CN109141718A - The passive tension-torsion sensor of composite forces of two dimensional wireless - Google Patents
The passive tension-torsion sensor of composite forces of two dimensional wireless Download PDFInfo
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- CN109141718A CN109141718A CN201811010074.8A CN201811010074A CN109141718A CN 109141718 A CN109141718 A CN 109141718A CN 201811010074 A CN201811010074 A CN 201811010074A CN 109141718 A CN109141718 A CN 109141718A
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- fixed part
- sensing element
- strain portion
- buffering ring
- elongation strain
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- 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
- G01L5/0028—Force sensors associated with force applying means
- G01L5/0033—Force sensors associated with force applying means applying a pulling force
-
- 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
- G01L5/0028—Force sensors associated with force applying means
- G01L5/0042—Force sensors associated with force applying means applying a torque
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- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a kind of passive tension-torsion sensor of composite forces of two dimensional wireless comprising elastomer intelligent structure and sensing element；The elastomer intelligent structure includes loading unit, torsional strain portion, left fixed part, elongation strain portion, buffering ring and right fixed part；The sensing element is made of magnetostriction soft magnetic strip, and including the first sensing element, the second sensing element and third sensing element, first sensing element is pasted onto the torsional strain portion of elastomer intelligent structure, and second sensing element and third sensing element are respectively arranged in two elongation strain portions.The passive tension-torsion sensor of composite forces of two dimensional wireless of the invention passes through the design of elastomer intelligent structure, and realization stretches and the decoupling of torsion, and realizes the measurement stretched with twisting resistance by respective sensing element, solves above-mentioned technical problem.
Description
Technical field
The invention belongs to sensor technical fields, are related to a kind of wrist joint 2 D force sensor device, and in particular to a kind of
The decoupling passive force snesor of two dimensional wireless certainly based on rigidity of structure distribution.
Background technique
Sensor be it is a kind of can impression as defined in be measured and according to certain rule be converted into available signal device and
Device is usually made of sensing element and elastic element.Multi-dimension force sensor is that one kind can measure both direction or more simultaneously
The load cell of power and moment information is widely used in the fields such as robot, bioengineering, industrial manufacture, health care.It is existing
The two dimension or even multi-dimension force sensor in stage are broadly divided into resistance-strain type, piezoelectric type, capacitive force transducer, structure letter
Single, sensitive and precision is higher.The construction of sensor is to paste on the elastic element of certain shapes or answered with other methods installation
Become sensing element.When mechanical quantity acts on elastic element, elastic element is deformed, and the resistance value of strain sensor is therewith
It changes, change in resistance is then become into voltage change output by translation circuit, according to voltage variety it can be learnt that power
Size.
In the research of multi-dimension force sensor, the structure design of elastic element is the key problem of force snesor, because of bullet
Property element structure determine force snesor performance superiority and inferiority.At present, commonly used multi-dimension force sensor structure has vertical beam formula, ten
Word cross beam type and the multidimensional sensor based on STEWART platform structure etc..Wherein, most commonly used for beam sensor, the biography
Sensor has good linear, repeatability and preferable hysteresis quality, and has to temperature compensatory, but it does not have from decoupling function
Can, and coupled between each output channel big.The 2 D force sensor that the present invention designs uses the integral structure of overall processing, has
Contour structures are dexterous, and linear, repeatability preferably, is suitble to static and quasi-static measurement.
Wireless sourceless sensor realizes the transmitting of energy and information using Radio Transmission Technologys such as electromagnetism, ultrasound, radio frequencies,
It directly, is efficiently converted using field energy or wireless signal etc. to realize sensing, because it does not have to carry out by physical connection
Signal transmission, and it is not necessarily to power supply supplying energy, it is greatly expanded the use occasion and service life of sensor, is being implanted into it
Have irreplaceable advantage when organism: such as publication date is August in 2011 3, Publication No.
The patent application of CN102138802A, entitled " miniature skeleton two-dimensional force snesor, skeleton two-dimensional Force sensor ", mention
A kind of measurement sensing that can cooperate exter-nal fixer realization to fracture wound section axial push-pull power and radial shear power is gone out
Device solves the problems, such as that the sensing detection of living body skeleton trauma section stress is difficult to realize.But this sensor is because using electricity
Foil gauge is hindered, therefore can not really realize wireless and passive after being implanted into, and elastomer structure itself does not have decoupling ability, needs to form
Bridge is compensated and is decoupled.
Summary of the invention
Object of the present invention is to the passive tension-torsion sensor of composite forces of two dimensional wireless, are able to achieve the decoupling of stretching and torsion, solution
It has determined the above problem.
The present invention solves technical problem and adopts the following technical scheme that a kind of passive tension-torsion sensor of composite forces of two dimensional wireless,
It includes elastomer intelligent structure and sensing element；
The elastomer intelligent structure include loading unit, torsional strain portion, left fixed part, elongation strain portion, buffering ring and
Right fixed part；
The loading unit and torsional strain portion are cylindrical shape, and internal diameter is identical；
The outer diameter of the loading unit is greater than the outer diameter in torsional strain portion, and one end of the loading unit axial direction is connected to described answer
One end of change portion axial direction；
The left fixed part is plate-like, and the other end in the torsional strain portion is fixed on the left surface of the left fixed part
Middle part, the axis in the torsional strain portion are overlapped with the axis of the left fixed part；
Buffering ring and elongation strain portion are provided between the left fixed part and right fixed part, the buffering ring and stretching are answered
The quantity in change portion is two；Along the circumferencial direction of left fixed part, the buffering ring and elongation strain portion are staggered；Two slow
The line between ring is rushed perpendicular to the line between two elongation strain portions；
The elongation strain portion is plate-like, and the both ends of length direction are individually fixed in the left fixed part and right fixation
Portion, and the two side walls of the width direction in the elongation strain portion are recessed inwardly to form two notches, in the same stretching
Two notches on the side wall of Response Division are respectively close to the left fixed part and right fixed part；
The length direction both ends of the buffering ring are individually fixed in the left fixed part and right fixed part, and the buffering
The edge of ring is in arc-shaped perpendicular to the section of the buffering ring length direction plane；The side wall of the buffering ring width direction to
Outer protrusion, and it is provided on the buffering ring the circular first through hole using the center of the buffering ring as the center of circle, and
Using four intersection points of length direction and width direction of the circular first through hole and the buffering ring as four second of the center of circle
Through-hole；
The sensing element is made of magnetostriction soft magnetic strip, and including the first sensing element R1, the second sensitive member
Part R2 and third sensing element R3, first sensing element are pasted onto the torsional strain portion of elastomer intelligent structure, and described
Two sensing element R2 and third sensing element R3 are respectively arranged in two elongation strain portions；Wherein, the first sensing element R1 with
Angle between the central axis in torsional strain portion is 45 °, and the second sensing element R2 and third sensing element R3 are respectively positioned on drawing
On the center line of the length direction in stretching strain portion, and it is parallel to each other.
Optionally, the loading unit, torsional strain portion, left fixed part, elongation strain portion, buffering ring and right fixed part one
Molding.
Optionally, the notch is triangle.
Optionally, threaded hole there are four being opened up on the right fixed part.
The invention has the following beneficial effects: the passive tension-torsion sensor of composite forces of two dimensional wireless of the invention to pass through elastomer
The decoupling for stretching and reversing is realized in the design of intelligence structure, and is passed through respective sensing element and realized stretching and the survey of twisting resistance
Amount, solves above-mentioned technical problem.
Detailed description of the invention
Fig. 1 is that the stereochemical structure of the elastomer intelligent structure of the passive tension-torsion sensor of composite forces of two dimensional wireless of the invention is shown
It is intended to；
Fig. 2 is the cross-sectional view of the elastomer intelligent structure of the passive tension-torsion sensor of composite forces of two dimensional wireless of the invention；
Fig. 3 is the cross-sectional view of the passive tension-torsion sensor of composite forces of two dimensional wireless of the invention；
Fig. 4 is the paste position schematic diagram of the first sensing element of the invention；
Fig. 5 is the second sensing element of the invention/third sensing element paste position schematic diagram；
Fig. 6 is the paste position schematic diagram of the first sensing element of the invention, the second sensing element and third sensing element；
The mark in the figure shows: 1- loading unit；2- torsional strain portion；The left fixed part of 3-；4- elongation strain portion；5- buffering
Ring；The right fixed part of 6-；The first sensing element of R1-；The second sensing element of R2-；R3- third sensing element.
Specific embodiment
Technical solution of the present invention is further elaborated below with reference to examples and drawings.
Embodiment 1
Present embodiments provide a kind of passive tension-torsion sensor of composite forces of two dimensional wireless comprising elastomer intelligent structure and
Sensing element.
The elastomer intelligent structure include loading unit, torsional strain portion, left fixed part, elongation strain portion, buffering ring and
Right fixed part, wherein the loading unit and torsional strain portion are cylindrical shape, and internal diameter is identical；The outer diameter of the loading unit is greater than
The outer diameter in torsional strain portion has stronger stretch by force so that the torsional strain portion is hollow thin-wall cylindrical structure
Degree, but the torsional shear stress generated to torsional moment is more sensitive, strains in the case where bearing torsional moment effect significant.It is described
One end of loading unit axial direction is connected to one end of the Response Division axial direction, so that the loading unit and torsional strain portion is interior
Portion space is formed as an entirety.
The left fixed part is plate-like, and the other end in the torsional strain portion is fixed on the left surface of the left fixed part
The axis at middle part, i.e., the described torsional strain portion is overlapped with the axis of the left fixed part.
Especially, it is provided with buffering ring and elongation strain portion between the left fixed part and right fixed part, it is specifically, described
The quantity in buffering ring and elongation strain portion is two, and the buffering ring and elongation strain portion are staggered, and two bufferings
It is symmetrical arranged between ring, is symmetrical arranged between two elongation strain portions, meanwhile, the line between two buffering rings is perpendicular to two
Line between elongation strain portion.
As a kind of way of realization, the loading unit, torsional strain portion, left fixed part, elongation strain portion, buffering ring and the right side
Fixed part is integrally formed, such as completes elastomer intelligent shaping structures by 3D printing technique.
It is highly preferred that the elongation strain portion is plate-like, the both ends of length direction are individually fixed in the left fixed part
It is recessed inwardly to form two notches with the two side walls of right fixed part, and the width direction in the elongation strain portion, same
Two notches on the side wall in one elongation strain portion are respectively close to the left fixed part and right fixed part, so as to will be described
The distorting stress that elongation strain portion is born is largely focused on the both ends of beam, reduces distorting stress to the shadow in elongation strain portion
It rings；In the present embodiment, the notch is triangle.
The length direction both ends of the buffering ring are individually fixed in the left fixed part and right fixed part, and the buffering
Ring width direction is in arc-shaped, i.e., is in arc-shaped along the section perpendicular to the buffering ring length direction plane.The buffering ring
The side wall of width direction outwardly protrudes, and is provided on the buffering ring using the center of the buffering ring as the circle in the center of circle
The first through hole of shape, and be with the round first through hole and four intersection points of length direction and width direction of the buffering ring
Four second through-holes in the center of circle, so that the buffering ring is formed, to pass through the buffering ring snubber elastomer intelligent structure
The torque born.
The sensing element is made of magnetostriction soft magnetic strip, and including the first sensing element R1, the second sensitive member
Part R2 and third sensing element R3, first sensing element are pasted onto the torsional strain portion of elastomer intelligent structure, and described
Two sensing element R2 and third sensing element R3 are respectively arranged in two elongation strain portions；Wherein, the first sensing element R1 with
Angle between the central axis in torsional strain portion is 45 °, and the second sensing element R2 and third sensing element R3 are respectively positioned on drawing
On the center line of the length direction in stretching strain portion, and it is parallel to each other.
It is highly preferred that opened up on the right fixed part there are four threaded hole so that right fixed part by bolt, nut with
Load test platform is fixedly connected, and is formed with through-hole on the loading unit, is conveniently used for the external force for stretching and reversing load
Lotus applies.
When the passive tension-torsion sensor of composite forces of two dimensional wireless of the invention is when bearing the effect of external force load, by elasticity
Body intelligence structure applies independent drawing force F, elastomer intelligent structure be integrally stretched it is elongated because the stretching in torsional strain portion is rigid
Spend it is larger, by most of tensile stress transmitting act in two elongation strain portions, cause elongation strain portion pulling force F effect under
Flexible deformation is significantly greater than torsional strain portion.
In the case of applying individual torsional moment T to elastomer intelligent structure, elastomer intelligent structure is integrally held
By torsional shear stress, because torsional strain portion is thin-walled hollow cylindrical structure, anti-shear ability is poor, and elongation strain portion
Most of shear stress in region by buffering ring snubber, and the both ends triangular gap in elongation strain portion can effectively by
Stress concentrates on marginal position, to make the body position in elongation strain portion that the deflection in angle and lesser elasticity change only occur
Shape, and it is achieved in the decoupling of stretching and distortion.
In the performance output test experiments of sensor, read for convenience compound with tension-torsion suffered by analyte sensors
Power, need design build a set of harmonic wave frequency response detection system, mainly by signal generator, power amplifier, spectrum analyzer with
And excitation coil and induction coil form.
The passive tension-torsion sensor of composite forces of two dimensional wireless of the invention is when being tested for the property experiment, by signal generator
Emitting a frequency is 200Hz, and voltage is that the sinusoidal signal of 2V is input in excitation coil after power amplifier amplifies, this
When excitation coil can incude because being connected with electric signal generate a space uniform magnetic field.The passive tension-torsion composite force of two dimensional wireless is passed
Sensor is placed in this magnetic field and covers upper appropriate size induction coil, the line of induction outside torsional strain portion and elongation strain portion respectively
Circle is connected with spectrum analyzer.Sensing element R1, R2, R3 in magnetic field space can excite generation magnetostrictive effect,
At this time when having external force load pulling force or torsional moment loading effect in the loading end of the passive tension-torsion sensor of composite forces of two dimensional wireless
When, sensing element generates flexible deformation with elastomer intelligent structure and changes magnetic domain inside it, and then causes magnetic conductivity
Variation counter magnetostriction effect both occurs.Therefore, induction coil can sense the magnetic field magnetic variations of flux as caused by magnetic conductivity
And inductive signal is generated, connected spectrum analyzer can detect one, two, the three order frequencies response of this signal simultaneously
Peak value, the one group of experimental data chosen under data stabilization and the obvious optimum frequency of variation are observed acquisition, pass through number appropriate
The information such as its variation tendency and associated change rate can be obtained according to processing, can reflect the passive drawing of two dimensional wireless after calibration
Turn round the actual loading situation of sensor of composite forces.
The sequencing of above embodiments is not only for ease of description, represent the advantages or disadvantages of the embodiments.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (4)
1. a kind of passive tension-torsion sensor of composite forces of two dimensional wireless, which is characterized in that including elastomer intelligent structure and sensitivity member
Part；
The elastomer intelligent structure includes that loading unit, torsional strain portion, left fixed part, elongation strain portion, buffering ring and the right side are solid
Determine portion；
The loading unit and torsional strain portion are cylindrical shape, and internal diameter is identical；
The outer diameter of the loading unit is greater than the outer diameter in torsional strain portion, and one end of the loading unit axial direction is connected to the Response Division
Axial one end；
The left fixed part is plate-like, and the other end in the torsional strain portion is fixed in the left surface of the left fixed part
Portion, the axis in the torsional strain portion are overlapped with the axis of the left fixed part；
Buffering ring and elongation strain portion, the buffering ring and elongation strain portion are provided between the left fixed part and right fixed part
Quantity be two；Along the circumferencial direction of left fixed part, the buffering ring and elongation strain portion are staggered；Two buffering rings
Between line perpendicular to the line between two elongation strain portions；
The elongation strain portion is plate-like, and the both ends of length direction are individually fixed in the left fixed part and right fixed part, and
And the two side walls of the width direction in the elongation strain portion are recessed inwardly to form two notches, in the same elongation strain portion
Side wall on two notches respectively close to the left fixed part and right fixed part；
The length direction both ends of the buffering ring are individually fixed in the left fixed part and right fixed part, and the buffering ring
It is in arc-shaped along the section perpendicular to the buffering ring length direction plane；The equal convex of side wall of the buffering ring width direction
Out, and on the buffering ring it is provided with the circular first through hole using the center of the buffering ring as the center of circle, and with institute
Four intersection points of length direction and width direction for stating circular first through hole and the buffering ring are four second through-holes in the center of circle；
The sensing element is made of magnetostriction soft magnetic strip, and including the first sensing element, the second sensing element and the
Three sensing elements, first sensing element are pasted onto the torsional strain portion of elastomer intelligent structure, second sensing element
It is respectively arranged in two elongation strain portions with third sensing element；Wherein, the center of the first sensing element and torsional strain portion
Angle between axis is 45 °, and second sensing element and third sensing element are respectively positioned on the length direction in elongation strain portion
On center line, and it is parallel to each other.
2. the passive tension-torsion sensor of composite forces of two dimensional wireless according to claim 1, which is characterized in that the loading unit,
Torsional strain portion, left fixed part, elongation strain portion, buffering ring and right fixed part are integrally formed.
3. the passive tension-torsion sensor of composite forces of two dimensional wireless according to claim 1, which is characterized in that the notch is three
It is angular.
4. two dimension sensor of composite forces according to claim 1, which is characterized in that there are four being opened up on the right fixed part
Threaded hole.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811010074.8A CN109141718B (en) | 2018-08-31 | 2018-08-31 | Two-dimensional wireless passive tension-torsion composite force sensor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811010074.8A CN109141718B (en) | 2018-08-31 | 2018-08-31 | Two-dimensional wireless passive tension-torsion composite force sensor |
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| CN109141718B CN109141718B (en) | 2020-04-14 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110319966A (en) * | 2019-07-09 | 2019-10-11 | 东北电力大学 | Two dimensional wireless passive sensor is decoupled between universal joint dimension |
| CN111780836A (en) * | 2020-07-08 | 2020-10-16 | 浙江佳鹏电脑科技股份有限公司 | Strain bridge, elastic variable measuring unit comprising strain bridge and mounting method of elastic variable measuring unit |
| CN113218753A (en) * | 2021-04-21 | 2021-08-06 | 北京力优科技有限公司 | Force and moment composite sensor |
| EP3885727A1 (en) * | 2020-03-24 | 2021-09-29 | ContiTech Antriebssysteme GmbH | System for detecting strain of an elastomeric product |
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