Six-dimensional force sensing device

Abstract

A six-dimensional force sensing device comprises an elastic mechanism, a deformable restraint shell, an eddy current sensing circuit board, and a base plate. The deformable restraint shell covers the base plate, and the elastic mechanism and the eddy current sensing circuit board are disposed between the deformable restraint shell and the base plate. The elastic mechanism has at least three sets of sensing metal groups facing the eddy current sensing circuit board. The eddy current sensing circuit board is provided with a microprocessor and at least three sets of sensing element groups. The elastic mechanism has a top plate, and at least three T-shaped beams extend around the top plate. Furthermore, it is surrounded by multiple connecting blocks to form an annular bottom, which is also fixed to the base plate. When the elastic mechanism is subjected to force, it changes the distance between the sensing metal groups and the sensing element groups to achieve the sensing purpose.

Claims

1. A six-dimensional force sensing device, comprising: an elastic mechanism having a top plate, with at least four vertical support blocks extending downward from the sidewall of the top plate, each vertical support block being further connected to a horizontal support block, wherein the connection between the vertical support block and the horizontal support block forms a T-shaped beam, and a connecting block is formed between every two horizontal support blocks to surround and form an annular bottom, wherein a through hole is spaced between the connecting block and the sidewall of the top plate; and at least three sets of sensing metal groups extending downward from the inner side of the top plate, each sensing metal group having a vertical metal member and a horizontal metal member; An eddy current sensing circuit board is positioned below the inner side of the top plate of the elastic mechanism. The eddy current sensing circuit board has a top surface and a bottom surface. The top surface of the eddy current sensing circuit board is provided with a microprocessor and at least three sets of sensing element groups. The sensing element groups face the inner side of the top plate of the elastic mechanism. Each sensing element group has a vertical coil and a horizontal coil. The position of the vertical coil corresponds to the position of the vertical metal member, and the position of the horizontal metal member corresponds to the position of the horizontal coil. The vertical coil and the horizontal coil are electrically connected to the microprocessor. The vertical coil data and the horizontal coil data generated by the vertical coil and the horizontal coil relative to the sensing metal group can be transmitted to the microprocessor. A bottom plate is connected to the elastic mechanism. A connecting block is used to position the bottom plate, and the bottom surface of the eddy current sensing circuit board is also positioned on the bottom plate.

2. The six-dimensional force sensing device as claimed in claim 1, wherein every two sets of sensing elements are arranged in a direction perpendicular to each other by 90 degrees, and at least two sets of sensing elements are symmetrically distributed on the top surface of the eddy current sensing circuit board.

3. The six-dimensional force sensing device as described in claim 1 further includes a deformable restraint shell system covering the elastic mechanism. The deformable restraint shell system is a hollow shell system with a central opening penetrating through it. A strip-shaped opening is formed around the central opening corresponding to the position of each vertical support block. An insert is formed on the inner side of the deformable restraint shell system corresponding to the position of the penetrating through hole, for the deformable restraint shell system covering the elastic mechanism. The strip-shaped opening is fitted around the T-beam, and the insert is inserted into the penetrating through hole. When the deformable restraint shell system is subjected to force, the T-beam will gradually deform and contact the strip-shaped opening to share the overload pressure of the T-beam and avoid severe deformation of the T-beam.

4. The six-dimensional force sensing device as described in claim 3, wherein when the deformation restraint housing is subjected to force, the T-beam will undergo slight deformation, thereby changing the relative distance between the upright metal member and the upright coil member and / or the relative distance between the horizontal metal member and the horizontal coil member, so as to cause a change in inductance value, which is transmitted to the microprocessor of the eddy current sensing circuit board.

5. The six-dimensional force sensing device as described in claim 1, wherein the surface area of ​​the upright metal member facing the upright coil member is greater than the area of ​​the upright coil member; wherein the surface area of ​​the horizontal metal member facing the horizontal coil member is greater than the area of ​​the horizontal coil member.

6. The six-dimensional force sensing device as described in claim 1, wherein the upright metal component and the horizontal metal component are copper components or metal components covered with copper foil.

7. The six-dimensional force sensing device as described in claim 6, wherein the surface of the copper foil is further bonded with an anti-oxidation layer.

8. The six-dimensional force sensing device as described in claim 1, wherein the distance change between the upright metal member and the upright coil member has a one-to-one linear relationship with the force system; wherein the distance change between the horizontal metal member and the horizontal coil member has a one-to-one linear relationship with the force system.

9. The six-dimensional force sensing device as claimed in claim 1, wherein a ferrite is bonded to the surface of the vertical coil and the horizontal coil that is not facing the horizontal metal member and the horizontal coil, in order to reduce background noise of the vertical coil data and the horizontal coil data and significantly improve the signal-to-noise ratio.

10. The six-dimensional force sensing device as claimed in claim 1, wherein a nonlinear regression model is further capable of establishing a mapping relationship between the sensor input vertical coil data and the horizontal coil data and the six-axis force.

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