Modularized three-dimensional force sensor

Abstract

The utility model discloses a modularized three-dimensional force sensor which comprises an x-axis elastic body, a y-axis elastic body and a z-axis elastic body, and the x-axis elastic body and the z-axis elastic body are both assembled on the y-axis elastic body. An x-axis load hole, a y-axis load hole and a z-axis load hole are formed in the middle of the x-axis elastic body, the middle of the y-axis elastic body and the middle of the z-axis elastic body respectively, and the x-axis load hole is coplanar with the y-axis load hole and perpendicular to the z-axis load hole. The x-axis elastic body, the y-axis elastic body and the z-axis elastic body are provided with an x-axis strain gauge, a y-axis strain gauge and a z-axis strain gauge respectively, and the x-axis strain gauge, the y-axis strain gauge and the z-axis strain gauge are not coplanar. Through modular arrangement of the x-axis elastic body, the y-axis elastic body and the z-axis elastic body, a three-dimensional force measurement function can be realized through simple assembly, the sensor has the characteristics of quick assembly and quick disassembly, and when the sensor is overloaded and damaged, an intact module can be reserved and only a damaged module is replaced, so that the sensor has the characteristics of easiness in maintenance, good economical efficiency and environmental protection.

Description

TECHNICAL FIELD

[0001] The utility model relates to sensor technical field, concretely is a kind of modular three-dimensional force sensor. BACKGROUND

[0002] Three-dimensional force sensor is a kind of equipment for measuring the force that object is subjected to, can measure the size and direction of force simultaneously. It has wide application in various industries, research and consumer electronics. In the industrial field, three-dimensional force sensor is often used in robot and automation system, for measuring the force and torque of robot arm, realizes accurate force control and force feedback. They can also be used in material testing, load monitoring and medical equipment and other fields. In virtual reality and game field, three-dimensional force sensor is often used in handle and controller, to provide more realistic and accurate interactive experience. By measuring the force of user's hand and action, more realistic game control and interactive effect can be realized.

[0003] Due to the complex manufacturing process of three-dimensional force sensor, the high cost of materials, the final cost of three-dimensional force sensor is high, thereby limiting the application of three-dimensional force sensor in many fields. Under the premise of ensuring the function of three-dimensional force sensor, effectively reducing the manufacturing cost of three-dimensional force sensor is the technical bottleneck faced by the further development of three-dimensional force sensor technology, therefore, a kind of modular three-dimensional force sensor is needed to solve the above problems. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of modular three-dimensional force sensor, can effectively solve the problems existing in the prior art.

[0005] To solve the above technical problems, the utility model adopts the following technical scheme: a kind of modular three-dimensional force sensor, including x-axis elastomer, y-axis elastomer and z-axis elastomer, the x-axis elastomer and z-axis elastomer are assembled on the y-axis elastomer;And

[0006] The middle part of the x-axis elastomer, y-axis elastomer and z-axis elastomer is respectively provided with x-axis load hole, y-axis load hole and z-axis load hole, the x-axis load hole and y-axis load hole are coplanar, and perpendicular to z-axis load hole;X-axis strain gauge, y-axis strain gauge and z-axis strain gauge are respectively arranged on the x-axis elastomer, y-axis elastomer and z-axis elastomer, and x-axis strain gauge, y-axis strain gauge and z-axis strain gauge are not coplanar.

[0007] Preferably, the x-axis elastomer and z-axis elastomer are same one end same direction respectively set up x-axis quick disassembly and assembly notch and z-axis quick disassembly and assembly notch;Y-axis elastomer both ends are set up y-axis quick disassembly and assembly notch, two y-axis quick disassembly and assembly notch respectively open and close x-axis quick disassembly and assembly notch and z-axis quick disassembly and assembly notch.

[0008] Preferably, the x-axis quick disassembly slot and the z-axis quick disassembly slot are provided with through holes, and two y-axis quick disassembly slots are provided with threaded holes corresponding to the through holes, and two screws are respectively arranged through the threaded holes and engaged with the corresponding threaded holes.

[0009] Preferably, the x-axis strain gauge is perpendicular to the x-axis quick disassembly slot, the y-axis strain gauge is perpendicular to the y-axis quick disassembly slot, and the z-axis strain gauge is coplanar with the z-axis quick disassembly slot.

[0010] Preferably, the x-axis elastic body and the z-axis elastic body are respectively provided with a first L-shaped top plate and a second L-shaped top plate, one end of the first L-shaped top plate is spliced with one end of the x-axis elastic body away from the y-axis elastic body, and the other end faces the y-axis elastic body, and one end of the second L-shaped top plate is spliced with one end of the z-axis elastic body away from the y-axis elastic body, and the other end faces the y-axis elastic body.

[0011] Preferably, the x-axis elastic body and the z-axis elastic body are located between the first L-shaped top plate and the second L-shaped top plate.

[0012] Preferably, the first L-shaped top plate and the second L-shaped top plate are provided with a plurality of connection holes for connecting external structures.

[0013] Beneficial effects: the modularization of the x-axis elastic body, the y-axis elastic body and the z-axis elastic body can realize three-dimensional force measurement function through simple assembly, so that the cost of the three-dimensional force sensor is greatly reduced; and the modular three-dimensional force sensor has the characteristics of quick assembly and quick disassembly, and when the sensor is damaged, the intact module can be reserved and only the damaged module needs to be replaced, so that the three-dimensional force sensor has the characteristics of easy maintenance, good economy and green environmental protection.

[0014] In addition, axis modules with different load capacities can be selected for combined use to adapt to specific non-uniform load conditions, and have high application flexibility. BRIEF DESCRIPTION OF DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the present application, and constitute a part of the specification, and are used to explain the present application together with embodiments of the present application, and do not constitute a limitation on the present application.

[0016] In the drawings:

[0017] Figure 1 is a structural schematic view of the modular three-dimensional force sensor of the present application;

[0018] Figure 2 is a structural schematic view of the x-axis elastic body of the present application;

[0019] Figure 3 is a structural schematic view of the y-axis elastic body of the present application;

[0020] Figure 4 is the structural schematic diagram of the z-axis elastic body of the utility model;

[0021] Figure 5 is the three-dimensional assembly view of the modular three-dimensional force sensor of the utility model.

[0022] Marked label in the drawing: 1, x-axis elastic body;1-1, x-axis load hole;1-2, x-axis strain gauge;1-3, x-axis quick dismounting slot;1-4, x-axis through hole;1-5, x-axis screw hole;2, y-axis elastic body;2-1, y-axis load hole;2-2, y-axis strain gauge;2-3, y-axis quick dismounting slot;2-4, threaded hole;3, z-axis elastic body;3-1, z-axis load hole;3-2, z-axis strain gauge;3-3, z-axis quick dismounting slot;3-4, z-axis through hole;3-5, z-axis screw hole;4, first L-shaped top plate;4-1, first connecting hole;5, second L-shaped top plate;5-1, second connecting hole;6, screw. DETAILED DESCRIPTION

[0023] The embodiments of the utility model are described below in conjunction with the drawings in the embodiments of the utility model. The terms used in part of the embodiments of the utility model are only used for explaining the specific embodiments of the utility model, and are not intended to limit the utility model. The embodiments of the application are described below in conjunction with the drawings.

[0024] Embodiment: as Figure 1 shown, a kind of modular three-dimensional force sensor, including x-axis elastic body 1, y-axis elastic body 2 and z-axis elastic body 3, x-axis elastic body 1 and z-axis elastic body 3 are assembled on y-axis elastic body 2;X-axis elastic body 1, y-axis elastic body 2 and z-axis elastic body 3 middle part are respectively provided with x-axis load hole 1-1, y-axis load hole 2-1 and z-axis load hole 3-1, x-axis load hole 1-1 and y-axis load hole 2-1 are coplanar, and vertical with z-axis load hole 3-1;X-axis elastic body 1, y-axis elastic body 2 and z-axis elastic body 3 are respectively provided with x-axis strain gauge 1-2, y-axis strain gauge 2-2 and z-axis strain gauge 3-2, and x-axis strain gauge 1-2, y-axis strain gauge 2-2 and z-axis strain gauge 3-2 are not coplanar.

[0025] As Figure 2 Shown, for the structural schematic diagram of x-axis elastic body 1, x-axis elastic body 1 middle part contains a x-axis load hole 1-1 for generating large strain, is provided with x-axis strain gauge 1-2 on one side or both sides for measuring the stress strain of x-axis elastic body 1;One end of x-axis elastic body 1 is provided with x-axis quick dismounting slot 1-3 and x-axis through hole 1-4, for realizing module quick dismounting;X-axis quick dismounting slot 1-3 and the plane where x-axis strain gauge 1-2 is 90 degrees;

[0026] As Figure 3As shown in the structural diagram of the y-axis elastomer, the middle part of the y-axis elastomer 2 contains a y-axis load hole 2-1 for generating large strain, and a y-axis strain gauge 2-2 is arranged on one side or both sides of the y-axis load hole 2-1 for measuring the stress strain of the y-axis elastomer 2; the two ends of the y-axis elastomer 2 each contain a y-axis quick disassembly slot 2-3 for realizing the quick disassembly of the module; the y-axis quick disassembly slot 2-3 is perpendicular to the plane where the strain gauge 2-2 is located.

[0027] As shown in the structural diagram of the z-axis elastomer, Figure 4 the middle part of the z-axis elastomer 3 contains a z-axis load hole 3-1 for generating large strain, and a z-axis strain gauge 3-2 is arranged on one side or both sides of the z-axis load hole 3-1 for measuring the stress strain of the z-axis elastomer 3; one end of the z-axis elastomer 3 contains a z-axis quick disassembly slot 3-3 for realizing the quick disassembly of the module; the z-axis quick disassembly slot 3-3 is coplanar with the strain gauge 3-2;

[0028] As shown in the structural diagram of the z-axis elastomer, Figure 5 the quick disassembly characteristic is a key feature of the modular three-dimensional force sensor; the x-axis elastomer 1 and the y-axis elastomer 2 are engaged through the x-axis quick disassembly slot 1-3 and the y-axis quick disassembly slot 2-3; the screw 6 is screwed into the threaded hole 2-4 of the y-axis elastomer 2 through the x-axis through hole 1-4 of the x-axis elastomer 1, so as to realize the close fit and locking of the x-axis quick disassembly slot 1-3 and the y-axis quick disassembly slot 2-3, thereby realizing the quick connection of the x-axis elastomer 1 and the y-axis elastomer 2.

[0029] the y-axis elastomer 2 and the z-axis elastomer 3 are engaged through the y-axis quick disassembly slot 2-5 and the z-axis quick disassembly slot 3-3; the screw 6 is screwed into the threaded hole 2-4 of the y-axis elastomer 2 through the z-axis through hole 3-4 of the z-axis elastomer 3, so as to realize the close fit and locking of the y-axis quick disassembly slot 2-3 and the z-axis quick disassembly slot 3-3, thereby realizing the quick connection of the y-axis elastomer 2 and the z-axis elastomer 3;

[0030] As shown in the structural diagram of the z-axis elastomer, Figure 1 and Figure 5 the first L-shaped top plate 4 and the second L-shaped top plate 5 are respectively arranged on the x-axis elastomer 1 and the z-axis elastomer 3, one end of the first L-shaped top plate 4 is spliced with the end of the x-axis elastomer 1 away from the y-axis elastomer 2, and the other end faces the y-axis elastomer 2; one end of the second L-shaped top plate 5 is spliced with the end of the z-axis elastomer 3 away from the y-axis elastomer 2, and the other end faces the y-axis elastomer 2; so that the x-axis elastomer 1 and the z-axis elastomer 3 are located between the first L-shaped top plate 4 and the second L-shaped top plate 5.

[0031] As shown in the structural diagram of the z-axis elastomer, Figure 5 a plurality of connection holes for external structure connection are arranged on the first L-shaped top plate 4 and the second L-shaped top plate 5, which are respectively the first connection hole 4-1 and the second connection hole 4-2; the first connection hole 4-1 and the second connection hole 4-2 are respectively arranged on the first L-shaped top plate 4 and the second L-shaped top plate 5

[0032] AsFigure 5 As shown, the first L-shaped top plate 4 is connected with the x-axis elastic body 1 by screwing the screw 6 into the x-axis screw hole 1-5; the second L-shaped bottom plate 5 is connected with the z-axis elastic body 3 by screwing the screw 6 into the z-axis screw hole 3-5; finally, a series connection structure is formed by the first L-shaped top plate 4, the x-axis elastic body 1, the y-axis elastic body 2, the z-axis elastic body 3 and the second L-shaped bottom plate 5; when three-dimensional forces exist at both ends of the first L-shaped top plate 4 and the second L-shaped bottom plate 5, the three-dimensional forces are transmitted bidirectionally between the first L-shaped top plate 4 and the second L-shaped bottom plate 5 through the x-axis elastic body 1, the y-axis elastic body 2 and the z-axis elastic body 3 to achieve balance, and the three-dimensional force components are measured by the x-axis strain gauge 1-2, the y-axis strain gauge 2-2 and the z-axis strain gauge 3-2 of the x-axis elastic body 1, the y-axis elastic body 2 and the z-axis elastic body 3, respectively, so that the measurement of the three-dimensional forces is realized.

[0033] The embodiments of the utility model are described in detail above in combination with the drawings, but the utility model is not limited to the above-mentioned embodiments, and for the ordinary skilled in the art, after knowing the contents recorded in the utility model, a number of equivalent transformations and substitutions can be made without departing from the principles of the utility model, and these equivalent transformations and substitutions should also be regarded as belonging to the protection scope of the utility model.

Claims

1. A modular three-dimensional force sensor, characterized by: The x-axis elastic body and the z-axis elastic body are both assembled on the y-axis elastic body. The x-axis elastic body, the y-axis elastic body and the z-axis elastic body are respectively provided with x-axis load holes, y-axis load holes and z-axis load holes at the middle positions, the x-axis load holes are coplanar with the y-axis load holes and perpendicular to the z-axis load holes, and the x-axis elastic body, the y-axis elastic body and the z-axis elastic body are respectively provided with x-axis strain gauges, y-axis strain gauges and z-axis strain gauges, and the x-axis strain gauges, the y-axis strain gauges and the z-axis strain gauges are not coplanar.

2. The modular three-dimensional force sensor of claim 1, wherein: The x-axis elastic body and the z-axis elastic body are respectively provided with x-axis quick disassembly grooves and z-axis quick disassembly grooves at the same end and in the same direction, and the y-axis elastic body is provided with y-axis quick disassembly grooves at both ends, and the two y-axis quick disassembly grooves are respectively opened and closed to the x-axis quick disassembly grooves and the z-axis quick disassembly grooves.

3. The modular three-dimensional force sensor of claim 2, wherein: The x-axis quick disassembly grooves and the z-axis quick disassembly grooves are both provided with through holes, and the two y-axis quick disassembly grooves are respectively provided with threaded holes, and two screws are respectively passed through the threaded holes.

4. The modular three-dimensional force sensor of claim 2, wherein: The x-axis strain gauges are perpendicular to the x-axis quick disassembly grooves, the y-axis strain gauges are perpendicular to the y-axis quick disassembly grooves, and the z-axis strain gauges are coplanar with the z-axis quick disassembly grooves.

5. The modular three-dimensional force sensor of claim 1, wherein: The x-axis elastic body and the z-axis elastic body are respectively provided with first L-shaped top plates and second L-shaped top plates, one end of the first L-shaped top plate is connected to the end of the x-axis elastic body away from the y-axis elastic body, and the other end faces the y-axis elastic body, and one end of the second L-shaped top plate is connected to the end of the z-axis elastic body away from the y-axis elastic body, and the other end faces the y-axis elastic body.

6. The modular three-dimensional force sensor of claim 5, wherein: The x-axis elastic body and the z-axis elastic body are located between the first L-shaped top plate and the second L-shaped top plate.

7. The modular three-dimensional force sensor of claim 5, wherein: The first L-shaped top plate and the second L-shaped top plate are both provided with a plurality of connection holes for connecting external structures.

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