CN210603692U - Small-range three-dimensional sensor - Google Patents
Small-range three-dimensional sensor Download PDFInfo
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- CN210603692U CN210603692U CN201921846967.6U CN201921846967U CN210603692U CN 210603692 U CN210603692 U CN 210603692U CN 201921846967 U CN201921846967 U CN 201921846967U CN 210603692 U CN210603692 U CN 210603692U
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
- G01L5/1627—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of strain gauges
Abstract
The utility model discloses a small-range three-dimensional sensor, which comprises an elastic body, an upper cover plate, a lower cover plate and a circuit board, wherein the circuit board is arranged in the elastic body, and the upper cover plate and the lower cover plate are respectively fixed on the upper side and the lower side of the elastic body; the elastic body comprises a stress platform, a tire and four groups of strain beam sets which are symmetrically arranged, the tire is sleeved outside the stress platform, the four groups of strain beam sets are uniformly distributed between the stress platform and the tire, one end of each strain beam set is connected with the outer surface of the stress platform, and the other end of each strain beam set is connected with the inner surface of the tire. The small-range three-dimensional sensor elastic body has the advantages of simple structure, easiness in processing, high measurement precision and the like.
Description
Technical Field
The utility model belongs to sensor measurement field relates to a small-scale range three-dimensional sensor and test method thereof, based on resistance strain formula principle, mainly used imitates gecko robot motion mechanics test system.
Background
With the rapid development of scientific technology, sensors have been advanced into various fields of industrial production, which typically come from the robot industry, the polishing industry, various friction and wear testers, and the like, and as for the sensor principle, there are common resistive strain type, photoelectric type, capacitive type, electromagnetic type, and the like, and there are one-dimensional sensors, two-dimensional sensors, three-dimensional sensors, six-dimensional sensors, and the like. In the case of three-dimensional sensors, the measurement accuracy is low, which is particularly indicated by the fact that the coupling between dimensions is large, generally reaching 10%, even reaching 30%, and especially in the case of small-range three-dimensional sensors, such large coupling causes a large measurement error, and is difficult to use in industrial production. For the gecko-like motion mechanics testing system, the required range is small, and in addition, eccentric loading is required in the testing process, so that the three-dimensional sensor with large coupling cannot be used.
SUMMERY OF THE UTILITY MODEL
Based on the analysis, the utility model provides a novel small-scale range three-dimensional sensor and measuring method, this three-dimensional sensor have that elastomer simple structure, easily processing, especially theoretically the dimension coupling is little, is close to zero, and measurement accuracy is high. If the coupling between dimensions is large due to errors such as machining errors, mounting errors, assembly errors, and the like, the coupling between dimensions can be reduced by a process of trimming corners so that the coupling between dimensions is close to zero.
The small-range three-dimensional sensor comprises an elastic body, an upper cover plate, a lower cover plate and a circuit board, wherein the circuit board is arranged in the elastic body, and the upper cover plate and the lower cover plate are respectively fixed on the upper side and the lower side of the elastic body; the elastic body comprises a stress platform, a wheel hoop and four groups of strain beam sets which are symmetrically arranged, the wheel hoop is sleeved outside the stress platform, the four groups of strain beam sets are uniformly distributed between the stress platform and the wheel hoop, one end of each group of strain beam sets is connected with the outer surface of the stress platform, the other end of each group of strain beam sets is connected with the inner surface of the wheel hoop, each group of strain beam sets comprises three strain beams, and each group of strain beam sets is T-shaped as a whole; pasting a strain gauge on the strain beam; the strain gauges in the four strain beam groups are connected to form six groups of Wheatstone bridges which are connected in parallel, a group of power lines and six groups of signal lines of the small-range three-dimensional sensor are welded to a circuit board, 16 core wires are welded to the circuit board, the 16 core wires lead out the elastic body from a wire outlet, the 16 core wires leading out the elastic body are welded with an aviation plug, and the aviation plug is connected to the data acquisition box in an inserting mode.
The utility model discloses a novel three-dimensional sensor of small amount of journey, based on resistance strain formula principle, wherein the elastomer is the core component, and its performance index is directly influencing each item performance index of sensor, especially the design of meeting an emergency roof beam and the selection of material.
The utility model discloses the technical scheme who further injects is:
four lug seats for fixing the circuit board are uniformly distributed on the inner surface of the wheel rim.
Each strain beam group is in a T shape, each strain beam group consists of three strain beams, twelve strain beams are arranged, and the strain beams are respectively defined as a first strain beam, a second strain beam, a third strain beam, a fourth strain beam, a fifth strain beam, a sixth strain beam, a seventh strain beam, an eighth strain beam, a ninth strain beam, a tenth strain beam, an eleventh strain beam and a twelfth strain beam;
one end of each of a ninth strain beam, a tenth strain beam, an eleventh strain beam and a twelfth strain beam is connected with the inner surface of the stress platform, the other end of the ninth strain beam is fixed with a junction of the first strain beam and the fourth strain beam, the other end of the tenth strain beam is fixed with a junction of the second strain beam and the third strain beam, the other end of the eleventh strain beam is fixed with a junction of the sixth strain beam and the seventh strain beam, and the other end of the twelfth strain beam is fixed with a junction of the fifth strain beam and the eighth strain beam;
r1 strain gauges, R4 strain gauges, R5 strain gauges, R8 strain gauges, R3 strain gauges, R2 strain gauges, R6 strain gauges and R7 strain gauges are respectively adhered to one side of a first strain beam, a fourth strain beam, a fifth strain beam, an eighth strain beam, a third strain beam, a second strain beam, a sixth strain beam and a seventh strain beam;
the front and back sides of the ninth strain beam, the tenth strain beam, the eleventh strain beam and the twelfth strain beam are respectively pasted with a strain gauge, the wire grids of the strain gauges are unconnected double-grid strain gauges in the 45-degree direction, one surface of the ninth strain beam is pasted with an R14 strain gauge and an R13 strain gauge, and the other surface of the ninth strain beam is pasted with an R9 strain gauge and an R10 strain gauge; adhering an R11 strain gauge and an R12 strain gauge to one surface of a ten-gauge strain beam, and adhering an R15 strain gauge and an R16 strain gauge to the other surface of the ten-gauge strain beam; an R19 strain gauge and an R20 strain gauge are pasted on one surface of an eleventh strain beam, and an R21 strain gauge and an R22 strain gauge are pasted on the other surface of the eleventh strain beam; an R23 strain gauge and an R24 strain gauge are pasted on one surface of a No. twelve strain beam, and an R18 strain gauge and an R17 strain gauge are pasted on the other surface of the No. twelve strain beam;
the bridge circuit 1 is composed of an R1 strain gauge, an R2 strain gauge, an R3 strain gauge and an R4 strain gauge, the bridge circuit 1 outputs U01 voltage, the bridge circuit 2 is composed of an R5 strain gauge, an R6 strain gauge, an R7 strain gauge and an R8 strain gauge, the bridge circuit 2 outputs U02 voltage, an R9 strain gauge, an R10 strain gauge, an R11 strain gauge and an R12 strain gauge, the bridge circuit 3 outputs U03 voltage, an R13 strain gauge, an R14 strain gauge, an R15 strain gauge and an R16 strain gauge form a bridge circuit 4, the bridge circuit 4 outputs U04 voltage, an R17 strain gauge, an R18 strain gauge, an R19 strain gauge and an R20 strain gauge form a bridge circuit 5, the bridge circuit 5 outputs U05 voltage, an R21 strain gauge, an R22 strain gauge, an R23 strain gauge and an R24 strain gauge 6 strain gauge, and the bridge circuit 6 outputs U06 voltage.
The utility model provides a small amount of journey three-dimensional sensor's test method, including following step:
step 1) carrying out finite element analysis in Ansys based on design parameters of the small-range three-dimensional sensor, wherein when the small-range three-dimensional sensor is loaded in a full-range mode in each direction, the output voltage value in each direction is as follows:
1.1, when Fx full-scale forward loading is carried out:
wherein the subscripts define:U Fx when the full-scale positive loading of the Fx is carried out, the bridge circuit 1 (namely the bridge circuit for measuring the Fx direction) outputs voltage;U Fy-Fx when the full-scale positive loading of Fx is carried out, the bridge circuit 2 (namely the bridge circuit for measuring Fy direction) outputs voltage;U Fz-Fx when the full-scale positive loading of the Fx is carried out, measuring the output voltage of a bridge circuit (namely the sum of the output voltages of the bridge circuit 3, the bridge circuit 4, the bridge circuit 5 and the bridge circuit 6) in the Fz direction; k is the sensitivity coefficient of the light-emitting diode,Uifor bridge-circuit excitation of the voltage,. epsilon1Strain, ε, measured for wire grids in the R1 strain gage footprint2Strain, ε, measured for wire grids in the R2 strain gage footprint3Strain, ε, measured for wire grids in the R3 strain gage footprint4Strain, ε, measured for wire grids in the R4 strain gage footprint5Strain, ε, measured for wire grids in the R5 strain gage footprint6Strain, ε, measured for wire grids in the R6 strain gage footprint7Strain, ε, measured for wire grids in the R7 strain gage footprint8The amount of strain measured for the wire grid in the area covered by the R8 strain gauge; u shapeu03For the output voltage of the bridge circuit 3, Uu04For the output voltage of the bridge circuit 4, Uu05For the output voltage of the bridge circuit 5, Uu06Is the output voltage of the bridge circuit 6;
1.2, during Fy full-scale forward loading:
subscript definition:U Fy when the full-scale Fy is loaded in the positive direction, the bridge circuit 2 (namely the bridge circuit for measuring the Fy direction) outputs voltage;U Fx-Fy is Fy full range forward directionWhen loaded, the bridge 1 (i.e. the bridge measuring the Fx direction) outputs a voltage;U Fz-Fy when the full-scale positive loading is carried out for Fy, measuring the output voltage of the bridge circuit (namely the sum of the output voltages of the bridge circuit 3, the bridge circuit 4, the bridge circuit 5 and the bridge circuit 6) in the Fz direction;
1.3, during Fz full-scale forward loading:
subscript definition:U Fz when the full-scale Fz is loaded in the positive direction, measuring the output voltage of the bridge circuit (namely the sum of the output voltages of the bridge circuit 3, the bridge circuit 4, the bridge circuit 5 and the bridge circuit 6) in the Fz direction;U Fx-Fz when the full-scale Fz is loaded in the positive direction, the bridge circuit 1 (namely the bridge circuit for measuring the direction of the Fx) outputs voltage;U Fy-Fy when the full-scale Fz is loaded in the positive direction, the bridge circuit 2 (namely the bridge circuit for measuring the Fy direction) outputs voltage;
step 2), coupling calculation between dimensions:
2.1, when Fx full-scale forward loading is carried out:
the Fy coupling is:
the Fz coupling is:
2.2, during Fy full-scale forward loading:
the Fx coupling is:
the Fz coupling is:
2.3, during Fz full-scale forward loading:
the Fx coupling is:
the Fy coupling is:
。
the utility model discloses a test method, for making the coupling between dimension be close to zero, the measurement of three direction has adopted different methods, and side direction (Fx and Fy) adopt bending strain measurement method, and normal direction (Fz) adopt shearing strain measurement method, through Ansys finite element calculation, can reach the coupling between dimension and be close to zero's target, even when eccentric loading, the coupling between dimension also is close to zero.
The utility model discloses the further technical scheme of method:
loading a normal Fz to a stress platform in an elastic body of the small-range three-dimensional sensor, and enabling the side surfaces of a ninth strain beam, a tenth strain beam, an eleventh strain beam and a twelfth strain beam to generate shear deformation to form 4 bridges for measuring the Fz and form a bridge 3, a bridge 4, a bridge 5 and a bridge 6;
because the utility model discloses the three-dimensional sensor range is less, when adopting shear strain measurement normal direction (Fz), if when designing a bridge measurement, the dependent variable is difficult to reach required resolution ratio and precision, if need not reach required dependent variable, the thickness of straining beam is less than 1mm, because the utility model discloses elastomer material is aluminium, and the straining beam that is less than 1mm is probably to warp in the course of working, generally to the processing requirement of aluminium spare, and the thickness of straining beam is 1mm at least, consequently, has designed four bridge measurement normal directions (Fz), adds these four bridge measurement results in software at last, obtains normal direction (Fz) power value (or voltage value). Therefore, the method for measuring a specific direction through a plurality of bridges scientifically and effectively solves the development of the small-range multi-dimensional force sensor.
The method is characterized in that Fx is loaded on a stress platform in an elastic body of the small-range three-dimensional sensor, a first strain beam, a second strain beam, a third strain beam and a fourth strain beam are subjected to bending strain, a R1 strain gauge and a R4 strain gauge are subjected to tensile strain, and a R2 strain gauge and a R3 strain gauge are subjected to compressive strain to form a bridge circuit 1, and then:
loading Fy on a stress platform in an elastic body of the small-range three-dimensional sensor, wherein the five-strain beam, the six-strain beam, the seven-strain beam and the eight-strain beam generate bending strain, the R5 strain gauge and the R8 strain gauge are subjected to tensile strain, and the R6 strain gauge and the R7 strain gauge are subjected to compressive strain to form a bridge circuit 2, and then:
ansys proposed in the test method is a known technique and is large-scale general Finite Element Analysis (FEA) software developed by Ansys corporation, usa.
The utility model has the advantages that:
1. the small-range three-dimensional sensor elastic body has the advantages of simple structure, easiness in processing, high measurement precision and the like.
2. This test method, because the utility model discloses a three-dimensional sensor range is less, and in order to reach enough big resolution ratio and precision, the roof beam that meets an emergency is very thin, often is less than 1mm, is difficult to process, especially when being aluminium to the elastomer, and the roof beam that meets an emergency will warp a little carelessly, in order to solve such problem, the utility model discloses a measurement method of a plurality of bridges of road survey a direction, adds the measured value of each bridge of road and obtains the power value (or the voltage value) of this bridge road in software the inside, and the design method of small-scale even small range sensor has been solved effectively to this measurement method science.
Drawings
Fig. 1 is the overall structure schematic diagram of the small-range three-dimensional sensor of the present invention.
Fig. 2 is a cross-sectional view of fig. 1.
Fig. 3 is a schematic structural diagram of an elastic body in the small-range three-dimensional sensor.
Fig. 4 is a schematic diagram of the distribution of strain beams on an elastomer.
Fig. 5 is a schematic diagram showing distribution of the strain gauges attached to the strain beams of the elastic body (in the figure, a schematic diagram of attaching the strain gauges to the strain beams 9, 10, 11, and 12 is shown).
Fig. 6 is a sectional view taken along line a-a of fig. 5.
Fig. 7 is a sectional view taken along line H-H in fig. 5.
Fig. 8 is a cross-sectional view taken along line D-D of fig. 5.
Fig. 9 is a cross-sectional view E-E of fig. 5.
Fig. 10 is a sectional view taken along line G-G in fig. 5.
Fig. 11 is a sectional view taken along line B-B in fig. 5.
Fig. 12 is a sectional view F-F in fig. 5.
Fig. 13 is a cross-sectional view taken along line C-C of fig. 5.
FIG. 14 is a schematic view of a R1-R8 strain gage.
FIG. 15 is a schematic view of a R9-R24 strain gage.
Fig. 16 is a bridge schematic diagram of a small-scale three-dimensional sensor.
Fig. 17 is a schematic view of the elastomer three-dimensional model loaded with Fx, Fy.
FIG. 18 is a schematic view of an elastomer three-dimensional model loaded with Fx, Fz.
Fig. 19 is a front view of an example of an elastic body of a small-scale three-dimensional sensor.
Fig. 20 is a bridging schematic diagram illustrating a small-scale three-dimensional sensor.
Detailed Description
The technical solution of the present invention is explained in detail below, but the scope of protection of the present invention is not limited to the embodiments.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings 1-20 and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
Examples
As shown in fig. 1 and 2, a small-measuring-range three-dimensional sensor comprises an elastic body 1, an upper cover plate 2, a lower cover plate 3 and a circuit board 5, wherein the circuit board 5 is arranged in the elastic body 1, and the upper cover plate 2 and the lower cover plate 3 are respectively fixed on the upper side and the lower side of the elastic body 1; the elastic body 1 comprises a stress platform 6, a tire 8 and four groups of strain beam groups 7 which are symmetrically arranged, the tire 8 is sleeved outside the stress platform 6, the four groups of strain beam groups 7 are uniformly distributed between the stress platform 6 and the tire 8, one end of each group of strain beam group 7 is connected with the outer surface of the stress platform 6, the other end of each group of strain beam group 7 is connected with the inner surface of the tire 8, each group of strain beam group 7 comprises three strain beams, and each group of strain beam group 7 is T-shaped as a whole; pasting a strain gauge on the strain beam; the strain gauges in the four strain beam groups 7 are connected to form six groups of Wheatstone bridges which are connected in parallel, a group of power lines and six groups of signal lines of the small-range three-dimensional sensor are welded to the circuit board 5, 16 core wires are welded to the circuit board 5, the 16 core wires are led out of the elastic body 1 from the wire outlet 4, the 16 core wires led out of the elastic body 1 are welded with an aviation plug, and the aviation plug is connected to the data acquisition box in an inserting mode.
The novel small-range three-dimensional sensor is mainly used for a gecko-like robot motion mechanics testing system, and is based on a resistance strain type principle, wherein an elastic body is a core component, and performance indexes of the elastic body directly influence various performance indexes of the sensor, particularly the design of a strain beam and the selection of materials.
Four lug seats 9 for fixing the circuit board 5 are uniformly distributed on the inner surface of the wheel rim 8.
As shown in fig. 4, each strain beam group 7 is in a "T" shape, each strain beam group 7 is composed of three strain beams, and twelve strain beams are provided, which are respectively defined as a first strain beam 7-1, a second strain beam 7-2, a third strain beam 7-3, a fourth strain beam 7-4, a fifth strain beam 7-5, a sixth strain beam 7-6, a seventh strain beam 7-7, an eighth strain beam 7-8, a ninth strain beam 7-9, a tenth strain beam 7-10, an eleventh strain beam 7-11 and a twelfth strain beam 7-12, the first strain beam 7-1, the fourth strain beam 7-4 and the ninth strain beam 7-9 form a strain beam group 7, the fifth strain beam 7-5, the eighth strain beam 7-8 and the twelfth strain beam 7-12 form a second strain beam group 7, the second strain beam 7-2, the third strain beam 7-3 and the tenth strain beam 7-10 form a third strain beam group 7, and the sixth strain beam 7-6, the seventh strain beam 7-7 and the eleventh strain beam 7-11 form a fourth strain beam group 7.
As shown in FIG. 4, one end of each of the ninth strain beam 7-9, the tenth strain beam 7-10, the eleventh strain beam 7-11 and the twelfth strain beam 7-12 is connected with the inner surface of the stress platform 6, the other end of the ninth strain beam 7-9 is fixed with a junction of the first strain beam 7-1 and the fourth strain beam 7-4, the other end of the tenth strain beam 7-10 is fixed with a junction of the second strain beam 7-2 and the third strain beam 7-3, the other end of the eleventh strain beam 7-11 is fixed with a junction of the sixth strain beam 7-6 and the seventh strain beam 7-7, and the other end of the twelfth strain beam 7-12 is fixed with a junction of the fifth strain beam 7-5 and the eighth strain beam 7-8.
As shown in fig. 6-13, R1 strain gauges, R4 strain gauges, R5 strain gauges, R8 strain gauges, R3 strain gauges, R2 strain gauges, R6 strain gauges, and R7 strain gauges are respectively adhered to one surface of the first strain beam 7-1, the fourth strain beam 7-4, the fifth strain beam 7-5, the eighth strain beam 7-8, the third strain beam 7-3, the second strain beam 7-2, the sixth strain beam 7-6, and the seventh strain beam 7-7.
As shown in fig. 14, in the present embodiment, the types of the strain gauges selected by R1-R8 are: BF350-2.2AA (23) T8, sensitive gate size: length (L) × width (W) (mm): 2.2 × 1.8, substrate size: length (L) × width (W) (mm): 5.1X 2.4.
Front and back strain gages are pasted on a ninth strain beam 7-9, a tenth strain beam 7-10, an eleventh strain beam 7-11 and a twelfth strain beam 7-12, the strain gages are double-grid non-connected strain gages in the 45-degree direction, an R14 strain gage and an R13 strain gage are pasted on one surface of the ninth strain beam 7-9, and an R9 strain gage and an R10 strain gage are pasted on the other surface of the ninth strain beam 7-9; adhering an R11 strain gauge and an R12 strain gauge to one surface of a No. ten strain beam 7-10, and adhering an R15 strain gauge and an R16 strain gauge to the other surface of the No. ten strain beam 7-10; adhering an R19 strain gauge and an R20 strain gauge to one surface of an eleventh strain beam 7-11, and adhering an R21 strain gauge and an R22 strain gauge to the other surface of the eleventh strain beam 7-11; an R23 strain gauge and an R24 strain gauge are pasted on one surface of the twelve-gauge strain beam 7-12, and an R18 strain gauge and an R17 strain gauge are pasted on the other surface of the twelve-gauge strain beam 7-12.
As shown in fig. 15, the strain gauge R9-R24 is a strain gauge with a wire grid in a 45 ° direction, which is used for measuring shear strain, and the types of the strain gauge selected from R9-R24 are: BF350-2HA-A (23) N4, sensitive Gate size: length (L) × width (W) (mm): 2.0 × 4.4, substrate size: length (L) × width (W) (mm): 9X 5.6.
As shown in FIGS. 14 and 15, where wire grid locator b and bond c are indicated, R1-R8 are symmetrical about center line a, and when applied, the orientation of the patch is noted and the grid and bond cannot be reversed. The paster process, the pressure curing, the paster quality inspection and the like refer to the guide book of the paster process of the strain gauge sensor.
In the processing and production process of the sensor, various errors can cause large dimensional coupling, typical errors include machining errors, patch errors, assembly errors and the like, the dimensional coupling is larger than a theoretical value due to the existence of the errors, and the dimensional coupling is close to zero by a process of trimming corners in the prior art. The specific method of the embodiment is as follows: and filing the back of the beam with smaller strain to increase the strain amount of the patch area, so that the inter-dimensional coupling is reduced.
As shown in fig. 16, the R1 strain gauge, the R2 strain gauge, the R3 strain gauge and the R4 strain gauge form a bridge 1, the bridge 1 outputs a U01 voltage, the R5 strain gauge, the R6 strain gauge, the R7 strain gauge and the R8 strain gauge form a bridge 2, the bridge 2 outputs a U02 voltage, the R9 strain gauge, the R10 strain gauge, the R11 strain gauge and the R12 strain gauge form a bridge 3, the bridge 3 outputs a U03 voltage, an R13 strain gauge, an R14 strain gauge, an R15 strain gauge and an R16 strain gauge form a bridge 4, the bridge 4 outputs a U04 voltage, an R17 strain gauge, an R18 strain gauge, an R19 strain gauge and an R20 strain gauge form a bridge 5, the bridge 5 outputs a U05 voltage, an R21 strain gauge, an R22 strain gauge, an R23 strain gauge and an R24 strain gauge form a bridge 6, and the bridge 6 outputs a U06 voltage.
Because the utility model discloses the three-dimensional sensor range is less, when adopting shear strain measurement normal direction (Fz), if when designing a bridge measurement, the dependent variable is difficult to reach required resolution ratio and precision, if must reach required dependent variable, the thickness of straining beam is less than 1mm, because the utility model discloses elastomer material is aluminium, and the straining beam that is less than 1mm is probably to warp in the course of working, generally to the processing requirement of aluminium spare, and the thickness of straining beam is 1mm at least, consequently, has designed four bridge measurement normal directions (Fz), adds these four bridge measurement results in software at last, obtains normal direction (Fz) power value (or voltage value). Therefore, the method for measuring a specific direction through a plurality of bridges scientifically and effectively solves the development of the small-range multi-dimensional force sensor.
The test method of the small-range three-dimensional sensor comprises the following steps:
1.1, when Fx full-scale forward loading is carried out:
wherein the subscripts define:U Fx when the full-scale positive loading of the Fx is carried out, the bridge circuit 1 measures the output voltage of the bridge circuit in the Fx direction;U Fy-Fx when the Fx full scale is loaded in the positive direction, the bridge circuit 2 measures the bridge circuit output voltage in the Fy direction;U Fz-Fx when the full-scale positive loading of the Fx is carried out, measuring the output voltage of the output voltage sum of the bridge circuits in the Fz direction, namely the bridge circuit 3, the bridge circuit 4, the bridge circuit 5 and the bridge circuit 6; k is the sensitivity coefficient of the light-emitting diode,Uifor bridge-circuit excitation of the voltage,. epsilon1Strain, ε, measured for wire grids in the R1 strain gage footprint2Strain, ε, measured for wire grids in the R2 strain gage footprint3Strain, ε, measured for wire grids in the R3 strain gage footprint4Strain, ε, measured for wire grids in the R4 strain gage footprint5Strain, ε, measured for wire grids in the R5 strain gage footprint6Strain, ε, measured for wire grids in the R6 strain gage footprint7Strain, ε, measured for wire grids in the R7 strain gage footprint8The amount of strain measured for the wire grid in the area covered by the R8 strain gauge; u shapeu03For the output voltage of the bridge circuit 3, Uu04For the output voltage of the bridge circuit 4, Uu05For the output voltage of the bridge circuit 5, Uu06Is the output voltage of the bridge circuit 6;
1.2, during Fy full-scale forward loading:
subscript definition:U Fy when Fy full scale is loaded in forward direction, the bridge circuit 2 measures the bridge circuit output voltage in Fy direction;U Fx-Fy when Fy full scale is loaded in forward direction, the bridge circuit 1 measures the bridge circuit output voltage in the Fx direction;U Fz-Fy when the full-scale positive loading is carried out for Fy, the output voltage of the bridges in the Fz direction, namely the sum of the output voltages of the bridge 3, the bridge 4, the bridge 5 and the bridge 6 is measured.
1.3, during Fz full-scale forward loading:
subscript definition:U Fz when the full-scale forward loading of Fz is carried out, measuring the output voltage of the bridge circuits in the Fz direction, namely the sum of the output voltages of the bridge circuit 3, the bridge circuit 4, the bridge circuit 5 and the bridge circuit 6;U Fx-Fz when Fz full scale is loaded in positive direction, the bridge circuit 1 measures the bridge circuit output voltage in the direction of Fx;U Fy-Fy when loaded forward for full Fz range, the bridge 2 measures the bridge output voltage in the Fy direction.
Step 2), coupling calculation between dimensions:
2.1, when Fx full-scale forward loading is carried out:
the Fy coupling is:
the Fz coupling is:
2.2, during Fy full-scale forward loading:
the Fx coupling is:
the Fz coupling is:
2.3, during Fz full-scale forward loading:
the Fx coupling is:
the Fy coupling is:
。
the eccentric loading is needed in a gecko-like robot motion mechanics testing system, if the inter-dimensional coupling of the sensor is large, the measurement precision is influenced, in the embodiment, different methods are adopted for the measurement of the normal direction (Fz) and the measurement of the lateral direction (Fx and Fy), the aim that the inter-dimensional coupling is close to zero can be achieved theoretically, the measurement precision of the sensor is improved, and the performance index of the inter-dimensional coupling is far superior to that of the three-dimensional sensor on the market (the inter-dimensional coupling of the three-dimensional sensor on the market is about 10% at present, and even 30% at present).
In order to enable the dimensional coupling to be close to zero, different methods are adopted for measuring in three directions, the lateral direction Fx and Fy adopt bending strain measuring methods, the normal direction Fz adopts a shearing strain measuring method, the aim that the dimensional coupling is close to zero can be achieved through Ansys finite element calculation, and even when the axial load is eccentric, the dimensional coupling is close to zero.
In the test method of this embodiment, as shown in fig. 4, a three-dimensional model of an elastic body of a small-scale three-dimensional sensor is provided with a force-bearing table (or a loading table) in the middle, the force-bearing table is composed of 12 strain beams, a wheel band is used for fixing the sensor, a patch diagram is shown in fig. 6 to 13, a bridge-forming schematic diagram is shown in fig. 16, and a specific measurement principle is as follows:
as shown in fig. 17 and 18, when Fx is loaded on the force-bearing platform 6 in the elastic body 1 of the small-range three-dimensional sensor, the first strain beam 7-1, the second strain beam 7-2, the third strain beam 7-3 and the fourth strain beam 7-4 are subjected to bending deformation, the R1 strain gauge and the R4 strain gauge are subjected to tensile strain, and the R2 strain gauge and the R3 strain gauge are subjected to compressive strain to form the bridge circuit 1, then:
wherein, Uu01For the output voltage of the bridge circuit 1, K is the sensitivity factor, UiFor bridge-circuit excitation of the voltage,. epsilon1Strain, ε, measured for wire grids in the R1 strain gage footprint2Strain, ε, measured for wire grids in the R2 strain gage footprint3Strain, ε, measured for wire grids in the R3 strain gage footprint4The amount of strain measured for the wire grid in the area covered by the R4 strain gage.
As shown in fig. 17 and 18, when Fy is loaded on a force-bearing platform 6 in an elastic body 1 of the small-range three-dimensional sensor, bending strain occurs on a strain beam 7-5 in the fifth place, a strain beam 7-6 in the sixth place, a strain beam 7-7 in the seventh place and a strain beam 7-8 in the eighth place, a strain gauge R5 and a strain gauge R8 are subjected to tensile strain, a strain gauge R6 and a strain gauge R7 are subjected to compressive strain, a bridge circuit 2 is formed, and then:
wherein, Uu02For the output voltage of the bridge circuit 2, K is the sensitivity factor, UiFor bridge-circuit excitation of the voltage,. epsilon5Strain measured for wire grid in R5 strain gage covered areaAmount of epsilon6The strain measured for the wire grid in the R6 strain gage covered area, the strain measured for the wire grid in the R7 strain gage covered area, and the strain measured for the wire grid in the R8 strain gage covered area are respectively epsilon 7 and epsilon 8.
As shown in fig. 17 and 18, the stress platform 6 in the elastic body 1 of the small-range three-dimensional sensor is loaded with Fz, and the side surfaces of the nine-gauge strain beam 7-9, the ten-gauge strain beam 7-10, the eleven-gauge strain beam 7-11 and the twelve-gauge strain beam 7-12 are subjected to shear deformation to form 4 bridges for measuring Fz, and form a bridge 3, a bridge 4, a bridge 5 and a bridge 6;
wherein, Uu03For the output voltage of the bridge circuit 3, Uu04For the output voltage of the bridge circuit 4, Uu05For the output voltage of the bridge circuit 5, Uu06For the output voltage of the bridge circuit 6, K is the sensitivity coefficient, UiFor bridge-circuit excitation of the voltage,. epsilon9Strain, ε, measured for wire grids in the R9 strain gage footprint10Strain, ε, measured for wire grids in the R10 strain gage footprint11Strain, ε, measured for wire grids in the R11 strain gage footprint12Strain, ε, measured for wire grids in the R12 strain gage footprint13The strain measured by the wire grid in the covered area of the R13 strain gauge is epsilon 14, the strain measured by the wire grid in the covered area of the R14 strain gauge is epsilon15Strain, ε, measured for wire grids in the R15 strain gage footprint16The amount of strain measured for the wire grid in the area covered by the R16 strain gauge; epsilon17Strain, ε, measured for wire grids in the R17 strain gage footprint18Strain, ε, measured for wire grids in the R18 strain gage footprint19Strain measured for wire grid in R19 strain gage covered areaAmount of epsilon20Strain, ε, measured for wire grids in the R20 strain gage footprint21Strain, ε, measured for wire grids in the R21 strain gage footprint22Strain, ε, measured for wire grids in the R22 strain gage footprint23Strain, ε, measured for wire grids in the R23 strain gage footprint24The amount of strain measured for the wire grid in the area covered by the R24 strain gage.
Because the utility model discloses the three-dimensional sensor range is less, when adopting shear strain measurement normal direction Fz, if when designing a bridge measurement, the dependent variable is difficult to reach required resolution ratio and precision, if must reach required dependent variable, the thickness of straining the roof beam is less than 1mm, because the utility model discloses elastomer material is aluminium, and the straining the roof beam that is less than 1mm must warp in the course of working, generally to the processing requirement of aluminium spare, the thickness of straining the roof beam is 1mm at least, consequently, has designed four bridge circuit measurement normal direction Fz, adds these four bridge circuit measurement results in software at last, obtains normal direction Fz power value or magnitude of voltage. Therefore, the method for measuring a specific direction through a plurality of bridges scientifically and effectively solves the development of the small-range multi-dimensional force sensor.
Example 1:
a small-range three-dimensional sensor is arranged and tested according to requirements, and a connecting terminal R of the sensor is stuck on the cylindrical surface of the stress platform as shown in figure 19.
1. If the sensor does not perform temperature zero compensation, only one type of wiring terminal is needed, the model is as follows: DTA 5-G2; if temperature zero point compensation is carried out, a DTA3-G1 type wiring terminal is also needed, and the distribution and wiring mode of the wiring terminal are shown in FIG. 20.
2. Raxx in a bridge connection diagram is zero point compensation, the compensation standard is executed according to the technical instruction of the specifications and quality requirements of strain gauge sensor patches, the length of the compensation wire is not more than 1.5cm, the compensation wire is spread out and cannot be agglomerated into a ball, the protective paint layer of the compensation wire cannot be broken during operation, and otherwise, the stability is influenced.
3. Rtxx in the bridge connection diagram is zero temperature compensation, and the compensation standard is executed according to the specification and quality requirement process instruction book of the strain gauge sensor patch.
4. The thickness of the protective adhesive layer is not more than 1mm, and the total thickness of the compensation wires and the adhesive layer is 2.0 mm.
5. And zero point compensation, zero point temperature compensation quality inspection and the like refer to the specification of the strain gauge sensor patch and the quality requirement process instruction.
Step 1) carrying out finite element calculation in Ansys based on design parameters of the small-range three-dimensional sensor, wherein when the small-range three-dimensional sensor is loaded in a full-range mode in each direction, the output voltage value in each direction is as follows:
1.1, when Fx full-scale forward loading is carried out:
1.2, during Fy full-scale forward loading:
1.3, during Fz full-scale forward loading:
step 2), coupling calculation between dimensions:
2.1, when Fx full-scale forward loading is carried out:
2.2, during Fy full-scale forward loading:
2.3, during Fz full-scale forward loading:
as mentioned in the example above, the three-dimensional sensor of this example has high accuracy and little coupling, substantially close to zero.
Above embodiment only is for explaining the utility model discloses a technical thought can not be injectd with this the utility model discloses a protection scope, all according to the utility model provides a technical thought, any change of doing on technical scheme basis all falls into the utility model discloses within the protection scope.
Claims (3)
1. A small-range three-dimensional sensor is characterized in that: the elastic body (1), the upper cover plate (2), the lower cover plate (3) and the circuit board (5) are included, the circuit board (5) is arranged in the elastic body (1), and the upper cover plate (2) and the lower cover plate (3) are respectively fixed on the upper side and the lower side of the elastic body (1); the elastic body (1) comprises a stress platform (6), a tire (8) and four groups of strain beam sets (7) which are symmetrically arranged, the tire (8) is sleeved outside the stress platform (6), the four groups of strain beam sets (7) are uniformly distributed between the stress platform (6) and the tire (8), one end of each group of strain beam set (7) is connected with the outer surface of the stress platform (6), the other end of each group of strain beam set is connected with the inner surface of the tire (8), each group of strain beam set (7) comprises three strain beams, and each group of strain beam set (7) is T-shaped on the whole; pasting a strain gauge on the strain beam; the strain gauges in the four strain beam sets (7) are connected to form six groups of Wheatstone bridges which are connected in parallel, a group of power lines and six groups of signal lines of the small-range three-dimensional sensor are welded to the circuit board (5), 16 core wires are welded on the circuit board (5), the 16 core wires are led out of the elastic body (1) from the wire outlet (4), the 16 core wires led out of the elastic body (1) are welded with an aviation plug, and the aviation plug is connected to the data acquisition box in an inserting mode.
2. The small-scale three-dimensional sensor according to claim 1, characterized in that four ear seats (9) for fixing the circuit board (5) are uniformly distributed on the inner surface of the rim (8).
3. The small-scale three-dimensional sensor according to claim 1, wherein each strain beam group (7) is T-shaped, each strain beam group (7) is composed of three strain beams, and twelve strain beams are provided and respectively defined as a first strain beam (7-1), a second strain beam (7-2), a third strain beam (7-3), a fourth strain beam (7-4), a fifth strain beam (7-5), a sixth strain beam (7-6), a seventh strain beam (7-7), an eighth strain beam (7-8), a ninth strain beam (7-9), a tenth strain beam (7-10), an eleventh strain beam (7-11) and a twelfth strain beam (7-12), and the first strain beam (7-1), the fourth strain beam (7-4) and the ninth strain beam (7-9) form a strain beam group (7), the fifth strain beam (7-5), the eighth strain beam (7-8) and the twelfth strain beam (7-12) form a second strain beam group (7), the second strain beam (7-2), the third strain beam (7-3) and the tenth strain beam (7-10) form a third strain beam group (7), and the sixth strain beam (7-6), the seventh strain beam (7-7) and the eleventh strain beam (7-11) form a fourth strain beam group (7);
one end of the ninth strain beam (7-9), one end of the tenth strain beam (7-10), one end of the eleventh strain beam (7-11) and one end of the twelfth strain beam (7-12) are connected with the inner surface of the stress platform (6), the other end of the ninth strain beam (7-9) is fixed with a junction of the first strain beam (7-1) and the fourth strain beam (7-4), the other end of the tenth strain beam (7-10) is fixed with a junction of the second strain beam (7-2) and the third strain beam (7-3), the other end of the eleventh strain beam (7-11) is fixed with a junction of the sixth strain beam (7-6) and the seventh strain beam (7-7), and the other end of the twelfth strain beam (7-12) is fixed with a junction of the fifth strain beam (7-5) and the eighth strain beam (7-8);
r1 strain gauges, R4 strain gauges, R5 strain gauges, R8 strain gauges, R3 strain gauges, R2 strain gauges, R6 strain gauges and R7 strain gauges are respectively adhered to one side of a first strain beam (7-1), a fourth strain beam (7-4), a fifth strain beam (7-5), an eighth strain beam (7-8), a third strain beam (7-3), a second strain beam (7-2), a sixth strain beam (7-6) and a seventh strain beam (7-7);
strain gauges are pasted on the nine-gauge strain beam (7-9), the ten-gauge strain beam (7-10), the eleven-gauge strain beam (7-11) and the twelve-gauge strain beam (7-12) in a positive and negative mode, wire grids of the strain gauges are unconnected double-grid strain gauges in the 45-degree direction, an R14 strain gauge and an R13 strain gauge are pasted on one surface of the nine-gauge strain beam (7-9), and an R9 strain gauge and an R10 strain gauge are pasted on the other surface of the nine-gauge strain beam (7-9); an R11 strain gauge and an R12 strain gauge are pasted on one surface of a No. ten strain beam (7-10), and an R15 strain gauge and an R16 strain gauge are pasted on the other surface of the No. ten strain beam (7-10); an R19 strain gauge and an R20 strain gauge are pasted on one surface of the No. eleven strain beam (7-11), and an R21 strain gauge and an R22 strain gauge are pasted on the other surface of the No. eleven strain beam (7-11); an R23 strain gauge and an R24 strain gauge are pasted on one surface of the twelve-gauge strain beam (7-12), and an R18 strain gauge and an R17 strain gauge are pasted on the other surface of the twelve-gauge strain beam (7-12);
the bridge circuit 1 is composed of an R1 strain gauge, an R2 strain gauge, an R3 strain gauge and an R4 strain gauge, the bridge circuit 1 outputs U01 voltage, the bridge circuit 2 is composed of an R5 strain gauge, an R6 strain gauge, an R7 strain gauge and an R8 strain gauge, the bridge circuit 2 outputs U02 voltage, an R9 strain gauge, an R10 strain gauge, an R11 strain gauge and an R12 strain gauge, the bridge circuit 3 outputs U03 voltage, an R13 strain gauge, an R14 strain gauge, an R15 strain gauge and an R16 strain gauge form a bridge circuit 4, the bridge circuit 4 outputs U04 voltage, an R17 strain gauge, an R18 strain gauge, an R19 strain gauge and an R20 strain gauge form a bridge circuit 5, the bridge circuit 5 outputs U05 voltage, an R21 strain gauge, an R22 strain gauge, an R23 strain gauge and an R24 strain gauge 6 strain gauge, and the bridge circuit 6 outputs U06 voltage.
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| CN110608837A (en) * | 2019-10-30 | 2019-12-24 | 南京神源生智能科技有限公司 | Small-range three-dimensional sensor and testing method thereof |
| CN112414606A (en) * | 2020-10-26 | 2021-02-26 | 珠海格力电器股份有限公司 | Load cell elastomer, load cell and motion control device with load cell elastomer |
| WO2021082613A1 (en) * | 2019-10-30 | 2021-05-06 | 南京神源生智能科技有限公司 | Small-measuring-range three-dimensional sensor and testing method therefor |
| JP2022010551A (en) * | 2020-06-29 | 2022-01-17 | トヨタ自動車株式会社 | Force sensor |
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| US5969268A (en) * | 1997-07-15 | 1999-10-19 | Mts Systems Corporation | Multi-axis load cell |
| JP4764619B2 (en) * | 2004-08-23 | 2011-09-07 | 株式会社エー・アンド・デイ | Rotary component force measuring device |
| US8776615B2 (en) * | 2012-05-01 | 2014-07-15 | Honeywell International Inc. | Three-axis low profile load cell and sensing beam |
| US10422707B2 (en) * | 2016-01-19 | 2019-09-24 | Ati Industrial Automation, Inc. | Compact robotic force/torque sensor including strain gages |
| CN107782482A (en) * | 2017-11-17 | 2018-03-09 | 中国科学院宁波材料技术与工程研究所 | Multiple dimension force/moment sensor |
| CN208704939U (en) * | 2018-08-30 | 2019-04-05 | 中国石油大学(华东) | A kind of low retinoic acid syndrome six-dimension force sensor of internal and external threads formula |
| CN110274714A (en) * | 2019-06-18 | 2019-09-24 | 蓝点触控(北京)科技有限公司 | A kind of six-dimension force sensor applied to industry spot |
| CN110608837A (en) * | 2019-10-30 | 2019-12-24 | 南京神源生智能科技有限公司 | Small-range three-dimensional sensor and testing method thereof |
| CN210603692U (en) * | 2019-10-30 | 2020-05-22 | 南京神源生智能科技有限公司 | Small-range three-dimensional sensor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110608837A (en) * | 2019-10-30 | 2019-12-24 | 南京神源生智能科技有限公司 | Small-range three-dimensional sensor and testing method thereof |
| WO2021082613A1 (en) * | 2019-10-30 | 2021-05-06 | 南京神源生智能科技有限公司 | Small-measuring-range three-dimensional sensor and testing method therefor |
| JP2022010551A (en) * | 2020-06-29 | 2022-01-17 | トヨタ自動車株式会社 | Force sensor |
| JP7343450B2 (en) | 2020-06-29 | 2023-09-12 | トヨタ自動車株式会社 | force sensor |
| CN112414606A (en) * | 2020-10-26 | 2021-02-26 | 珠海格力电器股份有限公司 | Load cell elastomer, load cell and motion control device with load cell elastomer |
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