CN115524044A - Single axial force/torque sensor and measuring method - Google Patents

Abstract

The invention discloses a uniaxial force/torque sensor and a measuring method, wherein the uniaxial force/torque sensor comprises a floating platform, a fixed platform, force-measuring torque column beams, force-measuring strain beams and foundation column beams, the upper surface of the fixed platform is fixedly connected with the lower end surfaces of the vertically arranged force-measuring torque column beams, the upper end surfaces of the force-measuring torque column beams are fixedly connected with the end parts of 4 horizontally arranged force-measuring strain beams, the other end part of each force-measuring strain beam is fixedly connected with the lower end surface of one vertically arranged foundation column beam, and the upper end surfaces of the 4 foundation column beams are fixedly connected with the lower surface of the floating platform. The invention has the advantages of independent and accurate measurement of the uniaxial force and the moment, simple and compact structure, high efficiency and reliability.

Description

A uniaxial force/torque sensor and its measurement method

technical field

The invention relates to a force measuring sensor, in particular to a uniaxial force/moment sensor.

Background technique

When the traditional motor shaft is used for force measurement experiments, the axial force and torque of the motor are usually measured independently with a one-dimensional load cell and a torque sensor, and the data of force and torque are monitored at the same time, but the mutual interference between force and torque cannot be eliminated. . The traditional two-dimensional force measuring balance can only realize two-dimensional force measurement, two-dimensional torque measurement or non-axial two-dimensional force and torque measurement. If a six-dimensional force-measuring balance is used for uniaxial force/torque measurement, the structure of the six-dimensional force-measuring balance is complex and the size is too large, which will lead to complex measurement, more interference and inaccurate measurement. Therefore, it is necessary to develop a uniaxial force/torque sensor that can measure uniaxial force and moment (ie, X/Mx or Y/My or Z/Mz).

Contents of the invention

Purpose of the invention: In view of the above shortcomings, the present invention provides a uniaxial force/torque sensor, which can directly realize independent measurement of uniaxial force and uniaxial torque in each direction on the sensor.

The present invention also provides a measurement method for the above-mentioned uniaxial force/torque sensor.

In order to achieve the above purpose, the uniaxial force/torque sensor provided by the present invention adopts the following technical solutions:

A uniaxial force/torque sensor, comprising a fixed platform, a moment-measuring column beam extending from one surface of the fixed platform, a floating platform fixed at the front end of the moment-measuring column beam, and a self-measuring moment column beam extending outward in the circumferential direction Force measuring and strain beams, foundation column beams extending from the first surface of the floating platform facing the fixed platform; the force measuring and strain beams have four and are evenly distributed around the moment measuring column beams perpendicular to each other, and the foundation column beams are also There are four and evenly distributed on the first surface of the floating platform. The force-measuring and strain beams are connected to the foundation column beams one by one, and one end of each force-measuring and strain beam is fixed to the moment-measuring column beam and the other end is fixed to the foundation column beam; The side of the moment-measuring column beam is perpendicular to the first surface of the floating platform, and the force-measuring strain beam has a second surface facing the floating platform and a third surface facing the fixed platform; the second surface and the third surface are both Parallel to the first surface; the side surfaces of the moment-measuring column beam, the second surface and the third surface of the force-measuring strain beam are all used for affixing strain gauges.

Further, strain gauges are attached to the side of the moment-measuring column beam to measure uniaxial moment; strain gauges are attached to the second surface and the third surface of the force-measuring strain beam to measure uniaxial force.

Furthermore, when the moment-measuring column beam independently measures the uniaxial moment, the force-measuring strain beam is not attached; when the force-measuring strain beam independently measures the uniaxial force, the moment-measuring column beam is not attached but only acts as a force-measuring strain beam support base.

Further, the four force-measuring and strain beams are arranged symmetrically and evenly distributed on the circumference to offset the influence of torque, realize the decomposition of force and moment, and form the foundation of the moment-measuring column-beam together with the foundation column-beam to realize efficient measurement of the moment-measuring column-beam Uniaxial moment while ensuring the torsional rigidity of the structure.

Further, the moment-measuring column and beam independently match the range, and the surface of the moment-measuring column and beam is patched, and the moment signal can be output separately; the four force-measuring and strain beams independently match the range, and the surface of the force-measuring and strain beam is patched Processing, the force signal can be output separately; the uniaxial force and torque range settings do not interfere with each other, and the measurement does not interfere with each other.

The measurement method using the above-mentioned uniaxial force/moment sensor provided by the present invention can adopt the following technical solutions:

A measurement method based on the above-mentioned uniaxial force/moment sensor, determining the direction of the axial force and axial moment to be measured, and coincident with the axial direction of the moment measuring column beam;

When independently measuring the axial moment in this direction, select the two opposite sides to attach strain gauges to the sides of the moment column beam, use the Wheath bridge to output the torsional strain on the surface of the column beam through a voltage signal, and measure the single axis independently. torque;

When independently measuring the axial force in this direction, among the four force-measuring and strain beams, select two force-measuring and strain beams extending opposite to each other, and apply strain on the second surface and the third surface of the two force-measuring and strain beams respectively. Using a Wheath bridge to output the bending strain on the surface of the two force-strain beams through a voltage signal, the uniaxial force can be measured independently.

Beneficial effects: Compared with the prior art, the present invention can decompose uniaxial force and moment, and realize independent measurement of uniaxial force and moment. The four force-measuring and strain beams are symmetrically arranged and evenly distributed according to the circumference, which can effectively offset the influence of torque and realize the decomposition of force and moment. Together with the foundation column and beam, they form the foundation of the vertically-set moment-measuring column-beam to realize the vertically-set moment-measuring beam. Column beams efficiently measure uniaxial moments while maintaining the torsional stiffness of the structure. The moment-measuring column beam not only independently measures the uniaxial moment, but also serves as the foundation of four force-measuring and strain beams, so that the force-measuring and strain beam can efficiently measure the uniaxial force and ensure the axial stiffness of the structure. The uniaxial force and torque range settings do not interfere with each other, and the measurement does not interfere with each other, which can achieve high-precision measurement, and the structure is simple and compact, efficient and reliable.

Description of drawings

Fig. 1 is a schematic structural view of a uniaxial force/moment sensor of the present invention;

Fig. 2 is the front view of the uniaxial force/torque sensor of the present invention;

Fig. 3 is the main sectional view of the uniaxial force/torque sensor of the present invention;

Figure 4 is a top sectional view of the uniaxial force/torque sensor of the present invention;

Fig. 5 is a patch diagram of measuring X-axis uniaxial moment in the present invention;

Fig. 6 is a schematic diagram of a Wheat bridge for independently measuring the X-axis uniaxial moment in the present invention;

Fig. 7 is a patch diagram of measuring X-axis uniaxial force in the present invention;

Fig. 8 is a schematic diagram of a Wheat bridge for independently measuring the X-axis uniaxial force in the present invention;

Fig. 9 is a state diagram for measuring the Y-axis uniaxial force/torque sensor;

Fig. 10 is a patch diagram of measuring Y-axis uniaxial moment in the present invention;

Fig. 11 is a schematic diagram of a Wheat bridge for independently measuring Y-axis uniaxial moment in the present invention;

Fig. 12 is a patch diagram for measuring Y-axis uniaxial force in the present invention;

Fig. 13 is a schematic diagram of a Wheat bridge for independently measuring Y-axis uniaxial force in the present invention;

Fig. 14 is a state diagram for measuring the Z-axis uniaxial force/torque sensor;

Fig. 15 is a patch diagram of measuring Z-axis uniaxial moment in the present invention;

Fig. 16 is a schematic diagram of a Wheat bridge for independently measuring Z-axis uniaxial moment in the present invention;

Fig. 17 is a patch diagram of measuring Z-axis uniaxial force in the present invention;

Fig. 18 is a schematic diagram of a Wheath bridge for independently measuring Z-axis uniaxial force in the present invention.

detailed description

Please refer to Figures 1 to 4, the disclosure of the present invention will describe the preferred embodiments of the present invention below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit invention.

As shown in Figures 1 to 4, a uniaxial force/moment sensor of the present invention includes a fixed platform 1, a moment-measuring column beam 2 extending from one surface of the fixed platform 1, and is fixed on the front end of the moment-measuring column beam 2 The floating platform 5, the force-measuring strain beam 3 extending outward from the moment column beam 2, and the foundation column beam 4 extending from the first surface of the floating platform 5 facing the fixed platform 1.

The force-measuring strain beams 3 have four and are evenly distributed around the moment-measuring column beam 2 perpendicular to each other, that is, they are evenly distributed at 90° according to the circumference, which can effectively offset the influence of torque and realize the decomposition of force and moment. There are also four foundation columns and beams 4 that are evenly distributed on the first surface of the floating platform 5. The force-measuring and strain beams 3 are connected to the foundation columns and beams 4 in one-to-one correspondence, and one end of each force-measuring and strain beam 3 is connected to the moment-measuring column and beam 2 Fixed while the other end is fixed with the foundation column beam 4. The side of the moment-measuring column beam 2 is perpendicular to the first surface of the floating platform 5 , and the force-measuring strain beam 3 has a second surface facing the floating platform 5 and a third surface facing the fixed platform 1 . Both the second surface and the third surface are parallel to the first surface. The side surfaces of the moment-measuring column beam, the second surface and the third surface of the force-measuring strain beam are all used for affixing strain gauges.

Use a kind of uniaxial force/moment sensor specific measuring method of the present invention to be:

When it is necessary to measure the X-axis force X and the X-axis moment Mx, as shown in Fig. 5 to Fig. 8, firstly, the axis of the moment-measuring column beam coincides with the X-axis.

When measuring the axial moment of the X-axis independently, as shown in Figure 5, in the side of the moment measuring column beam, select the two opposite sides to stick the strain gauges, one side sticks two strain gauges 21, 22, and the corresponding Two strain gauges 21 , 22 are symmetrically attached to the other two strain gauges 23 , 24 on one side of the back. Using the Wheatstone bridge shown in Figure 6 to output the torsional strain on the surface of the column and beam through the voltage signal, and independently measure the uniaxial moment Mx.

When independently measuring the axial force in the X-axis, as shown in Figure 7, among the four force-measuring and strain beams, two force-measuring and strain beams extending opposite to each other are selected. The surface and the third surface are attached with strain gauges (two strain gauges 11, 17 are attached to the second surface of a force-measuring strain beam, and the other two strain gauges 13, 15 are attached to the symmetrical strain gauges 11, 17 on the third surface; Two strain gauges 12, 18 are attached to the second surface of the strain beam, and the other two strain gauges 14, 16) are attached to the third symmetrical strain gauge 12, 18). Using the Wheath bridge shown in Figure 8 to output the bending strain on the surface of the two force-measuring strain beams through voltage signals, the uniaxial force X can be measured independently.

When it is necessary to measure the Y-axis force Y and the Y-axis moment My, as shown in FIG. 9 , firstly, the axis of the moment-measuring column beam coincides with the Y-axis.

When independently measuring the axial moment in the Y-axis, as shown in Figure 10, in the sides of the moment-measuring column beam, select two opposite sides to attach strain gauges, and one side is affixed with two strain gauges 21, 22, Two strain gauges 21 , 22 are symmetrically attached to the other two strain gauges 23 , 24 on one side of the back. Using the Wheath bridge shown in Figure 11 to output the torsional strain on the surface of the column beam through the voltage signal, and independently measure the uniaxial moment My.

When the axial force in the Y-axis is measured independently, as shown in Figure 12, among the four force-measuring and strain beams, two force-measuring and strain beams extending opposite to each other are selected, and the two force-measuring and strain beams are respectively second The surface and the third surface are attached with strain gauges (two strain gauges 11, 17 are attached to the second surface of a force-measuring strain beam, and the other two strain gauges 13, 15 are attached to the symmetrical strain gauges 11, 17 on the third surface; Two strain gauges 12, 18 are attached to the second surface of the strain beam, and the other two strain gauges 14, 16) are attached to the third symmetrical strain gauge 12, 18). Using the Wheath bridge shown in Figure 13 to output the bending strain on the surface of the two force-measuring strain beams through voltage signals, the uniaxial force Y can be measured independently.

When it is necessary to measure the Z-axis force Z and the Z-axis moment Mz, as shown in FIG. 14 , firstly, the axis of the moment-measuring column and beam coincides with the Z-axis.

When measuring the axial moment in the Z-axis independently, as shown in Figure 15, in the sides of the moment measuring column and beam, select two opposite sides to attach strain gauges, and one side is affixed with two strain gauges 21, 22, Two strain gauges 21 , 22 are symmetrically attached to the other two strain gauges 23 , 24 on one side of the back. Using the Wheath bridge shown in Figure 16 to output the torsional strain on the surface of the column and beam through the voltage signal, and independently measure the uniaxial moment Mz.

When the axial force in the Y-axis is measured independently, as shown in Figure 17, among the four force-measuring and strain beams, two force-measuring and strain beams extending opposite to each other are selected. The surface and the third surface are attached with strain gauges (two strain gauges 11, 17 are attached to the second surface of a force-measuring strain beam, and the other two strain gauges 13, 15 are attached to the symmetrical strain gauges 11, 17 on the third surface; Two strain gauges 12, 18 are attached to the second surface of the strain beam, and the other two strain gauges 14, 16) are attached to the third symmetrical strain gauge 12, 18). Using the Wheath bridge shown in Figure 18 to output the bending strain on the surface of the two force-measuring strain beams through voltage signals, the uniaxial force Z can be measured independently.

Finally, it should be noted that: the above is only a preferred embodiment of the present invention, and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, it still The technical solutions recorded in the foregoing embodiments may be modified, or some technical features thereof may be equivalently replaced. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (6)

1. A uniaxial force/torque sensor is characterized by comprising a fixed platform, a force-measuring torque column beam extending from one surface of the fixed platform, a floating platform fixed at the front end of the force-measuring torque column beam, a force-measuring strain beam extending outwards from the circumferential direction of the force-measuring torque column beam, and a base column beam extending from the first surface of the floating platform, which faces the fixed platform;

the force-measuring strain beams are four and are mutually vertical and uniformly distributed on the periphery of the force-measuring rectangular column beam, the foundation column beam is also four and is uniformly distributed on the first surface of the floating platform, the force-measuring strain beams are correspondingly connected with the foundation column beams one by one, one end of each force-measuring strain beam is fixed with the force-measuring rectangular column beam, and the other end of each force-measuring strain beam is fixed with the foundation column beam;

the side surface of the force-measuring torque column beam is vertical to the first surface of the floating platform, and the force-measuring strain beam is provided with a second surface facing the floating platform and a third surface facing the fixed platform; the second surface and the third surface are both parallel to the first surface; and the side surface of the force measuring rectangular column beam, the second surface and the third surface of the force measuring strain beam are used for sticking strain gauges.

2. The uniaxial force/moment sensor of claim 1 wherein strain gauges are attached to the sides of the load cell beams for measuring uniaxial moments; the second surface and the third surface of the force-measuring strain beam are provided with strain gauges for measuring Shan Zhouxiang force.

3. The uniaxial force/moment sensor of claim 2 wherein the load cell strain beam is not attached when the load cell beam is independently measuring uniaxial moment; the load cell beam does not patch but merely serves as a support foundation for the load cell beam when the load cell strain Liang Duli measures Shan Zhouxiang force.

4. The uniaxial force/moment sensor according to claim 1, 2 or 3, wherein the four dynamometric strain beams are symmetrically arranged and circumferentially and uniformly distributed to offset the influence of torque, so as to realize force and moment resolution, and form the foundation of the dynamometric moment column beam together with the foundation column beam so as to realize the efficient measurement of uniaxial moment by the dynamometric moment column beam and ensure the torsional rigidity of the structure.

5. The uniaxial force/torque sensor of claim 4 wherein the torque-measuring beam is independently matched to a measuring range, and a patch process is performed on the surface of the torque-measuring beam to output a torque signal independently; the four force-measuring strain beams are independently matched with measuring ranges, patch processing is carried out on the surfaces of the force-measuring strain beams, and force signals can be independently output; shan Zhouxiang force and moment range setting do not interfere with each other, and measurement does not interfere with each other.

6. The method of measuring a uniaxial force/torque sensor according to any one of claims 1 to 5,

determining the direction of the axial force and the axial moment to be measured, and coinciding the axial direction of the force-measuring moment column beam with the direction;

when the axial moment in the direction is independently measured, two opposite side surfaces of the column beam for measuring the axial moment are selected to be pasted with strain gauges, the torsion strain of the surface of the column beam is output through a voltage signal by utilizing a Wheatstone bridge, and the uniaxial moment is independently measured;

when the axial force in the direction is independently measured, two force-measuring strain beams extending oppositely are selected from the four force-measuring strain beams, strain gauges are attached to the second surface and the third surface of each of the two force-measuring strain beams, the surface bending strain of the two force-measuring strain beams is output through voltage signals by using a Wheatstone bridge, and the Shan Zhouxiang force can be independently measured.

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