Multi-dimensional force/torque sensor

Abstract

The invention relates to a multi-dimensional force / torque sensor. The multi-dimensional force / torque sensor comprises a mounting assembly and a conduction assembly which is accommodated in and abuts against the mounting assembly; the mounting assembly includes an upper cover and a lower cover which are fixed to each other; the upper cover and a lower cover are respectively provided with a first end surface; the first end surfaces of the upper cover and the lower cover are opposite to each other; a cavity and four recessed portions communicated with the cavity are formed in the first end surface of the upper cover and the first end surface of the lower cover respectively; the conduction assembly includes a cross frame and a plurality of pressure induction components attached to the cross frame; the cross frame includes four arms which form a cross; each arm includes four side surfaces which are not perpendicular to a plane formed by the central axis of the cross frame; one induction component is attached to the four side surfaces respectively; the cross frame is accommodated in the cavity of the upper cover and the cavity of the lower cover; each arm is accommodated in a corresponding recessed portion; when the cross frame is stressed, the cross frame tends to move relative to the upper cover and the lower cover; and the upper cover and the lower cover block the cross frame, so that the cross frame can be prevented from moving relative to the upper cover and the lower cover, and will apply stress to the induction components attached to the cross frame.

Description

technical field [0001] The invention relates to a force / torque sensor installed on a robot, in particular to a multi-dimensional force / torque sensor. Background technique [0002] Multi-dimensional force / torque sensors are widely used in manipulators. When the manipulator clamps the execution end to the workpiece assembly or processing process, when the manipulator performs repetitive assembly or processing for a long time, the assembly or processing position deviation will occasionally occur. The force / torque information on the execution end is sensed by the multi-dimensional force / torque sensor, the deviation value is calculated, and the position error of the assembled workpiece is compensated by the micro-movement of the robot, so as to realize the high-precision assembly or processing of the workpiece by the manipulator. [0003] At present, the commonly used multi-dimensional force / moment sensor includes a cross frame and a fixed ring, the cross frame is fixed on the fi...

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Problems solved by technology

[0004] However, the size of each first through hole and the second through hole should be considered during the design of the above-mentioned device, and the designed device has a larger volume; The manufacturing process is relatively complicated. When a strain gauge has a problem, the operation of replacing the strain gauge is cumbersome, and the manufacturing cost of the strain gauge is high; when the above-mentioned device is deformed by force in one direction, deformation will also occur in other directions. At present, the deformation in other directions is usually ignored to calculate the magnitude of the force, resulting in low accuracy of the measured force

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