CN109781328B - Six-dimensional force sensor with eight-beam structure - Google Patents
Six-dimensional force sensor with eight-beam structure Download PDFInfo
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- CN109781328B CN109781328B CN201910061579.5A CN201910061579A CN109781328B CN 109781328 B CN109781328 B CN 109781328B CN 201910061579 A CN201910061579 A CN 201910061579A CN 109781328 B CN109781328 B CN 109781328B
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- 238000005259 measurement Methods 0.000 claims description 10
- 229910000838 Al alloy Inorganic materials 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 2
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- 230000035945 sensitivity Effects 0.000 abstract description 2
- 238000006880 cross-coupling reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 229910000737 Duralumin Inorganic materials 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
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Abstract
本发明公开了一种八梁结构的六维力传感器，其特征在于：包括受力圆盘、外壳、基座、弹性梁、插头连接件和插头；所述受力圆盘通过所述螺孔连接施力装置；所述插头连接件安装在所述外壳的外侧面上；所述插头固定在插头连接件上；所述基座的底座凸台安装在所述外壳的内部；所述弹性梁包括圆盘梁体和八个支梁；所述圆盘梁体与所述受力圆盘连接；八个所述支梁上均设有应力集中孔；每一个支梁上应力集中孔中心的两侧上均安装两个应变片；所述弹性梁安装在所述基座上；本发明传感器具有其输出精度高，结构简单紧凑，工艺简单，应变片少，高灵敏度，高解耦精度，便于安装使用等优点。
The invention discloses a six-dimensional force sensor with an eight-beam structure, which is characterized by comprising a force-bearing disc, a shell, a base, an elastic beam, a plug connector and a plug; the force-bearing disc passes through the screw hole connecting force applying device; the plug connector is installed on the outer side of the housing; the plug is fixed on the plug connector; the base boss of the base is installed inside the housing; the elastic beam It includes a disc beam body and eight support beams; the disc beam body is connected with the force-bearing disc; the eight support beams are provided with stress concentration holes; the two sides of the center of the stress concentration hole on each support beam Two strain gauges are installed on both; the elastic beam is installed on the base; the sensor of the invention has the advantages of high output precision, simple and compact structure, simple process, few strain gauges, high sensitivity, high decoupling accuracy, and easy installation. advantages of use.
Description
Technical Field
The invention relates to the technical field of strain sensors, in particular to a six-dimensional force sensor with an eight-beam structure.
Background
The six-dimensional force sensor has rich force measurement information and is a sensor capable of detecting three components in space and three moment components. Currently, it is used in many industries, such as intelligent robots, aerospace, military, biomedicine, etc.
The prior art includes a cross beam structure and a three-symmetrical beam structure. The cross beam structure has good symmetry, convenient design, simple theoretical relationship and easy analysis, but has the defects of radial effect, approximate solution of a calibration matrix, more strain gauges and the like; the three-symmetrical beam structure is simple, reduces the transverse effect of the cross beam structure, but increases the cross coupling degree. The prior art also comprises a double-cross beam structure six-dimensional force sensor, which reduces cross coupling among dimensions, increases the number of strain gauges to 32, and increases the complexity and the manufacturing difficulty of an elastomer structure.
Accordingly, there is a need in the art for a six-dimensional force sensor that overcomes the above-mentioned problems.
Disclosure of Invention
The technical scheme adopted for achieving the purpose of the invention is that the six-dimensional force sensor with the eight-beam structure is characterized in that: comprises a stress disc, a shell, a base, an elastic beam, a plug connecting piece and a plug.
The center of the plane of the stressed disc is provided with through holes which are uniformly distributed on the same circumference. And screw holes uniformly distributed on the same circumference are also formed in the plane of the stressed disk. The screw hole surrounds the through hole. The stress disc is connected with a force application device through the screw hole.
The shell is a hollow cylinder. And a plug mounting hole I is formed in the side surface of the shell.
The plug connecting piece is arc-shaped plate-shaped. And the middle part of the plug connecting piece is provided with a plug mounting hole II. The plug mounting hole II corresponds to the plug mounting hole I. The plug connector is mounted on the outer side of the housing.
The plug is inserted into the plug mounting hole II and the plug mounting hole I and fixed on the plug connecting piece.
The base comprises a disc base and a base boss arranged on the plane of the disc base.
The base boss is circular. And a circuit board is arranged in the base boss. And elastic beam mounting holes uniformly distributed on the same circumference are formed in the annular plane of the base boss.
The base boss of the base is mounted inside the housing.
The elastic beam comprises a disc beam body and eight support beams.
And the plane of the disc beam body is provided with stressed disc connecting holes which are uniformly distributed on the same circumference. The stress disc connecting hole corresponds to the through hole. The disc beam body is connected with the stressed disc through the stressed disc connecting hole.
The eight branch beams are radially arranged on the disc beam body, and the included angle between the central lines of each branch beam is 45 degrees. And respectively marking the eight branch beams as a first branch beam, a second branch beam, a third branch beam, a fourth branch beam, a fifth branch beam, a sixth branch beam, a seventh branch beam and an eighth branch beam.
Establishing a right-handed Cartesian coordinate system by using the plane center of the disc beam body, wherein the direction of a z axis is perpendicular to the plane of the disc beam body upwards, the direction of an x axis is parallel to the plane of the disc beam body rightwards, the direction of a y axis is parallel to the plane of the disc beam body forwards, the center line of the first supporting beam is located on the y axis, and the rest seven supporting beams are sequentially a second supporting beam, a third supporting beam, a fourth supporting beam, a fifth supporting beam, a sixth supporting beam, a seventh supporting beam and an eighth supporting beam clockwise.
And the eight support beams are provided with stress concentration holes. The opening directions of the stress concentration holes of the first supporting beam, the third supporting beam, the fifth supporting beam and the seventh supporting beam are parallel to the z axis. And the opening directions of the stress concentration holes of the second supporting beam, the fourth supporting beam, the sixth supporting beam and the eighth supporting beam are vertical to the z axis.
And the eight supporting beams are provided with strain gauges. And two sides of each supporting beam positioned in the center of the stress concentration hole are respectively provided with a strain gauge.
And the eight support beams are provided with positioning holes. The positioning holes correspond to the elastic beam mounting holes. The elastic beam is installed on the base through the positioning hole.
During measurement, the base is fixed on a measurement object, and the force application device applies force to the stressed disk. And the stress disc deforms the elastic beam after being stressed. The resistance across the strain gage changes. And after the circuit board converts the resistance signal into a voltage signal and amplifies the voltage signal, the signal is led out at the plug, and a measurement signal is output outwards.
When F is presentxWhen acting on the sensor, the first supporting beam and the fifth supporting beam generate strain with the same magnitude and direction, and the strain is recorded as
Fx＝f1+f5. (formula one)
When F is presentyWhen acting on the sensor, the third supporting beam and the seventh supporting beam generate strain with the same magnitude and direction, and the strain is recorded as
Fy＝f3+f7. (formula II)
When F is presentzWhen acting on the sensor, the second, fourth, sixth and eighth corbels generate strains with the same magnitude and direction, and the strains are recorded as
Fz＝f2+f4+f6+f8. (III)
And recording the distance from the center of the stress concentration hole on each supporting beam to the center of the disc beam body as L.
When M isxWhen acting on the sensor, the fourth and sixth beams and the second and eighth beams generate strain with opposite directions, which is recorded as
Mx＝[f2+f8-(f4+f6)]Lcos 45. (formula IV)
When M isyWhen acting on the sensor, the second and fourth beams and the sixth and eighth beams generate strain with opposite directions, which is recorded as
My＝[f8+f6-(f4+f2)]Lcos 45. (formula five)
When M iszWhen acting on the sensor, the first, third, fifth and seventh corbels generate strain in the same direction, which is recorded as
Mz＝[f1+f7-(f3+f5)]And L. (type six)
In the first formula: fxIs the force in the x-direction of the six-dimensional force experienced by the sensor. f. of1Is the strain experienced by the first strut. f. of5Is the strain experienced by the fifth corbel.
In the second formula: fyIs the force in the y-direction of the six-dimensional force experienced by the sensor. f. of3Is the strain experienced by the third corbel. f. of7The strain experienced by the seventh corbel.
In the third formula: fzIs the force in the z direction of the six-dimensional force experienced by the sensor. f. of2Is the strain experienced by the second corbel. f. of4Is the strain experienced by the fourth corbel. f. of6Is the strain experienced by the sixth corbel. f. of8Is the strain experienced by the eighth corbel.
In the fourth formula: mxIs the moment in the x-direction of the six-dimensional force experienced by the sensor.
In the formula V: myIs the moment in the y-direction of the six-dimensional force experienced by the sensor.
In the sixth formula: mzIs the moment in the z direction of the six-dimensional force experienced by the sensor.
Furthermore, the annular plane of the base boss is also provided with a plurality of circuit board fixing grooves on the same circumference. The base boss fixes the circuit board through the circuit board fixing groove.
And a groove is also arranged on the outer side surface of the boss of the base. The groove corresponds to the plug mounting hole I.
Further, the materials of the stressed disc, the shell, the base, the elastic beam, the plug connecting piece and the plug comprise hard aluminum alloy.
Further, the two strain gauges on each of the support beams form half-bridge opposite sides of a group of Wheatstone bridges.
Furthermore, a plurality of base mounting holes are formed in the side face of the shell.
And a plurality of threaded holes corresponding to the base mounting holes are formed in the base bosses of the base.
The base boss of the base is fixed inside the shell through screws.
Furthermore, a plurality of connecting holes I are formed in the periphery of the plug mounting hole I.
And a plurality of connecting holes II are formed around the plug mounting hole II. The connecting hole II corresponds to the connecting hole I.
The plug connecting piece is fixed on the outer side face of the shell through screws.
The six-dimensional force sensor with the eight-beam structure has the advantages of high output precision, simple and compact structure, few strain gauges, simple process, high sensitivity, high decoupling precision, convenience in installation and use and the like.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an exploded view of the present invention;
FIG. 3 is a schematic three-dimensional structure of the elastic beam according to the present invention;
FIG. 4 is a schematic view of the mounting of the spring beam of the present invention;
FIG. 5 is a schematic plan view of the spring beam of the present invention 1;
fig. 6 is a schematic plan view 2 of the spring beam of the present invention.
In the figure: the stress disc comprises a stress disc 1, a through hole 101, a screw hole 102, a shell 2, a plug mounting hole I201, a base mounting hole 202, a connecting hole I203, a base 3, a disc base 301, a base boss 302, a circuit board fixing groove 3021, an elastic beam mounting hole 3022, a groove 3023, a threaded hole 3024, an elastic beam 4, a disc beam body 41, a stress disc connecting hole 411, a support beam 42, a stress concentration hole 421, a strain gauge 422, a positioning hole 423, a plug connecting piece 5, a plug mounting hole II501, a connecting hole II502 and a plug 6.
Detailed Description
The present invention is further illustrated by the following examples, but it should not be construed that the scope of the above-described subject matter is limited to the following examples. Various substitutions and alterations can be made without departing from the technical idea of the invention and the scope of the invention is covered by the present invention according to the common technical knowledge and the conventional means in the field.
Example 1:
referring to fig. 1 to 3, a six-dimensional force sensor with an eight-beam structure is characterized in that: comprises a stressed disc 1, a shell 2, a base 3, an elastic beam 4, a plug connecting piece 5 and a plug 6.
In this embodiment, the stressed disk 1, the housing 2, the base 3, the elastic beam 4, the plug connector 5 and the plug 6 are made of duralumin alloy LY 12.
Eight through holes 101 uniformly distributed on the same circumference are formed in the center of the plane of the stress disc 1. Eight screw holes 102 uniformly distributed on the same circumference are also formed in the plane of the stressed disk 1. The screw hole 102 surrounds the through hole 101. The force-bearing disc 1 is connected with a force application device through the screw hole 102.
The housing 2 is a hollow cylinder. And a plug mounting hole I201 is formed in the side surface of the shell 2.
The plug connector 5 is arc-shaped plate-shaped. The middle part of the plug connecting piece 5 is provided with a plug mounting hole II 501. The plug mounting hole II501 corresponds to the plug mounting hole I201. The plug connection 5 is mounted on the outer side of the housing 2.
The plug 6 is inserted into the plug mounting hole II501 and the plug mounting hole I201, and fixed to the plug connector 5.
The base 3 comprises a disc base 301 and a base boss 302 arranged on the plane of the disc base 301.
The base boss 302 is circular. The annular plane of the base boss 302 is further provided with four circuit board fixing slots 3021 on the same circumference. The base boss 302 is fixedly mounted with a circuit board through the circuit board fixing groove 3021.
Eight elastic beam mounting holes 3022 uniformly distributed on the same circumference are formed in the annular plane of the base boss 302.
The base boss 302 of the base 3 is installed inside the housing 2 and is limited by the disc base 301.
The outer side surface of the base boss 302 is also provided with a groove 3023. The groove 3023 corresponds to the plug mounting hole I201, and is convenient for accommodating a plug 6.
The elastic beam 4 includes a disc beam body 41 and eight corbels 42.
Eight stressed disk connecting holes 411 which are uniformly distributed on the same circumference are formed in the plane of the disk beam body 41. The force receiving disk coupling hole 411 corresponds to the through hole 101. The disc beam body 41 is connected with the force-bearing disc 1 through the force-bearing disc connecting hole 411.
The eight corbels 42 are radially arranged on the disc beam body 41, and the included angle between the central lines of each corbel 42 is 45 degrees. The eight support beams 42 are respectively marked as a first support beam, a second support beam, a third support beam, a fourth support beam, a fifth support beam, a sixth support beam, a seventh support beam and an eighth support beam.
Referring to fig. 3 to 6, a right-handed cartesian coordinate system is established with the center of the plane of the disc beam body 41, wherein the direction of the z-axis is upward perpendicular to the plane of the disc beam body 41, the direction of the x-axis is rightward parallel to the plane of the disc beam body 41, the direction of the y-axis is forward parallel to the plane of the disc beam body 41, the center line of the first support beam is located on the y-axis, and the rest seven support beams 42 are sequentially a second support beam, a third support beam, a fourth support beam, a fifth support beam, a sixth support beam, a seventh support beam and an eighth support beam in a clockwise direction.
The eight support beams 42 are all provided with stress concentration holes 421. The opening direction of the stress concentration hole 421 of the first, third, fifth and seventh support beams is parallel to the z-axis. The opening direction of the stress concentration hole 421 of the second, fourth, sixth and eighth support beams is perpendicular to the z-axis.
The eight support beams 42 are all provided with strain gauges 422. One strain gauge 422 is mounted on each of the support beams 42 on both sides of the center of the stress concentration hole 421. Thus, the following results are obtained: the two strain gages 422 on the first beam are parallel to the x-axis, the two strain gages 422 on the second beam are parallel to the z-axis, the two strain gages 422 on the third beam are parallel to the y-axis, the two strain gages 422 on the fourth beam are parallel to the z-axis, the two strain gages 422 on the fifth beam are parallel to the x-axis, the two strain gages 422 on the sixth beam are parallel to the z-axis, the two strain gages 422 on the seventh beam are parallel to the y-axis, and the two strain gages 422 on the eighth beam are parallel to the z-axis.
The two strain gauges 422 on each of the support beams 42 form a set of half-bridge opposite sides of a wheatstone bridge. That is, 16 strain gauges 422 on the eight support beams 42 form the opposite sides of the half-bridge of the eight wheatstone bridges.
The eight support beams 42 are provided with positioning holes 423. The positioning holes 423 correspond to the elastic beam mounting holes 3022. The elastic beam 4 is mounted on the base 3 through the positioning hole 423.
During measurement, the base 3 is fixed on a measurement object, and the force application device applies force to the stressed disk 1. The stress disc 1 deforms the elastic beam 4 after being stressed. The resistance on the strain gage 422 changes, changing the resistance by the wheatstone bridge. The circuit board converts the resistance signal into a voltage signal and amplifies the voltage signal, and then the signal is led out at the plug 6 to output a measurement signal outwards.
When F is presentxWhen acting on the sensor, the first supporting beam and the fifth supporting beam generate strain with the same magnitude and direction, and the strain is recorded as
Fx＝f1+f5. (formula one)
When F is presentyWhen acting on the sensor, the third supporting beam and the seventh supporting beam generate strain with the same magnitude and direction, and the strain is recorded as
Fy＝f3+f7. (formula II)
When F is presentzWhen acting on the sensor, the second, fourth, sixth and eighth corbels generate strains with the same magnitude and direction, and the strains are recorded as
Fz＝f2+f4+f6+f8. (III)
Let L be the distance from the center of the stress concentration hole 421 to the center of the disc beam body 41 on each of the support beams 42.
When M isxWhen acting on the sensor, the fourth and sixth beams and the second and eighth beams generate strain with opposite directions, which is recorded as
Mx＝[f2+f8-(f4+f6)]Lcos 45. (formula IV)
When M isyWhen acting on the sensor, the second and fourth beams and the sixth and eighth beams generate strain with opposite directions, which is recorded as
My＝[f8+f6-(f4+f2)]Lcos 45. (formula five)
When M iszWhen acting on the sensor, the first, third, fifth and seventh corbels generate strain in the same direction, which is recorded as
Mz＝[f1+f7-(f3+f5)]And L. (type six)
In the first formula: fxIs the force in the x-direction of the six-dimensional force experienced by the sensor. f. of1Is the strain experienced by the first strut. f. of5Is the strain experienced by the fifth corbel.
In the second formula: fyIs the force in the y-direction of the six-dimensional force experienced by the sensor. f. of3Is the strain experienced by the third corbel. f. of7The strain experienced by the seventh corbel.
In the third formula: fzIs the force in the z direction of the six-dimensional force experienced by the sensor. f. of2Is the strain experienced by the second corbel. f. of4Is the strain experienced by the fourth corbel. f. of6Is the strain experienced by the sixth corbel. f. of8Is the strain experienced by the eighth corbel.
In the fourth formula: mxIs the moment in the x-direction of the six-dimensional force experienced by the sensor.
In the formula V: myIs the moment in the y-direction of the six-dimensional force experienced by the sensor.
In the sixth formula: mzIs the moment in the z direction of the six-dimensional force experienced by the sensor.
Therefore, when an external force acts on the center of the force application platform, the output of the six-dimensional force sensor is as follows:
by using the formula, the six-dimensional force F acting on the six-dimensional force sensor can be solvedx、Fy、Fz、Mx、My、Mz。
Example 2:
the structure of this embodiment is the same as that of embodiment 1, and further, 3 base mounting holes 202 are provided on the side surface of the housing 2.
The base boss 302 of the base 3 is provided with 3 screw holes 3024 corresponding to the base mounting holes 202.
The base boss 302 of the base 3 is screwed into the base mounting hole 202 and the screw hole 3024 in sequence by screws, and fixed inside the housing 2.
Example 3:
the structure of this embodiment is the same as that of embodiment 1, and further, four connection holes I203 are formed around the plug mounting hole I201.
Four connecting holes II502 are formed in the periphery of the plug mounting hole II 501. The connection hole II502 corresponds to the connection hole I203.
The plug connecting piece 5 is screwed into the connecting hole I203 and the connecting hole II502 in sequence through screws and fixed on the outer side surface of the shell 2.
Claims (6)
1. The utility model provides an eight six-dimensional force transducer of roof beam structure which characterized in that: comprises a stressed disc (1), a shell (2), a base (3), an elastic beam (4), a plug connecting piece (5) and a plug (6);
through holes (101) uniformly distributed on the same circumference are formed in the center of the plane of the stress disc (1); the plane of the stressed disc (1) is also provided with screw holes (102) which are uniformly distributed on the same circumference; the screw hole (102) surrounds the through hole (101); the stressed disc (1) is connected with a force application device through the screw hole (102);
the shell (2) is a hollow cylinder; a plug mounting hole I (201) is formed in the side face of the shell (2);
the plug connecting piece (5) is arc-shaped plate-shaped; the middle part of the plug connecting piece (5) is provided with a plug mounting hole II (501); the plug mounting hole II (501) corresponds to the plug mounting hole I (201); the plug connecting piece (5) is arranged on the outer side surface of the shell (2);
the plug (6) is inserted into the plug mounting hole II (501) and the plug mounting hole I (201) and fixed on the plug connecting piece (5);
the base (3) comprises a disc base (301) and a base boss (302) arranged on the plane of the disc base (301);
the base boss (302) is annular; a circuit board is arranged inside the base boss (302); elastic beam mounting holes (3022) uniformly distributed on the same circumference are formed in the annular plane of the base boss (302);
a base boss (302) of the base (3) is arranged inside the shell (2);
the elastic beam (4) comprises a disc beam body (41) and eight support beams (42);
the plane of the disc beam body (41) is provided with stressed disc connecting holes (411) which are uniformly distributed on the same circumference; the stress disc connecting hole (411) corresponds to the through hole (101); the disc beam body (41) is connected with the stressed disc (1) through the stressed disc connecting hole (411);
the eight supporting beams (42) are radially arranged on the disc beam body (41), and the included angle between the central lines of the supporting beams (42) is 45 degrees; the eight support beams (42) are respectively marked as a first support beam, a second support beam, a third support beam, a fourth support beam, a fifth support beam, a sixth support beam, a seventh support beam and an eighth support beam;
establishing a right-handed cartesian coordinate system by using the plane center of the disc beam body (41), wherein the direction of a z axis is vertical to the plane of the disc beam body (41) upwards, the direction of an x axis is parallel to the plane of the disc beam body (41) rightwards, the direction of a y axis is parallel to the plane of the disc beam body (41) forwards, the central line of the first supporting beam is located on the y axis, and the rest seven supporting beams (42) are sequentially a second supporting beam, a third supporting beam, a fourth supporting beam, a fifth supporting beam, a sixth supporting beam, a seventh supporting beam and an eighth supporting beam clockwise;
stress concentration holes (421) are formed in the eight supporting beams (42); the opening directions of the stress concentration holes (421) of the first, third, fifth and seventh support beams are parallel to the z axis; the opening direction of the stress concentration holes (421) of the second, fourth, sixth and eighth support beams is perpendicular to the z axis;
strain gauges (422) are mounted on the eight support beams (42); two sides of each supporting beam (42) positioned in the center of the stress concentration hole (421) are respectively provided with a strain gauge (422);
positioning holes (423) are formed in the eight supporting beams (42); the positioning hole (423) corresponds to the elastic beam mounting hole (3022); the elastic beam (4) is installed on the base (3) through the positioning hole (423);
during measurement, the base (3) is fixed on a measurement object, and the force application device applies force to the stressed disc (1); the elastic beam (4) is deformed after the stress disc (1) is stressed; a change in resistance across the strain gauge (422); the circuit board converts the resistance signal into a voltage signal and amplifies the voltage signal, and then the signal is led out at the plug (6) to output a measurement signal outwards;
when F is presentxWhen acting on the sensor, the first supporting beam and the fifth supporting beam generate strain with the same magnitude and direction, and the strain is recorded as
Fx＝f1+f5(ii) a (formula one)
When F is presentyWhen acting on the sensor, the third supporting beam and the seventh supporting beam generate strain with the same magnitude and direction, and the strain is recorded as
Fy＝f3+f7(ii) a (formula II)
When F is presentzWhen acting on the sensor, the second, fourth, sixth and eighth corbels generate strains with the same magnitude and direction, and the strains are recorded as
Fz＝f2+f4+f6+f8(ii) a (III)
Recording the distance from the center of the stress concentration hole (421) on each supporting beam (42) to the center of the disc beam body (41) as L;
when M isxWhen acting on the sensor, the fourth and sixth beams and the second and eighth beams generate strain with opposite directions, which is recorded as
Mx＝[f2+f8-(f4+f6)]L cos45 °; (formula IV)
When M isyWhen acting on the sensor, the second and fourth beams and the sixth and eighth beams generate strain with opposite directions, which is recorded as
My＝[f8+f6-(f4+f2)]L cos45 °; (formula five)
When M iszWhen acting on the sensor, the first, third, fifth and seventh corbels generate strain in the same direction, which is recorded as
Mz＝[f1+f7-(f3+f5)]L; (type six)
In the first formula: fxIs the force of the six-dimensional force on the sensor in the x direction; f. of1Is the strain experienced by the first strut; f. of5Is the strain experienced by the fifth corbel;
in the second formula: fyIs the force of the six-dimensional force on the sensor in the y direction; f. of3Is the strain experienced by the third corbel; f. of7Is the strain experienced by the seventh corbel;
in the third formula: fzIs the force in the z direction of the six-dimensional force to which the sensor is subjected; f. of2Is the strain experienced by the second corbel; f. of4Is the strain experienced by the fourth corbel; f. of6Is the strain experienced by the sixth corbel; f. of8Is the strain borne by the eighth corbel;
in the fourth formula: mxThe moment of the six-dimensional force on the sensor in the x direction;
in the formula V: myThe moment of the six-dimensional force on the sensor in the y direction;
in the sixth formula: mzIs the moment in the z direction of the six-dimensional force experienced by the sensor.
2. The eight-beam six-dimensional force sensor of claim 1, wherein: the annular plane of the base boss (302) is also provided with a plurality of circuit board fixing grooves (3021) on the same circumference; the base boss (302) fixes the circuit board through the circuit board fixing groove (3021);
a groove (3023) is also formed in the outer side surface of the base boss (302); the groove (3023) corresponds to the plug mounting hole I (201).
3. The eight-beam six-dimensional force sensor of claim 1, wherein: the stressed disc (1), the shell (2), the base (3), the elastic beam (4), the plug connecting piece (5) and the plug (6) are made of hard aluminum alloy.
4. The eight-beam six-dimensional force sensor of claim 1, wherein: two strain gauges (422) on each of the support beams (42) form half-bridge opposite sides of a group of Wheatstone bridges.
5. The eight-beam six-dimensional force sensor of claim 1, wherein: a plurality of base mounting holes (202) are formed in the side face of the shell (2);
a base boss (302) of the base (3) is provided with a plurality of threaded holes (3024) corresponding to the base mounting holes (202);
and a base boss (302) of the base (3) is fixed in the shell (2) through a screw.
6. The eight-beam six-dimensional force sensor of claim 1, wherein: a plurality of connecting holes I (203) are formed in the periphery of the plug mounting hole I (201);
a plurality of connecting holes II (502) are formed in the periphery of the plug mounting hole II (501); the connecting hole II (502) corresponds to the connecting hole I (203);
the plug connecting piece (5) is fixed on the outer side face of the shell (2) through a screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910061579.5A CN109781328B (en) | 2019-01-23 | 2019-01-23 | Six-dimensional force sensor with eight-beam structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910061579.5A CN109781328B (en) | 2019-01-23 | 2019-01-23 | Six-dimensional force sensor with eight-beam structure |
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| Publication Number | Publication Date |
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| CN109781328A CN109781328A (en) | 2019-05-21 |
| CN109781328B true CN109781328B (en) | 2020-05-01 |
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| CN111693198B (en) * | 2020-05-15 | 2021-06-01 | 吉林大学 | Double-plate type six-dimensional force torque sensor |
| CN114279533A (en) * | 2021-12-23 | 2022-04-05 | 中国航天空气动力技术研究院 | High-precision micro-weighing balance device |
| CN114720028B (en) * | 2022-03-03 | 2024-09-06 | 陕西电器研究所 | Integrated multidimensional force sensor based on thin film sputtering technology |
| CN116007817A (en) * | 2022-12-30 | 2023-04-25 | 航天南洋（浙江）科技有限公司 | Six-dimensional force sensor |
| CN119063897A (en) * | 2024-11-05 | 2024-12-03 | 苏州敏芯微电子技术股份有限公司 | A six-dimensional force sensor based on MEMS technology |
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| CN106124113A (en) * | 2016-06-14 | 2016-11-16 | 南京神源生智能科技有限公司 | A kind of new six power and torque sensor |
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