CN105784208B - A kind of disposable two-stage pressure sensor of 3D printing - Google Patents
A kind of disposable two-stage pressure sensor of 3D printing Download PDFInfo
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- CN105784208B CN105784208B CN201610261420.4A CN201610261420A CN105784208B CN 105784208 B CN105784208 B CN 105784208B CN 201610261420 A CN201610261420 A CN 201610261420A CN 105784208 B CN105784208 B CN 105784208B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/04—Measuring force or stress, in general by measuring elastic deformation of gauges, e.g. of springs
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/06—Measuring force or stress, in general by measuring the permanent deformation of gauges, e.g. of compressed bodies
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a kind of disposable two-stage pressure sensor of 3D printing, including：First portion and second portion；First portion includes first layer thin plate and the vertical stress boss positioned at center；Second portion is a hollow rectangular box body structure, box house includes two first boss protruded horizontally up, second boss, crossbeam, the boss of back taper, first boss, second boss are into being axisymmetrically distributed in two offside of babinet, crossbeam is located at first boss, second boss underface, across two offside of babinet, the boss of back taper is located at crossbeam center；The first layer thin plate of the first portion is located at the upper surface of two boss protruded horizontally up of second portion, and with boss symmetric contact.The present invention can realize two-stage pressure detecting, and the limitation of first class pressure can only be detected by overcoming similar original sensor；3D printing integrated molding can be used, realize quick manufacture；There is no any electronic equipment, can largely reduce cost；It is portable strong.
Description
Technical field
The invention belongs to intelligent robot technology field more particularly to a kind of disposable two-stage pressure sensors of 3D printing.
Background technology
Constantly soaring and technical ability experienced operator group the scarcity of manufacturing industry human cost, production, the processing of all trades and professions
More and more robots and automated arm, such as welding robot, feeding robot and polishing robot are introduced in field.
With the rapid development of this trend, a kind of man-machine co-melting robot technology is come into being, and this technology combines the intelligence of the mankind
Intelligent and quick and strength, repeatability and durability of industrial robot, the advantages of two types of populations, is merged.Due to most of machines
Device people is powerful active machine, and the security protection of the people to work around these robots becomes the problem of paying the utmost attention to.
The accurate measurement of power is carried out based on stress change principle using pressure sensor as the conventional contacts sensor of representative, usually there is precision
Signal perceives, modulate circuit, therefore high certainty of measurement, expensive.
However, major applications environment is also not required to the so high sensor of precision, such as only need to perceive what machine applied
Contact force monitoring device of simple structure and low cost may be employed whether in a certain particular range in power, thus occurs making
The design concept of the cheap 3D printing Bullet structure type sensor of valency and primary series of products.Existing same type of sensor can only
First class pressure is detected, service efficiency is low.
The content of the invention
It is an object of the invention to provide a kind of structural type, of low cost, 3D printing disposable two-stage pressure sensor,
Aim to solve the problem that the problem of existing same type of sensor can only detect first class pressure.
The present invention is achieved in that a kind of disposable two-stage pressure sensor of 3D printing, the structural type of the 3D printing,
Disposable two-stage pressure sensor includes two large divisions：First portion and second portion；
The first portion includes first layer thin plate and the vertical stress boss positioned at center；
The second portion be a hollow rectangular box body structure, box house include two protrude horizontally up first
Boss, second boss, crossbeam, the boss of back taper, first boss, second boss into being axisymmetrically distributed in two offside of babinet,
Crossbeam is located at first boss, second boss underface, and across two offside of babinet, the boss of back taper is located at crossbeam center；
The first layer thin plate of the first portion is located at the upper surface of two boss protruded horizontally up of second portion, and with
Boss symmetric contact.
Further, the first layer thin plate is irregular shape thin plate, and shape is approximately I-shaped, and the first thin plate of both sides is recessed
Into portion and the lower surface of the second thin plate recess respectively with first boss, second boss incomplete contact between, around 4 are stretched out first
Cuboid, the second cuboid, the 3rd cuboid, the 4th cuboid.
Further, axial symmetry before and after first cuboid and the second cuboid；3rd cuboid and the 4th cuboid are left
Right central symmetry, and respectively with the slot clearance fit on cabinet wall.
Further, the first boss, second boss are located at babinet or so face center, and are cantilever design；Crossbeam
It is constrained with babinet both sides for fixing end；The boss of back taper is located at crossbeam center.
Further, the cabinet wall is opened there are four cuboid slot, with 4 stretchings around first portion first layer thin plate
Parallelepiped body portion is corresponding.
Further, the first portion is integrated 3D printing with second portion.
Further, the lower surface of the first layer thin plate and first boss, second boss are adhesions.
The disposable two-stage pressure sensor of 3D printing provided by the invention, mounted on the various of the rough perception contact force of needs
In man-machine co-melting equipment, it is mainly used for the approximate range of macroscopic monitoring active force, if pressure threshold twice is respectively reached, to prevent
It injures or destroys caused by only robot is excessive to the impact force of human body or other equipment.It is bearing to reach first order detection
During the pressure of threshold value, highly it is decreased obviously；It is bearing to reach second level detection, height declines again, and the sensor is i.e. destroyed,
It needs replacing.Present invention seek to address that front sensor can only detect the limitation of first class pressure, improve the service efficiency of sensor,
Further reduce manufacture cost.
The present invention can realize the arbitrary two-stage pressure detecting between 10N to 500N, pass through three kinds of height values of sensor
The born pressure distributed area of display directly perceived, specially：Sensor highest shows that pressure is less than level-one threshold value at this time；Sensor
Height value is moderate to show that pressure is more than level-one threshold value and is less than secondary threshold at this time；Sensor minimum state shows that pressure is big at this time
In secondary threshold.The limitation of first class pressure by height one-shot change, can only be detected so as to overcome original sensor；Using
3D printing is integrally formed, and can realize quick manufacture, and product is completed within a few hours and is prepared；There is no any electronic equipment, each
The cost of sensor is less than ten yuan；The size and plate and boss in millimeter to cm range change plate and beam can be passed through
Contact area realizes the different size of pressure between detection 10N to 500N, portable fine；3 grades can be continued to make very
To multistage sensor, only need to increase various sizes of beam can.
Description of the drawings
Fig. 1 is the disposable two-stage pressure sensor structure schematic diagram of 3D printing provided in an embodiment of the present invention.
Fig. 2 is first portion's structure diagram provided in an embodiment of the present invention.
Fig. 3 is second portion structure diagram provided in an embodiment of the present invention.
In figure：1st, first portion；11st, first layer thin plate；111st, the first thin plate recess；112nd, the second thin plate recess；
113rd, the first cuboid；114th, the second cuboid；115th, the 3rd cuboid；116th, the 4th cuboid；12nd, stress boss；2nd, case
Body wall；211st, first boss；212nd, second boss；221st, crossbeam；222nd, the boss of back taper；231st, the first slot；232nd, second
Slot；233rd, the 3rd slot；234th, the 4th slot；
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
The structure of the present invention is explained in detail below in conjunction with the accompanying drawings.
As shown in Figure 1-Figure 3, the disposable two-stage pressure sensor of the 3D printing of the embodiment of the present invention mainly includes：First
Divide 1 and second portion.
The present invention applies pressure using micro pressure machine to the stress boss (12) of first portion (1), with the increasing of pressure
Add, first portion (1) first layer thin plate (11) deforms upon, under the first thin plate recess 111 and the second thin plate recess 112
Surface is gradually separated with the first boss 211 protruded horizontally up and second boss 212 of second portion, until completely disengaging.
After disengaging, stretching the first cuboid 113, the second cuboid the 114, the 3rd around first layer thin plate (11) are rectangular
115 and the 4th cuboid 116 of body corresponding slot the first slot 231, the second slot 232, the 3rd slot along second portion box body wall (2)
233 and 234 slide downward of the 4th slot, the cooperation of the two can play the role of positioning and guiding.This process has larger displacement,
It can judge to have had reached the first stage pressure accordingly.
And then the lower surface of first layer thin plate (11) is contacted with the boss (222) of the back taper on box crossbeam (221),
Pressure passes to crossbeam (221) by the boss (222) of back taper, and with the increase of pressure, crossbeam is gradually taken by lateral deflection, can be accordingly
Judgement has reached the stage pressure.Since then, which terminates.
The application principle of the present invention is further described below in conjunction with the accompanying drawings.
The present invention's it is critical that two parts of the force of sensor, first portion are first layer thin plate (11) and position
In boss (211,212) below；The boss (222) of second portion crossbeam (221) and back taper thereon.First portion
The design problem to be considered be thin plate separated with boss, the relation between the threshold value and its size of the required power that drops, and
The two parts design problem to be considered is the relation between power and crossbeam and the size of boss needed for crossbeam surrender.
First, the design method of first portion is illustrated, the loading process of first portion is the stress boss on thin plate (11)
(12) stress is transferred on thin plate, and thin plate further oppresses the boss (211,212) of lower section, due to the obstruction of boss, thin plate by
Gradual change shape, bending finally separate with boss (211,212), drop.This process thin plate experienced flexible deformation, surrender and modeling
Property deformation process, belong to nonlinear process.For the size design of this part, the present invention is had using instantly popular
The first method of limit；It is analyzed using general finite element analysis software, establishes thin plate and lower projection model, cell type uses
Solid185, material properties are according to PLA association attributeses, thin plate (11) lower surface and boss (211,212) upper surface setting face face
Contact pair, the face that boss (211,212) is contacted with babinet are constrained using fixing end.Then, to the stress boss (12) on thin plate
Apply even distributed force, solve can obtain thin plate separated with boss, the threshold value for the required power that drops.The size repetition for changing thin plate is above-mentioned
Process may finally obtain sheet size and destroy the relation of force threshold.Inventor's 3D printing goes out the model of appropriate size, goes forward side by side
Experiment is gone, obtained destruction force threshold and the result match result of finite element simulation is good.
Further, the design method of second portion is illustrated.The loading process of second portion falls for thin plate (11), with back taper
Shape boss (222) contacts, and boss is subject to the pressure of thin plate, and then passes to crossbeam (221), and crossbeam bends and then surrenders,
This process is linear process.Herein, the present invention uses the stiffness matrix [K] of spinor theory analysis model, and then acquires power and position
Relation W=[K] T of shifting, wherein：
W=(Fx,Fy,Fz；Mx,My,MZ) for force screw, T=(θx,θy,θz；δx,δy,δZ) it is displacement spinor.
Specific method is：
Using back taper boss (222) as acting body, babinet (2) is reference body.It will from the central plane of crossbeam (221)
Beam is divided into two parts.The two parts are considered in parallel.So each individually the stiffness matrix of rectangular cross section beam is：
Wherein t be crossbeam thickness, w be crossbeam width, l be crossbeam length half, η=t2/l2, κ=IZ/Iy=
t2/w2, χ=1/2 (1+v), Poisson's ratio v=0.3, β can be exported from (2) formula：
Then by inverible transform matrix (with boss upper surface away from horizontal depth of beam h in relation to) whole rigidity can be obtained
Matrix：
Wherein, l is the length of crossbeam.
And then it can obtain：
F=k25δ (4)
F is the size that back taper boss is subject to power, and δ is the distance of boss movement.
And then the threshold value of the power needed for crossbeam surrender can be obtained, different rigidity can be obtained by changing the size of crossbeam
Matrix, the threshold value of required power are also different.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (6)
- A kind of 1. disposable two-stage pressure sensor of 3D printing, which is characterized in that the disposable two-stage pressure sensing of 3D printing Device includes two large divisions：First portion and second portion；The first portion includes first layer thin plate and the vertical stress boss positioned at center；The second portion is a hollow rectangular box body structure, and box house includes first boss, second boss, horizontal stroke The boss of beam, back taper, first boss, second boss into being axisymmetrically distributed in two offside of babinet, crossbeam be located at first boss, Immediately below second boss, across two offside of babinet, the boss of back taper is located at crossbeam center, and first boss and second boss are water It is flattened go out；The first layer thin plate of the first portion is located at the first boss protruded horizontally up of second portion and the upper table of second boss Face, and symmetric contact therewith；The first layer thin plate is irregular shape thin plate, and shape is approximately I-shaped, the first thin plate recess of both sides and second Respectively with first boss, second boss incomplete contact between, the first cuboid of surrounding stretching, second grow for the lower surface of thin plate recess Cube, the 3rd cuboid, the 4th cuboid.
- 2. the disposable two-stage pressure sensor of 3D printing as described in claim 1, which is characterized in that first cuboid with Axial symmetry before and after second cuboid；3rd cuboid and the 4th cuboid or so central symmetry, and respectively on cabinet wall Slot clearance fit.
- 3. the disposable two-stage pressure sensor of 3D printing as described in claim 1, which is characterized in that the first boss, Two boss are located at babinet or so face center, and are cantilever design；Crossbeam is constrained with babinet both sides for fixing end；Back taper Boss is located at crossbeam center.
- 4. the disposable two-stage pressure sensor of 3D printing as described in claim 1, which is characterized in that the cabinet wall is provided with It is corresponding to stretch out parallelepiped body portions with 4 around first portion first layer thin plate for four cuboid slots.
- 5. the disposable two-stage pressure sensor of 3D printing as described in claim 1, which is characterized in that the first portion and the Two parts are integrated 3D printing.
- 6. the disposable two-stage pressure sensor of 3D printing as described in claim 1, which is characterized in that the first layer thin plate Lower surface and first boss, second boss are adhesions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610261420.4A CN105784208B (en) | 2016-04-25 | 2016-04-25 | A kind of disposable two-stage pressure sensor of 3D printing |
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| CN201610261420.4A CN105784208B (en) | 2016-04-25 | 2016-04-25 | A kind of disposable two-stage pressure sensor of 3D printing |
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| CN105784208A CN105784208A (en) | 2016-07-20 |
| CN105784208B true CN105784208B (en) | 2018-06-05 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102016124410A1 (en) * | 2016-12-14 | 2018-06-14 | Trafag Ag | Method for producing a pressure sensor element as well as pressure sensor measuring element available therewith |
| CN111801562B (en) * | 2018-03-02 | 2023-08-01 | 格兰富控股联合股份公司 | Pressure sensor |
| CN111801561A (en) * | 2018-03-02 | 2020-10-20 | 格兰富控股联合股份公司 | Pressure sensor |
| CN109945971B (en) * | 2019-04-11 | 2020-01-24 | 福州大学 | Visual fluorescent sensor for ultraviolet detection and manufacturing method thereof |
| CN112229738A (en) * | 2020-10-12 | 2021-01-15 | 广西益顺盈智能科技集团有限公司 | Device for detecting pressure bearing capacity of mobile phone display screen and using method thereof |
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| CN85104807B (en) * | 1985-06-02 | 1986-08-06 | 哈尔滨工业大学 | Multi-range load cell |
| CN101815647A (en) * | 2007-09-19 | 2010-08-25 | 梅西耶-道提有限公司 | overload detection |
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