JPH0676933B2 - Maybe force / force detector - Google Patents
Maybe force / force detectorInfo
- Publication number
- JPH0676933B2 JPH0676933B2 JP21566089A JP21566089A JPH0676933B2 JP H0676933 B2 JPH0676933 B2 JP H0676933B2 JP 21566089 A JP21566089 A JP 21566089A JP 21566089 A JP21566089 A JP 21566089A JP H0676933 B2 JPH0676933 B2 JP H0676933B2
- Authority
- JP
- Japan
- Prior art keywords
- force
- load receiving
- receiving portion
- flexure
- strain
- 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.)
- Expired - Lifetime
Links
Landscapes
- Force Measurement Appropriate To Specific Purposes (AREA)
Description
【発明の詳細な説明】 ［産業上の利用分野］ 本発明は、３方向の力と３方向の偶力とを同時に測定す
るための多分力・力検出器に関するものである。Description: [Industrial application] The present invention relates to a force / force detector for simultaneously measuring forces in three directions and couples in three directions.
［従来の技術］ この種の多分力ロードセルは従来から種々の方式が知ら
れており、例えば特公昭63−61609号公報には第４図に
示すような構成のロードセルが開示されている。このロ
ードセルは枠体１の中央部に荷重受部２を配置し、枠体
１とこの荷重受部２の間をＸ方向及びＹ方向を向く起歪
部である計４個の角柱部３により支えている。そして、
角柱部３の枠体１側には可撓性を有するフレクシャ４が
形成され、角柱部３の荷重受部２側に歪ゲージ５が取り
付けられている。従って、Ｘ、Ｙ、Ｚ方向の力が測定さ
れると共に、Ｘ軸、Ｙ軸、Ｚ軸をそれぞれ中心とする偶
力の測定を行うことができる。[Prior Art] Various types of multi-force load cells of this type have been known in the past, and for example, Japanese Patent Publication No. 63-61609 discloses a load cell having a structure as shown in FIG. In this load cell, a load receiving portion 2 is arranged in the central portion of a frame body 1, and a total of four prismatic portions 3 which are strain generating portions extending in the X direction and the Y direction between the frame body 1 and the load receiving portion 2 are provided. Supporting. And
A flexure 4 having flexibility is formed on the frame 1 side of the prism 3 and a strain gauge 5 is attached to the load receiving portion 2 side of the prism 3. Therefore, it is possible to measure the forces in the X, Y, and Z directions and to measure the couple forces centered on the X axis, the Y axis, and the Z axis, respectively.
［発明が解決しようとする課題］ 上述の形式の種の多分力ロードセルは、例えば自動車の
車輪に加わる分力を測定する場合に用いられるが、この
場合には荷重受部２に孔を設けて、この孔に車軸を挿通
して測定することになる。この場合に、荷重受部２には
相当に大きな力が加えられ、荷重受部２と角柱部３との
間がロードセルとしての重要な要素である機械的剛性が
低下し、多分力ロードセルで最大の問題である分力間の
相互干渉が発生する原因になる。また、車軸と荷重受部
２との間に介在するベアリング部が回転により摩擦熱が
発生し、角柱部３に部分発熱となって伝達するので、角
柱部３に貼り付けた歪ゲージ５の温度特性に影響を及ぼ
し、測定精度に誤差を介入する虞れが多分にある。[Problems to be Solved by the Invention] The multi-component force load cell of the type described above is used, for example, when measuring a component force applied to a wheel of an automobile. In this case, a hole is provided in the load receiving portion 2. The axle will be inserted through this hole for measurement. In this case, a considerably large force is applied to the load receiving portion 2, and the mechanical rigidity, which is an important element as a load cell, between the load receiving portion 2 and the prismatic portion 3 is reduced, and the force load cell is probably the maximum. This causes mutual interference between the component forces, which is a problem of. Further, since the bearing portion interposed between the axle and the load receiving portion 2 is rotated to generate frictional heat, which is partially transmitted to the prismatic portion 3 and transmitted, the temperature of the strain gauge 5 attached to the prismatic portion 3 is increased. There is a high risk of affecting the characteristics and interposing errors in the measurement accuracy.
本発明の目的は、上述の欠点を解消し、機構的に強固で
ありながら偶力感度に優れ、かつ歪ゲージに荷重受部か
らの熱が伝達し難い多分力・力検出器を提供することに
ある。An object of the present invention is to solve the above-mentioned drawbacks and to provide a force / force detector that is mechanically strong, yet has excellent couple sensitivity, and that heat from a load receiver is difficult to transfer to a strain gauge. It is in.
［課題を解決するための手段］ 上記の目的を達成するために、本発明に係る多分力・力
検出器においては、枠体の中央部に荷重受部を配置し、
該荷重受部の周囲４方向に長溝とフレクシャから成るＴ
字状部を形成し、前記フレクシャと前記枠体との間を４
本の角柱から成る起歪部により十字状に連結し、これら
の起歪部の周囲に多分力を検出するための歪ゲージを貼
付したことを特徴とするものである。[Means for Solving the Problems] In order to achieve the above-mentioned object, in the multi-component force / force detector according to the present invention, a load receiving portion is arranged at the center of the frame,
T consisting of a long groove and a flexure in four directions around the load receiving portion
Forming a character-shaped portion, and connecting the flexure and the frame body to each other by 4
It is characterized in that it is connected in a cross shape by a strain-flexing portion composed of a prism of a book, and a strain gauge for detecting a force is attached around the strain-flexing portion.
［作用］ 上記の構成を有する多分力・力検出器は、荷重受部に加
わる力をフレクシャを介して角柱部において測定する。[Operation] The force / force detector having the above configuration measures the force applied to the load receiving portion at the prismatic portion via the flexure.
［実施例］ 本発明を第１図〜第３図に図示の実施例に基づいて詳細
に説明する。[Embodiment] The present invention will be described in detail based on an embodiment shown in FIGS. 1 to 3.
第１図は多分力・力検出器の斜視図、第２図は平面図、
第３図は断面図を示し、この多分力・力検出器本体は１
個の金属ブロックを加工して形成されている。リング状
の枠体11に対して中央部には荷重受部12が設けられてお
り、枠体11と荷重受部12の間はＸ方向、Ｙ方向を向く４
個の検出13x、13x、13y、13yにより連結されている。荷
重受部12には雄ねじ部14が設けられており、各角柱部13
の荷重受部12側には角柱部13に捩りつまり偶力の伝達を
軽減するフレクシャ15x、15x、15y、15yがそれぞれ形成
され、荷重受部12のフレクシャ15側にはＸ方向、Ｙ方向
とそれぞれ直交する方向に長溝溝16x、16x、16y、16yが
設けられており、角柱部13に引張力と圧縮力が極力伝達
されないように平板フレクシャ17x、17yを配している。
また、角柱部13x、13yのそれぞれの面には歪ゲージ18
x、18y、18zが貼り付けられている。1 is a perspective view of a force / force detector, FIG. 2 is a plan view,
Fig. 3 shows a cross-sectional view, this force / force detector body is
It is formed by processing individual metal blocks. A load receiving portion 12 is provided at the center of the ring-shaped frame body 11, and the space between the frame body 11 and the load receiving portion 12 faces in the X direction and the Y direction.
The individual detections 13x, 13x, 13y, 13y are linked together. The load receiving portion 12 is provided with a male screw portion 14 and each prism portion 13
Flexures 15x, 15x, 15y, 15y for reducing the transmission of the couple, that is, twisting in the prism portion 13 are formed on the load receiving portion 12 side of the load receiving portion 12 side. Long groove grooves 16x, 16x, 16y, 16y are provided in directions orthogonal to each other, and flat plate flexures 17x, 17y are arranged so that the tensile force and the compressive force are not transmitted to the prism portion 13 as much as possible.
In addition, strain gauges 18 are provided on the respective surfaces of the prismatic parts 13x and 13y.
x, 18y, 18z are attached.
上述のように構成した実施例では、例えば荷重受部12に
対して力がＸ方向に作用した場合には、Ｘ軸方向の角柱
部13xに掛かる力はフレクシャ15xと長溝16x間に設けら
れた平板フレクシャ17の変形によって吸収され、Ｙ軸方
向のフレクシャ15yを介して力がＹ軸方向の角柱部13yに
作用し、これらの角柱部13yの両側面に貼り付けられた
歪ゲージ18yの出力によってその力を検出することがで
きる。また、Ｙ軸方向へ力に対してはＸ軸方向の角柱部
13xに貼り付けた歪ゲージ18xの出力によって検出するこ
とができる。更には、Ｚ軸方向への力に対しては角柱部
13x、13yの表側と裏側に貼り付けた歪ゲージ18z、18zの
出力により検出することができる。また、力がＸ軸、Ｙ
軸、Ｚ軸方向の合成力である場合には、各軸方向の力を
測定してこれらのベクトル分を検出すればよい。In the embodiment configured as described above, for example, when a force acts on the load receiving portion 12 in the X direction, the force applied to the prismatic portion 13x in the X axis direction is provided between the flexure 15x and the long groove 16x. The force is absorbed by the deformation of the plate flexure 17, and the force acts on the Y-axis direction prisms 13y via the Y-axis direction flexure 15y, and the output of the strain gauges 18y attached to both side faces of these prisms 13y. The force can be detected. Also, for the force in the Y-axis direction, the prismatic portion in the X-axis direction
It can be detected by the output of the strain gauge 18x attached to 13x. Furthermore, for the force in the Z-axis direction, the prismatic part
It can be detected by the outputs of strain gauges 18z and 18z attached to the front and back sides of 13x and 13y. Also, the force is X-axis, Y
In the case of the combined force in the axial and Z-axis directions, the force in each axial direction may be measured to detect these vector components.
更に、Ｘ軸を中心とする偶力に対て、フレクシャ15xは
偶力低減フレクシャとして働き、角柱部13xに捩りを伝
達しないよう作用しており、Ｘ軸を中心とする偶力は角
柱部13yのみによって支持されることになる。従って、
Ｘ軸を中心とする偶力はＹ軸方向の角柱部13yの表面及
び裏面に貼り付けた歪ゲージ18zの出力の差を演算する
ことによって求められ、Ｙ軸を中心とする偶力に対して
も角柱部13xの表面及び裏面に貼り付けた歪ゲージ18zに
より同様に測定できる。また、Ｚ軸を中心とする偶力に
対しては、全てのフレクシャが作用することが少なく、
角柱部13x、13yの両側面に貼り付けた歪ゲージ18x、18y
の出力を用いて直接に測定することができる。Further, the flexure 15x acts as a couple reducing flexure against the couple centering on the X axis, and acts so as not to transmit the twist to the prism portion 13x, and the couple centering on the X axis is the couple portion 13y. Will be supported by only. Therefore,
The couple centered on the X-axis is obtained by calculating the difference between the outputs of the strain gauges 18z attached to the front and back surfaces of the prismatic portion 13y in the Y-axis direction, and with respect to the couple centered on the Y-axis. Can be similarly measured by the strain gauge 18z attached to the front surface and the back surface of the prismatic portion 13x. In addition, all flexures are less likely to act on the couple centered on the Z axis,
Strain gauges 18x, 18y attached to both sides of prismatic parts 13x, 13y
Can be directly measured using the output of
この測定の過程において、荷重受部12に大きな力が加わ
っても各角柱部13は比較的剛性の大きな枠体11に強固に
取り付けられているために、角柱部13は荷重受部12に加
えられた力、或いは偶力を相互干渉の分離能力を保持し
つつ、１分力を極めて正確な曲げ歪として検出すること
になる。また、荷重受部12に例えば車軸を取り付けた場
合などで、摩擦力によっては荷重受部12が加熱された場
合においても、その熱は断面積の小さなフレクシャ17、
フレクシャ15を通してのみ歪ゲージ18が貼られている角
柱部13に伝達されるため、その熱伝達は極めて悪く、歪
ゲージ18が熱による影響を受けることが従来よりも少な
い。In the process of this measurement, even if a large force is applied to the load receiving portion 12, since each prism portion 13 is firmly attached to the frame body 11 having a relatively large rigidity, the prism portion 13 is added to the load receiving portion 12. The applied force or couple force is detected as an extremely accurate bending strain while maintaining the separation ability of mutual interference. Further, for example, when an axle is attached to the load receiving portion 12, even when the load receiving portion 12 is heated due to frictional force, the heat of the flexure 17 having a small cross-sectional area,
Since the heat is transferred to the prism portion 13 to which the strain gauge 18 is attached only through the flexure 15, the heat transfer is extremely poor, and the strain gauge 18 is less affected by heat than before.
更に、本ロードセルは偶力発生点となる雄ねじ部14を挟
むフレクシャ17y〜17y間、フレクシャ17x〜17x間の長さ
が、従来の第４図に示されたロードセルのフレクシャ6y
〜6y間、フレクシャ6x〜6x間と比較して1/2程度となっ
て短いので、同一偶力に対しては検出感度が２倍近く良
好となる。Further, in this load cell, the lengths between the flexures 17y to 17y and the flexures 17x to 17x sandwiching the male screw portion 14 which is the couple generation point are the flexure 6y of the conventional load cell shown in FIG.
Between 6y and 6x, which is about half that of flexures 6x to 6x, the detection sensitivity is almost twice as good for the same couple.
［発明の効果］ 以上説明したように本発明に係る多分力・力検出器は、
荷重受部を支える角柱部を枠体に強固に取り付け、荷重
受部側に断面積の小さなフレクシャを設けているために
荷重受部は安定して保持され、更には荷重受部から角柱
部側に伝達する熱量が少なく、歪ゲージの熱特性に影響
を及ぼす虞れが少なく、偶力に対する検出感度も従来構
造と比較して２倍程度に改善される。[Effects of the Invention] As described above, the multi-component force / force detector according to the present invention is
The prismatic part that supports the load receiving part is firmly attached to the frame, and the flexure with a small cross-sectional area is provided on the load receiving part side, so the load receiving part is held stably. The amount of heat transferred to the strain gauge is small, there is little risk of affecting the thermal characteristics of the strain gauge, and the detection sensitivity to a couple is also improved by a factor of two compared with the conventional structure.
図面第１図〜第３図は本発明に係る多分力・力検出器の
一実施例を示し、第１図は斜視図、第２図は平面図、第
３図は断面図であり、第４図は従来の多分力ロードセル
の斜視図である。 符号11は枠体、12は荷重受部、13は角柱部、15、17はフ
レクシャ、16は長溝、18は歪ゲージである。1 to 3 show an embodiment of a multi-component force / force detector according to the present invention. FIG. 1 is a perspective view, FIG. 2 is a plan view, and FIG. 3 is a sectional view. FIG. 4 is a perspective view of a conventional multi-force load cell. Reference numeral 11 is a frame body, 12 is a load receiving portion, 13 is a prismatic portion, 15 and 17 are flexures, 16 is a long groove, and 18 is a strain gauge.
Claims (1)
受部の周囲４方向に長溝とフレクシャから成るＴ字状部
を形成し、前記フレクシャと前記枠体との間を４本の角
柱から成る起歪部により十字状に連結し、これらの起歪
部の周囲に多分力を検出するための歪ゲージを貼付した
ことを特徴とする多分力・力検出器。1. A load receiving portion is arranged in a central portion of a frame body, and a T-shaped portion composed of a long groove and a flexure is formed in four directions around the load receiving portion, and a T-shaped portion is formed between the flexure and the frame body. A multi-potential force / force detector characterized in that it is connected in a cross shape by strain-flexing portions composed of four prisms, and a strain gauge for detecting a force is attached around the strain-flexing portions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21566089A JPH0676933B2 (en) | 1989-08-22 | 1989-08-22 | Maybe force / force detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21566089A JPH0676933B2 (en) | 1989-08-22 | 1989-08-22 | Maybe force / force detector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0378637A JPH0378637A (en) | 1991-04-03 |
| JPH0676933B2 true JPH0676933B2 (en) | 1994-09-28 |
Family
ID=16676070
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP21566089A Expired - Lifetime JPH0676933B2 (en) | 1989-08-22 | 1989-08-22 | Maybe force / force detector |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0676933B2 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010025736A (en) * | 2008-07-18 | 2010-02-04 | Honda Motor Co Ltd | Force sensor |
| CN104364625A (en) * | 2012-06-14 | 2015-02-18 | 泰科思（深圳）传感器有限公司 | Force sensor including sensor plate with local differences in stiffness |
| JP2019113562A (en) * | 2019-02-22 | 2019-07-11 | 株式会社トライフォース・マネジメント | Force sensor |
| JP2019179039A (en) * | 2019-06-25 | 2019-10-17 | 株式会社トライフォース・マネジメント | Force sensor |
| JP2020112569A (en) * | 2020-03-24 | 2020-07-27 | 株式会社トライフォース・マネジメント | Force sensor |
| JP2021039129A (en) * | 2020-03-24 | 2021-03-11 | 株式会社トライフォース・マネジメント | Force sensor |
| JP2021119359A (en) * | 2020-11-25 | 2021-08-12 | 株式会社トライフォース・マネジメント | Force sensor |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4909583B2 (en) * | 2005-12-16 | 2012-04-04 | 株式会社昭和測器 | Multi-axis load cell |
| JP7343450B2 (en) * | 2020-06-29 | 2023-09-12 | トヨタ自動車株式会社 | force sensor |
| JP7295067B2 (en) | 2020-06-29 | 2023-06-20 | トヨタ自動車株式会社 | force sensor |
-
1989
- 1989-08-22 JP JP21566089A patent/JPH0676933B2/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010025736A (en) * | 2008-07-18 | 2010-02-04 | Honda Motor Co Ltd | Force sensor |
| CN104364625A (en) * | 2012-06-14 | 2015-02-18 | 泰科思（深圳）传感器有限公司 | Force sensor including sensor plate with local differences in stiffness |
| JP2019113562A (en) * | 2019-02-22 | 2019-07-11 | 株式会社トライフォース・マネジメント | Force sensor |
| JP2019179039A (en) * | 2019-06-25 | 2019-10-17 | 株式会社トライフォース・マネジメント | Force sensor |
| JP2020112569A (en) * | 2020-03-24 | 2020-07-27 | 株式会社トライフォース・マネジメント | Force sensor |
| JP2021039129A (en) * | 2020-03-24 | 2021-03-11 | 株式会社トライフォース・マネジメント | Force sensor |
| JP2021119359A (en) * | 2020-11-25 | 2021-08-12 | 株式会社トライフォース・マネジメント | Force sensor |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0378637A (en) | 1991-04-03 |
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