Combined three-dimensional force sensor

Abstract

The invention discloses a combined three-dimensional force sensor, and relates to the technical field of sensors, the combined three-dimensional force sensor comprises a Z-axis force measuring frame and a controller, a Z-axis patch is installed in a first patch groove, an upper fixing seat is fixedly connected to the bottom surface of a fixing rod, and a second patch groove and a third patch groove are formed in the outer wall of a sensing seat; and a Y-axis patch and an X-axis patch are installed in the third patch groove and the third patch groove correspondingly, a buffer protection assembly is arranged on the outer wall of the induction base, a lower fixing base is fixedly connected to the bottom face of the induction base, a carving knife is installed in the lower fixing base, and a clamping assembly is arranged on the lower fixing base. The combined three-dimensional force sensor disclosed by the invention has the technical effects that the magnitude of three-dimensional force sensing carving force is measured in real time, the magnitude of force applied by force application equipment is controlled, damage to a carving knife and a carved object is avoided, the carving effect is ensured, buffering and reverse impulsive force are formed, the protection effect is good, and the three-dimensional force measurement precision is ensured.

Description

Technical Field

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

[0002] The three-dimensional force sensor is also called a three-axis force sensor, a three-component force sensor, a three-axis weighing sensor, a three-component weighing sensor, a three-component force measuring balance, a multi-dimensional force sensor, etc. It can simultaneously detect the changes in force values ​​in three directions in space, the X-axis, the Y-axis, and the Z-axis (vertical tension and pressure), and output three sets of voltage signals at the same time. The sensor has three optional measurement loads (per channel), and the data values ​​can be displayed through a multi-channel display instrument.

[0003] In engraving or similar application scenarios that require measuring three-dimensional forces, traditional engraving knives only perform mechanical movements according to the instructions given by the program and are unable to sense the amount of force the engraving knife exerts on the object being engraved. Due to the different materials of the engraved object, the forces exerted on the engraving knife will be different. When the force is too large, the engraving knife and the object being engraved may be damaged, which will affect the engraving effect. Summary of the invention

[0004] The invention discloses a combined three-dimensional force sensor, which aims to solve the technical problem that different materials of engraved objects will cause different forces on the engraving knife. When the force is too large, the engraving knife and the engraved object may be damaged, which will affect the engraving effect.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: A combined three-dimensional force sensor comprises a Z-axis force frame and a controller, wherein a plurality of mounting holes are provided on the side wall of the Z-axis force frame, and a patch slot one is provided inside the Z-axis force frame, a Z-axis patch is installed inside the patch slot one, a fixing rod is fixedly installed on the side of the Z-axis force frame, signal lines are installed inside the Z-axis force frame and the fixing rod, an upper fixing seat is fixedly connected to the bottom surface of the fixing rod, a sensing seat is fixedly connected to the bottom surface of the upper fixing seat, a patch slot two and a patch slot three are provided on the outer wall of the sensing seat, a Y-axis patch and an X-axis patch are installed inside the patch slot three and the patch slot three respectively, a buffer protection component is provided on the outer wall of the sensing seat, and a lower fixing seat is fixedly connected to the bottom surface of the sensing seat, a carving knife is installed inside the lower fixing seat, and a clamping component is provided on the lower fixing seat.

[0006] By providing a Z-axis force measuring frame, a mounting hole, a patch slot one, a Z-axis patch, a fixing rod, a signal line, an upper fixing seat, a sensing seat, a patch slot two, a Y-axis patch, a patch slot three, an X-axis patch, a lower fixing seat, a carving knife, a clamping component and a buffer protection component, the Z-axis patch is used to sense and measure the force condition in the Z-axis direction, the Y-axis patch is used to sense and measure the force condition in the Y-axis direction, and the X-axis patch is used to sense and measure the force condition in the X-axis direction, so as to realize the measurement of three-dimensional force, and sense the size of the carving force of the carving knife in real time. The controller controls the size of the force by controlling the devices applying force in various directions according to the force data calculation, and the mutual influence of the forces in various directions on the force measuring part is small. When the carving force is too large, the clamping component is adjusted to loosen the carving knife to avoid damage to the carving knife and the object to be carved, thereby ensuring the carving effect. The buffer protection component forms a buffer and reverse impact force, and the protection effect is good, thereby ensuring the accuracy of three-dimensional force measurement.

[0007] In a preferred embodiment, the outer wall of the Z-axis force frame is fixedly connected to a limiting clamp, and the limiting clamp includes a fixed plate and a movable plate. The fixed plate is fixedly connected to the outer wall of the Z-axis force frame, and the movable plate is slidably arranged on the outer wall of the Z-axis force frame. The fixed plate and the movable plate are arranged on both sides of the fixed rod, and threaded holes are opened inside the fixed plate and the movable plate, and fastening screws are screwed inside the threaded holes.

[0008] By setting a limit clamp and a fastening screw, the limit clamp can be separated from the fixed rod by taking out the fastening screw, and the Z-axis force frame and the sensing seat can be used separately. After taking out the fastening screw, the fixed rod can be rotated 360° in the horizontal direction, and the angles of the X and Y axes can be adjusted arbitrarily to meet different usage needs.

[0009] In a preferred embodiment, the clamping assembly includes a driving motor, which is fixedly connected to the outer wall of the lower fixed seat, and the power output shaft of the driving motor is connected to a connecting rod through a coupling transmission, and the end of the connecting rod away from the driving motor is fixedly connected to a worm, and the outer wall of the lower fixed seat is provided with a rotation groove, the worm is rotatably arranged in the rotation groove, and the surface of the worm is meshed with a worm wheel, and the worm wheel is rotatably arranged in the lower fixed seat; the outer walls of both sides of the worm wheel are respectively fixedly connected with a screw rod 1 and a screw rod 2, and the surfaces of the screw rod 1 and the screw rod 2 are both threadedly connected with clamping plates, and the outer walls of the two clamping plates on one side close to each other are against the outer wall of the carving knife; the bottom ends of the clamping plates are provided with guide holes, and the lower fixed seat The inner walls on both sides of the seat are fixedly connected with side fixing plates, and both ends of the outer wall on the side where the two side fixing plates are close to each other are fixedly connected with guide rods, the clamping plate is slidably set on the surface of the guide rod through the guide hole, and the guide rod is set below the engraving tool, and the outer walls on the side where the two clamping plates are away from each other are fixedly connected with spring 1, and one end of the spring 1 away from the clamping plate is fixedly connected to the outer wall of the side fixing plate; the top surface of the engraving tool is fixedly connected with spring 2, and the top end of spring 2 is fixedly connected to the inner wall of the top surface of the lower fixed seat, and the outer walls on both sides of the top of the engraving tool are fixedly connected with positioning seats, and the top surface of the positioning seats is fixedly connected with positioning rods, and the inner wall of the top surface of the lower fixed seat is provided with a positioning hole, and the positioning rod is slidably set in the positioning hole.

[0010] By providing a clamping assembly, when the engraving force is too large, the controller controls the driving motor, the clamping plate separates from the engraving knife, and the engraving knife moves upward to remove the excessive engraving force, thereby avoiding damage to the engraving knife and the object being engraved and ensuring the engraving effect.

[0011] In a preferred embodiment, the patch slot two is arranged above the patch slot three, and the patch slot two and the patch slot three are arranged at 90° in the horizontal direction. A plurality of buffer protection components are arranged on the outer wall of the sensing seat, and the plurality of buffer protection components are staggered between the patch slot two and the patch slot three and arranged on the sensing seat, and a protective shell is provided on the outer side of the sensing seat; the buffer protection component includes a movable rod, a side of the movable rod away from the sensing seat is fixedly connected to the inner wall of the protective shell, the outer wall of the sensing seat is fixedly connected to the outer sleeve seat, the movable rod is slidably arranged inside the outer sleeve seat, a side of the movable rod close to the sensing seat is fixedly connected to a spring three, an end of the spring three away from the movable rod is fixedly connected to the inner wall of the outer sleeve seat close to the sensing seat, and the movable rod is close to the movable rod. The outer walls on both sides of one end of the rod are fixedly connected with a slider 1, and the side wall of the outer sleeve is provided with a slide groove 1, and the slider 1 is slidably arranged inside the slide groove 1; the outer walls on both sides of the movable rod are fixedly connected with a rack 1, the surface of the rack 1 is meshed with a gear, the surface of the gear is meshed with a rack 2, and the outer wall of the rack 2 on the side away from the sensing seat is fixedly connected with a recoil pad; the outer wall of the sensing seat is fixedly connected with a plurality of sliding frames, and each outer sleeve is provided with sliding frames on both sides, and a slider 2 is fixedly connected to the bottom of the outer wall on the side of the rack 2 close to the sliding frame, and a slide groove 2 is provided on the outer wall of the sliding frame, and the slider 2 is slidably arranged in the slide groove 2, and a spring 4 is fixedly connected to the bottom surface of the slider 2, and the end of the spring 4 away from the slider 2 is fixedly connected to the outer wall of the sensing seat.

[0012] By providing a protective shell and a buffer protection component, the protective shell is used for protection during the engraving process. When the protective shell is subjected to external force, the spring is squeezed to form a buffer protection, and the recoil pad is against the inner wall of the protective shell to form a reverse impact force, so that the protection effect is good and the accuracy of three-dimensional force measurement is guaranteed.

[0013] From the above, it can be seen that the combined three-dimensional force sensor provided by the present invention has the technical effect of measuring the three-dimensional force in real time to sense the engraving force and control the force applied by the force-applying device, thereby avoiding damage to the engraving knife and the object being engraved, ensuring the engraving effect, forming a buffer and reverse impact, having a good protective effect, and ensuring the accuracy of three-dimensional force measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the overall structure of a combined three-dimensional force sensor proposed by the present invention.

[0015] Figure 2 This is a side view of a limit clamping plate structure of a combined three-dimensional force sensor proposed by the present invention.

[0016] Figure 3 This is a side structural sectional view of a protective shell of a combined three-dimensional force sensor proposed by the present invention.

[0017] Figure 4The figure is a side structural sectional view of a lower fixing seat of a combined three-dimensional force sensor proposed by the present invention.

[0018] Figure 5 This is a side view of a clamping plate structure of a combined three-dimensional force sensor proposed by the present invention.

[0019] Figure 6 This is a bottom view of the protective shell structure of a combined three-dimensional force sensor proposed by the present invention.

[0020] Figure 7 The present invention provides a cross-sectional view of the side structure of a buffer protection component of a combined three-dimensional force sensor.

[0021] In the figure: 1. Z-axis force frame; 2. Mounting hole; 3. Slot 1; 4. Z-axis patch; 5. Limiting clamp; 6. Fixing rod; 7. Fastening screw; 8. Signal line; 9. Upper fixing seat; 10. Induction seat; 11. Slot 2; 12. Y-axis patch; 13. Slot 3; 14. X-axis patch; 15. Lower fixing seat; 16. Engraving knife; 17. Clamping assembly; 1701. Driving motor; 1702. Coupling rod; 1703. Worm; 1704. Worm wheel; 1705. Screw 1; 1706. Screw 2; 1707. Clamping plate; 1708. Side fixing plate; 1709, guide rod; 1710, spring one; 1711, spring two; 1712, positioning seat; 1713, positioning rod; 1714, positioning hole; 18, protective shell; 19, buffer protection assembly; 1901, movable rod; 1902, outer sleeve seat; 1903, spring three; 1904, slider one; 1905, slide groove one; 1906, rack one; 1907, gear; 1908, rack two; 1909, recoil pad; 1910, sliding frame; 1911, spring four; 1912, slider two; 1913, slide groove two. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0023] The combined three-dimensional force sensor disclosed in the present invention is mainly used in scenarios where different materials of the engraved object will cause different forces on the engraving knife. When the force is too large, the engraving knife and the engraved object may be damaged, which will affect the engraving effect.

[0024] Reference Figure 1-Figure 7A combined three-dimensional force sensor comprises a Z-axis force frame 1 and a controller, a side wall of the Z-axis force frame 1 is provided with a plurality of mounting holes 2, and a patch slot 1 3 is provided inside the Z-axis force frame 1, a Z-axis patch 4 is installed inside the patch slot 1 3, a fixing rod 6 is fixedly installed on the side of the Z-axis force frame 1, a signal line 8 is installed inside the Z-axis force frame 1 and the fixing rod 6, an upper fixing seat 9 is fixedly connected to the bottom surface of the fixing rod 6, a sensing seat 10 is fixedly connected to the bottom surface of the upper fixing seat 9, a patch slot 2 11 and a patch slot 3 13 are provided on the outer wall of the sensing seat 10, a Y-axis patch 12 and an X-axis patch 14 are installed inside the patch slot 3 13 and the patch slot 3 13 respectively, a buffer protection component 19 is provided on the outer wall of the sensing seat 10, a lower fixing seat 15 is fixedly connected to the bottom surface of the sensing seat 10, a carving knife 16 is installed inside the lower fixing seat 15, and a clamping component 17 is provided on the lower fixing seat 15.

[0025] Specifically, the Z-axis force measuring frame 1 is fixed to the equipment by bolts. When the engraving tool 16 is working, the Z-axis patch 4 is used to sense and measure the force in the Z-axis direction, the Y-axis patch 12 is used to sense and measure the force in the Y-axis direction, and the X-axis patch 14 is used to sense and measure the force in the X-axis direction, so as to realize the measurement of three-dimensional force, and sense the engraving force of the engraving tool 16 in real time. The controller controls the force by controlling the devices applying force in various directions according to the force data calculation. The mutual influence of the forces in various directions on the force measuring part is small. When the engraving force is too large, the clamping component 17 is adjusted to loosen the engraving tool 16, and the engraving tool 16 can move up and down to avoid damage to the engraving tool and the object to be engraved, thereby ensuring the engraving effect. During the engraving process, the protective shell 18 is used to protect the sensing seat 10 and the Y-axis patch 12 and the X-axis patch 14 therein. When the protective shell 18 is subjected to external force, the buffer protection component 19 forms a buffer and a reverse impact force, so as to achieve a good protection effect and ensure the accuracy of three-dimensional force measurement.

[0026] It should be noted that the controller is not shown in the figure and is a common control mechanism in the prior art, which will not be described in detail here.

[0027] Reference Figure 1 , Figure 2 and Figure 3 In a preferred embodiment, the outer wall of the Z-axis force frame 1 is fixedly connected to a limit clamp 5, and the limit clamp 5 includes a fixed plate and a movable plate. The fixed plate is fixedly connected to the outer wall of the Z-axis force frame 1, and the movable plate is slidably arranged on the outer wall of the Z-axis force frame 1. The fixed plate and the movable plate are arranged on both sides of the fixed rod 6, and threaded holes are opened inside the fixed plate and the movable plate, and fastening screws 7 are screwed inside the threaded holes.

[0028] Specifically, by taking out the fastening screw 7, the limit clamp 5 can be separated from the fixed rod 6, and the Z-axis force frame 1 and the sensing seat 10 can be used separately. At the same time, after taking out the fastening screw 7, the fixed rod 6 can be rotated 360° in the horizontal direction, and the angles of the X and Y axes can be adjusted arbitrarily to meet different usage needs.

[0029] Reference Figure 3 , Figure 4 and Figure 5 In a preferred embodiment, the clamping assembly 17 includes a driving motor 1701, which is fixedly connected to the outer wall of the lower fixed seat 15, and the power output shaft of the driving motor 1701 is connected to a connecting rod 1702 through a coupling transmission, and the connecting rod 1702 is fixedly connected to a worm 1703 at one end away from the driving motor 1701, and a rotating groove is opened on the outer wall of the lower fixed seat 15, and the worm 1703 is rotatably arranged in the rotating groove, and the worm 170 3 is meshed with a worm wheel 1704, which is rotatably arranged in the lower fixed seat 15; the outer walls of both sides of the worm wheel 1704 are respectively fixedly connected with a screw rod 1705 and a screw rod 2 1706, and the surfaces of the screw rods 1705 and 1706 are both threadedly connected with a clamping plate 1707, and the outer walls of the two clamping plates 1707 on one side close to each other are against the outer wall of the carving knife 16; the bottom ends of the clamping plates 1707 are provided with guide holes, and the lower fixed seat 15 The inner walls on both sides of the two side fixing plates 1708 are fixedly connected, and the two ends of the outer wall on the side where the two side fixing plates 1708 are close to each other are fixedly connected to the guide rod 1709, and the clamping plate 1707 is slidably set on the surface of the guide rod 1709 through the guide hole, and the guide rod 1709 is set below the engraving knife 16. The outer walls on the side where the two clamping plates 1707 are away from each other are fixedly connected to the spring 1710, and the end of the spring 1710 away from the clamping plate 1707 is fixed Connected to the outer wall of the side fixed plate 1708; the top surface of the engraving knife 16 is fixedly connected with a spring 2 1711, the top end of the spring 2 1711 is fixedly connected to the inner wall of the top surface of the lower fixed seat 15, the outer walls on both sides of the top end of the engraving knife 16 are fixedly connected with a positioning seat 1712, the top surface of the positioning seat 1712 is fixedly connected with a positioning rod 1713, and the inner wall of the top surface of the lower fixed seat 15 is provided with a positioning hole 1714, and the positioning rod 1713 is slidably set in the positioning hole 1714.

[0030] Specifically, when the carving force is too large, the controller receives a signal and controls the driving motor 1701. The driving motor 1701 drives the connecting rod 1702 and the worm 1703 to rotate. The worm 1703 is meshed with the worm wheel 1704, so that the screw 1 1705 and the screw 2 1706 rotate synchronously. The two clamping plates 1707 move away from each other and disengage from the engraving tool 16. The engraving tool 16 moves upward and squeezes the spring 2 1711. The positioning rod 1713 slides along the positioning hole 1714 to remove the excessive carving force, avoid damage to the engraving tool and the engraved object, and ensure the engraving effect. After the carving force is restored, the spring 2 1711 resets and stretches to make the engraving tool 16 return to its initial position. The driving motor 1701 can be driven in reverse, and the clamping plate 1707 re-clamps and fixes the engraving tool 16 and continues the engraving operation.

[0031] It should be noted that the thread structures of the screw rod 1 1705 and the screw rod 2 1706 are in opposite directions. When the driving motor 1701 is driven, the two clamping plates 1707 move in opposite directions.

[0032] Reference Figure 1 , Figure 3 , Figure 6 and Figure 7In a preferred embodiment, the patch slot 2 11 is arranged above the patch slot 3 13, and the patch slot 2 11 and the patch slot 3 13 are arranged at 90 degrees in the horizontal direction. A plurality of buffer protection components 19 are arranged on the outer wall of the sensing seat 10. The plurality of buffer protection components 19 are arranged on the sensing seat 10 at an interval between the patch slot 2 11 and the patch slot 3 13. A protective shell 18 is provided on the outer side of the sensing seat 10. The buffer protection component 19 includes a movable rod 1901, and the movable rod 1901 is away from the sensing seat 1 0 is fixedly connected to the inner wall of the protective shell 18, the outer wall of the sensing seat 10 is fixedly connected to the outer sleeve seat 1902, the movable rod 1901 is slidably arranged inside the outer sleeve seat 1902, the side of the movable rod 1901 close to the sensing seat 10 is fixedly connected to the spring three 1903, the end of the spring three 1903 away from the movable rod 1901 is fixedly connected to the inner wall of the outer sleeve seat 1902 close to the sensing seat 10, and the outer walls of both sides of the end of the movable rod 1901 close to the movable rod 1901 are fixedly connected to the outer sleeve seat 1902. Slider 1904 and the side wall of the outer sleeve seat 1902 are provided with a slide groove 1905, and the slider 1904 is slidably arranged inside the slide groove 1905; the outer walls on both sides of the movable rod 1901 are fixedly connected with a rack 1906, the surface of the rack 1906 is meshed with a gear 1907, the surface of the gear 1907 is meshed with a rack 2 1908, and the outer wall of the rack 2 1908 away from the induction seat 10 is fixedly connected with a recoil pad 1909; the outer wall of the induction seat 10 is fixedly connected with a plurality of slides The movable frame 1910 has sliding frames 1910 on both sides of each outer sleeve seat 1902, and a slider 1912 is fixedly connected to the bottom of the outer wall of the rack 1908 close to the sliding frame 1910. A slide groove 1913 is provided on the outer wall of the sliding frame 1910. The slider 1912 is slidably arranged in the slide groove 1913, and a spring 1911 is fixedly connected to the bottom surface of the slider 1912. The end of the spring 1911 away from the slider 1912 is fixedly connected to the outer wall of the sensing seat 10.

[0033] Specifically, during the engraving process, the protective shell 18 is used to protect the sensing seat 10 and the Y-axis patch 12 and the X-axis patch 14 therein. When the protective shell 18 is subjected to external force, the movable rod 1901 slides along the inside of the outer sleeve seat 1902 and squeezes the spring three 1903 to form an effective buffer protection, and the rack one 1906 is meshed with the gear 1907, and the gear 1907 is meshed with the rack two 1908, so that the gear 1907 rotates and drives the rack two 1908 to move along the sliding frame 1910 toward the side of the protective shell 18. At the same time, the spring four 1911 is stretched, and the recoil pad 1909 is against the inner wall of the protective shell 18 to form a reverse impact, with good protection effect, ensuring the accuracy of three-dimensional force measurement. After the external force stops acting, the spring three 1903 and the spring four 1911 are reset, so that the movable rod 1901 and the recoil pad 1909 are reset.

[0034] Working principle: The Z-axis force frame 1 is fixed to the equipment by bolts. When the engraving tool 16 is working, the Z-axis patch 4 is used to sense and measure the force in the Z-axis direction, the Y-axis patch 12 is used to sense and measure the force in the Y-axis direction, and the X-axis patch 14 is used to sense and measure the force in the X-axis direction, so as to realize the measurement of three-dimensional force and sense the engraving force of the engraving tool 16 in real time. The controller calculates according to the force data and controls the force by controlling the devices applying force in each direction. The mutual influence of the forces in each direction on the force measuring part The sound is small. When the engraving force is too large, the controller receives the signal and controls the driving motor 1701. The driving motor 1701 drives the connecting rod 1702 and the worm 1703 to rotate. The worm 1703 is meshed with the worm wheel 1704, so that the screw rod 1705 and the screw rod 2 1706 rotate synchronously. The two clamping plates 1707 move away from each other and disengage from the engraving knife 16. The engraving knife 16 moves upward and squeezes the spring 2 1711. The positioning rod 1713 slides along the positioning hole 1714 , remove the excessive engraving force to avoid damage to the engraving knife and the object being engraved, and ensure the engraving effect. After the engraving force is restored, the spring 2 1711 is reset and stretched to make the engraving knife 16 return to its initial position, and the driving motor 1701 is driven in reverse. The clamping plate 1707 re-clamps and fixes the engraving knife 16 and continues the engraving operation. During the engraving process, the protective shell 18 is used to protect the sensor seat 10 and the Y-axis patch 12 and the X-axis patch 14 therein. When the protective shell 18 is subjected to external force, the movable rod 1901 moves along The inner part of the outer sleeve seat 1902 slides and squeezes the spring three 1903 to form an effective buffer protection, the rack one 1906 is meshed with the gear 1907, and the gear 1907 is meshed with the rack two 1908, so that the gear 1907 rotates and drives the rack two 1908 to move along the sliding frame 1910 toward the side of the protective shell 18, and at the same time, the spring four 1911 is stretched, and the recoil pad 1909 is against the inner wall of the protective shell 18 to form a reverse impact, which has a good protection effect and ensures the accuracy of three-dimensional force measurement.

[0035] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A combined three-dimensional force sensor, comprising a Z-axis force frame (1) and a controller, characterized in that: The side wall of the Z-axis force measuring frame (1) is provided with a plurality of mounting holes (2), and the interior of the Z-axis force measuring frame (1) is provided with a patch slot one (3), the interior of the patch slot one (3) is provided with a Z-axis patch (4), a fixing rod (6) is fixedly installed on the side of the Z-axis force measuring frame (1), a signal line (8) is installed inside the Z-axis force measuring frame (1) and the fixing rod (6), an upper fixing seat (9) is fixedly connected to the bottom surface of the fixing rod (6), and a sensing seat (10) is fixedly connected to the bottom surface of the upper fixing seat (9), The outer wall of the sensing seat (10) is provided with a second patch slot (11) and a third patch slot (13), the insides of the third patch slot (13) and the third patch slot (13) are respectively installed with a Y-axis patch (12) and an X-axis patch (14), the outer wall of the sensing seat (10) is provided with a buffer protection component (19), and the bottom surface of the sensing seat (10) is fixedly connected to a lower fixing seat (15), the inside of the lower fixing seat (15) is installed with a carving knife (16), and the lower fixing seat (15) is provided with a clamping component (17).

2. A combined three-dimensional force sensor according to claim 1, characterized in that: The outer wall of the Z-axis force frame (1) is fixedly connected to a limit clamp (5), the limit clamp (5) comprising a fixed plate and a movable plate, the fixed plate is fixedly connected to the outer wall of the Z-axis force frame (1), the movable plate is slidably arranged on the outer wall of the Z-axis force frame (1), the fixed plate and the movable plate are arranged on both sides of the fixed rod (6), and threaded holes are provided inside the fixed plate and the movable plate, and fastening screws (7) are screwed inside the threaded holes.

3. A combined three-dimensional force sensor according to claim 1, characterized in that: The patch slot two (11) is arranged above the patch slot three (13), and the patch slot two (11) and the patch slot three (13) are arranged at 90 degrees in the horizontal direction. A plurality of buffer protection components (19) are arranged on the outer wall of the sensing seat (10). The plurality of buffer protection components (19) are arranged on the sensing seat (10) in a staggered manner with the patch slot two (11) and the patch slot three (13). The outer side of the sensing seat (10) is provided with a protective shell (18).

4. A combined three-dimensional force sensor according to claim 1, characterized in that: The clamping assembly (17) comprises a driving motor (1701), the driving motor (1701) being fixedly connected to the outer wall of the lower fixed seat (15), the power output shaft of the driving motor (1701) being connected to a connecting rod (1702) via a coupling transmission, one end of the connecting rod (1702) away from the driving motor (1701) being fixedly connected to a worm (1703), a rotation groove being provided on the outer wall of the lower fixed seat (15), the worm (1703) being rotatably arranged in the rotation groove, and a worm wheel (1704) being meshed on the surface of the worm (1703), and the worm wheel (1704) being rotatably arranged in the lower fixed seat (15).

5. A combined three-dimensional force sensor according to claim 4, characterized in that: The outer walls on both sides of the worm wheel (1704) are respectively fixedly connected to a screw rod 1 (1705) and a screw rod 2 (1706); the surfaces of the screw rod 1 (1705) and the screw rod 2 (1706) are both threadedly connected to a clamping plate (1707); the outer walls of the two clamping plates (1707) that are close to each other abut against the outer wall of the carving knife (16).

6. A combined three-dimensional force sensor according to claim 5, characterized in that: Both ends of the bottom of the clamping plate (1707) are provided with guide holes, and the inner walls on both sides of the lower fixed seat (15) are fixedly connected to the side fixing plates (1708), and both ends of the outer walls on the side close to each other of the two side fixing plates (1708) are fixedly connected to the guide rods (1709), and the clamping plate (1707) is slidably arranged on the surface of the guide rod (1709) through the guide holes, and the guide rod (1709) is arranged below the engraving knife (16), and the outer walls on the side away from each other of the two clamping plates (1707) are fixedly connected to the spring 1 (1710), and the end of the spring 1 (1710) away from the clamping plate (1707) is fixedly connected to the outer wall of the side fixing plate (1708).

7. A combined three-dimensional force sensor according to claim 6, characterized in that: The top surface of the engraving knife (16) is fixedly connected to a second spring (1711), the top end of the second spring (1711) is fixedly connected to the inner wall of the top surface of the lower fixed seat (15), the outer walls on both sides of the top end of the engraving knife (16) are fixedly connected to positioning seats (1712), the top surface of the positioning seat (1712) is fixedly connected to a positioning rod (1713), the inner wall of the top surface of the lower fixed seat (15) is provided with a positioning hole (1714), and the positioning rod (1713) is slidably arranged in the positioning hole (1714).

8. A combined three-dimensional force sensor according to claim 1, characterized in that: The buffer protection component (19) comprises a movable rod (1901), wherein a side of the movable rod (1901) away from the sensing seat (10) is fixedly connected to the inner wall of the protective shell (18), an outer sleeve seat (1902) is fixedly connected to the outer wall of the sensing seat (10), the movable rod (1901) is slidably arranged inside the outer sleeve seat (1902), a side of the movable rod (1901) close to the sensing seat (10) is fixedly connected to a spring three (1903), an end of the spring three (1903) away from the movable rod (1901) is fixedly connected to an inner wall of a side of the outer sleeve seat (1902) close to the sensing seat (10), a slider one (1904) is fixedly connected to the outer walls of both sides of the end of the movable rod (1901) close to the movable rod (1901), a side wall of the outer sleeve seat (1902) is provided with a slide groove one (1905), and the slider one (1904) is slidably arranged inside the slide groove one (1905).

9. A combined three-dimensional force sensor according to claim 8, characterized in that: The outer walls on both sides of the movable rod (1901) are fixedly connected to rack 1 (1906), the surface of rack 1 (1906) is meshed with a gear (1907), the surface of gear (1907) is meshed with rack 2 (1908), and the outer wall of rack 2 (1908) on the side away from the induction seat (10) is fixedly connected to a recoil pad (1909).

10. A combined three-dimensional force sensor according to claim 9, characterized in that: The outer wall of the sensing seat (10) is fixedly connected to a plurality of sliding frames (1910), and sliding frames (1910) are arranged on both sides of each outer sleeve seat (1902). A sliding block (1912) is fixedly connected to the bottom of the outer wall of the second rack (1908) close to the sliding frame (1910), and a sliding groove (1913) is provided on the outer wall of the sliding frame (1910). The sliding block (1912) is slidably arranged in the sliding groove (1913), and a spring (1911) is fixedly connected to the bottom surface of the sliding block (1912), and the end of the spring (1911) away from the sliding block (1912) is fixedly connected to the outer wall of the sensing seat (10).

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