Force and moment sensors, force transducer modules for such force and moment sensors, and robots including such force and moment sensors

摘要

The present invention relates to a force and moment sensor (1) comprising four piezoelectric force transducers (4 to 4 '''' '') and a base plate (2); The four piezoelectric force transducers 4 to 4 '''' ''detect the force and generate a measurement signal for the detected force F; The force and moment sensor 1 comprises a cover plate 3 and the cover plate 3 comprises an interface 31 and a force F to be detected acts on the interface 31; The force and moment sensor 1 comprises an evaluation unit 6 and the evaluation unit 6 evaluates the measurement signals of the piezoelectric force transducers 4 to 4 "''; The base plate 2 includes at least one cavity 21 to 21 '''' '', 22 for receiving the piezoelectric force transducer 4 to 4'' '''' and the evaluation unit 6, 21 '''' '', 22, a piezoelectric force transducer 4 to 4'' '''' and an evaluation unit 6 are arranged; The base plate (2) and the cover plate (3) are mechanically connected to form a housing.