CN114018462A - Elastomer structure, force sensor and smart machine - Google Patents
Elastomer structure, force sensor and smart machine Download PDFInfo
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- CN114018462A CN114018462A CN202111231649.0A CN202111231649A CN114018462A CN 114018462 A CN114018462 A CN 114018462A CN 202111231649 A CN202111231649 A CN 202111231649A CN 114018462 A CN114018462 A CN 114018462A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
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Abstract
The invention provides an elastomer structure, a force sensor and intelligent equipment, relates to the technical field of sensors, and solves the technical problem of heavy weight of the force sensor. The elastic body structure comprises a loading end, a fixed end, a deformation section and a stress concentration part, wherein the deformation section is of a hollow structure and is used for an object to be detected to pass through; the deformation section is respectively connected with the loading end and the fixed end through stress concentration parts at two ends of the deformation section; the force sensor comprises a shell, an end cover, a bottom cover, a force sensing assembly and an elastomer structure, wherein the elastomer structure is arranged in the shell, the end cover and the bottom cover are respectively fixed at two ends of the shell, one end of the force sensing assembly is arranged on the elastomer structure, and the other end of the force sensing assembly is arranged on the shell; the smart device includes a force sensor. The invention has the characteristics of light weight, high rigidity, excellent manufacturability and high bearing strength.
Description
Technical Field
The invention relates to the technical field of sensors, in particular to an elastic body structure, a force sensor and intelligent equipment.
Background
Six-dimensional force sensors are becoming more and more widely used in intelligent robots. The market of the current small robot is more and more big, and the assembly of light micro-components such as electronic components is gradually being replaced the manpower by the machine, and the weight control requirement to terminal six-dimensional force transducer is also more and more high.
The elastomer structure of the existing six-dimensional force sensor is generally a solid structure, so that the existing six-dimensional force sensor is difficult to realize microminiaturization, and the weight of the sensor is greatly increased, the weight of the sensor in the current market is at least more than 0.5kg, and a 5kg robot accounts for 10% of the range of the robot, so that the six-dimensional force sensor is difficult to be applied to the force control of a small robot.
Therefore, it is urgently needed to develop a light-weight six-dimensional force sensor.
Disclosure of Invention
The invention aims to provide an elastic body structure, a force sensor and intelligent equipment, and aims to solve the technical problem that the weight of the force sensor is large in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides an elastomer structure, which comprises a loading end, a fixed end, a deformation section and a stress concentration part, wherein the deformation section is of a hollow structure and is used for an object to be detected to pass through; the deformation section is respectively connected with the loading end and the fixed end through the stress concentration parts at the two ends of the deformation section.
As a further improvement of the invention, the deformation section is of an arc-shaped cylinder structure with a thin middle part and thick two ends.
As a further improvement of the invention, the cross-sectional shape of the deformation section along the axial direction is a parabolic shape.
As a further improvement of the invention, the deformation section is of a thin-walled structure.
As a further improvement of the invention, the stress concentration part is a plurality of claw arms arranged along the circumferential direction of the deformation section.
As a further improvement of the invention, the claw arm is of an arc-shaped curved surface structure.
As a further improvement of the invention, the loading end and the fixed end are both in a circular ring structure, and the stress concentration part is respectively connected to the inner wall of the loading end and the inner wall of the fixed end.
The invention provides a force sensor which comprises a shell, an end cover, a bottom cover, a force sensing assembly and an elastic body structure, wherein the elastic body structure is arranged in the shell, the end cover and the bottom cover are respectively fixed at two ends of the shell, one end of the force sensing assembly is installed on the elastic body structure, and the other end of the force sensing assembly is installed on the shell.
As a further improvement of the invention, the end cover is of a hollow flange structure, one end of the end cover is connected with a fastening load, and the other end of the end cover is attached to the shell and connected with the elastic body structure.
As a further improvement of the present invention, a boss is further provided on a side of the end cap facing the housing.
As a further improvement of the invention, a positioning sinking platform is arranged on one side of the end cover, which is far away from the shell.
As a further improvement of the invention, the end cover further comprises a hollow upright post, one end of the upright post is connected with the middle hole of the end cover, and the other end of the upright post passes through the elastic body structure and then extends to the lower end of the bottom cover.
As a further improvement of the invention, a first step is arranged on the loading end, and a second step is arranged on the fixing end; an inner circular shaft shoulder is arranged on the inner wall of the top of the shell and is in close fit connection with the first step; the bottom of the shell is connected with the second step in a tight fit mode.
As a further improvement of the invention, the bottom cover is of a hollow flange structure, an inward convex circular ring is arranged on the inner wall of the fixed end, and the bottom cover is bonded on the inward convex circular ring.
As a further improvement of the invention, the bottom cover further comprises a hollow cylinder arranged at the middle hole of the bottom cover, and the inner diameter of the hollow cylinder is larger than the outer diameter of the upright post.
As a further improvement of the present invention, the force sensing assembly includes a strain gauge and a connector, the strain gauge is adhered to the stress concentration portion, the connector is mounted on the housing, and the strain gauge and the connector are electrically connected.
As a further development of the invention, the force sensor is a six-dimensional force sensor.
The invention provides intelligent equipment which comprises the force sensor.
Compared with the prior art, the invention has the following beneficial effects:
according to the elastic body structure, the deformation section with the hollow structure is adopted, so that the six-dimensional force sensor comprising the elastic body structure has the characteristic of light weight, the deformation section adopts the arc-shaped cylinder structure with the thin middle part and the thick two ends, the six-dimensional force sensor has the characteristics of high rigidity, excellent manufacturability and the like, and the thin-wall shell structure of the deformation section not only meets the application requirement of light weight, but also has great bearing capacity; moreover, the thin shell structure not only greatly reduces the mass of the elastomer under the condition of equal volume, but also reduces the bending section coefficient by reducing the wall thickness according to the stress, namely bending moment/bending section coefficient, so that the stress strength is greatly increased, and the sensor has higher bearing strength.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a three-dimensional structural hydraulic representation of the force sensor of the present invention;
FIG. 2 is a partial cutaway view of the force sensor of the present invention;
FIG. 3 is a schematic diagram of an exploded configuration of the force sensor of the present invention;
FIG. 4 is a schematic diagram of the force sensor calibration of the present invention.
FIG. 1, load side; 11. a first step; 2. a fixed end; 21. a second step; 3. a deformation section; 4. a claw arm; 5. a housing; 6. an end cap; 7. a bottom cover; 8. a force sensing component; 81. a strain gauge; 82. a connector; 9. a boss; 10. positioning the sinking platform; 100. a column; 101. an inner circular shaft shoulder; 102. an inwardly convex annular ring; 103. and (4) a cylinder.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
As shown in fig. 3, the present invention provides an elastic body structure, which includes a loading end 1, a fixed end 2, a deformation section 3 and a stress concentration portion, wherein the loading end 1 is used for connecting with a fastening load, the stress concentration portion is used for concentrating the stress transmitted by the fastening load, and mounting a force sensing assembly on the stress concentration portion, so as to sense the force transmitted by the fastening load and output the force, thereby performing force transmission, and implementing the function of a force sensor, the deformation section 3 is a hollow structure for an object to be measured to pass through, by setting the deformation section 3 into a hollow structure, the weight of the elastic body structure is greatly reduced, thereby reducing the weight of the force sensor, and the object to be measured can also pass through the hollow part, thereby performing force sensing measurement of a shaft-shaped object, and greatly enriching the application range of force sensing gas; the deformation section 3 is respectively connected with the loading end 1 and the fixed end 2 through stress concentration parts at two ends of the deformation section.
As an alternative embodiment of the invention, the deformation section 3 is an arc-shaped cylinder structure with a thin middle part and thick two ends, and is similar to a waist drum shape.
Further, the cross-sectional shape of the deforming section 3 in the axial direction is a parabolic shape.
As an alternative embodiment of the present invention, the deformation section 3 is a thin-walled structure, and it should be noted here that the thin wall means a thickness much smaller than the length and the width, and in this embodiment, the thickness is not greater than 1 mm.
Further, the stress concentration portion is a plurality of claw arms 4 arranged along the circumferential direction of the deformation section 3.
Furthermore, the claw arm 4 is of an arc-shaped curved surface structure, and it should be noted that the bending direction of the claw arm 4 is the same as the bending direction of the end of the deformation section 3.
The loading end 1 and the fixed end 2 are both in a circular ring structure, the stress concentration part is respectively connected to the inner wall of the loading end 1 and the inner wall of the fixed end 2, the loading end 1 is provided with a first step 11, and the fixed end 2 is provided with a second step 21. It should be noted that the first step 11 is arranged along the circumferential direction of the loading end 1, and the step structure is formed, so that the first step is not only convenient for limiting connection with the shell, but also has a dustproof function; the second step 21 is arranged along the circumferential direction of the fixed end 2 and is conveniently connected with the shell in a limiting manner by forming a step structure.
Furthermore, the top of the loading end 1 is also provided with a connecting hole, and a bolt is penetrated through the connecting hole to be connected with the end cover.
As shown in fig. 1 and 2, the force sensor provided by the present invention includes a housing 5, an end cap 6, a bottom cap 7, a force sensing assembly 8 and an elastic body structure, wherein the elastic body structure is disposed in the housing 5, the end cap 6 and the bottom cap 7 are respectively fixed at two ends of the housing 5, one end of the force sensing assembly 8 is mounted on the elastic body structure, and the other end is mounted on the housing 5. The elastomer structure is used for sensing a measured physical quantity.
The end cover 6 is a hollow flange structure, a through hole is formed in the end cover, one end of the end cover 6 is connected with a fastening load, the other end of the end cover is attached to the shell 5 and is connected with the elastic body structure, specifically, the other end of the end cover 6 is connected with a loading end 1 in the elastic body structure, 8 threaded holes are formed in the end cover 6 and are used for being connected with the fastening load, 8 counter bores are further formed in the end cover 6 and are through holes, 8 counter bores and 8 bolt holes are sequentially and alternately arranged, and 8 counter bores are used for being connected with the loading end 1. The specification of the through hole in the middle of the end cover 6 is matched with the specification of the narrowest part in the center of the deformation section 3.
Furthermore, the end cover 6 is provided with a boss 9 on the side facing the shell 5. It should be noted here that the boss 9 is located at the counterbore or the threaded hole, the boss 9 may be a segmented structure, or may be annularly arranged along the circumferential direction of the end cover 6, and the arrangement of the raised boss 9 is to avoid the end cover 6 contacting with the top of the housing 5 when the end cover is covered on the top; the height of the boss 9 is 1-2 mm.
In order to realize assembly positioning and be more favorable to centering and limiting, one side of the end cover 6, which is far away from the shell 5, is provided with a positioning sinking platform 10, and the sinking platform is favorable for improving the flatness of the mounting surface from the perspective of the machining process by arranging the positioning sinking platform 10.
Further, the end cover 6 further comprises a hollow upright 100, the hollow upright 100 is used for the shaft-shaped object to be measured to pass through, one end of the upright 100 is connected to the middle through hole of the end cover 6, and the other end of the upright 100 passes through the elastic body structure and then extends to the lower end of the bottom cover 7. It should be noted that the outer diameter of the column 100 is equal to or smaller than the diameter of the narrowest part of the hollow structure of the deformation section 3, and the narrowest part is also the center position of the deformation section 3 in the height direction because the deformation section 3 is of a symmetrical structure.
As a further improvement of the invention, an inner circular shaft shoulder 101 is arranged on the inner wall of the top of the shell 5, and the inner circular shaft shoulder 101 is tightly matched and connected with the first step 11; the bottom of the shell 5 is connected with the second step 21 in a tight fit mode.
Further, the bottom cover 7 is of a hollow flange structure, a through hole is formed in the middle of the bottom cover, an inward convex circular ring 102 is arranged on the inner wall of the fixed end 2, and after the bottom cover 7 is installed, the bottom cover 7 is bonded on the inward convex circular ring 102.
Further, the bottom cover 7 further comprises a hollow cylinder 103 arranged at the middle hole of the bottom cover, and the inner diameter of the hollow cylinder 103 is larger than the outer diameter of the upright post 100, so that after installation, the cylinder 103 is wrapped outside the upright post 100, and radial limitation of the tail end of the upright post 100 is realized.
The force sensing assembly comprises a strain gauge 81 and a connector 82, wherein the strain gauge 81 is adhered to the stress concentration part, the connector 82 is installed on the shell 5, and the strain gauge 81 is electrically connected with the connector 82.
Further, in the present embodiment, the force sensor is a six-dimensional force sensor.
Example 1:
a six-dimensional force sensor comprises an end cover 6, a shell 5, a connector 82, an elastomer structure, a bottom cover 7 and a strain gauge 81; the end cover 6 is of a circular flange structure, the center of the end cover is hollow, and a positioning sinking platform 10 is arranged on the end cover 6 and used for improving the assembly manufacturability of the flange; the clamp is also provided with 8 uniformly distributed threaded holes for connecting fastening loads; 8 counter bores are uniformly distributed and used for being connected with the elastic body structure; a boss 9 is arranged on the other side edge of the end cover 6, the height of the boss is 1-2mm, the boss is used for avoiding the end cover 6 from contacting the shell 5, and the threaded hole and the counter bore are both in the range of the boss 9; the center of the other side of the end cover 6 is provided with an upright post 100, the inside of the upright post is hollow and penetrates through the whole flange structure, so that some shaft type measured objects can pass through the sensor, only the end face of the shaft shoulder is connected with the detection surface of the sensor, the application range of the sensor is expanded, and meanwhile, the centroid of the end cover 6 is close to the centroid of the elastic body structure as much as possible, thereby being beneficial to improving the calibration accuracy of the sensor; the centroid of the end cover 6 referred to herein is the centroid of the structure composed of the end cover 6 and the pillar 100, and the pillar 100 is integrally formed with the end cover 6. The elastomeric structure is also an integrally formed structure.
The shell 5 is of a thin-wall cylindrical structure, and an inner circular shaft shoulder 101 is arranged at one end of the shell and used for preventing sundries and dust from entering the sensor; the side wall is provided with a through hole for the penetration installation of the connector 82;
the elastic body structure is in a circular bottleneck arc surface shape, the upper part of the elastic body structure is a loading end 1 and is provided with a first step 11, and the step surface is used for avoiding an inner circular shaft shoulder 101 of the shell 5 and preventing sundries and dust from entering the sensor; a threaded hole is arranged on the connecting rod and is used for connecting and fastening with the end cover 6; the middle part of the elastic body structure is a deformation section 3 which is an annular thin-wall curved surface structure, the cross section shape curve of the elastic body structure is a parabola, and two ends of the deformation section 3 are respectively provided with 4 uniformly distributed claw arms 4 for concentrating the stress generated by the elastic body structure on the claw surfaces of the claw arms 4 and improving the sensitivity of the sensor; the lower part is a fixed end 2 provided with a second step 21, the step surface is used for assembling the shell 5, and the inner side wall is provided with an inner convex ring 102;
the bottom cover 7 is of a flange structure, a hollow cylinder 103 is arranged in the middle of the bottom cover 7, and the hollow diameter of the hollow cylinder is larger than the outer diameter of the upright 100.
The counter bore of the end cover 6 and the threaded hole of the loading end 1 in the elastomer structure are connected and fastened through a screw; the inner side of the shell 5 is in cold-pressing interference connection with the step side face of the first step 11 on the elastomer structure; the connector 82 passes through a through hole on the shell 5 to be mounted in a self-locking manner, and is connected with the strain gauge 81 through a cable to realize signal transmission; the strain gauges 81 are respectively adhered to the upper cambered surface and the lower cambered surface of the claw arm 4 of the elastomer structure; the bottom cover 7 is bonded on the inner convex ring 102 of the elastic body structure, so that dust prevention, sundries prevention and the like are realized.
When the sensor is used, firstly, the bottom cover 7 is fixed by using a screw, then a tested part is placed on the end cover 6, the sensor is supplied with power after connection, the stress of the tested part is transmitted to the elastomer structure through the end cover 6, then the stress is concentrated on the claw arm 4 due to the thin-wall curved surface structure, and then a strain signal is sensed through the strain gauge 81, and then the signal variation is output through a Wheatstone bridge formed by the strain gauge 81; in this process, both the power supply and the signal output are transmitted through the connector.
According to the calibration method of the six-dimensional force sensor, as shown in FIG. 4, the sensor is arranged between two homogeneous flat plates, the two flat plates are connected through a telescopic rod, an included angle between the telescopic rod and the flat plates is theta, when tension in the X direction is applied, the telescopic rod a and the telescopic rod d are expanded, the telescopic rod b and the telescopic rod c are contracted, the resultant force in the vertical direction is zero, and only force in the Fx direction is generated in the horizontal direction; in a similar way, the telescopic rod a, the telescopic rod b, the telescopic rod c and the telescopic rod d are simultaneously expanded, the resultant force in the horizontal direction is zero, and then the force in the Fz direction is only generated. The principle of other directions is the same and is not described too much, and the load in the non-loading direction can be balanced by adjusting the expansion and contraction states of the telescopic rod, so that the stable loading force can be obtained. And simultaneously, collecting voltage output under each load, calculating a sensitivity coefficient K according to the following calibration algorithm, and inputting the sensitivity coefficient K into a controller for processing to realize the sensor detection function.
Fx is loading force in the X direction; fy is loading force in the Y direction; fz is a Z-direction loading force; mx is loading moment in the X direction; my is loading moment in the Y direction; mz is a Z-direction loading moment; U1-U4 are respectively bridge output voltages; k is a constant.
The invention also provides intelligent equipment comprising the force sensor.
According to the elastic body structure, the deformation section with the hollow structure is adopted, so that the six-dimensional force sensor comprising the elastic body structure has the characteristic of light weight, the deformation section adopts the arc-shaped cylinder structure with the thin middle part and the thick two ends, the six-dimensional force sensor has the characteristics of high rigidity, excellent manufacturability and the like, and the thin-wall shell structure of the deformation section not only meets the application requirement of light weight, but also has great bearing capacity; moreover, the thin shell structure not only greatly reduces the mass of the elastomer under the condition of equal volume, but also reduces the bending section coefficient by reducing the wall thickness according to the stress, namely bending moment/bending section coefficient, so that the stress strength is greatly increased, and the sensor has higher bearing strength.
It should be noted that "inward" is a direction toward the center of the accommodating space, and "outward" is a direction away from the center of the accommodating space.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in fig. 1 to facilitate the description of the invention and to simplify the description, but are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (18)
1. An elastomer structure is characterized by comprising a loading end, a fixed end, a deformation section and a stress concentration part, wherein the deformation section is of a hollow structure and is used for an object to be detected to pass through; the deformation section is respectively connected with the loading end and the fixed end through the stress concentration parts at the two ends of the deformation section.
2. An elastomeric structure in accordance with claim 1, wherein said deformation section is an arcuate tubular structure having a thin middle and thick ends.
3. The elastomeric structure of claim 2, wherein a cross-sectional shape of the deformation section in the axial direction is a parabolic shape.
4. The elastomeric structure of claim 1, wherein the deformation section is a thin-walled structure.
5. The elastomeric structure of claim 1, wherein the stress riser is a plurality of claw arms disposed circumferentially along the deformation segment.
6. An elastomeric structure in accordance with claim 5 wherein said claw arms are of arcuate curved configuration.
7. The elastomeric structure of claim 1 wherein said loading end and said securing end are each a circular ring structure, said stress riser being attached to said loading end inner wall and said securing end inner wall, respectively.
8. A force sensor comprising a housing, an end cap, a bottom cap, a force sensing assembly, and the elastomeric structure of any one of claims 1-7, wherein the elastomeric structure is disposed within the housing, the end cap and the bottom cap are secured to opposite ends of the housing, respectively, and wherein the force sensing assembly is mounted to the elastomeric structure at one end and to the housing at the other end.
9. The force transducer of claim 8, wherein the end cap is a hollow flange structure having one end coupled to a fastening load and the other end attached to the housing and coupled to the elastomeric structure.
10. The force sensor of claim 9, wherein the end cap is further provided with a boss on a side facing the housing.
11. The force sensor of claim 9, wherein a side of the end cap remote from the housing is provided with a locating counter.
12. The force transducer of claim 9, wherein the end cap further comprises a hollow post having one end attached at the end cap intermediate aperture and another end extending through the elastomeric structure to the bottom cap lower end.
13. The force transducer according to claim 8, wherein the loading end is provided with a first step, the fixing end is provided with a second step, the inner wall of the top of the housing is provided with an inner circular shoulder, and the inner circular shoulder is in tight fit connection with the first step; the bottom of the shell is connected with the second step in a tight fit mode.
14. The force transducer of claim 12, wherein the bottom cover is a hollow flange having an inwardly protruding ring disposed on an inner wall of the fixed end, and the bottom cover is bonded to the inwardly protruding ring.
15. The force sensor of claim 14, wherein the bottom cap further comprises a hollow cylinder disposed at a central aperture thereof, the hollow cylinder having an inner diameter greater than the outer diameter of the post.
16. The force transducer of claim 8, wherein the force sensing assembly includes a strain gauge affixed to the stress riser and a connector mounted to the housing, the strain gauge and the connector being electrically connected.
17. The force sensor of claim 8, wherein the force sensor is a six-dimensional force sensor.
18. A smart device comprising a force sensor according to any one of claims 8-17.
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| CN107131986A (en) * | 2017-05-15 | 2017-09-05 | 哈尔滨工业大学 | A kind of parallel beam type six-dimension force sensor of diplopore |
| CN109307567A (en) * | 2018-10-25 | 2019-02-05 | 中国科学院合肥物质科学研究院 | A kind of comprehensive overload protecting mechanism of hook conjunction plug-in and its design method for six-dimension force sensor |
| CN110823436A (en) * | 2019-10-08 | 2020-02-21 | 珠海格力电器股份有限公司 | Six-dimensional force detection method based on eddy current effect, sensor and intelligent equipment |
| WO2021068663A1 (en) * | 2019-10-08 | 2021-04-15 | 珠海格力电器股份有限公司 | Flat disc six-dimensional force sensor based on eddy current effect, detection method, and smart device |
| CN110608837A (en) * | 2019-10-30 | 2019-12-24 | 南京神源生智能科技有限公司 | Small-range three-dimensional sensor and testing method thereof |
| CN111780909A (en) * | 2020-06-12 | 2020-10-16 | 吉林大学 | Six-component force measuring sensor |
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