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Torque sensor capable of measuring six-dimensional non-coplanar force

A technology of torque sensor and six-dimensional space, which is applied in the direction of measuring device, measurement of property and force of applied piezoelectric resistance material, instrument, etc., can solve the problems of complex post-processing circuit, complex processing technology, high processing requirements, etc., and achieve improved resistance Effects of interference capability, high measurement accuracy, low machining and assembly requirements

Active Publication Date: 2012-02-15
BEIHANG UNIV
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Problems solved by technology

[0003] The above-mentioned six-dimensional force sensors have the following disadvantages: (1) The core components of the above-mentioned sensors are all elastic bodies with a special structure, and the processing requirements of this elastic body are relatively high and the processing technology is complicated; (2) The post-processing circuit is very complicated; (3) Coupling problem, most six-dimensional force sensors have inter-dimensional coupling problems; (4) High cost and expensive

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  • Torque sensor capable of measuring six-dimensional non-coplanar force
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  • Torque sensor capable of measuring six-dimensional non-coplanar force

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Embodiment Construction

[0044] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0045] see figure 1 , Figure 1A Shown, a kind of moment sensor of the present invention that can realize six-dimensional space force measurement, this moment sensor includes nine sensors (the first sensor 21, the second sensor 22, the third sensor 23, the fourth sensor 24, the fifth sensor Sensor 25, the sixth sensor 26, the seventh sensor 27, the eighth sensor 28, the ninth sensor 29), three end caps (first end cap 11, second end cap 13, third end cap 15), three Mounting bases (first mounting base 12 , second mounting base 14 , third mounting base 16 ), an X-axis connecting rod 31 , a Y-axis connecting rod 32 , a loading flange 33 and a support frame 19 . Wherein, the X-axis connecting rod 31 and the Y-axis connecting rod 32 are assembled to form a T-shaped connecting rod.

[0046] In the present invention, the nine sensors are selected from the FSS 1500...

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Abstract

The invention discloses a torque sensor capable of measuring six-dimensional non-coplanar force. In the torque sensor, nine sensors are arranged on three installation bases in three groups respectively; the end parts of the installation bases are connected with end covers; the two ends of an X-axis connecting rod are arranged in through holes of two installation bases respectively; and a Y-axis connecting rod is arranged in a through hole of a third installation base. The torque sensor designed by the invention is arranged on a carrier by using a loading flange. When pressure is applied to the upper end of Y-axis connecting rod, nine one-dimensional sensors which are connected with a T-shaped connecting rod are subjected to force of different magnitudes and have different outputs under the actions of six-dimensional non-coplanar force and three-dimensionalal non-coplanar orthogonal torque. Analysis on the force structure according to the theoretical mechanics indicates that the relation between the output force information of the nine one-dimensional sensors and the applied six-dimensional non-coplanar force is: the magnitude of the six-dimensional non-coplanar force can be obtained by only measuring the output numerical values of the nine one-dimensional sensors.

Description

technical field [0001] The present invention relates to a torque sensor, more particularly, refers to a torque sensor that is applied in the field of robot force and torque sensors and can measure six-dimensional force in space. Background technique [0002] At present, the six-dimensional force sensor can be divided into resistance strain type, capacitive type, inductive type, piezoelectric type and photoelectric type according to the measurement principle, among which the resistance strain type six-dimensional force sensor is the most widely used and mature. The strain gauge on the body measures the force and moment due to the change in resistance value caused by mechanical deformation. [0003] The above-mentioned six-dimensional force sensors have the following disadvantages: (1) The core components of the above-mentioned sensors are all elastic bodies with a special structure, and the processing requirements of this elastic body are relatively high and the processing te...

Claims

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Application Information

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IPC IPC(8): G01L1/18G01L3/00
Inventor 王党校方磊徐牧于佳琦张玉茹
Owner BEIHANG UNIV
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