CN203241182U - Spoke/center pin column combined-type three-dimensional force sensor - Google Patents
Spoke/center pin column combined-type three-dimensional force sensor Download PDFInfo
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Abstract
本实用新型公开了一种轮辐与中心销柱组合式三维力传感器,属于传感器技术应用领域,具体涉及一种新型的三维力传感器,主要应用于三维力检测。该传感器由弹性体(1)和应变片组(2)组成,所述弹性体(1)为一整体式对称结构,由轮辐基座(3)、筋板(5)与中心销柱(4)组成,所述筋板(5)为四块,其上包含八个与XY平面垂直的侧面,所述应变片组(2)包括12个应变片对,分别粘贴在弹性体(1)四个矩形侧面和四块筋板(5)的八个侧面上,所述应变片组(2)随弹性体(1)形状变化产生应变导致电阻变化,并通过应变片组成的惠斯登电桥输出分别与三方向分力FX、FY、FZ成线性正比变化的三个电压信号。
The utility model discloses a three-dimensional force sensor combined with a wheel spoke and a center pin, which belongs to the field of sensor technology applications, and in particular relates to a novel three-dimensional force sensor, which is mainly used in three-dimensional force detection. The sensor is composed of an elastic body (1) and a strain gauge group (2). The elastic body (1) is an integral symmetrical structure consisting of a spoke base (3), a rib (5) and a center pin (4 ), the rib plate (5) consists of four pieces, which contain eight sides perpendicular to the XY plane, and the strain gauge group (2) includes 12 strain gauge pairs, which are respectively pasted on the elastic body (1) four On the eight sides of four rectangular sides and four ribs (5), the strain gauge group (2) produces strain with the change of shape of the elastic body (1) and causes the resistance to change, and through the Wheatstone bridge composed of strain gauges Output three voltage signals that change linearly and proportionally to the three-direction component forces F X , F Y , and F Z respectively.
Description
技术领域technical field
本实用新型属于传感器技术应用领域,具体涉及一种新型的三维力传感器,主要应用于三维力检测。The utility model belongs to the application field of sensor technology, in particular to a novel three-dimensional force sensor, which is mainly used in three-dimensional force detection.
背景技术Background technique
三维力传感器广泛应用于机械制造、机械人、试验检测等领域。目前国内外常见的传感器主要有应变式和压电晶体两种,而弹性体结构可分为悬臂梁型、双梁型、四梁型、岛型、轮辐型等。同时,目前已经开发了基于斯帝瓦特(Stewart)结构的多传感器并联解耦三维力传感器。然而,这些传感器存在结构复杂、线性度不好、刚度低、不便于标定、灵敏度偏低、制造成本较高等缺陷,而且,已开发的三维力传感器往往是利用拉伸、压缩和弯曲应力,即正应力的原理实现载荷测量,存在如下缺点:加力点的变化会引起灵敏度的较大变化;进行拉、压循环加载时灵敏度的偏差比较大;抗偏心载荷和侧向载荷的能力差;需要较大的高度或宽度,故体积大;不能进行小载荷的测量等。这些问题影响了测力与称重传感器主要技术指标的提高。同时,这些传感器安装固定不方便,为多个三维力传感器并联使用带来困难,不能满足轨道车辆转向架参数测试的需要。Three-dimensional force sensors are widely used in machinery manufacturing, robots, test detection and other fields. At present, the common sensors at home and abroad mainly include strain gauge and piezoelectric crystal, and the elastic body structure can be divided into cantilever beam type, double beam type, four beam type, island type, spoke type and so on. At the same time, a multi-sensor parallel decoupling three-dimensional force sensor based on the Stewart structure has been developed. However, these sensors have defects such as complex structure, poor linearity, low stiffness, inconvenient calibration, low sensitivity, and high manufacturing cost. Moreover, the developed three-dimensional force sensors often use tensile, compressive, and bending stresses, namely The principle of normal stress to achieve load measurement has the following disadvantages: the change of the force point will cause a large change in sensitivity; the deviation of sensitivity is relatively large when the tension and compression cycle loading is carried out; the ability to resist eccentric load and lateral load is poor; Large height or width, so the volume is large; the measurement of small loads cannot be carried out. These problems have affected the improvement of the main technical indicators of force measurement and load cells. At the same time, these sensors are inconvenient to install and fix, which makes it difficult to use multiple three-dimensional force sensors in parallel, and cannot meet the needs of rail vehicle bogie parameter testing.
发明内容Contents of the invention
本实用新型所要解决的技术问题是克服了现有技术存在的问题,提供了一种测量精度高、结构紧凑的轮辐与中心销柱组合式三维力传感器。The technical problem to be solved by the utility model is to overcome the problems existing in the prior art, and provide a three-dimensional force sensor with high measurement accuracy and compact structure combined with a wheel spoke and a center pin.
为解决上述技术问题,本实用新型是采用如下技术方案实现的,结合附图说明如下:In order to solve the above-mentioned technical problems, the utility model is realized by adopting the following technical solutions, which are explained as follows in conjunction with the accompanying drawings:
一种轮辐与中心销柱组合式三维力传感器,其特征在于:A three-dimensional force sensor combined with a spoke and a center pin, characterized in that:
该传感器由弹性体1和应变片组2组成,所述弹性体1为一整体式对称结构,由轮辐基座3、筋板5与中心销柱4组成,所述中心销柱4通过筋板5连接在轮辐基座3的中心处,中心销柱4面上包含四个矩形侧面,其中两两对称平行并与XY平面即轮辐基座3底平面垂直,所述筋板5为四块,其上包含八个与XY平面垂直的侧面,所述应变片组2包括12个应变片对,The sensor is composed of an
分别粘贴在弹性体1中的中心销柱4上的四个矩形侧面和四块筋板5的八个与XY平面垂直的侧面上,所述应变片组2随弹性体1形状变化产生应变导致电阻变化,并通过应变片组成的惠斯登电桥输出分别与三方向分力FX、FY、FZ成线性正比变化的三个电压信号。Respectively pasted on the four rectangular sides of the
所述中心销柱4面上的四个矩形侧面包括:方柱第一侧面10、方柱第二侧面11、方柱第三侧面12及方柱第四侧面13,其中,方柱第一侧面10与方柱第三侧面12与X轴平行,方柱第二侧面11与方柱第四侧面13与Y轴平行,四块筋板5上包含八个与XY平面垂直的侧面。The four rectangular sides on the
所述应变片组2的第一应变片对22、第二应变片对23、第三应变片对24和第四应变片对25分别对应粘贴在中心销柱4的方柱第一侧面10、方柱第二侧面11、方柱第三侧面12和方柱第四侧面13上的四个侧面上,第五应变片对26、第六应变片对27、第七应变片对28、第八应变片对29、第九应变片对30、第十应变片对31、第十一应变片对32和第十二应变片对(33)分别对应粘贴在弹性体1中四个筋板5的八个侧面上。The first pair of
所述应变片组2中每一个应变片对均包括两个完全相同的单轴应变片,粘贴在弹性体1的同一侧面上两个应变片纵向中心对称线与分力F平行的轴线方向夹角分别为45°及135°。Each pair of strain gauges in the
所述第一应变片对22及第三应变片对24中1a单轴应变片34、2a单轴应变片(36)的纵向中心对称轴线与X轴呈45°夹角,1b单轴应变片35、2b单轴应变片(37)的纵向中心对称轴线与X轴呈135°夹角;第二应变片对23及第四应变片对25中3a单轴应变片38、4a单轴应变片(40)的纵向中心对称轴线与Y轴呈45°夹角,3b单轴应变片39、4b单轴应变片(41)的纵向中心对称轴线与Y轴呈135°夹角;In the first
粘贴在四个筋板5的八个侧面上八个应变片对中的两个单轴应变片的纵向对称中心线与Z方向即垂直于XY平面方向夹角分别为45°及135°。The included angles between the longitudinal symmetry center line of the two uniaxial strain gauges in the eight strain gauge pairs on the eight sides of the four
所述第一应变片对22及第三应变片对24中四个应变片组成一个惠斯顿电桥,形成用于测量X轴方向分力的全桥测量电路;第二应变片对23及第四应变片对25组成一个惠斯顿电桥,用于测量Y轴方向分力的全桥测量电路。The four strain gauges in the first
所述第五应变片对26、第六应变片对27中的四个单轴应变片构成惠斯顿电桥,形成一个用于测量Z轴方向分力的全桥测量电路;第七应变片对28、第八应变片对29中的四个单轴应变片构成惠斯顿电桥,形成一个用于测量Z轴方向分力的全桥测量电路;第九应变片对30、第十应变片对31中的四个单轴应变片构成惠斯顿电桥,形成一个用于测量Z轴方向分力的全桥测量电路;第十一应变片对32、第十二应变片对33中的四个单轴应变片构成惠斯顿电桥,形成一个用于测量Z轴方向分力的全桥测量电路;The four uniaxial strain gauges in the fifth
对上述四个用于测量Z轴方向分力的全桥测量电路输入电源并联,四个全桥测量电路中的四个正信号输出并联,形成一个正信号输出;将四个全桥测量电路中的四个负信号输出并联,形成一个负信号输出,从而形成一个测量Z轴方向分力的并联测量电路。Connect the input power of the above four full-bridge measurement circuits for measuring the component force in the Z-axis direction in parallel, and connect the four positive signal outputs of the four full-bridge measurement circuits in parallel to form a positive signal output; connect the four full-bridge measurement circuits The four negative signal outputs are connected in parallel to form a negative signal output, thereby forming a parallel measurement circuit for measuring the component force in the Z-axis direction.
与现有技术相比本实用新型的有益效果是:Compared with the prior art, the beneficial effects of the utility model are:
1.传感器灵敏度稳定,抗偏心载荷和侧向载荷的能力强。1. The sensor has stable sensitivity and strong ability to resist eccentric load and lateral load.
2.结构简单、紧凑,方便安装。2. Simple and compact structure, easy to install.
3.传感器维间干扰小,测量精度高。3. The interference between sensor dimensions is small, and the measurement accuracy is high.
附图说明Description of drawings
图1是本实用新型所述的轮辐与中心销柱组合式三维力传感器的轴测投影图;Fig. 1 is the axonometric projection diagram of the combined three-dimensional force sensor of the wheel spoke and the center pin described in the utility model;
图2是本实用新型所述的轮辐与中心销柱组合式三维力传感器中弹性体的主视图;Fig. 2 is the front view of the elastic body in the combined three-dimensional force sensor of the spoke and center pin described in the utility model;
图3是图2中沿A-A剖面的剖视图;Fig. 3 is a sectional view along the A-A section in Fig. 2;
图4是本实用新型所述的轮辐与中心销柱组合式三维力传感器中弹性体的轴测投影图;Fig. 4 is the axonometric projection diagram of the elastic body in the three-dimensional force sensor of the spoke and center pin combined type described in the utility model;
图5是本实用新型所述的轮辐与中心销柱组合式三维力传感器的主视图;Fig. 5 is the front view of the combined three-dimensional force sensor of the spoke and center pin described in the utility model;
图6是图5中沿A-A剖面的剖视图;Fig. 6 is a sectional view along A-A section among Fig. 5;
图7是本实用新型所述的轮辐与中心销柱组合式三维力传感器中的应变片对粘贴位置示意图;Fig. 7 is a schematic diagram of the sticking position of the strain gauge pair in the three-dimensional force sensor of the combined spoke and center pin described in the present invention;
图8是本实用新型所述的轮辐与中心销柱组合式三维力传感器中的X轴方向全桥测量电路示意图;Fig. 8 is a schematic diagram of a full-bridge measurement circuit in the X-axis direction in the combined three-dimensional force sensor of the spoke and center pin described in the present invention;
图9是本实用新型所述的轮辐与中心销柱组合式三维力传感器中的Y轴方向全桥测量电路示意图;Fig. 9 is a schematic diagram of a full-bridge measurement circuit in the Y-axis direction in the combined three-dimensional force sensor of the spoke and center pin described in the present invention;
图10是本实用新型所述的轮辐与中心销柱组合式三维力传感器中的Z轴方向并联测量电路示意图。Fig. 10 is a schematic diagram of a parallel measurement circuit in the Z-axis direction in the combined three-dimensional force sensor of the spoke and center pin according to the present invention.
图中:1.弹性体,2.应变片组,3.轮辐基座,4.中心销柱,5.筋板,6.圆柱段,7.方形贴片段,8.凸台段,9.装卡段,10.方柱第一侧面,11.方柱第二侧面,12.方柱第三侧面,13.方柱第四侧面,14.轮辐筋板第一侧面,15.轮辐筋板第二侧面,16.轮辐筋板第三侧面,17.轮辐筋板第四侧面,18.轮辐筋板第五侧面,19.轮辐筋板第六侧面,20.轮辐筋板第七侧面,21.轮辐筋板第八侧面,22.第一应变片对,23.第二应变片对,24.第三应变片对,25.第四应变片对,26.第五应变片对,27.第六应变片对,28.第七应变片对,29.第八应变片对,30.第九应变片对,31.第十应变片对,32.第十一应变片对,33.第十二应变片对,34.1a单轴应变片,35.1b单轴应变片,36.2a单轴应变片,37.2b单轴应变片,38.3a单轴应变片,39.3b单轴应变片,40.4a单轴应变片,41.4b单轴应变片,42.5a单轴应变片,43.5b单轴应变片,44.6a单轴应变片,45.6b单轴应变片,46.7a单轴应变片,47.7b单轴应变片,48.8a单轴应变片,49.8b单轴应变片,50.9a单轴应变片,51.9b单轴应变片,52.10a单轴应变片,53.10b单轴应变片,54.11a单轴应变片,55.11b单轴应变片,56.12a单轴应变片,57.12b单轴应变片。In the figure: 1. Elastic body, 2. Strain gauge group, 3. Spoke base, 4. Center pin, 5. Rib plate, 6. Cylindrical section, 7. Square sticker section, 8. Boss section, 9. Mounting section, 10. The first side of the square column, 11. The second side of the square column, 12. The third side of the square column, 13. The fourth side of the square column, 14. The first side of the spoke rib, 15. The spoke rib The second side, 16. The third side of the spoke rib, 17. The fourth side of the spoke rib, 18. The fifth side of the spoke rib, 19. The sixth side of the spoke rib, 20. The seventh side of the spoke rib, 21 .The eighth side of the spoke web, 22. The first pair of strain gauges, 23. The second pair of strain gauges, 24. The third pair of strain gauges, 25. The fourth pair of strain gauges, 26. The fifth pair of strain gauges, 27. The sixth pair of strain gauges, 28. The seventh pair of strain gauges, 29. The eighth pair of strain gauges, 30. The ninth pair of strain gauges, 31. The tenth pair of strain gauges, 32. The eleventh pair of strain gauges, 33. The first pair of strain gauges Twelve strain gauge pairs, 34.1a uniaxial strain gauge, 35.1b uniaxial strain gauge, 36.2a uniaxial strain gauge, 37.2b uniaxial strain gauge, 38.3a uniaxial strain gauge, 39.3b uniaxial strain gauge, 40.4a Uniaxial strain gauge, 41.4b uniaxial strain gauge, 42.5a uniaxial strain gauge, 43.5b uniaxial strain gauge, 44.6a uniaxial strain gauge, 45.6b uniaxial strain gauge, 46.7a uniaxial strain gauge, 47.7b single Axial strain gauge, 48.8a uniaxial strain gauge, 49.8b uniaxial strain gauge, 50.9a uniaxial strain gauge, 51.9b uniaxial strain gauge, 52.10a uniaxial strain gauge, 53.10b uniaxial strain gauge, 54.11a uniaxial Strain gauge, 55.11b uniaxial strain gauge, 56.12a uniaxial strain gauge, 57.12b uniaxial strain gauge.
具体实施方式Detailed ways
下面结合附图对本实用新型的具体内容及其实施方式作详细的描述:Below in conjunction with accompanying drawing, specific content of the present utility model and its embodiment are described in detail:
参阅图1,本实用新型所述的轮辐与中心销柱组合式三维力传感器包括弹性体1和应变片组2组成,其中,弹性体1为异型对称结构,应变片组2包括12个应变片对,分别粘贴在弹性体1不同位置处的表面上。Referring to Fig. 1, the combined three-dimensional force sensor of the wheel spoke and the center pin described in the utility model includes an
参阅图2、图3、图4,所述的弹性体1为一异型结构,由轮辐基座3、筋板5与中心销柱4三部分组成,其中,轮辐基座3为一四方环形结构,外部四角边加工有过渡圆角,内部为圆形中空,轮辐基座3的底面平行于XY平面。中心销柱4为一柱形结构,根据不同形状可分为底端圆柱段6、方形贴片段7、凸台段8及装卡段9组成。中心销柱4中心对称轴线与轮辐基座3的中心对称轴线重合,即为弹性体1的中心对称轴线。中心销柱4的底部表面高于轮辐基座3的底部表面,轮辐基座3与中心销柱4的圆柱段6之间均匀分布四个筋板5,将两者连接起来,形成一个完整结构,从而使得施加在中心销柱4的装卡段9的外界三维力通过四个筋板5全部传递到轮辐基座3上。Referring to Fig. 2, Fig. 3 and Fig. 4, the
轮辐基座3加工有螺纹孔,以便通过螺栓将轮辐基座3固定在其他物体上。The
中心销柱4的凸台段8及装卡段9分别加工有圆柱凸台、圆柱轴,顶端加工螺纹,以方便弹性体1顶端的装卡固定。方形贴片段7为结构对称的四方柱体,方形贴片段7的平行于XZ平面的中心对称面与方形贴片段7的平行于YZ平面的中心对称面的交线与中心销柱4的中心对称轴线重合。方形贴片段7具有大小相等、与XY平面垂直正交的四个矩形侧面:方柱第一侧面10、方柱第二侧面11、方柱第三侧面12及方柱第四侧面13。其中,方柱第一侧面10与方柱第三侧面12与X轴平行,方柱第二侧面11与方柱第四侧面13与Y轴平行。为提高传感器灵敏度,在满足需要刚度的前提下,中心销柱4加工中心圆孔,以保证方形贴片段7在受到沿X轴、Y轴方向的横向力时产生足够的变形量。The
轮辐基座3与中心销柱4之间均匀分布四个形状、尺寸完全相同,结构对称的筋板5连接,四个筋板5上与XY平面垂直正交的中心对称面均与弹性体1的中心对称轴线重合。四个筋板5共有8个垂直于XY平面的侧面:轮辐筋板第一侧面14、轮辐筋板第二侧面15、轮辐筋板第三侧面16、轮辐筋板第四侧面17、轮辐筋板第五侧面18、轮辐筋板第六侧面19、轮辐筋板第七侧面20、轮辐筋板第八侧面21。Between the
参看图5、图6,应变片组2共包括12个应变片对:第一应变片对22、第二应变片对23、第三应变片对24、第四应变片对25、第五应变片对26、第六应变片对27、第七应变片对28、第八应变片对29、第九应变片对30、第十应变片对31、第十一应变片对32、第十二应变片对33,每个应变片对由两个完全相同的单轴应变片组成。Referring to Fig. 5 and Fig. 6, the
参看图7,每一个应变片对中的两个单轴应变片纵向中心对称线与该应变片对测量分力F平行的轴线方向夹角分别为45°及135°,以同时测量剪应力产生的互相垂直的两个大小相等而且拉、压成双的主应力。Referring to Figure 7, the included angles between the two uniaxial strain gauge longitudinal center symmetry lines of each strain gauge pair and the axes parallel to the measured component force F of the strain gauge pair are 45° and 135° respectively, so as to simultaneously measure the shear stress generated Two principal stresses of equal magnitude perpendicular to each other and of tension and compression form a pair.
参看图5、图6、图8、图9,第一应变片对22、第二应变片对23、第三应变片对24、第四应变片对25分别粘贴在中心销柱4的方形贴片段7的四个侧面:方柱第一侧面10、方柱第二侧面11、方柱第三侧面12及方柱第四侧面13上,同时,第一应变片对22、第二应变片对23、第三应变片对24、第四应变片对25相对其各粘贴侧面的位置均相同。其中,第一应变片对22粘贴在方柱第一侧面10,第三应变片对24粘贴在方柱第三侧面12上。第一应变片对22中与X轴呈45°夹角的1a单轴应变片34、与X轴呈135°夹角的1b单轴应变片35与第三应变片对24中与X轴呈45°夹角的2a单轴应变片36、与X轴呈135°的2b单轴应变片37灵敏度系数均相同,初始阻值为Rx,构成惠斯顿电桥,形成用于测量X轴方向分力的全桥测量电路,Ex为X轴方向分力测量电路的电源电压,Ux为X轴方向分力测量电路的输出信号电压;第二应变片对23粘贴在方柱第二侧面11、第四应变片对25粘贴在方柱第四侧面13上,第二应变片对23中与Y轴呈45°夹角的3a单轴应变片38、与Y轴呈135°夹角的3b单轴应变片39与第四应变片对25中与Y轴呈45°夹角的4a单轴应变片40、与Y轴呈135°夹角的4b单轴应变片41的灵敏度系数均相同,初始阻值为Ry,构成惠斯顿电桥,形成用于测量Y轴方向分力的全桥测量电路,Ey为Y轴方向分力测量电路的电源电压,Uy为Y轴方向分力测量电路的输出信号电压。Referring to Fig. 5, Fig. 6, Fig. 8 and Fig. 9, the first pair of
参看图5、图6、图10,第五应变片对26、第六应变片对27、第七应变片对28、第八应变片对29、第九应变片对30、第十应变片对31、第十一应变片对32、第十二应变片对33分别粘贴在轮辐基座3中四个筋板的八个侧面:轮辐筋板第一侧面9、轮辐筋板第二侧面15、轮辐筋板第三侧面16、轮辐筋板第四侧面17、轮辐筋板第五侧面18、轮辐筋板第六侧面19、轮辐筋板第七侧面20、轮辐筋板第八侧面21上。上述八个应变片对相对其各粘贴侧面的位置均相同,同时八个应变片对的十六个单轴应变片灵敏度系数均相同,初始阻值均为Rz。第五应变片对26粘贴在轮辐筋板第一侧面14,第六应变片对27粘贴在轮辐筋板第二侧面15上的。第五应变片对26中与Z轴呈45°夹角的5a单轴应变片42、与Z轴呈135°夹角的5b单轴应变片43与第六应变片对27中与Z轴呈45°夹角的6a单轴应变片44、与X轴呈135°的6b单轴应变片45灵敏度系数均相同,初始阻值为RZ,构成惠斯顿电桥,形成用于测量Z轴方向分力的全桥测量电路;Referring to Fig. 5, Fig. 6 and Fig. 10, the fifth
相似的,第七应变片对28、第八应变片对29中的四个单轴应变片:7a单轴应变片46、7b单轴应变片47、8a单轴应变片48、8b单轴应变片49构成惠斯顿电桥,形成一个用于测量Z轴方向分力的全桥测量电路;第九应变片对30、第十应变片对31中的四个单轴应变片:9a单轴应变片50、9b单轴应变片51、10a单轴应变片52、10b单轴应变片53构成惠斯顿电桥,形成一个用于测量Z轴方向分力的全桥测量电路;第十一应变片对32、第十二应变片对33中的四个单轴应变片::11a单轴应变片54、11b单轴应变片55、12a单轴应变片56、12b单轴应变片57构成惠斯顿电桥,形成一个用于测量Z轴方向分力的全桥测量电路。对上述四个用于测量Z轴方向分力的全桥测量电路统一提供所需的电源信号,将四个全桥测量电路中的四个正信号输出并联,形成一个正信号输出;将四个全桥测量电路中的四个负信号输出并联,形成一个负信号输出,从而形成一个测量Z轴方向分力的并联测量电路。Similarly, four uniaxial strain gauges in the seventh
轮辐与中心销柱组合式三维力传感器的工作原理:The working principle of the three-dimensional force sensor combined with the spoke and the center pin:
轮辐与中心销柱组合式三维力传感器工作时,弹性体1中的中心销柱4的装卡段9与施力物体固定连接,弹性体1中的轮辐基座3通过螺栓等方式固定在承力物体上。当外力通过中心销柱4作用到轮辐与中心销柱组合式三维力传感器时,在X轴、Y轴方向分力FX、FY作用下,中心销柱4产生剪切应力,Z轴方向分力FZ作用下,弹性体1中的四个筋板5产生剪切应力。由于剪切应力产生了呈45°方向的互相垂直的两个大小相等而且拉、压成双的主应力,粘贴在方形贴片段7四个侧面和筋板的8个侧面上的应变片对的电阻值发生的相应的变化。通过对X轴方向分力测量电路、Y轴方向分力测量电路、Z轴方向分力并联测量电路供应所需电源电压后,各测量电路输出与其对应方向分力大小成正比的输出电压信号,通过对数据采集系统对轮辐与中心销柱组合式三维力传感器的输出信号标定处理后,即可获得被测三维力值。When the spoke and center pin combined three-dimensional force sensor is working, the clamping section 9 of the
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
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CN103292939A (en) * | 2013-05-19 | 2013-09-11 | 吉林大学 | Spoke and central pin column combined type three-dimensional force sensor |
CN103753519A (en) * | 2014-01-13 | 2014-04-30 | 东南大学 | Platform mechanism focusing on calibration method of three degree of freedom force feedback hand controller |
CN104913837A (en) * | 2015-07-01 | 2015-09-16 | 湖南大学 | Intelligent weighing bearer based on basin-type bearer improvement |
CN108072509A (en) * | 2016-11-17 | 2018-05-25 | 上海汽车集团股份有限公司 | The load measuring system of rotational parts in articulated structure |
CN111060237A (en) * | 2019-10-23 | 2020-04-24 | 宁波柯力传感科技股份有限公司 | Bridge circuit of force cell |
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Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
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CN103292939A (en) * | 2013-05-19 | 2013-09-11 | 吉林大学 | Spoke and central pin column combined type three-dimensional force sensor |
CN103753519A (en) * | 2014-01-13 | 2014-04-30 | 东南大学 | Platform mechanism focusing on calibration method of three degree of freedom force feedback hand controller |
CN103753519B (en) * | 2014-01-13 | 2016-07-06 | 东南大学 | Platform mechanism for the scaling method of the force feedback hand controlled device of Three Degree Of Freedom |
CN104913837A (en) * | 2015-07-01 | 2015-09-16 | 湖南大学 | Intelligent weighing bearer based on basin-type bearer improvement |
CN108072509A (en) * | 2016-11-17 | 2018-05-25 | 上海汽车集团股份有限公司 | The load measuring system of rotational parts in articulated structure |
CN108072509B (en) * | 2016-11-17 | 2019-10-22 | 上海汽车集团股份有限公司 | The load measuring system of rotational parts in articulated structure |
CN111060237A (en) * | 2019-10-23 | 2020-04-24 | 宁波柯力传感科技股份有限公司 | Bridge circuit of force cell |
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