Four-column type six-dimensional force sensor

Abstract

The utility model discloses a four-column type six-dimensional force sensor, and belongs to the technical field of sensors. The device mainly comprises a sensor, the sensor comprises a mounting block, and the top of the mounting block is provided with a connecting block; the at least four groups of bearing columns are arranged between the mounting block and the connecting block; the mounting groove is formed in the center of the bearing column, and a strain gauge is mounted in the mounting groove. According to the four-column type six-dimensional force sensor provided by the invention, the four-column type structure is adopted, so that mutual interference can be remarkably reduced, particularly in the force direction and the torque direction, the mutual interference in the force direction is reduced to 0.1%, the mutual interference in the torque direction is reduced to 0.5%, the precision and practicability of the sensor 1 are improved, and the sensor is more suitable for application scenes needing high-precision measurement; compared with a three-column type structure, the four-column type structure is more stable, and generation of bending moment and unbalance loading can be more effectively reduced.

Description

Technical Field

[0001] The present application relates to the field of sensor technology, and in particular to a four-column six-dimensional force sensor. Background Art

[0002] The six-dimensional force sensor can measure the magnitude of three-dimensional force and torque in space. It has the characteristics of rich force measurement information and high force measurement accuracy when measuring spatial mechanical information. It is used in the fields of precision control of operating equipment, multi-finger dexterous hands and robot force feedback in the fields of aerospace, medicine, national defense science and technology.

[0003] For example, the patent with announcement number CN108801531B specifically discloses a six-axis force sensor and a method for improving the temperature drift of the six-axis force sensor. Strain gauges are arranged on the relative arm surfaces, and an even number of grooves are symmetrically opened on the inner ring structure. The surfaces of the even number of grooves are extended with protrusions, and the protrusions are provided with first temperature compensation strain gauges and second temperature compensation strain gauges with corresponding positions. This improves the temperature drift caused by the temperature difference between the upper and lower surfaces of the six-axis force sensor when the end of the robotic arm is close to the heating element.

[0004] In the above patent, the sensor improves the temperature drift caused by temperature difference by arranging the first temperature compensation strain gauge and the second temperature compensation strain gauge in multiple groups of grooves. However, since the sensors are usually interconnected and the sensor is a three-column structure, the sensor may be affected by the forces or torques in the other two directions when measuring the force or torque in one direction, thereby causing mutual interference, which may lead to inaccurate measurement results. When the sensor is affected by the forces or torques in other directions, errors may occur, which may have a negative impact on the system performance and measurement results. Therefore, it is necessary to provide a new four-column high-precision six-dimensional force structure with a shielding structure to solve the above problems.

[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 four-column six-dimensional force sensor, which can shield the strain gauge when the sensor is not in use.

[0007] The technical solution adopted by the present application to solve its technical problems is: a four-column six-dimensional force sensor, including a sensor, the sensor includes a mounting block, a connecting block is arranged on the top of the mounting block; at least four groups of receiving columns, the four groups of receiving columns are arranged between the mounting block and the connecting block; a mounting groove, the mounting groove is arranged at the center of the receiving column, and a strain gauge is installed in the mounting groove.

[0008] Furthermore, a shielding assembly is arranged between the mounting block and the connecting block, and the shielding assembly includes at least four groups of connecting columns, each group of connecting columns is arranged between two groups of receiving columns, and a hollow chamber is arranged inside the connecting column, and the chamber has an opening.

[0009] Furthermore, a shielding cover is provided in the chamber of the connecting column, and the length of the shielding cover is greater than the width of the receiving column.

[0010] Furthermore, a hook is fixedly mounted on one end of the shielding cover away from the connecting column, and a hanging groove is provided on one side of the connecting column away from the opening, and the notch of the hanging groove is adapted to the size of the hook.

[0011] Furthermore, both the mounting block and the connecting block are provided with mounting holes, and the mounting holes are threaded holes.

[0012] The beneficial effect of the present application is that a four-column six-dimensional force sensor provided by the present application can significantly reduce mutual interference by adopting a four-column structure, especially in the force direction and torque direction, reducing the mutual interference in the force direction to 0.1%, and reducing the mutual interference in the torque direction to 0.5%, thereby improving the accuracy and practicality of the sensor, making it more suitable for application scenarios that require high-precision measurement, such as robot control and precision machining environments.

[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 This is an overall schematic diagram of a four-column six-dimensional force sensor in this application;

[0016] Figure 2 for Figure 1 A schematic diagram of the structure of the middle shielding component;

[0017] Figure 3 for Figure 2 Schematic diagram of the use of the middle shield;

[0018] Among them, the reference numerals in the figure are:

[0019] 1. Sensor; 2. Mounting block; 21. Mounting hole; 3. Connecting block; 4. Receiving column; 41. Mounting slot; 5. Shielding component; 51. Connecting column; 52. Shielding cover; 53. Hook; 54. Hanging slot. DETAILED DESCRIPTION

[0020] 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.

[0021] 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.

[0022] like Figure 1 As shown, the present application provides a four-column six-dimensional force sensor, including a sensor 1, which is used to measure force and torque and can be applied to robot control, precision machining and other fields;

[0023] The sensor 1 includes a mounting block 2, on which a plurality of mounting holes 21 are arranged. The mounting holes 21 are threaded holes in this embodiment. The mounting block 2 is a fixed end of the sensor 1 and is used to fix the sensor 1 on the joint of the robot. A connecting block 3 is arranged on one side of the mounting block 2. The connecting block 3 is also provided with a plurality of mounting holes 21. The connecting block 3 is a force-bearing end of the sensor 1, and the mounting block 2 and the connecting block 3 have the same thickness.

[0024] At the same time, at least four groups of receiving columns 4 are arranged between the mounting block 2 and the connecting block 3. The receiving columns 4 are provided with mounting grooves 41. The mounting grooves 41 are used to provide space for pasting strain gauges. After the receiving columns 4 are installed between the mounting block 2 and the connecting block 3, when in use, the threaded holes are the main stress-bearing areas, and the four groups of receiving columns 4 are the strain areas. The stress is in the exact center of the strain, which can improve the measurement accuracy and reduce the generation of bending moment and eccentric load.

[0025] Moreover, the four-column structure of the sensor 1 has lower mutual interference than the traditional three-column structure. In the traditional three-column structure before decoupling, the mutual interference in the force direction is about 5%, and the mutual interference in the torque direction is about 10%. The sensor 1 adopts a four-column structure, which can significantly reduce the mutual interference, especially in the force direction and torque direction, reducing the mutual interference in the force direction to 0.1%, and the mutual interference in the torque direction to 0.5%, thereby improving the accuracy and practicality of the sensor 1, making it more suitable for application scenarios that require high-precision measurement, such as robot control and precision machining environments.

[0026] When in use, the mounting block 2 is first fixed on the device, and then the object to be measured is mounted on the connecting block 3, so that force or torque can be applied to the object to be measured during the experiment or test. At this time, the strain gauge in the mounting groove 41 is deformed, and the data is transmitted to the external data acquisition and processing system for analysis and recording.

[0027] In order to protect the strain gauge when the sensor 1 is not in use, improvements are made to the sensor 1, specifically:

[0028] like Figure 2-Figure 3 As shown, a shielding assembly 5 is provided between the mounting block 2 and the connecting block 3, and the shielding assembly 5 includes at least four groups of connecting columns 51. At the same time, a card slot is provided at the top of the mounting block 2, between the two groups of receiving columns 4, and the connecting column 51 is inserted into the card slot. At this time, the end of the connecting column 51 away from the mounting block 2 is in contact with the connecting block 3;

[0029] The connecting column 51 is used to provide additional support for the sensor 1 when the sensor 1 is not in use, so that the structure between the mounting block 2 and the connecting block 3 is more stable, and the connecting block 3 is prevented from being squeezed by external force and causing damage to the receiving column 4. A hollow chamber (not shown in the figure) is arranged in the connecting column 51, and the chamber has an opening, which is arranged toward one group of receiving columns 4. At the same time, a shielding cover 52 is slidably installed in the chamber. The length of the shielding cover 52 is greater than the width of the receiving column 4. The shielding cover 52 is made of elastic material, and a hook 53 is fixedly installed at one end of the shielding cover 52 away from the connecting column 51, so that the shielding cover 52 can be easily removed from the chamber, which is convenient for covering the strain gauge. The elastic material of the shielding cover 52 can effectively protect the strain gauge and can be easily removed when needed.

[0030] At the same time, a hanging groove 54 is provided on the side of the connecting column 51 away from the opening, and the notch of the hanging groove 54 is adapted to the size of the hook 53. When the use of the sensor 1 is over, the connecting column 51 is first inserted into the card slot, and then the shielding cover 52 is slid out of the cavity of the connecting column 51 to cover the strain gauge. When the shielding cover 52 is completely slid out, the hook 53 at the front end of the shielding cover 52 can be hung on the notch of the hanging groove 54, so that the receiving column 4 between the two groups of connecting columns 51 is completely blocked to prevent the strain gauge from being damaged or contaminated by external factors.

[0031] In summary, the device ensures that the strain gauge of the sensor 1 is effectively protected when not in use by providing the shielding component 5 to avoid damage or contamination, thereby improving the reliability and stability of the sensor 1 and providing better protection for the long-term use of the sensor 1.

[0032] 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 four-column six-dimensional force sensor, comprising a sensor (1), characterized in that: The sensor (1) comprises: A mounting block (2), wherein a connecting block (3) is arranged on the top of the mounting block (2); At least four groups of receiving columns (4), wherein the four groups of receiving columns (4) are arranged between the mounting block (2) and the connecting block (3); An installation groove (41), the installation groove (41) being arranged at the center of the receiving column (4), and a strain gauge being installed in the installation groove (41).

2. A four-column six-dimensional force sensor according to claim 1, characterized in that: A shielding assembly (5) is arranged between the mounting block (2) and the connecting block (3), the shielding assembly (5) comprising at least four groups of connecting columns (51), each group of connecting columns (51) being arranged between two groups of receiving columns (4), and a hollow chamber being arranged inside the connecting columns (51), the chamber having an opening.

3. A four-column six-dimensional force sensor according to claim 2, characterized in that: A shielding cover (52) is arranged in the chamber of the connecting column (51), and the length of the shielding cover (52) is greater than the width of the receiving column (4).

4. A four-column six-dimensional force sensor according to claim 3, characterized in that: A hook (53) is fixedly mounted on one end of the shielding cover (52) away from the connecting column (51), and a hanging groove (54) is provided on one side of the connecting column (51) away from the opening, wherein the notch of the hanging groove (54) is adapted to the size of the hook (53).

5. A four-column six-dimensional force sensor according to claim 4, characterized in that: The mounting block (2) and the connecting block (3) are both provided with mounting holes (21), and the mounting holes (21) are threaded holes.

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