Three-dimensional force sensor and mechanical arm

Abstract

The invention provides a three-dimensional force sensor and a mechanical arm. The three-dimensional force sensor comprises two body structures arranged up and down, two first strain beams and a third strain beam, each body structure comprises two first side faces arranged oppositely and two second side faces arranged oppositely, the first side faces and the second side faces are perpendicular to each other, a fixing block is arranged on each first side face, and at least one first positioning hole is formed in each fixing block; a second strain beam is arranged on each second side surface; each first strain beam is vertically arranged between the two second strain beams of the same body structure; the third strain beam is vertically arranged between the two first strain beams; and strain gauges are arranged on the first strain beam, the second strain beam and the third strain beam. According to the three-dimensional force sensor in the scheme, the strain beams which are perpendicular to one another in the three directions are arranged, the effect of reducing inter-dimensional coupling can be achieved, and the measurement precision of the sensor is improved.

Description

technical field [0001] The invention relates to the field of micro-vibration measurement, in particular to a three-dimensional force sensor and a mechanical arm. Background technique [0002] As the robotic arm plays an increasingly important role in the rapid development of industrial automation, the sensor, as the basis for the robotic arm to perceive the outside world, has also received more attention and attention. [0003] Since the 1970s, the multi-dimensional force sensor of the manipulator has become a research hotspot in the world, and its research and application are of great significance. The three-dimensional force sensor can measure the force in three directions in the space coordinate system, and can be applied to the end of the manipulator to sense the force of the object being manipulated and realize force adaptive control. [0004] As we all know, multi-dimensional force sensors are sensitive to forces in all directions, that is, the force in one dimension ...

AI Technical Summary

Problems solved by technology

[0005] In the prior art, the cross-beam structure is generally used, and the multi-dimensional force measurement is realized through the inner and outer two layers of floating beams and strain gauges. In the measurement of large force and small moment, an eight-beam structure is also designed to improve its strength, but in precision In the experimental environment, the end of the manipulator is required to be able to sense the change of small force, which requires the sensor to have high sensitivity. Although the above traditional sensors have good strength, it is still difficult to meet certain requirements in terms of sensitivity.

Images