CN105118358B - Precision balance balance-enlarger with motion mathematical model - Google Patents
Precision balance balance-enlarger with motion mathematical model Download PDFInfo
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- CN105118358B CN105118358B CN201510603798.3A CN201510603798A CN105118358B CN 105118358 B CN105118358 B CN 105118358B CN 201510603798 A CN201510603798 A CN 201510603798A CN 105118358 B CN105118358 B CN 105118358B
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- balance
- flexible hinge
- rigid body
- enlarger
- hinge
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Abstract
The invention discloses a kind of balance-enlarger motion mathematical models for precision balance, including：It is integrally formed flexible hinge parallelogram lindage, lever mechanism, strap mechanism and the supporting mechanism of molding rigid body, the flexible hinge parallelogram lindage includes flexible hinge, the lever mechanism includes flexible hinge and the hinge two sides rigid body, the strap mechanism includes corresponding rigid body between flexible hinge and hinge, the mathematical model of the motion model, including parameter K1, K2, K3, l, x, y are the power that one end is applied on flexible hinge parallelogram lindage by dynamometry F, and it is lever mechanism is generated relative to the flexible hinge parallelogram lindage other end when minimum precision quality generates gravity displacement that D, which is by dynamometry F,.The beneficial effects of the invention are as follows：For the balance design that different accuracy requires, balance-enlarger motion mathematical model is given, provides convenient and fast approach for the research and development of precision balance, saved the research and development time, saved research and development cost.
Description
Technical field
The present invention relates to a kind of precision balances, more particularly to a kind of precision balance balance-with motion mathematical model
Enlarger.
Background technique
With the progress of science and technology and the raising of manufacturing technology level, requirement of the every profession and trade to high-precision weighing is constantly mentioned
Height, such as in the fields such as biomedical engineering and bio-pharmaceuticals, it is frequently encountered Tiny Mass analysis, in chemical field, often
The quality of accurate reactant is needed, in the industrial production, also usually needs the quality of exact material.For the system of precision balance
It makes, lever balance-amplifying method weighing is common method, such as the application for a patent for invention public affairs of Publication No. CN 104374451A
A kind of monomer sensor mechanical structure for weighing is opened.But for flat used in lever balance-amplifying method weighing
Weighing apparatus-enlarger design method, temporarily also finds no specific theory and is illustrated and referred to specific design method
It leads.Therefore, applicant studies balance-enlarger design method of precision balance.
Summary of the invention
Technical problem to be solved by the invention is to provide balances-used in a kind of convenient way for developing precision balance to put
Great institutions motion mathematical model.
The technical scheme adopted by the invention is that：A kind of precision balance balance-enlarger with motion mathematical model,
Including：It is integrally formed flexible hinge parallelogram lindage, lever mechanism, strap mechanism and the supporting mechanism of molding rigid body, it is described
Flexible hinge parallelogram lindage includes flexible hinge, and the lever mechanism includes flexible hinge and the hinge two sides rigid body, institute
Stating strap mechanism includes corresponding rigid body between flexible hinge and hinge, and the mathematical model of the motion model is：
Parameter in formula：K1For the rotational stiffness of flexible hinge, K2For the rotational stiffness of flexible hinge, K3For flexible hinge
Rotational stiffness, l are the length of flexible hinge parallelogram lindage, and x, y are the length of lever mechanism fulcrum hinge or so rigid body portion
Degree, is the power that one end is applied on flexible hinge parallelogram lindage by dynamometry F, it is minimum precision quality that D, which is by dynamometry F,
The displacement that lever mechanism is generated relative to the flexible hinge parallelogram lindage other end when generating gravity.
The maximum value of the parameter l take be taken as respectively balance-enlarger reserved space height and length three/
Two, the maximum value of the parameter x and y is taken as 3/4ths of balance-enlarger reserved space height and length.
In the range of the parameter values are met the requirements, optimal value is to apply to be produced by the quality that dynamometry F is measurement accuracy
When raw gravity, the parameter value of D value maximum value can be made.
The measurement resolution is the balance of 10mg-0.01mg.
Balance-enlarger of the precision balance further includes upper regulating mechanism, which can be equipped with adjustment hole, the tune
Knothole is located in the symmetrical center line of flexible hinge.
Further include position-limit mechanism, the limiting device include the lever mechanism one end be arranged block, supporting
The limit rigid body of machine-shaping in mechanism.
The beneficial effects of the invention are as follows：For the balance design that different accuracy requires, balance-enlarger fortune is given
Dynamic mathematical model, provides convenient and fast approach for the research and development of precision balance, saves the research and development time, has saved research and development cost.
Detailed description of the invention
Fig. 1 is the overall structure diagram of parallel four-bar flexure hinge mechanism of the invention, lever mechanism and strap mechanism；
Fig. 2 is the structural schematic diagram of parallel four-bar flexure hinge mechanism；
Fig. 3 is the structural schematic diagram of lever mechanism；
Fig. 4 is the structural schematic diagram of strap mechanism；
Fig. 5 is a kind of design parameter schematic diagram of balance-enlarger of the present invention；
Fig. 6 is balance-enlarger stereoscopic schematic diagram；
Fig. 7 is balance design flow chart of the present invention.
Specific embodiment
Invention is further described in detail with reference to the accompanying drawings and detailed description：
As shown in Figure 1, the common basic principle of precision balance is lever balance-amplifying method weighing, that is, pass through exerted forces
FbGravity F with measured object is by lever balance, when initial position reaches equilibrium state, by the size for measuring exerted forces
The quality of measured object can be acquired with known lever ratio, common embodiment is to utilize electricity using Photoelectric Detection location method
Magnetic force feedback equalization zero method principle realizes the weighing to weighed object quality.Before load, balance mechanism is in initial balance shape
State.After load, the quality for being weighed object is subjected to displacement by balance-enlarger moving part, the size of displacement with
The photoelectric current of photoelectric sensor is directly proportional, and photo-signal is converted to voltage signal through photoelectric detective circuit.Voltage signal passes through
PID is adjusted, and provides an electric current directly proportional to the quality m of weighed object, magnetic of the coil in magnetic cylinder permanent magnet to electromagnetic coil
Under field action, upward power F will be generated, move up the moving part of electromagnetic force equilibrium mechanism, make photoelectric detective circuit
Output voltage is reduced, and the electric current that PID integral element flows through coil continues to increase, until moving part is restored to initial balance
Position.At this point, the power F that coil current generates under permanent magnet magnetic field actionbThe gravity generated with the quality for being weighed object is logical
Lever balance is crossed, sensor is in equilibrium state.It can be obtained by the size and lever ratio that detect the offline loop current of equilibrium state
To the quality of weighed object.
Balance-enlarger of precision balance is a kind of Primary Component for realizing precision balance, and Fig. 2 is parallel four-bar flexibility
The structural schematic diagram of linkage, Fig. 3 are the structural schematic diagrams of lever mechanism, and Fig. 4 is the structural schematic diagram of strap mechanism, Fig. 6
It is balance-enlarger stereoscopic schematic diagram.The structure of balance-enlarger according to the present invention be on rigid body integrally at
The flexible hinge parallelogram lindage of shape, lever mechanism, strap mechanism and other practical mechanisms.Wherein flexible hinge parallel four-bar
Mechanism is made of flexible hinge 1,2,3,4,5,6,7,8 and corresponding rigid body, and lever mechanism is corresponding by flexible hinge 11 and its two sides
Rigid body is constituted, and strap mechanism is made of the corresponding rigid body between flexible hinge 9,10 and flexible hinge 9,10, the geometry of the model
Parameter is：L is the length of flexible hinge parallelogram lindage as shown in Figure 5, and a is the length of strap mechanism as shown in Figure 5,
X, y are the length of lever mechanism fulcrum hinge as shown in Figure 5 or so rigid body portion.For the motion model of the mechanism, establish
The mathematical motion model for having the mechanism is：
In formula, K1For the rotational stiffness of flexible hinge 1,2,3,4,5,6,7,8, K2For the rotational stiffness of flexible hinge 9,10,
K3For the rotational stiffness of flexible hinge 11, remaining each parameter is as shown, a is the length of strap mechanism, and a is in the mistake for establishing formula
Cheng Zhong can be neglected since the influence to D is minimum, in practical applications, the value of a be taken as big as possible, F is such as one institute of figure
The power applied on flexible hinge parallelogram lindage shown, D is by dynamometry F when being the gravity that minimum precision quality generates,
The displacement that lever mechanism right end generates.
On the basis of the above electronic balance principle, the specific embodiment to the design of precision electronic balance is：First
According to the demand analysis of the balance of required manufacture, determines the accuracy class reached needed for the balance of design and analyze according to demand
In equipment size and the devices such as remaining circuit board size, estimate the range of the volume parameter of the sensor, secondly determine
Balance external condition relevant to balance-enlarger, including determining that is be capable of processing is somebody's turn to do according to processing conditions and feed order
The dimensional parameters of each flexible hinge of balance-enlarger are to estimate the rotational stiffness K of each flexible hinge1、K2And K3Value.
It also balances-puts according to institute of the signal parameter analysis location mechanism of used photoelectric sensor location mechanism energy stabilizing determination simultaneously
The full accuracy of big position.
Then, the matter of power and minimum weighing accuracy that the minimum current value that can be detected according to measuring circuit can occur
The ratio of gravity caused by measuring determines the range of balance-enlarger lever ratio x/y, in order to make balance reach measurement
Precision, it is known that, the range of lever ratio x/y, which should be greater than gravity caused by the quality of minimum precision and minimum current value, to be occurred
Power ratio.It is taken up space according to balance-enlarger and chooses l as big as possible, the value of a, when value should be according to the knot
Structure, which takes up space, chooses value that is as big as possible but being less than l, meets D value further according to motion mathematical model selection lever ratio range and is greater than
X, y value of location mechanism full accuracy distance.The value that qualified balance-enlarger cannot such as be selected, then can be improved survey
After the precision of position mechanism, or the precision of raising measuring circuit, parameter selection is re-started, is until suitable parameter may be selected
Only.
It need to be set when design by dynamometry F as gravity caused by the quality under the accuracy class, such as the balance that resolving power is 1mg
F should be gravity caused by 1mg mass, which is about 0.000001N, and resolving power is that the F of the balance of 0.1mg should be 0.1mg
Gravity caused by quality, the value are about 0.0000001N；D is balance-enlarger lever mechanism right side under F effect
The size of the displacement of generation, the value is related with balance-enlarger geometric parameter, can be by balance-enlarger mathematical modulo
Type acquires, which need to be greater than the resolving power of location mechanism.
Embodiment：
As shown in fig. 7, by precision be 1 milligram, for design of the maximum range for the lab scale of 200g to the present invention
Specific embodiment be illustrated：
According to claim 4 and 5, the range of lever when x/y is first determined, here, we use electric current and electromagnetism
Body is as power generating device, at this point, the current detection accuracy of circuit board is 100nA, the power which can occur is 10E-6N, and 1
The gravity that milligram weight generates is by dynamometry, this value size is 10E-5N, therefore the value of x/y should be greater than 1/10, while power occurs
It is 0.5N that mechanism, which can stablize the maximum, force generated, while gravity caused by the quality of maximum range 200g is to be by dynamometry
2N, therefore the value of x/y should be less than 1/4.In view of portability, the internal volume length of designed lab scale be 50cm with
Interior, width is within 30cm, highly within 8cm, also needs to place circuit board due to consideration that internal, the parts such as shield, because
This planning balances-and the space of enlarger is long 12cm, wide 9cm, the rectangular parallelepiped space of high 6cm, therefore size is taken here
The maximum value of parameter l and a are respectively long and high by 2/3rds, as 8cm and 4cm, x and y's and be 9cm.In view of processing
Ability and cost, the hinge of parallel four-bar flexure hinge mechanism are that t=0.1mm radius is the straight of R=0.9mm width b=18mm
Round flexible hinge, rotational stiffness K1=0.3N.m/rad；Definition E, F flexible hinge is minimum thickness t=0.1mm radius
For the straight round flexible hinge of R=0.9mm width b=12mm, rotational stiffness K2=0.2N.m/rad；Define fulcrum hinge
G is that minimum thickness t=0.1mm radius is R=0.9mm, the straight round flexible hinge of width b=18mm, rotational stiffness K3
=0.3N.m/rad.The precision of photoelectricity location mechanism at this time is 100nm, and there is no the values of x and y in range to make at this time
100nm is greater than by the value for the displacement D that the power that dynamometry is 10E-5N generates, it is therefore desirable to the precision for improving photoelectricity location mechanism,
This is designed using the device that photoelectricity location precision is 10nm from newly, after the photoelectricity location mechanism using higher standard, is deposited
The value of the displacement D generated by the power of dynamometry 10E-5N is set to be greater than 10nm in the value of x and y, therefore there are the value of x and y satisfactions
Condition, the range of x are to be less than 6cm greater than 0.6cm, and since the value of x and y should be greater than 1/10 and less than 1/4, and the sum of x and y is
9cm, therefore the value range of x is to be less than 1.8cm greater than 0.82cm.In order to realize that the optimized design of parameter chooses the value of x and y
Make the value of the x and y of the displacement D maximum value that can be equally generated under conditions of dynamometry.By x and y's and be 9cm, K1、K2And K3
The conditions such as value bring the optimal value that the value of x and y can be obtained in balance-enlarger mathematical model into, wherein x is 1.8cm, y
For 7.2cm, the parameters of basic dimensions of the mechanism is with determination.
Finally, in order to guarantee the processing and normal use of sensor, also needing to surround after determining the above parameters of basic dimensions
Above parameter increases some other practical mechanisms, if you need to add regulating mechanism, the mechanism can be set to adjustment hole 12 in figure six,
The position of 13 form, adjustment hole 12,13 is located in the symmetrical center line of flexible hinge 5,6.Adjustment hole 12,13 is through-hole and hole
The rigid structure of lower section is equipped with threaded hole, can facilitate installation and adjustment screw, changes 12,13 place of hole by adjusting screw
Beam at a distance from following rigid structure, it can be achieved that the balance of the two sides of Luo Bai Weir mechanism is finely tuned, level mechanism with school
Positive mismachining tolerance and rigging error.Flexible hinge is made greatly in addition, position-limit mechanism required for being arranged also is needed to move past to prevent stop bit
At damage, block 14 can be such as added, the position of fixed rigid body 17, the movement of 18 limit stops can be set over and under block
It is excessive that in-migration limits flexible hinge deformation.In addition, need to there are the rigid body support constructions continued to employ when processing, and in setting installation above
Hole so that the mechanism can assemble use, such as settable rigid body 15 so as to installing force generating mechanism electromagnetic mechanism electromagnetic coil,
Setting rigid body 16 enables the balance-enlarger to pass through installation spiral shell with balance outer casing base can beat threaded hole below rigid body 16
Nail is fixed, to be balanced-the assembly of enlarger.
Claims (5)
1. a kind of precision balance balance-enlarger with motion mathematical model, including：It is integrally formed the flexibility of molding rigid body
Hinge parallelogram lindage, lever mechanism, strap mechanism and supporting mechanism, be integrally formed rigid body by side rigid body both upper ends thereof portion and
Lower part both ends have extended in parallel rigid body and lower rigid body outward respectively；The flexible hinge parallelogram lindage includes flexible hinge
Chain (1,2,3,4,5,6,7,8), two upper rigid bodies distinguish one end through upper flexible hinge (1,2) connecting side rigid body upper end, another
End is held to connect equipped with top flexible hinge (5,6) rigid body, two lower rigid bodies distinguish one end through lower flexible hinge (3,4) connecting side
Rigid body lower end, other end end are connected equipped with following flexible hinge (7,8) rigid body；The lever mechanism includes single flexible hinge
(11) and the rigid body of the list flexible hinge two sides and upper rigid body inside parallel；The strap mechanism includes double-flexibility hinge (9,10)
And the corresponding rigid body with side rigid body inside parallel between hinge, it is characterised in that：Motion mathematical model is：
Parameter in formula：K1For the rotational stiffness of flexible hinge (1,2,3,4,5,6,7,8), K2For the rotation of double-flexibility hinge (9,10)
Turn rigidity, K3For the rotational stiffness of single flexible hinge (11), l is the length of flexible hinge parallelogram lindage, and x, y are single flexible
The length of hinge (11) fulcrum or so rigid body portion, by dynamometry F by flexible hinge parallelogram lindage one end applied
Power, it is that lever mechanism is another relative to flexible hinge parallelogram lindage when minimum precision quality generates gravity that D, which is by dynamometry F,
Hold the displacement generated.
2. a kind of precision balance balance-enlarger with motion mathematical model according to claim 1, feature exist
In：The maximum value of the parameter l makes even weighing apparatus-enlarger reserved space from 2/3rds of side rigid body lateral length.
3. a kind of precision balance balance-enlarger with motion mathematical model according to claim 1, feature exist
In：Balance measurement resolution is 10mg-0.01mg.
4. a kind of precision balance balance-enlarger with motion mathematical model according to claim 1, feature exist
In：Balance-enlarger of the precision balance further includes upper regulating mechanism, and is equipped with adjustment hole (12,13), the adjustment hole
(12,13) in the symmetrical center line of top flexible hinge (5,6).
5. a kind of precision balance balance-enlarger with motion mathematical model according to claim 1, feature exist
In：It further include position-limit mechanism, the position-limit mechanism includes in the block (14) of one end of lever mechanism setting, in support machine
The limit rigid body (17,18) of machine-shaping on structure.
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| CN201510603798.3A CN105118358B (en) | 2015-09-20 | 2015-09-20 | Precision balance balance-enlarger with motion mathematical model |
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| CN201510603798.3A CN105118358B (en) | 2015-09-20 | 2015-09-20 | Precision balance balance-enlarger with motion mathematical model |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0706035A2 (en) * | 1994-10-05 | 1996-04-10 | Shimadzu Corporation | Top pan balance |
| CN104374451A (en) * | 2014-11-14 | 2015-02-25 | 天津大学 | Single sensor mechanical structure for weighing |
-
2015
- 2015-09-20 CN CN201510603798.3A patent/CN105118358B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0706035A2 (en) * | 1994-10-05 | 1996-04-10 | Shimadzu Corporation | Top pan balance |
| CN104374451A (en) * | 2014-11-14 | 2015-02-25 | 天津大学 | Single sensor mechanical structure for weighing |
Non-Patent Citations (3)
| Title |
|---|
| 《单平行四杆柔性铰链机构刚度特性分析》;张霖等;《华东交通大学学报》;20131231;全文 * |
| 《基于柔性铰链微位移放大机构的设计和分析》;王思民等;《液压气动与密封》;20111231;全文 * |
| 《柔性平行导向机构静动力学分析与优化设计研究》;曲彬;《中国优秀硕士学位论文数据库》;20150515;正文第10-30页 * |
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