DE102005005758B4 - Force-torque sensor - Google Patents

Abstract

Force-moment sensor for handling equipment with a tool receiving flange (5) for force / torque introduction and a carrier plate for force / torque discharge and between the receiving flange (5) and the support plate provided deformation bodies (2), wherein with the force Moments sensor moments about two mutually perpendicular axes and a force acting orthogonal to the plane defined by these axes can be measured, wherein the tool receiving flange (5) a measuring plate (3) is provided, and that on the support plate distance sensors (1) provided that a movement of the measuring plate (3) caused by the deformation of the deformation bodies (2) is measured by means of the distance sensors.

Description

The known force-moment sensors consist of a flange for force / torque introduction, one or more deformation bodies and a flange for force / torque discharge. The expansions of the deformation body caused by the forces or moments are then converted into electrical signals by means of transducers, such as strain gauges or piezoresistive resistors, which are applied to the deformation bodies.

From the DE 41 01 732 C2 is a force-moment sensor has become known in which between a table top and a base obliquely arranged rods are provided with elastic property. From the EP 1 464 940 B1 a force detection device has become known.

The present invention has for its object to provide a force-moment sensor for handling equipment, which has a relatively simple structure and yet works reliable.

This object is achieved by a force-torque sensor having the features of claim 1.

• – Die Verformungskörper sind einfachst herzustellen, da sie keine elektrische Komponenten enthalten und an ihre Oberfläche keine besondere Anforderung gestellt werden muss.
• – Der Sensor kann leicht an Aufgaben angepasst werden, die unterschiedliche Messbereiche und Steifigkeiten des Sensors verlangen. Diese können leicht durch die Blechstärke oder durch die Form des Verformungskörpers eingestellt werden.
• – Der Messbereich und die Steifigkeit des Sensors kann für verschiedene Achsen unterschiedlich eingestellt werden.
• – Der Sensor hat eine durchgehende, zentrische Bohrung. Er eignet sich deshalb für die Aufnahme von stabförmigen Werkzeugen oder Tastern.

Compared to the known force-moment sensors, the present invention has the following advantages in particular:

• - The deformation of bodies are easy to produce, since they contain no electrical components and no special requirement must be placed on their surface.
• - The sensor can be easily adapted to tasks that require different measuring ranges and stiffnesses of the sensor. These can be easily adjusted by the sheet thickness or by the shape of the deformation body.
• - The measuring range and the rigidity of the sensor can be set differently for different axes.
• - The sensor has a continuous, central bore. It is therefore suitable for receiving rod-shaped tools or buttons.

At the in 1 and 2 illustrated embodiment is a force-moment sensor which can measure moments about mutually perpendicular axes and a force orthogonal to the plane spanned by the axes plane. Fields of application for the sensor are handling devices as well as processing, measuring or cleaning machines.

The functional parts of the sensor form up to 1 non-contact distance sensors 1 , which in the example are designed as inductive analog sensors and output a proportional to the distance distance sensor / measuring plate current or voltage signal. Other functional parts are the up to 4 deformation elements 2 , which are executed in the example as rectangular spring plates. The deformation causes a change in the distance between the measuring plate ( 3 ) and the distance sensors 1 , Depending on the direction of the tool receiving flange 5 occurring forces / moments, the distances change the same or in opposite directions.

Furthermore, the sensor consists of a carrier plate 4 with which the sensor can be attached to a device or a machine. The deformation bodies 2 are with the outer clamping ring 6 on the carrier sheet 4 fixed. With the intermediate ring 7 and the inner clamping ring 8th are the deformation bodies 2 and the measuring plate 3 on the tool receiving flange 5 attached.

Claims (4)

Force / torque sensor for handling devices with a tool receiving flange ( 5 ) for force / torque introduction and a carrier plate for force / torque discharge and with between the receiving flange ( 5 ) and the support plate provided deformation bodies ( 2 ), wherein with the force-torque sensor moments about two mutually perpendicular axes and a force orthogonal to the plane defined by these axes acting force can be measured, wherein at the tool receiving flange ( 5 ) a measuring plate ( 3 ) is provided, and that on the support plate distance sensors ( 1 ) are provided such that a by the deformation of the deformation body ( 2 ) caused movement of the measuring plate ( 3 ) is measured by means of the distance sensors. Force / torque sensor according to claim 1, characterized in that different measuring ranges for the individual moment axes can be realized by suitable selection of the thickness and the shape of the deformation body and the material. Force-torque sensor according to claim 1 or 2, characterized in that the deformation bodies are designed as rectangular spring plates. Force / torque sensor according to claim 1, characterized in that the receiving flange ( 5 ) is designed as a hollow flange, the Recording of rod-shaped tools or buttons is used.

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