JPS6095331A - Force and moment sensor - Google Patents
Force and moment sensorInfo
- Publication number
- JPS6095331A JPS6095331A JP58204195A JP20419583A JPS6095331A JP S6095331 A JPS6095331 A JP S6095331A JP 58204195 A JP58204195 A JP 58204195A JP 20419583 A JP20419583 A JP 20419583A JP S6095331 A JPS6095331 A JP S6095331A
- Authority
- JP
- Japan
- Prior art keywords
- axis
- cylindrical hollow
- strain
- pair
- force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
- G01L5/1627—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of strain gauges
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
Description
【発明の詳細な説明】
する力センサ−，特にロボットのアーム部に発生する３
次元的な力及びモーメントを検出するだめの力センサ−
に関する。[Detailed Description of the Invention] A force sensor that
Dual force sensor for detecting dimensional forces and moments
Regarding.
従来，三次元的な力及びモーメントを検出する力センサ
−は，センサーの構造が，ひじょうに複雑であり，かつ
、三次元的外力及びモーメントを算出するだめの複雑な
計算が可能な演算部が別に必要である。また、センサー
の構造が簡単な力センサ−は，ある一定方向の力あるい
はモーメントしか検出できないという欠点があった。Conventionally, force sensors that detect three-dimensional forces and moments have extremely complex sensor structures and require a separate calculation unit that can perform complex calculations to calculate three-dimensional external forces and moments. is necessary. In addition, force sensors with simple sensor structures have the disadvantage that they can only detect force or moment in a certain direction.
本発明の目的とするところは，センサーの構造が，ひじ
ょうに簡単であり，しかも複雑な演算を必要としないで
，三次元的な力及びモーメントが検出できる力センサ−
を提供することにある。The object of the present invention is to provide a force sensor that has a very simple structure and can detect three-dimensional force and moment without requiring complicated calculations.
Our goal is to provide the following.
本発明の他の目的は，ヒステリシスが少なく。Another object of the present invention is to reduce hysteresis.
かつ剛性の高い力センサ−を提供することにある。Another object of the present invention is to provide a force sensor with high rigidity.
本発明によれば，三次元空間に５本の円筒形中空部材同
士が直交するように配置して，各円筒形中空部材の表面
上には，２個の圧縮，引張りひずみゲージと，２個の捩
シひずみゲージが装着され。According to the present invention, five cylindrical hollow members are arranged in a three-dimensional space so as to be perpendicular to each other, and on the surface of each cylindrical hollow member, there are two compression strain gauges, two tensile strain gauges, and two strain gauges. A torsion strain gauge is installed.
かつ圧縮、引張りひずみゲージ同士及び捩りひずみゲー
ジ同士は１円筒形中空部材の中心軸に対して対称に配置
されている力・モーメントセンサーを得ることができる
。In addition, it is possible to obtain a force/moment sensor in which compression and tension strain gauges and torsional strain gauges are arranged symmetrically with respect to the central axis of a cylindrical hollow member.
以下２本発明の実施例について、第１図〜第２図を参照
して説明する。Two embodiments of the present invention will be described below with reference to FIGS. 1 and 2.
まず、角形の台座を有する円筒形中空部材１の台座側面
に対して、直角に交わるように１円筒形中空部材２，３
の一方端が、上記の台座側面に。First, one cylindrical hollow member 2, 3 is placed at right angles to the side surface of the pedestal of the cylindrical hollow member 1 having a square pedestal.
One end is on the side of the pedestal above.
溶接等によって固着されている。このとき２円筒形中空
部材２，３は、相互に一直線上になるように位置付けら
れている。この円筒形中空部材２゜３の他方端は、第１
の日字形支持部材４に、ゲルト等によって固定されてい
る。さらに、上記の円筒形中空部材２，３に同一平面上
で直交するように１円筒形中空部材５，６の一方端が、
溶接等によって第１の日字形支持部材４の外側に固着さ
れる。また、この円筒形中空部材５，６の他方端を第１
の日字形支持部材４よりも大きな開口部を有する第２の
日字形支持部材７に、ゲルト等によって固定される。結
果的に１円筒形中空部材１，２゜３．５．６は、三次元
空間のＸ軸、Ｘ軸及びＸ軸のいずれかに沿って配置され
、これら円筒形中空部材は、２つの口字形支持部劇によ
って支持されたことになる。なお、Ｘ軸方向の円筒形中
空部材は一方向のみに突出している構造となっている。It is fixed by welding etc. At this time, the two cylindrical hollow members 2 and 3 are positioned so as to be in line with each other. The other end of this cylindrical hollow member 2°3 is connected to the first
It is fixed to the Japanese character support member 4 with gel or the like. Furthermore, one end of each cylindrical hollow member 5, 6 is perpendicular to the cylindrical hollow members 2, 3 on the same plane,
It is fixed to the outside of the first Japanese character-shaped support member 4 by welding or the like. Further, the other end of the cylindrical hollow members 5 and 6 is connected to the first
It is fixed to a second Japanese character support member 7 having a larger opening than the Japanese character support member 4 with gel or the like. Consequently, one cylindrical hollow member 1, 2°3.5.6 is arranged along either the X axis, the X axis and the X axis in three-dimensional space, and these cylindrical hollow members It was supported by the glyph support department drama. Note that the cylindrical hollow member in the X-axis direction has a structure that protrudes only in one direction.
以下７便宜的にＸ軸、Ｘ軸及びＸ軸を用いて説明する。The following description will be made using the X-axis, X-axis, and X-axis for convenience.
Ｘ軸方向に延びる円筒形中空部材２，３には。In the cylindrical hollow members 2 and 3 extending in the X-axis direction.
１ず１円筒形中空部材２０表面上に、その中心軸に対し
て対称に、第１のひずみゲージ対１１を装着し１円筒形
中空部材３０表面上には、その中心軸に対して、対称に
第２のひずみケ゛−ジ対１２が装着されている。これら
第１及び第２のひずみケゞ−ジ対１１及び１２Ｉは、そ
れぞれＸ軸方向に対する圧縮、引張りひずみ及び捩りひ
ずみを検出する機能を有している。捷だ、Ｘ軸方向の円
筒形中空部材もＸ軸方向と同様に１円筒形中空部材５の
表面上に、その中心軸に対して対称に圧縮、引張りひず
みを検出するだめの第１のひずみゲージ対１１が装着さ
れ１円筒形中空部材６の表面上には、その中心軸に対し
て対称に捩りひずみを検出する第２のひずみゲージ対１
２が装着されている。1 A first strain gauge pair 11 is mounted on the surface of the cylindrical hollow member 20 symmetrically with respect to its central axis, and a first strain gauge pair 11 is mounted on the surface of the cylindrical hollow member 30 symmetrically with respect to its central axis. A second pair of strain cages 12 is attached to the. These first and second strain cage pairs 11 and 12I have the function of detecting compressive strain, tensile strain, and torsional strain in the X-axis direction, respectively. Similarly to the X-axis direction, the cylindrical hollow member in the X-axis direction also has a first strain on the surface of the cylindrical hollow member 5 to detect compressive and tensile strains symmetrically with respect to its central axis. A second strain gauge pair 1 is mounted on the surface of the cylindrical hollow member 6 to which a second strain gauge pair 11 is mounted, and which detects torsional strain symmetrically with respect to its central axis.
2 is installed.
一方、２軸方向においては１円筒形中空部材１の表面上
に、圧縮、引張りひずみを検出する第１のひずみゲージ
対１１及び握りひずみを検出する第２ひずみゲージ対１
２が、それぞれその中心軸に対して対称に位置付けられ
ておシ、かつ、おのおののひずみゲージは、９０度の間
隔をおいて、装着されている。On the other hand, in two axial directions, a first pair of strain gauges 11 for detecting compression and tensile strain and a second pair of strain gauges 1 for detecting gripping strain are placed on the surface of one cylindrical hollow member 1.
2 are respectively positioned symmetrically with respect to their central axes, and each strain gauge is mounted at an interval of 90 degrees.
次に２本力・モーメントセンサーの動作について、説明
する。Next, the operation of the dual force/moment sensor will be explained.
このセンサーに外から力が作用すると、Ｘ軸。When an external force acts on this sensor, the X-axis.
Ｘ軸及び２軸の各方向に装着されている第１のひずみゲ
ージ対１１によって、上記の外力のＸ成分。The X component of the external force is measured by the first pair of strain gauges 11 mounted in each direction of the X axis and the two axes.
ｙ成分、２成分を、２ゲージ法によって計測する。The y component and two components are measured by the two gauge method.
また、上記の外力によるＸ軸、Ｘ軸及び２軸の回沙のモ
ーメントを、Ｘ軸、Ｘ軸及びＸ軸の各方向に装置されて
いる第２のひずみゲージ対１２によって、４ゲージ法に
より計測する。すなわち本力・モーメントセンサーでは
、三次元的な力及びモーメントを同時に計測可能である
。In addition, the moment of rotation in the X-axis, measure. In other words, this force/moment sensor can simultaneously measure three-dimensional force and moment.
なお１発明者の試験によれば、Ｘ軸、Ｘ軸及びＸ軸の各
方向の圧縮、引張りひずみケ゛−ジ及び捩りひずみゲー
ジは、それぞれが中心軸に対して対称となっていれば、
どのように配置されていても。According to tests by one of the inventors, if the compression, tensile strain cage, and torsional strain gauge in each direction of the X-axis, X-axis, and X-axis are symmetrical with respect to the central axis,
no matter how it's arranged.
三次元的な力及びモーメントが同時に計測できることが
わかった。It was found that three-dimensional force and moment can be measured simultaneously.
以上説明したように、三次元空間に３本の円筒形中空部
材が互いに直交するように配置し、各円筒形中空部材の
表面上には、圧縮、引張りひずみを検出する第１のひず
みゲージ対と、捩りひずみを検出する第２のひずみゲー
ジ対が装着され、かつこの第１及び第２のひずみゲージ
対同士は、各円筒形中空部材の中心軸に対して対称であ
るように装着する力・モーメントセンサーによって、三
次元的な力及びモーメントを検出できることはもちろん
、センサーの構造が、ひじように簡単であり、しかも複
雑な演算を必要とすることもない。As explained above, three cylindrical hollow members are arranged perpendicularly to each other in a three-dimensional space, and on the surface of each cylindrical hollow member, a first strain gauge pair is installed to detect compressive and tensile strain. and a second pair of strain gauges for detecting torsional strain are attached, and the first and second pairs of strain gauges are attached with force so as to be symmetrical with respect to the central axis of each cylindrical hollow member.・Not only can three-dimensional force and moment be detected using a moment sensor, but the structure of the sensor is as simple as an elbow, and it does not require complicated calculations.
また機械的摺動部の無い構造を採用しているだめ。It also has a structure with no mechanical sliding parts.
摩擦等によるヒステリシスが少なく、剛性の高いセンサ
ーが得られる。A sensor with high rigidity and low hysteresis due to friction etc. can be obtained.
第１図は１本発明による力・モーメントセンサーの一実
施例の平面図、第２図は、第１図のＡ〜Ａ′断面図
１、 、２ 、３ 、５ 、６・・・円筒形中空部材、
４，７・・・支持部利、１１． 、１２・・ひずみケ゛
−ジ。Fig. 1 is a plan view of an embodiment of a force/moment sensor according to the present invention, and Fig. 2 is a cross-sectional view from A to A' in Fig. 1. hollow member,
4,7... support part profit, 11. , 12...Strain cage.
Claims (1)
ンサーにおいて＋ Ｘ ＋ ｙｔ Ｚ軸によって規定さ
れる三次元空間に、前記各軸に沿って３本の円筒形中空
部材が互いに直交するように配置し。 前記各円筒形中空部材の表面上には、圧縮、引張りひず
み検出用第１のひずみケ゛−ジ対と、捩シひすみ検出用
第２のひずみゲージ対とが装置され。 かつ前記第１のひずみゲージ対同士及び前記第２のひず
みｒ−ジ対同士は、前記各円筒形中空部材の中心軸に対
して対称になるように配置されていることを特徴とする
力・モーメントセンサー。[Claims] 1. In a force sensor that detects compression, tensile strain, and torsional strain, three cylindrical hollow members are provided along each axis in a three-dimensional space defined by + are arranged so that they are orthogonal to each other. A first strain gauge pair for compressive and tensile strain detection and a second strain gauge pair for torsional strain detection are installed on the surface of each of the cylindrical hollow members. and the first pair of strain gauges and the second pair of strain gauges are arranged symmetrically with respect to the central axis of each of the cylindrical hollow members. moment sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58204195A JPS6095331A (en) | 1983-10-31 | 1983-10-31 | Force and moment sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58204195A JPS6095331A (en) | 1983-10-31 | 1983-10-31 | Force and moment sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6095331A true JPS6095331A (en) | 1985-05-28 |
Family
ID=16486401
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58204195A Pending JPS6095331A (en) | 1983-10-31 | 1983-10-31 | Force and moment sensor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6095331A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02163627A (en) * | 1988-12-19 | 1990-06-22 | Bridgestone Corp | Measuring instrument |
| JPH0382928A (en) * | 1989-08-25 | 1991-04-08 | Nitta Ind Corp | Force/moment detector |
| US5222400A (en) * | 1985-12-18 | 1993-06-29 | Spaceball Technologies Incorporated | Force and torque converter |
| US5335557A (en) * | 1991-11-26 | 1994-08-09 | Taizo Yasutake | Touch sensitive input control device |
| US5452615A (en) * | 1989-10-25 | 1995-09-26 | Spacetec Imc Corporation | Force and torque converter |
| US5591924A (en) * | 1985-12-18 | 1997-01-07 | Spacetec Imc Corporation | Force and torque converter |
| US5706027A (en) * | 1985-12-18 | 1998-01-06 | Spacetec Imc Corporation | Force and torque converter for use in a computer input device |
| US5798748A (en) * | 1995-06-07 | 1998-08-25 | Spacetec Imc Corporation | Force and torque converter with improved digital optical sensing circuitry |
| US6597347B1 (en) | 1991-11-26 | 2003-07-22 | Itu Research Inc. | Methods and apparatus for providing touch-sensitive input in multiple degrees of freedom |
| KR100413807B1 (en) * | 1997-02-17 | 2004-03-26 | 삼성전자주식회사 | Parallel type 6-axis force-moment measuring device |
| JP2008039646A (en) * | 2006-08-08 | 2008-02-21 | Honda Motor Co Ltd | Force sensor chip |
| USRE40891E1 (en) * | 1991-11-26 | 2009-09-01 | Sandio Technology Corp. | Methods and apparatus for providing touch-sensitive input in multiple degrees of freedom |
| CN106124111A (en) * | 2016-08-19 | 2016-11-16 | 国网河南省电力公司电力科学研究院 | Transformer high-voltage bushing end Cornu Caprae seu Ovis type gold utensil static tensile force measures system and method |
-
1983
- 1983-10-31 JP JP58204195A patent/JPS6095331A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5706027A (en) * | 1985-12-18 | 1998-01-06 | Spacetec Imc Corporation | Force and torque converter for use in a computer input device |
| US5222400A (en) * | 1985-12-18 | 1993-06-29 | Spaceball Technologies Incorporated | Force and torque converter |
| US5591924A (en) * | 1985-12-18 | 1997-01-07 | Spacetec Imc Corporation | Force and torque converter |
| JPH02163627A (en) * | 1988-12-19 | 1990-06-22 | Bridgestone Corp | Measuring instrument |
| JPH0382928A (en) * | 1989-08-25 | 1991-04-08 | Nitta Ind Corp | Force/moment detector |
| US5452615A (en) * | 1989-10-25 | 1995-09-26 | Spacetec Imc Corporation | Force and torque converter |
| US5335557A (en) * | 1991-11-26 | 1994-08-09 | Taizo Yasutake | Touch sensitive input control device |
| US6597347B1 (en) | 1991-11-26 | 2003-07-22 | Itu Research Inc. | Methods and apparatus for providing touch-sensitive input in multiple degrees of freedom |
| USRE40891E1 (en) * | 1991-11-26 | 2009-09-01 | Sandio Technology Corp. | Methods and apparatus for providing touch-sensitive input in multiple degrees of freedom |
| US5798748A (en) * | 1995-06-07 | 1998-08-25 | Spacetec Imc Corporation | Force and torque converter with improved digital optical sensing circuitry |
| KR100413807B1 (en) * | 1997-02-17 | 2004-03-26 | 삼성전자주식회사 | Parallel type 6-axis force-moment measuring device |
| JP2008039646A (en) * | 2006-08-08 | 2008-02-21 | Honda Motor Co Ltd | Force sensor chip |
| CN106124111A (en) * | 2016-08-19 | 2016-11-16 | 国网河南省电力公司电力科学研究院 | Transformer high-voltage bushing end Cornu Caprae seu Ovis type gold utensil static tensile force measures system and method |
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