High-precision spoke-type dual-output lateral-force-resistant sensor

Abstract

The invention provides a high-precision spoke-type dual-output lateral force resistant sensor, which comprises a wheel rim, a first spoke structure, a second spoke structure, a hub and a plurality of strain gauge groups, and is characterized in that the first spoke structure is arranged on the inner circumferential surface of the axial first end of the wheel rim; the second spoke structure is arranged on the inner circumferential face of the second axial end of the wheel rim. The hub is arranged on the axial end face of the first spoke structure. A plurality of strain gauges in the first strain gauge group form a first full-bridge circuit to output analog signals; and the second strain gauge group is located on the peripheral side of the first strain gauge group, and a plurality of strain gauges in the second strain gauge group form a second full-bridge circuit for outputting digital signals. The invention solves the problems that the signal output mode of the force sensor in the prior art is relatively single, the single signal output mode is difficult to meet various application requirements, the lateral force interference resistance is insufficient, and the application of the force sensor in high-precision measurement, automatic control and complex working conditions is limited.

Description

Technical Field

[0001] The present invention relates to the field of sensor technology, and in particular to a high-precision spoke-type dual-output anti-lateral force sensor. Background Art

[0002] In the fields of modern industrial automation, intelligent manufacturing and precision instruments, force sensors are widely used in force detection and control as key measurement tools. Among them, spoke-type force sensors are favored due to their compact structure, high sensitivity and ability to withstand large axial loads. However, existing spoke-type force sensors have some limitations in resisting lateral forces, which affect the measurement accuracy, stability and application range of the sensors.

[0003] For occasions requiring precise measurement, existing force sensors often face performance bottlenecks in terms of resistance to lateral force and signal stability. Most force sensors can only provide analog signal output, which makes them inflexible in some application scenarios (such as integration with modern digital control systems or data acquisition systems). That is, the signal output method of existing force sensors is relatively single, and a single signal output method is difficult to meet the needs of various applications, and is insufficient in its ability to resist lateral force interference, which limits its application in high-precision measurement, automated control and complex working conditions. Summary of the invention

[0004] The main purpose of the present invention is to provide a high-precision spoke-type dual-output lateral force sensor to solve the problem that the signal output mode of the force sensor in the prior art is relatively single, and the single signal output mode is difficult to meet the needs of various applications, and is insufficient in the ability to resist lateral force interference, which limits its application in high-precision measurement, automatic control and complex working conditions.

[0005] In order to achieve the above-mentioned purpose, the present invention provides a high-precision spoke-type dual-output anti-lateral force sensor, comprising a wheel hoop, a first spoke structure, a second spoke structure, a hub and multiple groups of strain gauge groups, wherein the first spoke structure is arranged at the inner circumference of the first axial end of the wheel hoop; the second spoke structure is arranged at the inner circumference of the second axial end of the wheel hoop; the hub is arranged at the axial end surface of the first spoke structure for connection with a loading device; a group of strain gauge groups includes multiple strain gauges, and the multiple strain gauges in the same group of strain gauge groups are evenly distributed around the circumference of the first spoke structure, and the multiple groups of strain gauge groups are arranged at intervals along the radial direction of the first spoke structure; wherein the first group of strain gauge groups in the multiple groups of strain gauge groups is located on the outer circumference of the hub, and the multiple strain gauges in the first group of strain gauge groups form a first full-bridge circuit, and the first full-bridge circuit is used to output analog signals; the second group of strain gauge groups in the multiple groups of strain gauge groups is located on the outer circumference of the first group of strain gauge groups, and the multiple strain gauges in the second group of strain gauge groups form a second full-bridge circuit, and the second full-bridge circuit is used to output digital signals.

[0006] In an exemplary embodiment, the number of strain gauges in the first strain gauge group is equal to the number of strain gauges in the second strain gauge group; the multiple strain gauges in the first strain gauge group and the multiple strain gauges in the second strain gauge group are staggered in the circumferential direction of the first spoke structure.

[0007] In an exemplary embodiment, a line connecting geometric centers of multiple strain gauges in the first group of strain gauges is located on a first circle; a line connecting geometric centers of multiple strain gauges in the second group of strain gauges is located on a second circle; the first circle and the second circle are both concentrically arranged with the first spoke structure, and the first circle and the second circle are symmetrically arranged with respect to the neutral layer of the first spoke structure.

[0008] In an exemplary embodiment, the high-precision spoke-type dual-output anti-lateral force sensor also includes a signal processing module, which is arranged on the outer circumference of the wheel rim; the second full-bridge circuit is connected to the signal processing module so that the second electrical signal output by the second full-bridge circuit is converted into a digital signal output through signal processing by the signal processing module.

[0009] In an exemplary embodiment, a first avoidance through hole is opened on the circumference of the wheel rim, and the first avoidance through hole extends along the radial direction of the wheel rim and passes through the inner circumference and outer circumference of the wheel rim; a second avoidance through hole is opened on the signal processing module, and the second avoidance through hole passes through the two side end faces of the signal processing module and the inner circumference of the wheel rim along the radial direction of the wheel rim; wherein the first avoidance through hole is used for the cable of analog signal to pass through, and the second avoidance through hole is used for the cable of digital signal to pass through.

[0010] In an exemplary embodiment, the first avoidance through hole and the second avoidance through hole extend along the same radial direction of the tire.

[0011] In an exemplary embodiment, a third group of strain gauge groups among the multiple groups of strain gauge groups includes multiple strain gauges, and the multiple strain gauges in the third group of strain gauge groups are arranged closer to the inner circumferential surface of the wheel hoop than the multiple strain gauges in the second group of strain gauge groups, a partial number of the multiple strain gauges in the third group of strain gauge groups are used for temperature compensation for the first full-bridge circuit, and the remaining number of the multiple strain gauges in the third group of strain gauge groups are used for temperature compensation for the second full-bridge circuit.

[0012] In an exemplary embodiment, the number of strain gauges in the third strain gauge group is equal to the number of strain gauges in the first strain gauge group; each strain gauge in the third strain gauge group and the corresponding strain gauges in the first strain gauge group are located in the same radial direction of the first spoke structure.

[0013] In an exemplary embodiment, the first spoke structure and the second spoke structure are staggered in the circumferential direction of the wheel rim to enhance the lateral force resistance capability of the high-precision spoke-type dual-output lateral force resistance sensor.

[0014] In an exemplary embodiment, the first spoke structure is concentrically disposed with the wheel rim; and / or, the second spoke structure is concentrically disposed with the wheel rim; and / or, the wheel rim is concentrically disposed with the wheel hub.

[0015] In an exemplary embodiment, the value range of the misalignment angle A between the first spoke structure and the second spoke structure in the circumferential direction of the wheel rim satisfies: 0<A≤90°.

[0016] In an exemplary embodiment, the first spoke structure has a plurality of first via structures, which are evenly distributed around the circumference of the first spoke structure; the second spoke structure has a plurality of second via structures, which are evenly distributed around the circumference of the second spoke structure; wherein the number of the first via structures is equal to the number of the second via structures.

[0017] In an exemplary embodiment, the aperture of the first via structure is equal to the aperture of the second via structure.

[0018] In an exemplary embodiment, the hub is arranged at the axial end face of the first spoke structure, and the hub includes a first shaft segment, a second shaft segment, and a third shaft segment in sequence in the direction away from the first spoke structure, and the first shaft diameter R1 of the first shaft segment, the second shaft diameter R2 of the second shaft segment, and the third shaft diameter R3 of the third shaft segment satisfy: R1>R2>R3.

[0019] In an exemplary embodiment, the first axial length L1 of the first shaft segment, the second axial length L2 of the second shaft segment, and the third axial length L3 of the third shaft segment satisfy the following relationship: L1≤L2<L3.

[0020] By applying the technical solution of the present invention, a high-precision spoke-type dual-output anti-lateral force sensor is provided, comprising a wheel hoop, a first spoke structure, a second spoke structure, a hub and multiple strain gauge groups, wherein the first spoke structure is arranged at the inner circumference of the first axial end of the wheel hoop; the second spoke structure is arranged at the inner circumference of the second axial end of the wheel hoop; the hub is arranged at the axial end surface of the first spoke structure for connection with a loading device; a group of strain gauge groups includes multiple strain gauges, multiple strain gauges in the same group of strain gauge groups are evenly distributed around the circumference of the first spoke structure, and multiple groups of strain gauge groups are arranged at intervals along the radial direction of the first spoke structure; wherein a first group of strain gauge groups among the multiple groups of strain gauge groups is located on the outer circumference of the hub, multiple strain gauges in the first group of strain gauge groups form a first full-bridge circuit, and the first full-bridge circuit is used to output analog signals; a second group of strain gauge groups among the multiple groups of strain gauge groups is located on the outer circumference of the first group of strain gauge groups, multiple strain gauges in the second group of strain gauge groups form a second full-bridge circuit, and the second full-bridge circuit is used to output digital signals.

[0021] The present application provides a high-precision spoke-type dual-output anti-lateral force sensor, which has diversified signal output modes and sufficient anti-lateral capability.

[0022] Specifically, by setting a first spoke structure at the inner circumference of the first axial end of the wheel hoop and setting a second spoke structure at the inner circumference of the second axial end of the wheel hoop, the high-precision spoke-type dual-output anti-lateral force sensor provided in the present application has two layers of spokes, thereby improving the lateral force resistance of the high-precision spoke-type dual-output anti-lateral force sensor.

[0023] Furthermore, the high-precision spoke-type dual-output lateral force sensor provided by the present application can realize two modes of output, namely, analog signal output and digital signal output, wherein the analog signal can respond to environmental changes in real time and provide continuous change data, which is suitable for scenarios with high requirements for time response; while the digital signal is digitally processed and has strong anti-interference ability, which is convenient for compatibility with modern computing devices and supports remote transmission and data storage. The two output modes have a good match and can provide accurate and reliable measurement data under different working conditions to meet a variety of application requirements. In addition, users can choose the appropriate output mode according to actual needs to optimize system performance and data processing efficiency.

[0024] Through the dual output modes of digital signals and analog signals, the high-precision spoke-type dual-output anti-lateral force sensor provided by this application can adapt to different usage scenarios and data processing requirements. In dynamic or high-noise environments, digital signals provide strong anti-interference capabilities and are suitable for long-term, remote data collection; while analog signals provide more intuitive real-time responses and are suitable for applications that require precise real-time data. By reasonably selecting and adjusting the output mode, users can find the best balance between measurement accuracy, response speed, and anti-interference capabilities according to the needs of actual applications, thereby optimizing the performance of the entire system.

[0025] Furthermore, through reasonable design, the present application enables the high-precision spoke-type dual-output lateral force sensor to have the output capability of both analog signals and digital signals, and users can choose the appropriate output mode according to actual needs. For example, in scenarios where the measurement accuracy requirement is not high but the real-time requirement is extremely strong, analog signal output can be selected; while in scenarios where high-precision data processing, storage or remote monitoring is required, digital signal output is more appropriate. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0027] Figure 1 A schematic structural diagram of a high-precision spoke-type dual-output anti-lateral force sensor according to an optional embodiment of the present invention is shown;

[0028] Figure 2 Shows Figure 1 A schematic diagram of the structure of a high-precision spoke-type dual-output lateral force sensor from a top view;

[0029] Figure 3 Shows Figure 1 A schematic diagram of the structure of a high-precision spoke-type dual-output lateral force sensor from a bottom perspective;

[0030] Figure 4 Shows Figure 1 Schematic diagram of the structure of the high-precision spoke-type dual-output anti-lateral force sensor with a first avoidance via on one side.

[0031] The above drawings include the following reference numerals:

[0032] 10. wheel rim; 11. first avoidance through hole;

[0033] 20. first spoke structure; 21. first via structure; 22. spoke arm;

[0034] 30. A second spoke structure; 31. A second via structure;

[0035] 40. wheel hub; 41. first shaft section; 42. second shaft section; 43. third shaft section;

[0036] 50, strain gauge; 51, first sub-strain gauge; 52, second sub-strain gauge; 53, third sub-strain gauge; 54, fourth sub-strain gauge;

[0037] 60. Signal processing module; 61. Second avoidance through hole. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] In order to solve the problem that the signal output mode of the force sensor in the prior art is relatively single, and the single signal output mode is difficult to meet various application requirements, and is insufficient in the ability to resist lateral force interference, which limits its application in high-precision measurement, automatic control and complex working conditions, the present invention provides a high-precision spoke-type dual-output anti-lateral force sensor.

[0040] like Figures 1 to 4 As shown, the high-precision spoke-type dual-output anti-lateral force sensor includes a wheel hoop 10, a first spoke structure 20, a second spoke structure 30, a hub 40 and a plurality of strain gauge groups, wherein the first spoke structure 20 is arranged at the inner circumference of the axial first end of the wheel hoop 10; the second spoke structure 30 is arranged at the inner circumference of the axial second end of the wheel hoop 10; the hub 40 is arranged at the axial end surface of the first spoke structure 20 for connection with a loading device; a group of strain gauge groups includes a plurality of strain gauges 50, and the plurality of strain gauges 50 in the same group of strain gauge groups The plurality of strain gauge groups are evenly distributed around the circumference of the first spoke structure 20 and are spaced apart radially along the first spoke structure 20; wherein, the first strain gauge group among the plurality of strain gauge groups is located on the outer peripheral side of the hub 40, and the plurality of strain gauges 50 in the first strain gauge group form a first full-bridge circuit, and the first full-bridge circuit is used to output analog signals; the second strain gauge group among the plurality of strain gauge groups is located on the outer peripheral side of the first strain gauge group, and the plurality of strain gauges 50 in the second strain gauge group form a second full-bridge circuit, and the second full-bridge circuit is used to output digital signals.

[0041] The present application provides a high-precision spoke-type dual-output anti-lateral force sensor, which has diversified signal output modes and sufficient anti-lateral capability.

[0042] Specifically, by arranging a first spoke structure 20 at the inner circumference of the axial first end of the wheel rim 10 and simultaneously arranging a second spoke structure 30 at the inner circumference of the axial second end of the wheel rim 10, the high-precision spoke-type dual-output anti-lateral force sensor provided in the present application has two layers of spokes, thereby improving the lateral force resistance capability of the high-precision spoke-type dual-output anti-lateral force sensor.

[0043] Furthermore, the high-precision spoke-type dual-output lateral force sensor provided by the present application can realize two modes of output, namely, analog signal output and digital signal output, wherein the analog signal can respond to environmental changes in real time and provide continuous change data, which is suitable for scenarios with high requirements for time response; while the digital signal is digitally processed and has strong anti-interference ability, which is convenient for compatibility with modern computing devices and supports remote transmission and data storage. The two output modes have a good match and can provide accurate and reliable measurement data under different working conditions to meet a variety of application requirements. In addition, users can choose the appropriate output mode according to actual needs to optimize system performance and data processing efficiency.

[0044] Through the dual output modes of digital signals and analog signals, the high-precision spoke-type dual-output anti-lateral force sensor provided by this application can adapt to different usage scenarios and data processing requirements. In dynamic or high-noise environments, digital signals provide strong anti-interference capabilities and are suitable for long-term, remote data collection; while analog signals provide more intuitive real-time responses and are suitable for applications that require precise real-time data. By reasonably selecting and adjusting the output mode, users can find the best balance between measurement accuracy, response speed, and anti-interference capabilities according to the needs of actual applications, thereby optimizing the performance of the entire system.

[0045] Furthermore, through reasonable design, the present application enables the high-precision spoke-type dual-output lateral force sensor to have the output capability of both analog signals and digital signals, and users can choose the appropriate output mode according to actual needs. For example, in scenarios where the measurement accuracy requirement is not high but the real-time requirement is extremely strong, analog signal output can be selected; while in scenarios where high-precision data processing, storage or remote monitoring is required, digital signal output is more appropriate.

[0046] It should be noted that the above-mentioned diversification of signal outputs not only improves the measurement flexibility of the high-precision spoke-type dual-output lateral force sensor, but also serves as a redundant design to enhance the reliability of the high-precision spoke-type dual-output lateral force sensor. Even if one output fails due to a fault or interference, the other output can still provide force information, ensuring the continuous and effective operation of the high-precision spoke-type dual-output lateral force sensor. At the same time, the comparison response function of the analog signal and the digital signal is as follows (1), which can be used to measure the matching degree and consistency of the two signal output modes, ensuring that the conversion and correspondence between the analog signal and the digital signal of the high-precision spoke-type dual-output lateral force sensor remain stable and reliable when outputting the analog signal and the digital signal, thereby ensuring the performance stability of the high-precision spoke-type dual-output lateral force sensor and facilitating data quality control and fault diagnosis.

[0047] The above dual output signal comparison response function is:

[0048] (1)

[0049] in, is the contrast response value between the digital signal and the analog signal, indicating the matching degree of the two output modes. α is the output response function of the digital signal. is the output balance coefficient of the digital signal, is the output value of the analog signal under specific conditions, is the output balance coefficient of the analog signal.

[0050] It should be noted that in this application, the above output balance coefficient and It is actually a calibration coefficient, which is used to standardize or adjust the signal value to ensure that the adjustment and comparison of the signal are performed on the same basis under different conditions.

[0051] The above contrast response function The value of indicates the degree of consistency between the digital signal and the analog signal. If the value of is close to 100%, it means that the outputs of the two signals are very matched and have high consistency, indicating the stability and reliability of the high-precision spoke-type dual-output lateral force sensor when outputting signals in different forms. It is far from 100%, which indicates that there is a problem with the output of one of the analog signals or the digital signal. It is necessary to further debug the signal processing module 60 or detect the performance stability of the high-precision spoke-type dual-output anti-lateral force sensor to improve the signal consistency and the measurement accuracy of the entire high-precision spoke-type dual-output anti-lateral force sensor. To a certain extent, it reflects whether there is an output error problem in the signal and can detect the stability of the output signal.

[0052] By calculating the comparative response function, the dual output function of the high-precision spoke-type dual-output lateral force sensor can be accurately evaluated to ensure that it can provide stable and consistent signal output under various working conditions to meet a variety of application requirements. During the design and testing phase, the comparative response function can be used as an important indicator to help optimize the settings and signal processing algorithms of the high-precision spoke-type dual-output lateral force sensor to achieve the best measurement results.

[0053] It should be noted that, in the present application, the output response function of the above digital signal is:

[0054] (2)

[0055] Where F is the applied external force, T is the temperature compensation factor, considering the effect of temperature on the signal, and P is the working state of the signal processing module.

[0056] like Figure 1 , Figure 2 and Figure 4 As shown, the number of strain gauges 50 in the first strain gauge group is equal to the number of strain gauges 50 in the second strain gauge group; the multiple strain gauges 50 in the first strain gauge group and the multiple strain gauges 50 in the second strain gauge group are staggered in the circumferential direction of the first spoke structure 20.

[0057] It should be noted that, in the present application, the line connecting the geometric centers of the multiple strain gauges 50 in the first group of strain gauges is located on the first circle; the line connecting the geometric centers of the multiple strain gauges 50 in the second group of strain gauges is located on the second circle; the first circle and the second circle are both concentrically arranged with the first spoke structure 20, and the first circle and the second circle are symmetrically arranged with respect to the neutral layer of the first spoke structure 20.

[0058] It should be noted that in this application, in material mechanics and structural engineering, the neutral layer refers to the layer that is theoretically not subject to tensile or compressive stress when an object is bent and deformed. When an object, such as a spoke, is subjected to a bending force, one side of the object will be stretched (generating tensile stress) and the other side will be compressed (generating compressive stress). Between these two stresses, there is a theoretical level, the neutral layer, where the fiber length of the material does not change, so the points on the neutral layer are neither stretched nor compressed, and the stress value is zero.

[0059] In addition, the position of the neutral layer depends on the geometric shape of the object, the material properties, and the way the external force is applied. In the high-precision spoke-type dual-output lateral force sensor, the first spoke structure 20 is usually designed to have a certain thickness, so that a neutral layer can be found in the thickness direction of the first spoke structure 20. In order to ensure that the high-precision spoke-type dual-output lateral force sensor can accurately measure the magnitude of the force without introducing additional measurement errors when subjected to external force, the symmetrical distribution of the position of the strain gauge 50 about the neutral layer is a very important design consideration.

[0060] like Figure 1 , Figure 2 and Figure 4 As shown, the high-precision spoke-type dual-output lateral force sensor further includes a signal processing module 60, which is disposed on the outer circumference of the wheel rim 10; the second full-bridge circuit is connected to the signal processing module 60, so that the second electrical signal output by the second full-bridge circuit is converted into a digital signal output after signal processing by the signal processing module 60. In this way, the arrangement of the signal processing module 60 ensures the output reliability of the digital signal.

[0061] like Figure 1 , Figure 3 and Figure 4 As shown, a first avoidance through hole 11 is provided on the circumference of the wheel rim 10, and the first avoidance through hole 11 extends along the radial direction of the wheel rim 10 and penetrates the inner and outer circumferences of the wheel rim 10; a second avoidance through hole 61 is provided on the signal processing module 60, and the second avoidance through hole 61 penetrates the two side end faces of the signal processing module 60 and the inner circumference of the wheel rim 10 along the radial direction of the wheel rim 10; wherein, the first avoidance through hole 11 is used for passing through the analog signal cable, and the second avoidance through hole 61 is used for passing through the digital signal cable. In this way, the first avoidance through hole 11 is provided for connecting the analog signal line and fixing the cable, and docking with the measurement circuit of the high-precision spoke-type dual-output anti-lateral force sensor, and at the same time, the second avoidance through hole 61 is provided for leading out the digital signal cable.

[0062] It should be noted that in the present application, according to the finite element simulation analysis, the positions of the first avoidance through hole 11 and the second avoidance through hole 61 will not affect the overall force condition of the high-precision spoke-type dual-output anti-lateral force sensor. In this way, the design of the first avoidance through hole 11 and the second avoidance through hole 61 can also effectively concentrate the stress in the strain area, thereby improving the measurement stability of the sensor.

[0063] It should be noted that, in the present application, the first avoidance through hole 11 and the second avoidance through hole 61 extend along the same radial direction of the wheel hoop 10. In this way, it is helpful to simplify the wiring of cables, reduce the risk of signal interference, and facilitate the installation and maintenance of the high-precision spoke-type dual-output anti-lateral force sensor; the design of the first avoidance through hole 11 and the second avoidance through hole 61 takes into account the needs of cable management and signal transmission of the high-precision spoke-type dual-output anti-lateral force sensor in practical applications. Through reasonable layout, it not only ensures the accurate output of the signal, but also maintains the integrity of the internal structure of the high-precision spoke-type dual-output anti-lateral force sensor and the convenience of external connection. Such a design not only improves the anti-lateral force performance of the high-precision spoke-type dual-output anti-lateral force sensor, but also improves its adaptability and reliability under complex working conditions.

[0064] like Figure 1 , Figure 2 and Figure 4 As shown, the third group of strain gauge groups among the multiple groups of strain gauge groups includes multiple strain gauges 50. The multiple strain gauges 50 in the third group of strain gauge groups are arranged closer to the inner circumferential surface of the wheel hoop 10 than the multiple strain gauges 50 in the second group of strain gauge groups. A part of the multiple strain gauges 50 in the third group of strain gauge groups are used for temperature compensation for the first full-bridge circuit, and the remaining number of strain gauges 50 in the third group of strain gauge groups are used for temperature compensation for the second full-bridge circuit.

[0065] It should be noted that in the present application, the first group of strain gauges is four strain gauges 50, the second group of strain gauges is four strain gauges 50, and the third group of strain gauges is four strain gauges 50. Two strain gauges 50 in the third group of strain gauges are connected to the first full-bridge circuit, thereby achieving the purpose of temperature compensation for the first full-bridge circuit, and the remaining two strain gauges 50 in the third group of strain gauges are connected to the second full-bridge circuit, thereby achieving the purpose of temperature compensation for the second full-bridge circuit. In this way, through precise temperature sensing and compensation algorithms, the measurement error caused by temperature fluctuations is eliminated, thereby ensuring the accuracy and reliability of the signal. This design enables the system to adapt to temperature changes and ensure long-term stable operation.

[0066] It should be noted that, in the present application, the number of strain gauges 50 in the third strain gauge group is equal to the number of strain gauges 50 in the first strain gauge group; each strain gauge 50 in the third strain gauge group and the corresponding strain gauges 50 in the first strain gauge group are located in the same radial direction of the first spoke structure 20.

[0067] It should be noted that, in the present application, the beneficial effects of the three groups of strain gauges symmetrically and evenly distributed as mentioned above are as follows: 1) Stress balance. Specifically, since the strain gauges 50 are symmetrically arranged on both sides of the neutral layer, it can be ensured that under the action of force, the stress changes on the strain gauges on both sides are opposite, thereby improving the measurement accuracy and eliminating nonlinear errors through differential measurement (such as using a Wheatstone bridge circuit); 2) Temperature compensation. Specifically, the resistance value of the strain gauge 50 will be affected by temperature changes. The symmetrical arrangement can use this characteristic to achieve temperature compensation. When the temperature changes, the strain gauges on both sides of the neutral layer will experience similar temperature changes. Through the corresponding signal processing technology, the influence of temperature changes can be eliminated, providing more stable and reliable measurement results; 3) Elimination of lateral force interference. Specifically, in a high-precision spoke-type dual-output anti-lateral force sensor, lateral force may cause unexpected stress distribution and affect the direct measurement of force. By symmetrically arranging the strain gauges 50 near the neutral layer, the additional stress caused by the lateral force can be effectively offset, ensuring that the response of the high-precision spoke-type dual-output anti-lateral force sensor to the axial force is not interfered by the lateral force; 4) Improving the overload resistance. Specifically, the design of symmetrically arranging the strain gauges 50 can also improve the overload resistance of the high-precision spoke-type dual-output anti-lateral force sensor, because the neutral layer can serve as a stress balance point under overload conditions to help disperse the stress and avoid damage to the strain gauge 50 due to local stress concentration.

[0068] It should be noted that in the present application, the strain gauge 50 is a sensor element that converts mechanical strain into an electrical signal, and is usually composed of a resistance strain gauge and an insulating substrate. When the high-precision spoke-type dual-output anti-lateral force sensor is subjected to an external force, the first spoke structure 20, the second spoke structure 30, and the wheel hoop 10 will undergo a slight deformation, resulting in a change in the resistance value of the first full-bridge circuit and / or the second full-bridge circuit. By monitoring the change in the resistance value of the first full-bridge circuit and / or the second full-bridge circuit, the magnitude of the external force can be indirectly measured.

[0069] In addition, the second electrical signal output by the second full-bridge circuit formed by the plurality of strain gauges 50 in the second strain gauge group is very weak and must be amplified and processed by the signal processing module 60 before it can be converted into a usable digital signal. The signal processing module 60 generally includes components such as a preamplifier, a filter circuit, and a differential amplifier, which work together to enhance the signal, remove noise, and ensure the accuracy and reliability of the signal.

[0070] Specifically, the analog signal output by the first full-bridge circuit can be directly interfaced with various measuring instruments or control systems, and is suitable for application scenarios with high real-time requirements.

[0071] In addition, the output of the digital signal: the second electrical signal of the second set of strain gauges is converted into a digital signal through the A / D converter in the signal processing module 60. The digital signal has the advantages of better anti-interference ability and convenient data processing, storage and remote transmission. In modern industrial automation and digital control systems, digital signal output is usually more preferred.

[0072] like Figure 4 As shown, the strain gauge 50 includes a plurality of first sub-strain gauges 51, a plurality of second sub-strain gauges 52, a plurality of third sub-strain gauges 53, and a plurality of fourth sub-strain gauges 54, wherein the plurality of first sub-strain gauges 51 form a first group of strain gauges, the plurality of second sub-strain gauges 52 form a second group of strain gauges, and the plurality of third sub-strain gauges 53 and the plurality of fourth sub-strain gauges 54 form a third group of strain gauges.

[0073] It should be noted that, in a specific embodiment of the present invention, Figure 4As shown, there are four first sub-strain gauges 51, four second sub-strain gauges 52, two third sub-strain gauges 53, and two fourth sub-strain gauges 54. Considering the particularity of the structure of the first spoke structure 20 in the present application, and the hub 40 is arranged at the axial end face of the first spoke structure 20, when the hub 40 is connected to the loading device and subjected to force, the deformation of the hub 40 is relatively weak, but the force will gradually be transmitted to the first spoke structure 20, and the first spoke structure 20 has a plurality of first via structures 21, and the plurality of first via structures 21 surround the first spoke structure. The first spoke structure 20 is evenly distributed in the circumferential direction, and a spoke arm 22 is formed between two adjacent first via structures 21 in the plurality of first via structures 21, thereby making the first spoke structure 20 have a plurality of spoke arms 22, and the first spoke structure 20 also has a first deformation sensitive area and a second deformation sensitive area, wherein the first deformation sensitive area is located on the inner circumference side of the plurality of first via structures 21, and the four first sub-strain gauges 51 in the first group of strain gauges are respectively attached to the first deformation sensitive area, and the four first sub-strain gauges 51 form a cross shape in pairs; the second deformation sensitive area The domain is formed at the above-mentioned multiple spoke arms 22, and the four second sub-strain gauges 52 in the second group of strain gauges are respectively attached to the corresponding four spoke arms 22, and the four second sub-strain gauges 52 form a cross shape in pairs, and are cross-arranged with the four first sub-strain gauges 51 in the first group of strain gauges; the two third sub-strain gauges 53 in the third group of strain gauges are used to connect with the first full-bridge circuit formed by the four first sub-strain gauges 51, so as to provide temperature compensation for the first full-bridge circuit, and the connection line of the two third sub-strain gauges 53 passes through the first spoke structure 20 The same diameter of the first spoke structure 20, and the connection line of the two third sub-strain gauges 53 passes through the two first sub-strain gauges 51; the two fourth sub-strain gauges 54 in the third group of strain gauges are used to connect with the second full-bridge circuit formed by the four second sub-strain gauges 52, so as to provide temperature compensation for the second full-bridge circuit, the connection line of the two fourth sub-strain gauges 54 passes through the same diameter of the first spoke structure 20, and the connection line of the two fourth sub-strain gauges 54 passes through the other two first sub-strain gauges 51, and the two third sub-strain gauges 53 and the two fourth sub-strain gauges 54 form a cross shape.

[0074] like Figure 2As shown, the first spoke structure 20 and the second spoke structure 30 are staggered in the circumferential direction of the wheel rim 10 to improve the lateral force resistance of the high-precision spoke-type dual-output lateral force resistance sensor. This is conducive to dispersing the lateral force applied by the loading device to the high-precision spoke-type dual-output lateral force resistance sensor, avoiding stress concentration, thereby improving the lateral force resistance of the high-precision spoke-type dual-output lateral force resistance sensor, and improving the stiffness and range of the high-precision spoke-type dual-output lateral force resistance sensor; ensuring that when the high-precision spoke-type dual-output lateral force resistance sensor is subjected to lateral force, the overall structure can be kept stable, reducing the influence of uneven force distribution on measurement accuracy.

[0075] It should be noted that, in the present application, the first spoke structure 20 is concentrically arranged with the wheel rim 10 ; and / or, the second spoke structure 30 is concentrically arranged with the wheel rim 10 ; and / or, the wheel rim 10 and the wheel hub 40 are concentrically arranged.

[0076] like Figure 2 As shown, the value range of the misalignment angle A between the first spoke structure 20 and the second spoke structure 30 in the circumferential direction of the wheel rim 10 satisfies: 0<A≤90°.

[0077] Preferably, the misalignment angle A of the first spoke structure 20 and the second spoke structure 30 in the circumferential direction of the wheel rim 10 is 30°. In this way, the high-precision spoke-type dual-output lateral force sensor provided by the present application forms a symmetrical structure with high anti-interference ability, which can effectively offset the uneven stress distribution caused by the lateral force and improve the measurement accuracy of the high-precision spoke-type dual-output lateral force sensor.

[0078] It should be noted that in the present application, by setting the circumferential offset angle A of the first spoke structure 20 and the second spoke structure 30 on the wheel rim 10 to 30°, it helps to disperse the applied lateral force and effectively reduce stress concentration, thereby enhancing the sensor's ability to resist lateral force. In addition, through the double-layer offset structure, not only the stiffness of the high-precision spoke-type dual-output anti-lateral force sensor is improved, but also the measurement range of the high-precision spoke-type dual-output anti-lateral force sensor is expanded, so that it can withstand a larger load, while improving the response accuracy of the high-precision spoke-type dual-output anti-lateral force sensor to external force changes.

[0079] It should be noted that, in this application, the formula for the anti-lateral force stability identification coefficient is:

[0080] (3)

[0081] in, For this purpose, the load design value of the high-precision spoke-type dual-output lateral force sensor is is the stress generated at a distance m from the center of the hub 40, is the magnitude of the lateral displacement generated, is the misalignment angle between the first spoke structure 20 and the second spoke structure 30, that is, the misalignment angle A mentioned above.

[0082] The anti-lateral force stability identification coefficient reflects the anti-lateral force stability of the high-precision spoke-type dual-output anti-lateral force sensor under a given lateral force. A higher coefficient value indicates better anti-interference ability and more accurate lateral force identification ability. It can be seen that through the double-layer staggered layout, the high-precision spoke-type dual-output anti-lateral force sensor not only significantly improves the ability to resist lateral force, but also makes it able to cope with complex working conditions, anti-interference ability, measurement accuracy and other aspects. The design fully considers the load distribution and stress balance, which helps to maintain stability under long-term working and high-load conditions, and is suitable for various high-demand industrial application scenarios.

[0083] Furthermore, at the 10%FS loading point, the system accuracy can reach 0.5%FS. It has a high overload capacity and can withstand a load of up to 150% overload, and ensure that the output of the high-precision spoke-type dual-output anti-lateral force sensor can still remain normal under this condition, ensuring the stable operation and reliability of the measurement.

[0084] It should be noted that, in the present application, the outer periphery of the first spoke structure 20 and the inner periphery of the wheel rim 10 are smoothly transitioned through a semicircular arc, and the connection between the first spoke structure 20 and the wheel hub 40 is also smoothly transitioned through a semicircular arc; of course, the outer periphery of the second spoke structure 30 and the inner periphery of the wheel rim 10 are smoothly transitioned through a semicircular arc. In this way, the transition between the first spoke structure 20 and the second spoke structure 30 at the connection part is smooth, stress concentration is reduced, and it is helpful to distribute the load more evenly and avoid local excessive wear or damage. In addition, through this semicircular arc transition design, the mechanical properties of the overall structure can be effectively improved, and the stability and service life of the system can be enhanced.

[0085] like Figures 1 to 4As shown, the first spoke structure 20 has a plurality of first via structures 21, which are evenly distributed around the circumference of the first spoke structure 20; the second spoke structure 30 has a plurality of second via structures 31, which are evenly distributed around the circumference of the second spoke structure 30; wherein the number of the first via structures 21 is equal to the number of the second via structures 31. Thus, the arrangement of the first via structures 21 and the second via structures 31 is conducive to reducing the weight of the first spoke structure 20 and the second spoke structure 30, ensuring the lightweight design of the high-precision spoke-type dual-output lateral force sensor, which can reduce unnecessary inertial force and improve the response speed and accuracy of the high-precision spoke-type dual-output lateral force sensor; through the specific hole design, the mechanical properties of the spoke can be adjusted to make the stress distribution more uniform and reduce stress concentration, thereby improving the stability and overload resistance of the high-precision spoke-type dual-output lateral force sensor.

[0086] Preferably, the aperture of the first via structure 21 is equal to the aperture of the second via structure 31 .

[0087] like Figures 1 to 4 As shown, the hub 40 is arranged at the axial end face of the first spoke structure 20, and the hub 40 includes a first shaft segment 41, a second shaft segment 42, and a third shaft segment 43 in sequence in the direction away from the first spoke structure 20, and the first shaft diameter R1 of the first shaft segment 41, the second shaft diameter R2 of the second shaft segment 42, and the third shaft diameter R3 of the third shaft segment 43 satisfy: R1>R2>R3.

[0088] Furthermore, the first axial length L1 of the first shaft section 41, the second axial length L2 of the second shaft section 42, and the third axial length L3 of the third shaft section 43 satisfy: L1≤L2<L3. In this way, it is conducive to forming double protection and support. This design can effectively distribute the applied external force and enhance the overall rigidity of the hub 40 to prevent deformation under high load or lateral force, thereby improving the stability and measurement accuracy of the high-precision spoke-type dual-output anti-lateral force sensor.

[0089] It should be noted that, in the present application, the main functions of the wheel hub 40 in the present application include: 1) support and connection, specifically, the wheel hub 40 is the central part of the high-precision spoke-type dual-output anti-lateral force sensor, and it plays a role in supporting the entire high-precision spoke-type dual-output anti-lateral force sensor structure; the wheel hub 40 can withstand the radial force and lateral force from the first spoke structure 20 and the hoop 10, ensuring a firm connection between all components; 2) force distribution, specifically, the wheel hub 40 is designed as a three-layer stacked structure, in which the structural design can effectively distribute the external force applied thereto, ensuring that the force is evenly transmitted to the first spoke structure 20 and the second spoke structure 30, avoiding local overload, and helping to improve the lateral force resistance and measurement capability of the high-precision spoke-type dual-output anti-lateral force sensor. Measurement accuracy; 3) Load centralization. Specifically, the geometric center of the hub 40 is usually aligned with the load center of the high-precision spoke-type dual-output anti-lateral force sensor, which means that the force applied to the high-precision spoke-type dual-output anti-lateral force sensor will be concentrated on the hub 40, and then evenly distributed to the hoop 10 through the first spoke structure 20, thereby achieving accurate measurement of the force. This design helps to eliminate the off-center load effect, that is, the high-precision spoke-type dual-output anti-lateral force sensor can still maintain a good linear response under the action of lateral force; 4) Accuracy improvement. Specifically, the material and processing accuracy of the hub 40 are crucial to the performance of the entire high-precision spoke-type dual-output anti-lateral force sensor. The hub 40 is usually made of high-strength materials, such as aluminum alloy or stainless steel, to ensure sufficient structural strength and stability. High-precision machining of the hub 40 can reduce measurement errors and improve the accuracy of the high-precision spoke-type dual-output anti-lateral force sensor; 5) Rotation axis or fixed point. Specifically, in some applications, the hub 40 can be used as a rotation axis or fixed point to enable the high-precision spoke-type dual-output anti-lateral force sensor to rotate or be fixed in a specific position to adapt to different detection requirements and installation environments; 6) System integration. Specifically, the design of the hub 40 also takes into account the needs of integration with external systems, which may include connection with the shaft of rotating equipment, fixation with other mechanical components, etc. This allows the high-precision spoke-type dual-output anti-lateral force sensor to be easily integrated into various mechanical equipment for high-precision force measurement and analysis.

[0090] It should be noted that in the present application, the wheel rim 10 has 24 annular tangential structures arranged at one axial end of the second spoke structure 30, and the wheel rim 10 has a symmetrical annular tangential structure at one axial end of the first spoke structure 20. These tangential structures help to more firmly fix the second spoke structure 30 and the wheel rim 10, as well as fix the first spoke structure 20 and the wheel rim 10, and optimize the stress transition to the wheel rim 10, thereby reducing the impact on the non-strain area and improving the stability of the overall structure and the measurement accuracy.

[0091] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0092] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0093] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0094] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0095] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0096] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A high-precision spoke-type dual-output lateral force sensor, characterized in that: include: Wheel rim (10); a first spoke structure (20), the first spoke structure (20) being arranged on the inner circumferential surface of the first axial end of the wheel hoop (10); a second spoke structure (30), the second spoke structure (30) being arranged on the inner circumferential surface of the axial second end of the wheel rim (10); a wheel hub (40), the wheel hub (40) being arranged at an axial end surface of the first spoke structure (20) for connection with a loading device; a plurality of strain gauge groups, wherein one group of the strain gauge groups comprises a plurality of strain gauges (50), the plurality of strain gauges (50) in the same group of the strain gauge groups are evenly distributed around the circumference of the first spoke structure (20), and the plurality of strain gauge groups are spaced apart along the radial direction of the first spoke structure (20); Wherein, a first group of the strain gauge groups among the plurality of groups of the strain gauge groups is located on the outer peripheral side of the wheel hub (40), and a plurality of the strain gauges (50) in the first group of the strain gauge groups form a first full-bridge circuit, and the first full-bridge circuit is used to output an analog signal; A second group of strain gauges in the plurality of groups of strain gauges is located on the outer periphery of the first group of strain gauges, and a plurality of strain gauges (50) in the second group of strain gauges form a second full-bridge circuit, which is used to output digital signals.

2. The high-precision spoke-type dual-output lateral force sensor according to claim 1, characterized in that: The number of the strain gauges (50) in the first group of strain gauge groups is equal to the number of the strain gauges (50) in the second group of strain gauge groups; The plurality of strain gauges (50) in the first group of strain gauge groups and the plurality of strain gauges (50) in the second group of strain gauge groups are staggered in the circumferential direction of the first spoke structure (20).

3. The high-precision spoke-type dual-output lateral force sensor according to claim 1, characterized in that: A line connecting the geometric centers of the plurality of strain gauges (50) in the first group of strain gauges is located on a first circle; A line connecting the geometric centers of the plurality of strain gauges (50) in the second group of strain gauges is located on a second circle; The first circle and the second circle are both arranged concentrically with the first spoke structure (20), and the first circle and the second circle are arranged symmetrically with respect to the neutral layer of the first spoke structure (20).

4. The high-precision spoke-type dual-output lateral force sensor according to claim 1, characterized in that: The high-precision spoke-type dual-output anti-lateral force sensor also includes: A signal processing module (60), the signal processing module (60) being arranged on the outer peripheral surface of the wheel rim (10); The second full-bridge circuit is connected to the signal processing module (60) so that the second electrical signal output by the second full-bridge circuit is converted into a digital signal output after signal processing by the signal processing module (60).

5. The high-precision spoke-type dual-output lateral force sensor according to claim 4, characterized in that: A first avoidance through hole (11) is provided in the circumferential direction of the wheel rim (10), wherein the first avoidance through hole (11) extends in the radial direction of the wheel rim (10) and passes through the inner circumferential surface and the outer circumferential surface of the wheel rim (10); The signal processing module (60) is provided with a second avoidance through hole (61), and the second avoidance through hole (61) penetrates both side end surfaces of the signal processing module (60) and the inner circumferential surface of the wheel hoop (10) along the radial direction of the wheel hoop (10); The first avoidance through hole (11) is used for the cable of the analog signal to pass through, and the second avoidance through hole (61) is used for the cable of the digital signal to pass through.

6. The high-precision spoke-type dual-output lateral force sensor according to claim 5, characterized in that: The first avoidance through hole (11) and the second avoidance through hole (61) extend along the same radial direction of the wheel rim (10).

7. The high-precision spoke-type dual-output lateral force sensor according to claim 1, characterized in that: A third group of the strain gauge groups among the plurality of strain gauge groups comprises a plurality of strain gauges (50); the plurality of strain gauges (50) in the third group of the strain gauge groups are arranged closer to the inner circumferential surface of the wheel hoop (10) than the plurality of strain gauges (50) in the second group of the strain gauge groups; a portion of the plurality of strain gauges (50) in the third group of the strain gauge groups are used to perform temperature compensation for the first full-bridge circuit; and the remaining portion of the plurality of strain gauges (50) in the third group of the strain gauge groups are used to perform temperature compensation for the second full-bridge circuit.

8. The high-precision spoke-type dual-output lateral force sensor according to claim 7, characterized in that: The number of the strain gauges (50) in the third group of strain gauge groups is equal to the number of the strain gauges (50) in the first group of strain gauge groups; Each of the strain gauges (50) in the third group of strain gauge groups and each of the corresponding strain gauges (50) in the first group of strain gauge groups are located in the same radial direction of the first spoke structure (20).

9. The high-precision spoke-type dual-output lateral force sensor according to claim 1, characterized in that: The first spoke structure (20) and the second spoke structure (30) are staggered in the circumferential direction of the wheel rim (10) to enhance the lateral force resistance capability of the high-precision spoke-type dual-output lateral force resistance sensor.

10. The high-precision spoke-type dual-output lateral force sensor according to claim 1, characterized in that: The first spoke structure (20) is arranged concentrically with the wheel rim (10); and / or, The second spoke structure (30) is arranged concentrically with the wheel rim (10); and / or, The wheel rim (10) and the wheel hub (40) are arranged concentrically.

11. The high-precision spoke-type dual-output lateral force sensor according to claim 1, characterized in that: The value range of the misalignment angle A between the first spoke structure (20) and the second spoke structure (30) in the circumferential direction of the wheel rim (10) satisfies: 0<A≤90°.

12. The high-precision spoke-type dual-output lateral force sensor according to claim 1, characterized in that: The first spoke structure (20) has a plurality of first via structures (21), and the plurality of first via structures (21) are evenly distributed around the circumference of the first spoke structure (20); The second spoke structure (30) has a plurality of second via structures (31), and the plurality of second via structures (31) are evenly distributed around the circumference of the second spoke structure (30); The number of the first via structures (21) is equal to the number of the second via structures (31).

13. The high-precision spoke-type dual-output lateral force sensor according to claim 12, characterized in that: The aperture of the first via hole structure (21) is equal to the aperture of the second via hole structure (31).

14. The high-precision spoke-type dual-output lateral force sensor according to claim 1, characterized in that: The wheel hub (40) is arranged at the axial end face of the first spoke structure (20), and the wheel hub (40) includes a first shaft segment (41), a second shaft segment (42), and a third shaft segment (43) in sequence in a direction away from the first spoke structure (20), and a first shaft diameter R1 of the first shaft segment (41), a second shaft diameter R2 of the second shaft segment (42), and a third shaft diameter R3 of the third shaft segment (43) satisfy the following conditions: R1>R2>R3.

15. The high-precision spoke-type dual-output lateral force sensor according to claim 14, characterized in that: A first axial length L1 of the first shaft segment (41), a second axial length L2 of the second shaft segment (42), and a third axial length L3 of the third shaft segment (43) satisfy the following relationship: L1≤L2<L3.

Images