CN201993189U - Integrated five dimensional micro force/moment sensor - Google Patents
Integrated five dimensional micro force/moment sensor Download PDFInfo
- Publication number
- CN201993189U CN201993189U CN2010205516697U CN201020551669U CN201993189U CN 201993189 U CN201993189 U CN 201993189U CN 2010205516697 U CN2010205516697 U CN 2010205516697U CN 201020551669 U CN201020551669 U CN 201020551669U CN 201993189 U CN201993189 U CN 201993189U
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- strain beam
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- foil gauge
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Abstract
The utility model discloses an integrated five dimensional micro force/moment sensor which includes a main body and strain gauges. The main body of the sensor is a clamping device which has two oppositely arranged L-shaped structures. The clamping arms of the clamping device with two L-shaped structures are provided with a strain beam A, a strain beam B, and a strain beam C respectively. The two sides of the strain beam A are correspondingly provided with the strain gauges along the Z axis, the strain beam B is symmetrically provided with the strain gauges along the Y axis, and the strain beam C is unidirectionally provided with the strain gauges along the X axis. The X axis, Y axis, and Z axis represent the space position of the integrated five dimensional micro force/moment sensor. The utility model is light in weight, strong in decoupling, and is simple in structure, can be used in the bearing detection of a performer of a robot in the field of microassembling and micromanipulator, and can also be used as a part of the robot.
Description
Technical field
The utility model belongs to sensor technical field, is specifically related to the little power/torque sensor of a kind of novel integrated five dimensions, is mainly used in the detection of the little power/moment of five dimensions.
Background technology
Three-dimensional is mainly used on the Robotics to six-dimension force sensor research both at home and abroad at present, can be divided into resistance-strain type, condenser type, piezoelectric type and photo-electric by the dynamometry principle, can be divided into direct output type and indirect output type by elastic body mechanism, but design concept and processing technology be more complicated all, main performance is structurally not compact, is difficult to be applied to the small robot three-dimensional power or the detection of five-dimension force.
The utility model content
The utility model purpose is to provide a kind of integrated form five dimensions little power/torque sensor at the defective that prior art exists.
The utility model adopts following technical scheme for achieving the above object:
Little power/the torque sensor of the utility model integrated form five dimensions, comprise main body and foil gauge, it is characterized in that: the main body of sensor is the clamping device of two corresponding L type structures that are provided with, the clamping limb of the clamping device of two L type structures is provided with strain beam A, strain beam B and strain beam C respectively, strain beam A both sides are provided with foil gauge along Z axle correspondence, strain beam B is symmetrical arranged foil gauge along Y-axis, strain beam C is provided with foil gauge in the same way along X-axis, and described X, Y and Z axle are used to represent described integrated form five dimension little power/torque sensor location in space.
The utility model has following advantage compared with prior art:
1, of the present utility modelly can realize micro-robot hand clamping force measurement.
2, multi-dimension force sensor of the present utility model is simple in structure, principle of work is clear, easy to process, economically feasible.
3, three-dimensional force sensor volume of the present utility model is little, in light weight, decoupling is strong, satisfies the Structural Design Requirement of micro-robot clamper, for the autonomous force feedback control of micro-robot provides necessary equipment guarantee.
4, the utility model sensor can realize that three-dimensional force arrives the micro-robot power detection of two-dimentional moment perception and the small design of clamper one.
Description of drawings
Fig. 1: the utility model test structure figure.
Fig. 2: the another kind of test structure figure of the utility model.
Embodiment
Fig. 1 is the structure of clamper, behind the clamping object, the power of any direction in space can resolve into three force components shown in Figure 1, the patch location of strain beam A both sides is respectively pasted a slice foil gauge, just measures the holding force of the Fz direction of strain beam, and its foil gauge row number is R1, R2, R3, R4, it forms the size that a full-bridge circuit comes the holding force that Measuring Object is subjected to; Strain beam B both sides are respectively pasted a slice foil gauge up and down, and its foil gauge row number is R5, R6, R7, R8 can form a full-bridge, equally when being subjected to the power of Fy direction, beam B is subjected to the effect of moment of torsion and moment of flexure, the A place only is subjected to torsional interaction, but during its foil gauge in the centre, strain can be ignored, but then be subjected to the effect of moment of flexure and moment of torsion in the B section, just can measure the value of Fy by measuring moment of torsion now; The patch location of strain beam C both sides is respectively pasted a slice foil gauge, and its foil gauge row number is R9, R10, and R11, R12 measures the holding force of the Fx direction of strain beam respectively; As can be seen from Figure 2 can also measure Tz and Tx, so just become five-dimensional force sensor.
Principle of work of the present utility model is: when being subjected to three-dimensional force at the clamper mouth, under the effect of three-dimensional force, there is the foil gauge position to deform at card, cause foil gauge length to change, the resistance that finally causes each foil gauge changes, can measure the output voltage that detects each electric bridge under the rectangular structure stress deformation by the bridge diagram that different foil gauge is formed, the magnitude of voltage by output voltage and the relevant decoupling algorithm of collection can obtain the size and Orientation of three-dimensional force.
Must be pointed out that above-mentioned embodiment is that the utility model is realized a kind of implementations three-dimensional or five dimension sensor constructions designs, limit protection domain of the present utility model in view of the above, other equivalent configurations are appointed and are belonged to protection domain of the present utility model.
Claims (1)
1. an integrated form five is tieed up little power/torque sensor, comprise main body and foil gauge, it is characterized in that: the main body of sensor is the clamping device of two corresponding L type structures that are provided with, the clamping limb of the clamping device of two L type structures is provided with a pair of strain beam A, strain beam B and strain beam C respectively, strain beam A both sides are provided with foil gauge along Z axle correspondence, strain beam B is symmetrical arranged foil gauge along Y-axis, strain beam C is provided with foil gauge in the same way along X-axis, and described X, Y and Z axle are used to represent described integrated form five dimension little power/torque sensor location in space.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205516697U CN201993189U (en) | 2010-09-27 | 2010-09-27 | Integrated five dimensional micro force/moment sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205516697U CN201993189U (en) | 2010-09-27 | 2010-09-27 | Integrated five dimensional micro force/moment sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201993189U true CN201993189U (en) | 2011-09-28 |
Family
ID=44669675
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010205516697U Expired - Fee Related CN201993189U (en) | 2010-09-27 | 2010-09-27 | Integrated five dimensional micro force/moment sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201993189U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101975631A (en) * | 2010-09-27 | 2011-02-16 | 南京化工职业技术学院 | Integrated five-dimensional micro-force/torque sensor |
| CN105628269A (en) * | 2015-12-25 | 2016-06-01 | 湖南师范大学 | Micro force and micro displacement amplification sensor |
-
2010
- 2010-09-27 CN CN2010205516697U patent/CN201993189U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101975631A (en) * | 2010-09-27 | 2011-02-16 | 南京化工职业技术学院 | Integrated five-dimensional micro-force/torque sensor |
| CN105628269A (en) * | 2015-12-25 | 2016-06-01 | 湖南师范大学 | Micro force and micro displacement amplification sensor |
| CN105628269B (en) * | 2015-12-25 | 2019-01-18 | 湖南师范大学 | A kind of micro- power and micro-displacement amplify sensor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110928 Termination date: 20130927 |