Six-dimensional force sensor

Abstract

The utility model discloses a six-dimensional force sensor, and relates to the technical field of sensors, the six-dimensional force sensor comprises a first support ring, a second support ring and two center tables, the first support ring is connected with the corresponding center table through at least three first radial beams, and all the first radial beams are uniformly distributed around the axis of the center table; the two center tables are connected through at least three vertical beams, the second supporting rings are connected with the corresponding center tables through at least three second radial beams, all the first radial beams and all the vertical beams are connected with strain gauges, all the second radial beams are connected with a circuit board, the strain gauges are connected with the circuit board through electric wires, and the first radial beams and the vertical beams are in a sheet shape. The first radial beam and the vertical beam are both connected with the strain gauges, and the first radial beam and the vertical beam are both sheet-shaped, so that the strain gauges can be conveniently used for measuring the strain on the first radial beam and the vertical beam, and the rigidity of the sensor can be ensured while the sensor obtains high sensitivity.

Description

Technical Field

[0001] This application relates to the field of sensor technology, and in particular to a six-dimensional force sensor. Background Technology

[0002] A six-dimensional force sensor is a high-precision sensor capable of simultaneously measuring forces in three orthogonal directions and torques around three axes. It integrates force and torque measurements into a compact unit and is widely used in robotics, aerospace, industrial automation, and other fields.

[0003] The design of the sensitive element of a multidimensional force sensor is a key issue in the application of force sensors. With the existing structure of the elastic body in multidimensional force sensors, it is difficult to simultaneously improve the stiffness and sensitivity of the sensor, which needs to be improved. Utility Model Content

[0004] The purpose of this application is to provide a six-dimensional force sensor to achieve high sensitivity.

[0005] This application provides a six-dimensional force sensor with the following technical solution: it includes a first support ring, a second support ring, and two central platforms. The first support ring and the second support ring correspond one-to-one with the two central platforms. Both the first support ring and the second support ring are provided with a plurality of positioning holes. Both the first support ring and the second support ring surround the central platforms. The first support ring is connected to the corresponding central platform by at least three first radial beams. All the first radial beams are evenly distributed around the axis of the central platform. The two central platforms are connected by at least three vertical beams. The second support ring is connected to the corresponding central platform by at least three second radial beams. All the first radial beams and all the vertical beams are connected to strain gauges. All the second radial beams are connected to circuit boards. The strain gauges are connected to the circuit boards by wires. The first radial beams and the vertical beams are both sheet-like.

[0006] By adopting the above technical solution, strain gauges are connected to both the first radial beam and the vertical beam, and both the first radial beam and the vertical beam are plate-shaped, which facilitates the use of strain gauges to measure the strain on the first radial beam and the vertical beam, enabling the sensor to obtain high sensitivity while ensuring the rigidity of the sensor.

[0007] Optionally, the thickness of the second radial beam is greater than the thickness of the first radial beam.

[0008] By adopting the above technical solution, the thickness of the second radial beam is greater than that of the first radial beam, which increases the contact area between the corresponding central platform and the second radial beam, as well as the contact area between the second support ring and the second radial beam, thereby improving the overall rigidity of the sensor.

[0009] Optionally, the corresponding central platform and the first support ring are integrally formed with all the first radial beams, and the corresponding central platform and the second support ring are integrally formed with all the second radial beams.

[0010] By adopting the above technical solution, the first support ring and the first radial beam are machined as a whole, and the second support ring and the second radial beam are machined as a whole, which reduces repeatability errors and has a simple structure that is easy to process.

[0011] Optionally, the two central platforms and all the vertical beams are integrally formed.

[0012] By adopting the above technical solution, the center platform and the vertical beam are processed as a whole, reducing repetitive errors, and its structure is simple and easy to process.

[0013] Optionally, the number of the first radial beams and the number of the second radial beams are both four, with the four first radial beams evenly distributed around the axis of the central platform and the four second radial beams evenly distributed around the axis of the central platform.

[0014] By adopting the above technical solution, the number of the first radial beam and the second radial beam are both four and evenly distributed around the center line of the central platform, which can make the six-dimensional force sensor uniformly subjected to force, which is beneficial to improving the stiffness and sensitivity of the sensor and better realizing the measurement of forces in three orthogonal directions and three moments around the axis.

[0015] Optionally, the number of vertical beams is four, and the four vertical beams are distributed around the axis of the central platform.

[0016] By adopting the above technical solution, the four vertical beams distributed around the centerline of the central stage can make the sensor more uniformly stressed, which is beneficial to improving the measurement accuracy and stability of the sensor.

[0017] Optionally, the first support ring may be detachably connected to a housing.

[0018] By adopting the above technical solution, the first support ring can be detachably connected to the outer shell, which facilitates the inspection and maintenance of the six-dimensional force sensor.

[0019] Optionally, the outer circumferential surface of the first support ring is provided with an external thread, which is threadedly connected to the outer shell.

[0020] By adopting the above technical solution, in the six-dimensional force sensor, the outer circumferential surface of the first support ring is provided with an external thread and is threadedly connected to the outer shell, thereby realizing the detachable connection between the first support ring and the outer shell, which facilitates the assembly, disassembly and maintenance of the six-dimensional force sensor, and the threaded connection method can ensure the stability of the connection.

[0021] Optionally, the outer peripheral surface of the first support ring is provided with a positioning part, and the external thread is located between the positioning part and the second support ring. The positioning part is used to abut against the housing.

[0022] By adopting the above technical solution, the positioning part abuts against the outer shell, which can realize the accurate installation and positioning of the outer shell and improve the installation accuracy of the outer shell.

[0023] In summary, this application includes at least one of the following beneficial technical effects:

[0024] 1. Both the first radial beam and the vertical beam are connected to strain gauges, and both the first radial beam and the vertical beam are plate-shaped, which facilitates the use of strain gauges to measure the strain on the first radial beam and the vertical beam, enabling the sensor to obtain high sensitivity while ensuring the rigidity of the sensor.

[0025] 2. The thickness of the second radial beam is greater than that of the first radial beam, which increases the contact area between the corresponding central platform and the second radial beam, as well as the contact area between the second support ring and the second radial beam, thereby improving the overall rigidity of the sensor. Attached Figure Description

[0026] Figure 1 This is one of the overall structural schematic diagrams of an embodiment of this application, showing the first radial beam.

[0027] Figure 2 This is the second overall structural schematic diagram of an embodiment of this application, showing the second radial beam.

[0028] Figure 3 This is the second overall structural schematic diagram of an embodiment of this application, showing a vertical beam.

[0029] Explanation of reference numerals in the attached drawings: 1. First support ring; 11. Positioning hole; 12. External thread; 13. Positioning part; 2. Second support ring; 3. Center platform; 4. First radial beam; 41. Strain gauge; 5. Second radial beam; 51. Circuit board; 6. Vertical beam. Detailed Implementation

[0030] The following is in conjunction with the appendix Figure 1 -Appendix Figure 3 This application will be described in further detail.

[0031] This application discloses a six-dimensional force sensor.

[0032] Combination Figure 1 and Figure 2As shown, it includes a first support ring 1, a second support ring 2, and two central platforms 3. The first support ring 1 and the second support ring 2 correspond one-to-one with the two central platforms 3. Several positioning holes 11 are provided on the side of the first support ring 1 away from the second support ring 2 and the side of the second support ring 2 away from the first support ring 1. Taking this embodiment as an example, the first support ring 1 and the second support ring 2 each have six positioning holes 11. The positioning holes 11 on the first support ring 1 correspond one-to-one with the positioning holes 11 on the second support ring 2. The six positioning holes 11 are evenly distributed around the axis of the first support ring 1 and the six positioning holes 11 are evenly distributed around the axis of the second support ring 2.

[0033] Combination Figure 1 and Figure 2 As shown, both the first support ring 1 and the second support ring 2 surround the central platform 3. The inner ring of the first support ring 1 is provided with at least three first radial beams 4, which are integrally formed with the first support ring 1 and are sheet-like. Taking this embodiment as an example, there are four first radial beams 4, evenly distributed around the axis of the first support ring 1. The end of each first radial beam 4 furthest from the first support ring 1 is integrally formed with the corresponding central platform 3.

[0034] Combination Figure 1 and Figure 2 As shown, the inner ring of the second support ring 2 is provided with at least three second radial beams 5. The second radial beams 5 are integrally formed with the second support ring 2, and the thickness of the second radial beams 5 is greater than the thickness of the first radial beams 4. Taking this embodiment as an example, there are four second radial beams 5. The two second radial beams 5 correspond one-to-one with the first radial beams 4. The four second radial beams 5 are evenly distributed around the axis of the second support ring 2, and the end of the second radial beam 5 away from the second support ring 2 is integrally formed with the corresponding center platform 3.

[0035] Combination Figure 2 and Figure 3 As shown, the two center platforms 3 are connected by at least three vertical beams 6. Each vertical beam 6 is integrally formed with the two center platforms 3 at both ends, and the vertical beam 6 is plate-shaped. Taking this embodiment as an example, there are four vertical beams 6, which are evenly distributed around the axis of the center platform 3. Two strain gauges 41 are fixedly connected to both vertical sides of all first radial beams 4 and both radial sides of all vertical beams 6. A circuit board 51 is fixedly connected to the side of each second radial beam 5 closest to the first radial beam 4. Eight strain gauges 41 correspond to one circuit board 51, and the strain gauges 41 and circuit boards 51 are connected by wires.

[0036] Combination Figure 2 and Figure 3As shown, the first support ring 1 is detachably connected to the outer shell (not shown in the attached figure). The outer circumferential surface of the first support ring 1 is provided with an external thread 12, which is threadedly connected to the outer shell. The outer circumferential surface of the first support ring 1 is provided with a positioning part 13, which is integrally formed with the first support ring 1. The external thread 12 is located between the positioning part 13 and the second support ring 2. The positioning part 13 is used to abut against the outer shell.

[0037] The implementation principle of a six-dimensional force sensor in this application embodiment is as follows:

[0038] Both the first radial beam 4 and the vertical beam 6 are connected to strain gauges 41, and both the first radial beam 4 and the vertical beam 6 are plate-shaped, which facilitates the use of strain gauges 41 to measure the strain on the first radial beam 4 and the vertical beam 6, enabling the sensor to obtain high sensitivity while ensuring the rigidity of the sensor.

[0039] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A six-dimensional force sensor, characterized in that: It includes a first support ring (1), a second support ring (2), and two central platforms (3). The first support ring (1) and the second support ring (2) correspond one-to-one with the two central platforms (3). The first support ring (1) and the second support ring (2) are each provided with a plurality of positioning holes (11). The first support ring (1) and the second support ring (2) are both surrounded by the central platforms (3). The first support ring (1) and the corresponding central platform (3) are connected by at least three first radial beams (4). All the first radial beams (4) are arranged around the central platform (3). The centerlines of the central platforms (3) are evenly distributed. The two central platforms (3) are connected by at least three vertical beams (6). The second support ring (2) is connected to the corresponding central platform (3) by at least three second radial beams (5). All the first radial beams (4) and all the vertical beams (6) are connected to strain gauges (41). All the second radial beams (5) are connected to circuit boards (51). The strain gauges (41) and the circuit boards (51) are connected by wires. The first radial beams (4) and the vertical beams (6) are both sheet-like.

2. The six-dimensional force sensor according to claim 1, characterized in that: The thickness of the second radial beam (5) is greater than the thickness of the first radial beam (4).

3. The six-dimensional force sensor according to claim 1, characterized in that: The corresponding central platform (3) and the first support ring (1) are integrally formed with all the first radial beams (4), and the corresponding central platform (3) and the second support ring (2) are integrally formed with all the second radial beams (5).

4. The six-dimensional force sensor according to claim 1, characterized in that: The two central platforms (3) and all the vertical beams (6) are integrally formed.

5. The six-dimensional force sensor according to claim 1, characterized in that: The number of the first radial beam (4) and the number of the second radial beam (5) are both four. The four first radial beams (4) are evenly distributed around the axis of the central platform (3), and the four second radial beams (5) are evenly distributed around the axis of the central platform (3).

6. The six-dimensional force sensor according to claim 1, characterized in that: The number of vertical beams (6) is four, and the four vertical beams (6) are distributed around the axis of the central platform (3).

7. The six-dimensional force sensor according to claim 1, characterized in that: The first support ring (1) is detachably connected to a housing.

8. The six-dimensional force sensor according to claim 7, characterized in that: The outer circumferential surface of the first support ring (1) is provided with an external thread (12), which is threadedly connected to the outer shell.

9. The six-dimensional force sensor according to claim 8, characterized in that: The outer peripheral surface of the first support ring (1) is provided with a positioning part (13), and the external thread (12) is located between the positioning part (13) and the second support ring (2). The positioning part (13) is used to abut against the outer shell.

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