A porous parallel beam six-dimensional force sensor

Abstract

The application discloses a kind of porous parallel beam six-dimensional force sensors.The wiring terminal and strain gauge of six-dimensional force sensor are installed on the surface of loading beam platform, and the center of loading beam platform is installed with external loading device;Each wiring terminal is electrically connected with several strain gauges respectively, and each wiring terminal is electrically connected with external amplification circuit and terminal equipment in turn.The six-dimensional force sensor of the application has simple structure, convenient patch, high sensitivity, can accurately measure the size of six dimensions force, can also effectively reduce the coupling generated when multidimensional force measurement, and can be applied to multidimensional force measurement field.

Description

Technical Field

[0001] This invention relates to a force sensor, specifically a porous parallel beam six-dimensional force sensor. Background Technology

[0002] Existing six-dimensional force sensors are expensive, have low accuracy, some have complex structures and are prone to failure, and some have large coupling between forces, which brings a lot of decoupling work to the measurement of six-dimensional forces. It is necessary to study six-dimensional force sensors with simple structure, low coupling and high accuracy. Summary of the Invention

[0003] To address the problems existing in the background technology, the present invention provides a sensor for measuring six-dimensional forces in a porous parallel beam. It can effectively measure six-dimensional forces, and the structural design and Wheatstone bridging method effectively reduce the coupling between multi-dimensional forces.

[0004] The technical solution adopted in this invention is:

[0005] The present invention relates to a porous parallel beam six-dimensional force sensor comprising a loading beam platform, several terminals and several strain gauges. Each terminal and each strain gauge is mounted on the surface of the loading beam platform, and an external loading device is mounted at the center of the loading beam platform. Each terminal is electrically connected to its respective strain gauges, and each terminal is sequentially electrically connected to an external amplification circuit and a terminal device.

[0006] The loading beam platform has an integral mounting block at each of its four corners. Each mounting block has a threaded hole. The loading beam platform is fixed in place by the four mounting blocks. The six-dimensional force sensor generates strain when subjected to force, and the six-dimensional force is measured by the strain.

[0007] The loading beam platform is integrally formed from rectangular beams and loading bosses. Rectangular beams I and II are arranged in parallel with intervals. Rectangular beams III and IV are located between rectangular beams I and II and are also arranged in parallel with intervals. Rectangular beams III and IV are located on both sides of the line connecting the center points of rectangular beams I and II and are close to the line connecting the center points. The loading boss is located at the center position between rectangular beams III and IV. An external loading device is installed at one end of the loading boss through a central threaded hole. Various terminals and strain gauges are installed on the surfaces of rectangular beams I, II, III, IV and the loading boss.

[0008] The two opposite sides of rectangular beams I and II are parallel to each other, and the two opposite sides of rectangular beams III and IV are also parallel to each other. All faces of the rectangular beams on the same side are on the same plane. The length direction of the loading boss is perpendicular to the length direction of the rectangular beams. The loading boss is connected to the two opposite sides of rectangular beams III and IV to form a whole. The end face of one end of the loading boss is on the same plane as one of the sides of rectangular beams III and IV. The end face of the other end of the loading boss is located outside between rectangular beams III and IV. An external loading device is installed at the other end of the loading boss through a central threaded hole.

[0009] The rectangular beams I, II, III, and IV all have symmetrical rounded rectangular holes at both ends, perpendicular to the sides. Similarly, the two end faces at the center of each beam have symmetrical rounded rectangular holes perpendicular to the sides. The axes of the two rounded rectangular holes at the center of each beam are perpendicular to the axes of the two rounded rectangular holes at both ends. The two rounded rectangular holes at the center of beams I and II are located on either side of beams III and IV, and the two rounded rectangular holes at the center of beams III and IV are located on either side of the loading boss. Under the stress of the six-dimensional force sensor, the rounded rectangular holes generate normal strain, and the six-dimensional force is measured through various strain gauges.

[0010] In each strain gauge, eight strain gauges are connected in series to form a Wheatstone bridge, forming a total of six Wheatstone bridges for measuring six-dimensional forces. Each Wheatstone bridge is electrically connected to its respective terminal block.

[0011] When the six-dimensional force sensor is subjected to a six-dimensional force by an external loading device, each Wheatstone bridge transmits the measured voltage value sequentially through the terminal and amplification circuit to the terminal device. The terminal device obtains the magnitude of the six-dimensional force based on the voltage value, thus realizing the measurement of the six-dimensional force.

[0012] The beneficial effects of this invention are:

[0013] This invention has a simple structure, is easy to attach, and has high sensitivity. It can accurately measure the magnitude of forces in six dimensions and effectively reduce the coupling generated during multidimensional force measurement. It can be applied to the field of multidimensional force measurement. Attached Figure Description

[0014] Figure 1 This is a front view of the porous parallel beam six-dimensional force sensor structure of the present invention;

[0015] Figure 2 This is a schematic diagram of the back of the porous parallel beam six-dimensional force sensor structure of the present invention;

[0016] Figure 3The strain gauges R11 and R12 are connected in series, R21 and R22 are connected in series, R31 and R32 are connected in series, and R41 and R42 are connected in series, forming a Wheatstone full-bridge circuit composed of four sets of series connections.

[0017] Figure 4 The strain gauges R51 and R52 are connected in series, R61 and R62 are connected in series, R71 and R72 are connected in series, and R81 and R82 are connected in series, forming a Wheatstone full-bridge circuit consisting of four sets of series connections.

[0018] Figure 5 The strain gauges R91 and R92 are connected in series, R101 and R102 are connected in series, R111 and R112 are connected in series, and R121 and R122 are connected in series, forming a Wheatstone full-bridge circuit consisting of four sets of series connections.

[0019] Figure 6 The strain gauges R131 and R132 are connected in series, R141 and R142 are connected in series, R151 and R152 are connected in series, and R161 and R162 are connected in series, forming a Wheatstone full-bridge circuit consisting of four sets of series connections.

[0020] Figure 7 The strain gauges R171 and R172 are connected in series, R181 and R182 are connected in series, R191 and R192 are connected in series, and R201 and R202 are connected in series, forming a Wheatstone full-bridge circuit consisting of four sets of series connections.

[0021] Figure 8 The strain gauges R211 and R212 are connected in series, R221 and R222 are connected in series, R231 and R232 are connected in series, and R241 and R242 are connected in series, forming a Wheatstone full-bridge circuit consisting of four sets of series connections.

[0022] Figure 9 This is a structural block diagram of the data acquisition device for the porous parallel beam six-dimensional force sensor of the present invention;

[0023] In the diagram: 1. Rectangular beam I, 2. Rectangular beam II, 3. Rectangular beam III, 4. Rectangular beam IV, 5. Loading boss, 6. Rounded rectangular hole, 7. Terminal I, 8. Terminal II, 9. Terminal III, 10. Terminal IV, 11. Terminal V, 12. Terminal VI, 13. Threaded hole, 14. Center threaded hole. Detailed Implementation

[0024] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] The porous parallel beam six-dimensional force sensor of the present invention includes a loading beam platform, several terminals 7, 8, 9, 10, 11, 12 and several strain gauges. Each terminal 7, 8, 9, 10, 11, 12 and each strain gauge are mounted on the surface of the loading beam platform. An external loading device is mounted at the center of the loading beam platform. Each terminal 7, 8, 9, 10, 11, 12 is electrically connected to its respective number of strain gauges. Each terminal 7, 8, 9, 10, 11, 12 is sequentially electrically connected to an external amplification circuit and a terminal device.

[0026] The loading beam platform is integrally equipped with mounting blocks at its four corners, and each mounting block has a threaded hole 13. The loading beam platform is fixed by the four mounting blocks through threaded installation. The six-dimensional force sensor generates strain when subjected to force, and the six-dimensional force is measured by the strain.

[0027] The loading beam platform is integrally formed from rectangular beams 1, 2, 3, and 4 and loading boss 5. Rectangular beams I1 and II2 are arranged in parallel with intervals. Rectangular beams III3 and IV4 are located between rectangular beams I1 and II2 and are arranged in parallel with intervals. Rectangular beams III3 and IV4 are located on both sides of the line connecting the center points of rectangular beams I1 and II2 and are close to the line connecting the center points. Loading boss 5 is located at the center position between rectangular beams III3 and IV4. An external loading device is installed at one end of loading boss 5 through the central threaded hole 14. Each terminal 7, 8, 9, 10, 11, and 12 and each strain gauge are installed on the surface of rectangular beams I1, II2, III3, IV4 and loading boss 5.

[0028] The two opposite sides of rectangular beams I1 and II2 are parallel to each other, and the two opposite sides of rectangular beams III3 and IV4 are parallel to each other. The faces of rectangular beams 1, 2, 3, and 4 on the same side are on the same plane. The length direction of the loading boss 5 is perpendicular to the length direction of rectangular beams 1, 2, 3, and 4. The loading boss 5 is connected to the two opposite sides of rectangular beams III3 and IV4 to form a whole. The end face of one end of the loading boss 5 is on the same plane as one of the sides of rectangular beams III3 and IV4. The end face of the other end of the loading boss 5 is located outside between rectangular beams III3 and IV4. An external loading device is installed at the other end of the loading boss 5 through the central threaded hole 14.

[0029] Symmetrical rounded rectangular holes 6 are formed on both ends of rectangular beams I1, II2, III3, and IV4, perpendicular to the sides. Symmetrical rounded rectangular holes 6 are also formed on the two end faces of the center of each of the rectangular beams I1, II2, III3, and IV4, perpendicular to the sides. The axes of the two rounded rectangular holes 6 at the center of each of the rectangular beams I1, II2, III3, and IV are perpendicular to the axes of the two rounded rectangular holes 6 at the ends. The two rounded rectangular holes 6 at the center of rectangular beams I1 and II2 are located on both sides of rectangular beams III3 and IV4, and the two rounded rectangular holes 6 at the center of rectangular beams III3 and IV4 are located on both sides of the loading boss 5. Under the stress of the six-dimensional force sensor, the rounded rectangular holes 6 are used to generate normal strain, and the six-dimensional force is measured through various strain gauges.

[0030] In each strain gauge, eight strain gauges are connected in series to form a Wheatstone bridge, forming a total of six Wheatstone bridges for measuring six-dimensional force. Each Wheatstone bridge is electrically connected to its respective terminals 7, 8, 9, 10, 11, and 12.

[0031] When the six-dimensional force sensor is subjected to a six-dimensional force by an external loading device, each Wheatstone bridge will transmit the measured voltage value sequentially through terminals 7, 8, 9, 10, 11, and 12 and the amplifier circuit to the terminal device. The terminal device obtains the magnitude of the six-dimensional force based on each voltage value, thus realizing the measurement of the six-dimensional force.

[0032] like Figure 1 and Figure 2As shown, the multi-hole parallel beam six-dimensional force sensor of the present invention includes a loading boss 5. Rectangular beams 3 and 4 are provided on the left and right sides of the loading boss 5. The upper ends of the left and right rectangular beams 3 and 4 are connected to the upper rectangular beam 1, and the lower ends of the left and right rectangular beams 3 and 4 are connected to the lower rectangular beam 2. Taking the length direction of the upper and lower rectangular beams 1 and 2 as the X-axis direction, the length direction of the left and right rectangular beams 3 and 4 as the Y-axis direction, and the length direction of the loading boss as the Z-axis direction, the upper and lower ends of the left and right rectangular beams 3 and 4 are provided with rounded rectangular holes 6 along the Z-axis direction. The left and right rectangular beams 3 and 4 are provided with rounded rectangular holes 6 along the X-axis direction. The upper and lower rectangular beams 1 and 2 are provided with rounded rectangular holes 6 along the Z-axis direction on the left and right sides. The upper and lower rectangular beams 1 and 2 are provided with rounded rectangular holes 6 along the Y-axis direction. Strain gauges are provided on the sides of the two rounded rectangular holes 6 along the Z-axis direction near the upper and lower rectangular beams 1 and 2 of the left rectangular beam 3. Strain gauges are provided on the sides of the two rounded rectangular holes 6 along the Z-axis direction near the upper and lower rectangular beams 1 and 2 of the right rectangular beam 4. Strain gauges are provided on the upper surfaces of the rounded rectangular holes 6 along the X-axis direction above the bosses of the left and right rectangular beams 3 and 4. Strain gauges are provided on the upper surfaces of the rounded rectangular holes 6 along the X-axis direction below the bosses of the left and right rectangular beams 3 and 4. Strain gauges are provided on the upper surfaces of the two rounded rectangular holes 6 along the Z-axis of the upper rectangular beam 1, and on the lower surfaces of the two rounded rectangular holes 6 along the Z-axis of the lower rectangular beam 2. Strain gauges are provided on the left and right sides of the lower surface of the rounded rectangular hole 6 along the Y-axis at the right end of the upper rectangular beam 1, and on the right side of the upper surface of the rounded rectangular hole 6 along the Y-axis at the left end of the upper rectangular beam 1. Strain gauges are also provided on the right side of the lower surface of the rounded rectangular hole 6 along the Y-axis at the left end of the lower rectangular beam 2, and on the right side of the upper surface of the rounded rectangular hole 6 along the Y-axis at the right end of the lower rectangular beam 2.

[0033] like Figure 3 As shown, strain gauges R11 and R12 are connected in series, R21 and R22 are connected in series, R31 and R32 are connected in series, and R41 and R42 are connected in series. These four sets of series connections form a Wheatstone bridge. The measured voltage value is connected to terminal I7. One end of the voltage measurement terminal Ui is connected between R12 and R21, and the other end is connected between R32 and R42. One end of the DC power supply U is connected between R11 and R31, and the other end is connected between R22 and R41. This Wheatstone bridge is used to measure... Figure 1 Or the magnitude of the Z-direction force Mz shown in Figure 2.

[0034] like Figure 4As shown, strain gauges R51 and R52 are connected in series, R61 and R62 are connected in series, R71 and R72 are connected in series, and R81 and R82 are connected in series. These four sets of series connections form a Wheatstone bridge. The measured voltage value is connected to terminal II8. One end of the voltage measurement terminal Ui is connected between R52 and R61, and the other end is connected between R72 and R82. One end of the DC power supply U is connected between R51 and R71, and the other end is connected between R62 and R81. This Wheatstone bridge is used to measure... Figure 1 Or the magnitude of the force Fx in the X direction as shown in Figure 2.

[0035] like Figure 5 As shown, strain gauges R91 and R92 are connected in series, R101 and R102 are connected in series, R111 and R112 are connected in series, and R121 and R122 are connected in series. These four sets of series connections form a Wheatstone bridge. The measured voltage value is connected to terminal Ⅲ9. One end of the voltage measurement terminal Ui is connected between R92 and R101, and the other end is connected between R73 and R82. One end of the DC power supply U is connected between R91 and R111, and the other end is connected between R102 and R121. This Wheatstone bridge is used to measure... Figure 1 Or the magnitude of the force Mx in the X direction as shown in Figure 2.

[0036] like Figure 6 As shown, strain gauges R131 and R132 are connected in series, R141 and R142 are connected in series, R151 and R152 are connected in series, and R161 and R162 are connected in series. These four sets of series connections form a Wheatstone bridge. The measured voltage value is connected to terminal IV10. One end of the voltage measurement terminal Ui is connected between R132 and R141, and the other end is connected between R152 and R162. One end of the DC power supply U is connected between R131 and R151, and the other end is connected between R142 and R161. This Wheatstone bridge is used to measure... Figure 1 Or the magnitude of the force Fy in the Y direction as shown in Figure 2.

[0037] like Figure 7 As shown, strain gauges R171 and R172 are connected in series, R181 and R182 are connected in series, R191 and R192 are connected in series, and R201 and R202 are connected in series. These four sets of series connections form a Wheatstone bridge. The measured voltage value is connected to terminal V10. One end of the voltage measurement terminal Ui is connected between R172 and R181, and the other end is connected between R192 and R202. One end of the DC power supply U is connected between R171 and R191, and the other end is connected between R182 and R201. This Wheatstone bridge is used to measure... Figure 1 Or the magnitude of the force My in the Y direction as shown in Figure 2.

[0038] like Figure 8As shown, strain gauges R211 and R212 are connected in series, R221 and R222 are connected in series, R231 and R232 are connected in series, and R241 and R242 are connected in series. These four sets of series connection form a Wheatstone bridge. The measured voltage value is connected to terminal VI11. One end of the voltage measurement terminal Ui is connected between R212 and R221, and the other end is connected between R232 and R242. One end of the DC power supply U is connected between R211 and R231, and the other end is connected between R222 and R241. This Wheatstone bridge is used to measure... Figure 1 Or the magnitude of the force Fz in the Z direction as shown in Figure 2.

[0039] When the loading boss is subjected to a bending moment Mz, the left and right rectangular beams 3 and 4 undergo torsional deformation, resulting in significant strain at the R11 and R12, R21 and R22, R31 and R32, and R41 and R42 plates. The magnitude of the bending moment Mz can be calculated. When the loading boss is subjected to a force Fx, the left and right rectangular beams 3 and 4 undergo bending deformation, resulting in significant strain at the R51 and R52, R61 and R62, R71 and R72, and R81 and R82 plates. The magnitude of the force Fx can be calculated. When the loading boss is subjected to a bending moment Mx, the upper and lower rectangular beams 1 and 2 undergo bending deformation, resulting in significant strain at the R91 and R92, R101 and R102, R111 and R112, and R121 and R122 plates. The magnitude of the bending moment Mx can be calculated. When the loading boss is subjected to... When the loading boss is subjected to a bending moment My, the upper and lower rectangular beams 1 and 2 undergo bending deformation, with significant strain at the R131 and R132, R141 and R142, R151 and R152, and R161 and R162 plates. The magnitude of the force Fy can be calculated. When the loading boss is subjected to a bending moment My, the left and right rectangular beams 3 and 4 undergo bending deformation, with significant strain at the R171 and R172, R181 and R182, R191 and R192, and R201 and R202 plates. The magnitude of the bending moment My can be calculated. When the loading boss is subjected to a force Fz, the upper and lower rectangular beams 1 and 2 undergo bending deformation, with significant strain at the R211 and R212, R221 and R222, R231 and R232, and R241 and R242 plates. The magnitude of the force Fz can be calculated.

[0040] Through such Figures 3-8 The bridge circuit shown can convert the strain change measured by the sensor into a resistance change, and ultimately into a voltage change, which is then output. For example... Figure 9 As shown, the six voltages Ui obtained from terminals 7, 8, 9, 10, 11, and 12 are finally amplified and collected, and then the collected data is sent to the PC terminal device.

[0041] This invention has a simple structure and high sensitivity, and can detect six-dimensional forces: Fx, Fy, Fz, Mx, My, and Mz. Through structural design and Wheatstone bridge wiring, the coupling between forces is effectively reduced.

Claims

1. A porous parallel beam six-dimensional force sensor, characterized in that: It includes a loading beam platform, several terminals (7, 8, 9, 10, 11, 12) and several strain gauges. Each terminal (7, 8, 9, 10, 11, 12) and each strain gauge is mounted on the surface of the loading beam platform. An external loading device is mounted at the center of the loading beam platform. Each terminal (7, 8, 9, 10, 11, 12) is electrically connected to its respective strain gauges. Each terminal (7, 8, 9, 10, 11, 12) is sequentially electrically connected to an external amplifier circuit and terminal equipment. The loading beam platform is integrally formed from rectangular beams (1, 2, 3, 4) and loading boss (5). Rectangular beams I (1) and II (2) are arranged in parallel with intervals. Rectangular beams III (3) and IV (4) are located between rectangular beams I (1) and II (2) and are arranged in parallel with intervals. Rectangular beams III (3) and IV (4) are located on both sides of the line connecting the center points of rectangular beams I (1) and II (2) and are close to the line connecting the center points. The loading boss (5) is located at the center position between rectangular beams III (3) and IV (4). An external loading device is installed at one end of the loading boss (5) through the central threaded hole (14). Each terminal (7, 8, 9, 10, 11, 12) and each strain gauge are installed on the surface of rectangular beams I (1), II (2), III (3), IV (4) and loading boss (5). With the length direction of rectangular beam I (1) and rectangular beam II (2) as the X-axis, the length direction of rectangular beam III (3) and rectangular beam IV (4) as the Y-axis, and the length direction of the loading boss (5) as the Z-axis, rounded rectangular holes (6) along the Z-axis are opened at the top and bottom ends of rectangular beam III (3) and rectangular beam IV (4), and rounded rectangular holes (6) along the X-axis are opened along the beams of rectangular beam III (3) and rectangular beam IV (4). Rounded rectangular holes (6) along the Z-axis are opened on the left and right sides of rectangular beam I (1) and rectangular beam II (2). The rectangular beams I (1) and II (2) have rounded rectangular holes (6) along the Y-axis. The rectangular beam III (3) has strain gauges on the sides of the two rounded rectangular holes (6) along the Z-axis near the rectangular beams I (1) and II (2). The rectangular beam IV (4) has strain gauges on the sides of the two rounded rectangular holes (6) along the Z-axis near the rectangular beams I (1) and II (2). The bosses of the rectangular beams III (3) and IV (4) are arranged along the X-axis. Strain gauges are provided on the upper surface of the rounded rectangular holes (6) along the X-axis of rectangular beams III (3) and IV (4); strain gauges are provided on the upper surfaces of the two rounded rectangular holes (6) along the Z-axis of rectangular beam I (1); strain gauges are provided on the lower surfaces of the two rounded rectangular holes (6) along the Z-axis of rectangular beam II (2); strain gauges are provided on the left and right sides of the lower surface of the rounded rectangular hole (6) along the Y-axis at the right end of rectangular beam I (1). A strain gauge is provided on the right side of the upper surface of the rounded rectangular hole (6) along the Y-axis at the left end of rectangular beam I (1), and on the right side of the lower surface of the rounded rectangular hole (6) along the Y-axis at the left end of rectangular beam I (1). Strain gauges are provided on the left and right sides of the upper surface of the rounded rectangular hole (6) along the Y-axis at the left end of rectangular beam II (2), and on the right side of the upper surface of the rounded rectangular hole (6) along the Y-axis at the right end of rectangular beam II (2). Strain gauges are provided on the right side of the lower surface of the rounded rectangular hole (6) along the Y-axis at the right end of rectangular beam II (2).

2. The porous parallel beam six-dimensional force sensor according to claim 1, characterized in that: The two sides of the rectangular beam I (1) and the rectangular beam II (2) are parallel to each other, and the two sides of the rectangular beam III (3) and the rectangular beam IV (4) are parallel to each other. The faces of the rectangular beams (1, 2, 3, 4) on the same side are on the same plane. The length direction of the loading boss (5) is perpendicular to the length direction of the rectangular beams (1, 2, 3, 4). The loading boss (5) is connected to the two sides of the rectangular beams III (3) and IV (4) to form a whole. The end face of one end of the loading boss (5) is on the same plane as the side of the rectangular beams III (3) and IV (4). The end face of the other end of the loading boss (5) is located outside between the rectangular beams III (3) and IV (4). An external loading device is installed at the other end of the loading boss (5) through the central threaded hole (14).

3. The porous parallel beam six-dimensional force sensor according to claim 1, characterized in that: The rectangular beams I (1), II (2), III (3) and IV (4) have symmetrical rounded rectangular holes (6) on both sides of their ends in a direction perpendicular to the sides. The center of the rectangular beams I (1), II (2), III (3) and IV (4) has symmetrical rounded rectangular holes (6) on both sides of their ends in a direction perpendicular to the sides. The axes of the two rounded rectangular holes (6) at the center of each rectangular beam (1, 2, 3, 4) are perpendicular to the axes of the two rounded rectangular holes (6) at both ends. The two rounded rectangular holes (6) at the center of the rectangular beams I (1) and II (2) are located on both sides of the rectangular beams III (3) and IV (4). The two rounded rectangular holes (6) at the center of the rectangular beams III (3) and IV (4) are located on both sides of the loading boss (5).

4. The porous parallel beam six-dimensional force sensor according to claim 1, characterized in that: In each strain gauge, eight strain gauges are connected in series to form a Wheatstone bridge, forming a total of six Wheatstone bridges for measuring six-dimensional force. Each Wheatstone bridge is electrically connected to its respective terminals (7, 8, 9, 10, 11, 12).

5. The measurement method of the six-dimensional force sensor for a porous parallel beam according to any one of claims 1-4, characterized in that: When the six-dimensional force sensor is subjected to a six-dimensional force by an external loading device, each Wheatstone bridge transmits the measured voltage value sequentially through the terminals (7, 8, 9, 10, 11, 12) and the amplification circuit to the terminal device. The terminal device obtains the magnitude of the six-dimensional force based on each voltage value, thus realizing the measurement of the six-dimensional force.

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