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 PDF

Info

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
Authority
CN
China
Prior art keywords
load sharing
piezoelectric type
cover board
dimensional force
pedestal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201710299423.1A
Other languages
Chinese (zh)
Other versions
CN107063519A (en
Inventor
杨睿
李盼
任宗金
钱卫
孙士勇
郭锋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dalian University of Technology
Original Assignee
Dalian University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Dalian University of Technology filed Critical Dalian University of Technology
Priority to CN201710299423.1A priority Critical patent/CN107063519B/en
Publication of CN107063519A publication Critical patent/CN107063519A/en
Application granted granted Critical
Publication of CN107063519B publication Critical patent/CN107063519B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00Measuring force or stress, in general
    • G01L1/16Measuring force or stress, in general using properties of piezoelectric devices
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G01L5/167Apparatus 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

A kind of adjustable piezoelectric type hexa-dimensional force sensor of load sharing
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 ㎜.
CN201710299423.1A 2017-05-03 2017-05-03 A kind of adjustable piezoelectric type hexa-dimensional force sensor of load sharing Active CN107063519B (en)

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 CN107063519A (en) 2017-08-18
CN107063519B true 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)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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

Patent Citations (6)

* Cited by examiner, † Cited by third party
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

Also Published As

Publication number Publication date
CN107063519A (en) 2017-08-18

Similar Documents

Publication Publication Date Title
CN100480653C (en) Large value piezoelectric quartz multi-component force sensor
CN101793574B (en) Piezoelectric type six-dimensional force sensor with adjustable load sharing ratio and test method thereof
CN202153166U (en) Parallel piezoelectric six-dimensional powerful force sensor
WO2017215334A1 (en) Novel six-dimensional force and torque sensor
CN102288334B (en) Parallel piezoelectric six-dimensional large force sensor
CN103196594B (en) A kind of spoke type parallel piezoelectricity six-dimensional force sensor and measuring method
CN104048791A (en) Double cross beam type six-dimensional force and torque sensor based on low-dimensional coupling
CN103076131A (en) Six-dimensional force and torque sensor for measuring large force and small torque of large mechanical arm
CN107063519B (en) A kind of adjustable piezoelectric type hexa-dimensional force sensor of load sharing
CN101694407B (en) Over-constrained wide-range parallel sextuple force measuring platform
CN101907502B (en) Parallel-connection three-dimensional force sensor with decoupling structure
CN103175636B (en) Load-sharing piezoelectric multi-dimensional force measuring device and method for manufacturing the same
CN103292939B (en) Spoke and central pin column combined type three-dimensional force sensor
CN100523753C (en) Upper and lower prefastening parallel connection structure six-dimensional force sensor
CN201463884U (en) Piezoelectric type electronic gradienter
Liu et al. Research on parallel load sharing principle of piezoelectric six-dimensional heavy force/torque sensor
CN108020355B (en) Measuring method of small-size large-range integrated piezoelectric six-dimensional force sensor
CN104482960A (en) Displacement and force test integrated sensor
CN101329208B (en) Six-dimensional force sensor of integral pre-tightening double-layer top and bottom asymmetry eight-rod parallel connection structure
CN102519635B (en) Triaxial force sensor with overload protection function
CN203191135U (en) Spoke-type parallel piezoelectric six-dimensional force sensor
CN105841874A (en) Reconfigurable parallel multidimensional force sensor
Yao et al. Theoretical analysis and experiment research of a statically indeterminate pre-stressed six-axis force sensor
CN104034474B (en) 3-SPU six-dimensional force cell sensor in parallel
CN203241182U (en) Spoke/center pin column combined-type three-dimensional force sensor

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant