Small strain type six-dimensional force sensor
By using sealed rubber ring and bridge strain detection sensor design in strained six-dimensional force sensor, the problem of large sensor size and susceptibility to external influences is solved, and a miniaturized, high-precision and high-stability six-dimensional force sensor is realized, which is suitable for a variety of application scenarios.
Patent Information
- Application Number
- CN202421608891.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-09
- Publication Date
- 2025-04-11
- Estimated Expiration
- 2034-07-09
AI Technical Summary
The existing strain six-dimensional force sensor is large in size, which limits its application in limited space and is susceptible to external dust, dirt and water, resulting in a decrease in detection accuracy and stability.
A small strain six-dimensional force sensor is designed to prevent the invasion of external dust, dirt and water by setting up a sealed rubber ring inside the elastomer; at the same time, a bridge strain detection sensor and a bridge panel are used to achieve high-precision detection of external loads through electrical signal transmission and computer processing.
It has realized a miniaturized six-dimensional force sensor, improved detection accuracy and stability, enhanced anti-interference ability, and is suitable for more application scenarios, such as medical devices, robotics technology, aerospace and other fields.
Smart Images
Figure CN222748169U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of sensors, in particular to a small strain type six-dimensional force sensor. Background Art
[0002] The strain-type six-axis force sensor is a six-axis force measurement device based on the resistance strain effect. It has the advantages of simple structure, low cost, high precision, and good reliability. It has become one of the most widely used six-axis force sensors. The structure of the strain-type six-axis force sensor consists of elastic body, strain gauge, circuit and other components. The structure is relatively simple and easy to manufacture. Compared with other types of six-axis force sensors, the manufacturing cost of the strain-type six-axis force sensor is lower.
[0003] Strain-type six-axis force sensors can achieve high-precision six-axis force measurement to meet the needs of various industrial and scientific research applications. Strain-type six-axis force sensors have good stability and anti-interference capabilities and can work in harsh environments. However, compared with other types of six-axis force sensors, strain-type six-axis force sensors are usually larger in size.
[0004] Miniaturized strain gauge six-axis force sensors enable accurate force and torque measurements in limited spaces, making them suitable for more applications such as medical devices, robotics, and aerospace. In addition, miniaturization reduces the weight and cost of the sensor, improving the overall performance and efficiency of the system. Utility Model Content
[0005] The purpose of the utility model is to provide a small strain type six-axis force sensor to solve the problems raised in the above background technology.
[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:
[0007] A small strain type six-dimensional force sensor comprises an elastic body, a bridge plate is arranged below the elastic body, a bottom plate is arranged below the bridge plate, a top plate is arranged above the elastic body, and a sealing plate is arranged above the top plate;
[0008] The bridge plate assembly includes a strain gauge, a plurality of positioning holes are provided on the strain gauge, and a wiring port is provided on the upper right side of the strain gauge.
[0009] As a further solution of the utility model: a sealing rubber ring is arranged between the elastic body and the top plate.
[0010] As a further solution of the utility model: the elastic body includes a shell, a base is arranged in the shell, the shell and the base are connected by a plurality of elastic beams, and the upper and lower end surfaces of the elastic beams are respectively fixedly provided with bridge strain detection sensors.
[0011] As a further solution of the utility model: the bridge strain detection sensor, the bridge assembly board and the computer are electrically connected through wires.
[0012] Compared with the prior art, the beneficial effects of the present invention are as follows:
[0013] 1. The internal cavity of the elastomer is sealed by a sealing rubber ring to prevent external dust, dirt, and water from affecting the sensor elements in the elastomer, thereby improving the detection accuracy and stability of the device and having good anti-interference ability;
[0014] 2. The load applied by the outside world is detected by the bridge strain detection sensor. That is, the load applied by the outside world causes the bridge strain detection sensor to deform, and the internal resistance of the bridge strain detection sensor will change, and the voltage will also change. The strength of the load applied by the outside world can be obtained by measuring and calculating the changed voltage;
[0015] 3. The electrical signal is transmitted to the bridge assembly board for processing through the bridge strain detection sensor, and then the information is transmitted to the computer for processing, and the corresponding force and torque are calculated for calibration, without manual intervention, thus improving the accuracy of detection. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of an embodiment of the utility model.
[0017] Figure 2 It is another three-dimensional structural schematic diagram of an embodiment of the utility model.
[0018] Figure 3 It is a schematic diagram of the top structure of an embodiment of the utility model.
[0019] Figure 4 It is a schematic diagram of the main structure of an embodiment of the utility model.
[0020] Figure 5 It is an exploded view of an embodiment of the utility model.
[0021] Figure 6 It is a schematic diagram of the local enlarged structure of point A in the embodiment of the utility model.
[0022] Figure 7 It is a schematic diagram of the top view of the structure of the bridge plate assembly in the embodiment of the utility model.
[0023] Notes on the figure numbers: 1. Elastomer; 11. Shell; 12. Base; 13. Elastic beam; 2. Bottom plate; 3. Top plate; 4. Sealing plate; 5. Sealing rubber ring; 6. Bridge plate; 61. Strain gauge; 62. Positioning hole; 63. Wiring port. DETAILED DESCRIPTION
[0024] The following embodiments will be combined with the accompanying drawings to describe the utility model in detail. In the drawings or descriptions, similar or identical parts use the same reference numerals, and in actual applications, the shape, thickness or height of each component can be enlarged or reduced. The various embodiments listed in the utility model are only used to illustrate the utility model, and are not used to limit the scope of the utility model. Any obvious modifications or changes made to the utility model do not depart from the spirit and scope of the utility model.
[0025] Example
[0026] See also Figures 1 to 7 In an embodiment of the utility model, a small strain-type six-dimensional force sensor includes an elastomer 1, a bridge plate 6 is arranged below the elastomer 1, a bottom plate 2 is arranged below the bridge plate 6, a sealing rubber ring 5 is arranged above the elastomer 1, a top plate 3 is arranged above the sealing rubber ring 5, and a sealing plate 4 is arranged above the top plate 3. The internal cavity of the elastomer 1 is sealed by the sealing rubber ring 5 to prevent external dust, dirt, and water from affecting the sensor elements in the elastomer 1, thereby improving the detection accuracy and stability of the device and having good anti-interference ability.
[0027] The elastomer 1 includes a shell 11, in which a base 12 is arranged. The shell 11 and the base 12 are connected by a plurality of elastic beams 13. The upper and lower end surfaces of the elastic beams 13 are respectively fixedly provided with bridge strain detection sensors. The load applied from the outside is detected by the bridge strain detection sensor, that is, the load applied from the outside causes the bridge strain detection sensor to deform, the internal resistance of the bridge strain detection sensor will change, and the voltage will also change. The strength of the load applied from the outside can be obtained by measuring and calculating the changed voltage.
[0028] The bridge assembly plate 6 includes a strain gauge 61, a plurality of positioning holes 62 are opened on the strain gauge 61, and a wiring port 63 is provided on the upper right corner of the strain gauge 61. The bridge strain detection sensor, the bridge assembly plate 6 and the computer are electrically connected through wires. The bridge strain detection sensor transmits the electrical signal to the bridge assembly plate 6 for processing, and then transmits the information to the computer for processing. The corresponding force and torque are calculated for calibration without manual intervention, thereby improving the accuracy of detection.
[0029] When installing the device, place the base 12 in the shell 11, install a corresponding number of elastic beams 13 between the shell 11 and the base 12, and then fix the bridge strain detection sensor on the upper and lower end surfaces of the elastic beams 13, install the strain gauge 61 under the shell 11 through the positioning hole 62, connect it to the computer through the wiring port 63, and then install the bottom plate 2 under the shell 11, place the sealing rubber ring 5 above the shell 11 to fit the shell 11, and then install the top plate 3, and finally install the sealing plate 4 above the top plate 3 to complete the overall installation.
[0030] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.
[0031] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.
Claims
1. A small strain-type six-dimensional force sensor, comprising an elastic body (1), characterized in that: A bridge plate (6) is arranged below the elastic body (1), a bottom plate (2) is arranged below the bridge plate (6), a top plate (3) is arranged above the elastic body (1), and a sealing plate (4) is arranged above the top plate (3); The bridge plate group (6) comprises a strain gauge (61), a plurality of positioning holes (62) are provided on the strain gauge (61), and a wiring port (63) is provided at the upper right of the strain gauge (61).
2. The small strain type six-axis force sensor according to claim 1, characterized in that: A sealing rubber ring (5) is provided between the elastic body (1) and the top plate (3).
3. The small strain type six-axis force sensor according to claim 2, characterized in that: The elastic body (1) comprises a shell (11), a base (12) is arranged inside the shell (11), the shell (11) and the base (12) are connected via a plurality of elastic beams (13), and bridge strain detection sensors are fixedly arranged on the upper and lower end surfaces of the elastic beams (13), respectively.
4. The small strain type six-axis force sensor according to claim 3, characterized in that: The bridge strain detection sensor, the bridge assembly board (6) and the computer are electrically connected via wires.