CN102636300B - Multidimensional force sensor - Google Patents
Multidimensional force sensor Download PDFInfo
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- CN102636300B CN102636300B CN 201210118203 CN201210118203A CN102636300B CN 102636300 B CN102636300 B CN 102636300B CN 201210118203 CN201210118203 CN 201210118203 CN 201210118203 A CN201210118203 A CN 201210118203A CN 102636300 B CN102636300 B CN 102636300B
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- elastic body
- convex platform
- force sensor
- lower cover
- dimension force
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Abstract
The invention discloses a multidimensional force sensor, which is mainly composed of an elastomer, an upper cover and a lower cover, wherein a strain gauge is attached on the elastomer; the elastomer is positioned between the upper cover and the lower cover; an upper boss is arranged at a contacting part between the upper cover and the elastomer; a lower boss is arranged at the contacting part between the lower cover and the elastomer; and the elastomer, the upper cover and the lower cover are connected by screws. The multidimensional force sensor has a simple and compact structure and is convenient to assemble, and force and the acting point measurement of the force can be favorably satisfied.
Description
Technical field
The present invention relates to sensor technical field, relate in particular to a kind of multi-dimension force sensor.
Background technology
Multi-dimension force sensor has good application in fields such as Aero-Space, automobile, robot, automation equipment, medicine equipment, sports equipments.Existing multi-dimension force sensor is comparatively thick and heavy mostly, can't use the field of physical construction thickness requirement harshness at some.As the bionic walking robot, need the centre of gravity place of a multi-dimension force sensor robot measurement under each attitude is being installed at the bottom of the robot foot, but be difficult at present to find enough thin multi-dimension force sensors of gauge, directly influenced the development of such Robotics.
Summary of the invention
Technical matters to be solved by this invention is to propose a kind of multi-dimension force sensor, and it is simple in structure, and is easy to assembly.
The present invention solves the problems of the technologies described above with following technical scheme:
A kind of multi-dimension force sensor comprises elastic body, loam cake and lower cover; Post strainometer on the described elastic body; Connect by screw between described elastic body, loam cake and the lower cover three; Described elastic body is between loam cake and lower cover, and there is convex platform in the place that loam cake contacts with elastic body, and there is lower convex platform in the place that lower cover contacts with elastic body.
Be covered with convex platform on described, loam cake and elastic body are contacted with this convex platform.
Described elastic body also can be provided with convex platform, and loam cake and elastic body are contacted with this convex platform.
Described loam cake contacts the convex platform of part with elastic body, also can be an independently part.
Be covered with lower convex platform under described, lower cover and elastic body are contacted with this lower convex platform.
Described elastic body also can be provided with lower convex platform, and lower cover and elastic body are contacted with this lower convex platform.
Described lower cover contacts the lower convex platform of part with elastic body, also can be an independently part.
Described elastic body is made of left part, middle part and right part, and left part is connected by two thin walled beams with the middle part, and right part is connected by two thin walled beams with the middle part, and strainometer is affixed on the surface of thin walled beam, and every thin walled beam posts a strainometer at least.
Be covered with a big groove under described, the shape of big groove, size and elastic body are complementary, and elastic body is installed in the big groove.
Be covered with cableway on described, sensor cable passes the cable protective sleeve that places on the cableway and is connected with outside the realization.
The multi-dimension force sensor that the embodiment of the invention provides, simple and compact for structure, easy to assembly.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, accompanying drawing in describing below only is one embodiment of the present of invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the general structure synoptic diagram of a kind of multi-dimension force sensor provided by the invention;
Fig. 2 is the elastomer structure synoptic diagram of a kind of multi-dimension force sensor provided by the invention;
Fig. 3 is that the strainometer of a kind of multi-dimension force sensor provided by the invention mounts synoptic diagram;
Fig. 4 is the Strain Meter Set bridging line chart of a kind of multi-dimension force sensor provided by the invention;
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is one embodiment of the present of invention, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that obtains under the creative work prerequisite.
The multi-dimension force sensor that the embodiment of the invention provides comprises elastic body, loam cake and lower cover; Connect by screw between described elastic body, loam cake and the lower cover three; Described elastic body is between loam cake and lower cover, and there is convex platform in the place that loam cake contacts with elastic body, and there is lower convex platform in the place that lower cover contacts with elastic body.Described elastic body is made of left part, middle part and right part, and left part is connected by two thin walled beams with the middle part, and right part is connected by two thin walled beams with the middle part, and strainometer is affixed on the surface of thin walled beam, and every thin walled beam pastes a strainometer at least.The multi-dimension force sensor that the embodiment of the invention provides, simple and compact for structure, easy to assembly.
When multi-dimension force sensor was stressed, loam cake was delivered to elastomeric middle part by convex platform with power, and lower cover is delivered to elastomeric left part and right part by lower convex platform with power, made elastomeric thin walled beam produce strain, and strainometer converts strain to electric signal output.
Need to prove, the convex platform between described loam cake and the elastic body, be located at loam cake or be located at elastic body or loam cake and elastic body on boss or convex platform are arranged is individual part.Lower convex platform between described lower cover and the elastic body, be located at lower cover be located at elastic body or lower cover and elastic body on boss or lower convex platform are arranged is individual part.
Need to prove that also the group bridge mode of strainometer can adopt the group bridge mode of full-bridge (upper and lower two faces that are every thin walled beam paste two strainometers), half-bridge (being above the thin walled beam or two strainometers of following subsides) or 1/4 bridge (being to paste a strainometer on every thin walled beam).
Below in conjunction with Fig. 1 to Fig. 4, a preferred embodiment of the present invention is elaborated.
One preferred embodiment in, as shown in Figure 1, multi-dimension force sensor comprises elastic body 1, loam cake 3 and lower cover 2; Elastic body 1, loam cake 3 and lower cover 2 threes are connected by screw 4, and elastic body 1 is between loam cake 3 and lower cover 2; There is convex platform 8 in the place that elastic body 1 contacts with loam cake 3, and there is lower convex platform 11 in the place that elastic body 1 contacts with lower cover 2.
Preferably, as shown in Figure 1, loam cake 3 is provided with convex platform 8, screw hole 9 and cableway 10, and sensor cable 6 passes the cable protective sleeve 5 that places on the cableway 10 and is connected with outside the realization.Lower cover 2 is provided with big groove 7, and the shape of big groove 7, size and elastic body 1 are complementary, and the two ends of big groove 7 are provided with the lower convex platform 11 that contacts with elastic body, and lower cover 2 also is provided with screw hole 12.Elastic body 1 is installed in the big groove 7 by screw, and the middle part of elastic body 1 contacts with the convex platform of loam cake 8, and elastomeric left part contacts with the lower convex platform 11 at big groove two ends respectively with right part.
As shown in Figure 2, elastic body 1 is made of left part 21, middle part 22 and right part 23, and left part 21 is connected by two thin walled beams 24 with middle part 22, and right part 23 is connected by two thin walled beams 24 with middle part 22.Strainometer 25 is affixed on four thin walled beams 24 of elastic body 1, and when elastic body 1 was stressed, strain mainly concentrated on these four thin walled beams 24.Elastic body 1 dual-side has along the position and connects screw hole 27 on several, and two ends are provided with the following screw hole 28 that connects that is connected with lower cover 2, and two ends are reserved with pilot hole 29.Screw 4 passes screw hole 9 and screw hole 27 and realizes being connected of loam cakes 3 and elastic body 1, and screw 4 passes being connected of screw hole 12 and screw hole 28 realization lower covers 2 and elastic body 1.Simultaneously, elastic body 1 also is provided with trough 26, is used for putting electric wire, and trough 26 also can be located on the loam cake 3 as required.
As shown in Figure 4, the embodiment of the invention adopts the half-bridge form to carry out the Strain Meter Set bridge, is made up of eight strainometers altogether.Resistance R 9 and R10 (available strainometer replacement) are affixed on position shown in Figure 3 or big, the indeformable position of other rigidity.Strainometer 25 (is R1～R8) be divided into four groups to stick on respectively on four thin walled beams 24, as shown in Figure 3.Four groups of strainometer R1～R8 form bridge circuit shown in Figure 4 with bridge circuit dummy strain gauge R9, R10 respectively.As shown in Figure 4, when the stressed generation strain of elastic body 1, bridge circuit dummy strain gauge R9 and R10 resistance do not change, and R1, R2 change in resistance Δ R1, Δ R2 are converted into voltage signal CH1; R3, R4 change in resistance Δ R3, Δ R4 are converted into voltage signal CH2; R5, R6 change in resistance Δ R5, Δ R6 are converted into voltage signal CH3; R7, R8 change in resistance Δ R7, Δ R8 are converted into voltage signal CH4.According to four voltage output signal CH1, CH2, CH3, CH4, if adopt as shown in Figure 4 coordinate system, then can calculate X, the Y coordinate of the application point of the stressed FZ of Z direction and power by following formula.Behind the coordinate system transformation, following formula respective change then.
FZ＝C?1*(CH?1+CH2+CH3+CH4)
X＝C2*(CH1+CH2-CH3-CH4)/(FZ/C1)
Y＝C3*(CH2+CH4-CH1-CH3)/(FZ/C1)
Wherein, C1, C2, C3 are the calibration coefficients of sensor, are obtained by transducer calibration.
Need to prove, to the calculating of above-mentioned formula, can realize by microprocessor, perhaps add specific circuit at sensor internal and realize.
A kind of multi-dimension force sensor of the present invention, simple and compact for structure, easy to assembly, satisfied the measurement of power and application point thereof well.
The multi-dimension force sensor that the embodiment of the invention provides, beneficial effect specific as follows:
(1), simple and compact for structure, easy to assembly, the thin thickness of multi-dimension force sensor that provides of the embodiment of the invention, minimum thickness can reach 5 millimeters.
(2), the multi-dimension force sensor that provides of the embodiment of the invention, the coordinate of the application point of ergometry and power simultaneously.
The above is preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also are considered as protection scope of the present invention.
Claims (9)
1. a multi-dimension force sensor is characterized in that, comprises elastic body, loam cake and lower cover;
Described elastic body is made of left part, middle part and right part, and left part is connected by two thin walled beams with the middle part, and right part is connected by two thin walled beams with the middle part, and strainometer is affixed on the surface of thin walled beam, and every thin walled beam posts a strainometer at least;
Connect by screw between described elastic body, loam cake and the lower cover three;
Described elastic body is between loam cake and lower cover, and there is convex platform in the place that loam cake contacts with elastic body, and there is lower convex platform in the place that lower cover contacts with elastic body.
2. multi-dimension force sensor as claimed in claim 1 is characterized in that, is covered with convex platform on described, and loam cake and elastic body are contacted with this convex platform.
3. multi-dimension force sensor as claimed in claim 1 is characterized in that, described elastic body is provided with convex platform, and loam cake and elastic body are contacted with this convex platform.
4. multi-dimension force sensor as claimed in claim 1 is characterized in that, described loam cake contacts the convex platform of part with elastic body, is an independently part.
5. multi-dimension force sensor as claimed in claim 1 is characterized in that, is covered with lower convex platform under described, and lower cover and elastic body are contacted with this lower convex platform.
6. multi-dimension force sensor as claimed in claim 1 is characterized in that, described elastic body is provided with lower convex platform, and lower cover and elastic body are contacted with this lower convex platform.
7. multi-dimension force sensor as claimed in claim 1 is characterized in that, described lower cover contacts the lower convex platform of part with elastic body, is an independently part.
8. multi-dimension force sensor as claimed in claim 1 is characterized in that, is covered with a big groove under described, and the shape of big groove, size and elastic body are complementary, and elastic body is installed in the big groove.
9. multi-dimension force sensor as claimed in claim 1 is characterized in that, is covered with cableway on described, and sensor cable passes the cable protective sleeve that places on the cableway and is connected with outside the realization.
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| CN 201210118203 CN102636300B (en) | 2012-04-20 | 2012-04-20 | Multidimensional force sensor |
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| CN 201210118203 CN102636300B (en) | 2012-04-20 | 2012-04-20 | Multidimensional force sensor |
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| CN102636300B true CN102636300B (en) | 2013-08-28 |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2598504A1 (en) * | 1986-05-12 | 1987-11-13 | Lafond Serge | DEFORMATION GAUGE FORCE SENSOR FOR DIRECT MEASUREMENT OF VERTICAL EFFORTS |
| SU1763910A1 (en) * | 1990-08-16 | 1992-09-23 | Центральный научно-исследовательский институт машиностроения | Force strain sensor |
| CN101266175A (en) * | 2008-04-29 | 2008-09-17 | 东南大学 | Orthogonal tandem line elastomer type six-dimension force sensor |
| CN101319943A (en) * | 2008-07-04 | 2008-12-10 | 南京航空航天大学 | Three-dimensional small-measuring range force transducer |
| CN101419102A (en) * | 2008-11-25 | 2009-04-29 | 中国科学院合肥物质科学研究院 | Ultrathin six-dimensional force sensor and method thereof for measuring three-dimensional force and three-dimensional moment information |
| JP2010185725A (en) * | 2009-02-10 | 2010-08-26 | Honda Motor Co Ltd | Multi-axis force sensor and acceleration sensor |
| CN101975631A (en) * | 2010-09-27 | 2011-02-16 | 南京化工职业技术学院 | Integrated five-dimensional micro-force/torque sensor |
| CN201945412U (en) * | 2011-01-14 | 2011-08-24 | 钟红刚 | Cross-shaped multidimensional force transducer |
| CN202522350U (en) * | 2012-04-20 | 2012-11-07 | 南宁宇立汽车安全技术研发有限公司 | Multi-dimensional force sensor |
-
2012
- 2012-04-20 CN CN 201210118203 patent/CN102636300B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2598504A1 (en) * | 1986-05-12 | 1987-11-13 | Lafond Serge | DEFORMATION GAUGE FORCE SENSOR FOR DIRECT MEASUREMENT OF VERTICAL EFFORTS |
| SU1763910A1 (en) * | 1990-08-16 | 1992-09-23 | Центральный научно-исследовательский институт машиностроения | Force strain sensor |
| CN101266175A (en) * | 2008-04-29 | 2008-09-17 | 东南大学 | Orthogonal tandem line elastomer type six-dimension force sensor |
| CN101319943A (en) * | 2008-07-04 | 2008-12-10 | 南京航空航天大学 | Three-dimensional small-measuring range force transducer |
| CN101419102A (en) * | 2008-11-25 | 2009-04-29 | 中国科学院合肥物质科学研究院 | Ultrathin six-dimensional force sensor and method thereof for measuring three-dimensional force and three-dimensional moment information |
| JP2010185725A (en) * | 2009-02-10 | 2010-08-26 | Honda Motor Co Ltd | Multi-axis force sensor and acceleration sensor |
| CN101975631A (en) * | 2010-09-27 | 2011-02-16 | 南京化工职业技术学院 | Integrated five-dimensional micro-force/torque sensor |
| CN201945412U (en) * | 2011-01-14 | 2011-08-24 | 钟红刚 | Cross-shaped multidimensional force transducer |
| CN202522350U (en) * | 2012-04-20 | 2012-11-07 | 南宁宇立汽车安全技术研发有限公司 | Multi-dimensional force sensor |
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Owner name: NANNING YULI INSTRUMENT CO., LTD. Free format text: FORMER NAME: NANNING YULI VEHICLE SAFETY TECHNOLOGY RESEARCH AND DEVELOPMENT CO., LTD. |
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Address after: Ten road 530007 the Guangxi Zhuang Autonomous Region Nanning City Branch Park No. 19 Building 2 layer B2 Patentee after: NANNING YULI INSTRUMENT CO., LTD. Address before: Ten road 530007 the Guangxi Zhuang Autonomous Region Nanning City Branch Park No. 19 Building 2 layer B2 Patentee before: Nanning Yuli Auto Safety Technology Development Co., Ltd. |