CN201945412U

CN201945412U - Cross-shaped multidimensional force transducer

Info

Publication number: CN201945412U
Application number: CN2011200117375U
Authority: CN
Inventors: 钟红刚
Original assignee: Individual
Current assignee: Individual
Priority date: 2011-01-14
Filing date: 2011-01-14
Publication date: 2011-08-24
Anticipated expiration: 2021-01-14

Abstract

The utility model discloses a cross-shaped multidimensional force transducer, which comprises a cross-shaped elastic element in a symmetrical cruciform structure, wherein the cross-shaped elastic element comprises four fixed blocks symmetrically arranged on four endpoints of the cruciform structure and a crossed block arranged on a central cross point, each fixed block is connected with the crossed block through a transduction solid joint beam, and the transduction solid joint beam between the central crossed block and each fixed block is provided with at least one pair of horizontal strain beams and one pair of vertical beams; an upper cover plate and a lower cover plate have a same structure; and the upper cover plate and the lower cover plate mutually form into a square crossing state to cover on the cross-shaped wall of the cross-shaped elastic element, two ends of the upper cover plate and the lower cover plate are respectively provided with a fixed end corresponding to the fixed blocks, and each fixed end is fixedly connected with the corresponding fixed block. The cross-shaped multidimensional force transducer disclosed by the utility model has a compact and symmetrical cruciform structure, so that the size in the height direction is relatively small, the design is suitable for wire-cutting machining to improve symmetry precision, and the cross-shaped multidimensional force transducer is suitable for assembling a multi-DOF (degree of freedom) force platform.

Description

A kind of cross multidimensional force cell

Technical field

The utility model relates to a kind of force transducer, refers to that especially a kind of adhering resistance strain sheets that utilizes on the flexible member is with the sensor of ergometry.

Background technology

At present, the sensor of common power generally is divided into single-degree-of-freedom and multiple degrees of freedom, wherein, the single-degree-of-freedom cross of single-degree-of-freedom or spoke shape sensor are normally measured by foliation formula foil gauge on the cross of symmetry or spoke shape flexible member and are stretched and force of compression.But at present, because of will solving interactional problem between multiple degrees of freedom, and cause the design of having nothing in common with each other in the multi-degree of freedom measurement.Common having by electronic circuit or computer software calculating solution coherent signal resolved; Also have by the special elastic element design and reduce correlativity between a direction.Wherein in certain applications, for example body mechanics's test, for example mechanical arm mechanics control needs sensor as far as possible little and have a plurality of degree of freedom measurement capabilities.And resolve obviously too complicated being not suitable for by having by electronic circuit or computer software calculating solution coherent signal, relate on the one hand that volume is excessive and logical at present special elastic element design reduces correlativity between a direction, its symmetry is relatively poor on the other hand, is not suitable for the multidimensional force measurement of the direction complexity of the power that is applied to.

The utility model content

For addressing the above problem, the purpose of this utility model is, provides a kind of force transducer structure that can significantly reduce size sensor, so that it is suitable for assembling the multiple degrees of freedom ergograph;

The another purpose of the utility model is, provides a kind of and can increase the different directions measurement sensitivity, reduces mutual reciprocal effect, the cross multidimensional force cell of phase mutual interference when significantly reducing 2 to 6 stressed measurements of degree of freedom.

For reaching above-mentioned purpose, the utility model provides a kind of cross multidimensional force cell, it comprises: the cross flexible member, cross structure for symmetry, this cross flexible member comprises four symmetric offset spread fixed block and intersected blocks that is positioned at the point of crossing, center in four end points of this cross structure, be connected by the affixed beam of sensing between each fixed block and this intersected blocks, this center intersected blocks and respectively the affixed beam of the sensing between this fixed block be provided with at least one pair of horizontal strain beam and vertical beam; A upper cover plate and a lower cover are the identical cover plate of structure; This upper cover plate and lower cover are on the crosstie wall that is covered in the cross flexible member of square crossing state, and respectively these cover plate two ends have the corresponding stiff end of this fixed block, and respectively this stiff end is fixedly connected with corresponding fixed block.

Wherein:

Can be provided with two pairs of horizontal strain beams and vertical strain beam on the affixed beam of each sensing.Be provided with the cross section between the two pairs of horizontal strain beams and the vertical beam and be square or circular tie-beam.

The width of this tie-beam or diameter and respectively this horizontal strain beam and vertical strain beam, and be identical size with the thickness of each fixed block.

Described upper cover plate and lower cover have and the corresponding stiff end of the fixed block of cross flexible member, and the stiff end and the fixed block of each mutual contraposition mutually combine.

The position relative with the sensing built-in beam is recessed to form a concave space in the middle of each cover plate.

Each stiff end is respectively equipped with corresponding connecting hole and is connected perforation with fixed block, each stiff end and fixed block by each connecting hole be connected perforation by being spirally connected or riveting.

Each stiff end is provided with the fixed orifice that or even number combine with testee.

Corresponding each fixed orifice of each fixed block is provided with fixing perforation, and fixedly hole dimension greater than fixed orifice.

Described horizontal strain beam and vertical strain beam, the flakiness shape makes the affixed beam of described sensing and forms groove in the position, and described horizontal strain beam and vertical strain beam all have a upper surface and a lower surface of the stress section that is used to be sticked.

Useful technique effect of the present utility model is, by said structure, the utility model increases several sulculuses by symmetry on cruciform sensing built-in beam, form the strain zone of specific direction sensitivity, under the situation that does not change the built-in beam external dimensions, increase the different directions measurement sensitivity, reduce mutual reciprocal effect; And can significantly reduce size sensor, especially short transverse.Its under machining precision and the sufficiently high situation of paster precision, phase mutual interference when significantly reducing the stressed measurement of 2 to 6 degree of freedom.Because have the cross structure of compact symmetry, the short transverse size is relatively little, is suitable for assembling the multiple degrees of freedom ergograph.

Description of drawings

Fig. 1 is the assembled state vertical view of the utility model one embodiment;

Fig. 2 is the assembled state master cut-open view of the utility model one embodiment;

Fig. 3 is the vertical view of the cross flexible member of the utility model one embodiment;

Fig. 4 is the main cut-open view of the cross flexible member of the utility model one embodiment;

Fig. 5 is the cover plate vertical view of the utility model one embodiment;

Fig. 6 is the cover plate cut-open view of the utility model one embodiment.

Embodiment

For above-mentioned and other purposes, feature and advantage of the present utility model can be become apparent, preferred embodiment cited below particularly, and conjunction with figs. are described in detail below.

As shown in Figure 1, 2, cross multidimensional force cell 1 of the present utility model is flat cross-like shape, is three-decker.

In the middle of this force cell 1 is a cross flexible member 10, is the cross structure of symmetry.Identical but be in the cover plate up and down 20,30 of square crossing state for structure up and down.The utility model is by means of being symmetrical arranged several (being 4 in present embodiment) sulculuses on those cruciform sensing built-in beams, forming the strain zone of specific direction sensitivity.

As Fig. 3, shown in 4, one cross flexible member 10, cross structure for symmetry, it comprises 4 symmetric offset spread fixed block 11 and intersected blocks 12 that is positioned at the point of crossing, center in 4 end points of cross structure, be connected by the affixed beam of sensing between each fixed block 11 and this intersected blocks 12, as shown in the figure, the affixed beam of those sensings all has: be connected with this fixed block 11 and this center intersected blocks 12 respectively first, the second horizontal strain structure 14, be positioned at the tie-beam 13 of the affixed beam of sensing middle part, and between the first horizontal strain beam 14 and tie-beam 13 and be positioned at the first vertical strain beam and the second vertical strain beam 15 of the second horizontal strain beam 14 and tie-beam 13.(being defined as level with the parallel plane direction with fixed block in the application) wherein, symmetry in order to ensure structure, the cross section of this tie-beam 13 is size and the identical square of fixed block 11 thickness, each strain beam 12 is a thin slice, its width is identical with fixed block 11 thickness, and the thickness between two planes of each strain beam 12 is as far as possible little under the prerequisite of proof strength, whereby, because of each becomes the setting of beam 12, on the sense built-in beam, be symmetrically formed several sulculuses, then formed the strain zone of specific direction sensitivity, and the upper and lower surface of each strain beam all can be provided with foil gauge, thereby can be according to actual needs, be symmetrical arranged 4-32 piece of foil gauge in this cross flexible member 10, to realize that single-degree-of-freedom is to the stressed measurement of the various situations of 6DOF (is example at this to be provided with 4 sulculuses, and its sulculus that varying number can actual needs be set is realized the measurement of different degree of freedom).

Wherein, respectively the position of this horizontal strain beam and vertical strain beam is not limited to the positional alignment according to present embodiment, and is also interchangeable, perhaps is provided with more strain beam, only needs to guarantee its symmetry.

Can comprise the connecting through hole 16 that combines with upper cover plate 20 or lower cover 20 on the fixed block 11.

Cross multidimensional force cell 1 of the present utility model has a upper cover plate 20 and a lower cover 30, on the sensing built-in beam that covers cross flexible member 10 respectively that up-down structure is identical and medial surface is relative, shown in Fig. 5,6, be the cover plate vertical view and the cut-open view of present embodiment.This

cover plate

20,30 has the fixed block 11 corresponding stiff ends 21 with cross flexible member 10, the position relative with the sensing built-in beam is recessed to form a concave space 22 in the middle of the

cover plate

20,30, to avoid with sensing built-in beam and intersected blocks 12 generation interference and to provide cover plate an elasticity accommodation

space.Cover plate

20,30 is made for rigid material, should have enough thickness, is not less than 3mm the transmission of power to be provided, to be preferably.

Referring to Fig. 5, in present embodiment, can be provided with the connecting hole 26 that combines with fixed block 11 on the stiff end 21 of

cover plate

20,30, connecting hole 26 is corresponding with connection perforation 16, in present embodiment, be located on the center line, if be provided with a plurality of should phase center line symmetric offset spread, the two in conjunction with availablely be spirally connected, riveted joint or mode such as bonding.

In addition, can be provided with the fixed orifice 26 that combines with testee on the stiff end 21 of

cover plate

20,30, its quantity can be one or even number, and being preferably is to guarantee symmetry.

Preferable, stiff end 21 fixed orifices 26 of

corresponding cover plate

20,30, the corresponding bit value of each fixed block 11 can be provided with corresponding fixedly perforation 17, is preferably this fixing perforation 17 and more only supplies retaining element to pass and do not produce interference, produces with the power of avoiding cover plate is transmitted and disturbs.

See also Fig. 1,2 again, in the middle of the cross multidimensional force cell 1 of the present utility model is the cross flexible member 10 of the cross structure of a symmetry, cross flexible member 10 by fixed orifice 26 on the stiff end 21 of the connection perforation 16 of being located at fixed block 11 and

cover plate

20,30 combine upper and

lower cover plate

20,30 up and down

cover plate

20,30 power that sensed pass to cross flexible member 10, and arrive the stressed measurement of the various situations of 6DOF by means of the lip-deep foil gauge realization single-degree-of-freedom that is attached at each

strain beam

14,15.

The utility model is not limited to be connected with testee by stiff end 21 of answering

cover plate

20,30 and fixed orifice 26, can be connected with each

cover plate

20,30 with his his method according to actual needs, a for example available ball is located on the circular hole in the middle of the upper cover plate and by this ball one vertical force is sent on this cover plate.

In sum, the utility model increases several sulculuses by symmetry on cruciform sensing built-in beam, forms the strain zone of specific direction sensitivity, under the situation that does not change the built-in beam external dimensions, increase the different directions measurement sensitivity, reduce mutual reciprocal effect.And can significantly reduce size sensor, especially short transverse.Under machining precision and the sufficiently high situation of paster precision, phase mutual interference when significantly reducing the stressed measurement of 2 to 6 degree of freedom.Because the cross structure of compact symmetry, the short transverse size is relatively little, and design is suitable for the line cutting processing and improves symmetrical precision, is suitable for assembling the multiple degrees of freedom ergograph.

Of the present utility model in addition is to be delivered to respectively on the piece that is relatively fixed of cross flexible member by cover plate up and down, stiff end between the cover plate is separate up and down, be fixed in same body surface with respect to existing four end points, and the central point that utilizes cross is used as another stress point, it is thinner that the utility model can be made, and compacter, the short transverse size is littler relatively.

The above, it only is preferred embodiment of the present utility model, be not that the utility model is done any pro forma restriction, though the utility model discloses as above with preferred embodiment, yet be not in order to limit the utility model, any those skilled in the art, in not breaking away from the technical solutions of the utility model scope, when the technology contents that can utilize above-mentioned announcement is made a little change or is modified to the equivalent embodiment of equivalent variations, in every case be not break away from the technical solutions of the utility model content, according to technical spirit of the present utility model to any simple modification that above embodiment did, equivalent variations and modification all still belong in the scope of technical solutions of the utility model.

Claims

1. cross multidimensional force cell is characterized in that it comprises:

The cross flexible member, cross structure for symmetry, this cross flexible member comprises four symmetric offset spread fixed block and intersected blocks that is positioned at the point of crossing, center in four end points of this cross structure, be connected by the affixed beam of sensing between each fixed block and this intersected blocks, this center intersected blocks and respectively the affixed beam of the sensing between this fixed block be provided with at least one pair of horizontal strain beam and vertical beam;

A upper cover plate and a lower cover are the identical cover plate of structure;

This upper cover plate and lower cover are on the crosstie wall that is covered in the cross flexible member of square crossing state, and respectively these cover plate two ends have the corresponding stiff end of this fixed block, and respectively this stiff end is fixedly connected with corresponding fixed block.

2. cross multidimensional force cell according to claim 1 is characterized in that the affixed beam of each sensing is provided with two pairs of horizontal strain beams and vertical strain beam.

3. cross multidimensional force cell according to claim 2 is characterized in that, is provided with the cross section between the two pairs of horizontal strain beams and the vertical beam and is square or circular tie-beam.

4. cross multidimensional force cell according to claim 3 is characterized in that, the width of this tie-beam or diameter and respectively this horizontal strain beam and vertical strain beam, and be identical size with the thickness of each fixed block.

5. according to the described cross multidimensional of one of claim 1-4 force cell, it is characterized in that described upper cover plate and lower cover have and the corresponding stiff end of the fixed block of cross flexible member, the stiff end and the fixed block of each mutual contraposition mutually combine.

6. cross multidimensional force cell according to claim 5 is characterized in that, the position relative with the sensing built-in beam is recessed to form a concave space in the middle of each cover plate.

7. cross multidimensional force cell according to claim 5 is characterized in that, each stiff end is respectively equipped with corresponding connecting hole and is connected perforation with fixed block, each stiff end and fixed block by each connecting hole be connected perforation by being spirally connected or riveting.

8. cross multidimensional force cell according to claim 5 is characterized in that, each stiff end is provided with the fixed orifice that or even number combine with testee.

9. cross multidimensional force cell according to claim 8 is characterized in that, corresponding each fixed orifice of each fixed block is provided with fixing perforation, and fixedly hole dimension greater than fixed orifice.

10. according to the described cross multidimensional of one of claim 1-4 force cell, it is characterized in that, described horizontal strain beam and vertical strain beam, the flakiness shape, make the affixed beam of described sensing and form groove in the position, and described horizontal strain beam and vertical strain beam all have a upper surface and a lower surface of the stress section that is used to be sticked.