CN115683437A - Two-dimensional force sensor based on inverse magnetostriction effect - Google Patents
Two-dimensional force sensor based on inverse magnetostriction effect Download PDFInfo
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- CN115683437A CN115683437A CN202211248670.6A CN202211248670A CN115683437A CN 115683437 A CN115683437 A CN 115683437A CN 202211248670 A CN202211248670 A CN 202211248670A CN 115683437 A CN115683437 A CN 115683437A
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Abstract
The invention discloses a two-dimensional force sensor based on an inverse magnetostriction effect. The principle is that external force is transmitted to a stress beam through a central flange, the stress beam changes the magnetic state due to the inverse magnetostrictive effect when stressed, and the external force can be obtained by detecting the change of the magnetic state through an exciting coil and a detecting coil. The two-dimensional force sensor based on the inverse magnetostriction effect is characterized in that the stress beam and the floating beam are not integrated, so that the two-dimensional force sensor has good self-decoupling performance. Compared with the traditional strain gauge type force sensor, the non-linear error caused by pasting can be improved because the strain gauge does not need to be pasted.
Description
Technical Field
The invention relates to the technical field of sensors, in particular to a two-dimensional force sensor based on an inverse magnetostrictive effect.
Background
A force sensor is a device and a device which can sense tension or pressure and convert the tension or pressure into a usable signal according to a certain rule, and generally comprises a sensing element and an elastic element. The force sensor is widely applied in the technical field of robots, is generally arranged in each joint of the robot, can comprehensively sense the magnitude of the torque borne by the robot when the robot interacts with the external environment, and provides force sensing information for the flexible control of the robot.
At present, several main methods for measuring force comprise a strain type method, a photoelectric type method, a capacitance type method, a magnetic spring type method and the like, each method has unique advantages and respective defects, and the suitable application fields are different.
The strain gauge sensor measures force by adhering a strain gauge on an elastic beam to form a measuring bridge, and when the elastic beam is stressed to generate micro deformation, the resistance value in the bridge changes, and the change of the resistance of the strain bridge is converted into the change of an electric signal, so that the force measurement is realized. The method has the advantages of high precision and sensitivity, low cost and the like.
The photoelectric sensor fixes two gratings with the same number of holes on the elastic beam, and fixes the photoelectric element and the fixed light source on two sides of the grating, when the elastic beam is not acted by force, the light and shade stripes of the two gratings are staggered to shield the light path completely. When force is applied, the cross sections of the two gratings generate relative rotation angles, the light and dark stripes are partially overlapped, and partial light penetrates through the gratings to irradiate the photosensitive element to output an electric signal. The magnitude of the applied force can be measured by measuring the output electrical signal. The method has the advantages of real-time monitoring and quick response; the defects are complex structure, difficult static calibration, poorer reliability and poor anti-interference capability.
The capacitive force sensor is characterized in that two electrodes are arranged on an elastic body, when the elastic body is stressed, the area or the distance between the two electrodes can be changed, and the capacitance can be changed at the moment. The magnitude of the force is obtained by detecting the change in capacitance.
The magnetic elastic force sensor is characterized in that magnetostrictive materials are adhered to an elastic beam, stress strain of the elastic beam can cause the magnetostrictive materials adhered to the elastic beam to generate stress strain after force is applied to the elastic beam, the magnetic conductivity of the magnetostrictive materials can be changed when the magnetostrictive materials are stressed due to the reverse magnetostrictive effect, and the force is obtained by detecting the change of the magnetic conductivity of the magnetostrictive materials.
The existing magnetic elastic force sensors are generally classified into bypass type and sleeve type according to the measurement mode. In the bypass mode, a U-shaped magnet is usually arranged beside a magnetostrictive material, and an excitation and detection winding is wound on the U-shaped magnet to close a system into a complete magnetic circuit; the sleeve type is generally that the magnetostrictive material is completely wrapped by two sleeves, the excitation winding is on the outermost layer, and the detection winding is arranged in the excitation winding, so that magnetic lines of force completely cover the magnetostrictive material.
The magnetic spring type force sensor detects a force by generally attaching a magnetostrictive material sheet, and has the same problem as a strain gauge type sensor, and a nonlinear error due to adhesion.
Disclosure of Invention
In view of the above problems, the present invention provides a two-dimensional force sensor based on the inverse magnetostrictive effect, which can solve the problem of coupling between dimensions of the two-dimensional sensor and improve the non-linear error of the sensor.
The invention adopts the following technical scheme to realize the purpose:
a two-dimensional force sensor based on inverse magnetostriction effect comprises a central flange, an outer flange, four stress beams, at least two exciting coils and at least two detecting coils; the four stress beams are uniformly arranged on the side wall of the central flange along the horizontal direction, four floating blocks are uniformly arranged on the outer flange, one end of each stress beam is connected with the central flange, and the other end of each stress beam is connected with the floating blocks; the stress beam is provided with the excitation coil and the detection coil in the same direction, the excitation coil is arranged at one end of the stress beam close to the outer flange, and the detection coil is arranged at one end of the stress beam close to the central flange.
Preferably, the central flange comprises an upper central flange and a lower central flange which are symmetrically arranged up and down, through holes communicated with each other are formed between the upper central flange and the lower central flange, first sensor mounting holes and central flange mounting holes are alternately formed around the through holes, and the upper central flange and the lower central flange are assembled with the central flange mounting holes through bolts.
Preferably, there are four of the first sensor mounting holes and four of the central flange mounting holes.
Preferably, the bottom side of the upper central flange is provided with upper half holes at intervals, the top side of the lower central flange is provided with lower half holes at intervals, and the upper half holes and the lower half holes are symmetrical to form a mounting hole matched with the stress beam.
Preferably, a fixing block is arranged between every two floating blocks on the outer flange, the fixing blocks are connected with the floating blocks through floating beams, and a second sensor mounting hole is formed in each fixing block.
Preferably, the stress beam is a cylindrical beam and is made of magnetostrictive materials.
Preferably, the excitation coil and the detection coil are both formed by winding copper wires.
Preferably, the number of the excitation coils and the number of the detection coils are four, and each stress beam is provided with the excitation coil and the detection coil.
The invention has the beneficial effects that:
according to the two-dimensional force sensor based on the inverse magnetostrictive effect, when force is input, a stress beam generates stress strain, the magnetic flux of the stress beam can be changed in an alternating magnetic field generated by an exciting coil according to the inverse magnetostrictive effect of a magnetostrictive material, and a detection coil detects the change of the magnetic flux and then converts the change of the magnetic flux into an electrical signal to represent the change of the stress. In the process, the stress beam and the floating beam are not integrated, so that the self-decoupling performance is good. Compared with the traditional strain gauge type force sensor, the non-linear error caused by pasting can be improved because the strain gauge does not need to be pasted.
Drawings
Fig. 1 is a schematic structural diagram of a two-dimensional force sensor based on an inverse magnetostrictive effect according to an embodiment of the present invention;
FIG. 2 is an exploded view of an assembly of a two-dimensional force sensor based on the inverse magnetostrictive effect according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an outer flange in a two-dimensional force sensor based on the inverse magnetostrictive effect according to an embodiment of the present invention.
In the attached drawing, 1-a central flange, 11-an upper central flange, 12-a lower central flange, 13-a through hole, 14-a first sensor mounting hole, 15-a central flange mounting hole, 16-a bolt, 2-an outer flange, 21-a fixed block, 22-a floating block, 23-a second sensor mounting hole, 24-a floating beam, 3-a stress beam, 4-an excitation coil and 5-a detection coil.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings 1 to 3 and the embodiments.
Referring to fig. 1 to 3, the present embodiment provides a two-dimensional force sensor based on inverse magnetostrictive effect, which includes a central flange 1, an outer flange 2, four stress beams 3, four excitation coils 4, and four detection coils 5. Four stress beams 3 are uniformly arranged on the side wall of the central flange 1 along the horizontal direction, four floating blocks 22 are uniformly arranged on the outer flange 2, one end of each stress beam 3 is connected with the central flange 1, and the other end of each stress beam is connected with the floating block 22. Each stress beam 3 is provided with an excitation coil 4 and a detection coil 5, the excitation coil 4 is arranged at one end of the stress beam 3 close to the outer flange 2, and the detection coil 5 is arranged at one end of the stress beam 3 close to the central flange 1.
In the present embodiment, the central flange 1 includes an upper central flange 11 and a lower central flange 12 which are arranged in an up-down symmetrical manner, a through hole 13 is provided between the upper central flange 11 and the lower central flange 12, a first sensor mounting hole 14 and a central flange mounting hole 15 are alternately provided around the through hole 13, and the upper central flange 11 and the lower central flange 12 are assembled with the central flange mounting hole 15 through a bolt 16. Four first sensor mounting holes 14 and four center flange mounting holes 15 are provided.
In this embodiment, the bottom side of the upper central flange 11 is provided with upper half holes at intervals, the top side of the lower central flange 12 is provided with lower half holes at intervals, and the upper half holes and the lower half holes are symmetrical to form a mounting hole adapted to the stress beam 3. The stress beam 3 is a cylindrical beam and is made of magnetostrictive materials. Correspondingly, the mounting hole is a round hole. The drift diameter of the mounting hole is equal to the outer diameter of the stress beam 3 so as to facilitate the mounting of the stress beam 3.
The outer flange 2 is provided with fixing blocks 21 between every two floating blocks 22, and two adjacent fixing blocks 21 can be symmetrically arranged relative to the stress beam 3. The fixed block 21 may be disposed at any position between the two sliders 22. In the present embodiment, two adjacent fixing blocks 21 are symmetrically disposed with respect to the stress beam 3. The fixed blocks 21 and the floating blocks 22 are connected through floating beams 24, and each fixed block 21 is provided with a second sensor mounting hole 23. The first sensor mounting hole 14 and the second sensor mounting hole 23 are used to mount the sensor to the workpiece to be measured.
In the present embodiment, the excitation coil 4 and the detection coil 5 are each formed by winding copper wires. The exciting coil 4 is wound on one end of the stress beam 3 close to the outer flange 2 and is used for providing a constant alternating magnetic field. The detection coil 5 is wound at one end of the stress beam 3 close to the central flange 1 and is used for detecting the variation of the magnetic property of the stress beam 3 after being stressed.
In the present embodiment, specifically, the outer flange 2 is rectangular, four fixing blocks 21 are respectively disposed at four corners of the outer flange 2, four floating blocks 22 are respectively disposed at central positions of four sides of the outer flange 2, and each two floating beams 24 constitute one side of the outer flange 2. Specifically, a floating block 22 or a fixed block 21 is clamped between two floating beams 24, and a floating beam 24 is clamped between the floating block 22 and the fixed block 21.
In the present embodiment, four excitation coils 4 and four detection coils 5 are provided, and the excitation coils 4 and the detection coils 5 are provided for each stress beam 3. Two exciting coils 4 and two detecting coils 5 are arranged in the same direction, and the average value of the detection results is taken, so that accidental errors can be eliminated.
According to the two-dimensional force sensor based on the inverse magnetostriction effect, the two-dimensional force is detected by detecting two forces in the X-axis direction and the Y-axis direction. The X-axis and the Y-axis are arranged vertically with the central flange 1 as the origin. Wherein, there are two stress beams 3 in the direction of X-axis, there are two stress beams 3 in the direction of Y-axis, its detection mode is that two stress beams 3 in the direction of Y-axis detect the force in the direction of X-axis, two stress beams 3 in the direction of X-axis detect the force in the direction of Y-axis; wherein the same signal is detected by the detection coils 5 on the two stress beams 3 in the same direction, the sensitivity of the sensor is improved by superposing the two signals, and the measurement result is the average value of the two detection coils 5 in the same direction, so that accidental errors can be eliminated.
The working principle is as follows:
when the two-dimensional force sensor based on the inverse magnetostriction effect is used, stress strain can be caused on a stress beam 3 of the sensor when force is input, the magnetic flux of the sensor can be changed in an alternating magnetic field generated by an exciting coil 4 according to the inverse magnetostriction effect of a magnetostriction material, and the change of the magnetic flux detected by a detection coil 5 is converted into an electrical signal to represent the change of the stress.
The magneto-elastic effect is a unique physical property of ferromagnetic materials, which indicates that the permeability of parameters inside it changes under the influence of external forces. When an elastic shaft made of ferromagnetic material is under the action of a stable external excitation field and is influenced by external force, the change of the magnetization state of the material of the elastic shaft can be regarded as the result of the change of magnetic permeability. Under the action of torque or stress, the change of the internal magnetic domain structure of the magnetic material is the reason for influencing the change of the internal magnetization state of the material. Therefore, the magneto-elastic effect of the ferromagnetic material can be used for representing the stress state change of the ferromagnetic material by measuring the change of the magnetization intensity of the ferromagnetic material when the ferromagnetic material is loaded with torque, so that the problem of measuring the torque is converted into the problem of measuring the magnetization intensity of the material. In addition, the positive or negative of the magnetostriction coefficient, which is a physical quantity, affects the rotation direction of the magnetic domain. The change in magnetization state of the elastic axis material is discussed herein in terms of a change in magnetic permeability and a change in magnetic induction. In fact, the change in magnetization is a change in magnetic induction, so we can analyze the applied external force from the macroscopic change in magnetic induction.
It will be appreciated that the outer flange 2 is not limited to being rectangular and in other embodiments it may be circular or the like.
It is understood that in other embodiments, only one stress beam 3 in the same direction is provided with the excitation coil 4 and the detection coil 5, and the measurement result can be obtained.
Although the invention has been described in detail above with reference to specific embodiments, it will be apparent to one skilled in the art that modifications and improvements can be made based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (8)
1. A two-dimensional force sensor based on inverse magnetostriction effect is characterized by comprising a central flange, an outer flange, four stress beams, at least two excitation coils and at least two detection coils; the four stress beams are uniformly arranged on the side wall of the central flange along the horizontal direction, four floating blocks are uniformly arranged on the outer flange, one end of each stress beam is connected with the central flange, and the other end of each stress beam is connected with the floating blocks; the stress beam is provided with the excitation coil and the detection coil in the same direction, the excitation coil is arranged at one end of the stress beam close to the outer flange, and the detection coil is arranged at one end of the stress beam close to the central flange.
2. The two-dimensional force sensor based on the inverse magnetostrictive effect according to claim 1, wherein the central flange comprises an upper central flange and a lower central flange which are arranged in an up-down symmetrical manner, a through hole communicated with the upper central flange and the lower central flange is arranged between the upper central flange and the lower central flange, first sensor mounting holes and central flange mounting holes are alternately arranged around the through hole, and the upper central flange and the lower central flange are assembled with the central flange mounting holes through bolts.
3. A two-dimensional force sensor based on the inverse magnetostrictive effect according to claim 2, wherein the first sensor mounting hole and the central flange mounting hole are four in number.
4. The two-dimensional force sensor based on the inverse magnetostrictive effect as claimed in claim 2, wherein the bottom side of the upper central flange is provided with upper half holes at intervals, the top side of the lower central flange is provided with lower half holes at intervals, and the upper half holes and the lower half holes are symmetrical and form a mounting hole matched with the stress beam.
5. The two-dimensional force sensor based on the inverse magnetostrictive effect as claimed in claim 1, wherein a fixing block is arranged between every two floating blocks on the outer flange, the fixing block and the floating blocks are connected through a floating beam, and a second sensor mounting hole is arranged on each fixing block.
6. The two-dimensional force sensor based on the inverse magnetostrictive effect as claimed in claim 1, wherein the stress beam is a cylindrical beam and is made of magnetostrictive material.
7. A two-dimensional force sensor based on inverse magnetostriction effect according to claim 1, wherein said excitation coil and said detection coil are wound by copper wires.
8. A two-dimensional force sensor based on inverse magnetostrictive effect according to claim 1, characterized in that the number of the exciting coils and the number of the detecting coils are four, and each of the stress beams is provided with the exciting coil and the detecting coil.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211248670.6A CN115683437A (en) | 2022-10-12 | 2022-10-12 | Two-dimensional force sensor based on inverse magnetostriction effect |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211248670.6A CN115683437A (en) | 2022-10-12 | 2022-10-12 | Two-dimensional force sensor based on inverse magnetostriction effect |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0793102A2 (en) * | 1996-02-27 | 1997-09-03 | Gec Alsthom Limited | Sensor device |
| CN110823436A (en) * | 2019-10-08 | 2020-02-21 | 珠海格力电器股份有限公司 | Six-dimensional force detection method based on eddy current effect, sensor and intelligent equipment |
| CN114964597A (en) * | 2022-07-27 | 2022-08-30 | 南京航空航天大学 | Six-dimensional force/torque sensor based on inverse magnetostriction effect |
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2022
- 2022-10-12 CN CN202211248670.6A patent/CN115683437A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0793102A2 (en) * | 1996-02-27 | 1997-09-03 | Gec Alsthom Limited | Sensor device |
| CN110823436A (en) * | 2019-10-08 | 2020-02-21 | 珠海格力电器股份有限公司 | Six-dimensional force detection method based on eddy current effect, sensor and intelligent equipment |
| CN114964597A (en) * | 2022-07-27 | 2022-08-30 | 南京航空航天大学 | Six-dimensional force/torque sensor based on inverse magnetostriction effect |
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