Double-equal-strength-beam high-precision triaxial force sensor

Abstract

The invention discloses a double-equal-strength-beam high-precision three-axis force sensor, and relates to the technical field of force sensors, and the sensor comprises an alloy intermediate block, the middle of the upper end surface of the alloy intermediate block is fixedly connected with a top stress block, and the four corners of the top stress block are provided with positioning holes. A Z-axis force detection assembly used for detecting force in the Z-axis direction is arranged in the alloy middle block, alloy side blocks are arranged on the two sides of the alloy middle block, and connecting assemblies fixedly connected with the alloy middle block are arranged on the alloy side blocks. According to the three-axis force sensor, independent structure deformation design is applied, three-axis output signals do not interfere with one another, the three-axis force sensor is of an equal-strength beam structure and has the characteristics of high precision and impact resistance, horizontal placement and vertical placement do not affect measurement due to the independent structure design, meanwhile, the alloy side blocks on the two sides can be detached from the alloy middle block, and the measurement accuracy is improved. And assembly can be performed according to use requirements, so that the use flexibility is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of force sensors, specifically a high-precision triaxial force sensor with double equal-strength beams. Background Art

[0002] In the current era of rapid technological development, modern industrial production is moving forward in big steps towards high automation and intelligence. Triaxial force sensors are used to precisely control the grasping and assembly forces of robotic arms on components, ensuring that every link is accurate. In industrial production, scientific research experiments, and the applications of many intelligent devices, triaxial force sensors play a crucial role. However, existing triaxial force sensors still have certain defects during actual use.

[0003] Currently, the structural designs of most triaxial force sensors cause crosstalk phenomena to easily occur between the output signals of the X, Y, and Z axes during measurement. This not only seriously affects the accuracy of measurement results, making it impossible to provide reliable data for the precise control of related devices and the rigorous advancement of scientific research in scenarios of precise force measurement and analysis, but also increases the complexity and cost of data processing.

[0004] To address the above problems, we provide a high-precision triaxial force sensor with double equal-strength beams to solve the problems mentioned above. Summary of the Invention

[0005] The purpose of the present invention is to provide a high-precision triaxial force sensor with double equal-strength beams to solve the problems raised in the above background art.

[0006] To achieve the above purpose, the present invention provides the following technical solutions:

[0007] A high-precision triaxial force sensor with double equal-strength beams, including an alloy middle block, characterized in that: a top force-receiving block is fixedly connected to the middle of the upper end face of the alloy middle block, positioning holes are provided at four corners of the top force-receiving block, a Z-axis force detection component for detecting the force in the Z-axis direction is provided inside the alloy middle block, alloy side blocks are provided on both sides of the alloy middle block, connection components for fixedly connecting with the alloy middle block are provided on the alloy side blocks, encapsulation grooves are provided on both sides of the alloy side blocks, installation through holes are provided in the middle of the alloy side blocks, X-axis force detection components for detecting the force in the X-axis direction are provided at both ends of the alloy side blocks, Y-axis force detection components for detecting the force in the Y-axis direction are provided on both sides of one end of the alloy side block away from the alloy middle block, bottom force-receiving blocks are fixedly connected to the middle of the lower end faces of the alloy side blocks, and the installation through holes penetrate through the bottom force-receiving blocks.

[0008] As a further solution of the present invention: the Z-axis force detection component includes a Z-axis elastic forming hole, which is opened at the middle position of the alloy side block, penetrates through the alloy middle block, the upper end face of the Z-axis elastic forming hole is an arc surface, and a Z-axis strain gauge is attached to the arc surface.

[0009] As a further solution of the present invention: the connection component includes a plugging hole, which is opened at both ends of the two side faces of the alloy middle block, stepped holes communicating with the plugging holes are opened at both ends of the upper end face of the alloy middle block, plugging blocks are fixedly connected to both ends of the alloy side block near the plugging holes, threaded holes opposite to the positions of the stepped holes are opened on the plugging blocks, and screws are arranged in the stepped holes and are threadedly connected with the threaded holes.

[0010] As a further solution of the present invention: the X-axis force detection component includes X-axis elastic forming holes, which are respectively opened at both ends of the alloy side block, X-axis elastic bridges are arranged at both positions of the alloy side block on both sides of the X-axis elastic forming holes, and X-axis strain gauges are attached to the X-axis elastic bridges close to the encapsulation groove.

[0011] As a further solution of the present invention: the Y-axis force detection component includes Y-axis elastic forming holes, which are respectively opened at both sides of one end of the alloy side block far from the alloy middle block, Y-axis elastic bridges are arranged at both positions of the alloy side block on both sides of the Y-axis elastic forming holes, and Y-axis strain gauges are attached to the Y-axis elastic bridges close to the encapsulation groove.

[0012] As a further solution of the present invention: the inner sides of the Y-axis elastic bridge and the X-axis elastic bridge are both arc-shaped.

[0013] As a further solution of the present invention: encapsulation sheets are arranged at both the upper and lower ends of the encapsulation groove, and the encapsulation sheets are made of elastic materials.

[0014] As a further solution of the present invention: avoidance grooves are respectively opened at the middle positions of one sides of the alloy side blocks close to the alloy middle block, and the avoidance grooves are respectively communicated with the encapsulation groove.

[0015] As a further solution of the present invention: both ends of the alloy side block protrude from the alloy middle block, and the protruding length is 0.5-1 mm.

[0016] As a further solution of the present invention: the X-axis strain gauge, the Y-axis strain gauge and the Z-axis strain gauge all adopt high-precision foil strain gauges.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] The three-axis force sensor of the present invention adopts an independent structural deformation design, and the three-axis output signals do not interfere with each other. It is a structure using an equal-strength beam, with the characteristics of high precision and anti-impact. Due to the independent structural design, horizontal placement and vertical placement have no impact on measurement. At the same time, the alloy side blocks on both sides can be disassembled from the alloy middle block and can be assembled according to the usage requirements, improving the flexibility of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic structural diagram of the present invention.

[0020] Figure 2 It is a schematic structural diagram of the alloy middle block in the present invention.

[0021] Figure 3 It is a schematic structural diagram of the alloy side block in the present invention.

[0022] Figure 4 It is a schematic internal structural diagram of the encapsulation groove in the present invention.

[0023] Figure 5 It is a schematic bottom structural diagram of the present invention.

[0024] Wherein: 1. Alloy side block; 2. Alloy middle block; 3. X-axis elastic forming hole; 4. Installation through hole; 5. X-axis elastic bridge; 6. Screw; 7. Encapsulation sheet; 8. Encapsulation groove; 9. Y-axis elastic bridge; 10. Y-axis elastic forming hole; 11. Top force-bearing block; 12. Step hole; 13. Insertion hole; 14. Z-axis elastic forming hole; 15. Z-axis strain gauge; 16. X-axis strain gauge; 17. Y-axis strain gauge; 18. Threaded hole; 19. Insertion block; 20. Positioning hole; 21. Bottom force-bearing block; 22. Avoidance groove. SPECIFIC EMBODIMENTS

[0025] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0026] Please refer to Figures 1 - 5, in the embodiment of the present invention, a dual equal-strength beam high-precision triaxial force sensor includes an alloy intermediate block 2. A top force-receiving block 11 is fixedly connected to the middle of the upper end face of the alloy intermediate block 2. Positioning holes 20 are provided at the four corners of the top force-receiving block 11. An axial force detection component for detecting the force in the Z-axis direction is provided inside the alloy intermediate block 2. The Z-axial force detection component includes a Z-axis elastic forming hole 14. The Z-axis elastic forming hole 14 is opened at the middle position of the alloy side block 1. The Z-axis elastic forming hole 14 penetrates through the alloy intermediate block 2. The upper end face of the Z-axis elastic forming hole 14 is an arc surface, and a Z-axis strain gauge 15 is attached to the arc surface. The Z-axis elastic forming hole 14 opened can form a deformable elastic region at the upper end of the alloy intermediate block 2, and then the Z-axis strain gauge 15 senses the deformation, thereby realizing the detection of the force in the Z-axis direction.

[0027] Alloy side blocks 1 are provided on both sides of the alloy intermediate block 2. Connection components for fixedly connecting with the alloy intermediate block 2 are provided on the alloy side blocks 1. The connection components include insertion holes 13. Insertion holes 13 are opened at both ends of the two side faces of the alloy intermediate block 2. Step holes 12 communicating with the insertion holes 13 are opened at both ends of the upper end face of the alloy intermediate block 2. Insertion blocks 19 are fixedly connected to the positions of both ends of the alloy side blocks 1 close to the insertion holes 13. Threaded holes 18 are opened on the insertion blocks 19 at positions opposite to the step holes 12. Screws 6 are provided in the step holes 12, and the screws 6 are threadedly connected with the insertion blocks 19. The detachable structure can be formed by the provided screws 6, insertion holes 13, step holes 12, threaded holes 18 and insertion blocks 19, so that flexible assembly can be carried out as needed during use.

[0028] Sealing grooves 8 are opened on both sides of the alloy side blocks 1. Installation through holes 4 are opened in the middle of the alloy side blocks 1. X-axial force detection components for detecting the force in the X-axis direction are provided at both ends of the alloy side blocks 1. The X-axial force detection component includes X-axis elastic forming holes 3. The X-axis elastic forming holes 3 are respectively opened at both ends of the alloy side blocks 1. X-axis elastic bridges 5 are provided at the positions of the alloy side blocks 1 on both sides of the X-axis elastic forming holes 3. X-axis strain gauges 16 are attached to the X-axis elastic bridges 5 close to the sealing grooves 8. The X-axis elastic forming holes 3 opened can form a bridge-type deformation elastic region for the X-axis elastic bridges 5, and then the X-axis strain gauges 16 sense the deformation of the X-axis elastic bridges 5, thereby realizing the detection of the force in the X-axis direction.

[0029] On both sides of one end of the alloy side block 1 far from the alloy middle block 2, there are Y-axis force detection components for detecting the force in the Y-axis direction. In the middle of the lower end surface of the alloy side block 1, there are bottom force-receiving blocks 21 fixedly connected, and the installation through holes 4 penetrate through the bottom force-receiving blocks 21; the Y-axis force detection components include Y-axis elastic forming holes 10, which are respectively opened at both sides of one end of the alloy side block 1 far from the alloy middle block 2. On both sides of the alloy side block 1 where the Y-axis elastic forming holes 10 are located, there are Y-axis elastic bridges 9. On the Y-axis elastic bridge 9 close to the encapsulation groove 8, there is a Y-axis strain gauge 17 attached; the inner sides of the Y-axis elastic bridge 9 and the X-axis elastic bridge 5 are both arc-shaped. Through the opened Y-axis elastic forming holes 10, the Y-axis elastic bridge 9 can form a bridge-type deformation elastic area, and then the deformation amount of the Y-axis elastic bridge 9 is detected by the Y-axis strain gauge 17, thereby realizing the detection of the force in the Y-axis direction.

[0030] On both the upper and lower ends of the encapsulation groove 8, there are encapsulation sheets 7, and the encapsulation sheets 7 are made of elastic materials; in the middle of one side of the alloy side block 1 close to the alloy middle block 2, there are avoidance grooves 22 respectively communicating with the encapsulation groove 8; both ends of the alloy side block 1 protrude from the alloy middle block 2, and the protruding length is 0.5 - 1 mm; the elastic encapsulation sheets 7 can avoid affecting the force detection. At the same time, the opened avoidance grooves 22 and the alloy side blocks 1 protruding from the alloy middle block 2 can avoid the problem of mutual interference when detecting the forces in all directions.

[0031] The X-axis strain gauge 16, the Y-axis strain gauge 17, and the Z-axis strain gauge 15 all adopt high-precision foil strain gauges; the high-precision foil strain gauges have extremely high measurement accuracy, excellent sensitivity, rapid response to external strain, excellent stability, small performance fluctuations in wide temperature and long-term use, and good linearity which is beneficial to data processing.

[0032] The working principle of the present invention is: when a force is applied in the Z-axis direction, the elastic area deforms, and the Z-axis strain gauge 15 attached to the arc surface senses the deformation, which can accurately convert the tiny deformation into a change in resistance value, and then through the corresponding circuit, the magnitude of the force in the Z-axis direction is calculated.

[0033] When a force is applied in the X-axis direction, the X-axis elastic bridge 5 undergoes elastic deformation, and the X-axis strain gauge 16 attached to the X-axis elastic bridge 5 close to the encapsulation groove 8 senses the deformation of the X-axis elastic bridge 5, which can stably convert the deformation into a change in electrical signal, and after being processed by the circuit, the magnitude of the force in the X-axis direction is obtained.

[0034] The principle of detecting the force in the Y-axis direction is similar. When a force is applied in the Y-axis direction, the Y-axis elastic bridge 9 undergoes elastic deformation. The Y-axis strain gauge 17 attached to the Y-axis elastic bridge 9 near the encapsulation groove 8 senses this deformation and converts it into a change in the electrical signal, thereby achieving precise detection of the force in the Y-axis direction. At the same time, the alloy side blocks 1 on both sides are detachably connected to the alloy middle block 2 through the connecting component, and can be flexibly assembled according to different usage requirements, greatly enhancing the application flexibility of the sensor.

[0035] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Although this specification is described in terms of embodiments, not every embodiment contains only one technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A high-precision triaxial force sensor with dual equal strength beams, comprising an alloy intermediate block (2), characterized in that: A top force-bearing block (11) is fixedly connected in the middle of the upper end surface of the alloy intermediate block (2), and positioning holes (20) are provided at four corners of the top force-bearing block (11). A Z-axis force detection component for detecting Z-axis force is provided inside the alloy intermediate block (2). Alloy side blocks (1) are provided on both sides of the alloy intermediate block (2), and connection components fixedly connected to the alloy intermediate block (2) are provided on the alloy side blocks (1). Packaging grooves (8) are provided on both sides of the alloy side blocks (1). A mounting through hole (4) is provided in the middle of the alloy side blocks (1). X-axis force detection components for detecting X-axis force are provided at both ends of the alloy side blocks (1). Y-axis force detection components for detecting Y-axis force are provided on both sides of one end of the alloy side block (1) away from the alloy intermediate block (2). A bottom force-bearing block (21) is fixedly connected in the middle of the lower end surface of the alloy side block (1), and the mounting through holes (4) pass through the bottom force-bearing block (21).

2. The high-precision three-axis force sensor with dual equal strength beams according to claim 1, characterized in that: The Z-axis force detection component comprises a Z-axis elastic forming hole (14), the Z-axis elastic forming hole (14) is opened in the middle of the alloy side block (1), the Z-axis elastic forming hole (14) passes through the alloy middle block (2), the upper end surface of the Z-axis elastic forming hole (14) is an arc surface, and a Z-axis strain gauge (15) is attached to the arc surface.

3. The high-precision three-axis force sensor with dual equal strength beams according to claim 1, characterized in that: The connection assembly comprises a plug hole (13), wherein the plug hole (13) is provided at both ends of the two side surfaces of the alloy middle block (2), and stepped holes (12) communicating with the plug hole (13) are provided at both ends of the upper end surface of the alloy middle block (2). Positions at both ends of the alloy side block (1) near the plug hole (13) are fixedly connected with plug blocks (19), and the plug block (19) is provided with a threaded hole (18) opposite to the position of the stepped hole (12), and a screw (6) is provided in the stepped hole (12), and the screw (6) is threadedly connected to the threaded hole (18).

4. The high-precision three-axis force sensor with dual equal strength beams according to claim 2, characterized in that: The X-axis force detection component comprises an X-axis elastic forming hole (3), the X-axis elastic forming hole (3) being respectively opened at two ends of the alloy side block (1), the alloy side block (1) being provided with an X-axis elastic bridge (5) at both sides of the X-axis elastic forming hole (3), and the X-axis strain gauge (16) being attached to the X-axis elastic bridge (5) near the packaging groove (8).

5. The high-precision three-axis force sensor with dual equal strength beams according to claim 4 is characterized in that: The Y-axis force detection component comprises a Y-axis elastic forming hole (10), the Y-axis elastic forming hole (10) being respectively arranged at positions on both sides of an end of the alloy side block (1) away from the alloy middle block (2), the positions of the alloy side block (1) on both sides of the Y-axis elastic forming hole (10) being provided with a Y-axis elastic bridge (9), and a Y-axis strain gauge (17) being attached to the Y-axis elastic bridge (9) close to the packaging groove (8).

6. The high-precision three-axis force sensor with dual equal strength beams according to claim 5, characterized in that: The inner sides of the Y-axis elastic bridge (9) and the X-axis elastic bridge (5) are both arc-shaped.

7. The high-precision three-axis force sensor with dual equal strength beams according to claim 1, characterized in that: The upper and lower ends of the packaging groove (8) are both provided with packaging sheets (7), and the packaging sheets (7) are made of elastic material.

8. The high-precision three-axis force sensor with dual equal strength beams according to claim 1, characterized in that: A side avoidance groove (22) is provided in the middle of one side of the alloy side block (1) close to the alloy middle block (2), and the side avoidance groove (22) is respectively connected to the packaging groove (8).

9. The high-precision three-axis force sensor with dual equal strength beams according to claim 1, characterized in that: Both ends of the alloy side block (1) protrude from the alloy middle block (2), and the protruding length is 0.5-1 mm.

10. The high-precision three-axis force sensor with dual equal strength beams according to claim 5, characterized in that: The X-axis strain gauge (16), the Y-axis strain gauge (17) and the Z-axis strain gauge (15) are all high-precision foil strain gauges.

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