CN115560900A - Multi-axis force sensor - Google Patents

Abstract

The invention discloses a multi-axis force sensor which comprises an upper platform body and a lower platform body which are arranged in opposite directions, wherein a plurality of force measuring columns are arranged between the upper platform body and the lower platform body, each force measuring column comprises a transverse force measuring arm and a vertical force measuring arm, one end part of each vertical force measuring arm is fixedly connected with the middle part of each transverse force measuring arm, two end parts of each transverse force measuring arm are fixedly connected with the peripheral wall of the upper platform body, the other end part of each vertical force measuring arm is fixedly connected with the lower platform body, and strain gauges are arranged at two ends of each transverse force measuring arm and on each vertical force measuring arm. The invention needs relatively few slots, the lower platform body does not need to be slotted, namely more materials do not need to be cut off, the multi-axis force sensor is not easy to deform under stress, the structure is more compact, and excessive additional parts do not need to be added to assist in realizing the sealing of the lower platform body to prevent water and dust; the force measuring column is of a T-shaped structure, the structural rigidity of the T-shaped beam is strong, deformation of the sensor is reduced after stress, and the dynamic response frequency is obviously improved.

Description

Multi-axis force sensor

Technical Field

The invention relates to the technical field of sensors, in particular to a multi-axis force sensor.

Background

The multi-axis force sensor mainly comprises an upper table body, a lower table body and a plurality of force measuring columns arranged between the upper table body and the lower table body so as to form an elastic body structure. In order to obtain higher measurement accuracy and sensitivity, the structure of the force measuring column of the existing multi-axis force sensor is more and more complex, such as the force measuring column adopting an I-shaped structure. The utility model discloses a pressure measuring column of "worker" style of calligraphy structure, because the restriction of structure, need set up flutedly respectively in the perisporium department of last stage body and lower stage body to the horizontal measuring arm that sets up of holding, and because the pressure measuring column generally is a plurality of, consequently, the recess of seting up is then corresponding more, causes multiaxis force transducer atress yielding, the structure is not compact, and needs additionally to increase more parts and realize sealing with waterproof dustproof.

Disclosure of Invention

Aiming at the defects, the invention provides a multi-axis force sensor which can solve the problems of easy deformation, large deformation after stress, non-compact structure, insufficient dynamic response frequency and the like of the multi-axis force sensor in the prior art.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a multiaxis force sensor, is including the last stage body and the lower stage body that set up in opposite directions, go up the stage body and be provided with a plurality of dynamometry posts down between the stage body, the dynamometry post is including horizontal dynamometry arm and vertical dynamometry arm, a tip of vertical dynamometry arm with the middle part of horizontal dynamometry arm links firmly mutually, the both ends distribution of horizontal dynamometry arm with the perisporium of last stage body links firmly mutually, another tip of vertical dynamometry arm with the stage body links firmly down, the foil gage has been arranged on the both ends of horizontal dynamometry arm and the vertical dynamometry arm.

Further, the vertical force measuring arm and the middle part of the transverse force measuring arm are fixedly connected and perpendicular to each other, so that the force measuring columns form a T-shaped structure; strain gauges arranged at two end parts of the transverse force measuring arm are symmetrically arranged relative to the vertical force measuring arm; the strain gauge arranged on the vertical force measuring arm is positioned in the middle of the vertical force measuring arm.

Furthermore, the peripheral wall of the upper table body is provided with first grooves, the number of the first grooves is consistent with that of the force measuring columns, and two end parts of the transverse force measuring arm are fixedly connected with the groove walls on two sides of the first grooves respectively.

Furthermore, the number of the first grooves is more than three, and the first grooves are uniformly distributed on the peripheral wall of the upper table body.

Furthermore, second grooves the number of which is consistent with that of the first grooves are formed in the end face, facing the upper platform body, of the lower platform body, and the other end of the vertical force measuring arm is fixedly connected with the bottoms of the second grooves; the ratio of the depth of the second groove to the thickness of the lower platform body at the position where the second groove is formed is not more than 2/5.

Furthermore, a reinforcing member is arranged in the middle of the transverse force measuring arm, and one end of the vertical force measuring arm is fixedly connected with the reinforcing member.

Furthermore, multiaxis force transducer still including protective housing, protective housing has the appearance chamber, the upper stage body fixed mounting be in protective housing's appearance intracavity, the periphery of lower stage body with protective housing's the intracavity wall has the clearance, and works as when upper stage body and lower stage body take place deformation and transship, the periphery of lower stage body can with protective housing's the intracavity wall looks butt is in order to avoid between upper stage body and the lower stage body the dynamometry post overload damage.

Furthermore, one of the inner wall of the containing cavity of the protective shell and the peripheral side wall of the lower stage body is provided with a plurality of limiting holes around the circumferential direction, the other one is fixedly provided with a plurality of limiting parts around the circumferential direction, the limiting parts are locally positioned in the limiting holes and have gaps with the hole walls of the limiting holes, and when the upper stage body and the lower stage body deform and are overloaded, the limiting parts can be abutted against the hole walls of the limiting holes so as to avoid overload damage of the force measuring columns of the upper stage body and the lower stage body.

Furthermore, a plurality of lower platform body pinholes are formed in the periphery of the lower platform body in the circumferential direction, the limiting parts are pins and fixed in the lower platform body pinholes and partially extend out of the lower platform body pinholes, a plurality of protective shell pinholes are formed in the inner wall of the accommodating cavity of the protective shell in the circumferential direction to form the limiting holes, and the protective shell pinholes penetrate through the side wall of the protective shell.

Furthermore, a plurality of protective shell pin holes are formed in the inner wall of the accommodating cavity of the protective shell in the circumferential direction, the protective shell pin holes penetrate through the side wall of the protective shell, the limiting parts are pins and fixed in the protective shell pin holes, the local parts of the limiting parts extend inwards out of the protective shell pin holes, and a plurality of lower platform body pin holes are formed in the periphery of the lower platform body in the circumferential direction to form the limiting holes.

Furthermore, a reinforcing member is arranged in the middle of the transverse force measuring arm, and one end of the vertical force measuring arm is fixedly connected with the reinforcing member; the side of reinforcement keeping away from vertical force measuring arm with the appearance intracavity wall of protective housing has the clearance, and works as go up stage body and time stage body deformation and overload, the locating part can with protect the pore wall looks butt in order to avoid go up stage body and time stage body the force measuring post overload damage.

Further, a protective sleeve is sleeved on the protective shell at a position corresponding to a protective shell pin hole; and the protective sleeve and the lower platform body are covered with protective rings.

Compared with the prior art, the invention has the beneficial effects that:

1. the invention needs relatively few slots, the lower platform body does not need to be slotted, namely more materials do not need to be cut off, the multi-axis force sensor is not easy to deform under stress, the structure is more compact, and excessive additional parts do not need to be added to assist in realizing the sealing of the lower platform body to prevent water and dust;

2. the end face of the lower platform body which is relatively complete can ensure that the connecting structure form of four screw holes and one pin hole can be realized so as to meet the ISO standard of the flange of the cooperative robot;

3. the force measuring column is of a T-shaped structure, the structural rigidity of the T-shaped beam is strong, deformation of the sensor is reduced after stress, and the dynamic response frequency is obviously improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below.

FIG. 1 is a schematic structural diagram of a multi-axis force sensor of the present invention;

FIG. 2 is a schematic cross-sectional view of a multi-axis force sensor of the present invention;

FIG. 3 is a schematic structural diagram of the upper stage, the force measuring column, the lower stage and the strain gauge in one view angle;

FIG. 4 is a schematic structural diagram of the upper stage, the force measuring column, the lower stage and the strain gauge in another view angle;

fig. 5 is a cross-sectional schematic view of a multi-axis force sensor according to another embodiment of the invention.

Wherein the labels shown in the figures are: 10-upper table body; 11-a first groove; 20-lower stage body; 21-a second groove; 30-a force measuring column; 31-transverse force measuring arm; 32-vertical force measuring arm; 33-a reinforcement; 40-strain gauge; 50-a protective housing; 61-a limiting hole; 62-a stop; 63-a fixed sleeve; 60-protective sleeve; 70-a guard ring.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "inside", "upper", "lower", etc. indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally placed when the products of the present invention are used, and are only used for convenience of description and simplification of the description, but do not indicate or imply that the devices or elements referred to must have specific orientations, be constructed and operated in specific orientations, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1 to 4, the present invention provides a multi-axis force sensor, which mainly includes an upper stage 10 and a lower stage 20 disposed opposite to each other, a plurality of force measuring columns 30 are disposed between the upper stage 10 and the lower stage 20, and an elastic body structure is formed among the upper stage 10, the lower stage 20, and the force measuring columns 30. Wherein, the force measuring column 30 includes horizontal force measuring arm 31 and vertical force measuring arm 32, and one end of vertical force measuring arm 32 links firmly with the middle part of horizontal force measuring arm 31 mutually, and the both ends distribution of horizontal force measuring arm 31 links firmly with the perisporium of last stage body 10 mutually, and another tip of vertical force measuring arm 32 links firmly with lower stage body 20 mutually, has arranged foil gage 40 on the both ends of horizontal force measuring arm 31 and the vertical force measuring arm 32.

The strain gauge 40 is arranged at a predetermined position of the horizontal force measuring arm 31 and the vertical force measuring arm 32, so that when the upper stage body 10 and the lower stage body 20 are stressed, the force measuring column 30 is deformed, and further, the strain gauge 40 is mechanically deformed, so as to realize the detection of the force. In the invention, the force measuring column 30 comprises a transverse force measuring arm 31 and a vertical force measuring arm 32, two end parts of the transverse force measuring arm 31 are fixedly connected with the peripheral wall of the upper platform body 10, one end part of the vertical force measuring arm 32 is fixedly connected with the middle part of the transverse force measuring arm 31, and the other end part of the vertical force measuring arm is fixedly connected with the lower platform body 20, so that the force measuring column 30 forms a T-shaped structure, the force measuring column 30 of the T-shaped structure only needs to be provided with the transverse force measuring arm 31 at the peripheral wall of the upper platform body 10, and the peripheral wall of the lower platform body 20 does not have the transverse force measuring arm 31, therefore, at the moment, the required slotting is relatively less, the lower platform body 20 does not need slotting, namely more materials do not need to be cut off, the multi-axis force sensor is stressed, the structure is not easy to deform and more compact, and excessive additional parts are not needed to assist in realizing the sealing of the lower platform body 20 to prevent water and dust; the relatively more complete end face of the lower table body 20 can ensure that the connection structure form of four screw holes and one pin hole can be realized so as to meet the ISO standard of the cooperative robot flange; meanwhile, the force measuring column 30 is of a T-shaped structure, the structural rigidity of the T-shaped beam is high, deformation of the sensor is reduced after stress, and the dynamic response frequency is obviously improved.

In the preferred embodiment, the vertical force-measuring arm 32 is fixedly connected to the middle of the horizontal force-measuring arm 31 and perpendicular to each other so that the force-measuring column 30 forms the T-shaped structure. The strain gauges 40 arranged on both end portions of the horizontal moment arm 31 are symmetrically arranged with respect to the vertical moment arm 32; the strain gauge 40 arranged on the vertical force-measuring arm 32 is located in the middle of the vertical force-measuring arm 32. The strain gauge 40 may be located on one side of the transverse force-measuring arm 31 and/or the vertical force-measuring arm 32, or may be located on both sides of the transverse force-measuring arm 31 and the vertical force-measuring arm 32. It is understood that in some preferred embodiments, the strain element 40 may be formed by a plurality of strain gauges in a certain positional relationship, wherein the strain gauge 40 may be a resistance strain gauge, which is made based on a strain effect, that is, when a conductor or a semiconductor material is mechanically deformed by an external force, a resistance value of the conductor or the semiconductor material is correspondingly changed. The strain gauge 40 may be a metal strain gauge, an optical strain gauge, or the like, and is not particularly limited.

In the preferred embodiment, the upper stage 10 and the lower stage 20 are both cylindrical stage structures, but it should be understood that in other preferred embodiments, the overall structural shapes of the upper stage 10 and the lower stage 20 may be other forms, such as square or other shapes. The upper stage 10 and the lower stage 20 are disposed opposite to each other and in parallel.

The force measuring columns 30 are three or more, preferably three in the present exemplary embodiment, and may be four, five or more in other preferred embodiments. A plurality of force measuring columns 30 are distributed between the upper stage 10 and the lower stage 20 and are located at the peripheral walls of the upper stage 10 and the lower stage 20, respectively. A plurality of force posts 30 are evenly distributed around the circumference.

In a preferred embodiment, the peripheral wall of the upper stage 10 is provided with first grooves 11, the number of the first grooves 11 is the same as the number of the force measuring columns 30, two end portions of the transverse force measuring arm 31 are fixedly connected with two side groove walls of the first grooves 11 respectively and are not connected with the inner wall of the first grooves 11, and at this time, the transverse force measuring arm 31 is integrally located in the first grooves 11. The first groove 11 may or may not penetrate through the upper stage body 10. In an exemplary embodiment, in order to reduce the overall thickness of the upper stage body 10, the upper stage body 10 is made to have a smaller thickness, and at this time, the first groove 11 completely penetrates through the upper stage body 10, so that the first groove 11 has enough space to accommodate the lateral force measuring arm 31.

The other end of the vertical force-measuring arm 32 can be directly connected to the end face of the lower platform 20 facing the upper platform 10. However, in order to further reduce the overall volume of the upper stage 10 and the lower stage 20 and to make the structure more compact, the upper stage 10 and the lower stage 20 should be as close as possible. Based on this, in a preferred embodiment, the end surface of the lower stage body 20 facing the upper stage body 10 is provided with second grooves 21, the number of the second grooves 21 is consistent with that of the first grooves 11, the second grooves 21 are arranged opposite to the first grooves 11, the other end portion of the vertical force measuring arm 32 is fixedly connected with the bottom of the second groove 21, and at this time, the vertical force measuring arm 32 is locally located in the second grooves 21, so that the upper stage body 10 and the lower stage body 20 can be further close to each other under the condition that the length of the vertical force measuring arm 32 can be maintained.

In order to ensure the overall structure of the lower stage body 20, ensure the strength of the lower stage body 20 and provide screw holes and pin holes for the sufficient position of the end surface of the lower stage body 20, and avoid the influence of sealing caused by excessive grooving of the lower stage body 20 on water resistance and dust resistance, the depth of the second groove 21 should not be too deep, and the depth should be within a reasonable range. Illustratively, in a preferred embodiment, the ratio of the depth of the second groove 21 to the thickness of the lower stage 20 at the position where the second groove 21 is formed is not more than 2/5.

In the preferred embodiment, a reinforcing member 33 is disposed in the middle of the transverse force-measuring arm 31, and one end of the vertical force-measuring arm 32 is fixedly connected to the reinforcing member 33. The overall thickness of the reinforcement member 33 is thicker than that of the transverse force-measuring arm 31, and the reinforcement member 33 is used for making the position of the reinforcement less sensitive to the force variation when the measurement is performed, and more sensitive to the force variation where the reinforcement member 33 is not arranged, so that the measurement sensitivity and accuracy are improved.

In the invention, the positions where the transverse force measuring arm 31 is connected with the upper table body 10 and the vertical force measuring arm 32 is connected with the lower table body 20 are in arc transition, and when the reinforcing member 33 is arranged, the positions where the transverse force measuring arm 31 and the vertical force measuring arm 32 are connected with the reinforcing member 33 are in arc transition, so that the connection reliability can be enhanced through the arc transition, the cracking or the breaking at the connection position can be avoided, meanwhile, the connection position can be relatively insensitive to the change of force, at the moment, the position correspondingly provided with the strain gauge 40 is relatively sensitive to the change of force, and the measurement sensitivity and precision are increased.

The multi-axis force sensor further comprises a protective shell 50, wherein the protective shell 50 is provided with a containing cavity, the protective shell 50 forms a cavity structure with an opening, the upper table body 10 and the lower table body 20 are contained in the protective shell 50, the upper table body 10 is fixedly installed in the containing cavity of the protective shell 50, a gap is formed between the periphery of the lower table body 20 and the inner wall of the containing cavity of the protective shell 50, and when the upper table body 10 and the lower table body 20 deform and overload, the periphery of the lower table body 20 can abut against the inner wall of the containing cavity of the protective shell 50 to avoid overload damage of the force measuring column 30 between the upper table body 10 and the lower table body 20. The lower stage body 20 is located in the cavity of the protective casing 50, and a gap is formed between the periphery of the lower stage body 20 and the inner wall of the cavity of the protective casing 50 to ensure that a certain space is provided so that the force measuring column 30 deforms when the upper stage body 10 and the lower stage body 20 are stressed. The inner wall of the cavity of the protective housing 50 has a limiting function, so that when the upper stage body 10 and the lower stage body 20 deform and overload, the periphery of the lower stage body 20 can abut against the inner wall of the cavity of the protective housing 50 and cannot continue to deform, and the force measuring column 30 between the upper stage body 10 and the lower stage body 20 can be prevented from being damaged by overload.

It can be understood that, the size of the gap between the outer periphery of the lower stage body 20 and the inner wall of the accommodating cavity of the protective casing 50 should be reasonable, on one hand, enough gap is needed for the upper stage body 10 and the lower stage body 20 to deform, and on the other hand, when the upper stage body 10 and the lower stage body 20 are needed to deform and overload, the outer periphery of the lower stage body 20 can be made to timely abut against the inner wall of the accommodating cavity of the protective casing 50 so as to avoid continuous deformation and overload damage. The gaps between the outer periphery of the lower stage body 20 and the inner wall of the cavity of the protective casing 50 are consistent at various positions, and in an exemplary preferred embodiment, the lower stage body 20 is of a cylindrical stage body structure as a whole, and in this case, the cavity of the protective casing 50 is also a circular cavity, and the two are coaxially arranged.

In the present invention, the lower stage 20 is complete and has a continuous outer peripheral sidewall, so that a 360 ° circumferential, uniform and slight gap is formed between the lower stage 20 and the inner wall of the cavity of the protective casing 50, and when the sensor is overloaded, the gap can provide 360 ° overload protection. In the conventional multi-axis force sensor with discontinuous peripheral side walls of the lower stage body, even if the protective shell 50 is arranged to realize overload limiting, protection can not be provided for each working condition (force loading point) due to the discontinuous peripheral side walls.

In a preferred embodiment, referring to fig. 1 to 4, a plurality of limiting holes 61 are formed around the circumferential direction on the inner wall of the receiving cavity of the protective housing 50, the plurality of limiting holes 61 are uniformly distributed, a plurality of limiting members 62 are circumferentially disposed around the outer periphery of the lower stage 20, the limiting members 62 protrude out of the outer periphery of the lower stage 20 and are located in the limiting holes 61, and a gap is formed between the limiting members 62 and the hole walls of the limiting holes 61, and when the upper stage 10 and the lower stage 20 deform and overload, the limiting members 62 can abut against the hole walls of the limiting holes 61 to prevent the force measuring columns 30 of the upper stage 10 and the lower stage 20 from being damaged due to overload.

The spacing member 62 has a gap with the hole wall of the spacing hole 61 to ensure a certain space so that the force measuring column 30 can deform when the upper stage 10 and the lower stage 20 are stressed. The hole wall of the limiting hole 61 has a limiting effect, so that when the upper stage body 10 and the lower stage body 20 deform and overload, the limiting part 62 can abut against the hole wall of the limiting hole 61 and cannot deform continuously, and overload damage to the force measuring column 30 between the upper stage body 10 and the lower stage body 20 can be avoided. It can be understood that the size of the gap between the limiting member 62 and the hole wall of the limiting hole 61 should be reasonable, on one hand, there needs to be enough gap for the upper stage 10 and the lower stage 20 to deform, and on the other hand, when the upper stage 10 and the lower stage 20 need to deform and overload, the limiting member 62 and the hole wall of the limiting hole 61 can be in timely abutting joint to avoid continuous deformation and overload damage.

In an exemplary embodiment, as shown in fig. 2, a lower stage pin hole is circumferentially formed on an outer periphery of the lower stage 20, the limiting member 62 is a pin fixed in the lower stage pin hole and partially extends out of the lower stage pin hole, a plurality of protective shell pin holes are circumferentially formed on an inner wall of the cavity of the protective shell 50 to form a limiting hole 61, and the protective shell pin holes penetrate through a side wall of the protective shell 50. The protective shell pin hole penetrating through the side wall of the protective shell 50 can facilitate the insertion and the lowering of the stopper 62, which is a pin, into the lower stage pin hole and be fixed in the lower stage pin hole by interference fit, that is, the installation and the fixation of the stopper 62 are facilitated. In a preferred embodiment, the position-limiting member 62 is a cylindrical pin, and correspondingly, the lower platform pin hole is a circular pin hole, and the position-limiting member 62 and the lower platform pin hole are coaxially arranged.

In another exemplary embodiment, referring to fig. 5, a plurality of protective shell pin holes are circumferentially formed in the inner wall of the cavity of the protective shell 50, the protective shell pin holes penetrate through the side wall of the protective shell 50, the position limiting members 62 are pins fixed in the protective shell pin holes and partially extend inward out of the protective shell pin holes, and a plurality of lower stage pin holes are circumferentially formed on the outer periphery of the lower stage 20 to form the position limiting holes 61. In a preferred embodiment, the position-limiting member 62 is a cylindrical pin, and correspondingly, the protective-shell pin hole is a circular pin hole, and the position-limiting member 62 and the protective-shell pin hole are coaxially arranged. In the preferred embodiment, the limiting member 62 is fixed on the protective casing 50 through a sleeve-shaped fixing sleeve 63, the fixing sleeve 63 is preferably made of stainless steel to have a certain strength, one end of the limiting member 62 is fixedly sleeved in the fixing sleeve 63, the fixing sleeve 63 is sleeved in a pin hole of the protective casing and is in interference fit, and therefore the limiting member 62 is fixed on the protective casing 50.

Whether the limiting hole 61 is formed in the inner wall of the cavity of the protective housing 50 and the limiting member 62 is disposed on the outer periphery of the lower stage 20, or the limiting hole 61 is formed in the outer peripheral sidewall of the lower stage 20 and the limiting member 62 is disposed on the inner wall of the cavity of the protective housing 50, it is possible to facilitate the processing or mounting and fixing of the limiting hole 61 and the limiting member 62, and also facilitate the centering of the limiting hole 61 and the limiting member 62, so as to facilitate the all-directional and all-angle overload protection.

Further, the force measuring column 30 is provided with a reinforcing member 33, a gap is formed between the side face of the reinforcing member 33 far away from the vertical force measuring arm 32 and the inner wall of the accommodating cavity of the protection shell 50, and when the upper stage body 10 and the lower stage body 20 are deformed and overloaded, the limiting member 62 can be abutted against the hole wall of the limiting protecting hole 61 to avoid overload damage to the force measuring column 30 of the upper stage body 10 and the lower stage body 20. Similarly, the size of the gap between the side of the reinforcing member 33 far away from the vertical force measuring arm 32 and the inner wall of the accommodating cavity of the protection casing 50 should be reasonable, and the gap between the reinforcing member 33 and the inner wall of the accommodating cavity of the protection casing 50 can ensure that enough gap is provided for deformation of the upper stage 10 and the lower stage 20, and when the upper stage 10 and the lower stage 20 are deformed and overloaded, the side of the reinforcing member 33 far away from the vertical force measuring arm 32 can timely abut against the inner wall of the accommodating cavity of the protection casing 50 to avoid continuous deformation and overload damage. Through this setting, can effectively avoid the overload damage of dynamometry post 30, especially to the load unanimous with the extending direction of vertical dynamometry arm 32, cooperation locating part 62 and spacing hole 61, its overload protection effect is obvious.

According to the multi-axis force sensor, the force measuring column 30 between the upper platform body 10 and the lower platform body 20 can be effectively prevented from being damaged due to overload through the matching between the periphery of the lower platform body 20 and the inner wall of the containing cavity of the protective shell 50, the matching between the limiting piece 62 and the hole wall of the limiting protecting hole 61, the matching between the reinforcing piece 33 and the inner wall of the containing cavity of the protective shell 50 and the like.

The protective casing 50 is sleeved with a protective sleeve 60 at a position corresponding to the protective casing pin hole, and the protective sleeve 60 can be sleeved on the protective casing pin hole orifice to realize sealing, so that the waterproof and dustproof purposes are achieved. The protective sleeve 60 and the lower platform 20 are covered with a protective ring 70, and the protective ring 70 covers the connecting position of the protective sleeve 60 and the lower platform 20 to realize sealing, so that the waterproof and dustproof purposes are achieved. The protective sheath 60 and the protective ring 70 may be made of flexible rubber, silicone, or a flexible film-like solid structure formed by solidifying liquid glue, or may be made of other materials.

The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (12)

1. The utility model provides a multiaxis force sensor, is including last stage body (10) and lower stage body (20) that set up in opposite directions, go up stage body (10) and be provided with a plurality of dynamometry posts (30) down between stage body (20), its characterized in that, dynamometry post (30) are including horizontal dynamometry arm (31) and vertical dynamometry arm (32), a tip of vertical dynamometry arm (32) with the middle part of horizontal dynamometry arm (31) links firmly mutually, the both ends distribution of horizontal dynamometry arm (31) with the perisporium of last stage body (10) links firmly mutually, another tip of vertical dynamometry arm (32) with stage body (20) link firmly mutually down, strain gauge (40) have been arranged on the both ends of horizontal dynamometry arm (31) and vertical dynamometry arm (32).

2. Multiaxial force sensor according to claim 1 where the vertical force measuring arm (32) is fixed to the middle of the transverse force measuring arm (31) and perpendicular to each other so that the force measuring column (30) forms a T-shaped structure; the strain gauges (40) arranged at two end parts of the transverse force measuring arm (31) are symmetrically arranged relative to the vertical force measuring arm (32); the strain gauge (40) arranged on the vertical force measuring arm (32) is positioned in the middle of the vertical force measuring arm (32).

3. The multi-axis force sensor according to claim 1, wherein the peripheral wall of the upper stage body (10) is provided with first grooves (11), the number of the first grooves (11) is the same as that of the force measuring columns (30), and two end portions of the transverse force measuring arm (31) are fixedly connected with two side groove walls of the first grooves (11).

4. Multiaxial force sensor according to claim 3 where the first grooves (11) are three or more evenly distributed at the peripheral wall of the upper stage body (10).

5. The multi-axis force sensor according to claim 4, wherein the end surface of the lower stage body (20) facing the upper stage body (10) is provided with second grooves (21) with the number consistent with that of the first grooves (11), and the other end of the vertical force measuring arm (32) is fixedly connected with the groove bottom of the second grooves (21); the ratio of the depth of the second groove (21) to the thickness of the lower platform body (20) at the position where the second groove (21) is formed is not more than 2/5.

6. Multiaxial force sensor according to claim 1 where a reinforcement (33) is provided in the middle of the transverse force measuring arm (31) and where one end of the vertical force measuring arm (32) is secured to the reinforcement (33).

7. The multi-axis force sensor according to any one of claims 1 to 6, further comprising a protective housing (50), wherein the protective housing (50) has a cavity, the upper stage body (10) is fixedly mounted in the cavity of the protective housing (50), a gap is formed between the periphery of the lower stage body (20) and the inner wall of the cavity of the protective housing (50), and when the upper stage body (10) and the lower stage body (20) are deformed and overloaded, the periphery of the lower stage body (20) can abut against the inner wall of the cavity of the protective housing (50) to prevent the force measuring column (30) between the upper stage body (10) and the lower stage body (20) from being damaged due to overload.

8. The multi-axis force sensor of claim 7, wherein one of the inner wall of the cavity of the protective housing (50) and the outer peripheral sidewall of the lower stage (20) is circumferentially provided with a plurality of limiting holes (61), and the other one of the inner wall of the cavity of the protective housing (50) and the outer peripheral sidewall of the lower stage (20) is circumferentially and fixedly provided with a plurality of limiting members (62), the limiting members (62) are partially located in the limiting holes (61) and have a gap with the hole wall of the limiting holes (61), and when the upper stage (10) and the lower stage (20) are deformed and overloaded, the limiting members (62) can abut against the hole wall of the limiting holes (61) to avoid overload damage to the force measuring columns (30) of the upper stage (10) and the lower stage (20).

9. The multi-axis force sensor of claim 8, wherein a plurality of lower stage pin holes are formed around the circumference of the lower stage (20), the position-limiting members (62) are pins fixed in the lower stage pin holes and partially extend outward from the lower stage pin holes, a plurality of protective shell pin holes are formed around the circumference of the inner wall of the cavity of the protective shell (50) to form the position-limiting holes (61), and the protective shell pin holes penetrate through the side wall of the protective shell (50).

10. The multi-axis force sensor of claim 8, wherein a plurality of protective housing pin holes are circumferentially formed in an inner wall of the cavity of the protective housing (50), the protective housing pin holes penetrate through a side wall of the protective housing (50), the limiting members (62) are pins fixed in the protective housing pin holes and partially extend inward out of the protective housing pin holes, and a plurality of lower stage pin holes are circumferentially formed in the outer periphery of the lower stage (20) to form the limiting holes (61).

11. Multiaxial force sensors according to claim 8 where a reinforcement (33) is provided in the middle of the transverse force measuring arm (31) and one end of the vertical force measuring arm (32) is secured to the reinforcement (33); the side of reinforcement (33) keeping away from vertical force measuring arm (32) with the appearance intracavity wall of protecting sheathing (50) has the clearance between, and works as go up stage body (10) and lower stage body (20) take place deformation and when transshipping, locating part (62) can with protect the pore wall looks butt in order to avoid of spacing hole (61) go up stage body (10) and lower stage body (20) dynamometry post (30) overload damage.

12. Multiaxial force sensor according to claim 9 or 10 where the protective housing (50) is sheathed with a protective sheath (60) at a position corresponding to a protective housing pin hole; the protective sleeve (60) and the lower table body (20) are covered with a protective ring (70).

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