CN109238528A - A kind of six-dimension force sensor - Google Patents
A kind of six-dimension force sensor Download PDFInfo
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- CN109238528A CN109238528A CN201811367523.4A CN201811367523A CN109238528A CN 109238528 A CN109238528 A CN 109238528A CN 201811367523 A CN201811367523 A CN 201811367523A CN 109238528 A CN109238528 A CN 109238528A
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- foil gauge
- radial girders
- hole
- radial
- floating
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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
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
- G01L1/2206—Special supports with preselected places to mount the resistance strain gauges; Mounting of supports
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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
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
- G01L1/2287—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges constructional details of the strain gauges
-
- 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
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
It is to be supported with circumferential as outer ring using zone center as inner ring, form inner and outer ring support construction the invention discloses a kind of six-dimension force sensor;The inner end of radial girders is connected to the middle part of floating beam, constitutes T-shape girder construction;Radial girders in four groups of T-shape beams are distributed in the periphery of zone center in " ten " word, and the outer end of each radial girders is connected in circumferential support, are connected to form zone center annular in shape between adjacent two sections of floating beams;Each through-hole and foil gauge is arranged in the present invention in radial girders and floating beam, realizes structure decoupling, can realize that six-dimensional force measures with favour stone full-bridge circuit, and power between dimension can effectively be avoided to interfere with each other.
Description
Technical field
The invention belongs to sensor technical fields, more specifically can be used for measuring the sensor of six-dimensional space power.
Background technique
Multi-dimension force sensor is the important information source that robot obtains the active force between environment.Existing various aspects at present
Multi-dimension force sensor research, such as the Waston multi-dimension force sensor of U.S.'s DraPer Research Institute, Chinese Academy of Sciences's Hefei intelligence
Can institute and Southeast China University's joint research and development SAFMS type multi-dimension force sensor, based on the multi-dimension force sensor of Stewart platform, Huang
The HUST FS6 type multi-dimension force sensor of heart Chinese professor research, the second level parallel-connection structure of German Dr.R.Seitner company design
Type six-dimension force sensor etc..A large amount of research is done to multi-dimension force sensor both at home and abroad, designed multi-dimension force sensor is more
Kind multiplicity, the advantage and disadvantage having nothing in common with each other and application, but decoupling, rigidity and the contradiction of sensitivity etc. of multi-dimension force sensor are asked
Topic also needs further to be studied.
For more complicated space-load situation, sensor needs to measure the power of multiple directions, currently, generally using six
Dimensional force sensor realizes the measurement of multi-direction power.But the spring beam of existing six-dimension force sensor is solid girder construction, causes to pass
The problem of sensor sensitivity is low, retinoic acid syndrome is big, precision is low etc.;When such elastomer stress, what is generated on each spring beam is answered
Become approximate linear distribution, so that strain can not concentrate on the position of strain gauge adhesion.
Summary of the invention
The present invention is to provide a kind of 6 DOF for realizing structure decoupling to avoid above-mentioned existing deficiencies in the technology
Force snesor, with favour stone full-bridge circuit, realizes that six-dimensional force is surveyed by the way that girder construction, and reasonable layout foil gauge is rationally arranged
Amount avoids power between dimension from interfering with each other, and improves measurement accuracy.
The present invention adopts the following technical scheme that in order to solve the technical problem
Six-dimension force sensor of the present invention is structurally characterized in that: using zone center as inner ring, being supported for outer ring, in formation with circumferential
Outer ring support construction;The inner end of radial girders is connected to the middle part of floating beam, constitutes T-shape girder construction;Diameter in four groups of T-shape beams
It is distributed to beam in the periphery of zone center in " ten " word, the outer end of each radial girders is connected in the circumferential support, and adjacent two sections floating
Zone center annular in shape is connected to form using link block between dynamic beam;
Each through-hole and foil gauge are set by following form in the radial girders and floating beam:
On each section of floating beam, the through-hole is the vertical floating beam through-hole for penetrating through the upper and lower surfaces of floating beam,
Two vertical floating beam through-holes in each section of floating beam are the both ends that floating beam is arranged symmetrically in using radial girders as central axes, described
Foil gauge is the floating beam foil gauge being pasted on symmetrical two lateral surfaces of each vertical floating beam through-hole;
In the radial girders, the through-hole is the transverse radial beam through-hole that the outer end of each section of radial girders is arranged in, and is set
Set the vertical radial girders through-hole in the inner end of each section of radial girders;
Definition: two-section radial beam at any one group on the same line is X to beam, at another group on the same line
Two-section radial beam is Y-direction beam, and X transverse radial beam through-hole on beam is X to beam cross through hole, transverse radial beam through-hole on Y-direction beam
For Y-direction beam cross through hole, vertical radial girders through-hole of the X on beam is X to beam vertical through holes, and the vertical radial girders on Y-direction beam are logical
Hole is Y-direction beam vertical through holes;The foil gauge being arranged in the radial girders includes:
X of each X on symmetrical two lateral surfaces of beam vertical through holes is affixed on to beam vertical core foil gauge;Or: it is affixed on each Y
Y-direction beam vertical core foil gauge on symmetrical two lateral surfaces of beam vertical through holes;
Each X is affixed on to symmetrical two lateral surfaces of beam cross through hole and each Y-direction beam cross through hole and close to zone center institute
Each radial girders cross-drilled hole inner end foil gauge in side;
Each X is affixed on to the symmetrical upper and lower surfaces of beam cross through hole or each Y-direction beam cross through hole and close to circumferential
Support each radial girders cross-drilled hole outer end foil gauge of side.
The design feature of six-dimension force sensor of the present invention is lain also in: establishing cartesian coordinate system: platform centered on coordinate origin
Central point, vertically for Z axis to;The radial girders for being in X-axis positive direction are the first radial girders, and what is be connected with the first radial girders is floating
Dynamic beam is the first floating beam;The radial girders being in Y-axis positive direction are the second radial girders, the floating being connected with the second radial girders
Beam is the second floating beam;The radial girders being in X-axis negative direction are third radial girders, the floating beam being connected with third radial girders
For third floating beam;The radial girders being in Y-axis negative direction are the 4th radial girders, and the floating beam being connected with the 4th radial girders is
4th floating beam;Each floating beam foil gauge is respectively: foil gauge R13, R13 ', R14 and R14 ' on the first floating beam;Second floats
Foil gauge R21, R21 ', R22 and R22 ' on beam;Foil gauge R11, R11 ', R12 and R12 ' on third floating beam;4th floating beam
Upper foil gauge R23, R23 ', R24 and R24 ';Described foil gauge R13, R14, R21, R22, R11, R12, R23 and R24 are in vertically
The center side of separate zone center in floating beam through-hole, foil gauge R13 ', R14 ', R21 ', R22 ', R11 ', R12 ', R23 ' and
R24 ' is in the center side in vertical floating beam through-hole close to zone center;
Utilize described foil gauge R11, R11 ', R12, R12 ', R13, R13 ', R14 and R14 ' composition the first favour stone full-bridge
Circuit, for obtaining the power Fx of X-direction;Utilize described foil gauge R21, R21 ', R22, R22 ', R23, R23 ', R24 and R24 '
The second favour stone full-bridge circuit is constituted, for obtaining the power Fy of Y direction;
The design feature of six-dimension force sensor of the present invention is lain also in: each radial girders cross-drilled hole outer end strain gauge adhesion is each
The symmetrical upper and lower surfaces of Y-direction beam cross through hole are respectively: foil gauge R31 and R32 in the second radial girders (b), with
And the 4th foil gauge R33 and R34 in radial girders (d);The foil gauge R31 and R33 is in the upper surface of radial girders, foil gauge
R32 and R34 is in the lower surface of radial girders;Third favour stone full-bridge electricity is constituted using described foil gauge R31, R32, R33 and R34
Road, for obtaining the directed force F z of Z-direction.
The design feature of six-dimension force sensor of the present invention is lain also in: for the directed force F z for obtaining Z-direction, each radial direction
Beam cross-drilled hole outer end foil gauge is also possible to be pasted onto symmetrical upper and lower surfaces of each X to beam cross through hole, is respectively:
Foil gauge R33 ' and R34 ' in foil gauge R31 ' and R32 ' and third radial girders in first radial girders;The foil gauge R31 '
The upper surface of radial girders is in R33 ', foil gauge R32 ' and R34 ' are in the lower surface of radial girders;Utilize the foil gauge
R31 ', R32 ', R33 ' and R34 ' composition third favour stone full-bridge circuit, for obtaining the directed force F z of Z-direction.
The design feature of six-dimension force sensor of the present invention is lain also in: each radial girders cross-drilled hole inner end foil gauge is respectively: first
Foil gauge R53 and R54 in radial girders;Foil gauge R41 and R42 in second radial girders;Foil gauge R51 and R52 in third radial girders;
Foil gauge R43 and R44 on 4th floating beam;Described foil gauge R53, R41, R51 and R43 are in the upper surface of radial girders, strain
Piece R54, R42, R52 and R44 are in the lower surface of radial girders;The 4th favour is constituted using described foil gauge R41, R42, R43 and R44
Stone full-bridge circuit, for obtaining the torque Mx of X-direction;The 5th favour is constituted using described foil gauge R51, R52, R53 and R54
Stone full-bridge circuit, for obtaining the torque My of Y direction.
The design feature of six-dimension force sensor of the present invention is lain also in: the X is respectively to beam vertical core foil gauge: first is radial
Foil gauge R61 and R62 in foil gauge R63 and R64 and third radial girders on beam;Using described foil gauge R61, R62, R63 and
R64 constitutes the 6th favour stone full-bridge circuit, for obtaining the torque Mz of Z-direction.
The design feature of six-dimension force sensor of the present invention is lain also in: for the torque Mz for obtaining Z-direction, the Y-direction beam is erected
Hole foil gauge can also be respectively: foil gauge R61 ' in foil gauge R63 ' and R64 ' and the 4th radial girders in the second radial girders
With R62 ';Using the foil gauge R61 ', the 6th favour stone full-bridge circuit of R62 ', R63 ' and R64 ' composition, for obtaining Z axis side
To torque Mz.
Compared with the prior art, the invention has the advantages that:
1, the present invention realizes structure decoupling, for the structure type of spring beam in the present invention, in radial girders and can float
Foil gauge is pasted on the different location of dynamic beam, according to force snesor principle, with favour stone full-bridge circuit, realizes that six-dimensional force is surveyed
Amount, and power between dimension can effectively be avoided to interfere with each other;
2, vertical radial girders through-hole is arranged close to zone center in the present invention, and the intrinsic frequency of single order of the sensor can be significantly increased
Rate improves the dynamic property of sensor;
3, the through-hole opened up in each radial girders and floating beam in the present invention makes strain concentrate on surveyed region, vertical diameter
It can guarantee the rigidity of sensor while obtaining higher detection sensitivity to the close floating beam setting of beam through-hole;
4, the present invention can overall processing, reduce repeatability error, structure is simple, easy to process.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention;
Fig. 1 a is specific embodiment of the invention structural schematic diagram;
Fig. 2 be the present invention in each foil gauge radial girders and floating beam upper surface distribution schematic diagram;
Fig. 3 be the present invention in each foil gauge radial girders and floating beam lower surface distribution schematic diagram;
Fig. 4 is another structure type schematic diagram of the present invention;
Figure label: 1 zone center, 2 radial girders, 3 floating beams, 4 circumferential supports, 5 vertical floating beam through-holes, 6 transverse radials
Beam through-hole, 7 vertical radial girders through-holes, 8 location holes.
Specific embodiment
Referring to Fig. 1, Fig. 1 a and Fig. 4, six-dimension force sensor is in the present embodiment: with zone center 1 for inner ring, with circumferential support
4 be outer ring, forms inner and outer ring support construction;The inner end of radial girders 2 is connected to the middle part of floating beam 3, constitutes T-shape girder construction;
Radial girders 2 in four groups of T-shape beams are distributed in the periphery of zone center 1 in " ten " word, and the outer end of each radial girders 2 is connected to circumferential branch
In support 4, zone center 1 annular in shape is connected to form using link block between adjacent two sections of floating beams 3;In order to carry out positioning peace
Dress is respectively arranged with location hole 8 on circumferentially support and each link block.
Each through-hole and foil gauge are set by following form in radial girders 2 and floating beam 3 in the present embodiment:
As shown in Figure 1 and Figure 4, on each section of floating beam 3, through-hole is the perpendicular of the upper and lower surfaces of perforation floating beam 3
To floating beam through-hole 5, two vertical floating beam through-holes 5 in each section of floating beam 3 are to be arranged symmetrically in radial girders 2 for central axes
The both ends of floating beam 3, foil gauge are that the floating beam being pasted on symmetrical two lateral surfaces of every vertical floating beam through-hole 5 is answered
Change piece, floating beam foil gauge totally 16;In radial girders 2, through-hole is the transverse radial beam that the outer end of each section of radial girders 2 is arranged in
The vertical radial girders through-hole 7 of through-hole 6 and the inner end that each section of radial girders 2 are set.
As shown in Figure 3 and Figure 4, define: two-section radial beam 2 at any one group on the same line is X to beam, another group
Place's two-section radial beam 2 on the same line is Y-direction beam, and X transverse radial beam through-hole 6 on beam is X to beam cross through hole, Y-direction
Transverse radial beam through-hole 6 is Y-direction beam cross through hole on beam, and vertical radial girders through-hole 7 of the X on beam is X to beam vertical through holes, Y
Vertical radial girders through-hole 7 on beam is Y-direction beam vertical through holes;The foil gauge being arranged in radial girders 2 includes:
X of each X on symmetrical two lateral surfaces of beam vertical through holes is affixed on to beam vertical core foil gauge, X is answered to beam vertical core
Become piece totally four;Or: the Y-direction beam vertical core foil gauge being affixed on symmetrical two lateral surfaces of each Y-direction beam vertical through holes, Y-direction
Beam vertical core foil gauge totally four.
Each X is affixed on to symmetrical two lateral surfaces of beam cross through hole and each Y-direction beam cross through hole and close to zone center 1
Each radial girders cross-drilled hole inner end foil gauge of side, radial girders cross-drilled hole inner end foil gauge totally eight.
Each X is affixed on to the symmetrical upper and lower surfaces of beam cross through hole or each Y-direction beam cross through hole and close to circumferential
Support each radial girders cross-drilled hole outer end foil gauge of 4 side, radial girders cross-drilled hole outer end foil gauge totally four.
In specific implementation, establish cartesian coordinate system: the central point of platform 1 centered on coordinate origin, vertically for Z axis to;And
Have: the radial girders for being in X-axis positive direction are the first radial girders a, and the floating beam being connected with the first radial girders a is the first floating beam
a′;The radial girders being in Y-axis positive direction are the second radial girders b, and the floating beam being connected with the second radial girders b is the second floating
Beam b ';The radial girders being in X-axis negative direction are third radial girders c, and the floating beam being connected with third radial girders c is floating for third
Dynamic beam c ';The radial girders being in Y-axis negative direction are the 4th radial girders d, and the floating beam being connected with the 4th radial girders d is the 4th
Floating beam d ';
Each floating beam foil gauge is respectively: the first floating beam a ' goes up foil gauge R13, R13 ', R14 and R14 ';Second floats
Beam b ' goes up foil gauge R21, R21 ', R22 and R22 ';Third floating beam c ' goes up foil gauge R11, R11 ', R12 and R12 ';4th is floating
Dynamic beam d ' goes up foil gauge R23, R23 ', R24 and R24 ';Wherein, foil gauge R13, R14, R21, R22, R11, R12, R23 and R24
Be in the center side of the separate zone center 1 in vertical floating beam through-hole 5, foil gauge R13 ', R14 ', R21 ', R22 ', R11 ',
R12 ', R23 ' and R24 ' are in the center side in vertical floating beam through-hole 5 close to zone center 1;Using foil gauge R11, R11 ',
R12, R12 ', R13, R13 ', R14 and R14 ' composition the first favour stone full-bridge circuit, for obtaining the power Fx of X-direction;It utilizes
Foil gauge R21, R21 ', R22, R22 ', R23, R23 ', R24 and R24 ' composition the second favour stone full-bridge circuit, for obtaining Y-axis
The power Fy in direction.
In specific implementation, each radial girders cross-drilled hole outer end strain gauge adhesion is in the symmetrical upper surface of each Y-direction beam cross through hole
And lower surface, be respectively: on the second radial girders b on foil gauge R31 and R32 and the 4th radial girders d foil gauge R33 and
R34;Wherein, foil gauge R31 and R33 is in the upper surface (as shown in Figure 2) of radial girders, and foil gauge R32 and R34 are in radial girders
Lower surface (as shown in Figure 3);Third favour stone full-bridge circuit is constituted using foil gauge R31, R32, R33 and R34, for obtaining
The directed force F z of Z-direction.
For the directed force F z for obtaining Z-direction, another form: each radial girders cross-drilled hole outer end strain gauge adhesion can also be used
In each X to the symmetrical upper and lower surfaces of beam cross through hole, be respectively: on the first radial girders a foil gauge R31 ' and
Foil gauge R33 ' and R34 ' on R32 ' and third radial girders c;Wherein, foil gauge R31 ' and R33 ' is in the upper table of radial girders
Face, foil gauge R32 ' and R34 ' are in the lower surface of radial girders;Utilize foil gauge R31 ', R32 ', R33 ' and R34 ' composition third
Favour stone full-bridge circuit, for obtaining the directed force F z of Z-direction.
When power Fz is acted on, for obtain higher Fz to resolving power, each radial girders cross-drilled hole outer end foil gauge is also possible to
Each X is pasted onto the symmetrical upper and lower surfaces with Y-direction beam cross through hole, is respectively: foil gauge in the first radial girders
R31 ' and R32 ', foil gauge R31 and R32 in the second radial girders (b), foil gauge R33 ' and R34 ', Yi Ji in third radial girders
Foil gauge R33 and R34 in four radial girders (d);Described foil gauge R31, R31 ', R33 and R33 ' are in the upper surface of radial girders, answer
Become piece R32, R32 ', R34 and R34 ' is in the lower surface of radial girders;Using the foil gauge R31, R31 ', R32, R32 ', R33,
R33 ', R34 and R34 ' composition third favour stone full-bridge circuit, for obtaining the directed force F z of Z-direction.
In specific implementation, each radial girders cross-drilled hole inner end foil gauge is respectively: foil gauge R53 and R54 on the first radial girders a;
Foil gauge R41 and R42 on second radial girders b;Foil gauge R51 and R52 on third radial girders c;Foil gauge on 4th floating beam d
R43 and R44;Wherein, foil gauge R53, R41, R51 and R43 is in the upper surface (as shown in Figure 2) of radial girders, foil gauge R54,
R42, R52 and R44 are in the lower surface (as shown in Figure 3) of radial girders;The 4th is constituted using foil gauge R41, R42, R43 and R44
Favour stone full-bridge circuit, for obtaining the torque Mx of X-direction;Using foil gauge R51, R52, R53 and R54 constitute the 5th favour this
Logical full-bridge circuit, for obtaining the torque My of Y direction.
In specific implementation, X is respectively to beam vertical core foil gauge: foil gauge R63 and R64 and third on the first radial girders a
Foil gauge R61 and R62 on radial girders c;The 6th favour stone full-bridge circuit is constituted using foil gauge R61, R62, R63 and R64, is used to
Obtain the torque Mz of Z-direction.
For the torque Mz for obtaining Z-direction, can also use another form: Y-direction beam vertical core foil gauge is respectively: the second diameter
The foil gauge R61 ' and R62 ' on foil gauge R63 ' and R64 ' and the 4th radial girders d on beam b;Using foil gauge R61 ',
R62 ', R63 ' and the 6th favour stone full-bridge circuit of R64 ' composition, for obtaining the torque Mz of Z-direction.
Shown in Fig. 4, cylindrical body is set by circumferential support 4, different applications is adapted in the form of its cylindrical body.
The present invention opens up through-hole on floating beam, while realizing floating beam action, for other direction force or
The measurement of torque influences smaller;When loading the active force of Fx, stress concentrates on the two sides in hole, and Y-direction strain at this time is larger, because
This pastes the foil gauge of measurement Y-direction strain on corresponding position, can accurately measure the size of loading force;As load Fy
Active force when, principle is identical as the load active force of Fx, and stress concentrates on the two sides in hole, and X at this time is larger to straining, because
This pastes measurement foil gauge of the X to strain on corresponding position;When loading the active force of Fz, foil gauge is arranged in radial girders
Upper and lower surfaces are punched in radial girders, are deformed beam and are concentrated;And in radial girders measure Fz when be measurement X to or Y
To strain, therefore, herein punch direction be the cross through hole opened up along Y-axis or X axis, cross through hole upper surface and under
Paste foil gauge in surface;When loading the torque of Mx, foil gauge is arranged in the upper and lower surfaces of radial girders, and measuring principle adds
It is identical when the power of load Fz, and in radial girders when measurement Mx torque it is the strain for measuring Y-direction, the upper surface of cross-drilled hole in corresponding position
The foil gauge for surveying Y-direction strain is pasted with lower surface;It is identical when measuring principle is with the torque of load Mx when loading the torque of My,
Unlike be when measuring My torque in radial girders measure X to strain, the upper and lower surfaces of the cross-drilled hole of corresponding position
It posts and surveys foil gauge of the X to strain;When loading the torque of Mz, the deformation of radial girders is mainly the bending deformation in its side,
Foil gauge is arranged in the side of radial girders, to concentrate stress, along Z axis to vertical hole is beaten in radial girders, the two of vertical hole
Paste the foil gauge of measurement X or Y-direction strain in side.
The present invention is arranged structural I-beam and improves dynamic property while increasing the rigidity of sensor;In radial girders
Punching, improves the sensitivity of sensor measurement;Through-hole is set in each radial girders and floating beam, when applying load, strain
Through-hole two sides are concentrated on, paste foil gauge in the position that strain is concentrated, wherein when being strained caused by measurement applied force Fx, Fy,
8 foil gauges are used respectively, when straining caused by measurement applied force Fz and torque Mx, My, Mz, respectively use 4 foil gauges, altogether
Count 32 foil gauges.Foil gauge is arranged symmetrically in the two sides of each through-hole;And by reasonable full-bridge circuit catenation principle, realize
The theoretic decoupling of sensor, while the sensor may make to obtain higher resolution ratio.
Claims (7)
1. a kind of six-dimension force sensor, it is characterized in that:
With zone center (1) for inner ring, with circumferential support (4) for outer ring, inner and outer ring support construction is formed;The inner end of radial girders (2)
It is connected to the middle part of floating beam (3), constitutes T-shape girder construction;Radial girders (2) in four groups of T-shape beams are in the outer of zone center (1)
It encloses and is distributed in " ten " word, the outer end of each radial girders (2) is connected on the circumferential support (4), between adjacent two sections of floating beams (3)
Zone center annular in shape (1) is connected to form using link block;
Each through-hole and foil gauge are set by following form in the radial girders (2) and floating beam (3):
On each section of floating beam (3), the through-hole is the vertical floating beam through-hole for penetrating through the upper and lower surfaces of floating beam (3)
(5), it is that central axes are arranged symmetrically in floating that two vertical floating beam through-holes (5) in each section of floating beam (3), which are with radial girders (2),
The both ends of beam (3), the foil gauge are the floatings being pasted on symmetrical two lateral surfaces of each vertical floating beam through-hole (5)
Beam foil gauge;
On the radial girders (2), the through-hole is transverse radial beam through-hole (6) of the setting in the outer end of each section of radial girders (2),
Vertical radial girders through-hole (7) with setting in the inner end of each section of radial girders (2);
Definition: two-section radial beam (2) at any one group on the same line is X to beam, at another group on the same line
Two-section radial beam (2) is Y-direction beam, and X transverse radial beam through-hole (6) on beam is X to beam cross through hole, transverse radial on Y-direction beam
Beam through-hole (6) is Y-direction beam cross through hole, and vertical radial girders through-hole (7) of the X on beam is X to beam vertical through holes, on Y-direction beam
Vertical radial girders through-hole (7) is Y-direction beam vertical through holes;The foil gauge being arranged on the radial girders (2) includes:
X of each X on symmetrical two lateral surfaces of beam vertical through holes is affixed on to beam vertical core foil gauge;Or: it is affixed on each Y-direction beam
Y-direction beam vertical core foil gauge on symmetrical two lateral surfaces of vertical through holes;
Each X is affixed on to symmetrical two lateral surfaces of beam cross through hole and each Y-direction beam cross through hole and close to zone center (1) institute
Each radial girders cross-drilled hole inner end foil gauge in side;
Each X is affixed on to the symmetrical upper and lower surfaces of beam cross through hole or each Y-direction beam cross through hole and close to circumferential support
(4) each radial girders cross-drilled hole outer end foil gauge of side.
2. six-dimension force sensor according to claim 1, it is characterized in that: establishing cartesian coordinate system: during coordinate origin is
The central point of heart platform (1), vertically for Z axis to;The radial girders for being in X-axis positive direction are the first radial girders (a), with the first radial girders
(a) floating beam being connected is the first floating beam (a ');Being in radial girders in Y-axis positive direction is the second radial girders (b), with the
The floating beam that two radial girders (b) are connected is the second floating beam (b ');The radial girders being in X-axis negative direction are third radial girders
(c), the floating beam being connected with third radial girders (c) is third floating beam (c ');Being in radial girders in Y-axis negative direction is the
Four radial girders (d), the floating beam being connected with the 4th radial girders (d) are the 4th floating beam (d ');
Each floating beam foil gauge is respectively:
Foil gauge R13, R13 ', R14 and R14 ' on first floating beam (a ');
Foil gauge R21, R21 ', R22 and R22 ' on second floating beam (b ');
Foil gauge R11, R11 ', R12 and R12 ' on third floating beam (c ');
Foil gauge R23, R23 ', R24 and R24 ' on 4th floating beam (d ');
Described foil gauge R13, R14, R21, R22, R11, R12, R23 and R24 be in vertical floating beam through-hole (5) far from
The center side of heart platform (1), foil gauge R13 ', R14 ', R21 ', R22 ', R11 ', R12 ', R23 ' and R24 ' are in vertical floating
Close to the center side of zone center (1) in beam through-hole (5);
Using described foil gauge R11, R11 ', R12, R12 ', R13, R13 ', R14 and R14 ' composition the first favour stone full-bridge circuit,
For obtaining the power Fx of X-direction;
Using described foil gauge R21, R21 ', R22, R22 ', R23, R23 ', R24 and R24 ' composition the second favour stone full-bridge circuit,
For obtaining the power Fy of Y direction.
3. six-dimension force sensor according to claim 2, it is characterized in that: each radial girders cross-drilled hole outer end strain gauge adhesion
In the symmetrical upper and lower surfaces of each Y-direction beam cross through hole, be respectively: in the second radial girders (b) foil gauge R31 and
Foil gauge R33 and R34 in R32 and the 4th radial girders (d);The foil gauge R31 and R33 is in the upper surface of radial girders, answers
Become the lower surface that piece R32 and R34 are in radial girders;It is complete that third favour stone is constituted using described foil gauge R31, R32, R33 and R34
Bridge circuit, for obtaining the directed force F z of Z-direction.
4. six-dimension force sensor according to claim 2, it is characterized in that: each radial girders cross-drilled hole outer end strain gauge adhesion
In each X to the symmetrical upper and lower surfaces of beam cross through hole, be respectively: in the first radial girders (a) foil gauge R31 ' and
Foil gauge R33 ' and R34 ' in R32 ' and third radial girders (c);The foil gauge R31 ' and R33 ' is in the upper table of radial girders
Face, foil gauge R32 ' and R34 ' are in the lower surface of radial girders;Utilize the foil gauge R31 ', R32 ', R33 ' and R34 ' composition
Third favour stone full-bridge circuit, for obtaining the directed force F z of Z-direction.
5. six-dimension force sensor according to claim 2, it is characterized in that:
Each radial girders cross-drilled hole inner end foil gauge is respectively:
Foil gauge R53 and R54 in first radial girders (a);Foil gauge R41 and R42 in second radial girders (b);
Foil gauge R51 and R52 in third radial girders (c);Foil gauge R43 and R44 on 4th floating beam (d);
Described foil gauge R53, R41, R51 and R43 are in the upper surface of radial girders, and foil gauge R54, R42, R52 and R44 are in diameter
To the lower surface of beam;The 4th favour stone full-bridge circuit is constituted using described foil gauge R41, R42, R43 and R44, for obtaining X-axis
The torque Mx in direction;The 5th favour stone full-bridge circuit is constituted using described foil gauge R51, R52, R53 and R54, for obtaining Y-axis
The torque My in direction.
6. six-dimension force sensor according to claim 2, it is characterized in that: the X is respectively to beam vertical core foil gauge: first
Foil gauge R61 and R62 in foil gauge R63 and R64 and third radial girders (c) in radial girders (a);Utilize the foil gauge
R61, R62, R63 and R64 constitute the 6th favour stone full-bridge circuit, for obtaining the torque Mz of Z-direction.
7. six-dimension force sensor according to claim 2, it is characterized in that: the Y-direction beam vertical core foil gauge is respectively: second
Foil gauge R61 ' and R62 ' in foil gauge R63 ' and R64 ' and the 4th radial girders (d) in radial girders (b);Utilize the strain
Piece R61 ', the 6th favour stone full-bridge circuit of R62 ', R63 ' and R64 ' composition, for obtaining the torque Mz of Z-direction.
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