CN107101780A - The caliberating device of FSR pressure sensors - Google Patents
The caliberating device of FSR pressure sensors Download PDFInfo
- Publication number
- CN107101780A CN107101780A CN201710300940.6A CN201710300940A CN107101780A CN 107101780 A CN107101780 A CN 107101780A CN 201710300940 A CN201710300940 A CN 201710300940A CN 107101780 A CN107101780 A CN 107101780A
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- Prior art keywords
- slide unit
- stepper motor
- fsr
- leading screw
- caliberating device
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a kind of caliberating device of FSR pressure sensors.The caliberating device, including：Base；Stepper motor slide unit component, including：Stepper motor, stepper motor support base, shaft coupling, slide unit assembly support, ball nut slide unit, leading screw and slide unit component lower supporting plate, the slide unit assembly support are vertically arranged on base, and the leading screw is connected by shaft coupling with driving stepper motor；What the ball nut slide unit can be moved up and down is arranged on leading screw；Overload protection force probe assembly, including：Sleeve, force head and expansion link, the sleeve are fixed on ball nut slide unit, and the force head is laid in the lower section of sleeve by expansion link, and the stepper motor drives the rotation of leading screw and then drives ball nut slide unit to move down；And pressure sensor and objective table.The caliberating device small volume of the FSR pressure sensors, assembling and setting is convenient, and stated accuracy and efficiency are high.
Description
Technical field
The present invention relates to sensor calibration apparatus field, more particularly to a kind of caliberating device of FSR pressure sensors.
Background technology
FSR pressure sensors are a kind of very easily pressure sensors, because FSR sensor has certain flexibility,
It can be attached on the various surfaces often deformed.FSR pressure sensors are widely used in biomedical engineering field, robot neck
Domain, and rehabilitation medical instrument field.The main material of FSR sensor is the high polymer sensitive to power, and FSR measures the principle of power
For：The axial force being applied on FSR can change FSR resistance, and by bleeder circuit, the change of FSR resistance is reacted into voltage
Change on.The demarcation of FSR sensings is exactly to need the caliberating device using FSR pressure sensors, passes through experiment and curve matching
Technology finds out relation between the pressure of application and output voltage, in this way, it is possible to be calculated according to the output voltage of measuring circuit
It is applied to the power on FSR sensor.
The caliberating device structure amplitude of existing FSR pressure sensors is big, and expensive, volume is larger, and assembling and setting is difficult,
And the FSR sensor being difficult between 0.1~10N scopes is the problem of demarcate.
The information for being disclosed in the background section is merely intended to understanding of the increase to the general background of the present invention, without answering
When the prior art for being considered as recognizing or implying the information structure in any form well known to persons skilled in the art.
The content of the invention
It is an object of the invention to provide a kind of caliberating device of simple and reasonable FSR pressure sensors, FSR pressures
The caliberating device small volume of force snesor, assembling and setting is convenient, and stated accuracy and efficiency are high.
To achieve the above object, the invention provides a kind of caliberating device of FSR pressure sensors, including：Base；Stepping
Motor slide unit component, including：Stepper motor, stepper motor support base, shaft coupling, slide unit assembly support, ball nut slide unit, silk
Thick stick and slide unit component lower supporting plate, the slide unit assembly support are vertically arranged on base, the stepper motor support base and cunning
Platform component lower supporting plate is separately positioned on the upper and lower ends of slide unit assembly support；The stepper motor is arranged on stepper motor support
On seat, the leading screw is connected by shaft coupling with driving stepper motor；The setting that the ball nut slide unit can be moved up and down
On leading screw；Overload protection force probe assembly, including：Sleeve, force head and expansion link, the sleeve are fixed on ball nut
On slide unit, the force head is laid in the lower section of sleeve by expansion link, and the stepper motor drives the rotation of leading screw and then band
Dynamic ball nut slide unit is moved down, and axial compressive force is applied to FSR sensor to be calibrated by the head that exerts a force；And pressure sensing
Device and objective table, it is arranged on the force head lower section of the stepper motor slide unit component.
Preferably, in above-mentioned technical proposal, stepper motor slide unit component also includes：Propped up on leading screw upper support frame, the leading screw
Support is arranged on the lower section of stepper motor support base.
Preferably, in above-mentioned technical proposal, stepper motor slide unit component also includes：Optical axis, the optical axis is arranged in pairs in institute
The both sides of leading screw are stated, and are located in the ball nut slide unit.
Preferably, in above-mentioned technical proposal, slide unit assembly support is aluminium section bar.
Preferably, in above-mentioned technical proposal, overload protection force probe assembly also includes regulation button.
Preferably, in above-mentioned technical proposal, pressure sensor is S type strain pressure transducers.
Preferably, in above-mentioned technical proposal, base is rectangle, and its corner is respectively arranged with rubber pin.
Compared with prior art, the present invention has the advantages that：The caliberating device volume of the FSR pressure sensors compared with
Small, assembling and setting is convenient, and stated accuracy and efficiency are high.
Brief description of the drawings
Fig. 1 is the front view structure figure of the caliberating device of the FSR pressure sensors of the present invention.
Fig. 2 is the side block diagram of the caliberating device of the FSR pressure sensors of the present invention.
Fig. 3 is the overlooking structure figure of the caliberating device of the FSR pressure sensors of the present invention.
Fig. 4 is the circuit theory diagrams of the caliberating device of the FSR pressure sensors of the present invention.
Fig. 5 is the fundamental diagram of the caliberating device of the FSR pressure sensors of the present invention.
Fig. 6 is the pressure sensor data matched curve figure of the caliberating device of the FSR pressure sensors of the present invention.
Fig. 7 is the calibration map of the caliberating device of the FSR pressure sensors of the present invention.
Embodiment
Below in conjunction with the accompanying drawings, the embodiment to the present invention is described in detail, it is to be understood that the guarantor of the present invention
Shield scope is not limited by embodiment.
Explicitly indicated that unless otherwise other, otherwise in entire disclosure and claims, term " comprising " or its change
Change such as "comprising" or " including " etc. and will be understood to comprise stated element or part, and do not exclude other members
Part or other parts.
As shown in Figure 1 to Figure 3, included according to the caliberating device of the FSR pressure sensors of the specific embodiment of the invention：Bottom
Seat 1, stepper motor slide unit component, overload protection force probe assembly, pressure sensor 26 and objective table 28.Wherein, stepping electricity
Machine slide unit component is arranged on base 1, and pressure sensor 26 and objective table 28 link together, and are arranged on stepper motor slide unit
Below component, objective table 28 serves as the stress surface of pressure sensor 26, and FSR sensor to be calibrated is placed on the upper table of objective table 28
Face.Stepper motor slide unit component applies axial force to FSR sensor to be calibrated can change FSR resistance, and pass through partial pressure electricity
Road, the change of FSR resistance is reacted in the change of voltage, by experiment and curve fitting technique find out the pressure of application with it is defeated
Go out relation between voltage, in this way, it is possible to calculate the power being applied on FSR sensor according to the output voltage of measuring circuit.
Specifically, base 1 is rectangle, positioned at the bottom of the caliberating device of FSR pressure sensors, for supporting stepping electricity
Machine slide unit component and overload protection force probe assembly.The corner of base 1 is respectively arranged with rubber pin 24.
Stepper motor slide unit component includes：Stepper motor 11, stepper motor support base 8, shaft coupling 12, leading screw upper support frame
9th, slide unit assembly support 2, optical axis 4, ball nut slide unit 6, leading screw 13 and slide unit component lower supporting plate 3, wherein, slide unit component branch
Frame 2 is vertically arranged on base 1, and stepper motor support base 8 and slide unit component lower supporting plate 3 are separately positioned on slide unit assembly support
2 upper and lower ends.Stepper motor 11 is arranged on stepper motor support base 8, and leading screw 13 passes through shaft coupling 12 and stepper motor 11
Drive connection.Leading screw upper support frame 9 is arranged on the lower section of stepper motor support base 8.What ball nut slide unit 6 can be moved up and down
It is arranged on leading screw 13, so that moving up and down for ball nut slide unit 6 is converted into by what stepper motor 11 drove leading screw 13,
Optical axis 4 is arranged in pairs in the both sides of leading screw 13, and is located in ball nut slide unit 6, to moving up and down for ball nut slide unit 6
Play guide effect.It is preferred that, slide unit assembly support 2 is aluminium section bar.
With reference to Fig. 5 as can be seen that ball nut slide unit 6 is controlled by stepper motor 11, whole loading procedure, loading control are controlled
System processed includes：Host computer, dsp controller and stepper motor driver 22, are assisted between host computer and dsp controller by serial ports
View communication, the corresponding connection of signal is as shown in figure 5, one of which GPIO is used between dsp controller and stepper motor driver
The steering of stepper motor is controlled, one group of GPIO control is enabled, and a PWM outputs are used for controlling the rotating speed of stepper motor.Stepping electricity
A, B two-phase output voltage of machine driver 22 connect stepper motor 11 respectively.Dsp controller produce frequency-adjustable pulse signal with
Direction controlling, starts control signal, is sent to stepper motor driver, the upper computer software has following basic function：Root
The pulse frequency of control driver is calculated according to the speed of setting, the subdivision step number of stepper motor driver, the pitch of ball-screw
Rate, is then sent to dsp controller by serial communication, and dsp controller is received after velocity amplitude, calculates corresponding pulse signal
Cycle, be then sent to PWM peripheral hardwares, produce the pulse signal of corresponding frequencies, the dutycycle of pulse signal is 50%.
Overload protection force probe assembly includes：Sleeve 17, force first 18, expansion link 20 and regulation button 21, wherein, set
Cylinder 17 is fixed on ball nut slide unit 6 by fixed support 7, and force first 18 is laid under sleeve 17 by expansion link 20
Side, stepper motor 11 drives the rotation of leading screw 13 and then drives ball nut slide unit 6 to move down, by force first 18 to waiting to mark
Fixed FSR sensor applies axial compressive force.When the pressure exceedes setting, force first 18 is retracted by expansion link 20, is treated
The FSR sensor formation overload protection of demarcation.Regulation button 21 can adjust force first 18 and apply to FSR sensor to be calibrated
The setting of axial compressive force.
Pressure sensor 26 and objective table 28 are linked together by sunk screw, and are arranged on stepper motor slide unit component
First 18 lower section of force, objective table 28 serves as the stress surface of pressure sensor 26, and FSR sensor to be calibrated is placed on objective table 28
Upper surface.During installation, it is ensured that pressure sensor 26, objective table 28, sleeve 17, force first 18 and the axis of expansion link 20 are same
On vertical curve.
It is preferred that, pressure sensor 26 is S type strain pressure transducers.
With reference to Fig. 4 as can be seen that the demarcation of the FSR sensor and measuring circuit are as shown in Fig. 4 upper lefts, FSR
Sensor is connected with 10K precision resistance, is connected on 5V constant pressure source, NI data collecting cards 25 measure for 10K resistance
On partial pressure.At the same time, S types pressure sensor is under conditions of driving voltage is 10V, and signal of the output signal through 24V is adjusted
Reason module 23 carries out the simulation input that conditioning amplification is connected to NI data collecting cards 25 later.Between NI data collecting cards and computer
Connected using hi-speed USB interface, computer end passes through matlab program control data capture card gathered datas.
The present invention carries out comprising the following steps that for FSR pressure sensor calibrating experiments：
Step 1: FSR sensor circuit connection：Two wires are welded in FSR bipod to extract, and are connected to circuit shown in Fig. 4
Two pins on, then connect measuring circuit power supply, the signal output port of measuring circuit is connected to NI data collecting cards
Analog input channel 1 (ai1) on.
Step 2: S type pressure sensor wiring：The power supply of S type pressure sensors is connected, input voltage is 10V, by S types
Two differential output signal lines of pressure sensor are connected to the input of Signal-regulated kinase, the supply voltage of Signal-regulated kinase
For 24V, then the signal output of Signal-regulated kinase is connected on the analog input channel 0 (ai0) of NI data collecting cards.
Step 3: stepping slide unit wiring：As shown in figure 5, the serial ports of dsp controller is turning into phase of getting lines crossed by USB with computer
Even, dsp controller is connected with stepper motor driver to induction signal, the output signal of stepper motor driver is connected to slide unit
Stepper motor on.Stepper motor driver connects 24V voltages.
Step 4: S type pressure sensor calibratings：By 10g, 20g, 30g, 40g, 50g, 100g, 200g, 500g, 1000g's
Counterweight is individually placed on the objective table of S type pressure sensors, and computer control capture card enters to passage 0 with passage 1 simultaneously after stabilization
Row data acquisition, acquisition time is 2s, and sample frequency is 1000Hz.
Step 5: S types pressure sensor data is fitted：Each passage of every group of data to being collected in step 3 is direct
Average, obtain nine (F, V) corresponding points, then 9 groups of numbers are fitted using linear fit function y=ax+b, be fitted
Obtained curve is as shown in fig. 6, obtained fitting function is
Step 6: FSR sensor DATA REASONING：Counterweight is removed, FSR is pasted onto on objective table, is put on FSR surface
An a diameter of 5mm is put, highly buffering is used as 2mm dome-shaped silica gel pad.On computers, programme-control stepping electricity is passed through
Machine is slowly downwardly applied to pressure with uniform speed v=0.2mm/s, when pressure probe 18 touches silica gel pad soon, opens
Dynamic data collecting card, synchronous recording passage 0 and the data of passage 1, stop after observing that mechanical position limitation overload protection arrangement works
Stepper motor is halted, data acquisition is stopped after waiting certain time.
Step 7: FSR sensor data are fitted：To the data collected, each passage first carries out the slip that window is 20
Average filter, then carries out the medium filtering that window is 5.In order to calculate pressure, obtained first with step 5
The data of relation pair passage 0 enter line translation, obtain pressure value actual in loading procedure, and (F, the V) for thus obtaining one group of FSR is right
It should be related to.Then fitting function y=ae is utilizedbx+cedxF and V relation is fitted, as a result as shown in Figure 7.
To sum up, the caliberating device small volume of the FSR pressure sensors, assembling and setting is convenient, and stated accuracy and efficiency are equal
It is high.
It is foregoing to the present invention specific illustrative embodiment description be in order to illustrate and illustration purpose.These descriptions
It is not wishing to limit the invention to disclosed precise forms, and it will be apparent that according to above-mentioned teaching, can be much changed
And change.The purpose of selecting and describing the exemplary embodiment is that explaining that the certain principles and its reality of the present invention should
With so that those skilled in the art can realize and using the present invention a variety of exemplaries and
A variety of selections and change.The scope of the present invention is intended to be limited by claims and its equivalents.
Claims (7)
1. a kind of caliberating device of FSR pressure sensors, it is characterised in that including：
Base；
Stepper motor slide unit component, including：Stepper motor, stepper motor support base, shaft coupling, slide unit assembly support, ball spiral shell
Female slide unit, leading screw and slide unit component lower supporting plate, the slide unit assembly support are vertically arranged on base, the stepper motor branch
Support seat and slide unit component lower supporting plate are separately positioned on the upper and lower ends of slide unit assembly support；The stepper motor is arranged on stepping
On motor supporting base, the leading screw is connected by shaft coupling with driving stepper motor；The ball nut slide unit can on move down
Dynamic is arranged on leading screw；
Overload protection force probe assembly, including：Sleeve, force head and expansion link, the sleeve are fixed on ball nut slide unit
On, the force head is laid in the lower section of sleeve by expansion link, and the stepper motor drives the rotation of leading screw and then drives rolling
Pearl nut slide unit is moved down, and axial compressive force is applied to FSR sensor to be calibrated by the head that exerts a force；And
Pressure sensor and objective table, it is arranged on the force head lower section of the stepper motor slide unit component.
2. the caliberating device of FSR pressure sensors according to claim 1, it is characterised in that the stepper motor slide unit
Component also includes：Leading screw upper support frame, the leading screw upper support frame is arranged on the lower section of stepper motor support base.
3. the caliberating device of FSR pressure sensors according to claim 2, it is characterised in that the stepper motor slide unit
Component also includes：Optical axis, the optical axis is arranged in pairs in the both sides of the leading screw, and is located in the ball nut slide unit.
4. the caliberating device of FSR pressure sensors according to claim 1, it is characterised in that the slide unit assembly support
For aluminium section bar.
5. the caliberating device of FSR pressure sensors according to claim 1, it is characterised in that the overload protection force
Probe assembly also includes regulation button.
6. the caliberating device of FSR pressure sensors according to claim 1, it is characterised in that the pressure sensor is S
Type strain pressure transducer.
7. the caliberating device of FSR pressure sensors according to claim 1, it is characterised in that the base is rectangle, its
Corner is respectively arranged with rubber pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710300940.6A CN107101780A (en) | 2017-05-02 | 2017-05-02 | The caliberating device of FSR pressure sensors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710300940.6A CN107101780A (en) | 2017-05-02 | 2017-05-02 | The caliberating device of FSR pressure sensors |
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| CN107101780A true CN107101780A (en) | 2017-08-29 |
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| CN201710300940.6A Pending CN107101780A (en) | 2017-05-02 | 2017-05-02 | The caliberating device of FSR pressure sensors |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109506823A (en) * | 2019-01-11 | 2019-03-22 | 浙江大学 | A kind of device for measuring radial force of fan blade under rotation status |
| CN109738116A (en) * | 2018-12-20 | 2019-05-10 | 苏州能斯达电子科技有限公司 | A kind of calibration method and device of pliable pressure sensor |
| CN110122433A (en) * | 2019-06-06 | 2019-08-16 | 广西环江长达方格蔟有限公司 | Double protection de-cocoon machines |
| CN111551311A (en) * | 2020-06-17 | 2020-08-18 | 河北省科学院应用数学研究所 | Pressure sensor calibration device and calibration method |
| CN113049183A (en) * | 2021-03-26 | 2021-06-29 | 河北省科学院应用数学研究所 | Pressure sensor calibration device and calibration method |
| CN115077789A (en) * | 2022-08-17 | 2022-09-20 | 南京市计量监督检测院 | Simply supported force value sensor magnitude traceability device and calibration method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109738116A (en) * | 2018-12-20 | 2019-05-10 | 苏州能斯达电子科技有限公司 | A kind of calibration method and device of pliable pressure sensor |
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| CN109506823A (en) * | 2019-01-11 | 2019-03-22 | 浙江大学 | A kind of device for measuring radial force of fan blade under rotation status |
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| CN110122433A (en) * | 2019-06-06 | 2019-08-16 | 广西环江长达方格蔟有限公司 | Double protection de-cocoon machines |
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| CN113049183A (en) * | 2021-03-26 | 2021-06-29 | 河北省科学院应用数学研究所 | Pressure sensor calibration device and calibration method |
| CN115077789A (en) * | 2022-08-17 | 2022-09-20 | 南京市计量监督检测院 | Simply supported force value sensor magnitude traceability device and calibration method |
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