Multi-beam flat type force sensor

Abstract

The utility model discloses a multi-beam flat type force sensor, and belongs to the technical field of sensors. The sensor mainly comprises a sensor, the sensor comprises an upper cover and a lower cover, an elastomer component is arranged between the upper cover and the lower cover, and a gap is formed between the upper cover and the lower cover; the supporting assembly is arranged between the upper cover and the lower cover, the supporting assembly comprises a check block, the check block is arranged in a gap between the upper cover and the lower cover, and a threaded hole is formed in the check block; the pin shaft is arranged in the threaded hole; and the two groups of notches are respectively formed in the upper cover and the lower cover, and the notches are matched with the pin shafts in size. According to the multi-beam flat type force sensor provided by the invention, the supporting assembly is arranged, so that when the sensor is not used, if the sensor is extruded by an external force, the pressure can be blocked by the stop block at the moment, an internal workpiece of the sensor cannot be influenced, and it is ensured that the sensor can still keep a good state when the sensor is not used for a long time.

Description

Technical Field

[0001] The present application relates to the field of sensor technology, and in particular to a multi-beam flat force sensor. Background Art

[0002] Multi-dimensional force sensor refers to a type of force sensor that can measure force or torque components in two or more directions at the same time. Among them, the six-dimensional force sensor is the most complete form of multi-dimensional force sensor, which can simultaneously detect all force information in three-dimensional space, that is, three force components and three torque components. Therefore, the six-dimensional force sensor is also one of the most widely used force sensors.

[0003] For example, the patent with publication number CN116007820A specifically discloses a deep-sea six-dimensional force sensor, which deforms by following the displacement of the adapter sealing cover assembly, thereby ensuring the sealing of the connection between the adapter sealing cover assembly and the first opening, making the assembly of this solution more convenient and having wider adaptability.

[0004] In the above patent, the six-dimensional force sensor has good waterproof performance by setting a sealing ring, but in some industrial environments, when the sensor is not in use, the sensor may be squeezed by external forces due to mechanical collision or impact around it, especially in small spaces or high-risk areas, which may cause damage to the internal elastomer or circuit, making the sensor unable to work properly. This will lead to the inability to accurately measure force, affecting the reliability and safety of related applications, so it is necessary to provide a multi-beam flat force sensor with a support assembly to solve the above problem.

[0005] It should be noted that the above information disclosed in this background technology section is only for understanding the background technology of the present application concept, and therefore, it may contain information that does not constitute the prior art. Summary of the invention

[0006] Based on the above problems existing in the prior art, the problem to be solved by the present application is: to provide a multi-beam flat force sensor to prevent the internal parts of the sensor from being damaged due to external force when the sensor is not in use.

[0007] The technical solution adopted by the present application to solve its technical problems is: a multi-beam flat force sensor, including a sensor, the sensor including an upper cover and a lower cover, an elastomeric component is arranged between the upper cover and the lower cover, and there is a gap between the upper cover and the lower cover; a support component, the support component is arranged between the upper cover and the lower cover, the support component includes a stopper, the stopper is arranged in the gap between the upper cover and the lower cover, and the stopper is provided with a threaded hole; a pin shaft, the pin shaft is arranged in the threaded hole; at least two groups of notches, the two groups of notches are respectively arranged on the upper cover and the lower cover, and the size of the notches is adapted to the size of the pin shaft.

[0008] Furthermore, the invention is characterized in that: a plurality of groups of elastic body strain beams are arranged on the elastic body component, and strain gauges are attached to the elastic body strain beams.

[0009] Furthermore, it is characterized in that: through holes are provided on the upper cover and the lower cover, and threaded holes are provided on the elastic body component corresponding to the through holes of the upper cover and the lower cover.

[0010] Furthermore, the feature is that a handle is provided on the side of the stopper away from the sensor.

[0011] Furthermore, it is characterized in that: a wire outlet hole is provided on the lower cover.

[0012] The beneficial effect of the present application is that a multi-beam flat force sensor provided by the present application, by setting a support assembly, when the sensor is not in use, if it is squeezed by external force, the pressure will be blocked by the block and will not affect the internal workpiece of the sensor, thereby ensuring that the sensor can remain in good condition when not in use for a long time.

[0013] In addition to the above-described purposes, features and advantages, the present application also has other purposes, features and advantages. The present application will be further described in detail with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0015] Figure 1 It is an overall schematic diagram of a multi-beam flat force sensor in this application;

[0016] Figure 2 for Figure 1 The side structure diagram of the sensor;

[0017] Figure 3 for Figure 2 Explosion diagram of the sensor in the figure;

[0018] Figure 4 for Figure 3 Schematic diagram of the structure of the elastic body components;

[0019] Figure 5 is a schematic diagram of a Wheatstone bridge;

[0020] Among them, the reference numerals in the figure are:

[0021] 1. Sensor; 2. Upper cover; 3. Elastomer component; 31. Elastomer strain beam; 4. Lower cover; 41. Wire outlet hole; 5. Strain gauge; 6. Wheatstone bridge; 61. EXC+; 62. EXC-; 63. Shiled; 64. SIG+; 65. SIG-; 7. Support assembly; 71. Stopper; 72. Pin; 73. Notch; 74. Handle. DETAILED DESCRIPTION

[0022] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0023] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with 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 of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0024] like Figure 1-Figure 2 As shown, the present application provides a multi-beam flat force sensor, including a sensor 1, which is arranged at the joints of the robot to detect the force conditions of the joints of the robot.

[0025] The sensor body 1 includes an upper cover 2, which is a force-bearing surface of the sensor 1. A plurality of pin holes and through holes are arranged on the upper cover 2. A lower cover 4 is arranged at the bottom of the upper cover 2. A wire outlet hole 41 is arranged on the lower cover 4. A plurality of through holes are also arranged on the lower cover 4. The lower cover 4 is a fixing surface of the sensor 1 and is used to fix the sensor 1 to an external robot.

[0026] At the same time, an elastomeric component 3 is arranged between the upper cover 2 and the lower cover 4, and threaded holes are arranged on the elastomeric component 3 corresponding to the through holes of the upper cover 2 and the lower cover 4. During assembly, the upper cover 2 and the lower cover 4 can be installed on the elastomeric component 3 by bolts, and when the upper cover 2, the lower cover 4 and the elastomeric component 3 are installed, there is a gap between the upper cover 2 and the lower cover 4.

[0027] like Figure 3-Figure 4As shown, a plurality of groups of elastic strain beams 31 are arranged on the elastic component 3. The elastic strain beams 31 can be made into equilateral square columns, rectangular columns, and circular column structures, and the number of beams and columns can be 3, 4, 6, or 8 beams. At the same time, the elastic component 3 is made of aluminum alloy, so that it has the characteristics of strong rigidity, low height, and high precision. It can realize the tension and pressure measurement in the three directions of XYZ and the positive and negative measurement of torque in the XYZ direction, and is suitable for testing the force conditions of robot joints.

[0028] At the same time, two sets of strain gauges 5 are attached to the inner circle of each set of elastic body strain beams 31, thereby forming a Wheatstone bridge 6 for strain output, and the output signal is a mV voltage signal;

[0029] When the test starts, the lower cover 4 is the fixed end and the upper cover 2 is the force-bearing end. When the upper cover 2 is subjected to external force, the elastic body strain beam 31 is bent and deformed, driving the strain gauge 5 to stretch or compress. According to R=ρl / s, the length of the strain gauge 5 changes, which leads to a change in resistance, and finally causes a change in the output voltage value. This output voltage value is the output sensitivity of the sensor 1, and the bridge circuit composed of these strain gauges 5 connected in series or in parallel is a Wheatstone bridge 6;

[0030] like Figure 5 As shown, the Wheatstone bridge 6 includes EXC+61, EXC-62, Shiled63, SIG+64 and SIG-65, wherein EXC+61 and EXC-62 are input voltages, SIG+64 and SIG-65 are output signals, and Shiled63 is a shielding line.

[0031] like Figure 1-Figure 3 As shown, in order to prevent the internal strain gauge 5 from being damaged due to external force when the sensor 1 is not in use, a support assembly 7 is provided on the sensor 1, and the support assembly 7 includes a stopper 71. A handle 74 is provided on the side of the stopper 71 away from the sensor 1. The stopper 71 is provided between the gap between the lower cover 4 and the upper cover 2 to provide support for the lower cover 4 and the upper cover 2. Two groups of threaded holes (not shown in the figure) are provided on the stopper 71, and pins 72 are installed in both groups of sockets. The pins 72 are suitable for being threadedly installed in the sockets and will not fall out easily.

[0032] At the same time, multiple groups of notches 73 are provided at positions corresponding to the pin shaft 72 on the upper cover 2 and the lower cover 4. The size of the notches 73 matches the size of the pin shaft 72. When installing, first, the stopper 71 is placed between the gap between the lower cover 4 and the upper cover 2 through the handle 74. At this time, the two groups of notches 73 are concentric with the threaded holes on the stopper 71, and then the pin shaft 72 is installed into the threaded hole to complete the assembly of the support assembly 7.

[0033] When the handle 74 is pulled to separate the block 71 from the sensor 1, the two sets of pins 72 will be blocked by the two sets of notches 73 at the same time, so that the block 71 will not be accidentally separated from the sensor 1, thereby achieving a stable fixation of the support assembly 7 and preventing it from accidentally falling off.

[0034] In summary, by providing the support assembly 7, the device ensures that when the sensor 1 is not in use, if it is squeezed by external force, the pressure will be blocked by the block 71 and will not affect the internal workpiece of the sensor 1, thereby ensuring that the sensor 1 can remain in good condition when not in use for a long time.

[0035] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A multi-beam flat force sensor, comprising: A sensor (1), the sensor (1) comprising an upper cover (2) and a lower cover (4), an elastic component (3) being arranged between the upper cover (2) and the lower cover (4), and a gap being provided between the upper cover (2) and the lower cover (4); A support assembly (7), the support assembly (7) being arranged between the upper cover (2) and the lower cover (4), characterized in that the support assembly (7) comprises: a stopper (71), the stopper (71) being arranged in a gap between the upper cover (2) and the lower cover (4), and the stopper (71) being provided with a threaded hole; A pin shaft (72), the pin shaft (72) being arranged in the threaded hole; At least two groups of notches (73), the two groups of notches (73) being respectively arranged on the upper cover (2) and the lower cover (4), the notches (73) being adapted to the size of the pin shaft (72).

2. The multi-beam flat force sensor according to claim 1, characterized in that: A plurality of groups of elastic body strain beams (31) are arranged on the elastic body component (3), and strain gauges (5) are attached to the elastic body strain beams (31).

3. A multi-beam flat force sensor according to claim 2, characterized in that: The upper cover (2) and the lower cover (4) are both provided with through holes, and the elastic body component (3) is provided with threaded holes corresponding to the through holes of the upper cover (2) and the lower cover (4).

4. The multi-beam flat force sensor according to claim 3, characterized in that: A handle (74) is provided on a side of the stopper (71) away from the sensor (1).

5. The multi-beam flat force sensor according to claim 4, characterized in that: The lower cover (4) is provided with a wire outlet hole (41).

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