CN201242478Y

CN201242478Y - Three-dimensional small range force sensor

Info

Publication number: CN201242478Y
Application number: CNU2008200398485U
Authority: CN
Inventors: 王卫英; 王军; 李伟
Original assignee: Nanjing University of Aeronautics and Astronautics
Current assignee: Nanjing University of Aeronautics and Astronautics
Priority date: 2008-07-04
Filing date: 2008-07-04
Publication date: 2009-05-20
Anticipated expiration: 2018-07-04

Abstract

Disclosed is a three-dimensional small range force sensor, which belongs to the mechanic testing technology and the sensor application technical field. The three-dimensional small range force sensor consists of an elastic body and a fixed base; wherein, Z-directional rectangular through holes (5) and (6) are opened on two outer lateral vertical beams (1) and (2) adjacent to the fixed base; Z-directional rectangular through holes (7) and (8) are opened on a horizontal beam (3) adjacent to a central vertical beam (4); an X-directional rectangular through hole (9) is opened on the central vertical beam (4) adjacent to the horizontal beam (3); four strain gauges in total are adhered to the outer side of the thin wall of the two through holes on the two outer lateral vertical beams; four strain gauges in total are adhered to the outer side of the thin wall of the two through holes on the horizontal beam (3); four strain gauges in total are adhered to the outer side of the thin wall of both ends of the through hole (9) on the central vertical beam (4), and three groups of Wheatstone full electric bridges are formed in total. The range of the three-dimensional small range force sensor in each dimensional is 0 to 5 N and the utility model can be used for testing the palm contact force of the crawling little animal.

Description

Three-D small range force sensor

Technical field

Three-D small range force sensor of the present invention belongs to mechanical test technology and sensor application technical field, relates to toy vola contact force measuring technology.

Background technology

Tree frog have in the tree with vertical wall on very fast, freely, the ability of creeping flexibly, the rule of creeping of absorption, desorption mechanism and the tree frog of further investigation tree frog vola sucker is for other specialized robots of developing bionical sorbing material, bionic wall climbing robot and work under the various complex environments provide theoretical foundation.Zoologize motion simultaneously, animal sole and the contact force of creeping between the surface are one of most important information.Can disclose animal laws of motion under complex environment,, provide the bionical mechanics data of aspects such as motion, gait for designing the robot that can adapt to various operating modes.

2002, Fang Li, Sun Yining, the Wang Lili of Hefei intelligence research institute of the Chinese Academy of Sciences have developed a kind of novel resistance-strain type three-dimensional force sensor, this sensor has highly sensitive, advantages such as it is little to be coupled between dimension, in the athletics and physical training that range is big have been determined to be applied to box, tae kwon do is such, the size and Orientation, the time interval, strike position that can reflect power when the sportsman impacts target accurately and real-time accurately whether, the trainer can carry out sentific training according to these data-guidings sportsman.

2003, the patent No. of Nanjing Aero-Space University's biomimetic features and material protection Research Institute is 200310106299.0 inverted "L" shaped three-dimensional tiny load force-measuring arrays system, be used to measure that macula lutea is stupid, honeybee etc. climbed the three-dimensional little contact force of the biological sole of wall when contacting with surface in contact, and the dynamometry scope is-0.01N-0.01N.

2003, the Xu Yi of University of Science ﹠ Technology, Beijing and Shandong technical college made up MBFMAS (Motion Body 3-D Force-Measuring AnalyzingSystem) in Dai Feng, Song Chunning with 92811-B three-dimensional strength measurement platform, Kistler9861A-5 electron-amplifier, the dynamometry data software analytic system that Switzerland Kistler company produces, can be used for being applicable to the detecting and analysing system of Teaching Sport Biomechanics and scientific research, because buy external product, the overall system cost is higher.

2006, the patent No. of Nanjing Nanjing Aero-Space University biomimetic features and material protection Research Institute is 200610041133.9 L type three-dimensional force sensor, take into account under the situation of rigidity and sensitivity, can measure the following Three-dimension Contact power of 1.5N in real time, coupling is little between dimension, is mainly used in the contact force test of gecko when creeping.

Because obviously stupid greater than macula lutea, the honeybee of tree frog body weight, monopodia palm contact force is about hundreds of milli ox when steadily creeping, and maximum contact force is 3N under the situation that tree frog jumps suddenly in crawling process.Therefore in real time, measure the Three-dimension Contact power that produces when the live body tree frog creeps accurately, take all factors into consideration the dynamometry scope of sensor, factors such as dimension and cost, existing force transducer exists all deficiencies.

Summary of the invention

The invention provides a kind of three-D small range force sensor of respectively tieing up range at 0-5N.Vola contact force in the time of can being used for testing toy and creeping, the X of sole and contact plane when can accurately real-time measurement tree frog creeping, Y, the power of Z direction is to solve the deficiencies in the prior art.

A kind of three-D small range force sensor is characterized in that:

Be made up of elastic body and fixed pedestal, wherein elastic body comprises center vertical beam, two outside vertical beams, and the horizontal beam that connects center vertical beam and two outside vertical beams, and two outside vertical beams link to each other with fixed pedestal; Wherein, near two ends of the close fixed pedestal of outside vertical beam respectively have the rectangular through-hole of Z direction, and two through hole is symmetrical arranged; Wherein, horizontal beam is near near the rectangular through-hole that has the z direction vertical beam axis, center, and two through hole is symmetrical arranged; Wherein, the center vertical beam has the square through hole of directions X near an end of horizontal beam; Resistance strain gage is posted near the pedestal end in the thin-walled outside of two through holes on above-mentioned two outside vertical beams, and totally four foil gauges are formed first group of Hui Sideng full-bridge electric bridge; The thin-walled of two through holes on the above-mentioned horizontal beam outside, near an end of outside vertical beam post resistance strain gage respectively, totally four foil gauges are formed second group of Hui Sideng full-bridge electric bridge; Resistance strain gage is respectively posted in the thin-walled outside in through hole two ends on the vertical beam of above-mentioned center, and totally four foil gauges are formed the 3rd group of Hui Sideng full-bridge electric bridge.

Beneficial effect

The mode that adopts elastic body beam part to open rectangular through-hole in the said structure is carried out the part to elastic body and is weakened, elastic body beam local stress (strain) level is obviously improved, and the integral rigidity of sensor is constant substantially, so just guaranteed that sensor is guaranteeing to have improved sensitivity greatly under the rigidity condition; Because the different directions of rectangular through-hole, the resistance strain gage that is affixed on ad-hoc location are formed corresponding 3 groups of Hui Sideng full-bridge electric bridges, so just make the sensor diverse location only to the power sensitivity of different directions, has only one group of bridge circuit sensitivity when just applying one-dimensional power, other two groups then very insensitive, so just guaranteed that coupling is very little between the sensor dimension.

Three-D small range force sensor of the present invention is simple in structure, and is easy for installation, highly sensitive, and integral rigidity is big, characteristics such as little, the natural frequency height of coupling between dimension, and range is 0-5N, resolution is 1mN.Three-D small range force sensor and signal conditioning circuit, data collecting card, PC and the testing software that writes have so just made up the three-dimensional mechanical test macro.The vertical beam upper surface, center of sensor is stressed position, aspect bionical research, strengthen test area by the vertical beam upper surface organic glass that is rigidly connected, be used to test big tree frog vola contact force, also can measure the contact force of various toys or insect; Also can be used for testing dynamic friction force simultaneously.

Description of drawings

Fig. 1 is the three-D small range force sensor structural front view;

Fig. 2 is a three-D small range force sensor structure left view;

Fig. 3 is a Hui Sideng full bridge measurement circuit;

Fig. 4 is that the mechanical test system constitutes;

Label title among the figure: 1,2 is outside vertical beam, and 3 is horizontal beam, and 4 is the center vertical beam, 5,6,7,8,9 is rectangular through-hole, and 10,11,12,13,14,15,16,17,18,19,20,21 is resistance strain gage, and 22 is fixed pedestal, 23 is screw, 24, stress surface.

Embodiment

As shown in Figure 1 and Figure 2, the one-piece construction of the three-D small range force sensor of the present invention design by The shape elastic body and

The fixed pedestal of shape is formed, and material is duralumin, hard alumin ium alloy LY12.Elastomer structure is to be made up of elastic body beam 1,2,3,4, and outside vertical beam 1 links to each other with fixed pedestal 22 with 2, and horizontal beam 3 links to each other with outside vertical beam 1,2, and horizontal beam 3 centers are connected with 4, four elastic beams of perpendicular center vertical beam and have formed The shape structure.Near outside vertical beam 1 and 2 close fixed pedestals 22 an end symmetry has the rectangular through-hole 5 and 6 of Z direction, be pasted with resistance strain gage in 10,11,12,13 positions, constitute first group of Hui Sideng full bridge measurement circuit, when vertical centre beam 4 tops acted on the power of directions X, first group of Hui Sideng full bridge measurement circuit 10,11,12,13 can detect the size of the power of directions X; Horizontal beam 3 has the square type through hole 7 and 8 of Z direction near near symmetry vertical beam 4 axis, center, be pasted with resistance strain gage in 14,15,16,17 positions, constitute second group of Hui Sideng full bridge measurement circuit, when vertical centre beam 4 tops acted on the power of Y direction, second group of Hui Sideng full bridge measurement circuit 14,15,16,17 can detect the size of the power of Y direction; Center vertical beam 4 has the square type through hole 9 of directions X near an end of horizontal beam 3, be pasted with resistance strain gage in 18,19,20,21 positions, constitute the 3rd group of Hui Sideng full bridge measurement circuit, when vertical centre beam 4 tops acted on the power of Z direction, second group of Hui Sideng full

bridge measurement circuit

18,19,20,21 can detect the size of the power of Z direction; By a series of screws on the fixed pedestal 22 23 elastic body is fixed on the workbench at last.

The change in resistance of the resistance strain gage on the three-D small force transducer is transformed into the output of change in voltage, according to the variation of resistance strain gage tension, pressurized, adopts strain-type bridge circuit shown in Figure 3.R in the circuit ₁, R ₂, R ₃, R ₄Be foil gauge resistance, corresponding relation is R ₁, R ₄With R ₁, R ₃Change opposite.

Claims

1, a kind of three-D small range force sensor is characterized in that:

Be made up of elastic body and fixed pedestal, wherein elastic body comprises center vertical beam (4), two outside vertical beams (1), (2) and connects the center vertical beam and the horizontal beam (3) of two outside vertical beams, and two outside vertical beams link to each other with fixed pedestal;

Wherein, two outside vertical beams (1), near the ends of (2) close fixed pedestal respectively have rectangular through-hole (5), (6) of Z direction, and two through hole is symmetrical arranged;

Wherein, horizontal beam (3) is near the rectangular through-hole (7), (8) that have the Z direction near center vertical beam (4) axis, and two through hole is symmetrical arranged;

Wherein, center vertical beam (4) has the rectangular through-hole (9) of directions X near an end of horizontal beam (3);

Resistance strain gage (10), (11), (12), (13) are posted near the pedestal end in two through holes (5) on above-mentioned two outside vertical beams, the thin-walled outside of (6), and totally four foil gauges are formed first group of Hui Sideng full-bridge electric bridge;

Two through holes (7) on the above-mentioned horizontal beam (3), the thin-walled of (8) outside, near an end of outside vertical beam (1), (2) post resistance strain gage (14), (15), (16), (17) respectively, totally four foil gauges are formed second group of Hui Sideng full-bridge electric bridge;

Resistance strain gage (18), (19), (20), (21) are respectively posted in the thin-walled outside in through hole (9) two ends on the above-mentioned center vertical beam (4), and totally four foil gauges are formed the 3rd group of Hui Sideng full-bridge electric bridge.