Waterproof six-dimensional force sensor and waterproof structure

Abstract

The invention discloses a waterproof six-dimensional force sensor and a waterproof structure. The waterproof six-dimensional force sensor comprises a six-dimensional force sensor body, a wire holder arranged on the surface of the six-dimensional force sensor body, a top cover installed on the top surface of the six-dimensional force sensor body, and an annular socket fixed to the bottom surface of the top cover and inserted into the inner side of the six-dimensional force sensor body. The clamping structure is arranged between the top cover and the six-dimensional force sensor main body and comprises an inner sliding groove formed in the surface of the annular socket, a spring arranged in the inner sliding groove and a right trapezoid telescopic block; according to the invention, the six-dimensional force sensor in the prior art is improved and optimized, the clamping structure is designed between the top cover and the six-dimensional force sensor main body, and the corresponding waterproof structure is designed in a matched manner, so that on one hand, the disassembly and assembly convenience of the top cover and the six-dimensional force sensor main body is improved; and on the other hand, the overall sealing performance and the waterproof effect of the six-dimensional force sensor after the six-dimensional force sensor is assembled are improved.

Description

Technical Field

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

[0002] A six-dimensional force sensor is a special force sensor that can simultaneously measure three forces (FX, FY, FZ) and three moments (MX, MY, MZ) in a neutral coordinate system (OXYZ). It can be used for product testing, robot assembly, grinding, polishing, and other industrial applications that require maintaining a stable position and trajectory with high repeatability. For example, the existing patent with publication number CN116007817A discloses "a six-dimensional force sensor, comprising a circuit board and a strain structure, wherein the strain structure comprises a circumferential ring and is disposed in the circumferential ring." It can be seen that the application describes a common six-dimensional force sensor.

[0003] When the six-axis force sensor in the prior art is actually used, its top cover is mostly installed on the top of the sensor by means of multiple screws or bolts. This traditional connection method is not convenient for actual assembly, which reduces the assembly convenience of the entire six-axis force sensor. It is also not convenient for the subsequent disassembly and maintenance of the six-axis force sensor, which reduces the convenience of subsequent maintenance. At the same time, the sealing of the screw holes is difficult to ensure. For this reason, the present invention proposes a waterproof six-axis force sensor and a waterproof structure. Summary of the invention

[0004] The object of the present invention is to provide a waterproof six-dimensional force sensor and a waterproof structure to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: a waterproof six-dimensional force sensor, comprising

[0006] A six-dimensional force sensor body, a wiring socket arranged on the surface of the six-dimensional force sensor body, a top cover installed on the top surface of the six-dimensional force sensor body, and an annular socket fixed to the bottom surface of the top cover and inserted into the inner side of the six-dimensional force sensor body;

[0007] And a clamping structure arranged between the top cover and the six-dimensional force sensor body, including an inner slide groove opened on the surface of the annular socket, a spring and a right-angled trapezoidal telescopic block installed in the inner slide groove, a transverse slide groove opened inside the top cover, a connecting slideway opened between the transverse slide groove and the inner slide groove, a connecting slider fixed on the top surface of the right-angled trapezoidal telescopic block, a transverse slide seat slidably installed in the transverse slide groove, a side block fixed on the side of the transverse slide seat, and a side hole opened on the surface of the top cover, the top end of the connecting slider is fixed to the transverse slide seat, the end of the side block is located in the side hole, the inner wall of the six-dimensional force sensor body is opened with an annular clamping groove corresponding to the right-angled trapezoidal telescopic block, the right-angled trapezoidal telescopic block is movably installed in the inner slide groove by a spring, and the end of the right-angled trapezoidal telescopic block is clamped in the annular clamping groove.

[0008] Preferably, a cylindrical groove is provided on one side surface of the right-angled trapezoidal telescopic block, one end of the spring is inserted into the cylindrical groove, and the other end of the spring is fixed on the inner wall of the inner slide groove.

[0009] Preferably, it also includes an inner sealing structure, which is arranged between the annular socket and the six-dimensional force sensor body, and the inner sealing structure includes an annular inner rubber ring installed on the bottom surface of the annular socket, two sealing rings A arranged on the bottom end surface of the annular inner rubber ring, and two inner ring grooves opened on the inner wall of the six-dimensional force sensor body, and the sealing ring A is embedded in the inner ring groove.

[0010] Preferably, a T-shaped clamp is fixed to the bottom surface of the annular socket, and a clamp hole corresponding to the T-shaped clamp is opened on the top surface of the annular inner rubber ring, and the bottom end of the T-shaped clamp passes through the clamp hole to the bottom of the annular inner rubber ring.

[0011] A waterproof structure using a waterproof six-dimensional force sensor comprises a sealing sleeve slidably sleeved on the surface of the six-dimensional force sensor body, a sealing top ring fixed on the top surface of the sealing sleeve, an annular top seat fixed on the top surface of the top cover, and an annular bottom groove opened on the bottom surface of the annular top seat.

[0012] Preferably, a rubber insert is embedded in the inner wall of the bottom end of the sealing sleeve, and the surface of the rubber insert is provided with an integrated waterproof convex ring. The surface of the six-dimensional force sensor body is provided with two outer ring grooves corresponding to the waterproof convex rings, and the waterproof convex ring is embedded in one of the outer ring grooves.

[0013] Preferably, an annular cavity is provided inside the rubber insert, and the cross section of the annular cavity is elliptical.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention improves and optimizes the six-dimensional force sensor in the prior art, designs a card-mounted structure between the top cover and the six-dimensional force sensor body, and designs a corresponding waterproof structure. On the one hand, the convenience of disassembly and assembly of the top cover and the six-dimensional force sensor body is improved, which brings convenience to the early combination assembly and subsequent disassembly and maintenance of the six-dimensional force sensor. On the other hand, it improves the overall sealing and waterproof effect after the two are assembled. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the present invention;

[0016] Figure 2 For the present invention Figure 1 A partial enlarged view of the middle A area;

[0017] Figure 3 It is a cross-sectional view of the connection between the top cover and the main body of the six-dimensional force sensor of the present invention;

[0018] Figure 4 For the present invention Figure 3 A partial enlarged view of the middle B area;

[0019] Figure 5 For the present invention Figure 3 A partial enlarged view of the middle C area;

[0020] In the figure: 1. six-dimensional force sensor body; 11. terminal block; 12. inner ring groove; 13. outer ring groove; 2. top cover; 21. annular top seat; 22. annular bottom groove; 23. annular socket; 24. annular inner rubber ring; 241. clamping hole; 242. sealing ring A; 25. T-shaped clamping head; 3. clamping structure; 31. side hole; 32. side block; 33. inner slide groove; 34. spring; 35. right-angle trapezoidal telescopic block; 36. annular clamping groove; 37. connecting slideway; 38. connecting slider; 39. horizontal slide groove; 310. horizontal slide seat; 4. sealing sleeve; 41. sealing top ring; 42. rubber embedded ring; 43. waterproof convex ring. DETAILED DESCRIPTION

[0021] 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.

[0022] Example

[0023] See also Figures 1 to 5, is an embodiment of the present invention, which provides a technical solution: a waterproof six-dimensional force sensor, comprising

[0024] A six-dimensional force sensor body 1, a terminal block 11 arranged on the surface of the six-dimensional force sensor body 1, a top cover 2 installed on the top surface of the six-dimensional force sensor body 1, and a ring socket 23 welded and fixed to the bottom surface of the top cover 2 and inserted into the inner side of the six-dimensional force sensor body 1;

[0025] The clamping structure 3 disposed between the top cover 2 and the main body 1 of the six-dimensional force sensor comprises an inner slide groove 33 disposed on the surface of the annular socket 23, a spring 34 and a right-angle trapezoidal telescopic block 35 disposed in the inner slide groove 33, a transverse slide groove 39 disposed inside the top cover 2, a connecting slideway 37 disposed between the transverse slide groove 39 and the inner slide groove 33, a connecting slider 38 welded and fixed to the top surface of the right-angle trapezoidal telescopic block 35, a transverse slide seat 310 slidably mounted in the transverse slide groove 39, and a side slide fixed to the side of the transverse slide seat 310. The top of the slider 38 is connected to the side block 32 and fixed to the lateral slide seat 310. The end of the side block 32 is located in the side hole 31. The inner wall of the six-dimensional force sensor body 1 is provided with an annular groove 36 corresponding to the right-angled trapezoidal telescopic block 35. The right-angled trapezoidal telescopic block 35 is movably installed in the inner groove 33 through the spring 34, and the end of the right-angled trapezoidal telescopic block 35 is stuck in the annular groove 36, so as to achieve stable positioning of the top cover 2 and ensure the assembly stability of the top cover 2 and the six-dimensional force sensor body 1. When the top cover 2 and the six-dimensional force sensor body 1 are assembled in the early stage, it is only necessary to cover the top cover 2 on the top of the six-dimensional force sensor body 1 and press it down hard, so that the annular socket 23 is inserted into the inner side of the six-dimensional force sensor body 1. At the same time, the end of the right-angled trapezoidal telescopic block 35 will be gradually squeezed into the inner slide groove 33, so that the top cover 2 can be pressed down smoothly. When the top cover 2 is fitted with the six-dimensional force sensor body 1, the end of the right-angled trapezoidal telescopic block 35 will pop out into the annular slot 36 under the push of the spring 34, so that the top cover 2 and the six-dimensional force sensor body 1 can be pressed down smoothly. The quick snap-fit ​​connection between the six-dimensional force sensor body 1 improves the convenience of assembly of the two. When the top cover 2 and the six-dimensional force sensor body 1 need to be disassembled for inspection and maintenance, it is only necessary to press the side block 32 in the side hole 31 so that the transverse slide 310 slides sideways with the right-angled trapezoidal telescopic block 35 through the connecting slider 38, causing the end of the right-angled trapezoidal telescopic block 35 to move out of the annular slot 36, thereby releasing the limit on the top cover 2, realizing the quick disassembly of the top cover 2 and the six-dimensional force sensor body 1, and improving the convenience of subsequent maintenance.

[0026] A cylindrical groove is formed on one side surface of the right-angle trapezoidal telescopic block 35 , one end of the spring 34 is inserted into the cylindrical groove, and the other end of the spring 34 is fixed on the inner wall of the inner slide groove 33 .

[0027] It also includes an inner sealing structure, which is arranged between the annular socket 23 and the six-dimensional force sensor body 1. The inner sealing structure includes an annular inner rubber ring 24 installed on the bottom surface of the annular socket 23, two sealing rings A242 arranged on the bottom end surface of the annular inner rubber ring 24, and two inner ring grooves 12 opened on the inner wall of the six-dimensional force sensor body 1. The annular inner rubber ring 24 and the sealing ring A242 are an integrated structure. Both are made of rubber material and will undergo elastic deformation when squeezed. The sealing ring A242 is embedded in the inner ring groove 12. Under the action of the two sealing rings A242, the inner sealing of the top cover 2 and the six-dimensional force sensor body 1 can be improved after the connection.

[0028] Among them, a T-shaped clamp 25 is welded and fixed on the bottom surface of the annular socket 23, and a clamping hole 241 corresponding to the T-shaped clamp 25 is opened on the top surface of the annular inner rubber ring 24. The bottom end of the T-shaped clamp 25 passes through the clamping hole 241 to the bottom of the annular inner rubber ring 24, thereby realizing the stable installation of the annular inner rubber ring 24.

[0029] A waterproof structure used in a waterproof six-dimensional force sensor, including a sealing sleeve 4 slidably sleeved on the surface of a six-dimensional force sensor body 1, a sealing top ring 41 glued and fixed to the top surface of the sealing sleeve 4, an annular top seat 21 welded and fixed to the top surface of a top cover 2, and an annular bottom groove 22 opened on the bottom surface of the annular top seat 21. The sealing top ring 41 is made of rubber material and can undergo elastic deformation when squeezed. When the top cover 2 is successfully connected to the six-dimensional force sensor body 1, the sealing sleeve 4 can be slid up to fit with the annular top seat 21, and the sealing top ring 41 can be squeezed into the annular bottom groove 22. At this time, the sealing sleeve 4 completely covers the joint between the top cover 2 and the six-dimensional force sensor body 1 on the inside, and also covers the side hole 31 on the inside, which can play a role in sealing and waterproofing.

[0030] Among them, a rubber embedding ring 42 is embedded and installed on the inner wall of the bottom end of the sealing sleeve 4, and an integrated waterproof convex ring 43 is provided on the surface of the rubber embedding ring 42. Both are made of rubber material and will undergo elastic deformation when squeezed. The surface of the six-dimensional force sensor body 1 is provided with two outer ring grooves 13 corresponding to the waterproof convex ring 43. The waterproof convex ring 43 is embedded in one of the outer ring grooves 13, which can seal the bottom end of the sealing sleeve 4, and when the subsequent sealing sleeve 4 slides up, the waterproof convex ring 43 will be squeezed into the other outer ring groove 13, which also plays a sealing and waterproof role, preventing water from penetrating into the interior of the six-dimensional force sensor body 1 from the gap at the bottom end of the sealing sleeve 4.

[0031] An annular cavity is provided inside the rubber insert 42 , and the cross section of the annular cavity is elliptical, so that the waterproof convex ring 43 has sufficient deformation space when being squeezed.

[0032] The structural principles of the six-dimensional force sensor body 1 in the present invention are all technologies that have been disclosed in existing patents. For details, please refer to the existing patent with publication number CN116007817A, which will not be described in detail here.

[0033] 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 waterproof six-dimensional force sensor, characterized in that: include A six-dimensional force sensor body (1), a wiring seat (11) arranged on the surface of the six-dimensional force sensor body (1), a top cover (2) installed on the top surface of the six-dimensional force sensor body (1), and an annular socket (23) fixed to the bottom surface of the top cover (2) and inserted into the inner side of the six-dimensional force sensor body (1); and a clamping structure (3) arranged between a top cover (2) and a six-dimensional force sensor body (1), comprising an inner slide groove (33) provided on the surface of an annular socket (23), a spring (34) and a right-angle trapezoidal telescopic block (35) installed in the inner slide groove (33), a transverse slide groove (39) provided inside the top cover (2), a connecting slideway (37) provided between the transverse slide groove (39) and the inner slide groove (33), a connecting slide block (38) fixed on the top surface of the right-angle trapezoidal telescopic block (35), a transverse slide seat (310) slidably installed in the transverse slide groove (39), and a fixing A side block (32) is fixed on the side of the transverse slide (310), and a side hole (31) is opened on the surface of the top cover (2). The top end of the connecting slider (38) is fixed to the transverse slide (310), and the end of the side block (32) is located in the side hole (31). The inner wall of the six-dimensional force sensor body (1) is provided with an annular groove (36) corresponding to the right-angled trapezoidal telescopic block (35). The right-angled trapezoidal telescopic block (35) is movably installed in the inner groove (33) through a spring (34), and the end of the right-angled trapezoidal telescopic block (35) is clamped in the annular groove (36).

2. A waterproof six-dimensional force sensor according to claim 1, characterized in that: A cylindrical groove is provided on one side surface of the right-angled trapezoidal telescopic block (35), one end of the spring (34) is inserted into the cylindrical groove, and the other end of the spring (34) is fixed on the inner wall of the inner slide groove (33).

3. The waterproof six-dimensional force sensor according to claim 1, characterized in that: It also includes an inner sealing structure, which is arranged between the annular socket (23) and the six-dimensional force sensor body (1).

4. The waterproof six-dimensional force sensor according to claim 3, characterized in that: The inner sealing structure comprises an annular inner rubber ring (24) installed on the bottom surface of the annular socket (23), two sealing rings A (242) arranged on the bottom end surface of the annular inner rubber ring (24), and two inner ring grooves (12) opened on the inner wall of the six-dimensional force sensor body (1), and the sealing ring A (242) is embedded in the inner ring groove (12).

5. The waterproof six-dimensional force sensor according to claim 4, characterized in that: A T-shaped clamp (25) is fixed on the bottom surface of the annular socket (23), and a clamp hole (241) corresponding to the T-shaped clamp (25) is provided on the top surface of the annular inner rubber ring (24), and the bottom end of the T-shaped clamp (25) passes through the clamp hole (241) to the bottom of the annular inner rubber ring (24).

6. A waterproof structure for a waterproof six-dimensional force sensor according to any one of claims 1 to 5, characterized in that: The invention comprises a sealing sleeve (4) which is slidably mounted on the surface of a six-dimensional force sensor body (1), a sealing top ring (41) fixed on the top surface of the sealing sleeve (4), an annular top seat (21) fixed on the top surface of a top cover (2), and an annular bottom groove (22) provided on the bottom surface of the annular top seat (21).

7. A waterproof structure according to claim 6, characterized in that: A rubber insert (42) is embedded and installed on the inner wall of the bottom end of the sealing sleeve (4), and an integrated waterproof convex ring (43) is provided on the surface of the rubber insert (42). Two outer ring grooves (13) corresponding to the waterproof convex rings (43) are provided on the surface of the six-dimensional force sensor body (1), and the waterproof convex ring (43) is embedded in one of the outer ring grooves (13).

8. A waterproof structure according to claim 7, characterized in that: An annular cavity is provided inside the rubber insert (42), and the cross section of the annular cavity is elliptical.

Images