CN107063519A - A kind of adjustable piezoelectric type hexa-dimensional force sensor of load sharing - Google Patents
A kind of adjustable piezoelectric type hexa-dimensional force sensor of load sharing Download PDFInfo
- Publication number
- CN107063519A CN107063519A CN201710299423.1A CN201710299423A CN107063519A CN 107063519 A CN107063519 A CN 107063519A CN 201710299423 A CN201710299423 A CN 201710299423A CN 107063519 A CN107063519 A CN 107063519A
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- China
- Prior art keywords
- load sharing
- plate
- piezoelectric type
- dimensional force
- cover plate
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Links
- 230000000694 effects Effects 0.000 claims abstract description 7
- 238000011068 loading method Methods 0.000 claims description 10
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 5
- 239000000853 adhesive Substances 0.000 claims description 3
- 230000001070 adhesive effect Effects 0.000 claims description 3
- 239000000377 silicon dioxide Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 8
- 238000005259 measurement Methods 0.000 abstract description 6
- 238000009434 installation Methods 0.000 description 6
- 238000010276 construction Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011088 calibration curve Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000000565 sealant Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- 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
- G01L1/16—Measuring force or stress, in general using properties of piezoelectric devices
-
- 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
- G01L5/167—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using piezoelectric means
Abstract
The invention discloses a kind of adjustable piezoelectric type hexa-dimensional force sensor of load sharing, belong to piezoelectric transducer technical field, more particularly to measure six-dimensional space power/torque of different range abilities.The present invention realizes the load sharing to acting on the power on cover plate using the method for the load sharing plate that is rigidly connected in the side of cover plate and base；Change the load sharing effect of load sharing plate by changing the load sharing plate of series of modular, make the range of sensor adjustable.This method has widened the measurement range of six-dimension force sensor, simple to operate, easy to use, with low cost.
Description
Technical field
The invention belongs to piezoelectric transducer technical field, six-dimensional space power/power of different range abilities is more particularly to measured
Square, specially a kind of adjustable piezoelectric type hexa-dimensional force sensor of load sharing.
Background technology
As " proposition of made in China 2025 " indicates China to the weight in terms of intelligence manufacture, high-end equipment manufacturing
Depending on.Six-dimension force sensor as measurement space six-dimensional force/torque equipment, in industrial robot, Aero-Space, ocean work
Had a wide range of applications in terms of journey equipment, heavy-duty machinery.
Six-dimension force sensor can be divided into resistance-strain type, condenser type, inductance type, piezoelectric type according to the difference of dynamometry principle
And photo-electric.At present, what is be most widely used is strain-type six-dimension force sensor, with function is strong, small volume, flexible design,
The advantages of easy for installation, sensitivity is high, fatigue life is long, but be due to the measuring principle of its own, cause the rigidity of sensor
Relatively low, bad dynamic performance, to make up this shortcoming, piezoelectric type hexa-dimensional force sensor is included into research and the schedule developed.With
Strain-type six-dimension force sensor is compared, and piezoelectric type hexa-dimensional force sensor has following characteristics：Using piezo-electric effect principle dynamometry, have
Higher sensitivity, measurable less six-dimensional force/torque；Frequency response is fast, rigidity is big, is applicable not only to static force measurement, also
Can dynamically it measure；Load range is wide, simple in construction.
At present, existing many experts and scholars' researchs can load sharing piezoelectric type hexa-dimensional force sensor, such as Chinese patent
" a kind of radial is in parallel by CN102288334A " a kind of parallel piezoelectric six-dimensional power heavy force sensor " and patent CN103196594A
In piezoelectric six-dimensional force sensor and its measuring method ", to suffered by sensor by way of self structure and sensor parallel
Load load sharing, but this kind of load sharing mode is only capable of measuring the power of certain range, and selectivity is strong.
Chinese patent CN101793574A disclose one kind can load-sharing piezoelectric multi-dimensional force measuring device, by sensing
Reasonable Arrangement multiple spot expands pin on device, and designs with the expansion pin method of diameter to realize different load sharing ratios.Structure letter
It is single, easy to operate, but the measurement apparatus can only survey three-dimensional force, and method phase load sharing effect is poor.
Chinese patent CN101793574A discloses a kind of piezoelectric type six-dimensional force sensor with adjustable load sharing ratio, and it passes through adjustment
The installation site of force sensing element and load sharing ring from series of modular, locating ring adjust load sharing ratio, can reach same biography
Sensor measures the purpose of different range six-dimensional forces.But the device must assure that the upper surface of force sensing element and the upper table of load sharing ring
Face is strictly contour, this in actual processing it is difficult to ensure that, so as to influence measurement accuracy；In addition, when the range of power changes,
All mechanisms need to be dismantled, then are re-assemblied, are not only wasted time and energy, and it is difficult to ensure that installation accuracy.
The content of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the invention provides it is a kind of can load sharing piezoelectric type hexa-dimensional force sensor
And its change the method for load sharing size.Design it is a kind of it is simple in construction, easy for installation, simple to operate, be easy to commercialization be used for survey
Measure the piezoelectric type hexa-dimensional force sensor of different range ability power.
Technical scheme：
A kind of adjustable piezoelectric type hexa-dimensional force sensor of load sharing, including base 1, piezoelectric type three-dimensional force transducer 2,2 points
Support plate 3,4 pre-loading screws 4, cover plate 5,16 slotted grub screws 6 and fluid sealant 7；
The described upper surface a of base 1 is provided with four lower convex platform b of integrative-structure, and the lower surface d of cover plate 5 is tied provided with one
Structure, corresponding convex platform c, piezoelectric type three-dimensional force transducer 2 are installed between lower convex platform b and convex platform c, and pasted therewith
Close；Pre-loading screw 4 passes sequentially through the through hole of cover plate 5, the through hole of piezoelectric type three-dimensional sensor 2, the screwed hole of base 1 by cover plate 5, piezoelectric type
Three-dimensional force transducer 2 and base 1 link together, and ensure that the pretightning force suffered by 4 pre-loading screws 4 is equal, and reach predetermined
Pretension value；
Load sharing plate 3 is fixed on base 1 and the both sides of cover plate 5 by holding screw 6, and holding screw 6 passes sequentially through the spiral shell of load sharing plate 3
Pit, the tapped blind hole of cover plate 5 link together load sharing plate 3, cover plate 5, and holding screw 6 passes sequentially through the screwed hole of load sharing plate 3, bottom
1 tapped blind hole of seat links together load sharing plate 3, base 1；
The sealing ring 7 formed by silica adhesive is sealed to piezoelectric type three-dimensional force transducer 2, plays moistureproof, heat-insulated mesh
's；
The thickness of described load sharing plate 3 is the ㎜ of 6 ㎜~15, by changing the thickness of load sharing plate 3, and then changes load sharing plate 3
Load sharing effect, make the range of sensor adjustable.
Described load sharing plate 3 is " returning " character form structure, and the width of middle cut-out is that 0~15 ㎜, length are 0~130
㎜。
Beneficial effects of the present invention：A kind of adjustable load sharing proposed by the invention than parallel piezoelectric six-dimensional force sensor
It is that first cover plate, piezoelectric type three-dimensional force transducer and base are fixed as one, series need to be only changed when measuring different range power
Modular load sharing plate, this avoid will detect four piezoelectricity biographies due to loading and unloading piezoelectric type three-dimensional force transducer every time
Whether identical works the working condition of sensor, and strong guarantee installation accuracy is simple to operate, easy to use.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the adjustable piezoelectric type hexa-dimensional force sensor of load sharing of the invention.
Fig. 2 is Fig. 1 A-A profiles.
Fig. 3 is a kind of overall schematic of the adjustable piezoelectric type hexa-dimensional force sensor contrast of load sharing of the invention.
Fig. 4 is that piezoelectric type hexa-dimensional force sensor demarcates flow chart.
In figure：1 base；2 piezoelectric type three-dimensional force transducers；3 load sharing plates；4 pre-loading screws；5 cover plates；
6 holding screws；7 sealing rings；A base upper surfaces；B lower convex platforms；C convex platforms；D cover plate lower surfaces.
Embodiment
Below in conjunction with accompanying drawing and technical scheme, the embodiment of this hair is further illustrated.
Embodiment
Base 1, the material of cover plate 5 are 30CrMnSi, and the material of load sharing plate is super-high strength steel F141, selected pretension spiral shell
Nail 4 is hexagon socket cap head screw, and holding screw 6 is slotted grub screw.4 piezoelectric transducers 2 press rectangular layout, use
The load sharing plate 3 of " returning " character form structure.
During installation, piezoelectric type three-dimensional force transducer 2 is installed between lower convex platform b and convex platform c, and fitted therewith；Pretension
Screw 4 passes sequentially through the through hole of cover plate 5, the through hole of piezoelectric type three-dimensional sensor 2, the screwed hole of base 1 by cover plate 5, piezoelectric type three axis force
Sensor 2 and base 1 link together, and ensure that the pretightning force suffered by 4 pre-loading screws 4 is equal, and reach predetermined pretension
Value；The sealing ring 7 formed by silica adhesive is sealed to piezoelectric type three-dimensional force transducer 2, plays moistureproof, heat-insulated purpose；Point
Support plate 3 is fixed on base 1 and the both sides of cover plate 5 by holding screw 6；By the output lead of piezoelectric type three-dimensional force transducer 2 successively
Connect charge amplifier, A/D data collecting cards and computer equipment.
Piezoelectric transducer be using piezoelectric piezo-electric effect and work, its by external force/torque be converted into
Corresponding voltage signal, be not direct output external force/torque, therefore sensor need to be demarcated, decoupled, draw input
Relation between load and output voltage.Using stepwise loading method, apply six unidirectional power/torques respectively and sensor is entered
Rower is determined, and it is as shown in Figure 4 that it specifically demarcates flow.
According to regression beeline equation and calibration curve, least square method calculating and decoupling are carried out to nominal data, can be obtained
To the calibration matrix C of piezoelectric type wind-tunnel balance.The voltage that the six-dimensional force/moment components of effect on a sensor are exported with sensor
Relation between amount can be summarized as：
F=CU
When active force occurs to change in magnitude on cover plate 5, load sharing plate is changed.Can load sharing piezoelectric six-dimension power pass
Sensor is simple in construction, measurement accuracy is high, dynamic property is good, change load sharing size method is simple to operate, with low cost, user
Just.
Claims (3)
1. a kind of adjustable piezoelectric type hexa-dimensional force sensor of load sharing, it is characterised in that the adjustable piezoelectric six-dimension of described load sharing
Force snesor includes base (1), piezoelectric type three-dimensional force transducer (2), load sharing plate (3), pre-loading screw (4), cover plate (5), tightening
Screw (6) and sealing ring (7)；
Described base (1) upper surface (a) is provided with four lower convex platforms (b) of integrative-structure, and the lower surface (d) of cover plate (5) is provided with
Integrative-structure, convex platform (c) corresponding with lower convex platform (b), piezoelectric type three-dimensional force transducer (2) be installed on lower convex platform (b) with it is upper
Between boss (c), and fit therewith；Pre-loading screw (4) passes sequentially through cover plate (5) through hole, piezoelectric type three-dimensional sensor (2) and led to
Hole, base (1) screwed hole link together cover plate (5), piezoelectric type three-dimensional force transducer (2) and base (1) three, and ensure
Pretightning force suffered by 4 pre-loading screws (4) is equal, and reaches predetermined pretension value；
Described load sharing plate (3) is fixed on base (1) and cover plate (5) both sides by holding screw (6), and holding screw (6) is successively
Both load sharing plate (3), cover plate (5) are linked together by load sharing plate (3) screwed hole, cover plate (5) tapped blind hole, holding screw
(6) pass sequentially through load sharing plate (3) screwed hole, base (1) tapped blind hole both load sharing plate (3), base (1) link together；
The sealing ring (7) formed by silica adhesive is sealed to piezoelectric type three-dimensional force transducer (2), plays moistureproof, heat-insulated mesh
's.
2. the adjustable piezoelectric type hexa-dimensional force sensor of load sharing according to claim 1, it is characterised in that described load sharing plate
(3) thickness is the ㎜ of 6 ㎜~15, by changing the thickness of load sharing plate (3), and then changes the load sharing effect of load sharing plate (3), makes biography
The range of sensor is adjustable.
3. the adjustable piezoelectric type hexa-dimensional force sensor of load sharing according to claim 1 or 2, it is characterised in that described point
Support plate (3) is " returning " character form structure, and the width of middle cut-out is that 0~15 ㎜, length are 0~130 ㎜.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710299423.1A CN107063519B (en) | 2017-05-03 | 2017-05-03 | A kind of adjustable piezoelectric type hexa-dimensional force sensor of load sharing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710299423.1A CN107063519B (en) | 2017-05-03 | 2017-05-03 | A kind of adjustable piezoelectric type hexa-dimensional force sensor of load sharing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107063519A true CN107063519A (en) | 2017-08-18 |
| CN107063519B CN107063519B (en) | 2019-06-28 |
Family
ID=59603781
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710299423.1A Active CN107063519B (en) | 2017-05-03 | 2017-05-03 | A kind of adjustable piezoelectric type hexa-dimensional force sensor of load sharing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107063519B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107525612A (en) * | 2017-09-06 | 2017-12-29 | 济南大学 | Wide range piezoelectric membrane three-dimensional force sensor |
| CN110608824A (en) * | 2019-07-17 | 2019-12-24 | 台州中清科技有限公司 | Six-dimensional force sensor |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5335557A (en) * | 1991-11-26 | 1994-08-09 | Taizo Yasutake | Touch sensitive input control device |
| CN101694407A (en) * | 2009-10-23 | 2010-04-14 | 燕山大学 | Over-constrained wide-range parallel sextuple force measuring platform |
| CN101793574A (en) * | 2010-03-17 | 2010-08-04 | 大连理工大学 | Piezoelectric type six-dimensional force sensor with adjustable load sharing ratio and test method thereof |
| CN102288334A (en) * | 2011-07-28 | 2011-12-21 | 济南大学 | Parallel piezoelectric six-dimensional large force sensor |
| CN103175636A (en) * | 2012-12-18 | 2013-06-26 | 大连理工大学 | Load-sharing piezoelectric multi-dimensional force measuring device and method for manufacturing the same |
| CN204495502U (en) * | 2015-03-10 | 2015-07-22 | 河北联合大学 | The orthogonal six-dimension force sensor with parallel structure of a kind of wide range |
-
2017
- 2017-05-03 CN CN201710299423.1A patent/CN107063519B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5335557A (en) * | 1991-11-26 | 1994-08-09 | Taizo Yasutake | Touch sensitive input control device |
| CN101694407A (en) * | 2009-10-23 | 2010-04-14 | 燕山大学 | Over-constrained wide-range parallel sextuple force measuring platform |
| CN101793574A (en) * | 2010-03-17 | 2010-08-04 | 大连理工大学 | Piezoelectric type six-dimensional force sensor with adjustable load sharing ratio and test method thereof |
| CN102288334A (en) * | 2011-07-28 | 2011-12-21 | 济南大学 | Parallel piezoelectric six-dimensional large force sensor |
| CN103175636A (en) * | 2012-12-18 | 2013-06-26 | 大连理工大学 | Load-sharing piezoelectric multi-dimensional force measuring device and method for manufacturing the same |
| CN204495502U (en) * | 2015-03-10 | 2015-07-22 | 河北联合大学 | The orthogonal six-dimension force sensor with parallel structure of a kind of wide range |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107525612A (en) * | 2017-09-06 | 2017-12-29 | 济南大学 | Wide range piezoelectric membrane three-dimensional force sensor |
| CN110608824A (en) * | 2019-07-17 | 2019-12-24 | 台州中清科技有限公司 | Six-dimensional force sensor |
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| Publication number | Publication date |
|---|---|
| CN107063519B (en) | 2019-06-28 |
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