Piezoelectric resonant multidimensional force sensing device

Abstract

The utility model relates to a piezoelectric resonant multi-dimensional force sensing device, which comprises a base and a top plate fixing seat, a cylindrical force sensing unit fixing seat is mounted at the upper end of the base, a circular groove is formed in the middle of the upper end of the force sensing unit fixing seat, and a spring is mounted in the circular groove. A plurality of butt joint grooves are evenly formed in the upper end of the force sensing unit fixing base around the circular groove, a force sensing unit is installed on the portion, below each butt joint groove, of the side wall of the force sensing unit fixing base, and a spring column inserted into a spring is vertically installed in the middle of the lower end of the top plate fixing base. Top plates in one-to-one correspondence with the butt-joint grooves are arranged on the edge of the lower end of the top plate fixing base around the spring columns, top plate protruding blocks are arranged at the lower ends of the top plates, and one ends of the top plate protruding blocks penetrate through the butt-joint grooves to make contact with the force sensing units. According to the utility model, the mechanical change value is measured by measuring the change of the quartz piezoelectric resonant chip, and the multi-dimensional mechanical measurement values in different directions can be obtained by installing and arranging the quartz piezoelectric resonant chip in different directions in a manner of using a plurality of crystals.

Description

Technical Field

[0001] The utility model relates to the field of sensor technology, in particular to a piezoelectric resonant multi-dimensional force sensing device. This type of sensing device is used in fields such as automatic control and robots, and can accurately sense multi-dimensional force or torque values. Background Art

[0002] At present, force and torque sensors have gradually expanded from measuring force or torque in a single direction to measuring force and torque in multiple directions. However, multi-directional (multi-dimensional) force and torque sensors are relatively complex to manufacture, requiring the design of mechanisms or the development of algorithms to decouple forces and torques in different directions. How to achieve structural self-decoupling in mechanism design requires the use of stress concentration and interference force isolation designs. Traditional strain gauge mechanical sensors used in the market are the core sensing technology. They use the piezoresistive effect for mechanical measurement and require improvement in many aspects such as miniaturization, sensitivity, accuracy, and response time. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a piezoelectric resonant multi-dimensional force sensing device, which measures the mechanical change value by measuring the changes in the quartz piezoelectric resonant chip, and uses multiple crystals to be installed and arranged in different directions, so as to obtain mechanical measurement values ​​in multiple dimensions and different directions. It has the advantages of miniaturization, fast response, high precision and sensitivity, etc., and can replace traditional strain gauge-type mechanical sensors, simplify the mechanical structure and design, and achieve the purpose of lightweight and miniaturization.

[0004] The technical solution adopted by the utility model to solve its technical problems is: to provide a piezoelectric resonant multi-dimensional force sensing device, including a base and a top plate fixing seat, the upper end of the base is installed with a cylindrical force sensitive unit fixing seat, the middle part of the upper end of the force sensitive unit fixing seat is provided with a circular groove, a spring is installed in the circular groove, the upper end of the force sensitive unit fixing seat is evenly arranged with a plurality of docking grooves around the circular groove, a force sensitive unit is installed on the side wall of the force sensitive unit fixing seat below each docking groove, a spring column inserted into the spring is vertically installed in the middle part of the lower end of the top plate fixing seat, the lower end edge of the top plate fixing seat is arranged with a top plate corresponding to the docking groove one by one around the spring column, the lower end of the top plate is provided with a top plate protrusion, one end of the top plate protrusion passes through the docking groove and contacts the force sensitive unit.

[0005] As a supplement to the technical solution of the present invention, a screw hole is provided at each of the four corners of the upper end of the base.

[0006] As a supplement to the technical solution described in the present invention, the force sensitive unit is a quartz piezoelectric resonant chip.

[0007] As a supplement to the technical solution described in the present invention, the top plate protrusion is in the shape of a circular plate, a hemispherical plate or an elliptical plate.

[0008] As a supplement to the technical solution described in the present invention, a center column is vertically installed in the middle of the upper end of the top plate fixing seat, and the center column is used to connect with the force-applying object.

[0009] As a supplement to the technical solution of the present invention, the distance from the connection point between the center column and the force-applying object to the bottom of the center column is d, and the range is 0.01m <d<2m。

[0010] As a supplement to the technical solution described in the present invention, the top plate protrusion and the force-sensitive unit force-bearing edge form a gap, and the gap spacing is between 0.1mm and 3mm.

[0011] As a supplement to the technical solution described in the present invention, a matching groove is provided on the side wall of the sensitive unit fixing seat below each docking groove, and the force sensitive unit is fitted in the docking groove by gluing or welding.

[0012] As a supplement to the technical solution described in the present invention, an adjusting screw is inserted from bottom to top into the bottom of the top plate, and the upper end of the adjusting screw is threadedly connected to the spring column.

[0013] Beneficial Effects: This utility model relates to a piezoelectric resonant multi-dimensional force sensing device. This device measures mechanical changes by measuring changes in a quartz piezoelectric resonant chip. Using multiple crystals installed and arranged in different directions, it can obtain multi-dimensional mechanical measurements. This device offers advantages such as miniaturization, rapid response, high precision, and high sensitivity. It can replace traditional strain gauge-based mechanical sensors, simplifying the mechanical structure and design to achieve lightweight and miniaturization. This device incorporates stress concentration and interference force isolation designs, enhancing measurement precision and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural diagram of the utility model;

[0015] Figure 2 It is an exploded view of the utility model;

[0016] Figure 3 It is a structural schematic diagram of the base and the sensitive unit fixing seat described in the utility model.

[0017] Illustration: 101, base, 102, screw hole, 103, force sensitive unit, 104, sensitive unit fixing seat, 105, spring, 106, top plate, 107, top plate fixing seat, 108, top plate fixing hole, 109, center column, 110, top plate protrusion, 201, spring column, 202, circular groove, 203, docking groove, 204, docking groove, 205, adjusting screw. DETAILED DESCRIPTION

[0018] The present invention will be further described below with reference to specific embodiments. It should be understood that these embodiments are intended only to illustrate the present invention and are not intended to limit the scope of the present invention. Furthermore, it should be understood that after reading the contents of this invention, those skilled in the art may make various changes or modifications to the present invention, and that such equivalents also fall within the scope of the claims appended hereto.

[0019] The embodiment of the present utility model relates to a piezoelectric resonant multi-dimensional force sensing device, such as Figure 1-3 As shown, it includes a base 101 and a top plate fixing seat 107. A cylindrical force sensitive unit fixing seat 104 is installed on the upper end of the base 101. A circular groove 202 is opened in the middle of the upper end of the force sensitive unit fixing seat 104. A spring 105 is installed in the circular groove 202. A plurality of docking grooves 203 are evenly arranged around the circular groove 202 on the upper end of the force sensitive unit fixing seat 104. A spring 105 is opened on the side wall of the force sensitive unit fixing seat 104 below each docking groove 203. Matching grooves 204, each matching groove 204 is fitted with a force sensitive unit 103, and the fitting method is gluing or welding. A spring column 201 inserted into the spring 105 is vertically installed in the middle of the lower end of the top plate fixing seat 107. The lower end edge of the top plate fixing seat 107 is surrounded by the spring column 201 and a top plate 106 corresponding to the docking grooves 203 is arranged one by one. The lower end of the top plate 106 is provided with a top plate protrusion 110, and one end of the top plate protrusion 110 passes through the docking groove 203 and contacts the force sensitive unit 103.

[0020] The base 101 and the force sensitive unit fixing seat 104 can be integrally formed or can be separately processed and then fastened together by fastening screws. The base 101 and the force sensitive unit fixing seat 104 are generally made of metal elastomers, such as steel or aluminum.

[0021] The four corners of the upper end of the base 101 are each provided with a screw hole 102 , and the base 101 is fixedly connected to an external fixture (such as a test bench) through the screw holes 102 by fastening screws, thereby fixing the bottom of the entire test device.

[0022] The force sensitive unit 103 is a quartz piezoelectric resonant chip that generates an oscillation frequency signal using an oscillation circuit. The quartz piezoelectric resonant chip can be a flat AT-cut, CT-cut, or SC-cut type, or a cantilever beam or tuning fork structure.

[0023] The top plate protrusion 110 is in a circular plate, hemispherical plate or elliptical plate structure, which can concentrate forces in different directions on the end of the lower end of the top plate protrusion 110.

[0024] A central column 109 is vertically mounted in the middle of the upper end of the top plate fixing seat 107. The central column 109 is used to connect with the force-applying object. The distance from the connection point between the central column 109 and the force-applying object to the bottom of the central column 109 is d, and the range is 0.01m. <d<2m。

[0025] The force on the central column 109 can be decomposed into three component directions of X, Y, and Z. The height of the connection point and the central column 109 forms a lever effect. The value of the external force to be measured can be calculated by the values ​​measured by multiple force sensitive units 103.

[0026] An adjusting screw 205 is inserted from bottom to top into the bottom of the top plate 106, and the upper end of the adjusting screw 205 is threadedly connected to the spring column 201; the cap portion of the adjusting screw 205 is buckled on the bottom of the top plate 106, and the long rod portion of the adjusting screw 205 passes through the top plate 106 and the circular groove 202 and is threadedly connected to the lower portion of the circular groove 202.

[0027] The upper end of the top plate fixing seat 107 is located above each top plate 106 and is provided with a groove. The bottom of each groove is provided with a top plate fixing hole 108. The top plate fixing hole 108 is installed with a fastening screw. The top plate fixing seat 107 is connected to the top plate 106 through the fastening screw. The groove design can hide the cap part of the fastening screw and play a protective role at the same time.

[0028] Multiple force sensitive units 103 are fitted one-to-one in the matching groove 204 on the side of the force sensitive unit fixing seat 104. Multiple force sensitive units 103 are evenly and symmetrically arranged around the force sensitive unit fixing seat 104. The force sensitive units 103 can be fitted by gluing or welding. The top plate fixing seat 107 and the force sensitive unit fixing seat 104 are connected by a spring 105, a spring column 201 and an adjusting screw 205. Multiple top plates 106 corresponding to the force sensitive units 103 are installed between the two. The top plate fixing seat 107 and the top plate 106 are fastened by screws. The spring column 201 fixes the spring 105 between the base 101 and the force sensitive unit 103. The spring column 201 and the base 101 are connected by an adjusting screw 205.

[0029] The force to be measured acts on the central column 109 and is transmitted to the top plate 106 through its fastening connection structure. The top plate 106 directly applies force to the force-bearing edge of the force sensitive unit 103 through the top plate bump 110, and transmits the force to the piezoelectric resonant sensor chip.

[0030] The elastic force generated by spring 105 acts as a buffer against the radial external force, reducing the impact of the radial force. When spring 105 is at rest and not under load, its elastic force creates a gap between top plate protrusion 110 and the load-bearing edge of force-sensitive unit 103. The gap spacing is between 0.1mm and 3mm, and the gap spacing can be adjusted by adjusting screw 205.

[0031] Force-sensing unit 103 receives only radial forces transmitted from top plate 106. Interference forces from base 101 and force-sensing unit mounting base 104 are not transmitted to the measurement position of force-sensing unit 103 and are not measured by force-sensing unit 103. In other words, these interference forces are isolated, forming an interference force isolation design. The above-mentioned interference forces may come from the tightening force of screw hole 102, the twisting force generated during the fixing of base 101, etc.

[0032] This utility model measures mechanical changes by measuring the changes in a quartz piezoelectric resonant chip, and uses multiple crystals installed and arranged in different directions to obtain mechanical measurement values ​​in multiple dimensions and directions. It has the advantages of miniaturization, fast response, high precision and sensitivity, and can replace traditional strain gauge-type mechanical sensors, simplifying the mechanical structure and design to achieve the goals of lightweight and miniaturization.

[0033] In the description of the present invention, it needs to be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0034] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0035] In addition, it should be noted that the use of words such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above words have no special meaning and therefore cannot be understood as limiting the scope of protection of this utility model.

[0036] The above is a detailed introduction to a piezoelectric resonant multi-dimensional force sensing device provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, based on the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A piezoelectric resonant multi-dimensional force sensing device, comprising a base (101) and a top plate fixing seat (107), characterized in that: The upper end of the base (101) is provided with a cylindrical force-sensitive unit fixing seat (104), a circular groove (202) is provided in the middle of the upper end of the force-sensitive unit fixing seat (104), a spring (105) is installed in the circular groove (202), and a plurality of docking grooves (203) are evenly arranged around the circular groove (202) on the upper end of the force-sensitive unit fixing seat (104), and a spring (105) is provided below each docking groove (203) on the side wall of the force-sensitive unit fixing seat (104). A force sensitive unit (103) is installed, and a spring column (201) inserted into the spring (105) is vertically installed in the middle of the lower end of the top plate fixing seat (107). A top plate (106) corresponding to the docking groove (203) is arranged around the spring column (201) at the lower end edge of the top plate fixing seat (107). The top plate (106) is provided with a top plate protrusion (110) at the lower end, and one end of the top plate protrusion (110) passes through the docking groove (203) and contacts the force sensitive unit (103).

2. The piezoelectric resonant multi-dimensional force sensing device according to claim 1, characterized in that: A screw hole (102) is provided at each of the four corners of the upper end of the base (101).

3. The piezoelectric resonant multi-dimensional force sensing device according to claim 1, wherein: The force sensitive unit (103) is a quartz piezoelectric resonant chip.

4. The piezoelectric resonant multi-dimensional force sensing device according to claim 1, wherein: The top plate protrusion (110) is in the shape of a circular plate, a hemispherical plate or an elliptical plate.

5. The piezoelectric resonant multi-dimensional force sensing device according to claim 1, characterized in that: A center column (109) is vertically installed in the middle of the upper end of the top plate fixing seat (107), and the center column (109) is used to connect with the force-applying object.

6. The piezoelectric resonant multi-dimensional force sensing device according to claim 5, characterized in that: The distance between the connection point between the central column (109) and the force-applying object and the bottom of the central column (109) is d, and the range is 0.01m. <d<2m。 7. The piezoelectric resonant multi-dimensional force sensing device according to claim 1, characterized in that: The top plate protrusion (110) and the force-bearing edge of the force-sensitive unit (103) form a gap, and the gap spacing is between 0.1 mm and 3 mm.

8. The piezoelectric resonant multi-dimensional force sensing device according to claim 1, characterized in that: A matching groove (204) is provided on the side wall of the sensitive unit fixing seat (104) below each docking groove (203), and the force sensitive unit (103) is fitted in the docking groove (203) by gluing or welding.

9. The piezoelectric resonant multi-dimensional force sensing device according to claim 1, characterized in that: An adjusting screw (205) is inserted from bottom to top into the bottom of the top plate (106), and the upper end of the adjusting screw (205) is threadedly connected to the spring column (201).

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