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A six-dimensional force sensor

A six-dimensional force sensor and sensor technology, applied in the field of sensors, can solve the problems of measuring force/torque with a large change in coupling error, and achieve the effects of small inter-dimensional coupling, simple and clear force mapping relationship, and reducing temperature drift error.

Active Publication Date: 2022-03-18
上海智籍机器人有限公司
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  • Claims
  • Application Information

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Problems solved by technology

The vertical beam structure is arranged towards one side, and the error caused by the deformation of the structure cannot be offset by applying force in one direction, resulting in a large change in the measurement force / moment with the coupling error

Method used

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  • A six-dimensional force sensor
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Embodiment Construction

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0036] Such as Figure 1-Figure 6 As shown, the application proposes a six-dimensional force sensor, including: a housing 1 and a base 3, and also includes:

[0037] The main body of the sensor, the main body of the sensor includes: a moving platform 21, a support body 22 and multiple groups of stress rods, the multiple groups of stress rods are in groups of two, and the circular array is arranged on the outer side of the support body; each group of stress rods includes a first The...

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Abstract

The application provides a six-dimensional force sensor, including: a housing, a base, and a sensor body, the sensor body includes a moving platform, a support body, and multiple sets of stress rods; the multiple sets of stress rods are in pairs, each The group of stress rods includes a first stress rod and a second stress rod, and the plane where the first stress rod and the second stress rod are located can be enclosed to form a regular polyhedron structure; the first stress rod and the second stress rod The second stress rods are arranged on the outer side of the support body in a circular array; the first stress rods and the second stress rods are arranged between the support body and the moving platform, and the The first stress rod and the second stress rod are arranged at a certain angle with each other. The new layout method of circumferential rotational symmetry of multiple sets of stress rod groups proposed by this application reduces the coupling error caused by the structure of the sensor in the process of force / torque measurement and perception, thereby improving the stability and accuracy of measurement.

Description

technical field [0001] The invention belongs to the technical field of sensors, in particular to a six-dimensional force sensor. Background technique [0002] A multidimensional force sensor refers to a force sensor that can measure force and moment components in more than two directions at the same time. In the Cartesian coordinate system, force and moment can be decomposed into three components respectively. Therefore, the most complete form of multidimensional force is A six-dimensional force / torque sensor, that is, a sensor capable of simultaneously measuring three force components and three torque components. [0003] In the prior art, the most common six-dimensional force / moment sensor mainly adopts a beam structure, and the beam structure can be divided into a vertical beam structure and a beam structure. The main problem that causes high coupling is usually to apply force in one direction, and force signals will also be generated in other directions where no force i...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01L5/16
CPCG01L5/16
Inventor 孙竞陈先宝刘仁强高峰
Owner 上海智籍机器人有限公司
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