Sensor assembly and method for measuring forces and torques

• US 9,274,014 B2
• Filed: 03/06/2014
• Issued: 03/01/2016
• Est. Priority Date: 03/12/2013
• Status: Active Grant

• Current Assignee: Stryker Corporation
• Original Assignee: Stryker Corporation
• Inventors: Janik, John J., Brindley, Robert A., Tang, Edward, Spangler, Leland J.
• Primary Examiner(s): Caputo, Lisa
• Assistant Examiner(s): COTEY, PHILIP L
• Application Number:
  US14/199,299
• Publication Number:
  US 20140260676A1
• Time in Patent Office: 726 Days
• Field of Search: 738/624.1, 73/10.8, 73/10.9, 73/15.4, 73/15.5, 738/624.2, 738/623.91, 738/624.51, 738/624.71
• US Class Current: 1/1
• CPC Class Codes: G01L 1/04 by measuring elastic deformation of gauges, e.g. of springs
• CPC Class Codes: G01L 3/08 involving optical means for indicating
• CPC Class Codes: G01L 3/1421 using optical transducers
• CPC Class Codes: G01L 5/166 using photoelectric means
• CPC Class Codes: G01L 5/226 to manipulators, e.g. the force due to gripping

Abstract

A sensor assembly comprises a base plate and a sensor member displaceable relative to the base plate. A spring arrangement operates in first and second stages in response to displacement of the sensor member relative to the base plate. Different resolutions of force and torque measurements are associated with the first and second stages. A light sensitive transducer senses displacement of the sensor member relative to the base plate and generates corresponding output signals. A collimator directs a plurality of light beams onto the light sensitive transducer so that the light beams strike different pixels of the light sensitive transducer to sense displacement of the sensor member relative to the base plate.

Claims

1. A sensor assembly comprising:

a base plate;

a sensor member displaceable relative to said base plate;

a spring arrangement having first and second stages reactive to displacement of said sensor member relative to said base plate with different resolutions of force and torque measurements being associated with said first and second stages, wherein said spring arrangement is configured to transition to said second stage after said first stage; and

a light sensitive transducer for sensing displacement of said sensor member relative to said base plate and for generating corresponding output signals.

2. The sensor assembly of claim 1 wherein said spring arrangement includes:

a plurality of first springs reactive to displacement of said sensor member relative to said base plate, each of said first springs being displaceable in said first stage and having a first spring rate; and

a plurality of second springs reactive to displacement of said sensor member relative to said base plate, each of said second springs being displaceable in said second stage and having a second spring rate different than said first spring rate.

3. The sensor assembly of claim 2 wherein said first springs are leaf springs.

4. The sensor assembly of claim 3 wherein said second springs are serpentine springs.

5. The sensor assembly of claim 4 wherein each of said serpentine springs has a first end connected to said sensor member and a second end connected to one of said leaf springs.

6. The sensor assembly of claim 4 wherein each of said serpentine springs includes a head, a torso, and a leg.

7. The sensor assembly of claim 6 wherein said torso includes a U-shaped fold.

8. The sensor assembly of claim 7 wherein each of said leaf springs has feet extending in opposing directions from one of said legs of said serpentine springs.

9. The sensor assembly of claim 7 including a plurality of pins for interacting with said serpentine springs.

10. The sensor assembly of claim 9 wherein said plurality of pins includes a first pin positioned between said head and said torso, a second pin positioned in said U-shaped fold, and a third pin positioned between said torso and said leg.

11. The sensor assembly of claim 10 including a pin housing securing said first, second, and third pins in position.

12. The sensor assembly of claim 11 wherein said pin housing includes a pin housing base and a cover disposed over said pin housing base, said first, second, and third pins secured between said cover and said pin housing base.

13. The sensor assembly of claim 1 including an outer hub fixed to said base plate.

14. The sensor assembly of claim 13 wherein said sensor member is further defined as an inner hub, said spring arrangement acting between said inner hub and said outer hub.

15. The sensor assembly of claim 14 including a head plate fixed to said inner hub, said head plate configured to be coupled to an instrument and said base plate configured to be coupled to a linkage assembly.

16. The sensor assembly of claim 14 including a plurality of tines extending radially outwardly from said inner hub.

17. The sensor assembly of claim 16 wherein said outer hub defines a plurality of slots for receiving said tines wherein each of said slots are dimensioned to allow movement of said tines in said slots.

18. The sensor assembly of claim 1 including a light source and a collimator for directing light from said light source onto said light sensitive transducer.

19. The sensor assembly of claim 1 including a stop configured to interact with said spring arrangement to transition said spring arrangement from said first stage to said second stage.