Multi-dimensional force measuring device

Abstract

The utility model provides a multi-dimensional force measuring device, which comprises a mounting seat, a measuring part and a damping device, and is characterized in that the mounting seat is connected to an operation fixing end; the measuring part is connected with the mounting seat and comprises an elastic body, the elastic body comprises a loading end, a supporting end and a strain sensing body, a strain gauge is arranged on the strain sensing body, and when measured force and / or torque are / is transmitted to the supporting end from the loading end, the strain sensing body is used for measuring the force and / or the torque; the damping device is arranged between the loading end and the mounting seat or between the loading end and the supporting end, and when part of force and / or torque is transmitted to the supporting end or the mounting seat from the loading end through the damping device, the vibration energy is absorbed, so that multi-dimensional buffering and vibration reduction of the measuring part are realized, and the dynamic stability of the multi-dimensional force sensor is effectively improved.

Description

Technical Field

[0001] The utility model belongs to the field of sensors, and particularly relates to a multi-dimensional force measuring device. Background Art

[0002] With the rapid development of industries such as machinery, electronics, and automobiles, the demand for accurate measurement of dynamic forces is increasing continuously, requiring multi-dimensional force sensors to reflect the changes of dynamic forces in a timely and accurate manner. However, multi-dimensional force sensors often have vibration interference when measuring multi-dimensional forces, which affects the measurement accuracy and cannot reflect the changes of dynamic forces in a timely and accurate manner. To improve the dynamic performance of multi-dimensional force sensors, complex signal processing operations can be adopted, such as designing a dynamic compensation method, identifying dynamic characteristic parameters through dynamic calibration, using the zero-pole cancellation method for dynamic compensation, broadening the working frequency band of multi-dimensional force sensors, and reducing the response time. However, the compensation effect of this method completely depends on the zero-pole identification accuracy, and the poles will change with the dynamic changes; with the development of neural networks, the dynamic characteristics of multi-dimensional force sensors can be improved through neural network methods for dynamic compensation. However, the neural network method requires a large amount of experimental data and has low dynamic compensation efficiency. In summary, the current research on methods to improve dynamic performance mainly focuses on subsequent signal processing methods. These non-physical means have high requirements for computing power and resources, and there are also problems such as signal delay and noise interference, and the compensation effect will be affected by environmental changes. Content of the Utility Model

[0003] In view of the above-mentioned shortcomings of the prior art, the purpose of the utility model is to provide a multi-dimensional force measuring device, which adopts physical means, increases the damping coefficient of the multi-dimensional force measuring device without reducing the input stiffness of the loading end of the multi-dimensional force measuring device by adding a damping device, effectively weakens the vibration during the measurement of the sensor, has a simple structure, good vibration damping effect, and little influence on the measurement accuracy, and can effectively improve the dynamic performance of the multi-dimensional force sensor.

[0004] To achieve the above purpose and other related purposes, the utility model provides a multi-dimensional force measuring device, including:

[0005] A mounting seat;

[0006] A measuring part, connected to the mounting seat, to realize the measurement of each dimension force and / or moment of the workpiece to be measured. The measuring part includes an elastic body, and the elastic body includes:

[0007] A loading end, on which the force and / or moment to be measured is loaded;

[0008] A strain sensing body, on which strain gauges are arranged to measure the force and / or moment to be measured;

[0009] A supporting end, connected to the mounting seat;

[0010] A damping device is provided between the mounting base and the loading end, or between the supporting end and the loading end.

[0011] According to an embodiment provided by the present utility model, the damping device is a damping cover, which includes a damping cover inlet end and a damping cover outlet end. The damping cover inlet end is connected to the loading end, and the damping cover outlet end is connected to the mounting base or the supporting end.

[0012] According to an embodiment provided by the present utility model, the elastomer is a structure with a central axis, and the damping cover and the elastomer are located on the same central axis.

[0013] According to an embodiment provided by the present utility model, a corrugated structure is provided between the damping cover inlet end and the damping cover outlet end, and part of the vibration energy of the loading end is absorbed during the process of being transmitted from the damping cover inlet end to the damping cover outlet end.

[0014] According to an embodiment provided by the present utility model, the corrugated structure between the damping cover inlet end and the damping cover outlet end is a radial corrugation or a conical corrugation.

[0015] According to an embodiment provided by the present utility model, the damping cover is made of a damping material.

[0016] According to an embodiment provided by the present utility model, between the damping cover inlet end and the corrugated structure, and / or between the damping cover outlet end and the corrugated structure, they are connected radially by at least three spokes.

[0017] According to an embodiment provided by the present utility model, between the damping cover inlet end and the loading end, and / or between the damping cover outlet end and the mounting base or the supporting end, they are fixedly connected.

[0018] According to an embodiment provided by the present utility model, the damping device includes:

[0019] A sealing cover, which is fixedly connected to the mounting base and fixedly connected to the loading end. The sealing cover, the loading end and the mounting base form a sealed cavity;

[0020] A filling substance, which is filled in the space of the sealed cavity around the elastomer. The filling substance is a viscous fluid or a semi-solid substance, which realizes multi-dimensional buffering and vibration damping for the measuring part.

[0021] According to an embodiment provided by the present utility model, the sealing cover has a corrugated structure, and the corrugated structure is a radial corrugation or a conical corrugation.

[0022] In the present utility model, the damping cover and the measuring part are arranged in parallel. External force is transmitted to one end of the mounting seat through two paths simultaneously. When force and / or moment are transmitted from the loading shaft to the mounting seat through the elastic body, the deformation of the elastic body is utilized for measurement. At the same time, part of the force and / or moment is transmitted from the loading shaft to the mounting seat through the damping cover. The corrugated structure of the damping cover is used to consume its vibration energy in multiple dimensions, realizing buffering and vibration reduction, and at the same time, the stiffness of the measuring device is neither reduced nor increased substantially. Due to the parallel arrangement of the two paths and the corrugated structure, while ensuring the dynamic stability of the system, the influence on the deformation of the elastic body is small, and the influence on the measurement accuracy is small. Its structure is simple, which can effectively reduce the vibration interference during measurement and improve the vibration stability of the multi-dimensional force measuring device. Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for describing the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0024] Figure 1 Stereoscopic structure diagram of the multi-dimensional force measuring device according to an embodiment of the present utility model;

[0025] Figure 2 Exploded stereoscopic structure diagram of the multi-dimensional force measuring device according to an embodiment of the present utility model;

[0026] Figure 3 Stereoscopic structure diagram of the measuring part according to an embodiment of the present utility model;

[0027] Figure 4 Stereoscopic structure diagram of the connecting seat according to an embodiment of the present utility model;

[0028] Figure 5 Stereoscopic structure diagram of the measuring part and the connecting seat according to an embodiment of the present utility model;

[0029] Figure 6 Stereoscopic structure diagram of the damping cover according to an embodiment of the present utility model;

[0030] Figure 7 Stereoscopic structure diagram of the inner ring damping cover according to an embodiment of the present utility model;

[0031] Figure 8 Stereoscopic structure diagram of the multi-dimensional force measuring device according to an embodiment of the present utility model;

[0032] Figure 9 Stereoscopic structure diagram of the outer ring damping cover according to an embodiment of the present utility model;

[0033] Figure 10Stereoscopic structure diagram of a conical damping cover according to an embodiment of the present utility model;

[0034] Figure 11 Stereoscopic structure diagram of a multi-dimensional force measuring device according to an embodiment of the present utility model.

[0035] Label description:

[0036] 100, mounting base; 200, measuring part; 300, damping cover; 400, flexible connecting piece;

[0037] 110, connecting seat; 120, base;

[0038] 210, loading end; 220, strain sensing body; 230, supporting end;

[0039] 211, central platform; 212, loading shaft; 221, circumferential beam; 222, radial beam; 223, transverse through hole; 224, vertical through hole;

[0040] 310, damping cover inlet end; 320, damping cover outlet end; 330, corrugated structure; 340, spoke. Specific implementation manners

[0041] The following illustrates the implementation manners of the present utility model through specific specific examples. Those skilled in the art can easily understand other advantages and effects of the present utility model from the content disclosed in this specification. The present utility model can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present utility model.

[0042] It should be noted that the diagrams provided in this embodiment only illustrate the basic concept of the present utility model in a schematic manner. Therefore, only the components related to the present utility model are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The types, quantities, and proportions of the components in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0043] When the multi-dimensional force measuring device is measuring, there are often vibration interferences, which affect the measurement accuracy. Non-physical vibration damping means have high requirements for computing power and resources. At the same time, there are also problems such as signal delay and noise interference. Physical vibration damping means often adopt the method of setting springs or dampers between the measuring device and the end device to buffer vibrations, which often leads to a reduction in the support stiffness of the system and has a significant impact on the measurement accuracy, and cannot meet the occasions with high requirements for the dynamic performance of robots.

[0044] Please refer to Figures 1 to 11, the present utility model provides a multi-dimensional force measuring device, which includes a mounting base 100, a measuring part 200 and a damping device. The mounting base 100 serves as the support of the entire multi-dimensional force measuring device, and is used to mount the measuring device on a fixed end such as the end of a robot or the ground, and protect the measuring part 200; the measuring part 200 is connected to the mounting base 100, and is connected to a subsequent processing circuit through a wire to measure the forces and / or torques in each dimension of the workpiece to be measured, and output the measurement signal to an external system; the damping device is connected to the mounting base 100 and the measuring part 200, and can effectively reduce the vibration interference of the input force during the measurement process, and improve the vibration stability of the device. While the external force is measured by the measuring part 200, the vibration energy of the input force and / or torque during the process of being transmitted from the measuring part 200 to the damping device and then to the mounting base 100 is consumed by the damping device, which can effectively reduce the vibration and has little influence on the measurement of the measuring part 200.

[0045] Please refer to Figures 1 to 11 , according to an embodiment provided by the present utility model, the mounting base 100 includes a connecting seat 110 and a base 120. The connecting seat 110 is connected to the base 120, the measuring part 200 is connected to the connecting seat 110, and the measuring part 200 is located between the damping device and the connecting seat 110; the base 120 is used to fix the device to an operating part such as the end of a robot or the ground, etc. One end of it is a closed plane with an accommodation space inside, which is used to accommodate the measuring part 200 and connecting wires, etc., and protect the measuring part 200; the connecting seat 110 is connected to the supporting end 230 of the measuring part 200, and is used to connect the measuring part 200 to the base 120 and support it, so that the measuring part 200 can bear greater forces or torques.

[0046] Please refer to Figures 1 to 11 , according to an embodiment provided by the present utility model, the measuring part 200 includes an elastic body and a measuring circuit. The elastic body is connected to the mounting base 100 and is located inside the space of the mounting base 100. It includes a loading end 210, a strain sensing body 220 and a supporting end 230. The loading end 210 is used to load the force and / or torque to be measured. Strain gauges are arranged on the strain sensing body 220, which are externally connected to the measuring circuit. When the strain gauges deform with the elastic body, their resistance values change. The deformation signal is converted into an electrical signal through the measuring circuit, and after being processed and output, the magnitude of the force is obtained, so as to measure the force and / or torque to be measured. The supporting end 230 is connected to the mounting base 100 and can support and maintain balance; one end of the loading end 210 is used to load the external force and / or torque, and the other end is connected to the strain sensing body 220 to transmit the force to the strain sensing body 220 and the supporting end 230 for measurement. And the damping device is arranged between the loading end 210 and the mounting base 100 or between the loading end 210 and the supporting end 230. During the measurement, the damping device buffers the vibration of the force, reduces the vibration influence of the external force on the measuring device, and improves the dynamic performance of the multi-dimensional force measuring device.

[0047] Please refer to Figures 1 to 11 , according to an embodiment provided by the present utility model, the support end 230 is connected to the connection seat 110 and is connected to the base 120, thereby connecting the elastic body to the mounting seat 100. It should be noted that in other embodiments, the base 120 and the connection seat 110 may also be integrated, the support end 230 is directly connected to the mounting seat 100, or the base 120, the connection seat 110, and the support end 230 are integrated.

[0048] Please refer to Figures 1 to 11 , according to an embodiment provided by the present utility model, the support end 230 is connected to the mounting seat 100. During the process of the force being transmitted from the loading end 210 to the support end 230 and the mounting seat 100, the strain sensing body 220 is used as the sensitive element of the multi-dimensional force sensor. When the strain sensing body 220 is stressed, it undergoes elastic deformation, and the strain gauges arranged on the strain sensing body 220 will generate deformation and thus resistance changes. Through circuit connection, this transformation is converted into an electrical signal, and after processing, the measurement data of the force and / or moment is obtained, thereby realizing the measurement of the multi-dimensional force and / or moment. At the same time, since the damping device is connected to the loading end 210, the vibration of the input force is transmitted to the damping device through the loading end 210 and is absorbed by the damping device, thereby reducing the vibration of the system.

[0049] Please refer to Figures 1 to 11 , according to an embodiment provided by the present utility model, the elastic body is a structure with a central axis. For example, the elastic body can be a cross-beam type elastic body, and through holes are provided on its beams. Strain gauges are arranged on the surfaces of each beam, and the strain gauges are located on both sides of each through hole, are arranged on the outer surface of the beam, and are located at the maximum strain of the beam to improve the sensitivity of the strain gauge deformation, thereby improving the measurement sensitivity. The deformation of the strain gauge is converted into an electrical signal through an external circuit, processed, and output to realize the measurement of the force or moment.

[0050] Specifically, please refer to Figures 2 to 5, the strain sensor 220 of the elastomer includes a circumferential beam 221 and a radial beam 222. The radial beams 222 are perpendicular to each other to form a cross structure. Through holes are respectively formed on each section of the radial beam 222, and strain gauges are arranged on the beam surfaces at both sides of each through hole; the circumferential beams 221 are evenly arranged around the radial beams 222. Each circumferential beam 221 is perpendicular to the radial beam 222 and is connected to each end of the radial beam 222. The circumferential beam 221 is connected to the support end 230, and the strain sensor 220 is connected to the mounting seat 100 through the support end 230; the loading end 210 includes a central platform 211 and a loading shaft 212. The central platform 211 is located at the center of the elastomer and is connected to each radial beam 222. The loading shaft 212 is connected to the central platform 211. The force and / or torque to be measured is transmitted to the central platform 211 through the loading shaft 212, and each beam will generate deformation. The resistance strain gauges on it will generate deformation and cause a change in resistance value, and then the change is converted into an electrical signal and output through an external circuit. After processing, the value of the measured force or torque is obtained.

[0051] Please refer to Figures 2 to 5 , according to an embodiment provided by the present invention, a transverse through hole 223 and a vertical through hole 224 are formed on the surface of each section of the radial beam 222. The transverse through hole 223 penetrates through both side surfaces of the radial beam 222, and the vertical through hole 224 penetrates through both end surfaces of the radial beam 222. The strain gauge is attached to the position with the maximum strain of the radial beam 222, and its specific position can be determined by simulation software. The through holes are used to ensure the sensitivity of the deformation of the elastomer and the strain gauge, thereby improving the measurement sensitivity.

[0052] Please refer to Figures 2 to 5 , according to an embodiment provided by the present invention, a vertical through hole 224 is also formed on the circumferential beam 221, and strain gauges are arranged on the surface at both sides of the through hole. The position with the maximum strain of the circumferential beam 221 is found through simulation, and the strain gauge is arranged at the maximum strain position to improve the measurement sensitivity.

[0053] It should be noted that in other embodiments, the elastomer can also be other structures with a central axis, such as an eight-beam structure or a columnar elastomer. Its beam or column serves as the strain sensor 220, and strain gauges that can generate deformation together with the elastomer are arranged on it; the support end 230 is connected to the mounting seat 100. When the force to be measured is loaded on the loading end 210, the strain sensor 220 and the strain gauges on it generate deformation to realize the measurement.

[0054] Please refer to Figures 1 to 11, according to an embodiment provided by the present utility model, the loading end 210 can be, for example, a shaft-like structure, which is located at the center of the elastic body and includes a central platform 211 and a loading shaft 212. The central platform 211 is connected to the strain sensing body 220, and the loading shaft 212 is connected to the central platform 211 for applying an external force and transmitting it to the central platform 211. One end of the loading end 210 is connected to the workpiece and serves as the input end of force and / or torque. The other end is connected to the strain sensing body 220 to transmit the force and / or torque to the strain sensing body 220, the support end 230, and the mounting base 100, and the deformation of the strain sensing body 220 and the strain gauges thereon is utilized to measure the force. While the measurement unit 200 is performing measurement, part of the force and / or torque is transmitted through the loading end 210 to the damping device and then to the support end 230 or the mounting base 100. In this transmission direction, the damping device absorbs the vibration energy of part of the force and / or torque on the loading end 210 to achieve buffering and vibration reduction, improve the vibration stability of the measurement device, and will not affect the force and / or torque on the strain sensing body 220, thus not affecting the measurement function of the elastic body. It can be understood that the shape of the loading end 210 is not limited and can also be other columnar structures, etc. It has the characteristics of high symmetry and high stiffness and can achieve stable transmission of force and / or torque.

[0055] Please refer to Figures 1 to 11 , according to an embodiment provided by the present utility model, a three-dimensional space coordinate system is established with the center of the central platform 211 as the origin. The loading end 210 is subjected to six-dimensional forces of Fx, Fy, Fz and torques Mx, My, Mz under the action of an external force. The central axis of the elastic body is the Z axis. Since the elastic body is a structurally symmetric structure with a central axis, the X axis and the Y axis can be interchanged. The damping device is installed between the mounting base 100 and the loading end 210 and has a multi-dimensional damping function. It can consume the vibration energy during the transmission of the force and / or torque from the loading end 210 to the mounting base 100, so that the vibration in the system decays rapidly, achieving buffering and vibration reduction and improving the vibration stability during measurement.

[0056] Please refer to Figures 1 to 11, according to an embodiment provided by the present utility model, the damping device is a damping cover 300, which includes a damping cover inlet end 310 and a damping cover outlet end 320. The damping cover inlet end 310 is connected to the loading end 210, and the damping cover outlet end 320 is connected to the mounting base 100 or the supporting end 230. Moreover, the damping cover 300 and the elastic body are located on the same central axis to improve the stability of the device and the uniformity of the force. A corrugated structure 330 is provided between the damping cover inlet end 310 and the damping cover outlet end 320. Part of the vibration energy on the loading end 210 is absorbed during the process of being transmitted from the damping cover inlet end 310 to the damping cover outlet end 320. The damping cover 300 has at least a five-dimensional damping function and has low stiffness in the corresponding direction of each dimension, and can realize the buffering and vibration reduction of vibrations in each dimension; the damping cover 300 is connected in parallel between the loading end 210 and the supporting end 230 or the mounting base 100, increasing the system damping while not reducing and basically not increasing the stiffness of the measuring device, not affecting the measurement and being able to effectively buffer and damp the system.

[0057] It should be noted that since the damping device in the parallel structure will inevitably increase the stiffness when increasing the damping, the corrugated structure 330 is used to reduce the influence of the damping device on the stiffness. However, the corrugated structure 330 can only ensure that the stiffness in the 5D direction is small, and the stiffness in the Mz direction is still large. The influence on the stiffness in the Mz direction can be reduced and sufficient damping can be ensured by adding a flexible connector such as an O-ring between the loading end 210 and the damping cover inlet end 310.

[0058] It can be understood that, please refer to Figures 1 to 11 , the damping cover 300 is a damping material, which can be an elastic material or an elastoplastic material such as rubber, polyurethane, etc., and can increase the damping without affecting the deformation of the elastic body, and consume the vibration energy during vibration; the corrugated structure 330 can be a corrugated structure such as a triangle, trapezoid, sine, parabola, etc. Relative displacement can occur between the corrugations of each layer. Using its displacement compensation characteristic can effectively reduce the stiffness of the damping cover in multiple dimensions, can consume the vibration energy in each dimension, realize effective vibration reduction, improve the dynamic performance of the device, and basically does not affect the stiffness of the system. In other embodiments, the damping cover 300 can also be other vibration damping materials such as vibration damping alloys, etc.

[0059] Please refer to Figures 1 to 6 , according to an embodiment provided by the present utility model, the corrugated structure 330 between the damping cover inlet end 310 and the damping cover outlet end 320 is a radial corrugation or a conical corrugation. The corrugated structure 330 is evenly distributed circumferentially along the central axis of the damping cover 300 and the elastic body, and it is located on the same plane or has a certain height in the axial direction.

[0060] Please refer to Figures 1 to 6, according to an embodiment provided by the present utility model, the damping cover 300 can be, for example, a circular end cover structure. The structure between its outer circular surface and the corrugated structure 330 is the damping cover outlet end 320; a cylindrical structure is provided at the center of the damping cover 300, which is connected to the loading end 210, that is, the damping cover inlet end 310; the loading end 210 is fixedly connected to the damping cover inlet end 310, the damping cover outlet end 320 is connected to the mounting seat 100 or the supporting end 230, and the corrugated structure 330 is arranged between the damping cover inlet end 310 and the damping cover outlet end 320. Force and / or torque are transmitted from the loading end 210 to the damping cover inlet end 310, then to the damping cover outlet end 320 and reach the mounting seat 100 or the supporting end 230. During this process, the vibration energy generated by the force and / or torque in multiple dimensions can be absorbed by the corrugated structure 330 of the damping cover 300, realizing multi-dimensional vibration reduction for the system. It can be understood that the shape of the damping cover 300 can also be other symmetric structures, and the shapes of the loading end 210 and the mounting seat 100 are adapted to the shapes of the damping cover inlet end 310 and the damping cover outlet end 320.

[0061] Please refer to Figures 1 to 11 , according to an embodiment provided by the present utility model, the damping cover inlet end 310 is fixedly connected to the loading end 210, and / or the damping cover outlet end 320 is fixedly connected to the mounting seat 100 or the supporting end 230. Specifically, the loading shaft 212 of the loading end 210 is installed in the hole of the damping cover inlet end 310, and its end face extends out of the hole to ensure that force and / or torque can be input from the loading end 210 and then transmitted to other mechanisms; the end face of the damping cover outlet end 320 is connected to the end face of the mounting seat 100 or the outer circular surface of the damping cover outlet end 320 is connected to the inner circular surface of the mounting seat 100. For example, threaded connection holes can be provided on the end face of the mounting seat 100 or the end face of the damping cover outlet end 320, and the damping cover outlet end 320 and the mounting seat 100 are connected and fixed by bolt connection.

[0062] It can be understood that, please refer to Figures 1 to 11 , in the Z-axis direction, the thickness between the damping cover inlet end 310 and the damping cover outlet end 320 should be smaller to achieve good multi-dimensional damping function of the damping cover 300, and the thickness of the damping cover inlet end 310 should be larger to ensure the stability of the connection between the damping cover 300 and the loading shaft 212 and force transmission.

[0063] It should be noted that, please refer to Figure 6, the corrugated structure 330 on the damping cover 300 mainly realizes the vibration damping function for forces or torques in the other five dimensions except Mz, while having a relatively small impact on the stiffness in the five dimensions. Since the damping cover 300 is a flat end cover structure, the inlet end 310 of the damping cover is directly connected to the loading end 210, which has a relatively large impact on the stiffness in the Mz direction, that is, the damping cover 300 has a relatively small stiffness corresponding to each dimension except the Mz direction, and while realizing the buffering and vibration damping in the five dimensions of the system, it has a relatively small impact on the stiffness in the five dimensions.

[0064] Please refer to Figure 2 , according to an embodiment provided by the present utility model, the inlet end 310 of the damping cover is interference-connected to the loading shaft 212 through a flexible connector 400. The flexible connector 400 is used to increase the damping effect of the system in the Mz direction and ensure deformation, and can effectively consume the vibration energy generated in the Mz direction during the force transmission process to achieve buffering and vibration damping. Specifically, a connection groove is correspondingly provided on the loading shaft 212. The flexible connector 400 can be, for example, an O-ring. The O-ring is arranged in the connection groove and is interference-connected to the inlet end 310 of the damping cover. By using the flexible connector 400 and the corrugated structure 330, the damping cover 300 has a six-dimensional damping function and relatively small rigidity corresponding to the six dimensions, and can realize the vibration damping of each dimension of the system.

[0065] Please refer to Figures 1 to 11 , according to an embodiment provided by the present utility model, the damping cover 300 is a rubber damping cover. At this time, the inlet end 310 of the damping cover is fixedly and interference-connected to the loading end 210 to ensure the stability of the connection. Since the damping cover 300 has high elasticity, it can generate deformation while increasing the resistance in the Mz direction, thereby reducing vibration; that is, the damping cover 300 has a six-dimensional damping function and relatively small rigidity corresponding to each dimension, and can effectively achieve buffering and vibration damping in each dimension during the force transmission process.

[0066] Please refer to Figure 10 And Figure 11 , according to an embodiment provided by the present utility model, the damping cover 300 is a conical structure, that is, the corrugated structure 330 of the damping cover 300 has a certain height in the Z-axis direction. The multi-layer corrugated structure 330 can generate deformation in the Mz direction while enhancing the damping effect of the damping cover 300 on Mz to achieve buffering and vibration damping. At this time, the damping cover 300 has a six-dimensional damping function and relatively small stiffness corresponding to each dimension, and can realize the vibration damping of the six dimensions of the system.

[0067] Please refer to Figures 7 to 9, according to an embodiment provided by the present utility model, between the input end 310 of the damping cover and the corrugated structure 330, and / or between the output end 320 of the damping cover and the corrugated structure 330, they are connected radially by at least three spokes 340. By using the connection of the spokes 340, the damping in the Mz direction is increased and the deformation can be ensured, thereby realizing effective buffering of vibration and enabling the damping cover 300 to have a six-dimensional damping function. It should be noted that the number of spokes 340 can be set differently, and each spoke 340 is evenly distributed circumferentially to ensure the uniformity of force and the stability of the system.

[0068] Specifically, please refer to Figures 7 to 8 , according to an embodiment provided by the present utility model, the damping cover 300 is an inner ring damping cover. The input end 310 of the damping cover is a cylindrical structure, which is connected radially to the inner side of the corrugated structure 330 by four spokes 340. The four spokes 340 are evenly distributed circumferentially, enabling the damping cover 300 to have a six-dimensional damping function and with relatively small stiffness corresponding to each dimension. During the process of force being transmitted from the loading end 210 to the input end 310 of the damping cover and then through the spokes 340 to the corrugated structure 330, the vibration reduction of Mz is realized by using the spokes 340; during the process of force being transmitted from the input end 310 of the damping cover through the corrugated structure 330 to the output end 320 of the damping cover, the vibration reduction of six-dimensional force is realized, thereby reducing the vibration of the system in each dimension and improving the dynamic stability of the device.

[0069] Please refer to Figure 9 , according to another embodiment provided by the present utility model, the damping cover 300 is an outer ring damping cover. The output end 320 of the damping cover is connected radially to the outer side of the corrugated structure 330 by four spokes 340. The four spokes 340 are evenly distributed circumferentially, enabling the damping cover 300 to have a six-dimensional damping function and with relatively small stiffness corresponding to each dimension. During the process of force being transmitted from the loading end 210 to the input end 310 of the damping cover and then to the corrugated structure 330, the vibration reduction of each dimension except Mz can be realized; during the process of force being transmitted from the corrugated structure 330 through the spokes 340 to the output end 320 of the damping cover, the buffer vibration reduction of Mz can be realized, thereby reducing the vibration of the system in each dimension and improving the dynamic stability of the device.

[0070] Please refer to Figures 1 to 11, according to an embodiment provided by the present utility model, after the force and / or moment are applied to the loading end 210, they finally reach the fixed end of the device, i.e., the mounting base 100, through two paths. One is that the force and / or moment are transmitted from the loading end 210 to the supporting end 230 and then to the mounting base 100. During this process, the strain sensing body 220 deforms under the action of the force and / or moment, and the strain gauges thereon also deform accordingly. The measurement circuit converts this deformation into an electrical signal, which is processed and then output to obtain measurement data. At the same time, on the other path, part of the force and / or moment is transmitted from the loading end 210 to the damping cover 300, and then to the mounting base 100 or transmitted to the mounting base 100 through the supporting end 230. During this process, by using the material of the damping cover 300 and its corrugated structure 330, etc., the damping in each dimension of the system is increased, and the vibration energy generated by the forces in each dimension is consumed, so as to effectively attenuate the vibration and achieve the purpose of buffering and vibration reduction, effectively improving the vibration stability of the system. During the entire transmission process, while measuring using the elastomer, the system damping is increased through the damping cover 300 to consume the vibration energy of the input force to achieve vibration reduction. And due to the special structure of the damping cover 300, it will not affect the deformation of the elastomer during vibration reduction, has little impact on the measurement accuracy, ensures the stability of the system during force measurement, and can effectively improve the dynamic performance of the device.

[0071] Please refer to Figures 1 to 2 , according to an embodiment provided by the present utility model, the damping device includes a sealing cover and a filling material. The sealing cover is connected to the mounting base 100 and fixedly connected to the loading shaft 212. The sealing cover, the loading end 210 and the mounting base 100 form a sealed cavity. The supporting end 230 of the elastomer is arranged in the sealed cavity, and part of its loading end 210 is located outside the sealed cavity for applying force and / or moment. The filling material is filled in the space of the sealed cavity around the elastomer. The filling material is a viscous fluid or semi-solid material, which realizes multi-dimensional buffering and vibration reduction for the measuring part 200. And the viscous liquid or semi-solid material is effective for each dimension of the multi-dimensional force sensor during the vibration deformation process, improving the damping parameters of all channels and the dynamic performance of the multi-dimensional force sensor.

[0072] Please refer to Figures 1 to 2 , according to an embodiment provided by the present utility model, when the force is transmitted from the loading shaft 212 to the elastomer, since the viscous liquid or semi-solid material is filled in the sealed cavity around the elastomer, the viscous friction between the vibrating and deforming process of the elastomer immersed in the viscous liquid or semi-solid material and the viscous liquid or semi-solid material is used to consume the vibration energy, so that the vibration in the system decays rapidly, improving the vibration stability of the multi-dimensional force sensor.

[0073] It can be understood that, please refer to Figures 1 to 2, the sealing cover has a corrugated structure, which can be a radial corrugation or a conical corrugation. For example, the sealing cover can be the circular damping cover described in the above embodiment, which has a corrugated structure 330. While the force is transmitted from the loading shaft 212 to the supporting end 230, multi-dimensional buffering and vibration reduction are achieved through the damping cover 300.

[0074] Please refer to Figures 1 to 2 , according to an embodiment provided by the present invention, by appropriately adjusting the viscosity of the viscous liquid or semi-solid substance in the sealing chamber, different engineering application requirements can be met. The structure is simple, the operation is convenient, and it is easy to implement.

[0075] In the multi-dimensional force measuring device of the present invention, while the force and / or moment are transmitted from the loading end of the elastic body to the supporting end of the elastic body and the multi-dimensional forces are measured, the damping device connected in parallel between the loading end and the supporting end, or between the loading end and the mounting seat, increases the damping of the system in each dimension, consumes the vibration energy generated by the multi-dimensional forces and / or moments, buffers the system vibration, effectively reduces the system vibration, and improves the dynamic stability of the system. By using physical means, without reducing the force input stiffness of the tool at the loading end of the multi-dimensional force sensor, the damping coefficient of the multi-dimensional force sensor is increased, effectively improving the dynamic performance of the multi-dimensional force sensor and ensuring the accuracy of the measurement.

[0076] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

[0077] Except for the technical features described in the specification, the remaining technical features are known to those skilled in the art. To highlight the innovative features of the present invention, the remaining technical features are not described herein again.

Claims

1. A multi-dimensional force measurement device, characterized in that: include: Mounting seat; The measuring part is connected to the mounting seat to measure the forces and / or moments of the measured object in various dimensions. The measuring part includes an elastic body, and the elastic body includes: A loading end, on which the force and / or torque to be measured is loaded; A strain sensing body, on which a strain gauge is arranged to measure the force and / or moment to be measured; A supporting end connected to the mounting seat; The damping device is arranged between the mounting seat and the loading end, or between the supporting end and the loading end.

2. The multi-dimensional force measurement device according to claim 1, characterized in that: The damping device is a damping cover, which includes a damping cover inlet and a damping cover outlet. The damping cover inlet is connected to the loading end, and the damping cover outlet is connected to the mounting seat or the supporting end.

3. The multi-dimensional force measuring device according to claim 2, characterized in that: The elastic body is a structure with a central axis, and the damping cover and the elastic body are located on the same central axis.

4. The multi-dimensional force measurement device according to claim 2, characterized in that: A corrugated structure is arranged between the damping cover inlet end and the damping cover outlet end, and part of the vibration energy of the loading end is absorbed in the process of being transmitted from the damping cover inlet end to the damping cover outlet end.

5. The multi-dimensional force measuring device according to claim 4, characterized in that: The corrugated structure between the damping cover inlet end and the damping cover outlet end is a radial corrugation or a conical corrugation.

6. The multi-dimensional force measurement device according to claim 2, characterized in that: The damping cover is made of damping material.

7. The multi-dimensional force measuring device according to claim 4, characterized in that: The inlet end of the damping cover and the corrugated structure, and / or the outlet end of the damping cover and the corrugated structure are connected in the radial direction by at least three spokes.

8. The multi-dimensional force measurement device according to claim 2, characterized in that: The damping cover inlet end and the loading end, and / or the damping cover outlet end and the mounting seat or the supporting end are fixedly connected.

9. The multi-dimensional force measurement device according to claim 1, characterized in that: The damping device comprises: A sealing cover, wherein the sealing cover is fixedly connected to the mounting seat and to the loading end, and the sealing cover, the loading end and the mounting seat form a sealed cavity; A filling material is filled in the sealed cavity space around the elastic body. The filling material is a viscous fluid or a semi-solid material, which realizes multi-dimensional buffering and vibration reduction for the measuring part.

10. The multi-dimensional force measuring device according to claim 9, characterized in that: The sealing cover has a corrugated structure, and the corrugated structure is a radial corrugation or a conical corrugation.

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