CN108225622B - Three-dimensional force sensor - Google Patents

Three-dimensional force sensor Download PDF

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Publication number
CN108225622B
CN108225622B CN201711416148.3A CN201711416148A CN108225622B CN 108225622 B CN108225622 B CN 108225622B CN 201711416148 A CN201711416148 A CN 201711416148A CN 108225622 B CN108225622 B CN 108225622B
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CN
China
Prior art keywords
cover plate
main
force measuring
square
force
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Application number
CN201711416148.3A
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Chinese (zh)
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CN108225622A (en
Inventor
丁桦
熊铃华
张喆斯
张克武
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Institute of Industry Technology Guangzhou of CAS
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Institute of Industry Technology Guangzhou of CAS
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Priority to CN201711416148.3A priority Critical patent/CN108225622B/en
Publication of CN108225622A publication Critical patent/CN108225622A/en
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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 piezo-electric devices
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00Measuring force or stress, in general
    • G01L1/26Auxiliary measures taken, or devices used, in connection with the measurement of force, e.g. for preventing influence of transverse components of force, for preventing overload
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L19/00Details of, or accessories for, apparatus for measuring steady or quasi-steady pressure of a fluent medium insofar as such details or accessories are not special to particular types of pressure gauges
    • G01L19/14Housings
    • G01L19/142Multiple part housings
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L19/00Details of, or accessories for, apparatus for measuring steady or quasi-steady pressure of a fluent medium insofar as such details or accessories are not special to particular types of pressure gauges
    • G01L19/14Housings
    • G01L19/145Housings with stress relieving means
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/02Rotary-transmission dynamometers
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L9/00Measuring steady of quasi-steady pressure of fluid or fluent solid material by electric or magnetic pressure-sensitive elements; Transmitting or indicating the displacement of mechanical pressure-sensitive elements, used to measure the steady or quasi-steady pressure of a fluid or fluent solid material, by electric or magnetic means
    • G01L9/08Measuring steady of quasi-steady pressure of fluid or fluent solid material by electric or magnetic pressure-sensitive elements; Transmitting or indicating the displacement of mechanical pressure-sensitive elements, used to measure the steady or quasi-steady pressure of a fluid or fluent solid material, by electric or magnetic means by making use of piezo-electric devices, i.e. electric circuits therefor

Abstract

The invention discloses a three-dimensional force sensor which comprises a hollow annular force measuring structure main body, a first cover plate and a second cover plate, wherein the first cover plate and the second cover plate are respectively arranged on two end faces of the force measuring structure main body, the first cover plate and the second cover plate are fixed on the two end faces of the force measuring structure main body through bolts, a central column is arranged in the force measuring structure main body, at least four symmetrical square beams are radially arranged between the central column and the inner wall of the force measuring structure main body, and strain gauges are respectively paved on four surfaces of each square beam. The invention has the advantages that: the sensitivity is high, the coupling crosstalk between dimensions is small, the installation influence can be eliminated, and the zero return characteristic is good.

Description

Three-dimensional force sensor
Technical Field
The invention relates to the technical field of sensor correlation, in particular to a three-dimensional force sensor.
Background
At present, the multi-dimensional force sensor is widely applied to the fields of aerospace, intelligent manufacturing, intelligent robots and the like. The structure of the strain type multi-dimensional force sensor and the design of the strain sheet bridge circuit directly influence the performance of the strain type multi-dimensional force sensor, and especially play a key role in eliminating the crosstalk between dimensions and the influence of installation and improving the measurement precision.
Disclosure of Invention
The invention aims to provide a three-dimensional force sensor with high sensitivity and small cross talk between dimensions.
The technical solution of the invention is as follows: a three-dimensional force sensor comprises a hollow annular force measuring structure main body, a first cover plate and a second cover plate, wherein the first cover plate and the second cover plate are respectively arranged on two end faces of the force measuring structure main body, a central column is arranged in the force measuring structure main body, at least four symmetrical square beams are radially arranged between the central column and the inner wall of the force measuring structure main body, and strain gauges are respectively paved on four surfaces of each square beam.
Dynamometry structure main part cavity, establish four radial at least square beams in, be favorable to the not equidirectional dependent variable force of accurate measurement, constitute three Wheatstone full-bridge through four surperficial strainers on the square beam, measure the change of torque on the three-dimensional direction respectively, the measurement of every dimension is realized by a plurality of strainers on the different square beams, reduce the crosstalk between the dimension, measuring precision has been improved, first apron and second apron are fixed respectively on dynamometry structure main part both ends face, can play sealed effect, can be to dynamometry structure main part transmission moment of torsion simultaneously, whole simple structure, measurement sensitivity is high.
The square beam is a U-shaped beam. The U-shaped part deforms more greatly when stressed, and the strain is more concentrated, so that the sensitivity and the precision of measurement can be further improved.
And a plurality of blind grooves are arranged on one end surface of the force measuring structure main body, and balls are arranged between the blind grooves and the second cover plate. The second apron passes through the ball and the terminal surface contact of dynamometry structure main part, when the installation apron, can eliminate stress through the rotation of ball, can obviously reduce the influence of installation fastening force to the sensor, improves the zero characteristic of returning.
Screw hole interfaces are arranged on the first cover plate and the second cover plate. The sensor is convenient to be installed on other equipment.
The invention has the advantages that: the sensitivity is high, the coupling crosstalk between dimensions is small, the installation influence can be eliminated, and the zero return characteristic is good.
Drawings
FIG. 1 is an exploded view of an embodiment of the present invention;
FIG. 2 is a schematic front view of a force measuring structure body according to an embodiment of the present invention;
FIG. 3 is a schematic view of a back side structure of a force measuring structure body according to an embodiment of the present invention;
1. force measuring structure main part, 2, first apron, 3, second apron, 4, center post, 5, square beam, 6, foil gage, 7, blind groove, 8, ball, 9, screw interface, 10, bolt.
Detailed Description
Example (b):
referring to fig. 1-3, a three-dimensional force sensor comprises a hollow annular force measurement structure main body 1, and a first cover plate 2 and a second cover plate 3 respectively arranged on two end faces of the force measurement structure main body 1, wherein the first cover plate 1 and the second cover plate 2 are fixed on two end faces of the force measurement structure main body 1 through bolts 10, a central column 4 is arranged in the force measurement structure main body 1, four symmetrical U-shaped square beams 5 are radially arranged between the central column 4 and the inner wall of the force measurement structure main body 1, and strain gauges 6 are respectively laid on four surfaces of each square beam 5. A plurality of blind grooves 7 are arranged on one end face of the force measuring structure body 1, and balls 8 are arranged between the blind grooves 7 and the second cover plate 3. The first cover plate 2 is provided with a screw hole interface 9.
Dynamometry structure subject 1 cavity, U-shaped square beam 5 of four symmetries of radial setting between center post 4 and the 1 inner wall of dynamometry structure subject, be favorable to the not equidirectional dependent stress of accurate measurement, and constitute three Wheatstone full-bridge through setting up at 5 four surperficial strain gauges 6 of square beam, measure the change of torque in the three-dimensional direction respectively, the measurement of every dimension is realized by a plurality of strain gauges on the different square beams, reduce the crosstalk between the dimension, measuring precision has been improved, first apron 2 and second apron 3 are fixed respectively on 1 both ends face of dynamometry structure subject, can play sealed effect, can transmit the moment of torsion to dynamometry structure subject 1 simultaneously, whole simple structure, measurement sensitivity is high.
In this embodiment, four square beams are symmetrically arranged in the force measuring structure main body 1, and in order to improve the precision, five, six, and eight symmetrical square beams may be further arranged as the structure main body space allows, so that the measurement precision is higher. The square beam 5 is a U-shaped beam, the U-shaped part of the square beam deforms more greatly when stressed, the strain is more concentrated, and the sensitivity and the precision of measurement are further improved.
The second cover plate 3 is in contact with the end face of the force measuring structure body 1 through the balls 8, when the cover plate is installed, stress can be eliminated through rotation of the balls, the influence of installation fastening force on a sensor can be obviously reduced, and the zero return characteristic is improved.
The above detailed description is specific to one possible embodiment of the present invention, and the embodiment is not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention are intended to be included within the scope of the present invention.

Claims (3)

1. A three-dimensional force sensor, characterized by: the force measuring structure comprises a hollow annular force measuring structure main body, a first cover plate and a second cover plate, wherein the first cover plate and the second cover plate are respectively arranged on two end faces of the force measuring structure main body, a central column is arranged in the force measuring structure main body, at least four symmetrical square beams are radially arranged between the central column and the inner wall of the force measuring structure main body, strain gauges are respectively paved on four surfaces of each square beam, each square beam is a U-shaped beam, and horizontal sections for connection are respectively arranged at two ends of each U-shaped arm.
2. The three-dimensional force sensor of claim 1, wherein: and a plurality of blind grooves are arranged on one end surface of the force measuring structure main body, and balls are arranged between the blind grooves and the second cover plate.
3. A three-dimensional force sensor according to claim 2, wherein: screw hole interfaces are arranged on the first cover plate and the second cover plate.
CN201711416148.3A 2017-12-25 2017-12-25 Three-dimensional force sensor Active CN108225622B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711416148.3A CN108225622B (en) 2017-12-25 2017-12-25 Three-dimensional force sensor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711416148.3A CN108225622B (en) 2017-12-25 2017-12-25 Three-dimensional force sensor

Publications (2)

Publication Number Publication Date
CN108225622A CN108225622A (en) 2018-06-29
CN108225622B true CN108225622B (en) 2020-10-16

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Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108981987B (en) * 2018-08-07 2020-08-11 东南大学 Small-dimension space coupling elastic beam six-dimension force sensor
CN109470396B (en) * 2018-11-19 2020-07-14 北京精密机电控制设备研究所 Miniature six-dimensional force/torque sensor
CN110849469A (en) * 2019-12-04 2020-02-28 西北工业大学 Ring beam structure high-performance piezoelectric accelerometer

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100471642B1 (en) * 2003-05-14 2005-03-09 경상대학교산학협력단 Small 6-axis force/moment sensor in size and capacity
CN102636297B (en) * 2012-04-20 2013-08-07 合肥工业大学 Three-dimensional force sensor
CN103076131B (en) * 2012-12-31 2014-12-17 东南大学 Six-dimensional force and torque sensor for measuring large force and small torque of large mechanical arm
CN103575446B (en) * 2013-10-11 2016-04-27 南京神源生智能科技有限公司 A kind of Medium-measurement-rthree-dimensional three-dimensional force sensor
CN103698076B (en) * 2014-01-03 2015-08-19 东南大学 A kind of six-dimensional force for realizing Range Extension and torque sensor
CN103940544B (en) * 2014-03-11 2016-02-03 东南大学 Diesis beam combined type articulations digitorum manus six-dimension force sensor
CN105973521B (en) * 2016-07-08 2019-03-08 中国电子科技集团公司第二十一研究所 Three-dimensional pressure sensor
CN106768522A (en) * 2017-01-20 2017-05-31 合肥工业大学 A kind of elastomer for six-dimensional force sensor

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