Six-dimensional force sensor

Abstract

The invention provides a six-dimensional force sensor, and belongs to the technical field of sensors. The invention solves the problem of small measuring range of an existing sensor. The six-dimensional force sensor comprises a cylindrical outer ring, a central shaft table arranged in the outer ring and a plurality of elastic beams connected with the central shaft table and the outer ring, whereinthe upper surface of each elastic beam is flush with the upper surface of the central shaft table; and a threaded hole is formed in the upper surface of the central shaft table. The six-dimensional force sensor also comprises a loading cover which is arranged in the outer ring and is positioned above the central shaft table; the lower surface of the loading cover is provided with a boss abuttingagainst the central shaft table; the loading cover is fixedly connected with the central shaft table; and a connecting hole is formed in the upper surface of the loading cover. The structure improvesthe range of the sensor and the convenience of maintenance.

Description

technical field [0001] The invention belongs to the technical field of sensors, in particular to a six-dimensional force sensor. Background technique [0002] Multi-dimensional force and torque sensors are a very important type of mechanical quantity measurement sensors in electromechanical control systems. They are the basic components to ensure precise assembly, precise operation, precise control and human-computer interaction control, and are also the guarantee for robots to complete contact tasks. For example, space detection technology, space manipulator force control, industrial robot, underwater robot remote control operation, etc. all require large-scale high-precision multi-dimensional force and torque sensors. Most of the six-dimensional force sensors include an outer casing and a sensor body arranged in the outer casing. The sensor body includes a loading table and an outer ring. The loading table is located in the outer ring. The loading table and the outer ring ...

AI Technical Summary

Problems solved by technology

Referring to the accompanying drawings of the patent specification, it can be seen that the upper surface of the measuring beam is flush with the upper surface of the inner ring, which is convenient for the processing and manufacturing of the measuring beam and the inner ring. However, since the sensor is fixed on the tool through the inner ring, the strain gauge It is easy to touch with the tool, causing installation interference. In addition, the maximum stress on the measuring beam is concentrated at the junction of the measuring beam and the outer ring during use, resulting in a small measuring range

In addition, when the two sensors disclosed above are used, the force directly acts on the central pillow block or the inner ring, which is easy to cause damage to the central pillow block or the inner ring. Once the central pillow block or the inner ring is damaged, it cannot Repaired, the entire sensor is directly scrapped

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