CN204788747U - Answer variant cheng sanwei force transducer in a small amount - Google Patents

Abstract

The utility model provides an answer variant cheng sanwei force transducer in a small amount. X, Y, the ascending range in Z side are - 1.5N-1.5N-1.5N, 3N-3N respectively. This sensor is " L " type, has three group's through -holes, contains three full -bridge circuit altogether, and every full -bridge circuit comprises four foil gages that have the temperature self compensating, and each electric bridge adopts the power supply of the same voltage, and four resistance of full -bridge circuit paste in through -hole thin wall department uniformly. Three electric bridge corresponds three space force measurement, and the coupling is little within a definite time to measure the dimension, and is insensitive to the moment of torsion of certain range, receives its interference little, and the precision is higher. The utility model discloses structure, measuring principle are simple, and are convenient for make, can reduce cost.

Description

A kind of strain-type small-range three-dimensional force sensor

Technical field

The utility model relates to a kind of sensor, particularly relates to a kind of strain-type small-range three-dimensional force sensor.

Background technology

Multidimensional force measurement technology is applied to the every field of national product widely, and resistance strain type sensor is one of current most widely used sensor.Resistance strain type sensor is made up of elastic sensing element and resistance strain gage.Multi-dimensional force elastic sensing element mainly contains three major types at present: (1) based on the multi-dimension force sensor (2) of rood beam structure based on the various multi-dimension force sensor based on parallel institution of multi-dimension force sensor (3) of tubular construction, but these sensor measurement principle more complicated, manufacture more difficult, range ratio is larger.

Utility model content

In order to solve problem in prior art, the utility model provides a kind of strain-type small-range three-dimensional force sensor, it comprises three sections of girder constructions, every section of beam is provided with a sets of vias, be respectively the first sets of vias, second sets of vias, third through-hole group, first paragraph beam is vertical with second segment beam to be arranged, connected by contiguous block therebetween, the main body of second segment beam and the 3rd section of beam is on same straight line, also connected by contiguous block, second segment beam is vertical with the perforate direction of the through hole of the 3rd section of beam, this sensor also comprises three full-bridge circuits, each electric bridge has four with the foil gauge of temperature self-compensation, each full-bridge circuit is provided with a road signal and exports, each electric bridge adopts identical power voltage supply, the resistance of four foil gauges of each full-bridge circuit is identical, four resistance of full-bridge circuit are evenly arranged on through hole surrounding.

As further improvement of the utility model, often organize through hole and be made up of three round shape holes, the through hole that three round shape holes form a whole.

As further improvement of the utility model, also comprise two through holes for fixed position, the described through hole for fixed position is arranged on described first paragraph beam, and mounting screw, fixes with bearing.

As further improvement of the utility model, be provided with the first square between first paragraph beam and second segment beam, between second segment beam and the 3rd section of beam, be provided with the second square.

The beneficial effects of the utility model are:

The utility model structure, measuring principle are simple, are convenient to manufacture, and cost is low.

The measurement of three electric bridges corresponding three non-coplanar forces separately, the retinoic acid syndrome of three-dimensional force is little, and insensitive to the moment of torsion of certain range, and little by its interference, precision is higher.

Accompanying drawing explanation

Fig. 1 is the utility model sensor construction schematic diagram;

Fig. 2 is the utility model patch location key diagram;

Fig. 3 A, Fig. 3 B, Fig. 3 C are the utility model measuring bridge key diagrams.

Embodiment

Below in conjunction with accompanying drawing, the utility model is described further.

As Fig. 1, this sensor construction has three partial through holes, first group of through hole, 2, second group of through hole 4, the 3rd group of through hole 6, often organizes through hole and is made up of three round shape holes, be convenient to processing.There are two through holes 1 being convenient to screw fixed position.Syndeton first square 3, second square 5, is beneficial to raising integral rigidity.As Fig. 2 and Fig. 3 A, Fig. 3 B, Fig. 3 C, this sensor comprises three full-bridge circuits, and each electric bridge is provided with four high precision foil gauges with temperature self-compensation.Each electric bridge adopts identical power voltage supply, has three road signals and exports.In figure, 7 is force acting on transducer end.

Measuring principle illustrates:

Resistance strain type sensor is made up of elastic sensing element and resistance strain gage, the stressed rear generation distortion of elastic sensing element, and deformation extent is by the size of structure itself and power, direction, application point decision.Full-bridge circuit is made up of foil gauge, and the resistance of foil gauge changes with structural deformation, and the deformation of structure is converted into electric signal by full-bridge circuit, and the measurement by electric signal solves the size of power.(full-bridge circuit output voltage is mV level, needs the process such as amplification, filtering)

Bridge output voltage: $U_0=(\frac{R1}{R1+R2}-\frac{R3}{R3+R4})*U=\frac{R1R4-R2R3}{(R1+R2)(R3+R4)}U---(1-1)$

$U_0=\frac{(R1+\mathrm{\Δ}R1)(R4+\mathrm{\Δ}R4)-(R2+\mathrm{\Δ}R2)(R3+\mathrm{\Δ}R3)}{(R1+\mathrm{\Δ}R1+R2+\mathrm{\Δ}R2)(R3+\mathrm{\Δ}R3+R4+\mathrm{\Δ}R4)}U---(1-2)$

Get R ₁=R ₂=R ₃=R ₄, and Δ R is very small, can ignore

Then $U_0\≈\frac{1}{4}(\frac{{\mathrm{\ΔR}}_1}{R_1}-\frac{{\mathrm{\ΔR}}_2}{R_2}+\frac{{\mathrm{\ΔR}}_3}{R_3}-\frac{{\mathrm{\ΔR}}_4}{R_4})U---(1-3)$

$k=\frac{dR/R}{\mathrm{\ϵ}}---(1-4)$

Namely $U_0=\frac{k}{4}({\mathrm{\ϵ}}_1-{\mathrm{\ϵ}}_2+{\mathrm{\ϵ}}_3-{\mathrm{\ϵ}}_4)U=k\mathrm{\ϵ}U---(1-5)$

Wherein U-bridge voltage;

U ₀-bridge output voltage;

R1, R2, R3, R4-are foil gauge resistance, get identical value;

The sensitivity of k-foil gauge, constant;

Know that electric bridge exports by formula 1-5, relevant with ε, and ε is relevant with the size of elastomeric structure and power, structure is certain and when having linear, ε is directly proportional to certain one-dimensional power, and when only applying a direction power (range maximal value), an output value of electric bridge is obvious, and two other electric bridge exports relatively small, then sensor has from decoupling in this direction.

The three-dimensional force of measurement space small-range, the range in three directions is respectively 1.5N, 1.5N, 3N;

Measure structure retinoic acid syndrome little, have from decoupling;

Structure is simple, and cost is low, dependable performance;

Measuring accuracy is little by the three-dimensional torque influence of certain range; Z-direction height 84mm, the long 45mm of Y-direction, the wide 12mm of X-direction.

Design patch location and Qiao Lu, experiment proves that the small-range power of its structure to three directions all has larger sensitivity.

Analyze its retinoic acid syndrome degree maximal value in theory and be about 1.14%, and the moment of torsion of three the axial 0.03N.m in space is very small on the impact of its measurement result.

The utility model, for measuring the three-dimensional force of small-range, is verified by preliminary experiment at present, and it can the small three-dimensional force of measurement space, as power when insect crawls toward, and the lift of flapping wing bird and thrust etc.Resolution can reach 1mN.

Above content is in conjunction with concrete preferred implementation further detailed description of the utility model, can not assert that concrete enforcement of the present utility model is confined to these explanations.For the utility model person of an ordinary skill in the technical field, without departing from the concept of the premise utility, some simple deduction or replace can also be made, all should be considered as belonging to protection domain of the present utility model.

Claims (4)

1. a strain-type small-range three-dimensional force sensor, it is characterized in that: it comprises three sections of girder constructions, every section of beam is provided with a sets of vias, be respectively the first sets of vias (2), second sets of vias (4), third through-hole group (6), first paragraph beam is vertical with second segment beam to be arranged, connected by contiguous block therebetween, the main body of second segment beam and the 3rd section of beam is on same straight line, also connected by contiguous block, second segment beam is vertical with the perforate direction of the through hole of the 3rd section of beam, this sensor also comprises three full-bridge circuits, each electric bridge has four with the foil gauge of temperature self-compensation, each full-bridge circuit is provided with a road signal and exports, each electric bridge adopts identical power voltage supply, the resistance of four foil gauges of each full-bridge circuit is identical, four resistance of full-bridge circuit are evenly arranged on through hole surrounding.

2. a kind of strain-type small-range three-dimensional force sensor according to claim 1, is characterized in that: often organize through hole and be made up of three round shape holes, the through hole that three round shape holes form a whole.

3. a kind of strain-type small-range three-dimensional force sensor according to claim 1, it is characterized in that: also comprise two through holes for fixed position (1), the described through hole for fixed position (1) is arranged on described first paragraph beam, and mounting screw, fixes with bearing.

4. a kind of strain-type small-range three-dimensional force sensor according to claim 1, is characterized in that: be provided with the first square (3) between first paragraph beam and second segment beam, be provided with the second square (5) between second segment beam and the 3rd section of beam.