CN103575446B - A kind of Medium-measurement-rthree-dimensional three-dimensional force sensor - Google Patents
A kind of Medium-measurement-rthree-dimensional three-dimensional force sensor Download PDFInfo
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- CN103575446B CN103575446B CN201310472529.9A CN201310472529A CN103575446B CN 103575446 B CN103575446 B CN 103575446B CN 201310472529 A CN201310472529 A CN 201310472529A CN 103575446 B CN103575446 B CN 103575446B
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Abstract
The present invention relates to a kind of Medium-measurement-rthree-dimensional three-dimensional force sensor, comprise loading boss, outside loading boss, level is provided with the front rectangular beam in cross distribution, rear rectangular beam, left rectangular beam and right rectangular beam, left rectangular beam and the upper and lower both sides of right rectangular beam are respectively equipped with foil gauge near the position loading boss, left rectangular beam and the right rectangular beam arranged on left and right sides position near loading boss on the upper side are respectively equipped with foil gauge, and front rectangular beam and the rear rectangular beam arranged on left and right sides position near loading boss on the upper side are respectively equipped with foil gauge; The outer end of front rectangular beam, rear rectangular beam, left rectangular beam and right rectangular beam is all connected with fixing lug boss.Beneficial effect of the present invention is: volume is little, and structure is simple, and effect of weight is little, highly sensitive; Can eliminate load over centre impact, precision is high; Accurately can test the contact force of build comparatively in mcroorganism (as people) motion process on X, Y, Z tri-directions, can be used for academic research, also can be used for commercial measurement.
Description
Technical field
The present invention relates to dynamometry technical field, particularly relate to a kind of Medium-measurement-rthree-dimensional three-dimensional force sensor.
Background technology
By zoologizeing motion, animals' pad and the contact force of creeping between surface, can disclose animal laws of motion under complex environment, for designing the robot that can adapt to various operating mode, provides the bionical mechanics data of the aspect such as motion, gait.
1994, the development such as Tsing-Hua University's Cheong Kuoc Va parallel bars three-dimensional strength measurement system.This system is made up of 4 three-dimensional force transducers be arranged on parallel bars four legs, dynamic strain indicator, 7T17S digital signal processor, can provide measurement data and the figure of various real-time process.Through the actual test of sportsman, achieve satisfied result, can be used in the athletic hands-on of parallel bars.Sensor adopt radial pressurized annulus in conjunction with cylinder by bending formula to measure three-dimensional force.Foil gauge group full-bridge.Vertical direction (z direction) range 2000N, horizontal direction (x, y direction) range 1000N, dynamometry error is within 5%.
2002, Hefei intelligent machine institute Sun Yi is peaceful etc. have devised a kind of novel three-dimensional force sensor.Consider the characteristics such as the dynamic performance of traditional mechanics quantity sensor and static demarcating index, to its respectively index such as dimension sensitivity and retinoic acid syndrome coefficient etc. taken into full account.Accomplished during structural design to survey dimension power have good sensitivity, and it is possible insensitive to overcome for non-surveyed dimension, makes retinoic acid syndrome little like this, ensures that total has enough rigidity simultaneously.The strength journey in three directions is 0 ~ 3000N.
The three-dimensional force sensor of WL.Jin research and development jointly in 1998 of School of Mechanical Engineering of Nan Yang University of Science and Technology of Singapore and department of mechanical engineering of Univ California-Berkeley, adopt silicon micro-fabrication technology that the sensitive element of sensor and flexible member are passed through silicon substrate manufacture craft together with silicon-Jin covalent bond Integration ofTechnology, every a slice of element four diaphragms of sensor is all integrated with two Wheatstone bridges, External Force Acting passes to elastic layer in bearing bed by the silicon cross sensor of sensitive layer, the displacement of elastic layer passes to again the diaphragm of sensitive layer with shearing force and axial force form, utilize Wheatstone bridge to detect.
On market the three-dimensional force sensor of existing medium range otherwise size bigger than normal, precision is not high, or expensive, can not be suitable for scientific research and market application demand completely.Therefore must develop precision high, size is little, is easy to install and relatively cheap three-dimensional force sensor.
Summary of the invention
The object of this invention is to provide a kind of Medium-measurement-rthree-dimensional three-dimensional force sensor, to overcome prior art above shortcomings.
The object of the invention is to be achieved through the following technical solutions:
A kind of Medium-measurement-rthree-dimensional three-dimensional force sensor, comprise loading boss, the center of described loading boss is provided with screwed hole of centre; Outside described loading boss, level is provided with the front rectangular beam in cross distribution, rear rectangular beam, left rectangular beam and right rectangular beam, described left rectangular beam and the upper and lower both sides of right rectangular beam are respectively equipped with foil gauge R1 and R2, foil gauge R4 and R3 near the position loading boss, described left rectangular beam and the right rectangular beam arranged on left and right sides position near loading boss on the upper side are respectively equipped with foil gauge R5 and R8, foil gauge R6 and R7, and described front rectangular beam and the rear rectangular beam arranged on left and right sides position near loading boss on the upper side are respectively equipped with foil gauge R9 and R12, foil gauge R10 and R11; The outer end of described front rectangular beam, rear rectangular beam, left rectangular beam and right rectangular beam is all connected with fixing lug boss, and the center of described fixing lug boss is equipped with fixed orifice; Described fixing lug boss is provided with connection terminal one, connection terminal two and connection terminal three.
Further, described foil gauge R1, R2, R3 and R4 form Hui Sitong full-bridge, and voltage measurement is connected to connection terminal one.
Further, described foil gauge R5, R6, R7 and R8 form Hui Sitong full-bridge, and voltage measurement is connected to connection terminal two.
Further, described foil gauge R9, R10, R11 and R12 form Hui Sitong full-bridge, and voltage measurement is connected to connection terminal three.
Further, described front rectangular beam and rear rectangular beam coaxial, coaxially, described front rectangular beam is mutually vertical with left rectangular beam for described left rectangular beam and right rectangular beam, center line intersection point and the center superposition loading boss of described front rectangular beam, rear rectangular beam, left rectangular beam and right rectangular beam.
Further, the height of described loading boss is greater than the height of fixing lug boss.
Beneficial effect of the present invention is: volume is little, and structure is simple, and effect of weight is little, highly sensitive; Can eliminate load over centre impact, precision is high; Accurately can test the contact force of build comparatively in mcroorganism (as people) motion process on X, Y, Z tri-directions, can be used for academic research, also can be used for commercial measurement.
Accompanying drawing explanation
With reference to the accompanying drawings the present invention is described in further detail below.
Fig. 1 is the structural representation of Medium-measurement-rthree-dimensional three-dimensional force sensor described in the embodiment of the present invention;
Fig. 2 is the sectional view of the upward view of Fig. 1;
Fig. 3 is the Hui Sitong full-bridge circuit figure of foil gauge R1, R2, R3, R4 composition described in the embodiment of the present invention;
Fig. 4 is the Hui Sitong full-bridge circuit figure of foil gauge R5, R6, R7, R8 composition described in the embodiment of the present invention;
Fig. 5 is the Hui Sitong full-bridge circuit figure of foil gauge R9, R10, R11, R12 composition described in the embodiment of the present invention;
Fig. 6 is the structured flowchart of the data acquisition equipment of Medium-measurement-rthree-dimensional three-dimensional force sensor described in the embodiment of the present invention.
In figure:
R1, R2, R3, R4, R5, R6, R7, R8, R9, R10, R11, R12: foil gauge;
1, fixing lug boss; 2, front rectangular beam; 3, rear rectangular beam; 4, left rectangular beam; 5, right rectangular beam; 6, boss is loaded; 7, fixed orifice; 8, screwed hole of centre; U, direct supply; Ui, voltage measurement end; I, connection terminal one; II, connection terminal two; III, connection terminal three.
Embodiment
As shown in figures 1 to 6, a kind of Medium-measurement-rthree-dimensional three-dimensional force sensor described in the embodiment of the present invention, comprise and load boss 6, the center of described loading boss 6 is provided with screwed hole of centre 8, outside described loading boss 6, level is provided with in rectangular beam before cross distribution 2, rear rectangular beam 3, left rectangular beam 4 and right rectangular beam 5, on described left rectangular beam 4 and right rectangular beam 5, lower both sides are respectively equipped with foil gauge R1 and R2 near the position loading boss 6, foil gauge R4 and R3, described left rectangular beam 4 and right rectangular beam 5 left side, the position near loading boss 6 on the upper side, right both sides is respectively equipped with foil gauge R5 and R8, foil gauge R6 and R7, described front rectangular beam 2 and rear rectangular beam 3 left side, the position near loading boss 6 on the upper side, right both sides is respectively equipped with foil gauge R9 and R12, foil gauge R10 and R11, the outer end of described front rectangular beam 2, rear rectangular beam 3, left rectangular beam 4 and right rectangular beam 5 is all connected with fixing lug boss 1, and the center of described fixing lug boss 1 is equipped with fixed orifice 7, described fixing lug boss 1 is provided with connection terminal 1, connection terminal 2 II and connection terminal 3 III.
Described front rectangular beam 2 and rear rectangular beam 3 coaxial, described left rectangular beam 4 and right rectangular beam 5 coaxial, described front rectangular beam 2 is mutually vertical with left rectangular beam 4, center line intersection point and the center superposition loading boss 6 of described front rectangular beam 2, rear rectangular beam 3, left rectangular beam 4 and right rectangular beam 5.
The height of described loading boss 6 is greater than the height of fixing lug boss 1.Load boss 6 bottom surface and fixing lug boss 1 bottom surface and have the gap of 0.5mm for realizing mechanical protection, load boss 6 upper surface than high about the 2mm of fixing lug boss 1 so that loading.
Front rectangular beam 2, rear rectangular beam 3, left rectangular beam 4 and right rectangular beam 5 are thinner rectangular cross section beam.
As Fig. 3, described foil gauge R1, R2, R3 and R4 form Hui Sitong full-bridge, and voltage measurement end Ui is connected to connection terminal 1; Foil gauge R1, R2, R4 and R3 sequential series composition Hui Sitong full-bridge, voltage measurement end Ui mono-end is connected between R1 and R2, and the other end is connected between R3 and R4; Direct supply U mono-end is connected between R1 and R3, and the other end is connected between R2 and R4.This Hui Sitong full-bridge is for measuring the size of the Z-direction power Fz shown in accompanying drawing 1 or 2.
As Fig. 4, described foil gauge R5, R6, R7 and R8 form Hui Sitong full-bridge, and voltage measurement end Ui is connected to connection terminal 2 II; Foil gauge R5, R6, R8 and R7 sequential series composition Hui Sitong full-bridge, voltage measurement end Ui mono-end is connected between R5 and R6, and the other end is connected between R7 and R8; Direct supply U mono-end is connected between R5 and R7, and the other end is connected between R6 and R8.This Hui Sitong full-bridge is for measuring the size of the Y-direction power Fy shown in accompanying drawing 1 or 2.
As Fig. 5, described foil gauge R9, R10, R11 and R12 form Hui Sitong full-bridge, and voltage measurement end Ui is connected to connection terminal 3 III; Foil gauge R9, R10, R12 and R11 sequential series composition Hui Sitong full-bridge, voltage measurement end Ui mono-end is connected between R9 and R10, and the other end is connected between R11 and R12; Direct supply U mono-end is connected between R9 and R11, and the other end is connected between R10 and R12.This Hui Sitong full-bridge is for measuring the size of the X-direction power Fx shown in accompanying drawing 1 or 2.
By the foil gauge bridge circuit shown in Fig. 3, Fig. 4, Fig. 5, the change in resistance of the foil gauge in Medium-measurement-rthree-dimensional three-dimensional force sensor is become change in voltage and exports.
During use, four fixing lug boss 1 are fixed by bolts on basis respectively, loading boss 6 is connected with force bearing plate, the voltage that three voltage measurement end Ui that connection terminal 1, connection terminal 2 II and connection terminal 3 III are drawn measure is amplified laggard row data acquisition through amplifying circuit, and the data importing PC terminal (Fig. 6) that will collect.
When loading boss 6 top and being subject to Z-direction power, horizontal beam is by curved, and two ends will produce comparatively large sstrain.Horizontal beam upper and lower surface strain value can be measured by foil gauge R1, R2, R3, R4 of first group of electric bridge, can convert and obtain the size of Z-direction power Fz; When loading boss 6 top and being subject to X-direction power, front rectangular beam 2 and rear rectangular beam 3 are simultaneously by axial push-pull and flecition, and left rectangular beam 4 and right rectangular beam 5 by bending and twisting action simultaneously.Consider that front rectangular beam 2 and rear rectangular beam 3 are the party's main supports upwards, select foil gauge R9, R10, R11, R12 group bridge can measure the size of X-direction power Fx, and larger strain can be obtained; In like manner, select foil gauge R5, R6, R7, R8 group bridge can measure the size of Y-direction power Fy, and larger strain can be obtained.
The overall dimensions of sensor preferably within the scope of 75mm × 75mm × 15mm, the size preferred 13mm × 8mm × 4mm of rectangular cross section beam.The preferred Fz of dynamometry range is 2000N, Fx and Fy is 1000N.
The present invention is not limited to above-mentioned preferred forms; anyone can draw other various forms of products under enlightenment of the present invention; no matter but any change is done in its shape or structure; every have identical with the application or akin technical scheme, all drops within protection scope of the present invention.
Claims (3)
1. a Medium-measurement-rthree-dimensional three-dimensional force sensor, comprises and loads boss (6), it is characterized in that: the center of described loading boss (6) is provided with screwed hole of centre (8), described loading boss (6) outside level is provided with in rectangular beam before cross distribution (2), rear rectangular beam (3), left rectangular beam (4) and right rectangular beam (5), on described left rectangular beam (4) and right rectangular beam (5), lower both sides are respectively equipped with foil gauge R1 and R2 near the position loading boss (6), foil gauge R4 and R3, described left rectangular beam (4) and right rectangular beam (5) left side, the position near loading boss (6) on the upper side, right both sides is respectively equipped with foil gauge R5 and R8, foil gauge R6 and R7, described front rectangular beam (2) and rear rectangular beam (3) left side, the position near loading boss (6) on the upper side, right both sides is respectively equipped with foil gauge R9 and R12, foil gauge R10 and R11, the outer end of described front rectangular beam (2), rear rectangular beam (3), left rectangular beam (4) and right rectangular beam (5) is all connected with fixing lug boss (1), and the center of described fixing lug boss (1) is equipped with fixed orifice (7), described fixing lug boss (1) is provided with connection terminal one (I), connection terminal two (II) and connection terminal three (III), wherein, described foil gauge R1, R2, R3 and R4 form Hui Sitong full-bridge, and voltage measurement end (Ui) is connected to connection terminal one (I), described foil gauge R5, R6, R7 and R8 form Hui Sitong full-bridge, and voltage measurement end (Ui) is connected to connection terminal two (II), described foil gauge R9, R10, R11 and R12 form Hui Sitong full-bridge, and voltage measurement end (Ui) is connected to connection terminal three (III).
2. a kind of Medium-measurement-rthree-dimensional three-dimensional force sensor according to claim 1, it is characterized in that: described front rectangular beam (2) and rear rectangular beam (3) are coaxially, described left rectangular beam (4) and right rectangular beam (5) are coaxially, described front rectangular beam (2) is mutually vertical with left rectangular beam (4), described front rectangular beam (2), rear rectangular beam (3), left rectangular beam (4) and the center line intersection point of right rectangular beam (5) and the center superposition of loading boss (6).
3. a kind of Medium-measurement-rthree-dimensional three-dimensional force sensor according to claim 2, is characterized in that: the height of described loading boss (6) is greater than the height of fixing lug boss (1).
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| CN201310472529.9A CN103575446B (en) | 2013-10-11 | 2013-10-11 | A kind of Medium-measurement-rthree-dimensional three-dimensional force sensor |
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| CN201310472529.9A CN103575446B (en) | 2013-10-11 | 2013-10-11 | A kind of Medium-measurement-rthree-dimensional three-dimensional force sensor |
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| CN103575446B true CN103575446B (en) | 2016-04-27 |
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| IT201700044301A1 (en) * | 2017-04-21 | 2018-10-21 | St Microelectronics Srl | EFFORT SENSOR FOR THE MONITORING OF THE HEALTH STATUS OF STRUCTURES MADE WHICH CONSTRUCTION, BUILDINGS, INFRASTRUCTURE AND THE LIKE. |
| IT201700045285A1 (en) | 2017-04-26 | 2018-10-26 | St Microelectronics Srl | TRINCE-BASED MICROELETTROMECHANICAL TRANSDUCER AND METHOD OF MANUFACTURE OF THE MICROELECTRANCANICAL TRANSDUCER |
| CN109702710B (en) * | 2017-10-26 | 2020-10-02 | 深圳市肯綮科技有限公司 | Foot device capable of detecting plantar pressure and lower limb assisting equipment thereof |
| CN108225622B (en) * | 2017-12-25 | 2020-10-16 | 广州中国科学院工业技术研究院 | Three-dimensional force sensor |
| CN108972601B (en) * | 2018-08-10 | 2024-03-26 | 佛山科学技术学院 | End effector capable of sensing three-dimensional force |
| CN109060194B (en) * | 2018-10-12 | 2023-11-24 | 苏州科技大学 | Force transducer |
| CN109974916B (en) * | 2019-04-03 | 2020-12-29 | 东南大学 | Variable-pole-pitch capacitive three-dimensional force sensor structure |
| CN111855043B (en) * | 2020-07-31 | 2022-03-22 | 长飞光纤光缆股份有限公司 | Fiber grating soil pressure sensor |
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|---|---|---|---|---|
| US4448083A (en) * | 1981-04-13 | 1984-05-15 | Yamato Scale Company, Ltd. | Device for measuring components of force and moment in plural directions |
| US4905523A (en) * | 1987-04-24 | 1990-03-06 | Wacoh Corporation | Force detector and moment detector using resistance element |
| DE4012829A1 (en) * | 1990-04-23 | 1991-10-24 | Walter Rieger | Multi-indensional force measurement - has string gauges, piezoelectric sensors on membrane arms with three=dimensional force input hub |
| US5889214A (en) * | 1997-05-19 | 1999-03-30 | Korea Research Institute Of Standards And Science | 6-component load cell |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004045044A (en) * | 2002-07-08 | 2004-02-12 | Kansai Tlo Kk | 6-axis inner force sense sensor |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4448083A (en) * | 1981-04-13 | 1984-05-15 | Yamato Scale Company, Ltd. | Device for measuring components of force and moment in plural directions |
| US4905523A (en) * | 1987-04-24 | 1990-03-06 | Wacoh Corporation | Force detector and moment detector using resistance element |
| DE4012829A1 (en) * | 1990-04-23 | 1991-10-24 | Walter Rieger | Multi-indensional force measurement - has string gauges, piezoelectric sensors on membrane arms with three=dimensional force input hub |
| US5889214A (en) * | 1997-05-19 | 1999-03-30 | Korea Research Institute Of Standards And Science | 6-component load cell |
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