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Micro five-dimensional force sensor with overload protection and method for acquiring force vector information

An overload protection and sensor technology, applied in the field of intelligent robots, can solve the problems of ignoring the force vector action point information, building on the information of three-dimensional force and three-dimensional torque, and only focusing on the information of three-dimensional force and three-dimensional torque of intelligent robots, etc., to achieve The effect of preventing permanent damage, simple structure and easy calibration

Inactive Publication Date: 2009-12-09
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the above-mentioned existing technologies generally only focus on the three-dimensional force and three-dimensional torque information of the intelligent robot during operation, ignoring the action point information of the force vector.
Although a small number of sensors take into account the information of the point of action, they are based on the information of three-dimensional force and three-dimensional torque
And most of the current sensors fail to consider overload protection, making it impossible for the sensor to avoid damage caused by overload

Method used

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  • Micro five-dimensional force sensor with overload protection and method for acquiring force vector information
  • Micro five-dimensional force sensor with overload protection and method for acquiring force vector information
  • Micro five-dimensional force sensor with overload protection and method for acquiring force vector information

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Embodiment 1

[0032] Example 1: see Figure 1-8 , The five-dimensional force sensor in the present invention first pastes five sets of full-bridge detection circuits composed of 20 strain gauges on the upper E-type film and the lower E-type film of the elastomer, and each four pieces are a set, of which the upper E-type Paste two groups on the upward side of the membrane to detect Mx and My, and paste three groups on the downward side of the E-shaped membrane to detect Fx, Fy and Fz. The five groups of detection circuits and the hardware circuit board placed in the cavity of the base The power input and output of the hardware circuit board are led out through the wire hole in the middle of the base to connect with the external circuit processing board. Screw the upper E-type membrane with the fingertips and connect the lower E-type membrane with the base to complete the assembly of the sensor. It is connected and fixed with specific applications through the four threaded holes on the base. When ...

Embodiment 2

[0033] Example 2: Taking the curved surface of the fingertip as an example, according to the detected five-dimensional force information: Fx, Fy, Fz, Mx and My and the spherical equation of the fingertip, the point of action of the force can be obtained, that is, the fingertip sensor and the The point of contact with the outside world. The origin of the sensor's coordinates is at the center of the hemisphere. The external force F acts on a certain point on the sensor. The coordinate position of this point is (x, y, z). The external force F can be decomposed into three axial components Fx, Fy and Fz acting at the point of application. The external force F can also be equivalent to three forces Fx, Fy, Fz acting on the coordinate origin and three moments Mx, My, Mz around the coordinate origin. And the three forces Fx, Fy, Fz and the three moments Mx, My, Mz have the following relationship with the external force F:

[0034] F ...

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Abstract

The invention relates to a micro five-dimensional force sensor with overload protection and a method for acquiring force vector information. The micro five-dimensional force sensor is used for being mounted on a robot or a manipulator; and the sensor consists of a fingertip, an elastomer with a double E-type film structure and a pedestal. The micro five-dimensional force sensor adopts strain electric measurement technology, uses a double E-type film connected together by a middle transmission column as the elastomer, sticks a strain foil on the elastomer and simultaneously acquires information of five-dimensional force acting on the sensor. According to the acquired information of the five-dimensional force, the size, the direction, the acting point and other force vector information of outside force are converted. The sensor has an overload protection mechanism and can avoid causing permanent damage to the senor by severe working environments of the sensor, such as large fluctuation of the outside force and other causes.

Description

Technical field [0001] The invention relates to the field of intelligent robots, in particular to a miniature force sensor capable of simultaneously detecting the size, direction, and point of application of force information and a method for acquiring force vector information. Background technique [0002] Intelligent robot technology is playing an increasingly important role in modern industry and life. In order to enable intelligent robots to complete specified tasks accurately and without error, accurate and timely perception of the external environment is essential. Therefore, intelligent robots should be able to feel Force sensor for external force information. In addition, some spatial coordinate detection devices can also obtain accurate coordinate information through the point of action information. [0003] The existing force sensors mainly include six-dimensional and three-dimensional force and torque sensors, such as the "miniature full-plane six-dimensional force and...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L1/22
Inventor 梁桥康葛运建
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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