Six-axis force and torque sensor

Abstract

The invention provides a six-axis force and torque sensor, which belongs to the technical field of sensors and aims at solving the problem of a small measurement range of the existing six-axis force and torque sensor. The six-axis force and torque sensor comprises an elastomer; the elastomer comprises a supporting frame, an axis table located in the supporting frame and four elastic beams arrangedat intervals around the axis table; one end of the elastic beam is connected with the supporting frame and the other end is connected with the axis table; one end of the elastic beam is a large end and the other end is a small end; the elastic beam is gradually reduced from the large end to the small end; the end, connected with the axis table, of the elastic beam is the large end, and the end, connected with the supporting frame, of the elastic beam is the small end. The structure improves the measurement range of the sensor through a mode of changing the shape of the elastic beam, a small-sized and lightweight design of the sensor is realized, the inertia of the sensor in operation is reduced, high detection sensitivity is thus acquired, and the sensor has a simple structure and easy toprocess.

Description

technical field [0001] The invention belongs to the technical field of sensors, in particular to a six-dimensional force and torque sensor. Background technique [0002] The six-dimensional force sensor is a force sensor that can detect 3 force components and 3 torque components at the same time. According to the force components and torque components in the X, Y, and Z directions, the resultant force and torque can be obtained. The principle of resistance strain force measurement is currently One of the most widely used generalized six-dimensional force sensors. For example, China Patent Network discloses a strain-type six-dimensional force sensor [authorized announcement number: CN202720078U], which includes an elastic body. In addition, China Patent Network also discloses a strain-type six-dimensional force sensor with a compact structure [authorized announcement number: CN205333238U], including the base elastic body and the cross parallel beam elastic body, and the cros...

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Problems solved by technology

[0004] The above-mentioned six-dimensional force and moment sensor improves the stiffness of the sensor for force measurement by increasing the number of elastic beams, thereby increasing the measuring range of the force. However, the structural sensor has eight elastic beams, which is different from the traditional cross-shaped elastic body Compared with the sensor, the number of elastic beams has doubled, the volume of the force sensitive element becomes larger and the weight becomes heavier, and the sensor has a greater inertia during operation, which will lead to a decrease in the detection sensitivity of the sensor; in addition, the elastic After the number of beams increases, the central shaft table needs eight mounting surfaces for connecting with the elastic beams respectively, which makes the structure of the sensor more complicated and inconvenient to process and manufacture

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