Safety type force-coupling-free six-dimensional force sensor

Abstract

The utility model relates to the technical field of sensors, and discloses a safe force-coupling-free six-dimensional force sensor which comprises a sensor body, a flange is arranged at the top of the sensor body, a plurality of fixing rods are slidably connected in the sensor body, a plurality of protection assemblies are arranged on one side of the outer portion of the sensor body, and the protection assemblies are connected with the flange. The other side of the exterior of the sensor body is fixedly connected with a plurality of first fixing blocks, the interior of each first fixing block is slidably connected with a shifting piece rod, one side of the exterior of each shifting piece rod is sleeved with a first spring, the other side of the exterior of each shifting piece rod is fixedly connected with a square block plate, and the top of each first fixing block is fixedly connected with a second fixing block. According to the utility model, the flange, the fixed rod, the fixed block I, the fixed block II, the square block plate, the top plate and the clamping block structure are matched with one another to drive the plectrum rod to work, so that time and labor are saved during mounting and dismounting through the matching between the flange and the sensor body when the sensor body is mounted.

Description

Technical Field

[0001] The utility model relates to the technical field of sensors, in particular to a safe force-free coupling six-dimensional force sensor. Background Art

[0002] The force-free coupling six-axis force sensor is a sensor specially used to measure six forces and torques on an object. The six forces include forces in three directions (X, Y, and Z axes) and three torques (around the X, Y, and Z axes). This sensor is usually based on principles such as strain measurement, capacitance measurement, or magnetic induction measurement. Force-free coupling means that the sensor will not affect the measured object when measuring force or torque.

[0003] In the prior art, the six-axis force sensor lacks certain safety protection during use, resulting in low safety of the six-axis force sensor. When the six-axis force sensor is installed and used, a threaded connection method is usually adopted, but this method is time-consuming and labor-intensive to operate. In view of the above problems, a safe force-free coupling six-axis force sensor is proposed to solve the above problems. Utility Model Content

[0004] In order to make up for the above shortcomings, the utility model provides a safe force-free coupling six-dimensional force sensor, which aims to improve the problem that in the prior art, when the six-dimensional force sensor is installed and used, a threaded connection method is usually adopted, but this method is time-consuming and labor-intensive to operate.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a safe force-free coupling six-dimensional force sensor, including a sensor body, a flange is arranged on the top of the sensor body, a plurality of fixed rods are slidably connected inside the sensor body, a plurality of protective components are arranged on one side of the outside of the sensor body, a plurality of fixed blocks are fixedly connected on the other side of the outside of the sensor body, a paddle rod is slidably connected inside the fixed block one, a spring is sleeved on one side of the outside of the paddle rod, a square plate is fixedly connected on the other side of the outside of the paddle rod, a fixed block two is fixedly connected to the top of the fixed block one, a top plate is fixedly connected to one side of the inside of the fixed block two, and a card plate is slidably connected to the other side of the inside of the fixed block two.

[0006] As a further description of the above technical solution:

[0007] The protection component includes a fixed plate, one side of the outside of the fixed plate is fixedly connected to the outside of the sensor body, the other side of the outside of the fixed plate is fixedly connected to a buffer block, the middle side of the inside of the buffer block is fixedly connected to a shock absorber, both sides of the outside of the shock absorber are fixedly connected to sliding rods, both sides of the outside of the sliding rod are sleeved with springs 2, one end of the spring 2 close to the shock absorber is fixedly connected to a sliding block, the outside of the sliding block is rotatably connected to a connecting plate, one end of the shock absorber is fixedly connected to the buffer plate, and one end of the connecting plate is rotatably connected to the outside of the buffer plate.

[0008] As a further description of the above technical solution:

[0009] The fixing rod passes through the flange, and the paddle rod passes through the fixing rod.

[0010] As a further description of the above technical solution:

[0011] The second fixing block is externally fixedly connected to the outside of the sensor body, and the bottom of the card plate passes through the first fixing block.

[0012] As a further description of the above technical solution:

[0013] One end of the spring is fixedly connected to the inner wall of the fixing block, and the other end of the spring is fixedly connected to the outside of the square plate.

[0014] As a further description of the above technical solution:

[0015] The outside of the spring 1 is slidably connected to the inside of the fixing block 1, and the outside of the square plate is slidably connected to the inside of the fixing block 1.

[0016] As a further description of the above technical solution:

[0017] One end of the slide bar away from the shock absorber is fixedly connected to the inside of the buffer block, and one end of the spring 2 away from the slide block is fixedly connected to the inside of the buffer block.

[0018] As a further description of the above technical solution:

[0019] The inner middle side of the sliding block is slidably connected to the outer periphery of the sliding rod.

[0020] The utility model has the following beneficial effects:

[0021] 1. In the utility model, the flange, the fixing rod, the fixing block 1, the fixing block 2, the block plate, the top plate and the clamping block structure cooperate with each other to drive the paddle rod to work, thereby realizing the installation of the sensor body. Through the cooperation between the flange and the sensor body, it is possible to save time and effort during installation and disassembly.

[0022] 2. In the utility model, the buffer plate is driven to work by the cooperation of the fixed plate, the buffer block, the sliding rod, the slider, the spring 2, the connecting plate and the shock absorber structure, so that when the sensor body is affected by external force, the buffer plate and other mechanisms can provide external force buffering protection to the sensor body, thereby ensuring that the accuracy of the measurement result will not be affected when the sensor itself is subjected to external force, avoiding potential dangers caused by inaccurate data, thereby improving the safety of the sensor body and increasing the service life of the sensor body. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A three-dimensional diagram of a safe force-free coupling six-dimensional force sensor proposed by the utility model;

[0024] Figure 2 A schematic diagram of the structure of a paddle lever of a safe force-free coupling six-dimensional force sensor proposed by the utility model;

[0025] Figure 3 The present invention is a schematic structural diagram of a buffer plate of a safe force-free coupling six-dimensional force sensor.

[0026] Legend:

[0027] 1. Sensor body; 2. Flange; 3. Fixing rod; 4. Fixing block 1; 5. Paddle rod; 6. Spring 1; 7. Block plate; 8. Fixing block 2; 9. Top plate; 10. Card plate; 11. Fixing plate; 12. Buffer block; 13. Slide rod; 14. Spring 2; 15. Slider; 16. Connecting plate; 17. Shock absorber; 18. Buffer plate. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0029] Reference Figure 1-Figure 2The utility model provides an embodiment: a safe force-free coupling six-dimensional force sensor, including a sensor body 1, a flange 2 is arranged on the top of the sensor body 1, a plurality of fixed rods 3 are slidably connected inside the sensor body 1, a plurality of protective components are arranged on one side of the outside of the sensor body 1, a plurality of fixed blocks 4 are fixedly connected on the other side of the outside of the sensor body 1, a paddle rod 5 is slidably connected inside the fixed block 4, a spring 6 is sleeved on one side of the outside of the paddle rod 5, a square plate 7 is fixedly connected on the other side of the outside of the paddle rod 5, a fixed block 2 8 is fixedly connected to the top of the fixed block 4, a top plate 9 is fixedly connected to one side of the inside of the fixed block 2 8, and the sensor body 1 is a sensor that can measure the force and torque of an object in six directions in space. The six directions include three translation directions X, Y, and Z axes and three rotation directions around the X, Y, and Z axes. The flange 2 facilitates the installation of the sensor body 1. The fixing rod 3 cooperates with the paddle rod 5 to fix the flange 2 and the sensor body 1. The fixing block 4 protects the internal structure. The paddle rod 5 runs through the fixing rod 3 to fix the flange 2 and the sensor body 1. The spring 6 resets. The square plate 7 is driven by the paddle rod 5 to compress the spring 6. The fixing block 8 protects the internal structure. The top plate 9 limits the position of the card plate 10.

[0030] Reference Figure 1-Figure 2 , a card plate 10 is slidably connected to the other side of the fixed block 8, the fixed rod 3 passes through the flange 2, the paddle rod 5 passes through the fixed rod 3, the fixed block 8 is fixedly connected to the outside of the sensor body 1 outside, the bottom of the card plate 10 passes through the fixed block 4, one end of the spring 6 is fixedly connected to the inner wall of the fixed block 4, the other end of the spring 6 is fixedly connected to the outside of the square plate 7, the outside of the spring 6 is slidably connected to the inside of the fixed block 4, the outside of the square plate 7 is slidably connected to the inside of the fixed block 4, the card plate 10 plays a limiting role for the square plate 7, when the spring 6 is reset, it drives the paddle rod 5 to pass through the fixed rod 3 through the square plate 7, the square plate 7 plays the role of being driven by the paddle rod 5 to compress the spring 6 when sliding inside the fixed block 4, and when the spring 6 is reset, it drives the paddle rod 5 to pass through the fixed rod 3 to complete the fixation between the sensor body 1 and the flange 2.

[0031] Reference Figure 1 and Figure 3The protection component includes a fixed plate 11, one side of the outside of the fixed plate 11 is fixedly connected to the outside of the sensor body 1, the other side of the outside of the fixed plate 11 is fixedly connected to a buffer block 12, the middle side of the buffer block 12 is fixedly connected to a shock absorber 17, both sides of the outside of the shock absorber 17 are fixedly connected to a slide bar 13, both sides of the outside of the slide bar 13 are sleeved with a spring 2 14, one end of the spring 2 14 close to the shock absorber 17 is fixedly connected to a slider 15, the outside of the slider 15 is rotatably connected to a connecting plate 16, one end of the shock absorber 17 is fixedly connected to a buffer plate 18, one end of the connecting plate 16 is rotatably connected to the outside of the buffer plate 18, the end of the slide bar 13 away from the shock absorber 17 is fixedly connected to the inside of the buffer block 12, and the spring 2 14 is away from the slider One end of 15 is fixedly connected to the inside of the buffer block 12, and the middle side of the slider 15 is slidably connected to the outer periphery of the slide rod 13. The fixed plate 11 facilitates the installation of the buffer block 12, and the buffer block 12 protects the internal structure. The slide rod 13 supports and stabilizes the slider 15 and the spring 14, and the spring 14 resets. The slider 15 slides outside the slide rod 13 to drive the connecting plate 16, and the connecting plate 16 connects the slider 15 and the shock absorber 17. The shock absorber 17 slows down or absorbs the energy generated by vibration, impact or vibration in the mechanical system, and the buffer plate 18 protects the sensor body 1.

[0032] Working principle: When using a safe force-free coupling six-dimensional force sensor, the installation is completed through the cooperation between the sensor body 1 and the flange 2. First, the flange 2 is installed on the top of the sensor body 1, and then the paddle rod 5 is pulled to drive the block plate 7 to slide inside the fixed block 4 and compress the spring 6. At this time, the card plate 10 in the fixed block 8 at the top of the paddle rod 5 slides downward, thereby limiting the block plate 7. Then, the fixed rod 3 is inserted into the sensor body 1, and then the paddle rod 5 is released, and the card plate 10 is lifted up. At the same time, the spring 6 inside the fixed block 4 is reset and driven by the block plate 7. The paddle rod 5 penetrates the fixing rod 3 to form a fixation. When the sensor body 1 is subjected to external force or hit by the ground due to falling, the external force is transmitted to the remaining structures through the buffer plate 18. The buffer plate 18 transmits the external force to the shock absorber 17 and the two connecting plates 16. The connecting plate 16 drives the slider 15 to slide outside the slide rod 13 and compresses the spring 2 14, so as to evenly disperse and eliminate the external force. After eliminating the external force, the spring 2 14 resets and slides inside the buffer block 12, driving the slider 15 to reset and driving the buffer plate 18 to reset through the connecting plate 16. At this time, the shock absorber 17 also drives the buffer plate 18 to reset.

[0033] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A safe force-free coupling six-dimensional force sensor, comprising a sensor body (1), characterized in that: The sensor body (1) is provided with a flange (2) at the top, a plurality of fixed rods (3) are slidably connected inside the sensor body (1), a plurality of protective components are provided on one side of the outside of the sensor body (1), a plurality of fixed blocks (4) are fixedly connected on the other side of the outside of the sensor body (1), a paddle rod (5) is slidably connected inside the fixed block (4), a spring (6) is sleeved on one side of the outside of the paddle rod (5), a square plate (7) is fixedly connected on the other side of the outside of the paddle rod (5), a fixed block (8) is fixedly connected on the top of the fixed block (4), a top plate (9) is fixedly connected on one side of the inside of the fixed block (8), and a clamping plate (10) is slidably connected on the other side of the inside of the fixed block (8).

2. A safe force-free coupling six-axis force sensor according to claim 1, characterized in that: The protection component comprises a fixing plate (11), one side of the fixing plate (11) is fixedly connected to the outside of the sensor body (1), the other side of the fixing plate (11) is fixedly connected to a buffer block (12), the middle side of the buffer block (12) is fixedly connected to a shock absorber (17), both sides of the outside of the shock absorber (17) are fixedly connected to a slide bar (13), both sides of the outside of the slide bar (13) are sleeved with a second spring (14), one end of the second spring (14) close to the shock absorber (17) is fixedly connected to a slider (15), the outside of the slider (15) is rotatably connected to a connecting plate (16), one end of the shock absorber (17) is fixedly connected to a buffer plate (18), and one end of the connecting plate (16) is rotatably connected to the outside of the buffer plate (18).

3. A safe force-free coupling six-axis force sensor according to claim 1, characterized in that: The fixing rod (3) passes through the flange (2), and the paddle rod (5) passes through the fixing rod (3).

4. A safe force-free coupling six-axis force sensor according to claim 1, characterized in that: The second fixing block (8) is externally fixedly connected to the outside of the sensor body (1), and the bottom of the clamping plate (10) passes through the first fixing block (4).

5. The safe force-free coupling six-axis force sensor according to claim 1, characterized in that: One end of the spring one (6) is fixedly connected to the inner wall of the fixed block one (4), and the other end of the spring one (6) is fixedly connected to the outside of the square plate (7).

6. A safe force-free coupling six-axis force sensor according to claim 1, characterized in that: The outside of the spring one (6) is slidably connected to the inside of the fixed block one (4), and the outside of the square plate (7) is slidably connected to the inside of the fixed block one (4).

7. A safe force-free coupling six-dimensional force sensor according to claim 2, characterized in that: One end of the slide bar (13) away from the shock absorber (17) is fixedly connected inside the buffer block (12), and one end of the spring 2 (14) away from the slide block (15) is fixedly connected inside the buffer block (12).

8. The safe force-free coupling six-axis force sensor according to claim 2, characterized in that: The inner middle side of the sliding block (15) is slidably connected to the outer periphery of the sliding rod (13).

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