Six-dimensional force sensor and calibration device

Abstract

The invention provides a six-dimensional force sensor and a calibration device. The six-dimensional force sensor comprises an elastic carrier and a strain gauge. The elastic carrier is a spherical shell, the interior of the spherical shell is hollow, hollow structures are evenly distributed on the spherical shell, vertical beams are formed among holes of the hollow structures, and one strain gauge is fixedly pasted to the middle of each vertical beam. According to the six-dimensional force sensor, the weight can be effectively reduced, the lightweight design is achieved, the rigidity is better, the good bearing capacity is achieved, and therefore the six-dimensional force sensor can have the higher bearing strength. In addition, the invention provides a calibration device, when the calibration device is used for calibrating the six-dimensional force sensor, pure force loading can be effectively guaranteed, extra unbalance loading cannot be introduced, and meanwhile coupling caused by gravity is eliminated to the maximum extent.

Description

technical field [0001] The invention relates to the technical field of sensing equipment, in particular to a six-dimensional force sensor and a calibration device. Background technique [0002] Six-dimensional force sensors are more and more widely used in the application of intelligent robots. At present, the market share of small robots is increasing, mainly because the assembly of light and tiny components such as electronic components is gradually replacing manpower by machines, and the weight control requirements for the terminal six-dimensional force sensor are also getting higher and higher. [0003] The existing six-dimensional force sensor elastic body structure is mostly composed of cross beams, column beams or other different numbers of beams and loading platforms. These solid metal structures make it difficult to miniaturize the current six-dimensional force sensor , which also greatly increases the weight of the sensor. For example, the weight of the sensor cur...

AI Technical Summary

Problems solved by technology

[0003] The existing six-dimensional force sensor elastic body structure is mostly composed of cross beams, column beams or other different numbers of beams and loading platforms. These solid metal structures make it difficult to miniaturize the current six-dimensional force sensor , which also greatly increases the weight of the sensor. For example, the weight of the sensor currently on the market is at least 0.5kg. Taking a 5kg robot as an example, it accounts for 10% of the robot's range, which is difficult to apply to the force control application of small robots.

Images