CN111896164A - Three-component force measuring sensor - Google Patents
Three-component force measuring sensor Download PDFInfo
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- CN111896164A CN111896164A CN202010532763.6A CN202010532763A CN111896164A CN 111896164 A CN111896164 A CN 111896164A CN 202010532763 A CN202010532763 A CN 202010532763A CN 111896164 A CN111896164 A CN 111896164A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
- G01L5/1627—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of strain gauges
Abstract
The invention discloses a three-component force measuring sensor, which consists of an elastic body and a strain gauge; the elastic body consists of a fixed end on the inner side of the circumference, a loading end on the outer side of the circumference and strain beams connected between the fixed end and the annular gap of the loading end, wherein the four strain beams are distributed on the upper side, the lower side and the left side of the annular gap, the strain beams are respectively provided with an axial first patch surface and an axial second patch surface which are axially symmetrical, the four patch surfaces are radially symmetrical and are circumferentially first patch surface and circumferentially second patch surface, the pasting directions of two strain gauges on the same patch surface point to the outer side of the circumference from the center of a circle of the sensor, and the strain gauges are respectively pasted on the patch surfaces of the strain beams in pairs correspondingly so as to realize the stress on the horizontal radial direction, the vertical radial direction and the axial direction; and the strain gauges measuring in the same component force direction are electrically connected to form a Wheatstone full-bridge circuit. The three-component force measuring sensor has the advantages of high sensitivity, small inter-dimensional coupling degree and high measuring precision.
Description
Technical Field
The invention belongs to the technical field of sensors, and particularly relates to a three-component force measuring sensor.
Background
With the rapid development of Chinese economy, the automobile industry makes great progress and promotion, and has become a genuine manufacturing big country in the industrial scale, however, the big but not strong situation has not been effectively improved, the autonomous automobile production and research and development capability is still weak, and the technology of the dynamic test, theory and application of the commercial vehicle is seriously lagged behind the passenger vehicle.
At present, the research on the three-component force measuring sensor is more abroad, and sensor products are produced in the United states, Germany, Switzerland, Japan and the like. The three-component force sensor technology is less mastered in China, a completely independent three-component force sensor product is not available, the key technical problem of the sensor cannot be mastered, and the independent development of domestic vehicles is limited.
The three-component force measuring sensor measures that: three force components of a rectangular coordinate three-dimensional space are respectively as follows: fx, Fy, Fz, corresponding to above, i.e. respectively: horizontal radial, vertical radial, and axial directions.
The three-component force measuring sensor is the most widely applied one of the multi-dimensional force sensors, however, the sensor can generate a certain crosstalk problem in the using process, so that the measuring accuracy of the sensor is greatly influenced.
In the prior art, the patent publication numbers are: CN108225622A discloses a three-component force sensor, in this technical solution, the three-component force sensor includes: the force measuring structure comprises a hollow annular force measuring structure main body, a first cover plate and a second cover plate, wherein the first cover plate and the second cover plate are respectively arranged on two end faces of the force measuring structure main body, the first cover plate and the second cover plate are fixed on the two end faces of the force measuring structure main body through bolts, a central column is arranged in the force measuring structure main body, at least four symmetrical square beams are radially arranged between the central column and the inner wall of the force measuring structure main body, and strain gauges are respectively paved on four surfaces of each square beam.
In the prior art represented by the above patent documents, the defects of complex structure, difficult processing, low rigidity and small measurement loading range generally exist, and more importantly, the problem of coupling crosstalk exists among different measurement dimensions of the sensor, which affects the measurement accuracy of the sensor.
Disclosure of Invention
Aiming at the defects in the prior art, the invention discloses a three-component force measuring sensor which is high in sensitivity, small in inter-dimensional coupling degree and high in measuring precision. The technical scheme of the invention is as follows:
a three-component force measuring sensor is composed of an elastomer and a strain gauge which are integrally formed;
the elastic body consists of a fixed end on the inner side of the circumference, a loading end on the outer side of the circumference and a strain beam connected between annular gaps of the fixed end and the loading end;
the strain beam includes: the first strain beam and the second strain beam are arranged on two vertical and radial sides of the annular gap, and the third strain beam and the fourth strain beam are arranged on two horizontal and radial sides of the annular gap;
the strain beam is provided with four patch surfaces, which are respectively: axial first patch surfaces and axial second patch surfaces on two sides of the middle axial end plate, and circumferential first patch surfaces and circumferential second patch surfaces on the outer sides of circumferential side plates on two sides of the strain beam;
the strain gauges are correspondingly adhered to the patch surfaces of the strain beams in pairs respectively so as to realize stress in the horizontal radial direction, the vertical radial direction and the axial direction;
the strain gauges on the axial first patch surface and the axial second patch surface are arranged symmetrically along the axial mirror surface, and the strain gauges on the circumferential first patch surface and the circumferential second patch surface which are correspondingly adhered are arranged symmetrically along the radial mirror surface;
the sticking directions of the two strain gauges on the same surface of the patch point to the outer side of the circumference from the center of the circle of the sensor;
the strain gauges measuring the same component force direction are electrically connected to form an independent Wheatstone full-bridge circuit, and the component force in the corresponding direction is detected through the change of the measuring terminal voltage caused by the change of the resistance value of the strain gauge on each bridge arm in the circuit.
Furthermore, the fixed end is of an annular structure, a circle of annular connecting inner edge is arranged on the inner side of the circumference of the fixed end, and fixed end threaded holes are uniformly formed in the end surface of the annular connecting inner edge along the circumferential direction;
the circumference outside of stiff end is equipped with the annular stiff end transition structure of round.
Furthermore, the loading end is of an annular structure, an annular connecting outer edge is arranged on the outer side of the circumference of the loading end, and loading end thread hole groups are uniformly formed in the end face of the annular connecting outer edge along the circumferential direction;
and a circle of annular loading end transition structure is arranged on the inner side of the circumference of the loading end.
Furthermore, two axial symmetrical strain grooves are formed on two axial sides of the axial end plate of the strain beam;
and an arc-shaped strain through hole is formed at the joint of the radial outer side of the strain beam and the loading end.
Furthermore, among the strain gauges, 8 strain gauges for measuring horizontal radial stress are respectively arranged on the first strain beam and the second strain beam; wherein:
the first strain gauge R1 and the second strain gauge R2 are adhered to the middle position of the axial first patch surface of the second strain beam;
the third strain gauge R3 and the fourth strain gauge R4 are pasted at the middle position of the axial second patch surface of the second strain beam;
the fifth strain gauge R5 and the sixth strain gauge R6 are adhered to the middle position of the first patch surface in the axial direction of the first strain beam;
the seventh strain gage R7 and the eighth strain gage R8 are adhered to the first strain beam at positions intermediate the axial second patch surfaces.
Furthermore, the Wheatstone full-bridge circuit structure formed by the strain gauges for measuring horizontal radial stress is as follows:
the first bridge arm is formed by sequentially connecting a first strain gage R1 and a third strain gage R3 in series;
the second bridge arm is formed by sequentially connecting the second strain gauge R2 and the fourth strain gauge R4 in series;
a third bridge arm is formed by sequentially connecting a fifth strain gage R5 and a seventh strain gage R7 in series;
a fourth bridge arm is formed by sequentially connecting a sixth strain gauge R6 and an eighth strain gauge R8 in series;
one end of a voltage measuring end of the Wheatstone full-bridge circuit for measuring horizontal radial stress is connected between the second strain gauge R2 and the third strain gauge R3, and the other end of the voltage measuring end is connected between the seventh strain gauge R7 and the sixth strain gauge R6.
Furthermore, 16 strain gauges for measuring axial stress in the strain gauges are arranged on the first strain beam, the second strain beam, the third strain beam and the fourth strain quantity respectively; wherein:
the ninth strain gage R9 and the tenth strain gage R10 are adhered to the circumferential middle position of the first patch surface of the second strain beam;
the eleventh strain gauge R11 and the twelfth strain gauge R12 are adhered to the second patch surface at the middle position in the circumferential direction of the second strain beam;
the thirteenth strain gauge R13 and the fourteenth strain gauge R14 are pasted at the middle position of the first patch surface in the circumferential direction of the first strain beam;
the fifteenth strain gauge R15 and the sixteenth strain gauge R16 are adhered to the middle position of the circumferential second patch surface of the first strain beam;
seventeenth strain gauges R17 and eighteenth strain gauges R18 are adhered to the middle position of the first patch surface in the circumferential direction of the third strain beam;
the nineteenth strain gage R19 and the twentieth strain gage R20 are adhered to the middle position of the circumferential second patch surface of the third strain beam;
the twenty-first strain gauge R21 and the twenty-second strain gauge R22 are adhered to the middle position of the circumferential first patch surface of the fourth strain beam;
and the twenty-third strain gauge R23 and the twenty-fourth strain gauge R24 are adhered to the second patch surface at the middle position in the circumferential direction of the fourth strain beam.
Furthermore, the Wheatstone full-bridge circuit structure formed by the strain gauges for measuring the axial stress is as follows:
a ninth strain gage R9, an eleventh strain gage R11, a twenty-first strain gage R21 and a twenty-third strain gage R23 are sequentially connected in series to form a first bridge arm;
a tenth strain gage R10, a twelfth strain gage R12, a twenty-second strain gage R22 and a twenty-fourth strain gage R24 are sequentially connected in series to form a second bridge arm;
a fifth strain gage R15, a thirteenth strain gage R13, a nineteenth strain gage R19 and a seventeenth strain gage R17 are sequentially connected in series to form a third bridge arm;
a fourth bridge arm is formed by sequentially connecting a sixteenth strain gage R16, a fourteenth strain gage R14, a twentieth strain gage R20 and an eighteenth strain gage R18 in series;
one end of a voltage measuring end of the Wheatstone full-bridge circuit for measuring axial stress is connected between the twenty-third strain gauge R23 and the tenth strain gauge R10, and the other end of the voltage measuring end is connected between the sixteenth strain gauge R16 and the seventeenth strain gauge R17.
Furthermore, among the strain gauges, 8 strain gauges for measuring vertical radial stress are respectively arranged on the third strain beam and the fourth strain beam; wherein:
a twenty-fifth strain gage R25 and a twenty-sixth strain gage R26 are pasted in the middle of the first patch surface in the axial direction of the third strain beam;
the twenty-seventh strain gage R27 and the twenty-eighth strain gage R28 are adhered to the middle position of the axial second patch surface of the third strain beam;
a twenty-ninth strain gage R29 and a thirty-eighth strain gage R30 are adhered to the middle position of the first patch surface in the axial direction of the fourth strain beam;
and the thirty-first strain gauge R31 and the thirty-second strain gauge R32 are pasted on the middle position of the axial second patch surface of the fourth strain beam.
Furthermore, the Wheatstone full-bridge circuit structure formed by the strain gauges for measuring vertical radial stress is as follows:
the twenty-sixth strain gage R26 and the twenty-eighth strain gage R28 are sequentially connected in series to form a first bridge arm;
the twenty-fifth strain gauge R25 and the twenty-seventh strain gauge R27 are sequentially connected in series to form a second bridge arm;
a thirty-third strain gage R30 and a thirty-second strain gage R32 are sequentially connected in series to form a third bridge arm;
a twenty-ninth strain gage R29 and a thirty-first strain gage R31 are sequentially connected in series to form a fourth bridge arm;
one end of a voltage measuring end of the Wheatstone full-bridge circuit for measuring vertical and radial stress is connected between the twenty-eighth strain gauge R28 and the twenty-fifth strain gauge R25, and the other end of the voltage measuring end is connected between the thirty-second strain gauge R32 and the twenty-ninth strain gauge R29.
Compared with the prior art, the invention has the beneficial effects that:
1. the three-component force measuring sensor disclosed by the invention adopts an integrally formed structure, is small in size and simple in structure, and has small influence of self weight on measuring precision.
2. The three-component force measuring sensor realizes zero coupling crosstalk between measuring dimensions theoretically through a unique strain gauge pasting arrangement mode and a bridge combination design scheme of a Wheatstone bridge, and can greatly improve the measuring precision of the sensor.
3. According to the three-component force measuring sensor, the strain gauge is adhered to the strain beam structure with the groove structure and the I-shaped cross section, and the arc-shaped through hole structure is arranged between the strain beam and the loading end, so that the rigidity of the whole structure of the sensor is guaranteed, and the measuring sensitivity and the strain uniformity of the sensor are improved.
4. The three-component force measuring sensor can be used for both academic research and industrial measurement, and has high universality for tire testing environments.
5. The three-component force measuring sensor has good isotropy and good structural symmetry.
6. The three-component force measuring sensor is simple in structure, easy to process and convenient to adhere the strain gauge.
Drawings
FIG. 1 is a schematic perspective view of a three-component force measuring sensor according to the present invention;
FIG. 2 is a front view of the three component force measuring sensor of the present invention;
fig. 3 is a cross-sectional view taken at a-a in fig. 2.
FIG. 4 is a schematic diagram of the position of a strain gauge patch for measuring the force in the X direction in the three-component force measuring sensor according to the present invention;
FIG. 5 is a schematic diagram of a Wheatstone full-bridge circuit composed of strain gauges for measuring force in the X direction in the three-component force measuring sensor according to the present invention;
FIG. 6 is a schematic diagram of the position of a strain gauge patch for measuring the force in the Y direction in the three-component force measuring sensor according to the present invention;
FIG. 7 is a schematic diagram of a Wheatstone full-bridge circuit composed of strain gauges for measuring Y-direction force in the three-component force measuring sensor according to the present invention;
FIG. 8 is a schematic diagram of the position of a strain gage patch for measuring Z-direction force in the three-component force sensor according to the present invention;
FIG. 9 is a schematic diagram of a Wheatstone full-bridge circuit composed of strain gauges for measuring Z-direction force in the three-component force measuring sensor according to the present invention;
fig. 10 is a block diagram of a transmission process of a measurement signal of the three-component force measurement sensor according to the present invention.
In the figure:
1-fixed end, 2-fixed end transition structure, 3-strain beam,
4-a loading end transition structure, 5-a loading end, 6-a fixed end threaded hole,
7-strain groove, 8-loading end threaded hole and 9-strain through hole.
Detailed Description
For clearly and completely describing the technical scheme and the specific working process thereof, the specific implementation mode of the invention is as follows by combining the attached drawings of the specification:
the invention discloses a three-component force measuring sensor which comprises an elastic body and strain gauges, wherein the strain gauges are correspondingly arranged on the elastic body, and the resistance value of the strain gauges at corresponding positions is changed due to deformation of the strain gauges from acting forces Fx, Fy and Fz in three directions transmitted to the elastic body, so that electric signals output by a circuit formed by connecting the strain gauges are changed, and finally, the stress in three directions of a horizontal radial direction (Fx), a vertical radial direction (Fz) and an axial direction (Fy) is calculated and obtained by measuring the change of the output electric signals.
As shown in fig. 1, 2 and 3, the elastic body is an integrally formed structure, and includes: a fixed end 1, a loading end 5 and a strain beam 3.
The fixing end 1 is of an annular structure, a circle of annular connecting inner edge is arranged on the inner side of the circumference of the fixing end 1, 12 fixing end threaded holes 6 are uniformly formed in the end face of the annular connecting inner edge along the circumferential direction, and the fixing end threaded holes 6 are used for realizing the bolt fixed connection of the fixing end 1 and an assembly fixing piece; the circumference outside of stiff end 1 is equipped with round annular stiff end transition structure 2.
The loading end 5 is of an annular structure, the loading end 5 is concentrically arranged on the outer side of the circumference of the fixed end 1, an annular gap is reserved between the loading end 5 and the fixed end 1, an annular connecting outer edge is arranged on the outer side of the circumference of the loading end 5, 4 groups of loading end threaded hole groups are uniformly formed in the end face of the annular connecting outer edge along the circumferential direction, each group of loading end threaded hole groups consists of two loading end threaded holes 8 distributed along the circumferential direction, and the loading end threaded holes 8 are used for realizing the bolt fixed connection between the loading end 5 and an assembly loading part; and a circle of annular loading end transition structures 4 are arranged on the inner side of the circumference of the loading end 5.
The four strain beams 3 are respectively distributed on the upper side, the lower side, the left side and the right side of the annular gap between the loading end 5 and the fixed end 1, one radial end of each strain beam 3 is connected with a loading end transition structure 4 on the inner side of the circumference of the loading end 5, and the other radial end of each strain beam 3 is connected with a fixed end transition structure 2 on the outer side of the circumference of the fixed end 1;
the strain beam 3 is used for attaching and mounting a strain gauge, and in order to describe the attachment position of the strain gauge on the strain beam 3 more accurately, reference directions related to the present invention are described as follows:
as shown in fig. 2, rectangular coordinates with the loading end 5 and the fixed end 1 as the origin, a horizontal radial direction as the X direction, an axial direction as the Y direction, and a vertical radial direction as the Z direction, where a horizontal right direction is the X direction positive direction, a horizontal left direction is the X direction negative direction, a vertical upward direction is the Z direction positive direction, a vertical downward direction is the Z direction positive negative direction, an axial vertical paper surface inward direction is the Y direction positive direction, and an axial vertical paper surface outward direction is the Y direction positive direction.
As mentioned above, four of the strain beams 3 are respectively distributed on the upper, lower, left and right sides of the annular gap between the loading end 5 and the fixed end 1, that is: the first strain beam is distributed in the positive direction (upper) of the Z direction of the annular gap, the second strain beam in the positive direction (lower) of the Z direction, the third strain beam in the negative direction (left) of the X direction and the fourth strain beam in the positive direction (right) of the X direction;
the four strain beams 3 have the same structure, an axial end plate is arranged in the middle of each strain beam 3, two circumferential side plates which are radially symmetrical are arranged on two circumferential sides of each axial end plate, and the axial size of each circumferential side plate is larger than that of each axial end plate, so that two strain grooves 7 which are axially symmetrical are formed on two axial sides of each axial end plate, as shown in fig. 3, namely, the radial section of each strain beam 3 is of an i-shaped structure, in the specific embodiment, the axial depth of each strain groove 7 is 4mm, the radial length of each strain groove is 16mm, and the circumferential width of each strain groove is 10 mm; an arc-shaped strain through hole 9 is formed in the joint of the radial outer side of the strain beam 3 and the loading end 5, the strain through hole 9 and the loading end 5 are arranged concentrically, the arc angle of the strain through hole 9 is 34 degrees, and the axial size of the strain through hole 9 is 2 mm. The strain groove 7 with the I-shaped cross section and the arc-shaped strain through hole 9 not only ensure the rigidity of the whole structure of the sensor, but also increase the sensitivity of the sensor in measurement and the strain uniformity;
the total four foil surfaces of the strain gauge on the strain beam 3 are as follows: the Y-direction negative end face of the axial end plate is an axial first patch face, and the Y-direction positive end face of the axial end plate is an axial second patch face; the outer side surface of the circumferential side plate on the radial left side or the radial upper side of the strain beam 3 is a circumferential first patch surface, and the outer side surface of the circumferential side plate on the radial right side or the radial lower side of the strain beam 3 is a circumferential second patch surface.
As shown in fig. 4, 6 and 8, the strain gauges are adhered in pairs on the strain gauge attachment surfaces of the strain beams 3;
on one hand: the strain gauges correspondingly adhered to the axial first patch surface and the axial second patch surface are symmetrically arranged along the axial mirror surface, and the strain gauges correspondingly adhered to the circumferential first patch surface and the circumferential second patch surface are symmetrically arranged along the radial mirror surface;
on the other hand: sensitive bars in the foil gage comprise a set of resistance wire that is same inclination with foil gage installation axis, and the inclination that adopts sensitive bars among this embodiment is 45 foil gages, and two foil gages on the same paster face set up along installation axial symmetry for form the feather piece shape between the sensitive bars of two foil gages, feather piece formula foil gage promptly, and the sensing direction of the contained angle that the sensitive bars of two foil gages formed is outside along radial directional circumference, promptly: the pasting directions of the two strain gauges on the same surface of the patch point to the outer side of the circumference from the center of the circle of the sensor.
The sensor of the invention detects three-direction stress through the strain gauges pasted on the strain beams 3, therefore, the pasting distribution positions of the strain gauges on the four strain beams 3, namely the electrical connection relation, are the key for realizing the measurement of the sensor, so the pasting distribution positions of the strain gauges on the strain beams 3 are as follows:
first, measure the stress F in the X directionxThe strain gauge of (2):
1. measuring force F in X directionxDistribution of strain gauge of (a):
as shown in FIG. 4, the force F in the X direction is measuredxThe number of the strain gauges is 8, and the strain gauges are respectively arranged on a first strain beam in the positive direction (upper) of the Z direction and a second strain beam in the positive direction (lower) of the Z direction;
the first strain gauge R1 and the second strain gauge R2 are pasted in the middle position of the axial first patch surface of the second strain beam, the third strain gauge R3 and the fourth strain gauge R4 are pasted in the middle position of the axial second patch surface of the second strain beam, the fifth strain gauge R5 and the sixth strain gauge R6 are pasted in the middle position of the axial first patch surface of the first strain beam, and the seventh strain gauge R7 and the eighth strain gauge R8 are pasted in the middle position of the axial second patch surface of the first strain beam;
the first strain gage R1 and the third strain gage R3 are axially and symmetrically arranged in the front-back direction, the second strain gage R2 and the fourth strain gage R4 are axially and symmetrically arranged in the front-back direction, the fifth strain gage R5 and the seventh strain gage R7 are axially and symmetrically arranged, and the sixth strain gage R6 and the eighth strain gage R8 are axially and symmetrically arranged in the front-back direction;
the pasting direction of the first strain gauge R1 and the second strain gauge R2 points to the outer side of the circumference from the center of the sensor, the pasting direction of the third strain gauge R3 and the fourth strain gauge R4 points to the outer side of the circumference from the center of the sensor, the pasting direction of the fifth strain gauge R5 and the sixth strain gauge R6 points to the outer side of the circumference from the center of the sensor, and the pasting direction of the seventh strain gauge R7 and the eighth strain gauge R8 points to the outer side of the circumference from the center of the sensor.
2. Measuring force F in X directionxThe electrical connection relationship of the strain gauge of (1):
as shown in FIG. 5, the measurement of the X-direction force FxThe 8 strain gauges constitute the Wheatstone full-bridge circuit of measuring X direction atress, and wherein, four bridge arms of the Wheatstone full-bridge of measuring X direction atress are respectively: a first bridge arm ab formed by sequentially connecting a first strain gage R1 and a third strain gage R3 in series, a second bridge arm bd formed by sequentially connecting a second strain gage R2 and a fourth strain gage R4 in series, a fifth strain gage R5 and a seventh strain gage R7A third bridge arm dc formed by secondary series connection, and a fourth bridge arm ca formed by sequentially connecting a sixth strain gauge R6 and an eighth strain gauge R8 in series;
one end of a voltage measuring end U0 of the Wheatstone full bridge circuit for measuring the stress in the X direction is connected to the joint of the first bridge arm ab and the second bridge arm bd, namely, between the second strain gauge R2 and the third strain gauge R3, and the other end of the voltage measuring end U0 of the Wheatstone full bridge circuit for measuring the stress in the X direction is connected to the joint of the third bridge arm dc and the fourth bridge arm ca, namely, between the seventh strain gauge R7 and the sixth strain gauge R6.
The sensitivity coefficient k of the strain gauge is calculated as follows:
in the formula (1), dR/R is the resistance variation of the strain gauge due to strain; is the strain of the strain gauge;
according to the Wheatstone full-bridge circuit principle, the output voltage U0 of the detection end of the Wheatstone full-bridge circuit for measuring the stress in the X direction is calculated as follows:
in the formula (2), 1, 3, 5, 7, 2, 4, 6 and 8 are respectively the strain outputs generated by stress on the first strain gauge R1, the second strain gauge R2, the third strain gauge R3, the fourth strain gauge R4, the fifth strain gauge R5, the sixth strain gauge R6, the seventh strain gauge R7 and the eighth strain gauge R8 in sequence; k is the sensitivity coefficient of the strain gauge, usually a constant coefficient; u shapeadThe power supply terminal voltage of the Wheatstone full-bridge circuit;
when the loading end 5 is subjected to positive force Fx in the X direction, the strain gauges R1, R3, R5 and R7 are subjected to tensile force, and the strain outputs are all positive; the strain gauges R2, R4, R6 and R8 are all under pressure, the strain outputs thereof are negative, the resistances of the outputs of the strain gauges R1, R3, R5 and R7 are equal, and the resistances of the outputs of the strain gauges R2, R4, R6 and R8 are equal. As shown in FIG. 5, according to the Wheatstone bridge principle, four arm resistances of the bridge are applied when no external force is appliedThe values are equal, the bridge is balanced, the output voltage U0 at the measuring end is 0, when the bridge is subjected to external force, the bridge is unbalanced, and the maximum voltage can be output according to the calculation formula (2) in the bridge combination mode, namely, the maximum voltage is formed by the installation positions of the 8 strain gauges and the Wheatstone bridge circuit formed by the connected strain gauges, and the stress F in the X direction is measuredxThe force measuring channel of (2) has the maximum sensitivity.
Based on the installation position and the bridging mode of the 8 strain gages:
when the loading end 5 is subjected to positive force Fy in the Y direction, the strain gauges R1, R2, R5 and R6 are subjected to tension, and the strain output is positive; the strain gauges R3, R4, R7, and R8 receive pressure, the strain outputs thereof are negative, the resistances of the strain gauges R1, R2, R5, and R6 are equal, and the resistances of the strain gauges R3, R4, R7, and R8 are equal. Applying any positive load in the Y direction according to the formula (2), and measuring the stress F in the X directionxThe output voltage of the force measuring channel is 0, namely the stress F in the X direction is measuredxThe force measuring channel has no influence of crosstalk generated by load in the Y direction.
When the loading end 5 is subjected to positive force Fz in the Z direction, the strain gauges R5, R6, R7 and R8 are subjected to tensile force, and the strain output is positive; the strain gauges R1, R2, R3, and R4 receive pressure, the strain outputs thereof are negative, the resistances of the strain gauges R5, R6, R7, and R8 are equal, and the resistances of the strain gauges R1, R2, R3, and R4 are equal. According to the above formula (2), applying any load in the positive direction of the Z direction, and measuring the stress F in the X directionxThe output voltage of the force measuring channel is 0, namely the stress F in the X direction is measuredxThe force measuring channel has no influence of crosstalk generated by Z-direction load.
When the loading end 5 is subjected to a positive moment Mx along the X direction, the strain gauges R1, R2, R7 and R8 are subjected to tension, and the strain output is positive; the strain gauges R3, R4, R5, and R6 receive pressure, the strain output thereof is negative, the resistances of the strain gauges R1, R2, R7, and R8 are equal, and the resistances of the strain gauges R3, R4, R5, and R6 are equal. According to the formula (2), any positive moment load is applied along the X direction, and the stress F in the X direction is measuredxThe output voltage of the force measuring channel is 0, namely the stress F in the X direction is measuredxThe force measuring channel has no crosstalk influence generated by forward moment load along the X direction.
When the loading end 5 is subjected to positive moment My along the Y direction, the strain gauges R2, R4, R5 and R7 are under tension, and the strain output is positive; the strain gauges R1, R3, R6, and R8 receive pressure, the strain output thereof is negative, the resistances of the strain gauges R2, R4, R5, and R7 are equal, and the resistances of the strain gauges R1, R3, R6, and R8 are equal. According to the formula (2), any positive moment load is applied along the Y direction, and the stress F in the X direction is measuredxThe output voltage of the force measuring channel is 0, namely the stress F in the X direction is measuredxThe force measuring channel has no crosstalk influence caused by positive moment load along the Y direction.
When the loading end 5 is subjected to positive moment Mz along the Z direction, the strain gauges R1, R2, R3, R4, R5, R6, R7 and R8 are subjected to the same torsional deformation, and the resistance values are equal; according to the formula (2), any positive moment load is applied along the Z direction, and the stress F in the X direction is measuredxThe output voltage of the force measuring channel is 0, namely the stress F in the X direction is measuredxThe force measuring channel has no cross-talk effect caused by positive moment load along the Z direction.
Secondly, measuring the stress F in the Y directionyThe strain gauge of (2):
1. measuring force F in Y directionyDistribution of strain gauge of (a):
as shown in FIG. 4, the force F in the Y direction is measuredyThe number of the strain gauges is 16, and the strain gauges are respectively arranged on a first strain beam in the positive direction (upper) in the Z direction, a second strain beam in the positive direction (lower) in the negative direction (lower) in the Z direction, a third strain beam in the negative direction (left) in the X direction and a fourth strain beam in the positive direction (right) in the X direction;
the ninth strain gage R9 and the tenth strain gage R10 are adhered to the circumferential middle position of the first patch surface of the second strain beam; the eleventh strain gauge R11 and the twelfth strain gauge R12 are adhered to the second patch surface at the middle position in the circumferential direction of the second strain beam; the thirteenth strain gauge R13 and the fourteenth strain gauge R14 are pasted at the middle position of the first patch surface in the circumferential direction of the first strain beam; the fifteenth strain gauge R15 and the sixteenth strain gauge R16 are adhered to the middle position of the circumferential second patch surface of the first strain beam; seventeenth strain gauges R17 and eighteenth strain gauges R18 are adhered to the middle position of the first patch surface in the circumferential direction of the third strain beam; the nineteenth strain gage R19 and the twentieth strain gage R20 are adhered to the middle position of the circumferential second patch surface of the third strain beam; the twenty-first strain gauge R21 and the twenty-second strain gauge R22 are adhered to the middle position of the circumferential first patch surface of the fourth strain beam; the twenty-third strain gauge R23 and the twenty-fourth strain gauge R24 are adhered to the middle position of the circumferential second patch surface of the fourth strain beam;
the ninth strain gage R9 and the eleventh strain gage R11 are arranged in radial symmetry, the tenth strain gage R10 and the twelfth strain gage R12 are arranged in radial symmetry, the thirteenth strain gage R13 and the fifteenth strain gage R15 are arranged in radial symmetry, the fourteenth strain gage R14 and the sixteenth strain gage R16 are arranged in radial symmetry, the seventeenth strain gage R17 and the nineteenth strain gage R19 are arranged in radial symmetry, the eighteenth strain gage R18 and the twentieth strain gage R20 are arranged in radial symmetry, the twenty-first strain gage R21 and the twenty-third strain gage R23 are arranged in radial symmetry, and the twenty-second strain gage R22 and the twenty-fourth strain gage R24 are arranged in radial symmetry;
the pasting direction of the ninth strain gauge R9 and the tenth strain gauge R10 is directed to the outside of the circumference from the sensor center, the pasting direction of the eleventh strain gauge R11 and the twelfth strain gauge R12 is directed to the outside of the circumference from the sensor center, the pasting direction of the thirteenth strain gauge R13 and the fourteenth strain gauge R14 is directed to the outside of the circumference from the sensor center, the pasting direction of the fifteenth strain gauge R15 and the sixteenth strain gauge R16 is directed to the outside of the circumference from the sensor center, the pasting direction of the seventeenth strain gauge R17 and the eighteenth strain gauge R18 is directed to the outside of the circumference from the sensor center, the pasting direction of the nineteenth strain gauge R19 and the twentieth strain gauge R20 is directed to the outside of the circumference from the sensor center, the pasting direction of the twenty first strain gauge R21 and the twenty second strain gauge R22 is directed to the outside of the circumference from the sensor center, and the pasting direction of the twenty third strain gauge R23 and the twenty fourth strain gauge R24 is directed to the outside of the circumference from the sensor center.
2. Measuring force F in Y directionyThe electrical connection relationship of the strain gauge of (1):
as shown in FIG. 7, the measurement of the Y-direction force FyThe 16 strain gauges form a Wheatstone full bridge circuit for measuring the stress in the Y direction, wherein four bridge arms of the Wheatstone full bridge for measuring the stress in the Y directionRespectively as follows: a first bridge arm ab formed by sequentially connecting a ninth strain gage R9, an eleventh strain gage R11, a twenty-first strain gage R21 and a twenty-third strain gage R23 in series, a second bridge arm bd formed by sequentially connecting a tenth strain gage R10, a twelfth strain gage R12, a twenty-second strain gage R22 and a twenty-fourth strain gage R24 in series, a third bridge arm dc formed by sequentially connecting a fifteenth strain gage R15, a thirteenth strain gage R13, a nineteenth strain gage R19 and a seventeenth strain gage R17 in series, and a fourth bridge arm ca formed by sequentially connecting a sixteenth strain gage R16, a fourteenth strain gage R14, a twentieth strain gage R20 and an eighteenth strain gage R18 in series;
one end of a voltage measuring end U0 of the Wheatstone full bridge circuit for measuring the stress in the Y direction is connected to the joint of the first bridge arm ab and the second bridge arm bd, namely between the twenty-third strain gauge R23 and the tenth strain gauge R10, and the other end of the voltage measuring end U0 of the Wheatstone full bridge circuit for measuring the stress in the Y direction is connected to the joint of the third bridge arm dc and the fourth bridge arm ca, namely between the sixteenth strain gauge R16 and the seventeenth strain gauge R17.
According to the Wheatstone full-bridge circuit principle, the output voltage U0 of the detection end of the Wheatstone full-bridge circuit for measuring the stress in the Y direction is calculated as follows:
in the formula (3), 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, and 24 respectively sequentially form a ninth strain gage R9, a tenth strain gage R10, an eleventh strain gage R11, a twelfth strain gage R12, a thirteenth strain gage R13, a fourteenth strain gage R14, a fifteenth strain gage R15, a sixteenth strain gage R16, a seventeenth strain gage R17, an eighteenth strain gage R18, a nineteenth strain gage R19, a twentieth strain gage R20, a twenty-first strain gage R21, a twenty-second strain gage R22, a twenty-third strain gage R23, and a twenty-fourth strain gage R24, and output strain is generated by force; k is the sensitivity coefficient of the strain gauge, usually a constant coefficient; u shapeadThe power supply terminal voltage of the Wheatstone full-bridge circuit;
when the loading end 5 is subjected to positive force F in the Y directionyWhen the strain gauge is used, the corresponding strain gauges R9, R11, R13, R15, R17, R19, R21 and R23 are under tension, and the corresponding strain output is positive; the corresponding strain gauges R10, R12, R14, R16, R18, R20, R22 and R24 are stressed, the corresponding strain outputs are negative, the resistances of the strain gauges R9, R11, R13, R15, R17, R19, R21 and R23 are equal, and the resistances of the strain gauges R10, R12, R14, R16, R18, R20, R22 and R24 are equal. As shown in FIG. 7, according to the Wheatstone bridge principle, when no external force is applied, the resistance values of the four arms of the bridge are equal, the bridge is balanced, the output voltage U0 at the measuring end is 0, when the bridge is unbalanced, the maximum voltage can be output according to the calculation formula (3) by the bridge combination method, namely, the mounting positions of the 16 strain gauges and the Wheatstone bridge circuit formed by the connected strain gauges, and the force F in the Y direction is measuredyThe force measuring channel of (2) has the maximum sensitivity.
Based on the installation position and the bridging mode of the 8 strain gages:
when the loading end 5 receives a positive force Fx in the X direction, the strain gauges R9, R10, R13, R14, R21, R22, R23 and R24 are under tension, and the strain output is positive; the strain gauges R11, R12, R15, R16, R17, R18, R19 and R20 are stressed, and the strain output is negative; the resistance values of the strain gauges R9, R10, R13 and R14 are equal, the resistance values of the strain gauges R21, R22, R23 and R24 are equal, the resistance values of the strain gauges R11, R12, R15 and R16 are equal, and the resistance values of the strain gauges R17, R18, R19 and R20 are equal. According to the formula (3), when any load is applied to the positive direction of the X direction, the output voltage of the Fy channel is 0, namely the stress F in the Y direction is measuredyThe force measuring channel has no influence of crosstalk generated by positive force load in the X direction.
When the loading end 5 is subjected to positive Z-direction force FzWhen the strain gauge is used, the strain gauges R13, R14, R15, R16, R19, R20, R23 and R24 are under tension, and the strain output is positive; the strain gauges R9, R10, R11, R12, R17, R18, R21 and R22 are stressed, and the strain output is negative; the resistances of the strain gauges R13, R14, R15 and R16 are equal, the resistances of the strain gauges R19, R20, R23 and R24 are equal, the resistances of the strain gauges R9, R10, R11 and R12 are equal, and the resistances of the strain gauges R17, R18, R21 and R22 are equal. Forward direction of Z direction according to the above formula (3)Applying any load, the Fy channel output voltage is 0, namely measuring the stress F in the Y directionyThe force measuring channel has no influence of crosstalk generated by positive force load in the Z direction.
When the loading end 5 is subjected to a positive moment Mx along the X direction, the strain gauges R9, R11, R14 and R16 are subjected to tension, and the strain output is positive; the strain gauges R10, R12, R13 and R15 are stressed, and the strain output is negative; the strain gauges R17, R18, R19, R20, R21, R22, R23 and R24 generate the same torsional deformation, the resistance values of the strain gauges R9, R11, R14 and R16 are equal, the resistance values of the strain gauges R10, R12, R13 and R15 are equal, and the resistance values of the strain gauges R17, R18, R19, R20, R21, R22, R23 and R24 are equal. According to the formula (3), any positive moment load is applied along the X direction, the output voltage of the Fy channel is 0, namely the stress F in the Y direction is measuredyThe force measuring channel has no crosstalk influence generated by forward moment load along the X direction.
When the loading end 5 receives positive moment My along the Y direction, the strain gauges R11, R12, R13, R14, R19, R20, R21 and R22 are under tension, and the strain output is positive; the strain gauges R9, R10, R15, R16, R17, R18, R23, and R24 are pressed, and the strain outputs thereof are negative, and the resistances of the strain gauges R11, R12, R13, R14, R19, R20, R21, and R2 are equal, and the resistances of the strain gauges R9, R10, R15, R16, R17, R18, R23, and R24 are equal. According to the formula (3), any positive moment load is applied along the Y direction, the output voltage of the Fy channel is 0, namely the stress F in the Y direction is measuredyThe force measuring channel has no crosstalk influence caused by positive moment load along the Y direction.
When the loading end 5 is subjected to positive moment Mz along the Z direction, the strain gauges R18, R20, R21 and R23 are subjected to tension, and the strain output is positive; the strain gauges R17, R19, R22, and R24 are pressed, the strain outputs thereof are negative, the strain gauges R9, R10, R11, R12, R13, R14, R15, and R16 generate the same torsional deformation, the resistances of the strain gauges R18, R20, R21, and R23 are equal, the resistances of the strain gauges R17, R19, R22, and R24 are equal, and the resistances of the strain gauges R9, R10, R11, R12, R13, R14, R15, and R16 are equal. According to the formula (3), any positive moment load is applied along the Z direction, the output voltage of the Fy channel is 0, namely the stress F in the Y direction is measuredyThe force measuring channel has no positive direction along the Z directionThe effect of crosstalk on moment loading.
Thirdly, measuring the stress F in the Z directionzThe strain gauge of (2):
1. measuring Z-direction force FzDistribution of strain gauge of (a):
as shown in FIG. 8, the Z-direction force F is measuredzThe number of the strain gauges is 8, and the strain gauges are respectively arranged on a third strain beam in the positive direction and the negative direction (left) in the X direction and a fourth strain beam in the positive direction (right) in the X direction;
a twenty-fifth strain gage R25 and a twenty-sixth strain gage R26 are pasted at the middle position of the axial first patch surface of the third strain beam, a twenty-seventh strain gage R27 and a twenty-eighth strain gage R28 are pasted at the middle position of the axial second patch surface of the third strain beam, a twenty-ninth strain gage R29 and a thirty-third strain gage R30 are pasted at the middle position of the axial first patch surface of the fourth strain beam, and a thirty-eleventh strain gage R31 and a thirty-second strain gage R32 are pasted at the middle position of the axial second patch surface of the fourth strain beam;
the twenty-fifth strain gauge R25 and the twenty-seventh strain gauge R27 are axially symmetrically arranged front and back, the twenty-sixth strain gauge R26 and the twenty-eighth strain gauge R28 are axially symmetrically arranged front and back, the twenty-ninth strain gauge R29 and the thirty-first strain gauge R31 are axially symmetrically arranged, and the thirty-third strain gauge R30 and the thirty-second strain gauge R32 are axially symmetrically arranged front and back;
the pasting directions of the twenty-fifth strain gauge R25 and the twenty-sixth strain gauge R26 point to the outer side of the circumference from the center of the sensor, the pasting directions of the twenty-seventh strain gauge R27 and the twenty-eighth strain gauge R28 point to the outer side of the circumference from the center of the sensor, the pasting directions of the twenty-ninth strain gauge R29 and the thirty-second strain gauge R30 point to the outer side of the circumference from the center of the sensor, and the pasting directions of the thirty-first strain gauge R31 and the thirty-second strain gauge R32 point to the outer side of the circumference from the center of the sensor.
2. Measuring Z-direction force FzThe electrical connection relationship of the strain gauge of (1):
as shown in FIG. 9, the Z-direction force F is measuredzThe 8 strain gauges form a Wheatstone full bridge circuit for measuring stress in the Z direction, wherein four Wheatstone full bridges for measuring stress in the Z directionEach bridge arm is respectively: a first bridge arm ab formed by sequentially connecting twenty-sixth strain gauge R26 and twenty-eighth strain gauge R28 in series, a second bridge arm bd formed by sequentially connecting twenty-fifth strain gauge R25 and twenty-seventh strain gauge R27 in series, a third bridge arm dc formed by sequentially connecting thirty-fifth strain gauge R30 and thirty-second strain gauge R32 in series, and a fourth bridge arm ca formed by sequentially connecting twenty-ninth strain gauge R29 and thirty-eleventh strain gauge R31 in series;
one end of a voltage measuring end U0 of the Wheatstone full bridge circuit for measuring the stress in the Z direction is connected to the joint of the first bridge arm ab and the second bridge arm bd, namely, between the twenty-eighth strain gauge R28 and the twenty-fifth strain gauge R25, and the other end of the voltage measuring end U0 of the Wheatstone full bridge circuit for measuring the stress in the Z direction is connected to the joint of the third bridge arm dc and the fourth bridge arm ca, namely, between the thirty-second strain gauge R32 and the twenty-ninth strain gauge R29.
According to the Wheatstone full-bridge circuit principle, the output voltage U0 of the detection end of the Wheatstone full-bridge circuit for measuring the stress in the Z direction is calculated as follows:
in the formula (4), the strain outputs generated by stress on the twenty-sixth strain gauge R26, the twenty-eighth strain gauge R28, the thirty-third strain gauge R30, the thirty-second strain gauge R32, the twenty-fifth strain gauge R25, the twenty-seventh strain gauge R27, the twenty-ninth strain gauge R29 and the thirty-first strain gauge R31 are respectively and sequentially arranged at 26, 28, 30, 32, 25, 27, 29 and 31; k is the sensitivity coefficient of the strain gauge, usually a constant coefficient; u shapeadThe power supply terminal voltage of the Wheatstone full-bridge circuit;
when the loading end 5 is subjected to Fz positive force, the strain gauges R26, R28, R30 and R32 are subjected to tension, and the strain output is positive; the strain gauges R25, R27, R29 and R31 receive pressure, the output of the strain gauges becomes negative, the resistance values of the strain gauges R26, R28, R30 and R32 are equal, and the resistance values of the strain gauges R25, R27, R29 and R31 are equal. Referring to FIG. 9, according to the Wheatstone bridge principle, the four arms of the bridge have equal resistance when no force is applied, the bridge is balanced, the output voltage U0 at the measuring end is 0, and when an external force is applied to the bridgeThe unbalance is obtained according to the above formula (4) and the bridge combination method can output the maximum voltage, that is, the Z-direction stress F is measured by the installation position of the above 8 strain gauges and the Wheatstone bridge circuit formed by the connectionzThe force measuring channel of (2) has the maximum sensitivity.
Based on the installation position and the bridging mode of the 8 strain gages:
when the loading end 5 is subjected to a positive force Fx in the X direction, the strain gauges R29, R30, R31 and R32 are subjected to tension, and the strain output is positive; the strain gauges R25, R26, R27 and R28 are stressed, the strain output is negative, the resistances of the strain gauges R29, R30, R31 and R32 are equal, and the resistances of the strain gauges R25, R26, R27 and R28 are equal. According to the formula (4), any positive force load is applied in the X direction, and the stress F in the Z direction is measuredzThe output voltage of the force measuring channel is 0, namely the Z-direction stress F is measuredzThe force measuring channel has no influence of crosstalk generated by positive force load in the X direction.
When the loading end 5 is subjected to positive force Fy in the Y direction, the strain gauges R25, R26, R29 and R30 are subjected to tension, and the strain output is positive; the strain gauges R27, R28, R31 and R32 are stressed, the strain output is negative, the resistances of the strain gauges R25, R26, R29 and R30 are equal, and the resistances of the strain gauges R27, R28, R31 and R32 are equal. According to the above formula (4), applying any positive load in the Y direction, and measuring the force F in the Z directionzThe output voltage of the force measuring channel is 0, namely the Z-direction stress F is measuredzThe force measuring channel has no influence of crosstalk generated by positive force load in the Y direction.
When the loading end 5 receives the positive torque Mx in the X direction, the strain gauges R25, R26, R27, R28, R29, R30, R31, and R32 generate the same torsional deformation, and the resistance values of the strain gauges R25, R26, R27, R28, R29, R30, R31, and R32 are equal. According to the formula (4), any positive moment load is applied along the X direction, the output voltage of the Fz channel is 0, and the force measuring channel has no crosstalk influence generated by the positive moment load along the X direction.
When the loading end 5 is subjected to positive moment My along the Y direction, the strain gauges R26, R28, R29 and R31 are under tension, and the strain output is positive; the strain gauges R25, R27, R30 and R32 are stressed and strain-inputtedThe output is negative, and the resistances of the strain gauges R26, R28, R29 and R31 are equal, and the resistances of the strain gauges R25, R27, R30 and R32 are equal. According to the formula (4), any positive moment load is applied along the Y direction, and the stress F in the Z direction is measuredzThe output voltage of the force measuring channel is 0, namely the force measuring channel has no crosstalk influence generated by positive moment load along the Y direction.
When the loading end 5 is subjected to Mz positive moment, the strain gauges R27, R28, R29 and R30 are pulled, and the strain output is positive; r25, R26, R31 and R32 are pressed, the strain output is negative, the resistance values of R27, R28, R29 and R30 are equal, and the resistance values of R25, R26, R31 and R32 are equal. According to the formula (4), any positive moment load is applied along the Z direction, and the stress F in the Z direction is measuredzThe output voltage of the force measuring channel is 0, namely the force measuring channel has no crosstalk influence generated by positive moment load along the Z direction.
As shown in fig. 10, in the wheatstone bridge for measuring the stress in the X direction, the wheatstone bridge for measuring the stress in the Y direction, and the wheatstone bridge for measuring the stress in the Z direction, the change in the strain resistance of the strain gauge due to the stress is converted into a voltage change and output, the measurement voltage output by the corresponding wheatstone bridge is amplified by the amplifying circuit and then data is acquired, and the acquired data is led into the PC terminal, thereby further analyzing and processing the three-component force detected by the sensor.
The preferred overall size of the three-component force measuring sensor is as follows: the radius is within 97mm, the axial dimension is within 18mm, and the force measuring ranges of the three measured forces Fx, Fy and Fz are all preferably 10 KN.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A three-component force measuring sensor is characterized in that:
the elastic piece is composed of an elastic body and a strain piece which are integrally formed;
the elastic body consists of a fixed end on the inner side of the circumference, a loading end on the outer side of the circumference and a strain beam connected between annular gaps of the fixed end and the loading end;
the strain beam includes: the first strain beam and the second strain beam are arranged on two vertical and radial sides of the annular gap, and the third strain beam and the fourth strain beam are arranged on two horizontal and radial sides of the annular gap;
the strain beam is provided with four patch surfaces, which are respectively: axial first patch surfaces and axial second patch surfaces on two sides of the middle axial end plate, and circumferential first patch surfaces and circumferential second patch surfaces on the outer sides of circumferential side plates on two sides of the strain beam;
the strain gauges are correspondingly adhered to the adhering surfaces of the strain beams in pairs respectively so as to measure the stress of the wheels in the horizontal radial direction, the vertical radial direction and the axial direction;
the strain gauges on the axial first patch surface and the axial second patch surface are arranged symmetrically along the axial mirror surface, and the strain gauges on the circumferential first patch surface and the circumferential second patch surface which are correspondingly adhered are arranged symmetrically along the radial mirror surface;
the sticking directions of the two strain gauges on the same surface of the patch point to the outer side of the circumference from the center of the circle of the sensor;
the strain gauges measuring the same component force direction are electrically connected to form an independent Wheatstone full-bridge circuit, and the component force in the corresponding direction is detected through the change of the measuring terminal voltage caused by the change of the resistance value of the strain gauge on each bridge arm in the circuit.
2. A trisection force measuring transducer according to claim 1, wherein:
the fixed end is of an annular structure, a circle of annular connecting inner edge is arranged on the inner side of the circumference of the fixed end, and through holes are uniformly formed in the end face of the annular connecting inner edge along the circumferential direction;
the circumference outside of stiff end is equipped with the annular stiff end transition structure of round.
3. A trisection force measuring transducer according to claim 1, wherein:
the loading end is of an annular structure, an annular connecting outer edge is arranged on the outer side of the circumference of the loading end, and loading end through holes are uniformly formed in the end face of the annular connecting outer edge along the circumferential direction;
and a circle of annular loading end transition structure is arranged on the inner side of the circumference of the loading end.
4. A trisection force measuring transducer according to claim 1, wherein:
two axially symmetrical strain grooves are formed on two axial sides of an axial end plate of the strain beam;
and an arc-shaped strain through hole is formed at the joint of the radial outer side of the strain beam and the loading end.
5. A trisection force measuring transducer according to claim 1, wherein:
among the strain gauges, 8 strain gauges for measuring horizontal radial stress of the wheels are respectively arranged on the first strain beam and the second strain beam; wherein:
the first strain gauge R1 and the second strain gauge R2 are adhered to the middle position of the axial first patch surface of the second strain beam;
the third strain gauge R3 and the fourth strain gauge R4 are pasted at the middle position of the axial second patch surface of the second strain beam;
the fifth strain gauge R5 and the sixth strain gauge R6 are adhered to the middle position of the first patch surface in the axial direction of the first strain beam;
the seventh strain gage R7 and the eighth strain gage R8 are adhered to the first strain beam at positions intermediate the axial second patch surfaces.
6. The trisection force measuring sensor of claim 5, wherein:
the Wheatstone full-bridge circuit structure formed by the strain gauges for measuring the horizontal radial stress of the wheel is as follows:
the first bridge arm is formed by sequentially connecting a first strain gage R1 and a third strain gage R3 in series;
the second bridge arm is formed by sequentially connecting the second strain gauge R2 and the fourth strain gauge R4 in series;
a third bridge arm is formed by sequentially connecting a fifth strain gage R5 and a seventh strain gage R7 in series;
a fourth bridge arm is formed by sequentially connecting a sixth strain gauge R6 and an eighth strain gauge R8 in series;
one end of a voltage measuring end of the Wheatstone full-bridge circuit for measuring horizontal radial stress of the wheel is connected between the second strain gauge R2 and the third strain gauge R3, and the other end of the voltage measuring end is connected between the seventh strain gauge R7 and the sixth strain gauge R6.
7. A trisection force measuring transducer according to claim 1, wherein:
in the strain gauges, 16 strain gauges for measuring the axial stress of the wheel are respectively arranged on a first strain beam, a second strain beam, a third strain beam and a fourth strain quantity; wherein:
the ninth strain gage R9 and the tenth strain gage R10 are adhered to the circumferential middle position of the first patch surface of the second strain beam;
the eleventh strain gauge R11 and the twelfth strain gauge R12 are adhered to the second patch surface at the middle position in the circumferential direction of the second strain beam;
the thirteenth strain gauge R13 and the fourteenth strain gauge R14 are pasted at the middle position of the first patch surface in the circumferential direction of the first strain beam;
the fifteenth strain gauge R15 and the sixteenth strain gauge R16 are adhered to the middle position of the circumferential second patch surface of the first strain beam;
seventeenth strain gauges R17 and eighteenth strain gauges R18 are adhered to the middle position of the first patch surface in the circumferential direction of the third strain beam;
the nineteenth strain gage R19 and the twentieth strain gage R20 are adhered to the middle position of the circumferential second patch surface of the third strain beam;
the twenty-first strain gauge R21 and the twenty-second strain gauge R22 are adhered to the middle position of the circumferential first patch surface of the fourth strain beam;
and the twenty-third strain gauge R23 and the twenty-fourth strain gauge R24 are adhered to the second patch surface at the middle position in the circumferential direction of the fourth strain beam.
8. The trisection force measuring sensor of claim 7, wherein:
the Wheatstone full-bridge circuit structure formed by the strain gauges for measuring the axial stress of the wheel is as follows:
a ninth strain gage R9, an eleventh strain gage R11, a twenty-first strain gage R21 and a twenty-third strain gage R23 are sequentially connected in series to form a first bridge arm;
a tenth strain gage R10, a twelfth strain gage R12, a twenty-second strain gage R22 and a twenty-fourth strain gage R24 are sequentially connected in series to form a second bridge arm;
a fifth strain gage R15, a thirteenth strain gage R13, a nineteenth strain gage R19 and a seventeenth strain gage R17 are sequentially connected in series to form a third bridge arm;
a fourth bridge arm is formed by sequentially connecting a sixteenth strain gage R16, a fourteenth strain gage R14, a twentieth strain gage R20 and an eighteenth strain gage R18 in series;
one end of a voltage measuring end of the Wheatstone full-bridge circuit for measuring the axial force of the wheel is connected between the twenty-third strain gauge R23 and the tenth strain gauge R10, and the other end of the voltage measuring end is connected between the sixteenth strain gauge R16 and the seventeenth strain gauge R17.
9. A trisection force measuring transducer according to claim 1, wherein:
among the strain gauges, 8 strain gauges for measuring the vertical radial stress of the wheels are respectively arranged on the third strain beam and the fourth strain beam; wherein:
a twenty-fifth strain gage R25 and a twenty-sixth strain gage R26 are pasted in the middle of the first patch surface in the axial direction of the third strain beam;
the twenty-seventh strain gage R27 and the twenty-eighth strain gage R28 are adhered to the middle position of the axial second patch surface of the third strain beam;
a twenty-ninth strain gage R29 and a thirty-eighth strain gage R30 are adhered to the middle position of the first patch surface in the axial direction of the fourth strain beam;
and the thirty-first strain gauge R31 and the thirty-second strain gauge R32 are pasted on the middle position of the axial second patch surface of the fourth strain beam.
10. The trisection force measuring sensor of claim 9, wherein:
the Wheatstone full-bridge circuit structure formed by the strain gauges for measuring the vertical radial stress of the wheel is as follows:
the twenty-sixth strain gage R26 and the twenty-eighth strain gage R28 are sequentially connected in series to form a first bridge arm;
the twenty-fifth strain gauge R25 and the twenty-seventh strain gauge R27 are sequentially connected in series to form a second bridge arm;
a thirty-third strain gage R30 and a thirty-second strain gage R32 are sequentially connected in series to form a third bridge arm;
a twenty-ninth strain gage R29 and a thirty-first strain gage R31 are sequentially connected in series to form a fourth bridge arm;
one end of a voltage measuring end of the Wheatstone full-bridge circuit for measuring vertical and radial forces of the wheel is connected between the twenty-eighth strain gauge R28 and the twenty-fifth strain gauge R25, and the other end of the voltage measuring end is connected between the thirty-second strain gauge R32 and the twenty-ninth strain gauge R29.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113375852A (en) * | 2021-06-22 | 2021-09-10 | 华北水利水电大学 | Mechanical decoupling type six-dimensional force and torque sensor |
| CN114969975A (en) * | 2022-05-30 | 2022-08-30 | 北京理工大学 | Wheel multidimensional force measuring method and system based on hub bolts |
-
2020
- 2020-06-12 CN CN202010532763.6A patent/CN111896164A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113375852A (en) * | 2021-06-22 | 2021-09-10 | 华北水利水电大学 | Mechanical decoupling type six-dimensional force and torque sensor |
| CN114969975A (en) * | 2022-05-30 | 2022-08-30 | 北京理工大学 | Wheel multidimensional force measuring method and system based on hub bolts |
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