CN102636297A - Three-dimensional force sensor - Google Patents
Three-dimensional force sensor Download PDFInfo
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- CN102636297A CN102636297A CN2012101176543A CN201210117654A CN102636297A CN 102636297 A CN102636297 A CN 102636297A CN 2012101176543 A CN2012101176543 A CN 2012101176543A CN 201210117654 A CN201210117654 A CN 201210117654A CN 102636297 A CN102636297 A CN 102636297A
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Abstract
The invention relates to a three-dimensional force sensor which comprises a sensor body, a groove is arranged in the middle of the top of the sensor body, a force measurement platform is arranged in the groove, four vertical through holes with same dimension are evenly distributed at the bottom of the groove; a vertical adjusting screw is arranged at the lower part of each vertical through hole in a matching manner, a vertical one-dimensional force sensor and a vertical steel ball are further arranged in a vertical thread hole, a bottom surface positioning blind hole is arranged at the bottom surface of the force measurement platform corresponding to each vertical steel ball, and most part of each vertical steel ball is correspondingly arranged in the bottom surface positioning blind hole; more than four horizontal through holes are evenly distributed on the side wall of the groove; and a horizontal adjusting screw is arranged at the outer end of each horizontal through hole in a matching manner, a horizontal one-dimensional force sensor and a horizontal steel ball are further arranged in the horizontal through hole in sequence, a side positioning blind hole is arranged on the side surface of the force measurement platform corresponding to each horizontal steel ball, and most part of the horizontal steel ball is correspondingly positioned in the side positioning blind hole. The three-dimensional force sensor is combined by 12 common one-dimensional force sensors, so that the structure is simple, and the requirement on the manufacturing technology is low.
Description
Technical field
The invention belongs to the multidimensional force measurement technical field, be specifically related to a kind of three-dimensional force sensor.
Background technology
A universal phenomenon when coupling is multi-dimension force sensor measurement multidimensional power between dimension, coupling can reduce measuring accuracy between dimension; Coupling refers to multi-dimension force sensor when measuring the acting force of some directions between dimension, and signal output is not only arranged on the direction of this power, and on the direction vertical with this power, also can produce unnecessary signal output, thereby produces measuring error.
At present; The three-dimensional force multi-dimension force sensor that generally uses based on resistance strain gage; Need the different azimuth (sensitive part) on sensor base paste several resistance strain gages, the distortion of measuring foil gauge position on the sensor base through each foil gauge calculates the suffered power of sensor again.Because the existence of coupling phenomenon between dimension, three-dimensional force sensor need use complicated decoupling technology, just can reduce coupling error, obtains result comparatively accurately.Coupling is a complicated nonlinear problem, and receives factor affecting such as sensor processing and mount technology, full decoupledly possibly accomplish hardly; Therefore, three-dimensional force sensor general very technical professional do, and complex manufacturing technology, and cost is higher.The patent No. is to disclose a kind of air-flotation type multidimensional force measurement method in 200810019550.2 " air-flotation type multi-dimension force sensor and multidimensional force measurement method "; Its principle is with 16 air supporting nozzles kickboard to be floated fully; Gaseous tension through measuring privileged site in the air supporting nozzle converses the buoyancy that nozzle receives, and then calculates the acting force that receives on the kickboard.The air flotation force measuring sensor can be avoided coupling between dimension, but structure is comparatively complicated, and cost is higher.In the practical work,, hope to have a kind of simple in structure, three-dimensional force sensor that cost is lower, simple for production in the for example measurement etc. of human body strength of one's legs of the less demanding occasion of some measuring accuracy.
Summary of the invention
In order to solve the for example problems such as measurement of human body strength of one's legs of the less demanding occasion of some measuring accuracy, the present invention provides a kind of simple in structure, three-dimensional force sensor that cost is lower, simple for production.
Three-dimensional force sensor of the present invention comprises cubical sensor body, and sensor body end face middle part is provided with groove, is provided with force plate/platform in the groove; The bottom portion of groove of sensor body is uniformly distributed with and offers four measure-alike vertical through hole, and the axis of four vertical through hole is parallel to each other, and perpendicular to square indentations; The bottom of said vertical through hole is a perpendicular screwed hole; Cooperate with perpendicular screwed hole and to be provided with vertical adjustment screw; Upwards be provided with vertical one-dimensional force transducer and vertical steel ball successively in the perpendicular screwed hole on the top of said every vertical adjustment screw; Offer location, bottom surface blind hole with every corresponding force plate/platform bottom surface of vertical steel ball, most of correspondence of every vertical steel ball is positioned at location, corresponding bottom surface blind hole; Be uniformly distributed with the horizontal through hole that offers more than four on the sidewall of said groove, the axis of the horizontal through hole more than four is in same plane, and is and perpendicular with four vertical through hole; The outer end of each horizontal through hole is horizontal threaded hole; Cooperate with horizontal threaded hole and to be provided with the horizontal adjustment screw; The inner of said horizontal adjustment screw is provided with level one dimensional force sensor and horizontal steel ball successively; Offer side location blind hole with every corresponding force plate/platform side of horizontal steel ball, most of correspondence of every horizontal steel ball is positioned at corresponding side location blind hole;
The somewhat larger in diameter of said each location, bottom surface blind hole is in the diameter of vertical steel ball, and the degree of depth is greater than the radius of vertical steel ball, less than the diameter of vertical steel ball; The diameter of location, four bottom surfaces blind hole is identical with the degree of depth;
The somewhat larger in diameter of said side location blind hole is in the diameter of horizontal steel ball, and the degree of depth is greater than the radius of horizontal steel ball, less than the diameter of horizontal steel ball; The diameter and the degree of depth of locating blind hole with the corresponding side of horizontal steel ball more than four are identical.
Said sensor body end face middle part is provided with square indentations, is provided with cuboidal force plate/platform in the square indentations; Be uniformly distributed with on each sidewall in the square indentations and offer two horizontal through hole.
Said vertical one-dimensional force transducer is identical with level one dimensional force sensor, is resistance-type force cell or inductance type force cell or condenser type force cell or piezoelectric type force cell.
Three-dimensional force of the present invention refers to orthogonal three power, promptly along the power of three change in coordinate axis direction of certain rectangular coordinate system in space.
Good effect of the present invention is: be combined into three-dimensional force sensor with 12 common dimensional force sensors, and simple in structure, require low to manufacturing technology.It is less to be coupled between dimension when measuring three-dimensional force, because a dimensional force sensor can reach very high precision, thereby the present invention can obtain degree of precision when measuring three-dimensional force.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is the B-B cut-open view of Fig. 1.
Sequence number among the last figure: sensor body 1, force plate/platform 2, square indentations 3, vertically adjust screw 11, vertical one-dimensional force transducer 12, vertical steel ball 13, location, bottom surface blind hole 14, vertical through hole 15, horizontal adjustment screw 21, level one dimensional force sensor 22, horizontal steel ball 23, side location blind hole 24, horizontal through hole 25.
Embodiment
Below in conjunction with accompanying drawing, the present invention is done to describe further through embodiment.
Embodiment:
Referring to Fig. 1, a kind of three-dimensional force sensor comprises cubical sensor body 1, and sensor body 1 end face middle part offers square indentations 3, is provided with force plate/platform 2 in the square indentations 3.Referring to Fig. 2, square indentations 3 bottoms of sensor body 1 are uniformly distributed with the axis that offers measure-alike 15, four vertical through hole 15 of four vertical through hole and are parallel to each other, and perpendicular to square indentations 3; The bottom of vertical through hole 15 is a perpendicular screwed hole; Cooperate with perpendicular screwed hole vertical adjustment screw 11 is housed; Upwards be provided with vertical one-dimensional force transducer 12 and vertical steel ball 13 successively in the perpendicular screwed hole on the top of every vertical adjustment screw 11; Offer location, bottom surface blind hole 14 with every corresponding force plate/platform bottom surface of vertical steel ball, most of correspondence of every vertical steel ball 13 is positioned at location, corresponding bottom surface blind hole 14.Be uniformly distributed with on every side inwall of square indentations 3 offer 25, eight horizontal through hole 25 of two horizontal through hole axis in same plane, and perpendicular with four vertical through hole 15; The outer end of each horizontal through hole 25 is horizontal threaded hole; Cooperate with horizontal threaded hole horizontal adjustment screw 21 is housed; The inner of horizontal adjustment screw 21 is equipped with level one dimensional force sensor 22 and horizontal steel ball 23 successively; Offer side location blind hole 24 with every horizontal steel ball 23 corresponding force plate/platform sides, most of correspondence of every horizontal steel ball 23 is positioned at corresponding side location blind hole 24.
The somewhat larger in diameter of side location blind hole 24 is in the diameter of horizontal steel ball 23, and the degree of depth is greater than the radius of horizontal steel ball 23; The diameter and the degree of depth of locating blind hole 24 with eight horizontal steel ball 23 corresponding sides are identical.
Vertical one-dimensional force transducer 12 is identical with level one dimensional force sensor 22, is the resistance-type force cell.Also can adopt inductance type force cell or condenser type force cell or piezoelectric type force cell.
During work; Horizontal level is adjusted on the surface of force plate/platform 2; All reliably contact in order to ensure between each vertical one-dimensional force transducer and level one dimensional force sensor and the force plate/platform 2, can adjust each level one dimensional force sensor and make it reach certain preset initial snap-in force over against force plate/platform 2 sides; Adjustment equates the suffered pressure of each sensor over against 4 vertical one-dimensional force transducers of force plate/platform 2 bottom surfaces.
In the three-dimensional force sensor that said mechanism is formed; Dimensional force sensor dynamometry direction over against two adjacently situated surfaces of force plate/platform 2 is mutually orthogonal; The dynamometry direction of 12 one dimensional force sensors is respectively along three orthogonal directions; Can make up a rectangular coordinate system in space with these three orthogonal directions, for example: in Fig. 1 and Fig. 2, the three-dimensional cartesian coordinate system of establishing structure is O-X-Y-Z; Wherein the XOY coordinate surface be arranged on force plate/platform 2 planes at the centre of sphere place of 8 horizontal steel balls 23 on four sides all around; The X axle is vertical with force plate/platform 2 front and back sides, and the Y axle is vertical with force plate/platform 2 left and right sides, and Z axle and force plate/platform 2 Surface Vertical also make progress through the geometric centers on force plate/platform 2 surfaces; When external force acts on 2 last times of force plate/platform; According to the resolution of force principle, the external force that acts on the force plate/platform 2 can resolve into along three component of 3-D walls and floor X, Y, Z direction, and these three component can be disposed in force plate/platform 2 sides and a following dimensional force sensor is measured.Because the force of rolling friction between steel ball and the contact plane is very little, when steel ball transmitted normal pressure, friction force was very little to the influence of the component generation of other direction, and therefore coupling is little between dimension, and measuring accuracy is high.
During dynamometry, on worktable, do not have external force to do the time spent, the reading value of each dimensional force sensor of this moment is set to zero; When acting on an external force on the worktable; The algebraic sum that is arranged in the reading of four vertical one-dimensional force transducers 12 below the force plate/platform 2 be on the worktable external force along the component of Z-direction; The algebraic sum of reading that is arranged in four level one dimensional force sensors 22 of force plate/platform 2 front-back both sides be on the worktable external force along the component of X-direction, the algebraic sum of reading that is arranged in four level one dimensional force sensors 22 of force plate/platform about 2 face both sides be on the worktable external force along the component of Y direction.
Claims (3)
1. a three-dimensional force sensor is characterized in that: comprise cubical sensor body, be provided with groove in the middle part of the sensor body end face, be provided with force plate/platform in the groove; The bottom portion of groove of sensor body is uniformly distributed with and offers four measure-alike vertical through hole, and the axis of four vertical through hole is parallel to each other, and perpendicular to square indentations; The bottom of said vertical through hole is a perpendicular screwed hole; Cooperate with perpendicular screwed hole and to be provided with vertical adjustment screw; Upwards be provided with vertical one-dimensional force transducer and vertical steel ball successively in the perpendicular screwed hole on the top of said every vertical adjustment screw; Offer location, bottom surface blind hole with every corresponding force plate/platform bottom surface of vertical steel ball, most of correspondence of every vertical steel ball is positioned at location, corresponding bottom surface blind hole; Be uniformly distributed with the horizontal through hole that offers more than four on the sidewall of said groove, the axis of the horizontal through hole more than four is in same plane, and is and perpendicular with four vertical through hole; The outer end of each horizontal through hole is horizontal threaded hole; Cooperate with horizontal threaded hole and to be provided with the horizontal adjustment screw; The inner of said horizontal adjustment screw is provided with level one dimensional force sensor and horizontal steel ball successively; Offer side location blind hole with every corresponding force plate/platform side of horizontal steel ball, most of correspondence of every horizontal steel ball is positioned at corresponding side location blind hole;
The somewhat larger in diameter of said each location, bottom surface blind hole is in the diameter of vertical steel ball, and the degree of depth is greater than the radius of vertical steel ball, less than the diameter of vertical steel ball; The diameter of location, four bottom surfaces blind hole is identical with the degree of depth;
The somewhat larger in diameter of said side location blind hole is in the diameter of horizontal steel ball, and the degree of depth is greater than the radius of horizontal steel ball, less than the diameter of horizontal steel ball; The diameter and the degree of depth of locating blind hole with the corresponding side of horizontal steel ball more than four are identical.
2. a kind of three-dimensional force sensor according to claim 1 is characterized in that: said sensor body end face middle part is provided with square indentations, is provided with cuboidal force plate/platform in the square indentations; Be uniformly distributed with on each sidewall in the square indentations and offer two horizontal through hole.
3. a kind of three-dimensional force sensor according to claim 1; It is characterized in that: said vertical one-dimensional force transducer is identical with level one dimensional force sensor, is resistance-type force cell or inductance type force cell or condenser type force cell or piezoelectric type force cell.
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| CN 201210117654 CN102636297B (en) | 2012-04-20 | 2012-04-20 | Three-dimensional force sensor |
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| CN 201210117654 CN102636297B (en) | 2012-04-20 | 2012-04-20 | Three-dimensional force sensor |
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| CN102636297B CN102636297B (en) | 2013-08-07 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103267602A (en) * | 2013-05-19 | 2013-08-28 | 吉林大学 | Flat plate type six-component force-measuring platform device |
| CN105352634A (en) * | 2015-12-02 | 2016-02-24 | 中国工程物理研究院电子工程研究所 | Integrated piezoelectric type universal impact sensor and manufacture method for piezoelectric sensing member |
| CN105372002A (en) * | 2015-11-25 | 2016-03-02 | 燕山大学 | Orthogonal self-calibration branch double-ball decoupling six-dimensional force measuring platform |
| CN105452829A (en) * | 2013-08-19 | 2016-03-30 | 陶瓷技术有限责任公司 | Pressure sensor for detecting force |
| CN106124310A (en) * | 2016-08-29 | 2016-11-16 | 无锡市海航电液伺服系统股份有限公司 | Combined load measurement apparatus |
| CN106595936A (en) * | 2016-12-30 | 2017-04-26 | 北京盘天新技术有限公司 | Three-dimensional combination force measuring device |
| CN106840692A (en) * | 2016-12-30 | 2017-06-13 | 北京盘天新技术有限公司 | A kind of highway integrated detection system |
| CN108096809A (en) * | 2017-12-22 | 2018-06-01 | 北京工业大学 | Taiji push hands training two-dimensional force measurement platform |
| CN108225622A (en) * | 2017-12-25 | 2018-06-29 | 广州中国科学院工业技术研究院 | A kind of three-dimensional force sensor |
| CN109470385A (en) * | 2017-06-27 | 2019-03-15 | 意法半导体股份有限公司 | Multi-axis force transducer, the method for manufacturing multi-axis force transducer and the method for operating multi-axis force transducer |
| CN110617871A (en) * | 2019-09-11 | 2019-12-27 | 广东韶钢工程技术有限公司 | CZL-YB-730T weighing sensor connecting device and mounting method thereof |
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| CN101943617A (en) * | 2009-07-02 | 2011-01-12 | 霍尼韦尔国际公司 | Force transducer equipment |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103267602A (en) * | 2013-05-19 | 2013-08-28 | 吉林大学 | Flat plate type six-component force-measuring platform device |
| CN105452829B (en) * | 2013-08-19 | 2019-06-18 | 陶瓷技术有限责任公司 | Pressure sensor for power detection |
| CN105452829A (en) * | 2013-08-19 | 2016-03-30 | 陶瓷技术有限责任公司 | Pressure sensor for detecting force |
| CN105372002B (en) * | 2015-11-25 | 2018-01-23 | 燕山大学 | The double ball decoupling six-dimension force plate/platforms of orthogonal self-calibration branch |
| CN105372002A (en) * | 2015-11-25 | 2016-03-02 | 燕山大学 | Orthogonal self-calibration branch double-ball decoupling six-dimensional force measuring platform |
| CN105352634B (en) * | 2015-12-02 | 2018-05-08 | 中国工程物理研究院电子工程研究所 | A kind of manufacture method of the universal shock transducer of integrated piezoelectric formula and its piezoelectric sensing element |
| CN105352634A (en) * | 2015-12-02 | 2016-02-24 | 中国工程物理研究院电子工程研究所 | Integrated piezoelectric type universal impact sensor and manufacture method for piezoelectric sensing member |
| CN106124310A (en) * | 2016-08-29 | 2016-11-16 | 无锡市海航电液伺服系统股份有限公司 | Combined load measurement apparatus |
| CN106124310B (en) * | 2016-08-29 | 2019-08-23 | 无锡市海航电液伺服系统股份有限公司 | Combined load measuring device |
| CN106840692A (en) * | 2016-12-30 | 2017-06-13 | 北京盘天新技术有限公司 | A kind of highway integrated detection system |
| CN106595936A (en) * | 2016-12-30 | 2017-04-26 | 北京盘天新技术有限公司 | Three-dimensional combination force measuring device |
| CN109470385A (en) * | 2017-06-27 | 2019-03-15 | 意法半导体股份有限公司 | Multi-axis force transducer, the method for manufacturing multi-axis force transducer and the method for operating multi-axis force transducer |
| US11137299B2 (en) | 2017-06-27 | 2021-10-05 | Stmicroelectronics S.R.L. | Multi-axial force sensor including piezoresistive groups, method of manufacturing the multi-axial force sensor, and method for operating the multi-axial force sensor |
| CN108096809A (en) * | 2017-12-22 | 2018-06-01 | 北京工业大学 | Taiji push hands training two-dimensional force measurement platform |
| CN108225622A (en) * | 2017-12-25 | 2018-06-29 | 广州中国科学院工业技术研究院 | A kind of three-dimensional force sensor |
| CN110617871A (en) * | 2019-09-11 | 2019-12-27 | 广东韶钢工程技术有限公司 | CZL-YB-730T weighing sensor connecting device and mounting method thereof |
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