WO2018024519A1 - Dispositif de mesure de force à axe simple ou à axes multiples pourvu de zone de déformation réduite - Google Patents

Dispositif de mesure de force à axe simple ou à axes multiples pourvu de zone de déformation réduite Download PDF

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Publication number
WO2018024519A1
WO2018024519A1 PCT/EP2017/068580 EP2017068580W WO2018024519A1 WO 2018024519 A1 WO2018024519 A1 WO 2018024519A1 EP 2017068580 W EP2017068580 W EP 2017068580W WO 2018024519 A1 WO2018024519 A1 WO 2018024519A1
Authority
WO
WIPO (PCT)
Prior art keywords
deformation zone
measuring
height
flange
strain gauges
Prior art date
Application number
PCT/EP2017/068580
Other languages
German (de)
English (en)
Inventor
Adrián González DE MENDOZA
Original Assignee
Nuton GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Nuton GmbH filed Critical Nuton GmbH
Publication of WO2018024519A1 publication Critical patent/WO2018024519A1/fr

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Classifications

    • 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

Definitions

  • Force measuring device with a tube-like deformation zone for multi-axis detection of acting forces and moments.
  • the invention relates to a force measuring device for single or multi-axis detection of acting forces and moments consisting of a first flange-like part through which the forces to be measured are introduced, a second flange-like part through which the forces introduced are absorbed and diverted, and a connecting these two parts tubular deformation zone over which all tensile, compressive, torsional and shear forces acting on the first flange-like part are forwarded to the second flange-like part, at least the inner or outer surface of the tube-like deformation zone as an application surface for transducers serves.
  • strain gauges DMS
  • Such force measuring devices are used in manufacturing technology, robotics and for measuring and test stands.
  • the US 4,493,220 and US 2015/0160081 AI show multi-axis force measuring devices with a tubular deformation zone, in which the transducers are arranged so that laterally acting forces in the X or Y direction deform an array of juxtaposed, oppositely oriented shear strain gauge ,
  • the strain gauges for the Z direction are combinations of longitudinal and transverse strain gauges which are oriented in the axial direction of the tubular deformation zone. In these types, several strain gauges are arranged one above the other in the axial direction on the application surface, which belong to different measuring channels. This leads to a relatively large height of the tubular deformation zone, in particular because part of the connection paths and soldering surfaces are also arranged in the region of the tubular deformation zone.
  • the applied on the inner or outer tube surface strain gauges convert the deformations of the tubular deformation zone in electrical resistance changes, which in turn by a suitable electronic circuit (Wheatstone bridge) in a voltage change and this is converted by means of a measuring amplifier into an evaluable signal.
  • a suitable electronic circuit Woatstone bridge
  • a measuring amplifier In order to detect more than one load direction, on the periphery of the tube-like forming zone applied a plurality of strain gauges, which are oriented differently and the multiple amplifiers are assigned.
  • Force measuring devices of this type provide over other systems a good but not optimal for applications in many areas of manufacturing technology and testing technology stiffness.
  • the stiffness of the force measuring device is the decisive criterion for the maximum measuring frequency, since in the range of the resonance frequency of a system can not be measured accurately.
  • the object of the present invention is to provide a multi-axis force measuring device of the type mentioned, which is suitable for the dynamic detection of acting forces and / or moments and combines high rigidity with high sensitivity. This object is achieved by a force measuring device according to claim 1. Advantageous embodiments of this force measuring device will become apparent from the dependent claims 2-5.
  • the following description of the invention relates to a force measuring device consisting of a first flange-like part and a second flange-like part, which are firmly connected to each other via an intermediate, tubular and relatively thin-walled portion.
  • the second part is firmly connected to a reference body. Then act forces and moments on the first flange-like part, deformed in particular the tubular section.
  • the thinnest-walled part of this section is referred to hereinafter as a tube-like deformation zone.
  • the tubular deformation zone, or its height H is defined as the part of the tubular section in which the maximum wall thickness W2 does not exceed the thickness of the thinnest-walled section Wl by more than 20%.
  • the height H of the tubular deformation zone is deliberately not defined as the height of the thin-walled portion with the same wall thickness, since it may be technologically advantageous to vary the wall thickness of the tubular deformation zone, as in particular at the top and bottom of the tubular deformation zone under the acting loads stress peaks in the material, which can be reduced by a greater wall thickness in these areas and a suitable shape transition.
  • At least the inner or outer cylindrical surface of the tubular deformation zone serves as an application surface for strain gauges with measuring grids, the measuring grids of the strain gauges being located at least partially in the positional region of the tubular deformation zone.
  • measuring grids with a respective axial measuring grid height h are mounted on at least two different radial positions on the application surface, wherein measuring grids can be arranged circumferentially next to one another and / or axially offset from one another.
  • the measuring gratings are thus arranged band-shaped over the circumference of the application surface.
  • the measuring grids can be arranged in different patterns. For example, they can be arranged side by side in a row. However, you can also in two or more axially be arranged offset rows. In this case, at least two measuring grids would be mounted one above the other at at least one radial position.
  • the height H of the tubular deformation zone does not exceed 1.5 times the total measuring grid height M and the total measuring grid height M corresponds to the measuring grid height h or, if several strain gauges are arranged one above the other in the same radial position in the axial direction
  • Total measuring grid height M is defined as the sum of the measuring grid heights hl + h2 + ... + hx of the superimposed measuring grid of the strain gauges.
  • At least the inner or outer cylindrical surface of the tubular deformation zone serves as the application surface, but the application surface can also protrude beyond the deformation zone.
  • the total measuring grid height M corresponds to the height h of the individual measuring gratings. If measuring grids with different heights h are used, the total measuring grid height M corresponds to the largest occurring measuring grid height h. On the other hand, if measuring grids are arranged in two or more rows spaced axially from each other, the total measuring grid height M is defined as the sum of the measuring grid heights h1 + h2 + ... + hx of the superimposed measuring grid of the strain gauges at a radial position.
  • the height H of the deformation zone is thus based on this resulting total measuring grid height M, wherein the height H does not exceed 1.5 times the total measuring grid height.
  • the deformation zone can be made as short as possible.
  • the invention is based on the finding that a shortening of the tube-like deformation zone compared to conventional height ratios not only leads to increased stiffness, but also favors in particular the heat flow from the strain gauges and thus allows higher supply voltages.
  • a prerequisite for the use of this effect and a characteristic of a force measuring device according to the invention is that the measuring grids of the strain gauges in the axial direction very close to the end of the tubular deformation zone or even extend beyond this.
  • the heat source is thus brought closer to the heat sink, which allows higher supply voltages, or a lower zero drift and a shorter single-phase oscillation can be achieved.
  • Such an arrangement is avoided in the known solutions, since the transition regions between deformation zone and flange have a lower deformation and thus supposedly give a lower signal yield.
  • the stiffness of the deformation zone can be increased in this area of application and the heat flow from the strain gauges can be favored. In a longer deformation zone with a height H above 1.5 times the total Meßgitter assume these beneficial effects, however, lower.
  • a typical, according to the prior art, at least three-axis Kraftmesseinrich- device has a assumed outer diameter D of the tubular deformation zone in the order of 60 mm, a tubular deformation zone with a height H of 12 mm. Thereupon strain gauges with a measuring height h of typically 3 mm each are located in two superimposed planes. The total measuring grid height of the superimposed measuring grids is thus 6 mm. The result is a ratio between the height H of the tubular deformation zone and the total measuring grid height of the superimposed measuring grid of 2: 1. The ratio of the outer diameter to the height H is here 5: 1.
  • a force measuring device would preferably avoid the stacking of the measuring grids in two planes and instead arrange all required measuring gratings next to one another in a band-shaped manner in a plane.
  • the total measuring grid height M of the active measuring grid is only 3 mm.
  • the height H of the tubular deformation zone is then between 3 mm and 4.5 mm, the height ratio H to the total measuring grid height M is thus between 1: 1 and 1: 1.5.
  • the height H is 3mm.
  • the ratio of the outer diameter to the height H is about 20: 1.
  • the measuring grids extend directly up to the edges of the deformation zone.
  • the height H of the deformation zone may even be smaller than the total measuring grid height M.
  • the heat dissipation into the first and second flange-like part can be further promoted by the wall thickness of the tubular deformation zone slightly thickened towards both ends. This also has the advantage that the high-loaded transition zone is stabilized and the stress normally occurring in this area, especially under radial load. tips are avoided. This measure can also increase the radial rated load and reduce the difference in the nominal loads in the radial and axial directions.
  • the sensitivity of the force-measuring device can be increased overall, the larger the surface area covered by transducers on the tubular deformation zone, since thus the relative heat input per unit area decreases and thus higher supply voltages can be applied, which in turn allow a higher resolution.
  • An advantageous embodiment of the invention therefore covers the application surface of the tubular deformation zone as large as possible with measuring grids. This leads to larger diameters of the tubular deformation zone to an increasing width of the measuring grid.
  • the larger available area can be used for the application of a larger number of measuring grids, which are evaluated in redundant measuring channels.
  • the measuring grids of the strain gauges cover at least 50% of the area above the tube-like deformation zone
  • the tube-like deformation zone is thinnest in the middle of the measuring grid and experiences a slight thickening at both ends, which still begins in the position range of the measuring grid. All of these measures have the same goal, namely to achieve improved heat dissipation and thus to enable higher supply voltages or to achieve a lower zero drift and a shorter thermal settling time. It is easy to see that even a partial implementation of these measures is already an advance in this direction. Under certain circumstances, the implementation of all measures is even impossible or unnecessary. With very large diameters of the tubular deformation zone, for example, a 50% coverage of the tubular deformation zone with measuring grids is difficult to achieve, since this would lead to very wide measuring grids. On the other hand, with small diameters, the arrangement of the strain gauges in two levels one above the other can not always be avoided if six force components are to be detected at the same time.
  • FIG. 1 shows a sectional view of a multi-axis force measuring device according to the prior art, consisting of a first flange-like part 1, over which the measuring send forces are introduced, a second flange-like part 2, via which the forces introduced are absorbed and derived, and an intermediate tubular deformation zone 3, on the all acting on the first flange-like part 1 tensile, compressive, torsional and shear forces be forwarded to the second flange-like part 2.
  • the tube-like deformation zone 3 has a uniform wall thickness in the relevant deformation region and consists of a resilient material.
  • the entire measuring body 6 consists in the embodiment shown in one piece.
  • the tubular deformation zone 3 is formed by two groove-like recesses on the outside and the inside of the measuring body 6.
  • an application surface 5 is provided with a plurality of deformation transducers in the form of strain gauges 4.
  • These strain gauges 4 each comprise a measuring grid with the axial heights h1 and h2.
  • the overall extent of each individual strain gauge can also be greater if the respective measurement grid is applied, for example, to a carrier foil.
  • the wiring of the strain gauges can also exceed the height of a measuring grid.
  • the measuring grid heights h1 and h2 of all the measuring grids can be identical, but they can also vary.
  • the measuring grids of the strain gauges 4 applied to the tubular deformation zone 3 are clearly spaced from the edges of the tubular deformation zone 3, ie there is a certain distance between the measuring grids and the two edges of the deformation zone 3. This spacing is quite deliberate and causes greater deformation the measuring grid, since significantly lower deformations occur in the edge regions of the tubular deformation zone.
  • the strain gauges are further arranged in two planes, which also have a clear distance from each other.
  • the total measuring grid height M of two measuring grids (h1 + h2) located one above the other at the same angular position is approximately 1: 2 relative to the total height H of the tubular deformation zone H.
  • the nominal area of the measuring grids used is 9mm 2 (3mm x 3mm). For 32 measuring grids, the area covered with measuring grids is 288 mm 2 . The area coverage of the tubular deformation zone 3 with measuring grids is thus about 14.2%.
  • FIG. 2 shows a sectional view of an embodiment of a multi-axis force measuring device according to the invention.
  • the force measuring device consists of a nem first flange-like part 1, via which the forces to be measured are introduced, a second flange-like part 2, via which the introduced forces are absorbed and dissipated, and an intervening tubular deformation zone 3, on which all acting on the first flange-like part 1 train -, pressure, torsional and shear forces are forwarded to the second flange-like part 2.
  • the widths of the groove-like punctures for forming the deformation zone 3 are smaller.
  • the height H of the deformation zone 3 is lower than in a force measuring device according to FIG. 1
  • the height H of the tubular deformation zone 3 is identical in this embodiment with the height h of the measuring grid of the applied strain gauges 4. It is for example 3mm. So is the total measuring grid height M 3mm. However, the height H of the deformation zone can also be slightly larger than the total measuring grid height M. Advantageous effects arise, for example, as long as the height H of the deformation zone 3 does not exceed the total measuring grid height M by more than 50%. The height H of the deformation zone 3 can also be smaller than the total measuring grid height M, wherein the measuring grid in such an embodiment would protrude beyond the deformation zone 3.
  • the application surface 5 offers sufficient space to arrange measuring gratings so that they are not only in the region of the deformation zone 3, but protrude beyond this.
  • the outer diameter D of the deformation zone 3 may also be 54 mm, as in the case of the force measuring device of FIG.
  • the peripheral surface of the deformation zone 3 is thus 509 m 2 .
  • the nominal area of the measuring grids remains the same at 288 mm 2 , so that an area coverage with measuring gratings results in the illustrated force measuring device according to the invention of about 56.6%. It is easy to understand that this arrangement allows a much better heat dissipation and thus a higher supply voltage or a shorter thermal settling time.
  • this embodiment additionally has all the above-enumerated advantages of a deformation zone which is greatly shortened compared with the prior art.
  • FIG. 3 shows a section through an embodiment of the tubular deformation zone 3 according to the invention.
  • the tubular deformation zone or its height H is defined as the part of the tubular section in which the maximum wall thickness W2 does not exceed the thickness of the thinnest-walled section W1 by more than Exceeds 20%.
  • the wall thickness increases slightly from the center of the tubular deformation zone towards the edges.
  • the transition radii are not covered by measuring grids and they also have a geometrically distinguishable shape, such as another usually much smaller radius or even a radius, while the pitch curve in the range of Dickenzuname does not necessarily follow a circular path.
  • the application surface 5 for the strain gauges 4 is preferably flat or cylindrical and can protrude well beyond the limits of the tubular deformation zone 3, to make room for the carrier foils of the strain gages with thereon soldering surfaces for the wiring.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

L'invention concerne un dispositif de mesure de force destiné à la détection d'un ou des axes des forces et des moments agissant, comportant : une première partie du type bride (1), au moyen de laquelle les forces à mesurer sont introduites ; une deuxième partie du type bride (2), au moyen de laquelle les forces introduites sont absorbées et évacuées ; et un zone de déformation tubulaire (3) reliant les deux dites parties du type bride, au moyen de laquelle l'ensemble des forces de traction, de compression, de torsion et de cisaillement, agissant sur la première partie du type bride (1), sont transmises sur la deuxième partie du type bride (2). Selon l'invention, la surface cylindrique interne ou externe de la zone de déformation tubulaire (3) sert au moins en tant qu'une surface d'application (5) pour jauges de contrainte (4) pourvues de grilles de mesure et les grilles de mesure des jauges de contrainte (4) sont situées, au moins partiellement, dans la zone de position de la zone de déformation tubulaire (3). Selon l'invention, la hauteur (H) de la zone de déformation tubulaire (3) ne dépasse pas 1,5 fois la hauteur totale de la grille de mesure (M) et la hauteur totale de la grille de mesure (M) correspond à la hauteur de la grille de mesure (h) ou, si plusieurs jauges de contrainte (4) sont disposées à la même position radiale dans la direction axiale l'une sur l'autre, la hauteur totale de la grille de mesure (M) est défini en tant que la somme des hauteurs des grilles de mesure (h1 + h2 + ... + hx) des grilles de mesure des jauges de contrainte (4) superposées.
PCT/EP2017/068580 2016-08-01 2017-07-24 Dispositif de mesure de force à axe simple ou à axes multiples pourvu de zone de déformation réduite WO2018024519A1 (fr)

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DE102016114206 2016-08-01
DE102016114206.9 2016-08-01

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Publication number Priority date Publication date Assignee Title
DE102018114899B4 (de) 2017-06-20 2022-03-31 Nuton GmbH Verfahren zur Ermittlung der Geometrie oder relativen Position eines in das für die Aufnahme von Bearbeitungswerkzeugen vorgesehene Wechselspannsystem einer Werkzeugmaschine eingespannten Tastkörpers sowie entsprechend eingerichtete Werkzeugmaschine
DE102019201169B4 (de) * 2019-01-30 2022-02-17 Kuka Deutschland Gmbh Robotergreifer mit einem Kraftsensor

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US4493220A (en) 1982-11-23 1985-01-15 Advanced Mechanical Technology, Inc. Force measuring platform and load cell therefor using strain gages to measure shear forces
DE3528364A1 (de) * 1985-08-07 1987-02-19 Helmut Erb Elektr Messtechnik Reaktionsdrehmomentaufnehmer und verfahren zu seiner messbereichsanpassung
DE10106625A1 (de) * 2001-02-13 2002-08-29 Staiger Mohilo & Co Gmbh Drehmomentsensor
CN1776385A (zh) * 2005-12-06 2006-05-24 哈尔滨工业大学 六维力传感器集成应变计
US7188535B1 (en) * 2005-06-13 2007-03-13 Sandia Corporation Load cell having strain gauges of arbitrary location
WO2011156918A2 (fr) * 2011-09-02 2011-12-22 Dan Provost Assemblage intercalé entre un outil dynamométrique et un élément de fixation pour mesurer des couples et des angles de serrage
DE102011116561A1 (de) * 2011-03-11 2012-09-13 GIF Gesellschaft für Industrieforschung mbH Drehmomentmesswelle und Verfahren zur Messung eines Drehmomentes
US20140245838A1 (en) * 2013-03-01 2014-09-04 Fuji Jukogyo Kabushiki Kaisha Wheel operating force sensor
US20150160081A1 (en) 2013-12-11 2015-06-11 Advanced Mechanical Technology, Inc. Low profile multi-axis load cell

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US20090007696A1 (en) * 2007-07-05 2009-01-08 Nitta Corporation Strain gauge type sensor
KR101839444B1 (ko) * 2011-10-31 2018-04-27 삼성전자 주식회사 힘 측정 장치 및 상기 힘 측정 장치를 포함하는 로봇 팔
CN102589765B (zh) * 2012-03-19 2014-07-23 南宁宇立汽车安全技术研发有限公司 多维力传感器

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4493220A (en) 1982-11-23 1985-01-15 Advanced Mechanical Technology, Inc. Force measuring platform and load cell therefor using strain gages to measure shear forces
DE3528364A1 (de) * 1985-08-07 1987-02-19 Helmut Erb Elektr Messtechnik Reaktionsdrehmomentaufnehmer und verfahren zu seiner messbereichsanpassung
DE10106625A1 (de) * 2001-02-13 2002-08-29 Staiger Mohilo & Co Gmbh Drehmomentsensor
US7188535B1 (en) * 2005-06-13 2007-03-13 Sandia Corporation Load cell having strain gauges of arbitrary location
CN1776385A (zh) * 2005-12-06 2006-05-24 哈尔滨工业大学 六维力传感器集成应变计
DE102011116561A1 (de) * 2011-03-11 2012-09-13 GIF Gesellschaft für Industrieforschung mbH Drehmomentmesswelle und Verfahren zur Messung eines Drehmomentes
WO2011156918A2 (fr) * 2011-09-02 2011-12-22 Dan Provost Assemblage intercalé entre un outil dynamométrique et un élément de fixation pour mesurer des couples et des angles de serrage
US20140245838A1 (en) * 2013-03-01 2014-09-04 Fuji Jukogyo Kabushiki Kaisha Wheel operating force sensor
US20150160081A1 (en) 2013-12-11 2015-06-11 Advanced Mechanical Technology, Inc. Low profile multi-axis load cell

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DE102016116181A1 (de) 2018-02-01
DE202016008911U1 (de) 2020-08-27

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