CN112362217A - Load cell and motion control device having the same - Google Patents
Load cell and motion control device having the same Download PDFInfo
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- CN112362217A CN112362217A CN202011071469.6A CN202011071469A CN112362217A CN 112362217 A CN112362217 A CN 112362217A CN 202011071469 A CN202011071469 A CN 202011071469A CN 112362217 A CN112362217 A CN 112362217A
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- 210000004027 cell Anatomy 0.000 description 19
- 238000012545 processing Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
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- 210000005056 cell body Anatomy 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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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
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
- G01L5/1627—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of strain gauges
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Abstract
The application provides a force transducer and a motion control device with the same, comprising a transducer body; the sensor body is a one-dimensional force transducer; at least two one-dimensional force sensors can be spliced to form a multi-dimensional force sensor; the one-dimensional force sensor is provided with a splicing structure; in the at least two one-dimensional force sensors, the splicing structure of each one-dimensional force sensor can be matched with the splicing structure of any one or more other one-dimensional force sensors to splice to form the multi-dimensional force sensor. According to the force measuring sensor, the at least two one-dimensional force measuring sensors are spliced to form the multi-dimensional force measuring sensor, and the one-dimensional force measuring sensor is simple in structure and convenient to process.
Description
Technical Field
The application belongs to the technical field of sensor design, and particularly relates to a force measuring sensor and motion control equipment with the force measuring sensor.
Background
At present, a multi-dimensional torque sensor refers to a force sensor capable of measuring force and torque components in more than two directions simultaneously. The most complete form of a multi-dimensional torque sensor is a six-dimensional force/torque sensor, which is widely used in the industries of robots, aerospace, automobile manufacturing, biomedicine, and the like. The multi-dimensional torque sensor is classified into a resistance strain type, a capacitance type, a piezoelectric type, an optical type, and the like. Among them, the resistance strain type is most widely and mature. The force sensing principle of the resistance strain type multidimensional torque sensor is the strain resistance effect of a strain gauge, when external force is applied to an elastic element sensitive to the force, an elastic body deforms, so that the strain gauge attached to the elastic element deforms, the received force is output in the form of change of resistance of corresponding quantity, and finally the change of the resistance is converted into the change of voltage through a conversion circuit to be used for later detection and processing.
However, the multi-dimensional force sensor elastomer structure in the prior art adopts a cross beam type structure and a stewart platform type structure based on a parallel mechanism. The elastic body of the cross beam structure sensor adopts a cross structure, strain gauges are adhered to two sides of the cross beam structure to measure force, the stewart platform type structure is that an upper platform and a lower platform are connected through a push rod, a revolute pair is arranged on the push rod, and the structures and the processing technology are complex and high in price.
Therefore, how to provide a load cell with simple structure and convenient processing and a motion control device with the load cell is a problem which needs to be solved by the technical personnel in the field.
Disclosure of Invention
Therefore, the technical problem to be solved by the present application is to provide a load cell and a motion control device having the same, which are simple in structure and convenient to process.
In order to solve the above problems, the present application provides a load cell including a cell body; the sensor body is a one-dimensional force transducer; at least two one-dimensional force sensors can be spliced to form a multi-dimensional force sensor; the one-dimensional force sensor is provided with a splicing structure; in the at least two one-dimensional force sensors, the splicing structure of each one-dimensional force sensor can be matched with the splicing structure of any one or more other one-dimensional force sensors to splice to form the multi-dimensional force sensor.
Preferably, the splicing structure comprises a first clamping part and a second clamping part which correspond to each other; in at least two one-dimensional force transducers, the first clamping part of each one-dimensional force transducer can be clamped with the second clamping part of any one of the other one-dimensional force transducers to form the multi-dimensional force transducer by splicing.
Preferably, the one-dimensional force sensor is a strip-shaped structure; the first clamping part is arranged at the end part of the strip-shaped structure; and/or the second clamping part is arranged on the side surface of the strip-shaped structure.
Preferably, the number of the first clamping parts is two; two first joint portions are respectively arranged at two end portions of the bar-shaped structure.
Preferably, the bar structure comprises a plurality of sides; wherein at least two sides are perpendicular to each other; and each side surface is provided with a second clamping part.
Preferably, the first clamping part is a protrusion; and/or the second clamping part is a clamping groove.
Preferably, when the first clamping part is a protrusion, the protrusion is a quadrangular frustum pyramid; the top surface of the quadrangular frustum is attached to the end surface of the strip-shaped structure; the area of the bottom surface of the quadrangular frustum is larger than that of the top surface.
Preferably, the bottom surface of the quadrangular frustum pyramid is provided with a threaded hole; the threaded hole is used for being connected with the part to be measured or the fixing part; and/or the quadrangular frustum pyramid is a regular quadrangular frustum pyramid.
Preferably, when the first clamping portion is a protrusion and the second clamping portion is a clamping groove, the clamping groove is formed in the side face of the bar-shaped structure; the side wall of the clamping groove is provided with a notch; the bulge enters and exits the clamping groove through the notch.
Preferably, the strip-shaped structure comprises a fixed section, a strain section and a force application section which are sequentially connected in the length direction; two groups of second clamping parts are arranged; the two groups of second clamping parts are respectively arranged on the fixed section and the force application section; and/or the number of each group of second clamping parts is multiple; a plurality of second joint portions set up around bar structure's circumference.
Preferably, the strip-like structure has opposite first and second sides; a first groove is arranged on the strain section; the first groove is formed in the first side face; a first strain gauge is arranged at the bottom of the first groove; the second side surface is provided with a second strain gauge; the second strain gauge corresponds to the first groove in position.
Preferably, the bar structure has a first end; a second groove is also formed in the strain section; the second groove and the first groove are sequentially arranged towards the direction close to the first end part; the second groove is formed in the second side face;
and/or a third groove is also arranged on the strain section; the third groove and the first groove are sequentially arranged in the direction far away from the first end part; the third groove is arranged on the second side surface.
Preferably, when the strain section is further provided with a second groove, in the length direction of the bar-shaped structure, the width of the second groove is smaller than that of the first groove;
and/or when the strain section is further provided with a third groove, the width of the third groove is smaller than that of the first groove in the length direction of the strip-shaped structure;
and/or the distance between the groove bottom of the first groove and the second side surface is 1-3 mm;
and/or when the strain section is also provided with a second groove, the minimum distance between the second groove and the first groove is 1-3mm in the length direction of the strip-shaped structure;
and/or when the strain section is also provided with a third groove, the minimum distance between the third groove and the first groove is 1-3mm in the length direction of the strip-shaped structure;
and/or the strip-shaped structure is a rectangular beam.
According to a further aspect of the present application, there is provided a motion control apparatus comprising a load cell as described above.
The application provides a force cell sensor and have its motion control equipment, one-dimensional force cell sensor simple structure, the processing of being convenient for, form multidimension force cell sensor simple structure, the processing of being convenient for through two at least one-dimensional force cell sensor concatenations.
Drawings
FIG. 1 is a schematic structural diagram of a load cell according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a load cell according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a load cell according to an embodiment of the present application.
The reference numerals are represented as:
1. a fixed section; 2. a strain section; 3. a force application section; 41. a first clamping part; 42. a second clamping part; 51. a first groove; 52. a second groove; 53. a third groove; 6. a threaded hole; 71. a first strain gauge; 72. and a second strain gage.
Detailed Description
Referring collectively to fig. 1-2, in accordance with an embodiment of the present application, a load cell includes a sensor body; the sensor body is a one-dimensional force transducer; at least two one-dimensional force sensors can be spliced to form a multi-dimensional force sensor; the one-dimensional force sensor is provided with a splicing structure; in the at least two one-dimensional force sensors, the splicing structure of each one-dimensional force sensor can be matched with the splicing structure of any one or more other one-dimensional force sensors to splice to form the multi-dimensional force sensor. The one-dimensional force transducer is simple in structure and convenient to process, and the multi-dimensional force transducer formed by splicing at least two one-dimensional force transducers is simple in structure and convenient to process. The material of the one-dimensional load cell may be aluminum alloy or stainless steel.
Further, the splicing structure includes a first clamping portion 41 and a second clamping portion 42 corresponding to each other; in at least two one-dimensional force transducers, the first clamping part 41 of each one-dimensional force transducer can be clamped with the second clamping part 42 of any one of the other one-dimensional force transducers to form a multi-dimensional force transducer by splicing; through the one-dimensional force measuring sensors with different numbers and different splicing modes, the sensors with various dimensions can be obtained, and the structure and the processing technology are simple.
Furthermore, the one-dimensional force transducer is of a strip-shaped structure; the first clamping part 41 is arranged at the end part of the strip-shaped structure; and/or the second clamping part 42 is arranged on the side surface of the strip-shaped structure; namely, when at least two one-dimensional force sensors are spliced, the end part of the first one-dimensional force sensor is spliced with the side surface of the second one-dimensional force sensor, so that the sensors with multiple dimensions can be obtained.
Further, the first clamping portions 41 are provided in two; the two first clamping portions 41 are respectively disposed at two ends of the bar structure.
Further, the bar structure comprises a plurality of sides; wherein at least two sides are perpendicular to each other; each side surface is provided with a second clamping part 42; thus, the directions of the three one-dimensional load cells are perpendicular to each other, namely, at least three-dimensional force can be measured.
Further, the first clamping portion 41 is a protrusion; the second engaging portion 42 is an engaging groove.
Further, when the first clamping portion 41 is a protrusion, the protrusion is a quadrangular frustum pyramid; the top surface of the quadrangular frustum is attached to the end surface of the strip-shaped structure; the area of the bottom surface of the quadrangular frustum pyramid is larger than that of the top surface, and the structure of the clamping groove corresponds to that of the quadrangular frustum pyramid; the quadrangular prism is an inverted pyramid structure with a wide outer end, and the clamping groove is narrow at the outer side and wide at the inner side, and is similar to a dovetail groove structure.
Further, the bottom surface of the quadrangular frustum pyramid is provided with a threaded hole 6; the threaded hole 6 is used for connecting with a part to be measured or a fixing part; the quadrangular frustum pyramid is a regular quadrangular frustum pyramid. A first threaded hole 6 is formed in the bottom surface of the quadrangular frustum pyramid arranged at the first end of the strip-shaped structure, and the first threaded hole 6 is used for being connected with an external loading force device; a second threaded hole 6 is formed in the bottom surface of the quadrangular frustum pyramid arranged at the second end of the strip-shaped structure; the second threaded hole 6 is used for connection with a fixing device. The regular quadrangular frustum pyramid can enter the clamping groove from four directions, so that the splicing is convenient, and the multidimensional force measuring sensor can be formed by better splicing.
Further, when the first clamping portion 41 is a protrusion and the second clamping portion 42 is a clamping groove, the clamping groove is disposed on the side surface of the bar structure; the side wall of the clamping groove is provided with a notch; the protrusions enter and exit the clamping groove through the notch, for example, in fig. 1-2, the notch of the clamping groove is arranged at the end of the strip-shaped structure and has the same structure with the side surface of the quadrangular frustum pyramid, so that the quadrangular frustum pyramid can slide into the clamping groove through the notch to complete splicing; namely, the notch is positioned at the tail end of the quadrangular prism, and the quadrangular frustums at the two ends of the strip-shaped structure can be matched with any clamping groove; the quadrangular table enters and exits the clamping groove from the notch at the end part of the strip-shaped structure.
Further, the strip-shaped structure comprises a fixed section 1, a strain section 2 and a force application section 3 which are sequentially connected in the length direction; two sets of second clamping parts 42 are arranged; the two groups of second clamping parts 42 are respectively arranged on the fixed section 1 and the force application section 3; the number of each group of the second clamping parts 42 is multiple; the plurality of second clamping parts 42 are arranged around the circumference of the strip-shaped structure; the quadrangular frustum can be matched with any clamping groove; a plurality of one-dimensional force sensors can be combined in various forms to obtain sensors with other dimensions. If the combination is carried out in the XYZ direction, three-dimensional force can be used for measurement, the combination can also be carried out in a multi-azimuth mode in other modes, the combination mode is simple when the combination is used for six-dimensional force measurement.
Further, the bar-shaped structure has opposite first and second sides; a first groove 51 is arranged on the strain section 2; the first groove 51 is opened on the first side surface; a first strain gauge 71 is arranged at the bottom of the first groove 51; the second side surface is provided with a second strain gauge 72; the second strain gauge 72 corresponds to the position of the first groove 51. The first recess 51 is a spherical recess; or the cross-section of the first groove 51 may be a circular groove, an octagon or a square. Or a groove is arranged on the first side surface, a groove is arranged at the corresponding position of the second side surface, and a first strain gage 71 and a second strain gage 72 are distributed at the bottoms of the two grooves, wherein an elastic beam is formed.
Further, the bar structure has a first end; the strain section 2 is also provided with a second groove 52; the second groove 52 and the first groove 51 are arranged in sequence towards the direction close to the first end; the second groove 52 is opened on the second side surface;
a third groove 53 is also arranged on the strain section 2; the third groove 53 and the first groove 51 are sequentially arranged in the direction away from the first end; a third recess 53 opens onto the second side.
Referring to fig. 3 in combination, according to the embodiment of the present application, when the second groove 52 is further disposed on the strain section 2, the width of the second groove 52 is smaller than the width of the first groove 51 in the length direction of the bar-shaped structure;
when the third groove 53 is further arranged on the strain section 2, the width of the third groove 53 is smaller than that of the first groove 51 in the length direction of the bar-shaped structure; wherein the width of the first groove 51 is d 1; the width of the second groove 52 is d 2; the width of the third groove 53 is d 3; d1> d 2; d1> d 3.
The distance between the bottom of the first groove 51 and the second side surface is 1-3 mm;
when the strain section 2 is further provided with a second groove 52, the minimum distance between the second groove 52 and the first groove 51 is 1-3mm in the length direction of the strip-shaped structure;
when the strain section 2 is further provided with a third groove 53, in the length direction of the strip-shaped structure, the minimum distance between the third groove 53 and the first groove 51 is 1-3mm, and the first groove 51, the second groove 52 and the third groove 53 form an S-shaped beam structure, namely an elastic beam; the force measuring unit main body of the S-shaped structural support sensor is processed by two small and one big grooves, and the action principle of a single one-dimensional force measuring sensor is as follows: when the elastic body is stressed and deformed, the resistance value of the strain gauge changes along with the elastic body, the output voltage of the bridge is changed, the controller acquires, amplifies and converts the resistance value of the strain gauge to obtain the position where the stress size strain gauge is pasted, the position where the stress size strain gauge is most sensitive to strain, and a full-bridge circuit is formed by the first strain gauge 71, the second strain gauge 72 and the external resistor. The force-sensing element can form a one-dimensional force sensor for measuring a force F perpendicular to the direction of the strain gauge. The strain gauge is connected with a rear-end controller after being bridged, analog signals output by the strain gauge are amplified and filtered to an analog-to-digital conversion chip ADC, are processed by the ADC to a control chip MCU, are processed by the MCU to reach a cache region RAM, and finally reach an upper computer through communication. The strip-shaped structure is a rectangular beam. The whole structure of the force measuring unit of the sensor is symmetrically distributed along the middle plane, namely the force application end and the fixed end are symmetrically distributed relative to the strain section 2. The bar structures are rectangular beams.
According to an embodiment of the present application, there is provided a motion control apparatus including a load cell, the load cell being the load cell described above. The motion control device may be a robot.
It is readily understood by a person skilled in the art that the advantageous ways described above can be freely combined, superimposed without conflict.
The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed. The foregoing is only a preferred embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present application, and these modifications and variations should also be considered as the protection scope of the present application.
Claims (14)
1. A force transducer comprising a transducer body; the sensor body is a one-dimensional force transducer; at least two one-dimensional force sensors can be spliced to form a multi-dimensional force sensor; the one-dimensional force sensor is provided with a splicing structure; in at least two of the one-dimensional force sensors, the splicing structure of each one-dimensional force sensor can be matched with the splicing structure of any one or more other one-dimensional force sensors to splice to form the multi-dimensional force sensor.
2. Load cell according to claim 1, wherein the splicing structure comprises a corresponding first (41) and second (42) snapping portion; in the at least two one-dimensional force transducers, the first clamping part (41) of each one-dimensional force transducer can be clamped with the second clamping part (42) of any one of the other one-dimensional force transducers to form the multi-dimensional force transducer by splicing.
3. The load cell of claim 2, wherein said one-dimensional load cell is a bar-type structure; the first clamping part (41) is arranged at the end part of the strip-shaped structure; and/or the second clamping part (42) is arranged on the side surface of the strip-shaped structure.
4. Load cell according to claim 3, characterized in that said first snap-in portions (41) are provided in two; the two first clamping parts (41) are respectively arranged at two ends of the strip-shaped structure.
5. The load cell of claim 3, wherein said bar structure comprises a plurality of sides; wherein at least two of said sides are perpendicular to each other; each side face is provided with a second clamping portion (42).
6. Load cell according to claim 3, characterized in that said first snap-in portion (41) is a protrusion; and/or the second clamping part (42) is a clamping groove.
7. The load cell according to claim 6, wherein when said first snap-in portion (41) is a protrusion, said protrusion is a quadrangular frustum pyramid; the top surface of the quadrangular frustum pyramid is attached to the end surface of the strip-shaped structure; the area of the bottom surface of the quadrangular frustum pyramid is larger than that of the top surface.
8. Load cell according to claim 7, characterized in that the bottom surface of the quadrangular frustum is provided with threaded holes (6); the threaded hole (6) is used for being connected with the part to be detected or the fixing part; and/or the quadrangular frustum pyramid is a regular quadrangular frustum pyramid.
9. The load cell according to claim 6, wherein when said first engaging portion (41) is a protrusion and said second engaging portion (42) is an engaging groove, said engaging groove is formed on a side surface of said bar-shaped structure; the side wall of the clamping groove is provided with a notch; the bulge enters and exits the clamping groove through the notch.
10. The load cell according to claim 3, wherein said bar structure comprises a fixation section (1), a strain section (2) and a force application section (3) connected in sequence in the length direction; two groups of second clamping parts (42) are arranged; the two groups of second clamping parts (42) are respectively arranged on the fixing section (1) and the force application section (3); and/or the number of the second clamping parts (42) in each group is multiple; the second clamping parts (42) are arranged around the circumference of the strip-shaped structure.
11. The load cell of claim 10, wherein said bar structure has first and second opposing sides; a first groove (51) is arranged on the strain section (2); the first groove (51) is arranged on the first side surface; a first strain gauge (71) is arranged at the bottom of the first groove (51); a second strain gauge (72) is arranged on the second side surface; the second strain gauge (72) corresponds to the position of the first groove (51).
12. The load cell of claim 11, wherein the bar structure has a first end; a second groove (52) is also arranged on the strain section (2); the second groove (52) and the first groove (51) are sequentially arranged towards the direction close to the first end part; the second groove (52) is arranged on the second side surface;
and/or a third groove (53) is also arranged on the strain section (2); the third groove (53) and the first groove (51) are sequentially arranged in the direction away from the first end part; the third groove (53) is opened on the second side surface.
13. Load cell according to claim 12, wherein when a second groove (52) is further provided on the strain section (2), the width of the second groove (52) is smaller than the width of the first groove (51) in the length direction of the bar-shaped structure;
and/or when a third groove (53) is further arranged on the strain section (2), the width of the third groove (53) is smaller than that of the first groove (51) in the length direction of the strip-shaped structure;
and/or the distance between the groove bottom of the first groove (51) and the second side surface is 1-3 mm;
and/or when a second groove (52) is further arranged on the strain section (2), the minimum distance between the second groove (52) and the first groove (51) in the length direction of the strip-shaped structure is 1-3 mm;
and/or when a third groove (53) is further arranged on the strain section (2), the minimum distance between the third groove (53) and the first groove (51) in the length direction of the strip-shaped structure is 1-3 mm;
and/or the strip-shaped structure is a rectangular beam.
14. A motion control apparatus comprising a load cell, wherein the load cell is a load cell as claimed in any one of claims 1 to 13.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011071469.6A CN112362217A (en) | 2020-10-09 | 2020-10-09 | Load cell and motion control device having the same |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011071469.6A CN112362217A (en) | 2020-10-09 | 2020-10-09 | Load cell and motion control device having the same |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115183929A (en) * | 2022-09-08 | 2022-10-14 | 中国航空工业集团公司沈阳空气动力研究所 | Multi-dimensional force measuring device and method for skiing |
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