CN108072465A - A kind of three-dimensional force sensor with decoupling-structure - Google Patents
A kind of three-dimensional force sensor with decoupling-structure Download PDFInfo
- Publication number
- CN108072465A CN108072465A CN201711158184.4A CN201711158184A CN108072465A CN 108072465 A CN108072465 A CN 108072465A CN 201711158184 A CN201711158184 A CN 201711158184A CN 108072465 A CN108072465 A CN 108072465A
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- China
- Prior art keywords
- elastomer
- outer shroud
- inner ring
- decoupling
- elastomer outer
- 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.)
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Links
- 229920001971 elastomer Polymers 0.000 claims abstract description 128
- 239000000806 elastomer Substances 0.000 claims abstract description 128
- 239000011888 foil Substances 0.000 claims abstract description 23
- 238000007789 sealing Methods 0.000 claims description 9
- 238000012546 transfer Methods 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 22
- 238000000034 method Methods 0.000 abstract description 4
- 230000035945 sensitivity Effects 0.000 abstract description 4
- 208000032464 Retinoic acid syndrome Diseases 0.000 description 6
- 239000000686 essence Substances 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005096 rolling process Methods 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
Abstract
The present invention relates to sensor technical fields, disclose a kind of three-dimensional force sensor with decoupling-structure, including：Elastomer inner ring, elastomer outer shroud, axial thrust balancing devices, means for equalising, inner ring foil gauge and outer shroud foil gauge, elastomer exterior ring cap is arranged on the outside of elastomer inner ring, axial thrust balancing devices is equipped between elastomer outer shroud and elastomer inner ring, inner ring foil gauge is fixed on elastomer inner ring；Elastomer outer shroud includes the upper elastomer outer shroud of split from top to bottom and lower elastomer outer shroud, upper elastomer outer shroud are connected with lower elastomer outer shroud by means for equalising, and outer shroud foil gauge is fixed on lower elastomer outer shroud.The present invention realizes axial force to the decoupling of the decoupling, torque of moment of flexure and torque to axial force, and decoupling precision is high, and decoupling method is simple, improves measurement accuracy；And since the deformation of elastomer outer shroud and elastomer inner ring in axial force and torque direction is independent of each other, so as to improve measurement sensitivity.
Description
Technical field
The present invention relates to sensor technical field, more particularly to a kind of three-dimensional force sensor with decoupling-structure.
Background technology
Multi-dimension force sensor is usually used in robot system, and the orthogonal space detected power/moment information is fed back to machine
In device manpower control system, the control of intelligence machine manpower/position is realized, precision directly influences the accurate of entire robot
Control.And the presence of retinoic acid syndrome seriously affects the measurement accuracy of sensor.
Universal phenomenon when retinoic acid syndrome is multi-dimension force sensor measurement multi-dimensional force, retinoic acid syndrome can reduce measurement essence
Degree.Retinoic acid syndrome refers to that multi-dimension force sensor when measuring the active force in some direction, not only has on the direction of the power
Signal output, and unnecessary signal output can be also generated on the direction vertical with the power, it is right so as to generate measurement error
The measurement accuracy of sensor generates serious influence.
At present, designer generally eliminates retinoic acid syndrome using coupling calculating is carried out to output signal, but it is calculated
Complexity, and precision is not high.What is more important, when each different larger to load difference in magnitude, traditional bullet based on matching principle
Property body design can not ensure each Measurement Resolution to load.Further, when needing the three-dimensional force that measures in all directions
When range mismatches, such as tension and compression strength is very big in the axial direction, and the torque range very little in bending and torsional direction, this
The traditional three-dimensional force sensor axial force of sample is just especially big to the coupling influence of moment of flexure and torque.
The content of the invention
(1) technical problems to be solved
The object of the present invention is to provide a kind of three-dimensional force sensor with decoupling-structure, solve in the prior art based on
Elastomer design with principle can not ensure each Measurement Resolution to load and the range of power mismatches in all directions
The problem of；To eliminate retinoic acid syndrome its is caused to calculate complexity using coupling calculating is carried out to output signal, and precision is not high
Problem.
(2) technical solution
In order to solve the above technical problem, the present invention provides a kind of three-dimensional force sensor with decoupling-structure, features
It is, including：Elastomer inner ring, elastomer outer shroud, axial thrust balancing devices, means for equalising, inner ring foil gauge and outer shroud
Foil gauge；Wherein, the elastomer exterior ring cap is arranged on the outside of the elastomer inner ring, and one end of the axial thrust balancing devices is consolidated
Due to the inside of the elastomer outer shroud, the other end is fixed on the outside of the elastomer inner ring, the axial thrust balancing devices
Torque and moment of flexure can be transferred, the inner ring foil gauge is fixed on the elastomer inner ring；The elastomer outer shroud is included by upper
Upper elastomer outer shroud and lower elastomer outer shroud to lower split, the upper elastomer outer shroud and the lower elastomer outer shroud pass through institute
State means for equalising connection, the means for equalising can transfer axial force, the outer shroud foil gauge be fixed on it is described under
Elastomer outer shroud.
Wherein, the axial thrust balancing devices includes guide rail and sliding block, and the guide rail is fixed on the elastomer outer shroud
Inside, the sliding block are fixed on the elastomer inner ring, the guide rail and the sliding block slidable connection.
Wherein, the means for equalising include angular contact ball bearing, the inner ring of the angular contact ball bearing with it is described on
Elastomer outer shroud connects, and the outer shroud of the angular contact ball bearing is connected with the lower elastomer outer shroud.
Wherein, sealing ring is further included, the sealing ring is fixed on the axial thrust balancing devices and the elastomer inner ring
Top.
Wherein, weighted platform is further included, the weighted platform is fixed on the top of the upper elastomer outer shroud.
Wherein, the weighted platform is circle.
(3) advantageous effect
A kind of three-dimensional force sensor with decoupling-structure provided by the invention, is divided into elastomer outer shroud and bullet by elastomer
Property body in ring, and install axial thrust balancing devices and means for equalising additional, realize axial force to the decoupling of moment of flexure and torque, turn round
Decoupling of the square to axial force, decoupling precision is high, and decoupling method is simple, improves measurement accuracy；And due to elastomer outer shroud and
Deformation of the elastomer inner ring in axial force and torque direction is independent of each other, so as to improve measurement sensitivity.
Description of the drawings
Fig. 1 is a kind of main view sectional view of the three-dimensional force sensor with decoupling-structure of the present invention；
Fig. 2 is a kind of top plan view of the three-dimensional force sensor with decoupling-structure of the present invention.
In figure, 1, elastomer outer shroud；2nd, outer shroud foil gauge；3rd, angular contact ball bearing；4th, guide rail；5th, sliding block；6th, sealing ring；
7th, elastomer inner ring；8th, weighted platform；9th, inner ring foil gauge.
Specific embodiment
With reference to the accompanying drawings and examples, the specific embodiment of the present invention is described in further detail.Following instance
For illustrating the present invention, but it is not limited to the scope of the present invention.
In the description of the present invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or be integrally connected；It can
To be mechanical connection or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
As depicted in figs. 1 and 2, the present invention discloses a kind of three-dimensional force sensor with decoupling-structure, which is characterized in that bag
It includes：Elastomer inner ring 7, elastomer outer shroud 1, axial thrust balancing devices, means for equalising, inner ring foil gauge 9 and outer shroud strain
Piece 2；Wherein, elastomer outer shroud 1 is sheathed on 7 outside of elastomer inner ring, and one end of axial thrust balancing devices is fixed on outside elastomer
The inside of ring 1, the other end are fixed on the outside of elastomer inner ring 7, and axial thrust balancing devices can transfer torque and moment of flexure, inner ring
Foil gauge 9 is fixed on elastomer inner ring 7；Elastomer outer shroud 1 includes the upper elastomer outer shroud of split from top to bottom and lower elastomer
Outer shroud, upper elastomer outer shroud are connected with lower elastomer outer shroud by means for equalising, and means for equalising can transfer axial direction
Power, outer shroud foil gauge 2 are fixed on lower elastomer outer shroud.
During present invention measurement axial force, upper elastomer outer shroud is acted on be subject to axial force, can be become under axial force
Shape, and axial force is transferred by means for equalising, the outer shroud foil gauge 2 being now on lower elastomer outer shroud can generate telecommunications
Number, then signal output can be obtained the size of axial force by a series of data processing, be surveyed at this time by data collector
The force spent is axial force suffered by three-dimensional force sensor；Due to axial thrust balancing devices, there are prismatic pair, elastomer outer shrouds 1
It will not be by axial force transmission elastomer inner ring 7.Since the inner ring foil gauge 9 of measurement moment of flexure and torque is attached in elastomer inner ring 7,
Therefore in the case where only axial force loads, voltage signal output is hardly generated in bending and torsional direction, so as to real
Show under responsive to axial force, the decoupling to bending and torsional moment.
During present invention measurement torque, upper elastomer outer shroud is subject to the effect of torque to be rotated, and is filled by axial force balance
It puts the elastomer inner ring 7 being connected to elastomer outer shroud 1 corresponding also to rotate, then under torque effect, elastomer inner ring 7 exists
Corresponding deformation can occur on torsional direction, the inner ring foil gauge 9 being now placed in elastomer inner ring 7 can generate electric signal, then lead to
Data collector is crossed by signal output, the size of torque can be obtained by a series of data processing, the power measured at this time is i.e.
It is torque load suffered by three-dimensional force sensor；Since means for equalising can balance upper elastomer outer shroud and lower elastomer outer shroud
Relative rotation, therefore coupled lower elastomer outer shroud would not rotate, and so descend elastomer outer shroud would not be by
It is deformed to torque.Since the outer shroud foil gauge 2 of measurement axial force is attached on lower elastomer outer shroud, loaded in only torque
In the case of, voltage signal output is hardly generated on axial force direction, it is achieved thereby that under torsional moment effect, to axis
Decoupling to power.
During present invention measurement moment of flexure, due to axial thrust balancing devices, i.e. guide rail 4 and sliding block 5 can transfer moment of flexure, moment of flexure warp
Elastomer inner ring 7 is transferred to by elastomer outer shroud 1, guide rail 4 and sliding block 5, such elastomer inner ring 7 can respond in moment of flexure
Deformation, the inner ring foil gauge 9 being now placed in elastomer inner ring 7 can generate electric signal, then by data collector that signal is defeated
Go out, the size of moment of flexure can be obtained by a series of data processing, the power measured at this time is curved suffered by three-dimensional force sensor
Square load.
A kind of three-dimensional force sensor with decoupling-structure provided by the invention is put down by installing axial force additional in elastomer
Weigh device and means for equalising, realizes axial force to the decoupling of the decoupling, torque of moment of flexure and torque to axial force, decoupling essence
Degree is high, and decoupling method is simple, improves measurement accuracy；And since elastomer outer shroud and elastomer inner ring are in axial force and torque
Deformation on direction is independent of each other, so as to improve measurement sensitivity.
Wherein, axial thrust balancing devices includes guide rail 4 and sliding block 5, and guide rail 4 is fixed on the inside of elastomer outer shroud 1, sliding block
5 are fixed on elastomer inner ring 7,5 slidable connection of guide rail 4 and sliding block.When elastomer outer shroud 1 is subject to responsive to axial force, guide rail 4
It is opposite with sliding block 5 to slide, therefore axial force is not transferred to elastomer inner ring 7, it is achieved thereby that under responsive to axial force, to curved
Bent and torsional moment decoupling.Specifically, in the case of can be with comprehension according to those skilled in the art, axial direction can be utilized
Rolling bearing, gear drive, chain drive etc..
Wherein, means for equalising includes angular contact ball bearing 3, the inner ring of angular contact ball bearing 3 and upper elastomer outer shroud
Connection, the outer shroud of angular contact ball bearing 3 are connected with lower elastomer outer shroud.When upper elastomer outer shroud receives torque effect rotation,
The inner ring of angular contact ball bearing 3 is driven to rotate, because of the design feature of angular contact ball bearing 3, outer shroud is substantially motionless, will not be by torque
Lower elastomer outer shroud is passed to, it is achieved thereby that under torsional moment effect, the decoupling to axial force.Because of angular contact ball bearing 3
Radial load and axial load can be born simultaneously, therefore it is more suitable for the present apparatus, according to actual conditions angular contact ball bearing 3
Other bearings can be utilized to replace.
Wherein, sealing ring 6 is further included, sealing ring 6 is fixed on the top of axial thrust balancing devices and elastomer inner ring 7, uses
In the sealing to sensor.
Wherein, weighted platform 8 is further included, weighted platform 8 is fixed on the top of elastomer outer shroud, for transferring power and power
Square.When transferring axial force, since weighted platform 8 is connected with upper elastomer outer shroud, upper elastomer outer shroud meeting under axial force
It deforms；When torque is being transferred, weighted platform 8 drives upper elastomer outer shroud to rotate.
Preferably, weighted platform 8 is circle, can be with the form fit of upper elastomer outer shroud.
The present invention by elastomer be divided into elastomer outer shroud 1 and elastomer inner ring 7 at the thin-walled of lower elastomer outer shroud on paste
The outer shroud foil gauge 2 of upper measurement axial force, at the thin-walled of elastomer inner ring 7 on stick the inner ring strain of measurement moment of flexure and torque
Piece 9 adds angular contact ball bearing 3 on elastomer outer shroud 1, and the wherein inner ring of angular contact ball bearing 3 connects with upper elastomer outer shroud
It connects, the outer shroud of angular contact ball bearing 3 is connected with lower elastomer outer shroud, then phase can occur for upper elastomer outer shroud and lower elastomer outer shroud
To rotating.Guide rail 4 and sliding block 5 are fixed between elastomer outer shroud 1 and elastomer inner ring 7 respectively with trip bolt, due to leading
Rail 4 and sliding block 5 can relatively move, then elastomer outer shroud 1 and elastomer inner ring 7 can also relatively move.Additional seal
For circle 6 for the sealing to sensor, weighted platform 8 is circular configuration, for bearing external load, will be loaded by trip bolt flat
Platform 8 is connected together with elastomer outer shroud 1.
A kind of three-dimensional force sensor with decoupling-structure provided by the invention, is divided into elastomer outer shroud and bullet by elastomer
Property body in ring, and install axis sliding block, guide rail and angular contact ball bearing additional, decoupling precision is high, and decoupling method is simple, improves measurement essence
Degree；And since the deformation of elastomer outer shroud and elastomer inner ring in axial force and torque direction is independent of each other, so as to improve
Measurement sensitivity.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modifications, equivalent replacements and improvements are made should all be included in the protection scope of the present invention god.
Claims (6)
1. a kind of three-dimensional force sensor with decoupling-structure, which is characterized in that including：Elastomer inner ring (7), elastomer outer shroud
(1), axial thrust balancing devices, means for equalising, inner ring foil gauge (9) and outer shroud foil gauge (2)；Wherein, the elastomer
Outer shroud (1) is sheathed on the outside of the elastomer inner ring (7), and one end of the axial thrust balancing devices is fixed on outside the elastomer
The inside of ring (1), the other end are fixed on the outside of the elastomer inner ring (7), and the axial thrust balancing devices can transfer torsion
Square and moment of flexure, the inner ring foil gauge (9) are fixed on the elastomer inner ring (7)；The elastomer outer shroud (1) include by up to
The upper elastomer outer shroud and lower elastomer outer shroud of lower split, the upper elastomer outer shroud and the lower elastomer outer shroud pass through described
Means for equalising connects, and the means for equalising can transfer axial force, the outer shroud foil gauge (2) be fixed on it is described under
Elastomer outer shroud.
2. there is the three-dimensional force sensor of structure decoupling as described in claim 1, which is characterized in that the axial force balance dress
It puts including guide rail (4) and sliding block (5), the guide rail (4) is fixed on the inside of the elastomer outer shroud (1), and the sliding block (5) is solid
Due to the elastomer inner ring (7), the guide rail (4) and the sliding block (5) slidable connection.
3. there is the three-dimensional force sensor of structure decoupling as described in claim 1, which is characterized in that the means for equalising
Including angular contact ball bearing (3), the inner ring of the angular contact ball bearing (3) is connected with the upper elastomer outer shroud, the corner connection
The outer shroud for touching ball bearing (3) is connected with the lower elastomer outer shroud.
4. there is the three-dimensional force sensor of structure decoupling as described in claim 1, which is characterized in that sealing ring (6) is further included,
The sealing ring (6) is fixed on the top of the axial thrust balancing devices and the elastomer inner ring (7).
5. there is the three-dimensional force sensor of structure decoupling as described in claim 1, which is characterized in that further include weighted platform
(8), the weighted platform (8) is fixed on the top of the upper elastomer outer shroud.
6. there is the three-dimensional force sensor of structure decoupling as claimed in claim 5, which is characterized in that the weighted platform (8)
For circle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711158184.4A CN108072465B (en) | 2017-11-20 | 2017-11-20 | Three-dimensional force sensor with decoupling structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711158184.4A CN108072465B (en) | 2017-11-20 | 2017-11-20 | Three-dimensional force sensor with decoupling structure |
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| Publication Number | Publication Date |
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| CN108072465A true CN108072465A (en) | 2018-05-25 |
| CN108072465B CN108072465B (en) | 2020-06-30 |
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| CN201711158184.4A Expired - Fee Related CN108072465B (en) | 2017-11-20 | 2017-11-20 | Three-dimensional force sensor with decoupling structure |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109813476A (en) * | 2019-01-23 | 2019-05-28 | 广西大学 | A kind of novel capacitance-type torque sensor based on structure decoupling |
| CN110207882A (en) * | 2019-07-09 | 2019-09-06 | 东北电力大学 | Two dimensional wireless passive sensor is decoupled between joint ball-type dimension |
| CN111272379A (en) * | 2020-02-05 | 2020-06-12 | 中国空气动力研究与发展中心低速空气动力研究所 | Micro-axial force annular two-component strain balance |
| CN112033595A (en) * | 2020-08-26 | 2020-12-04 | 东北电力大学 | Central shaft type inter-dimensional decoupling three-dimensional wireless passive sensor |
| CN112067188A (en) * | 2020-08-26 | 2020-12-11 | 东北电力大学 | Flexible pull rod type series connection inter-dimension decoupling wireless passive sensor |
| CN112683439A (en) * | 2020-12-30 | 2021-04-20 | 东北电力大学 | Straight-tube T-shaped inter-dimension decoupling two-dimensional wireless passive sensor |
| CN112729652A (en) * | 2020-12-30 | 2021-04-30 | 东北电力大学 | Round-groove ball-rod type inter-dimension decoupling three-dimensional wireless passive sensor |
| CN114152381A (en) * | 2021-12-09 | 2022-03-08 | 河北科技大学 | Rigidity-adjustable force measurement branch and corresponding parallel multidimensional force sensor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109813476A (en) * | 2019-01-23 | 2019-05-28 | 广西大学 | A kind of novel capacitance-type torque sensor based on structure decoupling |
| CN110207882A (en) * | 2019-07-09 | 2019-09-06 | 东北电力大学 | Two dimensional wireless passive sensor is decoupled between joint ball-type dimension |
| CN111272379A (en) * | 2020-02-05 | 2020-06-12 | 中国空气动力研究与发展中心低速空气动力研究所 | Micro-axial force annular two-component strain balance |
| CN111272379B (en) * | 2020-02-05 | 2020-10-27 | 中国空气动力研究与发展中心低速空气动力研究所 | Micro-axial force annular two-component strain balance |
| CN112033595A (en) * | 2020-08-26 | 2020-12-04 | 东北电力大学 | Central shaft type inter-dimensional decoupling three-dimensional wireless passive sensor |
| CN112067188A (en) * | 2020-08-26 | 2020-12-11 | 东北电力大学 | Flexible pull rod type series connection inter-dimension decoupling wireless passive sensor |
| CN112033595B (en) * | 2020-08-26 | 2021-08-31 | 东北电力大学 | Central shaft type inter-dimensional decoupling three-dimensional wireless passive sensor |
| CN112067188B (en) * | 2020-08-26 | 2021-09-10 | 东北电力大学 | Flexible pull rod type series connection inter-dimension decoupling wireless passive sensor |
| CN112683439A (en) * | 2020-12-30 | 2021-04-20 | 东北电力大学 | Straight-tube T-shaped inter-dimension decoupling two-dimensional wireless passive sensor |
| CN112729652A (en) * | 2020-12-30 | 2021-04-30 | 东北电力大学 | Round-groove ball-rod type inter-dimension decoupling three-dimensional wireless passive sensor |
| CN114152381A (en) * | 2021-12-09 | 2022-03-08 | 河北科技大学 | Rigidity-adjustable force measurement branch and corresponding parallel multidimensional force sensor |
| CN114152381B (en) * | 2021-12-09 | 2023-07-07 | 河北科技大学 | Rigidity-adjustable force measuring branch and corresponding parallel multidimensional force sensor |
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|---|---|
| CN108072465B (en) | 2020-06-30 |
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