CN2112378U - Wrist strength transducer elastomer - Google Patents
Wrist strength transducer elastomer Download PDFInfo
- Publication number
- CN2112378U CN2112378U CN 91227039 CN91227039U CN2112378U CN 2112378 U CN2112378 U CN 2112378U CN 91227039 CN91227039 CN 91227039 CN 91227039 U CN91227039 U CN 91227039U CN 2112378 U CN2112378 U CN 2112378U
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- strain
- strain beam
- elastomer
- rim
- angle
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Abstract
The utility model discloses a six-dimension wrist strength transducer elastomer with high accuracy. The elastomer is composed of three strain beams, an inner wheel rim and an outer wheel rim, wherein, the three strain beams are arranged transversely and are stuck with strain foils, the three strain beams and the inner and the outer wheel rims are connected in the non radial direction, and connection points are in uniform distribution of 120 DEG on the wheel rims. The utility model can eliminate the radial effect and is favorable for calibrating a sensor, under the condition of the same external dimensions, the length of each strain beam can be increased, the sensitivity of the wrist strength sensor can be improved, and the utility model is a reasonable elastomer structure.
Description
This utility model belongs to the pick off class, more particularly belongs to the multi-dimension force sensor class.
The wrist force sensor elastomer of using morely both at home and abroad has two kinds of typical structures, and a kind of is the vertical beam structure, and another kind is a beam structure, also has the structure of some more complicated, can be considered the improvement combination of these two kinds of structures.
Typical case's representative of vertical beam structure is the Waston wrist force sensor of U.S. Draper laboratory research.This elastomer by the strain beam of three settings and up and down two wheel rims constitute, three beams are evenly distributed by 120 ° on wheel rim, paste foil gauge on the strain beam and detect electric bridge to form.The shortcoming of this elastomer structure is that vertical effect is poor.
Typical case's representative of beam structure is the designed SCHEINMAN wrist force sensor of the artificial intelligence study of Stanford University.This elastomer adopts Maltess rood beam structure, and it is made of four prismatic strain framves of transversely arranged one-tenth crux and central block and outer rim.A foil gauge is pasted in four sides of every beam, and the two opposite side surfaces foil gauge connects into semibridge system and detects electric bridge.In this elastomer, the strain beam axis that warp-wise is arranged is spoke-like by the garden heart of interior outer rim.When the direction of the concentration power on acting on zero was consistent with the strain beam axis, axial compression or stretcher strain only took place in this direction strain beam, and the relative two sides deformation of beam is identical, detected electric bridge two arm signals and cancelled each other, and were output as zero.Therefore exist the warp-wise effect that is disappeared, also having the demarcation matrix is the deficiency of approximate solution.
The purpose of this utility model is the sextuple wrist force sensor elastomer that a kind of non-warp-wise girder construction is provided at the shortcoming that prior art exists.
For achieving the goal, the solution that this utility model adopts is: elastomer is to be made of three transversely arranged strain beams and inside and outside two wheel rims, paste foil gauge on the strain beam, three strain beams are non-warp-wise and are connected with interior outer rim, and junction point is 120 ° of uniform distribution on wheel rim.
The utility model has the advantages that:
1. under the measure-alike situation of profile, can increase the length of strain beam, the sensitivity that helps improving wrist force sensor;
2. can eliminate radial effects;
3. the X of sensor coordinates, Y-axis can be set arbitrarily;
4. six data passages help simplifying and demarcate finding the solution and improving stated accuracy of matrix.
In conjunction with the accompanying drawings and embodiments this utility model is described in further detail.
Fig. 1 is a structure chart of the present utility model.
Fig. 2 is the inclination angle sketch map of strain beam among Fig. 1.
This utility model can be made of three transversely arranged prismatic strain beams (1) and inside and outside two wheel rims (2), (3), and three strain beams (1) are non-and radially are connected with interior outer rim (2), (3), and junction point is 120 ° of uniform distribution on wheel rim.Can paste eight paper tinsel formula foil gauges on the every strain beam, form the full-bridge type testing circuit, can form six strain bridges altogether for four of two opposite side surfaces.
Above-mentioned non-radially three girder construction wrist force sensor elastomers are preferably a kind of integrated support structure, and by the molding of same elastomeric material time processing.For example, this material can be duralumin.Adopt the elastomer weight of this kind structure and material light, rigidity is big, it is little to lag behind, and has guaranteed the concordance of hot property.
Because strain beam (1) has adopted non-arranged radially, the garden heart O of inside and outside wheel rim (2), (3) is not passed through in strain beam (1) axis, act on the concentration power on the zero, no matter its direction how, even parallel with certain root strain beam, all can make three beams produce flexural deformation, the relative two sides of strain beam are compressed respectively and stretching action, make detection electric bridge disequilibrium condition and produce output signal, thereby eliminated the radial effects that arranged radially causes.
Obtain six components of force vector through demarcation, promptly
F=［ f in the formula
xf
yf
zm
xm
ym
zIt is pick off power output vector; R=［ r
1r
2R
6Be sensor output signal or reading; C demarcates matrix.
Can find out, adopt above-mentioned elastomeric wrist force sensor force vector De Xie Suan fairly simple.
The tiltangle of dependent variable is the angle between strain beam (1) axis AB and outer rim (3) the inside radius AO.When θ＞0 °, strain beam (1) axis is non-arranged radially not by the center of wheel rim.When inside and outside rim size one timing, the inclination angle is big more, and strain beam is long more; Otherwise it is then short more.Allowable angle of inclination is
θmax＝arcsin（R
2/R
1）
R in the formula
1, R
2Be respectively outer rim inside radius and inner rim outer radius.For the ease of processing and paster, improve elastomeric load capacity and service life, tiltangle is preferably elected as less than arcsin(R
2/ R
1).
In order further to improve the problem that wheel rim stiff end stress is concentrated relatively, all adopted the processing mode of garden arc transition in the angle less than 90 ° of intersecting less than 90 ° angle and strain beam (1) and outer rim (3) medial surface that strain beam (1) and inner rim (2) lateral surface intersect.
Claims (5)
1, a kind of wrist force sensor elastomer, comprise strain beam and wheel rim, paste foil gauge on the strain beam, of the present utility model being characterised in that: above-mentioned strain beam (1) is three, for transversely arranged, wheel rim is interior outer rim (2), (3), and three strain beams (1) are non-warp-wise and are connected with interior outer rim (2), (3), and junction point is 120 ° of uniform distribution on wheel rim.
2, elastomer according to claim 1 is characterized in that: this elastomer is an integrated support structure, by with the molding of piece elastomeric material time processing.
3, according to claim 1,2 described elastomers, it is characterized in that: the angle between strain beam (1) axis AB and outer rim (3) the inside radius AO is less than arcsin(R
2/ R
1).
4, according to claim 1,2 described elastomers, it is characterized in that: the processing mode that has adopted garden arc transition in the angle less than 90 ° of intersecting less than 90 ° angle and strain beam (1) and outer rim (3) medial surface that strain beam (1) and inner rim (2) lateral surface intersect.
5, elastomer according to claim 3 is characterized in that: the processing mode that has adopted garden arc transition in the angle less than 90 ° of intersecting less than 90 ° angle and strain beam (1) and outer rim (3) medial surface that strain beam (1) and inner rim (2) lateral surface intersect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 91227039 CN2112378U (en) | 1991-10-19 | 1991-10-19 | Wrist strength transducer elastomer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 91227039 CN2112378U (en) | 1991-10-19 | 1991-10-19 | Wrist strength transducer elastomer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2112378U true CN2112378U (en) | 1992-08-12 |
Family
ID=4933008
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 91227039 Granted CN2112378U (en) | 1991-10-19 | 1991-10-19 | Wrist strength transducer elastomer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2112378U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102812341A (en) * | 2009-12-08 | 2012-12-05 | Abb股份公司 | Multiaxial Force-torque Sensors |
| CN107044898A (en) * | 2017-03-28 | 2017-08-15 | 东南大学 | A kind of six-dimension force sensor of flexible body structure |
| CN110857896A (en) * | 2018-08-10 | 2020-03-03 | 新东工业株式会社 | Force sensor |
-
1991
- 1991-10-19 CN CN 91227039 patent/CN2112378U/en active Granted
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102812341A (en) * | 2009-12-08 | 2012-12-05 | Abb股份公司 | Multiaxial Force-torque Sensors |
| CN107044898A (en) * | 2017-03-28 | 2017-08-15 | 东南大学 | A kind of six-dimension force sensor of flexible body structure |
| CN110857896A (en) * | 2018-08-10 | 2020-03-03 | 新东工业株式会社 | Force sensor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |