Multi-axis force and torque sensor and robot having the same
US11287340B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 28, 2019 |
| Grant date | Mar 29, 2022 |
| Priority date | — |
| Expiry date | Dec 2, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01L3/1435
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A multi-axis force and torque sensor and a robot are provided. The sensor includes a first supporting element, a second supporting element, a deformable component connected between the first supporting element and the second supporting element, and multiple signal pairs. The deformable component is configured to deflect in response to applied external force and torque in multiple directions. Each of the multiple signal pairs includes a magnet and a hall effect detector. The magnet is mounted on one of the first supporting element and the second supporting element, and the hall effect detector is mounted on the other. The hall effect detector is located corresponding to the respective magnet. One or more magnetization directions of the magnets of the signal pairs are different such that the signal pairs are capable of measuring force and torque applied on the first supporting element and the second supporting element in different directions.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.