CN100593697C - Three-dimensional small-measuring range force transducer - Google Patents
Three-dimensional small-measuring range force transducer Download PDFInfo
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- CN100593697C CN100593697C CN200810124424A CN200810124424A CN100593697C CN 100593697 C CN100593697 C CN 100593697C CN 200810124424 A CN200810124424 A CN 200810124424A CN 200810124424 A CN200810124424 A CN 200810124424A CN 100593697 C CN100593697 C CN 100593697C
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 14
- 239000011888 foil Substances 0.000 claims abstract description 10
- 238000010276 construction Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 abstract description 10
- 238000005516 engineering process Methods 0.000 abstract description 6
- 241001465754 Metazoa Species 0.000 abstract description 3
- 229920001971 elastomer Polymers 0.000 abstract description 2
- 239000000806 elastomer Substances 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 description 9
- 238000011160 research Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 230000035945 sensitivity Effects 0.000 description 4
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- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 241000256844 Apis mellifera Species 0.000 description 2
- 230000003592 biomimetic effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 210000002189 macula lutea Anatomy 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229910000737 Duralumin Inorganic materials 0.000 description 1
- 241000238631 Hexapoda Species 0.000 description 1
- 206010049214 Monopodia Diseases 0.000 description 1
- 241000422846 Sequoiadendron giganteum Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
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- 230000037396 body weight Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000003795 desorption Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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- 230000007246 mechanism Effects 0.000 description 1
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- VIKNJXKGJWUCNN-XGXHKTLJSA-N norethisterone Chemical compound O=C1CC[C@@H]2[C@H]3CC[C@](C)([C@](CC4)(O)C#C)[C@@H]4[C@@H]3CCC2=C1 VIKNJXKGJWUCNN-XGXHKTLJSA-N 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Abstract
A 3D small-range force sensor belongs to the technical field of mechanical testing technology and sensor application technology. The integral structure of the 3D small-range force sensor consists of a''reversed Y-shaped'' elastomer and a fixing pedestal; wherein, two external vertical beams (1), (2) are provided with Z-direction rectangle through holes (5),(6) near the fixing pedestal; a horizontal beam (3) is provided with Z-direction rectangle through holes (7),(8) near a central vertical beam (4); the outer sides of the two thin walls of the two through holes on the two external vertical beams are stuck with four strain foils; the outer sides of the two thin walls of the two through holes on the horizontal beam (3) are stuck with four strain foils; the outer sides of the thin walls atthe two ends of the through holes on the central vertical beam(4) are provided with four strain foils. Three groups of Wheatstone Bridges are formed. The range of each dimension of the invention is between 0 to 5N and can be used for testing the contact force of the sole of a small animal when creeping.
Description
Technical field
Three-D small range force sensor of the present invention belongs to mechanical test technology and sensor application technical field, relates to toy vola contact force measuring technology.
Background technology
Tree frog have in the tree with vertical wall on very fast, freely, the ability of creeping flexibly, the rule of creeping of absorption, desorption mechanism and the tree frog of further investigation tree frog vola sucker is for other specialized robots of developing bionical sorbing material, bionic wall climbing robot and work under the various complex environments provide theoretical foundation.Zoologize motion simultaneously, animal sole and the contact force of creeping between the surface are one of most important information.Can disclose animal laws of motion under complex environment,, provide the bionical mechanics data of aspects such as motion, gait for designing the robot that can adapt to various operating modes.
2002, Fang Li, Sun Yining, the Wang Lili of Hefei intelligence research institute of the Chinese Academy of Sciences have developed a kind of novel resistance-strain type three-dimensional force sensor, this sensor has highly sensitive, advantages such as it is little to be coupled between dimension, in the athletics and physical training that range is big have been determined to be applied to box, tae kwon do is such, the size and Orientation, the time interval, strike position that can reflect power when the sportsman impacts target accurately and real-time accurately whether, the trainer can carry out sentific training according to these data-guidings sportsman.
2003, the patent No. of Nanjing Aero-Space University's biomimetic features and material protection Research Institute is 200310106299.0 inverted "L" shaped three-dimensional tiny load force-measuring arrays system, be used to measure that macula lutea is stupid, honeybee etc. climbed the three-dimensional little contact force of the biological sole of wall when contacting with surface in contact, and the dynamometry scope is-0.01N-0.01N.
2003, the Xu Yi of University of Science ﹠ Technology, Beijing and Shandong technical college made up MBFMAS (Motion Body 3-DForce-Measuring AnalyzingSystem) in Dai Feng, Song Chunning with 92811-B three-dimensional strength measurement platform, Kistler9861A-5 electron-amplifier, the dynamometry data software analytic system that Switzerland Kistler company produces, can be used for being applicable to the detecting and analysing system of Teaching Sport Biomechanics and scientific research, because buy external product, the overall system cost is higher.
2006, the patent No. of Nanjing Nanjing Aero-Space University biomimetic features and material protection Research Institute is 200610041133.9 L type three-dimensional force sensor, take into account under the situation of rigidity and sensitivity, can measure the following Three-dimension Contact power of 1.5N in real time, coupling is little between dimension, is mainly used in the contact force test of gecko when creeping.
Because obviously stupid greater than macula lutea, the honeybee of tree frog body weight, monopodia palm contact force is about hundreds of milli ox when steadily creeping, and maximum contact force is 3N under the situation that tree frog jumps suddenly in crawling process.Therefore in real time, measure the Three-dimension Contact power that produces when the live body tree frog creeps accurately, take all factors into consideration the dynamometry scope of sensor, factors such as dimension and cost, existing force transducer exists all deficiencies.
Summary of the invention
The invention provides a kind of three-D small range force sensor of respectively tieing up range at 0-5N.Vola contact force in the time of can being used for testing toy and creeping, the X of sole and contact plane when can accurately real-time measurement tree frog creeping, Y, the power of Z direction is to solve the deficiencies in the prior art.
A kind of three-D small range force sensor is characterized in that:
One-piece construction by
Shape elastic body and fixed pedestal are formed, and wherein elastic body comprises center vertical beam, two outside vertical beams, and the horizontal beam that connects center vertical beam and two outside vertical beams, and two outside vertical beams link to each other with fixed pedestal; Wherein, near two ends of the close fixed pedestal of outside vertical beam respectively have the rectangular through-hole of Z direction, and two through hole is symmetrical arranged; Wherein, horizontal beam is near near the rectangular through-hole that has the Z direction vertical beam axis, center, and two through hole is symmetrical arranged; Wherein, the center vertical beam has the square through hole of directions X near an end of horizontal beam; Resistance strain gage is posted near the pedestal end in the thin-walled outside of two through holes on above-mentioned two outside vertical beams, and totally four foil gauges are formed first group of Hui Sideng Golden Bridge electric bridge; The thin-walled of two through holes on the above-mentioned horizontal beam outside, near an end of outside vertical beam post resistance strain gage respectively, totally four foil gauges are formed second group of Hui Sideng full-bridge electric bridge; Resistance strain gage is respectively posted in the thin-walled outside in through hole two ends on the vertical beam of above-mentioned center, and totally four foil gauges are formed the 3rd group of Hui Sideng full-bridge electric bridge.
Beneficial effect
The mode that adopts elastic body beam part to open rectangular through-hole in the said structure is carried out the part to elastic body and is weakened, elastic body beam local stress (strain) level is obviously improved, and the integral rigidity of sensor is constant substantially, so just guaranteed that sensor is guaranteeing to have improved sensitivity greatly under the rigidity condition; Because the different directions of rectangular through-hole, the resistance strain gage that is affixed on ad-hoc location are formed corresponding 3 groups of Hui Sideng full-bridge electric bridges, so just make the sensor diverse location only to the power sensitivity of different directions, has only one group of bridge circuit sensitivity when just applying one-dimensional power, other two groups then very insensitive, so just guaranteed that coupling is very little between the sensor dimension.
Three-D small range force sensor of the present invention is simple in structure, and is easy for installation, highly sensitive, and integral rigidity is big, characteristics such as little, the natural frequency height of coupling between dimension, and range is 0-5N, resolution is 1mN.Three-D small range force sensor and signal conditioning circuit, data collecting card, PC and the testing software that writes have so just made up the three-dimensional mechanical test macro.The vertical beam upper surface, center of sensor is stressed position, aspect bionical research, strengthen test area by the vertical beam upper surface organic glass that is rigidly connected, be used to test big tree frog vola contact force, also can measure the contact force of various toys or insect; Also can be used for testing dynamic friction force simultaneously.
Description of drawings
Fig. 1 is the three-D small range force sensor structural front view;
Fig. 2 is a three-D small range force sensor structure left view;
Fig. 3 is a Hui Sideng full bridge measurement circuit;
Fig. 4 is that the mechanical test system constitutes;
Label title among the figure: 1,2 is outside vertical beam, and 3 is horizontal beam, and 4 is the center vertical beam, 5,6,7,8,9 is rectangular through-hole, and 10,11,12,13,14,15,16,17,18,19,20,21 is resistance strain gage, and 22 is fixed pedestal, 23 is screw, 24, stress surface.
Embodiment
As shown in Figure 1 and Figure 2, the one-piece construction of the three-D small range force sensor of the present invention design by
The shape elastic body and
The fixed pedestal of shape is formed, and material is duralumin, hard alumin ium alloy LY12.Elastomer structure is to be made up of elastic body beam 1,2,3,4, and outside vertical beam 1 links to each other with fixed pedestal 22 with 2, and horizontal beam 3 links to each other with outside vertical beam 1,2, and horizontal beam 3 centers are connected with 4, four elastic beams of perpendicular center vertical beam and have formed
The shape structure.Near outside vertical beam 1 and 2 close fixed pedestals 22 an end symmetry has the rectangular through-hole 5 and 6 of Z direction, be pasted with resistance strain gage in 10,11,12,13 positions, constitute first group of Hui Sideng full bridge measurement circuit, when vertical centre beam 4 tops acted on the power of directions X, first group of Hui Sideng full bridge measurement circuit 10,11,12,13 can detect the size of the power of directions X; Horizontal beam 3 has the square type through hole 7 and 8 of Z direction near near symmetry vertical beam 4 axis, center, be pasted with resistance strain gage in 14,15,16,17 positions, constitute second group of Hui Sideng full bridge measurement circuit, when vertical centre beam 4 tops acted on the power of Y direction, second group of Hui Sideng full bridge measurement circuit 14,15,16,17 can detect the size of the power of Y direction; Center vertical beam 4 has the square type through hole 9 of directions X near an end of horizontal beam 3, be pasted with resistance strain gage in 18,19,20,21 positions, constitute the 3rd group of Hui Sideng full bridge measurement circuit, when vertical centre beam 4 tops acted on the power of Z direction, second group of Hui Sideng full bridge measurement circuit 18,19,20,21 can detect the size of the power of Z direction; By a series of screws on the fixed pedestal 22 23 elastic body is fixed on the workbench at last.
The change in resistance of the resistance strain gage on the three-D small force transducer is transformed into the output of change in voltage, according to the variation of resistance strain gage tension, pressurized, adopts strain-type bridge circuit shown in Figure 3.R in the circuit
1, R
2, R
3, R
4Be foil gauge resistance, corresponding relation is R
1, R
4With R
1, R
3Change opposite.
Claims (1)
1, a kind of three-D small range force sensor is characterized in that:
One-piece construction by
Shape elastic body and fixed pedestal are formed, and wherein elastic body comprises center vertical beam (4), two outside vertical beams (1,2) and connects the center vertical beam and the horizontal beam (3) of two outside vertical beams, and two outside vertical beams link to each other with fixed pedestal;
Wherein, near the end the close fixed pedestal of two outside vertical beams (1,2) respectively has the rectangular through-hole (5,6) of Z direction, and two through hole is symmetrical arranged;
Wherein, horizontal beam (3) is near near the rectangular through-hole (7,8) that has the Z direction center vertical beam (4) axis, and two through hole is symmetrical arranged;
Wherein, center vertical beam (4) has the rectangular through-hole (9) of directions X near an end of horizontal beam (3);
Resistance strain gage (10,11,12,13) is posted near the pedestal end in the thin-walled outside of two through holes (5,6) on above-mentioned two outside vertical beams, and totally four foil gauges are formed first group of Hui Sideng full-bridge electric bridge;
The thin-walled outside of two through holes (7,8) on the above-mentioned horizontal beam (3), an end of close outside vertical beam (1,2) posts resistance strain gage (14,15,16,17) respectively, and totally four foil gauges are formed second group of Hui Sideng full-bridge electric bridge;
Resistance strain gage (18,19,20,21) is respectively posted in the thin-walled outside in through hole (9) two ends on the above-mentioned center vertical beam (4), and totally four foil gauges are formed the 3rd group of Hui Sideng full-bridge electric bridge.
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| Application Number | Priority Date | Filing Date | Title |
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| CN200810124424A CN100593697C (en) | 2008-07-04 | 2008-07-04 | Three-dimensional small-measuring range force transducer |
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| CN200810124424A CN100593697C (en) | 2008-07-04 | 2008-07-04 | Three-dimensional small-measuring range force transducer |
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| CN100593697C true CN100593697C (en) | 2010-03-10 |
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130053730A1 (en) * | 2009-10-30 | 2013-02-28 | National University Of Singapore | Miniature Sensor Tip for Medical Devices and Method of Forming the Same |
| CN101975631B (en) * | 2010-09-27 | 2016-01-13 | 南京化工职业技术学院 | Integrated form five ties up micro-power/torque sensor |
| CN102519635B (en) * | 2011-11-30 | 2013-08-14 | 西安交通大学 | Triaxial force sensor with overload protection function |
| CN102589779B (en) * | 2012-02-11 | 2015-04-08 | 东华大学 | Centrifugal device and method for measuring crawling attachment force and gait of insects and small animals |
| CN102589781B (en) * | 2012-02-11 | 2014-04-16 | 东华大学 | Cantilever beam type measuring device of crawling attaching force of insects or small animals and method thereof |
| CN102636300B (en) * | 2012-04-20 | 2013-08-28 | 南宁宇立汽车安全技术研发有限公司 | Multidimensional force sensor |
| CN105424239A (en) * | 2015-12-16 | 2016-03-23 | 浙江海洋学院 | Pi-type two-component sensor |
| CN107144330A (en) * | 2017-05-24 | 2017-09-08 | 深圳市靖洲科技有限公司 | A kind of dynamic electron miniature self-service car weighing apparatus of diplopore cantilever beam foil gauge |
| CN108254118B (en) * | 2018-01-24 | 2023-07-21 | 哈尔滨工业大学（威海） | Device and method for measuring thrust and torque of electric direct-drive propeller for ship |
| CN108534934B (en) * | 2018-04-03 | 2020-02-07 | 丽水学院 | Frogs biting force measuring device |
| CN108981983A (en) * | 2018-06-28 | 2018-12-11 | 武汉科技大学 | Tire-road three-dimensional force measuring sensors |
| CN112305754B (en) * | 2019-07-26 | 2023-07-07 | 成都理想境界科技有限公司 | Scanning actuator, optical fiber scanning device and scanning display equipment |
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| 中国大树蛙足掌吸附结构及其接触力学测试. 王军等.机械制造与自动化，第2期. 2008 |
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