Force and torque composite sensor

Abstract

The present invention provides a force and torque composite sensor, wherein the first connecting component is used to connect the object to be measured, and the second connecting component is made of rigid material and is fixed in position. When the object to be measured is connected to the connecting component, the object to be measured, which is subjected to tension, pressure and torque at the same time, first transmits the tension, pressure and torque to the first elastic member. The first elastic member of the cylindrical structure will undergo torsional deformation after being subjected to torque. The torque testing component can obtain the magnitude of the torque borne by the first elastic member by testing the change in the torsional deformation of the first elastic member, thereby obtaining the magnitude of the torque of the object to be measured. The second elastic member will undergo elastic deformation in the direction of the tension or pressure after being subjected to tension or pressure. The tension and pressure testing component can obtain the magnitude of the tension or pressure borne by the first elastic member by testing the change in the deformation of the first elastic member in the direction of the tension or pressure, thereby realizing simultaneous measurement of the tension, pressure and torque borne or generated by the object to be measured.

Description

Technical Field

[0001] The present invention relates to the technical field of measuring instruments, and in particular to a force and torque composite sensor. Background Art

[0002] As the field of industrial automation continues to develop towards automation, intelligence, and mass production, the importance of process control technology, as one of the core technologies of industrial production, is becoming increasingly apparent. Force and torque are the two most commonly involved and critical parameters in the process, so precise control of force and torque is particularly important.

[0003] The premise for achieving precise control of force and torque is to accurately measure and judge force and torque. In the prior art, there are sensors that can achieve basic force or torque measurement, but they all measure force and torque separately and cannot meet the demand for simultaneous measurement of force and torque. Summary of the invention

[0004] The present invention provides a force and torque composite sensor to solve the technical problem that the sensor in the prior art cannot realize simultaneous measurement of force and torque.

[0005] The present invention provides a force and torque composite sensor, comprising a first elastic member, a second elastic member, a torque test assembly, a tension and pressure test assembly, a first connecting assembly and a second connecting assembly, wherein the first elastic member is a cylindrical structure, one end of the second elastic member is connected to one end of the first elastic member, the torque test assembly is used to test the torque borne by the first elastic member, the tension and pressure test assembly is used to test the tension or pressure borne by the second elastic member, the first connecting assembly is connected to the other end of the first elastic member, the second connecting assembly is connected to the other end of the second elastic member, one of the first connecting assembly and the second connecting assembly is used to connect to the object to be measured, and the other is a rigid material and is fixed in position.

[0006] Specifically, the first elastic member is connected to the first connecting component by gluing, the second elastic member is connected to the second connecting component by gluing, the first connecting component is used to connect the object to be measured, the second connecting component is made of rigid material and is fixed in position, specifically, the object to be measured is connected to the first connecting component by a first threaded fastener, the first connecting component is provided with a first threaded hole that is threadedly matched with the first threaded fastener, the second connecting component can be fixed to an external component by a second threaded fastener to achieve position fixation, and the side of the second connecting component is provided with a second threaded hole for threaded connection of the second threaded fastener.

[0007] Furthermore, the torsion testing assembly includes a first torsion strain gauge and a second torsion strain gauge, the first torsion strain gauge and the second torsion strain gauge are symmetrically arranged on the side of the first elastic member, and the strain wires of the first torsion strain gauge and the second torsion strain gauge form a 45° angle with the axis of the first elastic member. Specifically, the first torsion strain gauge and the second torsion strain gauge are both provided with two groups of strain wires that are perpendicular to each other. The torque measurement can be achieved by connecting the first torsion strain gauge and the second torsion strain gauge to a full-bridge conditioning circuit. The two groups of strain wires on the same first torsion strain gauge or the second torsion strain gauge are respectively in the +45° and -45° directions of the axis of the first elastic member.

[0008] Furthermore, the tension and compression test assembly includes a strain gauge group, which includes a plurality of tension and compression strain gauges of an even number, and the plurality of tension and compression strain gauges of an even number are distributed in a circular array with the central axis of the first elastic member as the center and are arranged on the second elastic member. The strain wire directions of the tension and compression strain gauges are all in the same radial direction as the first elastic member. The tension and compression measurement can be achieved by connecting the tension and compression strain gauges to a full-bridge conditioning circuit.

[0009] Furthermore, the strain gauge group is provided in a plurality of groups, and the distances between the tensile and compressive strain gauges in each group of the strain gauge group and the central axis of the first elastic member are different.

[0010] Furthermore, the second elastic member is a cylindrical structure, and the second elastic member is coaxial with the first elastic member.

[0011] Furthermore, the surface area of ​​one end of the second elastic member used for connecting with the first elastic member is greater than the surface area of ​​one end of the first elastic member used for connecting with the second elastic member, and the tensile and compressive test assembly is connected to the surface of one end of the second elastic member used for connecting with the first elastic member.

[0012] Specifically, there are two groups of strain gauge groups, each group of strain gauge groups includes two tensile and compressive strain gauges, wherein the two tensile and compressive strain gauges of one group of strain gauge groups are symmetrically pasted on the inner circle side of the second elastic member close to the first elastic member, and the two tensile and compressive strain gauges of the other group of strain gauge groups are symmetrically pasted on the outer circle side of the second elastic member away from the first elastic member.

[0013] Furthermore, it also includes a plurality of stiffness positioning members, and the second elastic member is provided with a plurality of stiffness adjustment holes for the stiffness positioning members to pass through, and the stiffness positioning members are connected to the second connecting assembly after passing through the stiffness adjustment holes.

[0014] Specifically, the stiffness positioning member passes through the stiffness adjustment hole and is detachably connected to the second connecting component. More specifically, the stiffness positioning member includes a third threaded fastener, and the second connecting component is provided with a third threaded hole for threadably engaging the third threaded fastener.

[0015] Furthermore, it includes a cavity, which runs through the first connecting component and the first elastic member, the cavity is a cylindrical structure, the cavity is coaxial with the first elastic member, and the wall thickness of the first connecting component is more than twice the wall thickness of the first elastic member.

[0016] Furthermore, the cavity also penetrates the second elastic member and the second connecting component, and the wall thickness of the second connecting component is greater than the wall thickness of the second elastic member.

[0017] Furthermore, the first elastic member is connected to the second elastic member through a third connecting member, the cavity passes through the third connecting member, and the wall thickness of the third connecting member is more than twice the wall thickness of the first elastic member.

[0018] The beneficial effects of a force and torque composite sensor provided by the present invention are as follows: the first connecting component and the second connecting component can both be used to connect the object to be measured. When the first connecting component is used to connect the object to be measured, the second connecting component is made of rigid material and is fixed in position. When the object to be measured is connected to the connecting component, in order to improve the accuracy of torque measurement, the torsional center of the torsional force exerted on the connecting component is made close to the central axis of the first elastic member having a cylindrical structure. During the test, the object to be measured that is subjected to tensile pressure and torsional force at the same time first transmits the tensile pressure and torsional force to the first elastic member. The first elastic member of the cylindrical structure will undergo torsional deformation after being subjected to torsional force. The torque test component tests the torsional deformation of the first elastic member by testing the torsional deformation of the first elastic member. The change in variable can be used to determine the magnitude of the torque borne by the first elastic member, thereby determining the magnitude of the torque of the object being measured. After the tension or pressure is transmitted to the second elastic member, since the second connecting component connected to the second elastic member is made of rigid material and is fixed in position, the end of the second elastic member connected to the second connecting component is in a fixed configuration. After being subjected to tension or pressure, the second elastic member will undergo elastic deformation in the direction of the tension or pressure. The tension and pressure test component can determine the magnitude of the tension or pressure borne by the first elastic member by testing the change in deformation of the first elastic member in the direction of the tension or pressure, thereby determining the magnitude of the tension or pressure borne by the object being measured, thereby achieving simultaneous measurement of the tension, pressure and torque borne or generated by the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 3D schematic diagram of the force and torque composite sensor of Example 1 provided by the present invention;

[0021] Figure 2 It is a schematic diagram of the cross-sectional structure of the force and torque composite sensor of Example 2 provided by the present invention.

[0022] Description of reference numerals:

[0023] 1. First connecting component; 2. First threaded hole; 3. First torsion strain gauge; 31. Second torsion strain gauge; 4. Tension and pressure strain gauge; 5. Second threaded hole; 6. Second connecting component; 7. Stiffness adjustment hole; 8. Second elastic member; 81. Third connecting member; 9. First elastic member; 10. Cavity. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the invention clearer, the technical solution in the invention will be clearly described below in conjunction with the drawings in the invention. Obviously, the described embodiments are part of the embodiments of the invention, not all of the embodiments. Based on the embodiments in the invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the invention.

[0025] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0026] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0027] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0028] In the description of this specification, the description with reference to the terms "one embodiment", "first aspect embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0029] Combine the following Figure 1-Figure 2 A temperature distribution monitoring device provided by the present invention is described.

[0030] like Figure 1As shown, embodiment 1 of the present invention provides a force and torque composite sensor, including a first elastic member 9, a second elastic member 8, a torque test assembly, a tension and pressure test assembly, a first connecting assembly 1 and a second connecting assembly 6, the first elastic member 9 is a cylindrical structure, one end of the second elastic member 8 is connected to one end of the first elastic member 9, the torque test assembly is used to test the torque size borne by the first elastic member 9, the tension and pressure test assembly is used to test the tension or pressure size borne by the second elastic member 8, the first connecting assembly 1 is connected to the other end of the first elastic member 9, the second connecting assembly 6 is connected to the other end of the second elastic member 8, one of the first connecting assembly 1 and the second connecting assembly 6 is used to connect the object to be measured, and the other is a rigid material and is fixed in position.

[0031] Specifically, the first connecting component 1 can adopt a flange plate of the prior art, the first elastic member 9 is connected to the first connecting component 1 by gluing, and the second elastic member 8 is connected to the second connecting component 6 by gluing. In this embodiment, the first connecting component 1 is used to connect the object to be measured, and the second connecting component 6 is a rigid material and is fixed in position. Specifically, the object to be measured is connected to the first connecting component 1 through a first threaded fastener, and the first connecting component 1 is provided with a first threaded hole 2 that threadably cooperates with the first threaded fastener. The second connecting component 6 can be fixed to an external component through the second threaded fastener to achieve position fixation, and the side of the second connecting component 6 is provided with a second threaded hole 5 for threaded connection of the second threaded fastener.

[0032] When the object to be tested is connected to the connecting component, in order to improve the accuracy of torque measurement, the torsional center of the torsional force on the connecting component is made close to the central axis of the first elastic member 9 of the cylindrical structure. During the test, the object to be tested, which is subjected to tension, pressure and torsional force at the same time, first transmits the tension, pressure and torsional force to the first elastic member 9. The first elastic member 9 of the cylindrical structure will undergo torsional deformation after being subjected to torsional force. The torque test component can obtain the magnitude of the torque borne by the first elastic member 9 by testing the change in the torsional deformation of the first elastic member 9, thereby obtaining the magnitude of the moment of the object to be tested. The tension or pressure transmitted to the first elastic member 9 is After the second elastic member 8, since the second connecting component 6 connected to the second elastic member 8 is a rigid material and is fixed in position, the end of the second elastic member 8 connected to the second connecting component 6 is in a fixed loading state, and the second elastic member 8 will undergo elastic deformation along the direction of the tension or pressure after being subjected to tension or pressure. The tension and pressure test component can obtain the magnitude of the tension or pressure borne by the first elastic member 9 by testing the change in the deformation of the first elastic member 9 along the direction of the tension or pressure, thereby obtaining the magnitude of the tension or pressure borne by the object under test, thereby realizing the simultaneous measurement of the tension, pressure and torque borne or generated by the object.

[0033] According to the present embodiment, the torque test assembly includes a first torque strain gauge 3 and a second torque strain gauge 31, which are symmetrically arranged on the side of the first elastic member, and the strain wires of the first torque strain gauge 3 and the second torque strain gauge 31 form a 45° angle with the axis of the first elastic member 9. Specifically, the first torque strain gauge 3 and the second torque strain gauge 31 are both provided with two groups of strain wires perpendicular to each other, and the torque measurement can be achieved by connecting the first torque strain gauge 3 and the second torque strain gauge 31 to the full-bridge conditioning circuit. The two groups of strain wires on the same first torque strain gauge 3 or the second torque strain gauge 31 are respectively in the +45° and -45° directions of the axis of the first elastic member 9. The deformation of the first elastic member 9 is tested by the first torque strain gauge 3 and the second torque strain gauge 31, which form a 45° angle with the axis of the first elastic member 9. The structure is simple and the test is accurate.

[0034] According to this embodiment, the tension and pressure test assembly includes a strain gauge group, which includes a plurality of tension and pressure strain gauges 4 of an even number, which are distributed in a circular array with the central axis of the first elastic member 9 as the center and are arranged on the second elastic member 8, and the strain wire direction of the tension and pressure strain gauges 4 is the same as the radial direction of the first elastic member 9. The tension and pressure measurement can be achieved by connecting the tension and pressure strain gauges 4 to the full-bridge conditioning circuit. The deformation of the first elastic member 9 is tested by the tension and pressure strain gauges 4 whose strain wires are in the same radial direction as the first elastic member, which has a simple structure and accurate testing.

[0035] According to this embodiment, there are multiple strain gauge groups, and the distances between the tensile and compressive strain gauges 4 of each strain gauge group and the central axis of the first elastic member 9 are different. Multiple positions of the second elastic member 8 at different distances from the central axis of the first elastic member 9 are measured, thereby improving accuracy.

[0036] According to this embodiment, the second elastic member 8 is a cylindrical structure, and the second elastic member 8 is coaxial with the first elastic member 9. With this arrangement, the second elastic member 8 is subjected to a more uniform force, and the measurement data is more accurate.

[0037] According to this embodiment, the surface area of ​​the end of the second elastic member 8 used for connecting with the first elastic member 9 is larger than the surface area of ​​the end of the first elastic member 9 used for connecting with the second elastic member 8, and the tension and pressure test assembly is connected to the surface of the end of the second elastic member 8 used for connecting with the first elastic member 9. The tension and pressure strain gauge 4 can be fixed on the surface of the end of the second elastic member 8 used for connecting with the first elastic member 9. When the second elastic member 8 is also a cylindrical structure, the surface plane of the end of the second elastic member 8 used for connecting with the first elastic member 9 is parallel to the planes of the two ends of the first elastic member 9, which makes it easier to fix the tension and pressure strain gauge 4.

[0038] Specifically, there are two groups of strain gauge groups, each group of strain gauge groups includes two tensile and compressive strain gauges 4, wherein the two tensile and compressive strain gauges 4 of one group of strain gauge groups are symmetrically pasted on the inner circle side of the second elastic member 8 close to the first elastic member 9, and the two tensile and compressive strain gauges 4 of the other group of strain gauge groups are symmetrically pasted on the outer circle side of the second elastic member 8 away from the first elastic member 9.

[0039] According to the present embodiment, a plurality of rigidity positioning members are also included, and the second elastic member 8 is provided with a plurality of rigidity adjustment holes 7 for the rigidity positioning members to pass through, and the rigidity positioning members are connected to the second connection assembly 6 after passing through the rigidity adjustment holes 7. The rigidity positioning members generate resistance to the forces other than the pressure or tension direction of the second elastic member 8, so that the second elastic member 8 is not easily twisted along with the twisting of the first elastic member 9. With respect to the first elastic member 9 that is deformed by the torsional force, the second elastic member 8 plays a fixing role on the end of the first elastic member 9 that is used to connect with the second elastic member 8, so that the magnitude of the torsional force on the first elastic member 9 is closer to the magnitude of all the torsional forces borne or generated by the object to be measured, thereby improving the accuracy of the test data of the torque detection assembly, and the sensitivity of the second elastic member 8 to the torque to be measured can be effectively alleviated by adjusting the size, shape, position and number of the rigidity adjustment holes 7.

[0040] Specifically, the stiffness positioning member passes through the stiffness adjustment hole 7 and is detachably connected to the second connecting component 6. More specifically, the stiffness positioning member includes a third threaded fastener, and the second connecting component 6 is provided with a third threaded hole for threadably engaging the third threaded fastener.

[0041] like Figure 2 As shown, embodiment 2 of the present invention provides a force and torque composite sensor, which includes, in addition to the structure mentioned in embodiment 1, a cavity, which passes through the first connecting component 1 and the first elastic member 9, and is a cylindrical structure. The cavity is coaxial with the first elastic member 9, and the wall thickness of the first connecting component 1 is more than twice the wall thickness of the first elastic member 9. The object to be tested of the shaft structure is directly placed in the cavity, and the object to be tested can be tested. Due to the setting of the cavity 10, the outer diameter of the first elastic member 9 of the same height prepared by the same number of raw materials is larger, which is convenient for setting the first torsion strain gauge 3 or the second torsion strain gauge 31. The wall thickness of the first connecting component 1 is set to be more than twice the wall thickness of the first elastic member 9, which can improve the fixing effect of the first connecting component 1 on the position of the first elastic member 9 for connecting with the first connecting component 1, ensure the rigidity of the connection position, and improve the measurement accuracy.

[0042] According to this embodiment, the cavity also passes through the second elastic member 8 and the second connecting component 6, and the wall thickness of the second connecting component 6 is greater than the wall thickness of the second elastic member 8. The fixing effect of the second connecting component 6 on the position of the second elastic member 8 for connecting with the second connecting component 6 can be improved, the rigidity of the connection position is ensured, and the measurement accuracy is improved.

[0043] According to this embodiment, the first elastic member 9 is connected to the second elastic member 8 through the third connecting member 81, the cavity passes through the third connecting member 81, and the wall thickness of the third connecting member 81 is more than twice the wall thickness of the first elastic member 9. In this way, the wall thickness of the second connecting component 6 is significantly thicker than the wall thickness of the tensile and compressive elastic body, which can reduce the mutual interference of the forces between the second elastic body and the first elastic member.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A force and torque composite sensor, characterized in that: include: The first elastic member is a cylindrical structure; A second elastic member, one end of which is connected to one end of the first elastic member; A torque testing assembly, used to test the torque borne by the first elastic member; A tension and pressure test assembly, used to test the tension or pressure borne by the second elastic member; A first connecting component connected to the other end of the first elastic member; A second connecting component connected to the other end of the second elastic member; One of the first connecting component and the second connecting component is used to connect the object to be measured, and the other is made of rigid material and is fixed in position; The tension and pressure test assembly includes a strain gauge group, the strain gauge group includes a plurality of tension and pressure strain gauges of an even number, the plurality of tension and pressure strain gauges of an even number are distributed in a circular array with the central axis of the first elastic member as the center and are arranged on the second elastic member, and the strain wire directions of the tension and pressure strain gauges are all in the same direction as the radial direction of the first elastic member; There are multiple strain gauge groups, and the distances between the tensile and compressive strain gauges of each strain gauge group and the central axis of the first elastic member are different; The first elastic member is perpendicular to the second elastic member.

2. The force and torque composite sensor according to claim 1, characterized in that: The torsion testing assembly includes a first torsion strain gauge and a second torsion strain gauge, wherein the first torsion strain gauge and the second torsion strain gauge are symmetrically arranged on the side of the first elastic member, and the strain wires of the first torsion strain gauge and the second torsion strain gauge form an angle of 45° with the axis of the first elastic member.

3. The force and torque composite sensor according to claim 1, characterized in that: There are multiple groups of strain gauge groups, and the distances between the tensile and compressive strain gauges of each group of strain gauge groups and the central axis of the first elastic member are different.

4. The force and torque composite sensor according to claim 1, characterized in that: The second elastic member is a cylindrical structure, and the second elastic member is coaxial with the first elastic member.

5. The force and torque composite sensor according to claim 1, characterized in that: The surface area of ​​one end of the second elastic member used for connecting with the first elastic member is larger than the surface area of ​​one end of the first elastic member used for connecting with the second elastic member, and the tension and pressure test assembly is connected to the surface of one end of the second elastic member used for connecting with the first elastic member.

6. The force and torque composite sensor according to claim 5, characterized in that: It also includes a plurality of rigidity positioning members, and the second elastic member is provided with a plurality of rigidity adjustment holes for the rigidity positioning members to pass through, and the rigidity positioning members are connected to the second connecting assembly after passing through the rigidity adjustment holes.

7. The force and torque composite sensor according to claim 1, characterized in that: It includes a cavity, which runs through the first connecting component and the first elastic member. The cavity is a cylindrical structure. The cavity is coaxial with the first elastic member. The wall thickness of the first connecting component is more than twice the wall thickness of the first elastic member.

8. The force and torque composite sensor according to claim 7, characterized in that: The cavity also passes through the second elastic member and the second connecting component, and the wall thickness of the second connecting component is greater than the wall thickness of the second elastic member.

9. The force and torque composite sensor according to claim 7, characterized in that: The first elastic member is connected to the second elastic member through a third connecting member, the cavity passes through the third connecting member, and the wall thickness of the third connecting member is more than twice the wall thickness of the first elastic member.

Images