CN108225622A - A kind of three-dimensional force sensor - Google Patents
A kind of three-dimensional force sensor Download PDFInfo
- Publication number
- CN108225622A CN108225622A CN201711416148.3A CN201711416148A CN108225622A CN 108225622 A CN108225622 A CN 108225622A CN 201711416148 A CN201711416148 A CN 201711416148A CN 108225622 A CN108225622 A CN 108225622A
- Authority
- CN
- China
- Prior art keywords
- main body
- cover board
- structure main
- force measuring
- measuring structure
- 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.)
- Granted
Links
- 239000011888 foil Substances 0.000 claims abstract description 8
- 230000035945 sensitivity Effects 0.000 abstract description 7
- 238000009434 installation Methods 0.000 abstract description 4
- 208000032464 Retinoic acid syndrome Diseases 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 2
- 230000008030 elimination Effects 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 239000004575 stone Substances 0.000 description 2
- 230000037237 body shape Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/16—Measuring force or stress, in general using properties of piezoelectric devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/26—Auxiliary measures taken, or devices used, in connection with the measurement of force, e.g. for preventing influence of transverse components of force, for preventing overload
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L19/00—Details of, or accessories for, apparatus for measuring steady or quasi-steady pressure of a fluent medium insofar as such details or accessories are not special to particular types of pressure gauges
- G01L19/14—Housings
- G01L19/142—Multiple part housings
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L19/00—Details of, or accessories for, apparatus for measuring steady or quasi-steady pressure of a fluent medium insofar as such details or accessories are not special to particular types of pressure gauges
- G01L19/14—Housings
- G01L19/145—Housings with stress relieving means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/02—Rotary-transmission dynamometers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L9/00—Measuring steady of quasi-steady pressure of fluid or fluent solid material by electric or magnetic pressure-sensitive elements; Transmitting or indicating the displacement of mechanical pressure-sensitive elements, used to measure the steady or quasi-steady pressure of a fluid or fluent solid material, by electric or magnetic means
- G01L9/08—Measuring steady of quasi-steady pressure of fluid or fluent solid material by electric or magnetic pressure-sensitive elements; Transmitting or indicating the displacement of mechanical pressure-sensitive elements, used to measure the steady or quasi-steady pressure of a fluid or fluent solid material, by electric or magnetic means by making use of piezoelectric devices, i.e. electric circuits therefor
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Child & Adolescent Psychology (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a kind of three-dimensional force sensors, force measuring structure main body including hollow ring, the first cover board and the second cover board being separately positioned in force measuring structure main body both ends of the surface, wherein the first cover board and the second cover board are bolted in the both ends of the surface of force measuring structure main body, newel is equipped in force measuring structure main body, symmetrical at least four square beam is radially provided between newel and force measuring structure main body inner wall, foil gauge is equipped with respectively on four surfaces of each square beam.It is an advantage of the invention that：High sensitivity, retinoic acid syndrome crosstalk is small, and can eliminate installation influences, and back to zero characteristic is good.
Description
Technical field
The present invention relates to sensor correlative technology field, more particularly, to a kind of three-dimensional force sensor.
Background technology
Multi-dimension force sensor is now widely used in the fields such as aerospace, intelligence manufacture, intelligent robot.Strain-type multidimensional
Whether the quality of structure and foil gauge the bridge design of force snesor, its performance is directly influenced, particularly between being gone here and there eliminating and tieing up
Disturb and install influence, raising measurement accuracy plays a key effect.
Invention content
The object of the present invention is to provide a kind of small three-dimensional force sensors of crosstalk between high sensitivity, dimension.
The present invention technical solution be：A kind of three-dimensional force sensor, the force measuring structure main body including hollow ring are divided
The first cover board and the second cover board not being arranged in force measuring structure main body both ends of the surface, wherein the first cover board and the second cover board pass through spiral shell
Bolt is fixed in the both ends of the surface of force measuring structure main body, newel is equipped in force measuring structure main body, in newel and force measuring structure
Symmetrical at least four square beam is radially provided between main body inner wall, strain is equipped with respectively on four surfaces of each square beam
Piece.
Force measuring structure main body is hollow, inside sets at least four square beams of radial direction, is conducive to accurately measure the strain of different directions
Power, three favour stone full-bridges are formed by the foil gauge on four surfaces of square beam, measure the change in torque on three-dimensional respectively,
The measurement of each dimension is realized by multiple foil gauges on different square beams, reduces the crosstalk between dimension, improves the precision of measurement, the
One cover board and the second cover board are separately fixed in force measuring structure main body both ends of the surface, can play sealing function, while can be to survey
Power main structure body transmits torque, and total is simple, and measurement sensitivity is high.
The square beam is U-shaped beam.U-shaped portion deforms bigger in stress, should change concentration, is conducive to further improve measurement
Sensitivity and precision.
Several blind slots are equipped on an end face of the force measuring structure main body, between blind slot and second cover board
Equipped with ball.Second cover board is contacted by ball with the end face of force measuring structure main body, when installing cover board, can pass through ball
The influence that by stress elimination, can obviously reduce installation fastening force to sensor is rotated, improves back to zero characteristic.
Screw hole interface is equipped on the first cover board and the second cover board.Facilitate and sensor is mounted on miscellaneous equipment.
It is an advantage of the invention that：High sensitivity, retinoic acid syndrome crosstalk is small, and can eliminate installation influences, and back to zero characteristic is good.
Description of the drawings
Attached drawing 1 is the structural blast schematic diagram of the embodiment of the present invention；
Attached drawing 2 is the positive structure schematic of force measuring structure main body in the embodiment of the present invention；
Attached drawing 3 is the structure schematic diagram of force measuring structure main body in the embodiment of the present invention；
1st, force measuring structure main body, the 2, first cover board, the 3, second cover board, 4, newel, 5, square beam, 6, foil gauge, 7, blind slot,
8th, ball, 9, screw hole interface, 10, bolt.
Specific embodiment
Embodiment：
Refering to Fig. 1-3, a kind of three-dimensional force sensor, the force measuring structure main body 1 including hollow ring is separately positioned on dynamometry
The first cover board 2 and the second cover board 3 in 1 main body both ends of the surface of structure, wherein the first cover board 1 and the second cover board 2 are solid by bolt 10
It is scheduled in the both ends of the surface of force measuring structure main body 1, newel 4 is equipped in force measuring structure main body 1, in newel 4 and force measuring structure
Symmetrical four U-shaped square beams 5 are radially provided between 1 inner wall of main body, strain is equipped with respectively on four surfaces of each square beam 5
Piece 6.Several blind slots 7 are equipped on an end face of force measuring structure main body 1, ball is equipped between 7 and second cover board 3 of blind slot
8.Screw hole interface 9 is equipped on the first cover board 2.
Force measuring structure main body 1 is hollow, the four symmetrical U radially set between 1 inner wall of newel 4 and force measuring structure main body
Shape square beam 5 is conducive to accurately measure the adaptability to changes of different directions, and 6 groups of the foil gauge by being arranged on 5 four surfaces of square beam
Into three favour stone full-bridges, the change in torque on three-dimensional is measured respectively, the measurement of each dimension is by more on different square beams
A foil gauge is realized, is reduced the crosstalk between dimension, is improved the precision of measurement, the first cover board 2 and the second cover board 3 are separately fixed at survey
In 1 both ends of the surface of power main structure body, sealing function can be played, while torque, total can be transmitted to force measuring structure main body 1
Simply, measurement sensitivity is high.
In the present embodiment, four square beams are symmetrical arranged in force measuring structure main body 1, to improve precision, in main structure body
In the case that space allows, symmetrical five, six, eight square beams, such measurement accuracy higher can also be set.Square beam
5 be U-shaped beam, and U-shaped portion deforms bigger in stress, should change concentration, is conducive to further improve sensitivity and the essence of measurement
Degree.
Second cover board 3 is contacted by ball 8 with the end face of force measuring structure main body 1, when installing cover board, can pass through ball
Rotation by stress elimination, can obviously reduce influence of the installation fastening force to sensor, improve back to zero characteristic.
Above-listed detailed description is illustrating for one of present invention possible embodiments, which is not to limit
The scope of the claims of the present invention, all equivalence enforcements or change without departing from carried out by the present invention are intended to be limited solely by the scope of the claims of this case
In.
Claims (4)
1. a kind of three-dimensional force sensor, it is characterised in that：Force measuring structure main body including hollow ring is separately positioned on dynamometry knot
The first cover board and the second cover board in structure main body both ends of the surface, wherein the first cover board and the second cover board are bolted on dynamometry knot
In the both ends of the surface of structure main body, newel, the diameter between newel and force measuring structure main body inner wall are equipped in force measuring structure main body
To equipped with symmetrical at least four square beam, it is equipped with foil gauge respectively on four surfaces of each square beam.
2. a kind of three-dimensional force sensor according to claim 1, it is characterised in that：The square beam is U-shaped beam.
3. a kind of three-dimensional force sensor according to claim 1 or 2, it is characterised in that：In the force measuring structure main body
One end face is equipped with several blind slots, and ball is equipped between blind slot and second cover board.
4. a kind of three-dimensional force sensor according to claim 3, it is characterised in that：It is set on the first cover board and the second cover board
There is screw hole interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711416148.3A CN108225622B (en) | 2017-12-25 | 2017-12-25 | Three-dimensional force sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711416148.3A CN108225622B (en) | 2017-12-25 | 2017-12-25 | Three-dimensional force sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108225622A true CN108225622A (en) | 2018-06-29 |
| CN108225622B CN108225622B (en) | 2020-10-16 |
Family
ID=62647856
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711416148.3A Active CN108225622B (en) | 2017-12-25 | 2017-12-25 | Three-dimensional force sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108225622B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108981987A (en) * | 2018-08-07 | 2018-12-11 | 东南大学 | A kind of small retinoic acid syndrome spring beam six-dimension force sensor |
| CN109470396A (en) * | 2018-11-19 | 2019-03-15 | 北京精密机电控制设备研究所 | A kind of miniature six-dimensional force/torque sensor |
| CN110849469A (en) * | 2019-12-04 | 2020-02-28 | 西北工业大学 | Ring beam structure high-performance piezoelectric accelerometer |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100471642B1 (en) * | 2003-05-14 | 2005-03-09 | 경상대학교산학협력단 | Small 6-axis force/moment sensor in size and capacity |
| CN102636297A (en) * | 2012-04-20 | 2012-08-15 | 合肥工业大学 | Three-dimensional force sensor |
| CN103076131A (en) * | 2012-12-31 | 2013-05-01 | 东南大学 | Six-dimensional force and torque sensor for measuring large force and small torque of large mechanical arm |
| CN103575446A (en) * | 2013-10-11 | 2014-02-12 | 南京神源生智能科技有限公司 | Medium-measurement-range three-dimensional force sensor |
| CN103698076A (en) * | 2014-01-03 | 2014-04-02 | 东南大学 | Six-dimensional force-torque sensor for realizing extension of measuring range |
| CN103940544A (en) * | 2014-03-11 | 2014-07-23 | 东南大学 | Double crossed beam combination type finger joint six-dimensional force sensor |
| CN105973521A (en) * | 2016-07-08 | 2016-09-28 | 中国电子科技集团公司第二十研究所 | 3D pressure transducer |
| CN106768522A (en) * | 2017-01-20 | 2017-05-31 | 合肥工业大学 | A kind of elastomer for six-dimensional force sensor |
-
2017
- 2017-12-25 CN CN201711416148.3A patent/CN108225622B/en active Active
Patent Citations (8)
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| KR100471642B1 (en) * | 2003-05-14 | 2005-03-09 | 경상대학교산학협력단 | Small 6-axis force/moment sensor in size and capacity |
| CN102636297A (en) * | 2012-04-20 | 2012-08-15 | 合肥工业大学 | Three-dimensional force sensor |
| CN103076131A (en) * | 2012-12-31 | 2013-05-01 | 东南大学 | Six-dimensional force and torque sensor for measuring large force and small torque of large mechanical arm |
| CN103575446A (en) * | 2013-10-11 | 2014-02-12 | 南京神源生智能科技有限公司 | Medium-measurement-range three-dimensional force sensor |
| CN103698076A (en) * | 2014-01-03 | 2014-04-02 | 东南大学 | Six-dimensional force-torque sensor for realizing extension of measuring range |
| CN103940544A (en) * | 2014-03-11 | 2014-07-23 | 东南大学 | Double crossed beam combination type finger joint six-dimensional force sensor |
| CN105973521A (en) * | 2016-07-08 | 2016-09-28 | 中国电子科技集团公司第二十研究所 | 3D pressure transducer |
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| 孙国钧等: "《材料力学（第二版）》", 31 March 2015, 上海交通大学出版社 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108981987A (en) * | 2018-08-07 | 2018-12-11 | 东南大学 | A kind of small retinoic acid syndrome spring beam six-dimension force sensor |
| CN108981987B (en) * | 2018-08-07 | 2020-08-11 | 东南大学 | Small-dimension space coupling elastic beam six-dimension force sensor |
| CN109470396A (en) * | 2018-11-19 | 2019-03-15 | 北京精密机电控制设备研究所 | A kind of miniature six-dimensional force/torque sensor |
| CN110849469A (en) * | 2019-12-04 | 2020-02-28 | 西北工业大学 | Ring beam structure high-performance piezoelectric accelerometer |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108225622B (en) | 2020-10-16 |
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