CN105065881A - Tripod device - Google Patents

Abstract

The invention relates to a tripod device. A tripod comprises a machine base and stretchable landing legs connected to the bottom end of the machine base. The tripod device further comprises a sensing unit and a display screen. The sensing unit comprises a processor and a plurality of pressure sensors. The pressure sensors are evenly installed inside the machine base for monitoring values of pressures provided for the machine base by bubbles arranged on the machine base. The processor is connected with the pressure sensors and calculates the difference between the displacement of a driving pole plate inside each sensor and the displacement of the corresponding sensor according to the value of the pressure measured by the corresponding sensor. The calculation results of the processor are displayed on the display screen connected with the processor. The display screen is installed at the upper ends of the landing legs. According to the tripod device, the sensors are additionally arranged to monitor the pressures of the bubbles to output data values needed by the displacement amount of the landing legs, the problem that the balance of a tripod is adjusted in an artificial experiment by virtue of experience is solved, and the tripod device has the beneficial effects of being high in adjustment precision and convenient to adjust.

Description

A kind of tripod device

Technical field

The present invention relates to a kind of tripod device, be specifically related to a kind of tripod device that can finely tune.

Background technique

Tripod comprises supporting measuring equipment (leveling instrument, measurement surveyor's beacon plate (target), theodolite or electronic tachometer etc.), the top board (worktable) of such various equipment such as telescope, photographic camera or lighting installation and three retractable supporting legs being rotatably connected with this top board.The lower end of each supporting leg is provided with point, thus tripod can be easy to be positioned ground etc.

Tripod is put in horizontal process, and the bubble in top board support easily departs from difficulty in central position, for beginner, difficulty is very large, be unfavorable for learn enthusiasm and, for the user, simply can not set up master tool tripod fast is also take the operating time very much.In addition, the supporting leg of tripod is usually very long, when beginner regulates use, conveniently main points, first fix two frame legs, regulate the 3rd frame leg, make bubble roughly placed in the middle, but due to the height of frame leg, need two people to cooperatively interact, a people observes bubble, people's regualting frame leg, two people cooperatively interact just can better finish the work and have occupied human resources, are unfavorable for that beginner learns by oneself research.

Summary of the invention

According to above the deficiencies in the prior art, the present invention proposes a kind of tripod apparatus, needing offset data value, solving artificial experiment and regulating tripod balance problem by virtue of experience by setting up Sensor monitoring bubble pressure output supporting leg, there is degree of regulation high, advantage easy to adjust.

To achieve these goals, the technological scheme that the present invention takes is: a kind of tripod apparatus, described tripod comprises support and is attached at the telescopic supporting leg in support bottom, tripod apparatus also comprises sensing unit and display screen, sensing unit comprises processor and multiple pressure transducer, pressure transducer is evenly arranged on base inner in order to monitor bubble that support is arranged to the force value of support, processor Bonding pressure sensor calculates the shift differences between the displacement of each sensor internal driving pole plate and sensor according to the force value of sensor measurement, the result of calculation of processor is presented on the display screen of processor connection, display screen is arranged on the upper end portion of supporting leg.

In said apparatus, described pressure transducer comprises control unit, the X-direction differential capacitor unit combination be connected respectively with control unit and Y-direction differential capacitor unit combination, described X-direction differential capacitor unit combination is passed through the tangential force of capacitance subtraction calculations X-direction and is eliminated the impact of Y-direction tangential force, described Y-direction differential capacitor unit combination is passed through the tangential force of capacitance subtraction calculations Y-direction and is eliminated the impact of X-direction tangential force, the normal force of the capacitance read group total capacitive transducer of described X-direction differential capacitor unit combination and Y-direction differential capacitor unit combination and eliminate tangential force impact.Described X-direction differential capacitor unit combination and Y-direction differential capacitor unit combination include two or more and mutually form differential capacitor cell module, described capacitor cell module adopts the comb teeth-shaped structure be made up of plural strip electric capacity, and each strip electric capacity comprises the drive electrode of top crown and the induction electrode of lower polar plate.The drive electrode of described each strip capacitor cell is identical with induction electrode width, and the length of drive electrode is greater than induction electrode length, and drive electrode length two ends are reserved left poor position δ respectively _leftwith right poor position δ _right, b _{0 drives}=b _{0 sense}+ δ _right+ δ _left, wherein, b _{0 drives}for the drive electrode length of strip capacitor cell, b _{0 sense}for the induction electrode length of strip capacitor cell, described poor position δ _left=δ _right, and wherein d ₀for Elastic medium thickness, G is the modulus of rigidity of Elastic medium, τ _maxfor maximum stress value.The lead-in wire that described comb teeth-shaped structure comprises more than 20 strip electric capacity, connects one to one with strip electric capacity, is provided with electrode spacing a between adjacent two strip electric capacity _δ, described parallel-plate area S=M (a ₀+ a _δ) b ₀, wherein, bar M is strip electric capacity quantity, b ₀for the length of strip electric capacity, a ₀the width of strip electric capacity.

In said apparatus, the installation quantity of described pressure transducer equals the quantity of supporting leg, and the installation of pressure transducer is installed according to the distributed area of supporting leg, and each pressure transducer corresponds to each supporting leg.Described tripod apparatus obtains supporting leg and comprises fine setting supporting leg, telescopic outrigger and supporting foot, fine setting supporting leg is positioned at position, telescopic outrigger upper end portion, supporting foot is attached at the bottom of telescopic outrigger, and fine setting supporting leg is provided with the crank of a fine setting leg length, and it is manual or Electronic control that crank controls.Described fine setting supporting leg offers screw rod inner chamber, in screw rod inner chamber, threaded screw rod is installed, threaded screw rod and screw rod inner chamber Spielpassung, threaded screw rod is slidably connected the Spielpassung of formula in screw rod inner chamber, fine setting supporting leg is provided with transmission case, is provided with transmission nut in transmission case, transmission nut is revolved by screw thread and is located on threaded screw rod, transmission case inner chamber communicates with screw rod inner chamber, and crank front end penetrates into transmission case internal messing connection for transmission nut, and the rear end of crank is positioned at transmission case outside.Described fine setting supporting leg offers screw rod inner chamber, in screw rod inner chamber, threaded screw rod is installed, threaded screw rod and screw rod inner chamber Spielpassung, threaded screw rod is slidably connected the Spielpassung of formula in screw rod inner chamber, fine setting supporting leg is provided with transmission case, transmission nut is provided with in transmission case, transmission nut is revolved by screw thread and is located on threaded screw rod, transmission case inner chamber communicates with screw rod inner chamber, crank front end penetrates into transmission case internal messing connection for transmission nut, the rear end of crank is positioned at transmission case outside, the motor that the part connection tripod apparatus that crank is arranged in transmission case is arranged, the angle transducer connecting monitoring crank angle is provided with in processor, processor controls the working state of motor.Described supporting foot comprises hinge ball, hinge ball seat, earthing component, tip and dunnage, hinge ball is arranged on supporting foot bottom, hinge ball is arranged in the hinge ball seat of supporting foot, telescopic outrigger bottom is connected by hinge ball with supporting leg, the hinge ball seat of supporting foot bottom is most advanced and sophisticated by earthing component link, dunnage is established in earthing component outward turning, and dunnage is provided with a circle floor, and the thickness sum of dunnage and floor is greater than most advanced and sophisticated length.

Beneficial effect of the present invention is: be provided with mesosphere under the bubble in the present invention in support, pressure transducer has been installed in mesosphere, pressure transducer is in order to monitor the pressure of bubble to support, pressure transducer provided by the invention is through the accurate sensor of improvement, which utilizes sensor provided by the invention can eliminate influencing each other between tangential force and normal force, so can measure the power of support bubble applying accurately.By accurately measuring the power that bubble applies, pressure transducer can be calculated by the output value of sensor to drive the side-play amount of pole plate and calculate the corresponding supporting leg of sensor and need side-play amount, so supporting leg need displacement distance very clear, do not need repeatedly to repeat and test, save a lot of trouble.In addition, in the present invention, fine setting supporting leg is also provided with, can manual fine-tuning or directly carry out electronicly completing vernier control, the setting of fine setting supporting leg, make supporting leg length adjustment more accurate, manpower has been liberated in the setting automatically controlled to a greater extent.

Accompanying drawing explanation

Below the content expressed by this Figure of description and the mark in figure are briefly described:

Fig. 1 is the structural representation of the tripod device of the specific embodiment of the present invention.

Fig. 2 is the structural representation of the support of the specific embodiment of the present invention.

Fig. 3 is strip electric capacity and the system of coordinates thereof of the specific embodiment of the present invention.

Fig. 4 is the strip electric capacity schematic diagram of the specific embodiment of the present invention.

Fig. 5 is the strip electric capacity dextrad skew schematic diagram of the specific embodiment of the present invention.

Fig. 6 is the strip electric capacity left-hand skew schematic diagram of the specific embodiment of the present invention.

Fig. 7 is the right initial dislocation figure of the strip electric capacity of the specific embodiment of the present invention.

Fig. 8 is that the strip electric capacity of the specific embodiment of the present invention is to stressed rear deflection graph.

Fig. 9 is the parallel-plate three-dimensional force pressure sensor structure figure of the specific embodiment of the present invention.

Figure 10 is the parallel-plate three-dimensional force pressure transducer drive electrode structural drawing of the specific embodiment of the present invention.

Figure 11 is the parallel-plate three-dimensional force pressure transducer induction electrode structural drawing of the specific embodiment of the present invention.

Figure 12 is that being exported by identical carry-over factor K1 realization of the specific embodiment of the present invention responds summation.

Figure 13 is the differential schematic diagram of signal that the cell capacitance of the specific embodiment of the present invention is right.

Figure 14 is the plane-parallel capacitor cross-section structure of the specific embodiment of the present invention.

Figure 15 is the structural representation of the fine setting supporting leg of the specific embodiment of the present invention.

Figure 16 is the structural representation of the supporting foot of the specific embodiment of the present invention.

In figure, 1 is support, and 2 is supporting leg, and 3 is bubble, 4 is upper epidermis, and 5 is mesosphere, and 6 is lower floor, 7 is display screen, and 8 is fine setting supporting leg, and 9 is telescopic outrigger, 10 is supporting foot, and 11 is engagement portion, and 12 is screw rod inner chamber, 13 is threaded screw rod, and 14 is transmission case, and 15 is transmission nut, 16 is crank, and 17 is hinge ball, and 18 is hinge ball seat, 19 is outside earthing component, 20 is that supporting foot is most advanced and sophisticated, and 21 is dunnage, and 22 is floor, 23 is upper PCB substrate, 24 is lower PCB substrate, and 25 is drive electrode Copper Foil, and 26 is induction electrode Copper Foil.

Embodiment

Contrast accompanying drawing below, by the description to embodiment, the specific embodiment of the present invention is as the effect of the mutual alignment between the shape of involved each component, structure, each several part and annexation, each several part and working principle, manufacturing process and operation using method etc., be described in further detail, have more complete, accurate and deep understanding to help those skilled in the art to inventive concept of the present invention, technological scheme.

The invention provides a kind of tripod device, tripod device provided by the invention is applicable to multiple types of floors, also can adapt to freely on out-of-flatness convex-concave ground, simultaneously also horizontal by fine setting auxiliary adjustment level, fine setting in the present invention is accurately measured by pressure transducer thus demonstrate to need adjustable range value, measures the level improving tripod lay speed and time efficiency by electrical apparatus element.

A kind of tripod device, its structural representation as shown in Figure 1, this device comprise support 1 and with support to three that link retractable supporting legs 2, be provided with a bubble 3 in support 1, the position of bubble 3 represents the state of equilibrium of tripod.In order to simplify bubble regulating step, save tripod leg regulating time, so support is three-decker in the present invention, its structural representation as shown in Figure 2, lays bubble in upper epidermis 4, and sensing unit, as the construction layer linking supporting leg, is installed in mesosphere 5 by lower floor 6.Sensing unit comprises the pressure transducer of processor and multiple measuring pressure, and processor is arranged on the neutral position of support, is reduced to minimum to the weight in support mesosphere 5, does not affect the motion of bubble, and facilitates Bonding pressure sensor.Pressure transducer is evenly arranged in support mesosphere 5, preferred 3 pressure transducers in the present invention, the number of legs that mesosphere 5 corresponds to tripod is divided into three parts, in every a mesosphere 5, a pressure transducer is installed, each sensor represents a supporting leg, and namely the pressure that sensor is subject to represent the pressure (ignoring the pressure of support lower floor to supporting leg herein) that supporting leg upper end portion is subject to.After tripod installs, the pressure transducer in mesosphere 5 will measure the pressure showing that bubble gives.Sensor measurement to pressure be sent in the processor of sensing unit, what processor calculated pressure transducer comprises the displacement distance of each sensor on three-dimensional by vector of force, simultaneous processor calculates and compares the measured value of 3 sensors, thus calculate supporting leg corresponding to sensor should the distance of movement.

In the process of traditional sensors measure pressure, because influencing each other between tangential force and normal force causes measurement result inaccurate, so the invention provides the pressure transducer after a kind of improvement, be independent of each other mutually between tangential force and normal force in this sensor, greatly can improve the accuracy ensureing measurement result.Being specifically described as follows of pressure transducer:

The X-direction differential capacitor unit combination that pressure transducer comprises control unit, be connected respectively with control unit and Y-direction differential capacitor unit combination, described X-direction differential capacitor unit combination is passed through the tangential force of capacitance subtraction calculations X-direction and is eliminated the impact of Y-direction tangential force, described Y-direction differential capacitor unit combination is by the tangential force of capacitance subtraction calculations Y-direction and eliminate the impact of X-direction tangential force, the normal force of the capacitance read group total capacitive transducer of described X-direction differential capacitor unit combination and Y-direction differential capacitor unit combination and eliminate tangential force impact.Described X-direction differential capacitor unit combination and Y-direction differential capacitor unit combination include two or more and mutually form differential capacitor cell module, described capacitor cell module adopts the comb teeth-shaped structure be made up of plural strip capacitor cell, and each strip capacitor cell comprises the drive electrode of top crown and the induction electrode of lower polar plate.The drive electrode of described each strip capacitor cell is identical with induction electrode width, and the length of drive electrode is greater than induction electrode length, and drive electrode length two ends are reserved left poor position δ respectively _leftwith right poor position δ _right, b _{0 drives}=b _{0 sense}+ δ _right+ δ _left, wherein, b _{0 drives}for the drive electrode length of strip capacitor cell, b _{0 sense}for the induction electrode length of strip capacitor cell.Described poor position δ _left=δ _right, and wherein d ₀for Elastic medium thickness, G is the modulus of rigidity of Elastic medium, τ _maxfor maximum stress value.Described two groups of drive electrodes mutually forming the strip capacitor cell of differential capacitor cell module and induction electrode broad ways are provided with the skew that initially misplaces, and dislocation bias size is identical, direction is contrary.The lead-in wire that described comb teeth-shaped structure comprises more than 20 strip capacitor cells, connects one to one with strip capacitor cell, is provided with electrode spacing a between adjacent two strip capacitor cells _δ.Described parallel-plate area S=M (a ₀+ a _δ) b ₀, wherein, bar M is strip capacitor cell quantity, b ₀for the length of strip capacitor cell, a ₀the width of strip capacitor cell.The lead-in wire of each strip capacitor cell of described capacitor cell module is by parallel connection or be independently connected to control unit.The width of described strip capacitor cell wherein, d ₀for dielectric thickness, E is the Young's modulus of Elastic medium, and G is the modulus of rigidity of Elastic medium.Be provided with intermediate translator between described control unit and capacitor cell module, intermediate translator is for arranging voltage to electric capacity or frequency to the transmission coefficient of electric capacity.

1, the transfer characteristic of strip capacitor cell

(1) excitation pulse and system of coordinates

Strip capacitor cell is placed in the rectangular coordinate system shown in Fig. 3, pole plate plane length b ₀, width a ₀, Elastic medium thickness d ₀.Three-dimensional simulation puts on the outer surface of capacitor plate, and the contact-type active force of generation has Fx, Fy and Fz tri-durection components, the action direction of Fx and Fy along X-axis and Y-axis, the action direction of Fz along OZ axle, namely direction, normal direction and tangential stress are a kind of stress tensor, from can the response of output capacitance between the lead-in wire of electrode; Normal stress σ _n=Fn/A, wherein A=a ₀b ₀for pole plate normal direction stress surface, Fn=Fz is normal component; Both side surface produces paired tangential stress τ _x=Fx/A, τ _y=Fy/A.

According to the Hooke's law in elastomechanics, σ _nand τ _x, τ _yelastomer all will be made to produce corresponding distortion.Wherein,

${\mathrm{\σ}}_n=E\·{\mathrm{\ϵ}}_n=E\·{\mathrm{\δ}}_n/d_0=\frac{F_n}{A}---\left(1\right)$

$\±{\mathrm{\τ}}_x=\±{\mathrm{\γ}}_x\·G=\±G\·{\mathrm{\δ}}_x/d_0=\±\frac{F_x}{A}---\left(2\right)$

$\±{\mathrm{\τ}}_y=\±{\mathrm{\γ}}_y\·G=\±G\·{\mathrm{\δ}}_y/d_0=\±\frac{F_y}{A}---\left(3\right)$

In formula, E is the Young's modulus (unit: GN/m of Elastic medium ²), G is the modulus of rigidity (unit: GN/m of Elastic medium ²), δ n is the Normal Displacement (unit: μm) of Elastic medium, and δ x and δ y is the relative dislocation (unit: μm) of the upper and lower two-plate of strip capacitor cell, and its sign is pointed to by coordinate axes and determined.

(2) capacitance equation and input-output characteristic thereof

The initial capacitance of rectangular parallel plate capacitor is:

$C_0=\frac{{\mathrm{\ϵ}}_0\·{\mathrm{\ϵ}}_r\·a_0\·b_0}{d_0}---\left(4\right)$

In formula, ε ₀vacuum medium electric constant is 8.85PF/m, ε _r=2.5 is dielectric relative dielectric constant.D ₀by σ _nexcitation produce relative deformation ε _n=δ _n/ d ₀=σ _n/ E, substitutes into (4) and obtains input-output characteristic

$C_n={\mathrm{\ϵ}}_0\·{\mathrm{\ϵ}}_r\frac{a_0\·b_0}{d_0(1-{\mathrm{\ϵ}}_n)}={\mathrm{\ϵ}}_0\·{\mathrm{\ϵ}}_r\frac{a_0\·b_0}{d_0(1-\frac{F_n}{AE})}---\left(5\right)$

(3) linearity under normal stress effect and sensitivity

A, the normal direction linearity

F in (5) formula _nin the denominator, therefore C _n=f (F _n) relation be nonlinear, because of conversion range in maximum value σ _nmaxcompared with dielectric resilient constant E, ε _na very little amount, i.e. ε in denominator _n<<1, (5) are omitted the higher-order shear deformation of more than quadratic power by series expansion, and (5) formula can be reduced to:

$C_n=C_0(1+\mathrm{\&epsiv;})=C_0(1+\frac{F_n}{A\&CenterDot;E})---\left(6\right)$

Visible at C _nwith F _ntransfer characteristic in the maximum relative error of the normal direction linearity close to zero.

B, sensitivity

By the definition of normal direction sensitivity

Can linear sensitivity be obtained by (6) formula,

S _n1＝C ₀/AE＝ε ₀ε _r/d ₀E(7)

By (5) formula then

$S_{n2}=\frac{{\mathrm{dC}}_n}{{\mathrm{dF}}_n}=C_0\&CenterDot;\frac{1}{1-2\mathrm{\&epsiv;}}{C}_0\&CenterDot;\frac{1}{1-2\frac{F_n}{A\&CenterDot;E}}---\left(8\right)$

S _n2with F _nand become, F _nlarger, S _n2larger, in mild nonlinear in whole transfer characteristic.

(4) tangential stress τ _xand τ _ycapacitance variations under excitation

Tangential stress τ _xand τ _ydo not change the physical dimension parameter b of pole plate ₀and a ₀, to dielectric thickness d ₀also do not have an impact.But τ _xand τ _ychange the spatial structure of plane-parallel capacitor, between the upper lower polar plate faced by forward, there occurs dislocation skew.Now for OX direction, pole plate is at τ _xdislocation skew δ under effect _x.

Work as τ in the diagram _xwhen being zero, a _{on 0}=a _{0 time}just right, effective cross section A between substrate _τ=a ₀b ₀; In Figure 5, at τ _xunder the effect of dextrad, top crown creates dislocation skew δ to the right relative to lower polar plate _x, thus make the useful area A between lower polar plate when calculating electric capacity _τ=(a ₀-δ _x) b ₀; In Fig. 6, work as τ _xduring for left-hand, dislocation skew δ _xthen left, A _τ=(a ₀-δ _x) b ₀, the reduction of useful area is identical, and consequent electric capacity is:

$C_{\mathrm{\&tau;}x}=\frac{{\mathrm{\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r\&CenterDot;(a_0-{\mathrm{\&delta;}}_x)\&CenterDot;b_0}{d_0}---\left(9\right)$

According to shearing Hooke's law

τ _x＝γ _x·G＝G·δ _x/d ₀(10)

(10) are substituted into (9) can obtain

$C_{\mathrm{\&tau;}x}=C_0-\frac{{\mathrm{\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r\&CenterDot;{\mathrm{\&delta;}}_x\&CenterDot;b_0}{d_0}=C_0-\frac{{\mathrm{\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r\&CenterDot;b_0{\mathrm{\&tau;}}_x}{G}=C_0-\frac{{\mathrm{\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r{F}_x}{{\mathrm{Ga}}_0}---\left(11\right)$

(11) formula is input---the output characteristics under shearing stress, C _τwith τ _xlinear.

And its sensitivity

$S_{\mathrm{\&tau;}x}=\frac{{\mathrm{dC}}_{\mathrm{\&tau;}x}}{{\mathrm{dF}}_x}=\frac{{\mathrm{\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r}{{\mathrm{Ga}}_0}---\left(12\right)$

The similar analysis in formula (9)-(12) is suitable for and τ equally _ywith C _{τ y}characteristic and technical order, the only long limit b of strip capacitor cell in formula ₀oX axle direction should be arranged at, and its minor face a ₀then in OY direction.

(5) introduction of differential capacitor unit

Capacitor arrangement change shown in Fig. 5 and Fig. 6, only illustrates that electric capacity exports and tangential stress ± τ _xthe relation of input, capacitance increase is all negative, and therefore this initial capacitance structure is not suitable for as right ± τ _xobtain the response increasing and decreasing electric capacity.The present invention adjusts the initial configuration of lower polar plate on capacitor for this reason, forms pair of differential electric capacity to (C _lwith C _r), specifically as shown in Figure 7.

In Fig. 7, a pair electric capacity C _land C _relectrode size a ₀, b ₀, d ₀all identical, initial dislocation skew δ ₀also identical, difference is left side capacitor C _lupper strata δ ₀wedge angle be oriented to+OX, and the right capacitor C _rupper strata δ ₀wedge angle sensing-OX.

Work as τ _xwhen=0, $C_L=C_R=C_{{\mathrm{\&tau;}}_0}=C_0-\frac{{\mathrm{\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r\&CenterDot;\left({\mathrm{\&delta;}}_0\right)\&CenterDot;b_0}{d_0},$ Namely the electric capacity in figure corresponding to dash area, on this basis as at-F _xlower generation ± the δ of excitation _xmistake skew, formed as shown in Figure 8 electric capacity increase and decrease effect.

$C_L=\frac{{\mathrm{\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r\&CenterDot;b_0\&CenterDot;(a_0-{\mathrm{\&delta;}}_0\&PlusMinus;{\mathrm{\&delta;}}_x)}{d_0}---\left(13\right)$

C in Fig. 8 _land C _rdifferential capacitor is to same τ _xby generation ± δ _xwith ± Δ C _τresponse.

$\&PlusMinus;{\mathrm{\&delta;}}_x=\&PlusMinus;d_0\frac{{\mathrm{\&tau;}}_x}{E};$

δ ₀size should meet desirable δ ₀=10 μm, thus, formula (11) can be revised as

$C_{\mathrm{\&tau;}x}=C_{\mathrm{\&tau;}0}\&PlusMinus;\frac{{\mathrm{\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r}{{\mathrm{Ga}}_0}{F}_x---\left(14\right)$

In formula, for initial capacitance when shearing stress is zero, (14) formula is shearing stress input-output characteristic, C _{τ x}with F _xlinear relationship, and its sensitivity

2, contact-type parallel plate capacitor design

(1) planar design of parallel plate capacitor

Arrange, at a 10 × 10mm see the electrode plane in Fig. 9, Figure 10 and Figure 11 ²substrate center do cross separate, form four quadrants I, II, III, IV, wherein I, II quadrant is to τ _xmake the differential capacitor unit combination of response, and III, IV quadrant is to τ _ymake the differential capacitor unit combination of response.Outer contour is 10 × 10mm ²pcb board four edge lines, answer precise cutting accurate with what ensure in shape and size to PCB substrate.Hachure part represents the outer mode cross section of wax-loss casting process, and its geometrical shape and size also should keep precisely when mechanical-moulded, tears open, more should maintain dimensional accuracy for being convenient in demoulding and can spelling, finally to ensure the mutual interference that elimination three-dimensional force responds electric capacity.

Capacitor cell module adopts the comb teeth-shaped structure be made up of plural strip capacitor cell, and each strip capacitor cell comprises the drive electrode of top crown and the induction electrode of lower polar plate.By formula (12) a ₀less, the sensitivity of tangential stress response is larger, therefore single electric capacity is strip.If every root strip capacitor cell is wide is a ₀, the groove width between two strip capacitor cells is a _δ, then the pitch of every root strip capacitor cell is a ₀+ a _δ.In order to make full use of the plane space of square substrate, make M (a ₀+ a _δ) b ₀≈ 1 square substrate surface area, M is the strip capacitor cell number in 4 quadrants, then have M (a ₀+ a _δ)=2*10mm, in formula, groove width a _δunsuitable excessive, otherwise be unfavorable for using the effective plane space on substrate, also unsuitable too small, the constraint of wax-loss casting process is subject to.For making normal direction sensitivity S _nwith tangential sensitivity S _τidentical, by formula (7) and (12), make a ₀g=d ₀e, works as d ₀during=0.1mm, then a ₀=0.15mm, if make a _δ=0.05mm, then M=100, each quadrant has 25 strip capacitor cells.

In order to realize τ _xand τ _ybetween tangential response mutually do not have an impact, δ is reserved at drive electrode length two ends ₀, therefore b _{0 drives}=b _{0 end}+ 2 δ ₀, wherein at b _{0 drives}two ends length is reserved should be ensured in theory ${\mathrm{\&delta;}}_0\&GreaterEqual;d_0\&CenterDot;\frac{{\mathrm{\&tau;}}_{y\max }}{G},$ Its calculated value is ${10}^{-5}\&times;\frac{70\&times;{10}^3}{2.4\&times;{10}^6}=2.9\&times;{10}^{-8}m={10}^{-2}um<<1um,$ Therefore should b be ensured in technique _{0 drives}-b _{0 end}>=0.01mm.τ can be ensured like this when numeration exports response to electric capacity _xand τ _yany impact is not produced on the response of normal direction electric capacity.

In order to realize τ _xand τ _yany impact is not produced on the response of normal direction electric capacity, drive electrode and the layout of induction electrode in all quadrants of each strip capacitor cell should ensure that certain dislocation offsets, eliminated the effects of the act by differential, get the position of induction electrode in lower floor's PCB substrate as reference, then the layout of drive electrode in the PCB substrate of upper strata should with PCB substrate edge line for benchmark.In figure, four dashed rectangle are the benchmark of induction electrode on lower polar plate.And put they and geometry datum line differential apart from being δ ₀(0.1mm), to ensure τ _xproduce differential capacitor at I, II quadrant capacitor cell and export response, then produce τ at III, IV quadrant capacitor cell _ydifferential capacitor response, an initially dislocation skew δ is set _xo, its value should ensure its calculated value and δ ₀similar, its skew that initially misplaces all arranges δ _xo=δ _yo=0.01mm, to ensure that capacitor cell in four quadrants is at τ _xand τ _ytwo groups of differential capacitors pair can be produced under tangential excitation.C in fig. 8 _{τ xI}=C _rand C _{τ xII}=C _lfor conversion τ _xdifferential capacitor pair, and C _{τ xIII}=C _land C _{τ xIV}=C _rbe then conversion τ _ydifferential capacitor pair.

(2) normal stress calculates

The normal direction can being rewritten single capacitor by formula (6) responds electric capacity

$C_{ni}=N(C_0+\frac{{\mathrm{\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r\&CenterDot;Fn}{d_{0}E})---\left(15\right)$

Wherein, i=I, II, III, IV, because of in each quadrant, N is the strip capacitor cell quantity of each quadrant.

As sued for peace again, can obtain

Above formula is σ _nelectric capacity overall response.

Although the summation of single electric capacity is connected in parallel realization by contact conductor.But once and connect, just no longer can realize asking subtractive combination, the summation combination on historical facts or anecdotes border will be sued for peace by the output of intermediate translator again, sees Figure 10, the signal flow block diagram of summation

In figure, intermediate translator K can be voltage to electric capacity or frequency to the transmission coefficient of electric capacity, thus completes the synthesis to normal direction response.

$O_n=4KN(C_0+\frac{{\mathrm{\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r\&CenterDot;Fn}{d_{0}E})---\left(16\right)$

(3) tangential stress calculates

C _ito C _iIand C _iIIto C _iVtwo can be realized to differential combination, see Figure 13, through differential technique process, the overall response of differential output

$O_{\mathrm{\&tau;}x}=\frac{2{\mathrm{MK\&epsiv;}}_0\&CenterDot;{\mathrm{\&epsiv;}}_r}{a_{0}G}{F}_x---\left(17\right)$

In above formula, no matter be normal direction excitation F _nor tangentially encourage F _yall not to O _{τ x}have an impact.Namely automatically σ is eliminated _nand τ _yto τ _xthe coupling of total output or interference comprise at signal because every in the computing of subtracting each other, equivalent and all automatically eliminating with the capacitance variations met.And F _yand F _xto σ _ninterference by upper electrode at b ₀direction increases geometrical length 2 δ ₀eliminate, O _{τ y}in like manner can ask.

(4) main material selection and special parameter thereof

The section of structure of comb teeth-shaped plane-parallel capacitor is similar to the sandwich structure shown in Figure 14.In Figure 14,1 is upper PCB substrate, and 2 is lower PCB substrate, and 3 is drive electrode, and 4 is induction electrode.

Pole plate is apart from d ₀=0.1mm upper and lower base plate inner space, except copper foil electrode, is PDMS (dimethyl silicone polymer) the superlastic insulating medium with lost wax casting process filling.Its machinery and physical property parameter are Young's modulus E=6.2MPa, and its shear modulus is G=4.1MPa, relative permittivity ε during dielectric polorization _γ=2.5.Because E and G of medium is much smaller than the elastic modulus E of copper _copper=103GPa.Therefore the distortion of capacitor internal medium under stress phase is much larger than the distortion of pole plate.

(5) contact conductor design

Be that drive electrode or induction electrode all need to have lighting outlet, consider that each drive electrode is all ground connection in signal level, therefore four groups of drive electrodes only need share same lighting outlet.Four capacitor cell module induction electrodes then need, with respective independently lighting outlet, to draw, so that whole assembly top and bottom outer surface can contact with measuring object easily so whole capacitance component has at least 5 pins from the side of planar package.

The present invention, under the support of new material and new process, completes the design of a kind of novel three-dimensional power sensitization capacitance combination, at 10 × 10mm ²stress surface on, be no matter normal direction or tangential, all can transmit stress more uniformly to medium.In literary composition, four cell capacitance are two to combination distribution.In the contact of non-coplanar force and sensor surface, external force only has 1, and electric capacity response but has 4, can obtain normal direction F to 4 electric capacity summations _ninformation, namely whole electrode plate is all to asking F _ncontribute, simultaneously by two pairs of capacitor combination composition differential systems, can F be obtained again _xand F _yinformation, thus complete description three-dimensional force.These 4 cell capacitance combinations should complete its fundamental function, do not interfere with each other again, this is just achieved by design concept cleverly, and the normal direction sensitivity once changed by design parameter and tangential sensitivity and maximum linear error, can be the developer that goes together whereby and offer reference.

So due to the right application of differential capacitance, in pressure measuring service, each capacitor cell is all connected on intermediate translator, tangential force can be eliminated on the impact of normal force by calculating respectively, improving measurement accuracy.The force value that processor can obtain according to sensor measurement calculates the side-play amount that sensor drives pole plate, by contrasting the pressured value of three sensors and cheaply measuring result, exports and needs displacement distance.

Check Output rusults for the convenience of the users, in the present invention, be provided with display screen, in the present invention, near the position of support, a display screen 7 has been installed in the upper end portion of each supporting leg 2.Display screen 7 is connected to processor, each supporting leg 2 is all installed a display screen 7, also supporting leg 2 is there will not be to vary in weight, the situation of easy overturning, the Output rusults of processor is presented on display screen 7, each sensor and corresponding supporting leg are markd, so the result on display screen is very clear, result is presented on the supporting leg display screen 7 of needs adjustment.If bubble 3 is just in time positioned at zone line, the stressed size of each supporting leg 2 is identical, and display screen 7 shows simultaneously not to be needed to regulate result.

Display screen 7 shows measurement result and the prompting of each sensor, points out the distance that unbalanced supporting leg should move up or down, and is referred to as herein to finely tune distance.Display screen 7 only needs the length of adjusting triangle frame supporting leg 2, after the tripod provided in the present invention chooses position after showing fine setting distance, only need fixed triangle frame, then regulate, the length of supporting leg is that equal just needs carry out finely tuning, and does not need movable triangular frame.

Tripod supporting leg comprises fine setting supporting leg 8, telescopic outrigger 9 and supporting foot 10 herein, the major length of supporting leg is made up of telescopic outrigger, Multi-section retractable bar is comprised in telescopic outrigger 9, flexible rod quantity is set as required, the end of telescopic outrigger is provided with engagement portion 11 and can shrinks and the flexible rod that be fixed after stretching, extension at flexible rod, prevents flexible rod movable.

Fine setting supporting leg 8 is arranged on the upper end of telescopic outrigger, the structural representation of fine setting supporting leg as shown in figure 15, fine setting supporting leg offers screw rod inner chamber 12, threaded screw rod 13 is installed in screw rod inner chamber 12, and with screw rod inner chamber 12 Spielpassung, threaded screw rod 13 is slidably connected the Spielpassung of formula in screw rod inner chamber 12.Fine setting supporting leg 8 is provided with transmission case 14, be provided with transmission nut 15 in transmission case 14, transmission nut 15 is revolved by screw thread and is located on threaded screw rod 13, and transmission case 14 inner chamber communicates with screw rod inner chamber 12, one crank 16 front end penetrates in transmission case 14, and crank 16 front end is connected with a joggle transmission nut 15.Crank 16 can drive transmission nut 15 to move, and transmission nut 15 drives threaded screw rod 13 to move then, and crank 16 rear end is positioned at outside transmission case 14, can manual crank 16.In order to simplify work further, be provided with motor connecting crank 16 herein, processor output movement distance is presented on display screen 7, output movement instruction is simultaneously rotated automatically to motor driving crank, angle transducer connects the rotation angle of monitoring crank, angle transducer monitors crank-motion to first retainer, threaded screw rod reaches intended height, the data that processor is returned according to angle transducer transmission, export halt instruction to motor, motor quits work, and crank no longer rotates, the automatic adjustment of fine setting supporting leg, enormously simplify the use step of tripod.

In addition, the use region of tripod does not limit, conventional supporting foot is tip-angled shape, when being unfavorable for being equipped with (indoor) use tripod in pitch, concrete place, building, how cannot point be inserted in ground, therefore tripod overturning because of the storm wind swept suddenly of substantially horizontal sometimes, because contacting and overturning with moving body (material such as carried), the damage of the measuring equipment produced because translating into causes work and cannot carry out, so the supporting foot of tripod improves to some extent herein.

The structural representation of supporting foot 10 herein as shown in figure 16, its bottom is provided with hinge ball 17, hinge ball 17 is arranged in the hinge ball seat 18 of supporting foot 10, and telescopic outrigger 9 bottom is connected with supporting leg hinge ball 17, and supporting foot 10 arbitrarily can adjust angle thus firm laying on the ground.In addition tip is still bottom supporting foot, but most advanced and sophisticated 20 link hinge ball seat 18 by earthing component 19, earthing component outer 19 is installed with a dunnage 21, dunnage 21 can be rotatably provided on earthing component 19, in order to strengthen the strength and stability of dunnage, dunnage 21 is provided with a circle floor 22, the thickness of dunnage 21 and floor 22 is greater than most advanced and sophisticated 20 length, so after stable most advanced and sophisticated 20, can rotary support plate 21 to most advanced and sophisticated 20 places, increase the area of contact with ground, improve the stability of tripod.

Above by reference to the accompanying drawings to invention has been exemplary description; obvious specific implementation of the present invention is not subject to the restrictions described above; as long as have employed the improvement of the various unsubstantialities that method of the present invention is conceived and technological scheme is carried out; or design of the present invention and technological scheme directly applied to other occasion, all within protection scope of the present invention without to improve.The protection domain that protection scope of the present invention should limit with claims is as the criterion.

Claims (10)

1. a tripod apparatus, described tripod comprises support and is attached at the telescopic supporting leg in support bottom, it is characterized in that, tripod apparatus also comprises sensing unit and display screen, sensing unit comprises processor and multiple pressure transducer, pressure transducer is evenly arranged on base inner in order to monitor bubble that support is arranged to the force value of support, processor Bonding pressure sensor calculates the shift differences between the displacement of each sensor internal driving pole plate and sensor according to the force value of sensor measurement, the result of calculation of processor is presented on the display screen of processor connection, display screen is arranged on the upper end portion of supporting leg.

2. tripod apparatus according to claim 1, it is characterized in that, described pressure transducer comprises control unit, the X-direction differential capacitor unit combination be connected respectively with control unit and Y-direction differential capacitor unit combination, described X-direction differential capacitor unit combination is passed through the tangential force of capacitance subtraction calculations X-direction and is eliminated the impact of Y-direction tangential force, described Y-direction differential capacitor unit combination is passed through the tangential force of capacitance subtraction calculations Y-direction and is eliminated the impact of X-direction tangential force, the normal force of the capacitance read group total capacitive transducer of described X-direction differential capacitor unit combination and Y-direction differential capacitor unit combination and eliminate tangential force impact.

3. tripod apparatus according to claim 1, it is characterized in that, described X-direction differential capacitor unit combination and Y-direction differential capacitor unit combination include two or more and mutually form differential capacitor cell module, described capacitor cell module adopts the comb teeth-shaped structure be made up of plural strip electric capacity, and each strip electric capacity comprises the drive electrode of top crown and the induction electrode of lower polar plate.

4. tripod apparatus according to claim 3, is characterized in that, the drive electrode of described each strip capacitor cell is identical with induction electrode width, and the length of drive electrode is greater than induction electrode length, and drive electrode length two ends are reserved left poor position δ respectively _differencewith right poor position δ _right, b _{0 drives}=b _{0 sense}+ δ _right+ δ _left, wherein, b _{0 drives}for the drive electrode length of strip capacitor cell, b _{0 sense}for the induction electrode length of strip capacitor cell, described poor position δ _left=δ _right, and wherein d ₀for Elastic medium thickness, G is the modulus of rigidity of Elastic medium, τ _maxfor maximum stress value.

5. tripod apparatus according to claim 3, is characterized in that, the lead-in wire that described comb teeth-shaped structure comprises more than 20 strip electric capacity, connects one to one with strip electric capacity, is provided with electrode spacing a between adjacent two strip electric capacity _δ, described parallel-plate area S=M (a ₀+ a _δ) b ₀, wherein, bar M is strip electric capacity quantity, b ₀for the length of strip electric capacity, a ₀the width of strip electric capacity.

6. tripod apparatus according to claim 1, is characterized in that, the installation quantity of described pressure transducer equals the quantity of supporting leg, and the installation of pressure transducer is installed according to the distributed area of supporting leg, and each pressure transducer corresponds to each supporting leg.

7. tripod apparatus according to claim 1, it is characterized in that, described tripod apparatus obtains supporting leg and comprises fine setting supporting leg, telescopic outrigger and supporting foot, fine setting supporting leg is positioned at position, telescopic outrigger upper end portion, supporting foot is attached at the bottom of telescopic outrigger, fine setting supporting leg is provided with the crank of a fine setting leg length, and it is manual or Electronic control that crank controls.

8. tripod apparatus according to claim 7, it is characterized in that, described fine setting supporting leg offers screw rod inner chamber, in screw rod inner chamber, threaded screw rod is installed, threaded screw rod and screw rod inner chamber Spielpassung, threaded screw rod is slidably connected the Spielpassung of formula in screw rod inner chamber, fine setting supporting leg is provided with transmission case, transmission nut is provided with in transmission case, transmission nut is revolved by screw thread and is located on threaded screw rod, transmission case inner chamber communicates with screw rod inner chamber, and crank front end penetrates into transmission case internal messing connection for transmission nut, and the rear end of crank is positioned at transmission case outside.

9. tripod apparatus according to claim 7, it is characterized in that, described fine setting supporting leg offers screw rod inner chamber, in screw rod inner chamber, threaded screw rod is installed, threaded screw rod and screw rod inner chamber Spielpassung, threaded screw rod is slidably connected the Spielpassung of formula in screw rod inner chamber, fine setting supporting leg is provided with transmission case, transmission nut is provided with in transmission case, transmission nut is revolved by screw thread and is located on threaded screw rod, transmission case inner chamber communicates with screw rod inner chamber, crank front end penetrates into transmission case internal messing connection for transmission nut, the rear end of crank is positioned at transmission case outside, the motor that the part connection tripod apparatus that crank is arranged in transmission case is arranged, the angle transducer connecting monitoring crank angle is provided with in processor, processor controls the working state of motor.

10. tripod apparatus according to claim 7, it is characterized in that, described supporting foot comprises hinge ball, hinge ball seat, earthing component, tip and dunnage, hinge ball is arranged on supporting foot bottom, and hinge ball is arranged in the hinge ball seat of supporting foot, and telescopic outrigger bottom is connected by hinge ball with supporting leg, the hinge ball seat of supporting foot bottom is most advanced and sophisticated by earthing component link, dunnage is established in earthing component outward turning, and dunnage is provided with a circle floor, and the thickness sum of dunnage and floor is greater than most advanced and sophisticated length.