CN106500902B - A kind of strain-type multidimensional force sensor with from decoupling function - Google Patents
A kind of strain-type multidimensional force sensor with from decoupling function Download PDFInfo
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- CN106500902B CN106500902B CN201611098259.XA CN201611098259A CN106500902B CN 106500902 B CN106500902 B CN 106500902B CN 201611098259 A CN201611098259 A CN 201611098259A CN 106500902 B CN106500902 B CN 106500902B
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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
- G01L5/162—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 of piezoresistors
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Abstract
The present invention relates to a kind of with from the strain-type multidimensional force sensor for decoupling function, belongs to load sensor field.Including being integrally machined molding four-column type structure, foil gauge and compensating plate；Four-column type structure is the structure that upper and lower two middle of the disc places four cylinders, and four cylinders are symmetrical two-by-two；Foil gauge and compensating plate are affixed on cylinder；The device made is sealed in sleeve, then by the air inert gas replacement in sleeve, guarantee glue-line will not moisture absorption dampness, avoid the long-time stability for influencing device.The present invention uses four-column type symmetrical structure, with being combined bridge signal isolation technics, so that sensor itself have it is good from decoupling performance, it may be implemented simultaneously to measure aeroengine thrust vector i.e. three force value component and three torques, relatively reliable comprehensive technical data is provided for the experiment of vectored thrust engine test to support, keep the thrust test method of engine more reliable, measurement data is more accurate.
Description
Technical field
The present invention relates to a kind of with from the strain-type multidimensional force sensor for decoupling function, belongs to load sensor field.
Background technique
Sensor be it is a kind of can impression as defined in be measured and according to certain rule be converted into available signal device and
Device is usually made of sensing element and conversion element.Force sensor for multiple components refers to that one kind can measure two sides simultaneously
To the force snesor of the above power and moment components, power and torque can respectively be decomposed into three components in cartesian coordinate system,
Therefore, the most complete form of multi -components is six-component force sensor.Multi -components especially six-component force sensor is answered extensively at present
For the manufactures such as Aeronautics and Astronautics and panzer and testing field.
Six-component force sensor is broadly divided into resistance-strain type, piezoelectric type, condenser type six-component force sensor.Wherein resistance
The advantages of strain-type six-component force sensor is technology maturation, precision is high, non-linear and hysteresis error is small, and creep is small, is suitble to quiet
State and quasi-static measurement.The construction of resistance strain type sensor is that other methods are pasted or used on the elastic element of certain shapes
Resistance-strain sensing element is installed.When mechanical quantity acts on elastic element, elastic element is deformed, and resistance-strain is sensitive
The resistance value of element changes therewith, change in resistance is then become voltage change output by translation circuit, according to voltage change
Measure the size it can be learnt that mechanical quantity.
In the research of force sensor for multiple components, the structure design of elastic element is the key problem of force snesor, because
The structure of elastic element determines the performance superiority and inferiority of force snesor.Currently, commonly used force sensor for multiple components structure has eight just
The six-component force sensor of beam and girder construction, tubular six-component force sensor, box structure six-component force sensor and special based on this
The six-component force sensor etc. of water (STEWART) platform structure.Wherein, most commonly used for tubular six component sensor, it should
Sensor has good linear, repeatability and preferable hysteresis quality, and has to temperature compensatory, but it does not have from decoupling
Function, couple between each component it is big, and since rigidity is higher, uses the inconvenient sensor for causing it to be not suitable for doing small-range of connection.
It is analyzed by the structure to above-mentioned several six-component force sensors, in conjunction with aero-engine actual working state, the present invention
The multi-dimension force sensor of design uses the four-column type structure of overall processing, has contour structures simple, handling ease, rigidity is big,
Linearly, repeatability and hysteresis error are small, and creep is small, is suitble to static and quasi-static measurement.
Summary of the invention
The problem of being measured the purpose of the present invention is to solve the prior art from decoupling performance difference and unsuitable small-range,
A kind of strain-type multidimensional force sensor with from decoupling function is provided.
The purpose of the present invention is what is be achieved through the following technical solutions.
It is a kind of with from decouple function strain-type multidimensional force sensor, including be integrally machined molding four-column type structure,
Foil gauge and compensating plate；
Compensating plate includes: temperature-compensating plate, nonlinear compensation piece and zero compensation piece；
Four-column type structure is the structure that upper and lower two middle of the disc places four cylinders, and four cylinders are symmetrical two-by-two；
Foil gauge and compensating plate are affixed on cylinder；
The device made is sealed in sleeve, then by the air inert gas replacement in sleeve, guarantees glue-line not
Meeting moisture absorption dampness, avoids the long-time stability for influencing device；
Patch glue-line with a thickness of 2~4 μm, which can both guarantee to strain transmission efficiency, also can guarantee that foil gauge is viscous
The fastness of patch；
The force sensor for multiple components is made of column type elastomer, resistance strain gage, shielded wire, to guarantee that it is best that it has
Technical performance and long-time stability, the design using whole four-column type structure, have in structure certain anti-eccentric load and
The ability of lateral load；Four square columns are uniformly distributed in one plane, machining tolerance strict control, and patch location keeps uniform
Symmetrically, by a group bridge signal isolation technics, so that having between each component good from decoupling ability；In view of between each component
The influence interfered with each other to six-component force sensor performance indicator, adopt and experimentally first sensor demarcated, so
The mutual interference of sensor is eliminated, so can both be reduced in actually detected middle utilization calibration result adjustment group bridge scheme again afterwards
To sensor manufacturing process requirement, and accurate measurement result can be obtained.
Beneficial effect
Since the present invention uses four-column type symmetrical structure, with bridge signal isolation technics is combined, so that sensor itself has
It is good from decoupling performance, may be implemented simultaneously to aeroengine thrust vector i.e. three force value component (thrust, lift and
Lateral force) and three torques (rolling moment, pitching moment and yawing) measure, be that vectored thrust engine test is real
It tests and relatively reliable comprehensive technical data support is provided, keep the thrust test method of engine more reliable, measurement data is more
Accurately；
Simultaneously as the present invention uses the four-column type structure of overall processing, there is certain anti-eccentric load in structure
With the ability of lateral load, with excellent rigidity and linearly, therefore it is not only suitable for large range measuring, when small-range measures still
With superior performance；
Further, since apply argon arc welding sealing, the technologies such as internal nitrogen charging, make sensor and outside air thoroughly every
From being provided with excellent long-time stability.
To sum up, the present invention has good from decoupling performance a, handling ease, and rigidity is big, linear, repeatability and hysteresis error
Small, creep is small, is suitble to static and quasi-static measurement.
Detailed description of the invention
Fig. 1 is the multi-dimension force sensor structural scheme of mechanism and patch schematic diagram of embodiment 1；
Fig. 2 is the multi-dimension force sensor mechanism perspective view of embodiment 1.
Wherein, 1-four-column type structure.
Specific embodiment
The invention will be further described with embodiment with reference to the accompanying drawing.
Embodiment 1
It is a kind of with from decouple function strain-type multidimensional force sensor, including be integrally machined molding four-column type structure 1,
64 foil gauges and compensating plate；
Compensating plate includes: temperature-compensating plate, nonlinear compensation piece and zero compensation piece；
Four-column type structure 1 is the structure that upper and lower two middle of the disc places four cylinders, and four cylinders are symmetrical two-by-two；
Foil gauge and compensating plate are affixed on cylinder；
The device made is sealed in sleeve, then by the air inert gas replacement in sleeve, guarantees glue-line not
Meeting moisture absorption dampness, avoids the long-time stability for influencing device；
Patch glue-line with a thickness of 3 μm；
The course of work: a kind of strain-type multidimensional force sensor with from decoupling function is realized, in four elastic elements
On be arranged symmetrically 64 foil gauges, every elastic element independently forms a sensor, forms 6 constant pressure bridge circuits, will be electric
The resistance variations of resistance strain sensor are converted into voltage change signal, to obtain three force value components and three torques point
Amount, shows measurement result finally by display instrument.
Elastomer structure and patch schematic diagram in the present embodiment are fixed on as shown in Figure 1, four bars are elastic elements in figure
On upper and lower disk.Sensor is all arranged symmetrically 16 foil gauges at the four sides of every crossbeam, shares 64 foil gauges, forms 6
Electric bridge shares 6 tunnel output signals.
Four bar lower ends distance be a at y pasted on two sides two axially, two vertical axises to foil gauge.
Foil gauge on every bar is connected into an electric bridge, and four electric bridge parallel connections if the sensitivity coefficient of four foil gauges is all identical, can obtain
Output voltage and P after parallel connection outyThe relational expression of power, can be obtained PyThe specific magnitude of power.
Four bar lower ends distance be a place z normal direction two sides on stickup two axially, two vertical axises to strain
Piece.Foil gauge on every bar is connected into an electric bridge, by four electric bridge parallel connections, can obtain output voltage and P after parallel connectionzThe pass of power
It is formula, P can be obtainedzThe specific magnitude of power.
Four bar lower ends distance be a place bar and the perpendicular two sides of axle center radius on stickup two axially, two
The foil gauge of vertical axial.Foil gauge on every bar is connected into an electric bridge, and four electric bridge parallel connections export after can obtaining parallel connection
Voltage and MxThe relational expression of torque, can be obtained MxThe specific magnitude of torque.
The axially foil gauge with vertical axial is pasted respectively along the direction z two sides midline among four bars, each
Foil gauge on bar separately constitutes electric bridge, by the output voltage of each electric bridge, the active force along each bar axial direction can be obtained, by four
Active force on root bar is added, and can acquire the P of effect on a sensorxPower.
In MyUnder moment loading, 2. bar is stretched, 4. bar compresses.It in foil gauge 1., 3. on two bars is pasted onto bending
At property layer, MyBending does not generate strain, as long as the electric bridge that four resistance strain gages on 2. bar are formed and four electricity on 4. bar
Resistance foil gauge output is subtracted each other, and the M of effect on a sensor can be acquiredyTorque.
In MzUnder moment loading, 4. bar is stretched, 1. bar compresses.It in foil gauge 2., 4. on two bars is pasted onto bending
At property layer, MzBending does not generate strain, as long as the output of electric bridge on 3. bar and the output of electric bridge on 4. bar are subtracted each other, Ji Keqiu
M on a sensor must be acted onzTorque.
Using the standard torquer and standard lever weight of the test of 20t stacking machine and 5000Nm to embodiment (model rule
Lattice: FC-20t-5t-5t-1000Nm-1000Nm-1000Nm and
FC-1t-200kg-200kg-50Nm-50Nm-50Nm it) is demarcated, calculates cross influence amount.Wide range test is detailed
It counts accurately according to 2.1~subordinate list 2.7 is seen attached list, small-range test detailed data sees attached list 2.1~subordinate list 2.7.
As can be seen from the table, the intersection shadow amount of data controls within 1% substantially, individual data 1%~2% it
Between, it is superior from decoupling which absolutely proves that the force sensor for multiple components that the present invention designs has.High reliablity, accuracy
Height simplifies data processing time.
Comparative example
Calibration experiment, range ability 200kN-1t-1t- are carried out using German GTM Serie MKA model sensor
1000Nm-1000Nm-1000Nm detailed data sees attached list 3.1~3.7, it can be seen from the data in the table that, the multi-dimensional force that the present invention designs
The performance technologies index (especially cross influence amount) of sensor is much better than GTM sensor.Conclusion
Correlation data is it is found that the strain-type multidimensional force sensor designed in the present invention has the function of good decoupling certainly, no
It is suitable only for the use in large range measuring, also there is superior performance in small-range fields of measurement, effectively meet China's mechanical quantity
Is realized for the demand of high-end strain force sensor by force value for the fields such as value transmitting, aerospace test, industrial production control
High accuracy, high stability measurement and transmission of quantity value.
Subordinate list 1.2
Subordinate list 1.3
Subordinate list 1.4
Subordinate list 1.5
Subordinate list 1.6
Subordinate list 1.7
Subordinate list 2.2
Subordinate list 2.3
Subordinate list 2.4
Subordinate list 2.5
Subordinate list 2.6
Subordinate list 2.7
Subordinate list 3.2
Subordinate list 3.3
Subordinate list 3.4
Subordinate list 3.5
Subordinate list 3.6
Subordinate list 3.7
Claims (3)
1. a kind of strain-type multidimensional force sensor with from decoupling function, it is characterised in that: including being integrally machined molding four
Column structure (1), foil gauge (2), compensating plate (3) and sleeve；Four-column type structure (1) is that upper and lower two middle of the disc places four columns
The structure of body, and four cylinders are symmetrical two-by-two；Foil gauge (2) and compensating plate (3) are affixed on cylinder；Foil gauge will be posted
(2) be sealed in sleeve with the four-column type structure (1) of compensating plate (3), then by the air inert gas replacement in sleeve to get
To strain-type multidimensional force sensor；
Sensor is all arranged symmetrically 16 foil gauges at the four sides of every crossbeam, shares 64 foil gauges, every elastic element list
A sensor is solely formed, 6 constant pressure bridge circuits is formed, shares 6 tunnel output signals, the foil gauge on every bar is connected into one
Electric bridge, by four electric bridge parallel connections.
2. a kind of strain-type multidimensional force sensor with from decoupling function as described in claim 1, it is characterised in that: described
Compensating plate (3) includes: temperature-compensating plate, nonlinear compensation piece and zero compensation piece.
3. a kind of strain-type multidimensional force sensor with from decoupling function as claimed in claim 1 or 2, it is characterised in that:
Foil gauge (2) and compensating plate (3) with sticker on cylinder, the patch glue-line with a thickness of 2~4 μm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611098259.XA CN106500902B (en) | 2016-12-03 | 2016-12-03 | A kind of strain-type multidimensional force sensor with from decoupling function |
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| CN201611098259.XA CN106500902B (en) | 2016-12-03 | 2016-12-03 | A kind of strain-type multidimensional force sensor with from decoupling function |
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| CN106500902B true CN106500902B (en) | 2019-08-02 |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108181046B (en) * | 2017-12-21 | 2019-10-29 | 大连理工大学 | A kind of controllable force source generating device for thrust vector measuring system |
| CN109374166B (en) * | 2018-12-10 | 2021-08-03 | 中国航发四川燃气涡轮研究院 | Distributed measuring device and method |
| CN109781328B (en) * | 2019-01-23 | 2020-05-01 | 重庆大学 | Six-dimensional force sensor with eight-beam structure |
| CN109990888B (en) * | 2019-03-25 | 2020-11-24 | 中国科学院长春光学精密机械与物理研究所 | Wide-range force measuring mechanism |
| CN112611499B (en) * | 2019-09-18 | 2022-01-28 | 马洪文 | Method for measuring micro displacement of load platform of multi-dimensional force sensor and method for mounting measuring sensitive element |
| CN111811709A (en) * | 2020-07-16 | 2020-10-23 | 内蒙古第一机械集团股份有限公司 | Four-column torque sensor |
| CN112504413B (en) * | 2020-11-25 | 2022-03-22 | 西南科技大学 | Full-digitalization conversion method and device for six-component balance bridge detection |
| CN114136524B (en) * | 2021-10-29 | 2022-10-25 | 西安交通大学 | Six-dimensional force measuring platform and decoupling method thereof |
| CN114577434B (en) * | 2022-03-04 | 2024-04-02 | 中航电测仪器(西安)有限公司 | High-precision six-component balance and method |
| CN115326268A (en) * | 2022-08-31 | 2022-11-11 | 东北电力大学 | Coaxial series three-dimensional mechanical self-decoupling force sensor |
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| JP4764619B2 (en) * | 2004-08-23 | 2011-09-07 | 株式会社エー・アンド・デイ | Rotary component force measuring device |
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| CN101216359A (en) * | 2008-01-09 | 2008-07-09 | 南京航空航天大学 | Frame type decoupling six component sensor and use method |
| CN203203740U (en) * | 2012-12-28 | 2013-09-18 | 中国空气动力研究与发展中心设备设计及测试技术研究所 | Strain type three-dimensional force sensor |
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