CN205580630U - Force transducer ring flange - Google Patents
Force transducer ring flange Download PDFInfo
- Publication number
- CN205580630U CN205580630U CN201620217879.XU CN201620217879U CN205580630U CN 205580630 U CN205580630 U CN 205580630U CN 201620217879 U CN201620217879 U CN 201620217879U CN 205580630 U CN205580630 U CN 205580630U
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- force transducer
- disk body
- ring flange
- transducer ring
- axial
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Abstract
The utility model discloses a force transducer ring flange, including circular shape disk body and the erection joint ear of symmetric connection in the disk body both sides, the disk body center has the axial wire hole, the lower surface of disk body has the radial wire -out grooves who communicates with the axial wire hole, installation face connecting hole has on the erection joint ear, the lower surface loop of disk body flange winds the axial wire hole distributes there is the screw hole the utility model discloses a force transducer ring flange has the adaptation and installs the advantage on the installation face of difference. The utility model discloses a force transducer ring flange has the advantage that can change force transducer signal line trend for the force transducer adaptation is installed on the installation face of difference.
Description
Technical field
This utility model belongs to force sensor technologies field, particularly relates to a kind of force transducer ring flange.
Background technology
Six-dimension force sensor can measure three-dimensional all one's effort information, be widely used in intelligent robot,
Automatically control, the research field such as Aero-Space, bionic movement, in commercial production, national defense construction and section
Learn a skill and play an important role in developing.
In six-dimension force sensor is studied, the structure design of force sensing element is the core of power and torque sensor
Heart key issue.
Foreign scholar Cole (Keer) and slave are because of (Nguyen) and Fa Ruixi (Ferraresi) etc.
People proposes and have studied Stewart (Stewart) structure six-dimension force transducer, but owing to he continues to use very
Real ball pivot is as the kinematic pair of force transducer, thus limits its range of application, is difficult to machine
In tool human wrist.Domestic also have some scholar's research six-dimension force sensors, and the Chen Bin of Beijing University has inquired into this
The method for designing of Supreme Being's watt platform structure six-dimension force sensor.Although Chinese scholars proposes and have studied
The structure of multiple six-dimension force sensor, and have multiple relevant patented technology, such as: six degree of freedom power with
Torque sensor (Chinese patent: CN2165435Y), robot six-dimensional force and torque sensor (in
State's patent: CN2066134U), but the subject matter that these technology exist is that the structure having is complicated, has
Size rigidity sensitivity low, that have big, that the have manufacturing cost demarcated difficulty, have low, that have high
Deng.And the force transducer of studies in China mostly uses external existing structure.
To this end, one has been invented by University On The Mountain Of Swallows has elastic hinge six-dimensional force and torque sensor (China
Patent of invention: CN1229915A), the force sensing element of this sensor is that upper mounting plate and lower platform are by 6
Individual elastomer and 12 elastic hinges are connected and form, and it is to be processed and formed at one time, it is achieved that the quick unit of power
The non-package assembly of part so that Stewart is structure formed, have that size is little, low cost of manufacture,
Good rigidity, error are little, sensitivity advantages of higher, can be applicable on robot wrist, finger and other
Use the occasion of miniature power and torque sensor.
But finding in actual applications, existing six-dimension force sensor can only be from sensors sides or the end
Holding wire is drawn at center, face, it is impossible to meet the requirement of cabling when sensor different application occasion is installed.
Utility model content
Technical problem to be solved in the utility model is to provide one and can change force sensor signals line and walk
To force transducer ring flange, with meet sensor different application occasion install time cabling requirement, gram
Take the deficiency that prior art exists.
For solving above-mentioned technical problem, this utility model adopts the following technical scheme that:
A kind of force transducer ring flange, it is characterised in that: include disk body and be symmetrically connected to disk body both sides
Installation engaging lug, described disk body center has Axial-running Out string holes, the lower surface of described disk body have with
The radial outgoing wire groove of Axial-running Out string holes connection, described installation engaging lug has installed surface connecting hole, institute
The lower surface stating disk body flange has screw hole around described axial outlet wire pore size distribution.
Described radial outgoing wire groove has two, be positioned at same diametrically.
For convenience of coordinating location with force transducer, the upper surface of described disk body is at the edge of Axial-running Out string holes
There is prominent upper surface and the positioning convex ring coordinated with described positioning chamber.
Described screw hole is countersunk screw hole.
Described installation engaging lug is positioned in the diametric(al) perpendicular with described radial outgoing wire groove.
Using said structure, this utility model solves existing force transducer can only be from sensor body side
The shortcoming of holding wire is drawn by face or bottom center, thus meets when sensor different application occasion is installed
The requirement of line.Ring flange is connected by screw with sensor body.When sensor needs from side cabling
During layout, holding wire can be realized from bottom radial direction cabling channel wiring by mounting flange.
Therefore, force transducer ring flange of the present utility model has and can change force sensor signals line and walk
To advantage so that force transducer adapt to be arranged on different installed surfaces.
Accompanying drawing explanation
With detailed description of the invention, this utility model is described in detail below in conjunction with the accompanying drawings:
Fig. 1 is it can be seen that this utility model structural representation of upper surface；
Fig. 2 is it can be seen that this utility model structural representation of lower surface；
Fig. 3 is the structural representation that this utility model coordinates with force transducer；
Fig. 4 is the structural representation that this utility model coordinates with elastic body；
Fig. 5 is that this utility model coordinates with elastic body it can be seen that the structural representation of bottom；
Fig. 6 is the structural representation of elastic body of the present utility model；
Fig. 7 is the structural representation of this utility model encapsulating housing.
Detailed description of the invention
As depicted in figs. 1 and 2, force transducer ring flange of the present utility model, including circular disk body
500 and be symmetrically connected to the installation engaging lug 504 of disk body 500 both sides.
Disk body 500 center has Axial-running Out string holes 501, and the upper surface of disk body 500 is in Axial-running Out string holes
The edge of 501 has the positioning convex ring 502 of prominent upper surface.The lower surface of disk body 500 has radially
The radial outgoing wire groove 503 offered, radial outgoing wire groove 503 connects with Axial-running Out string holes 501.In this reality
Executing in example, radial outgoing wire groove 503 has two, be opened in same diametrically.
Two engaging lug 504 is installed to be positioned in the diametric(al) perpendicular with radial outgoing wire groove 503.Should
Install and offer installed surface connecting hole 505 on engaging lug 504.
This utility model by be arranged on the bottom of force transducer realize change force sensor signals line walk
To.
As it is shown on figure 3, force transducer includes elastic body 100 and covers on described elastic body 100
Encapsulating housing 200.
Shown in Fig. 6, elastic body 100 generally truncated conical shape, it is integrated and processes, bag
Include upper mounting plate 1, lower platform 2, six post 6, elastic hinges 7.Upper mounting plate 1 and lower platform 2
Being circular ring, upper mounting plate 1 is identical with the external profile diameter of lower platform 2.Six post 6 in
The form of symmetrical stewart parallel-connection structure, between upper mounting plate 1 and lower platform 2, connects post 6
Top and bottom are attached with upper mounting plate 1 and lower platform 2 by the elastic hinge 7 of circular arc respectively.
Shown in Fig. 7, encapsulating housing 200 is also truncated conical shape, by top cover 210 and skirt section 220
Constituting, the center of top cover 210 has encapsulation and connects locating slot 11, and the end face of top cover 210 is around encapsulation
Connect locating slot 11 and be intervally distributed with six executor's connecting holes 10 and countersunk head spiral shell at same even circumferential
Pit 9, executor's connecting hole 10 and countersunk head screwed hole 9 are alternately arranged.Encapsulating housing 200 covers on bullet
Property body 100 on, screw is set within countersunk head screwed hole 9 and encapsulation connect screwed hole 5 and makes top cover
210 and upper mounting plate 1 link together.
As shown in Figure 4 and Figure 5, the lower section of lower platform 2 connect have mounting disc 400 and with installation
The disk body 500 that dish 400 connects.
As shown in Figure 6, the center of this mounting disc 400 has the axial cabling that appearance holding wire 600 passes
Hole 401, central area has the positioning chamber 402 around axial cable hole 401, mounting disc 400 times
Surface is also even spaced around positioning chamber 402 and six robotic end installation screwed holes 403 is distributed.
The positioning convex ring 502 of ring flange coordinates with the positioning chamber 402 in mounting disc 400 can realize method
The disk body 500 of blue dish positions with the connection of mounting disc 400.
In the present embodiment, mounting disc 400 is thin relative to disk body 500, in the present embodiment, and peace
The thickness of sabot 400 is 1mm, and the thickness of disk body 500 is 7mm.
Installing countersunk screw hole 506 on disk body 500, disk body 500 is by screw with mounting disc 400 even
Connect.
Using said structure, solving existing force transducer can only be from sensor body side or bottom surface
The heart draws the shortcoming of holding wire, thus meets the requirement of cabling when sensor different application occasion is installed.
Ring flange is connected by screw with sensor body.When sensor needs to arrange from side cabling, logical
Cross mounting flange and can realize holding wire from bottom radial direction cabling channel wiring；When sensor needed the end of from
During the center routing of face, can be realized by dismounting ring flange, and sensor integral thickness also can reduce.
Therefore, force transducer ring flange of the present utility model has and can change force sensor signals line and walk
To advantage so that force transducer adapt to be arranged on different installed surfaces.
Claims (7)
1. a force transducer ring flange, it is characterised in that: include disk body and be symmetrically connected to disk body two
The installation engaging lug of side, described disk body center has Axial-running Out string holes, and the lower surface of described disk body has
The radial outgoing wire groove connected with Axial-running Out string holes, described installation engaging lug has installed surface connecting hole,
The lower surface of described disk body flange has screw hole around described axial outlet wire pore size distribution.
Force transducer ring flange the most according to claim 1, it is characterised in that: described radial outgoing wire
Groove has two, be positioned at same diametrically.
Force transducer ring flange the most according to claim 1 and 2, it is characterised in that: described dish
The upper surface of body have at the edge of Axial-running Out string holes prominent upper surface and with determining that described positioning chamber coordinates
Position bulge loop.
Force transducer ring flange the most according to claim 1, it is characterised in that: described screw hole
For countersunk screw hole.
Force transducer ring flange the most according to claim 1, it is characterised in that: the described company of installation
Lug is positioned in the diametric(al) perpendicular with described radial outgoing wire groove.
Force transducer ring flange the most according to claim 3, it is characterised in that: the described company of installation
Lug is positioned in the diametric(al) perpendicular with described radial outgoing wire groove.
Force transducer ring flange the most according to claim 1, it is characterised in that: described disk body is
Circular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620217879.XU CN205580630U (en) | 2016-03-18 | 2016-03-18 | Force transducer ring flange |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620217879.XU CN205580630U (en) | 2016-03-18 | 2016-03-18 | Force transducer ring flange |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205580630U true CN205580630U (en) | 2016-09-14 |
Family
ID=56869546
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620217879.XU Active CN205580630U (en) | 2016-03-18 | 2016-03-18 | Force transducer ring flange |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205580630U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109387310A (en) * | 2018-09-25 | 2019-02-26 | 西北工业大学 | A kind of high-precision multi-axis force transducer protective device |
| CN111103084A (en) * | 2019-12-18 | 2020-05-05 | 上海交通大学 | Integrated six-dimensional force sensor with double-cross beam structure |
-
2016
- 2016-03-18 CN CN201620217879.XU patent/CN205580630U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109387310A (en) * | 2018-09-25 | 2019-02-26 | 西北工业大学 | A kind of high-precision multi-axis force transducer protective device |
| CN111103084A (en) * | 2019-12-18 | 2020-05-05 | 上海交通大学 | Integrated six-dimensional force sensor with double-cross beam structure |
| CN111103084B (en) * | 2019-12-18 | 2022-04-26 | 上海交通大学 | Integrated six-dimensional force sensor with double-cross beam structure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220601 Address after: 201600 No. 28, building 32, No. 89, dujiabang Road, Sijing Town, Songjiang District, Shanghai Patentee after: Taizhi Weixin (Shanghai) Digital Technology Co.,Ltd. Address before: 243031 Room 202, office building, No. 159, South Huxi Road, economic and Technological Development Zone, Ma'anshan City, Anhui Province Patentee before: ANHUI RUICONG ROBOT Co.,Ltd. |
|
| TR01 | Transfer of patent right |