CN206339325U - It is a kind of to reduce the device that three-dimensional force sensor all directions intercouple - Google Patents
It is a kind of to reduce the device that three-dimensional force sensor all directions intercouple Download PDFInfo
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- CN206339325U CN206339325U CN201621301986.7U CN201621301986U CN206339325U CN 206339325 U CN206339325 U CN 206339325U CN 201621301986 U CN201621301986 U CN 201621301986U CN 206339325 U CN206339325 U CN 206339325U
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Abstract
The utility model is related to the device that a kind of reduction three-dimensional force sensor all directions intercouple, including top board, force-transmitting pole, lower platen, and the vectorial force that top board is born it by four force-transmitting poles being evenly arranged passes to lower platen；Arrange X to resistance strain gage group, Y-direction resistance strain gage group and Z-direction resistance strain gage group on each four surfaces of force-transmitting pole, force-transmitting pole produces elastic deformation under external load function, and X just can perceive its deformation quantity each on direction to resistance strain gage group, Y-direction resistance strain gage group and Z-direction resistance strain gage group.It is theoretical by, to the rational space arrangement of resistance strain gage progress, to eliminate interfering between component, solving the problem that three-dimensional force sensor has retinoic acid syndrome to each, improving the degree of accuracy of three-dimensional force sensor measurement that the device is based on flexural deformation.
Description
Technical field
The utility model is related to the device that a kind of reduction three-dimensional force sensor all directions intercouple, and the device is based on bending
Deformation Theory to each by, to the rational space arrangement of resistance strain gage progress, to eliminate interfering between component, solving
There is the problem of retinoic acid syndrome in three-dimensional force sensor, improve the degree of accuracy of three-dimensional force sensor measurement.
Background technology
Sensor is played an important role in industrial production, national defense construction and science and technology field, and sensor technology is existing
One of three big pillars for information technology.Multi dimension sensor can measure all one's effort information of three dimensions, be widely used in essence
In the operations such as close assembling, Contour extraction, two hands coordination, at the same intelligent robot, automatically control, Aero-Space, bionic movement
Etc. research field extensive use.For the research of multi dimension sensor, its key problem is the structure design and resistance of elastomer
The reasonable Arrangement of foil gauge, the structures shape of elastomer the rigidity of sensor, resolution ratio, sensitivity and dynamic property etc., electricity
The retinoic acid syndrome and measurement accuracy of the space arrangement influence sensor of foil gauge are hindered, both are the good and bad keys of sensor performance
Place.However, special in resolution ratio, measurement accuracy, retinoic acid syndrome and dynamic in the design process of three-dimensional force sensor at present
Property between be difficult reach an equalization point.Domestic three-dimensional force sensor generally uses core structure, and resistance strain gage is arranged in circle
, but there is big retinoic acid syndrome degree, poor dynamic, stability low in cylinder both ends, it is ensured that sensor has higher sensitivity
Deng deficiency.In recent years, some scholars explore high column structure, such as, in the special of Publication No. CN200920276179.8
A kind of column type three-dimensional force transducer is disclosed in profit, the sensor sample high column structure, and resistance strain gage is arranged
In column center, technique improves the stability and dynamic property for improving sensor to a certain extent, but still without
Method solves the problem that three-dimensional force sensor has retinoic acid syndrome.
The content of the invention
The purpose of this utility model is to provide the device that a kind of reduction three-dimensional force sensor all directions intercouple, and is passed through
The pillar that opposes three-dimensional force sensor carries out structure improvement, and theoretical to each rational to resistance strain gage progress based on flexural deformation
Space is arranged, solves the problem that three-dimensional force sensor has retinoic acid syndrome, improves the combination property of three-dimensional force sensor.
To reach above-mentioned purpose, technical solution adopted in the utility model is：
It is a kind of to reduce the device that three-dimensional force sensor all directions intercouple, including top board, force-transmitting pole, lower platen, on
The vectorial force that pressing plate is born it by four force-transmitting poles being evenly arranged passes to lower platen；Each four surfaces of force-transmitting pole
On arrange X to resistance strain gage group, Y-direction resistance strain gage group and Z-direction resistance strain gage group, the force-transmitting pole under external load function
Elastic deformation is produced, X just can perceive its each side to resistance strain gage group, Y-direction resistance strain gage group and Z-direction resistance strain gage group
Upward deformation quantity.
The force-transmitting pole that described four are evenly arranged is the elastomer of the three-dimensional force sensor, and the housing of elastomer is along shell
The axial structure symmetrical above and below of body, by housing hollow out, forms top board, force-transmitting pole, lower platen respectively.
Described X should by resistance strain gage Xa, resistance strain gage Xb, resistance strain gage Xc and resistance to resistance strain gage group
Become piece Xd compositions, resistance strain gage Xa, resistance strain gage Xb, resistance strain gage Xc and resistance strain gage Xd are laterally right with force-transmitting pole
Its two ends is arranged symmetrically in centered on title face, one group of full-bridge circuit Qx is constituted, for completing the measurement to X-direction component Fx.
Described Y-direction resistance strain gage group should by resistance strain gage Ya, resistance strain gage Yb, resistance strain gage Yc and resistance
Become piece Yd compositions, resistance strain gage Ya, resistance strain gage Yb, resistance strain gage Yc and resistance strain gage Yd are laterally right with force-transmitting pole
Its two ends is arranged symmetrically in centered on title face, one group of full-bridge circuit Qy is constituted, for completing the measurement to Y-direction component Fy.
Described Z-direction resistance strain gage group should by resistance strain gage Za, resistance strain gage Zb, resistance strain gage Zc and resistance
Become piece Zd composition, resistance strain gage Zc and resistance strain gage Zd is arranged on the apparent surface of force-transmitting pole two, resistance strain gage Zc with
Resistance strain gage Zd centers are overlapped with the lateral symmetry face of post and are arranged symmetrically centered on the longitudinally asymmetric face of force-transmitting pole；Resistance-strain
Piece Za and resistance strain gage Zb is located at the apparent surface of force-transmitting pole two, and its center is overlapped with the lateral symmetry face of post, resistance strain gage Za,
Resistance strain gage Zb, resistance strain gage Zc and resistance strain gage Zd are series on same branch road, constitute one group of full-bridge circuit Qz, are used
In measurement of the completion to Z-direction component Fz.
Described top board, lower platen use multidiameter structure.
Having the beneficial effect that acquired by the utility model：
The utility model can complete the measurement to tri- direction component of vectorial force X, Y, Z, and the utility model is with three-dimensional force
Based on Sensor Studs formula structure, and use for reference the design advantage of core structure, it is ensured that the new three dimensions force sensor has
Higher sensitivity, measurement accuracy and dynamic characteristic, and based on flexural deformation theory by being carried out to each to resistance strain gage
Rational space arrangement, eliminates three-dimensional force sensor retinoic acid syndrome sex chromosome mosaicism.
Brief description of the drawings
Fig. 1 is the utility model three-dimensional force sensor structural representation I；
Fig. 2 is the utility model three-dimensional force sensor structural representation II；
Fig. 3 is the utility model three-dimensional force sensor force-transmitting pole resistance strain gage arrangement schematic diagram I；
Fig. 4 is the utility model three-dimensional force sensor force-transmitting pole resistance strain gage arrangement schematic diagram II；
Fig. 5 is the utility model three-dimensional force sensor force-transmitting pole resistance strain gage arrangement schematic diagram III；
Fig. 6 is X to full-bridge circuit Qx；
Fig. 7 is Y-direction full-bridge circuit Qy；
Fig. 8 is Z-direction a quarter bridge circuit Qz；
In figure：1- top boards；2- force-transmitting poles；3- lower platens；4-Y is to resistance strain gage group；5-X is to resistance strain gage group；
6-Z is to resistance strain gage group；7- resistance strain gages Xa；8- resistance strain gages Za；9- resistance strain gages Xb；10- resistance strain gages
Ya；11- resistance strain gages Yb；12- resistance strain gages Zb；13- resistance strain gages Zc；14- resistance strain gages Yc；15- resistance should
Become piece Yd；16- resistance strain gages Xc；17- resistance strain gages Zd；18- resistance strain gages Xd.
Embodiment
The utility model is described in detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in Fig. 1-8, the device bag that a kind of reduction three-dimensional force sensor all directions described in the utility model intercouple
Top board 1, force-transmitting pole 2, lower platen 3 and resistance strain gage group are included, the housing of composition elastomer is axially symmetrical above and below along housing
Structure；By housing hollow out, top board 1, force-transmitting pole 2, lower platen 3 are formed respectively, and top board 1 passes through 4 power transmissions being evenly arranged
The vectorial force that post 2 is born it passes to lower platen 3；4 force-transmitting poles 2 being evenly arranged are the elasticity of the three-dimensional force sensor
Arrange X to resistance strain gage group 5, Y-direction resistance strain gage group 4 and Z-direction resistance-strain on body, each 2 four surfaces of force-transmitting pole
Piece group 6, elastomer force-transmitting pole 2 produces elastic deformation under external load function, and X is to resistance strain gage group 5, Y-direction resistance strain gage
Group 4 just can perceive its deformation quantity each on direction with Z-direction resistance strain gage group 6.
X should by resistance strain gage Xa7, resistance strain gage Xb9, resistance strain gage Xc16 and resistance to resistance strain gage group 5
Become piece Xd18 compositions, resistance strain gage Xa7, resistance strain gage Xb9, resistance strain gage Xc16 and resistance strain gage Xd18 are with power transmission
Its two ends is arranged symmetrically in centered on the lateral symmetry face of post 2, one group of full-bridge circuit Qx is constituted, for completing to X-direction component Fx
Measurement.
Y-direction resistance strain gage group 4 is by resistance strain gage Ya10, resistance strain gage Yb11, resistance strain gage Yc14 and resistance
Foil gauge Yd15 constitute, resistance strain gage Ya10, resistance strain gage Yb11, resistance strain gage Yc14 and resistance strain gage Yd15 with
Its two ends is arranged symmetrically in centered on the lateral symmetry face of force-transmitting pole 2, one group of full-bridge circuit Qy is constituted, for completing to Y-direction point
Power Fy measurement.
Z-direction resistance strain gage group 6 should by resistance strain gage Za8, resistance strain gage Zb12, resistance strain gage Zc13 and resistance
Become piece Zd17 compositions, and it is theoretical based on flexural deformation, resistance strain gage Zc13 and resistance strain gage Zd17 are arranged in force-transmitting pole 2
On two apparent surfaces, it is ensured that resistance strain gage Zc13 is overlapped and with power transmission with the lateral symmetry face of resistance strain gage Zd17 centers and post
Post 2 is arranged symmetrically centered on longitudinally asymmetric face；Resistance strain gage Za8 and resistance strain gage Zb12 is located at the relative table of 2 liang of force-transmitting pole
Face, its center is overlapped with the lateral symmetry face of post, for temperature-compensating.Resistance strain gage Za8, resistance strain gage Zb12, resistance should
Become piece Zc13 and resistance strain gage Zd17 and constitute one group of full-bridge circuit Qz, for completing the measurement to Z-direction component Fz.
The present embodiment determines range according to requirements, axial force F z range 500kN, tangential force Fx, Fy range 150kN,
Determine that the critical size of the three-dimensional force sensor elastomer is as follows according to range：Sensor top board 1, lower platen 3 are a diameter ofTop board 1, lower platen 3 use multidiameter structure, and gross thickness is 50mm；Four force-transmitting poles 2 with top board 1, push
The central shaft of plate 3 is evenly arranged in a diameter ofCircle on, its sectional dimension is 30mmx30mm, on each force-transmitting pole 2
X is pasted with to resistance strain gage group 5, Y-direction resistance strain gage group 4 and Z-direction resistance strain gage group 6, for completing to axial force
Fz and the measurement of tangential force Fx, Fy.
By taking wherein any one force-transmitting pole 2 as an example, its X is to resistance strain gage group 5, Y-direction resistance strain gage group 4 and Z-direction resistance
The arrangement schematic diagram of foil gauge group 6 is as shown in Fig. 3-5, and wherein X distinguishes cloth to resistance strain gage group 5, Y-direction resistance strain gage group 4
2 liang of apparent surfaces of force-transmitting pole are placed in, and separately constitute full bridge measurement circuit as shown in Figure 6, Figure 7, for completing to tangential force
Fx, Fy measurement, as long as ensureing that X is located at force-transmitting pole 2 respectively to resistance strain gage group 5 and the paste position of Y-direction resistance strain gage group 4
On longitudinally asymmetric face, and positioned at the upper symmetric position of two apparent surfaces, you can eliminate X to the retinoic acid syndrome problem with Y-direction.
Z-direction resistance strain gage Za8, resistance strain gage Zd17 and resistance strain gage Zb12, resistance strain gage Zc13 are arranged in
2 liang of apparent surfaces of force-transmitting pole, and a quarter bridge circuit as shown in Figure 8 is constituted, for completing the measurement to tangential force Fz.Its
Middle resistance strain gage Za8 and resistance strain gage Zb12 be located at the lateral symmetry face of force-transmitting pole 2 on and laterally paste, force-transmitting pole 2 by
When being acted on to external force, this two resistance strain gage will not be deformed upon, for Z-direction temperature-compensating；Resistance strain gage Zc13 and resistance
Foil gauge Zd17 is arranged on the lateral symmetry face of force-transmitting pole 2 and to be pasted on the longitudinally asymmetric face both sides of force-transmitting pole 2, is become based on bending
Shape it is theoretical when force-transmitting pole 2 by X to or during the effect of Y-direction external force, force-transmitting pole 2 occurs bending and deformation, and using the neutral line of force-transmitting pole 2 as
Deformation equal in magnitude, in opposite direction occurs for symmetrical centre, symmetrical both sides, as shown in Figure 8 by resistance strain gage Zc13 and resistance
Foil gauge Zd17 is series on same branch road, you can eliminate X to the retinoic acid syndrome problem with Y-direction and Z-direction.
Claims (6)
1. a kind of reduce the device that three-dimensional force sensor all directions intercouple, it is characterised in that：Including top board (1), power transmission
Post (2), lower platen (3), the vectorial force that top board (1) is born it by four force-transmitting poles being evenly arranged (2) are passed to
Lower platen (3)；Arrange X to resistance strain gage group (5), Y-direction resistance strain gage group (4) on each (2) four surfaces of force-transmitting pole
With Z-direction resistance strain gage group (6), force-transmitting pole (2) produces elastic deformation under external load function, and X is to resistance strain gage group (5), Y
Its deformation quantity each on direction is perceived to resistance strain gage group (4) and Z-direction resistance strain gage group (6).
2. the device that reduction three-dimensional force sensor all directions according to claim 1 intercouple, it is characterised in that：It is described
Four force-transmitting poles (2) for being evenly arranged be the three-dimensional force sensor elastomer, the housing of elastomer is along along housing axial direction
Lower symmetrical structure, by housing hollow out, forms top board (1), force-transmitting pole (2), lower platen (3) respectively.
3. the device that reduction three-dimensional force sensor all directions according to claim 1 intercouple, it is characterised in that：It is described
X to resistance strain gage group (5) by resistance strain gage Xa (7), resistance strain gage Xb (9), resistance strain gage Xc (16) and resistance
Foil gauge Xd (18) is constituted, resistance strain gage Xa (7), resistance strain gage Xb (9), resistance strain gage Xc (16) and resistance strain gage
Xd (18) is arranged symmetrically in its two ends centered on force-transmitting pole (2) lateral symmetry face, one group of full-bridge circuit Qx is constituted, for completing
Measurement to X-direction component Fx.
4. the device that reduction three-dimensional force sensor all directions according to claim 1 intercouple, it is characterised in that：It is described
Y-direction resistance strain gage group (4) by resistance strain gage Ya (10), resistance strain gage Yb (11), resistance strain gage Yc (14) and electricity
Foil gauge Yd (15) compositions are hindered, resistance strain gage Ya (10), resistance strain gage Yb (11), resistance strain gage Yc (14) and resistance should
Become piece Yd (15) and its two ends is arranged symmetrically in centered on force-transmitting pole (2) lateral symmetry face, constitute one group of full-bridge circuit Qy, be used for
Complete the measurement to Y-direction component Fy.
5. the device that reduction three-dimensional force sensor all directions according to claim 1 intercouple, it is characterised in that：It is described
Z-direction resistance strain gage group (6) by resistance strain gage Za (8), resistance strain gage Zb (12), resistance strain gage Zc (13) and resistance
Foil gauge Zd (17) is constituted, and resistance strain gage Zc (13) and resistance strain gage Zd (17) is arranged in the apparent surface of force-transmitting pole (2) two
On, resistance strain gage Zc (13) is overlapped with resistance strain gage Zd (17) centers with the lateral symmetry face of post and with force-transmitting pole (2) longitudinal direction
It is arranged symmetrically centered on the plane of symmetry；Resistance strain gage Za (8) and resistance strain gage Zb (12) is located at force-transmitting pole (2) two with respect to table
Face, its center is overlapped with the lateral symmetry face of post, resistance strain gage Za (8), resistance strain gage Zb (12), resistance strain gage Zc (13)
And resistance strain gage Zd (17) is series on same branch road, one group of full-bridge circuit Qz is constituted, for completing to Z-direction component Fz's
Measurement.
6. the device that reduction three-dimensional force sensor all directions according to claim 1 intercouple, it is characterised in that：It is described
Top board (1), lower platen (3) use multidiameter structure.
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| CN201621301986.7U CN206339325U (en) | 2016-11-30 | 2016-11-30 | It is a kind of to reduce the device that three-dimensional force sensor all directions intercouple |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107884108A (en) * | 2017-11-30 | 2018-04-06 | 江西洪都航空工业集团有限责任公司 | A kind of triaxial residual stresses based on uniaxially pull pressure sensor |
| CN108120543A (en) * | 2016-11-30 | 2018-06-05 | 北京航天计量测试技术研究所 | A kind of device for reducing three-dimensional force sensor all directions and intercoupling |
-
2016
- 2016-11-30 CN CN201621301986.7U patent/CN206339325U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108120543A (en) * | 2016-11-30 | 2018-06-05 | 北京航天计量测试技术研究所 | A kind of device for reducing three-dimensional force sensor all directions and intercoupling |
| CN107884108A (en) * | 2017-11-30 | 2018-04-06 | 江西洪都航空工业集团有限责任公司 | A kind of triaxial residual stresses based on uniaxially pull pressure sensor |
| CN107884108B (en) * | 2017-11-30 | 2020-01-31 | 江西洪都航空工业集团有限责任公司 | three-dimensional force measuring platform based on single axial tension pressure sensor |
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