CN116007817A - Six-dimensional force sensor - Google Patents

Abstract

The object of the present invention is to provide a six-dimensional force sensor with small volume, which can be installed smoothly without changing the structural design in a small installation space, ensures the integrity of the structure, and is easy to install. The above-mentioned technical purpose of the present invention is achieved by the following technical solutions: a six-dimensional force sensor, including a circuit board, and also includes a strain structure, the strain structure includes a circumferential ring, is arranged in the circumferential ring, and is used for supplying The central platform exerted by the external force application structure and a plurality of evenly spaced installations in the circumferential direction of the central platform are used to connect the central platform and the connecting force transmission member of the circumferential ring; the central platform includes The installation groove of the circuit board is installed, and the strain gauge is installed on the connecting force transmission member.

Description

A six-dimensional force sensor

technical field

The invention relates to the technical field of strain sensors, in particular to a six-dimensional force sensor.

Background technique

The six-dimensional force sensor is rich in force measurement information, and it is a sensor that can detect three force components and three torque components in space. The products are suitable for occasions such as the field of automation control, manipulators, robots, automated assembly equipment, and force analysis in scientific research institutions.

For example, the Chinese patent document whose publication number is CN114659697A discloses a flexible six-dimensional force sensor based on a capacitive sensor. capacitive sensor. Torque sensors are arranged in the three sides of the same vertex of the rubber block. The invention utilizes the deformation of the rubber block under pressure and torsional moment to convert it into a capacitance change signal of a capacitance sensor for output, and has a simple structure and low processing precision requirements. However, the following defects still exist: the six-dimensional force sensor occupies a large volume, and it is not easy to install when the installation position is not sufficient.

Contents of the invention

The object of the present invention is to provide a six-dimensional force sensor with small volume, which can be installed smoothly without changing the structural design in a small installation space, ensures the integrity of the structure, and is easy to install.

Above-mentioned technical purpose of the present invention is achieved through the following technical solutions:

A six-dimensional force sensor, including a circuit board, also includes a strain structure, the strain structure includes a circumferential ring, arranged in the circumferential ring ring, a central platform for applying force to an external force-applying structure, and a plurality of evenly spaced is installed in the circumferential direction of the central platform, and is used to connect the connecting force transmission member between the central platform and the circumferential ring; the central platform includes a mounting groove for installing the circuit board, and the strain gauge is installed on the Connect the power transmission parts as described above.

Thus, the overall volume is reduced by changing the strain structure of the six-dimensional force sensor. Specifically, the strain structure includes a circumferential ring and a center platform. The center table contains mounting slots for mounting circuit boards. After the circuit board is integrated and installed in the installation groove, there is no need to open up additional space for installation, which saves the space for installing the circuit board, thereby reducing the thickness of the strain structure, that is, the volume of the six-dimensional force sensor. At the same time, the center platform is arranged in the ring of the circumferential ring, and the circumferential ring is connected through the connection force transmission part, and the strain gauge is installed on the connection force transmission part. These structures are basically in the same plane, thereby reducing the thickness of the strained structure. On the one hand, the connecting force-transmitting member acts as a force-transmitting member, transferring the force exerted by the external force-applying structure on the central platform to the strain gauge; on the other hand, it acts as a connecting piece to connect the central platform and the circumferential ring. There is no need to add additional connecting pieces or force transmitting pieces, thereby reducing the volume.

As a preference, the stressed end surface of the central platform protrudes from the circumferential ring; the stressed end surface of the central platform is evenly spaced in the circumferential direction with a plurality of holes for fixing parts to pass through and for connecting external force-applying structures. Threaded hole.

Preferably, the connecting force transmission member includes a radial beam connected to the outer wall of the center platform and a connecting beam connected to the radial beam and the circumferential ring, and the circumferential ring is provided with a Beam fixing groove.

Preferably, the strain structure includes an upper cover and a lower cover for shielding; the upper cover and the lower cover are respectively fixedly installed on both ends of the circumferential ring to fix it inside.

Preferably, the upper cover, the lower cover and the circumferential ring are provided with a plurality of bolt holes evenly spaced in the circumferential direction for bolts to pass through and to be fixedly connected to each other.

Preferably, the circuit board is sealed in the installation groove by potting glue.

Preferably, the circuit board collects strain signals of the strain gauges, performs transmission, fitting, decoupling, and packaging processing, and outputs the signals in digital form.

Preferably, a connector communicatively connected with the circuit board is included, and the connector is a waterproof connector.

Preferably, the outer wall of the circumferential ring is provided with a mounting hole through which the connector passes.

Preferably, the circuit board, strain gauges and connector cable joints are all sealed with sealant, and the surface of the strain gauge is sealed with sealant.

In summary, the embodiments of the present invention have the following beneficial effects:

1. The center table contains mounting slots for mounting circuit boards. After the circuit board is integrated and installed in the installation groove, no additional space is required for installation, which saves the space for installing the circuit board, thereby reducing the volume of the strain structure and the volume of the six-dimensional force sensor.

2. The center platform is arranged in the ring of the circumferential ring, and the circumferential ring is connected through the connecting force transmission part, and the strain gauge is installed on the connecting force transmission part. Therefore, these structures are basically in the same plane, thereby reducing the thickness of the strained structure.

3. Connecting the force transmission part On the one hand, it acts as a force transmission part, and transmits the force of the external force application structure on the center platform to the strain gauge; on the other hand, it acts as a connecting part to connect the center platform and the circumferential ring. There is no need to add additional connecting pieces or force transmitting pieces, thereby reducing the volume.

4. The circuit board is sealed in the installation groove by filling glue. Glue filling and sealing make the circuit board waterproof, increase the service life and adapt to the installation environment with water, and have strong applicability.

5. The circuit board collects the strain signal of the strain gauge, performs transmission, fitting, decoupling, packaging and processing, and outputs the signal in digital form to improve the anti-interference ability of the sensor.

6. The circuit board, strain gauge and connector cable joints are all sealed with sealant, and the surface of the strain gauge is coated with sealant to improve waterproof performance.

Description of drawings

Fig. 1 is the schematic diagram of the present embodiment;

Fig. 2 is a schematic diagram of a strain structure and a connector;

Fig. 3 is a local schematic diagram of the strain structure;

Figure 4 is a partial schematic view of the strain structure;

Figure 5 is a schematic diagram of the circuit board.

In the picture:

1. Circuit board, 2. Strain structure, 21. Circumferential ring, 211. Fixing groove, 212. Mounting hole, 22. Center platform, 221. Mounting groove, 222. Threaded hole, 23. Connecting force transmission member, 231. Diameter To beam, 232, connecting beam, 24, loam cake, 25, lower cover, 3, connector.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings.

This specific embodiment is only an explanation of the present invention, and it is not a limitation of the present invention. Those skilled in the art can make modifications to this embodiment without creative contribution as required after reading this specification, but as long as they are within the rights of the present invention All claims are protected by patent law.

Embodiment 1, as shown in Figures 1-5, a six-dimensional force sensor, including a circuit board 1, also includes a strain structure 2, the strain structure 2 includes a circumferential ring 21, is arranged in the circumferential ring 21 ring, for external The center platform 22 of the force application structure and a plurality of evenly spaced ones are installed in the circumferential direction of the center platform 22, and are used to connect the connection force transmission member 23 between the center platform 22 and the circumferential ring 21; the center platform 22 includes a circuit board for installing 1, the strain gauge is installed in the connecting force transmission member 23.

Thus, the overall volume is reduced by changing the strain structure 2 of the six-dimensional force sensor. Specifically, the strain structure 2 includes a circumferential ring 21 and a center platform 22 . The center table 22 includes a mounting groove 221 for mounting the circuit board 1 . After the circuit board 1 is integrated and installed in the installation groove 221, there is no need to open up space for installation, which saves the space for installing the circuit board 1, thereby reducing the volume of the strain structure 2 and the volume of the six-dimensional force sensor. At the same time, the central platform 22 is arranged in the ring of the circumferential ring 21 , and is connected to the circumferential ring 21 through the connection force transmission member 23 , and the strain gauges are installed on the connection force transmission member 23 . Therefore, these structures are basically on the same plane, thereby reducing the thickness of the strained structure 2 . On the one hand, the connecting force transmission member 23 acts as a force transmission member, transferring the force of the external force application structure acting on the center platform 22 to the strain gauge; There is no need to add additional connecting pieces or force transmitting pieces, thereby reducing the volume.

The number of connecting force transmission parts 23 is usually set to 4, and the six-dimensional force values (FX, FY, FZ, MX, MY, MZ) can be obtained after combined calculation using 4 sets of collected signals.

As shown in Figures 2 and 4, the stressed end surface of the central platform 22 protrudes from the circumferential ring 21; the stressed end surface of the central platform 22 is evenly spaced in the circumferential direction with a plurality of fixed parts for passing through, used to connect the external application The threaded hole 222 of the force structure. The stressed end surface of the central platform 22 is used for applying force by the external force applying structure. In order to facilitate the application of force by the external force application structure, in this embodiment, the force-bearing end surface of the central platform 22 protrudes from the circumferential ring 21 . The force-bearing end surface of the central platform 22 is provided with a plurality of threaded holes for connecting external force-applying structures, which is convenient for connection and the threaded connection does not take up space, thereby reducing the volume.

As shown in Figure 3, the connecting force transmission member 23 includes a radial beam 231 connected to the outer wall of the center platform 22 and a connecting beam 232 connected to the radial beam 231 and connected to the circumferential ring 21, and the circumferential ring 21 is provided with a connecting rod for installation and connection. The fixing groove 211 of the beam 232. The connecting force transmission member 23 includes a radial beam 231 disposed on the outer wall of the center platform 22 , extending radially toward the circumferential ring 21 , and a connecting beam 231 connected to the radial beam 231 . The circumferential ring 21 is basically on the same plane as the connecting force transmission member 23 and the center platform 22, thereby reducing the thickness of the strain structure 2 and reducing the volume of the six-dimensional force sensor. And the connecting beam 231 is installed in the fixing groove 211 for easy installation.

As shown in FIG. 2 and FIG. 3 , the circuit board 1 is sealed in the installation groove 221 by potting glue. Glue filling and sealing make the circuit board 1 waterproof, increase the service life and adapt to the installation environment with water, and have strong applicability. The strain structure 2 includes an upper cover 24 and a lower cover 25 for shielding; the upper cover 24 and the lower cover 25 are respectively fixedly installed on both ends of the circumferential ring 21 to fix it inside, further protecting the inner circuit board 1 and other structures. The upper cover 24 , the lower cover 25 and the circumferential ring 21 are all provided with a plurality of bolt holes evenly spaced in the circumferential direction for bolts to pass through and to be fixedly connected to each other.

In order to facilitate the installation of the six-dimensional force sensor, bolt holes can also be provided on the end surface of the circumferential ring 21 for connecting with the external structure to fix the entire six-dimensional force sensor. For example, the bolt holes of the circumferential ring 21 are installed to the end of the manipulator and the tools of the manipulator (such as grippers, grinding tools, etc.), so that these structures are in contact with the center table 22. When the manipulator is working, the manipulator tools can be collected. Mechanics information for (grippers, grinding tools).

As shown in Fig. 5, the circuit board 1 collects the strain signal of the strain gauge, performs transmission, fitting, decoupling, packaging processing and outputs the signal in digital form. The circuit board 1 obtains external power supply and communication through connecting the external terminal of the circuit board to the connector 3, transmits, filters and protects the power supply through the power circuit module of the circuit board 1; transmits and protects the communication signal through the communication circuit module of the circuit board 1 ; Connect the strain gauges through the strain acquisition filter circuit, and perform analog filtering on the acquisition signal, and then connect to the ADC acquisition circuit for digital-to-analog conversion; the central processing unit performs digital filtering, transmission, fitting, and decoupling on the acquired analog signal , Pack and communicate with the external client, and output the digital six-dimensional force sensor signal in real time. The signal transmission through the digital bus improves the anti-interference ability of the sensor.

As shown in FIG. 2 and FIG. 3 , it includes a connector 3 communicatively connected with the circuit board 1 , and the connector 3 is a waterproof connector. The outer wall of the circumferential ring 21 is provided with a mounting hole 212 through which the connector 3 passes. The connector 3 is used for connecting the circuit board 1 and outputting signals processed by the circuit board 1 . The connector 3 passes through the installation hole 212 on the outer wall of the circumferential ring 21, which is convenient for installation. The circuit board 1, the strain gauges and the cable joints of the connector 3 are all sealed with sealant, and the surface of the strain gauges is sealed with sealant.

Claims (10)

1. A six-dimensional force sensor, comprising a circuit board (1), characterized in that it also comprises a strain structure (2), and the strain structure (2) comprises a circumferential ring (21), arranged on the circumferential ring (21) ) ring, a center platform (22) for external force application structure and a plurality of evenly spaced ones are installed in the circumferential direction of the center platform (22) for connecting the center platform (22) with the The connection force transmission member (23) of the circumferential ring (21); the center platform (22) includes a mounting groove (221) for installing the circuit board (1), and the strain gauge is installed on the connection force transmission member (twenty three). 2. A six-dimensional force sensor according to claim 1, characterized in that, the stressed end surface of the central platform (22) protrudes from the circumferential ring (21); the central platform (22) is stressed A plurality of threaded holes ( 222 ) are provided on the end surface at even intervals in the circumferential direction, through which the fixing piece passes and which are used to connect to an external force-applying structure. 3. The six-dimensional force sensor according to claim 1, characterized in that, the connection force transmission member (23) includes a radial beam (231) connected to the outer wall of the center platform (22) and a The radial beam (231) is connected with the connecting beam (232) connected with the circumferential ring (21), and the circumferential ring (21) is provided with a fixing groove (211) for installing the connecting beam (232) . 4. A six-dimensional force sensor according to claim 1, characterized in that, the strain structure (2) includes an upper cover (24) and a lower cover (25) for shielding; the upper cover (24 ) and the lower cover (25) are respectively fixedly installed on both ends of the circumferential ring (21) to fix it inside. 5. A six-dimensional force sensor according to claim 4, characterized in that, the upper cover (24), the lower cover (25) and the circumferential ring (21) are provided with uniform intervals in the circumferential direction A plurality of bolt holes are provided for bolts to pass through to be fixedly connected to each other. 6. The six-dimensional force sensor according to claim 1, characterized in that, the circuit board (1) is sealed in the installation groove (221) by potting glue. 7. A six-dimensional force sensor according to claim 1, characterized in that the circuit board (1) collects the strain signal of the strain gauge, performs transmission, fitting, decoupling, and packaging processing and converts the signal into Digital output. 8. The six-dimensional force sensor according to claim 1, characterized in that it comprises a connector (3) communicatively connected with the circuit board (1), and the connector (3) is a waterproof connector. 9. The six-dimensional force sensor according to claim 8, characterized in that, the outer wall of the circumferential ring (21) is provided with a mounting hole (212) through which the connector (3) passes. 10. A six-dimensional force sensor according to claim 8, characterized in that the circuit board (1), the strain gauges and the cable joints of the connector (3) are all sealed with sealant, and the surface of the strain gauges is coated with Sealant seals.

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