Double-equal-strength-beam high-precision triaxial force sensor

Abstract

The utility model discloses a double equal strength beam high precision triaxial force sensor, relates to the force cell sensor technology field, and comprises an alloy middle block, the middle of the upper end surface of the alloy middle block is fixedly connected with a top force bearing block, and four corners of the top force bearing block are provided with positioning holes; a Z-axis force detection assembly used for detecting force in the Z-axis direction is arranged in the alloy middle block, alloy side blocks are arranged on the two sides of the alloy middle block, and connecting assemblies fixedly connected with the alloy middle block are arranged on the alloy side blocks. According to the three-axis force sensor, independent structure deformation design is applied, three-axis output signals do not interfere with one another, the three-axis force sensor is of an equal-strength beam structure and has the advantages of being high in precision and resistant to impact, and due to the independent structure design, horizontal placement and vertical placement do not affect measurement; and meanwhile, the alloy side blocks on the two sides can be detached from the alloy middle block and can be assembled according to use requirements, and the use flexibility is improved.

Description

Technical Field

[0001] This utility model relates to the field of force sensor technology, specifically a high-precision triaxial force sensor for dual equal-strength beams. Background Technology

[0002] In today's era of rapid technological development, modern industrial production is making great strides towards high automation and intelligence. Triaxial force sensors are used to precisely control the gripping and assembly force of robotic arms on parts, ensuring accuracy at every stage. They play a crucial role in industrial production, scientific research experiments, and the application of numerous intelligent devices. However, existing triaxial force sensors still have certain shortcomings in practical use.

[0003] Currently, the structural design of most triaxial force sensors makes them prone to crosstalk between the output signals of the X, Y, and Z axes during measurement. This not only severely affects the accuracy of the measurement results, making it impossible to provide reliable data for precise control of related equipment and rigorous scientific research in scenarios involving accurate force measurement and analysis, but also increases the complexity and cost of data processing.

[0004] To address the aforementioned issues, we provide a high-precision triaxial force sensor for dual equal-strength beams to solve the problems mentioned above. Utility Model Content

[0005] The purpose of this invention is to provide a high-precision triaxial force sensor for dual equal-strength beams to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A high-precision triaxial force sensor with dual equal-strength beams includes an alloy intermediate block. A top force-bearing block is fixedly connected to the middle of the upper surface of the alloy intermediate block. Positioning holes are provided at each of the four corners of the top force-bearing block. A Z-axis force detection component for detecting Z-axis force is located inside the alloy intermediate block. Alloy side blocks are provided on both sides of the alloy intermediate block, and connecting components for fixed connection with the alloy intermediate block are provided on each side block. Encapsulation grooves are provided on both sides of each side block, and a mounting through hole is provided in the middle of each side block. X-axis force detection components for detecting X-axis force are provided at both ends of each side block. Y-axis force detection components for detecting Y-axis force are provided on both sides of the side block furthest from the alloy intermediate block. A bottom force-bearing block is fixedly connected to the middle of the lower surface of each side block, and the mounting through hole penetrates the bottom force-bearing block.

[0008] As a further embodiment of this utility model: the Z-axis force detection component includes a Z-axis elastic forming hole, which is located in the middle of the alloy side block and penetrates the alloy middle block. The upper end surface of the Z-axis elastic forming hole is an arc surface, and a Z-axis strain gauge is attached to the arc surface.

[0009] As a further embodiment of this utility model: the connecting component includes a plug-in hole, which is located at both ends of the two sides of the alloy intermediate block. The upper surface of the alloy intermediate block has stepped holes at both ends that communicate with the plug-in hole. Plug-in blocks are fixedly connected to both ends of the alloy side block near the plug-in hole. Threaded holes are provided on the plug-in blocks that are opposite to the stepped holes. Screws are provided in the stepped holes and are threadedly connected to the threaded holes.

[0010] As a further embodiment of this utility model: the X-axis force detection component includes an X-axis elastic forming hole, which is respectively opened at both ends of the alloy side block. The alloy side block is provided with X-axis elastic bridges at both sides of the X-axis elastic forming hole, and X-axis strain gauges are attached to the X-axis elastic bridges near the encapsulation groove.

[0011] As a further embodiment of this utility model: the Y-axis force detection component includes a Y-axis elastic forming hole, which is respectively opened on both sides of the alloy side block away from the alloy middle block. The alloy side block is provided with Y-axis elastic bridges on both sides of the Y-axis elastic forming hole, and Y-axis strain gauges are attached to the Y-axis elastic bridges near the encapsulation groove.

[0012] As a further improvement of this utility model, the inner sides of both the Y-axis elastic bridge and the X-axis elastic bridge are arc-shaped.

[0013] As a further improvement of this utility model: both the upper and lower ends of the encapsulation groove are provided with encapsulation sheets, and the encapsulation sheets are made of elastic material.

[0014] As a further improvement of this utility model: each of the alloy side blocks has an avoidance groove in the middle of the side closest to the alloy middle block, and the avoidance groove is connected to the encapsulation groove.

[0015] As a further improvement of this utility model: both ends of the alloy side block protrude from the alloy middle block, with a protrusion length of 0.5-1mm.

[0016] As a further improvement of this utility model, the X-axis strain gauge, Y-axis strain gauge and Z-axis strain gauge are all high-precision foil strain gauges.

[0017] Compared with the prior art, the beneficial effects of this utility model are:

[0018] This utility model's triaxial force sensor employs an independent structural deformation design, ensuring that the three-axis output signals do not interfere with each other. It is a high-precision, impact-resistant sensor using an equal-strength beam structure. Due to its independent structural design, horizontal and vertical placement do not affect the measurement. Furthermore, the alloy side blocks on both sides can be separated from the alloy middle block, allowing for assembly according to usage requirements and improving the flexibility of use. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of this utility model.

[0020] Figure 2 This is a schematic diagram of the alloy intermediate block in this utility model.

[0021] Figure 3 This is a schematic diagram of the alloy side block in this utility model.

[0022] Figure 4 This is a schematic diagram of the internal structure of the encapsulation groove in this utility model.

[0023] Figure 5 This is a schematic diagram of the bottom structure of this utility model.

[0024] The components are: 1. Alloy side block; 2. Alloy middle block; 3. X-axis elastic forming hole; 4. Mounting through hole; 5. X-axis elastic bridge; 6. Screw; 7. Encapsulation piece; 8. Encapsulation groove; 9. Y-axis elastic bridge; 10. Y-axis elastic forming hole; 11. Top force-bearing block; 12. Stepped hole; 13. Insertion hole; 14. Z-axis elastic forming hole; 15. Z-axis strain gauge; 16. X-axis strain gauge; 17. Y-axis strain gauge; 18. Threaded hole; 19. Insertion block; 20. Positioning hole; 21. Bottom force-bearing block; 22. Avoidance groove. Detailed Implementation

[0025] 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.

[0026] Please see Figures 1-5In this embodiment of the present invention, a high-precision triaxial force sensor with dual equal-strength beams includes an alloy intermediate block 2. A top force-bearing block 11 is fixedly connected to the middle of the upper surface of the alloy intermediate block 2. Positioning holes 20 are provided at the four corners of the top force-bearing block 11. The alloy intermediate block 2 is provided with a Z-axis force detection component for detecting Z-axis force. The Z-axis force detection component includes a Z-axis elastic forming hole 14, which is located in the middle of the alloy side block 1 and penetrates the alloy intermediate block 2. The upper surface of the Z-axis elastic forming hole 14 is an arc surface, and a Z-axis strain gauge 15 is attached to the arc surface. The Z-axis elastic forming hole 14 allows a deformable elastic region to be formed at the upper end of the alloy intermediate block 2. The deformation is then sensed by the Z-axis strain gauge 15, thereby realizing the detection of Z-axis force.

[0027] Alloy side blocks 1 are provided on both sides of the alloy intermediate block 2. Each alloy side block 1 is provided with a connecting component that is fixedly connected to the alloy intermediate block 2. The connecting component includes a plug hole 13. Plug holes 13 are provided at both ends of both sides of the alloy intermediate block 2. Stepped holes 12 communicating with the plug holes 13 are provided at both ends of the upper surface of the alloy intermediate block 2. Plug blocks 19 are fixedly connected at both ends of the alloy side blocks 1 near the plug holes 13. Plug blocks 19 are provided with screws 6 that are opposite to the stepped holes 12. Screws 6 are provided in the stepped holes 12 and are threadedly connected to the plug blocks 19. The screws 6, plug holes 13, stepped holes 12, threaded holes 18, and plug blocks 19 form a detachable structure, allowing for flexible assembly as needed during use.

[0028] Both sides of the alloy side block 1 are provided with encapsulation grooves 8, and the middle of the alloy side block 1 is provided with mounting through holes 4. Both ends of the alloy side block 1 are provided with X-axis force detection components for detecting X-axis force. The X-axis force detection components include X-axis elastic forming holes 3, which are respectively opened at both ends of the alloy side block 1. X-axis elastic bridges 5 are provided on both sides of the alloy side block 1 located at the X-axis elastic forming holes 3. X-axis strain gauges 16 are attached to the X-axis elastic bridges 5 near the encapsulation grooves 8. The X-axis elastic forming holes 3 allow the X-axis elastic bridges 5 to form a bridge-type deformation elastic zone. Then, the deformation of the X-axis elastic bridges 5 is sensed by the X-axis strain gauges 16, thereby realizing the detection of X-axis force.

[0029] Both sides of the alloy side block 1 away from the alloy middle block 2 are provided with Y-axis force detection components for detecting Y-axis force. A bottom force-bearing block 21 is fixedly connected to the middle of the lower end face of the alloy side block 1. The mounting through holes 4 all pass through the bottom force-bearing block 21. The Y-axis force detection component includes a Y-axis elastic forming hole 10, which is respectively opened on both sides of the alloy side block 1 away from the alloy middle block 2. Y-axis elastic bridges 9 are provided on both sides of the alloy side block 1 located at the Y-axis elastic forming hole 10. Y-axis strain gauges 17 are attached to the Y-axis elastic bridges 9 near the encapsulation groove 8. The inner sides of the Y-axis elastic bridge 9 and the X-axis elastic bridge 5 are both arc-shaped. The Y-axis elastic bridge 9 can form a bridge-type deformation elastic zone through the Y-axis elastic forming hole 10. Then, the deformation of the Y-axis elastic bridge 9 is detected by the Y-axis strain gauge 17, thereby realizing the detection of Y-axis force.

[0030] Both ends of the encapsulation groove 8 are provided with encapsulation pieces 7, which are made of elastic material; the alloy side block 1 is provided with a avoidance groove 22 in the middle of the side near the alloy middle block 2, and the avoidance groove 22 is connected to the encapsulation groove 8; both ends of the alloy side block 1 protrude from the alloy middle block 2, with a protrusion length of 0.5-1mm; the elastic material of the encapsulation piece 7 can avoid affecting the force detection, and the avoidance groove 22 and the alloy side block 1 protruding from the alloy middle block 2 can avoid mutual interference when detecting forces in various directions.

[0031] The X-axis strain gauge 16, Y-axis strain gauge 17, and Z-axis strain gauge 15 are all high-precision foil strain gauges. High-precision foil strain gauges have extremely high measurement accuracy, excellent sensitivity, rapid response to external strain, excellent stability, small performance fluctuations in a wide temperature range and long-term use, and good linearity, which is beneficial for data processing.

[0032] The working principle of this utility model is as follows: when a force is applied in the Z-axis direction, the elastic region deforms. The Z-axis strain gauge 15 attached to the arc surface senses the deformation and can accurately convert the minute deformation into a change in resistance value. Then, the magnitude of the force in the Z-axis direction is calculated through the corresponding circuit.

[0033] When a force is applied in the X-axis direction, the X-axis elastic bridge 5 undergoes elastic deformation. The X-axis strain gauge 16, which is attached to the X-axis elastic bridge 5 near the packaging groove 8, senses the deformation of the X-axis elastic bridge 5 and can stably convert the deformation into changes in electrical signals. After circuit processing, the magnitude of the force in the X-axis direction is obtained.

[0034] The principle of force detection in the Y-axis direction is similar. When a force is applied in the Y-axis direction, the Y-axis elastic bridge 9 undergoes elastic deformation. The Y-axis strain gauge 17, attached to the Y-axis elastic bridge 9 near the encapsulation groove 8, senses this deformation and converts it into a change in electrical signal, thus achieving accurate detection of the force in the Y-axis direction. Meanwhile, the alloy side blocks 1 on both sides are detachably connected to the alloy middle block 2 via connecting components, allowing for flexible assembly according to different usage requirements, greatly enhancing the application flexibility of the sensor.

[0035] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Although this specification describes embodiments, not every embodiment contains only one technical solution. This method of description is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A high-precision triaxial force sensor with dual equal-strength beams, comprising an alloy intermediate block (2), characterized in that: The top force block (11) is fixedly connected to the middle of the upper end face of the alloy intermediate block (2). The top force block (11) has positioning holes (20) at its four corners. The alloy intermediate block (2) is provided with a Z-axis force detection component for detecting Z-axis force. The alloy intermediate block (2) has alloy side blocks (1) on both sides. The alloy side blocks (1) are provided with connecting components that are fixedly connected to the alloy intermediate block (2). The alloy side blocks (1) have encapsulation grooves (8) on both sides. The alloy side blocks (1) have installation through holes (4) in the middle. The alloy side blocks (1) have X-axis force detection components for detecting X-axis force at both ends. The alloy side blocks (1) have Y-axis force detection components for detecting Y-axis force on both sides at the end away from the alloy intermediate block (2). The bottom force block (21) is fixedly connected to the middle of the lower end face of the alloy side blocks (1). The installation through holes (4) all penetrate the bottom force block (21).

2. The high-precision triaxial force sensor with dual equal-strength beams according to claim 1, characterized in that, The Z-axis force detection component includes a Z-axis elastic forming hole (14), which is located in the middle of the alloy side block (1). The Z-axis elastic forming hole (14) passes through the alloy middle block (2). The upper end surface of the Z-axis elastic forming hole (14) is an arc surface, and a Z-axis strain gauge (15) is attached to the arc surface.

3. The high-precision triaxial force sensor for dual equal-strength beams according to claim 1, characterized in that, The connecting assembly includes a plug hole (13), which is located at both ends of the two sides of the alloy intermediate block (2). The upper end face of the alloy intermediate block (2) has stepped holes (12) that communicate with the plug hole (13). The two ends of the alloy side block (1) are fixedly connected to plug blocks (19) near the plug hole (13). The plug blocks (19) have threaded holes (18) that are opposite to the stepped holes (12). The stepped holes (12) are provided with screws (6), and the screws (6) are threadedly connected to the threaded holes (18).

4. The high-precision triaxial force sensor with dual equal-strength beams according to claim 2, characterized in that, The X-axis force detection component includes an X-axis elastic forming hole (3), which is respectively opened at both ends of the alloy side block (1). The alloy side block (1) is provided with X-axis elastic bridges (5) on both sides of the X-axis elastic forming hole (3). X-axis strain gauges (16) are attached to the X-axis elastic bridges (5) near the encapsulation groove (8).

5. The high-precision triaxial force sensor with dual equal-strength beams according to claim 4, characterized in that, The Y-axis force detection component includes a Y-axis elastic forming hole (10). The Y-axis elastic forming hole (10) is respectively opened on both sides of the alloy side block (1) away from the alloy middle block (2). The alloy side block (1) is provided with Y-axis elastic bridges (9) on both sides of the Y-axis elastic forming hole (10). Y-axis strain gauges (17) are attached to the Y-axis elastic bridges (9) near the encapsulation groove (8).

6. The high-precision triaxial force sensor with dual equal-strength beams according to claim 5, characterized in that, The inner sides of both the Y-axis elastic bridge (9) and the X-axis elastic bridge (5) are arc-shaped.

7. The high-precision triaxial force sensor with dual equal-strength beams according to claim 1, characterized in that, Both ends of the encapsulation groove (8) are provided with encapsulation pieces (7), and the encapsulation pieces (7) are made of elastic material.

8. The high-precision triaxial force sensor for dual equal-strength beams according to claim 1, characterized in that, The alloy side block (1) has an avoidance groove (22) in the middle of the side of the alloy middle block (2), and the avoidance groove (22) is connected to the encapsulation groove (8).

9. The high-precision triaxial force sensor for dual equal-strength beams according to claim 1, characterized in that, The alloy side block (1) protrudes from both ends of the alloy middle block (2), with a protrusion length of 0.5-1mm.

10. The high-precision triaxial force sensor with dual equal-strength beams according to claim 5, characterized in that, The X-axis strain gauge (16), Y-axis strain gauge (17) and Z-axis strain gauge (15) are all high-precision foil strain gauges.

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