Six-dimensional force sensor capable of sensing contact force and traction force

Abstract

The invention belongs to the field of a sensor and discloses a six-dimensional force sensor capable of sensing contact force and traction force. The six-dimensional force sensor comprises a contact force sensor and a traction force sensor. The contact force sensor comprises a first elastomer, a fixation flange, a first fixation and support ring and a fixation housing. Each first support beam in the first elastomer is provided with a first detection through hole and a second detection through hole; and the outer wall of each first support beam is attached by a strain foil for measuring the contact force. The traction force sensor comprises a stress housing, a second elastomer and a second fixation and support ring, wherein the second elastomer and the second fixation and support ring are arranged in the stress housing. Each second support beam in the second elastomer is provided with a third detection through hole and a fourth detection through hole; and the outer wall of each second support beam is attached by a strain foil for measuring the traction force. The six-dimensional force sensor is capable of sensing the traction force applied to the tail end of a robot by a human as well as the contact force between a robot end effector and environment simultaneously, and can realize simultaneous accurate sensing of the sensing contact force and the traction force.

Description

Technical field [0001] The present invention belongs to the field of sensors, and more specifically, relates to a six-dimensional force sensor. Background technique [0002] At present, industrial robots have been widely used in automobile, electrical and electronic, machinery, rubber chemical, food and beverage industries, mainly engaged in welding, assembly, spraying, handling, palletizing, loading and unloading, grinding and polishing. The application of industrial robots improves product quality, reduces enterprise costs, improves enterprise production efficiency, reduces the labor of workers, and frees workers from simple and repetitive tasks. However, the existing industrial robots mainly replace the workers on the assembly line to perform some simple and repetitive tasks. These tasks give full play to the robot's precision, strength, speed, environmental tolerance and other unmatched advantages. Limited by the fact that it is difficult for robots to have strong environmen...

AI Technical Summary

Problems solved by technology

When there are interaction forces between the end effector of the robot and the environment and between the end effector of the robot and the end of the robot, the existing wrist force sensors cannot simultaneously accurately perceive the magnitude and direction of the force acting on the end effector of the robot and the relationship between the end effector of the robot and the environment. interaction force

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