Strain type six-dimensional force sensor

Abstract

A strain type six-dimensional force sensor disclosed by the present invention comprises a six-dimensional force sensor main body, the six-dimensional force sensor main body comprises an elastic body, the lower surface of the elastic body is provided with an adapter, the inner surface of the elastic body is provided with an elastic beam, two sides of the elastic beam are both provided with pasters, and the pasters are connected with the adapter. A circuit board is arranged at the bottom end in the elastic body; through the design of a reinforced fixing mechanism, a six-dimensional force sensor main body can be installed, a bolt penetrates through a fixing hole, a contact internal thread abutting plate is rotatably installed and rotatably connected with the inner surface of the fixing hole, a wrench is clamped on the outer surface of a nut body to drive a lead screw to rotate, and the lead screw drives a moving frame to move on the outer surface of the lead screw when rotating. The movable frame moves and pulls the fixing hole to extrude and engage the outer surface of the bolt for reinforcing installation, the nut body is extruded and fixed again, and after the bolt is installed in the fixing hole, fixing installation is reinforced.

Description

Technical Field

[0001] The present invention belongs to the technical field of six-dimensional force sensors, and in particular relates to a strain type six-dimensional force sensor. Background Art

[0002] The existing six-dimensional force sensor is a newly developed sensor among force sensors. It can simultaneously convert multi-dimensional force / torque signals into electrical signals, and can be used to monitor forces and torques with changing directions and magnitudes. It is widely used in industrial production, medical and health care, military and other fields. At the same time, the six-dimensional force sensor is easy to install and use when in use, and the use is more stable, which improves the fixation of the six-dimensional force sensor when in use.

[0003] According to a strain gauge six-axis force sensor disclosed in the authorized patent application No. 202420268899.4, when in use, the existing six-axis force sensor is directly fixed on the corresponding equipment through the adapter at the bottom, and the upper surface is installed on the tool required for the work through the tool end connector. Therefore, during installation, the bolts are directly passed through the inside of the mounting hole for fixed installation. It is not convenient to strengthen the fixed installation after installation. After fixed installation, it is easy to produce certain deformation when subjected to force during use. When the six-axis force sensor is subjected to force for a long time, it is easy to cause the bolts to loosen and become unstable, and even cause it to fall off in severe cases, thereby affecting the problem of strengthening the fixation of the six-axis force sensor during use. For this reason, the present invention proposes a strain gauge six-axis force sensor. Summary of the invention

[0004] The purpose of the present invention is to provide a strain-type six-axis force sensor to solve the problem proposed in the above background technology that when the six-axis force sensor is installed and used, the bolts are passed through the inside of the mounting hole for fixed installation, and it is not convenient to strengthen the fixed installation after installation. After fixed installation, it is easy to produce certain deformation when subjected to force during use. When the six-axis force sensor is subjected to force for a long time, it is easy to cause the bolts to loosen and become unstable, and even cause it to fall off in serious cases.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a strain type six-dimensional force sensor, comprising a six-dimensional force sensor body, the six-dimensional force sensor body comprising an elastic body, an adapter is arranged on the lower surface of the elastic body, an elastic beam is arranged on the inner surface of the elastic body, patches are arranged on both sides of the elastic beam, a circuit board is arranged on the inner bottom end of the elastic body, a tool end connector is arranged in the middle of the elastic body, a fixing hole is opened at the end of the tool end connector, an upper cover plate is fixedly installed on the upper surface of the elastic body, the tool end connector passes through the upper cover plate, and the six-dimensional force sensor body is also provided with:

[0006] A reinforcing fixing mechanism, wherein the reinforcing fixing mechanism comprises a reinforcing fixing assembly arranged at the edge of the fixing hole, wherein the end of the reinforcing fixing assembly is located at the edge of the tool end connecting piece and a movable adjusting assembly is arranged, and the end of the movable adjusting assembly is located at the surface of the tool end connecting piece and an extrusion fixing assembly is arranged;

[0007] A drying and dehumidifying mechanism comprises a drying and dehumidifying component arranged inside an upper cover plate, and an inlet and outlet component is arranged on the upper surface of the upper cover plate.

[0008] Preferably, the reinforcing fixing assembly includes a groove opened at the edge of the fixing hole and located inside the tool end connector, one end of the interior of the groove is fixed with an internal thread abutment plate by means of a mounting screw, and the other end of the interior of the groove is provided with a tooth reinforcement plate.

[0009] Preferably, the movable adjustment assembly includes a movable adjustment groove opened at the edge of the tool end connecting piece, a screw rod is rotated at the inner middle position of the movable adjustment groove, the end of the screw rod is located on the surface of the tool end connecting piece and a nut body is provided, the outer surface of the screw rod is provided with a movable frame, and the end of the tooth reinforcement plate is fixed to the inner side of the movable frame by installing screws.

[0010] Preferably, both ends of the movable adjustment groove are provided with limit grooves, and both ends of the movable frame are integrally formed with limit blocks, and the limit blocks are slidably connected with the inner limit grooves.

[0011] Preferably, the extrusion fixing assembly includes an internal threaded ring fixed to the outer surface of the nut body by installing screws and located on the surface of the tool end connector, and the inner surface of the internal threaded ring is rotated with an external threaded extrusion reinforcement cover, and the inner surface of the external threaded extrusion reinforcement cover is engaged with the surface of the nut body.

[0012] Preferably, the desiccant and dehumidifying assembly comprises a desiccant storage tank opened at a middle position inside the upper cover plate, and an air hole is provided on the inner surface of the upper cover plate at the inner bottom end of the desiccant storage tank.

[0013] Preferably, the inlet and outlet assembly comprises an annular inlet and outlet opened on the upper surface of the upper cover plate, a protective cover plate is arranged inside the annular inlet and outlet, and a fixing screw is threadedly rotated at the edge of the protective cover plate.

[0014] Preferably, the annular inlet and outlet are communicated with the interior of the desiccant storage tank, and the protective cover plate is consistent with the internal structure of the annular inlet and outlet.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] By designing a strengthened fixing mechanism, when installing the six-dimensional force sensor body, the bolt passes through the inside of the fixing hole and is rotated to be installed and contact the inner surface of the internal thread abutment plate for rotational connection, and the wrench is engaged with the outer surface of the nut body to drive the screw rod to rotate. When the screw rod rotates, the moving frame is driven to move on the outer surface of the screw rod, and the moving frame is moved to pull the fixing hole to squeeze and bite the outer surface of the bolt for reinforced installation, and the nut body is squeezed and fixed again, and the bolt is installed inside the fixing hole to strengthen the fixed installation. When the six-dimensional force sensor body is frequently subjected to force, it is not easy to cause the bolt to loosen or fall off, thereby improving the enhanced fixation of the six-dimensional force sensor body during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the present invention;

[0018] Figure 2 It is a schematic diagram of the cross-sectional structure of the elastic body, the tool end connecting piece and the elastic beam of the present invention;

[0019] Figure 3 It is a schematic diagram of the elastic body and the adapter structure of the present invention;

[0020] Figure 4 It is a schematic diagram of the top view of the structure of the elastic body, the upper cover plate and the tool end connecting piece of the present invention;

[0021] Figure 5 For the present invention Figure 4 The enlarged structural diagram of part A in the middle;

[0022] Figure 6 It is a schematic diagram of the top structure of the upper cover plate, the air vents and the desiccant storage tank of the present invention;

[0023] Figure 7 It is a partial cross-sectional structural schematic diagram of the upper cover plate, the air vents and the desiccant storage tank of the present invention;

[0024] In the figure: 100, six-dimensional force sensor body; 101, elastic body; 102, upper cover plate; 1021, protective cover plate; 1022, annular inlet and outlet; 1023, fixing screws; 1024, air vents; 1025, desiccant storage tank; 103, tool end connector; 104, fixing hole; 1041, groove; 1042, tooth reinforcement plate; 1043, internal thread abutment plate; 1044, movable frame; 1045, movable adjustment groove; 1046, screw rod; 1047, internal thread ring; 1048, external thread extrusion reinforcement cover; 1049, nut body; 1040, limit block; 105, patch; 106, elastic beam; 107, circuit board; 108, adapter. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] See also Figures 1 to 7 The present invention provides a technical solution: a strain type six-dimensional force sensor, including a six-dimensional force sensor body 100, the six-dimensional force sensor body 100 includes an elastic body 101, an adapter 108 is arranged on the lower surface of the elastic body 101, a tool end connector 103 is arranged in the middle of the elastic body 101, and a fixing hole 104 is opened at the end of the tool end connector 103, the adapter 108 is contacted with the corresponding equipment to be used and fixedly installed, and the tool end connector 103 is contacted with the tool required for the work again, and the bolts are passed through the inside of the fixing hole 104 to fix it, so that the six-dimensional force sensor body 100 is fixedly installed for use, and the inner surface of the elastic body 101 is arranged There is an elastic beam 106, patches 105 are arranged on both sides of the elastic beam 106, a circuit board 107 is arranged at the inner bottom end of the elastic body 101, an upper cover plate 102 is fixedly installed on the upper surface of the elastic body 101, and a tool end connector 103 runs through the upper cover plate 102. When the tool used for work is subjected to force, it is transmitted to the elastic body 101 through the tool end connector 103, thereby causing the four groups of elastic beams 106 on the elastic body 101 to deform, causing the 1000Ω metal strain gauge attached to the four groups of elastic beams 106 to deform, and finally the output signal is changed by the six groups of Wheatstone bridges, thereby playing the role of measuring force changes. The six-dimensional force sensor body 100 is also provided with:

[0027] A strengthening fixing mechanism is provided, and the strengthening fixing mechanism includes a strengthening fixing component arranged at the edge of the fixing hole 104, the end of the strengthening fixing component is located at the edge of the tool end connecting piece 103 and a movable adjustment component is arranged, and the end of the movable adjustment component is located at the surface of the tool end connecting piece 103 and an extrusion fixing component is arranged. When the strengthened six-dimensional force sensor body 100 is installed and used, after the bolts are rotated and fixed inside the fixing hole 104, the strengthening fixing mechanism can strengthen the fixing of the bolts, thereby strengthening the fixation of the six-dimensional force sensor body 100 in use and improving the strengthened fixation of the six-dimensional force sensor body 100 when installed in use.

[0028] In order to facilitate the installation of the six-dimensional force sensor body 100 by placing the bolt inside the fixing hole 104 through the strengthened fixing component, in this embodiment, preferably, the strengthened fixing component includes a groove 1041 opened at the edge of the fixing hole 104 and located inside the tool end connector 103, and an internal threaded abutment plate 1043 is fixed to one end of the groove 1041 by an installation screw, and the bolt is embedded in the fixing hole 104 and contacts the inner surface of the internal threaded abutment plate 1043 when rotated to be rotationally connected, and a tooth reinforcement plate 1042 is provided at the other end of the groove 1041 until the tooth reinforcement plate 1042 is squeezed to contact the other surface of the bolt for clamping and fixing, which is convenient for strengthening the fixed installation.

[0029] In order to facilitate the movement, clamping and fixed installation of the tooth reinforcement plate 1042 through the movable adjustment component, in the present embodiment, preferably, the movable adjustment component includes a movable adjustment groove 1045 opened at the edge of the tool end connecting piece 103, and a screw rod 1046 is rotated at the inner middle position of the movable adjustment groove 1045. The end of the screw rod 1046 is located on the surface of the tool end connecting piece 103 and a nut body 1049 is provided, so that the screw rod 1046 can be rotated to adjust the rotation of the nut body 1049. A movable frame 1044 is provided on the outer surface of the screw rod 1046, and the end of the tooth reinforcement plate 1042 is fixed to the inner side of the movable frame 1044 by installing screws. When the screw rod 1046 is rotated, the movable frame 1044 is on the outer surface of the screw rod 1046 and moves to drive the tooth reinforcement plate 1042 to be clamped and fixed for installation, so as to facilitate the strengthening of the fixation after the bolt is installed.

[0030] In order to facilitate the stable movement and adjustment of the movable frame 1044, in the present embodiment, preferably, limit grooves are provided at both ends of the inner part of the movable adjustment groove 1045, and limit blocks 1040 are integrally formed at both ends of the movable frame 1044. The limit blocks 1040 are slidably connected with the inner limit position of the limit groove, so that the movable frame 1044 is driven to move within the limit position of the limit groove when being moved and adjusted, thereby stably moving and adjusting the movable frame 1044.

[0031] In order to facilitate the nut body 1049 to be squeezed and fixed by the squeezing and fixing assembly after adjustment, thereby fixing the screw rod 1046 and preventing it from rotating and loosening due to force, in this embodiment, preferably, the squeezing and fixing assembly includes an internal threaded ring 1047 fixed to the outer surface of the nut body 1049 on the surface of the tool end connector 103 by installing screws, and the inner surface of the internal threaded ring 1047 is rotated with an external threaded extrusion reinforcement cover 1048, and the inner surface of the external threaded extrusion reinforcement cover 1048 is engaged with the surface of the nut body 1049, so that the external threaded extrusion reinforcement cover 1048 is rotated on the surface of the internal threaded ring 1047 until the inner surface of the external threaded extrusion reinforcement cover 1048 is squeezed on the surface of the nut body 1049 to fix the nut body 1049, thereby reinforcing the nut body 1049 and the screw rod 1046 to prevent it from rotating and loosening due to force.

[0032] A drying and dehumidifying mechanism, and the drying and dehumidifying mechanism includes a drying and dehumidifying component arranged inside the upper cover plate 102, and an inlet and outlet component is arranged on the upper surface of the upper cover plate 102. When the six-dimensional force sensor body 100 is used after being fixed and installed, and the six-dimensional force sensor body 100 is in a dark and humid location and the inside is humid, the drying and dehumidifying mechanism can dry and dehumidify the inside of the six-dimensional force sensor body 100, which is not easy to cause the internal circuit board 107 of the six-dimensional force sensor body 107 to be damaged by moisture, thereby improving the convenience of installing and using the drying and dehumidifying of the six-dimensional force sensor body 100 and extending the service life of the six-dimensional force sensor body 100.

[0033] In order to facilitate the internal drying and dehumidification treatment of the elastomer 101 through the drying and dehumidification component and always keep it dry during use, in the present embodiment, preferably, the drying and dehumidification component includes a desiccant storage tank 1025 opened at the middle position inside the upper cover plate 102, and the inner bottom end of the desiccant storage tank 1025 is located on the inner surface of the upper cover plate 102 and is provided with air holes 1024, so that after the desiccant is stored inside the desiccant storage tank 1025, the inside of the elastomer 101 can be dried and dehumidified through the air holes 1024, and it is not easy to cause internal moisture damage.

[0034] In order to facilitate the storage of an appropriate amount of desiccant into the desiccant storage tank 1025 through the inlet and outlet assembly, and to facilitate the regular replacement of the desiccant inside, in the present embodiment, preferably, the inlet and outlet assembly includes an annular inlet and outlet 1022 opened on the upper surface of the upper cover plate 102, so as to facilitate the injection of an appropriate amount of desiccant into the desiccant storage tank 1025 through the annular inlet and outlet 1022, and to facilitate the removal and replacement of the desiccant after a period of use. A protective cover plate 1021 is provided inside the annular inlet and outlet 1022, and a fixing screw 1023 is threadedly rotated at the edge of the protective cover plate 1021. After the desiccant is injected into the desiccant storage tank 1025, the protective cover plate 1021 is closed inside the annular inlet and outlet 1022 and the fixing screw 1023 is rotated for fixing and protection.

[0035] The working principle and use process of the present invention: When using this strain-type six-dimensional force sensor, first, the adapter 108 is contacted with the corresponding equipment and fixedly installed, and then the tool end connector 103 is contacted with the tool required for the work, and the bolts are passed through the inside of the fixing hole 104 to fix it, so that the six-dimensional force sensor body 100 is fixedly installed and used. Therefore, when it is used after installation, when the tool used for the work is subjected to force, it is transmitted to the elastic body 101 through the tool end connector 103, thereby causing the four groups of elastic beams 106 on the elastic body 101 to deform, causing the 1000Ω metal strain gauge attached to the four groups of elastic beams 106 to deform, and finally the output signal is changed through the six groups of Wheatstone bridges, thereby playing the role of measuring force changes;

[0036] Then, when the six-dimensional force sensor body 100 is used after installation, the bolt passes through the interior of the fixing hole 104 and is rotated and fixed, so that the outer surface of the bolt is rotationally connected with the inner surface of the internal threaded abutment plate 1043. At this time, the wrench is engaged with the outer surface of the nut body 1049 to drive the screw rod 1046 to rotate. When the screw rod 1046 rotates, it drives the moving frame 1044 to move on the outer surface of the screw rod 1046. When the moving frame 1044 moves, the end drives the limit block 1040 to move stably in the internal limit position of the limit groove until it moves through the moving frame 1044. The fixing hole 104 is pulled and squeezed to bite the outer surface of the bolt for reinforcement installation, and the external thread extrusion reinforcement cover 1048 is rotated at the end of the internal thread ring 1047 to squeeze and fix the nut body 1049 to prevent the force rotation from loosening, so that the bolt is installed inside the fixing hole 104 to strengthen the fixed installation. When the six-dimensional force sensor body 100 is frequently subjected to force, it is not easy to cause the bolt to loosen or fall off, and the fixation of the six-dimensional force sensor body 100 is strengthened, and the fixation of the six-dimensional force sensor body 100 during use is improved.

[0037] Finally, before the six-dimensional force sensor body 100 is installed and used, an appropriate amount of desiccant can be injected into the desiccant storage tank 1025 through the annular inlet and outlet 1022, and the protective cover 1021 can be closed inside the annular inlet and outlet 1022 by rotating the fixing screws 1023 to fix the protective cover 1021. Therefore, when the six-dimensional force sensor body 100 is fixed and installed and used in a damp and dark place, when moisture appears inside the six-dimensional force sensor body 100, the desiccant passes through the air holes 1024 to dry and dehumidify the inside of the elastomer 101, so that the inside of the six-dimensional force sensor body 100 is always dry for use, and it is not easy to cause the internal circuit board 107 of the six-dimensional force sensor body 100 to be damaged by moisture, thereby improving the convenience of installation and use of the six-dimensional force sensor body 100 and extending the service life of the six-dimensional force sensor body 100.

[0038] Although embodiments of the present invention have been shown and described (see the above detailed description for details), it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A strain type six-dimensional force sensor, comprising a six-dimensional force sensor body (100), the six-dimensional force sensor body (100) comprising an elastic body (101), an adapter (108) being arranged on the lower surface of the elastic body (101), an elastic beam (106) being arranged on the inner surface of the elastic body (101), patches (105) being arranged on both sides of the elastic beam (106), a circuit board (107) being arranged at the bottom end of the elastic body (101), a tool end connector (103) being arranged in the middle of the elastic body (101), a fixing hole (104) being arranged at the end of the tool end connector (103), an upper cover plate (102) being fixedly mounted on the upper surface of the elastic body (101), the tool end connector (103) being passed through the upper cover plate (102), characterized in that: The six-dimensional force sensor body (100) is also provided with: A reinforcing fixing mechanism, wherein the reinforcing fixing mechanism comprises a reinforcing fixing component arranged at the edge of the fixing hole (104), an end of the reinforcing fixing component being located at the edge of the tool end connecting piece (103) and a movable adjusting component being arranged, and an end of the movable adjusting component being located at the surface of the tool end connecting piece (103) and an extrusion fixing component being arranged; A drying and dehumidifying mechanism, wherein the drying and dehumidifying mechanism comprises a drying and dehumidifying component arranged inside an upper cover plate (102), wherein an inlet and outlet component is arranged on the upper surface of the upper cover plate (102).

2. A strain gauge six-axis force sensor according to claim 1, characterized in that: The reinforcing fixing assembly comprises a groove (1041) opened at the edge of the fixing hole (104) and located inside the tool end connecting piece (103); an internal thread abutment plate (1043) is fixed to one end of the groove (1041) by means of a mounting screw, and a tooth reinforcement plate (1042) is provided at the other end of the groove (1041).

3. A strain gauge six-axis force sensor according to claim 2, characterized in that: The movable adjustment component comprises a movable adjustment groove (1045) opened at the edge of the tool end connecting piece (103), a screw rod (1046) is rotated at the inner middle position of the movable adjustment groove (1045), the end of the screw rod (1046) is located on the surface of the tool end connecting piece (103) and is provided with a nut body (1049), the outer surface of the screw rod (1046) is provided with a movable frame (1044), and the end of the tooth reinforcement plate (1042) is fixed to the inner side of the movable frame (1044) by installing screws.

4. A strain gauge six-axis force sensor according to claim 3, characterized in that: The movable adjustment groove (1045) has limit slots at both ends thereof, and limit blocks (1040) are integrally formed at both ends of the movable frame (1044), and the limit blocks (1040) are slidably connected to the inner limit slots.

5. The strain gauge six-axis force sensor according to claim 3, characterized in that: The extrusion fixing assembly includes an internal threaded ring (1047) fixed to the outer surface of a nut body (1049) by installing screws and located on the surface of the tool end connector (103); an external threaded extrusion reinforcement cover (1048) is rotated on the inner surface of the internal threaded ring (1047); and the inner surface of the external threaded extrusion reinforcement cover (1048) is engaged with the surface of the nut body (1049).

6. The strain gauge six-axis force sensor according to claim 1, characterized in that: The desiccant dehumidification component comprises a desiccant storage tank (1025) opened at the middle position inside the upper cover plate (102), and the inner bottom end of the desiccant storage tank (1025) is located on the inner surface of the upper cover plate (102) and is provided with a vent hole (1024).

7. The strain gauge six-axis force sensor according to claim 6, characterized in that: The inlet and outlet assembly comprises an annular inlet and outlet (1022) opened on the upper surface of the upper cover plate (102), a protective cover plate (1021) is arranged inside the annular inlet and outlet (1022), and a fixing screw (1023) is threadedly rotated at the edge of the protective cover plate (1021).

8. The strain gauge six-axis force sensor according to claim 7, characterized in that: The annular inlet and outlet (1022) is in communication with the interior of the desiccant storage tank (1025), and the protective cover plate (1021) is consistent with the internal structure of the annular inlet and outlet (1022).

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