CN205909966U - Three -dimensional torque sensor of electromagnetism compensation formula - Google Patents
Three -dimensional torque sensor of electromagnetism compensation formula Download PDFInfo
- Publication number
- CN205909966U CN205909966U CN201620796214.9U CN201620796214U CN205909966U CN 205909966 U CN205909966 U CN 205909966U CN 201620796214 U CN201620796214 U CN 201620796214U CN 205909966 U CN205909966 U CN 205909966U
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- China
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- electric magnet
- group
- sucker
- inner housing
- shell body
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Abstract
The utility model discloses a three -dimensional torque sensor of electromagnetism compensation formula, including measuring platform, sensor, shell body, electro -magnet, sucking disc, base, interior casing, interface, the shell body is fixed to be located on the base, the inside of shell body is equipped with interior casing, the electro -magnet is located on the shell body, the sensor is located the inside of interior casing and with interior casing is connected, the bottom mounting of sensor is located on the base, the sucking disc is located on the interior casing, the interface is established on the outer wall of shell body, measuring platform is located interior casing upper portion and with interior casing is connected. The utility model discloses a device can show the range that increases the torque sensor under the circumstances that keeps three -dimensional torque sensor sensitivity not reduce, mode that can be through electromagnetism compensation is with a little range, but the high three -dimensional torque sensor of sensitivity becomes a sensor that has both sensitivity and wide range, and the overall structure compactness.
Description
Technical field
This utility model belongs to sensor testing techniques field, is related to a kind of three-dimensional moment sensing of large range high precision
Device.
Background technology
In engineering technology, usually directly acting on device, simultaneously can according to certain rules by measured be converted into of the same race
Or the device of other kind of value output is referred to as sensor.Develop rapidly with scientific and technical, sensor technology has become high-new
One of core technology of science and technology, in requirement more and more highers to sensor for the field such as measurement, control and information technologys, but sensing
The range of device and sensitivity are conflicting all the time, range then sensitivity step-down greatly, and the little then sensitivity of range is high.
Utility model content
For the defect of prior art, the purpose of this utility model is to provide a kind of electromagnetic compensation formula three-dimensional moment sensing
Device.
To achieve these goals, the technical solution adopted in the utility model is as follows:
A kind of electromagnetic compensation formula three-dimensional moment sensor, including measuring table, sensor, shell body, electric magnet, sucker,
Base, inner housing, interface, described shell body is fixing to be located on described base, and the inside of described shell body is provided with described inner housing,
Described electric magnet is located on described shell body, and described sensor is located at the inside of described inner housing and is carried out even with described inner housing
Connect, the bottom of described sensor is fixing to be located on described base, and described sucker is located on described inner housing, and described interface is located at institute
State on the outer wall of shell body, described measuring table is located at described inner housing top and is attached with described inner housing.
Described electric magnet includes first group of electric magnet, second group of electric magnet, the 3rd group of electric magnet, the 4th group of electric magnet, institute
State first group of electric magnet, second group of electric magnet, the 3rd group of electric magnet, the 4th group of electric magnet are each passed through described four faces of shell body
Set electric magnet installing hole, and described first group of electric magnet, second group of electric magnet, the 3rd group of electric magnet, the 4th group of electromagnetism
Electric magnet installing hole set by described four faces of shell body for the part of ferrum clamps.
Described sucker includes first group of sucker, second group of sucker, the 3rd group of sucker, the 4th group of sucker, described first group of suction
Disk, second group of sucker, the 3rd group of sucker, the 4th group of sucker are located at the sucker installing hole set by described four faces of inner housing respectively
In.
Described sucker includes a round base and is located at boss on round base, and described boss is embedded in inner housing four
In sucker installing hole set by individual face.
Described sucker is fixed on inner housing by way of gluing.
Described inner housing is by all around four hollow structures that face surrounds, and has the portion of extension above described inner housing
Separation structure, when described part-structure is provided with for connecting inner housing with dowel hole during sensor positioning, inner housing installation
Some first screws used, some second screws for connecting measuring table and inner housing, described first screw and described
Second screw is along the circumferential direction uniform in described part-structure, and described four faces of inner housing are provided with several sucker installing holes,
One face of described inner housing is provided with the first cable-through hole for the wire through sensor.
Described shell body is by all around four hollow structures that face surrounds, and four faces is equipped with described for installing
The electric magnet installing hole of electric magnet, described electric magnet installing hole side is provided with thin slice, and each electric magnet installing hole is designed with corresponding to
The electric magnet lock-screw installing hole for installation locking screw, the outer wall of described shell body is provided with interface installing hole, uses
In being arranged on interface on shell body, described four faces of shell body are designed with the second cable-through hole.
Described sensor is three-dimensional moment sensor.
Described measuring table, sensor, shell body, base, inner housing, the material of interface are non-ferromagnetic substance.
Described sucker, the material of described electric magnet are ferrimagnet.
Due to adopting technique scheme, this utility model has advantages below and a beneficial effect:
Device of the present utility model can significantly increase in the case of keeping three-dimensional moment transducer sensitivity not reduce
The range of torque sensor, can be by a small-range by way of electromagnetic compensation, but the high three-dimensional moment of sensitivity senses
Device becomes a sensor having both sensitivity and wide range, and compact overall structure.
Brief description
Fig. 1 is the overall structure diagram of this utility model embodiment electromagnetic compensation formula three-dimensional moment sensor.
Fig. 2 is the biopsy cavity marker devices schematic diagram of this utility model embodiment electromagnetic compensation formula three-dimensional moment sensor.
Fig. 3 is the part-structure exploded perspective view of this utility model embodiment electromagnetic compensation formula three-dimensional moment sensor.
Fig. 4 is the overall structure front view of this utility model embodiment electromagnetic compensation formula three-dimensional moment sensor.
Fig. 5 is how the electric magnet of this utility model embodiment electromagnetic compensation formula three-dimensional moment sensor works generation moment
And the structural representation of the cooperating mode of electric magnet.
Fig. 6 is the three dimensional structure diagram of inner housing.
Fig. 7 is the three dimensional structure diagram of shell body.
Wherein: 1 is measuring table, 2 is sensor, 3 is shell body, 4 is electric magnet, 5 is sucker, 6 is base, 7 is interior
Housing, 8 be interface, 41 be first group of electric magnet, 42 be second group of electric magnet, 43 be the 3rd group of electric magnet, 44 be the 4th group of electricity
Magnet, 51 be first group of sucker, 52 be second group of sucker, 53 be the 3rd group of sucker, 54 be the 4th group of sucker, 411 be first group
First electric magnet, 412 be first group of second electric magnet, 413 be first group of the 3rd electric magnet, 414 be first group the 4th
Individual electric magnet, 421 be second group of first electric magnet, 422 be second group of second electric magnet, 521 be second group first suction
Disk, 522 be second group of second sucker, 431 be the 3rd group of first electric magnet, 432 be the 3rd group of second electric magnet, 433
For the 3rd group of the 3rd electric magnet, 434 be the 3rd group of the 4th electric magnet, 441 be the 4th group of first electric magnet, 442 be the
Four groups of second electric magnet, 71 be dowel hole, 72 be the first screw, 73 be sucker installing hole, 74 be the first cable-through hole, 75 be
Second screw, 31 be electric magnet installing hole, 32 be thin slice, 33 be electric magnet lock-screw installing hole, 34 be interface installing hole, 35
For the second cable-through hole.
Specific embodiment
Illustrated embodiment is described in further detail to this utility model below in conjunction with the accompanying drawings.
Embodiment 1
A kind of electromagnetic compensation formula three-dimensional moment sensor, including measuring table 1, sensor 2, shell body 3, electric magnet 4, inhales
Disk 5, base 6, inner housing 7, interface 8, described shell body 3 is fixing to be located on described base 6, and the inside of described shell body 3 is provided with
Described inner housing 7, described electric magnet 4 be located at described shell body 3 on, described sensor 2 be located at described inner housing 7 inside and with
Described inner housing 7 is attached, and the bottom of described sensor 2 is fixing to be located on described base 6, and described sucker 5 is located at described interior
On housing 7, described interface 8 is located on the outer wall of described shell body 3, described measuring table 1 be located at described inner housing 7 top and with
Described inner housing 7 is attached.
Described electric magnet 4 includes 41, second group of electric magnet 42 of first group of electric magnet, the 3rd group of electric magnet 43, the 4th group of electricity
Magnet 44, described 41, second group of electric magnet 42 of first group of electric magnet, the 3rd group of electric magnet 43, the 4th group of electric magnet 44 are worn respectively
Cross the electric magnet installing hole 31 set by described 3 four faces of shell body, and 41, second group of electric magnet of described first group of electric magnet
42nd, electric magnet installing hole 31 set by described 3 four faces of shell body for the part of the 3rd group of electric magnet 43, the 4th group of electric magnet 44
Clamping.
Described sucker 5 includes 51, second group of sucker 52 of first group of sucker, the 3rd group of sucker 53, the 4th group of sucker 54, described
51, second group of sucker 52 of first group of sucker, the 3rd group of sucker 53, the 4th group of sucker 54 are located at described 7 four faces of inner housing respectively
In set sucker installing hole 73.
Described sucker 5 includes a round base and is located at boss on round base, and described boss is embedded in inner housing 7
In sucker installing hole 73 set by four faces, described sucker 5 is fixed on inner housing 7 by way of gluing.
(structure is as shown in fig. 6, Fig. 6 is the three dimensional structure diagram of inner housing to described inner housing 7.) it is by all around four
The hollow structure that individual face surrounds, has the part-structure of extension above described inner housing 7, described part-structure is provided with for even
Connect inner housing 7 some first screws 72 used when installing with the dowel hole 71 during sensor 2 positioning, inner housing 7, be used for even
Connect some second screws 75 of measuring table 1 and inner housing 7, described first screw 72 and described second screw 75 are in described part
Structure is along the circumferential direction uniform, and described 7 four faces of inner housing are provided with several sucker installing holes 73, and the one of described inner housing 7
Individual face is provided with the first cable-through hole 74 for the wire through sensor 2.
(structure is as shown in fig. 7, Fig. 7 is the three dimensional structure diagram of shell body to described shell body 3.) it is by all around four
The hollow structure that individual face surrounds, four faces are equipped with the electric magnet installing hole 31 for installing described electric magnet 4, described electromagnetism
Ferrum installing hole 31 side is provided with thin slice 32, and each electric magnet installing hole 31 is designed with the corresponding electromagnetism for installation locking screw
Ferrum lock-screw installing hole 33, the outer wall of described shell body 3 is provided with interface installing hole 34, for interface 8 is arranged on shell
On body 3, described interface installing hole 34 position no particular/special requirement, described 3 four faces of shell body are designed with the second cable-through hole 35, use
In the wire through electric magnet in respective wall.During installation, electric magnet 4 is filled in electric magnet installing hole 31, now electric magnet 4
Position determines, tightens lock-screw, thin slice 32 is pressed on electric magnet 4 lock-screw, thus holding electric magnet 4 tightly, electric magnet 4
Can be fixed on shell body 3 by friction.During as electric magnet 4 dismantled, only screw need to be moved in reverse direction
?.
Described sensor 2 is three-dimensional moment sensor.
In order to improve the accuracy by electric magnet exerted forces square, described measuring table 1, sensor 2, shell body 3, bottom
Seat 6, inner housing 7, the material of interface 8 are non-ferromagnetic substance.
Described sucker 5, the material of described electric magnet 4 are ferrimagnet.
Electromagnetic compensation formula three-dimensional moment sensor construction is as shown in figures 1-4.Fig. 1 is that this utility model embodiment electromagnetism is mended
Repay the overall structure diagram of formula three-dimensional moment sensor, Fig. 2 is that this utility model embodiment electromagnetic compensation formula three-dimensional moment passes
The biopsy cavity marker devices schematic diagram of sensor, Fig. 3 is the part-structure of this utility model embodiment electromagnetic compensation formula three-dimensional moment sensor
Exploded perspective view, Fig. 4 is the overall structure front view of this utility model embodiment electromagnetic compensation formula three-dimensional moment sensor.Gao Ling
Sensitivity three-dimensional moment sensor 2 is arranged on base 6 by screw, and inner housing 7 is passed through with high sensitivity three-dimensional moment sensor 2
Mode connects for screw, inner housing 7 is arranged on three-dimensional moment sensor 2, and the upper surface of inner housing 7 is higher than the upper surface of shell body 3.
Shell body 3 is connected by screw and is arranged on base 6, and measuring table 1 lower surface being arranged on inner housing 7 is higher than shell body
3 upper surface, that is, the lower surface of the upper surface of shell body 3 and measuring table 1 have certain gap, and be arranged on three-dimensional moment
Inner housing 7 in sensing 2 and base 6 leave certain gap, are this utility model electromagnetic compensation formula three-dimensional moment sensor work
As when the deformation that occurs stay position.Measuring table 1 is arranged on inner housing 7 by screw, and it is flat that measured moment passes through measurement
Platform 1 is loaded into high sensitivity three-dimensional moment sensor 2.It is fixing with base 6, for installing electric magnet 4 that shell body 3 passes through screw.
12 electric magnet 4 pass through lock-screw and are pressed on electric magnet 4 processing in the thin slice 32 on shell body 3, will by frictional force
Electric magnet 4 is fixed on shell body 3.Electric magnet 4 passes through shell body 3, has an end face close but does not contact sucker 5, electric magnet 4
Certain gap is left and sucker 5 between.12 suckers 5 are fixed on the corresponding position of inner housing 7 by way of gluing.
There are two sides that first group of electric magnet 41 and the 3rd group of electric magnet are each installed in four sides of shell body 3
43, first group of electric magnet 41 and the 3rd group of electric magnet 43 all have four, and two other side is each provided with second group of electromagnetism
Ferrum 42 and the 4th group of electric magnet 44, second group of electric magnet 42 and the 4th group of electric magnet 44 all have two, and one has 12 electric magnet.
Each electric magnet is arranged on the inner housing position corresponding with electric magnet to should have a sucker 5.Electric magnet can only be to suction
Disk applies suction, can not apply repulsion to sucker.The position that interface 8 opens up does not have special requirement, as long as in shell body 3
Enough positions are had on side.The top edge of a little higher than shell body 3 wanted by measuring table 1, because operationally three-dimensional moment sensing
Device elastomer will occur subtle flow, can lead to measuring table 1 that trickle inclination or displacement occur, therefore shell body 3 can not
Head on measuring table 1.
High sensitivity three-dimensional moment sensor 2 sensitivity is high, rigidity is less, so measurement range is limited.If one larger
Moment be applied directly on high sensitivity three-dimensional moment sensor 2 and can bring it about serious deformation and even destroy.This
Utility model electromagnetic compensation formula three-dimensional moment sensor can produce the moment in opposite direction with moment of face by electric magnet 4, from
And offset the moment of face loading on a sensor, finally make the resultant moment that high sensitivity three-dimensional moment sensing 2 is born be 0,
The moment acting on now by electric magnet 4 on inner housing 7 is the same in opposite direction with moment of face size to be measured.By this
Mode can substantially increase the range of high sensitivity three-dimensional moment sensor 2 and keep its sensitivity constant.
Specifically, as shown in figure 5, Fig. 5 is the electromagnetism of this utility model embodiment electromagnetic compensation formula three-dimensional moment sensor
How ferrum works the structural representation of the cooperating mode producing moment and electric magnet.By 2 in 12 electric magnet
Carry out cooperating and can produce positive x direction, negative x-direction, positive y-direction, negative y-direction, positive z direction, negative z direction six sides altogether
To moment, other directions then can be synthesized by the moment in some directions in above-mentioned six direction, by controlling electromagnetism
Ferrum 4 just can therefore be passed through 12 electric magnet 4 and can be produced any direction and big with the size of control moment to the suction of sucker 5
Little moment.With reference to the coordinate system of Fig. 5 lower right-hand corner, taking the moment in y direction as a example.If second group first electric magnet 421 He
4th group of second electric magnet 442 goes to inhale corresponding sucker with the suction of formed objects simultaneously, due to the direction phase of active force
Instead therefore acting on inner housing is 0 with joint efforts, but because second group of first electric magnet 421 acts on second group first
Suction on sucker 521 and the 4th group of second electric magnet 442 act on suction direction on corresponding sucker parallel but not altogether
Line, by right-hand screw rule it is known that being now applied with the moment of a positive y-direction on inner housing 7.If allowing in the same manner
Two groups of second electric magnet 422 act on suction on second group of second sucker 522 and the 4th group of first electric magnet 441 is made
Suction on corresponding sucker is equal in magnitude, is just applied with the moment of a negative y-direction on inner housing.According to different
Electric magnet combines to be responsible for producing the moment of different directions, electric magnet is divided into three groups, is each responsible for x yawning moment, y direction force
Square, z yawning moment.The electric magnet in responsible x direction is the 3rd group of the 4th electric magnet 434, the 3rd group of second electric magnet 432,
414, first group of second electric magnet 412 of first group of the 4th electric magnet, the electric magnet of responsible y yawning moment is second group first
Individual 421, second group of second electric magnet 422 of electric magnet, the 4th group of first electric magnet 441, the 4th group of second electric magnet
442, the electric magnet of responsible z yawning moment is the 3rd group of first electric magnet 431,433, first group of the 3rd group of the 3rd electric magnet
411, first group of the 3rd electric magnet 413 of first electric magnet.Each group of electric magnet has four, and two of which is responsible for positive direction,
Two responsible negative directions.Specifically, the 3rd group of second electric magnet 432 and first group of the 4th electric magnet 414 are responsible for positive x side
It is responsible for negative x-direction to, the 3rd group of the 4th electric magnet 434 and first group of second electric magnet 412, second group of first electric magnet
421 and the 4th group of second electric magnet 442 be responsible for positive y-direction, second group of second electric magnet 422 and the 4th group of first electromagnetism
Negative y-direction is responsible for by ferrum 441, and the 3rd group of first electric magnet 431 and first group of the 3rd electric magnet 413 are responsible for positive z direction, and the 3rd
Organize the 3rd electric magnet 433 and first group of first electric magnet 411 is responsible for negative z direction.Electric magnet to apply active force on sucker,
Sucker is pasted onto on inner housing thus producing moment on inner housing, and inner housing is fixed on three-dimensional moment sensor and nothing
Other support, and therefore just moment are applied on three-dimensional moment sensor, thus realizing carrying out electromagnetism to three-dimensional moment sensor
Compensate.
The above-mentioned description to embodiment is to be understood that for ease of those skilled in the art and apply this reality
With new.Person skilled in the art obviously easily can make various modifications to these embodiments, and here is said
Bright General Principle is applied in other embodiment without through performing creative labour.Therefore, this utility model is not limited to this
In embodiment, those skilled in the art according to announcement of the present utility model, without departing from changing that this utility model category is made
Entering and change all should be within protection domain of the present utility model.
Claims (10)
1. a kind of electromagnetic compensation formula three-dimensional moment sensor it is characterised in that: include measuring table, sensor, shell body, electromagnetism
Ferrum, sucker, base, inner housing, interface, described shell body is fixing to be located on described base, and the inside of described shell body is provided with institute
State inner housing, described electric magnet is located on described shell body, and described sensor is positioned at the inside of described inner housing and interior with described
Housing is attached, and the bottom of described sensor is fixing to be located on described base, and described sucker is located on described inner housing, described
Interface is located on the outer wall of described shell body, and described measuring table is located at described inner housing top and is carried out even with described inner housing
Connect.
2. electromagnetic compensation formula three-dimensional moment sensor according to claim 1 it is characterised in that: described electric magnet includes
One group of electric magnet, second group of electric magnet, the 3rd group of electric magnet, the 4th group of electric magnet, described first group of electric magnet, second group of electromagnetism
Ferrum, the 3rd group of electric magnet, the 4th group of electric magnet are each passed through the electric magnet installing hole set by described four faces of shell body, and institute
The part stating first group of electric magnet, second group of electric magnet, the 3rd group of electric magnet, the 4th group of electric magnet is by described four faces of shell body
Set electric magnet installing hole clamping.
3. electromagnetic compensation formula three-dimensional moment sensor according to claim 1 it is characterised in that: described sucker includes first
Group sucker, second group of sucker, the 3rd group of sucker, the 4th group of sucker, described first group of sucker, second group of sucker, the 3rd group of sucker,
4th group of sucker is located in the sucker installing hole set by described four faces of inner housing respectively.
4. electromagnetic compensation formula three-dimensional moment sensor according to claim 3 it is characterised in that: described sucker includes one
Round base and be located at boss on round base, described boss is embedded in the sucker installing hole set by four faces of inner housing.
5. electromagnetic compensation formula three-dimensional moment sensor according to claim 1 it is characterised in that: described sucker pass through gluing
Mode be fixed on inner housing.
6. electromagnetic compensation formula three-dimensional moment sensor according to claim 1 it is characterised in that: described inner housing is by front
The hollow structure that four faces in left and right surround afterwards, has the part-structure of extension, described part-structure sets above described inner housing
Have for connecting dowel hole when inner housing is positioned with sensor, inner housing some first screws used when installing, being used for
Connect some second screws of measuring table and inner housing, described first screw and described second screw are on described part-structure edge
Circumferencial direction is uniform, and described four faces of inner housing are provided with several sucker installing holes, and a face of described inner housing is provided with
The first cable-through hole for the wire through sensor.
7. electromagnetic compensation formula three-dimensional moment sensor according to claim 1 it is characterised in that: described shell body is by front
The hollow structure that four faces in left and right surround afterwards, four faces are equipped with the electric magnet installing hole for installing described electric magnet, institute
State electric magnet installing hole side and be provided with thin slice, each electric magnet installing hole is designed with the corresponding electromagnetism for installation locking screw
Ferrum lock-screw installing hole, the outer wall of described shell body is provided with interface installing hole, for interface is arranged on shell body, institute
State and be designed with the second cable-through hole on four faces of shell body.
8. electromagnetic compensation formula three-dimensional moment sensor according to claim 1 it is characterised in that: described sensor be three-dimensional
Torque sensor.
9. electromagnetic compensation formula three-dimensional moment sensor according to claim 1 it is characterised in that: described measuring table, biography
Sensor, shell body, base, inner housing, the material of interface are non-ferromagnetic substance.
10. electromagnetic compensation formula three-dimensional moment sensor according to claim 1 it is characterised in that: described sucker, described electricity
The material of Magnet is ferrimagnet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620796214.9U CN205909966U (en) | 2016-07-27 | 2016-07-27 | Three -dimensional torque sensor of electromagnetism compensation formula |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620796214.9U CN205909966U (en) | 2016-07-27 | 2016-07-27 | Three -dimensional torque sensor of electromagnetism compensation formula |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205909966U true CN205909966U (en) | 2017-01-25 |
Family
ID=57804018
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620796214.9U Expired - Fee Related CN205909966U (en) | 2016-07-27 | 2016-07-27 | Three -dimensional torque sensor of electromagnetism compensation formula |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205909966U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106124115A (en) * | 2016-07-27 | 2016-11-16 | 同济大学 | A kind of electromagnetic compensation formula three-dimensional moment sensor |
-
2016
- 2016-07-27 CN CN201620796214.9U patent/CN205909966U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106124115A (en) * | 2016-07-27 | 2016-11-16 | 同济大学 | A kind of electromagnetic compensation formula three-dimensional moment sensor |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170125 Termination date: 20170727 |
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| CF01 | Termination of patent right due to non-payment of annual fee |