Anti-offset force sensor

Abstract

The utility model relates to the technical field of force sensors, in particular to an anti-deviation force sensor, which comprises a force sensor body, an end effector and a mechanical arm, the top end and the bottom end of the force sensor body are respectively provided with a mounting sleeve, and the end face of each mounting sleeve is provided with four groups of positioning holes. Through holes are formed in the inner walls of one sides of the positioning holes correspondingly, and mounting rings are mounted on the side surfaces of the mounting sleeves correspondingly. Through arrangement of parts such as a mounting sleeve, a positioning hole, a through hole, a mounting ring, a T-shaped groove, an iron plate, a T-shaped rod, a magnet disc, a fixing rod, a handheld rod, a mounting disc, a limiting column, a positioning rod and a fixing hole, the problem that vertical screw holes are formed in the upper surface and the lower surface of a common force sensor can be effectively solved, and the force sensor is assembled on a mechanical arm and other end executors through the vertical screw holes. However, the force sensor can be connected and matched with the mechanical arm and the end effector only by designing an additional connecting piece, and the force sensor is complex in installation structure and tedious to disassemble and assemble.

Description

Technical Field

[0001] This utility model relates to the field of force sensor technology, specifically to a force sensor that prevents offset. Background Technology

[0002] A force sensor is a device that converts the magnitude of force into a corresponding electrical signal. Force is the direct cause of changes in the motion of matter. Force sensors can detect mechanical quantities such as tension, strain, pressure, weight, torque, internal stress, and strain. Specific devices include metal strain gauges and pressure sensors, and they have become indispensable core components in power equipment, engineering machinery, various machine tools, and industrial automation systems.

[0003] Typical force sensors have vertical screw holes on their upper and lower surfaces, through which they are mounted onto robotic arms and other end effectors. However, this type of force sensor requires additional connectors to achieve connection and cooperation with robotic arms and end effectors. The installation structure of this type of force sensor is complex and disassembly and assembly are cumbersome. Therefore, corresponding improvements are needed to address these issues. Utility Model Content

[0004] The purpose of this invention is to provide a force sensor that prevents deviation, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a force sensor for preventing deviation, comprising a force sensor body, an end effector, and a robotic arm. The force sensor body has mounting sleeves at both its top and bottom ends, and each mounting sleeve has four sets of positioning holes on its end face. Each positioning hole has a through hole on one side of its inner wall. Each mounting sleeve has a mounting ring on its side surface, and each mounting ring has four sets of T-shaped grooves on one side surface. Each T-shaped groove has a T-shaped rod slidably mounted inside it, and each T-shaped rod has a magnetic disk mounted at one end. Each magnetic disk has a fixing rod mounted inside it, and each fixing rod has a handheld rod mounted at one end. The end effector and the robotic arm have mounting plates at their bottom ends, and each mounting plate has a limit post near the center of its bottom end. Each mounting plate has four sets of positioning rods near its bottom edge, and each of the four positioning rods has a fixing hole on its side surface.

[0006] Preferably, an iron plate is installed on one side of the mounting ring near the T-groove.

[0007] Preferably, the outer diameter of the fixing rod is adapted to the inner diameter of the through hole, and one end of the fixing rod passes through the through hole and extends into the inner wall of one side of the positioning hole.

[0008] Preferably, the outer diameter of the fixing rod is adapted to the inner diameter of the fixing hole, and one end of the fixing rod extends into the interior of the fixing hole and is engaged with it in a movable limiting manner.

[0009] Preferably, the four sets of positioning rods are arranged in a one-to-one correspondence with the four sets of positioning holes, and one end of the positioning rod extends into the interior of the positioning hole and is engaged with it in a movable limiting engagement.

[0010] Preferably, the outer diameter of the limiting post is adapted to the inner diameter of the mounting sleeve, and the limiting post is located inside the mounting sleeve and is configured to be movable and locked with it.

[0011] Preferably, the inner surface of the magnet disk is arc-shaped, and the arc of the inner surface of the magnet disk is adapted to the arc of the side surface of the mounting sleeve.

[0012] Compared with the prior art, the beneficial effects of this utility model are:

[0013] By incorporating components such as mounting sleeves, positioning holes, through holes, mounting rings, T-slots, iron plates, T-shaped rods, magnetic disks, fixing rods, handheld rods, mounting plates, limit posts, positioning rods, and fixing holes, this design effectively solves the problem of conventional force sensors having vertical screw holes on their upper and lower surfaces for mounting to robotic arms and other end effectors. However, this type of force sensor requires additional connectors to achieve connection and mating with robotic arms and end effectors, resulting in a complex installation structure and cumbersome assembly and disassembly. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of the main body of this utility model.

[0015] Figure 2 This is a three-dimensional cross-sectional view of the mounting sleeve of this utility model.

[0016] Figure 3 This is a three-dimensional structural diagram of the mounting plate of this utility model.

[0017] In the diagram: 1. Force sensor body; 11. Mounting sleeve; 12. Positioning hole; 13. Through hole; 14. Mounting ring; 15. T-slot; 16. Iron plate; 17. T-shaped rod; 18. Magnet disc; 19. Fixing rod; 191. Handheld rod; 2. End effector; 3. Robotic arm; 4. Mounting disc; 41. Limiting post; 42. Positioning rod; 43. Fixing hole. Detailed Implementation

[0018] 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.

[0019] according to Figures 1-3 As shown, the device includes a force sensor body 1, an end effector 2, and a robotic arm 3. Mounting sleeves 11 are installed at both the top and bottom of the force sensor body 1, and each mounting sleeve 11 has four sets of positioning holes 12 on its end face. The mounting sleeves 11 are made of iron, and each inner wall of one side of the positioning holes 12 has a through hole 13. Mounting rings 14 are installed on the side surface of the mounting sleeves 11, and each side surface of the mounting rings 14 has four sets of T-slots 15. An iron plate 16 is installed on the side surface of the mounting rings 14 near the T-slots 15. T-shaped rods 17 are slidably arranged inside each T-slot 15, and one end of each T-shaped rod 17 is... The device is equipped with a magnetic disk 18, the inner surface of which is arc-shaped and the arc of the inner surface of the magnetic disk 18 is adapted to the arc of the side surface of the mounting sleeve 11. Each magnetic disk 18 is equipped with a fixing rod 19, and one end of each fixing rod 19 is equipped with a hand handle 191. The outer diameter of the fixing rod 19 is adapted to the inner diameter of the through hole 13, and one end of the fixing rod 19 passes through the through hole 13 and extends into the inner wall of the positioning hole 12. In the initial state, the outer surface of the magnetic disk 18 will adhere to the inner surface of the iron plate 16 and be attached and fixed accordingly.

[0020] Both the end effector 2 and the robotic arm 3 are equipped with mounting plates 4 at their bottom ends. A limiting post 41 is installed near the center of the bottom end of the mounting plate 4. The outer diameter of the limiting post 41 matches the inner diameter of the mounting sleeve 11. The limiting post 41 is located inside the mounting sleeve 11 and is engaged with it in a movable limiting manner. Four sets of positioning rods 42 are installed near the edge of the bottom end of the mounting plate 4. Fixing holes 43 are formed on the side surfaces of the four sets of positioning rods 42. The four sets of positioning rods 42 correspond one-to-one with the four sets of positioning holes 12. One end of the positioning rod 42 extends into the positioning hole 12 and is engaged with it in a movable limiting manner. The outer diameter of the fixing rod 19 matches the inner diameter of the fixing hole 43. One end of the fixing rod 19 extends into the fixing hole 43 and is engaged with it in a movable limiting manner.

[0021] When installing the force sensor body 1 and the end effector 2, the user can insert the limiting post 41 located at the bottom of the end effector 2 into the mounting sleeve 11 installed at the top of the force sensor body 1. At the same time, four sets of positioning rods 42 will be inserted into the corresponding positioning holes 12. The bottom end of the mounting plate 4 will then overlap with the top end of the mounting sleeve 11. After that, the user can move the fixing rod 19 and the magnetic plate 18 towards the mounting sleeve 11 by holding the rod 191. This allows one side surface of the magnetic plate 18 to separate from the inner surface of the iron plate 16, allowing the T-shaped rod 17 to move within the T-shaped groove 15. Finally, one end of the fixing rod 19 can pass through the through hole 13, penetrate the inner wall of one side of the positioning hole 12, and extend into the inside of the fixing hole 43. This allows one end of the fixing rod 19 to be locked in place with the inside of the fixing hole 43. Because the inner curvature of the magnetic plate 18 is similar to that of the mounting sleeve 11... The side surface curvature is matched so that the inner surface of the magnet disk 18 can fit against the side surface of the mounting sleeve 11. Since the mounting sleeve 11 is made of iron, the inner surface of the magnet disk 18 can be attracted and fixed to the outer surface of the mounting sleeve 11, thus fixing the magnet disk 18 and the fixing rod 19. Similarly, the other three sets of magnet disks 18 and fixing rods 19 can be moved in the same way, so that one end of the other three sets of fixing rods 19 can pass through the corresponding through hole 13, pass through the inner wall of the corresponding positioning hole 12, and extend into the interior of the corresponding fixing hole 43. Thus, one end of the corresponding fixing rod 19 can be locked in place with the interior of the corresponding fixing hole 43. At this point, the installation between the force sensor body 1 and the end effector 2 can be completed. The force sensor body 1 can then be installed with the robotic arm 3 in the same way, so that the force sensor body 1 can be quickly installed with the end effector 2 and the robotic arm 3.

[0022] 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 force sensor for preventing offset, comprising a force sensor body (1), an end effector (2), and a robotic arm (3), characterized in that: The force sensor body (1) is equipped with mounting sleeves (11) at both the top and bottom. Each mounting sleeve (11) has four sets of positioning holes (12) on its end face. Each positioning hole (12) has a through hole (13) on one side of its inner wall. Each mounting sleeve (11) has a mounting ring (14) on its side surface. Each mounting ring (14) has four sets of T-grooves (15) on one side surface. Each T-groove (15) has a T-shaped rod (17) slidably mounted inside its interior. Each T-shaped rod (17) has a mounting... There is a magnetic disk (18), and a fixing rod (19) is installed inside the magnetic disk (18). A hand-held rod (191) is installed at one end of the fixing rod (19). An installation disk (4) is installed at the bottom end of the end effector (2) and the robotic arm (3). A limit post (41) is installed at the middle position of the bottom end of the installation disk (4). Four sets of positioning rods (42) are installed at the edge position of the bottom end of the installation disk (4). Fixing holes (43) are opened on the side surface of the four sets of positioning rods (42).

2. The anti-deviation force sensor according to claim 1, characterized in that: Iron plates (16) are installed on one side of the mounting ring (14) near the T-groove (15).

3. The anti-deviation force sensor according to claim 1, characterized in that: The outer diameter of the fixing rod (19) is adapted to the inner diameter of the through hole (13), and one end of the fixing rod (19) passes through the through hole (13) and extends into the inner wall of the positioning hole (12).

4. The anti-deviation force sensor according to claim 1, characterized in that: The outer diameter of the fixing rod (19) is adapted to the inner diameter of the fixing hole (43), and one end of the fixing rod (19) extends into the interior of the fixing hole (43) and is engaged with it in a movable limiting snap-fit ​​configuration.

5. The anti-deviation force sensor according to claim 1, characterized in that: The four sets of positioning rods (42) are arranged in a one-to-one correspondence with the four sets of positioning holes (12), and one end of the positioning rod (42) extends into the interior of the positioning hole (12) and is engaged with it in a movable limiting engagement.

6. The anti-deviation force sensor according to claim 1, characterized in that: The outer diameter of the limiting post (41) is adapted to the inner diameter of the mounting sleeve (11), and the limiting post (41) is located inside the mounting sleeve (11) and is set to be in a movable limiting engagement with it.

7. The anti-deviation force sensor according to claim 1, characterized in that: The inner surface of the magnet disk (18) is arc-shaped, and the arc of the inner surface of the magnet disk (18) is matched with the arc of the side surface of the mounting sleeve (11).

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