CN107063519B - 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
- CN107063519B CN107063519B CN201710299423.1A CN201710299423A CN107063519B CN 107063519 B CN107063519 B CN 107063519B CN 201710299423 A CN201710299423 A CN 201710299423A CN 107063519 B CN107063519 B CN 107063519B
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- China
- Prior art keywords
- load sharing
- piezoelectric type
- cover board
- dimensional force
- pedestal
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 26
- 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
- 230000036316 preload Effects 0.000 claims description 4
- 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 5
- 238000009434 installation Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000004519 manufacturing process 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
- 238000010586 diagram Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development 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 sensors of load sharing, belong to piezoelectric transducer technical field, in particular to measure six-dimensional space power/torque of different range abilities.The present invention uses the method in the side of cover board and pedestal rigid connection load sharing plate, realizes the load sharing to the power acted on cover board;Change the load sharing effect of load sharing plate by replacing the load sharing plate of series of modular, keeps the range of sensor adjustable.This method has widened the measurement range of six-dimension force sensor, easy to operate, easy to use, low in cost.
Description
Technical field
The invention belongs to piezoelectric transducer technical fields, in particular to measure six-dimensional space power/power of different range abilities
Square, specially a kind of adjustable piezoelectric type hexa-dimensional force sensor of load sharing.
Background technique
With the proposition of " made in China 2025 ", indicate China to the weight of intelligence manufacture, high-end equipment manufacturing etc.
Depending on.Six-dimension force sensor is as measurement six-dimensional space power/torque equipment, in industrial robot, aerospace, ocean work
Journey equipment, heavy-duty machinery etc. have a wide range of applications.
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.Currently, what is be most widely used is strain-type six-dimension force sensor, have strong function, small in size, flexible design,
The advantages that easy for installation, high sensitivity, long fatigue life, but due to the measuring principle of its own, lead to the rigidity of sensor
Lower, bad dynamic performance, to make up this shortcoming, piezoelectric type hexa-dimensional force sensor is included into the schedule of research and development.With
Strain-type six-dimension force sensor is compared, and piezoelectric type hexa-dimensional force sensor has following characteristics: utilizing piezoelectric effect principle dynamometry, has
Higher sensitivity can measure lesser six-dimensional force/torque;Frequency response is fast, rigidity is big, is applicable not only to static force measurement, also
It can dynamically measure;Load range is wide, structure is simple.
Currently, have many experts and scholars research can load sharing piezoelectric type hexa-dimensional force sensor, such as Chinese patent
" a kind of spoke type 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 measurement 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 a certain amount of journey, and specificity 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 the expansion pin method with diameter to realize different load sharing ratios.Structure letter
It is single, easy to operate, but the measuring device 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, by adjusting
The installation site of force sensing element adjusts load sharing ratio with load sharing ring, the positioning ring of series of modular is selected, and can achieve 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, to influence measurement accuracy;In addition, when the range of power changes,
All mechanisms need to be dismantled, then are re-assemblied, it is not only time-consuming and laborious, and it is difficult to ensure that installation accuracy.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the present 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 a kind of structure it is simple, it is easy for installation, easy to operate, be easy to commercialization for surveying
Measure the piezoelectric type hexa-dimensional force sensor of different range ability power.
Technical solution of the present invention:
A kind of adjustable piezoelectric type hexa-dimensional force sensor of load sharing, including pedestal 1,2,2 points of piezoelectric type three-dimensional force transducer
3,4 pre-loading screws 4 of support plate, 5,16 slotted grub screws 6 of cover board and sealant 7;
The 1 upper surface a of pedestal is equipped with four lower convex platform b of integral structure, and the lower surface d of cover board 5 is equipped with one knot
Structure, corresponding convex platform c, piezoelectric type three-dimensional force transducer 2 are installed between lower convex platform b and convex platform c, and paste therewith
It closes;Pre-loading screw 4 passes sequentially through 5 through-hole of cover board, 2 through-hole of piezoelectric type three-dimensional sensor, 1 threaded hole of pedestal for cover board 5, piezoelectric type
Three-dimensional force transducer 2 and pedestal 1 link together, and guarantee that pretightning force suffered by 4 pre-loading screws 4 is equal, and reach predetermined
Preload value;
Load sharing plate 3 is fixed on 5 two sides of pedestal 1 and cover board by holding screw 6, and holding screw 6 passes sequentially through 3 spiral shell of load sharing plate
Pit, 5 tapped blind hole of cover board link together load sharing plate 3, cover board 5, and holding screw 6 passes sequentially through 3 threaded hole of load sharing plate, bottom
1 tapped blind hole of seat links together load sharing plate 3, pedestal 1;
The sealing ring 7 formed by silica adhesive seals piezoelectric type three-dimensional force transducer 2, plays moisture-proof, heat-insulated mesh
's;
The load sharing plate 3 with a thickness of the ㎜ of 6 ㎜~15, by changing the thickness of load sharing plate 3, and then change load sharing plate 3
Load sharing effect, keep the range of sensor adjustable.
The load sharing plate 3 is " returning " character form structure, and the width of intermediate cut-out is 0~15 ㎜, length is 0~130
㎜。
A kind of beneficial effects of the present invention: the parallel piezoelectric six-dimensional force sensor of adjustable load sharing ratio proposed by the invention
It is that first cover board, piezoelectric type three-dimensional force transducer and pedestal are fixed as one, only needs to change series 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 the working condition of sensor work, strong guarantee installation accuracy be easy to operate, easy to use.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the adjustable piezoelectric type hexa-dimensional force sensor of load sharing of the present invention.
Fig. 2 is the A-A sectional view of Fig. 1.
Fig. 3 is a kind of overall schematic of the adjustable piezoelectric type hexa-dimensional force sensor comparison of load sharing of the present invention.
Fig. 4 is piezoelectric type hexa-dimensional force sensor demarcation flow figure.
In figure: 1 pedestal;2 piezoelectric type three-dimensional force transducers;3 load sharing plates;4 pre-loading screws;5 cover boards;
6 holding screws;7 sealing rings;A base upper surface;B lower convex platform;C convex platform;D cover board lower surface.
Specific embodiment
Below in conjunction with attached drawing and technical solution, the specific embodiment of this hair is further illustrated.
Embodiment
Pedestal 1, cover board 5 material be 30CrMnSi, the material of load sharing plate is super-high strength steel F141, selected preload 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.
When installation, piezoelectric type three-dimensional force transducer 2 is installed between lower convex platform b and convex platform c, and is bonded therewith;It pre-tightens
Screw 4 passes sequentially through 5 through-hole of cover board, 2 through-hole of piezoelectric type three-dimensional sensor, 1 threaded hole of pedestal for cover board 5, piezoelectric type three axis force
Sensor 2 and pedestal 1 link together, and guarantee that pretightning force suffered by 4 pre-loading screws 4 is equal, and reach scheduled preload
Value;The sealing ring 7 formed by silica adhesive seals piezoelectric type three-dimensional force transducer 2, plays moisture-proof, heat-insulated purpose;Point
Support plate 3 is fixed on 5 two sides of pedestal 1 and cover board by holding screw 6;Successively by the output lead of piezoelectric type three-dimensional force transducer 2
Connect charge amplifier, A/D data collecting card and computer equipment.
Piezoelectric transducer be using piezoelectric material piezoelectric effect and work, by external force/torque be converted into
Corresponding voltage signal, be not direct output external force/torque, therefore sensor need to be demarcated, be decoupled, obtain input
Relationship between load and output voltage.Using stepwise loading method, apply respectively six unidirectional power/torques to sensor into
Rower is fixed, and specific demarcation flow is as shown in Figure 4.
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 of the six-dimensional force/moment components of effect on a sensor and sensor output
Relationship between amount can be concluded are as follows:
F=CU
When active force occurs to change in magnitude on cover board 5, load sharing plate is replaced.Can load sharing piezoelectric six-dimension power pass
Sensor structure is simple, measurement accuracy is high, dynamic property is good, change load sharing size method is easy to operate, low in cost, user
Just.
Claims (2)
1. a kind of adjustable piezoelectric type hexa-dimensional force sensor of load sharing, which is characterized in that the adjustable piezoelectric six-dimension of the load sharing
Force snesor includes pedestal (1), piezoelectric type three-dimensional force transducer (2), load sharing plate (3), pre-loading screw (4), cover board (5), tightening
Screw (6) and sealing ring (7);
Pedestal (1) upper surface (a) is equipped with four lower convex platforms (b) of integral structure, and the lower surface (d) of cover board (5) is equipped with
Integral 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 it is bonded therewith;It is logical that pre-loading screw (4) passes sequentially through cover board (5) through-hole, piezoelectric type three-dimensional sensor (2)
Hole, pedestal (1) threaded hole link together cover board (5), piezoelectric type three-dimensional force transducer (2) and pedestal (1) three, and guarantee
Pretightning force suffered by 4 pre-loading screws (4) is equal, and reaches scheduled preload value;
The load sharing plate (3) is fixed on pedestal (1) and cover board (5) two sides by holding screw (6), and holding screw (6) is successively
Both load sharing plate (3), cover board (5) are linked together by load sharing plate (3) threaded hole, cover board (5) tapped blind hole, holding screw
(6) load sharing plate (3) threaded hole is passed sequentially through, pedestal (1) tapped blind hole links together both load sharing plate (3), pedestal (1);
The sealing ring (7) formed by silica adhesive seals piezoelectric type three-dimensional force transducer (2), plays moisture-proof, heat-insulated mesh
's;
The load sharing plate (3) with a thickness of the ㎜ of 6 ㎜~15, by changing the thickness of load sharing plate (3), and then change load sharing plate
(3) load sharing effect, keeps the range of sensor adjustable.
2. the adjustable piezoelectric type hexa-dimensional force sensor of load sharing according to claim 1, which is characterized in that the load sharing plate
It (3) is " returning " character form structure, the width of intermediate cut-out is 0~15 ㎜, length is 0~130 ㎜.
Priority Applications (1)
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CN201710299423.1A CN107063519B (en) | 2017-05-03 | 2017-05-03 | A kind of adjustable piezoelectric type hexa-dimensional force sensor of load sharing |
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CN201710299423.1A CN107063519B (en) | 2017-05-03 | 2017-05-03 | A kind of adjustable piezoelectric type hexa-dimensional force sensor of load sharing |
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CN107063519A CN107063519A (en) | 2017-08-18 |
CN107063519B true CN107063519B (en) | 2019-06-28 |
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Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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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 |
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