CN115524044B - A uniaxial force/torque sensor and measurement method - Google Patents
A uniaxial force/torque sensor and measurement methodInfo
- Publication number
- CN115524044B CN115524044B CN202211282195.4A CN202211282195A CN115524044B CN 115524044 B CN115524044 B CN 115524044B CN 202211282195 A CN202211282195 A CN 202211282195A CN 115524044 B CN115524044 B CN 115524044B
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- force
- measuring
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- strain
- column beam
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
本发明公开了一种单轴向力/力矩传感器及测量方法，该单轴向力/力矩传感器包括浮动平台、固定平台、测力矩柱梁、测力应变梁以及基础柱梁，固定平台上表面与垂直设置的测力矩柱梁下端面固定连接、测力矩柱梁上端面与水平设置的4个测力应变梁端部固定连接，每一个测力应变梁的另一端部与一根垂直设置的基础柱梁下端面固定连接、4个基础柱梁的上端面固定连接在浮动平台下表面。本发明将单轴向力与力矩分别独立精准测量，结构简单紧凑，高效可靠。
The present invention discloses a uniaxial force/torque sensor and measurement method. The sensor comprises a floating platform, a fixed platform, a moment-measuring column beam, a force-measuring strain beam, and a foundation column beam. The upper surface of the fixed platform is fixedly connected to the lower end face of a vertically arranged moment-measuring column beam, and the upper end face of the moment-measuring column beam is fixedly connected to the ends of four horizontally arranged force-measuring strain beams. The other end of each force-measuring strain beam is fixedly connected to the lower end face of a vertically arranged foundation column beam, and the upper end faces of the four foundation column beams are fixedly connected to the lower surface of the floating platform. The present invention independently and accurately measures uniaxial force and torque, has a simple and compact structure, and is efficient and reliable.
Description
Technical Field
The invention relates to a mechanical force transducer, in particular to a uniaxial force/moment transducer.
Background
When a traditional motor shaft is used for carrying out a force measurement experiment, the axial force and the torque of the motor are respectively and independently measured by a one-dimensional force sensor and a torque sensor, and meanwhile, the data of the force and the torque are monitored, but the mutual interference of the force and the torque cannot be eliminated. The traditional two-dimensional force balance can only realize two-dimensional force measurement, two-dimensional moment measurement or non-axial two-dimensional force and moment measurement. If the six-dimensional force balance is used for measuring the single axial force/moment, the six-dimensional force balance is complicated in structure and oversized, so that the measurement is complicated, more interference is caused, and the measurement is inaccurate. It is therefore desirable to develop a single axial force/moment sensor that can achieve the measurement of single axial force and moment (i.e., X/Mx or Y/My or Z/Mz).
Disclosure of Invention
The invention aims to overcome the defects, and provides a single axial force/moment sensor, which can directly realize independent measurement of single axial force and single axial moment in all directions.
The invention also provides a measuring method of the uniaxial force/moment sensor.
In order to achieve the above purpose, the uniaxial force/moment sensor provided by the invention adopts the following technical scheme:
The single-axis force/moment sensor comprises a fixed platform, a moment measuring column beam extending from one surface of the fixed platform, a floating platform fixed at the front end of the moment measuring column beam, a force measuring strain beam extending outwards from a moment measuring column Liang Zhouxiang, and a foundation column beam extending from the first surface of the floating platform facing the fixed platform, wherein the force measuring strain beam is provided with four mutually perpendicular foundation column beams which are uniformly distributed around the moment measuring column beam, the foundation column beam is also provided with four first surfaces uniformly distributed on the floating platform, the force measuring strain beams are connected with the foundation column beam in a one-to-one correspondence manner, one end of each force measuring strain beam is fixed with the moment measuring column beam, the other end of each force measuring strain beam is fixed with the foundation column beam, the side surface of each force measuring column beam is perpendicular to the first surface of the floating platform, the force measuring strain beam is provided with a second surface facing the floating platform and a third surface facing the fixed platform, and the second surface and the third surface of each force measuring strain beam are parallel to the first surface, and the side surface of the force measuring column beam and the second surface and the third surface of each force measuring strain beam are used for attaching strain gauges.
Further, strain gauges are attached to the side surfaces of the force measuring rectangular column beams to measure uniaxial force moment, and strain gauges are attached to the second surface and the third surface of the force measuring rectangular column beams to measure Shan Zhouxiang force.
Further, the force-measuring strain beam is not attached when the force-measuring moment column Liang Duli measures a monoaxial moment, and the force-measuring moment column beam is not attached but only serves as a supporting foundation for the force-measuring strain beam when the force-measuring strain Liang Duli measures Shan Zhouxiang force.
Furthermore, the four force-measuring strain beams are symmetrically arranged and uniformly distributed according to the circumference to offset the influence of torque, so that force and torque decomposition is realized, a foundation of the force-measuring column beam is formed together with the foundation column beam to realize that the force-measuring column beam efficiently measures the single axial force moment, and meanwhile, the torsional rigidity of the structure is ensured.
Furthermore, the force measuring moment column Liang Duli is matched with the measuring range, the surface of the force measuring moment column beam is subjected to patch treatment, so that moment signals can be independently output, the four force measuring strain beams are independently matched with the measuring range, the surface of the force measuring strain beam is subjected to patch treatment, so that the force signals can be independently output, shan Zhouxiang force and the moment measuring range are set to be mutually non-interfering, and measurement is not mutually interfered.
The measuring method adopting the uniaxial force/moment sensor provided by the invention can adopt the following technical scheme:
according to the measuring method of the single-axial force/moment sensor, the directions of the axial force and the axial moment to be measured are determined, and the axial direction of the moment measuring column beam is overlapped with the directions;
When the axial moment in the direction is independently measured, selecting two opposite side surfaces to be attached with strain gauges in the side surfaces of the column beam of the moment measuring column, outputting the torsional strain of the surface of the column beam through voltage signals by utilizing a Wheatstone bridge, and independently measuring the uniaxial moment;
When the axial force in the direction is independently measured, two force-measuring strain beams which extend oppositely are selected from the four force-measuring strain beams, strain sheets are respectively attached to the second surface and the third surface of the two force-measuring strain beams, and the bending strain of the surfaces of the two force-measuring strain beams is output through voltage signals by utilizing a Wheatstone bridge, so that the force Shan Zhouxiang can be independently measured.
Compared with the prior art, the invention can decompose the uniaxial force and the moment and realize independent measurement of the uniaxial force and the moment. The four force-measuring strain beams are symmetrically arranged and uniformly distributed according to the circumference, so that the influence of torque can be effectively counteracted, the force and torque decomposition is realized, the foundation of the vertically arranged force-measuring column beam is formed together with the foundation column beam, the vertically arranged force-measuring column beam is used for efficiently measuring the single axial force moment, and the torsional rigidity of the structure is ensured. The moment measuring column beam not only independently measures the uniaxial moment, but also can serve as a foundation of four moment measuring strain beams, so that the moment measuring strain beams can efficiently measure Shan Zhouxiang forces, and the axial rigidity of the structure is ensured. Shan Zhouxiang force and moment measuring range are set without interference and measurement without interference, high-precision measurement can be realized, and the device has a simple and compact structure, and is efficient and reliable.
Drawings
FIG. 1 is a schematic diagram of a force/moment sensor according to the present invention Shan Zhouxiang;
FIG. 2 is a front view of the force/torque sensor of the present invention Shan Zhouxiang;
FIG. 3 is a front cross-sectional view of the force/torque sensor of the present invention Shan Zhouxiang;
FIG. 4 is a top cross-sectional view of the force/torque sensor of the present invention Shan Zhouxiang;
FIG. 5 is a patch diagram of the present invention for measuring X-axis uniaxial moment;
FIG. 6 is a schematic diagram of a Wheatstone bridge for independently measuring X-axis uniaxial moment in accordance with the present invention;
FIG. 7 is a patch diagram of the present invention for measuring X-axis uniaxial force;
FIG. 8 is a schematic diagram of a Wheatstone bridge for independently measuring X-axis uniaxial force in accordance with the present invention;
FIG. 9 is a state diagram of a measuring Y-axis Shan Zhouxiang force/moment sensor;
FIG. 10 is a patch diagram of the present invention for measuring Y-axis uniaxial moment;
FIG. 11 is a schematic diagram of a Wheatstone bridge for independently measuring Y-axis uniaxial torque in accordance with the present invention;
FIG. 12 is a patch diagram of the invention for measuring Y-axis uniaxial force;
FIG. 13 is a schematic diagram of a Wheatstone bridge for independently measuring Y-axis uniaxial force in accordance with the present invention;
FIG. 14 is a state diagram of a force/moment sensor measuring Z-axis Shan Zhouxiang;
FIG. 15 is a patch diagram of the present invention for measuring Z-axis uniaxial moment;
FIG. 16 is a schematic diagram of a Wheatstone bridge for independently measuring Z-axis uniaxial torque in accordance with the present invention;
FIG. 17 is a patch diagram of the present invention for measuring Z-axis uniaxial force;
FIG. 18 is a schematic diagram of a Wheatstone bridge for independently measuring Z-axis uniaxial force in accordance with the present invention.
Detailed Description
Referring to fig. 1 to 4, the present disclosure will hereinafter be described in conjunction with the preferred embodiments of the present invention, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only and are not intended to limit the present invention thereto.
As shown in fig. 1 to 4, a uniaxial force/moment sensor of the present invention includes a fixed platform 1, a moment measuring column beam 2 extending from one surface of the fixed platform 1, a floating platform 5 fixed to the front end of the moment measuring column beam 2, a force measuring strain beam 3 extending from the circumference of the moment measuring column beam 2 outwards, and a foundation column beam 4 extending from the first surface of the floating platform 5 facing the fixed platform 1.
The force measuring strain beams 3 are four and are mutually perpendicular and uniformly distributed around the force measuring moment column beams 2, namely, the force measuring strain beams are uniformly distributed at 90 degrees according to the circumference, so that the influence of torque can be effectively counteracted, and the force and moment decomposition is realized. The foundation column beams 4 are also provided with four first surfaces which are uniformly distributed on the floating platform 5, the force measuring strain beams 3 are connected with the foundation column beams 4 in a one-to-one correspondence manner, one end of each force measuring strain beam 3 is fixed with the moment measuring column beam 2, and the other end is fixed with the foundation column beam 4. The side of the load moment beam 2 is perpendicular to the first surface of the floating platform 5, and the load moment beam 3 has a second surface facing the floating platform 5 and a third surface facing the fixed platform 1. The second surface and the third surface are parallel to the first surface. The side surface of the force measuring rectangular column beam, the second surface and the third surface of the force measuring strain beam are all used for being attached with strain gauges.
The specific measurement method of the uniaxial force/moment sensor comprises the following steps:
when the X axial force X and the X axial moment Mx need to be measured, as shown in fig. 5 to 8, the axial direction of the moment measuring column beam is overlapped with the X axial direction first.
When the axial moment in the X-axis direction is independently measured, as shown in fig. 5, the strain gauge is attached to the opposite side surface of the load moment column beam, and the two strain gauges 21 and 22 are attached to one side surface, and the other two strain gauges 23 and 24 are attached to the opposite side surface and the opposite side surface. The uniaxial moment Mx is independently measured by outputting the column surface torsional strain through a voltage signal using the wheatstone bridge shown in fig. 6.
When the axial force in the X-axis direction is independently measured, as shown in fig. 7, two force-measuring strain beams extending in opposite directions are selected from among the four force-measuring strain beams, and strain gages are attached to the second surface and the third surface of each of the two force-measuring strain beams (two strain gages 11 and 17 are attached to the second surface of one force-measuring strain beam, two other strain gages 13 and 15 are attached to the third surface of the other force-measuring strain beam, two strain gages 12 and 18 are attached to the second surface of the other force-measuring strain beam, and two other strain gages 14 and 16 are attached to the third surface of the other force-measuring strain beam). The force X of Shan Zhouxiang can be measured independently by outputting the bending strain of the two force-measuring strain beams surfaces through a voltage signal using a wheatstone bridge as shown in fig. 8.
When the Y axial force Y and the Y axial moment My need to be measured, as shown in fig. 9, the axial direction of the moment measuring column beam is first overlapped with the Y axial direction.
When the axial moment in the Y-axis direction is independently measured, as shown in fig. 10, the strain gauge is attached to the opposite side surface of the column beam, and the strain gauge 21, 22 is attached to one side surface, and the strain gauge 23, 24 is attached to the opposite side surface of the column beam. The uniaxial torque My is independently measured by outputting the column surface torsional strain through a voltage signal using the wheatstone bridge shown in fig. 11.
When the axial force in the Y-axis direction is independently measured, as shown in fig. 12, two force-measuring strain beams extending in opposite directions are selected from among the four force-measuring strain beams, and strain gages are attached to the second surface and the third surface of each of the two force-measuring strain beams (two strain gages 11 and 17 are attached to the second surface of one force-measuring strain beam, two other strain gages 13 and 15 are attached to the third surface of the other force-measuring strain beam, two strain gages 12 and 18 are attached to the second surface of the other force-measuring strain beam, and two other strain gages 14 and 16 are attached to the third surface of the other force-measuring strain beam). The force Y of Shan Zhouxiang can be measured independently by outputting the bending strain of the two force-measuring strain beams surfaces through a voltage signal using a wheatstone bridge as shown in fig. 13.
When the Z-axis force Z and the Z-axis moment Mz need to be measured, as shown in fig. 14, the axial direction of the moment measuring column beam is first overlapped with the Z-axis direction.
When the axial moment in the Z-axis direction is independently measured, as shown in fig. 15, the strain gauge is attached to the opposite side surface of the column beam, and the strain gauge 21, 22 is attached to one side surface, and the strain gauge 23, 24 is attached to the opposite side surface, and the strain gauge 21, 22 is attached to the opposite side surface. The uniaxial moment Mz is independently measured by outputting the torsional strain of the beam surface through a voltage signal using the wheatstone bridge shown in fig. 16.
When the axial force in the Y-axis direction is independently measured, as shown in fig. 17, two force-measuring strain beams extending in opposite directions are selected from among the four force-measuring strain beams, and strain gages are attached to the second surface and the third surface of each of the two force-measuring strain beams (two strain gages 11 and 17 are attached to the second surface of one force-measuring strain beam, two other strain gages 13 and 15 are attached to the third surface of the other force-measuring strain beam, two strain gages 12 and 18 are attached to the second surface of the other force-measuring strain beam, and two other strain gages 14 and 16 are attached to the third surface of the other force-measuring strain beam). The force Z of Shan Zhouxiang can be measured independently by outputting the bending strain of the two force-measuring strain beams through a voltage signal using a Wheatstone bridge as shown in FIG. 18.
It should be noted that the above-mentioned embodiments are merely preferred embodiments of the present invention, and the present invention is not limited thereto, but may be modified or substituted for some of the technical features thereof by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
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| CN202211282195.4A CN115524044B (en) | 2022-10-19 | 2022-10-19 | A uniaxial force/torque sensor and measurement method |
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| CN117147039A (en) * | 2023-08-30 | 2023-12-01 | 南京苇渡智能科技有限公司 | A decoupled axial force and moment measuring device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2314362Y (en) * | 1997-12-23 | 1999-04-14 | 中国科学院合肥智能机械研究所 | Multi-component force and moment sensor |
| CN103940544A (en) * | 2014-03-11 | 2014-07-23 | 东南大学 | Double crossed beam combination type finger joint six-dimensional force sensor |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100295330B1 (en) * | 1998-06-10 | 2001-11-22 | 정명세 | 6 component force / moment sensor |
| CN101216359A (en) * | 2008-01-09 | 2008-07-09 | 南京航空航天大学 | Frame-type decoupling six-component sensor and its usage method |
| WO2016126821A1 (en) * | 2015-02-03 | 2016-08-11 | Stryker Corporation | Force/torque transducer and method of operating the same |
| CN108896269B (en) * | 2018-03-29 | 2020-02-11 | 中国航天空气动力技术研究院 | High-precision wind tunnel strain balance for measuring axial force |
| JP6618128B2 (en) * | 2018-07-11 | 2019-12-11 | 株式会社レプトリノ | Force sensor and bridge circuit configuration method of force sensor |
| CN108981987B (en) * | 2018-08-07 | 2020-08-11 | 东南大学 | A six-dimensional force sensor of small-dimensional coupling elastic beam |
| CN210243052U (en) * | 2019-08-30 | 2020-04-03 | 安徽中科米点传感器有限公司 | Integrated square structure two-component force sensor |
| CN114894364B (en) * | 2022-04-26 | 2023-01-31 | 东南大学 | A structure of micro-combined multi-dimensional force sensor |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2314362Y (en) * | 1997-12-23 | 1999-04-14 | 中国科学院合肥智能机械研究所 | Multi-component force and moment sensor |
| CN103940544A (en) * | 2014-03-11 | 2014-07-23 | 东南大学 | Double crossed beam combination type finger joint six-dimensional force sensor |
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