Six-dimensional force control contact type measuring sensor and measuring method

Abstract

The invention relates to the technical field of six-dimensional force sensors, and particularly provides a six-dimensional force control contact type measurement sensor and a measurement method. The six-dimensional force control contact type measurement sensor comprises a body, a strain assembly arranged in the body and a strain release assembly arranged between the body and the strain assembly, the strain assembly comprises a strain seat sliding up and down in the body, and the strain assembly further comprises a strain piece fixed in a through hole of the strain seat. The strain seat is supported on the upper portion of the inner cavity of the body through the elastic piece, a strain space is formed between the strain seat and the cavity bottom of the body, the strain releasing assembly comprises an air cavity formed in the strain seat, the precision stability of the sensor under continuous operation is remarkably improved, and the service life of the sensor under continuous operation is remarkably prolonged. The invasion of external pollutants is reduced, and the device is particularly suitable for high-cleanliness or high-humidity industrial scenes; the heat dissipation efficiency is in positive correlation with the measurement frequency, and the heat dissipation efficiency is automatically improved under the high-frequency working condition.

Description

Technical Field

[0001] The present invention relates to the technical field of six-dimensional force sensors, and in particular to a six-dimensional force-controlled contact measurement sensor and a measurement method. Background Art

[0002] A six-axis force sensor, also known as a six-axis force and torque sensor or six-axis force sensor, is an advanced sensor capable of simultaneously measuring three force components (Fx, Fy, Fz) and three torque components (Mx, My, Mz). It provides robots with a sense of touch similar to that of human touch, enabling them to perceive and adapt to changes in the external environment, thereby completing more complex and delicate tasks. It is a core component for compliant robotic control and operation. The core structure of a six-axis force sensor typically consists of an elastomer, a strain gauge (or sensitive element such as a piezoelectric crystal), circuitry, and a signal processing unit. The strain gauges contact three sensitive points on the main housing at three points. When subjected to force, they transmit force signals to the sensitive elements, generating a signal.

[0003] However, the elastomer, strain gauge and circuit parts are arranged in the main housing and are fully sealed. The sensitive components work frequently in a multi-dimensional contact signal manner, which makes it difficult for these sensitive elements to release heat in a narrow sealed environment. The high temperature environment will cause the strain gauge to drift, resulting in signal distortion and even zero drift, affecting the service life. Summary of the Invention

[0004] In order to solve the above problems, the present invention provides a six-dimensional force-controlled contact measurement sensor, including a main body, a strain assembly arranged in the main body, and a strain release assembly arranged between the main body and the strain assembly, the strain assembly including a strain seat that slides up and down in the main body, the strain assembly also including a strain piece fixed in the through hole of the strain seat, the strain piece protruding from the top of the main body, the main body is filled with an elastic piece, the elastic piece supports the strain seat against the inner cavity of the main body, and forms a strain space between the strain seat and the bottom of the cavity of the main body, the strain release assembly includes an air cavity opened on the strain seat, the strain release assembly also includes a first air channel opened at the bottom of the cavity of the main body and corresponding to the air cavity up and down, when the strain seat is strained relative to the strain space and triggers the sensing end, the air cavity is also compressed relative to the first air channel, so that the hot air is discharged to the outside of the main body through the first air channel.

[0005] As a further preferred embodiment, a sealing cover is provided on the top of the main body, a through hole is provided on the sealing cover, and the top of the strain member protrudes upward above the through hole.

[0006] As a further preferred embodiment, a plurality of connection holes are provided in an annular array between the main body and the sealing cover, and a plurality of the connection holes surround the periphery of the trigger portion.

[0007] As a further preferred embodiment, a plurality of lower positioning holes are opened in a circular array at the bottom of the cavity of the main body, and a plurality of upper positioning holes are opened in a circular array on the bottom surface of the strain member, and the lower positioning holes correspond one to one to the bottom of the upper positioning hole, and the elastic member includes a spring seat elastically supported between the upper positioning hole and the lower positioning hole at the same position, and the spring seat includes a moving rod filled in the upper positioning hole, and a guide seat filled in the lower positioning hole, the moving rod is inserted into the guide seat, and a spring is provided on the outer periphery of the moving rod and the guide seat, one end of the spring is pressed upward against the upper positioning hole, and the other end of the spring is pressed downward against the lower positioning hole.

[0008] As a further preferred embodiment, the bottom periphery of the strain seat is provided with a chamfered surface, the chamfered surface is provided with a first annular buckle groove, the bottom edge of the cavity of the main body is provided with a second annular buckle groove, and the elastic member also includes an elastic plate filled between the first annular buckle groove and the second annular buckle groove.

[0009] As a further preferred embodiment, a distance space is provided between the chamfered surface and the cavity wall of the main body, so that the elastic plate is in a trumpet shape with the opening facing downward, and a trumpet cavity is formed between the elastic plate and the cavity bottom of the main body.

[0010] As a further preferred embodiment, the strain relief assembly also includes a second air duct opened at the bottom of the cavity of the main body, and corresponding to the horn cavity at the bottom of the elastic plate. The other end of the second air duct is connected to the first air duct, and the first air duct gradually tilts downward toward the outer wall of the main body.

[0011] The present invention also discloses a detection method, comprising the following steps: S1. The six-dimensional force-controlled contact measurement sensor is connected to the device in the use environment through the connection hole and the rubber pad; S2. When the bottom of the body is stressed, the rubber pad compresses, and the strain gauge moves upward to touch the equipment in the environment. This causes the strain gauge to slide downward within the body, compressing the elastic element below, such as a spring or silicone, and squeezing the air in the strain gauge space. The displacement of the strain gauge triggers a measurement signal: S3. The compressed air cavity causes the high-temperature airflow to be discharged at high speed through the downward-sloping first air passage; S4. The chamfered surface pulls down the elastic plate, compressing the horn cavity and increasing the air pressure and volume, so as to press the retained hot air into the first air channel through the second air channel. The second air channel and the first air channel form a multi-channel exhaust channel, thereby improving the exhaust efficiency and completing the signal detection at the same time.

[0012] The beneficial effects of the present invention compared to the prior art are: A strain gauge seat is installed within the sensor body, sliding within the body. Leveraging its mobility, a first air channel is created from the bottom of the body cavity to the outside. When the strain gauge seat is subjected to external forces, each time a trigger signal from the sensor head is triggered, it forces the body to dissipate heat outward, creating a passive heat dissipation mechanism synchronized with the measurement action. By integrating the strain gauge seat's strain action with the air cavity and the first air channel to form a compressed air heat dissipation structure, synchronized measurement and heat dissipation are achieved. Each time the strain gauge seat contacts the measured object, it moves downward, not only acquiring the mechanical signal but also compressing the air cavity, causing the high-temperature airflow within to be discharged out of the body through the first air channel. Upon reset, it draws in cool air from outside, completely eliminating heat accumulation within the sealed cavity. This purely mechanical structure achieves zero-power heat dissipation, eliminating signal distortion caused by temperature drift and significantly improving the sensor's accuracy, stability, and service life under continuous operation. It also maintains a fully sealed state, reducing the intrusion of external contaminants, making it particularly suitable for industrial applications requiring high cleanliness or humidity. Its heat dissipation efficiency is positively correlated with the measurement frequency, automatically increasing under high-frequency conditions, forming an adaptive thermal management closed loop. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 A schematic diagram of the external structure of a six-dimensional force-controlled contact measurement sensor provided by an embodiment of the present invention; Figure 2 A schematic top plan view of a six-dimensional force-controlled contact measurement sensor provided by an embodiment of the present invention; Figure 3 A six-dimensional force-controlled contact measurement sensor provided by the embodiment of the present invention is composed of Figure 2 The main plane diagram of the section A is shown below; Figure 4 A schematic diagram of a six-dimensional force-controlled contact measurement sensor provided by an embodiment of the present invention with the sealing cover and trigger portion removed; Figure 5 A disassembled schematic diagram of a six-dimensional force-controlled contact measurement sensor provided in an embodiment of the present invention.

[0014] In the figure: 10, main body; 110, sealing cover; 20, strain assembly; 210, strain seat; 2102, first annular buckle groove; 2103, chamfered surface; 2104, elastic plate; 2105, distance space; 111, through hole; 112, lower positioning hole; 113, second annular buckle groove; 220, strain member; 2202, upper positioning hole; 230, strain space; 30, strain release assembly; 310, air cavity; 320, first air duct; 330, second air duct; 40, spring seat; 410, moving rod; 420, guide seat; 430, spring. DETAILED DESCRIPTION

[0015] The above and other embodiments and advantages of the present invention are clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments.

[0016] In one embodiment, Figure 1-Figure 5 As shown: This embodiment provides a six-dimensional force-controlled contact measurement sensor, including a main body 10, a strain assembly 20 arranged in the main body 10, and a strain release assembly 30 arranged between the main body 10 and the strain assembly 20. The strain assembly 20 includes a strain seat 210 that slides up and down in the main body 10. It should be noted in advance that the strain seat 210 is a prior art, and at least three branch angles are often set on its circumferential position. Strain gauges are respectively provided on the three branch angles. The outer ends of the three strain gauges contact the cavity wall of the main body to trigger the signal. A strain circuit board is also provided on the strain seat 210. The circuit board and the strain gauge constitute a six-dimensional force sensitive signal (the prior art is not repeated). What the present invention proposes is that the strain assembly 20 also includes The strain member 220 is fixed within the through hole 111 of the strain seat 210. The strain member 220 protrudes from the top of the main body 10. The main body 10 is filled with an elastic member. The elastic member supports the strain seat 210 near the inner cavity of the main body 10 and forms a strain space 230 between the strain seat 210 and the cavity bottom of the main body 10. The strain relief assembly 30 includes an air cavity 310 defined in the strain seat 210. The strain relief assembly 30 also includes a first air channel 320 defined in the cavity bottom of the main body 10 and corresponding to the air cavity 310 in the upper and lower directions. When the strain seat 210 is strained relative to the strain space 230 and the sensing end is triggered, the air cavity 310 is compressed relative to the first air channel 320, causing hot air to be discharged outside the main body 10 through the first air channel 320.

[0017] When the bottom of the main body 10 is subjected to force, the strain member 220 connected to the operating environment will touch the installed environmental equipment, causing the strain seat 210 to slide downward in the main body 10, compressing the elastic member below, such as a spring or silicone body, and squeezing the air in the strain space 230. At this time, the displacement of the strain member 220 triggers the measurement signal; the following technical effects are achieved through synchronous linkage: the downward movement of the strain seat 210 causes the air cavity 310 at its bottom and the first air channel 320 at the bottom of the main body cavity to form a piston-type air compression structure - the volume of the air cavity 310 is reduced, thereby forcing the high-temperature gas emitted by the strain circuit board to be discharged outside the main body 10 through the through-going first air channel 320. For example, each time a robot grabs a part on the assembly line and the part provides a reaction force to the bottom of the body 10, the strain gauge 210 contacts the robot's connector and instantly transmits the reaction force to the strain gauge on the strain gauge 210, completing the acquisition of the force signal. Simultaneously, as the strain gauge 210 moves toward the bottom of the body 10 cavity, the air cavity 310 compresses and discharges the heat accumulated in the body 10 cavity during the previous measurement of the strain gauge. When the external force is removed, the elastic member automatically pushes the strain gauge 210 back into place, and the volume of the air cavity 310 increases, drawing in cooler air from the outside, achieving internal air circulation. Each contact measurement forces the exhaust of hot air and the replacement of cold air, forming a passive heat dissipation mechanism synchronized with the measurement action. By forming an associated compressed air heat dissipation structure with the strain action of the strain seat 210 and the air cavity 310 and the first air channel 320, synchronous triggering of measurement and heat dissipation is achieved: each time the strain seat 210 contacts the object to be measured, the downward movement of the strain seat 210 not only completes the mechanical signal acquisition, but also synchronously compresses the air cavity 310 so that the high-temperature air flow inside it is discharged out of the main body 10 through the first air channel 320, and inhales external cold air when resetting, completely eliminating heat accumulation in the sealed cavity; this purely mechanical structure achieves zero-power heat dissipation, eliminates signal distortion caused by temperature drift, and significantly improves the accuracy, stability and service life of the sensor under continuous operation; at the same time, it maintains a fully sealed state of the main body, reduces the intrusion of external pollutants, and is particularly suitable for high-cleanliness or high-humidity industrial scenarios; its heat dissipation efficiency is positively correlated with the measurement frequency, and the heat dissipation efficiency is automatically improved under high-frequency conditions, forming an adaptive thermal management closed loop.

[0018] like Figure 1 、 Figure 3As shown, a sealing cover 110 is provided at the top of the body 10, which is provided with a through hole 111. The top of the strain gauge 220 protrudes upward above the through hole 111. The sealing cover 110 ensures that the interior of the body 10 is substantially sealed. When the object to be measured contacts the bottom of the body 10, the strain gauge 220 protruding from the through hole 111 presses against the detection head. The strain gauge 220 senses the reaction force and transmits it to the strain seat 210. The strain seat 210 then transmits the force to the strain gauge (conventional technology) to generate a signal. When the strain seat 210 is pressed down, the elastic member compresses and shortens, causing the hot air inside the body 10 to be discharged outside the body 10 through the first air channel 320. This combines heat exhaust with signal sensing, achieving the goal of simultaneously triggering the signal and releasing heat.

[0019] like Figures 3 to 5 As shown, the bottom annular array of the cavity of the body 10 is provided with a plurality of lower positioning holes 112, and the bottom surface of the strain member 220 is provided with a plurality of upper positioning holes 2202 in an annular array. The lower positioning holes 112 correspond one to one to the bottom of the upper positioning holes 2202. The elastic member includes a spring seat 40 elastically supported between the upper positioning hole 2202 and the lower positioning hole 112 at the same position. The spring seat 40 includes a motion rod 410 filled in the upper positioning hole 2202 and a guide seat 420 filled in the lower positioning hole 112. The motion rod 410 is inserted into the guide seat 420, and the motion rod 410 and the guide seat 420 are connected. A spring 430 is provided on the outer sleeve of the seat 420. One end of the spring 430 is pressed upward against the upper positioning hole 2202, and the other end of the spring 430 is pressed downward against the lower positioning hole 112. The moving rod 410 and the guide seat 420 form a micro-piston relationship. When the strain seat 210 descends, the moving rod 410 is pushed down along the guide seat 420, which improves the stability of the strain seat 210 and squeezes the spring 430 to shorten it. When the trigger force on the strain seat 210 disappears, the spring 430 restores its length and pushes the moving rod 410 to reset upward, and the strain seat 210 is pushed to reset by the moving rod 410.

[0020] like Figures 3 to 5As shown, a chamfered surface 2103 is provided on the outer periphery of the bottom of the strain seat 210, and a first annular buckle groove 2102 is opened on the chamfered surface 2103, and a second annular buckle groove 113 is opened on the edge of the cavity bottom of the main body 10. The elastic member also includes an elastic plate 2104 filled between the first annular buckle groove 2102 and the second annular buckle groove 113. A distance space 2105 is provided between the chamfered surface 2103 and the cavity wall of the main body 10, so that the elastic plate 2104 is in the shape of a trumpet with the opening facing downward, and a trumpet cavity is formed between the elastic plate 2104 and the cavity bottom of the main body 10. The strain release component 30 also includes a second air duct 330 opened at the cavity bottom of the main body 10 and corresponding to the trumpet cavity at the bottom of the elastic plate 2104. The other end of the second air duct 330 is communicated with the first air duct 320, and the first air duct 320 gradually tilts downward toward the outer wall of the main body 10.

[0021] The strain relief assembly 30 also includes a second air channel 330 opened at the bottom of the cavity of the main body 10 and corresponding to the trumpet cavity at the bottom of the elastic plate 2104. The other end of the second air channel 330 is connected to the first air channel 320, and the first air channel 320 gradually tilts downward toward the outer wall of the main body 10.

[0022] When the object to be measured contacts the strain piece 220 protruding from the through hole 111, the strain seat 210 is driven by the downward pressure to move the chamfered surface 2103 at its bottom downward. The strain seat 210 moves downward to compress the air cavity 310, forcing the hot air in the body 10 to be discharged synchronously through the first air channel 320; at the same time, the chamfered surface 2103 presses down the elastic plate 2104, causing its trumpet shape to continue to deform and increase, while approaching the first air channel 320. That is, at this time, the volume of the trumpet cavity is increased to discharge the hot air in the cavity into the second air channel 330 in a short time. The second air channel 330 is connected to the first air channel 320 to increase the speed of hot air discharge. The first air channel 320 and the second air channel 330 are combined to form a multi-channel exhaust channel to improve the exhaust efficiency and use gravity to increase the exhaust pressure. The horn cavity driven by elastic plate 2104 circulates heat from the bottom edge, which is inaccessible to traditional sensors, increasing cooling efficiency in blind spots by 200%. The configuration and horn-shaped shape of elastic plate 2104 allow it to recover its shape and move upward during negative signal feedback, simultaneously assisting the upward return of spring seat 40. The reverse force exerted on strain seat 210 by its shape recovery, combined with the reverse return force exerted by spring seat 40, creates a synergistic effect, doubling the return capability of strain seat 210. Furthermore, the compression deformation of elastic plate 2104 provides pressure to second air passage 330, further improving heat emission efficiency.

[0023] The present invention also discloses a detection method, comprising the following steps: S1. The six-dimensional force-controlled contact measurement sensor is connected to the device in the use environment through the connection hole 50 and the rubber pad; S2. When the bottom of the body 10 is subjected to force, the rubber pad compresses, and the strain element 220 touches the equipment in the environment upward, causing the strain seat 210 to slide downward within the body 10, compressing the elastic member below, such as a spring or silicone body, and squeezing the air in the strain space 230. At this time, the displacement of the strain element 220 triggers the measurement signal: S3. The compressed air cavity 310 causes the high-temperature air flow to be discharged at high speed through the downwardly inclined first air duct 320; S4. The chamfered surface 2103 pulls down the elastic plate 2104, compressing the trumpet cavity and increasing the air pressure and volume, so as to press the retained hot air into the first air channel 320 through the second air channel 330. The second air channel 330 and the first air channel 320 form a multi-channel exhaust channel, thereby improving the exhaust efficiency and completing the signal detection at the same time.

[0024] The above orientation designations do not represent the specific orientations of the components in this implementation scheme. This implementation scheme is only for the convenience of describing the scheme, and the orientations are described relatively with reference to the figures. In essence, the specific orientations of the components are described based on their actual installation and actual use, as well as the customary orientations of those skilled in the art. This is hereby explained.

[0025] The specific embodiments described above further illustrate the purpose of the present invention, technical solutions, and beneficial effects. It should be understood that the above description is merely a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. In particular, it should be noted that for those skilled in the art, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A six-dimensional force-controlled contact measurement sensor, characterized in that: The invention comprises a body (10), a strain assembly (20) arranged in the body (10), and a strain release assembly (30) arranged between the body (10) and the strain assembly (20), wherein the strain assembly (20) comprises a strain seat (210) sliding up and down in the body (10), and the strain assembly (20) further comprises a strain piece (220) fixed in a through hole (111) of the strain seat (210), wherein the strain piece (220) protrudes from the top of the body (10), and the body (10) is filled with an elastic piece, and the elastic piece supports the strain seat (210) on the inner cavity of the body (10), and A strain space (230) is formed between the strain seat (210) and the cavity bottom of the body (10). The strain release assembly (30) includes an air cavity (310) opened on the strain seat (210). The strain release assembly (30) also includes a first air channel (320) opened at the cavity bottom of the body (10) and corresponding to the air cavity (310) in an upper and lower direction. When the strain seat (210) is strained relative to the strain space (230) and the sensing end is triggered, the air cavity (310) is compressed relative to the first air channel (320), so that hot air is discharged to the outside of the body (10) through the first air channel (320).

2. A six-dimensional force-controlled contact measurement sensor according to claim 1, characterized in that: A sealing cover (110) is provided on the top of the main body (10), a through hole (111) is provided on the sealing cover (110), and the top of the strain member (220) protrudes upward above the through hole (111).

3. The six-dimensional force-controlled contact measurement sensor according to claim 2, characterized in that: A plurality of connection holes (50) are provided in a ring array between the body (10) and the sealing cover (110), and a plurality of the connection holes (50) surround the periphery of the trigger portion (2201).

4. A six-dimensional force-controlled contact measurement sensor according to claim 3, characterized in that: The body (10) has a plurality of lower positioning holes (112) formed in an annular array at the bottom of the cavity, and a plurality of upper positioning holes (2202) formed in an annular array on the bottom surface of the strain member (220). The lower positioning holes (112) correspond one to one to the bottom of the upper positioning holes (2202). The elastic member includes a spring seat (40) elastically supported between the upper positioning hole (2202) and the lower positioning hole (112) at the same position. The spring seat (40) includes a moving rod (410) filled in the upper positioning hole (2202) and a guide seat (420) filled in the lower positioning hole (112). The moving rod (410) is inserted into the guide seat (420), and a spring (430) is provided on the outer periphery of the moving rod (410) and the guide seat (420). One end of the spring (430) is supported upward in the upper positioning hole (2202), and the other end of the spring (430) is supported downward in the lower positioning hole (112).

5. A six-dimensional force-controlled contact measurement sensor according to claim 4, characterized in that: The strain seat (210) is provided with a chamfered surface (2103) on the periphery of the bottom, and a first annular buckle groove (2102) is provided on the chamfered surface (2103). The cavity bottom edge of the body (10) is provided with a second annular buckle groove (113). The elastic member further includes an elastic plate (2104) filled between the first annular buckle groove (2102) and the second annular buckle groove (113).

6. A six-dimensional force-controlled contact measurement sensor according to claim 5, characterized in that: The chamfered surface (2103) is provided with a distance space (2105) from the cavity wall of the body (10), so that the elastic plate (2104) is in the shape of a trumpet with the opening facing downward, and a trumpet cavity is formed between the elastic plate (2104) and the cavity bottom of the body (10).

7. A six-dimensional force-controlled contact measurement sensor according to claim 6, characterized in that: The strain relief assembly (30) further includes a second air channel (330) which is opened at the bottom of the cavity of the body (10) and corresponds to the trumpet cavity at the bottom of the elastic plate (2104) in an upper and lower manner. The other end of the second air channel (330) is communicated with the first air channel (320), and the first air channel (320) gradually tilts downward toward the outer wall of the body (10).

8. A detection method, using the six-dimensional force-controlled contact measurement sensor according to claim 7 for detection, characterized in that: The following steps are involved: S1. The six-dimensional force-controlled contact measurement sensor is connected to the device in the use environment through the connection hole (50) and the rubber pad; S2. When the bottom of the body (10) is stressed, the rubber pad is compressed, and the strain member 220 touches the equipment in the use environment upward, thereby driving the strain seat (210) to slide downward in the body (10), compressing the elastic member below, such as a spring or a silicone body, and squeezing the air in the strain space (230). At this time, the displacement of the strain member (220) triggers the measurement signal: S3. The compressed air cavity (310) causes the high-temperature airflow to be discharged at high speed through the downwardly inclined first air passage (320); S4. The chamfered surface (2103) presses down the elastic plate (2104), compressing the trumpet cavity and increasing the air pressure and volume, so as to press the retained hot air into the first air channel (320) through the second air channel (330). The second air channel (330) and the first air channel (320) form a multi-channel exhaust channel, thereby improving the exhaust efficiency and completing the signal detection at the same time.

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