Small 6-axis force sensor and torque sensor

摘要

The small six-axis force sensor and torque sensor according to the present invention include a cylindrical casing, a pedestal provided on the inner wall of the cylindrical casing, and eight eighth sensors having the same dimensions and structure connected to the pedestal. One elastic beam, a central boss provided at the center of the cylindrical casing, and four second elastic beams having the same size and structure for connecting the central boss and the first elastic beam, The four second elastic beams are provided in a cross shape, and a plurality of strain gauges are attached to each of the eight first elastic beams and the four second elastic beams. A full-bridge circuit is configured. The present invention is simple in structure, compact in volume, can achieve self-decoupling of the structure in six directions, and is suitable for use in current industrial systems. The cylindrical casing 1, the pedestal 2, the central boss 3, the first elastic beam 4 and the second elastic beam 5 are integral members and do not require assembly. Therefore, they have high strength, high rigidity, and a natural frequency. High and has the advantage that linearity, overlap and hysteresis are all ideal. [Selection] Figure 1