Multidimensional force sensor and calibration method thereof

Abstract

The invention discloses a multidimensional force sensor comprising an external circle structure, an internal circle structure, elastic columns, strain gauges and protectors. The external circle structure is circular-ring-shaped. The internal circle structure and the external circle structure are connected through at least three elastic columns. The two ends of each elastic column are respectively connected with the external circle structure and the internal circle structure. The area, which is contacted with the elastic columns, of the internal circle structure is provided with long slots. Each long slot forms an edge supported overhead flat plate on the surface of the internal circle structure. The elastic columns are connected on the overhead flat plate. The protectors are installed on the external circle structure, and gaps are reserved between the protectors and the internal circle structure. The side surface of each elastic column is provided with the strain gauge in an adhesive way. The thickness of the overhead flat plate is reasonably designed and the proper material is adopted so that the overhead flat plate is enabled to generate reasonable deformation in case of bearing load, the internal circle structure is contacted with the protectors when the load is excessively high, and the excessive load is directly borne by the protectors without being conducted to the elastic columns so as to realize the protection effect.

Description

technical field [0001] The invention relates to the field of sensors, in particular to a multi-dimensional force sensor and a calibration method. Background technique [0002] The multi-dimensional force sensor can simultaneously convert the force and torque on each axis into electrical signal output, which can be used to detect the magnitude and direction of changing force and torque, and is widely used in robots, automation equipment, medical equipment and other fields, such as automatic grinding Robots, telesurgery robotic arms, etc. [0003] The interior of the multidimensional force sensor generally contains at least three elastic bodies. The multidimensional force sensor converts the load it bears into the deformation of the elastic body, and calculates the magnitude and direction of the current load by measuring the deformation of the three elastic bodies. The types of multi-dimensional force sensors in the prior art are very diverse. Different multi-dimensional forc...

AI Technical Summary

Problems solved by technology

The types of multidimensional force sensors in the prior art are very diverse, and the number of elastic bodies and the specific structural forms of the elastic bodies of different multidimensional force sensors are different. After the sensor bears an excessive load, it is easy to cause the elastic body to Unrecoverable changes in elastic properties, resulting in decreased measurement accuracy

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