CN101937008A - Bar-beam structure six-axis accelerometer - Google Patents
Bar-beam structure six-axis accelerometer Download PDFInfo
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- CN101937008A CN101937008A CN 201010236989 CN201010236989A CN101937008A CN 101937008 A CN101937008 A CN 101937008A CN 201010236989 CN201010236989 CN 201010236989 CN 201010236989 A CN201010236989 A CN 201010236989A CN 101937008 A CN101937008 A CN 101937008A
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Abstract
The invention discloses a bar-beam structure six-axis accelerometer. The accelerometer is characterized in that uprights are installed on a base and in a circumferential and symmetrical arrangement; a cantilever beam is arranged on each upright; six struts are arranged between each cantilever beam and an inertial mass for supporting; a spring is arranged between each inertial mass and the base to provide a pretightening force, and the magnitude of the pretightening force changes with the length of the spring; and strain gages are pasted to the upside and downside of each cantilever beam to convert the obtained strain deformations generated by the inertia force to output signals. The mechanical model of the invention is simple; the synthesis and decomposition algorithm of the output quantity are easy; the strain capacities generated by linear acceleration and angular acceleration can be matched better and have good isotropy; the invention has compact structure, is convenient to assemble, process and manufacture; and the joints of the struts and the cantilever beams and inertial masses are replaced by tapered-overhang ball heads and a portion of ball sockets, thus the friction force is small.
Description
Technical field
The present invention relates to a kind of acceleration transducer and manufacture and design the field, the bar of particularly a kind of measurement space three-dimensional line acceleration and three dimensional angular acceleration-girder construction six-dimension acceleration sensor.
Background technology
Acceleration transducer divides by measurement coordinate system, can be divided into inertia-type and relative formula two big classes, can be divided into one-dimensional and multi-axis accelerometer by the dimension of measuring, the inertia-type acceleration transducer comes the indirect detection acceleration by measuring the suffered inertial force of mass, it generally is by elastic body, foil gauge (or other elements) and change-over circuit are formed, when having acceleration, elastic body is subjected to the effect of inertial mass inertial force and deforms, and obtains corresponding linear acceleration or angular acceleration by foil gauge or other detecting element and change-over circuit.Three-dimensional (axle) linear acceleration transducer is more both at home and abroad at present, and three-dimensional (axle) angular acceleration transducer research is less; The six-dimension acceleration sensor that can realize three-dimensional line acceleration and three dimensional angular acceleration analysis simultaneously still less.Mainly be that therefore the technological difficulties of exploitation are to find the elastomer structure that is easy to manufacture and design, and linear acceleration and angular acceleration are mated on same sensor because six-dimension acceleration sensor elastomer structure complexity lacks ripe design theory.Though at present some reports about six-dimension acceleration sensor are arranged, such or such shortcoming is all arranged, be difficult for realizing, such as the diesis girder construction, exist isotropy poor, manufacture and design the big deficiency that waits of difficulty.
Summary of the invention
Poor in order to overcome existing six-dimension acceleration sensor isotropy, manufacture and design the big deficiency that waits of difficulty, better mated in same sensor for the measurement that makes linear acceleration and angular acceleration simultaneously, the invention provides a kind of bar-girder construction six-dimension acceleration sensor, this sensor is with bar, beam circumference symmetric arrangement, being combined into degree of freedom with inertial mass is 0 acceleration transducer, and be output as evaluation index design with the theoretical power of each pole, the present invention can make it obtain better matching on the basis that can measure three-dimensional line acceleration and three dimensional angular acceleration, can reach isotropy preferably.
The technical solution adopted for the present invention to solve the technical problems is: column is installed on the base, be the circumference symmetric arrangement, semi-girder is installed on the column, between semi-girder and inertial mass, support by six poles, simultaneously between inertial mass and base, provide pretightning force, change the size of the pretightning force that applies by the length that changes spring by spring.Semi-girder both sides up and down pastes foil gauge, will be owing to the resulting strain of the distortion that inertial force produces is converted to output signal with this.
Advantage of the present invention: mechanical model of the present invention is simple, and output quantity is synthetic and decomposition algorithm is easy, and the dependent variable that linear acceleration and angular acceleration produce can better be mated, and sensitivity, isotropy are good, and compact conformation is easy to assembly, is convenient to processing and manufacturing.The junction of pole and semi-girder, inertial mass replaces with awl end bulb and part ball-and-socket simultaneously, and friction force is little.
Description of drawings
The present invention is further described below in conjunction with accompanying drawing.
Fig. 1 bar-girder construction six-dimension acceleration sensor top component structural synoptic diagram;
Fig. 2 bar-girder construction six-dimension acceleration sensor bottom component structural synoptic diagram;
The explosive view of Fig. 3 part assembling.
In Fig. 1, Fig. 2, Fig. 3,1. inertial mass, 2. pole, 3. semi-girder, 4. column is 5. gone up shackle, and 6. extension spring 7. descends shackle, 8. screw, the ring lock jack panel of 9. rising to the bait 10. descends the shackle set nut, 11. socket head cap screws, 12. pedestals.
Embodiment
Fig. 1 is an embodiment disclosed by the invention, has three groups of positioning tables on pedestal 12, is the circumference symmetric arrangement, every group of positioning table is divided into left positioning table 12-1 and right positioning table 12-2, positioning table need satisfy certain space geometry relation, and three locating surfaces are arranged on it, is respectively A, B, C locating surface.Correspondingly, column also is divided into three groups, and every component is left column 4-1 and right column 4-2, and the corresponding locating surface on the column 4 cooperates with locating surface on the pedestal 12, realizes the location of column 4, realizes the assembling of columns simultaneously with socket head cap screw 11 and screw 8.Semi-girder 3 is implemented in location on the column 4 by corresponding locating surface, and fixing by screw 8.There are 6 part ball-and-sockets inertial mass 1 lower end, the centre of sphere of ball-and-socket also satisfies certain relation on the sphere of inertial mass 1, pole 2 is supported between semi-girder 3 and the inertial mass 1, pole 2 guarantees with the awl end bulb and the ball-and-socket on the inertial mass 1 that are connected by pole 2 of inertial mass 1, the awl end bulb and the hemisphere nest on the semi-girder 3 that are connected by pole 2 between pole 2 and the semi-girder 3 guarantee that the centre of sphere of ball-and-socket is by the center line of semi-girder 3.Between inertial mass 1 and pedestal 12, apply pretightning force with extension spring 6, last shackle 5 is fixed on the inertial mass 1 by thread connection, and it is locked with set nut 9, following shackle 7 is used thread connection with pedestal 12, and locked with set nut 10, by changing the pretightning force that extension spring 6 is regulated in the following position of shackle 7.When treating the measuring acceleration input, inertial mass 1 produces inertial force, is applied on the semi-girder 3 by three groups of poles 2, semi-girder 3 produces flexural deformation, the resistance strain gage that pastes thereon becomes electric signal output with distortion, calculates by decoupling zero, can obtain treating the size and Orientation of measuring acceleration.
The bar of being invented-girder construction six-dimension acceleration sensor can directly apply in the multidimensional acceleration test system, also can be used for fields such as robot, military affairs, satellite navigation system, automobile, control, instrument and meter, earthquake detection, and application prospect is boundless.
Claims (5)
1. bar-girder construction six-dimension acceleration sensor, comprise inertial mass (1), pole (2), semi-girder (3), column (4), last shackle (5), extension spring (6), following shackle (7), screw (8), the ring lock jack panel (9) of rising to the bait, following shackle set nut (10), socket head cap screw (11), pedestal (12), it is characterized in that having on the pedestal (12) three groups of positioning tables, be the circumference symmetric arrangement, every group of positioning table is divided into left positioning table (12-1) and right positioning table (12-2), three locating surfaces are arranged on it, be respectively A, B, the C locating surface, correspondingly, column also is divided into three groups, every component is left column (4-1) and right column (4-2), corresponding locating surface on the column (4) cooperates with locating surface on the pedestal (12), realize the location of column (4), use socket head cap screw (11) and screw (8) to realize the assembling of column simultaneously, semi-girder (3) is implemented in location on the column (4) by corresponding locating surface, and by screw (8) locking, there are 6 part ball-and-sockets inertial mass (1) lower end, the centre of sphere of ball-and-socket also satisfies certain relation on the sphere of inertial mass (1), pole (2) is supported between semi-girder (3) and the inertial mass (1), pole (2) guarantees with the awl end bulb and the ball-and-socket on the inertial mass (1) that are connected by pole (2) of inertial mass (1), the awl end bulb and the hemisphere nest on the semi-girder (3) that are connected by pole (2) between pole (2) and the semi-girder (3) guarantee, the centre of sphere of semi-girder (3) ball-and-socket is by the center line of semi-girder (3), between inertial mass (1) and pedestal (12), apply pretightning force with extension spring (6), last shackle (5) is fixed on the inertial mass (1) by thread connection, and it is locked with set nut (9), following shackle (7) is used thread connection with pedestal (12), and locked with set nut (10), by changing the pretightning force that extension spring (6) are regulated in the following position of shackle (7).
2. bar according to claim 1-girder construction six-dimension acceleration sensor, it is characterized in that the ball-and-socket centre of sphere on the inertial mass (1) is on the outside surface of inertial mass (1), and six centre ofs sphere are in same surface level, and between inertial mass (1) centre of sphere surface level specific range is arranged, and satisfy specific geometric relationship between the ball-and-socket.
3. bar according to claim 1-girder construction six-dimension acceleration sensor, it is characterized in that having on the pedestal (12) three groups of positioning tables, be the circumference symmetric arrangement, every group of positioning table is divided into left positioning table (12-1) and right positioning table (12-2), positioning table need satisfy certain space geometry relation, each locating surface has specific locus requirement, and column (4) guarantees by three locating surfaces with the location of pedestal (12), and is screwed.
4. bar according to claim 1-girder construction six-dimension acceleration sensor is characterized in that column (4) is the connector of semi-girder (3) and pedestal (12), and its locating surface should guarantee that the axis of semi-girder (3) is a level, and vertical with the axis (2) of pole.
5. bar according to claim 1-girder construction six-dimension acceleration sensor, it is characterized in that pretightning force is guaranteed by extension spring (6), and prestressed size is regulated by following shackle (7), following shackle (7) is connected with pedestal (12) by screw thread, and reaching under the prestressed condition, by set nut (10) locking, guarantee the constant of prestress value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010236989 CN101937008A (en) | 2010-07-23 | 2010-07-23 | Bar-beam structure six-axis accelerometer |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201010236989 CN101937008A (en) | 2010-07-23 | 2010-07-23 | Bar-beam structure six-axis accelerometer |
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| CN101937008A true CN101937008A (en) | 2011-01-05 |
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| CN 201010236989 Pending CN101937008A (en) | 2010-07-23 | 2010-07-23 | Bar-beam structure six-axis accelerometer |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106526233A (en) * | 2016-11-30 | 2017-03-22 | 中山市晶威电子科技有限公司 | Acceleration sensor |
| CN106980033A (en) * | 2017-04-06 | 2017-07-25 | 北京林业大学 | A kind of sensor branch structure based on Steward platforms |
| CN108693382A (en) * | 2018-04-28 | 2018-10-23 | 北京林业大学 | A kind of parallel-connection type six-dimension acceleration transducer |
| CN109444468A (en) * | 2018-11-27 | 2019-03-08 | 中国地质大学（武汉） | A kind of six-dimension acceleration sensor based on micro-displacement parallel institution |
| CN109580989A (en) * | 2019-01-17 | 2019-04-05 | 北京林业大学 | A kind of acceleration transducer elastomer |
| CN109580988A (en) * | 2019-01-17 | 2019-04-05 | 北京林业大学 | A kind of acceleration transducer |
| CN110018329A (en) * | 2019-04-12 | 2019-07-16 | 山东科技大学 | Bullet optical fiber acceleration sensor system |
| CN111412951A (en) * | 2020-04-14 | 2020-07-14 | 大连理工大学 | Sensor for monitoring vibration fatigue load of mechanical part in real time under impact load and design method |
| CN114720039A (en) * | 2022-06-02 | 2022-07-08 | 四川升拓检测技术股份有限公司 | Method for measuring effective prestress under anchor of finish rolling deformed steel bar |
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| US5901936A (en) * | 1997-08-25 | 1999-05-11 | Sandia Corporation | Six-degree-of-freedom multi-axes positioning apparatus |
| CN101034096A (en) * | 2007-04-17 | 2007-09-12 | 燕山大学 | Six dimensional RSS acceleration transducer |
| CN101038222A (en) * | 2007-02-07 | 2007-09-19 | 燕山大学 | Upper and lower prefastening parallel connection structure six-dimensional force sensor |
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2010
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| US5901936A (en) * | 1997-08-25 | 1999-05-11 | Sandia Corporation | Six-degree-of-freedom multi-axes positioning apparatus |
| CN101038222A (en) * | 2007-02-07 | 2007-09-19 | 燕山大学 | Upper and lower prefastening parallel connection structure six-dimensional force sensor |
| CN101034096A (en) * | 2007-04-17 | 2007-09-12 | 燕山大学 | Six dimensional RSS acceleration transducer |
| CN101329208A (en) * | 2008-07-02 | 2008-12-24 | 燕山大学 | Six-dimensional force sensor of integral pre-tightening double-layer top and bottom asymmetry eight-rod parallel connection structure |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106526233A (en) * | 2016-11-30 | 2017-03-22 | 中山市晶威电子科技有限公司 | Acceleration sensor |
| CN106526233B (en) * | 2016-11-30 | 2023-04-21 | 中山市晶威电子科技有限公司 | Acceleration sensor |
| CN106980033A (en) * | 2017-04-06 | 2017-07-25 | 北京林业大学 | A kind of sensor branch structure based on Steward platforms |
| CN106980033B (en) * | 2017-04-06 | 2023-05-02 | 北京林业大学 | Sensor branch structure based on Stewart platform |
| CN108693382A (en) * | 2018-04-28 | 2018-10-23 | 北京林业大学 | A kind of parallel-connection type six-dimension acceleration transducer |
| CN108693382B (en) * | 2018-04-28 | 2020-05-15 | 北京林业大学 | Parallel six-dimensional acceleration sensor |
| CN109444468B (en) * | 2018-11-27 | 2020-08-07 | 中国地质大学（武汉） | Six-dimensional acceleration sensor based on micro-displacement parallel mechanism |
| CN109444468A (en) * | 2018-11-27 | 2019-03-08 | 中国地质大学（武汉） | A kind of six-dimension acceleration sensor based on micro-displacement parallel institution |
| CN109580989A (en) * | 2019-01-17 | 2019-04-05 | 北京林业大学 | A kind of acceleration transducer elastomer |
| CN109580988A (en) * | 2019-01-17 | 2019-04-05 | 北京林业大学 | A kind of acceleration transducer |
| CN109580988B (en) * | 2019-01-17 | 2023-07-18 | 北京林业大学 | Acceleration sensor |
| CN109580989B (en) * | 2019-01-17 | 2023-07-18 | 北京林业大学 | Acceleration sensor elastomer |
| CN110018329A (en) * | 2019-04-12 | 2019-07-16 | 山东科技大学 | Bullet optical fiber acceleration sensor system |
| CN111412951A (en) * | 2020-04-14 | 2020-07-14 | 大连理工大学 | Sensor for monitoring vibration fatigue load of mechanical part in real time under impact load and design method |
| CN111412951B (en) * | 2020-04-14 | 2021-05-07 | 大连理工大学 | Sensor for monitoring vibration fatigue load of mechanical part in real time under impact load and design method |
| CN114720039A (en) * | 2022-06-02 | 2022-07-08 | 四川升拓检测技术股份有限公司 | Method for measuring effective prestress under anchor of finish rolling deformed steel bar |
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Open date: 20110105 |