CN202281665U - Cantilever beam type two-dimensional force transducer - Google Patents
Cantilever beam type two-dimensional force transducer Download PDFInfo
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- CN202281665U CN202281665U CN2011204208975U CN201120420897U CN202281665U CN 202281665 U CN202281665 U CN 202281665U CN 2011204208975 U CN2011204208975 U CN 2011204208975U CN 201120420897 U CN201120420897 U CN 201120420897U CN 202281665 U CN202281665 U CN 202281665U
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- beam type
- force transducer
- type force
- boom beam
- cantilever beam
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Abstract
The utility model refers to a cantilever beam type two-dimensional force transducer force transducer, belonging to the sensor technical field and comprising a platform, a rear cantilever beam type force transducer, a connecting piece, a front cantilever beam type force transducer and a handle, wherein the platform is a L-shaped structure and the connecting piece is a Z-shaped structure; the rear cantilever beam type force transducer and the front cantilever beam type force transducer are both of a cuboid shape; the sides of the rear cantilever beam type force transducer and the front cantilever beam type force transducer are provided with strain holes and are plastered with full bridge circuits formed by strain gages; a vertical surface of the platform is connected with and fixed to a lower end of a left side of the rear cantilever beam type force transducer; an upper end of a right side of the rear cantilever beam type force transducer is connected with and fixed to an upper end of a left side of the connecting piece to form a free end; a lower end of a right side of the connecting piece is connected with and fixed to a lower end of the front cantilever beam type force transducer to form a fixed end; an upper end of the front cantilever beam type force transducer is connected with and fixed to the handle to form a free end. The cantilever beam type two-dimensional force transducer force transducer has the advantages of a small vertical length and a compact structure and is easy to realize the force measurement.
Description
Technical field
The utility model relates to a kind of force cell, is specifically related to a kind of beam type 2 D force sensor, belongs to sensor technical field.
Background technology
In upper limb rehabilitation robot, we need measure through the power that handle is received, thereby obtain the actual loading situation that the patient suffers from limb.The most cost of multi-dimension force sensor that is adopted in the present existing recovery robot system is very high, and volume is bigger, and dimension is sextuple and three-dimensional mostly.And in existing upper limb rehabilitation robot system; Consideration from cost and actual rehabilitation efficacy; The space dimension that they had is main with two peacekeepings accurate three-dimensional (at space is on the basis of two dimensional surface, and plane of movement is pitch tilt up and down, thereby reaches the effect in approximate three-dimensional motion space); Therefore, the rehabilitation path is main with the plane motion path mainly.Because patient's hand only moves in the plane, so only need measure two-dimentional power.If use 6 DOF, three-dimensional force sensor just to produce the dimension waste; And as the beam type force transducer than a dimensional force sensor commonly used; Have simple in structure, cost is low, rigidity is big, can select advantages such as range is many, but shortcoming is the power that single beam type force transducer can only be measured one dimension.
Patent 200920200382.7 discloses " a kind of four-way force measuring device ", and lower baffle plate contact the loss that causes power with touching between the parts in the existence, and the coarse problem of measurement is arranged.Patent 200510023641.X discloses a kind of " two-dimensional micro-force measuring sensors ", because it adopts long elastic cantilever structure, so exist easy deformation, compact, problem that range is little inadequately.Therefore, above-mentioned force transducer all exists and can not better satisfy the stressed Testing requirement of upper limb rehabilitation robot handle.
Summary of the invention
In view of this; The utility model provides a kind of beam type 2 D force sensor that is applied to upper limb rehabilitation robot; Can not only overcome easy deformation, range is little, structure is not compact, measure coarse problem, and size and Orientation that can measure two dimensional plane internal force.
A kind of beam type 2 D force sensor comprises platform, back boom beam type force transducer, web member, front boom beam type force transducer, handle; Wherein, platform is a L type structure, and web member is a Z type structure; Back boom beam type force transducer and front boom beam type force transducer are rectangular parallelepiped, and all have strain bore on the side of back boom beam type force transducer and front boom beam type force transducer, and post foil gauge and form full-bridge circuit; The vertical plane of platform is connected fixing with the lower end of back boom beam type force transducer left surface, the upper end of back boom beam type force transducer right flank is connected fixing with the upper end of web member left surface, forms free end; The lower end of web member right flank is connected fixing with the lower end of front boom beam type force transducer, form stiff end; The upper end of front boom beam type force transducer is connected fixing with handle, form free end.
Described back boom beam type force transducer be on two parallel axis with front boom beam type force transducer and their sensitive receptor 1 force direction vertical each other.
Described platform leaves certain displacement space for front boom beam type force transducer and web member, and web member leaves certain deformation space for front boom beam type force transducer and back boom beam type force transducer simultaneously.
Principle of work: during power in handle receives two dimensional surface, according to the superposition principle of power, this power can decompose on horizontal and vertical two vertical direction axis.Separation transversely makes the strain bore generation deformation of front boom beam type force transducer, and then deformation does not take place the beam type force transducer; Component vertically makes front boom beam type force transducer remain unchanged, and is delivered to the free end of back boom beam type force transducer through the web member of rigidity, thereby makes its strain bore generation deformation.According to resistance strain effect, handle the deformation of stressed two beam type force transducer strain bores that cause change into the variation of foil gauge resistance, further change into the variation of voltage signal through full-bridge circuit, finally obtain the size and Orientation of power indirectly.
Beneficial effect: the metering circuit of the utility model is two full-bridge circuits of being made up of 4 foil gauges respectively, so error reduces, and two sensors adopt vertical being arranged in parallel, and longitudinal length reduces, compact conformation.The web member of rigidity has guaranteed that the beam type 2 D force sensor has bigger rigidity simultaneously, and web member is simple in structure, and it is low to transform processing cost, realizes easily, is applicable to that the upper limb rehabilitation robot handle receives force measurement.
Description of drawings
Fig. 1 is the structural drawing of the utility model.
Fig. 2 is the side view of the utility model.
Wherein, 1-platform, 2-back boom beam type force transducer, 3-web member, 4-front boom beam type force transducer, 5-handle
Embodiment
Below in conjunction with the accompanying drawing embodiment that develops simultaneously, the utility model is described in detail.
Shown in accompanying drawing 1 and accompanying drawing 2, the utility model provides a kind of beam type 2 D force sensor, comprises platform 1, back boom beam type force transducer 2, web member 3, front boom beam type force transducer 4, handle 5; Wherein, platform 1 is a L type structure, and web member 3 is a Z type structure; Back boom beam type force transducer 2 is rectangular parallelepiped with front boom beam type force transducer 4, and all has strain bore on the side of back boom beam type force transducer 2 and front boom beam type force transducer 4, and posts foil gauge and form full-bridge circuit;
The vertical plane of platform 1 is connected fixing with the lower end of back boom beam type force transducer 2, the upper end of back boom beam type force transducer 2 right flanks is connected fixing with the left surface of web member 3 upper end, form free end; Web member 3 right flank lower ends are connected fixing with the lower end of front boom beam type force transducer 4, form stiff end; The upper end of front boom beam type force transducer 4 is connected fixing with handle 5, form free end.Back boom beam type force transducer 2 be on two parallel axis with front boom beam type force transducer 4 and their sensitive receptor 1 force direction vertical each other.Platform 1 leaves certain displacement space for front boom beam type force transducer 4 and web member 3, and web member 3 leaves certain deformation space for front boom beam type force transducer 4 and back boom beam type force transducer 2 simultaneously.
Principle of work: when handle 5 receives the power on the Y axis direction, the size and Orientation of front boom beam type force transducer 4 direct sensing power; When handle 5 receives the power on the X axis direction; Because 4 of front boom beam type force transducers are responsive to the power on the Y axis direction; Power is directly delivered to the free end of back boom beam type force transducer 2 through the web member 3 of rigidity, thereby by the size and Orientation of back boom beam type force transducer 2 sensing power.In practical application, can actual forces be decomposed on X axle and the Y axle both direction, thereby calculate the size and Orientation of actual forces by two component that record, reach two-dimentional power measured effect.
Claims (3)
1. a beam type 2 D force sensor is characterized in that, comprises platform (1), back boom beam type force transducer (2), web member (3), front boom beam type force transducer (4), handle (5); Wherein, platform (1) is a L type structure, and web member (3) is a Z type structure; Back boom beam type force transducer (2) and front boom beam type force transducer (4) are rectangular parallelepiped, and all have strain bore on the side of back boom beam type force transducer (2) and front boom beam type force transducer (4), and post foil gauge and form full-bridge circuit; The vertical plane of platform (1) is connected fixing with the lower end of back boom beam type force transducer (2) left surface, the upper end of back boom beam type force transducer (2) right flank is connected fixing with the upper end of web member (3) left surface, forms free end; The lower end of web member (3) right flank is connected fixing with the lower end of front boom beam type force transducer (4), form stiff end; The upper end of front boom beam type force transducer (4) is connected fixing with handle (5), form free end.
2. a kind of beam type 2 D force sensor as claimed in claim 1 is characterized in that, described back boom beam type force transducer (2) be on two parallel axis with front boom beam type force transducer (4) and their sensitive receptor 1 force direction vertical each other.
3. a kind of beam type 2 D force sensor as claimed in claim 1; It is characterized in that; Described platform (1) leaves displacement space for front boom beam type force transducer (4) and web member (3), and web member (3) leaves the deformation space for front boom beam type force transducer (4) and back boom beam type force transducer (2) simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204208975U CN202281665U (en) | 2011-10-29 | 2011-10-29 | Cantilever beam type two-dimensional force transducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204208975U CN202281665U (en) | 2011-10-29 | 2011-10-29 | Cantilever beam type two-dimensional force transducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202281665U true CN202281665U (en) | 2012-06-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011204208975U Expired - Fee Related CN202281665U (en) | 2011-10-29 | 2011-10-29 | Cantilever beam type two-dimensional force transducer |
Country Status (1)
| Country | Link |
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| CN (1) | CN202281665U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103837274A (en) * | 2014-03-03 | 2014-06-04 | 哈尔滨工业大学 | Two-dimensional nanoscale photonic crystal force sensor |
| CN106996839A (en) * | 2017-04-10 | 2017-08-01 | 中国电子科技集团公司第四十九研究所 | A kind of band stirs the two-dimentional force-sensing sensor of thumb force control of stroke |
| CN107402100A (en) * | 2017-07-20 | 2017-11-28 | 沈阳农业大学 | A kind of force cell |
| CN108362411A (en) * | 2018-04-27 | 2018-08-03 | 山东大学 | A kind of anticorrosion tonotransducer and preparation method thereof and tension measuring system |
| CN108593059A (en) * | 2018-05-30 | 2018-09-28 | 张阿宁 | Multi-beam structure elastic element |
| CN110082011A (en) * | 2019-04-08 | 2019-08-02 | 太原理工大学 | A kind of multistage dynamometry location displacement sensor |
-
2011
- 2011-10-29 CN CN2011204208975U patent/CN202281665U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103837274A (en) * | 2014-03-03 | 2014-06-04 | 哈尔滨工业大学 | Two-dimensional nanoscale photonic crystal force sensor |
| CN103837274B (en) * | 2014-03-03 | 2016-03-09 | 哈尔滨工业大学 | A kind of two-dimensional nanoscale photonic crystal force snesor |
| CN106996839A (en) * | 2017-04-10 | 2017-08-01 | 中国电子科技集团公司第四十九研究所 | A kind of band stirs the two-dimentional force-sensing sensor of thumb force control of stroke |
| CN106996839B (en) * | 2017-04-10 | 2019-04-05 | 中国电子科技集团公司第四十九研究所 | A kind of band stirs the thumb force control two dimension force-sensing sensor of stroke |
| CN107402100A (en) * | 2017-07-20 | 2017-11-28 | 沈阳农业大学 | A kind of force cell |
| CN107402100B (en) * | 2017-07-20 | 2024-03-12 | 沈阳农业大学 | Force transducer |
| CN108362411A (en) * | 2018-04-27 | 2018-08-03 | 山东大学 | A kind of anticorrosion tonotransducer and preparation method thereof and tension measuring system |
| CN108362411B (en) * | 2018-04-27 | 2019-09-27 | 山东大学 | A kind of anticorrosion tonotransducer and preparation method thereof and tension measuring system |
| CN108593059A (en) * | 2018-05-30 | 2018-09-28 | 张阿宁 | Multi-beam structure elastic element |
| CN108593059B (en) * | 2018-05-30 | 2019-12-31 | 张阿宁 | Multi-beam structure elastic element |
| CN110082011A (en) * | 2019-04-08 | 2019-08-02 | 太原理工大学 | A kind of multistage dynamometry location displacement sensor |
| CN110082011B (en) * | 2019-04-08 | 2021-03-05 | 太原理工大学 | Multi-stage force and displacement measuring sensor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120620 Termination date: 20131029 |