CN209689651U - A kind of multi-dimension force sensor and the protection component suitable for multi-dimension force sensor - Google Patents
A kind of multi-dimension force sensor and the protection component suitable for multi-dimension force sensor Download PDFInfo
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- CN209689651U CN209689651U CN201920391448.9U CN201920391448U CN209689651U CN 209689651 U CN209689651 U CN 209689651U CN 201920391448 U CN201920391448 U CN 201920391448U CN 209689651 U CN209689651 U CN 209689651U
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- sensor
- dimension force
- fixing seat
- force sensor
- end part
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Abstract
The utility model relates to a kind of multi-dimension force sensors; it further include protection component including sensor body, protection component includes the moved end part that the opening mutually lid of fixing seat and fixing seat that one end is equipped with opening closes; fixing seat is coated at sensor body, and moved end part inner face fits in sensor body.The utility model has used a kind of protection component; and protection component is mounted on outside sensor body; while protecting sensor; it is not take up multi-dimension force sensor inner space again; make sensor body that there is larger size inside multi-dimension force sensor, increases multi-dimension force sensor measurement range.The utility model also proposes a kind of protection component suitable for multi-dimension force sensor; including fixing seat, moved end part, fixing seat upper end, which is equipped with, to be open, and the opening of moved end part and fixing seat mutually covers conjunction; fixing seat is coated at multi-dimension force sensor, and moved end part inner face fits in multi-dimension force sensor.
Description
Technical field
The utility model belongs to sensor technical field, more particularly, to a kind of multi-dimension force sensor and is suitable for multi-dimensional force
The protection component of sensor.
Background technique
Multi-dimension force sensor is one of most important sensor in automatic factory, be broadly divided into six-dimension force sensor and
Three-dimensional force sensor, wherein three-dimensional force sensor can detect three force informations (Fx, Fy, Fz) of three-dimensional space, control system simultaneously
System can not only detect and control the grip that robot hand takes object using multi-dimension force sensor, but also can measure and be grabbed
Object weight, and can judge situations such as whether there is sliding, vibration during grasping manipulation.Six-dimension force sensor can be examined
Three-dimensional orthogonal power (Fx, Fy, Fz) and three-dimensional orthogonal torque (Mx, My, Mz) in arbitrary force system in space are surveyed, has dynamometry information rich
The features such as richness, measurement accuracy is high, thus it is widely used in the fields such as robot technology, aeronautical and space technology.Currently, multi-dimensional force passes
Sensor is mainly used in robot field, is robot high quality control and intelligent indispensable important sensing element.
Currently, multi-dimension force sensor is acted on sensor elastomer by measurand, pass through measurement sensor bullet
Property the bodily form become to measure measurand, thus, multi-dimension force sensor all has sensor elastomer structure.However, sensor
There are deformation limits for elastomer structure, can then generate destruction more than deformation limit.Currently, some multi-dimension force sensors are protected not yet
Protecting assembly can damage multi-dimension force sensor, shadow when measurand is excessive, makes to be more than elastic construction deformation limit
Ring service precision and the service life of multi-dimension force sensor.In other multi-dimension force sensors, although flexible structure position limitation protection
Device, but be mainly mounted in inside multi-dimension force sensor, protection component occupies multi-dimension force sensor inner space, makes bullet
Property body space reduce, multidimensional sensor can because elastic space reduction so that protective capability is reduced.
Utility model content
The utility model embodiment provides a kind of multi-dimension force sensor, including sensor body, further includes protection component, institute
State the moved end part that the opening mutually lid that protection component includes fixing seat and fixing seat that one end is equipped with opening closes, the fixing seat
It is coated at sensor body, the moved end part inner face fits in sensor body.
Further, the sensor body is by sensor fixed part, sensor elastomer, sensor activity part group
At sensor elastomer is clipped between sensor fixed part and sensor activity part, the sensor activity part and dynamic
Extremity piece connection.
Further, the fixing seat includes connector and protective interconnected, and the connector and sensor are solid
Fixed part connects.
Further, the protective is tubular, and an end face is flange；The connector uses and the protective phase
The flange of cooperation.
Further, the edge distribution of the moved end part has protrusion；The opening of the fixing seat has and the raised phase
Corresponding groove.
Further, the multi-dimension force sensor further includes line pressure device, and the line pressure device is fixed in fixing seat.
Further, the sensor elastomer uses vulcanized rubber material.
The utility model also provides a kind of protection component suitable for multi-dimension force sensor, including fixing seat, moved end part, Gu
Reservation upper end, which is equipped with, to be open, and the opening of moved end part and fixing seat mutually covers conjunction, and fixing seat is coated at multi-dimension force sensor, moved end part
Inner face fits in multi-dimension force sensor.
The utility model has the advantages and positive effects of:
The utility model has used protection component, protects sensor；And protection component is mounted on sensor module
Outside protects modular construction not limited by space, increases protection component protection range, while component will be protected from sensor
Body interior is put into outside, increases sensor internal use space, and sensor body is made to have bigger ruler in sensor internal
It is very little, increase multi-dimension force sensor measurement range；This protection component can be used alone, strong flexibility, biography when not protecting component
Sensor ontology can also be used alone, and structure is more compact.
Below by drawings and examples, the technical solution of the utility model is described in further detail.
Detailed description of the invention
Attached drawing is used to provide a further understanding of the present invention, and constitutes part of specification, practical with this
Novel embodiment is used to explain the utility model together, does not constitute limitations of the present invention.In the accompanying drawings:
Fig. 1 is the cross-sectional view (wireless pressure device) of the multi-dimension force sensor in the utility model embodiment；
Fig. 2 is the explosive view of the multi-dimension force sensor in the utility model embodiment；
Fig. 3 is the installation effect figure of the multi-dimension force sensor in the utility model embodiment.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
In order to solve that component is protected to be mounted on sensor internal in the prior art, and sensor module inner space is limited,
Protection assembly volume is restricted, and limitation protection component protection range problem, the utility model embodiment provides a kind of multi-dimensional force
Sensor can guarantee that sensor using simultaneously, protects component not limited by inner space, increase protection component protection range.
It elaborates with reference to the accompanying drawing to the utility model:
A kind of multi-dimension force sensor combined with Figure 1 and Figure 2, including sensor body 3 and protection component, protection component include
The moved end part 4 that the opening mutually lid of fixing seat and fixing seat that one end is equipped with opening closes, fixing seat are coated at sensor body 3,
Part 4 inner face in moved end fits in sensor body 3.
In the present embodiment, protection component is mounted on outside sensor body 3, and modular construction is protected not limited by space,
Protection component protection range is increased, while protection component is put into outside inside sensor body 3, is increased in sensor
Portion's use space makes sensor body 3 have larger size in sensor internal, increases multi-dimension force sensor measurement range.
In some implementation columns, sensor body 3 is living by sensor fixed part 31, sensor elastomer 32, sensor
Dynamic part 33 forms, and sensor elastomer 32 is clipped between sensor fixed part 31 and sensor activity part 33, the biography
Sensor movable part 33 is connected by screw to moved end part 4.
In some embodiments, fixing seat includes connector 1 and protective 2 interconnected, and connector 1 and sensor are solid
Determine part 31 to be connected by screw to；Protective 2 is tubular, and an end face is flange；Connector 1 uses and 2 phase of protective
The flange of cooperation.
When strong effect, deformation occurs for multi-dimension force sensor internal sensor elastomer, pinch sensors movable part
33, since moved end part 4 and sensor activity part 33 are fixed by screw, the movement of sensor activity part 33 is limited, and
And moved end part 4, to limit 32 deformation of sensor elastomer, protects sensor due to the limitation of protective 2.Protective 2 is logical
It crosses screw and connector 1 is fixed, while guaranteeing 2 stability of protective, moreover it is possible to more preferable protection sensor body 3.
In some embodiments, the edge distribution of moved end part 4 has protrusion；The opening of fixing seat has opposite with the protrusion
The groove answered.Screw passes through moved end part 4 and sensor activity part 33 is fixed with another end equipment, guarantees sensor and the other end
Stabilization of equipment performance, moved end part 4, to coupling, ensure that 4 stability of moved end part, moved end part 4 enable to protect biography well with protective 2
Sensor movable part 33, to more preferably protect sensor.
In some embodiments, as shown in connection with fig. 3, multi-dimension force sensor further includes line pressure device 5, and line pressure device 5 is fixed
In in fixing seat.Sensor wire passes through line pressure device 5, and when cable is disturbed, line pressure device 5 protects cable connector to avoid
It destroys.
In some embodiments, not only when forces are applied for sensor elastomer, deformation occurs for sensor elastomer, leads to
The deformation of measurement sensor elastomer is crossed to calculate the size and Orientation of current power.Sensor elastomer, which is selected, has preferably elasticity
The material of performance and self-recovery deformation nature can make sensor have higher precision and more durable using the time.In this reality
It applies in example, sensor elastomer uses vulcanized rubber material.
The utility model has used protection component, protects sensor；And protection component is mounted on sensor body
Outside, protective structure are not limited by space, increase protection component protection range, while component will be protected from sensor sheet
Internal portion is put into outside, increases sensor internal use space, and sensor body is made to have larger size in sensor internal,
Increase multi-dimension force sensor measurement range；This protection component can be used alone, strong flexibility, sensor when not protecting component
Ontology can also be used alone, and structure is more compact.
As it will be easily appreciated by one skilled in the art that the above is only the preferred embodiment of the utility model only, not
To limit the utility model, any modification made within the spirit and principle of the present invention, equivalent replacement and change
Into etc., it should be included within the scope of protection of this utility model.
Claims (8)
1. a kind of multi-dimension force sensor, including sensor body (3), which is characterized in that further include protection component, the protection group
Part includes the moved end part (4) that the opening mutually lid of fixing seat and fixing seat that one end is equipped with opening closes, and the fixing seat is coated at
Sensor body (3), moved end part (4) inner face fit in sensor body (3).
2. multi-dimension force sensor as described in claim 1, which is characterized in that the sensor body (3) includes that sensor is solid
Fixed part (31), sensor elastomer (32), sensor activity part (33), sensor elastomer (32) are clipped in sensor and fix
Partially between (31) and sensor activity part (33), the sensor activity part (33) connect with moved end part (4).
3. multi-dimension force sensor as claimed in claim 2, which is characterized in that the fixing seat includes connector interconnected
(1) it is connect with protective (2), the connector (1) with sensor fixed part (31).
4. multi-dimension force sensor as claimed in claim 3, which is characterized in that the protective (2) is tubular, and an end face is
Flange；The connector (1) is using the flange matched with the protective (2).
5. multi-dimension force sensor as described in claim 1, which is characterized in that the edge distribution of the moved end part (4) has protrusion；
The opening of the fixing seat has groove corresponding with the protrusion.
6. multi-dimension force sensor as described in claim 1, which is characterized in that further include line pressure device (5), the line pressure device
(5) it is fixed in fixing seat.
7. multi-dimension force sensor as described in claim 1, which is characterized in that the sensor elastomer (32) is using vulcanization rubber
Glue material matter.
8. a kind of protection component suitable for multi-dimension force sensor, which is characterized in that including fixing seat, moved end part (4), fixing seat
Upper end is equipped with opening, and moved end part (4) and the opening of fixing seat mutually cover conjunction, and fixing seat is coated at multi-dimension force sensor, moved end part
(4) inner face fits in multi-dimension force sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920391448.9U CN209689651U (en) | 2019-03-26 | 2019-03-26 | A kind of multi-dimension force sensor and the protection component suitable for multi-dimension force sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920391448.9U CN209689651U (en) | 2019-03-26 | 2019-03-26 | A kind of multi-dimension force sensor and the protection component suitable for multi-dimension force sensor |
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| CN209689651U true CN209689651U (en) | 2019-11-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210347045A1 (en) * | 2019-04-24 | 2021-11-11 | Nanjing University Of Aeronautics And Astronautics | Variable-parameter stiffness identification and modeling method for industrial robot |
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2019
- 2019-03-26 CN CN201920391448.9U patent/CN209689651U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210347045A1 (en) * | 2019-04-24 | 2021-11-11 | Nanjing University Of Aeronautics And Astronautics | Variable-parameter stiffness identification and modeling method for industrial robot |
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