a wrist sensor

Abstract

The invention provides a wrist sensor. The wrist sensor comprises a support ring, a detection beam, an installation block and a detection sensing sheet. Two ends of the detection beam are fixed on the support ring. The detection sensing sheet is installed on the detection beam. The installation block is installed on the detection beam. The support ring and the installation block are installed on two different parts capable of moving. When the parts relatively move, the detection beam is deformed so as to allow the detection sensing sheet to sense the deformation of the detection beam. According to the invention, the sensor is capable of simultaneously and rapidly detecting force in the direction of each coordinate axis in an XYZ three-dimensional orthogonal coordinate system, and detecting force or torque related to at least one axis in the torque around each coordinate axis in real time.

Description

technical field [0001] The invention relates to the field of force sensors, in particular to force sensors applied to robot joints. Background technique [0002] With the continuous development of robots, the interaction between robots and humans is getting closer and closer, and robots are beginning to move towards human life and entertainment, not just as production equipment set up in factories for processing and production, so the development trend of robots will be further high Intelligent and high-precision. [0003] According to the principle of bionics, the movement of the robot imitates the human through the joints. In order to allow the robot to move accurately and flexibly, and to facilitate the operator to control the movements of the robot and industrial machinery, various types of force sensors are used, especially in the joints of the robot. Generally, work with multiple degrees of freedom is required, and the force is complex. If the force detection data can...

AI Technical Summary

Problems solved by technology

In order to achieve miniaturization and structure simplification, it is also necessary to independently detect the force about each coordinate axis in the three-dimensional space. Often the structure as a whole is ring-shaped, sheet-shaped or a combination of the two, and is composed of nested or superimposed methods. For example, Japanese Patent Laid-Open No. 2004-325367 (US Patent No. 7219561) and Japanese Patent Laid-Open No. 2004-354049 (US Patent No. 6915709) disclose electrostatic capacitive multi-axis force sensors. A sensor, which consists of a pair of electrodes to form a capacitive element, and detects the displacement of one of the electrodes by the applied force according to the electrostatic capacitance value of the capacitive element, the thickness of such mechanical structure parts will inevitably increase, and the overall device is difficult Thin, difficult to be widely used in the field of robotics

[0005] The problems of the above-mentioned type of sensors are also common problems in many existing technologies. The strain point setting of the sensors is limited, and they are often not comprehensive in terms of structure, installation and practicality. Sensors with simple structures are not durable, and durable sensors The structure is more complicated, and the sensor with complex structure requires more energy in installation

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