Six-axis force sensor with adjustable measured force

Abstract

The utility model relates to a six-axis force sensor with adjustable force measurement, which belongs to the technical field of six-axis force sensors and comprises a sensor base body and a flange, a sealing mechanism and an ejection mechanism are arranged between the sensor base body and the flange, and the sealing mechanism comprises a flange mounting groove arranged on the surface of the sensor base body. An annular sealing clamping groove is formed in the side surface in the flange mounting groove, an annular mounting groove is formed in the side surface of the flange, a sealing rubber ring is fixedly mounted in the annular mounting groove, a groove is formed in the surface of the flange, and a first fixing threaded hole is formed in the groove. According to the six-axis force sensor with the adjustable measured force, the annular sealing clamping groove is formed in the sensor base body, and the sealing rubber ring and the threaded hole sealing rubber ring are arranged on the flange, so that when the six-axis force sensor is used, the joint of the sensor base body and the flange can be sealed, and the joint of a first fixing threaded hole and a fixing bolt can be sealed; and the sealing performance between the sensor base body and the flange is greatly improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to six axis force sensor technical field, concretely is a six axis force sensor of adjustable force measurement. BACKGROUND

[0002] Six axis force sensor is a kind of sensor that can simultaneously measure the force of object in three linear directions (X, Y, Z) and three rotational directions (torque around X, Y, Z axis), it is a kind of high-precision multidimensional force measuring equipment, widely used in robots, industrial automation, medical equipment, aerospace, automobile testing and other fields.

[0003] The announcement number CN217384537U discloses a kind of six-dimensional force sensor of Z-axis direction force measurement precision, including base body and with the flange of base body through bolt connection, flange outer wall is set up with placement groove, silicon rubber ring is arranged in placement groove, the outer wall of base body is set up with rotation slot, rotation slot is rotatably connected with inner gear ring, base body is set up with multiple sliding slots communicated with rotation slot, the bottom surface of sliding slot is rotatably connected with the gear bolt of meshing connection with inner gear ring, sliding slot is slidably connected with the top block of screw connection with gear bolt, this kind of new six-dimensional force sensor of Z-axis direction force measurement precision, by setting silicon rubber ring in the placement groove on flange, after flange is connected with base body, good sealing effect;By pulling handle, make inner gear ring drive multiple gear bolts rotate, drive top block slide upwards in sliding slot, flange is ejected from base body, it is convenient to disassemble flange.

[0004] The above-mentioned patent is directed to the six-dimensional force sensor shell in the prior art mainly consists of base and flange, flange is only connected by bolt, and the sealing effect is poor, dust, liquid and the like can easily enter the base, causing damage to internal electrical components, and the outer wall of flange is fitted with the inner wall of base body during installation, which is not convenient to take out flange from base body during disassembly. The present application provides another embodiment to solve the problems in the above-mentioned patent. UTILITY MODEL CONTENT

[0005] In view of the deficiencies of the prior art, the utility model provides a six-axis force sensor with adjustable force measurement, which has the advantages of good sealing and easy removal, solves the problem that the six-dimensional force sensor shell in the prior art mainly consists of base and flange, flange is only connected by bolt, and the sealing effect is poor, dust, liquid and the like can easily enter the base, causing damage to internal electrical components, and the outer wall of flange is fitted with the inner wall of base body during installation, which is not convenient to take out flange from base body during disassembly.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a six-axis force sensor with adjustable force measurement, comprising a sensor base body and a flange, wherein a sealing mechanism and an ejection mechanism are provided between the sensor base body and the flange;

[0007] The sealing mechanism includes a flange mounting groove formed on the surface of the sensor base body, an annular sealing groove formed on the inner side surface of the flange mounting groove, an annular mounting groove formed on the side surface of the flange, a sealing rubber ring fixedly installed inside the annular mounting groove, a groove formed on the surface of the flange, a first fixed threaded hole formed inside the groove, and a threaded hole sealing rubber ring fixedly installed on the inner surface of the groove.

[0008] The ejection mechanism includes a mounting cavity inside the flange, a top spring is fixedly installed inside the mounting cavity, and a top rod extending through the lower surface of the flange is fixedly installed at one end of the top spring.

[0009] Furthermore, the flange is adapted to the flange mounting groove, and the sealing rubber ring is adapted to the annular sealing groove.

[0010] The advantages of adopting the above-mentioned further solution are: it facilitates the installation of the flange into the flange mounting groove and facilitates the insertion of the sealing rubber ring into the annular sealing groove.

[0011] Furthermore, a second fixing threaded hole is provided on the inner surface of the flange mounting groove, and the first fixing threaded hole and the second fixing threaded hole have the same specifications.

[0012] The advantage of adopting the above-mentioned further solution is that it facilitates fixing the flange in the flange mounting groove by means of bolts, the first fixing threaded hole and the second fixing threaded hole.

[0013] Furthermore, a positioning hole is provided on the lower surface of the flange, and a positioning pin that matches the positioning hole is fixedly installed on the inner surface of the flange mounting groove.

[0014] The beneficial effect of adopting the above-mentioned further solution is that by setting positioning holes and positioning pins, it is easy to make the first fixed threaded hole correspond to the second fixed threaded hole.

[0015] Furthermore, a limiting ring located within the mounting cavity is fixedly installed on the surface of the top rod.

[0016] The beneficial effect of adopting the above-mentioned further solution is that by setting a limiting ring on the push rod, the push rod can be prevented from detaching from the mounting cavity.

[0017] Furthermore, a circular hole communicating with the mounting cavity is provided on the lower surface of the flange, and the push rod is located inside the circular hole.

[0018] The advantage of adopting the above-mentioned further solution is that it facilitates the telescopic movement of the push rod within the installation cavity.

[0019] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0020] 1. This adjustable six-axis force sensor features an annular sealing groove on the sensor base and sealing rubber rings and threaded hole sealing rubber rings on the flange. During use, these seal the connection between the sensor base and the flange, as well as the connection between the first fixed threaded hole and the fixing bolts. This significantly improves the sealing performance between the sensor base and the flange, solving the problem in existing six-axis force sensors where the housing is mainly composed of a base and a flange, with the flange only connected by bolts. This results in poor sealing, allowing dust and liquids to easily enter the base and damage internal electrical components.

[0021] 2. This adjustable six-axis force sensor, by having a top spring and a top rod on the flange, can push the flange out of the flange mounting groove during use, making it easy to remove the flange. This solves the problem in the prior art where the outer wall of the flange is fitted to the inner wall of the base body during installation, making it inconvenient to remove the flange from the base body during disassembly. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0023] Figure 2 This is a cross-sectional schematic diagram of the sensor base body and flange of this utility model.

[0024] Figure 3 The structure of this utility model Figure 2 Enlarged view of point A in the middle;

[0025] Figure 4 The structure of this utility model Figure 2 Enlarged view of point B in the middle;

[0026] Figure 5 This is a schematic diagram of the structural flange of this utility model.

[0027] In the diagram: 1. Sensor base body; 2. Flange; 3. Flange mounting groove; 4. Annular sealing groove; 5. Annular mounting groove; 6. Sealing rubber ring; 7. Groove; 8. First fixing threaded hole; 9. Threaded hole sealing rubber ring; 10. Mounting cavity; 11. Top spring; 12. Top rod; 13. Second fixing threaded hole; 14. Positioning hole; 15. Positioning pin; 16. Limiting ring; 17. Round hole. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] Please see Figures 1 to 5 This embodiment of a force-adjustable six-axis force sensor includes a sensor base body 1 and a flange 2. A sealing mechanism and an ejection mechanism are provided between the sensor base body 1 and the flange 2. The sealing mechanism includes a flange mounting groove 3 formed on the surface of the sensor base body 1, an annular sealing groove 4 formed on the inner side surface of the flange mounting groove 3, and an annular mounting groove 5 formed on the side surface of the flange 2. A sealing rubber ring 6 is fixedly installed inside the annular mounting groove 5. The flange 2 is adapted to the flange mounting groove 3, and the sealing rubber ring 6 is adapted to the annular sealing groove 4, which facilitates the installation of the flange 2 into the flange mounting groove 3 and facilitates the locking of the sealing rubber ring 6 into the annular groove 4. Inside the sealing groove 4, a groove 7 is formed on the surface of the flange 2, and a first fixed threaded hole 8 is formed inside the groove 7. A threaded hole sealing rubber ring 9 is fixedly installed on the inner surface of the groove 7. The ejection mechanism includes an installation cavity 10 formed inside the flange 2. A top spring 11 is fixedly installed inside the installation cavity 10. A top rod 12 that penetrates to the lower surface of the flange 2 is fixedly installed at one end of the top spring 11. A second fixed threaded hole 13 is formed on the inner surface of the flange mounting groove 3. The first fixed threaded hole 8 and the second fixed threaded hole 13 have the same specifications, which facilitates fixing the flange 2 in the flange mounting groove 3 with bolts, the first fixed threaded hole 8 and the second fixed threaded hole 13.

[0030] A positioning hole 14 is provided on the lower surface of the flange 2, and a positioning pin 15 that matches the positioning hole 14 is fixedly installed on the inner surface of the flange mounting groove 3. By setting the positioning hole 14 and the positioning pin 15, it is easy to make the first fixed threaded hole 8 correspond to the second fixed threaded hole 13.

[0031] A limiting ring 16 is fixedly installed on the surface of the push rod 12 and located in the mounting cavity 10. By setting the limiting ring 16 on the push rod 12, the push rod 12 can be prevented from detaching from the mounting cavity 10.

[0032] The lower surface of flange 2 has a circular hole 17 that communicates with the mounting cavity 10. The push rod 12 is located in the circular hole 17, which facilitates the extension and retraction of the push rod 12 within the mounting cavity 10.

[0033] It should be noted that in this embodiment, there are three push rods 12, which are evenly distributed on the lower surface of the flange 2.

[0034] It should be noted that the sensor base body 1 in this embodiment is equipped with a six-axis force sensor. The six-axis force sensor is a force-adjustable six-axis force sensor. The force-adjustable means that its measurement range, sensitivity or output signal can be adjusted according to application requirements. The force-adjustable can be achieved through hardware design, software configuration or signal processing.

[0035] The working principle of the above embodiments is as follows:

[0036] In use, the positioning pin 15 is inserted into the positioning hole 14 to position the flange 2 and the flange mounting groove 3. At this time, the position of the first fixing threaded hole 8 corresponds to the position of the second fixing threaded hole 13. The flange 2 is pressed downward so that the sealing rubber ring 6 is inserted into the annular sealing groove 4, thus achieving a seal between the side surface of the flange 2 and the inner surface of the flange mounting groove 3. At this time, the push rod 12 retracts into the mounting cavity 10, the push spring 11 is compressed, and the bolt is screwed into the first fixing threaded hole 8 and the second fixing threaded hole 13 so that the bolt contacts the threaded hole sealing rubber ring 9, thereby sealing the connection between the flange 2 and the bolt. After removing the flange 2 and all the bolts, the flange 2 can be pushed upward by the push spring 11 and the push rod 12, so that the flange 2 is exposed in the flange mounting groove 3, and then the flange 2 can be removed.

[0037] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0038] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A six-axis force sensor with adjustable force measurement, comprising a sensor base body (1) and a flange (2), characterized in that: A sealing mechanism and an ejection mechanism are provided between the sensor base body (1) and the flange (2); The sealing mechanism includes a flange mounting groove (3) on the surface of the sensor base body (1), an annular sealing groove (4) is provided on the inner side surface of the flange mounting groove (3), an annular mounting groove (5) is provided on the side surface of the flange (2), a sealing rubber ring (6) is fixedly installed inside the annular mounting groove (5), a groove (7) is provided on the surface of the flange (2), a first fixed threaded hole (8) is provided inside the groove (7), and a threaded hole sealing rubber ring (9) is fixedly installed on the inner surface of the groove (7). The ejection mechanism includes an installation cavity (10) opened inside the flange (2), and a top spring (11) is fixedly installed inside the installation cavity (10). One end of the top spring (11) is fixedly installed with a top rod (12) that extends through to the lower surface of the flange (2).

2. The six-axis force sensor with adjustable force measurement according to claim 1, characterized in that: The flange (2) is adapted to the flange mounting groove (3), and the sealing rubber ring (6) is adapted to the annular sealing groove (4).

3. A six-axis force sensor with adjustable force measurement according to claim 1, characterized in that: The flange mounting groove (3) has a second fixed threaded hole (13) on its inner surface. The first fixed threaded hole (8) and the second fixed threaded hole (13) have the same specifications.

4. A force-adjustable six-axis force sensor according to claim 3, characterized in that: The flange (2) has a positioning hole (14) on its lower surface, and a positioning pin (15) that matches the positioning hole (14) is fixedly installed on the inner surface of the flange mounting groove (3).

5. A force-adjustable six-axis force sensor according to claim 1, characterized in that: A limiting ring (16) is fixedly installed on the surface of the top rod (12) and located in the mounting cavity (10).

6. A force-adjustable six-axis force sensor according to claim 1, characterized in that: The flange (2) has a circular hole (17) on its lower surface that communicates with the mounting cavity (10), and the top rod (12) is located inside the circular hole (17).

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