CN209400564U - Acceleration transducer - Google Patents
Acceleration transducer Download PDFInfo
- Publication number
- CN209400564U CN209400564U CN201920078247.3U CN201920078247U CN209400564U CN 209400564 U CN209400564 U CN 209400564U CN 201920078247 U CN201920078247 U CN 201920078247U CN 209400564 U CN209400564 U CN 209400564U
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- CN
- China
- Prior art keywords
- guard bar
- connecting rod
- type part
- bar
- acceleration transducer
- 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- Withdrawn - After Issue
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Abstract
A kind of acceleration transducer, including upper mounting plate and lower platform, elastomer is provided between upper mounting plate and lower platform, spherical mass block is provided on upper mounting plate, the elastomer is perpendicular girder structure, including flexible connecting rod, the flexible connecting rod includes upper connecting rod, lower link and the elastomeric element for connecting upper connecting rod and lower link, the upper end of upper connecting rod is connected on upper mounting plate, the lower end of lower link is connected on lower platform, and the elastomeric element is V-type part, and the upper end of V-type part is connect with upper connecting rod, lower end is connect with lower link, pastes foil gauge in stress concentration point.When in use, spherical mass block is arranged on upper mounting plate, when applying acceleration, stress is concentrated on elastomeric element using stress concentric method, in elastic limits, increase the peak stress of elastomeric element, and put up resistance strain gage in stress raiser, measuring circuit and input signal source are greatly improved, the measurement accuracy of sensor is improved.When beyond measuring, sensor can effectively protect stress concentrated position.
Description
Technical field
The utility model belongs to sensor technology technology, relates in particular to a kind of humanoid robot wrist multidimensional inertia and adds
Velocity sensor.
Background technique
The man-machine frame people wrist of class is the sensor of a kind of small-range, small size, high sensitivity with multidimensional sensor.It is in class people
Effect on robot wrist: the inertia force that the acceleration of hand and the object held generates can produce the movement of robot wrist
It is raw to influence, it needs acceleration transducer to measure acceleration, and be supplied to control system by feedback device, passes through control
The inertia force that system offsets processed have an impact machine in human wrist.
Sensor studied both at home and abroad at present can be broadly divided into parallel sensor and non-parallel sensor.It is parallel
The measurement method of force snesor, the flexible connecting rod when platform to be measured is by a power, between platform to be measured and fixed platform
Person's movements and expression occur, deformation occurs with connecting rod for the foil gauge on bar at this time, measuring circuit and output electric signal, further according to sensor
Conversion is by the anti-size for releasing testing force of electric signal.The measurement method of parallel acceleration transducer changes platform to be measured into matter
Gauge block, when the platform that acceleration transducer is installed is by an acceleration, mass block will appear an inertia force, and accelerate
The essence of degree sensor is the inertia force measured on mass block.The acceleration of platform to be measured is finally derived further according to inertial matrix
Degree.
According to the actual use situation of humanoid robot wrist acceleration transducer, range is small-range in ± 1g, high
The sensor of susceptibility, therefore elastic element is answered allergic effect to arrive the order of magnitude of 10e-3 when by calibration acceleration.Accelerate
Degree sensor is mounted on robot wrist, and volume should control on the basis of guaranteeing precision in model as small as possible
In enclosing.
Current whether parallel sensor is also non-parallel sensor, there is hinge company in sensor elastomer
It connects, prismatic pair design, such more fragile destructible of connection structure, sensor when being loaded high acceleration in use
The elastic connection stress in the bar concentrated position of structure is more easily damaged.Stress is not concentrated simultaneously.
Summary of the invention
The utility model provides a kind of acceleration transducer, and stress can be made to concentrate on elastomer row location and set, and answered
Power concentrates position to install foil gauge, can improve the input signal source of measuring circuit well, improve the measurement accuracy of sensor.Energy
Effective protection stress concentrated position is not destroyed.The utility model can make stress concentrate on the dog-ear position of V-type bar, and make bar
Above while there is both positive and negative strain.Under the action of guard bar, can make sensor it is certain may no to scale
Normal use under environment.
The purpose of this utility model is achieved in that
A kind of acceleration transducer, including between upper mounting plate and lower platform, bullet is provided between upper mounting plate and lower platform
Property body, be provided with spherical mass block on upper mounting plate, the elastomer is perpendicular girder structure, including flexible connecting rod, the bullet
Property connecting rod include upper connecting rod, lower link and connect upper connecting rod and lower link elastomeric element, the upper end of upper connecting rod is connected to
On upper mounting plate, the lower end of lower link is connected on lower platform, and the elastomeric element is V-type part, and the upper end of V-type part and upper connecting rod connect
It connects, lower end is connect with lower link, pastes foil gauge in stress concentration point.
Further, the elastomeric element further includes V-type part guard bar, and V-type part guard bar includes being arranged on V-type part top
Upper guard bar and the lower guard bar of V-type part lower part is set, upper guard bar and lower guard bar are clamped, upper connecting rod, upper guard bar,
Lower guard bar and lower link are arranged in same vertical straight line.
Further, the lower end of upper connecting rod, V-type part upper end be fixedly connected with upper guard bar；The upper end of lower link, V-type
The lower end of part is fixedly connected with the lower end of lower guard bar.
Further, between the lower end of upper end insertion upper connecting rod and the upper end of upper guard bar of V-type part, and connected by bolt
It connects；Between the upper end of lower end insertion lower link and the lower end of lower guard bar of V-type part, and it is bolted.
Further, the elastomer is at least four, flat to be arranged between upper mounting plate and lower platform.
Further, the elastomer is six, flat to be arranged between upper mounting plate and lower platform.
Further, there is safety clearance between the upper guard bar and lower guard bar.
Further, the lower guard bar top is set as L-type, and lower guard bar upper end is provided with card slot, upper guard bar
Lower end is provided with the protrusion that can be sticked into card slot, and the L-type part on V-type part and lower guard bar top be separately positioned on upper connecting rod,
The two sides of same vertical straight line where upper guard bar, lower guard bar and lower link.
Further, the upper end of V-type part side corresponding with upper guard bar and the upper end of V-type part are corresponding with upper connecting rod
Side, each dog-ear of V-type part medial surface and lateral surface be pasted with thin film strain gauge, the L-type on lower guard bar top
Thin film strain gauge is pasted on part vertical plane corresponding with upper guard bar and horizontal plane or corresponding with lower beam L-type part
Upper guard bar it is vertical towards pasting thin film strain gauge on horizontal plane.
Preferably, the V-type part by V-type bar and is connected to the upper l-shaped rod of V-type bar upper end and is connected to V-type bar lower end
Lower l-shaped rod is complex as a whole, and upper connecting rod, upper l-shaped rod and upper guard bar pass through bolt or rivet interlacement, lower guard bar, upper l-shaped rod
With lower link by bolt or rivet interlacement, the turning outside of the V-type bar is provided with arc groove.
Compared with the existing technology, the utility model has following technical effect: the elasticity of the utility model acceleration transducer
Body does not have hinge connection, designs without prismatic pair yet, and elastomer is perpendicular girder structure.Stress is concentrated on using stress concentric method
On elastomeric element, in elastic limits, increase the peak stress of elastomeric element, and put up resistance-strain in stress raiser
Piece greatly improves measuring circuit and input signal source, improves the measurement accuracy of sensor.When beyond measuring, sensor can have
Effect protection stress concentrated position.
Detailed description of the invention
Fig. 1 is the utility model structure diagram.
Fig. 2 is the utility model elastomer structure schematic diagram.
Fig. 3 is the right view of Fig. 2.
Specific embodiment
As shown in Figure 1-Figure 3, a kind of acceleration transducer, including upper mounting plate 1 and lower platform 2, are provided on upper mounting plate
Spherical mass block 3, is provided with elastomer between upper mounting plate and lower platform, and the elastomer is perpendicular girder structure, including elasticity
Connecting rod, the flexible connecting rod include the elastomeric element of upper connecting rod 16, lower link 11 and connection upper connecting rod and lower link, on
The upper end of connecting rod is connected on upper mounting plate, and the lower end of lower link is connected on lower platform.The elastomeric element includes upper guard bar
17, V-type part 15 and lower guard bar 18, upper guard bar and lower guard bar are the guard bar of V-type part, and guard bar can prevent from using
In the process, the upper connecting rod of sensor structure elastomer and lower link and V-type part stress concentrated position when being loaded high acceleration
It is destroyed, between the lower end of upper end insertion upper connecting rod and the upper end of upper guard bar of V-type part, and is connected by bolt 12；Upper guarantor
Guard bar 17 and lower guard bar 18 are clamped, and between the upper end of lower end insertion lower link and the lower end of lower guard bar of V-type part, and are passed through
Bolt 12 connects, and upper connecting rod, upper guard bar, lower guard bar and lower link are arranged in same vertical straight line, in stress concentration point
Foil gauge is pasted, foil gauge is connect with control system.
The upper end of the upper connecting rod 16 of the utility model is fixed on upper mounting plate by screw rod 4, and the lower end of lower link 11 passes through
Screw rod is fixed on lower platform.
It is bolted between the lower end of the upper connecting rod of the utility model elastomer, the upper end of V-type part and upper guard bar
Connection, the lower end of the upper end of lower link, the lower end of V-type part and lower guard bar is bolted to connection.Rivet can also be passed through
Connection, rivet interlacement can also reach the technical effect of the utility model.
Specifically, the V-type part of the utility model by V-type bar and is connected to the upper l-shaped rod 6 of V-type bar upper end and is connected to V-type
The lower l-shaped rod 8 of bar lower end is complex as a whole, and upper connecting rod, upper l-shaped rod and upper guard bar pass through bolt or rivet interlacement, lower protection
Bar, upper l-shaped rod and lower link are provided with arc groove 7 by bolt or rivet interlacement, the turning outside of the V-type bar.
The elastomer of the utility model is at least four, flat to be arranged between upper mounting plate and lower platform, and the V of elastomer
It is directed toward the line of centres of upper mounting plate and lower platform in the turning of type part.If setting four is suitble to four sensor.Elasticity
Body is arranged six, is suitble to six-dimension acceleration sensor.The present embodiment for six, i.e., by taking six-dimension acceleration sensor as an example into
Row design.
On the utility model guard bar and lower guard bar in the vertical direction be equipped with safety clearance in horizontal direction,
Safety clearance between upper guard bar and lower guard bar is specifically calculated according to the size of V-type bar.The setting energy of this safety clearance
Enough play the role of it is following, when applying acceleration on a sensor and being more than range, guard bar upper and lower position or around position
It can contact, bear extra stress.
Safety clearance i.e. upper the distance between guard bar and lower guard bar, the calculating of this safety clearance is according to V-type part
Sectional twisting angle when bending calculates required distance between guard bar.
It is specific as follows: V-type part being divided into two parts centered on turning, its sectional twisting angle is calculated separately, according to corner side
Journey, M is moment of flexure, and E is elasticity modulus, and I is length, calculates separately and goes up guard bar when applying rated acceleration under
Guard bar sectional twisting angle, further according to V-type part turning at a distance from guard bar, calculate and set between guard bar and lower guard bar
The safety clearance of 0.1mm.
Guard bar top is set as L-type under the utility model, and lower guard bar upper end is provided with card slot, upper guard bar lower end
It is provided with the protrusion that can be sticked into card slot, and the L-type part on V-type part and lower guard bar top is separately positioned on upper connecting rod, upper guarantor
The two sides of same vertical straight line where guard bar, lower guard bar and lower link.
The utility model medial surface of dog-ear and lateral surface among V-type part are pasted with thin film strain gauge, i.e. V-type part
In V-type bar turning medial surface and lateral surface paste thin film strain gauge.
More ideal structure is that the utility model is in the upper end of V-type part side corresponding with upper guard bar and V-type part
Upper end side corresponding with upper connecting rod, L-type part vertical plane corresponding with upper guard bar and water on lower guard bar top
Thin film strain gauge is pasted in plane or in the vertical towards equal on horizontal plane of upper guard bar corresponding with lower beam L-type part
Paste thin film strain gauge.
The utility model sensor is in the linear acceleration no to scale of Z axis upward direction, the bump position of upper guard bar
With the link upper-end contact of lower guard bar.Sensor is in Z axis linear velocity no to scale in downward direction, the pillar of upper guard bar
Position is contacted with the shore position of lower guard bar.Sensor X, Y direction linear acceleration no to scale when, upper guard bar
The link inner faces contact of flat position and lower guard bar.Sensor is when around the angular acceleration no to scale of X, Y direction, and one section
Upper guard bar bump position and lower guard bar link upper-end contact, the shore position for the upper guard bar symmetrically held and lower guarantor
The shore position of guard bar contacts.Sensor direction about the z axis angular acceleration be more than range when, the bump position of upper guard bar with
The link side of lower guard bar contacts.When applying acceleration on a sensor and being more than range, guard bar upper and lower position or
It can be contacted around position, bear extra stress.
Above-described is only preferred embodiments of the present invention, it is noted that for those skilled in the art
For, under the premise of not departing from the utility model general idea, several changes and improvements can also be made, these also should be considered as
The protection scope of the utility model, these all will not influence the effect and patent practicability of the utility model implementation.
Claims (10)
1. a kind of acceleration transducer, including upper mounting plate and lower platform, it is characterised in that: be arranged between upper mounting plate and lower platform
Flexible body, the elastomer is perpendicular girder structure, including flexible connecting rod, the flexible connecting rod include upper connecting rod, lower company
Bar and the elastomeric element for connecting upper connecting rod and lower link, the upper end of upper connecting rod are connected on upper mounting plate, and the lower end of lower link connects
It connecing on lower platform, the elastomeric element is V-type part, and the upper end of V-type part is connect with upper connecting rod, and lower end is connect with lower link,
Stress concentration point pastes foil gauge, and foil gauge is connect with control system.
2. acceleration transducer according to claim 1, it is characterised in that: further include V-type part guard bar, the protection of V-type part
Bar includes the upper guard bar that V-type part top is arranged in and the lower guard bar that V-type part lower part is arranged in, upper guard bar and lower guard bar
Clamping, upper connecting rod, upper guard bar, lower guard bar and lower link are arranged in same vertical straight line.
3. acceleration transducer according to claim 2, it is characterised in that: the lower end of upper connecting rod, the upper end of V-type part and on
Guard bar is fixedly connected；The upper end of lower link, the lower end of V-type part are fixedly connected with the lower end of lower guard bar.
4. acceleration transducer according to claim 3, it is characterised in that: the lower end of the upper end insertion upper connecting rod of V-type part
Between the upper end of upper guard bar, and it is bolted；Under the upper end and lower guard bar of the lower end insertion lower link of V-type part
Between end, and it is bolted.
5. acceleration transducer according to claim 1, it is characterised in that: the elastomer is at least four, averagely sets
It sets between upper mounting plate and lower platform.
6. acceleration transducer according to claim 1, it is characterised in that: the elastomer is six, flat to be arranged at
Between upper mounting plate and lower platform.
7. acceleration transducer according to claim 2, it is characterised in that: have between the upper guard bar and lower guard bar
Safety clearance.
8. acceleration transducer according to claim 2, it is characterised in that: the lower guard bar top is set as L-type,
Lower guard bar upper end is provided with card slot, and upper guard bar lower end is provided with the protrusion that can be sticked into card slot, and V-type part and lower guard bar
The two of same vertical straight line where the L-type part on top is separately positioned on upper connecting rod, upper guard bar, lower guard bar and lower link
Side.
9. acceleration transducer according to claim 2, it is characterised in that: the V-type part is by V-type bar and is connected to V-type
The upper l-shaped rod of bar upper end and the lower l-shaped rod for being connected to V-type bar lower end are complex as a whole, upper connecting rod, upper l-shaped rod and upper guard bar
By bolt or rivet interlacement, lower guard bar, upper l-shaped rod and lower link pass through bolt or rivet interlacement, the turning of the V-type bar
Outside is provided with arc groove.
10. acceleration transducer according to claim 9, it is characterised in that: the medial surface of the dog-ear of V-type bar and outside
Face is pasted with thin film strain gauge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920078247.3U CN209400564U (en) | 2019-01-17 | 2019-01-17 | Acceleration transducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920078247.3U CN209400564U (en) | 2019-01-17 | 2019-01-17 | Acceleration transducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209400564U true CN209400564U (en) | 2019-09-17 |
Family
ID=67898679
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920078247.3U Withdrawn - After Issue CN209400564U (en) | 2019-01-17 | 2019-01-17 | Acceleration transducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209400564U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109580988A (en) * | 2019-01-17 | 2019-04-05 | 北京林业大学 | A kind of acceleration transducer |
-
2019
- 2019-01-17 CN CN201920078247.3U patent/CN209400564U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109580988A (en) * | 2019-01-17 | 2019-04-05 | 北京林业大学 | A kind of acceleration transducer |
| CN109580988B (en) * | 2019-01-17 | 2023-07-18 | 北京林业大学 | Acceleration sensor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190917 Effective date of abandoning: 20230718 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20190917 Effective date of abandoning: 20230718 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |