupler be almost equal to zero, and is tying
It can be realized decoupling on structure, have the advantages that anti-coupled interference between each dimension；Secondly, multiple structure vertical beams and dynamometry vertical beam make this
Sensor has the advantages that rigidity is big, small volume, additionally by the weight loss groove of setting can mitigate the sensor weight and
Its radiating efficiency when in use can be improved, and eliminates outside electromagnetic interference using electromagnetic shielding plate, improves the essence of sensor
Then the sensor can be adsorbed on robot arm according to the magnetite of setting convenient for user, improve sensor peace by degree
The stability of dress.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of vertical and horizontal beam type six-axis force sensor of the utility model.
Fig. 2 is a kind of patch diagrammatic top view of vertical and horizontal beam type six-axis force sensor of the utility model.
Fig. 3 is a kind of vertical and horizontal beam type six-axis force sensor of the utility model along X-axis patch diagrammatic side view.
Fig. 4 is a kind of vertical and horizontal beam type six-axis force sensor of the utility model along Y-axis patch diagrammatic side view.
Fig. 5 is that a kind of pedestal of vertical and horizontal beam type six-axis force sensor of the utility model combines view with electromagnetic shielding plate.
In figure: upper mounting plate 1, whorl of base through-hole 2, foil gauge 3, centerbody threaded hole 4, pedestal 5, dynamometry crossbeam 6, hollow out
Structure 7, structure vertical beam 8, centerbody 9, dynamometry vertical beam 10, weight loss groove 11, electromagnetic shielding plate 12, magnetite 13.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
In the description of the present invention, it should be noted that term " on ", "lower", "inner", "outside" " front end ", " after
The orientation or positional relationship of the instructions such as end ", " both ends ", " one end ", " other end " is that orientation based on the figure or position are closed
System, is merely for convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition,
Term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " being provided with ", " connection " etc., shall be understood in a broad sense, such as " connection ", may be a fixed connection, be also possible to detachably connect
It connects, or is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, intermediate matchmaker can also be passed through
Jie is indirectly connected, and can be the connection inside two elements.It for the ordinary skill in the art, can be with concrete condition
Understand the concrete meaning of above-mentioned term in the present invention.
Fig. 1-5 is please referred to, the utility model provides a kind of technical solution: a kind of vertical and horizontal beam type six-axis force sensor, including
Upper mounting plate 1, whorl of base through-hole 2, foil gauge 3, centerbody threaded hole 4, pedestal 5, dynamometry crossbeam 6, engraved structure 7, structure are perpendicular
Beam 8, centerbody 9, dynamometry vertical beam 10, pedestal 5 are square structure, and there are four equally distributed whorl of base through-holes 2 for setting, use
In connection robot arm, centerbody 9 is square structure, and there are four centerbody threaded holes 4 for setting, is executed for connecting end
Device, 9 surrounding of centerbody are fixedly connected there are four dynamometry crossbeam 6, and each dynamometry crossbeam 6 is fixedly connected with a dynamometry vertical beam 10,
Dynamometry vertical beam 10 is provided with engraved structure 7, and there are four structure vertical beam 8 and four dynamometry vertical beams for connection between upper mounting plate 1 and pedestal 5
10,24 foil gauges 3 are distributed in dynamometry crossbeam 6, on dynamometry vertical beam 10, and electromagnetic shielding is fixedly mounted in the lower end outer surface of pedestal 5
Plate 12, the lower end outer surface of electromagnetic shielding plate 12 are inlayed magnetite 13 at surrounding, are set between structure vertical beam 8 and dynamometry vertical beam 10
Weight loss groove 11 is set, the weight of the sensor can be mitigated by the weight loss groove 11 of setting and improves its heat dissipation when in use
The sensor can be adsorbed on robot arm by efficiency, magnetite 13 convenient for user, improve the stability of sensor installation,
Outside electromagnetic interference is eliminated using electromagnetic shielding plate 12, improves the precision of sensor.
Working principle: first with being mounted on the sensor stabilization on robot arm of magnetite 13, by utilizing electricity
Magnetic shield panel 12 can eliminate the interference of external electromagnetic, improve the stability and its sensing accuracy of sensor installation, work as biography
When sensor measures power along the x axis, the signal of R1, R2, R3, R4 deformation and reception on dynamometry vertical beam 10；Work as sensor
When measuring power along the y axis, the signal of R5, R6, R7, R8 deformation and reception on dynamometry vertical beam 10；Work as sensor measurement
When along the power of Z-direction, the signal of R9, R10, R11, R12 deformation and reception on dynamometry crossbeam 6.
When sensor measurement torque along the x axis, R13, R14, R15, R16 on dynamometry crossbeam 6 deform reception
Signal；When sensor measurement torque along the y axis, R17, R18, R19, R20 deformation reception on dynamometry crossbeam 6
Signal；When torque of the sensor measurement along Z-direction, the letter of R21, R22, R23, R24 deformation reception on dynamometry crossbeam 6
Number.
In the utility model, foil gauge R1, R2, R3, R4；R5,R6,R7,R8；R9,R10,R11,R12；R13,R14,
R15,R16；R17,R18,R19,R20；R21, R22, R23, R24 every four constitute favour stone full-bridge circuit for one, and measurement is every
One dimension force/torque signal.In this way, independent four foil gauges are used when per one-dimensional measured signal, so this is practical in principle
It is novel that decoupling is realized in structure.
It is obvious to a person skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and
And without departing substantially from the spirit or essential attributes of the utility model, it can realize that this is practical new in other specific forms
Type.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this is practical new
The range of type is indicated by the appended claims rather than the foregoing description, it is intended that containing for the equivalent requirements of the claims will be fallen in
All changes in justice and range are embraced therein.It should not treat any reference in the claims as limiting
Related claim.
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821540743.8U CN208579854U (en) | 2018-09-20 | 2018-09-20 | A horizontal and vertical beam type six-axis force sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821540743.8U CN208579854U (en) | 2018-09-20 | 2018-09-20 | A horizontal and vertical beam type six-axis force sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208579854U true CN208579854U (en) | 2019-03-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821540743.8U Expired - Fee Related CN208579854U (en) | 2018-09-20 | 2018-09-20 | A horizontal and vertical beam type six-axis force sensor |
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| CN (1) | CN208579854U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110243525A (en) * | 2019-05-17 | 2019-09-17 | 南京航空航天大学 | A kind of six-dimension force sensor |
| CN113561163A (en) * | 2021-07-27 | 2021-10-29 | 苏州艾利特机器人有限公司 | Two-channel multi-dimensional force sensor and robot |
| CN116026515A (en) * | 2023-03-29 | 2023-04-28 | 深圳市鑫精诚传感技术有限公司 | Six-axis force sensor with accurate force measurement |
-
2018
- 2018-09-20 CN CN201821540743.8U patent/CN208579854U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110243525A (en) * | 2019-05-17 | 2019-09-17 | 南京航空航天大学 | A kind of six-dimension force sensor |
| CN110243525B (en) * | 2019-05-17 | 2020-12-25 | 南京航空航天大学 | Six-dimensional force sensor |
| CN113561163A (en) * | 2021-07-27 | 2021-10-29 | 苏州艾利特机器人有限公司 | Two-channel multi-dimensional force sensor and robot |
| CN116026515A (en) * | 2023-03-29 | 2023-04-28 | 深圳市鑫精诚传感技术有限公司 | Six-axis force sensor with accurate force measurement |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190305 Termination date: 20190920 |