CN106248284B - Three-dimensional force sensor of bush - Google Patents
Three-dimensional force sensor of bush Download PDFInfo
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- CN106248284B CN106248284B CN201610799604.6A CN201610799604A CN106248284B CN 106248284 B CN106248284 B CN 106248284B CN 201610799604 A CN201610799604 A CN 201610799604A CN 106248284 B CN106248284 B CN 106248284B
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- strain gauges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
Abstract
The invention discloses a bushing three-dimensional force sensor, which is characterized in that: the utility model provides a three-dimensional force sensor of bush, includes bush outer tube, rubber, bush inner tube, strainometer and symmetry sets up a pair of elastomer at bush inner tube both ends, the bush inner tube sets up in the bush outer tube, rubber vulcanizes to between bush inner tube and the bush outer tube, the bush inner tube is embedded into in the rubber, elastomer one end and bush inner tube interference are connected, and the other end passes through the bolt fastening, the strainometer pastes on the elastomer for measure the strain that horizontal, vertical and axial atress produced, wherein the bush outer tube is the atress body among the three-dimensional force sensor of bush, and the effort is passed to the elastomer through bush outer tube, rubber to bush inner tube. The invention overcomes the problems of complex structure, long research and development period, high cost, low precision and the like in the prior art, and has the characteristics of simple structure, good linearity, small coupling error, low cost, convenient installation and the like.
Description
Technical Field
The invention relates to a technology for collecting a load spectrum of an automobile part and measuring a precision instrument, in particular to a three-dimensional force sensor for a rubber bushing of an automobile chassis.
Background
As an important damping element in automotive suspension systems, bushings play an important role in vehicle handling stability, comfort and NVH performance. However, the bushings are subject to alternating loads for extended periods of time during vehicle operation, and fatigue failure often occurs. The accurate acquisition of the load spectrum of the bushing is a precondition for researching the fatigue durability of the bushing, and a force sensor is often adopted in engineering to acquire the load spectrum of a part.
The sensor acquires the load spectrum of the part, and two types of modes are typical: 1. directly embedding a standard sensor into a part structure; 2. and directly sticking a strain gauge on the measured part. Both approaches have certain disadvantages: in the mode 1, the structure of related parts needs to be changed, so that the overall performance of the automobile is influenced to a certain extent, the period is long, and the cost is high; mode 2 is not high in test accuracy and is difficult to meet multi-dimensional force tests. For the condition that the structural space of the part is sufficient, a load spectrum signal of the part can be obtained by directly embedding a standard sensor; however, the installation space of the rubber bushing is narrow and small, the multi-dimensional force test is required, a sensor for better solving the problem of bushing three-dimensional force acquisition is not available at home and abroad at present, and the load spectrum signal of the part can be obtained only by designing a special sensor structure.
The design key of the multi-dimensional force sensor lies in the design of an elastic body, a patch of a strain gauge and a bridging method. The structure of the elastic body, the patch, the bridging scheme, the manufacturing error and other factors cause the mutual coupling of the output channels of the sensor. The coupling output has certain influence on the measurement accuracy, sensitivity and the like of the multi-dimensional force sensor, so decoupling is needed. According to different decoupling methods, the multidimensional force sensor can be divided into a structural decoupling multidimensional force sensor and an algorithm decoupling multidimensional force sensor. The structural decoupling means that the inter-dimensional coupling is eliminated through an elastomer design of the sensor and a patch and bridge combination method, and an output signal of the sensor is an actual loading signal. The algorithm decoupling means that the output signals of the sensors are coupled greatly and cannot correspond to the actual load, and the actual load can be obtained only by decoupling the output signals through a specific algorithm. Under certain conditions, the structural decoupling is incomplete due to the limitation of processing errors, and the accuracy of the sensor can be further improved through algorithm decoupling.
Disclosure of Invention
The invention aims to solve the problem of bushing three-dimensional force acquisition and provides a bushing three-dimensional force sensor which is simple in structure, good in linearity, small in inter-dimensional coupling and high in sensitivity.
In order to achieve the aim of the complaint, the invention adopts the following technical scheme:
the utility model provides a three-dimensional force sensor of bush, includes bush outer tube, rubber, bush inner tube, strainometer and symmetry setting a pair of elastomer at bush inner tube both ends, the bush inner tube sets up in the bush outer tube, rubber vulcanizes to between bush inner tube and the bush outer tube, the bush inner tube is embedded into in the rubber, elastomer one end and bush inner tube interference connection, the other end passes through the bolt fastening, the strainometer pastes on the elastomer for measure the strain that horizontal, vertical and axial atress produced, wherein the bush outer tube is the atress body among the three-dimensional force sensor of bush, and the effort is passed to the elastomer through bush outer tube, rubber to bush inner tube.
As a preferred structure, each elastic body comprises a lifting lug, a pair of force measuring columns, a disc and a bottom column, the elastic bodies are in a bilateral symmetry structure, one end of each lifting lug is fixed through a bolt, and the other end of each lifting lug is fixedly connected with the force measuring column; the cross section of the force measuring column is rectangular and is symmetrical left and right, up and down about the axis of the bottom column; the bottom column is in interference connection with the inner pipe of the bushing, and force is transmitted to the force measuring column through the disc.
As a preferred structure, the force measuring column includes an upper wall surface, a lower wall surface, an outer wall surface, and an inner wall surface, wherein the upper wall surface and the lower wall surface are two opposing wall surfaces, and the outer wall surface and the inner wall surface are two opposing wall surfaces.
In a preferred structure, the strain gauge is attached to the wall surface of the force measuring column and is used for measuring strains generated by transverse, longitudinal and axial force.
As a preferred configuration, 20 strain gauges R1 to R20 having the same initial resistance value are attached to the wall surface of each force measuring column, and the strain gauges are divided into three groups a, b, and c of bridges for detecting three-dimensional force signals Fx, Fy, and Fz, wherein the bridge group a and the bridge group b are composed of 8 strain gauges, and the bridge group c is composed of 4 strain gauges, and wherein:
the strain gauges R1-R8 form a group a of bridges for detecting the Fx, and the strain gauges R1, R2, R3 and R4 of the group a of bridges are attached and placed in parallel in the transverse direction on the same side of the force measuring column; strain gauges R5, R6, R7 and R8 are attached to the same side of the force measuring column in the transverse direction in parallel; the strain gauges R9-R16 form a b-group bridge for detecting Fy, and the strain gauges R9, R10, R11 and R12 of the b-group bridge are attached in parallel in the transverse direction on the same side of the force measuring column; strain gauges R13, R14, R15 and R16 are attached to the same side of the force measuring column in the transverse direction in parallel; the strain gauges R17, R18, R19 and R20 form a c-group bridge for detecting Fz, and the strain gauges R17, R18, R19 and R20 of the c-group bridge are attached and placed in parallel in the transverse direction of the force measuring column;
strain gauges R1, R3, R5 and R7 are attached to the middle part of the inner wall surface of the force measuring column and close to the position of the lifting lug; strain gauges R2, R4, R6 and R8 are attached to the middle part of the inner wall surface of the force measuring column and close to the position of the disc; strain gauges R9 and R11 are attached to the middle part of the upper wall surface of the force measuring column and close to the position of the lifting lug; strain gauges R13 and R15 are attached to the middle part of the lower wall surface of the force measuring column and close to the position of the lifting lug; strain gauges R10 and R12 are attached to the middle part of the upper wall surface of the force measuring column and close to the position of the disc; strain gauges R14 and R16 are attached to the middle part of the lower wall surface of the force measuring column and close to the position of the disc; strain gauges R17 and R18 are attached to the middle part of the upper wall surface of the force measuring column and close to the position of the lifting lug; and strain gauges R19 and R20 are attached to the middle part of the lower wall surface of the force measuring column, close to the position of the lifting lug.
As a preferable configuration, the two elastic force columns include a first force column, a second force column, a third force column, and a fourth force column, wherein the strain gauges R1, R2, R9, R10, R13, and R14 are attached to the first force column, the strain gauges R3, R4, R11, R12, R15, and R16 are attached to the second force column, the strain gauges R7, R8, R18, and R20 are attached to the third force column, and the strain gauges R5, R6, R17, and R19 are attached to the fourth force column.
As a preferred configuration, the three sets of bridges a, b, and c respectively constitute a full bridge detection circuit, where the strain gauges R1 and R2, R3 and R4, R5 and R6, and R7 and R8 of the bridge set a are respectively disposed on the corresponding bridge arm, the strain gauges R9 and R10, R11 and R12, R13 and R14, and R15 and R16 of the bridge set b are respectively disposed on the corresponding bridge arm, and the strain gauges R17 and R18, and R19 and R20 of the bridge set c are respectively disposed on the corresponding bridge arm.
The realization principle of the invention is as follows:
the force measuring column of the elastic body of the sensor is stressed to generate bending deformation, the strain gauge on the force measuring column generates strain along with the deformation, the deformation of the strain gauge changes the resistance value of the Wheatstone balance bridge, so that the output voltage is changed, and the calibration coefficient of the sensor is obtained by establishing the relation between the output voltage and the input force (moment). In order to avoid the inter-dimensional coupling, a specific patch and bridge combination mode is required besides the design of a decoupling structure, the force measuring column generates bending deformation when stressed, the strain gauge opposite to the wall surface shows tension and compression deformation, and the corresponding bridge circuit resistance value can be increased or reduced.
Compared with the prior art, the invention has the following advantages and effects:
1. according to the invention, the sensor elastomer is designed on the basis of the original structure of the bushing, and compared with a mode of disconnecting a part connected with the sensor and additionally installing the sensor, the development cycle is shortened, and the cost is reduced; the problems of low test precision and difficulty in meeting the multi-dimensional force test simultaneously caused by the mode of directly pasting the patch on the part are solved. In addition, the sensor has the characteristics of simple structure, low cost, convenience in installation and the like.
2. The sensor with the disconnected elastomer is manufactured by combining the rubber element, the limitation of the traditional sensor manufactured by adopting the integral elastomer is broken through, and the application range of the sensor is expanded in the aspect of space layout. Through the performance analysis of the sensor, the disconnected elastomer structure has higher flexibility while meeting good repeatability, linearity, coupling degree and sensitivity.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
Fig. 1 is a schematic diagram of a three-dimensional force sensor structure of a bushing sensor.
Fig. 2 is a schematic diagram of a three-dimensional force sensor elastomer structure of a bushing sensor.
Fig. 3 is a schematic diagram of a patch of a strain gauge on a three-dimensional force sensor elastomer of a bush sensor.
Fig. 4 is a schematic diagram of a set of bridges in the three-dimensional force sensor information acquisition of the lining sensor.
Fig. 5 is a schematic diagram of b sets of bridges in the three-dimensional force sensor information acquisition of the bushing sensor.
Fig. 6 is a schematic diagram of c sets of bridges in the three-dimensional force sensor information acquisition of the bushing sensor.
FIG. 7 is a force analysis diagram of the bushing sensor three-dimensional force sensor elastomer.
Fig. 8 is a schematic diagram of elastomer information acquisition of a three-dimensional force sensor of a bushing sensor.
The reference numbers and names in the figures are as follows: 1-an elastomer; 1-1-lifting lug; 1-2-force measuring column; 1-2-1-a first lateral force column; 1-2-2-second side force column; 1-2-3-third side force column; 1-2-4-fourth side force column; 1-3-disc; 1-4-bottom pillar; 2-lining the inner tube; 3-lining the outer pipe; 4-rubber.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Examples
As shown in fig. 1 to 2, a bushing three-dimensional force sensor comprises a bushing outer tube 3, rubber 4, a bushing inner tube 2, a strain gauge and a pair of elastic bodies 1 symmetrically arranged at two ends of the bushing inner tube, wherein the bushing inner tube 2 is arranged in the bushing outer tube 3, the rubber 4 is vulcanized between the bushing inner tube 2 and the bushing outer tube 3, the bushing inner tube 2 is embedded in the rubber 4, one end of each elastic body 1 is in interference connection with the bushing inner tube 2, the other end of each elastic body is fixed through a bolt, and the strain gauge is attached to the elastic bodies 1 and used for measuring strains generated by transverse, longitudinal and axial forces, wherein the bushing outer tube 3 is a stressed body in the bushing three-dimensional force sensor, and the acting forces are transmitted to the elastic bodies 1 through the bushing outer tube 3, the rubber 4 and the bushing inner tube 2.
Each elastic body 1 comprises a lifting lug 1-1, a pair of force measuring columns 1-2, a disc 1-3 and a bottom column 1-4; the elastic body 1 is in a bilateral symmetry structure, one end of the lifting lug 1-1 is fixed through a bolt, and the other end of the lifting lug is fixedly connected with the force measuring column 1-2; wherein the cross section of the force measuring column 1-2 is rectangular, and is symmetrical left and right, up and down with respect to the bushing outer tube 3; a small boss is formed between the lifting lug 1-1 and the force measuring column 1-2 to reduce the influence generated by stress concentration at the lifting lug 1-1 and the disc 1-3; the bottom column 1-4 is connected with the inner tube 2 of the bushing in an interference manner, and force is transmitted to the force measuring column 1-2 through the disc 1-3;
FIG. 3 is a schematic diagram of a patch of a strain gauge on a force measuring column 1-2 of a bushing three-dimensional force sensor, the force measuring columns 1-2 of two elastic bodies 1 comprise a first force measuring column 1-2-1, a second force measuring column 1-2-2, a third force measuring column 1-2-3 and a fourth force measuring column 1-2-4 in total, the four force measuring columns are pasted with 20 strain gauges R1-R20 with equal initial resistance values, and the strain gauges are divided into three groups a, b and c, wherein the strain gauges R1, R2, R9, R10, R13 and R14 are pasted on the first force measuring column 1-2-1; strain gauges R3, R4, R11, R12, R15 and R16 are attached to the second force measuring column 1-2-2; r7, R8, R18 and R20 are adhered to the third force measuring column 1-2-3; strain gauges R5, R6, R17 and R19 are attached to the fourth force measuring column 1-2-4. All strainometers are all put along the parallel subsides of place wall transverse direction, wherein:
strain gauges R1, R3, R5 and R7 are attached to the middle part of the inner wall surface of the force measuring column and close to the position of the lifting lug; the strain gauges R2, R4, R6 and R8 are attached to the middle part of the inner wall surface of the force measuring column, close to the disc.
Strain gauges R9 and R11 are attached to the middle part of the upper wall surface of the force measuring column and close to the position of the lifting lug; strain gauges R13 and R15 are attached to the middle part of the lower wall surface of the force measuring column and close to the position of the lifting lug; strain gauges R10 and R12 are attached to the middle part of the upper wall surface of the force measuring column and close to the position of the disc; and strain gauges R14 and R16 are attached to the middle part of the lower wall surface of the force measuring column and close to the position of the disc.
Strain gauges R17 and R18 are attached to the middle part of the upper wall surface of the force measuring column and close to the position of the lifting lug; and strain gauges R19 and R20 are attached to the middle part of the lower wall surface of the force measuring column, close to the position of the lifting lug.
Fig. 4 to 6 are schematic diagrams of strain gauge bridges in the bushing three-dimensional force sensor information acquisition. a. b and c three groups of bridges respectively form a full-bridge detection circuit, wherein strain gauges R1 and R2, R3 and R4, R5 and R6, and R7 and R8 of the group a of bridges are respectively arranged on corresponding bridge arms for detecting Fx; strain gauges R9 and R10, strain gauges R11 and R12, strain gauges R13 and R14, and strain gauges R15 and R16 of the b-group bridge are respectively arranged on corresponding bridge arms and used for detecting Fy; strain gauges R17 and R18, and R19 and R20 of the c-group bridge are respectively placed on the corresponding arms for detecting Fz. The bridge group mode is adopted, and signal outputs of 3 channels are formed, namely delta UFx, delta UFy and delta UFz. The method comprises the following specific steps:
strain gauges R1, R2, R3, R4, R5, R6, R7, and R8 form a bridge circuit shown in fig. 6, when the elastic body is stressed to generate strain, resistance values of the strain gauges R1, R2, R3, R4, R5, R6, R7, and R8 are changed to Δ R1, Δ R2, Δ R3, Δ R4, Δ R5, Δ R6, Δ R7, and Δ R8, respectively, and the strain is converted into an electrical signal, so that a signal Δ UFx is obtained.
Strain gauges R9, R10, R11, R12, R13, R14, R15 and R16 form a bridge circuit shown in fig. 5, when the elastic body is stressed to generate strain, resistance values of the strain gauges R9, R10, R11, R12, R13, R14, R15 and R16 are changed to Δ R9, Δ R10, Δ R11, Δ R12, Δ R13, Δ R14, Δ R15 and Δ R16, respectively, and the strain is converted into an electric signal, so that a signal Δ UFy is obtained.
When the elastic body is stressed to generate strain, the resistance values of the strain gauges R17, R18, R19 and R20 are changed into Δ R17, Δ R18, Δ R19 and Δ R20 respectively, and the strain is converted into an electric signal, so that a signal Δ UFz is obtained.
After the outputs Δ UFx, Δ UFy, and Δ UFz of the 3 channels of the sensor are obtained, the values of the force signals applied to the sensor can be obtained from the relationship between the input and the output. In this embodiment, a calibration matrix is obtained by the following matrix operations: [ U ] ═ C ] [ F ], where the [ U ] matrix contains voltage signals Δ UFx, Δ UFy, Δ UFz; [F] the matrix contains force signals Fx, Fy, and Fz, where force signal Fx is a force signal in the X-axis direction shown in fig. 7, signal Fy is a force signal in the Y-axis direction (determined by the right-hand rule) shown in fig. 7, and signal Fz is a force signal in the Z-axis direction shown in fig. 7; [C] the matrix is a calibration matrix derived from sensor calibration. Specifically, specific known force is applied to the sensor through calibration equipment, output signals of 3 channels of the sensor are recorded, a calibration matrix [ C ] is obtained according to the relation between input and output, and the calibration matrix [ C ] with smaller coupling quantity is obtained through a specific decoupling algorithm in order to further improve the accuracy of the sensor in consideration of the structural decoupling imperfection.
FIG. 8 is a flow chart of bushing three-dimensional force sensor information acquisition and processing. The steps of the sensor acquisition and processing are as follows: and starting acquisition, setting that the Fx signal, the Fy signal and the Fz signal in the three-dimensional force information are respectively taken from a group of electric bridges, a group of electric bridges and a group of electric bridges, and carrying out zeroing, amplification, analog filtering, analog-to-digital conversion, digital filtering and output on voltage signals detected by the electric bridges.
The above examples of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (6)
1. A bushing three-dimensional force sensor, comprising: the bushing three-dimensional force sensor comprises a bushing outer pipe, rubber, a bushing inner pipe, a strain gauge and a pair of elastic bodies symmetrically arranged at two ends of the bushing inner pipe, wherein the bushing inner pipe is arranged in the bushing outer pipe, the rubber is vulcanized between the bushing inner pipe and the bushing outer pipe, the bushing inner pipe is embedded into the rubber, one end of each elastic body is in interference connection with the bushing inner pipe, the other end of each elastic body is fixed through a bolt, the strain gauge is attached to the corresponding elastic body and used for measuring strains generated by transverse, longitudinal and axial stresses, the bushing outer pipe is a stressed body in the bushing three-dimensional force sensor, and the acting force is transmitted to the corresponding elastic body from the bushing outer pipe to the bushing inner pipe through the rubber;
each elastic body comprises a lifting lug, a pair of force measuring columns, a disc and a bottom column, the elastic bodies are in a bilateral symmetry structure, one end of each lifting lug is fixed through a bolt, and the other end of each lifting lug is fixedly connected with the force measuring column; the cross section of the force measuring column is rectangular and is symmetrical left and right, up and down about the axis of the bottom column; the bottom column is in interference connection with the inner pipe of the bushing, and force is transmitted to the force measuring column through the disc.
2. The bushing three-dimensional force sensor of claim 1, wherein: the force measuring column comprises an upper wall surface, a lower wall surface, an outer wall surface and an inner wall surface, wherein the upper wall surface and the lower wall surface are two opposite wall surfaces, and the outer wall surface and the inner wall surface are two opposite wall surfaces.
3. The bushing three-dimensional force sensor of claim 1, wherein: the strain gauge is attached to the wall surface of the force measuring column and used for measuring strains generated by transverse, longitudinal and axial stress.
4. The bushing three-dimensional force sensor of claim 2, wherein: the wall surface of each force measuring column is stuck with 20 strain gauges R1-R20 with equal initial resistance value, the strain gauges are divided into three groups of bridges a, b and c for detecting three-dimensional force signals Fx, Fy and Fz, the bridges a and b are composed of 8 strain gauges, the bridges c are composed of 4 strain gauges, wherein:
the strain gauges R1-R8 form a group a of bridges for detecting the Fx, and the strain gauges R1, R2, R3 and R4 of the group a of bridges are attached and placed in parallel in the transverse direction on the same side of the force measuring column; the strain gauges R5, R6, R7 and R8 are attached to the same side of the force measuring column in the transverse direction in parallel; the strain gauges R9-R16 form a b-group bridge for detecting Fy, and the strain gauges R9, R10, R11 and R12 of the b-group bridge are attached in parallel in the transverse direction on the same side of the force measuring column; strain gauges R13, R14, R15 and R16 are attached to the same side of the force measuring column in the transverse direction in parallel; the strain gauges R17, R18, R19 and R20 form a c-group bridge for detecting Fz, and the strain gauges R17, R18, R19 and R20 of the c-group bridge are attached and placed in parallel in the transverse direction of the force measuring column;
strain gauges R1, R3, R5 and R7 are attached to the middle part of the inner wall surface of the force measuring column and close to the position of the lifting lug; strain gauges R2, R4, R6 and R8 are attached to the middle part of the inner wall surface of the force measuring column and close to the position of the disc; strain gauges R9 and R11 are attached to the middle part of the upper wall surface of the force measuring column and close to the position of the lifting lug; strain gauges R13 and R15 are attached to the middle part of the lower wall surface of the force measuring column and close to the position of the lifting lug; strain gauges R10 and R12 are attached to the middle part of the upper wall surface of the force measuring column and close to the position of the disc; strain gauges R14 and R16 are attached to the middle part of the lower wall surface of the force measuring column and close to the position of the disc; strain gauges R17 and R18 are attached to the middle part of the upper wall surface of the force measuring column and close to the position of the lifting lug; and strain gauges R19 and R20 are attached to the middle part of the lower wall surface of the force measuring column, close to the position of the lifting lug.
5. The bushing three-dimensional force sensor of claim 4, wherein: the two elastic body force measuring columns comprise a first force measuring column, a second force measuring column, a third force measuring column and a fourth force measuring column, wherein the strain gauges R1, R2, R9, R10, R13 and R14 are attached to the first force measuring column, the strain gauges R3, R4, R11, R12, R15 and R16 are attached to the second force measuring column, the strain gauges R7, R8, R18 and R20 are attached to the third force measuring column, and the strain gauges R5, R6, R17 and R19 are attached to the fourth force measuring column.
6. The bushing three-dimensional force sensor of claim 4, wherein: the three groups of bridges a, b and c respectively form a full bridge detection circuit, wherein strain gauges R1 and R2, R3 and R4, R5 and R6, and R7 and R8 of the bridge group a are respectively arranged on corresponding bridge arms, strain gauges R9 and R10, R11 and R12, R13 and R14, and R15 and R16 of the bridge group b are respectively arranged on corresponding bridge arms, and strain gauges R17 and R18, and R19 and R20 of the bridge group c are respectively arranged on corresponding bridge arms.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610799604.6A CN106248284B (en) | 2016-08-31 | 2016-08-31 | Three-dimensional force sensor of bush |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610799604.6A CN106248284B (en) | 2016-08-31 | 2016-08-31 | Three-dimensional force sensor of bush |
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| CN106248284A CN106248284A (en) | 2016-12-21 |
| CN106248284B true CN106248284B (en) | 2022-05-24 |
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| CN110987271B (en) * | 2019-12-19 | 2021-09-28 | 华南理工大学 | Three-component force sensor for measuring load at joint of automotive suspension bush |
| KR102423022B1 (en) * | 2021-04-21 | 2022-07-22 | 한국기계연구원 | Ring type force sensor |
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| CN202511853U (en) * | 2012-03-15 | 2012-10-31 | 东莞市华兰海电子有限公司 | Sealing protective column type weighting force transducer |
| JP5764608B2 (en) * | 2013-05-08 | 2015-08-19 | 富士重工業株式会社 | Bush component force detector |
| JP5764610B2 (en) * | 2013-05-08 | 2015-08-19 | 富士重工業株式会社 | Bush component force detector |
| CN206074171U (en) * | 2016-08-31 | 2017-04-05 | 华南理工大学 | A kind of bushing three-dimensional force sensor |
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