CN201163224Y - Air-floating type multidimensional sensor - Google Patents
Air-floating type multidimensional sensor Download PDFInfo
- Publication number
- CN201163224Y CN201163224Y CNU200820031374XU CN200820031374U CN201163224Y CN 201163224 Y CN201163224 Y CN 201163224Y CN U200820031374X U CNU200820031374X U CN U200820031374XU CN 200820031374 U CN200820031374 U CN 200820031374U CN 201163224 Y CN201163224 Y CN 201163224Y
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- CN
- China
- Prior art keywords
- nozzle
- kickboard
- air
- force sensor
- nozzles
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Abstract
The utility model provides an air floating type multi-dimensional force sensor. The force sensor is characterized in that the force sensor is provided with a rectangular hexahedral floating plate, and nozzles are arranged corresponding to each face of the floating plate; the nozzles and faces of the floating plate corresponding to the nozzles form a nozzle baffle plate type pressure sensor, pressurized air blown out by the nozzles makes the rectangular hexahedral floating plate in a full suspension air floating state; and pressure signals of pressurization chambers of the nozzles are taken as testing output signals. The force sensor has the advantages of no inter-dimension coupling in the measurement of the multi-dimensional force, unnecessary complicated decoupling process and effective improvement of the measurement accuracy.
Description
Technical field
The utility model relates to a kind of multidimensional force measurement device.
Background technology
Be used for directly measuring the above power of two dimension and need adopt multi-dimension force sensor mostly, as three-dimensional force sensor, six-dimension force sensor etc.The sensor of existing measurement multidimensional power or moment can be divided into according to the detection mode difference of power: the strain chip of surveying strain or stress; Utilize the piezoelectric element formula of piezoelectric effect; The differential transformer type of the displacement that produces with the displacement meter sensing lead; Capacitive displacement formula etc.But, all there are between dimension problems such as coupling inevitably owing to the reason of aspects such as structural design based on the multi-dimension force sensor of above principle, be that measured power not only makes sensor on the direction of power output be arranged, and make sensor that output also be arranged on the direction vertical with power.Need eliminate or reduce the influence of coupling in order to improve measuring accuracy, promptly sensor be carried out decoupling zero measurement result output.Coupling is relevant with many factors such as the barbola work of sensor construction design, machining precision, assembly precision, foil gauge and scaling methods, not only decoupling zero complexity, and can't realize separating completely lotus root so far, various decoupling methods all can only reduce the influence of coupling on certain precision.The error that coupling phenomenon causes is the major obstacle that existing multi-dimension force sensor precision further improves, and does not exist the multi-dimension force sensor of coupling that relevant report is not arranged so far fully.
The utility model content
The utility model is for avoiding above-mentioned existing in prior technology weak point, provide a kind of the existence between dimension to be coupled, thereby need not complicated decoupling zero process, can effectively improve the air-flotation type multi-dimension force sensor of measuring accuracy.
The utility model technical solution problem adopts following technical scheme:
The design feature of the utility model air-flotation type multi-dimension force sensor is that the rectangular hexahedron kickboard is set, each face corresponding to described kickboard, nozzle is set respectively, corresponding of described each nozzle and kickboard constitute the nozzle baffle type pressure transducer, pressed gas with the ejection of each nozzle makes the rectangular hexahedron kickboard be complete outstanding air supporting, serves as to detect output signal with the pressure signal of described each nozzle pressure pocket.
The design feature of the utility model air-flotation type multi-dimension force sensor also is:
Described nozzle is one group of both sides up and down, the left and right sides and both sides, front and back that are oppositely disposed in kickboard by per two, the axis of each nozzle is vertical with kickboard plate face as its baffle plate, two nozzles that are oppositely arranged are on the same axial location, with the air cavity pressure differential that is in two nozzles on the same axial location detection signal as variate.
Described each air supporting nozzle is arranged symmetrically in each corner of kickboard, and both sides are positioned at four corner location places up and down respectively one group, and the left and right sides and both sides, front and back are positioned at both sides respectively one group.
The multidimensional force measurement method of the utility model air-flotation type multi-dimension force sensor is that the pressed gas with the ejection of described each nozzle floats the rectangular hexahedron kickboard fully, change by the pressure of measuring each nozzle pressure pocket, obtain to act on the kickboard along the external force of coordinate axis X, Y, Z direction or around the moment of face of coordinate axis X, Y, Z direction.
Compared with the prior art, the beneficial effects of the utility model are embodied in:
The utility model multi-dimension force sensor and multidimensional force measurement method are in measuring process, do the time spent and will produce micro displacement when kickboard is subjected to external force, thereby change the gap length between corresponding position nozzle and the kickboard, cause that the pressure of corresponding nozzle pressure pocket changes.By measure the pressure in each nozzle pressure pocket, can calculate act on the kickboard along the external force of coordinate axis X, Y, Z direction with around the moment of face of coordinate axis X, Y, Z direction.Obviously, the power of the buoyancy vertical direction that produces with nozzle can not cause and the variation of this nozzle pressure pocket internal pressure promptly do not have coupling phenomenon between dimension, thereby need not complicated decoupling zero process, the error that does not exist coupling phenomenon to cause.
Description of drawings
Fig. 1 is the utility model measuring principle synoptic diagram.
Fig. 2 is the utility model facade structures synoptic diagram.
Fig. 3 is the utility model planar structure synoptic diagram.
Fig. 4 is a nozzle baffle principle schematic in the utility model.
Below by embodiment, the utility model is described in further detail in conjunction with the accompanying drawings.
Embodiment
Number in the figure: side nozzle, 3 worktable, 4 nozzle holders, 5 air intake openings, 6 pressure pockets, 7 pressure tap behind 1 kickboard, 1a kickboard end face, 1b kickboard bottom surface, the 1c kickboard left side, the 1d kickboard right side, 1e kickboard front side, 1f kickboard rear side, 2a end face nozzle, 2b bottom surface nozzle, 2c left side nozzle, 2d right side nozzle, the preceding side nozzle of 2e, the 2f.
Referring to Fig. 1, for realizing sextuple force measurement, rectangular hexahedron kickboard 1 is set in the present embodiment, each face corresponding to kickboard 1, nozzle is set respectively, constitutes the nozzle baffle type pressure transducer with each nozzle and corresponding of kickboard, and, suspending fully under the effect of each nozzle air pressure as the kickboard 1 of baffle plate, serves as to detect output signal with the air cavity pressure signal of each nozzle.
Referring to Fig. 2, Fig. 3 and Fig. 4, the relative set in concrete the enforcement is:
On the corner location of kickboard end face 1a and kickboard bottom surface 1b, a nozzle is respectively arranged, on each face of kickboard left side 1c, kickboard right side 1d, kickboard front side 1e and kickboard rear side 1f, be positioned at two ends a nozzle is respectively arranged, promptly have side nozzle 2f behind four end face nozzle 2a, four bottom surface nozzle 2b, two left side nozzle 2c, two right side nozzle 2d, two preceding side nozzle 2e and two, the axis of all each nozzles is perpendicular with the plate face of corresponding kickboard 1 as its baffle plate.
As shown in Figures 2 and 3, be provided with that two nozzles on the correspondence position are on the same axial location in two relative faces of kickboard, with the difference of the air cavity pressure that is in two nozzles on the same axial location detection signal as variate.
Metering system is as follows:
Coordinate system is set up as shown in Figure 1 in center 0 by kickboard 1.End face nozzle 2a is parallel with the Z axle with the acting force of bottom surface nozzle 2b, and the acting force of other each nozzle is in XOY plane, and is and parallel with Y-axis with X-axis respectively.
If: act on external force on the kickboard be decomposed into component Fx, Fy along each coordinate axis, Fz, and around moment Mx, My, the Mz of each coordinate axis; Each corner of kickboard three nozzle acts buoyancy in kickboard on parallel with coordinate axis is intersected in a bit, and the joint of four corners is respectively A, B, C, D; In coordinate system, the coordinate of A, B, C, D each point is respectively A (1/2 ,-1/2,0), B (1/2,1/2,0), C (1/2 ,-1/2,0), D (1/2,1/2,0); The variable quantity that acts on the power of each nozzle act on kickboard that the external force on the kickboard causes is respectively:
A point: Fax (X-direction), F
Ay(Y direction), F
Az+(Z axle positive dirction), F
Az-(Z axle negative direction);
B point: F
Bx(X-direction), F
By(Y direction), F
Bz+(Z axle positive dirction), F
Bz-(Z axle negative direction);
C point: F
Cx(X-direction), F
Cy(Y direction), F
Cz+(Z axle positive dirction), F
Cz-(Z axle negative direction);
D point: F
Dx(X-direction), F
Dy(Y direction), F
Dz+(Z axle positive dirction), F
Dz-(Z axle negative direction); The difference of then respectively organizing nozzle buoyancy is:
F
cax＝F
cx-F
ax
F
dbx＝F
dx-F
bx
F
aby＝F
ay-F
by
F
cdy＝F
cy-F
dy
F
az＝F
az+-F
az-
F
bz＝F
bz+-F
bz-
F
cz＝F
cz+-F
cz-
F
dz＝F
dz+-F
dz-
So:
F
x＝-(F
cax+F
dbx) (1)
F
y＝-(F
aby+F
cdy) (2)
F
z＝-(F
az+F
bz+F
cz+F
dz) (3)
M
x＝(F
az+F
cz-F
bz-F
dz)1/2 (4)
M
y＝(F
az+F
bz-F
cz-F
dz)1/2 (5)
M
z＝(F
dbx-F
cax+F
cdy-F
aby)1/2 (6)
In concrete the enforcement, be fixedly installed on the table top of worktable 3 in that 4, four bottom surfaces of nozzle holder nozzle 2b is set on the worktable 3, other each nozzle all is arranged on the nozzle holder 4.
Shown in Figure 4 is the pressure transducer that the plate face by nozzle and kickboard correspondence is constituted.During work, the pressurized air of constant pressure leads to the air intake opening 5 of each nozzle, and kickboard 1 is floated fully, forms pressure pocket 6 between nozzle and baffle plate, can measure the gaseous tension of pressure pocket 6 by the pressure tap 7 of pressure pocket.If external force of effect on kickboard 1 will cause that the pressure pocket pressure of each pressure transducer changes,, can calculate the component F that acts on the kickboard by following formula along each coordinate axis according to each pressure pocket air pressure change amount
x, F
y, F
z, and around the moment M of each coordinate axis
x, M
y, M
z
Claims (3)
1, air-flotation type multi-dimension force sensor, it is characterized in that being provided with rectangular hexahedron kickboard (1), each face corresponding to described kickboard (1), nozzle is set respectively, corresponding of described each nozzle and kickboard constitute the nozzle baffle type pressure transducer, pressed gas with the ejection of each nozzle makes the rectangular hexahedron kickboard be complete outstanding air supporting, serves as to detect output signal with the pressure signal of described each nozzle pressure pocket.
2, air-flotation type multi-dimension force sensor according to claim 1, it is characterized in that described nozzle is one group of both sides up and down, the left and right sides and both sides, front and back that are oppositely disposed in kickboard (1) by per two, the axis of each nozzle is vertical with kickboard plate face as its baffle plate, two nozzles that are oppositely arranged are on the same axial location, with the air cavity pressure differential that is in two nozzles on the same axial location detection signal as variate.
3, air-flotation type multi-dimension force sensor according to claim 1, it is characterized in that described each air supporting nozzle is arranged symmetrically in each corner of kickboard (1), both sides are positioned at four corner location places up and down respectively one group, and the left and right sides and both sides, front and back are positioned at both sides respectively one group.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU200820031374XU CN201163224Y (en) | 2008-01-24 | 2008-01-24 | Air-floating type multidimensional sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU200820031374XU CN201163224Y (en) | 2008-01-24 | 2008-01-24 | Air-floating type multidimensional sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201163224Y true CN201163224Y (en) | 2008-12-10 |
Family
ID=40184159
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU200820031374XU Expired - Fee Related CN201163224Y (en) | 2008-01-24 | 2008-01-24 | Air-floating type multidimensional sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201163224Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100595541C (en) * | 2008-03-07 | 2010-03-24 | 合肥工业大学 | Force and displacement amount air-float type measurement method |
| CN102636295A (en) * | 2012-04-25 | 2012-08-15 | 合肥工业大学 | Anti-coupling air-flotation force measuring unit |
| CN105092142A (en) * | 2015-05-15 | 2015-11-25 | 合肥工业大学 | Apparatus for measuring unparallel nozzle and floating plate mechanisms |
-
2008
- 2008-01-24 CN CNU200820031374XU patent/CN201163224Y/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100595541C (en) * | 2008-03-07 | 2010-03-24 | 合肥工业大学 | Force and displacement amount air-float type measurement method |
| CN102636295A (en) * | 2012-04-25 | 2012-08-15 | 合肥工业大学 | Anti-coupling air-flotation force measuring unit |
| CN102636295B (en) * | 2012-04-25 | 2013-12-04 | 合肥工业大学 | Anti-coupling air-flotation force measuring unit |
| CN105092142A (en) * | 2015-05-15 | 2015-11-25 | 合肥工业大学 | Apparatus for measuring unparallel nozzle and floating plate mechanisms |
| CN105092142B (en) * | 2015-05-15 | 2018-05-11 | 合肥工业大学 | For measuring the device of not parallel nozzle kickboard mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20081210 Termination date: 20100224 |