CN210426854U - Novel strain type six-axis force sensor - Google Patents
Novel strain type six-axis force sensor Download PDFInfo
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- CN210426854U CN210426854U CN201921636175.6U CN201921636175U CN210426854U CN 210426854 U CN210426854 U CN 210426854U CN 201921636175 U CN201921636175 U CN 201921636175U CN 210426854 U CN210426854 U CN 210426854U
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- cover plate
- force sensor
- elastic element
- axis force
- wheel rim
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Abstract
The utility model relates to the technical field of six-axis force sensors, and discloses a novel strain type six-axis force sensor, which comprises a six-axis force sensor main body, wherein the six-axis force sensor main body comprises an elastic element, an upper cover plate and a lower cover plate, the upper cover plate is arranged on the upper part of the elastic element, and the lower cover plate is arranged at the bottom of the elastic element; the elastic element comprises a square wheel rim, a cross beam, a square flange measuring part and parallel beams respectively arranged on four inner side walls of the square wheel rim; the parallel beams and the top surface and the bottom surface of the square wheel rim are provided with intervals, the cross beam is provided with four force measuring arms, any two adjacent force measuring arms are arranged vertically, the four force measuring arms are respectively connected with the four parallel beams in a one-to-one correspondence manner, and the force measuring arms are vertical to the parallel beams correspondingly connected with the force measuring arms; the elastic element of the six-axis force sensor is designed in an integrated mode, the structure is compact and firm, the measurement accuracy is high, mutual interference is small, the overall height of the six-axis force sensor is low, and the six-axis force sensor can be used in a low space.
Description
Technical Field
The utility model belongs to the technical field of six force transducer's technique and specifically relates to a novel six force transducer of answer variant.
Background
In the field of industrial automation, robot and automobile testing, the limitation of the height of the structure and the installation space of the six-axis force sensor is required, signals need to be transmitted through cables, the six-axis force sensor is connected through flange installation, the existing six-axis force sensor is limited by the structure, the limitation of the installation space is caused, the installation of a low space cannot be realized, and the application range is limited.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a novel six force sensor of strain formula aims at solving the problem of the unable installation that realizes low space of six force sensor among the prior art.
The utility model is realized in such a way, a novel strain type six-axis force sensor comprises a six-axis force sensor main body, wherein the six-axis force sensor main body comprises an elastic element, an upper cover plate and a lower cover plate, the upper cover plate is arranged on the upper part of the elastic element, the lower cover plate is arranged on the bottom of the elastic element, the elastic element comprises a square wheel hoop, a cross beam, a square flange measuring part and parallel beams respectively arranged on four inner side walls of the square wheel hoop, the parallel beams and the top surface and the bottom surface of the square wheel hoop are provided with intervals, the cross beam is provided with four force measuring arms, two arbitrarily adjacent force measuring arms are mutually vertically arranged, the four force measuring arms are respectively connected with the four parallel beams in a one-to-one correspondence manner, the force measuring arms are mutually vertical to the parallel beams correspondingly connected with the force measuring arms, the square wheel hoop, the cross beam, the square flange measuring part and the parallel beams are, a through hole for the square flange measuring part to penetrate out is formed in the middle of the upper cover plate, and a gap is formed between the lower cover plate and the square flange measuring part; and the elastic element is fixedly provided with a cable through a pressing line nut.
Furthermore, the number of the cables is two, and the number of the pressing line nuts is two.
Furthermore, a first round hole for a screw to pass through is formed in the four corners of the upper cover plate, a first threaded hole for the screw to enter is formed in the four corners of the top surface of the square wheel rim, the first threaded hole corresponds to the first round hole, and the upper cover plate and the square wheel rim are fixedly installed through the screw.
Furthermore, a second round hole for a screw to pass through is formed in the four corners of the lower cover plate, a second threaded hole for the screw to enter is formed in the four corners of the bottom surface of the square wheel rim, the second threaded hole corresponds to the second round hole, and the lower cover plate and the square wheel rim are fixedly installed through the screw.
Compared with the prior art, the utility model provides a novel six force transducer of strain formula, six force transducer's elastic element adopt the integral type design, compact structure, firm, measurement accuracy is high, mutual interference is little, because elastic element adopts the integral type design for six force transducer whole height is low, can realize using in low space, and the sensor adopts square flange mounting means, connects the fastening, dismantles, simple to operate, and is with low costs, economic benefits is high.
Drawings
Fig. 1 is a perspective view of a novel strain type six-axis force sensor provided in an embodiment of the present invention;
fig. 2 is an exploded schematic view of a novel strain-type six-axis force sensor provided by an embodiment of the present invention;
fig. 3 is a schematic diagram of the sectioning of a novel strain type six-axis force sensor provided by the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present invention, it should be understood that if there are the terms "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of the description, but it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore the terms describing the positional relationship in the drawings are only for illustrative purposes and are not to be construed as limitations of the present patent, and those skilled in the art can understand the specific meanings of the terms according to specific situations.
The following describes the implementation of the present invention in detail with reference to specific embodiments.
Referring to fig. 1-3, preferred embodiments of the present invention are provided.
A novel strain type six-axis force sensor comprises a six-axis force sensor body, wherein the six-axis force sensor body comprises an elastic element 1, an upper cover plate 2 and a lower cover plate 3, the upper cover plate 2 is arranged on the upper portion of the elastic element 1, the lower cover plate 3 is arranged at the bottom of the elastic element 1, the elastic element 1 comprises a square wheel hoop 9, a cross beam 6, a square flange measuring part 7 and parallel beams 8 respectively arranged on four inner side walls of the square wheel hoop 9, intervals are respectively arranged between the parallel beams 8 and the top surface and the bottom surface of the square wheel hoop 9, the cross beam 6 is provided with four force measuring arms, any two adjacent force measuring arms are vertically arranged, the four force measuring arms are respectively connected with the four parallel beams 8 in a one-to-one correspondence manner, the force measuring arms are vertical to the parallel beams 8 correspondingly connected with the force measuring arms, the square wheel hoop 9, the cross beam 6, the square flange, a through hole 10 for the square flange measuring part 7 to penetrate through is formed in the middle of the upper cover plate 2, and a gap is formed between the lower cover plate 3 and the square flange measuring part 7; the elastic element 1 is fixed with a cable 5 through a line pressing nut 4.
According to the novel strain type six-axis force sensor, the lower cover plate 3 and the square flange measuring part 7 are spaced, so that the square flange measuring part 7 is not in contact with the lower cover plate 3, structural interference is avoided during measurement, the overall height of the sensor is low, and the sensor can be used in equipment with a low space; the sensor adopts a square flange mounting mode, is connected and fastened, is convenient to detach and mount, and has low cost and high economic benefit. The parallel beam 8 and the square wheel rim 9 are spaced from each other on the top and bottom surfaces, so that the measurement precision is not affected by the upper cover plate 2 and the lower cover plate 3, and the parallel beam 8 and the force measuring arm are perpendicular to each other and are designed as a whole. The through hole 10 has been seted up in the middle of the upper cover plate 2 for square flange measuring part 7 can wear out, and the sensor part of being qualified for the next round of competitions adopts cable conductor 5, line ball nut 4, and line ball nut 4 cable conductor 5 is fixed on elastic element 1, makes cable conductor 5 be difficult for pulling out.
The utility model provides a six force transducer of answer variant, six force transducer's elastic element 1 adopts the integral type design, compact structure, firm, measurement accuracy is high, mutual interference is little, because elastic element 1 adopts the integral type design for six force transducer whole height is low, can realize using in short space, and the sensor adopts square flange mounting means, connects the fastening, dismantles, simple to operate, and is with low costs, economic benefits is high.
The utility model provides a novel six axial force transducer's of strain formula measurement principle does: the resistance strain gauges are arranged on the parallel beam 8, the force measuring arm and the square flange measuring part 7 to form a Wheatstone bridge, so that the stress change situation in the six-axis direction is measured, and the measurement of the stress change through the Wheatstone bridge belongs to the prior art in the field, and is not described herein in detail.
Specifically, the number of the cables 5 is two, and the number of the pressing nuts 4 is two.
In this embodiment, a first circular hole for a screw to pass through is formed in a corner portion of the upper cover plate 2, a first threaded hole for the screw to enter is formed in a corner portion of the top surface of the square rim 9, the first threaded hole and the first circular hole are arranged correspondingly, and the upper cover plate 2 and the square rim 9 are fixed by screws.
Moreover, a second round hole for a screw to pass through is formed in the four corners of the lower cover plate 3, a second threaded hole for the screw to enter is formed in the four corners of the bottom surface of the square tire 9, the second threaded hole and the second round hole are arranged correspondingly, and the lower cover plate 3 and the square tire 9 are fixedly installed through the screw.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (4)
1. A novel strain type six-axis force sensor is characterized by comprising a six-axis force sensor main body, wherein the six-axis force sensor main body comprises an elastic element (1), an upper cover plate (2) and a lower cover plate (3), the upper cover plate (2) is installed on the upper portion of the elastic element (1), and the lower cover plate (3) is installed at the bottom of the elastic element (1); the elastic element (1) comprises a square wheel rim (9), a cross beam (6), a square flange measuring part (7) and parallel beams (8) which are respectively arranged on four inner side walls of the square wheel rim (9); the parallel beams (8) and the top surface and the bottom surface of the square wheel rim (9) are provided with intervals, the cross beam (6) is provided with four force measuring arms, any two adjacent force measuring arms are arranged vertically, the four force measuring arms are respectively connected with the four parallel beams (8) in a one-to-one correspondence manner, and the force measuring arms are vertical to the parallel beams (8) correspondingly connected with the force measuring arms; the square wheel rim (9), the cross beam (6), the square flange measuring component (7) and the parallel beam (8) are designed in an integrated mode, a through hole (10) for the square flange measuring component (7) to penetrate through is formed in the middle of the upper cover plate, and a gap is formed between the lower cover plate (3) and the square flange measuring component (7); and a cable (5) is fixed on the elastic element (1) through a line pressing nut (4).
2. A novel strain type six-axis force sensor as claimed in claim 1, wherein the number of the cable wires (5) is two, and the number of the pressing line nuts (4) is two.
3. The novel strain type six-axis force sensor as claimed in claim 1, wherein a first round hole for passing a screw is formed at a four-corner portion of the upper cover plate (2), a first threaded hole for screwing in the screw is formed at a four-corner portion of the top surface of the square wheel rim (9), the first threaded hole is arranged corresponding to the first round hole, and the upper cover plate (2) and the square wheel rim (9) are fixed by mounting the screw.
4. A novel strain type six-axis force sensor as claimed in claim 3, wherein a second round hole for passing a screw is opened at a four-corner portion of the lower cover plate (3), a second threaded hole for screwing in the screw is opened at a four-corner portion of the bottom surface of the square wheel rim (9), the second threaded hole is arranged corresponding to the second round hole, and the lower cover plate (3) and the square wheel rim (9) are fixed by screw installation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921636175.6U CN210426854U (en) | 2019-09-26 | 2019-09-26 | Novel strain type six-axis force sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921636175.6U CN210426854U (en) | 2019-09-26 | 2019-09-26 | Novel strain type six-axis force sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210426854U true CN210426854U (en) | 2020-04-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921636175.6U Active CN210426854U (en) | 2019-09-26 | 2019-09-26 | Novel strain type six-axis force sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210426854U (en) |
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2019
- 2019-09-26 CN CN201921636175.6U patent/CN210426854U/en active Active
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230926 Address after: 518000, 1st to 2nd floors, Building 101, Building 17, Industrial Zone 228, Silian Community, Henggang Street, Longgang District, Shenzhen City, Guangdong Province (i.e. Building A02, Dayun AI Town) Patentee after: Shenzhen xinjingcheng Sensor Technology Co.,Ltd. Address before: 518000, 5th Floor, No. 6 Qiancheng Road, 228 Henggang Street, Longgang District, Shenzhen, Guangdong Province Patentee before: SHENZHEN XJC TECHNOLOGY CO.,LTD. |
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| TR01 | Transfer of patent right |