Small six-axis force and torque sensor

Abstract

The invention discloses a small six-axis force and torque sensor, which comprises a cylindrical shell, a base arranged on the inner wall of the cylindrical shell, eight first elastic beams with the same size and the same structure connected with the base, a central boss arranged in the center of the cylindrical shell, and four second elastic beams with the same size and the same structure connected with the central boss and the first elastic beams, wherein the four second elastic beams are arranged in a cross shape; and multiple strain gauges are attached to the eight first elastic beams and the four second elastic beams respectively to form full bridge circuits respectively. The small six-axis force and torque sensor is simple in structure, delicate in size, can realize structure self decoupling in six direction, and is suitable for matched use in the current industrial system; and as the cylindrical shell, the base, the central boss, the first elastic beams and the second elastic beams are all integral components, assembly is not needed, and the small six-axis force and torque sensor has the advantages of high strength, large stiffness, high nature frequency and ideal linearity, repeatability and hysteresis.

Description

technical field [0001] The invention relates to the technical field of automation, in particular to a small six-dimensional force and moment sensor. Background technique [0002] A multidimensional force and moment sensor refers to a force sensor capable of measuring force or 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 It is a six-dimensional force and torque sensor, that is, a sensor that can measure three force components and three torque components simultaneously. Multi-dimensional force and torque sensors are widely used in robotics, industrial automation, military and other fields. [0003] Metal foil patch six-dimensional force and torque sensors are widely used due to their mature technology, better stability than piezoelectric and semiconductor sensors, and low requirements on the w...

AI Technical Summary

Problems solved by technology

[0004] Although the size of the existing multi-dimensional force and torque sensor is small and the size of the elastic body is small, the number of strain gauges attached to it is also small, and the force or moment in a certain direction or several directions needs to pass through the force or torque in other directions. The output and the size of the structure are estimated, which will increase the system error;

[0005] The elastic body of the existing six-dimensional force and moment RSS sensor connects the elastic beams through ball hinges, which can meet the design requirements of self-decoupling and high precision. However, the elastic body itself has high requirements for assembly technology, and its assembly The accuracy of the sensor also affects the accuracy and decoupling of the elastic body. In addition, the natural frequency of this type of sensor will not be very high;

[0006] Most of the existing uncoupled six-dimensional force and torque sensors need to be decoupled through assembly, which has high requirements for assembly technology

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