A combined three-dimensional force sensor

Abstract

The application 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, the inside of a patch slot one is provided with a Z-axis patch, the bottom surface of a fixed rod is fixedly connected with an upper fixed seat, the outer wall of a sensing seat is provided with a patch slot two and a patch slot three, the inside of the patch slot three and the patch slot three is respectively provided with a Y-axis patch and an X-axis patch, the outer wall of the sensing seat is provided with a buffer protection assembly, the bottom surface of the sensing seat is fixedly connected with a lower fixed seat, the inside of the lower fixed seat is provided with a carving knife, and the lower fixed seat is provided with a clamping assembly.The combined three-dimensional force sensor has the technical effects that the three-dimensional force can be measured in real time, the force size of a force applying device can be controlled, the carving knife and the carved object are prevented from being damaged, the carving effect is ensured, the buffer and reverse impact force are formed, the protection effect is good, and the three-dimensional force measurement precision is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sensors, in particular to a combined three-dimensional force sensor. BACKGROUND

[0002] The three-dimensional force sensor is also called three-axis force sensor, three-component force sensor, three-axis load cell, three-component load cell, three-component force balance, multi-dimensional force sensor, etc. It can simultaneously detect the force value changes in three directions in space, X-axis, Y-axis and Z-axis (vertical tension and compression force), and simultaneously output three groups of voltage signals. The sensor has three types of measurement load (per channel) and can display data values through a multi-channel display instrument.

[0003] In the application scenarios of engraving or similar applications requiring three-dimensional force measurement, the traditional engraving tool only mechanically moves according to the instructions given by the program and cannot perceive the engraving force of the engraving tool on the engraved object. Due to the different materials of the engraved object, the force on the engraving tool is different. When the force is too large, the engraving tool and the engraved object may be damaged, and the engraving effect will be affected. SUMMARY

[0004] The present application discloses a combined three-dimensional force sensor, which aims to solve the technical problem that the force on the engraving tool is different due to the different materials of the engraved object, the engraving tool and the engraved object may be damaged when the force is too large, and the engraving effect will be affected.

[0005] In order to achieve the above purpose, the present application adopts the following technical scheme:

[0006] A combined three-dimensional force sensor, comprising a Z-axis force measuring frame and a controller, a plurality of mounting holes are formed in the side wall of the Z-axis force measuring frame, and a patch slot one is formed in the inside of the Z-axis force measuring frame, a Z-axis patch is installed in the inside of the patch slot one, a fixed rod is fixedly installed on the side of the Z-axis force measuring frame, signal lines are installed in the inside of the Z-axis force measuring frame and the fixed rod, an upper fixed seat is fixedly connected to the bottom surface of the fixed rod, an induction seat is fixedly connected to the bottom surface of the upper fixed seat, a patch slot two and a patch slot three are formed in the outer wall of the induction seat, a Y-axis patch and an X-axis patch are respectively installed in the inside of the patch slot three and the patch slot three, a buffer protection assembly is arranged on the outer wall of the induction seat, a lower fixed seat is fixedly connected to the bottom surface of the induction seat, an engraving tool is installed in the inside of the lower fixed seat, and a clamping assembly is arranged on the lower fixed seat.

[0007] Through setting the Z-axis force measuring frame, the mounting hole, the patch slot one, the Z-axis patch, the fixed rod, the signal line, the upper fixed seat, the induction seat, the patch slot two, the Y-axis patch, the patch slot three, the X-axis patch, the lower fixed seat, the engraving knife, the clamping assembly and the buffer protection assembly, the force condition in the Z-axis direction is perceived and measured by the Z-axis patch, the force condition in the Y-axis direction is perceived and measured by the Y-axis patch, the force condition in the X-axis direction is perceived and measured by the X-axis patch, the three-dimensional force measurement is realized, the engraving force of the engraving knife is perceived in real time, the controller calculates according to the force data, the force size is controlled by controlling the equipment for exerting force in each direction, the mutual influence of the forces in each direction on the force measuring part is small, when the engraving force is too large, the clamping assembly is adjusted to release the engraving knife, the damage of the engraving knife and the engraved object is avoided, the engraving effect is ensured, the buffer and the reverse impact force are formed by the buffer protection assembly, the protection effect is good, and the accuracy of the three-dimensional force measurement is ensured.

[0008] In a preferred embodiment, the outer side wall of the Z-axis force measuring frame is fixedly connected with a limiting clamp plate, the limiting clamp plate comprises a fixed plate and a movable plate, the fixed plate is fixedly connected with the outer wall of the Z-axis force measuring frame, the movable plate is slidingly arranged on the outer wall of the Z-axis force measuring frame, the fixed plate and the movable plate are arranged on the two sides of the fixed rod, and the inside of the fixed plate and the movable plate is provided with a threaded hole, and the inside of the threaded hole is screwed with a fastening screw.

[0009] By setting the limiting clamp plate and the fastening screw, the limiting clamp plate and the fixed rod can be separated by taking out the fastening screw, the Z-axis force measuring frame and the induction seat are separated and used alone, the fixed rod can be rotated horizontally by 360 degrees after the fastening screw is taken out, the angles of the X and Y axes can be adjusted arbitrarily, and different use needs are met.

[0010] In one preferred embodiment, the clamping assembly comprises a drive motor fixedly connected to the outer wall of the lower fixed seat, a power output shaft of the drive motor is drivingly connected with a connecting shaft through a shaft coupling, the connecting shaft is fixedly connected with a worm at an end away from the drive motor, the lower fixed seat is provided with a rotating groove in the outer wall, the worm is rotatably arranged in the rotating groove, and the surface of the worm is engaged with a worm wheel, the worm wheel is rotatably arranged in the lower fixed seat; the outer walls on both sides of the worm wheel are fixedly connected with a first screw rod and a second screw rod, the surfaces of the first screw rod and the second screw rod are both threadedly connected with clamping plates, and the outer walls on one side of the two clamping plates close to each other are in abutment with the outer wall of the engraving tool; the bottom ends of the clamping plates are both provided with guide holes, the inner walls on both sides of the lower fixed seat are both fixedly connected with side fixed plates, the outer walls on one side of the two side fixed plates close to each other are both fixedly connected with guide rods at both ends, the clamping plates are slidingly arranged on the surfaces of the guide rods through the guide holes, the guide rods are arranged below the engraving tool, the outer walls on one side of the two clamping plates away from each other are both fixedly connected with springs, and one ends of the springs away from the clamping plates are fixedly connected to the outer walls of the side fixed plates.

[0011] By setting the clamping assembly, when the engraving force is too large, the controller controls the drive motor to drive the clamping plate to separate from the engraving tool, and the engraving tool moves upward to unload the excessive engraving force, thereby avoiding damage to the engraving tool and the engraved object and ensuring the engraving effect.

[0012] In a preferred embodiment, patch groove two is disposed above patch groove three, and patch groove two and patch groove three are arranged at 90° to each other in the horizontal direction. Multiple buffer protection components are disposed on the outer wall of the sensor base, staggered from patch groove two and patch groove three. A protective outer shell is fitted over the outer side of the sensor base. Each buffer protection component includes a movable rod, the side of the movable rod away from the sensor base being fixedly connected to the inner wall of the protective outer shell. An outer sleeve is fixedly connected to the outer wall of the sensor base, and the movable rod is slidably disposed inside the outer sleeve. A spring three is fixedly connected to the side of the movable rod near the sensor base, and the end of the spring three away from the movable rod is fixedly connected to the inner wall of the outer sleeve near the sensor base. A slider 1 is fixedly connected to both outer walls of one end of the rod. A groove 1 is opened on the side wall of the outer sleeve seat, and the slider 1 is slidably disposed inside the groove 1. A rack 1 is fixedly connected to both outer walls of the movable rod. A gear meshes on the surface of the rack 1, and a rack 2 meshes on the surface of the gear. A backlash pad is fixedly connected to the outer wall of the rack 2 away from the sensor seat. Multiple sliding frames are fixedly connected to the outer wall of the sensor seat. Each outer sleeve seat has a sliding frame on both sides. A slider 2 is fixedly connected to the bottom of the outer wall of the rack 2 near the sliding frame. A groove 2 is opened on the outer wall of the sliding frame, and the slider 2 is slidably disposed inside the groove 2. 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 sensor seat.

[0013] By incorporating a protective shell and buffer protection components, the protective shell provides protection during the engraving process. When the protective shell is subjected to external force, the springs are compressed to form a buffer protection, and the counter-impact pad abuts against the inner wall of the protective shell to form a reverse impact force. This provides good protection and ensures the accuracy of three-dimensional force measurement.

[0014] As can be seen from the above, the combined three-dimensional force sensor provided by the present invention has the technical effect of real-time measurement of the three-dimensional force sensing magnitude, controlling the force applied by the force application device, avoiding damage to the carving knife and the carved object, ensuring the carving effect, forming a buffer and reverse impact force, having a good protective effect, and ensuring the accuracy of three-dimensional force measurement. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of a combined three-dimensional force sensor proposed in this invention.

[0016] Figure 2 This is a side view of the limiting clamp structure of a combined three-dimensional force sensor proposed in this invention.

[0017] Figure 3 This is a cross-sectional view of the protective housing structure of a combined three-dimensional force sensor proposed in this invention.

[0018] Figure 4A lower fixed seat side structure sectional view of a combined three-dimensional force sensor.

[0019] Figure 5 A clamping plate structure side view of a combined three-dimensional force sensor.

[0020] Figure 6 A protective shell structure bottom view of a combined three-dimensional force sensor.

[0021] Figure 7 A buffer protection assembly side structure sectional view of a combined three-dimensional force sensor.

[0022] In the figure: 1, Z-axis force frame; 2, mounting hole; 3, patch slot one; 4, Z-axis patch; 5, limiting clamp plate; 6, fixed rod; 7, fastening screw; 8, signal line; 9, upper fixed seat; 10, sensing seat; 11, patch slot two; 12, Y-axis patch; 13, patch slot three; 14, X-axis patch; 15, lower fixed seat; 16, engraving knife; 17, clamping assembly; 1701, driving motor; 1702, connecting shaft; 1703, worm; 1704, worm gear; 1705, screw one; 1706, screw two; 1707, clamping plate; 1708, side fixed 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, sleeve seat; 1903, spring three; 1904, sliding block one; 1905, sliding slot one; 1906, rack one; 1907, gear; 1908, rack two; 1909, recoil pad; 1910, sliding frame; 1911, spring four; 1912, sliding block two; 1913, sliding slot two. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all.

[0024] The combined three-dimensional force sensor disclosed in the present application is mainly applied to the scene that the force on the engraving knife is different due to the different materials of the engraved objects, the engraved objects and the engraving knife are likely to be damaged when the force is too large, and the engraving effect is affected.

[0025] REFERENCE Figures 1-7The utility model provides a kind of combined three-dimensional force sensor, including Z-axis force frame 1 and controller, multiple mounting holes 2 are opened in the side wall of Z-axis force frame 1, and Z-axis force frame 1 is internally provided with patch slot one 3, Z-axis patch 4 is installed in the inside of patch slot one 3, fixed rod 6 is fixedly installed to the side of Z-axis force frame 1, signal line 8 is installed in the inside of Z-axis force frame 1 and fixed rod 6, the bottom surface of fixed rod 6 is fixedly connected with upper fixed seat 9, the bottom surface of upper fixed seat 9 is fixedly connected with inductive seat 10, patch slot two 11 and patch slot three 13 are opened on the outer wall of inductive seat 10, Y-axis patch 12 and X-axis patch 14 are respectively installed in the inside of patch slot three 13 and patch slot three 13, buffering protection assembly 19 is arranged on the outer wall of inductive seat 10, and the bottom surface of inductive seat 10 is fixedly connected with lower fixed seat 15, and engraver 16 is installed in the inside of lower fixed seat 15, and clamping assembly 17 is arranged on lower fixed seat 15.

[0026] Specifically, Z-axis force frame 1 is fixed on the equipment by bolt, Z-axis patch 4 is used to sense the stress in Z-axis direction when engraver 16 works, Y-axis patch 12 is used to sense the stress in Y-axis direction, X-axis patch 14 is used to sense the stress in X-axis direction, three-dimensional force measurement is realized, the size of the carving force of engraver 16 is sensed in real time, the controller calculates the force data, controls the size of the force by controlling the equipment in each direction, the mutual influence of forces in each direction on the force measuring part is small, when the carving force is too large, adjust clamping assembly 17 to loosen engraver 16, engraver 16 can move up and down, avoid damaging the engraver and the carved object, ensure the carving effect, protective shell 18 is used to protect inductive seat 10, Y-axis patch 12 and X-axis patch 14 in it during carving process, when protective shell 18 is acted on by external force, buffering and reverse impact force are formed by buffering protection assembly 19, the protection effect is good, ensure the accuracy of three-dimensional force measurement.

[0027] It should be noted that the controller is not shown in the figure, it is a common control mechanism in the prior art, which will not be described here.

[0028] Refer to Figure 1 , Figure 2 And Figure 3 In a preferred embodiment, the outer side wall of Z-axis force frame 1 is fixedly connected with limiting clamp plate 5, limiting clamp plate 5 includes a fixed plate and a movable plate, the fixed plate is fixedly connected to the outer wall of Z-axis force frame 1, the movable plate is slidingly arranged on the outer wall of Z-axis force frame 1, the fixed plate and the movable plate are arranged on the two sides of fixed rod 6, and the inside of the fixed plate and the movable plate is provided with a threaded hole, and the threaded hole is screwed with fastening screw 7.

[0029] Specific, by taking out the fastening screw 7, the limiting clamping plate 5 and the fixed rod 6 are separated, the Z-axis force frame 1 and the induction seat 10 are separated and used alone, and after the fastening screw 7 is taken out, the fixed rod 6 can be rotated in the horizontal direction by 360 degrees, and the angles of the X and Y axes can be adjusted arbitrarily, thereby meeting different use needs.

[0030] With reference to Figure 3 , Figure 4 and Figure 5 , in a preferred embodiment, the clamping assembly 17 comprises a driving motor 1701 fixedly connected to the outer wall of the lower fixed seat 15, the power output shaft of the driving motor 1701 is drivingly connected with a connecting shaft 1702 through a shaft coupling, one end of the connecting shaft 1702 away from the driving motor 1701 is fixedly connected with a worm 1703, the outer wall of the lower fixed seat 15 is provided with a rotating groove, the worm 1703 is rotatably arranged in the rotating groove, and the surface of the worm 1703 is engaged with a worm wheel 1704, the worm wheel 1704 is rotatably arranged in the lower fixed seat 15; the outer walls on both sides of the worm wheel 1704 are fixedly connected with a screw rod one 1705 and a screw rod two 1706 respectively, the surfaces of the screw rod one 1705 and the screw rod two 1706 are both threadedly connected with a clamping plate 1707, the outer walls on one side of the two clamping plates 1707 close to each other abut against the outer wall of the engraving tool 16; the bottom ends of the clamping plates 1707 are both provided with guide holes, the inner walls on both sides of the lower fixed seat 15 are both fixedly connected with a side fixed plate 1708, the outer walls on one side of the two side fixed plates 1708 close to each other are both fixedly connected with a guide rod 1709 at both ends, the clamping plates 1707 are slidingly arranged on the surfaces of the guide rods 1709 through the guide holes, the guide rods 1709 are arranged below the engraving tool 16, the outer walls on one side of the two clamping plates 1707 away from each other are both fixedly connected with a spring one 1710, one end of the spring one 1710 away from the clamping plate 1707 is fixedly connected to the outer wall of the side fixed plate 1708; the top surface of the engraving tool 16 is fixedly connected with a spring two 1711, the top end of the spring two 1711 is fixedly connected to the inner wall on the top surface of the lower fixed seat 15, the outer walls on both sides of the top end of the engraving tool 16 are both fixedly connected with a positioning seat 1712, the top surface of the positioning seat 1712 is fixedly connected with a positioning rod 1713, the inner wall on the top surface of the lower fixed seat 15 is provided with a positioning hole 1714, and the positioning rod 1713 is slidingly arranged in the positioning hole 1714.

[0031] Specifically, 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 engaged with the worm gear 1704, the screw rod one 1705 and the screw rod two 1706 rotate synchronously, the two clamping plates 1707 move away from each other and are separated from the engraving knife 16, the engraving knife 16 moves upward and presses the spring two 1711, the positioning rod 1713 slides along the positioning hole 1714, the excessive engraving force is removed, the engraving knife and the engraved object are prevented from being damaged, the engraving effect is ensured, after the engraving force is restored, the spring two 1711 is reset and stretched to make the engraving knife 16 return to the initial position, the driving motor 1701 is reversely driven, the clamping plate 1707 re-clamps and fixes the engraving knife 16 and continues the engraving work.

[0032] It should be noted that the screw thread structures of the screw rod one 1705 and the screw rod two 1706 are opposite, when the driving motor 1701 is driven, the two clamping plates 1707 move in opposite directions.

[0033] Referring to Figure 1 , Figure 3 , Figure 6 and Figure 7In a preferred embodiment, 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° along the horizontal direction, a plurality of buffer protection assemblies 19 are arranged on the outer wall of the induction seat 10, the plurality of buffer protection assemblies 19 are staggered with the patch slot two 11 and the patch slot three 13 arranged on the induction seat 10, and the outer side of the induction seat 10 is sleeved with a protective shell 18; the buffer protection assembly 19 comprises a movable rod 1901, the movable rod 1901 is fixedly connected to the inner wall of the protective shell 18 on the side away from the induction seat 10, the outer wall of the induction seat 10 is fixedly connected with a sleeve seat 1902, the movable rod 1901 is slidingly arranged in the inside of the sleeve seat 1902, the side of the movable rod 1901 close to the induction seat 10 is fixedly connected with a 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 side of the sleeve seat 1902 close to the induction seat 10, the outer walls of the two sides of the end of the movable rod 1901 close to the movable rod 1901 are fixedly connected with sliding blocks one 1904, and the side wall of the sleeve seat 1902 is provided with a sliding groove one 1905, the sliding blocks one 1904 are slidingly arranged in the inside of the sliding groove one 1905; the outer walls of the two sides of the movable rod 1901 are fixedly connected with a rack one 1906, the surface of the rack one 1906 is engaged with a gear 1907, the surface of the gear 1907 is engaged with a rack two 1908, and the outer wall of the side of the rack two 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 sliding frames 1910, and the two sides of each sleeve seat 1902 are provided with a sliding frame 1910; the outer wall of the sliding frame 1910 is provided with a sliding groove two 1913, the sliding blocks two 1912 are slidingly arranged in the sliding groove two 1913, and the bottom surface of the sliding blocks two 1912 is fixedly connected with a spring four 1911, and the end of the spring four 1911 away from the sliding blocks two 1912 is fixedly connected to the outer wall of the induction seat 10.

[0034] Specifically, the protective shell 18 is used to protect the induction seat 10, the Y-axis patch 12 and the X-axis patch 14 in the engraving process, when the protective shell 18 is subjected to external force, the movable rod 1901 slides along the inside of the sleeve seat 1902 and extrudes the spring three 1903, forming effective buffer protection, the rack one 1906 is engaged with the gear 1907, the gear 1907 is engaged with the rack two 1908, the gear 1907 rotates and drives the rack two 1908 to move along the sliding frame 1910 to the side of the protective shell 18, at the same time, the spring four 1911 is stretched, the recoil pad 1909 is resisted by the inner wall of the protective shell 18, forming a reverse impact force, the protection effect is good, ensuring the accuracy of three-dimensional force measurement, after the external force ends, the spring three 1903 and the spring four 1911 reset, the movable rod 1901 and the recoil pad 1909 reset.

[0035] Working principle: through the bolt, the Z-axis force frame 1 is fixed on the equipment, the engraving cutter 16 works, and the Z-axis patch 4 is used to measure the force in the Z-axis direction, the Y-axis patch 12 is used to measure the force in the Y-axis direction, and the X-axis patch 14 is used to measure the force in the X-axis direction, so as to realize three-dimensional force measurement, and the carving force of the engraving cutter 16 is sensed in real time, the controller calculates according to the force data, controls the equipment in each direction to control the size of the force, the mutual influence of the forces in each direction on the force measuring part is small, when the carving 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 engaged with the worm gear 1704, so that the screw rod one 1705 and the screw rod two 1706 rotate synchronously, the two clamping plates 1707 move away from each other and are separated from the engraving cutter 16, the engraving cutter 16 moves upward and presses the spring two 1711, the positioning rod 1713 slides along the positioning hole 1714, and the excessive carving force is removed, so as to avoid damaging the carving cutter and the carved object, ensure the carving effect, after the carving force is restored, the spring two 1711 is reset to stretch the engraving cutter 16 to return to the initial position, the driving motor 1701 is reversely driven, the clamping plate 1707 re-clamps and fixes the engraving cutter 16 and continues the carving work, the protective shell 18 is used to protect the sensing seat 10 and the Y-axis patch 12 and the X-axis patch 14 in it during the carving process, when the protective shell 18 is acted on by an external force, the movable rod 1901 slides along the inside of the sleeve seat 1902 and presses the spring three 1903, forming effective buffer protection, the rack one 1906 is engaged with the gear 1907, the gear 1907 is engaged with the rack two 1908, so that the gear 1907 rotates and drives the rack two 1908 to move along the sliding frame 1910 to the side of the protective shell 18, at the same time, the spring four 1911 is stretched, the recoil pad 1909 is abutted against the inner wall of the protective shell 18, forming a reverse impact force, the protection effect is good, and the accuracy of three-dimensional force measurement is ensured.

[0036] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

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 frame (1) is provided with a plurality of mounting holes (2), and the inside of the Z-axis force frame (1) is provided with a patch slot one (3), and the inside of the patch slot one (3) is provided with a Z-axis patch (4), and the side of the Z-axis force frame (1) is fixedly provided with a fixed rod (6), and the inside of the Z-axis force frame (1) and the fixed rod (6) is provided with a signal line (8), and the bottom surface of the fixed rod (6) is fixedly connected with an upper fixed seat (9), and the bottom surface of the upper fixed seat (9) is fixedly connected with a sensing seat (10), and the outer wall of the sensing seat (10) is provided with a patch slot two (11) and a patch slot three (13), and the inside of the patch slot two (11) and the patch slot three (13) is respectively provided with a Y-axis patch (12) and an X-axis patch (14), and the outer wall of the sensing seat (10) is provided with a buffer protection assembly (19), and the bottom surface of the sensing seat (10) is fixedly connected with a lower fixed seat (15), and the inside of the lower fixed seat (15) is provided with a carving knife (16), and the lower fixed seat (15) is provided with a clamping assembly (17); The outer wall of the Z-axis force frame (1) is fixedly connected with a limiting clamping plate (5), the limiting clamping plate (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), 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 the inside of the fixed plate and the movable plate is provided with a threaded hole, and the inside of the threaded hole is screwed with a fastening screw (7); 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° along the horizontal direction, a plurality of buffer protection assemblies (19) are arranged on the outer wall of the sensing seat (10), the plurality of buffer protection assemblies (19) are arranged on the sensing seat (10) staggered with the patch slot two (11) and the patch slot three (13), and the outer side of the sensing seat (10) is sleeved with a protection shell (18); The clamping assembly (17) includes a driving motor (1701), the driving motor (1701) is fixedly connected to the outer wall of the lower fixed seat (15), the power output shaft of the driving motor (1701) is drivingly connected with a connecting shaft rod (1702) through a shaft coupling, one end of the connecting shaft rod (1702) away from the driving motor (1701) is fixedly connected with a worm (1703), the outer wall of the lower fixed seat (15) is provided with a rotating groove, the worm (1703) is rotatably arranged in the rotating groove, and the surface of the worm (1703) is engaged with a worm wheel (1704), and the worm wheel (1704) is rotatably arranged in the lower fixed seat (15).

2. The combined three-dimensional force sensor according to claim 1, characterized in that The two side outer walls of the worm wheel (1704) are respectively fixedly connected with a lead screw one (1705) and a lead screw two (1706), the surfaces of the lead screw one (1705) and the lead screw two (1706) are respectively screw-connected with a clamping plate (1707), and the outer walls of the two clamping plates (1707) on the side close to each other are abutted with the outer wall of the carving knife (16).

3. The combined three-dimensional force sensor according to claim 2, wherein The bottom of the clamping plate (1707) is provided with a guide hole, the inner wall of the two sides of the lower fixed base (15) is fixedly connected with a side fixed plate (1708), the outer wall of the side close to each other of the two side fixed plates (1708) is fixedly connected with a guide rod (1709) at both ends, the clamping plate (1707) is slidably arranged on the surface of the guide rod (1709) through the guide hole, the guide rod (1709) is arranged below the engraving cutter (16), the outer wall of the side away from each other of the two clamping plates (1707) is fixedly connected with a spring one (1710), and the end away from the clamping plate (1707) of the spring one (1710) is fixedly connected to the outer wall of the side fixed plate (1708).

4. The combined three-dimensional force sensor according to claim 3, wherein The top surface of the engraving cutter (16) is fixedly connected with a spring two (1711), the top end of the spring two (1711) is fixedly connected to the inner wall of the top surface of the lower fixed base (15), the outer wall of the top end of the engraving cutter (16) is 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 base (15) is provided with a positioning hole (1714). The positioning rod (1713) is slidably arranged in the positioning hole (1714).

5. The combined three-dimensional force sensor according to claim 1, wherein The buffer protection assembly (19) comprises a movable rod (1901), the inner wall of the protection shell (18) is fixedly connected with the movable rod (1901) away from the induction seat (10), the outer wall of the induction seat (10) is fixedly connected with a sleeve seat (1902), the movable rod (1901) is slidably arranged in the sleeve seat (1902), the side close to the induction seat (10) of the movable rod (1901) is fixedly connected with a spring three (1903), the end away from the movable rod (1901) of the spring three (1903) is fixedly connected to the inner wall of the side close to the induction seat (10) of the sleeve seat (1902), the outer wall of the end close to the sleeve seat (1902) of the movable rod (1901) is fixedly connected with a sliding block one (1904), the side wall of the sleeve seat (1902) is provided with a sliding groove one (1905), and the sliding block one (1904) is slidably arranged in the sliding groove one (1905).

6. A combined three-dimensional force sensor according to claim 5, characterized in that The outer wall of the movable rod (1901) is fixedly connected with a rack one (1906), the surface of the rack one (1906) is engaged with a gear (1907), the surface of the gear (1907) is engaged with a rack two (1908), and the outer wall of the side away from the induction seat (10) of the rack two (1908) is fixedly connected with a recoil pad (1909).

7. The combined three-dimensional force sensor according to claim 6, characterized in that The outer wall of the induction base (10) is fixedly connected with a plurality of sliding frames (1910), both sides of each outer sleeve base (1902) are provided with a sliding frame (1910), the outer wall of the side of the gear rack two (1908) close to the sliding frame (1910) is fixedly connected with a sliding block two (1912), the outer wall of the sliding frame (1910) is provided with a sliding groove two (1913), the sliding block two (1912) is slidably arranged in the sliding groove two (1913), and the bottom surface of the sliding block two (1912) is fixedly connected with a spring four (1911), one end of the spring four (1911) away from the sliding block two (1912) is fixedly connected with the outer wall of the induction base (10).

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