CN206048259U - A kind of two dimension clamping force checking device - Google Patents
A kind of two dimension clamping force checking device Download PDFInfo
- Publication number
- CN206048259U CN206048259U CN201621063431.3U CN201621063431U CN206048259U CN 206048259 U CN206048259 U CN 206048259U CN 201621063431 U CN201621063431 U CN 201621063431U CN 206048259 U CN206048259 U CN 206048259U
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- CN
- China
- Prior art keywords
- ring
- foil gauge
- earrings
- hole
- auris dextra
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
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- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The utility model discloses a kind of two dimension clamping force checking device, it is intended to detect the tactile between clamper and object and sliding feel.Detection means includes that former and later two extend octagonal ring, and front ring has a left earrings and an auris dextra ring, and rear ring also has a left earrings and auris dextra ring, and earrings shape size is identical with front ring；Respectively there is a groove between the left and right earrings of front ring and rear ring；Detection means is symmetrical, and respectively there is a through hole on both sides, and holes diameter parallel has a convex groove between holes；The upper left plane and upper right plane of ring is respectively equipped with first foil gauge afterwards, lower-left plane and bottom right plane are respectively equipped with second foil gauge, the left plane of front ring and right plane are respectively equipped with the 3rd foil gauge, and left through hole is respectively equipped with the 4th foil gauge with right through-hole wall.The structure two dimension chucking power structure of the detecting device is simple, and small volume not only can survey normal pressure and tangential force, can also survey sliding feel.
Description
Technical field
This utility model is related to a kind of detection means, it particularly relates to a kind of two dimension clamping force checking device.
Background technology
Soft or crisp object is captured, is one to flexible manipulator Grabbing properties and is challenged.In order to be able to allow mechanical hand picture
The same tactile data according to handss of staff, appropriate adjustment grasp force are realized nonslipping stably capturing process, it is necessary to can be real
When tactile data when grasping crawl and sliding feel information.Sliding feel and tactile data, the structure of the detecting device of employing are perceived simultaneously can
Simply, interference resistance is strong, and low cost is problem demanding prompt solution.
Clamper calculates chucking power indirectly by current of electric mostly at present；Also have and PVDF is used between clamper and object
Or the sliding feeling sensor that the material such as the quick rubber of power makes；Pressure transducer direct detection folder is installed in clamper and object contact point
Holder and object contact pressure.Also the method combined using sliding feeling sensor pressurization force transducer enters line slip to object pre-
Survey.Optimal crawl is should to perceive tactile to perceive sliding feel again.Forefathers adopt multisensor associated methods, multisensor structure
Complexity, capacity of resisting disturbance are weak, and manufacturing cost is high.
Therefore, it is a to detect sliding feel and can detect that the high-sensitivity detection device of tactile is highly desirable to be used in machine
Tool handss end.
The content of the invention
Technical problem：Technical problem to be solved in the utility model is：A kind of two dimension clamping force checking device, knot are provided
Structure is simple, makes simple, low cost, can detect chucking power and tangential force, and can detect sliding feel.
Technical scheme：To solve above-mentioned technical problem, the technical solution of the utility model is such：
A kind of two dimension clamping force checking device, it is characterised in that including front ring 1111 and rear ring 2222；Front ring 1111 has one
Individual left earrings 111 and an auris dextra ring 222, are pasted respectively in the second side 2 of the first side 1 and auris dextra ring 222 of left earrings 111
There is first foil gauge 11；Ring 2222 also has a left earrings 333 and an auris dextra ring 444 afterwards, the 3rd of left earrings 333 the
4th side 4 of side 3 and auris dextra ring 444 posts the 3rd foil gauge 33 respectively, in 5 He of the 5th side of left earrings 333
The 4th foil gauge 44 is posted respectively in 6th side 6 of auris dextra ring 444.
There is first groove 101 between the left earrings 333 of the left earrings 111 and rear ring 2222 of front ring 1111, in front ring
Also there is second groove of identical 102 between 1111 auris dextra ring 222 and the auris dextra ring 444 of rear ring 2222；Detection means is left
Right symmetrical, there is a first through hole 201 on the left side, and 202) the right has second through hole 202, first through hole 201 and the second through hole
Between have a tongue 301, the left inside wall of first through hole 201 and the second through hole 202 right inwall post the second foil gauge respectively
22。
Beneficial effect：This utility model according to the characteristics of octagonal ring stress deformation, the extension eight being parallel to each other using two
Square ring structure realizes chucking power and tangential force and the sliding measurement felt.There is a groove between front ring and rear ring, reduce anise
Ring working width, increased the sensitivity of detection means.Tongue in the middle of detection means, the work for having overload protection to detection means
With.Structure of the detecting device is simple, and processing technology is simple, and processing is substantially that perforate is slotted, and small volume is adapted for mount on mechanical hand folder
Holder end, it is suitable for large-scale promotion.This utility model gathers signal using two full-bridge Wheatstone bridges, increased detection dress
The sensitivity put, for the sliding condition for feeling that signals collecting has been provided.The characteristics of octagonal ring itself has structure decoupling, reduces two
To the impact between power and coupling.This utility model front ring detects chucking power, rear ring detection tangential force and sliding feel, detection means
With modular feature, its measuring circuit independently can be debugged, and simplify workload.
Description of the drawings
Fig. 1 is this utility model two dimension chucking power structure of the detecting device schematic diagram
Have in figure：The left earrings 111 of front ring 1111, rear ring 2222, front ring, the left earrings 333 of front ring auris dextra ring 222, rear ring, after
Ring auris dextra ring 444, first side 1, second side 2, the 3rd side 3, the 4th side 4, the 5th side 5, the 6th side 6, first
Foil gauge 11, the second foil gauge 22, the 3rd foil gauge 33, the 4th foil gauge 44, the first groove 101, the second groove 102, first
Through hole 201, the second through hole 202, tongue 301.
Fig. 2 this utility model two dimension clamping force checking device force analysis figure
Scheme of installation of Fig. 3 this utility model on clamper
Have in figure：Clamper 1, claw 2, two dimension clamping force checking device 3.
Specific embodiment
Below in conjunction with the accompanying drawings invention is described in further detail.
With reference to Fig. 1, a kind of two dimension clamping force checking device, including front ring 1111 and rear ring 2222；Front ring 1111 has one
Left earrings 111 and an auris dextra ring 222, are posted respectively in the second side 2 of the first side 1 and auris dextra ring 222 of left earrings 111
One the first foil gauge 11；Ring 2222 also has a left earrings 333 and an auris dextra ring 444 afterwards, in the 3rd side of left earrings 333
4th side 4 of face 3 and auris dextra ring 444 posts the 3rd foil gauge 33 respectively, in the 5th side 5 and the right side of left earrings 333
The 4th foil gauge 44 is posted respectively in 6th side 6 of earrings 444.A left side for the left earrings 111 and rear ring 2222 of front ring 1111
There is first groove 101 between earrings 333, between the auris dextra ring 444 of the auris dextra ring 222 and rear ring 2222 of front ring 1111
There is second groove of identical 102；Detection means is symmetrical, and there is a first through hole 201 on the left side, and the right has one second
Through hole 202, has a tongue 301 between first through hole 201 and the second through hole 202, the left inside wall of first through hole 201 and second leads to
The right inwall in hole 202 posts second foil gauge 22 respectively.
The two dimension of the structure clamps force checking device operation principle：
During use, with reference to Fig. 3, the bottom surface of detection means is arranged on into claw 2, claw 2 is arranged on clamper 1.Work as folder
When holder 1 works, claw 2 is driven to move, 3 stress deformation of detection means will cause foil gauge change in resistance, and the resistance of change is big
It is little to characterize stress size.Specifically, with reference to Fig. 1, stress coordinate is as shown in the figure.The positive direction of two coordinate axess of X, Y, while right
Answer directed force Fx、FyPositive direction.FxCorrespondence tangential force and sliding feel, FyCorrespondence chucking power.What front ring 1111 and rear ring 2222 were constituted
Octagonal ring bottom is fixed, and top is subject to chucking power FyRub tangential force F for producing with object and detection meansx.Reference Fig. 2, due to
The symmetrical configuration of octagonal ring, structure are similar to annulus, and according to annulus Theoretical Calculation, then arbitrary section moment of flexure is：
Then ring surface strains and is：
In formula, t is anistree ring thickness, and r is octagonal ring average diameter, and E is elasticity modulus of materials.It can be seen that when θ=90 °, Fx
The moment of flexure of generation be 0, ring surface strain only with FyIt is relevant, when θ=39.4 ° or θ=140.6 °, FyThe moment of flexure of generation is 0,
Ring surface strain only with FxIt is relevant.
Stress analysis with regard to extending octagonal ring, as early stage traditional method for designing is the method using Elasticity,
But the mechanical model set up excessively simplifies, and computational accuracy is low, it is impossible to meet practical situation.Mistake is closed to couple of force in order to reduce two
Difference, this utility model carry out finite element analyses using Ansys workbench, accurately find strain node, find foil gauge
Optimized patch position.It is ultimately determined to：In the second side of the first side 1 and auris dextra ring 222 of the left earrings 111 of front ring 1111
Paste first foil gauge 11 at 2 θ=36.6 ° respectively；The first through hole 201 and the second through hole 202 of front ring 111 θ=
Paste second foil gauge 22 at 133.6 ° respectively；In the 3rd side 3 and the right side of rear ring 222 of the left earrings 333 of rear ring 2222
Paste the 3rd foil gauge 33 at θ=96.6 ° of the 4th side 4 of earrings respectively；In the 5th side 5 of the left earrings of rear ring 2222
With at θ=97.6 ° of the 6th side 6 of the auris dextra ring of rear ring 222 respectively paste the 4th foil gauge 44.
The ess-strain of anistree ring surface will change will the first foil gauge 11 and 22 resistance value of the second foil gauge, break electric bridge
Balance, changes into circuit output, is capable of achieving to chucking power F by demarcatingyMeasurement；3rd foil gauge 33 and the 4th strain in the same manner
Piece 44 can measure tangential force FxAnd sliding feel.
Claims (2)
1. a kind of two dimension clamps force checking device, it is characterised in that including front ring (1111) and rear ring (2222)；
Front ring (1111) has a left earrings (111) and an auris dextra ring (222), left earrings (111) first side (1) and
The second side (2) of auris dextra ring (222) posts first foil gauge (11) respectively；Ring (2222) also has a left earrings afterwards
(333) and one auris dextra ring (444), in the 4th side (4) of the 3rd side (3) of left earrings (333) and auris dextra ring (444) point
3rd foil gauge (33) is not posted, in the 5th side (5) and the 6th side (6) of auris dextra ring (444) of left earrings (333)
The 4th foil gauge (44) is posted respectively,
There is first groove (101) between the left earrings (333) of the left earrings (111) and rear ring (2222) of front ring (1111),
Also there is second groove of identical between the auris dextra ring (444) of the auris dextra ring (222) and rear ring (2222) of front ring (1111)
(102)；Detection means is symmetrical, and there is a first through hole (201) on the left side, and there is second through hole (202) on the right, and first leads to
There are a tongue (301), the left inside wall and the second through hole of first through hole (201) between hole (201) and the second through hole (202)
(202) right inwall posts the second foil gauge (22) respectively.
2. according to the two dimension clamping force checking device described in claim 1, it is characterised in that the detection means adopts aluminium alloy
Make.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621063431.3U CN206048259U (en) | 2016-09-19 | 2016-09-19 | A kind of two dimension clamping force checking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621063431.3U CN206048259U (en) | 2016-09-19 | 2016-09-19 | A kind of two dimension clamping force checking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206048259U true CN206048259U (en) | 2017-03-29 |
Family
ID=58371442
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621063431.3U Withdrawn - After Issue CN206048259U (en) | 2016-09-19 | 2016-09-19 | A kind of two dimension clamping force checking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206048259U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393178A (en) * | 2016-09-19 | 2017-02-15 | 江南大学 | Two-dimensional clamping force sensor |
-
2016
- 2016-09-19 CN CN201621063431.3U patent/CN206048259U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393178A (en) * | 2016-09-19 | 2017-02-15 | 江南大学 | Two-dimensional clamping force sensor |
| CN106393178B (en) * | 2016-09-19 | 2019-05-17 | 江南大学 | A kind of two dimension clamping force snesor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170329 Effective date of abandoning: 20190517 |