CN110553781A - Novel strain type six-axis force sensor - Google Patents

Abstract

The invention relates to the technical field of six-axis force sensors, and discloses a novel strain-type six-axis force sensor, which includes a main body of the six-axis force sensor. The main body of the six-axis force sensor includes an elastic element, an upper cover plate, and a lower cover plate. Installed on the upper part of the elastic element, the lower cover plate is installed on the bottom of the elastic element; the elastic element includes a square tire, a cross beam, a square flange measuring part and parallel beams respectively arranged on the four inner walls of the square tire; the parallel beam and The top surface and the bottom surface of the square tire have intervals, and the cross beam has four force-measuring arms, and any two adjacent force-measuring arms are arranged perpendicular to each other, and the four force-measuring arms are respectively connected with four parallel beams one by one. The force measuring arm and the parallel beams connected to it are perpendicular to each other; the elastic element of the six-axis force sensor adopts an integrated design, which is compact and reliable, with high measurement accuracy and low mutual interference. Use in low spaces.

Description

A Novel Strain Type Six-axis Force Sensor

technical field

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

Background technique

In the field of industrial automation, robot and automobile testing, due to the constraints of its own structure and installation space height, it is necessary to transmit signals through cables and connect flanges. The existing six-axis force sensor is limited by the installation height space due to structural limitations. It cannot be installed in a low space, and the scope of use is limited.

Contents of the invention

The purpose of the present invention is to provide a novel strain-type six-axis force sensor, aiming at solving the problem that the six-axis force sensor in the prior art cannot be installed in a low space.

The present invention is realized in this way. A novel strain type six-axis force sensor includes a six-axis force sensor body, the six-axis force sensor body includes an elastic element, an upper cover plate and a lower cover plate, and the upper cover plate is installed on The upper part of the elastic element, the lower cover plate is installed at the bottom of the elastic element, the elastic element includes a square tire, a cross beam, a square flange measuring part and four inner side walls of the square tire respectively. Parallel beams, the parallel beams are spaced from the top surface and the bottom surface of the square tire, the cross beam has four force-measuring arms, and any two adjacent force-measuring arms are arranged perpendicular to each other, four The force-measuring arms are respectively connected to the four parallel beams in one-to-one correspondence, and the force-measuring arms and the correspondingly connected parallel beams are perpendicular to each other, and the square tires, cross beams, square flange measuring parts and parallel beams One-piece design, a through hole is opened in the middle of the upper cover plate for the square flange measuring part to pass through, and there is a gap between the lower cover plate and the square flange measuring part; the elastic element passes through The crimping nut is fixed with the cable.

Further, the number of the cables is two, and the number of the crimping nuts is two.

Further, the four corners of the upper cover plate are provided with first round holes for screws to pass through, and the four corners of the top surface of the square tire are provided with first threaded holes for screws to be screwed into. A threaded hole is arranged corresponding to the first round hole, and the upper cover plate and the square tire are fixed by screws.

Further, the four corners of the lower cover plate are provided with second round holes for screws to pass through, and the four corners of the bottom surface of the square tire are provided with second threaded holes for screws to be screwed into. The threaded holes are arranged corresponding to the second round holes, and the lower cover plate and the square tire are fixed by screws.

Compared with the prior art, the novel strain-type six-axis force sensor provided by the present invention adopts an integrated design for the elastic element of the six-axis force sensor, which has a compact structure, high reliability, high measurement accuracy, and low mutual interference. Since the elastic element adopts an integrated The design makes the overall height of the six-axis force sensor low and can be used in low space. The sensor adopts a square flange installation method, which is tightly connected, easy to disassemble and install, low cost and high economic benefit.

Description of drawings

Fig. 1 is a perspective view of a novel strain-type six-axis force sensor provided by an embodiment of the present invention;

Fig. 2 is an exploded schematic diagram of a novel strain-type six-axis force sensor provided by an embodiment of the present invention;

Fig. 3 is a schematic cross-sectional view of a novel strain-type six-axis force sensor provided by an embodiment of the present invention.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

In the drawings of this embodiment, the same or similar symbols correspond to the same or similar components; The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, or in a specific orientation. Construction and operation, so the words describing the positional relationship in the drawings are only for illustrative purposes, and should not be construed as limitations on this patent. Those of ordinary skill in the art can understand the specific meanings of the above terms according to specific situations.

The implementation of the present invention will be described in detail below in conjunction with specific embodiments.

Referring to Figures 1-3, a preferred embodiment of the present invention is provided.

A new strain type six-axis force sensor, including a six-axis force sensor body, the six-axis force sensor body includes an elastic element 1, an upper cover plate 2 and a lower cover plate 3, the upper cover plate 2 is installed on the upper part of the elastic element 1, and the lower cover The plate 3 is installed on the bottom of the elastic element 1, and the elastic element 1 includes a square tire 9, a cross beam 6, a square flange measuring part 7, and parallel beams 8 respectively arranged on the four inner side walls of the square tire 9, parallel beams 8 There is a space between the top surface and the bottom surface of the square tire 9, the cross beam 6 has four force-measuring arms, any two adjacent force-measuring arms are arranged perpendicular to each other, and the four force-measuring arms are connected to the four parallel beams 8 respectively. A corresponding connection, the force measuring arm and the parallel beam 8 connected to it are perpendicular to each other, the square tire 9, the cross beam 6, the square flange measuring part 7 and the parallel beam 8 are designed in one piece, and the upper cover plate 2 is provided with a square There is a gap between the lower cover plate 3 and the square flange measuring part 7 through the through hole 10 through which the flange measuring part 7 passes; the cable 5 is fixed on the elastic element 1 through the crimping nut 4 .

In the new strain type six-axis force sensor provided above, there is an interval between the lower cover plate 3 and the square flange measuring part 7, so that the square flange measuring part 7 does not contact the lower cover plate 3, ensuring that the measurement will not be disturbed by the structure , and makes the overall height of the sensor low, which can be used in equipment with low space; the sensor adopts square flange installation method, fast connection, easy disassembly and installation, low cost and high economic benefit. The parallel beam 8 and the top surface and the bottom surface of the square tire 9 have intervals, so that the accuracy of the measurement is not affected by the upper cover plate 2 and the lower cover plate 3, the parallel beam 8 and the force measuring arm are perpendicular to each other, and the integrated design . There is a through hole 10 in the middle of the upper cover plate 2, so that the square flange measuring part 7 can pass through, and the cable outlet part of the sensor adopts the cable 5 and the crimping nut 4, and the crimping nut 4 and the cable 5 are fixed on the elastic element 1, so that Cable wire 5 is not easy to pull out.

In the strain type six-axis force sensor provided by the present invention, the elastic element 1 of the six-axis force sensor adopts an integrated design, which is compact, reliable, high in measurement accuracy, and has little mutual interference. Since the elastic element 1 adopts an integrated design, the six-axis force The overall height of the sensor is low, which can be used in a low space. The sensor adopts a square flange installation method, the connection is fastened, the disassembly and installation are convenient, the cost is low, and the economic benefit is high.

The measurement principle of the novel strain type six-axis force sensor provided by the present invention is: arranging resistance strain gauges on the parallel beam 8, the force-measuring arm and the square flange measuring part 7 to form a Wheatstone bridge, thereby measuring the force on the six-axis direction. As for the stress change, measuring the stress change through the Wheatstone bridge belongs to the prior art in this field, so it will not be repeated here.

Specifically, there are two cables 5 and two crimping nuts 4 .

In this embodiment, the four corners of the upper cover plate 2 are provided with first circular holes for screws to pass through, and the four corners of the top surface of the square tire 9 are provided with first threaded holes for screws to be screwed into. The holes are arranged correspondingly to the first round holes, and the upper cover plate 2 and the square tire 9 are installed and fixed by screws.

Furthermore, the four corners of the lower cover plate 3 are provided with the second round holes for the screws to pass through, and the four corners of the bottom surface of the square tire 9 are provided with the second threaded holes for the screws to be screwed into. The two circular holes are arranged correspondingly, and the lower cover plate 3 and the square tire 9 are installed and fixed by screws.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. within range.

Claims (4)

1. A novel strain type six-axis force sensor is characterized by comprising a six-axis force sensor main body, wherein the six-axis force sensor main body comprises an elastic element (1), an upper cover plate (2) and a lower cover plate (3), the upper cover plate (2) is installed on the upper portion of the elastic element (1), and the lower cover plate (3) is installed at the bottom of the elastic element (1); the elastic element (1) comprises a square wheel rim (9), a cross beam (6), a square flange measuring part (7) and parallel beams (8) which are respectively arranged on four inner side walls of the square wheel rim (9); the parallel beams (8) and the top surface and the bottom surface of the square wheel rim (9) are provided with intervals, the cross beam (6) is provided with four force measuring arms, any two adjacent force measuring arms are arranged vertically, the four force measuring arms are respectively connected with the four parallel beams (8) in a one-to-one correspondence manner, and the force measuring arms are vertical to the parallel beams (8) correspondingly connected with the force measuring arms; the square wheel rim (9), the cross beam (6), the square flange measuring component (7) and the parallel beam (8) are designed in an integrated mode, a through hole (10) for the square flange measuring component (7) to penetrate through is formed in the middle of the upper cover plate, and a gap is formed between the lower cover plate (3) and the square flange measuring component (7); and a cable (5) is fixed on the elastic element (1) through a line pressing nut (4).

2. A novel strain type six-axis force sensor as claimed in claim 1, wherein the number of the cable wires (5) is two, and the number of the pressing line nuts (4) is two.

3. The novel strain type six-axis force sensor as claimed in claim 1, wherein a first round hole for passing a screw is opened at a four corner portion of the upper cover plate (2), a first threaded hole for screwing in the screw is opened at a four corner portion of the top surface of the square wheel rim (9), the first threaded hole is arranged corresponding to the first round hole, and the upper cover plate (2) and the square wheel rim (9) are fixed by screw installation.

4. The novel strain type six-axis force sensor as claimed in claim 3, wherein a second round hole for passing a screw is opened at a four-corner portion of the lower cover plate (3), a second threaded hole for screwing in the screw is opened at a four-corner portion of the bottom surface of the square wheel rim (9), the second threaded hole is arranged corresponding to the second round hole, and the lower cover plate (3) and the square wheel rim (9) are fixed by screw installation.