CN103542963A - Variable-gain three-dimensional force sensor - Google Patents
Variable-gain three-dimensional force sensor Download PDFInfo
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- CN103542963A CN103542963A CN201310511312.4A CN201310511312A CN103542963A CN 103542963 A CN103542963 A CN 103542963A CN 201310511312 A CN201310511312 A CN 201310511312A CN 103542963 A CN103542963 A CN 103542963A
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Abstract
The invention discloses a variable-gain three-dimensional force sensor. The variable-gain three-dimensional force sensor comprises an elastic body, an upper gain control frame and a lower gain control frame. The elastic body comprises four fixing platforms, a center loading platform, four external floating beams, four internal floating beams and four elastic beams. The upper gain control frame and the lower gain control frame are respectively of a thin sheet shape and fixed to the upper faces of the fixed platforms and the lower faces of the fixed platforms respectively and conduct gain control on z-axis force. The four elastic beams extend from the four side faces of the center loading platform respectively and are connected to the internal floating beams. The external floating beams and the internal floating beams are mutually parallel and conduct gain control on the x-axis and y-axis. By the adoption of the variable-gain three-dimensional force sensor, strain keeps high gain for an input force value within a narrow measurement range, low gain is kept between beyond the measurement range and the full measurement range, and therefore under the condition that the variable-gain three-dimensional force sensor meets the actual measurement needs, integration of high sensitivity, a wide measurement range and a small size is achieved by the variable-gain three-dimensional force sensor.
Description
Technical field
The present invention relates to a kind of three-dimensional force sensor, relate to particularly a kind of three-dimensional force sensor of variable gain, belong to sensor technical field.
Background technology
Since coming out the seventies in last century, first multi-dimension force sensor is applied in field in intelligent robotics, is also widely used in recent years in fields such as Aero-Space, machine-building and assembling, engineering in medicine, automobile industry and sportss.
What three-dimensional force sensor was measured is three-dimensional three force components of rectangular coordinate (Fx, Fy, Fz), is most widely used a kind of in multi-dimension force sensor.Strain-type three-dimensional force sensor based on cruciform elastic beam structure is the most frequently used a kind of in this field, and it has the advantage such as little of crosstalking between simple and compact for structure, highly sensitive, dimension.Yet along with the growth to the demand of high performance three-dimensional power sensor, the caused limitation of contradiction between its sensitivity and rigidity also highlights further, that is: highly sensitive sensor rigidity is less, can not measure wide range power; The transducer sensitivity that rigidity is high is poor, and power value that can not be responsive small changes.
In actual applications, high sensitivity only within the scope of compared with small-range effect more obvious, when institute's dynamometry value is larger, the value of same sensitivity is weakened.Therefore, develop a kind of three-dimensional force sensor of variable gain, make in a small-range, its strain keeps the high-gain of input force value (high sensitivity), and outside this range between full scale, in compared with low gain (muting sensitivity) state, can effectively overcome the contradiction of sensitivity and rigidity, meet wide range and highly sensitive demand in actual use, thereby there is very high practical value.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of three-dimensional force sensor of variable gain, make in a small-range, strain keeps the high-gain to input force value, and outside this range between full scale in low gain, thereby make this sensor in the situation that meeting actual measurement demand, reach the fusion of high sensitivity, wide range, small size.
Technical scheme: for solving the problems of the technologies described above, the technical solution used in the present invention is as follows: a kind of three-dimensional force sensor of variable gain, comprises elastic body, is fixed on the upper gain control framework of elastic body top and is fixed on the lower gain control framework of elastic body below; Described elastic body comprises a center loaded platform, four fixed stations, four outer floating beams, four interior floating beams and four elastic beams, and wherein, four described fixed stations are symmetrically distributed in the surrounding of center loaded platform; Four described outer floating beams are connected adjacent fixed station between two; Four described interior floating beams are positioned at corresponding outer floating beam inner side parallel with four described outer floating beams; Four described elastic beams extend out and are connected with described interior floating beam from the center of four sides of center loading bench respectively; Described outer floating beam and interior floating beam height equate, and are provided with gap between corresponding interior floating beam and outer floating beam; The outer floating beam that is arranged so that in this gap plays gain control action, the size in this gap is relevant with actual required range ability I, can be according to well known to a person skilled in the art that ANSYS finite element analysis software analyzes maximum deformation quantity under range I to determine gap length.
Described upper gain control framework is identical with lower gain control frame shape, be laminar, symmetric figure centered by flat shape, upper gain control framework and lower gain control framework are comprised of four upper floating beams and four lower floating beams respectively, four upper floating beams are vertical with four elastic beams respectively with four lower floating beams, and and elastic beam between in the vertical direction leave gap, described upper gain control framework and lower gain control framework surround the square dead slot that is greater than center loaded platform, gap between gap between upper floating beam and elastic beam and lower floating beam and elastic beam has guaranteed the gain control action of upper floating beam and lower floating beam, the size in this gap is with little relevant with actual required range ability I, can be according to well known to a person skilled in the art that ANSYS finite element analysis software analyzes maximum deformation quantity under range I to determine gap length.
Described elastic body is monolithic construction, and about Descartes's three-dimensional coordinate rotational symmetry, described elastomeric each fixed station is provided with through hole at center, and it caves inward respectively and forms upper frame fixed station and underframe fixed station at upper surface and lower surface near one jiao of center loaded platform, and the plane that described upper frame fixed station and underframe fixed station surround is suitable with upper gain control framework and lower gain control framework respectively.
Four jiaos of described upper gain control framework and lower gain control framework are provided with four fixed orifices, the center of described upper frame fixed station and underframe fixed station is provided with the threaded hole that the fixed orifice with upper gain control framework and lower gain control framework matches, and described upper gain control framework and lower gain control framework are fixed on described elastomeric fixed station by described fixed orifice and threaded hole.
Wherein, the gap of the gap of the gap between outer floating beam and interior floating beam, upper floating beam and elastic beam in the vertical direction and lower floating beam and elastic beam in the vertical direction, can be preferably 0.5mm-1mm.
As preferably, described upper floating beam and lower floating beam can be designed to the pattern of moving in center loaded platform, make floating beam and the more close elastic beam root of lower floating beam.The change in gain when distance of upper floating beam and lower floating beam and elastic beam root is used for regulating z direction to load, the closer to elastic beam root, gain changes more obvious.
Beneficial effect: compared with prior art, the present invention has following beneficial effect:
(1) realize the variable gain of three-dimensional force.The present invention has adopted two floating beam structures, and increased the control framework that gains up and down, make sensor in a small-range, its strain keeps the high-gain of input force value (high sensitivity), outside this range to keeping low gain (muting sensitivity) between full scale.The present invention is to x, y, and the power of tri-dimensions of z all meets: in range ability I, the variation of elastic strain that is sensitive to unit force is larger; In range ability II, the variation of elastic strain that is sensitive to unit force is less, thereby has realized the variable gain of three-dimensional force.
(2) simple and compact for structure.The present invention has retained the advantage of cross elastic beam structure, simple in structure, is easy to processing, crosstalks little between dimension.
(3) reached the fusion of high sensitivity, wide range, small size.Compare with the sensor of same volume, the present invention has obviously larger range.And compare with the sensor of same range, in range ability I, there is again high sensitivity clearly, thereby really realize high sensitivity, the fusion of wide range and small size.
Accompanying drawing explanation
Fig. 1 is sensor one-piece construction schematic diagram of the present invention.
Fig. 2 is sensor elastomer structural representation of the present invention.
Fig. 3 is that frame-type formula I structural representation is controlled in the upper (lower) gain of sensor of the present invention.
Fig. 4 is that frame-type formula II structural representation is controlled in the upper (lower) gain of sensor of the present invention.
Fig. 5 is that sensor of the present invention is subject to the deformation map of Fx in range ability I.
Fig. 6 is that sensor of the present invention is subject to the deformation map of Fx in range ability II.
Fig. 7 is that sensor of the present invention is subject to the deformation map of Fz in range ability I.
Fig. 8 is that sensor of the present invention is subject to the deformation map of Fz in range ability II.
Fig. 9 is the output characteristics of sensor of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, further illustrate the present invention, should understand these embodiment is only not used in and limits the scope of the invention for the present invention is described, after having read the present invention, those skilled in the art all fall within the application's claims limited range to the modification of the various equivalent form of values of the present invention.
Below in conjunction with accompanying drawing explanation the specific embodiment of the present invention.
As shown in Figure 1, the three-dimensional force sensor of variable gain of the present invention comprises elastic body 1, upper gain control framework 2 and lower gain control framework 3.Elastic body is monolithic construction, and about Descartes's three-dimensional coordinate rotational symmetry.As shown in Figure 2, this elastic body comprises the outer floating beam of 12, four of four fixed stations 11, center loaded platform 13, four interior floating beams 14 and four elastic beams 15.Four fixed stations 11 are symmetrically distributed in the surrounding of center loaded platform 12, and four outer floating beams 13 and four interior floating beams 14 form four pairs of twin beams, respectively adjacent fixed station 11 are connected between two.Four elastic beams 15 extend out from four sides of center loading bench 12 respectively, and are connected with interior floating beam 14.Four interior floating beams 14 are positioned at corresponding outer floating beam inner side parallel with it, and inside and outside floating beam height equates.In inside and outside floating beam, there is elongated dead slot, make outer floating beam play gain control action.Between the outer floating beam of interior floating beam, the size of spacing is relevant with actual required range ability I, can be according to well known to a person skilled in the art that ANSYS finite element analysis software analyzes maximum deformation quantity under range I to determine gap length.Generally between 0.5mm-1mm, there is preferably performance.
Elastomeric each fixed station 11 center are provided with through hole 111, fixing with outside pedestal in actual applications for sensor.Near one jiao of center loaded platform 12, at upper surface and lower surface, caving inward respectively and forming upper frame fixed station 112 and underframe fixed station 113, and threaded hole 114 is being set for control framework 2 and the lower gain control framework 3 of gaining on fixing at upper frame fixed station 112 and underframe fixed station 113 center.
As shown in Figure 3, Figure 4, described upper gain control framework and lower gain control framework are laminar, symmetric figure centered by flat shape.Upper gain control framework is identical with lower gain control frame shape, by four upper floating beams 22 and four lower floating beams, form framework respectively, four jiaos at framework are provided with four fixed orifices 21, the middle square dead slot 23 that is greater than center loaded platform 12 that forms, described fixed orifice 21 coordinates with described elastomeric fixed station 11, four floating beams 22 are vertical with four elastic beams 15 respectively, and leave in the axial direction gap, the size in this gap is relevant with actual required range ability I, can be according to well known to a person skilled in the art that ANSYS finite element analysis software analyzes maximum deformation quantity under range I to determine gap length.Generally between 0.5mm～1mm, there is preferably performance.The pattern of gain control framework can change by the position of upper floating beam or lower floating beam, as shown in Fig. 3 (pattern I) and Fig. 4 (pattern II).Pattern I integral body is square, processing is simple, pattern II is by moving in the lower floating beam of upper floating beam, make floating beam and lower floating beam more approach elastic beam root, the change in gain when distance of upper floating beam and lower floating beam and elastic beam root is used for regulating z direction to load, the closer to elastic beam root, gain changes more obvious.According to actual user demand, can more approach elastic beam root with the mode that the is similar to pattern II floating beam that makes to gain up and down.
Sensor of the present invention is all divided into two stages to the measurement of Fx, Fy, Fz: from 0, to a certain power value, be the high-gain stage, be called range ability I.The strain increment that this stage is sensitive to unit force value is large, highly sensitive.From this certain force value, to full scale power value, be the low gain stage, be called range ability II.The strain increment that this stage is sensitive to unit force value is little, and sensitivity is low, but can effectively measure larger power value.Gain the floating beam of control framework up and down for controlling z axle force measurement gain; The outer floating beam of x axle is controlled the gain of x axle force measurement; The outer floating beam of y axle is controlled the gain of y axle force measurement.
Fig. 5 is that sensor of the present invention is subject to the deformation map of Fx in range ability I.Now the axial interior floating beam of x does not contact with outer floating beam, and sensor output gain is large, highly sensitive.Fig. 6 is that sensor of the present invention is subject to the deformation map of Fx in range ability II.Now interior floating beam contacts with outer floating beam, and interior floating beam and outer floating beam are combined into large rigidity floating beam, and sensor rigidity is increased, and output gain reduces, and can effectively measure compared with great force value.Due to the symmetry of sensor construction, be subject to the situation of Fy consistent with Fx situation.
Fig. 7 is that sensor of the present invention is subject to the deformation map of Fz in range ability I.Now elastic beam does not contact with lower floating beam with upper floating beam, and sensor output gain is large, highly sensitive.Fig. 8 is that sensor of the present invention is subject to the deformation map of Fz in range ability II.Now elastic beam contacts with lower floating beam with upper floating beam, and upper floating beam and lower floating beam play certain supporting role in elastic beam deformation process, and sensor rigidity is increased, and output gain reduces.
Fig. 9 is Sensor Output Characteristic.In range ability I, the strain increment of the sensitive part of sensor (being positioned on elastic beam, is also strain gauge adhesion position) is large, because elastic strain is proportional to the change in resistance of foil gauge, also be proportional to the Voltage-output of electric bridge, so elastic strain can represent the output of sensor.Visible, range ability I inner sensor output gain is large, highly sensitive; In range ability II, owing to being subject to the support of floating beam, output gain diminishes, sensitivity, and it is large that rigidity becomes, and can effectively measure compared with great force value.
Claims (5)
1. a three-dimensional force sensor for variable gain, is characterized in that, comprises elastic body (1), is fixed on the upper gain control framework (2) of elastic body (1) top and is fixed on the lower gain control framework (3) below elastic body (1);
Described elastic body (1) comprises a center loaded platform (12), four fixed stations (11), four outer floating beams (13), four interior floating beams (14) and four elastic beams (15), wherein, described four fixed stations (11) are symmetrically distributed in the surrounding of center loaded platform (12); Described four outer floating beams (13) are connected adjacent fixed station (11) between two; Described four interior floating beams (14) are positioned at corresponding outer floating beam (13) inner side parallel with described four outer floating beams (13); Described four elastic beams (15) extend out and are connected with described interior floating beam (14) from the center of four sides of center loading bench (12) respectively; Described outer floating beam (13) is highly equal with interior floating beam (14), and is provided with gap between corresponding interior floating beam (14) and outer floating beam (13);
Described upper gain control framework (2) is identical with lower gain control framework (3) shape, be laminar, symmetric figure centered by flat shape, upper gain control framework (2) and lower gain control framework (3) are comprised of four upper floating beams (22) and four lower floating beams respectively, four upper floating beams (22) are vertical with four elastic beams (15) respectively with four lower floating beams, and in the vertical direction leaves gap respectively and between elastic beam, described upper gain control framework (2) and lower gain control framework (3) surround the square dead slot (23) that is greater than center loaded platform (12).
2. the three-dimensional force sensor of variable gain according to claim 1, it is characterized in that, described elastic body is monolithic construction, and about Descartes's three-dimensional coordinate rotational symmetry, described elastomeric each fixed station (11) is provided with through hole (111) at center, and it caves inward respectively and forms upper frame fixed station (112) and underframe fixed station (113) at upper surface and lower surface near one jiao of center loaded platform (12), the plane that described upper frame fixed station (112) and underframe fixed station (113) surround is suitable with upper gain control framework (2) and lower gain control framework (3) respectively.
3. the three-dimensional force sensor of variable gain according to claim 1 and 2, it is characterized in that, four jiaos of described upper gain control framework (2) and lower gain control framework (3) are provided with four fixed orifices (21), the center of described upper frame fixed station (112) and underframe fixed station (113) is provided with the threaded hole (114) that the fixed orifice (21) with upper gain control framework (2) and lower gain control framework (3) matches, described upper gain control framework (2) and lower gain control framework (3) are fixed on described elastomeric fixed station (11) by described fixed orifice (21) and threaded hole (114).
4. the three-dimensional force sensor of variable gain according to claim 1, it is characterized in that, the gap of gap, upper floating beam and elastic beam in the vertical direction between outer floating beam (13) and interior floating beam (14) and the gap of lower floating beam and elastic beam in the vertical direction are 0.5mm-1mm.
5. the three-dimensional force sensor of variable gain according to claim 1, is characterized in that, described upper floating beam (22) and lower floating beam are designed to move in center loaded platform (12), makes floating beam (22) and lower floating beam near elastic beam root.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104198105A (en) * | 2014-09-24 | 2014-12-10 | 哈尔滨工业大学 | Foot-end dual-range three-dimensional force detector for exoskeleton or biped robots |
| 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 |
| CN111579133A (en) * | 2020-05-27 | 2020-08-25 | 安徽大学 | Variable-configuration force sensor with continuously adjustable force resolution |
| CN113561163A (en) * | 2021-07-27 | 2021-10-29 | 苏州艾利特机器人有限公司 | Two-channel multi-dimensional force sensor and robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104198105A (en) * | 2014-09-24 | 2014-12-10 | 哈尔滨工业大学 | Foot-end dual-range three-dimensional force detector for exoskeleton or biped robots |
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| CN110608837B (en) * | 2019-10-30 | 2024-05-31 | 南京神源生智能科技有限公司 | Small-range three-dimensional sensor and testing method thereof |
| CN111579133A (en) * | 2020-05-27 | 2020-08-25 | 安徽大学 | Variable-configuration force sensor with continuously adjustable force resolution |
| CN111579133B (en) * | 2020-05-27 | 2021-10-01 | 安徽大学 | Variable-configuration force sensor with continuously adjustable force resolution |
| CN113561163A (en) * | 2021-07-27 | 2021-10-29 | 苏州艾利特机器人有限公司 | Two-channel multi-dimensional force sensor and robot |
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