Novel six-dimensional force and torque sensor

A torque sensor and six-dimensional force technology, applied in the field of automation, can solve the problems that multi-dimensional force sensors cannot achieve structural self-decoupling, cannot achieve structural self-decoupling, and increase system errors, and achieve high stiffness, ideal hysteresis, inherent high frequency effect

Active Publication Date: 2016-11-16
NANJING BIO INSPIRED INTELLIGENT TECH
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Problems solved by technology

[0004] The structure of the existing multi-dimensional force sensor itself cannot realize structural self-decoupling. The force (moment) of some multi-dimensional force sensors in one or several directions needs to be calculated through the output of other directions and the size of the structure, which will make the system The error increases; although the existing multi-dimensional force sensor with three-beam structure is relatively simple in structure, it cannot realize structural self-decoupling; in addition, the measuring range of the above-mentioned metal foil patch type six-dimensional sensor is generally low, and its The main reason is that the increase of the moment has higher requirements on the strength and stiffness of the elastic body, and also has higher requirements on the strength and stiffness of the connecting pins or other positioning parts.

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  • Novel six-dimensional force and torque sensor

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Embodiment Construction

[0021] In describing the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", The orientations or positional relationships indicated by "top", "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying References to devices or elements must have a particular orientation, be constructed, and operate in a particular orientation and therefore should not be construed as limiting the invention.

[0022] The terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or ...

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Abstract

The invention discloses a novel six-dimensional force and torque sensor comprising a central boss, a cylindrical shell which is arranged at the external side of the central boss, and 12 elastic beams which are used for connecting the central boss and the cylindrical shell. Strain gauges are distributed on the 12 elastic beams according to the requirements. The bottom part of the central boss is provided with an installing hole used for installing a signal processing module. The novel six-dimensional force and torque sensor has the characteristics of structural self-decoupling, high rigidity, high inherent frequency and ideal linearity, repeatability and hysteresis so as to measure large torque (50N.m) Besides, the sensor of different measuring range and sensitivity can be designed by the dimensional change of all the elastic beams.

Description

technical field [0001] The invention relates to the technical field of automation, in particular to a novel six-dimensional force and moment sensor. Background technique [0002] A multidimensional force and moment sensor refers to a force sensor capable of measuring force or moment components in more than two directions at the same time. In the Cartesian coordinate system, force and moment can be decomposed into three components respectively. Therefore, the most complete form of multidimensional force It is a six-dimensional force and torque sensor, that is, a sensor that can measure three force components and three torque components simultaneously. Multi-dimensional force and torque sensors are widely used in robotics, industrial automation, military and other fields. [0003] The metal foil patch six-dimensional sensor is widely used because of its mature technology, better stability than piezoelectric and semiconductor sensors, and less demanding working environment. H...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L5/16
CPCG01L5/16G01L5/167G01L1/2231G01L5/162G01L5/0042
Inventor 李晨姚举禄
Owner NANJING BIO INSPIRED INTELLIGENT TECH
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