CN-121994397-A - Multidimensional force sensor

CN121994397ACN 121994397 ACN121994397 ACN 121994397ACN-121994397-A

Abstract

The invention belongs to the technical field of sensors, and particularly relates to a multidimensional force sensor which comprises a shell, an actuator, an elastomer and a damping member, wherein the shell comprises a base and a cover body which is arranged opposite to the base, a sealing cavity is defined by the cover body and the base together, damping medium is filled in the sealing cavity, the actuator is used for receiving external load, the elastomer is arranged in the sealing cavity and comprises a mounting end and a loading end, the mounting end is connected with the base, the loading end is used for receiving load from the actuator, the damping member is arranged in the sealing cavity and is fixedly connected with the loading end, and a gap for filling the damping medium is formed between the damping member and the base and/or the cover body. The invention improves the dynamic performance of the multidimensional force sensor, inhibits vibration interference and shortens response time through a physical damping mechanism of the damping member.

Inventors

WANG YONG
HUANG YUANZHE
LU YIMIN
CHEN ENWEI
LIU ZHENGSHI
ZHANG SIYA

Assignees

合肥工业大学
合肥辩日医疗科技有限公司

Dates

Publication Date: 20260508
Application Date: 20260206

Claims (11)

1. A multi-dimensional force sensor, comprising: the shell comprises a base and a cover body which is arranged opposite to the base, wherein the cover body and the base jointly enclose a sealing cavity, and damping medium is filled in the sealing cavity; an actuator for receiving an external load; The elastic body is arranged in the sealing cavity and comprises a mounting end and a loading end, the mounting end is connected with the base, and the loading end is used for receiving a load from the actuator; The damping component is arranged in the sealing cavity and fixedly connected with the loading end, and a gap for filling the damping medium is formed between the damping component and the base and/or the cover body.
2. The multi-dimensional force sensor of claim 1, wherein the damping member comprises: The first damping piece is connected to one side of the elastic body, which is close to the base, and a damping gap is formed between the first damping piece and the base; And/or the second damping piece is connected to one side of the elastic body, which is close to the cover body, or is connected to the first damping piece, and a damping gap is formed between the second damping piece and the cover body and/or the base.
3. The multi-dimensional force sensor of claim 2, wherein the damping gap comprises at least one of an axial damping gap and a radial damping gap; The axial damping gap is formed by the damping member and a plurality of opposite end surfaces of the base or the cover, and the radial damping gap is formed by the damping member and a plurality of opposite vertical surfaces of the base or the cover.
4. The multi-dimensional force sensor of claim 3, wherein the radial damping gap comprises an outer radial gap formed between a vertical surface of the first damping member periphery and/or a vertical surface of the second damping member periphery and a base vertical surface of the base; And/or a plurality of inner radial gaps formed between the plurality of vertical surfaces inside the first damping piece and/or the plurality of vertical surfaces inside the second damping piece and the vertical surface of the base.
5. A multi-dimensional force sensor according to claim 3, characterized in that the vertical surfaces of the first damping element and/or the second damping element are symmetrically arranged around the elastomer.
6. The multi-dimensional force sensor of claim 3, wherein the axial damping gap comprises: A first axial gap between the bottom plate of the first damping member and the bottom wall of the base; and/or a second axial gap between the top plate of the second damping member and the flat plate of the cover body, the first axial gap having a size that is consistent with the second axial gap.
7. A multi-dimensional force sensor according to claim 3, wherein the vertical surface and/or the end surface of the damping member is disposed adjacent to the vertical surface and end surface of the housing interior while allowing for vibrational displacement of the elastomer.
8. A multi-dimensional force sensor according to claim 3, characterized in that the effective active area of the vertical face and/or the end face is adjustable; And/or gaps among the vertical surfaces and the vertical surfaces inside the shell and/or gaps among the end surfaces and the bottom wall of the base and/or gaps among the end surfaces and the cover body are adjustable.
9. The multi-dimensional force sensor of claim 1, further comprising an overload protection structure comprising a spacing post fixed to the housing and a spacing portion disposed on the damping member, the spacing portion and the spacing post having a gap therebetween for overload protection.
10. The multi-dimensional force sensor of claim 1, wherein the cover is fixedly provided with a flexible sealing cover plate away from the outer side of the elastomer, the actuator passes through the sealing cover plate and extends into the housing, and the sealing cover plate is in sealing connection with the actuator.
11. The multi-dimensional force sensor of claim 1, wherein the damping medium is a viscous liquid or semi-fluid.

Description

Multidimensional force sensor Technical Field The invention belongs to the technical field of sensors, and particularly relates to a multidimensional force sensor. Background The multidimensional force sensor has wide application in the fields of robots, precision manufacturing and automation, and the dynamic performance of the multidimensional force sensor directly influences the real-time performance and the precision of force measurement. The existing multidimensional force sensor is usually in an underdamped state, so that vibration attenuation is slow when external excitation is carried out, dynamic response speed is insufficient, and measurement errors and signal delay are introduced. In order to improve dynamic performance, the prior art mostly adopts a complex signal processing algorithm or a high damping coating method. The high damping coating method can directly restrain vibration, but has high pre-processing cost, complex process and difficult flexible adjustment of damping characteristics. The methods have the defects of high implementation cost, poor adaptability or insufficient real-time performance, and limit the application of the multidimensional force sensor in high-speed dynamic measurement. Disclosure of Invention The invention provides a multi-dimensional force sensor, which improves the dynamic performance of the multi-dimensional force sensor, suppresses vibration interference and shortens response time through the arrangement of a damping member. The present invention provides a multidimensional force sensor comprising: the shell comprises a base and a cover body which is arranged opposite to the base, wherein the cover body and the base jointly enclose a sealing cavity, and damping medium is filled in the sealing cavity; an actuator for receiving an external load; The elastic body is arranged in the sealing cavity and comprises a mounting end and a loading end, the mounting end is connected with the base, and the loading end is used for receiving a load from the actuator; The damping component is arranged in the sealing cavity and fixedly connected with the loading end, and a gap for filling the damping medium is formed between the damping component and the base and/or the cover body. In one embodiment of the present invention, the elastomer includes: Radial beams and Zhou Xiangliang connected between the mounting and loading ends, the radial beams and Zhou Xiangliang form a T-shaped structure. In one embodiment of the present invention, the sensor is a six-dimensional force sensor, and is capable of measuring three forces (Fx, fy, fz) in orthogonal directions and three moments (Mx, my, mz) in orthogonal directions simultaneously. In one embodiment of the present invention, the damping member includes: The first damping piece is connected to one side of the elastic body, which is close to the base, and a damping gap is formed between the first damping piece and the base; And/or the second damping piece is connected to one side of the elastic body, which is close to the cover body, or is connected to the first damping piece, and a damping gap is formed between the second damping piece and the cover body and/or the base. In an embodiment of the present invention, the first damping member includes a damping bottom plate and a damping bottom plate center boss disposed on the damping bottom plate, and is fixedly connected to the lower surface of the loading end through the damping bottom plate center boss; the second damping piece comprises a damping top plate and a damping top plate center boss arranged on the damping top plate, and is fixedly connected with the upper surface of the loading end through the damping top plate center boss; the thickness of the damping bottom plate center boss is equal to that of the damping top plate center boss along the axial direction of the actuator. In an embodiment of the present invention, the shapes and sizes of the damping top plate and the damping bottom plate are consistent, and the damping bottom plate and the damping top plate are correspondingly perforated in the circumferential direction, so as to adapt to the installation structure of the elastic body, and ensure that the damping of the upper surface and the lower surface is symmetrical. In an embodiment of the present invention, the first damping member and/or the second damping member are made of a lightweight metal material or an engineering plastic material, and have a density less than that of the elastomer material. In an embodiment of the present invention, the damping gap includes at least one of an axial damping gap and a radial damping gap; The axial damping gap is formed by the damping member and a plurality of opposite end surfaces of the base or the cover, and the radial damping gap is formed by the damping member and a plurality of opposite vertical surfaces of the base or the cover. In an embodiment of the present invention, the axial end surfaces are symmetrically distribut