CN212409934U - Two-dimensional force measuring sensor - Google Patents
Two-dimensional force measuring sensor Download PDFInfo
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- CN212409934U CN212409934U CN202020973579.0U CN202020973579U CN212409934U CN 212409934 U CN212409934 U CN 212409934U CN 202020973579 U CN202020973579 U CN 202020973579U CN 212409934 U CN212409934 U CN 212409934U
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Abstract
The utility model discloses a two-dimensional force measuring transducer, wherein, two-dimensional force measuring transducer includes dynamometry base, force bearing piece and at least two component force measuring structures, force bearing piece is used for bearing the two-dimensional force that awaits measuring in the dynamometry face or being on a parallel with the dynamometry face, each component force measuring structure has two connecting portions, one of them connecting portion locates force bearing piece, another connecting portion locates the dynamometry base, form the first dynamometry direction between two connecting portions of one of them component force measuring structure, be used for measuring first one-way force value, form the second dynamometry direction that becomes the contained angle setting with the first dynamometry direction between two connecting portions of another component force measuring structure, be used for measuring second one-way force value, wherein, according to first dynamometry direction, first one-way force value, second dynamometry direction, the two-way force value synthesis two-dimensional force that awaits measuring, reduce the influence of crosstalk between the dimension, the measuring precision is improved, and the two-dimensional force in the force measuring surface can be conveniently and quickly obtained.
Description
Technical Field
The utility model relates to a sensor technical field, concretely relates to two-dimentional force measurement sensor.
Background
The two-dimensional force measuring sensor is widely applied to the industries of robots, manufacturing industry, biomechanics, aerospace, metallurgy, transportation and the like, the two-dimensional force measuring sensor refers to a force sensor capable of measuring force or moment components in two directions at the same time, at present, strain gauges are attached to different positions on an elastic body according to mechanical characteristics to measure forces or moments in different directions, when the sensor is subjected to two-dimensional force, the stress distribution in the sensor is very complex, deformation caused by stress in one direction can affect deformation of the elastic body in other directions, and therefore the problem of coupling between dimensions is serious and difficult to solve, and the two-dimensional force is not convenient to measure.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a two-dimentional force measuring transducer aims at being convenient for measure two-dimentional power.
In order to achieve the above object, the utility model provides a two-dimentional force measuring transducer, include:
a force measuring base;
the force-bearing piece is arranged at intervals of the force-measuring base, one section of the force-bearing piece is a force-measuring surface, and the force-bearing piece is used for bearing a two-dimensional force to be measured in the force-measuring surface or in parallel with the force-measuring surface; and the number of the first and second groups,
at least two component force measuring structures, wherein each component force measuring structure is provided with two connecting parts opposite to each other in the force measuring surface, one connecting part is arranged on the force bearing part, the other connecting part is arranged on the force measuring base, a first force measuring direction is formed between the two connecting parts of one component force measuring structure and used for measuring a first one-way force value of the two-dimensional force to be measured distributed along the first force measuring direction, a second force measuring direction which forms an included angle with the first force measuring direction is formed between the two connecting parts of the other component force measuring structure and used for measuring a second one-way force value of the two-dimensional force to be measured distributed along the second force measuring direction;
and synthesizing the two-dimensional force to be measured according to the first force measuring direction, the first one-way force value, the second force measuring direction and the second one-way force value.
Optionally, at least one of the component force measuring structures includes a tension and pressure measuring sensor, and two mounting ends of the tension and pressure measuring sensor correspond to the two connecting portions.
Optionally, at least one of the force component measurement structures comprises a pin force measurement structure, the pin force measurement structure comprising:
the two ends of the dowel bar are correspondingly provided with two connecting parts; and the number of the first and second groups,
the first pin shaft type force measurement mounting structure comprises a first pin shaft type force measurement sensor and a first mounting hole which are in mutual rotating fit, wherein one of the first pin shaft type force measurement sensor and the first mounting hole is arranged at one end of the dowel bar, and the other pin shaft type force measurement mounting structure is arranged on the force measurement base.
Optionally, both of the force component measuring structures comprise the pin force measuring structure;
the connecting parts of the dowel bars of the two pin shaft type force measuring structures are connected into a whole.
Optionally, one of the force component measuring structures comprises the pin-type force measuring structure, and the other force component measuring structure comprises:
the connecting rod is connected with the dowel bar into a whole, and one end of the connecting rod is provided with the connecting part;
one end of the bearing rod is connected with the other end of the connecting rod through a revolute pair, and the other end of the bearing rod is the other connecting part; and the number of the first and second groups,
and the second pin shaft type force measurement mounting structure comprises a second pin shaft type force measurement sensor and a second mounting hole which are in mutual rotating fit, wherein one of the second pin shaft type force measurement sensor and the second mounting hole is arranged at the rotating end of the connecting rod and/or the other end of the bearing rod, and the other one of the second pin shaft type force measurement sensor and the second mounting hole is correspondingly arranged at the rotating end of the bearing rod and/or the force measurement base.
Optionally, a first rolling bearing is arranged between the first pin shaft type load cell and the first mounting hole; and/or the presence of a gas in the gas,
and a second rolling bearing is arranged between the second pin shaft type force measuring sensor and the second mounting hole.
Optionally, at least one of the force-component measuring structures comprises a strain-type force-measuring structure comprising:
the two ends of the first elastic rod are correspondingly provided with two connecting parts; and the number of the first and second groups,
the first strain measuring element is arranged on the first elastic rod, and the deformation direction of the first strain measuring element is the same as the force measuring direction formed between the two connecting parts.
Optionally, both of the force measuring structures comprise the strain gauge force measuring structure;
the connecting parts of the first elastic rods of the two strain type force measuring structures are connected into a whole.
Optionally, one of the force component measuring structures comprises the strain gauge force measuring structure, and the other strain gauge force measuring structure comprises:
the second elastic rod is connected with the first elastic rod into a whole, and one end of the first elastic rod is provided with the connecting part; and the number of the first and second groups,
one end of the second elastic rod is rotatably mounted at the other end of the second elastic rod, and the other end of the third elastic rod is the other connecting part;
and the second strain measuring element is arranged on the second elastic rod and/or the third elastic rod, and the deformation direction of the second strain measuring element is the same as the force measuring direction formed between the two connecting parts.
The utility model provides an among the technical scheme, through the two-dimensional power that will await measuring decompose into the edge first unidirectional force and the edge that first dynamometry direction distributes the second unidirectional force that second dynamometry direction distributes, through component measurement structure measures first unidirectional force numerical value and second unidirectional force numerical value respectively, according to first dynamometry direction first unidirectional force numerical value the second dynamometry direction the synthesis of second unidirectional force numerical value the two-dimensional power that awaits measuring can be measured the two-dimensional power, so set up, reduce the influence of crosstalking between the dimension, improved measurement accuracy, be convenient for obtain fast two-dimensional power in the dynamometry face has better effect.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an embodiment of a two-dimensional force measuring sensor provided by the present invention;
fig. 2 is a schematic structural diagram of another embodiment of the two-dimensional force measuring sensor provided by the present invention.
The reference numbers illustrate:
the object of the present invention is to provide a novel and advantageous solution for the above mentioned problems.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that, if the present invention relates to a directional indication, the directional indication is only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture, and if the specific posture is changed, the directional indication is changed accordingly.
In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
In the description of the embodiments of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may include, for example, a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the embodiments of the present invention can be understood in specific cases by those skilled in the art.
The two-dimensional force measuring sensor is widely applied to the industries of robots, manufacturing industry, biomechanics, aerospace, metallurgy, transportation and the like, the two-dimensional force measuring sensor refers to a force sensor capable of measuring force or moment components in two directions at the same time, at present, strain gauges are attached to different positions on an elastic body according to mechanical characteristics to measure forces or moments in different directions, when the sensor is subjected to two-dimensional force, the stress distribution in the sensor is very complex, deformation caused by stress in one direction can affect deformation of the elastic body in other directions, and therefore the problem of coupling between dimensions is serious and difficult to solve, and the two-dimensional force is not convenient to measure.
In view of this, the utility model provides a two-dimensional force measuring sensor, fig. 1 to fig. 2 are the utility model provides a two-dimensional force measuring sensor's an embodiment's schematic diagram.
Referring to fig. 1, the two-dimensional force measuring sensor 100 includes a force measuring base 1, a force bearing member 2 and at least two force component measuring structures 3, the force bearing member 2 is disposed at an interval from the force measuring base 1, a cross section of the force bearing member 2 is a force measuring surface, the force bearing member 2 is used for bearing a two-dimensional force to be measured in the force measuring surface or parallel to the force measuring surface, each of the force component measuring structures 3 has two connecting portions opposite to each other in the force measuring surface, one of the connecting portions is disposed on the force bearing member 2, the other connecting portion is disposed on the force measuring base 1, a first force measuring direction is formed between the two connecting portions of one of the force component measuring structures 3 for measuring a first unidirectional force value of the two-dimensional force to be measured distributed along the first force measuring direction, and a second force measuring direction forming an included angle with the first force measuring direction is formed between the two connecting portions of the other one of the force component measuring structures 3, and the second unidirectional force value is used for measuring the two-dimensional force to be measured distributed along the second force measuring direction, wherein the two-dimensional force to be measured is synthesized according to the first force measuring direction, the first unidirectional force value, the second force measuring direction and the second unidirectional force value.
The utility model provides an among the technical scheme, through the two-dimensional power that will await measuring decompose into the edge first unidirectional force and the edge that first dynamometry direction distributes the second unidirectional force that second dynamometry direction distributes, through component measurement structure 3 measures first unidirectional force numerical value and second unidirectional force numerical value respectively, according to first dynamometry direction first unidirectional force numerical value the second dynamometry direction the synthesis of second unidirectional force numerical value the two-dimensional power that awaits measuring can be measured the two-dimensional power, so set up, reduce the influence of crosstalking between the dimension, improved measurement accuracy, be convenient for obtain fast two-dimensional power in the dynamometry face has better effect.
It should be noted that an included angle between the first force measurement direction and the second force measurement direction is a fixed value, such as an acute angle, a right angle, or an obtuse angle, and the like.
In the embodiment of the present invention, the specific structural form of the component force measuring structure 3 is not limited, for example, the component force measuring structure may be directly configured as a force measuring sensor, or a related one-way force measuring structure may be adopted, specifically, in an embodiment, at least one component force measuring structure 3 includes a pulling pressure measuring sensor, two mounting ends of the pulling pressure measuring sensor correspond to two connecting portions, and two ends of the pulling pressure measuring sensor are directly and respectively disposed between the bearing member 2 and the force measuring base 1, so that the structure is simple, it should be noted that the two connecting portions are respectively connected with the connecting manner between the bearing member 2 and the force measuring base 1, which may be a rotating connection or a fixed connection, it should be noted that the pulling pressure measuring sensor is largely used in the occasion of measuring one-way force in the prior art, the two-dimensional force measuring sensor 100 can measure tensile force or compressive force, and the application range of the two-dimensional force measuring sensor is widened.
In an embodiment, at least one of the force component measurement structures 3 includes a pin-type force measurement structure 3a, the pin-type force measurement structure 3a includes a dowel bar 30 and a first pin-type force measurement mounting structure 31, two ends of the dowel bar 30 correspond to the two connecting portions, the first pin-type force measurement mounting structure 31 includes a first pin-type force measurement sensor 311 and a first mounting hole 312, which are rotatably fitted to each other, one of the first pin-type force measurement sensor 311 and the first mounting hole 312 is disposed at one end of the dowel bar 30, and the other is disposed at the force measurement base 1, and by providing the pin-type force measurement structure 3a, the structure is stable, and the measurement accuracy is improved.
Further, in order to facilitate the arrangement of the structures, in an embodiment, each of the two component force measurement structures 3 includes the pin-type force measurement structure 3a, the connection portions of the dowel bars 30 of the two pin-type force measurement structures 3a are connected into a whole, and the two dowel bars 30 may be arranged in the form of a dowel plate or a dowel seat, that is, the measurement of the unidirectional force in the first force measurement direction and the unidirectional force in the second force measurement direction is realized on one component.
In order to accurately obtain the force components in the two force measuring directions, in an embodiment, one of the force component measuring structures 3 includes the pin-type force measuring structure 3a, the other one of the force component measuring structures 3 includes a connecting rod 32, a bearing rod 33, and a second pin-type force measuring mounting structure 34, the connecting rod 32 is integrally connected to the force transfer rod 30, one end of the connecting rod 32 is the connecting portion, one end of the bearing rod 33 is connected to the other end of the connecting rod 32 by a revolute pair, the other end of the bearing rod 33 is the other connecting portion, the second pin-type force measuring mounting structure 34 includes a second pin-type force sensor 341 and a second mounting hole 342 which are mutually and rotationally matched, one of the second pin-type force sensor 341 and the second mounting hole is arranged at the rotating end of the connecting rod 32 and/or at the other end of the bearing rod 33, the other one is correspondingly arranged at the rotating end of the bearing rod 33 and/or the force measuring base 1, so that the force measuring structures in the two force measuring directions are differentiated, the influence of mutual crosstalk between the two component forces can be further reduced, the measuring precision is further improved, and the force measuring base has a better effect.
In an embodiment, a first rolling bearing 313 is disposed between the first pin-shaft-type load cell 311 and the first mounting hole 312, and/or a second rolling bearing 343 is disposed between the second pin-shaft-type load cell 341 and the second mounting hole 342, and by providing the rolling bearings, an additional force between the force-bearing member 2 and the force-transmitting member is greatly reduced, and the accuracy of the sensor is further improved.
In one embodiment, referring to fig. 2, at least one of the force component measuring structures 3 includes a strain-type force measuring structure 3b, the strain-type force measuring structure 3b comprises a first spring bar 35 and a first strain measuring element 36, two connecting portions are formed at both ends of the first elastic rod 35, the first strain measuring element 36 is disposed on the first elastic rod 35, and the deformation direction of the first strain measuring element 36 is the same as the force measuring direction formed between the two connecting portions, the elastic deformation quantity generated by the stress of the first elastic rod 35 is measured by the first strain measuring element 36, and the deformation quantity is converted into a corresponding stress value, the magnitude of the component force can be obtained, and by the arrangement, the first strain measuring element 36 only measures the uniaxial force, so that the measurement precision is high, the component force in the force measuring direction can be conveniently measured, and the effect is better.
Two component force measurement structure 3 can be one strain gauge dynamometry structure 3b, and another is directly pulling force or pressure sensor, can also be pin shaft type dynamometry structure 3a, in an embodiment, two component force measurement structure 3 all includes strain gauge dynamometry structure 3b, two the connecting portion of the first elastic rod 35 of strain gauge dynamometry structure 3b all connects as an organic wholely, can be with two first elastic rod 35 sets up to the form of an elasticity biography power board or biography power seat, has realized promptly on a component first dynamometry direction and the measurement of the one-way force of second dynamometry direction, so set up, simple structure, the measurement of being convenient for.
In order to accurately obtain the force components in the two force measuring directions, in an embodiment, one of the force measuring structures 3 includes the strain force measuring structure 3b, the other strain force measuring structure 3b includes a second elastic rod 37, a third elastic rod 38 and a second strain measuring element 39, the second elastic rod 37 is integrally connected to the first elastic rod 35, one end of the first elastic rod 35 is one of the connecting portions, one end of the second elastic rod 37 is rotatably mounted to the other end of the second elastic rod 37, the other end of the third elastic rod 38 is the other connecting portion, the second strain measuring element is disposed on the second elastic rod 37 and/or on the third elastic rod 38, the deformation direction of the second strain measuring element 39 is the same as the force measuring direction formed between the two connecting portions, and thus the two strain force measuring structures are arranged, the force measuring structures in the two force measuring directions are differentiated, the influence of mutual crosstalk between the two component forces can be further reduced, the measuring precision is further improved, and the effect is better.
The above is only the optional embodiment of the present invention, and not therefore the limit to the patent scope of the present invention, all the equivalent structures made by the contents of the specification and the drawings, or directly or indirectly applied to other related technical fields, are included in the patent protection scope of the present invention.
Claims (9)
1. A two-dimensional force measuring sensor, comprising:
a force measuring base;
the force-bearing piece is arranged at intervals of the force-measuring base, one section of the force-bearing piece is a force-measuring surface, and the force-bearing piece is used for bearing a two-dimensional force to be measured in the force-measuring surface or in parallel with the force-measuring surface; and the number of the first and second groups,
at least two component force measuring structures, wherein each component force measuring structure is provided with two connecting parts opposite to each other in the force measuring surface, one connecting part is arranged on the force bearing part, the other connecting part is arranged on the force measuring base, a first force measuring direction is formed between the two connecting parts of one component force measuring structure and used for measuring a first one-way force value of the two-dimensional force to be measured distributed along the first force measuring direction, a second force measuring direction which forms an included angle with the first force measuring direction is formed between the two connecting parts of the other component force measuring structure and used for measuring a second one-way force value of the two-dimensional force to be measured distributed along the second force measuring direction;
and synthesizing the two-dimensional force to be measured according to the first force measuring direction, the first one-way force value, the second force measuring direction and the second one-way force value.
2. A two-dimensional force measuring transducer according to claim 1, wherein at least one of said force component measuring structures comprises a tension-compression force measuring transducer having two mounting ends corresponding to said two connecting portions.
3. A two-dimensional force measuring transducer according to claim 1, wherein at least one of said force-component measuring structures comprises a pin-type force-measuring structure, said pin-type force-measuring structure comprising:
the two ends of the dowel bar are correspondingly provided with two connecting parts; and the number of the first and second groups,
the first pin shaft type force measurement mounting structure comprises a first pin shaft type force measurement sensor and a first mounting hole which are in mutual rotating fit, wherein one of the first pin shaft type force measurement sensor and the first mounting hole is arranged at one end of the dowel bar, and the other pin shaft type force measurement mounting structure is arranged on the force measurement base.
4. A two-dimensional force measuring sensor according to claim 3, wherein both of said force component measuring structures comprise said pin-axis force measuring structure;
the connecting parts of the dowel bars of the two pin shaft type force measuring structures are connected into a whole.
5. A two-dimensional force measuring transducer according to claim 3, wherein one of said force component measuring structures comprises said pin-type force measuring structure and the other of said force component measuring structures comprises:
the connecting rod is connected with the dowel bar into a whole, and one end of the connecting rod is provided with the connecting part;
one end of the bearing rod is connected with the other end of the connecting rod through a revolute pair, and the other end of the bearing rod is the other connecting part; and the number of the first and second groups,
and the second pin shaft type force measurement mounting structure comprises a second pin shaft type force measurement sensor and a second mounting hole which are in mutual rotating fit, wherein one of the second pin shaft type force measurement sensor and the second mounting hole is arranged at the rotating end of the connecting rod and/or the other end of the bearing rod, and the other one of the second pin shaft type force measurement sensor and the second mounting hole is correspondingly arranged at the rotating end of the bearing rod and/or the force measurement base.
6. The two-dimensional force measuring transducer of claim 5, wherein a first rolling bearing is disposed between the first pin-type load cell and the first mounting hole; and/or the presence of a gas in the gas,
and a second rolling bearing is arranged between the second pin shaft type force measuring sensor and the second mounting hole.
7. A two-dimensional force measuring sensor according to claim 1, wherein at least one of said force-component measuring structures comprises a strain-type force-measuring structure comprising:
the two ends of the first elastic rod are correspondingly provided with two connecting parts; and the number of the first and second groups,
the first strain measuring element is arranged on the first elastic rod, and the deformation direction of the first strain measuring element is the same as the force measuring direction formed between the two connecting parts.
8. A two-dimensional force measuring sensor according to claim 7, wherein both of said force-component measuring structures comprise said strain-type force-measuring structure;
the connecting parts of the first elastic rods of the two strain type force measuring structures are connected into a whole.
9. A two-dimensional force measuring sensor according to claim 7, wherein one of said force-component measuring structures comprises said strain-gauge force measuring structure and the other of said strain-gauge force measuring structures comprises:
the second elastic rod is connected with the first elastic rod into a whole, and one end of the first elastic rod is provided with the connecting part; and the number of the first and second groups,
one end of the second elastic rod is rotatably mounted at the other end of the second elastic rod, and the other end of the third elastic rod is the other connecting part;
and the second strain measuring element is arranged on the second elastic rod and/or the third elastic rod, and the deformation direction of the second strain measuring element is the same as the force measuring direction formed between the two connecting parts.
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| CN202020973579.0U CN212409934U (en) | 2020-06-01 | 2020-06-01 | Two-dimensional force measuring sensor |
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| CN202020973579.0U CN212409934U (en) | 2020-06-01 | 2020-06-01 | Two-dimensional force measuring sensor |
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