CN221649782U - Six-dimensional force sensor - Google Patents
Six-dimensional force sensor Download PDFInfo
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- CN221649782U CN221649782U CN202322678244.2U CN202322678244U CN221649782U CN 221649782 U CN221649782 U CN 221649782U CN 202322678244 U CN202322678244 U CN 202322678244U CN 221649782 U CN221649782 U CN 221649782U
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Abstract
The utility model relates to a six-dimensional force sensor which is used for measuring six directions of stress conditions of an object. The sensor adopts a unique structure, comprises cross-shaped radial beams and Zhou Xiangliang with rectangular structures, wherein the beams are uniformly distributed in different directions, and meanwhile, a center table is connected with each radial beam, so that a stable structure is formed. The design of the sensor also includes circumferential supports located between adjacent beams, further enhancing the stability of the sensor. The resistive strain gages are precisely positioned on both sides of the radial beam to form a Wheatstone bridge, thereby enabling high accuracy measurements. In addition, the structural design of the sensor can reduce inter-dimensional interference and improve the sensitivity and the accuracy of measurement. The utility model overcomes some problems in the prior art, provides an efficient and stable six-dimensional force sensor, and can be widely applied to the field of mechanical measurement.
Description
Technical Field
The utility model relates to the technical field of sensors, in particular to a six-dimensional force sensor.
Background
The multidimensional force sensor has important significance in acquiring interaction force information between the multidimensional force sensor and the environment. Extensive research work has been carried out at home and abroad to design a variety of multidimensional force sensors, each sensor has unique advantages and limitations, and the sensor is suitable for different application scenes. However, the multidimensional force sensor still faces the problems of decoupling, contradiction between rigidity and sensitivity, and the like, and further intensive research is required.
For complex mechanical environments, the sensor needs to measure forces in multiple directions. A six-dimensional force sensor is typically employed to achieve multi-directional force measurements. However, the existing six-dimensional force sensor uses an elastic beam of a solid beam structure, which causes problems of lower sensitivity and accuracy of the sensor, and the like. Under the structure, the strain distribution is approximately linear when the elastic beam is stressed, but in actual use, the attaching position of the strain gauge is only required to be ensured to have enough strain, and special requirements on other positions are not required.
The patent CN215984976U adopts a cubic function curve to draw a beam body, so that the model structure is complex and difficult to process, and eight groups of Wheatstone bridge functions are required during measurement, so that decoupling is complex. The patent CN208902316U also has the problems of insufficient decoupling capability and inconvenient processing.
Disclosure of utility model
The present utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model proposes a six-dimensional force sensor.
The utility model adopts the following technical scheme for solving the problems: a six-dimensional force sensor: the circumferential beams are connected to the outer ends of the radial beams to form radial beams of a cross structure and Zhou Xiangliang of a rectangular structure, the beams are circumferentially and uniformly distributed, and the radial beams are radially arranged; the center table is arranged in the middle and connected with the inner ends of the radial beams; each circumferential support is respectively arranged between two adjacent beams and fixedly connected with the circumferential beams at two sides of the circumferential support; the resistance strain gauge is respectively arranged at two sides of the radial beam.
Further, the radial beam is formed by two crossed sheets and is cross-shaped.
Further, the cross-shaped radial beam cross section gradually decreases from inside to outside.
Further, the number of the radial beams is four, and each beam and the center table jointly form a cross beam structure.
Further, the cross-shaped radial beams are not fully connected, but are left with some play to form stress concentration areas.
Furthermore, the center table is a square table, and the center hole adopts a four-hole structure, so that the fixing is convenient, and the stability is improved.
Further, the resistance strain gauges are formed into groups of four to form Wheatstone bridges, and the Wheatstone bridges are respectively attached to two sides of the radial beam and are amplified and output by a differential measurement method.
The utility model has the beneficial effects that: the six-dimensional force sensor has the advantages that the cross section of each radial beam is cross-shaped, so that the strain on the beam is concentrated on the side surface, the stress concentration effect is obvious, the resistance strain gauge is convenient to measure, and the rigidity of the sensor is ensured while the resolution of the sensor is effectively improved; the symmetrical structure is adopted, so that inter-dimensional interference is effectively reduced; the elastic body can be integrally processed, so that the repeatability error is reduced, and the elastic body has the advantages of simple structure, low cost and easy processing; the wheatstone bridge structure is used, so that measurement data can be obtained effectively.
Drawings
The technical scheme of the utility model is further described below with reference to the accompanying drawings and examples.
Fig. 1 is an overall construction diagram of the present utility model.
Fig. 2 is a structural view of a radial beam.
Fig. 3 is an assembly view of a resistive strain gauge.
Detailed Description
As shown in fig. 1, the structural relationship is as follows: the circumferential beams 1-1 are connected to the outer ends of the radial beams 1-2 to form radial beams of a cross structure and Zhou Xiangliang of a rectangular structure, the beams are circumferentially and uniformly distributed, and the radial beams 1-2 are radially arranged; the center table 1-3 is arranged in the middle and connected with the inner ends of the radial beams 1-2; each circumferential support is respectively arranged between two adjacent beams and fixedly connected with Zhou Xiangliang-1 on two sides of the beam; the resistance strain gauges are respectively arranged on two sides 2-2 of the radial beam, and the sensitivity of the sensor measurement can be improved by arranging the resistance strain gauges in the strain concentration area.
The radial beam 1-2 is formed by two crossed sheets and is in a cross shape 2-1.
The cross-shaped 2-1 radial beam cross section gradually decreases from inside to outside.
The number of the radial beams 1-2 is four, and each beam and the center table 1-3 jointly form a cross beam structure.
The cross-shaped radial beams 1-2 are not completely connected but leave a certain space to form a stress concentration area.
The center table 1-3 is a square table, and the center hole adopts a four-hole structure, so that the fixing is convenient, and the stability is improved.
The resistance strain gauges 3 are formed into a group of four to form Wheatstone bridges, and are respectively attached to two sides of the radial beam 1-2 to be amplified and output by a differential measurement method. The six-dimensional force sensor measures three-dimensional force and three-dimensional moment altogether, so that 6 groups of Wheatstone bridges and 24 resistance strain gauges are combined.
Dividing according to six-dimensional force: the first Wheatstone bridge measures force in the x direction and comprises resistance strain gauges 3-1, 3-2, 3-3 and 3-4 which are attached to the front surface of the sensor; the second Wheatstone bridge measures moment in the x direction, wherein the moment comprises resistance strain gauges 3-5, 3-6, 3-7 and 3-8, and the resistance strain gauges are attached to the front face of the sensor; the third Wheatstone bridge measures the force in the y direction, is perpendicular to the force in the x direction, and is attached to the back surface of a beam perpendicular to the radial beam for measuring the force resistance strain gauge in the x direction; a fourth Wheatstone bridge measures moment in the y direction, is perpendicular to moment in the x direction and is attached to the back surface of a beam perpendicular to a radial beam for measuring the moment resistance strain gauge in the x direction; the fifth Wheatstone bridge measures the force in the z direction and comprises resistance strain gauges 3-9, 3-10, 3-11 and 3-12 which are attached to the front face of the sensor; the sixth Wheatstone bridge measures moment in the z direction, and comprises resistance strain gauges 3-13, 3-14, 3-15 and 3-16 which are attached to the front face of the sensor.
In operation, power is first supplied to the utility model and an initialization operation is performed. When the radial beam 1-2 deforms, the resistance strain gage on the radial beam deforms accordingly, so that the resistance value of the resistance strain gage changes. This change affects the output voltage of Lu Huisi bridge, and then a series of processing steps such as primary amplification, signal filtering, secondary amplification, a/D signal conversion and the like are performed to finally obtain and output a calculation result.
In the utility model, the cross section of each radial beam 1-2 is in a cross shape 2-1, so that the strain on the beam is concentrated on the side face 2-2, the stress concentration effect is obvious, the resistance strain gauge 3 is convenient to measure, and the rigidity of the sensor can be ensured while the resolution of the sensor is effectively improved. In addition, the utility model adopts a symmetrical structure, so that the inter-dimensional interference is effectively reduced, and the stress analysis in all directions can not be greatly interfered; finally, the utility model can be integrally processed, reduces repeatability errors, has simple structure and lower cost, and is easy to process; the wheatstone bridge structure is used, so that measurement data can be obtained effectively.
Claims (7)
1. A six-dimensional force sensor, characterized by: zhou Xiangliang (1-1) is connected to the outer end of the radial beam (1-2), radial beams (1-2) forming a cross structure and Zhou Xiangliang (1-1) forming a rectangular structure are circumferentially and uniformly distributed, and the radial beams (1-2) are radially arranged; the center table (1-3) is arranged in the middle and is connected with the inner ends of the radial beams (1-2); each circumferential support is respectively arranged between two adjacent beams and fixedly connected with the circumferential beams (1-1) on two sides of the circumferential support; the resistance strain gauge is respectively arranged at two sides of the radial beam (1-2).
2. The six-dimensional force sensor of claim 1, wherein: the radial beam (1-2) is formed by two crossed sheets and is in a cross shape (2-1).
3. The six-dimensional force sensor of claim 1, wherein: the cross-shaped (2-1) radial beam cross section gradually decreases from inside to outside.
4. The six-dimensional force sensor of claim 1, wherein: the number of the radial beams (1-2) is four, and each beam and the center table (1-3) jointly form a cross beam structure.
5. The six-dimensional force sensor of claim 1, wherein: the cross-shaped radial beams (1-2) are not fully connected but leave a certain free space to form a stress concentration area.
6. The six-dimensional force sensor of claim 1, wherein: the center table (1-3) is a square table, and the center hole adopts a four-hole structure, so that the fixing is convenient, and the stability is improved.
7. The six-dimensional force sensor of claim 1, wherein: the resistance strain gauges (3) are in a group of four to form a Wheatstone bridge, and are respectively attached to two sides of the radial beam (1-2) to be amplified and output by a differential measurement method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322678244.2U CN221649782U (en) | 2023-10-07 | 2023-10-07 | Six-dimensional force sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322678244.2U CN221649782U (en) | 2023-10-07 | 2023-10-07 | Six-dimensional force sensor |
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| Publication Number | Publication Date |
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| CN221649782U true CN221649782U (en) | 2024-09-03 |
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| CN202322678244.2U Active CN221649782U (en) | 2023-10-07 | 2023-10-07 | Six-dimensional force sensor |
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| CN (1) | CN221649782U (en) |
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2023
- 2023-10-07 CN CN202322678244.2U patent/CN221649782U/en active Active
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