CN117309219A - Tractor saddle six-direction force testing device and calculation method - Google Patents

Tractor saddle six-direction force testing device and calculation method Download PDF

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Publication number
CN117309219A
CN117309219A CN202311266361.6A CN202311266361A CN117309219A CN 117309219 A CN117309219 A CN 117309219A CN 202311266361 A CN202311266361 A CN 202311266361A CN 117309219 A CN117309219 A CN 117309219A
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China
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force
bearing
sensor
way
way force
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张宗阳
王立泰
孙士涛
王凯
邴涛
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China National Heavy Duty Truck Group Jinan Power Co Ltd
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China National Heavy Duty Truck Group Jinan Power Co Ltd
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G01L5/161Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
    • G01L5/1627Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of strain gauges

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

本发明属于车辆测试技术领域,具体提供一种牵引车鞍座六向力测试装置及计算方法,所述装置包括底板和牵引销适配器,底板固定在牵引车车架上,通过牵引销适配器连接挂车牵引销,实现牵引车和挂车的连接;通过底板和牵引销适配器间分布布置的四个三向力传感器获取牵引销适配器和底板间的三向力,结合三向力传感器和牵引销适配器的相对位置关系建立鞍载六向力解算矩阵,进而得到鞍座传递的实时动态三向力和三向力矩,为车辆产品开发提供准确的载荷输入,有效提升车辆的动力性、经济性、平顺性、结构疲劳性能;四个三向力传感器相对于牵引销中心的位置关系可以随着结构变化而发生改变,增加了传感器布置的便利性和实用性。

The invention belongs to the technical field of vehicle testing, and specifically provides a six-way force testing device and a calculation method for a tractor saddle. The device includes a base plate and a traction pin adapter. The base plate is fixed on the tractor frame and is connected to the trailer through the traction pin adapter. The traction pin realizes the connection between the tractor and the trailer; the three-way force between the traction pin adapter and the base plate is obtained through four three-way force sensors distributed between the base plate and the traction pin adapter, and the relative force between the three-way force sensor and the traction pin adapter is combined The positional relationship establishes a saddle load six-way force solution matrix, and then obtains the real-time dynamic three-way force and three-way moment transmitted by the saddle, providing accurate load input for vehicle product development, and effectively improving the vehicle's power, economy, and ride comfort. , Structural fatigue performance; the positional relationship of the four three-way force sensors relative to the center of the traction pin can change with structural changes, increasing the convenience and practicality of sensor arrangement.

Description

一种牵引车鞍座六向力测试装置及计算方法A six-directional force testing device and calculation method for a tractor saddle

技术领域Technical field

本发明涉及车辆测试技术领域,具体涉及一种牵引车鞍座六向力测试装置及计算方法。The invention relates to the technical field of vehicle testing, and in particular to a tractor saddle six-way force testing device and a calculation method.

背景技术Background technique

牵引车和挂车连接时通过牵引销适配器连接挂车牵引销实现牵引车和挂车的连接,在实际行驶过程中,牵引车和挂车通过鞍座传递X/Y/Z三向载荷,在制动、起步、转向以及经过坑洼路面时,载荷比较恶劣,该载荷对鞍座以及连接件的强度都有很大的影响。When the tractor and the trailer are connected, the tractor and the trailer are connected by connecting the trailer traction pin through the traction pin adapter. During the actual driving process, the tractor and the trailer transmit the X/Y/Z three-way load through the saddle. During braking and starting When turning, turning and passing through potholes, the load is relatively severe, which has a great impact on the strength of the saddle and connecting parts.

鞍座是半挂牵引车实现车辆牵引功能的关键部件,通过螺栓连接安装在车架上,实现半挂牵引车和挂车之间载荷的传递。鞍座处传递的载荷与车辆的动力性、经济性、平顺性、结构疲劳性能直接相关,因此准确测量鞍座三向力和三向力矩对车辆性能开发非常关键。The saddle is a key component of the semi-trailer tractor to realize the vehicle traction function. It is installed on the frame through bolt connection to realize the load transfer between the semi-trailer tractor and the trailer. The load transmitted at the saddle is directly related to the vehicle's power, economy, ride comfort, and structural fatigue performance. Therefore, accurate measurement of the saddle's three-way force and three-way moment is critical to vehicle performance development.

目前在车辆载荷测试过程中,测量半挂车牵引销部位受力的检测装置仅能够测量鞍座处的Z向力测量,灵敏度并不高,过程存在迟滞,降低测量精度。At present, during the vehicle load test, the detection device that measures the force on the traction pin of the semi-trailer can only measure the Z-direction force at the saddle. The sensitivity is not high, and there is a lag in the process, which reduces the measurement accuracy.

发明内容Contents of the invention

针对上述问题,本发明目的在于提供一种牵引车鞍座六向力测试装置,所述装置包括测力部件,测力部件通过底板安装在牵引车车架上,通过牵引销适配器连接挂车牵引销,实现牵引车和挂车的连接,通过底板和牵引销适配器间分布布置的四个三向力传感器获取牵引销适配器和底板间不同位置的三向力,结合三向力传感器和牵引销适配器中心的相对位置关系计算得到鞍座传递的三向力和三向力矩,为车辆产品开发提供准确的在载荷输入,有效提升车辆的动力性、经济性、平顺性、结构疲劳性能。In response to the above problems, the purpose of the present invention is to provide a six-way force testing device for a tractor saddle. The device includes a force measuring component. The force measuring component is installed on the tractor frame through the bottom plate and is connected to the trailer traction pin through a traction pin adapter. , to realize the connection between the tractor and the trailer, the three-way force at different positions between the traction pin adapter and the base plate is obtained through the four three-way force sensors distributed between the base plate and the traction pin adapter, and the three-way force sensor and the center of the traction pin adapter are combined The relative position relationship is calculated to obtain the three-way force and three-way moment transmitted by the saddle, which provides accurate load input for vehicle product development and effectively improves the vehicle's power, economy, ride comfort, and structural fatigue performance.

本发明技术方案提供一种牵引车鞍座六向力测力装置,包括底板和牵引销适配器;底板两端分别通过承载梁与牵引销适配器连接;The technical solution of the present invention provides a six-directional force measuring device for a tractor saddle, which includes a base plate and a traction pin adapter; both ends of the base plate are connected to the traction pin adapter through a load-bearing beam respectively;

每个承载梁的两端与底板之间的位置设置三向力传感器用于获取牵引销适配器和底板间不同位置的力。A three-way force sensor is set between the two ends of each load-bearing beam and the bottom plate to obtain the force at different positions between the traction pin adapter and the bottom plate.

作为本发明技术方案的优选,底板上设置有传感器测力孔,承载梁两端分别有传感器安装孔,安装时传感器测力孔与传感器安装孔同中心轴,连接螺栓依次穿过传感器安装孔、三向力传感器与预紧螺母连接,安装完成后预紧螺母在传感器安装孔内。As a preferred technical solution of the present invention, a sensor force-measuring hole is provided on the bottom plate, and there are sensor mounting holes at both ends of the load-bearing beam. During installation, the sensor force-measuring hole and the sensor mounting hole are on the same central axis, and the connecting bolts pass through the sensor mounting holes and the sensor mounting holes in sequence. The three-way force sensor is connected to the preload nut. After installation, the preload nut is in the sensor installation hole.

作为本发明技术方案的优选,三向力传感器包括芯轴和连接框件;芯轴通过敏感梁与连接框件连接;As the preferred technical solution of the present invention, the three-way force sensor includes a core shaft and a connecting frame member; the core shaft is connected to the connecting frame member through a sensitive beam;

敏感梁上分别布置应变片。Strain gauges are arranged on the sensitive beams.

作为本发明技术方案的优选,底板上设置有用于将三向力传感器固定在底板上的固定孔;As a preferred technical solution of the present invention, the base plate is provided with a fixing hole for fixing the three-way force sensor on the base plate;

芯轴中间设置通孔,安装时连接螺栓依次穿过传感器安装孔、三向力传感器芯轴的通孔与预紧螺母连接。A through hole is provided in the middle of the core shaft. During installation, the connecting bolts pass through the sensor installation hole in sequence and the through hole of the three-way force sensor core shaft is connected to the preload nut.

作为本发明技术方案的优选,承载梁通过橡胶轴承与牵引销适配器连接。As a preferred technical solution of the present invention, the load-bearing beam is connected to the traction pin adapter through a rubber bearing.

作为本发明技术方案的优选,橡胶轴承包括轴承压板、轴承支架和轴承衬套;As a preferred technical solution of the present invention, the rubber bearing includes a bearing pressure plate, a bearing bracket and a bearing bushing;

轴承衬套套设在轴承支架上;The bearing bushing is set on the bearing bracket;

承载梁上设置有安装凹槽,安装凹槽内设置有轴承支架安装孔,轴承压板设置在安装凹槽内,轴承支架设置在轴承压板的上端且通过轴承支架安装孔与承载梁连接;The load-bearing beam is provided with a mounting groove, a bearing bracket mounting hole is set in the mounting groove, the bearing pressure plate is set in the installation groove, the bearing bracket is set on the upper end of the bearing pressure plate and is connected to the load-bearing beam through the bearing bracket mounting hole;

轴承压板的两端设置有连接固定孔,轴承压板通过连接固定孔与牵引销适配器连接。Both ends of the bearing pressure plate are provided with connection and fixing holes, and the bearing pressure plate is connected to the traction pin adapter through the connection and fixation holes.

作为本发明技术方案的优选,三向力传感器数量为四个,四个三向力传感器通过设置四个敏感梁实现。As a preferred technical solution of the present invention, the number of three-way force sensors is four, and the four three-way force sensors are realized by arranging four sensitive beams.

作为本发明技术方案的优选,四个三向力传感器采用惠斯通电桥获取所处位置X/Y/Z三个方向的力。As the preferred technical solution of the present invention, four three-way force sensors use Wheatstone bridges to obtain the forces in the three directions of X/Y/Z at the location.

作为本发明技术方案的优选,X向两个敏感梁左右两侧分别布置一个单向应变片,共四个应变片,组成一个惠斯通全桥用于测量X向力;As the preferred technical solution of the present invention, a unidirectional strain gauge is arranged on the left and right sides of the two sensitive beams in the X-direction, a total of four strain gauges, forming a Wheatstone full bridge for measuring the X-direction force;

Y向两个敏感梁左右两侧分别布置一个单向应变片,共四个应变片,组成一个惠斯通全桥用于测量Y向力;One unidirectional strain gauge is arranged on the left and right sides of the two sensitive beams in the Y direction. A total of four strain gauges form a Wheatstone full bridge for measuring the Y direction force;

四个敏感梁表面分别布置一个单向应变片,共八个应变片,组成一个惠斯通全桥用于测量Z向力。A unidirectional strain gauge is arranged on the surface of the four sensitive beams, a total of eight strain gauges, forming a Wheatstone full bridge for measuring Z-direction force.

测力部件包括底板、四个三向力传感器、四个连接螺栓、四个预紧螺母、两个承载梁、两个橡胶轴承、两个橡胶轴承支架、两个橡胶轴承压板、牵引销适配器与其他固定螺栓;所述底板由整块钢板冲压裁切得到,在底板两侧有螺栓孔,用于和车架进行连接,在底板四个角处分别设有传感器测力孔;所述承载梁两端分别有传感器安装孔,中间有橡胶轴承支架安装孔和螺栓孔;所述底板和三向力传感器通过螺栓连接;所述三向力传感器和承载梁通过螺栓连接;所述承载梁和牵引销适配器通过橡胶轴承连接;橡胶轴承由橡胶轴承支架、橡胶衬片、橡胶轴承压板组成;橡胶轴承和牵引销适配器和橡胶压板通过螺栓连接,橡胶轴承和承载梁通过橡胶轴承支架和承载梁连接;四个三向力传感器分别能获取所处位置的X/Y/Z三向力;所述三向力传感器成阵列分布在底板上。当牵引销适配器受到来自牵引销的力和力矩时,力和力矩通过橡胶轴承和承载梁传递到四个三向力传感器上,通过对四个传感器上的力进行解耦计算得到牵引销传递的力和力矩。The force measuring components include a base plate, four three-way force sensors, four connecting bolts, four preload nuts, two load-bearing beams, two rubber bearings, two rubber bearing brackets, two rubber bearing pressure plates, traction pin adapters and Other fixing bolts; the bottom plate is punched and cut from a whole steel plate. There are bolt holes on both sides of the bottom plate for connection with the frame. There are sensor force measuring holes at the four corners of the bottom plate; the load-bearing beam There are sensor mounting holes at both ends, and there are rubber bearing bracket mounting holes and bolt holes in the middle; the base plate and the three-way force sensor are connected by bolts; the three-way force sensor and the load-bearing beam are connected by bolts; the load-bearing beam and the traction beam are connected by bolts. The pin adapter is connected through a rubber bearing; the rubber bearing is composed of a rubber bearing bracket, a rubber lining, and a rubber bearing pressure plate; the rubber bearing, the traction pin adapter, and the rubber pressure plate are connected through bolts, and the rubber bearing and the load-bearing beam are connected through the rubber bearing bracket and the load-bearing beam; The four three-way force sensors can respectively obtain the X/Y/Z three-way force at the location; the three-way force sensors are distributed in an array on the bottom plate. When the traction pin adapter is subjected to forces and moments from the traction pin, the forces and moments are transmitted to the four three-way force sensors through the rubber bearing and the load-bearing beam. By decoupling the forces on the four sensors, the force and torque transmitted by the traction pin are calculated. Forces and moments.

本发明技术方案还提供一种基于第一方面所述装置的测力计算方法,包括如下步骤:The technical solution of the present invention also provides a force measurement calculation method based on the device described in the first aspect, which includes the following steps:

分别获取各三向力传感器采集的X/Y/Z向的力并基于获取的力计算鞍座中心处X/Y/Z向力;Obtain the X/Y/Z-direction force collected by each three-way force sensor respectively and calculate the X/Y/Z-direction force at the center of the saddle based on the obtained force;

分别获取各三向力传感器中心到底板中心的X/Y向的距离;Obtain the distance in the X/Y direction from the center of each three-way force sensor to the center of the bottom plate respectively;

基于计算出的鞍座中心处X/Y/Z向力和获取的距离分别计算鞍座中心处绕X/Y/Z向的力矩。底板可识别为四个独立分区,四个三向力传感器在各自分区内可随着结构变化合理调整和鞍座中心的相对位置。Based on the calculated X/Y/Z force at the center of the saddle and the obtained distance, the moments around the X/Y/Z direction at the center of the saddle are calculated respectively. The base plate can be identified as four independent zones, and the four three-way force sensors in their respective zones can be reasonably adjusted to the relative position of the saddle center as the structure changes.

从以上技术方案可以看出,本发明具有以下优点:通过底板和牵引销适配器间分布布置的四个三向力传感器获取牵引销适配器和底板间不同位置的三向力,结合三向力传感器和牵引销适配器的相对位置关系建立鞍载六向力解算矩阵,进而得到鞍座传递的实时动态三向力和三向力矩,为车辆产品开发提供准确的载荷输入,有效提升车辆的动力性、经济性、平顺性、结构疲劳性能;四个三向力传感器相对于牵引销中心的位置关系可以随着结构变化而发生改变,增加了传感器布置的便利性和实用性。It can be seen from the above technical solution that the present invention has the following advantages: the three-way force at different positions between the traction pin adapter and the base plate is acquired through four three-way force sensors distributed between the base plate and the traction pin adapter, and the three-way force sensor is combined with the The relative position relationship of the traction pin adapter establishes the saddle load six-way force solution matrix, and then obtains the real-time dynamic three-way force and three-way moment transmitted by the saddle, providing accurate load input for vehicle product development, effectively improving the vehicle's power and Economy, ride comfort, and structural fatigue performance; the positional relationship of the four three-way force sensors relative to the center of the traction pin can change with structural changes, increasing the convenience and practicality of sensor arrangement.

此外,本发明设计原理可靠,结构简单,具有非常广泛的应用前景。In addition, the design principle of the invention is reliable, the structure is simple, and it has very broad application prospects.

由此可见,本发明与现有技术相比,具有突出的实质性特点和显著地进步,其实施的有益效果也是显而易见的。It can be seen that compared with the prior art, the present invention has outstanding substantive features and significant progress, and the beneficial effects of its implementation are also obvious.

附图说明Description of the drawings

为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,对于本领域普通技术人员而言,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those of ordinary skill in the art, It is said that other drawings can also be obtained based on these drawings without exerting creative work.

图1是本发明实施例提供的立体图。Figure 1 is a perspective view provided by an embodiment of the present invention.

图2是本发明实施例提供的爆炸图。Figure 2 is an exploded view provided by an embodiment of the present invention.

图3是本发明的三向力传感器的结构和应变片布置方式图。Figure 3 is a diagram of the structure and strain gauge arrangement of the three-way force sensor of the present invention.

图4是本发明三向力传感器X向力惠斯通电桥图。Figure 4 is a Wheatstone bridge diagram of the X-direction force of the three-direction force sensor of the present invention.

图5是本发明三向力传感器Y向力惠斯通电桥图。Figure 5 is a Wheatstone bridge diagram of the Y-direction force of the three-direction force sensor of the present invention.

图6是本发明三向力传感器Z向力惠斯通电桥图。Figure 6 is a Wheatstone bridge diagram of the Z-direction force of the three-direction force sensor of the present invention.

图7是本发明的四个三向力传感器与鞍座中心的相对位置关系图。Figure 7 is a diagram showing the relative position relationship between the four three-way force sensors of the present invention and the center of the saddle.

具体实施方式Detailed ways

为了使本技术领域的人员更好地理解本发明中的技术方案,下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都应当属于本发明保护的范围。In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described The embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts should fall within the scope of protection of the present invention.

如图1和2所示,本发明实施例提供一种牵引车鞍座六向力测力装置,包括底板1和牵引销适配器7;底板1两端分别通过承载梁4与牵引销适配器7连接;As shown in Figures 1 and 2, the embodiment of the present invention provides a six-way force measuring device for a tractor saddle, which includes a base plate 1 and a traction pin adapter 7; both ends of the base plate 1 are connected to the traction pin adapter 7 through a load-bearing beam 4 respectively. ;

每个承载梁4的两端与底板1之间的位置设置三向力传感器3用于获取牵引销适配器7和底板1间不同位置的力。A three-way force sensor 3 is provided between the two ends of each load beam 4 and the base plate 1 to obtain the force at different positions between the traction pin adapter 7 and the base plate 1 .

在有些实施例中,底板上设置有传感器测力孔,承载梁两端分别有传感器安装孔,安装时传感器测力孔与传感器安装孔同中心轴,连接螺栓依次穿过传感器安装孔、三向力传感器与预紧螺母连接,安装完成后预紧螺母在传感器安装孔内。In some embodiments, a sensor force-measuring hole is provided on the bottom plate, and there are sensor mounting holes at both ends of the load-bearing beam. During installation, the sensor force-measuring hole and the sensor mounting hole are on the same central axis, and the connecting bolts pass through the sensor mounting holes and the three-way sensor mounting holes in sequence. The force sensor is connected to the preload nut. After installation, the preload nut is in the sensor installation hole.

承载梁通过橡胶轴承与牵引销适配器连接。当牵引销适配器7受到来自牵引销的力和力矩时,力和力矩通过橡胶轴承和承载梁传递到三向力传感器上,通过对三向力传感器上的力进行解耦计算得到牵引销传递的力和力矩。The load beam is connected to the towing pin adapter via rubber bearings. When the traction pin adapter 7 receives the force and torque from the traction pin, the force and torque are transmitted to the three-way force sensor through the rubber bearing and the load-bearing beam. By decoupling the force on the three-way force sensor, the force and torque transmitted by the traction pin are obtained. Forces and moments.

如图3所示,三向力传感器包括芯轴31和连接框件34;芯轴31通过敏感梁与连接框件34连接;敏感梁上分别布置应变片。As shown in Figure 3, the three-way force sensor includes a core shaft 31 and a connecting frame member 34; the core shaft 31 is connected to the connecting frame member 34 through a sensitive beam; strain gauges are respectively arranged on the sensitive beams.

相应的底板上设置有用于将三向力传感器固定在底板上的固定孔;The corresponding base plate is provided with fixing holes for fixing the three-way force sensor on the base plate;

芯轴中间设置通孔,安装时连接螺栓2依次穿过传感器安装孔、三向力传感器芯轴的通孔与预紧螺母5连接。A through hole is provided in the middle of the core shaft. During installation, the connecting bolt 2 passes through the sensor installation hole in sequence and the through hole of the three-way force sensor core shaft is connected to the preload nut 5.

承载梁4通过橡胶轴承6与牵引销适配器7连接。当牵引销适配器7受到来自牵引销的力和力矩时,力和力矩通过橡胶轴承和承载梁传递到三向力传感器上,通过对三向力传感器上的力进行解耦计算得到牵引销传递的力和力矩。The load beam 4 is connected to the traction pin adapter 7 through a rubber bearing 6 . When the traction pin adapter 7 receives the force and torque from the traction pin, the force and torque are transmitted to the three-way force sensor through the rubber bearing and the load-bearing beam. By decoupling the force on the three-way force sensor, the force and torque transmitted by the traction pin are obtained. Forces and moments.

在这里需要说明的是,如图2所示,橡胶轴承6包括轴承压板61、轴承支架62和轴承衬套63;It should be noted here that, as shown in Figure 2, the rubber bearing 6 includes a bearing pressure plate 61, a bearing bracket 62 and a bearing bushing 63;

轴承衬套63套设在轴承支架62上;The bearing bushing 63 is set on the bearing bracket 62;

承载梁4上设置有安装凹槽,安装凹槽内设置有轴承支架安装孔,轴承压板61设置在安装凹槽内,轴承支架62设置在轴承压板61的上端且通过轴承支架安装孔与承载梁4连接;The load-bearing beam 4 is provided with an installation groove, and a bearing bracket mounting hole is provided in the installation groove. The bearing pressure plate 61 is arranged in the installation groove. The bearing bracket 62 is arranged on the upper end of the bearing pressure plate 61 and is connected to the load-bearing beam through the bearing bracket installation hole. 4 connections;

轴承压板61的两端设置有连接固定孔,轴承压板通过连接固定孔与牵引销适配器7连接。Both ends of the bearing pressure plate 61 are provided with connection and fixing holes, and the bearing pressure plate is connected to the traction pin adapter 7 through the connection and fixation holes.

在有些实施例中,三向力传感器数量为四个,四个三向力传感器通过设置四个敏感梁实现。In some embodiments, the number of three-way force sensors is four, and the four three-way force sensors are realized by arranging four sensitive beams.

四个三向力传感器采用惠斯通电桥获取所处位置X/Y/Z三个方向的力。Four three-way force sensors use Wheatstone bridges to obtain forces in the three directions of X/Y/Z at the location.

X向两个敏感梁左右两侧分别布置一个单向应变片,共四个应变片,组成一个惠斯通全桥用于测量X向力;One unidirectional strain gauge is arranged on the left and right sides of the two sensitive beams in the X-direction. A total of four strain gauges form a Wheatstone full bridge for measuring the X-direction force;

Y向两个敏感梁左右两侧分别布置一个单向应变片,共四个应变片,组成一个惠斯通全桥用于测量Y向力;One unidirectional strain gauge is arranged on the left and right sides of the two sensitive beams in the Y direction. A total of four strain gauges form a Wheatstone full bridge for measuring the Y direction force;

四个敏感梁表面分别布置一个单向应变片,共八个应变片,组成一个惠斯通全桥用于测量Z向力。A unidirectional strain gauge is arranged on the surface of the four sensitive beams, a total of eight strain gauges, forming a Wheatstone full bridge for measuring Z-direction force.

测力部件包括底板、四个三向力传感器、四个连接螺栓、四个预紧螺母、两个承载梁、两个橡胶轴承、两个橡胶轴承支架、两个橡胶轴承压板、牵引销适配器与其他固定螺栓;所述底板由整块钢板冲压裁切得到,在底板两侧有螺栓孔,用于和车架进行连接,在底板四个角处分别设有传感器测力孔;所述承载梁两端分别有传感器安装孔,中间有橡胶轴承支架安装孔和螺栓孔;所述底板和三向力传感器通过螺栓连接;所述三向力传感器和承载梁通过螺栓连接;所述承载梁和牵引销适配器通过橡胶轴承连接;橡胶轴承由橡胶轴承支架、橡胶衬片、橡胶轴承压板组成;橡胶轴承和牵引销适配器和橡胶压板通过螺栓连接,橡胶轴承和承载梁通过橡胶轴承支架和承载梁连接;四个三向力传感器分别能获取所处位置的X/Y/Z三向力;所述三向力传感器成阵列分布在底板上。The force measuring components include a base plate, four three-way force sensors, four connecting bolts, four preload nuts, two load-bearing beams, two rubber bearings, two rubber bearing brackets, two rubber bearing pressure plates, traction pin adapters and Other fixing bolts; the bottom plate is punched and cut from a whole steel plate. There are bolt holes on both sides of the bottom plate for connection with the frame. There are sensor force measuring holes at the four corners of the bottom plate; the load-bearing beam There are sensor mounting holes at both ends, and there are rubber bearing bracket mounting holes and bolt holes in the middle; the base plate and the three-way force sensor are connected by bolts; the three-way force sensor and the load-bearing beam are connected by bolts; the load-bearing beam and the traction beam are connected by bolts. The pin adapter is connected through a rubber bearing; the rubber bearing is composed of a rubber bearing bracket, a rubber lining, and a rubber bearing pressure plate; the rubber bearing, the traction pin adapter, and the rubber pressure plate are connected through bolts, and the rubber bearing and the load-bearing beam are connected through the rubber bearing bracket and the load-bearing beam; The four three-way force sensors can respectively obtain the X/Y/Z three-way force at the location; the three-way force sensors are distributed in an array on the bottom plate.

本发明技术方案还提供一种基于牵引车鞍座六向力测力装置的测力计算方法,所述装置包括底板1、四个连接螺栓2、四个三向力传感器3、两个承载梁4、四个预紧螺母5、两个橡胶轴承压板61、两个橡胶轴承支架62、两个橡胶衬片63、牵引销适配器7组成。底板上布置四组传感器安装孔,底板1和三向力传感器3通过螺栓连接,三向力传感器3和承载梁4通过连接螺栓2连接,承载梁4通过橡胶轴承6和牵引销适配器7连接,橡胶轴承6包括61轴承压板、62轴承支架、63轴承衬套组成,62轴承支架和承载梁4通过螺栓连接,轴承压板61和牵引销适配器7通过螺栓连接,当牵引销适配器7受到来自牵引销的力和力矩时,力和力矩通过橡胶轴承6和承载梁3传递到四个三向力传感器3上,通过对四个传感器上的力进行解耦计算得到牵引销传递的力和力矩。The technical solution of the present invention also provides a force measurement calculation method based on a six-way force measurement device for a tractor saddle. The device includes a base plate 1, four connecting bolts 2, four three-way force sensors 3, and two load-bearing beams. 4. Composed of four preload nuts 5, two rubber bearing pressure plates 61, two rubber bearing brackets 62, two rubber linings 63, and traction pin adapter 7. Four sets of sensor mounting holes are arranged on the base plate. The base plate 1 and the three-way force sensor 3 are connected through bolts. The three-way force sensor 3 and the load-bearing beam 4 are connected through the connecting bolts 2. The load-bearing beam 4 is connected through the rubber bearing 6 and the traction pin adapter 7. The rubber bearing 6 includes a bearing pressure plate 61, a bearing bracket 62, and a bearing bushing 63. The bearing bracket 62 and the load beam 4 are connected by bolts. The bearing pressure plate 61 and the traction pin adapter 7 are connected by bolts. When the traction pin adapter 7 is affected by the traction pin When the force and moment are transmitted to the four three-way force sensors 3 through the rubber bearing 6 and the load-bearing beam 3, the force and moment transmitted by the traction pin are obtained by decoupling the forces on the four sensors and calculating.

三向力传感器3包括连接框件34、敏感梁32/33/35/36、芯轴31;敏感梁32/33/35/36四个表面均对称布置单向应变片;敏感梁33、36左右两个表面分别对称布置应变片X1/X2、X3/X4,按照X1-X3-X2-X4的顺序连接组成惠斯通全桥,如图4所示,测量X向力;敏感梁32、35前后两个表面分别对称布置应变片Y1/Y2、Y3/Y4,按照Y1-Y3-Y2-Y4的顺序连接组成惠斯通全桥如图5所示,测量Y向力;敏感梁32、33、35、36上下两个表面分别对称布置应变片Z3/Z4、Z5/Z6、Z7/Z8、Z1/Z2,按照Z1-Z5-Z2-Z6-Z3-Z7-Z4-Z8的顺序连接组成惠斯通全桥如图6所示,测量Z向力;所述方法包括如下步骤:The three-way force sensor 3 includes a connecting frame 34, a sensitive beam 32/33/35/36, and a core shaft 31; the four surfaces of the sensitive beam 32/33/35/36 are symmetrically arranged with unidirectional strain gauges; the sensitive beams 33, 36 Strain gauges X1/X2 and X3/X4 are arranged symmetrically on the left and right surfaces respectively, and connected in the order of X1-X3-X2-X4 to form a Wheatstone full bridge, as shown in Figure 4, to measure the X-direction force; sensitive beams 32, Strain gauges Y1/Y2 and Y3/Y4 are arranged symmetrically on the front and rear surfaces of 35 respectively, and are connected in the order of Y1-Y3-Y2-Y4 to form a Wheatstone full bridge, as shown in Figure 5, to measure the Y-direction force; sensitive beams 32, The upper and lower surfaces of 33, 35, and 36 are symmetrically arranged with strain gauges Z3/Z4, Z5/Z6, Z7/Z8, and Z1/Z2 respectively, and are connected in the order of Z1-Z5-Z2-Z6-Z3-Z7-Z4-Z8. The Wheatstone full bridge is shown in Figure 6, measuring the Z-direction force; the method includes the following steps:

分别获取各三向力传感器采集的X/Y/Z向的力并基于获取的力计算鞍座中心处X/Y/Z向力;Obtain the X/Y/Z-direction force collected by each three-way force sensor respectively and calculate the X/Y/Z-direction force at the center of the saddle based on the obtained force;

分别获取各三向力传感器中心到底板中心的X/Y向的距离;Obtain the distance in the X/Y direction from the center of each three-way force sensor to the center of the bottom plate respectively;

基于计算出的鞍座中心处X/Y/Z向力和获取的距离分别计算鞍座中心处绕X/Y/Z向的力矩。底板可识别为四个独立分区,四个三向力传感器在各自分区内可随着结构变化合理调整和鞍座中心的相对位置。Based on the calculated X/Y/Z force at the center of the saddle and the obtained distance, the moments around the X/Y/Z direction at the center of the saddle are calculated respectively. The base plate can be identified as four independent zones, and the four three-way force sensors in their respective zones can be reasonably adjusted to the relative position of the saddle center as the structure changes.

结合图7,由传感器和底板中心的位置关系,得到如下计算公式:Combined with Figure 7, based on the positional relationship between the sensor and the center of the bottom plate, the following calculation formula is obtained:

Fx=Fx1+Fx2+Fx3+Fx4 F x =F x1 +F x2 +F x3 +F x4

Fy=Fy1+Fy2+Fy3+Fy4 F y =F y1 +F y2 +F y3 +F y4

Fz=Fz1+Fz2+Fz3+Fz4 F z =F z1 +F z2 +F z3 +F z4

Mx=Fz1*W1-Fz2*W2-Fz3*W3+Fz4*W4M x =F z1 *W1-F z2 *W2-F z3 *W3+F z4 *W4

My=Fz1*L1+Fz2*L2-Fz3*L3-Fz4*L4M y =F z1 *L1+F z2 *L2-F z3 *L3-F z4 *L4

Mz=-Fx1*W1+Fx2*W2+Fx3*W3-Fx4*W4-Fy1*L1-Fy2*L2+Fy3*L3+Fy4*L4M z =-F x1 *W1+F x2 *W2+F x3 *W3-F x4 *W4-F y1 *L1-F y2 *L2+F y3 *L3+F y4 *L4

式中:In the formula:

Fx——鞍座中心处X向力,Fx1、Fx2、Fx3、Fx4分别为4个力传感器的X向力;F x ——X-direction force at the center of the saddle, F x1 , F x2 , F x3 , and F x4 are the X-direction forces of the four force sensors respectively;

Fy——鞍座中心处Y向力,Fy1、Fy2、Fy3、Fy4、分别为4个力传感器的Y向力;F y ——Y-direction force at the center of the saddle, F y1 , F y2 , F y3 , and F y4 are the Y-direction forces of the four force sensors respectively;

Fz——鞍座中心处X向力,Fz1、Fz2、Fz3、Fz4分别为4个力传感器的Z向力;F z ——X-direction force at the center of the saddle, F z1 , F z2 , F z3 , and F z4 are the Z-direction forces of the four force sensors respectively;

Mx——鞍座中心处绕X的力矩;M x - the moment about X at the center of the saddle;

My——鞍座中心处绕Y的力矩;M y - the moment about Y at the center of the saddle;

Mz——鞍座中心处绕Z的力矩;M z ——The moment about Z at the center of the saddle;

L1——三向力传感器1的中心到底板中心的X向距离;L1——X-direction distance from the center of the three-way force sensor 1 to the center of the bottom plate;

W1——三向力传感器1的中心到底板中心的Y向距离;W1——Y-direction distance from the center of the three-way force sensor 1 to the center of the bottom plate;

L2——三向力传感器2的中心到底板中心的X向距离;L2——X-direction distance from the center of the three-way force sensor 2 to the center of the bottom plate;

W2——三向力传感器2的中心到底板中心的Y向距离;W2——Y-direction distance from the center of the three-way force sensor 2 to the center of the bottom plate;

L3——三向力传感器3的中心到底板中心的X向距离;L3——X-direction distance from the center of the three-way force sensor 3 to the center of the bottom plate;

W3——三向力传感器3的中心到底板中心的Y向距离;W3——Y-direction distance from the center of the three-way force sensor 3 to the center of the bottom plate;

L4——三向力传感器4的中心到底板中心的X向距离;L4——X-direction distance from the center of the three-way force sensor 4 to the center of the bottom plate;

W4——三向力传感器4的中心到底板中心的Y向距离.W4——Y-direction distance from the center of the three-way force sensor 4 to the center of the bottom plate.

尽管通过参考附图并结合优选实施例的方式对本发明进行了详细描述,但本发明并不限于此。在不脱离本发明的精神和实质的前提下,本领域普通技术人员可以对本发明的实施例进行各种等效的修改或替换,而这些修改或替换都应在本发明的涵盖范围内/任何熟悉本技术领域的技术人员在本发明揭露的技术范围内,可轻易想到变化或替换,都应涵盖在本发明的保护范围之内。因此,本发明的保护范围应以所述权利要求的保护范围为准。Although the present invention has been described in detail with reference to the accompanying drawings in conjunction with preferred embodiments, the present invention is not limited thereto. Without departing from the spirit and essence of the invention, those of ordinary skill in the art can make various equivalent modifications or substitutions to the embodiments of the invention, and these modifications or substitutions should be within the scope of the invention/any Those skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention, and they should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims (10)

1.一种牵引车鞍座六向力测力装置,其特征在于,包括底板和牵引销适配器;底板两端分别通过承载梁与牵引销适配器连接;1. A six-directional force measuring device for a tractor saddle, which is characterized in that it includes a base plate and a traction pin adapter; both ends of the base plate are connected to the traction pin adapter through a load-bearing beam; 每个承载梁的两端与底板之间的位置设置三向力传感器用于获取牵引销适配器和底板间不同位置的力。A three-way force sensor is set between the two ends of each load-bearing beam and the bottom plate to obtain the force at different positions between the traction pin adapter and the bottom plate. 2.根据权利要求1所述的牵引车鞍座六向力测力装置,其特征在于,底板上设置有传感器测力孔,承载梁两端分别有传感器安装孔,安装时传感器测力孔与传感器安装孔同中心轴,连接螺栓依次穿过传感器安装孔、三向力传感器与预紧螺母连接,安装完成后预紧螺母在传感器安装孔内。2. The six-direction force measuring device for a tractor saddle according to claim 1, characterized in that a sensor force measuring hole is provided on the bottom plate, and there are sensor installation holes at both ends of the load-bearing beam. During installation, the sensor force measuring hole is connected to the sensor force measuring hole. The sensor mounting hole is concentric with the central axis, and the connecting bolts pass through the sensor mounting hole in sequence, and the three-way force sensor is connected to the preload nut. After the installation is completed, the preload nut is in the sensor mounting hole. 3.根据权利要求2所述的牵引车鞍座六向力测力装置,其特征在于,三向力传感器包括芯轴和连接框件;芯轴通过敏感梁与连接框件连接;3. The six-way force measuring device for a tractor saddle according to claim 2, characterized in that the three-way force sensor includes a mandrel and a connecting frame; the mandrel is connected to the connecting frame through a sensitive beam; 敏感梁上分别布置应变片。Strain gauges are arranged on the sensitive beams. 4.根据权利要求3所述的牵引车鞍座六向力测力装置,其特征在于,底板上设置有用于将三向力传感器固定在底板上的固定孔;4. The tractor saddle six-way force measuring device according to claim 3, characterized in that the base plate is provided with a fixing hole for fixing the three-way force sensor on the base plate; 芯轴中间设置通孔,安装时连接螺栓依次穿过传感器安装孔、三向力传感器芯轴的通孔与预紧螺母连接。A through hole is provided in the middle of the core shaft. During installation, the connecting bolts pass through the sensor installation hole in sequence and the through hole of the three-way force sensor core shaft is connected to the preload nut. 5.根据权利要求4所述的牵引车鞍座六向力测力装置,其特征在于,承载梁通过橡胶轴承与牵引销适配器连接。5. The six-way force measuring device for a tractor saddle according to claim 4, characterized in that the load-bearing beam is connected to the traction pin adapter through a rubber bearing. 6.根据权利要求5所述的牵引车鞍座六向力测力装置,其特征在于,橡胶轴承包括轴承压板、轴承支架和轴承衬套;6. The tractor saddle six-way force measuring device according to claim 5, characterized in that the rubber bearing includes a bearing pressure plate, a bearing bracket and a bearing bushing; 轴承衬套套设在轴承支架上;The bearing bushing is set on the bearing bracket; 承载梁上设置有安装凹槽,安装凹槽内设置有轴承支架安装孔,轴承压板设置在安装凹槽内,轴承支架设置在轴承压板的上端且通过轴承支架安装孔与承载梁连接;The load-bearing beam is provided with a mounting groove, a bearing bracket mounting hole is set in the mounting groove, the bearing pressure plate is set in the installation groove, the bearing bracket is set on the upper end of the bearing pressure plate and is connected to the load-bearing beam through the bearing bracket mounting hole; 轴承压板的两端设置有连接固定孔,轴承压板通过连接固定孔与牵引销适配器连接。Both ends of the bearing pressure plate are provided with connection and fixing holes, and the bearing pressure plate is connected to the traction pin adapter through the connection and fixation holes. 7.根据权利要求6所述的牵引车鞍座六向力测力装置,其特征在于,三向力传感器数量为四个,四个三向力传感器通过设置四个敏感梁实现。7. The tractor saddle six-way force measuring device according to claim 6, characterized in that the number of three-way force sensors is four, and the four three-way force sensors are realized by setting four sensitive beams. 8.根据权利要求7所述的牵引车鞍座六向力测力装置,其特征在于,四个三向力传感器采用惠斯通电桥获取所处位置X/Y/Z三个方向的力。8. The tractor saddle six-way force measuring device according to claim 7, characterized in that the four three-way force sensors use Wheatstone bridges to obtain the forces in the three directions of X/Y/Z at the position. 9.根据权利要求8所述的牵引车鞍座六向力测力装置,其特征在于,X向两个敏感梁左右两侧分别布置一个单向应变片,共四个应变片,组成一个惠斯通全桥用于测量X向力;9. The six-directional force measuring device for the tractor saddle according to claim 8, characterized in that a unidirectional strain gauge is arranged on the left and right sides of the two sensitive beams in the Stone full bridge is used to measure X-direction force; Y向两个敏感梁左右两侧分别布置一个单向应变片,共四个应变片,组成一个惠斯通全桥用于测量Y向力;One unidirectional strain gauge is arranged on the left and right sides of the two sensitive beams in the Y direction. A total of four strain gauges form a Wheatstone full bridge for measuring the Y direction force; 四个敏感梁表面分别布置一个单向应变片,共八个应变片,组成一个惠斯通全桥用于测量Z向力。A unidirectional strain gauge is arranged on the surface of each of the four sensitive beams, a total of eight strain gauges, forming a Wheatstone full bridge for measuring Z-direction force. 10.一种基于权利要求7或8或9所述装置的测力计算方法,其特征在于,包括如下步骤:10. A force measurement calculation method based on the device according to claim 7, 8 or 9, characterized in that it includes the following steps: 分别获取各三向力传感器采集的X/Y/Z向的力并基于获取的力计算鞍座中心处X/Y/Z向力;Obtain the X/Y/Z-direction force collected by each three-way force sensor respectively and calculate the X/Y/Z-direction force at the center of the saddle based on the obtained force; 分别获取各三向力传感器中心到底板中心的X/Y向的距离;Obtain the distance in the X/Y direction from the center of each three-way force sensor to the center of the bottom plate respectively; 基于计算出的鞍座中心处X/Y/Z向力和获取的距离分别计算鞍座中心处绕X/Y/Z向的力矩。Based on the calculated X/Y/Z force at the center of the saddle and the obtained distance, the moments around the X/Y/Z direction at the center of the saddle are calculated respectively.
CN202311266361.6A 2023-09-27 2023-09-27 Tractor saddle six-direction force testing device and calculation method Pending CN117309219A (en)

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