CN216116481U - Six-dimensional force sensor convenient to install - Google Patents
Six-dimensional force sensor convenient to install Download PDFInfo
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- CN216116481U CN216116481U CN202122409462.7U CN202122409462U CN216116481U CN 216116481 U CN216116481 U CN 216116481U CN 202122409462 U CN202122409462 U CN 202122409462U CN 216116481 U CN216116481 U CN 216116481U
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Abstract
The utility model discloses a six-dimensional force sensor convenient to install, which comprises a cylindrical shell, an upper cover plate, an elastic body, a circuit board and a wire outlet head, wherein an annular base is arranged at the upper end of the inner wall of the cylindrical shell; according to the utility model, through the annular connecting flange arranged at the lower end of the elastic body, when the six-dimensional force sensor is connected with the object to be measured, the six-dimensional force sensor can be directly connected with the object to be measured through the annular connecting flange, so that connecting pieces between the six-dimensional force sensor and the object to be measured are reduced, the whole size is reduced, and the space is saved.
Description
Technical Field
The utility model relates to the technical field of sensors, in particular to a six-dimensional force sensor convenient to install.
Background
At present, with the development of science and technology, the sensor technology is mature day by day, various rows of sensor technologies are gradually and widely used, wherein, the metal foil patch type six-dimensional force and torque sensor is most widely applied due to the mature technology, compared with the characteristics of good stability of piezoelectric type and semiconductor type sensors, low requirement on working environment and the like, but at present, the general six-dimensional force sensor is fixedly connected with a measuring object through the axial end of a measuring end, and the axial end of the measuring end of the six-dimensional force sensor and the measuring object can be fixedly connected through a plurality of flange plate matching methods, so that the six-dimensional force sensor is inconvenient to install and occupies a larger space.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that the six-dimensional force sensor convenient to install is provided aiming at the defects of the prior art, the six-dimensional force sensor convenient to install is convenient to operate, safe, reliable, simple in structure and low in cost, and the six-dimensional force sensor and a measured object can be fixed in the circumferential direction, so that the six-dimensional force sensor is convenient to install and saves space.
In order to solve the technical problem, the technical scheme of the utility model is realized by the following modes: a six-dimensional force sensor convenient to mount comprises a cylindrical shell, an upper cover plate, an elastic body, a circuit board, a lower cover plate and a plurality of strain gauges;
the upper end of the inner wall of the cylindrical shell is provided with an annular base;
the elastic body consists of a central pillow block, four radial elastic beams, four connecting columns and an outer supporting ring, wherein the central pillow block is cylindrical, one ends of the four radial elastic beams and the four connecting columns are connected with the radial side wall of the central pillow block in a T shape, the four radial elastic beams and the four connecting columns are uniformly arranged at intervals along the circumferential direction of the central pillow block, one ends of the four radial elastic beams, far away from the central pillow block, are connected with the radial inner wall of the outer supporting ring in a T shape, and the central pillow block, the four radial elastic beams, the four connecting columns and the outer supporting ring are integrally formed;
two first pin holes are symmetrically formed in two opposite connecting columns of the four connecting columns, and the same first pin holes are formed in the positions, corresponding to the two first pin holes, of the lower end of the upper cover plate;
the outer support ring consists of four support blocks and four transverse elastic beams, one transverse elastic beam is arranged between every two adjacent support blocks, the four support blocks and the four transverse elastic beams form an annular outer support ring, and the four support blocks and the four transverse elastic beams are integrally formed;
the four radial elastic beams are respectively connected with the four transverse elastic beams in a T shape, and the four radial elastic beams and the four transverse elastic beams are integrally formed;
the plurality of strain gauge parts are arranged on the four radial elastic beams, and the plurality of strain gauge parts are arranged on the four transverse elastic beams;
the lower ends of the four supporting blocks are connected with the same annular connecting flange, and the connecting flange and the four supporting blocks are integrally formed; the connecting flange is provided with a plurality of radial holes at uniform intervals along the circumferential direction, and the connecting flange is internally molded along the radial direction and is provided with mounting steps;
the upper end and the upper cover plate of the central pillow block are fixedly connected, one end, away from the central pillow block, of each of the four connecting columns is fixedly connected with the upper cover plate through a bolt, pin shafts are arranged on the two connecting columns with first pin holes, the pin shafts penetrate through the first pin holes in the connecting columns and penetrate into the first pin holes in the upper cover plate, a gap is formed between the lower end of the upper cover plate and the upper end of the cylindrical shell, the base is fixedly connected with the upper ends of the four supporting blocks, the circuit board is fixedly connected with the lower ends of the four supporting blocks, and the lower cover plate is fixedly arranged on an installation step
According to the utility model, the measuring end of the six-dimensional force sensor is directly sleeved on the measuring object through the arranged connecting flange and passes through the radial hole through the bolt to be fixed with the measuring object, so that compared with a common six-dimensional force sensor, the use of a flange plate is reduced, the mounting steps are simplified, and the space is saved.
The technical scheme of the utility model is further defined as follows:
the lower end of the upper cover plate is upwards formed with a plurality of sinking grooves which are uniformly arranged at intervals along the circumferential direction of the upper cover plate; the plurality of sinking grooves can reduce the overall weight of the six-dimensional force sensor.
An installation flange is formed at the upper end of the upper cover plate outwards, a plurality of screw holes are formed at the upper end of the installation flange downwards, the screw holes are uniformly distributed along the circumferential direction, and second pin holes are formed at the upper end of the installation flange downwards; the six-dimensional force sensor is fixed by connecting the mounting flange with an external object.
The lower end of the central shaft platform is upwards formed with a circular groove, and the bottom of the circular groove is provided with a plurality of countersunk through holes which are uniformly arranged at intervals; the bolt passes through the countersunk head through hole to fix the central pillow block and the upper cover plate, so that the space is saved, and the installation of parts is facilitated.
The connecting flange is provided with a plurality of radial holes which are grouped in pairs, a plurality of groups of radial holes are uniformly arranged at intervals along the circumferential direction, radial through grooves are arranged on the radial side wall of the connecting flange at positions corresponding to each group of radial holes, two extending grooves are symmetrically formed downwards along two ends of each radial through groove in the direction, and the group of radial holes corresponding to each radial through groove are positioned between the two extending grooves in the horizontal direction; the radial through groove can isolate the assembly stress generated during assembly, avoid the assembly stress from interfering with force measurement data, and improve the accuracy of the six-dimensional force sensor.
A gap is formed between the upper end of the connecting flange and the lower end of the cylindrical shell; the structure is exquisite.
The wire outlet head is arranged on the side wall of the cylindrical shell and communicated with the inside of the cylindrical shell; the arranged wire outlet head is convenient for wiring and can avoid the breakage of the line.
The utility model has the beneficial effects that: according to the technical scheme, the measuring end of the six-dimensional force sensor is directly sleeved on the measuring object through the connecting flange, and the six-dimensional force sensor passes through the radial hole through the bolt to be fixed with the measuring object, so that compared with a common six-dimensional force sensor, the six-dimensional force sensor reduces the use of a flange plate, simplifies the installation steps and saves the space; the radial through groove can isolate the assembly stress generated during assembly, avoid the assembly stress from interfering with force measurement data, and improve the accuracy of the six-dimensional force sensor.
Drawings
Fig. 1 is an axial view of the upper right side structure of the present invention.
Fig. 2 is a view of the lower right side explosion structure of the present invention.
Fig. 3 is a partial enlarged view of a portion a of fig. 2.
Wherein: 1-cylindrical shell, 2-upper cover plate, 2 a-sink groove, 3-circuit board, 4-lower cover plate, 5-base, 6-central pillow block, 6 a-circular groove, 7-radial elastic beam, 8-connecting column, 8 a-first pin hole, 9-outer supporting ring, 9 a-supporting block, 9 b-transverse elastic beam, 10-connecting flange, 10 a-mounting step, 10 b-radial through groove, 10 c-extending groove, 11-radial hole, 12-pin shaft, 13-wire outlet head, 14-mounting flange, 14 a-screw hole, 14 b-second pin hole.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention.
It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention based on the embodiments of the present invention. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two elements can be directly connected or indirectly connected through an intermediate medium, and the two elements can be communicated with each other, so that the specific meaning of the terms in the utility model can be understood by those skilled in the art.
Example 1
As shown in fig. 1, a six-dimensional force sensor convenient to mount comprises a cylindrical shell 1, an upper cover plate 2, an elastic body, a circuit board 3, a lower cover plate 4 and a plurality of strain gauges;
the upper end of the inner wall of the cylindrical shell 1 is provided with an integrally formed annular base 5;
the elastomer consists of a central pillow block 6, four radial elastic beams 7, four connecting columns 8 and an outer supporting ring 9, wherein the central pillow block 6 is a cylinder, one ends of the four radial elastic beams 7 and the four connecting columns 8 are connected with the radial side wall of the central pillow block 6 in a T shape, the four radial elastic beams 7 and the four connecting columns 8 are uniformly arranged at intervals along the circumferential direction of the central pillow block 6, one ends of the four radial elastic beams 7 far away from the central pillow block 6 are connected with the radial inner wall of the outer supporting ring 9 in a T shape, and the central pillow block 6, the four radial elastic beams 7, the four connecting columns 8 and the outer supporting ring 9 are integrally formed;
two first pin holes 8a are symmetrically arranged on two opposite connecting columns 8 among the four connecting columns 8, the same first pin holes 8a are also arranged at the positions, corresponding to the two first pin holes 8a, of the lower end of the upper cover plate 2, a pin shaft 12 penetrates into the first pin holes 8a on the connecting columns 8, and the pin shaft 12 penetrates into the corresponding first pin holes 8a on the upper cover plate 2, so that the elastomer and the upper cover plate 2 can be positioned;
the outer support ring 9 is composed of four support blocks 9a and four transverse elastic beams 9b, one transverse elastic beam 9b is arranged between every two adjacent support blocks 9a, the four support blocks 9a and the four transverse elastic beams 9b form the annular outer support ring 9, and the four support blocks 9a and the four transverse elastic beams 9b are integrally formed;
the four radial elastic beams 7 are respectively connected with the four transverse elastic beams 9b in a T shape, and the four radial elastic beams 7 and the four transverse elastic beams 9b are integrally formed;
the plurality of strain gauges are partially arranged on the four radial elastic beams 7 and partially arranged on the four transverse elastic beams 9b, the plurality of strain gauges respectively form a full-bridge circuit, when the radial elastic beams 7 and the transverse elastic beams 9b are stressed and deformed, voltage signals of the full-bridge circuit are changed, and the signals are analyzed and processed, so that the acting force and the moment received in each direction can be measured;
in this embodiment, the attaching manner of the strain gauge is a well-known and mature technical method in the technical field, and can be directly obtained, so that a patch diagram is not attached.
The lower ends of the four supporting blocks 9a are connected with the same annular connecting flange 10, and the connecting flange 10 and the four supporting blocks 9a are integrally formed; the connecting flange 10 is provided with a plurality of radial holes 11 at uniform intervals along the circumferential direction, the connecting flange 10 is provided with mounting steps 10a formed inwards along the radial direction, the connecting flange 10 is sleeved on a measuring object and penetrates through the radial holes 11 to be connected and fixed with the measuring object through bolts;
the upper end of a central pillow block 6 is fixedly connected with an upper cover plate 2 through bolts, one ends of four connecting columns 8 far away from the central pillow block 6 are fixedly connected with the upper cover plate 2 through bolts, pin shafts 12 are arranged on the two connecting columns 8 with first pin holes 8a, the pin shafts 12 penetrate through the first pin holes 8a in the connecting columns 8 and penetrate into the first pin holes 8a in the upper cover plate 2, a gap is formed between the lower end of the upper cover plate 2 and the upper end of a cylindrical shell 1, a base 5 is fixedly connected with the upper ends of four supporting blocks 9a through bolts, a circuit board 3 is fixedly connected with the lower ends of the four supporting blocks 9a, a lower cover plate 4 is fixedly arranged on a mounting step 10a, and the lower cover plate 4 can cover the circuit board 3 to prevent the circuit board 3 from being influenced by the outside;
the circuit board 3 is a product known in the art, and the technology thereof is mature and can be purchased directly.
As shown in fig. 2, a plurality of sinking grooves 2a are formed upward at the lower end of the upper cover plate 2, the sinking grooves 2a are uniformly spaced along the circumferential direction of the upper cover plate 2, and the overall weight of the upper cover plate 2 is reduced by the sinking grooves 2 a;
as shown in fig. 2, an installation flange 14 is formed at the upper end of the upper cover plate 2 outward, a plurality of screw holes 14a are formed at the upper end of the installation flange 14 downward, the screw holes 14a are uniformly distributed along the circumferential direction, and a second pin hole 14b is formed at the upper end of the installation flange 14 downward; the six-dimensional force sensor is fixedly arranged on an object through the mounting flange 14, the upper cover plate 2 is fixedly connected with the central pillow block 6, namely the central pillow block 6 is fixed, after the connecting flange 10 is stressed, the central pillow block 6 keeps fixed, and the radial elastic beam 7 and the transverse elastic beam 9b are stressed and deform.
As shown in fig. 3, a circular groove 6a is formed at the lower end of the central pillow block 6 in an upward manner, a plurality of countersunk through holes are uniformly arranged at intervals at the bottom of the circular groove 6a, the central pillow block 6 is fixed with the upper cover plate 2 by passing bolts through the countersunk through holes at the bottom of the circular groove 6a, the bolt head can be hidden in the circular groove 6a, and the overall weight of the elastomer can be reduced;
the connecting flange 10 is provided with a plurality of radial holes 11 which are grouped in pairs, the plurality of groups of radial holes 11 are uniformly arranged at intervals along the circumferential direction, radial through grooves 10b are respectively arranged on the radial side wall of the connecting flange 10 corresponding to each group of radial holes 11, two extending grooves 10c are symmetrically formed at two ends of each radial through groove 10b along the direction in a downward forming mode, and the group of radial holes 11 corresponding to each radial through groove 10b are positioned between the two extending grooves 10c in the horizontal direction; radial logical groove 10b is close to radial hole 11 and sets up, during the assembly, penetrates the bolt and screws up the bolt in radial hole 11, and after the bolt was screwed up, the bolt produced pressure to flange 10, assembly stress promptly, and the assembly stress that produces can be eliminated through radial logical groove 10b during the assembly.
A gap is provided between the upper end of the connecting flange 10 and the lower end of the cylindrical housing 1.
As shown in fig. 2, the present embodiment further includes an outlet 13 disposed on the sidewall of the cylindrical housing 1, the outlet 13 is communicated with the inside of the cylindrical housing 1, and a circuit line can extend into the sensor through the outlet 13 to connect with the strain gauge.
The using process of the embodiment is as follows: when needing to use six-dimensional force transducer, through mounting flange 14 with six-dimensional force transducer fixed mounting on a certain object, upper cover plate 2 and central pillow block 6 fixed connection, central pillow block 6 is fixed promptly, locate measuring object on flange 10 cover, and pass radial hole 11 through the bolt and be connected fixedly with measuring object, flange 10 atress back, central pillow block 6 keeps fixed, radial elastic beam 7 and horizontal elastic beam 9b atress and take place deformation, radial elastic beam 7 and horizontal elastic beam 9b atress take place deformation, full bridge circuit's voltage signal changes, these signals are handled in the analysis to the rethread, can measure the effort and the moment that individual direction received.
The above embodiments are merely illustrative of the technical ideas of the present invention, and the technical ideas of the present invention and the modifications thereof based on the technical solutions are within the scope of the present invention.
Claims (7)
1. A six-dimensional force sensor convenient to mount is characterized by comprising a cylindrical shell (1), an upper cover plate (2), an elastic body, a circuit board (3), a lower cover plate (4) and a plurality of strain gauges;
the upper end of the inner wall of the cylindrical shell (1) is provided with an annular base (5);
the elastic body is composed of a central pillow block (6), four radial elastic beams (7), four connecting columns (8) and an outer supporting ring (9), the central pillow block (6) is cylindrical, one ends of the four radial elastic beams (7) and the four connecting columns (8) are connected with the radial side wall of the central pillow block (6) in a T shape, the four radial elastic beams (7) and the four connecting columns (8) are uniformly arranged at intervals along the circumferential direction of the central pillow block (6), one ends of the four radial elastic beams (7) far away from the central pillow block (6) are connected with the radial inner wall of the outer supporting ring (9) in a T shape, and the central pillow block (6), the four radial elastic beams (7), the four connecting columns (8) and the outer supporting ring (9) are integrally formed;
two first pin holes (8 a) are symmetrically formed in two opposite connecting columns (8) of the four connecting columns (8), and the same first pin holes (8 a) are formed in the positions, corresponding to the two first pin holes (8 a), of the lower end of the upper cover plate (2);
the outer support ring (9) consists of four support blocks (9 a) and four transverse elastic beams (9 b), one transverse elastic beam (9 b) is arranged between every two adjacent support blocks (9 a), the four support blocks (9 a) and the four transverse elastic beams (9 b) form an annular outer support ring (9), and the four support blocks (9 a) and the four transverse elastic beams (9 b) are integrally formed;
the four radial elastic beams (7) are respectively connected with the four transverse elastic beams (9 b) in a T shape, and the four radial elastic beams (7) and the four transverse elastic beams (9 b) are integrally formed;
the strain gauge parts are arranged on four radial elastic beams (7) and parts are arranged on four transverse elastic beams (9 b);
the lower ends of the four supporting blocks (9 a) are connected with the same annular connecting flange (10), and the connecting flange (10) and the four supporting blocks (9 a) are integrally formed; the connecting flange (10) is provided with a plurality of radial holes (11) at uniform intervals along the circumferential direction, and the connecting flange (10) is provided with mounting steps (10 a) formed inwards along the radial direction;
the upper end and the upper cover plate (2) fixed connection of central pillow block (6), the one end that central pillow block (6) was kept away from in four spliced poles (8) passes through bolt and upper cover plate (2) fixed connection, and all be equipped with round pin axle (12) on two spliced poles (8) that are equipped with first pinhole (8 a), round pin axle (12) pass first pinhole (8 a) on spliced pole (8) and penetrate in first pinhole (8 a) on upper cover plate (2), have the clearance between the lower extreme of upper cover plate (2) and the upper end of cylinder shell (1), the upper end fixed connection of base (5) and four supporting shoes (9 a), the lower extreme fixed connection of circuit board (3) and four supporting shoes (9 a), apron (4) are fixed to be set up on installation step (10 a) down.
2. A six-dimensional force transducer of claim 1, wherein: the lower extreme of upper cover plate (2) upwards the shaping be equipped with a plurality of heavy grooves (2 a), a plurality of heavy grooves (2 a) are along the even interval setting of the circumferencial direction of upper cover plate (2).
3. A six-dimensional force transducer of claim 1, wherein: the outside shaping in upper end of upper cover plate (2) is equipped with mounting flange (14), the shaping downwards in mounting flange (14) upper end is equipped with a plurality of screw (14 a), and screw (14 a) along the circumferencial direction equipartition, mounting flange (14) upper end still shaping downwards is equipped with second pinhole (14 b).
4. A six-dimensional force transducer of claim 1, wherein: the lower end of the central shaft platform (6) is upwards formed to be provided with a circular groove (6 a), and the bottom of the circular groove (6 a) is provided with a plurality of countersunk through holes which are uniformly arranged at intervals.
5. A six-dimensional force transducer of claim 1, wherein: every two liang of a plurality of radial holes (11) that set up on flange (10) are a set of, and the even interval setting of circumferencial direction is followed in multiunit radial hole (11), and flange (10) are all equipped with radial logical groove (10 b) along the position of every radial hole (11) of a set of on radial lateral wall, and every radial logical groove (10 b) is equipped with two extending groove (10 c) along the downward shaping symmetry in both ends of direction, and a set of radial hole (11) that every radial logical groove (10 b) corresponds is located between two extending groove (10 c) on the horizontal direction.
6. A six-dimensional force transducer of claim 1, wherein: a gap is reserved between the upper end of the connecting flange (10) and the lower end of the cylindrical shell (1).
7. A six-dimensional force transducer of claim 1, wherein: the novel transformer substation is characterized by further comprising a wire outlet head (13) arranged on the side wall of the cylindrical shell (1), wherein the wire outlet head (13) is communicated with the inside of the cylindrical shell (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122409462.7U CN216116481U (en) | 2021-09-30 | 2021-09-30 | Six-dimensional force sensor convenient to install |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122409462.7U CN216116481U (en) | 2021-09-30 | 2021-09-30 | Six-dimensional force sensor convenient to install |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216116481U true CN216116481U (en) | 2022-03-22 |
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ID=80690879
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122409462.7U Active CN216116481U (en) | 2021-09-30 | 2021-09-30 | Six-dimensional force sensor convenient to install |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216116481U (en) |
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2021
- 2021-09-30 CN CN202122409462.7U patent/CN216116481U/en active Active
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