Three-dimensional force integrally assembled type six-dimensional force cell sensor

Abstract

A kind of six-dimension force sensor of three-dimension force whole assembly belongs to the six dimension force sensor field. Especially it relates to measure the six dimensions force by composing the three-dimension force quartz wafer wholly. It is made up of the lower inner sleeve, top inner sleeve, out sleeve, the mechanism arm, the three-dimension force quartz wafer base, the three-dimension quartz wafer cover and the three-dimension force quartz wafer group. The up inner sleeve is installed at the joint between the manipulator and arm, the lower inner sleeve is installed at the bottom of manipulator. The sealing three-dimension quartz wafer divide into two groups are fixed on the top and low inner sleeve; the out sleeve is connected with each quartz wafer group end cover by the connecting nut. The sensor has the simple structure, high precision, convenience installation; so it is proper for measuring the six-dimension big force of large load equipment.

Description

technical field [0001] The invention belongs to the field of six-dimensional force sensors, and in particular relates to the realization of six-dimensional force measurement by using a three-dimensional force quartz chip group in an integral assembly form during force measurement. Background technique [0002] With the continuous enhancement of my country's extreme manufacturing capabilities, the demand for force measurement technology has become more and more urgent, especially in giant heavy-duty operating equipment, multi-dimensional force sensors are needed to quickly and accurately measure the six-dimensional force on the manipulator. Feedback to realize multi-equipment coordinated operation control and force compliance control. In heavy-duty manufacturing equipment, the measured force value is relatively large, which can reach more than 100MN. At present, the method of determining the force mainly relies on direct measurement, such as the support type heavy force senso...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to solve the problem that most of the heavy equipment has no force measurement and control device so far, and to provide a method of assembling the three-dimensional force quartz chip group as a whole, and realizing the six-dimensional force measurement through the combination of multiple three-dimensional force quartz chip groups The six-dimensional force sensor solves the problem that heavy-duty operating equipment cannot perform six-dimensional force measurement

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