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公开(公告)号：US20210293642A1
公开(公告)日：2021-09-23
申请号：US16973690
申请日：2020-04-22
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo SONG , Shuyan YANG , Baoguo XU , Ming WEI , Chunhui WANG , Fan LI , Yuhua YAO , Yanjun LI , Suinan ZHANG , Qiong JIN
IPC: G01L5/1627 , G01L1/22
Abstract: The present invention discloses a six-dimensional force sensor with high sensitivity and low inter-dimensional coupling, including a clockwise or counterclockwise swastika-shaped beam, vertical beams, a rectangular outer frame, and strain gauges; the clockwise or counterclockwise swastika-shaped beam includes a cross-shaped transverse beam and four rectangular transverse beams; a center of the cross-shaped transverse beam is provided with several force application holes used for applying forces and moments; four tail ends of the cross-shaped transverse beam are each connected to one of the rectangular transverse beams to form a clockwise or counterclockwise swastika-shaped structure; a top end of a vertical beam is connected to a tail end of a corresponding rectangular transverse beam, and bottom ends of the vertical beams are connected to the rectangular outer frame; and there are a plurality of strain gauges to form six groups of Wheatstone bridges that are respectively used for measuring an X-direction force, a Y-direction force, a Z-direction force, an X-direction moment, a Y-direction moment, and a Z-direction moment. Strain gauges for measuring the forces are all pasted on the cross-shaped transverse beam, strain gauges for measuring the X-direction moment and the Y-direction moment are all pasted on the four rectangular transverse beams, and strain gauges for measuring the Z-direction moment are all pasted on the four vertical beams. According to the present invention, the structure is simple, and inter-dimensional coupling is low while high sensitivity is ensured.
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公开(公告)号：US20210173540A1
公开(公告)日：2021-06-10
申请号：US16768636
申请日：2018-05-23
Applicant: SOUTHEAST UNIVERSITY
Inventor： Aiguo SONG , Mingxin LENG , Huijun LI , Hong ZENG , Baoguo XU , Lifeng ZHU
IPC: G06F3/041 , G06F3/0354 , G06F3/044
Abstract: An artificial fingertip sliding tactile sensor includes a PVDF film, a rubber fingertip, a filling liquid, a sealing plug, a hydraulic sensor, a housing, an inner framework, and strain gauges. The rubber fingertip is a hemispherical cavity. The PVDF film is attached to the outside of the rubber fingertip. The sealing plug seals the rubber fingertip, and the hydraulic sensor is installed at the bottom of the sealing plug. The main body of the housing is a rigid cylindrical structure. The top of the housing is provided with a circular opening, and the bottom of the housing is a flange-like structure. Four circular through holes are uniformly distributed on the flange-like structure. The inner framework includes a cylindrical head, a vertical strain rod and a base. The strain gauges are respectively attached on four sides of the vertical strain rod and adjacent to the base.
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公开(公告)号：US20190323816A1
公开(公告)日：2019-10-24
申请号：US16467032
申请日：2018-05-23
Applicant: Southeast University
Inventor： Aiguo SONG , Mingxin LENG , Baoguo XU , Huijun LI
Abstract: A whisker sensor includes an upper circuit board, a lower circuit board, a flexible whisker, and a magnet. The magnet is fixed to the flexible whisker through a central through hole, and the location of the magnet changes with the swinging of the whisker; the upper and lower circuit boards are identical in shape and size, and are connected through an upright column. A circular hole is formed at the center of the upper circuit board, four Hall sensors are symmetrically distributed on the edge of the circular hole, and the displacement of the whisker in X and Y directions can be obtained by detecting the change in magnetic field generated by the change in location of the magnet; a contact sensor is mounted on the lower circuit board, and is connected to the whisker through a connecting piece, to detect displacement of the whisker in the Z direction.
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