Calibration method of multi-dimensional force sensor
A technology of a multi-dimensional force sensor and a calibration method, applied in the field of sensors, can solve the problems of elastic properties change of elastomers, decrease of measurement accuracy, etc., and achieve the effect of protecting elastic columns
Active Publication Date: 2019-03-26
HEBERSON TECH (SHENZHEN) CO LTD
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Problems solved by technology
The types of multidimensional force sensors in the prior art are very diverse, and the number of elastic bodies and the specific structural forms of the elastic bodies of different multidimensional force sensors are different. After the sensor bears an excessive load, it is easy to cause the elastic body to Unrecoverable changes in elastic properties, resulting in decreased measurement accuracy
Method used
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Embodiment 1
[0060] Such as figure 1 As shown, the multi-dimensional force sensor of this embodiment includes an outer ring structure 1, an inner ring structure 2, an elastic column 3, a strain gauge, and a protector 4; the outer ring structure 1 is annular, and the inner ring structure 2 is A regular triangle with rounded corners, the inner ring structure 2 and the outer ring structure 1 are connected by three elastic columns 3, and the two ends of each elastic column 3 are respectively connected to the outer ring structure 1 and the inner ring structure 2. All elastic columns 3 are evenly arranged around the central axis of the outer ring structure 1; the area where the inner ring structure 2 contacts the elastic column 3 is provided with long grooves 201, and each long groove 201 forms an edge-supported overhead plate on the surface of the inner ring structure 2 202. The elastic column 3 is connected to the overhead flat plate 202.
[0061] Such as figure 2 As shown, the protector 4 is i...
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The invention discloses a multidimensional force sensor comprising an external circle structure, an internal circle structure, elastic columns, strain gauges and protectors. The external circle structure is circular-ring-shaped. The internal circle structure and the external circle structure are connected through at least three elastic columns. The two ends of each elastic column are respectively connected with the external circle structure and the internal circle structure. The area, which is contacted with the elastic columns, of the internal circle structure is provided with long slots. Each long slot forms an edge supported overhead flat plate on the surface of the internal circle structure. The elastic columns are connected on the overhead flat plate. The protectors are installed on the external circle structure, and gaps are reserved between the protectors and the internal circle structure. The side surface of each elastic column is provided with the strain gauge in an adhesive way. The thickness of the overhead flat plate is reasonably designed and the proper material is adopted so that the overhead flat plate is enabled to generate reasonable deformation in case of bearing load, the internal circle structure is contacted with the protectors when the load is excessively high, and the excessive load is directly borne by the protectors without being conducted to the elastic columns so as to realize the protection effect.
Description
Technical field [0001] The invention relates to the field of sensors, in particular to a calibration method of a multidimensional force sensor. Background technique [0002] The multidimensional force sensor can simultaneously convert the force and torque on each axis into electrical signal output, and can be used to detect the magnitude and direction of the constantly changing force and torque. It is widely used in robotics, automation equipment, medical equipment and other fields, such as automatic polishing Robots, remote surgical robotic arms, etc. [0003] The multi-dimensional force sensor generally contains at least three elastic bodies inside. The multi-dimensional force sensor converts the load it bears into the deformation of the elastic body, and calculates the magnitude and direction of the current load by measuring the deformation of the three elastic bodies. The types of multi-dimensional force sensors in the prior art are very diverse. Different multi-dimensional fo...
Claims
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IPC IPC(8): G01L1/06G01L1/04G01L25/00
CPCG01L1/04G01L1/06G01L25/00
Inventor 周飞王国安吴伟锋谭敏孔晓桥孙久春丁海鹏周胜
Owner HEBERSON TECH (SHENZHEN) CO LTD