CN102636297B - Three-dimensional force sensor - Google Patents
Three-dimensional force sensor Download PDFInfo
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- CN102636297B CN102636297B CN 201210117654 CN201210117654A CN102636297B CN 102636297 B CN102636297 B CN 102636297B CN 201210117654 CN201210117654 CN 201210117654 CN 201210117654 A CN201210117654 A CN 201210117654A CN 102636297 B CN102636297 B CN 102636297B
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Abstract
The invention relates to a three-dimensional force sensor which comprises a sensor body, a groove is arranged in the middle of the top of the sensor body, a force measurement platform is arranged in the groove, four vertical through holes with same dimension are evenly distributed at the bottom of the groove; a vertical adjusting screw is arranged at the lower part of each vertical through hole in a matching manner, a vertical one-dimensional force sensor and a vertical steel ball are further arranged in a vertical thread hole, a bottom surface positioning blind hole is arranged at the bottom surface of the force measurement platform corresponding to each vertical steel ball, and most part of each vertical steel ball is correspondingly arranged in the bottom surface positioning blind hole; more than four horizontal through holes are evenly distributed on the side wall of the groove; and a horizontal adjusting screw is arranged at the outer end of each horizontal through hole in a matching manner, a horizontal one-dimensional force sensor and a horizontal steel ball are further arranged in the horizontal through hole in sequence, a side positioning blind hole is arranged on the side surface of the force measurement platform corresponding to each horizontal steel ball, and most part of the horizontal steel ball is correspondingly positioned in the side positioning blind hole. The three-dimensional force sensor is combined by 12 common one-dimensional force sensors, so that the structure is simple, and the requirement on the manufacturing technology is low.
Description
Technical field
The invention belongs to the multidimensional force measurement technical field, be specifically related to a kind of three-dimensional force sensor.
Background technology
A universal phenomenon when coupling is multi-dimension force sensor measurement multidimensional power between dimension, coupling can reduce measuring accuracy between dimension; Coupling refers to multi-dimension force sensor when measuring the acting force of some directions between dimension, and not only the direction in this power has signal output, and also can produce unnecessary signal output on the direction vertical with this power, thereby produces measuring error.
At present, the general three-dimensional force multi-dimension force sensor based on resistance strain gage of Shi Yonging, need the different azimuth (sensitive part) on sensor base paste several resistance strain gages, the distortion of measuring foil gauge position on the sensor base by each foil gauge calculates the suffered power of sensor again.Because the existence of coupling phenomenon between dimension, three-dimensional force sensor need use complicated decoupling technology, just can reduce coupling error, obtains result comparatively accurately.Coupling is a complicated nonlinear problem, and is subjected to factor affecting such as sensor processing and mount technology, full decoupledly may accomplish hardly; Therefore, three-dimensional force sensor general very technical professional do, and complex manufacturing technology, and cost is higher.The patent No. is to disclose a kind of air-flotation type multidimensional force measurement method in 200810019550.2 " air-flotation type multi-dimension force sensor and multidimensional force measurement method ", its principle is with 16 air supporting nozzles kickboard to be floated fully, converse the buoyancy that nozzle is subjected to by the gaseous tension of measuring privileged site in the air supporting nozzle, and then calculate the acting force that is subjected on the kickboard.The air flotation force measuring sensor can be avoided coupling between dimension, but structure is comparatively complicated, and cost is higher.In the practical work, in for example measurement etc. of human body strength of one's legs of the less demanding occasion of some measuring accuracy, wish to have a kind of simple in structure, three-dimensional force sensor that cost is lower, simple for production.
Summary of the invention
In order to solve for example problems such as measurement of human body strength of one's legs of the less demanding occasion of some measuring accuracy, the invention provides a kind of simple in structure, three-dimensional force sensor that cost is lower, simple for production.
Three-dimensional force sensor of the present invention comprises cubical sensor body, and sensor body end face middle part is provided with groove, is provided with force plate/platform in the groove; The bottom portion of groove of sensor body is uniform to offer four measure-alike vertical through hole, and the axis of four vertical through hole is parallel to each other, and perpendicular to square indentations; The bottom of described vertical through hole is perpendicular screwed hole, cooperate with perpendicular screwed hole and to be provided with vertical adjustment screw, upwards be provided with vertical one-dimensional power sensor and vertical steel ball successively in the perpendicular screwed hole on the top of described every vertical adjustment screw, the force plate/platform bottom surface corresponding with every vertical steel ball offers location, bottom surface blind hole, and most of correspondence of every vertical steel ball is positioned at location, corresponding bottom surface blind hole; The uniform horizontal through hole that offers more than four on the sidewall of described groove, the axis of the horizontal through hole more than four are in same plane, and be and perpendicular with four vertical through hole; The outer end of each horizontal through hole is horizontal threaded hole, cooperate with horizontal threaded hole and to be provided with the horizontal adjustment screw, the inner of described horizontal adjustment screw is provided with horizontal one dimension power sensor and horizontal steel ball successively, the force plate/platform side corresponding with every horizontal steel ball offers side location blind hole, and most of correspondence of every horizontal steel ball is positioned at corresponding side location blind hole;
The slightly larger in diameter of described each location, bottom surface blind hole is in the diameter of vertical steel ball, and the degree of depth is greater than the radius of vertical steel ball, less than the diameter of vertical steel ball; The diameter of location, four bottom surfaces blind hole is identical with the degree of depth;
The slightly larger in diameter of described side location blind hole is in the diameter of horizontal steel ball, and the degree of depth is greater than the radius of horizontal steel ball, less than the diameter of horizontal steel ball; Identical with diameter and the degree of depth of the corresponding side location blind hole of horizontal steel ball more than four.
Described sensor body end face middle part is provided with square indentations, is provided with cuboidal force plate/platform in the square indentations; Uniformly on each sidewall in the square indentations offer two horizontal through hole.
Described vertical one-dimensional power sensor is identical with horizontal one dimension power sensor, is resistance-type force cell or inductance type force cell or condenser type force cell or piezoelectric type force cell.
Three-dimensional force of the present invention refers to orthogonal three power, namely along the power of three change in coordinate axis direction of certain rectangular coordinate system in space.
Good effect of the present invention is: simple in structure with the synthetic three-dimensional force sensor of 12 common one dimension power sensor groups, require low to manufacturing technology.It is less to be coupled between dimension when measuring three-dimensional force, because one dimension power sensor can reach very high precision, thereby the present invention can obtain degree of precision when measuring three-dimensional force.
Description of drawings
Fig. 1 is structural representation of the present invention.
Fig. 2 is the B-B cut-open view of Fig. 1.
Sequence number among the last figure: sensor body 1, force plate/platform 2, square indentations 3, vertically adjust screw 11, vertical one-dimensional power sensor 12, vertical steel ball 13, location, bottom surface blind hole 14, vertical through hole 15, horizontal adjustment screw 21, horizontal one dimension power sensor 22, horizontal steel ball 23, side location blind hole 24, horizontal through hole 25.
Embodiment
Below in conjunction with accompanying drawing, do to describe further by the present invention of embodiment.
Embodiment:
Referring to Fig. 1, a kind of three-dimensional force sensor comprises cubical sensor body 1, and sensor body 1 end face middle part offers square indentations 3, is provided with force plate/platform 2 in the square indentations 3.Referring to Fig. 2, the uniform axis that offers measure-alike 15, four vertical through hole 15 of four vertical through hole in square indentations 3 bottoms of sensor body 1 is parallel to each other, and perpendicular to square indentations 3; The bottom of vertical through hole 15 is perpendicular screwed hole, cooperate with perpendicular screwed hole vertical adjustment screw 11 is housed, upwards be provided with vertical one-dimensional power sensor 12 and vertical steel ball 13 successively in the perpendicular screwed hole on the top of every vertical adjustment screw 11, the force plate/platform bottom surface corresponding with every vertical steel ball offers location, bottom surface blind hole 14, and most of correspondence of every vertical steel ball 13 is positioned at location, corresponding bottom surface blind hole 14.The uniform axis that offers 25, eight horizontal through hole 25 of two horizontal through hole is in same plane on every side inwall of square indentations 3, and perpendicular with four vertical through hole 15; The outer end of each horizontal through hole 25 is horizontal threaded hole, cooperate with horizontal threaded hole horizontal adjustment screw 21 is housed, the inner of horizontal adjustment screw 21 is equipped with horizontal one dimension power sensor 22 and horizontal steel ball 23 successively, the force plate/platform side corresponding with every horizontal steel ball 23 offers side location blind hole 24, and most of correspondence of every horizontal steel ball 23 is positioned at corresponding side location blind hole 24.
The slightly larger in diameter of side location blind hole 24 is in the diameter of horizontal steel ball 23, and the degree of depth is greater than the radius of horizontal steel ball 23; Identical with diameter and the degree of depth of the corresponding side location blind hole 24 of eight horizontal steel balls 23.
Vertical one-dimensional power sensor 12 is identical with horizontal one dimension power sensor 22, is the resistance-type force cell.Also can adopt inductance type force cell or condenser type force cell or piezoelectric type force cell.
During work, horizontal level is adjusted on the surface of force plate/platform 2, reliably contact in order to ensure between each vertical one-dimensional power sensor and horizontal one dimension power sensor and the force plate/platform 2, can adjust each horizontal one dimension power sensor over against force plate/platform 2 sides and make it reach certain default initial snap-in force; Adjustment equates the suffered pressure of each sensor over against 4 vertical one-dimensional power sensors of force plate/platform 2 bottom surfaces.
In the three-dimensional force sensor that said mechanism is formed, one dimension power sensor dynamometry direction over against two adjacently situated surfaces of force plate/platform 2 is mutually orthogonal, the dynamometry direction of 12 one dimension power sensors is respectively along three orthogonal directions, can make up a rectangular coordinate system in space with these three orthogonal directions, for example: in Fig. 1 and Fig. 2, if the three-dimensional cartesian coordinate system that makes up is O-X-Y-Z, wherein the XOY coordinate surface be arranged on force plate/platform 2 planes overlapping at the centre of sphere place of 8 horizontal steel balls 23 on four sides all around, X-axis is vertical with force plate/platform 2 front and back sides, Y-axis is vertical with force plate/platform 2 left and right sides, the Z axle makes progress with the vertical geometric center of also passing through force plate/platform 2 surfaces in force plate/platform 2 surfaces, when external force acts on the force plate/platform 2, according to the resolution of force principle, the external force that acts on the force plate/platform 2 can resolve into along 3-D walls and floor X, Y, three component of Z direction, these three component can be disposed in force plate/platform 2 sides and following one dimension power sensor is measured.Because the force of rolling friction between steel ball and the contact plane is very little, when steel ball transmitted normal pressure, friction force was very little to the influence of the component generation of other direction, and therefore coupling is little between dimension, the measuring accuracy height.
During dynamometry, do not have external force to do the time spent at worktable, the reading value of each one dimension power sensor of this moment is set to zero; When acting on an external force on the worktable, the algebraic sum that is arranged in the reading of four vertical one-dimensional power sensors 12 below the force plate/platform 2 be on the worktable external force along the component of Z-direction, the algebraic sum of reading that is arranged in four horizontal one dimension power sensors 22 of force plate/platform 2 front-back both sides be on the worktable external force along the component of X-direction, the algebraic sum of reading that is arranged in four horizontal one dimension power sensors 22 of force plate/platform about 2 face both sides be on the worktable external force along the component of Y direction.
Claims (3)
1. a three-dimensional force sensor comprises cubical sensor body, and sensor body end face middle part is provided with groove, is provided with force plate/platform in the groove; The bottom portion of groove of sensor body is uniform to offer four measure-alike vertical through hole, and the axis of four vertical through hole is parallel to each other, and perpendicular to square indentations; The uniform horizontal through hole that offers more than four on the sidewall of described groove, the axis of the horizontal through hole more than four are in same plane, and be and perpendicular with four vertical through hole; It is characterized in that: the bottom of described vertical through hole is perpendicular screwed hole, cooperate with perpendicular screwed hole and to be provided with vertical adjustment screw, upwards be provided with vertical one-dimensional power sensor and vertical steel ball successively in the perpendicular screwed hole on the top of described every vertical adjustment screw, the force plate/platform bottom surface corresponding with every vertical steel ball offers location, bottom surface blind hole, and most of correspondence of every vertical steel ball is positioned at location, corresponding bottom surface blind hole; The outer end of each horizontal through hole is horizontal threaded hole, cooperate with horizontal threaded hole and to be provided with the horizontal adjustment screw, the inner of described horizontal adjustment screw is provided with horizontal one dimension power sensor and horizontal steel ball successively, the force plate/platform side corresponding with every horizontal steel ball offers side location blind hole, and most of correspondence of every horizontal steel ball is positioned at corresponding side location blind hole;
The slightly larger in diameter of described each location, bottom surface blind hole is in the diameter of vertical steel ball, and the degree of depth is greater than the radius of vertical steel ball, less than the diameter of vertical steel ball; The diameter of location, four bottom surfaces blind hole is identical with the degree of depth;
The slightly larger in diameter of described side location blind hole is in the diameter of horizontal steel ball, and the degree of depth is greater than the radius of horizontal steel ball, less than the diameter of horizontal steel ball; Identical with diameter and the degree of depth of the corresponding side location blind hole of horizontal steel ball more than four.
2. a kind of three-dimensional force sensor according to claim 1 is characterized in that: be provided with square indentations in the middle part of the described sensor body end face, be provided with cuboidal force plate/platform in the square indentations; Uniformly on each sidewall in the square indentations offer two horizontal through hole.
3. a kind of three-dimensional force sensor according to claim 1, it is characterized in that: described vertical one-dimensional power sensor is identical with horizontal one dimension power sensor, is resistance-type force cell or inductance type force cell or condenser type force cell or piezoelectric type force cell.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201210117654 CN102636297B (en) | 2012-04-20 | 2012-04-20 | Three-dimensional force sensor |
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| CN 201210117654 CN102636297B (en) | 2012-04-20 | 2012-04-20 | Three-dimensional force sensor |
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| CN102636297A CN102636297A (en) | 2012-08-15 |
| CN102636297B true CN102636297B (en) | 2013-08-07 |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103267602B (en) * | 2013-05-19 | 2015-01-14 | 吉林大学 | Flat plate type six-component force-measuring platform device |
| DK3036514T3 (en) * | 2013-08-19 | 2018-07-23 | Ceram Gmbh | Pressure sensor for power detection |
| CN105372002B (en) * | 2015-11-25 | 2018-01-23 | 燕山大学 | The double ball decoupling six-dimension force plate/platforms of orthogonal self-calibration branch |
| CN105352634B (en) * | 2015-12-02 | 2018-05-08 | 中国工程物理研究院电子工程研究所 | A kind of manufacture method of the universal shock transducer of integrated piezoelectric formula and its piezoelectric sensing element |
| CN106124310B (en) * | 2016-08-29 | 2019-08-23 | 无锡市海航电液伺服***股份有限公司 | Combined load measuring device |
| CN106840692B (en) * | 2016-12-30 | 2020-09-29 | 北京盘天新技术有限公司 | Integrated detection system for highway |
| CN106595936A (en) * | 2016-12-30 | 2017-04-26 | 北京盘天新技术有限公司 | Three-dimensional combination force measuring device |
| IT201700071798A1 (en) | 2017-06-27 | 2018-12-27 | St Microelectronics Srl | MULTI-AXIAL FORCE SENSOR, METHOD OF MANUFACTURING THE MULTIXIAL FORCE SENSOR, AND METHOD OF OPERATION OF THE MULTI-AXIAL FORCE SENSOR |
| CN108096809A (en) * | 2017-12-22 | 2018-06-01 | 北京工业大学 | Taiji push hands training two-dimensional force measurement platform |
| CN108225622B (en) * | 2017-12-25 | 2020-10-16 | 广州中国科学院工业技术研究院 | Three-dimensional force sensor |
| CN110617871B (en) * | 2019-09-11 | 2021-07-30 | 广东韶钢工程技术有限公司 | CZL-YB-730T weighing sensor connecting device and mounting method thereof |
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| SU1673889A1 (en) * | 1988-12-19 | 1991-08-30 | Алма-Атинский Архитектурно-Строительный Институт | Device for determination of maximum effort |
| CN101221077A (en) * | 2008-01-24 | 2008-07-16 | 合肥工业大学 | Air-floating type multidimensional force sensor and multidimensional force measuring method |
| CN201126387Y (en) * | 2007-11-29 | 2008-10-01 | 杭州艾迪精工机械制造有限公司 | Strain steel rolling force test sensor |
| CN101696913A (en) * | 2009-10-30 | 2010-04-21 | 同济大学 | Small-range tunnel horizontal plane model tester system for realizing multistage and master control loading |
| CN101943617A (en) * | 2009-07-02 | 2011-01-12 | 霍尼韦尔国际公司 | Force transducer equipment |
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2012
- 2012-04-20 CN CN 201210117654 patent/CN102636297B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1673889A1 (en) * | 1988-12-19 | 1991-08-30 | Алма-Атинский Архитектурно-Строительный Институт | Device for determination of maximum effort |
| CN201126387Y (en) * | 2007-11-29 | 2008-10-01 | 杭州艾迪精工机械制造有限公司 | Strain steel rolling force test sensor |
| CN101221077A (en) * | 2008-01-24 | 2008-07-16 | 合肥工业大学 | Air-floating type multidimensional force sensor and multidimensional force measuring method |
| CN101943617A (en) * | 2009-07-02 | 2011-01-12 | 霍尼韦尔国际公司 | Force transducer equipment |
| CN101696913A (en) * | 2009-10-30 | 2010-04-21 | 同济大学 | Small-range tunnel horizontal plane model tester system for realizing multistage and master control loading |
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