CN209878191U

CN209878191U - Pressure-torsion combined force transducer

Info

Publication number: CN209878191U
Application number: CN201920849520.8U
Authority: CN
Inventors: 王建国; 汪星星
Original assignee: Shenzhen Force Sensor Technology Co Ltd
Current assignee: Shenzhen Force Sensor Technology Co Ltd
Priority date: 2019-06-05
Filing date: 2019-06-05
Publication date: 2019-12-31
Anticipated expiration: 2029-06-05

Abstract

The utility model provides a press and turn round combination formula force cell sensor, include: the bearing cover is installed on the upper surface of the inner bearing platform. The utility model discloses can install in the installation of the arm joint department of robot to but simultaneous measurement has simple structure, with low costs, little, the simple to operate's of occupation space characteristics to the axial force and the moment of torsion of this joint department.

Description

Pressure-torsion combined force transducer

Technical Field

The utility model relates to a sensor technical field, in particular to press and turn round combination formula force cell sensor.

Background

In the prior art, the axial force and the torque at the arm joint of the robot are usually measured by two sensors, so that the robot occupies a large space and is inconvenient to install.

SUMMERY OF THE UTILITY MODEL

The utility model provides a press and turn round combination formula force cell sensor to solve at least one above-mentioned technical problem.

In order to solve the above problem, as an aspect of the present invention, there is provided a pressure-torsion combined force transducer, including: the bearing cover is installed on the upper surface of the inner bearing platform.

Preferably, the outer ring body is circular, and the inner bearing platform is square.

Preferably, a gap is formed between the bearing cover and the outer ring body.

Preferably, the bearing cover is connected with the upper surface of the inner bearing platform through screws and pins.

Preferably, the upper surface of the inner bearing platform is provided with a screw hole for mounting the screw and a pin hole for mounting the pin.

Preferably, a limiting groove matched with the shape of the inner bearing platform is formed on the lower surface of the bearing cover.

Preferably, the bearing cover is provided with a through hole for connecting with the outer ring body, and a screw for connecting with the outer ring body is arranged in the through hole.

Preferably, the pressure-torsion combined load cell further comprises a bottom plate sealing sheet, and the bottom plate sealing sheet is installed on one side, far away from the bearing cover, of the outer ring body.

Preferably, the deformation beam has a rectangular cross section.

Preferably, one side of the bearing cover, which is far away from the outer ring body, is further provided with an installation screw hole for connecting the pressure-torsion combined type load cell with external equipment.

Since the technical scheme is used, the utility model discloses can install in the installation of the arm joint department of robot to but simultaneous measurement has simple structure, with low costs, occupation space is little, simple to operate's characteristics to the axial force and the moment of torsion of this joint department.

Drawings

Fig. 1 schematically shows the overall structure of the present invention;

figure 2 schematically shows an exploded view of the invention;

fig. 3 schematically shows a front view of the invention;

FIG. 4 schematically illustrates a bottom view of the outer race;

fig. 5 schematically shows a top view of the present invention;

fig. 6 schematically shows an internal structural diagram of the present invention;

FIG. 7 schematically illustrates a front view of FIG. 6;

FIG. 8 schematically illustrates a-A cross-sectional view of FIG. 7;

FIG. 9 schematically illustrates a cross-sectional view B-B of FIG. 7;

fig. 10 schematically shows a front view of the outer ring.

Reference numbers in the figures: 1. an outer ring body; 2. an inner load-bearing platform; 3. a load bearing cover; 4. a deformation beam; 5. a strain gauge; 6. a screw hole; 7. a pin hole; 8. a through hole; 9. sealing a bottom plate; 10. a connector assembly; 11. and installing screw holes.

Detailed Description

The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.

The utility model discloses an aspect provides a press and turn round combination formula force cell sensor, especially a multi-component resistance strain gauge force cell sensor, mainly used installs in the arm joint department of robot to be used for the measurement to the axial force and the moment of torsion of this joint department.

The sensor includes: the outer ring body 1, the inner bearing platform 2 and the bearing cover 3, the circumference of the inner bearing platform 2 is connected with the inner wall of the outer ring body 1 through a plurality of deformation beams 4, strain gauges 5 are arranged on the upper surface, the lower surface and the side surface of each deformation beam 4, the upper surface of the inner bearing platform 2 protrudes out of the upper portion of the outer ring body 1, and the bearing cover 3 is arranged on the upper surface of the inner bearing platform 2. Preferably, the outer ring body 1 is circular, and the inner bearing platform 2 is square. Preferably, the deformation beam 4 has a rectangular cross section. Preferably, four deformation beams 4 are equally distributed between the outer ring body 1 and the inner load-bearing platform 2.

Preferably, a mounting screw hole 11 for connecting the pressure-torsion combined load cell with external equipment is further formed in one side of the bearing cover 3, which is far away from the outer ring body 1. Like this, through the position of rational arrangement installation screw 11 for the sensor can be installed by syntropy flange formula, avoids adopting the transition plate structure when the installation, thereby improves the installation reliability of sensor. When the sensor is used, the sensor can be firstly fixed at one end of the mechanical arm through the counter bore 12 by using a screw, and then the other end of the mechanical arm is fixed through the mounting screw hole 11.

The utility model discloses mainly used detects the power along the axial direction of sensor and surrounds axial torque force value, for this reason, it has four deformation roof beams 4 to distribute at the outer lane body 1 of sensor and between interior load-bearing platform 2 symmetrically, paste in the upper and lower plane of deformation roof beam 4 and side has the resistance strain gauge, when the sensor through the bearing cover 3 that is connected with interior load-bearing platform 2 acts the power and the moment of torsion on the sensor, produce bending deformation and only produce the change corresponding to axial force value in the upper and lower plane of deformation roof beam 4, and the strainometer of side only produces the influence to the power of moment of torsion.

For example, the four deformation beams 4 are in a square column form, the size and the length of each square column beam are designed according to different measuring ranges, 8 strain gauges are adhered to the upper plane and the lower plane of each square column beam and close to the positions of two ends of each square column beam, and the strain gauges are respectively used for measuring a force value on a Z axis on the upper plane of each deformation beam 4; and 8 strain gauges are pasted on the side surfaces of the two beams, 8 strain gauges can be pasted on the other beam, and the strain gauges are used for measuring the torque in the Z-axis direction.

Preferably, there is a gap between the bearing cover 3 and the outer ring body 1. For example, the gap is 0.5mm for deformation.

Preferably, the bearing cover 3 is connected with the upper surface of the inner bearing platform 2 through screws and pins so as to prevent the bearing cover 3 from twisting and sliding when being stressed, and the bearing cover 3 and the outer ring body 1 are fixed through screws.

Preferably, the upper surface of the inner bearing platform 2 is provided with a screw hole 6 for mounting the screw and a pin hole 7 for mounting the pin.

Preferably, the lower surface of the bearing cover 3 is formed with a limit groove matched with the shape of the inner bearing platform 2.

Preferably, the bearing cover 3 is provided with a through hole 8 for connecting with the outer ring body 1, and a screw for connecting with the outer ring body 1 is arranged in the through hole 8.

Preferably, the pressure-torsion combined load cell further comprises a bottom plate sealing sheet 9, and the bottom plate sealing sheet 9 is installed on one side of the outer ring body 1 far away from the bearing cover 3. The bottom flap 9 is used for sealing protection.

Preferably, a connector 10 is mounted on the outer side wall of the outer ring body 1, and the connector 10 is electrically connected with the strain gauge 5. After the signal processing of the sensor is completed, the sensor is connected to the external output through the connector 10.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A pressure-torsion combined-type force transducer is characterized by comprising: outer lane body (1), interior load-bearing platform (2) and bear lid (3), the circumference of interior load-bearing platform (2) through a plurality of deformation roof beams (4) with the interior wall connection of outer lane body (1), strain gauge (5) that all set up on the upper and lower surface and the side of deformation roof beam (4), the upper surface salient of interior load-bearing platform (2) in the upper portion of outer lane body (1), it installs to bear lid (3) on the upper surface of interior load-bearing platform (2).

2. The pressure-torsion combined load cell according to claim 1, wherein the outer ring body (1) is circular and the inner load-bearing platform (2) is square.

3. The force-torsion combined load cell according to claim 1, wherein there is a gap between the load cap (3) and the outer ring body (1).

4. The force-torsion combined load cell according to claim 1, wherein the load-bearing cover (3) is connected with the upper surface of the inner load-bearing platform (2) by means of screws and pins.

5. The sensor according to claim 4, wherein the upper surface of the inner bearing platform (2) is provided with a screw hole (6) for mounting the screw and a pin hole (7) for mounting the pin.

6. The pressure-torsion combined load cell according to claim 1, wherein a limiting groove matching the shape of the inner load bearing platform (2) is formed on the lower surface of the load bearing cover (3).

7. The pressure-torsion combined type load cell according to claim 1, wherein the bearing cover (3) is provided with a through hole (8) for connecting with the outer ring body (1), and a screw for connecting with the outer ring body (1) is arranged in the through hole (8).

8. The force-twist combined load cell according to claim 1, further comprising a floor flap (9), said floor flap (9) being mounted on a side of said outer ring body (1) remote from said load-bearing lid (3).

9. The pressure-torsion combined load cell according to claim 1, wherein the deformation beam (4) has a rectangular cross section.

10. The sensor according to claim 1, wherein a mounting screw hole (11) for connecting the sensor with an external device is further formed on one side of the bearing cover (3) away from the outer ring body (1).