CN103063341A - Shaft-pin-type force sensor and method for detecting radial force stressed on shaft pin - Google Patents
Shaft-pin-type force sensor and method for detecting radial force stressed on shaft pin Download PDFInfo
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- CN103063341A CN103063341A CN2012105546855A CN201210554685A CN103063341A CN 103063341 A CN103063341 A CN 103063341A CN 2012105546855 A CN2012105546855 A CN 2012105546855A CN 201210554685 A CN201210554685 A CN 201210554685A CN 103063341 A CN103063341 A CN 103063341A
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Abstract
The invention discloses a shaft-pin-type force sensor. The shaft-pin-type force sensor comprises a shaft pin and at least three strain gauges, the strain gauges are arranged in different radial directions of the shaft pin, and strain signals generated by the strain gauges are independently output. When radial force is stressed on the shaft pin, the strain gauges generate the strain signals and output the strain signals, and size and direction of the radial force stressed on the shaft pin can be acquired through calculation. The invention further provides a method for detecting the radial force stressed on the shaft pin. By means of the shaft-pin-type force sensor and the method for detecting the radial force stressed on the shaft pin, the purpose of detecting multi-directional and complicated random radial force stressed on the shaft pin can be achieved, detecting accuracy can be improved, and measuring errors can be reduced.
Description
Technical field
The present invention relates to a kind of sensor, more specifically to the method for a kind of axial pin type power sensor and detection pivot pin institute bearing radial force.
Background technology
Traditional stressed method of test pivot pin is that the axle in the mechanical hook-up and pin are transformed into strain-type force sensor (being axial pin type sensor).According to different purposes, be installed in easily two structure connection places, can play the function that substitutes original pivot pin, can play the effect of force cell again, thereby the mechanical part of whole dynamometric system is simplified greatly.This method can become very simple to the dynamometry problem of the many difficulties of this apparatus system, and don't needs change structure and increase part.Axial pin type sensor has embodied electronic scale miniaturization, modularization, integrated, intelligentized developing direction, is a kind of integrated morphology that carrier and sensor are united two into one, and is the sensor special of measuring the radial load of the members such as bearing, pulley.Therefore, axial pin type sensor has a wide range of applications at machinery industry.
Traditional axial pin type sensor, double shear type strain ga(u)ge stick on the direction position of pivot pin, measure by becoming Wheatstone bridge, calculate by simple mechanics formula and obtain the radial force size.Therefore, traditional axial pin type sensor can only detect the one direction radial force, can't detect the radial force of changing direction.That is to say that after the axial pin type sensor design, axial pin type sensor can only detect the radial force of a direction, the radial force testing result error of other direction is very large.Therefore, traditional axial pin type sensor, helpless for the measurement of the load of changing direction, also helpless for the orientation measurement of radial force.In engineering machine in working process, always bear the random load of multi-direction complexity.Therefore, traditional axial pin type sensor is greatly limited in the application aspect the engineering machinery dynamometry.
Summary of the invention
In view of this, the present invention proposes a kind of axial pin type power sensor and detects the method for pivot pin institute bearing radial force, to solve the problem of the at random radial force that detects multi-direction complexity that pivot pin is born, improves the precision and the Reduce measurement error that detect.
On the one hand, the invention provides a kind of axial pin type power sensor, comprise pivot pin and at least three foil gauges, each foil gauge makes progress in the Different Diameter of pivot pin, and the strain signal that each foil gauge produces is exported separately.
Further, each foil gauge is evenly arranged on the same circumferencial direction of pivot pin.
Further, comprise four foil gauges, each foil gauge is evenly arranged on the same circumferencial direction of pivot pin.
Further, offer a plurality of grooves on the pivot pin outside surface, foil gauge is positioned at groove.
Further, offer through hole along the axis of pivot pin, foil gauge is positioned on the inside surface of through hole.
Further, each foil gauge accesses respectively a bridge diagram, and each strain signal is exported separately.
A kind of method that detects pivot pin institute bearing radial force also is provided on the other hand, has comprised:
Step 1: the Different Diameter at pivot pin upwards is furnished with at least three foil gauges, and the strain signal that each foil gauge produces is exported separately;
Step 2: the circumference to pivot pin on the rating test machine loads radial force, gathers the strain signal that loads foil gauge corresponding to radial force with each,
Step 3; Set up mathematical prediction model; Calculate the radial force size and Orientation that pivot pin bears by mathematical prediction model.
Further, between step 2 and step 3, also comprise and set up neural networks model or supporting vector machine model; The strain signal data of the foil gauge that each loading radial force of step 2 collection is corresponding are input in neural networks model or the supporting vector machine model trains; Obtain radial force size and direction prediction mathematical model.
Further, in step 1, foil gauge comprises four, and each foil gauge is evenly arranged on the same circumferencial direction of pivot pin.
The method beneficial effect that the present invention proposes a kind of axial pin type power sensor and detects pivot pin institute bearing radial force is: one, can detect the problem of the at random radial force of multi-direction complexity that pivot pin bears; Its two, the precision of detection is high; Its three, can measure size and the radial force effect orientation of pivot pin institute bearing radial force.
Description of drawings
The accompanying drawing that consists of a part of the present invention is used to provide a further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not consist of improper restriction of the present invention.In the accompanying drawings:
Fig. 1 is a kind of axial pin type sensor structural representation of the present invention;
Fig. 2 is that A-A of Fig. 1 is to synoptic diagram;
Fig. 3 is a kind of strain gauge bridge circuit connection synoptic diagram of Fig. 1;
Fig. 4 is the another kind of axial pin type sensor structural representation of the present invention;
Fig. 5 is that A-A of Fig. 4 is to synoptic diagram.
Embodiment
Need to prove that in the situation of not conflicting, embodiment and the feature among the embodiment among the present invention can make up mutually.Describe below with reference to the accompanying drawings and in conjunction with the embodiments the present invention in detail.
Below in conjunction with Fig. 1 to Fig. 3, the preferred embodiments of the present invention are described in further detail.As depicted in figs. 1 and 2, a kind of axial pin type sensor comprises pivot pin 1 and four foil gauge 3a, 3b, 3c, 3d, and 4 foil gauges are evenly arranged on the same circumferencial direction of pivot pin.In four grooves 2 that four foil gauge 3a, 3b, 3c, 3d stick on by barbola work.Groove 2 is square, and semicircle transition structure is adopted at two ends, when these groove 2 structures can prevent pivot pin 1 elastic deformation, concentrates at groove 2 place's stress, and it is inaccurate to cause 1 bearing radial force of detection pivot pin to measure, and has improved detection radial force precision.Simultaneously, four foil gauges are positioned on the same circumferencial direction, can improve and detect 1 bearing radial force precision of pivot pin, prevent the generation of measuring error.Also can inhomogeneously be arranged on the same circumferencial direction, only need to be arranged in Different Diameter upwards, but the precision of measuring can be weaker.
As shown in Figure 3, four foil gauge 3a, 3b, 3c, 3d, each foil gauge consist of separately bridge diagram output, consist of bridge diagrams output such as foil gauge 3a and three resistance R 1, R2, R3; Power supply one end is connected between foil gauge 3a and the resistance R 1, and the other end is connected between resistance R 2 and the R3; Bridge diagram output circuit U
0One end is connected between foil gauge 3a and the resistance R 3, and the other end is connected between two resistance R 1 and the R2, U
0Represent on the Y-direction strain signal output that foil gauge 3a produces.In like manner, foil gauge 3b, 3c, 3d bridge diagram are identical.
As shown in Figure 4 and Figure 5; it is another kind of that axial pin type sensor is different from axial pin type sensor illustrated in figures 1 and 2 is; pivot pin 1 offers through hole along axis direction; inside surface at through hole is pasted with four foil gauge 3a; 3b; 3c; 3d; these four foil gauge 3a; 3b; 3c; 3d directly sticks on the inside surface of through hole; pivot pin 1 is symmetrical arranged; behind pivot pin 1 bearing radial force; can not produce stress concentrates; prevent that measured value and actual radial force from producing deviation, improved the precision that detects 1 bearing radial force of pivot pin, simultaneously simple in structure; easy for installation, and can protect four foil gauge 3a; 3b; 3c; 3d is not damaged.
Axial pin type sensor obtains the size of pivot pin institute bearing radial force and the effect orientation angles of power by gathering the strain signal of four foil gauge 3a, 3b, 3c, 3d generation through calculating, measures the radial force that pivot pin circumference 360 is spent any direction thereby reach.
Above-mentioned axial pin type sensor, foil gauge quantity also can be evenly arranged in 3,5,6,7,8,9,10 on the same circumference etc.
The present invention also provides a kind of method that detects pivot pin institute bearing radial force in order to detect radial force and the acting force orientation angles of any direction of pivot pin circumference 360 degree.
(1) at first four foil gauge 3a, 3b, 3c, 3d adopt the bridge diagram connected mode of Fig. 4, and each foil gauge is exported separately, also can be evenly arranged 3 foil gauges.
(2) gather training sample: on the rating test machine pivot pin is loaded, gathering with loading force F(position angle respectively is θ) strain signal of corresponding four foil gauges, the strain signal sequence of collection represents X with 4 * n matrix X
Ij(i=1,2,3,4; J=1, L, n) be illustrated in load F
j(position angle is θ
j) the down output of i foil gauge of effect, n represents the length of sample sequence, and X is the training sample that collects in the rating test, and F, θ are target output.
(3) set up neural network model or supporting vector machine model: use the Matlab Neural Network Toolbox, set up neural network model or supporting vector machine model.
(4) learning training: with training sample X described in (2) and target output F, θ is input to institute's established model in (3), to the model training.Neural network adopts different training methods with SVM, and the former minimizes empiric risk; Latter minimizes expected risk.Both common practice all be by with the I/O pattern repeated action of sample set in model, make model automatically regulate self parameter according to certain learning algorithm, when the actual output of model meets the expectation when requiring, think that then study brings to a happy ending.Use the training of a lot of sample recurrent networks in the training set, so that the empiric risk on all samples or expected risk reach hour, obtain the model of desirable axial pin type power sensor.Specifically, at first with each sample (X in the training set
j, F
j), (X
j, θ
j), j=1, L, n, input model calculates the size of the power of the actual output of model
Position angle with power
Then ask model to the predicated error of this model
Then calculate the cumulative errors on all samples
According to error dF, d θ (also considering anticipation error in the support vector machine) adjusts weight matrix W, until concerning whole sample set, error is no more than the scope of regulation, namely obtains the mathematical prediction model of desirable axial pin type power sensor at last.
(5) actual measurement strain signal: replace pivot pin in the original structure with axial pin type power sensor, be installed in the structure junction, in the arrangement works process, gather respectively the strain signal of four foil gauges with strainmeter, be designated as Y.
(6) forecast period: with the input of field measurement strain signal Y described in (5) as axial pin type power sensor forecast models described in (4), the position angle of prediction pivot pin actual loading size and power.That is to say, to each combination Y of four strain values of actual acquisition
j, in the axial pin type power sensor model that its input is trained, model all can dope and Y
jCorresponding radial force F
jAnd the effect azimuth angle theta of power
jThe strain composition vector Y that in one section stream time, collects for research object, in the axial pin type power sensor model that its input is trained, model will dope radial force F that research object bears and the effect azimuth angle theta of power within the relevant work time.
Nerual network technique or support vector machine technology are a kind of theory and methods that the uncertain information of multi-source is carried out overall treatment at interior intelligent identification technology, overcome traditional data processing method mostly for the single piece of information source data, lacked the collaborative utilization of multi-source information data, the shortcoming of overall treatment.The machine learning of based on data is the importance in the modern intelligent identification technology, the purpose of machine learning is to ask estimation to dependence between certain system's input and output according to given training sample, make it make as far as possible accurately prediction to the unknown output, namely study from observation data (sample) set off in search rule, the data of utilizing these rules maybe can't observe Future Data are predicted.Specifically, intelligent identification technology of the present invention comprises nerual network technique and support vector machine technology.Described nerual network technique is the same with biological neural network, and information processing realizes by neuron, its essence is the nonlinear system of input more than, single output, and its function is: to each input message weighting; Information after each weighting is sued for peace; Ask output by transfer function.Described support vector machine technology is that the VC that is based upon Statistical Learning Theory ties up on theoretical and the structure risk minimum principle basis, between the complicacy of the model study precision of specific training sample (namely to) and learning ability (namely identifying error-free the ability of arbitrary sample), seek optimal compromise according to limited sample information, in the hope of obtaining best Generalization Ability, it shows many distinctive advantages in solving small sample, non-linear and higher-dimension pattern-recognition.
The foil gauge quantity of said method also can adopt 5,6,7,8 of being positioned at that Different Diameter makes progress etc.Foil gauge quantity is more, and measuring accuracy will be higher.
The present invention has overcome the problem that traditional axial pin type sensor can not be measured the radial load of changing direction, and the radial load of changing direction refers to any direction radial load of pivot pin circumference 360 degree.Become possibility so that measure engineering machinery with the radial load of changing direction of the devices such as sliding bearing, pulley, enlarged the range of application of axial pin type sensor.Simple in structure, easy to use, and by reasonably selecting the parameter of sensor, can reach very high measuring accuracy.
The above only is preferred embodiment of the present invention, and is in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. axial pin type power sensor is characterized in that: comprise pivot pin and at least three foil gauges, each foil gauge in the Different Diameter of pivot pin upwards, the strain signal that each foil gauge produces is exported separately.
2. axial pin type power sensor according to claim 1 is characterized in that, each foil gauge is evenly arranged on the same circumferencial direction of pivot pin.
3. axial pin type power sensor according to claim 1 is characterized in that, comprises four foil gauges, and each foil gauge is evenly arranged on the same circumferencial direction of pivot pin.
4. according to claim 1 or 3 described axial pin type power sensors, it is characterized in that offer a plurality of grooves on the pivot pin outside surface, foil gauge is positioned at groove.
5. according to claim 1 or 3 described axial pin type power sensors, it is characterized in that offer through hole along the axis of pivot pin, foil gauge is positioned on the inside surface of through hole.
6. according to claim 1 or 3 described axial pin type power sensors, it is characterized in that each foil gauge accesses respectively a bridge diagram, each strain signal is exported separately.
7. a method that detects pivot pin institute bearing radial force is characterized in that, comprising:
Step 1: the Different Diameter at pivot pin upwards is furnished with at least three foil gauges, and the strain signal that each foil gauge produces is exported separately;
Step 2: the circumference to pivot pin on the rating test machine loads radial force, gathers the strain signal that loads foil gauge corresponding to radial force with each,
Step 3; Set up mathematical prediction model; Calculate the radial force size and Orientation that pivot pin bears by mathematical prediction model.
8. method according to claim 7 is characterized in that; Between step 2 and step 3, also comprise and set up neural networks model or supporting vector machine model; The strain signal data of the foil gauge that each loading radial force of step 2 collection is corresponding are input in neural networks model or the supporting vector machine model trains; Obtain the mathematical prediction model in radial force size and orientation.
9. method according to claim 7 is characterized in that, in step 1, foil gauge comprises four, and each foil gauge is evenly arranged on the same circumferencial direction of pivot pin.
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| CN201210554685.5A CN103063341B (en) | 2012-12-19 | 2012-12-19 | A kind of detect pivot pin bear the method for radial force |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105004458A (en) * | 2015-07-23 | 2015-10-28 | 长安大学 | Stress testing device and testing method for loader bucket |
| CN105588669A (en) * | 2015-12-11 | 2016-05-18 | 广西柳工机械股份有限公司 | Shaft pin-type three-way force-measuring sensor |
| CN105627941A (en) * | 2014-10-30 | 2016-06-01 | 北京航空航天大学 | FBG (fiber bragg grating) strain sensor |
| CN105841871A (en) * | 2016-03-21 | 2016-08-10 | 长安大学 | Loader bucket lateral force testing device and testing method |
| CN106555810A (en) * | 2015-09-30 | 2017-04-05 | 北汽福田汽车股份有限公司 | The system of the stress suffered by crankshaft arrangement and test bent axle |
| CN107330218A (en) * | 2017-07-13 | 2017-11-07 | 徐工集团工程机械有限公司 | Axial pin type sensor and its radial load demarcation and computational methods, device and system |
| CN107727279A (en) * | 2016-08-12 | 2018-02-23 | 罗伯特·博世有限公司 | Be particularly suitable for use in tractor electro-hydraulic lowering or hoisting gear adjustment portion force snesor |
| CN108369147A (en) * | 2015-12-09 | 2018-08-03 | Abb瑞士股份有限公司 | Device for non-intrusion measurement Fluid pressure |
| CN110095214A (en) * | 2019-05-20 | 2019-08-06 | 南京理工大学 | A kind of axle power measurement sensor |
| WO2020114095A1 (en) * | 2018-12-06 | 2020-06-11 | 淄博科智星机器人有限公司 | Robotic surgery tool |
| CN111806649A (en) * | 2020-07-15 | 2020-10-23 | 中国船舶工业集团公司第七0八研究所 | Device and method for testing radial force of pin shaft rotation pair of water jet propulsion steering and backing mechanism |
| CN112729651A (en) * | 2021-04-02 | 2021-04-30 | 博鼎精工智能科技(山东)有限公司 | Shaft pin type force sensor, agricultural machinery suspension device and soil resistance measuring method |
| CN114577379A (en) * | 2022-02-28 | 2022-06-03 | 太原理工大学 | Method for measuring radial force magnitude and direction of pin shaft type force sensor |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105627941A (en) * | 2014-10-30 | 2016-06-01 | 北京航空航天大学 | FBG (fiber bragg grating) strain sensor |
| CN105004458A (en) * | 2015-07-23 | 2015-10-28 | 长安大学 | Stress testing device and testing method for loader bucket |
| CN106555810A (en) * | 2015-09-30 | 2017-04-05 | 北汽福田汽车股份有限公司 | The system of the stress suffered by crankshaft arrangement and test bent axle |
| US11009416B2 (en) | 2015-12-09 | 2021-05-18 | Abb Schweiz Ag | Device for the non-intrusive measurement of the pressure of a fluid inside a cylindrical casing using chain links |
| CN108369147A (en) * | 2015-12-09 | 2018-08-03 | Abb瑞士股份有限公司 | Device for non-intrusion measurement Fluid pressure |
| CN105588669A (en) * | 2015-12-11 | 2016-05-18 | 广西柳工机械股份有限公司 | Shaft pin-type three-way force-measuring sensor |
| CN105841871A (en) * | 2016-03-21 | 2016-08-10 | 长安大学 | Loader bucket lateral force testing device and testing method |
| CN107727279A (en) * | 2016-08-12 | 2018-02-23 | 罗伯特·博世有限公司 | Be particularly suitable for use in tractor electro-hydraulic lowering or hoisting gear adjustment portion force snesor |
| US11073432B2 (en) | 2016-08-12 | 2021-07-27 | Robert Bosch Gmbh | Force sensor, in particular suitable for an electrohydraulic hitch control system of an agricultural tractor |
| CN107330218A (en) * | 2017-07-13 | 2017-11-07 | 徐工集团工程机械有限公司 | Axial pin type sensor and its radial load demarcation and computational methods, device and system |
| WO2020114095A1 (en) * | 2018-12-06 | 2020-06-11 | 淄博科智星机器人有限公司 | Robotic surgery tool |
| CN110095214B (en) * | 2019-05-20 | 2021-07-06 | 南京理工大学 | Axial force measuring sensor |
| CN110095214A (en) * | 2019-05-20 | 2019-08-06 | 南京理工大学 | A kind of axle power measurement sensor |
| CN111806649A (en) * | 2020-07-15 | 2020-10-23 | 中国船舶工业集团公司第七0八研究所 | Device and method for testing radial force of pin shaft rotation pair of water jet propulsion steering and backing mechanism |
| CN111806649B (en) * | 2020-07-15 | 2021-10-08 | 中国船舶工业集团公司第七0八研究所 | Device and method for testing radial force of pin shaft rotation pair of water jet propulsion steering and backing mechanism |
| CN112729651A (en) * | 2021-04-02 | 2021-04-30 | 博鼎精工智能科技(山东)有限公司 | Shaft pin type force sensor, agricultural machinery suspension device and soil resistance measuring method |
| CN112729651B (en) * | 2021-04-02 | 2021-07-30 | 博鼎精工智能科技(山东)有限公司 | Shaft pin type force sensor, agricultural machinery suspension device and soil resistance measuring method |
| CN114577379A (en) * | 2022-02-28 | 2022-06-03 | 太原理工大学 | Method for measuring radial force magnitude and direction of pin shaft type force sensor |
| CN114577379B (en) * | 2022-02-28 | 2023-05-12 | 太原理工大学 | Method for measuring radial force and direction of pin shaft type force sensor |
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