CN112414606A - Load cell elastomer, load cell and motion control device with load cell elastomer - Google Patents
Load cell elastomer, load cell and motion control device with load cell elastomer Download PDFInfo
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- CN112414606A CN112414606A CN202011155436.XA CN202011155436A CN112414606A CN 112414606 A CN112414606 A CN 112414606A CN 202011155436 A CN202011155436 A CN 202011155436A CN 112414606 A CN112414606 A CN 112414606A
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- load cell
- support ring
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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
Abstract
The application provides a force cell sensor elastomer, a force cell sensor and a motion control device with the force cell sensor, comprising a strain beam; the strain beam comprises a first section, a second section and a third section which are connected in sequence; the second section is an annular section; the first section and the third section are both connected with the outer peripheral wall of the annular section; the first section is disposed opposite the third section. According to force cell sensor elastomer, force cell sensor and have its motion control equipment of this application, simple structure, be convenient for process, and sensitivity is high, and the bearing capacity is strong.
Description
Technical Field
The application belongs to the technical field of sensor design, and particularly relates to a force measuring sensor elastomer, a force measuring sensor and motion control equipment with the force measuring sensor elastomer.
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 for measuring 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 have higher price; and the sensitivity of some elastomer structures with simple structures is low, the bearing capacity is low, and the use requirements can not be met.
Therefore, how to provide a load cell elastomer with simple structure, convenient processing, high sensitivity and strong bearing capacity, a load cell and a motion control device with the load cell elastomer and the load cell are problems which need to be solved urgently by the technical personnel in the field.
Disclosure of Invention
Therefore, the technical problem that this application will be solved lies in providing a load cell elastomer, load cell and have its motion control equipment, simple structure, the processing of being convenient for, and sensitivity is high, and the bearing capacity is strong.
In order to solve the above problems, the present application provides a load cell elastomer comprising a strain beam; the strain beam comprises a first section, a second section and a third section which are connected in sequence; the second section is an annular section; the first section and the third section are both connected with the outer peripheral wall of the annular section; the first section is disposed opposite the third section.
Preferably, the cross-section of the ring segment is rectangular or elliptical.
Preferably, the load cell elastomer comprises a support ring, the strain beam being connected to the support ring.
Preferably, the support ring comprises a first support ring; the first section has a first end and a second end which are oppositely arranged; the first end part is connected with the outer peripheral wall of the annular section; the second end is connected with the first support ring;
and/or, the support ring comprises a second support ring; the second section has a third end and a fourth end which are oppositely arranged; the third end part is connected with the outer peripheral wall of the annular section; the fourth end is connected with the second support ring.
Preferably, when the support ring comprises a first support ring, the second end is connected to the first end face of the first support ring;
and/or, when the support ring comprises a second support ring, the fourth end is connected with the first end face of the second support ring;
and/or, when the support rings comprise a first support ring and a second support ring, the first support ring and the second support ring have the same structure; the central axis of the first support ring coincides with the central axis of the second support ring.
Preferably, the number of the strain beams is provided in plurality; a plurality of strain beams are disposed circumferentially about a central axis of the support ring.
Preferably, the strain beams include a first strain beam and a third strain beam which are oppositely arranged;
and/or the strain beams comprise a second strain beam and a fourth strain beam which are oppositely arranged.
Preferably, the inner surface of the ring segment comprises a pasting region, the pasting region facing the first segment; the pasting area is used for pasting the first strain gauge and the second strain gauge;
and/or the ring segment has a first outer side and a first inner side; in the circumferential direction of the annular section, the first outer side face corresponds to the first inner side face in position; the first outer side surface is used for sticking a third strain gauge; the first inner side surface is used for sticking a fourth strain gauge;
and/or the ring segment has a second outer side and a second inner side; in the circumferential direction of the annular section, the second outer side surface corresponds to the second inner side surface in position; the second outer side surface is used for sticking a fifth strain gauge; the second inner side surface is used for sticking a sixth strain gauge;
and/or the third section has a first side and a second side which are oppositely arranged; the first side surface is used for sticking a seventh strain gauge; the second side is used for pasting the eighth foil gage.
According to still another aspect of the present application, there is provided a load cell including the load cell elastic body described above.
Preferably, the load cell further comprises a housing; the housing comprises a cylindrical structure; the strain beam is arranged in the shell, and the extending direction of the strain beam is consistent with the direction of the central axis of the cylindrical structure.
Preferably, the first end of the cylindrical structure has a first opening; the second end of the cylindrical structure is provided with a second opening; the housing comprises a first end cap and a second end cap; the first end cover is arranged at the first opening; the second end cover is arranged at the second opening; the first end cover is connected with the first support ring;
and/or, the cylindrical structure is provided with a wire outlet;
and/or the first end cover is provided with a force application hole;
and/or the second end cover is provided with an axial extension part which is connected with the second support ring;
and/or, the load cell is used to measure six-dimensional forces and moments.
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 elastomer, force cell sensor and have its motion control equipment, simple structure, the processing of being convenient for, and sensitivity is high, and the bearing capacity is strong.
Drawings
FIG. 1 is a schematic structural view of a load cell elastomer according to an embodiment of the present application;
FIG. 2 is a schematic structural view of an elastomer of the load cell of an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a load cell in an embodiment of the present application;
FIG. 4 is a schematic view of a load cell mounting configuration according to an embodiment of the present application;
FIG. 5 is a cross-sectional view of a load cell elastomer according to an embodiment of the present application;
FIG. 6 is a schematic structural diagram of a first strain beam according to an embodiment of the present disclosure;
FIG. 7 is a schematic structural view of a second strain beam according to an embodiment of the present disclosure;
FIG. 8 is a schematic structural diagram of a third strain beam according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of a fourth strain beam according to an embodiment of the present application.
The reference numerals are represented as:
1. a first stage; 2. an annular segment; 3. a third stage; 41. a first support ring; 42. a second support ring; 43. a first mounting hole; 51. a tubular structure; 511. an outlet; 52. a first end cap; 521. a second mounting hole; 522. a force application hole; 53. a second end cap; 531. connecting holes; 532. a third mounting hole; 6. a connecting plug; 71. a first strain gauge; 72. a second strain gauge; 73. a third strain gauge; 74. a fourth strain gauge; 75. a fifth strain gauge; 76. a sixth strain gauge; 77. a seventh strain gage; 78. and an eighth strain gage.
Detailed Description
Referring collectively to FIG. 1, in accordance with an embodiment of the present application, a load cell elastomer includes a strain beam; the strain beam comprises a first section 1, a second section and a third section 3 which are connected in sequence; the second section is an annular section 2; the first section 1 and the third section 3 are both connected with the outer peripheral wall of the annular section 2; the first section 1 and the third section 3 are arranged oppositely, and the structure is adopted, so that the structure is simple, the processing is convenient, the deformation can be better transmitted, the sensitivity is high, and the bearing capacity is strong.
Further, the cross section of the ring segment 2 is rectangular or elliptical; the annular section 2 is of a middle-shaped structure, so that strain gauges can be conveniently pasted.
Further, the load cell elastomer includes a support ring, and the strain beam is coupled to the support ring.
Further, the support ring includes a first support ring 41; the first segment 1 has a first end and a second end which are oppositely arranged; the first end part is connected with the outer peripheral wall of the annular section 2; the second end is connected to the first support ring 41;
the support rings include a second support ring 42; the second section has a third end and a fourth end which are oppositely arranged; the third end part is connected with the outer peripheral wall of the annular section 2; the fourth end is connected to a second support ring 42.
Further, when the support ring comprises the first support ring 41, the second end is connected with the first end face of the first support ring 41;
when the support ring comprises the second support ring 42, the fourth end is connected with a first end face of the second support ring 42;
when the support rings include the first support ring 41 and the second support ring 42, the first support ring 41 and the second support ring 42 have the same structure; the central axis of the first support ring 41 coincides with the central axis of the second support ring 42, the fourth end is connected with the first end face of the second support ring 42, and the second end is connected with the first support ring 41, so that the elastomer and the support rings form a tubular beam structure with a hollowed side face, and the tubular beam structure is more convenient for force application and measurement.
Further, the number of the strain beams is set to be plural; a plurality of strain beams are disposed circumferentially about a central axis of the support ring.
Further, the strain beams include a first strain beam and a third strain beam that are oppositely disposed.
The strain beams comprise a second strain beam and a fourth strain beam which are oppositely arranged.
Referring to fig. 2 in combination, the present application also discloses embodiments wherein the inner surface of the ring segment 2 comprises a glue area, the glue area facing the first segment 1; the pasting region is used for pasting the first strain gauge 71 and the second strain gauge 72.
The ring segment 2 has a first outer side and a first inner side; in the circumferential direction of the ring segment 2, the first outer side surface and the first inner side surface correspond in position; the first outer side surface is used for sticking a third strain gauge 73; the first inner side is used for adhering the fourth strain gauge 74. The ring segment 2 has a first end face and a second end face, the outer side face is on the outer peripheral wall, and the inner side face is on the inner peripheral wall.
The ring segment 2 has a second outer side and a second inner side; in the circumferential direction of the ring segment 2, the second outer side surface and the second inner side surface correspond in position; the second outer side is used for sticking a fifth strain gauge 75; the second inner side is used for adhering the sixth strain gauge 76. The first outer side face and the first inner side face are consistent with the extending direction of the first section 1; the second outer side and the second inner side are both in line with the extension direction of the first section 1.
The third section 3 has a first side and a second side which are oppositely arranged; the first side surface is used for sticking a seventh strain gage 77; the second side surface is used for sticking the eighth strain gauge 78, and the first side surface is parallel to the first outer side surface; the second side is parallel to the second outer side.
Referring to fig. 5-9 in combination, the present application also discloses embodiments where the first section 1 of the first strain beam is a first upper axial beam; the second section of the first strain beam is a first annular beam; the third section 3 of the first strain beam is a first lower axial beam, and a seventh strain gage 77R 1 and an eighth strain gage 78R 5 are respectively adhered to two side faces of the first lower axial beam; a third strain gage 73R 14 is adhered to the first outer side surface of the first annular beam; a fourth strain gage 74R 13 is adhered to the first inner side surface of the first annular beam; a fifth strain gage 75R 9 is adhered to the second outer side of the first annular beam; the sixth strain gauge 76 is R10 adhered to the second inner side surface of the first ring beam, and the first strain gauge 71 and the second strain gauge 72 adhered to the adhering area of the first ring beam are R11 and R12, respectively.
The first section 1 of the second strain beam is a second upper axial beam; the second section of the second strain beam is a second ring beam; the third section 3 of the second strain beam is a second lower axial beam, and a seventh strain gage 77 and an eighth strain gage 78 respectively attached to two side surfaces of the second lower axial beam are R2 and R6; a third strain gage 73R 20 is adhered to the first outer side surface of the second annular beam; a fourth strain gage 74R 19 is adhered to a first inner side surface of the second annular beam; a fifth strain gage 75R 15 is adhered to the second outer side of the second annular beam; the sixth strain gage 76 is adhered to the second inner side surface of the second ring beam to form R16, and the first strain gage 71 and the second strain gage 72 adhered to the adhering region of the second ring beam to form R17 and R18, respectively.
The first section 1 of the third strain beam is a third upper axial beam; the second section of the third strain beam is a third ring beam; the third section 3 of the third strain beam is a third lower axial beam, and a seventh strain gage 77 and an eighth strain gage 78 respectively attached to two side surfaces of the third lower axial beam are R3 and R7; the third strain gauges 73 respectively adhered to the first outer side surfaces of the third annular beams are R26; a fourth strain gage 74 affixed to a first inner side of the third ring beam is R25; a fifth foil gage 75 affixed to the second outside face of the third ring beam is R21; the sixth strain gage 76 adhered to the second inner side surface of the third ring beam is R22, and the first strain gage 71 and the second strain gage 72 adhered to the adhering region of the third ring beam are R23 and R24, respectively.
The first section 1 of the fourth strain beam is a fourth upper axial beam; the second section of the fourth strain beam is a fourth ring beam; the third section 3 of the fourth strain beam is a fourth lower axial beam, and a seventh strain gage 77 and an eighth strain gage 78 respectively attached to two side surfaces of the fourth lower axial beam are R4 and R8; a third strain gage 73R 32 is adhered to the first outer side surface of the fourth annular beam; a fourth strain gage 74R 31 is adhered to a first inner side surface of the fourth annular beam; a fifth strain gage 75R 27 is adhered to the second outer side of the fourth annular beam; a sixth strain gauge 76 of R28 is adhered to the second inner side surface of the fourth ring beam, and a first strain gauge 71 of R29 and a second strain gauge 72 of R30 are adhered to the adhering area of the fourth ring beam respectively.
Outboard refers to a portion of the outer surface of the annular ring beam; the extending direction of the outer side face on the annular beam is consistent with the extending direction of the whole strain beam; the inner side surface refers to a portion on the inner surface of the ring beam, and the extending direction of the inner side surface on the ring beam is consistent with the extending direction of the whole strain beam. The direction of extension of the two side faces of the axial beam also coincides with the direction of extension of the entire strain beam.
The strain gauges R1, R3, R5 and R7 form a Wheatstone full-bridge circuit for measuring Fx, the strain gauges R2, R4, R6 and R8 form a Wheatstone full-bridge circuit for measuring Fy, the strain gauges R9, R10, R13, R14, R21, R22, R25 and R26 form a Wheatstone full-bridge circuit for measuring Fz, the strain gauges R15, R16, R19, R20, R27, R28, R31 and R32 form a Wheatstone full-bridge circuit for measuring Mx, the strain gauges R11, R12, R23 and R24 form a Wheatstone full-bridge circuit for measuring My, R17, R18, R29 and R30 form a Wheatstone full-bridge circuit for measuring Mz.
Referring to fig. 3-4 in combination, the present application further discloses some embodiments, and according to embodiments of the present application, there is provided a load cell including a load cell elastomer, the load cell elastomer being the load cell elastomer described above.
Further, the load cell also includes a housing; the housing comprises a cylindrical structure 51; the strain beam is disposed in the housing, and the extending direction of the strain beam coincides with the central axis direction of the cylindrical structure 51.
Further, the first end of the cylindrical structure 51 has a first opening; the second end of the cylindrical structure 51 has a second opening; the housing includes a first end cap 52 and a second end cap 53; the first end cover 52 covers the first opening; the second end cover 53 is arranged at the second opening; the first end cap 52 is connected to the first support ring 41.
The cylindrical structure 51 is provided with an outlet 511; the outlet 511 is provided with a connecting plug 6, the tubular structure 51 is provided with a screw hole, the connecting plug 6 is correspondingly provided with a screw hole, and the two screw holes can be connected through a screw.
The first end cover 52 is provided with a force application hole 522, the force application hole 522 is a threaded hole and is used for applying force to the sensor, the connecting plug 6 is of an arc-shaped structure, and the connecting plug can be better attached to the tubular structure 51 and is convenient to mount.
The second end cap 53 is provided with an axial extension which is connected with the second support ring 42.
The load cell is used for measuring six-dimensional force and moment, and the material of the load cell can be aluminum alloy or stainless steel.
The first end cover 52 is provided with a second mounting hole 521 circumferentially arranged around the central axis of the housing; the first support ring 41 is provided with a first mounting hole 43; the second mounting hole 521 and the first mounting hole 43 may be screwed. The urging hole 522 is located on the inner peripheral side of the second mounting hole 521; the first mounting holes 43 in the first support ring 41 are circumferentially arranged around its central axis.
The second support ring 42 is also provided with a first mounting hole 43, the bottom of the second end cover 53 is provided with a third mounting hole 532, and the third mounting hole 532 and the first mounting hole 43 on the second support ring 42 can be connected through threads; the first mounting holes 43 on the second support ring 42 are circumferentially disposed about its central axis.
The axial extension part is an annular extension part which extends circumferentially around the central axis of the cylindrical structure 51 and is provided with a connecting hole 531, the cylindrical structure 51 is provided with a connecting hole 531 corresponding to the cylindrical structure, and the two connecting holes 531 can be connected through screws.
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 (12)
1. A load cell elastomer comprising a strain beam; the strain beam comprises a first section (1), a second section and a third section (3) which are connected in sequence; the second section is an annular section (2); the first section (1) and the third section (3) are both connected with the outer peripheral wall of the annular section (2); the first section (1) and the third section (3) are arranged oppositely.
2. Load cell elastomer according to claim 1, characterized in that the cross-section of the ring segment (2) is rectangular or oval.
3. The load cell elastomer of claim 1, wherein the load cell elastomer comprises a support ring, and wherein the strain beam is coupled to the support ring.
4. Load cell elastomer according to claim 3, characterised in that the support ring comprises a first support ring (41); the first section (1) has a first end and a second end which are oppositely arranged; the first end is connected with the outer peripheral wall of the annular section (2); said second end being connected to said first support ring (41);
and/or, the support ring comprises a second support ring (42); the second segment has a third end and a fourth end disposed opposite; the third end is connected with the outer peripheral wall of the annular section (2); the fourth end is connected to the second support ring (42).
5. Load cell elastomer according to claim 4, characterised in that when the support ring comprises a first support ring (41), the second end is connected with a first end face of the first support ring (41);
and/or, when the support ring comprises a second support ring (42), the fourth end is connected with a first end face of the second support ring (42);
and/or, when the support rings comprise a first support ring (41) and a second support ring (42), the first support ring (41) and the second support ring (42) are identical in structure; the central axis of the first support ring (41) coincides with the central axis of the second support ring (42).
6. The load cell elastomer of claim 3, wherein the strain beam is provided in plurality; a plurality of the strain beams are disposed circumferentially about a central axis of the support ring.
7. The load cell spring of claim 1, wherein said strain beams include first and third oppositely disposed strain beams;
and/or the strain beams comprise a second strain beam and a fourth strain beam which are oppositely arranged.
8. Load cell elastomer as claimed in claim 1, characterized in that the inner surface of the ring segment (2) comprises a glue area, which is directed towards the first segment (1); the pasting area is used for pasting a first strain foil (71) and a second strain foil (72);
and/or the ring segment (2) has a first outer side and a first inner side; the first outer side face and the first inner side face correspond in position in the circumferential direction of the annular section (2); the first outer side surface is used for sticking a third strain gauge (73); the first inner side surface is used for sticking a fourth strain gauge (74);
and/or the ring segment (2) has a second outer side and a second inner side; the second outer side face and the second inner side face correspond in position in the circumferential direction of the annular section (2); the second outer side surface is used for sticking a fifth strain foil (75); the second inner side surface is used for sticking a sixth strain gauge (76);
and/or the third section (3) has a first side and a second side which are oppositely arranged; the first side surface is used for sticking a seventh strain gage (77); the second side surface is used for adhering an eighth strain gauge (78).
9. A load cell comprising a load cell elastomer, wherein the load cell elastomer is a load cell elastomer of any of claims 1-8.
10. The load cell of claim 9, further comprising a housing; the housing comprises a cylindrical structure (51); the strain beam is arranged in the shell, and the extension direction of the strain beam is consistent with the direction of the central axis of the cylindrical structure (51).
11. The load cell according to claim 10, wherein a first end of said cylindrical structure (51) has a first opening; the second end of the cylindrical structure (51) has a second opening; the housing comprises a first end cap (52) and a second end cap (53); the first end cover (52) is arranged at the first opening in a covering manner; the second end cover (53) is arranged at the second opening in a covering manner; the first end cap (52) is connected with a first support ring (41);
and/or a wire outlet (511) is arranged on the cylindrical structure (51);
and/or the first end cover (52) is provided with a force application hole (522);
and/or the second end cover (53) is provided with an axial extension part which is connected with the second supporting ring (42);
and/or the load cell is used for measuring six-dimensional force and moment.
12. A motion control apparatus comprising a load cell, wherein the load cell is a load cell according to any of claims 9 to 11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202011155436.XA CN112414606A (en) | 2020-10-26 | 2020-10-26 | Load cell elastomer, load cell and motion control device with load cell elastomer |
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| CN202011155436.XA CN112414606A (en) | 2020-10-26 | 2020-10-26 | Load cell elastomer, load cell and motion control device with load cell elastomer |
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