CN221077894U - Force measuring beam, sensor elastomer and multi-axis force sensor - Google Patents

Abstract

The utility model relates to the field of force measuring beams, and particularly discloses a force measuring beam which comprises a first force measuring arm, a second force measuring arm, a first strain groove, a second strain groove, a first strain sheet group and a second strain sheet group. The force measuring beam can more completely and accurately measure the force born by the force measuring beam through the first strain gauge group and the second strain gauge group, so that the structure of the strain beam can be further enhanced, and the sensitivity and the measurement accuracy can be improved through the arrangement of the strain grooves; and the multi-axis force sensor can realize the radial and axial sealing of the sensor through sealing structures such as a sealing groove, a first sealing ring, a second sealing ring and the like, thereby improving the integral sealing effect of the force sensor.

Description

Force measuring beam, sensor elastomer and multi-axis force sensor

Technical Field

The utility model belongs to the technical field of sensors, and particularly relates to a force measuring beam, a sensor elastomer and a multi-axis force sensor.

Background

The multi-axis force sensor is used for measuring the stress condition of an object under an XYZ Cartesian coordinate system. The multi-axis force sensor mainly comprises an upper platform body, a lower platform body, a force measuring beam and a strain gauge. The upper table body and the lower table body are connected with each other through a force measuring beam, and the strain gauge is attached to the force measuring beam. When external force is loaded on the sensor, the upper table body and the lower table body are stressed relatively, the force measuring beam is mechanically deformed, and the strain gauge arranged on the force measuring beam is correspondingly deformed and converts the deformation into an electric signal to be output. The magnitude and direction of the relative stress of the upper platform body and the lower platform body have a certain corresponding relation with the electric signals output by the strain gauge. Thus, the multi-axis force sensor can measure the stress condition of the object.

The design of the multi-axis force sensor force measuring beam is important, and the forces relatively born by the upper platform body and the lower platform body are transmitted through the force measuring beam, namely, the force measuring beam bears all external forces. It is always desirable that the load beam be capable of both great structural strength and high measurement sensitivity. The large size of the force measuring beam can obtain high structural strength, but the strength is high, deformation is not easy to occur, namely the sensitivity is low. There is a constant desire in the industry to optimize this problem. In addition, the conventional sensor is single in force measurement diversity, and cannot measure force in multiple directions completely and accurately.

The utility model discloses a multiaxis force sensor in patent document of application number "CN202222995750.X", including last stage body and the lower stage body that sets up in opposite directions, be provided with a plurality of dynamometry posts between last stage body and the lower stage body, the dynamometry post is including horizontal survey arm of force and vertical survey arm of force, an end of vertical survey arm of force links firmly with the middle part of horizontal survey arm of force, the both ends distribution of horizontal survey arm of force links firmly with the perisporium of last stage body, the other end of vertical survey arm of force links firmly with the lower stage body, the strain gauge has been arranged on the both ends of horizontal survey arm of force and the vertical survey arm of force. The force measuring column in the comparison document adopts a T-shaped beam structure, and has the characteristic of higher strength, but when the size of the force measuring beam is increased, the structural strength is further enhanced. The force beam deforms little when an external force is applied, and the sensitivity becomes low. If the strain beam is set according to the method described in the patent document of cn202222995750.X ", the deformation of the strain beam cannot be measured more completely, more sensitively and more accurately, which may result in poor performance of the sensor.

The foregoing background is only for the purpose of providing an understanding of the inventive concepts and technical aspects of the present utility model and is not necessarily prior art to the present application and is not intended to be used as an aid in the evaluation of the novelty and creativity of the present utility model in the event that no clear evidence indicates that such is already disclosed at the date of filing of the present application.

Disclosure of Invention

The utility model aims to provide a force measuring beam, a sensor elastomer and a multi-axis force sensor, thereby overcoming the defect that the existing force sensor is incomplete in measuring force and cannot achieve both structural strength and measuring accuracy.

In order to achieve the above purpose, the utility model provides a force measuring beam, which comprises a first force measuring arm and a second force measuring arm, wherein two ends of the first force measuring arm are respectively provided with a first connecting end, one end of the second force measuring arm is fixedly connected with the middle part of the first force measuring arm, the other end of the second force measuring arm is provided with a second connecting end, the force measuring beam further comprises a first strain gauge group and a second strain gauge group, the first strain gauge group is arranged on the first force measuring arm and the second force measuring arm, the second strain gauge group is arranged on the second force measuring arm, and the bonding surfaces of the first strain gauge group and the second strain gauge group are mutually perpendicular; the first force measuring arm is perpendicular to the second force measuring arm.

Preferably, in the above technical solution, the first force measuring arm and the second force measuring arm are both provided with an inner side surface and an outer side surface, the inner side surface and the outer side surface are parallel to each other, and the inner side surface and the outer side surface are both provided with the first strain gauge group.

Preferably, in the above technical solution, a left side surface and a right side surface are respectively provided at two sides of the second force measuring arm, the left side surface and the right side surface are perpendicular to the outer side surface, and the left side surface and the right side surface are respectively provided with the second strain gauge group.

Preferably, in the above technical solution, a plurality of strain grooves are formed in the outer side surface and/or the inner side surface, and the first strain gauge group is stuck in the strain grooves.

Preferably, in the above technical solution, the strain tank is disposed near the first connection end.

Preferably, in the above technical solution, the strain tank is disposed near the second connection end.

Preferably, in the above technical solution, the strain groove penetrates through the first connection end and the second connection end respectively.

Preferably, in the above technical solution, the strain grooves are mutually communicated.

On the other hand, in order to achieve the above object, the present utility model further provides a sensor elastomer, which comprises the force-measuring beam as described above, and further comprises an upper platform body and a lower platform body, wherein the top of the lower platform body is provided with more than two force-measuring beams, the second connecting end is fixedly connected with the top of the lower platform body, and each force-measuring beam is uniformly arranged around the center of the lower platform body; the first connecting ends are respectively and fixedly connected with the side parts of the upper table body, and a gap is reserved between the bottom of the upper table body and the top of the lower table body.

Preferably, in the above scheme, the device further comprises a connector, wherein the connector is fixedly connected with the top of the upper table body, so that the upper table body is connected into an integral structure.

In order to achieve the above object, the present utility model further provides a multi-axis force sensor, which includes the sensor elastic body as described above, wherein an outer edge extending outwards is provided on the outer periphery of the lower platform body, a seal ring groove is provided on the outer edge, and the mouth of the seal ring groove faces the upper platform body; the device also comprises a protective cover, a first sealing ring and a second sealing ring; one end of the protective cover is fixedly connected with the upper table body, the other end of the protective cover stretches into the sealing ring groove and is provided with a cover opening, and the periphery of the cover opening is provided with a step surface; the first sealing ring is clamped between the other end of the protective cover and the side wall of the sealing ring groove, one end of the first sealing ring is abutted to the bottom of the sealing ring groove, the other end of the first sealing ring is abutted to the step surface, the second sealing ring is sleeved on the periphery of the first sealing ring, and the second sealing ring is located between the step surface and the opening of the sealing ring groove.

2. The multi-axis force sensor is characterized in that the outer periphery of the lower platform body is provided with the outer edge extending outwards, the outer edge is provided with the sealing ring groove, the cover opening of the protective cover is provided with the step surface, and the first sealing ring and the second sealing ring are arranged between the sealing groove and the protective cover, so that the radial direction can be sealed, the axial direction can be sealed, and the integral sealing effect of the force sensor is improved; meanwhile, the arrangement of the sealing structure can enable the appearance of the sensor to be more attractive.

Drawings

Fig. 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h, 1i are block diagrams of a load beam in the first embodiment.

Fig. 2a and 2b are structural diagrams of a sensor elastic body in a second embodiment.

Fig. 3 is a partial cutaway view of a multi-axis force sensor in a third embodiment.

100-A first moment arm, 110-a first connecting end, 120-an inner side surface and 130-an outer side surface;

200-a second moment arm, 210-a second connecting end, 220-a left side surface and 230-a right side surface;

300-first strain gage group, 310-second strain gage group, 320-strain tank;

400-upper stage body, 410-connector;

500-lower table body, 520-outer edge, 530-sealing ring groove;

600-a protective cover, 610-a cover opening and 620-a step surface;

700-a first sealing ring;

800-a second sealing ring.

Description of the embodiments

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "inside", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

In the description of the present invention, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The terms "first," "second," "third," and the like, if any, are used for descriptive purposes only and for distinguishing between technical features and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "configured" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art. Hereinafter, an embodiment of the present utility model will be described in accordance with its entire structure.

Examples

As shown in fig. 1a, this embodiment discloses a force measuring beam, which includes a first force measuring arm 100 and a second force measuring arm 200, wherein two ends of the first force measuring arm 100 are respectively provided with a first connecting end 110, one end of the second force measuring arm 200 is fixedly connected with the middle part of the first force measuring arm 100, the other end of the second force measuring arm 200 is provided with a second connecting end 210, and the first force measuring arm 100 and the second force measuring arm 200 are mutually perpendicular; the first force measuring arm 100 and the second force measuring arm 200 are respectively provided with an inner side surface 120 and an outer side surface 130, the inner side surface 120 and the outer side surface 130 are parallel to each other, and a plurality of first strain gauge groups 300 are respectively stuck on the inner side surface 120 and the outer side surface 130; the left side 220 and the right side 230 are respectively arranged at two sides of the second force measuring arm 200, the left side 220 and the right side 230 are perpendicular to the outer side 130, the second strain gauge sets 310 are respectively stuck on the left side 220 and the right side 230, and the two second strain gauge sets 310 are symmetrically arranged by the central line of the second force measuring arm 200.

In more detail, each first strain gauge set 300 includes two first strain gauges, the middle parts of the two first strain gauges are overlapped in a crisscross manner, and the length direction of the first strain gauge forms an included angle of 45 degrees with the length direction of the first moment arm 100; each second strain gauge set 310 includes two second strain gauges, and the middle parts of the two second strain gauges are overlapped in a crisscross manner, and form an included angle of 45 degrees with the length direction of the second force measuring arm 200.

In addition, as shown in fig. 1b, two strain grooves 320 are further formed on the outer side 130, the two strain grooves 320 are disposed close to the first connecting end 110, the first strain gauge set 300 is adhered in the strain groove 320, the side wall of the strain groove 320 surrounds the first strain gauge set 300, the profile of the strain groove 320 may be a closed-loop profile shape such as a rectangle, a circle, etc., and the structure of the strain groove 320 in this embodiment can enable the first measuring arm 100 to have higher measuring sensitivity and overall structural strength.

In addition, as shown in fig. 1c, the strain groove 320 in the embodiment may also be disposed at a position of the outer side 130 near the second connection end 210, where the second strain gauge set 310 is symmetrically disposed with the strain groove 320 as a center, and the arrangement of the strain groove 320 can improve the measurement sensitivity of the second force measuring arm 200.

In addition, as shown in fig. 1d, the strain grooves 320 in the embodiment may also be disposed on the inner side surface 120, and the strain grooves 320 on the inner side surface 120 may also be disposed near the first connection end 110 or the second connection end 210, so that the measurement sensitivity of the first measuring arm 100 and the second measuring arm 200 is further improved, but the overall structural strength is slightly reduced compared with the embodiment of fig. 1b and 1 c.

Further, as shown in fig. 1e and 1f, the strain tank 320 extends outwardly from the first connection end 110 through the first connection end 110 on a side thereof adjacent to the first connection end 110; the strain relief 320 extends outwardly from the second connector end 210 on a side thereof adjacent the second connector end 210 and extends through the second connector end 210.

Further, as shown in fig. 1g and 1h, adjacent sides of the strain gage slots 320 on the first gage arm 100 are in communication with each other such that the strain gage slots 320 extend through the two first link ends 110.

Further, as shown in fig. 1i, the side of the second moment arm 200, which is close to the second connecting end 210, and away from the second connecting end 210 is communicated with the side of the strain groove 320 formed on the first moment arm 100, so as to form a T-shaped through groove.

Examples

As shown in fig. 2a, this embodiment discloses a sensor elastomer, which includes the structure of the force measuring beam in the above embodiment, and further includes an upper platform body 400 and a lower platform body 500, wherein the lower platform body 500 has a cylindrical, square or other polyhedral structure, more than two force measuring beams are installed on the top of the lower platform body 500, the second connection end 210 is fixedly connected with the top of the lower platform body 500, and each force measuring beam is uniformly arranged around the center of the lower platform body 500; each upper platform body 400 is arranged between two adjacent force measuring beams and connected with the first connecting end 110, and a gap is formed between the bottom of the upper platform body 400 and the top of the lower platform body 500; the joints between the second connection end 210 and the lower stage 500 and between the first connection end 110 and the upper stage 400 are rounded or chamfered, which serves to eliminate stress concentration at the first connection end 110 and the second connection end 210.

In addition, as shown in fig. 2b, another connection embodiment of the upper table body 400 is disclosed, that is, a connection body 410 is provided at the top of each first connection body, and the bottom of the connection body 410 is fixedly connected with the top of the upper table body 400, so that each upper table body 400 is connected with each other or is connected with each other into a whole structure, thereby making the upper table body 400 have more stable structural strength.

Examples

As shown in fig. 3, this embodiment discloses a multi-axis force sensor, which includes the sensor elastic body in the above embodiment, the outer periphery of the lower platform body 500 is provided with an annular outer edge 520, the edge of the outer edge 520 extends outwards from the side of the lower platform body 500, a sealing ring groove 530 is formed on the outer edge 520, and the mouth of the sealing ring groove 530 faces the upper platform body 400.

In addition, the protective cover 600, the first sealing ring 700 and the second sealing ring 800 are also included; the upper table body 400 is installed in the protective cover 600, one end of the protective cover 600 is fixedly connected with the top of the upper table body 400, the other end of the protective cover 600 extends into the sealing ring groove 530 and is provided with a cover opening 610, and the periphery of the cover opening 610 is provided with an annular step surface 620; the first sealing ring 700 is clamped between the other end of the protective cover 600 and the side wall of the sealing ring groove 530, one end of the first sealing ring 700 is abutted against the bottom of the sealing ring groove 530, the other end of the first sealing ring 700 is abutted against the step surface 620, the second sealing ring 800 is sleeved outside Zhou Judi of the first sealing ring 700, and the two sealing rings 800 are positioned between the step surface 620 and the mouth part of the sealing ring groove 530; the cross section of the second seal ring 800 is circular; in the sealing ring structure in this embodiment, when the upper stage body 400 and the lower stage body 500 rotate relatively, and axially stretch or shear, not only the radial direction can be sealed by the second sealing ring 800, but also the axial direction can be sealed by the first sealing ring 700, so that the overall sealing effect of the force sensor is improved.

In summary, the force measuring beam of the present utility model can more completely and accurately measure the force applied to the force measuring beam through the first strain gauge set 300 and the second strain gauge set 310, so that the structure of the force measuring beam can be further enhanced, and the sensitivity and measurement accuracy can be improved through the arrangement of the strain grooves 320; and the multi-axis force sensor can realize the radial and axial direction sealing of the sensor through sealing structures such as the sealing groove, the first sealing ring 700, the second sealing ring 800 and the like, thereby improving the integral sealing effect of the force sensor.

The foregoing description of specific exemplary embodiments of the utility model has been presented for the purpose of illustration and description, but it is not intended to limit the utility model to the precise form disclosed, and it is apparent that many changes and modifications may be made in accordance with the above teachings, and while embodiments of the utility model have been shown and described, this specific embodiment is merely illustrative of the utility model and not restrictive, the particular features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner, the exemplary embodiments being selected and described for the purpose of explaining the specific principles of the utility model and its practical application, so that modifications, substitutions, variations, and various other changes may be made to the embodiments without creatively departing from the principles and spirit of the utility model as desired by those skilled in the art without departing from the scope of the patent claims.

Claims (11)

1. The utility model provides a force measurement roof beam, includes first force measurement arm and second force measurement arm, the both ends of first force measurement arm are equipped with first link respectively, the one end of second force measurement arm with the middle part fixed connection of first force measurement arm, the other end of second force measurement arm is equipped with second link, its characterized in that:

The strain gauge comprises a first strain gauge group and a second strain gauge group, wherein the first strain gauge group is arranged on the first measuring arm and the second measuring arm, the second strain gauge group is arranged on the second measuring arm, and the joint surface of the first strain gauge group is perpendicular to the joint surface of the second strain gauge group;

The first force measuring arm is perpendicular to the second force measuring arm.

2. The load beam of claim 1, wherein the first load arm and the second load arm are each provided with an inner side and an outer side, the inner side and the outer side being parallel to each other, and the inner side and the outer side are each provided with the first strain gauge set.

3. The load beam of claim 2, wherein a left side surface and a right side surface are respectively disposed on two sides of the second load arm, the left side surface and the right side surface are perpendicular to the outer side surface, and the left side surface and the right side surface are respectively provided with the second strain gauge set.

4. A load beam according to claim 3, characterized in that a number of strain grooves are provided in the outer side and/or the inner side, in which strain grooves the first strain gauge set is attached.

5. The load beam of claim 4, wherein the strain relief is disposed proximate the first connection end.

6. The load beam of claim 5, wherein the strain relief is disposed proximate the second connection end.

7. The load beam of claim 6, wherein the strain relief extends through the first and second connection ends, respectively.

8. The load beam of claim 7, wherein each of the strain channels are in communication with one another.

9. A sensor elastomer comprising a load beam according to any one of claims 1 to 8, further comprising:

The upper platform body and the lower platform body, more than two force measuring beams are arranged at the top of the lower platform body, the second connecting end is fixedly connected with the top of the lower platform body, and the force measuring beams are uniformly arranged around the center of the lower platform body; the first connecting ends are respectively and fixedly connected with the side parts of the upper table body, and a gap is reserved between the bottom of the upper table body and the top of the lower table body.

10. The sensor elastomer of claim 9, further comprising a connector fixedly coupled to a top of the upper platen to connect the upper platen into a unitary structure.

11. A multi-axis force sensor comprising the sensor elastomer of any one of claims 9 or 10, characterized in that:

the periphery of the lower table body is provided with an outer edge extending outwards, a sealing ring groove is formed in the outer edge, and the opening part of the sealing ring groove faces the upper table body;

The device also comprises a protective cover, a first sealing ring and a second sealing ring; one end of the protective cover is fixedly connected with the upper table body, the other end of the protective cover stretches into the sealing ring groove and is provided with a cover opening, and the periphery of the cover opening is provided with a step surface; the first sealing ring is clamped between the other end of the protective cover and the side wall of the sealing ring groove, one end of the first sealing ring is abutted to the bottom of the sealing ring groove, the other end of the first sealing ring is abutted to the step surface, the second sealing ring is sleeved on the periphery of the first sealing ring, and the second sealing ring is located between the step surface and the opening of the sealing ring groove.