CN113865771A - Plane frog-imitating parallel two-dimensional force sensor and manufacturing method thereof - Google Patents
Plane frog-imitating parallel two-dimensional force sensor and manufacturing method thereof Download PDFInfo
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- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
- G01L5/1627—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of strain gauges
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Abstract
The invention relates to a plane frog-imitating parallel two-dimensional force sensor and a manufacturing method thereof.A spring body is respectively connected in series with an elastic beam, a guide beam and an elastic moving branched chain which are symmetrically arranged on two sides of a symmetric central visor and are symmetrically connected in parallel on two sides of a bias loading platform to form a parallel structure, the bias loading platform is arranged towards one end of a small fixed platform, the elastic moving branched chains on the two sides are obliquely and parallelly arranged, and are integrally shaped like a frog.
Description
Technical Field
The invention relates to a planar two-dimensional force sensor, in particular to a planar frog-like parallel two-dimensional force sensor and a manufacturing method thereof.
Background
The two-dimensional force sensor can simultaneously measure force components in two orthogonal directions in a plane, and is widely applied to industrial and agricultural production occasions needing interaction force sensing in structural and non-structural environments.
The ideal operating condition for a two-dimensional force sensor is that the directions of the X, Y loaded bi-directional forces lie in the same plane, or that the X, Y bi-directional loaded torques lie in the same plane as the centerline, but there is some deviation during the particular use since the X and Y loaded forces or torques often do not lie in the same plane. The existing two-dimensional force sensor inevitably generates the problem of torque coupling due to the problem of the structural shape of the two-dimensional force sensor, brings certain trouble to data operation after detection, needs to carry out decoupling work through operation, and needs to improve the structure of the two-dimensional force sensor to reduce coupling and decoupling operation amount.
Meanwhile, the structural shape of the existing two-dimensional force sensor is generally a three-dimensional structure, for example, chinese patent application No. 201110226610.X discloses a two-dimensional force sensor, holes are formed in multiple directions, the manufacturing of an elastic body can be completed only by cutting in multiple directions, the cutting structure can be performed only after the positioning in multiple directions is needed, the processing precision is not well guaranteed, and the manufacturing cost is high.
Disclosure of Invention
The technical scheme of the invention is as follows: the utility model provides a parallelly connected two-dimentional force sensor of imitative frog type in plane, includes elastomer and a plurality of foil gage, its characterized in that: the elastic body comprises two guide beams which are symmetrically arranged in parallel and have the same length, two fixed stations which correspond to the end parts of the two guide beams are respectively arranged on the symmetrical center armor positions of the two guide beams, the two sides of each fixed station are respectively connected with the end parts of the guide beams through elastic beams which are vertically arranged with the guide beams, the elastic beams and the fixed stations surround to form a square frame armor, an offset loading station is arranged in the square frame armor, the length direction of the offset loading station is arranged on the same center plane with the two fixed stations, the offset loading station is close to one of the fixed stations, elastic moving branched chains connected with the inner side surfaces of the guide beams are respectively arranged on the two side surfaces of the offset loading station along the length direction, the elastic moving branched chains on the two sides are symmetrically arranged relative to the symmetrical center armor, the two elastic moving branched chains on each side are arranged in parallel, and the center plane of the length direction of the elastic moving branched chains forms an included angle alpha with the symmetrical center armor, the two ends of each elastic movement branched chain are provided with flexible rotating pairs, the flexible rotating pairs are two symmetrical arc-shaped grooves which are arranged on the side surfaces of the two ends of each elastic movement branched chain, the centers of the four flexible rotating pairs on each side of the offset loading platform are positioned on four vertexes of a parallelogram, and the strain gauges are attached to the elastic beams far away from the offset loading platform and symmetrically distributed on the two sides of the symmetrical center plane A.
Preferably, the guide beam, the fixing table, the elastic beam, the offset loading table and the elastic moving branched chain have the same thickness and are of an integrally formed structure.
Preferably, the corners of the interconnection positions of the guide beam, the fixed platform, the elastic beam, the offset loading platform and the elastic moving branched chain are all in circular arc transition, and the included angle alpha ranges from 30 degrees to 60 degrees.
Preferably, the two fixed stations are respectively a large fixed station and a small fixed station, the offset loading station is close to the small fixed station and far from the large fixed station, two elastic beams A are respectively arranged on two sides of the large fixed station, and the two elastic beams A, the large fixed station and the guide beam positioned on the same side surround a square frame B; two sides of the small fixed platform are respectively provided with an elastic beam B.
Preferably, the large fixed table is provided with four connecting hole A, two connecting holes A are symmetrically arranged on two sides of the symmetrical center visor, and the centers of the four connecting hole A are superposed with the center of the large fixed table; the small fixed table is provided with two connecting holes B which are symmetrically arranged on two sides of the symmetric central plane A respectively, and the connecting holes B are positioned on the transverse central axis of the small fixed table; the distances from two connecting holes A and one connecting hole B on the same side of the symmetrical center visor to the symmetrical center visor are the same.
Preferably, the offset loading platform is provided with four connecting holes C, two connecting holes C are symmetrically arranged on two sides of the symmetric central visor, and the distances from the centers of the four connecting holes C to the intersecting lines of the central planes of the two pairs of elastic movement branched chains at two ends of the offset loading platform are the same.
Preferably, the number of the strain gauges is eight, four strain gauges are respectively arranged on two sides of the symmetrical center panel A, four strain gauges on each side are respectively attached to the side face, inside the square frame B, of the elastic beam A and are arranged close to the end part of the elastic beam A, four strain gauges on each side are located at four top points of a rectangle, and the centers of the four strain gauges on each side are overlapped with the center of the square frame B.
Preferably, the number of the strain gauges is eight, and four strain gauges are arranged on two sides of the symmetrical center visor; two of the elastic beams are attached to the side face, close to one end of the guide beam, of the elastic beam A inside the square frame B, the other two elastic beams are attached to the side face, close to one end of the large fixing table, of the elastic beam A outside the square frame B, the four strain gauges on each side are located on four vertexes of an isosceles trapezoid, and the centers of the four strain gauges on each side are overlapped with the center of the square frame B.
A manufacturing method of the planar frog-like parallel two-dimensional force sensor comprises the following steps:
manufacturing an extrusion die according to the cross section shape of the elastomer;
extruding and molding a strip-shaped section with the same cross section shape as the elastomer through a die;
cutting an elastic body with proper thickness along the cross section of the strip-shaped section;
and fourthly, mounting the strain gauge.
Preferably, a fine cutting step is further arranged between the third step and the fourth step, the fine cutting step only comprises cutting in a direction perpendicular to the cross section of the elastic body, and cutting in other directions is not included, so that the shape and the size of the cross section of the elastic body meet the design requirements.
The beneficial technical effects of the invention are as follows:
the elastic body is respectively connected in series with the elastic beams, the guide beams and the elastic moving branched chains which are symmetrically arranged on two sides of the symmetrical center visor and are symmetrically connected in parallel on two sides of the offset loading platform to form a parallel structure, the offset loading platform is arranged at one end of the small fixed platform in a deviation way, the elastic moving branched chains on the two sides are obliquely and parallelly arranged to be similar to a frog in an integral shape, the structural design can simultaneously realize X, Y bidirectional force decoupling and reduce the coupling problem caused by the fact that the loaded X, Y bidirectional force is not on one plane, the calculation amount of the subsequent decoupling is reduced, the elastic body with a planar structure can also reduce the manufacturing difficulty of the elastic body, the cutting processing difficulty and the machining precision are reduced, and the machining precision is easily ensured.
Drawings
FIG. 1 is a perspective view of a planar frog-like parallel two-dimensional force sensor;
FIG. 2 is a top view of a planar rang-like parallel two-dimensional force sensor;
FIG. 3 is one of the top views of the planar frog-like parallel two-dimensional force sensor after being attached with a strain gauge;
FIG. 4 is a second top view of the planar frog-like parallel two-dimensional force sensor after being attached to a strain gauge;
FIG. 5 is a schematic diagram of path calibration during computer simulation;
fig. 6 is a schematic diagram of sinusoidal elastic strain on path a at 1000N for vertical FZ or Fy;
fig. 7 is a schematic diagram of sinusoidal elastic strain on path B at 1000N for vertical FZ or Fy;
fig. 8 is a schematic diagram of sinusoidal elastic strain on path C at 1000N for vertical FZ or Fy;
fig. 9 is a schematic diagram of sinusoidal elastic strain on path D at 1000N for vertical FZ or Fy;
fig. 10 is a schematic diagram of sinusoidal elastic strain on path a when a horizontal force Fx is applied at 1000N;
fig. 11 is a schematic diagram of sinusoidal elastic strain on path B when a horizontal force Fx is applied at 1000N;
fig. 12 is a schematic diagram of sinusoidal elastic strain on path C with horizontal force Fx 1000N applied;
fig. 13 is a schematic diagram of sinusoidal elastic strain on path D when horizontal force Fx is 1000N;
FIG. 14 is a schematic diagram of the sinusoidal elastic strain on path A with applied torque Mz of 10 Nm;
FIG. 15 is a schematic view of sinusoidal elastic strain on path B with applied torque Mz of 10 Nm;
FIG. 16 is a schematic diagram of sinusoidal elastic strain on path C with applied torque Mz of 10 Nm;
FIG. 17 is a schematic view of sinusoidal elastic strain on path D with applied torque Mz of 10 Nm;
in the figure: 1. the flexible load-bearing device comprises a guide beam, 11 square frames A, 2 large fixed platforms, 21 connecting holes A, 3 elastic beams, 31 square frames B, 4 elastic moving branched chains, 41 flexible revolute pairs (two arc grooves which are opposite to each other), 5 offset load-bearing platforms, 51 connecting holes C, 6 small fixed platforms, 61 connecting holes B and R1-R8. strain gauges.
Detailed Description
The first embodiment is as follows: referring to fig. 1-3, a planar frog-like parallel two-dimensional force sensor in the figure comprises an elastic body and a plurality of strain gauges, and is characterized in that: the elastic body comprises two guide beams which are symmetrically arranged in parallel and have the same length, two fixed stations which correspond to the end parts of the two guide beams are respectively arranged on the symmetrical center armor positions of the two guide beams, the two sides of each fixed station are respectively connected with the end parts of the guide beams through elastic beams which are vertically arranged with the guide beams, the elastic beams and the fixed stations surround to form a square frame armor, an offset loading station is arranged in the square frame armor, the length direction of the offset loading station is arranged on the same center plane with the two fixed stations, the offset loading station is close to one of the fixed stations, elastic moving branched chains connected with the inner side surfaces of the guide beams are respectively arranged on the two side surfaces of the offset loading station along the length direction, the elastic moving branched chains on the two sides are symmetrically arranged relative to the symmetrical center armor, the two elastic moving branched chains on each side are arranged in parallel, and the center plane of the length direction of the elastic moving branched chains forms an included angle alpha with the symmetrical center armor, the two ends of each elastic movement branched chain are provided with flexible rotating pairs, the flexible rotating pairs are two symmetrical arc-shaped grooves which are arranged on the side surfaces of the two ends of each elastic movement branched chain, the centers of the four flexible rotating pairs on each side of the offset loading platform are positioned on four vertexes of a parallelogram, and the strain gauges are attached to the elastic beams far away from the offset loading platform and symmetrically distributed on the two sides of the symmetrical center plane A.
The guide beam, the fixed platform, the elastic beam, the offset loading platform and the elastic movement branched chain have the same thickness and are of an integrally formed structure.
The corners of the mutual connection positions of the guide beam, the fixed platform, the elastic beam, the offset loading platform and the elastic movement branched chain are in circular arc transition, and the included angle alpha ranges from 30 degrees to 60 degrees.
The two fixing tables are respectively a large fixing table and a small fixing table, the small fixing table is close to the offset loading table, the large fixing table is far away from the offset loading table, two elastic beams A are respectively arranged on two sides of the large fixing table, and the two elastic beams A, the large fixing table and the guide beam positioned on the same side enclose a square frame B; two sides of the small fixed platform are respectively provided with an elastic beam B.
The large fixed table is provided with four connecting hole A, two connecting holes A are symmetrically arranged on two sides of the symmetrical center visor, and the centers of the four connecting hole A are superposed with the center of the large fixed table; the small fixed table is provided with two connecting holes B which are symmetrically arranged on two sides of the symmetric central plane A respectively, and the connecting holes B are positioned on the transverse central axis of the small fixed table; the distances from two connecting holes A and one connecting hole B on the same side of the symmetrical center visor to the symmetrical center visor are the same.
The offset loading platform is provided with four connecting holes C, two connecting holes C are symmetrically arranged on two sides of the symmetric center visor, and the distances from the centers of the four connecting holes C to intersecting lines of central planes of the two pairs of elastic movement branched chains at two ends of the offset loading platform are the same.
The elastic body of the sensor is respectively connected in series with the elastic beams, the guide beams and the elastic moving branched chains which are symmetrically arranged on two sides of the symmetrical center visor and are symmetrically connected in parallel on two sides of the offset loading platform to form a parallel structure, the offset loading platform is arranged at one end of the small fixed platform in a deviation way, the elastic moving branched chains on two sides are obliquely and parallelly arranged, the integral shape of the sensor is similar to a frog, on one hand, the structural design can reduce the coupling problem caused by the fact that the loaded X, Y bidirectional force is not on one plane, the calculation amount of decoupling on the back is reduced, the manufacturing difficulty of the elastic body can be reduced, the cutting processing is reduced, and the processing precision is easily ensured.
The four strain gauges of every side are arranged at four vertexes of a rectangle, and the centers of the four strain gauges of every side coincide with the center of the square frame B.
This example shows the process of finite element software simulation referring to fig. 5-17, the following table 1 is derived from the simulation data of fig. 5-17:
TABLE 1 output Strain at Strain gage attachment Point under Single-dimensional force/Torque load
| Route D | Path B | Path A | Route C | Route D | Path B | Route C | Path A | |
| Strain gauge | εR1(με) | εR2(με) | εR3(με) | εR4(με) | εR5(με) | εR6(με) | εR7(με) | εR8(με) |
| Position/mm | 4.1667 | 4.1667 | 4.1667 | 4.1667 | 20.833 | 20.833 | 20.833 | 20.833 |
| Fx＝1000N | 480.77 | -365.24 | 365.06 | -480.59 | -552.55 | 700.19 | 555.61 | -699.8 |
| Fy＝1000N | -1000.69 | 789.31 | 788.4 | -1000.58 | 1086.6 | -1398 | 1092.2 | -1396.5 |
| Mz＝10Nm | 23.597 | -0.3601 | 0.3667 | 23.641 | -16.415 | -13.023 | 16.418 | 13.041 |
Position in column 1 of table 1: the sticking position of the strain gauge along the path direction on the path is shown, and the strain sensed by the strain gauge on the elastic beam is linearly distributed, so that only one position point of sticking the strain gauge is selected for explanation. Wherein 1. mu. epsilon: represents a micro strain of 10-6mm/mm
Specifically, the method comprises the following steps:
(1) when Fx is 1000N
The full bridge circuit 1 outputs: epsilonFx＝(εR1+εR3-εR2-εR4)/4＝422.91με
The full bridge 2 outputs: epsilonFy＝(εR5+εR7-εR6-εR8)/4＝0.16με＝0.67με
The full range coupling strain 0.67/422.91 is 0.16% F.S.
(2) When Fy is 1000N
The full bridge circuit 1 outputs: epsilonFx＝(εR1+εR3-εR2-εR4)/4＝-0.255με
The full bridge 2 outputs: epsilonFy＝(εR5+εR7-εR6-εR8)/4＝0.16με＝1243.3με
Full-scale coupling strain: 0.255/1243.3-0.02% F.S.
According to the strain value on the defined path, the strain sheet pasting position and the patch group bridge scheme 1, the full bridge circuit 1 for measuring the force Fx and the bridge circuit for measuring Fy or Fz can be coupled out less.
(3) When MZ is applied 10Nm
The full bridge circuit 1 outputs: epsilonFx＝(εR1+εR3-εR2-εR4)/4＝0.17με
The coupling strain 0.17/422.91 is 0.04% F.S.
The full bridge 2 outputs: ε Fy ═ εR5+εR7-εR6-εR8)/4＝0.16με＝-0.00375με
Coupling strain: 0.00375/1243.3 is 0.00% F.S.
According to the strain value on the defined path, the strain gauge pasting position and the patch set bridge scheme 1, the full bridge 1 for measuring the force Fx and the bridge for measuring Fy or Fz have small coupling output to the torque Mz.
Example two: referring to fig. 1, 2 and 4, in the two-dimensional force sensor, the second embodiment is basically the same as the first embodiment, and the same points are not repeated, except that eight strain gauges are provided on the second embodiment, and four strain gauges are provided on two sides of the visor; two of the elastic beams are attached to the side face, close to one end of the guide beam, of the elastic beam A inside the square frame B, the other two elastic beams are attached to the side face, close to one end of the large fixing table, of the elastic beam A outside the square frame B, the four strain gauges on each side are located on four vertexes of an isosceles trapezoid, and the centers of the four strain gauges on each side are overlapped with the center of the square frame B.
Example three: the manufacturing method of the planar frog-like parallel two-dimensional force sensor based on the first embodiment or the second embodiment comprises the following steps of:
manufacturing an extrusion die according to the cross section shape and size of the elastomer;
extruding and molding a strip-shaped section with the cross section shape same as the cross section shape and size of the elastomer through a die;
cutting an elastic body with proper thickness along the cross section of the strip-shaped section;
and fourthly, mounting the strain gauge.
Because all the components in the structure of the elastic body of the sensor are uniformly arranged on the same plane, and all the holes are also arranged in the direction vertical to the plane, and no structure is required to be cut in the lateral direction vertical to the plane of the elastic body, the sensor can be manufactured by adopting a process route of section bar slicing, if the dimensional precision during section bar extrusion meets the design requirement, the cutting process can be omitted, the process is simplified, and the production cost is reduced.
Example four: the fourth embodiment is basically the same as the third embodiment, and the same parts are not repeated, except that a fine cutting step is further arranged between the third step and the fourth step, the step only comprises cutting in a direction perpendicular to the cross section of the elastic body, and cutting in other directions is not included, so that the cross section shape and size of the elastic body meet the design requirements.
The implementation mainly aims at the condition that the size precision is insufficient when the section bar is extruded, and because no structure needs to be cut in the lateral direction perpendicular to the plane of the elastic body, the step only comprises the cutting processing perpendicular to the cross section direction of the elastic body, so that the requirement on the positioning reference during the cutting processing is reduced, and meanwhile, the processing can be completed only by one axial cutting tool, and the processing difficulty and cost are reduced.
Claims (10)
1. The utility model provides a parallelly connected two-dimentional force sensor of imitative frog type in plane, includes elastomer and a plurality of foil gage, its characterized in that: the elastic body comprises two guide beams which are symmetrically arranged in parallel and have the same length, two fixed stations which correspond to the end parts of the two guide beams are respectively arranged on the symmetrical center armor positions of the two guide beams, the two sides of each fixed station are respectively connected with the end parts of the guide beams through elastic beams which are vertically arranged with the guide beams, the elastic beams and the fixed stations surround to form a square frame armor, an offset loading station is arranged in the square frame armor, the length direction of the offset loading station is arranged on the same center plane with the two fixed stations, the offset loading station is close to one of the fixed stations, elastic moving branched chains connected with the inner side surfaces of the guide beams are respectively arranged on the two side surfaces of the offset loading station along the length direction, the elastic moving branched chains on the two sides are symmetrically arranged relative to the symmetrical center armor, the two elastic moving branched chains on each side are arranged in parallel, and the center plane of the length direction of the elastic moving branched chains forms an included angle alpha with the symmetrical center armor, the two ends of each elastic movement branched chain are provided with flexible rotating pairs, the flexible rotating pairs are two symmetrical arc-shaped grooves which are arranged on the side surfaces of the two ends of each elastic movement branched chain, the centers of the four flexible rotating pairs on each side of the offset loading platform are positioned on four vertexes of a parallelogram, and the strain gauges are attached to the elastic beams far away from the offset loading platform and symmetrically distributed on the two sides of the symmetrical center plane A.
2. The planar frog-like parallel two-dimensional force sensor according to claim 1, wherein: the guide beam, the fixed platform, the elastic beam, the offset loading platform and the elastic movement branched chain have the same thickness and are of an integrally formed structure.
3. The planar frog-like parallel two-dimensional force sensor according to claim 2, wherein:
the corners of the mutual connection positions of the guide beam, the fixed platform, the elastic beam, the offset loading platform and the elastic movement branched chain are in circular arc transition, and the included angle alpha ranges from 30 degrees to 60 degrees.
4. The planar frog-like parallel two-dimensional force sensor according to claim 2, wherein: the two fixing tables are respectively a large fixing table and a small fixing table, the small fixing table is close to the offset loading table, the large fixing table is far away from the offset loading table, two elastic beams A are respectively arranged on two sides of the large fixing table, and the two elastic beams A, the large fixing table and the guide beam positioned on the same side enclose a square frame B; two sides of the small fixed platform are respectively provided with an elastic beam B.
5. The planar frog-like parallel two-dimensional force sensor according to claim 4, wherein: the large fixed table is provided with four connecting hole A, two connecting holes A are symmetrically arranged on two sides of the symmetrical center visor, and the centers of the four connecting hole A are superposed with the center of the large fixed table; the small fixed table is provided with two connecting holes B which are symmetrically arranged on two sides of the symmetric central plane A respectively, and the connecting holes B are positioned on the transverse central axis of the small fixed table; the distances from two connecting holes A and one connecting hole B on the same side of the symmetrical center visor to the symmetrical center visor are the same.
6. The planar frog-like parallel two-dimensional force sensor according to claim 4, wherein: the offset loading platform is provided with four connecting holes C, two connecting holes C are symmetrically arranged on two sides of the symmetric center visor, and the distances from the centers of the four connecting holes C to intersecting lines of central planes of the two pairs of elastic movement branched chains at two ends of the offset loading platform are the same.
7. The planar frog-like parallel two-dimensional force sensor according to claim 4, wherein: the four strain gauges of every side are arranged at four vertexes of a rectangle, and the centers of the four strain gauges of every side coincide with the center of the square frame B.
8. The planar frog-like parallel two-dimensional force sensor according to claim 4, wherein: the number of the strain gauges is eight, and four strain gauges are arranged on two sides of the symmetrical center visor; two of the elastic beams are attached to the side face, close to one end of the guide beam, of the elastic beam A inside the square frame B, the other two elastic beams are attached to the side face, close to one end of the large fixing table, of the elastic beam A outside the square frame B, the four strain gauges on each side are located on four vertexes of an isosceles trapezoid, and the centers of the four strain gauges on each side are overlapped with the center of the square frame B.
9. A method for manufacturing the planar rang-imitating parallel two-dimensional force sensor according to any one of claims 1 to 8, comprising the following steps:
manufacturing an extrusion die according to the cross section shape of the elastomer;
extruding and molding a strip-shaped section with the same cross section shape as the elastomer through a die;
cutting an elastic body with proper thickness along the cross section of the strip-shaped section;
and fourthly, mounting the strain gauge.
10. The method for manufacturing a planar frog-like parallel two-dimensional force sensor according to claim 9, wherein: and a fine cutting step is also arranged between the step (c) and the step (d), the step only comprises cutting processing in a direction vertical to the cross section of the elastic body, and does not comprise cutting processing in other directions, so that the shape and the size of the cross section of the elastic body meet the design requirements.
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