CN115144119A - Tension and compression detection assembly, bending moment detection assembly and torque detection assembly - Google Patents
Tension and compression detection assembly, bending moment detection assembly and torque detection assembly Download PDFInfo
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- CN115144119A CN115144119A CN202210763324.5A CN202210763324A CN115144119A CN 115144119 A CN115144119 A CN 115144119A CN 202210763324 A CN202210763324 A CN 202210763324A CN 115144119 A CN115144119 A CN 115144119A
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- 238000005452 bending Methods 0.000 title claims abstract description 419
- 238000007906 compression Methods 0.000 title claims abstract description 145
- 230000006835 compression Effects 0.000 title claims abstract description 99
- 238000001514 detection method Methods 0.000 title claims abstract description 37
- 230000005540 biological transmission Effects 0.000 claims abstract description 435
- 230000000670 limiting effect Effects 0.000 claims abstract description 78
- 230000005291 magnetic effect Effects 0.000 claims abstract description 34
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- 230000008878 coupling Effects 0.000 description 11
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- 238000003825 pressing Methods 0.000 description 9
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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
- G01L5/169—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using magnetic means
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Abstract
The invention discloses a tension and compression detection assembly, which comprises: the tension-compression deformation body, the tension-compression supporting circular plate, the tension-compression limiting block, the tension-compression transmission cross block, the tension-compression transmission threaded rod and the bending moment supporting circular plate; the upper end of the tension and compression deformation body is fixed on the tension and compression supporting circular plate, and the lower end of the tension and compression deformation body is fixed on the tension and compression transmission cross block; the tension and compression limiting block is fixed on the tension and compression supporting circular plate, guides the vertical movement of the tension and compression transmitting cross block, and prevents the tension and compression transmitting cross block and the tension and compression limiting block from rotating in the vertical direction and rotating in the horizontal direction; the tension and compression transfer threaded rod fixes the tension and compression transfer cross block and the bending moment support circular plate, and a gap is formed between the lower end of the tension and compression limiting block and the upper surface of the bending moment support circular plate; and magnetostrictive materials are adhered to the side wall of the tension-compression deformation body. The invention also discloses a bending moment detection assembly, a torque detection assembly and a space moment dynamic modular analytic magnetic effect sensor.
Description
Technical Field
The invention relates to a space moment dynamic modular analytic magnetic effect sensor for a tension and compression detection assembly, a bending moment detection assembly and a torque detection assembly, and belongs to the technical field of sensors.
Background
The three-dimensional force sensor can simultaneously detect bending moment, torque and tension and compression stress, and has wide application scenes in the fields of robots and the like.
In general, three-dimensional force sensors in the prior art are provided with sensing elements reasonably, and the calculation of bending moment, torque and tension and compression stress is realized in an algorithm mode. However, the three-dimensional force sensor is considered to be a complex three-dimensional force in the using environment, and the detection capability is poor.
Accordingly, there is a need to provide a three-dimensional force sensor that is capable of mechanical decoupling, and the components that make up the three-dimensional force sensor.
Disclosure of Invention
The invention aims to provide a space torque dynamic modularized analytic magnetic effect sensor, which solves at least one of the technical problems.
The technical scheme adopted by the invention for solving the technical problems is as follows: a tension and compression detection assembly, comprising: the tension-compression deformation body, the tension-compression supporting circular plate, the tension-compression limiting block, the tension-compression transmission cross block, the tension-compression transmission threaded rod and the bending moment supporting circular plate;
the upper end of the tension-compression deformation body is fixed on the tension-compression supporting circular plate, and the lower end of the tension-compression deformation body is fixed on the tension-compression transmission cross block;
the tension and compression limiting block is fixed on the tension and compression supporting circular plate, guides the vertical movement of the tension and compression transmitting cross block, and prevents the tension and compression transmitting cross block and the tension and compression limiting block from rotating in the vertical direction and rotating in the horizontal direction;
the tension and compression transfer threaded rod fixes the tension and compression transfer cross block and the bending moment support circular plate, and a gap is formed between the lower end of the tension and compression limiting block and the upper surface of the bending moment support circular plate;
and magnetostrictive materials are adhered to the side wall of the tension-compression deformation body.
Optionally, the contact surfaces of the tension and compression limiting block and the tension and compression transmitting cross block are planes, the contact surfaces of the tension and compression transmitting cross block and the tension and compression limiting block are also planes, and the tension and compression transmitting cross block is respectively contacted with the tension and compression limiting blocks on two sides.
The invention also adopts the following technical scheme for solving the technical problems: a bending moment detection assembly comprises a bending moment supporting circular plate, a bending moment supporting column, a first bending moment transmission threaded rod, a first bending moment transmission lever, a second bending moment transmission threaded rod, a third bending moment transmission threaded rod, a second bending moment transmission lever, a fourth bending moment transmission threaded rod, a fifth bending moment transmission threaded rod, a third bending moment transmission lever, a sixth bending moment transmission threaded rod, a bent rectangular variable ring, a first bending moment transmission circular plate, a seventh bending moment transmission threaded rod and a second bending moment transmission circular plate;
the upper end of the bending moment support column is fixed on the bending moment support circular plate, the middle area of the bending moment support column is provided with three square through holes, and the three square through holes are respectively positioned at the upper part, the middle part and the lower part of the bending moment support column; the three square through holes are arranged by sequentially rotating by 60 degrees by taking the axial lead of the bending moment support column as a center;
the middle parts of the first bending moment transmission lever, the second bending moment transmission lever and the third bending moment transmission lever are respectively and rotatably arranged on the bending moment support column through first pins, and the middle parts of the first bending moment transmission lever, the second bending moment transmission lever and the third bending moment transmission lever are respectively positioned in the three square through holes;
the first bending moment transmission threaded rod is rotatably arranged at one end of the first bending moment transmission lever through a second pin; the second bending moment transmission threaded rod is rotatably arranged at the other end of the first bending moment transmission lever through a third pin;
the third bending moment transmission threaded rod is rotatably arranged at one end of the second bending moment transmission lever through a fourth pin, and the fourth bending moment transmission threaded rod is rotatably arranged at the other end of the second bending moment transmission lever through a fifth pin;
the fifth bending moment transmission threaded rod is rotatably arranged at one end of the third bending moment transmission lever through a sixth pin, and the sixth bending moment transmission threaded rod is rotatably arranged at the other end of the third bending moment transmission lever through a seventh pin;
the first bending moment transmission threaded rod, the third bending moment transmission threaded rod and the fifth bending moment transmission threaded rod are arranged at intervals of 120 degrees by taking the axis of the bending moment support column as the center; the second bending moment transmission threaded rod, the fourth bending moment transmission threaded rod and the sixth bending moment transmission threaded rod are arranged at intervals of 120 degrees by taking the axis of the bending moment support column as the center;
the number of the seventh bending moment transmission threaded rods is three, and the three seventh bending moment transmission threaded rods are arranged at intervals of 120 degrees by taking the shaft axis of the first bending moment transmission circular plate as the center, so that the central axes of the three seventh bending moment transmission threaded rods are respectively superposed with the central axis of the second bending moment transmission threaded rod, the central axis of the fourth bending moment transmission threaded rod and the central axis of the sixth bending moment transmission threaded rod;
the seventh bending moment transmission threaded rod is fixed to the second bending moment transmission circular plate, the upper end of the seventh bending moment transmission threaded rod supports the first bending moment transmission circular plate, a bent rectangular variable ring is arranged on the first bending moment transmission circular plate, the lower end of the bending moment support column is conical, and the side face of the conical is in contact with the upper end of the bent rectangular variable ring; the bent rectangular variable ring is fixedly connected with the first bending moment transmission circular plate;
a plurality of through holes are formed in the first bending moment transmission circular plate; the lower end of the first bending moment transmission threaded rod penetrates through one through hole and is fixedly connected with the second bending moment transmission circular plate; the lower end of the third bending moment transmission threaded rod penetrates through one through hole and is fixedly connected with the second bending moment transmission circular plate; the lower end of the fifth bending moment transmission threaded rod penetrates through one through hole and is fixedly connected with the second bending moment transmission circular plate; the lower ends of the second bending moment transmission threaded rod, the fourth bending moment transmission threaded rod and the sixth bending moment transmission threaded rod are all in contact with the upper surface of the first bending moment transmission circular plate;
and magnetostrictive materials are adhered to the side wall of the bending moment deformation ring.
The invention also adopts the following technical scheme to solve the technical problem: a torque detection assembly, comprising: the torque transmission device comprises a first torque support threaded rod, a first torque support circular plate, a first torque limiting rod, a second torque limiting rod, a first torque transmission rod, a second torque transmission rod, a third torque transmission rod, a fourth torque transmission rod, a second torque support circular plate, a second torque support threaded rod, a torque transmission threaded rod and a torque deformation body;
the lower end of the first torque support threaded rod is fixed with the first torque support circular plate; the second torque support threaded rod is fixed on the second torque support circular plate and is collinear with the central axis of the first torque support threaded rod, and a gap is reserved between the lower end of the first torque support threaded rod and the second torque support threaded rod;
the lower end of the torque transmission threaded rod is fixed to the second torque support circular plate, and the third torque transmission rod and the fourth torque transmission rod are rotatably arranged on the torque transmission threaded rod; and limiting the vertical position of the third and fourth torque transmission rods by the torque transmission threaded rod;
the third torque transmission lever is rotatably connected to one end of the first torque transmission lever by an eighth pin; the fourth torque transmission rod is rotatably connected to the middle of the second torque transmission rod through a ninth pin;
the first torque limiting rod is fixed on the first torque supporting circular plate, the middle part of the first torque transmission rod is rotatably arranged on the first torque limiting rod, and the position of the first torque transmission rod in the vertical direction is limited by the first torque limiting rod;
the second torque limiting rod is fixed on the first torque supporting circular plate, one end of the second torque transmission rod is rotatably arranged on the second torque limiting rod, and the position of the second torque transmission rod in the vertical direction is limited through the second torque limiting rod;
one end of the torque deformation body is connected to the other end of the first torque transmission rod, and the other end of the torque deformation body is connected to the other end of the second torque transmission rod; and magnetostrictive materials are pasted on the side wall of the middle part of the torque deformation body.
The invention also adopts the following technical scheme to solve the technical problem: a space moment dynamic modular analytic magnetic effect sensor, comprising: the tension and compression detection assembly, the bending moment detection assembly and/or the torque detection assembly.
Drawings
Fig. 1 is a schematic perspective view of a space moment dynamic modular analytic magnetic effect sensor according to the present invention.
Fig. 2 is a perspective sectional view of a space moment dynamic modular analytic magnetic effect sensor according to the present invention.
Fig. 3 is a one-third sectional view of the spatial torque dynamic modular analytic magnetic effect sensor of the present invention.
Fig. 4 is an exploded view of a three-dimensional structure part of the space moment dynamic modular analytic magnetic effect sensor according to the present invention.
Fig. 5 is a schematic perspective view of a pull-press detection assembly of the space moment dynamic modular analytic magnetic effect sensor according to the present invention.
Fig. 6 is a three-dimensional sectional view of the pull/press detection assembly of the space moment dynamic modular analytic magnetic effect sensor according to the present invention.
Fig. 7 is a quarter sectional view of a three-dimensional structure of a pull-press detection assembly of the space moment dynamic modular analytic magnetic effect sensor of the invention.
Fig. 8 is an exploded view of the three-dimensional structure of the pull/press detecting assembly of the space torque dynamic modular analytic magnetic effect sensor according to the present invention.
FIG. 9 is a schematic perspective view of a bending detection assembly of the space moment dynamic modular analytic magnetic effect sensor according to the present invention.
Fig. 10 is a three-dimensional structural sectional view of a bending detection unit of the space moment dynamic modular analytic magnetic effect sensor according to the present invention.
FIG. 11 is a three-dimensional sectional view of a bending detection assembly of the space moment dynamic modular analytic magnetic effect sensor of the present invention.
Fig. 12 is an exploded perspective view of a bending detection unit of the space moment dynamic modular analytic magnetic effect sensor according to the present invention.
Fig. 13 is a schematic perspective view of a torsion detecting unit of the space moment dynamic modular analytic magnetic effect sensor according to the present invention.
Fig. 14 is a perspective sectional view of a torsion detecting unit of the space moment dynamic modular analytic magnetic effect sensor according to the present invention.
Fig. 15 is a perspective sectional view of a torsion detecting unit of a space moment dynamic modular analytic magnetic effect sensor according to the present invention.
Fig. 16 is an exploded view of a three-dimensional component of a torsion detecting unit of a space moment dynamic modular analytic magnetic effect sensor according to the present invention.
The notation in the figures means: 1-a stretch-compression modification; 2, pulling and pressing a supporting circular plate; 3, pulling and pressing a limiting block; 4, pulling and pressing the transmission cross block; 5-pulling and pressing the transmission threaded rod; 6-bending moment support circular plate; 7-bending moment support columns; 8-a first bending moment transfer threaded rod; 9-a first bending moment transmission lever; 10-a second bending moment transfer threaded rod; 11-a third bending moment transmission threaded rod; 12-a second bending moment transmission lever; 13-a fourth bending moment transmission threaded rod; 14-a fifth bending moment transfer threaded rod; 15-a third bending moment transmission lever; 16-sixth bending moment transfer threaded rod; 17-bending moment deformation ring; 18-a first bending moment transferring circular plate; 19-a seventh bending moment transfer threaded rod; 20-a second bending moment transfer circular plate; 21-a first torque support threaded rod; 22-a first torque support circular plate; 23-a first torque limiter bar; 24-a second torque limiting rod; 25-a first torque transfer rod; 26-a second torque transfer lever; 27-a third torque transfer lever; 28-a fourth torque transfer lever; 29-a second torque support circular plate; 30-a second torque support threaded rod; 31-a torque transmitting threaded rod; 32-torque morph.
Detailed Description
The technical solution of the present invention is further described below with reference to the following embodiments and the accompanying drawings.
Example 1
The embodiment provides a space moment dynamic modularized analytic magnetic effect sensor, which comprises: the tension-compression deformation body 1, the tension-compression support circular plate 2, the tension-compression limiting block 3, the tension-compression transmission cross block 4, the tension-compression transmission threaded rod 5, the bending moment support circular plate 6, the bending moment support post 7, the first bending moment transmission threaded rod 8, the first bending moment transmission lever 9, the second bending moment transmission threaded rod 10, the third bending moment transmission threaded rod 11, the second bending moment transmission lever 12, the fourth bending moment transmission threaded rod 13, the fifth bending moment transmission threaded rod 14, the third bending moment transmission lever 15, the sixth bending moment transmission threaded rod 16, the bending moment deformation ring 17, the first bending moment transmission circular plate 18, the seventh bending moment transmission threaded rod 19, the second bending moment transmission circular plate 20, the first torque support threaded rod 21, the first torque support circular plate 22, the first torque limiting rod 23, the second torque limiting rod 24, the first torque transmission rod 25, the second torque transmission rod 26, the third torque transmission rod 27, the fourth torque transmission rod 28, the second torque support circular plate 29, the second torque support circular plate 30, the torque transmission limiting rod 31 and the torque deformation threaded rod 32.
The center of the tension and compression supporting circular plate 2 is provided with a through hole, the two ends of the tension and compression deformation body 1 are provided with threads, and the upper end of the tension and compression supporting circular plate 2 penetrates through the central through hole of the tension and compression supporting circular plate 2 and is fixedly connected with the tension and compression supporting circular plate 2 through a nut.
The number of the tension and compression limiting blocks 3 is eight, the tension and compression limiting blocks are divided into four groups, and each group is arranged at intervals of 90 degrees by taking the axial lead of the tension and compression supporting circular plate 2 as the center to form a cross-shaped channel; the center of the tension and compression limiting block 3 is provided with a through hole which is fixedly connected with the tension and compression supporting circular plate 2 through a bolt and a nut.
The tension and compression transfer cross block 4 can slide in the vertical direction relative to the tension and compression limiting block 3, and the tension and compression limiting block 3 limits the rotation of the tension and compression transfer cross block 4; in this embodiment, draw and press stopper 3 with draw the contact surface who presses transmission cross 4 to be the plane, correspondingly, draw and press transmission cross 4 and draw the contact surface who presses stopper 3 also to be the plane to can make and draw and press transmission cross 4 can be for drawing and pressing stopper 3 transmission moment of torsion (can't twist reverse between the two, rotate along vertical direction) and moment of torsion (can't bend between the two, rotate along the horizontal direction).
A through hole is formed in the center of the tension and compression transfer cross block 4, and the lower end of the tension and compression deformation body 1 penetrates through the through hole in the center of the tension and compression transfer cross block 4 and is fixedly connected with the tension and compression transfer cross block 4 through a nut; the four tension and compression transmission threaded rods 5 are arranged at intervals of 90 degrees by taking the axial lead of the tension and compression transmission cross block 4 as the center.
The tension and compression transmission threaded rod 5 sequentially penetrates through the bending moment support circular plate 6 and the tension and compression transmission cross block 4 and is fixedly connected through a nut, and the position of the tension and compression transmission cross block 4 is adjusted through a fixing nut corresponding to the tension and compression transmission cross block 4, so that the tension and compression transmission cross block 4 is limited in a cross channel formed by the tension and compression limiting blocks 3.
The pulling and pressing force is transmitted to the pulling and pressing deformation body 1 by the pulling and pressing transmission threaded rod 5 and the pulling and pressing transmission cross block 4; the side wall of the tension-compression deformation body 1 is pasted with magnetostrictive materials.
The coupling force is transmitted to the tension and compression transmission cross block 4, and due to the limiting effect of the tension and compression limiting block 3, the bending force component and the torsion force component are filtered by the tension and compression limiting block 3, and only the tension and compression force component can be transmitted to the tension and compression deformation body 1.
That is to say, this embodiment also provides a pull/press detection assembly, which includes: the tension-compression deformation body, the tension-compression supporting circular plate, the tension-compression limiting block, the tension-compression transmission cross block, the tension-compression transmission threaded rod and the bending moment supporting circular plate; the upper end of the tension-compression deformation body is fixed on the tension-compression supporting circular plate, and the lower end of the tension-compression deformation body is fixed on the tension-compression transmission cross block; the tension and compression limiting block is fixed on the tension and compression supporting circular plate, guides the vertical movement of the tension and compression transmitting cross block, and prevents the tension and compression transmitting cross block and the tension and compression limiting block from rotating in the vertical direction and rotating in the horizontal direction; the tension and compression transmission threaded rod fixes the tension and compression transmission cross block and the bending moment support circular plate, and a gap is formed between the lower end of the tension and compression limiting block and the upper surface of the bending moment support circular plate; and magnetostrictive materials are adhered to the side wall of the tension-compression deformation body.
The contact surface of the tension and compression limiting block and the tension and compression transmission cross block is a plane, the contact surface of the tension and compression transmission cross block and the tension and compression limiting block is also a plane, and the tension and compression transmission cross block is respectively contacted with the tension and compression limiting blocks on two sides.
The center of the bending moment support circular plate 6 is provided with a threaded through hole, the upper end of the bending moment support column 7 is provided with threads, and the bending moment support circular plate 6 is matched and connected with the threaded through hole at the center and then fastened by using a nut, so that the bending moment support circular plate 6 and the bending moment support column 7 are prevented from rotating relatively.
The middle area of the bending moment support column 7 is provided with three square through holes which are respectively positioned at the upper part, the middle part and the lower part of the middle area of the bending moment support column 7, and the three square through holes are sequentially rotated by 60 degrees by taking the axial lead of the bending moment support column 7 as a center; the first bending moment transmission lever 9, the second bending moment transmission lever 12 and the third bending moment transmission lever 15 sequentially penetrate through three square through holes in the upper portion, the middle portion and the lower portion of the middle area of the bending moment support column 7 and are in limit connection through a first pin.
The first bending moment transmission lever 9, the second bending moment transmission lever 12 and the third bending moment transmission lever 15 respectively leave gaps with the upper end and the lower end of the upper square through hole, the middle square through hole and the lower square through hole in the middle area of the bending moment support column 7, so that the first bending moment transmission lever 9, the second bending moment transmission lever 12 and the third bending moment transmission lever 15 can rotate in a minimum range by taking a first pin as a center.
In one embodiment, the middle parts of the first bending moment transmission lever 9, the second bending moment transmission lever 12 and the third bending moment transmission lever 15 are respectively rotatably arranged on the bending moment support column 7 through a first pin, and the middle parts of the first bending moment transmission lever 9, the second bending moment transmission lever 12 and the third bending moment transmission lever 15 are respectively positioned in the three square through holes; and the surfaces of the left and right sides of the second bending moment transmission lever 12 and the third bending moment transmission lever 15 are brought into contact with the inner wall surfaces of the left and right sides of the square through hole. The first pin is horizontally disposed so that the first bending moment transmission lever 9, the second bending moment transmission lever 12, and the third bending moment transmission lever 15 can rotate relative to the bending moment support post 7 with a horizontal axis as a rotation axis, and the first bending moment transmission lever 9, the second bending moment transmission lever 12, and the third bending moment transmission lever 15 cannot rotate relative to the bending moment support post 7 along a vertical axis.
It should be understood by those skilled in the art that the number of the first pins is three, and the first pins are respectively disposed corresponding to the three directional through holes.
The first bending moment transmission threaded rod 8 is rotatably arranged at one end of the first bending moment transmission lever 9 through a second pin, and the second bending moment transmission threaded rod 10 is rotatably arranged at the other end of the first bending moment transmission lever 9 through a third pin; the second pin, the third pin, and the first pin of the first bending moment transmission lever 9 are arranged in parallel.
The third bending moment transmission threaded rod 11 is rotatably arranged at one end of the second bending moment transmission lever 12 through a fourth pin, the fourth bending moment transmission threaded rod 13 is rotatably arranged at the other end of the second bending moment transmission lever 12 through a fifth pin, and the fourth pin, the fifth pin and the first pin connected with the second bending moment transmission lever 12 are arranged in parallel.
The fifth bending moment transmission threaded rod 14 is rotatably disposed at one end of the third bending moment transmission lever 15 by a sixth pin, the sixth bending moment transmission threaded rod 16 is rotatably disposed at the other end of the third bending moment transmission lever 15 by a seventh pin, and the sixth pin, the seventh pin and the first pin connected to the third bending moment transmission lever 15 are disposed in parallel.
The first bending moment transmission threaded rod 8, the third bending moment transmission threaded rod 11 and the fifth bending moment transmission threaded rod 14 are arranged at intervals of 120 degrees by taking the axis of the bending moment support column 7 as the center; the second bending moment transmission threaded rod 10, the fourth bending moment transmission threaded rod 13 and the sixth bending moment transmission threaded rod 16 are arranged at intervals of 120 degrees by taking the axis of the bending moment support column 7 as the center.
The number of the seventh bending moment transmission threaded rods 19 is three, the seventh bending moment transmission threaded rods 19 are arranged at intervals of 120 degrees by taking the shaft axis of the first bending moment transmission circular plate 18 as the center, and the central axes of the seventh bending moment transmission threaded rods 19 are respectively coincided with the central axis of the second bending moment transmission threaded rod 10, the central axis of the fourth bending moment transmission threaded rod 13 and the central axis of the sixth bending moment transmission threaded rod 16.
The seventh bending moment transmission threaded rod 19 is fixed to the second bending moment transmission circular plate 20, the upper end of the seventh bending moment transmission threaded rod supports the first bending moment transmission circular plate 18, the first bending moment transmission circular plate 18 is provided with a bent rectangular variable ring 17, the lower end of the bending moment support column 7 is conical, and the side face of the conical is in contact with the upper end of the bent rectangular variable ring 17; the bent rectangular variable ring 17 is fastened and connected with the first bending moment transmission circular plate 18 through bolts and nuts.
A plurality of through holes are formed in the first bending moment transmission circular plate 18; the lower end of the first bending moment transmission threaded rod 8 penetrates through one through hole and is fixedly connected with the second bending moment transmission circular plate 20; the lower end of the third bending moment transmission threaded rod 11 passes through one of the through holes and is fixedly connected with the second bending moment transmission circular plate 20; the lower end of the fifth bending moment transmission threaded rod 14 passes through one of the through holes and is fixedly connected with the second bending moment transmission circular plate 20; the lower ends of the second bending moment transmission threaded rod 10, the fourth bending moment transmission threaded rod 13 and the sixth bending moment transmission threaded rod 16 are all contacted with the upper surface of the first bending moment transmission circular plate 18,
the bending force is input by the second bending moment transmission circular plate 20 and is transmitted through four paths, wherein the first path is transmitted to the first bending moment transmission circular plate 18 through the first bending moment transmission threaded rod 8, the first bending moment transmission lever 9 and the second bending moment transmission threaded rod 10; the second path is transmitted to the first bending moment transmission circular plate 18 through the third bending moment transmission threaded rod 11, the second bending moment transmission lever 12 and the fourth bending moment transmission threaded rod 13; the third path is transmitted to the first bending moment transmission circular plate 18 through the fifth bending moment transmission threaded rod 14, the third bending moment transmission lever 15 and the sixth bending moment transmission threaded rod 16; the fourth path is that the seventh bending moment transmission threaded rod 19 is transmitted to the first bending moment transmission circular plate 18, and finally the bending moment deformation ring 17 fixed on the first bending moment transmission circular plate 18 is displaced and interferes with the conical surface at the lower part of the bending moment support column 7; that is, the first bending moment transmission circular plate 18 can generate a micro displacement under the action of the bending moment, for example, the first bending moment transmission circular plate 18 can generate a certain deformation and drive the bending moment deformation ring 17 to operate.
Preferably, when the second bending moment transmitting circular plate 20 is subjected to a tensile force, the first bending moment transmitting circular plate 18 is not subjected to a force; when the second bending moment transmission circular plate 20 is subjected to pressure, the pressure acting on the first bending moment transmission circular plate 18 and transmitted by the first bending moment transmission threaded rod 8, the first bending moment transmission lever 9 and the second bending moment transmission threaded rod 10 are equal in magnitude and opposite in direction to each other, and the pressures are mutually offset; the pressure acting on the first bending moment transmission circular plate 18 and the pressure acting on the first bending moment transmission circular plate 18, which are transmitted through the third bending moment transmission threaded rod 11, the second bending moment transmission lever 12 and the fourth bending moment transmission threaded rod 13, which are transmitted through the corresponding seventh bending moment transmission threaded rod 19, are equal in magnitude and opposite in direction, and are offset with each other; the pressure acting on the first bending moment transmission circular plate 18, which is transmitted through the fifth bending moment transmission threaded rod 14, the third bending moment transmission lever 15 and the sixth bending moment transmission threaded rod 16, is equal to the pressure acting on the first bending moment transmission circular plate 18, which is transmitted through the corresponding seventh bending moment transmission threaded rod 19, in magnitude and opposite direction, and the pressures are offset with each other; the first bending moment transmission circular plate 18 reaches a balanced state, so that the bent rectangular variable ring 17 does not interfere with the conical surface at the lower part of the bending moment support column 7, and the bending moment deformation ring 17 only acts when bending force is applied, so that the decoupling purpose is achieved.
The side wall of the bent rectangular variable ring 17 is pasted with a magnetostrictive material so as to drive the magnetostrictive material to deform when the bending moment deformation ring 17 deforms, and further, the measurement of the bending moment is realized through the deformation of the magnetostrictive material.
That is to say, the present embodiment further provides a bending moment detecting assembly, which includes a bending moment supporting circular plate, a bending moment supporting column, a first bending moment transmitting threaded rod, a first bending moment transmitting lever, a second bending moment transmitting threaded rod, a third bending moment transmitting threaded rod, a second bending moment transmitting lever, a fourth bending moment transmitting threaded rod, a fifth bending moment transmitting threaded rod, a third bending moment transmitting lever, a sixth bending moment transmitting threaded rod, a bent rectangular variable ring, a first bending moment transmitting circular plate, a seventh bending moment transmitting threaded rod and a second bending moment transmitting circular plate;
the bending moment supporting circular plate and the bending moment supporting circular plate of the tension and compression detection assembly are the same component, and when the bending moment supporting circular plate is applied to a space moment dynamic modular analysis magnetic effect sensor, the bending moment supporting circular plate is a shared component.
The upper end of the bending moment support column is fixed on the bending moment support circular plate, the middle area of the bending moment support column is provided with three square through holes, and the three square through holes are respectively positioned at the upper part, the middle part and the lower part of the bending moment support column; the three square through holes are arranged by sequentially rotating by 60 degrees by taking the axial lead of the bending moment support column as a center; the middle parts of the first bending moment transmission lever, the second bending moment transmission lever and the third bending moment transmission lever are respectively and rotatably arranged in the bending moment support column through first pins, and the middle parts of the first bending moment transmission lever, the second bending moment transmission lever and the third bending moment transmission lever are respectively positioned in the three square through holes.
The first bending moment transmission threaded rod is rotatably arranged at one end of the first bending moment transmission lever through a second pin; the second bending moment transmission threaded rod is rotatably arranged at the other end of the first bending moment transmission lever through a third pin; the third bending moment transmission threaded rod is rotatably arranged at one end of the second bending moment transmission lever through a fourth pin, and the fourth bending moment transmission threaded rod is rotatably arranged at the other end of the second bending moment transmission lever through a fifth pin.
The fifth bending moment transmission threaded rod is rotatably arranged at one end of the third bending moment transmission lever through a sixth pin, and the sixth bending moment transmission threaded rod is rotatably arranged at the other end of the third bending moment transmission lever through a seventh pin. The first bending moment transmission threaded rod, the third bending moment transmission threaded rod and the fifth bending moment transmission threaded rod are arranged at intervals of 120 degrees by taking the axis of the bending moment support column as the center; the second bending moment transmission threaded rod, the fourth bending moment transmission threaded rod and the sixth bending moment transmission threaded rod are arranged at intervals of 120 degrees by taking the axis of the bending moment support column as the center.
The number of the seventh bending moment transmission threaded rods is three, and the three seventh bending moment transmission threaded rods are arranged at intervals of 120 degrees by taking the shaft axis of the first bending moment transmission circular plate as the center, so that the central axes of the three seventh bending moment transmission threaded rods are respectively superposed with the central axis of the second bending moment transmission threaded rod, the central axis of the fourth bending moment transmission threaded rod and the central axis of the sixth bending moment transmission threaded rod;
the seventh bending moment transmission threaded rod is fixed to the second bending moment transmission circular plate, the upper end of the seventh bending moment transmission threaded rod supports the first bending moment transmission circular plate, a bent rectangular variable ring is arranged on the first bending moment transmission circular plate, the lower end of the bending moment support column is conical, and the side face of the conical is in contact with the upper end of the bent rectangular variable ring; the bent rectangular variable ring is fixedly connected with the first bending moment transmission circular plate.
A plurality of through holes are formed in the first bending moment transmission circular plate; the lower end of the first bending moment transmission threaded rod penetrates through one through hole and is fixedly connected with the second bending moment transmission circular plate; the lower end of the third bending moment transmission threaded rod penetrates through one through hole and is fixedly connected with the second bending moment transmission circular plate; the lower end of the fifth bending moment transmission threaded rod penetrates through one through hole and is fixedly connected with the second bending moment transmission circular plate; the lower ends of the second bending moment transmission threaded rod, the fourth bending moment transmission threaded rod and the sixth bending moment transmission threaded rod are all in contact with the upper surface of the first bending moment transmission circular plate; and magnetostrictive materials are adhered to the side wall of the bending moment deformation ring.
One end (upper end) of the first torque support threaded rod 21 is fixedly connected with the second bending moment transmission circular plate 20; the other end (lower end) of the first torque support threaded rod 21 is tightly connected with the first torque support circular plate 22 through a bolt; the second torque support threaded rod 30 is fixed to the second torque support circular plate 29 and is collinear with the central axis of the first torque support threaded rod 21, and a gap is left between the lower end of the first torque support threaded rod 21 and the second torque support threaded rod 30, and preferably, the gap has a small size, for example, 0.5mm or less.
When the second torque supporting circular plate 29 receives the coupling force, the pulling force component and the bending force component in the coupling force are transmitted to the corresponding areas through the second torque supporting threaded rod 30 and the first torque supporting threaded rod 21, so that the torque deformation body 32 only receives the action of the torsion force, and the decoupling of the force is realized.
The torque transmission threaded rod 31 sequentially penetrates through the second torque supporting circular plate 29, a fastening nut, the lower end of the third torque transmission rod 27, the fourth torque transmission rod 28 and the upper end of the third torque transmission rod 27 and is limited by a limiting nut.
That is, the third torque transmission rod 27 and the fourth torque transmission rod 28 are rotatably provided to the second torque support circular plate 29 by the torque transmission threaded rod 31, and the vertical positions of the third torque transmission rod 27 and the fourth torque transmission rod 28 are restricted by the torque transmission threaded rod 31, wherein the axis line of the torque transmission threaded rod 31 is different from the rotation center line of the second torque support circular plate 29.
The second torque supporting circular plate 29 is fastened to the torque transmission threaded rod 31, the third torque transmission rod 27 and the fourth torque transmission rod 28 are connected to the torque transmission threaded rod 31 in a limited manner, and the third torque transmission rod 27 and the fourth torque transmission rod 28 can rotate relatively along the central axis of the torque transmission threaded rod 31.
The third torque transmission lever 27 is rotatably connected to one end of the first torque transmission lever 25 by an eighth pin; the fourth torque transmission lever 28 is rotatably connected to the middle portion of the second torque transmission lever 26 by a ninth pin; the first torque limiting rod 23 sequentially penetrates through the first torque supporting circular plate 22 and the first torque transmission rod 25, and is limited by a nut, so that the first torque limiting rod 23 limits the motion trail of the first torque transmission rod 25; the second torque limiting rod 24 sequentially passes through the first torque supporting circular plate 22 and the second torque transmitting rod 26 and is limited by a nut, so that the second torque limiting rod 24 limits the motion trail of the second torque transmitting rod 26.
That is, the first torque limiting rod 23 is fixed to the first torque supporting circular plate 22, and the middle portion of the first torque transmission rod 25 is rotatably disposed at the first torque limiting rod 23, and the position of the first torque transmission rod 25 in the vertical direction is limited by the first torque limiting rod 23.
The second torque limiting rod 24 is fixed to the first torque supporting circular plate 22, and one end of the second torque transmission rod 26 is rotatably disposed on the second torque limiting rod 24, and the position of the second torque transmission rod 26 in the vertical direction is limited by the second torque limiting rod 24.
The torque deformation body 32 has one end connected to the other end of the first torque transmission rod 25, and the other end of the torque deformation body 32 is connected to the other end of the second torque transmission rod 26.
Preferably, the torque transmission threaded rod 31, the first torque limiting rod 23, the second torque limiting rod 24, the eighth pin and the ninth pin are all vertically arranged.
The torque is transmitted to the torque deformation body 32 through the torque transmission threaded rod 31 via two paths, i.e., the third torque transmission rod 27, the first torque transmission rod 25, the fourth torque transmission rod 28, and the second torque transmission rod 26, so that the torque deformation body 32 is deformed by forces having equal magnitudes and opposite directions. The side wall of the middle part of the torque deformation body 32 is pasted with magnetostrictive material.
That is, the present embodiment also provides a torque detection assembly, which includes: the torque transmission device comprises a first torque support threaded rod, a first torque support circular plate, a first torque limiting rod, a second torque limiting rod, a first torque transmission rod, a second torque transmission rod, a third torque transmission rod, a fourth torque transmission rod, a second torque support circular plate, a second torque support threaded rod, a torque transmission threaded rod and a torque deformation body;
the lower end of the first torque support threaded rod is fixed with the first torque support circular plate; the second torque support threaded rod is fixed on the second torque support circular plate and is collinear with the central axis of the first torque support threaded rod, and a gap is reserved between the lower end of the first torque support threaded rod and the second torque support threaded rod; the lower end of the torque transmission threaded rod is fixed to the second torque support circular plate, and the third torque transmission rod and the fourth torque transmission rod are rotatably arranged on the torque transmission threaded rod; and the vertical direction positions of the third torque transmission rod and the fourth torque transmission rod are restricted by the torque transmission threaded rod.
The third torque transmission lever is rotatably connected to one end of the first torque transmission lever by an eighth pin; the fourth torque transmission rod is rotatably connected to the middle of the second torque transmission rod through a ninth pin; the first torque limiting rod is fixed to the first torque supporting circular plate, and the middle portion of the first torque transmission rod is rotatably disposed on the first torque limiting rod, and the position of the first torque transmission rod in the vertical direction is limited by the first torque limiting rod.
The second torque limiting rod is fixed on the first torque supporting circular plate, one end of the second torque transmission rod is rotatably arranged on the second torque limiting rod, and the position of the second torque transmission rod in the vertical direction is limited by the second torque limiting rod; one end of the torque deformation body is connected to the other end of the first torque transmission rod, and the other end of the torque deformation body is connected to the other end of the second torque transmission rod; and magnetostrictive materials are adhered to the side wall of the middle part of the torque deformation body.
When the space moment dynamic modular analytic magnetic effect sensor is subjected to coupling force, the tension and pressure components are decoupled structurally, so that the tension and compression deformation body 1 is deformed finally, the thin surface of the middle part of the tension and compression deformation body 1 is covered with magnetostrictive materials, and the tension and pressure components in the coupling force can generate stress strain on the magnetostrictive materials. The magnetostrictive inverse effect (Villari effect) is generated under the action of the applied excitation magnetic field, and the magnetic field change is detected by the detection coil. The force sensitive area according to this embodiment can be combined with fig. 1, fig. 3, fig. 5, fig. 6, fig. 7, fig. 8, fig. 10, and fig. 15, and it can be seen that the tension and the compression applied do not generate stress changes on the force sensitive area of the bending force and the torsion force, that is, the bent rectangular deformation ring 17 and the torque deformation body 32 themselves do not deform.
When the space moment dynamic modular analytic magnetic effect sensor is subjected to a coupling force, the bending component force acts through structural decoupling to finally deform the bent rectangular deformation ring 17, the thin surface of the outer ring surface of the torque deformation body 17 is covered with a magnetostrictive material, and the bending component force in the coupling force can generate stress strain on the magnetostrictive material. The magnetic field change is detected by the detection coil, which generates the inverse magnetostrictive effect (vilari effect) under the action of the applied excitation magnetic field. The force sensitive areas of the present embodiment can be combined with fig. 1, fig. 3, fig. 6, fig. 9, fig. 10, fig. 11, fig. 12, and fig. 15, and it can be seen that the bending force does not produce stress changes to the force sensitive areas of the tensile force and the torsional force, i.e. the tensile deformation body 1 and the torsional deformation body 32 do not deform themselves.
When the space moment dynamic modular analytic magnetic effect sensor is subjected to a coupling force, the torsional component force acts through structural decoupling to finally deform the torque deformation body 32, a magnetostrictive material covers the thin surface of the middle surface of the torque deformation body 32, and the torsional component force in the coupling force can generate stress strain on the magnetostrictive material. The magnetic field change is detected by the detection coil, which generates the inverse magnetostrictive effect (vilari effect) under the action of the applied excitation magnetic field. The force sensitive area according to this embodiment can be combined with fig. 1, fig. 3, fig. 6, fig. 10, fig. 13, fig. 14, fig. 15, and fig. 16, and it can be seen that the force sensitive area subjected to the torsion force does not generate stress change to the bending force and the tension and compression force, that is, the bent rectangular deformation ring 17 and the tension and compression deformation body 1 do not deform.
The space moment dynamic modularized analytic magnetic effect sensor can simultaneously detect a pulling pressure component, a bending force component and a torsion force component in the coupling force, namely, the structural decoupling is carried out on the coupling force; meanwhile, the space torque dynamic modular analysis magnetic effect sensor does not need to be connected into a power supply line or acquire data through a wired interface; the method is applied to the fields of intelligent machines, production and manufacturing, biology and medicine, can reduce the problem that a plurality of wired transmissions are needed when the sensor outputs data, and greatly promotes the simplicity of information transmission.
The sequence of the above embodiments is only for convenience of description and does not represent the advantages and disadvantages of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (5)
1. A tension and compression detection assembly, comprising: the tension-compression deformation body, the tension-compression supporting circular plate, the tension-compression limiting block, the tension-compression transmission cross block, the tension-compression transmission threaded rod and the bending moment supporting circular plate;
the upper end of the tension and compression deformation body is fixed on the tension and compression supporting circular plate, and the lower end of the tension and compression deformation body is fixed on the tension and compression transmission cross block;
the tension and compression limiting block is fixed on the tension and compression supporting circular plate, guides the vertical movement of the tension and compression transmitting cross block, and prevents the tension and compression transmitting cross block and the tension and compression limiting block from rotating in the vertical direction and rotating in the horizontal direction;
the tension and compression transfer threaded rod fixes the tension and compression transfer cross block and the bending moment support circular plate, and a gap is formed between the lower end of the tension and compression limiting block and the upper surface of the bending moment support circular plate;
and magnetostrictive materials are adhered to the side wall of the tension-compression deformation body.
2. The tension-compression detecting assembly according to claim 1, wherein the contact surfaces of the tension-compression limiting block and the tension-compression transmitting cross block are planes, the contact surfaces of the tension-compression transmitting cross block and the tension-compression limiting block are also planes, and the tension-compression transmitting cross block is in contact with the tension-compression limiting blocks on both sides respectively.
3. A bending moment detection assembly is characterized by comprising a bending moment support circular plate, a bending moment support column, a first bending moment transmission threaded rod, a first bending moment transmission lever, a second bending moment transmission threaded rod, a third bending moment transmission threaded rod, a second bending moment transmission lever, a fourth bending moment transmission threaded rod, a fifth bending moment transmission threaded rod, a third bending moment transmission lever, a sixth bending moment transmission threaded rod, a bent rectangular variable ring, a first bending moment transmission circular plate, a seventh bending moment transmission threaded rod and a second bending moment transmission circular plate;
the upper end of the bending moment support column is fixed on the bending moment support circular plate, the middle area of the bending moment support column is provided with three square through holes, and the three square through holes are respectively positioned at the upper part, the middle part and the lower part of the bending moment support column; the three square through holes are arranged by rotating 60 degrees in sequence by taking the axial lead of the bending moment support column as a center;
the middle parts of the first bending moment transmission lever, the second bending moment transmission lever and the third bending moment transmission lever are respectively and rotatably arranged on the bending moment support column through first pins, and the middle parts of the first bending moment transmission lever, the second bending moment transmission lever and the third bending moment transmission lever are respectively positioned in the three square through holes;
the first bending moment transmission threaded rod is rotatably arranged at one end of the first bending moment transmission lever through a second pin; the second bending moment transmission threaded rod is rotatably arranged at the other end of the first bending moment transmission lever through a third pin;
the third bending moment transmission threaded rod is rotatably arranged at one end of the second bending moment transmission lever through a fourth pin, and the fourth bending moment transmission threaded rod is rotatably arranged at the other end of the second bending moment transmission lever through a fifth pin;
the fifth bending moment transmission threaded rod is rotatably arranged at one end of the third bending moment transmission lever through a sixth pin, and the sixth bending moment transmission threaded rod is rotatably arranged at the other end of the third bending moment transmission lever through a seventh pin;
the first bending moment transmission threaded rod, the third bending moment transmission threaded rod and the fifth bending moment transmission threaded rod are arranged at intervals of 120 degrees by taking the axis of the bending moment support column as the center; the second bending moment transmission threaded rod, the fourth bending moment transmission threaded rod and the sixth bending moment transmission threaded rod are arranged at intervals of 120 degrees by taking the axis of the bending moment support column as the center;
the number of the seventh bending moment transmission threaded rods is three, and the three seventh bending moment transmission threaded rods are arranged at intervals of 120 degrees by taking the shaft axis of the first bending moment transmission circular plate as the center, so that the central axes of the three seventh bending moment transmission threaded rods are respectively superposed with the central axis of the second bending moment transmission threaded rod, the central axis of the fourth bending moment transmission threaded rod and the central axis of the sixth bending moment transmission threaded rod;
the seventh bending moment transmission threaded rod is fixed to the second bending moment transmission circular plate, the upper end of the seventh bending moment transmission threaded rod supports the first bending moment transmission circular plate, a bent rectangular variable ring is arranged on the first bending moment transmission circular plate, the lower end of the bending moment support column is conical, and the side face of the conical is in contact with the upper end of the bent rectangular variable ring; the bent rectangular variable ring is fixedly connected with the first bending moment transmission circular plate;
a plurality of through holes are formed in the first bending moment transmission circular plate; the lower end of the first bending moment transmission threaded rod penetrates through one through hole and is fixedly connected with the second bending moment transmission circular plate; the lower end of the third bending moment transmission threaded rod penetrates through one through hole and is fixedly connected with the second bending moment transmission circular plate; the lower end of the fifth bending moment transmission threaded rod penetrates through one through hole and is fixedly connected with the second bending moment transmission circular plate; the lower ends of the second bending moment transmission threaded rod, the fourth bending moment transmission threaded rod and the sixth bending moment transmission threaded rod are all in contact with the upper surface of the first bending moment transmission circular plate;
and magnetostrictive materials are adhered to the side wall of the bending moment deformation ring.
4. A torque sensing assembly, comprising: the torque transmission device comprises a first torque support threaded rod, a first torque support circular plate, a first torque limiting rod, a second torque limiting rod, a first torque transmission rod, a second torque transmission rod, a third torque transmission rod, a fourth torque transmission rod, a second torque support circular plate, a second torque support threaded rod, a torque transmission threaded rod and a torque deformation body;
the lower end of the first torque support threaded rod is fixed with the first torque support circular plate; the second torque support threaded rod is fixed on the second torque support circular plate and is collinear with the central axis of the first torque support threaded rod, and a gap is reserved between the lower end of the first torque support threaded rod and the second torque support threaded rod;
the lower end of the torque transmission threaded rod is fixed to the second torque support circular plate, and the third torque transmission rod and the fourth torque transmission rod are rotatably arranged on the torque transmission threaded rod; and the vertical direction positions of the third and fourth torque transmission rods are restricted by the torque transmission threaded rod;
the third torque transmission rod is rotatably connected to one end of the first torque transmission rod by an eighth pin; the fourth torque transmission rod is rotatably connected to the middle of the second torque transmission rod through a ninth pin;
the first torque limiting rod is fixed on the first torque supporting circular plate, the middle part of the first torque transmission rod is rotatably arranged on the first torque limiting rod, and the position of the first torque transmission rod in the vertical direction is limited by the first torque limiting rod;
the second torque limiting rod is fixed on the first torque supporting circular plate, one end of the second torque transmission rod is rotatably arranged on the second torque limiting rod, and the position of the second torque transmission rod in the vertical direction is limited by the second torque limiting rod;
one end of the torque deformation body is connected to the other end of the first torque transmission rod, and the other end of the torque deformation body is connected to the other end of the second torque transmission rod; and magnetostrictive materials are pasted on the side wall of the middle part of the torque deformation body.
5. A space moment dynamic modular analytic magnetic effect sensor, comprising: the tension and compression detection assembly of claim 1 or 2, the bending moment detection assembly of claim 3, and/or the torque detection assembly of claim 4.
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