CN206074171U - A kind of bushing three-dimensional force sensor - Google Patents
A kind of bushing three-dimensional force sensor Download PDFInfo
- Publication number
- CN206074171U CN206074171U CN201621034990.1U CN201621034990U CN206074171U CN 206074171 U CN206074171 U CN 206074171U CN 201621034990 U CN201621034990 U CN 201621034990U CN 206074171 U CN206074171 U CN 206074171U
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- Prior art keywords
- bushing
- strain gauge
- load measurement
- measurement column
- inner tube
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Abstract
The utility model discloses a kind of bushing three-dimensional force sensor, it is characterised in that：A kind of bushing three-dimensional force sensor, including bushing outer tube, rubber, bushing inner tube, strain gauge and a pair of elastomers for being symmetricly set on bushing inner tube two ends, the bushing inner tube is arranged in the bushing outer tube, the vulcanization of rubber is between the bushing inner tube and bushing outer tube, the bushing inner tube is embedded in the rubber, described elastomer one end is connected with bushing inner tube interference, the other end is bolted, the strain gauge is attached on elastomer, for measuring laterally, the strain that longitudinal direction and axially loaded are produced, wherein bushing outer tube is the beaer in bushing three-dimensional force sensor, active force Jing bushing outer tubes, rubber reaches elastomer to bushing inner tube.The problems such as this utility model overcomes complex structure, R＆D cycle length, high cost, low precision in prior art, with simple structure, the linearity is good, coupling error is little, low cost, it is easy for installation the features such as.
Description
Technical field
This utility model is related to the collection of auto parts loading spectrum and precision instrument e measurement technology, more particularly to automobile chassis rubber
Glue bushing three-dimensional force sensor.
Background technology
Used as damping element important in automobile suspension system, bushing is in vehicle handling stability, comfortableness and NVH
Play the part of important role in energy.However, bushing bears the effect of alternate load in vehicle traveling process for a long time, often occur
Fatigue failure.The loading spectrum for accurately obtaining bushing is the premise for studying its fatigue durability, is obtained frequently with force transducer in engineering
Take part loading spectrum.
Sensor obtains the mode of the loading spectrum of part, has two kinds than more typical：1st, standard transducer is directly embedded into
In design of part；2nd, directly against foil gauge on surveyed part.Two ways haves the shortcomings that certain：Mode 1 needs to change phase
Component structural is closed, certain impact not only can be produced on automobile overall performance, and it is cycle length, relatively costly；Mode 2 tests essence
Degree is not high, it is difficult to meet multi-dimensional force test.When design of part space is sufficient, the standard of being directly embedded into can be typically taken
The mode of sensor obtains the load spectrum signal of part；But the installing space of rubber bushing is narrow and small, and multi-dimensional force survey need to be met
Examination, there is no the sensor for preferably solving bushing three-dimensional force acquisition problems at present both at home and abroad, can only pass through to design special sensing
Device structure, obtains the load spectrum signal of part.
The design key of multi-dimension force sensor is the design of elastomer, the paster of strain gauge and group bridge method.Elastomer
Structure, paster, group bridge scheme and the manufacture factor such as mismachining tolerance so that between each output channel of sensor, there is phase mutual coupling
Close.Coupling output has certain impact to multi-dimension force sensor certainty of measurement and sensitivity etc., it is therefore desirable to decoupled.According to solution
The difference of coupling method, multi-dimension force sensor can be divided into structure decoupling type multi-dimension force sensor and algorithm decoupling type multi-dimensional force sensing
Device.Wherein, structure decoupling refers to that elastomer design and paster by sensor, group bridge method eliminate retinoic acid syndrome, sensor
Output signal be actual loaded signal.Algorithm decoupling refer to couple between the output signal of sensor it is larger, it is impossible to it is and real
Border load is corresponding, it is necessary to decoupling is carried out to output signal by specific algorithm and could obtain real load.In some cases
Being limited by mismachining tolerance causes structure decoupling not thorough, also can decouple the precision for further improving sensor by algorithm.
Utility model content
The purpose of this utility model is to solve bushing three-dimensional force acquisition problems, there is provided a kind of simple structure, the linearity
Good, the bushing three-dimensional force sensor that retinoic acid syndrome is little, sensitivity is high.
In order to reach appeal purpose, this utility model is employed the following technical solutions：
A kind of bushing three-dimensional force sensor, including bushing outer tube, rubber, bushing inner tube, strain gauge and it is symmetricly set on lining
A pair of elastomers at set inner tube two ends, the bushing inner tube are arranged in the bushing outer tube, and the vulcanization of rubber is to the lining
Between set inner tube and bushing outer tube, the bushing inner tube is embedded in the rubber, described elastomer one end and bushing inner tube mistake
It is full of connection, the other end is bolted, and the strain gauge is attached on elastomer, for measuring horizontal, longitudinal direction and axially loaded
The strain of generation, wherein bushing outer tube are the beaers in bushing three-dimensional force sensor, and active force Jing bushing outer tubes, rubber are to lining
Set inner tube reaches elastomer.
Used as a kind of preferred structure, each described elastomer includes hanger, a pair of load measurement columns, disk, foundation, elasticity
The symmetrical structure of body, hanger one end are bolted, and the other end is connected with load measurement column；The cross section of the load measurement column is in
Rectangle, with regard to foundation axis in left and right, it is symmetrical above and below；Foundation is connected with bushing inner tube interference, transfers force to survey by disk
On power post.
Used as a kind of preferred structure, the load measurement column includes upper wall surface, lower wall surface, outside wall surface and internal face, wherein, on
Wall and lower wall surface are two relative walls, and outside wall surface and internal face are two relative walls.
Used as a kind of preferred structure, the strain gauge is attached on the wall of load measurement column, for measuring horizontal, longitudinal direction and axle
To the strain that stress is produced.
Used as a kind of preferred structure, the wall of each load measurement column posts 20 equal strain gauges R1 of initial resistivity value altogether
～R20, being divided into tri- groups of a, b, c is used to detect the electric bridge of three-dimensional force signal Fx, Fy, Fz, a groups and b groups electric bridge by 8 strain gauge structures
Into, c groups electric bridge is made up of 4 strain gauges, wherein：
Strain gauge R1～R8 constitutes a groups electric bridge to be used to detect Fx, strain gauge R1, R2 of a groups electric bridge, R3, R4
It is placed with the homonymy horizontal direction of load measurement column is parallel；Strain gauge R5, R6, R7, R8 load measurement column the parallel patch of homonymy horizontal direction
Put；Strain gauge R9～R16 constitutes b groups electric bridge for detecting Fy, and strain gauge R9, R10 of the b groups electric bridge, R11, R12 are in dynamometry
The homonymy horizontal direction of post is parallel to be placed with；Strain gauge R13, R14, R15, R16 parallel are placed with the homonymy horizontal direction of load measurement column；
Strain gauge R17, R18, R19, R20 constitute c groups electric bridge to be used to detect Fz, strain gauge R17, R18 of the c groups electric bridge, R19, R20
It is placed with the horizontal direction of load measurement column is parallel；
Strain gauge R1, R3, R5, R7 are affixed in the middle part of load measurement column internal face near the position of hanger；Strain gauge R2, R4, R6, R8
It is affixed in the middle part of load measurement column internal face near the position of disk；Strain gauge R9, R11 is affixed in the middle part of load measurement column upper wall surface near hanger
Position；Strain gauge R13, R15 is affixed in the middle part of load measurement column lower wall surface near the position of hanger；Strain gauge R10, R12 is affixed on load measurement column
The middle part of upper wall surface is near disk position；Strain gauge R14, R16 is affixed on the middle part of load measurement column lower wall surface near disk position；Strain
Meter R17, R18 are affixed in the middle part of load measurement column upper wall surface near the position of hanger；Strain gauge R19, R20 is affixed in the middle part of load measurement column lower wall surface
Near the position of hanger.
As a kind of preferred structure, the load measurement column of two elastomers include altogether the first load measurement column, the second load measurement column,
Three load measurement columns, the 4th load measurement column, wherein strain gauge R1, R2, R9, R10, R13, R14 are attached on first load measurement column, institute
State strain gauge R3, R4, R11, R12, R15, R16 to be attached on second load measurement column, strain gauge R7, R8, R18, R20 are attached to
On 3rd load measurement column, strain gauge R5, R6, R17, R19 are attached on the 4th load measurement column.
Used as a kind of preferred structure, tri- groups of electric bridges of described a, b, c respectively constitute full-bridge detection circuit, wherein a groups
Strain gauge R1 of electric bridge is respectively placed on corresponding bridge arm with R2, R3 and R4, R5 and R6, R7 and R8, the strain gauge of b group electric bridges
R9 is respectively placed on corresponding bridge arm with R10, R11 and R12, R13 and R14, R15 and R16, strain gauge R17 of c group electric bridges with
R18, R19 are respectively placed on corresponding bridge arm with R20.
It is of the present utility model to realize principle：
The load measurement column stress of the elastomer of the sensor occurs bending and deformation, and the strain gauge on load measurement column also deforms therewith
Strain is produced, the deformation of strain gauge causes the resistance value of Hui Sidun balanced bridges to change, so that output voltage changes, by building
The calibration coefficient of the Relation acquisition sensor between vertical output voltage and input power (torque).To avoid retinoic acid syndrome, except design
Outside decoupling-structure, also need, using specific paster and group bridge mode, during load measurement column stress, to produce flexural deformation, relative wall's should
Become meter and show drawing, compressive strain, corresponding bridge resistance can also be increased or decreased.
This utility model is had the following advantages and effect relative to prior art：
1st, this utility model designs sensor elastomer on the basis of bushing original structure, coupled with disconnecting
Part installs the mode of sensor additional to be compared, and shortens the construction cycle, reduces cost；It also avoid using direct on parts
The measuring accuracy that the mode of paster causes is not high and is difficult to while meeting the problem of multi-dimensional force test.Additionally, the sensor has
Simple structure, low cost, it is easy for installation the features such as.
2nd, this utility model bound rubber element produces the sensor with breakaway-element elastomer, breaches and traditionally adopts
The limitation of sensor is made with unitary elastomeric, the range of application of sensor is improve from space layout.By to sensing
The performance evaluation of device, breakaway-element elastomer structure have while good reproducibility, the linearity, the degree of coupling and sensitivity is met
Higher motility.
Description of the drawings
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or accompanying drawing to be used is briefly described needed for description of the prior art.
Fig. 1 is bushing sensor three-dimensional force sensor structural representation.
Fig. 2 is bushing sensor three-dimensional force sensor elastomer structure schematic diagram.
Fig. 3 is the paster schematic diagram of strain gauge on bushing sensor three-dimensional force sensor elastomer.
Fig. 4 is the schematic diagram of a group electric bridges in bushing sensor three-dimensional force sensor acquisition of information.
Fig. 5 is the schematic diagram of b group electric bridges in bushing sensor three-dimensional force sensor acquisition of information.
Fig. 6 is the schematic diagram of c group electric bridges in bushing sensor three-dimensional force sensor acquisition of information.
Fig. 7 is bushing sensor three-dimensional force sensor elastomer force analysis figure.
Fig. 8 is bushing sensor three-dimensional force sensor elastomer acquisition of information schematic diagram.
In figure, label is as follows with title：1- elastomers；1-1- hangers；1-2- load measurement columns；1-2-1- the first side force posts；1-2-
2- the second side force posts；The 3rd side force posts of 1-2-3-；The 4th side force posts of 1-2-4-；1-3- disks；1-4- foundation；2- bushing inner tubes；
3- bushing outer tubes；4- rubber.
Specific embodiment
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely describe.
Embodiment
As shown in Figure 1 to Figure 2, a kind of bushing three-dimensional force sensor, including bushing outer tube 3, rubber 4, bushing inner tube 2, should
Become meter and be symmetricly set on a pair of elastomers 1 at bushing inner tube two ends, the bushing inner tube 2 is arranged in the bushing outer tube 3,
To between the bushing inner tube 2 and bushing outer tube 3, the bushing inner tube 2 is embedded in the rubber 4 sulfuration of the rubber 4, institute
State 1 one end of elastomer to be connected with 2 interference of bushing inner tube, the other end is bolted, and the strain gauge is attached on elastomer 1,
For measuring the strain that horizontal, longitudinal direction and axially loaded are produced, wherein bushing outer tube 3 is the stress in bushing three-dimensional force sensor
Body, active force Jing bushings outer tube 3, rubber 4 reach elastomer 1 to bushing inner tube 2.
Each described elastomer 1 includes hanger 1-1, a pair of load measurement column 1-2, disk 1-3, foundation 1-4；Elastomer 1 is in
Bilateral symmetry, hanger 1-1 one end are bolted, and the other end is connected with load measurement column 1-2；The wherein horizontal stroke of load measurement column 1-2
Rectangular in cross-section, with regard to bushing outer tube 3 in left and right, it is symmetrical above and below；Small boss is formed between hanger 1-1 and load measurement column 1-2, to
Reduce the impact that the stress concentration at hanger 1-1 and disk 1-3 is produced；Foundation 1-4 is connected with 2 interference of bushing inner tube, by circle
Disk 1-3 is transferred force on load measurement column 1-2；
Paster schematic diagrams of the Fig. 3 for strain gauge on bushing three-dimensional force sensor load measurement column 1-2, the dynamometry of two elastomers 1
Post 1-2 includes the first load measurement column 1-2-1, the second load measurement column 1-2-2, the 3rd load measurement column 1-2-3, the 4th load measurement column 1-2-4 altogether,
Four load measurement columns post 20 equal strain gauges R1-R20 of initial resistivity value altogether, are divided into tri- groups of a, b, c, wherein the first load measurement column
Strain gauge R1, R2, R9, R10, R13, R14 are posted on 1-2-1；Post on second load measurement column 1-2-2 strain gauge R3, R4, R11,
R12、R15、R16；R7, R8, R18, R20 are posted on 3rd load measurement column 1-2-3；Post on 4th load measurement column 1-2-4 strain gauge R5,
R6、R17、R19.All strain gauges are placed with each along place wall horizontal direction is parallel, wherein：
Strain gauge R1, R3, R5, R7 are affixed in the middle part of load measurement column internal face near the position of hanger；Strain gauge R2, R4, R6, R8
It is affixed in the middle part of load measurement column internal face near the position of disk.
Strain gauge R9, R11 is affixed in the middle part of load measurement column upper wall surface near the position of hanger；Strain gauge R13, R15 is affixed on dynamometry
Near the position of hanger in the middle part of post lower wall surface；Strain gauge R10, R12 is affixed on the middle part of load measurement column upper wall surface near disk position；Should
Become meter R14, R16 the middle part of load measurement column lower wall surface is affixed near disk position.
Strain gauge R17, R18 is affixed in the middle part of load measurement column upper wall surface near the position of hanger；Strain gauge R19, R20 is affixed on dynamometry
Near the position of hanger in the middle part of post lower wall surface.
Fig. 4 to Fig. 6 is the schematic diagram of Strain Meter Set bridge in bushing three-dimensional force sensor acquisition of information.Tri- groups of electric bridges of a, b, c
Full-bridge detection circuit is respectively constituted, wherein strain gauge R1 of a groups electric bridge is respectively placed in phase with R2, R3 and R4, R5 and R6, R7 and R8
It is used for detecting Fx on corresponding bridge arm；Strain gauge R9 of b group electric bridges and R10, R11 and R12, R13 and R14, R15 and R16 difference
Being placed on corresponding bridge arm is used to detect Fy；Strain gauge R17 of c group electric bridges is respectively placed in corresponding with R18, R19 and R20
It is used for detecting Fz on bridge arm.Using group bridge mode, formed 3 passages signal output, respectively Δ UFx, Δ UFy, Δ
UFz.It is specific as follows：
Strain gauge R1, R2, R3, R4, R5, R6, R7, R8 constitute bridge shown on the left of Fig. 6, answer when elastomer stress is produced
During change, strain gauge R1, R2, the change in resistance of R3, R4, R5, R6, R7, R8 are respectively Δ R1, Δ R2, Δ R3, Δ R4, Δ R5, Δ
Strain is converted to the signal of telecommunication by R6, Δ R7, Δ R8, so as to obtain signal delta UFx.
Strain gauge R9, R10, R11, R12, R13, R14, R15, R16 constitute the bridge shown in Fig. 5, when elastomer stress
When producing strain, strain gauge R9, R10, the change in resistance of R11, R12, R13, R14, R15, R16 are respectively Δ R9, Δ R10, Δ
Strain is converted to the signal of telecommunication by R11, Δ R12, Δ R13, Δ R14, Δ R15, Δ R16, so as to obtain signal delta UFy.
Strain gauge R17, R18, R19, R20 constitute the bridge shown in Fig. 6, when elastomer stress produces strain, strain gauge
The change in resistance of R17, R18, R19, R20 is respectively Δ R17, Δ R18, Δ R19, Δ R20, and strain is converted to the signal of telecommunication, from
And obtain signal delta UFz.
After obtaining the output Δ UFx of 3 passages of sensor, Δ UFy, Δ UFz, by the relation of input and output,
It is obtained in that the value of the force signal being loaded on sensor.The present embodiment obtains calibration matrix by following matrix operationss：[U]=
[C] [F], wherein [U] matrix includes voltage signal Δ UFx, Δ UFy, Δ UFz；[F] matrix includes force signal Fx, Fy, Fz, power
Signal Fx refers to the force signal of the X-direction shown in Fig. 7, and signal Fy refers to the Y direction (right-hand rule determination) shown in Fig. 7
Force signal, signal Fz refer to the force signal of the Z-direction shown in Fig. 7；[C] matrix is calibration matrix, from transducer calibration.
Apply specific known force to sensor particular by calibration facility, record the output signal of 3 passages of sensor, according to defeated
Enter and calibration matrix [C] is obtained with the relation for exporting, it is contemplated that the no thoroughness of structure decoupling, in order to further improve sensor
Precision obtains the less calibration matrix of coupling amount [C] by specific decoupling algorithm again.
Fig. 8 is bushing three-dimensional force sensor sensing and processing flow chart.Sensor acquisition is as follows with the step of process：
Start collection, Fx signals take from a group electric bridges in the three-dimensional force information of setting, Fy signals take from b group electric bridges, and Fz signals take from c groups electricity
Bridge, the voltage signal that each bridge is detected is zeroed, amplification, analog filtering, analog digital conversion, digital filtering and output.
Above-described embodiment of the present utility model is only intended to clearly illustrate this utility model example, and is not
Restriction to embodiment of the present utility model.For those of ordinary skill in the field, on the basis of described above
On can also make other changes in different forms.There is no need to be exhaustive to all of embodiment.
All any modification, equivalent and improvement made within spirit of the present utility model and principle etc., should be included in this reality
Within new scope of the claims.
Claims (7)
1. a kind of bushing three-dimensional force sensor, it is characterised in that：Including bushing outer tube, rubber, bushing inner tube, strain gauge and symmetrical
A pair of elastomers at bushing inner tube two ends are arranged on, the bushing inner tube is arranged in the bushing outer tube, the vulcanization of rubber
To between the bushing inner tube and bushing outer tube, the bushing inner tube is embedded in the rubber, described elastomer one end with lining
Set inner tube interference connection, the other end are bolted, and the strain gauge is attached on elastomer, for measure horizontal, longitudinal direction and
The strain that axially loaded is produced, wherein bushing outer tube are the beaers in bushing three-dimensional force sensor, active force Jing bushing outer tubes,
Rubber reaches elastomer to bushing inner tube.
2. bushing three-dimensional force sensor according to claim 1, it is characterised in that：Each described elastomer includes hanging
Ear, a pair of load measurement columns, disk, foundation, the symmetrical structure of elastomer, hanger one end are bolted, the other end with survey
Power post is connected；The cross section of the load measurement column is rectangular, with regard to foundation axis in left and right, it is symmetrical above and below；Foundation and bushing inner tube
Interference connects, and is transferred force on load measurement column by disk.
3. bushing three-dimensional force sensor according to claim 2, it is characterised in that：The load measurement column include upper wall surface, under
Wall, outside wall surface and internal face, wherein, upper wall surface and lower wall surface are two relative walls, and outside wall surface and internal face are two
Relative wall.
4. bushing three-dimensional force sensor according to claim 2, it is characterised in that：The strain gauge is attached to the wall of load measurement column
On face, for measuring the strain that horizontal, longitudinal direction and axially loaded are produced.
5. bushing three-dimensional force sensor according to claim 3, it is characterised in that：The wall of each load measurement column posts 20 altogether
Equal strain gauge R1 of piece initial resistivity value～R20, being divided into tri- groups of a, b, c is used to detect the electricity of three-dimensional force signal Fx, Fy, Fz
Bridge, a groups and b groups electric bridge are made up of 8 strain gauges, and c groups electric bridge is made up of 4 strain gauges, wherein：
Strain gauge R1～R8 constitutes a groups electric bridge is used to detect Fx that strain gauge R1, R2 of a groups electric bridge, R3, R4 to be surveyed
The homonymy horizontal direction of power post is parallel to be placed with；Strain gauge R5, R6, R7, R8 parallel are placed with the homonymy horizontal direction of load measurement column；Should
Becoming meter R9～R16 and b groups electric bridges being constituted for detecting Fy, strain gauge R9, R10 of the b groups electric bridge, R11, R12 are in load measurement column
Homonymy horizontal direction is parallel to be placed with；Strain gauge R13, R14, R15, R16 parallel are placed with the homonymy horizontal direction of load measurement column；Strain
Meter R17, R18, R19, R20 constitute c groups electric bridge is used to detect Fz that strain gauge R17, R18 of the c groups electric bridge, R19, R20 to be surveyed
The horizontal direction of power post is parallel to be placed with；
Strain gauge R1, R3, R5, R7 are affixed in the middle part of load measurement column internal face near the position of hanger；Strain gauge R2, R4, R6, R8 are affixed on
Near the position of disk in the middle part of load measurement column internal face；Strain gauge R9, R11 is affixed in the middle part of load measurement column upper wall surface near the position of hanger
Put；Strain gauge R13, R15 is affixed in the middle part of load measurement column lower wall surface near the position of hanger；Strain gauge R10, R12 is affixed on load measurement column
The middle part of wall is near disk position；Strain gauge R14, R16 is affixed on the middle part of load measurement column lower wall surface near disk position；Strain gauge
R17, R18 are affixed in the middle part of load measurement column upper wall surface near the position of hanger；Strain gauge R19, R20 is affixed in the middle part of load measurement column lower wall surface and leans on
The position of nearly hanger.
6. bushing three-dimensional force sensor according to claim 5, it is characterised in that：The load measurement column of two elastomers includes altogether
Have the first load measurement column, the second load measurement column, the 3rd load measurement column, the 4th load measurement column, wherein strain gauge R1, R2, R9, R10, R13,
R14 is attached on first load measurement column, and strain gauge R3, R4, R11, R12, R15, R16 are attached on second load measurement column,
Strain gauge R7, R8, R18, R20 are attached on the 3rd load measurement column, and strain gauge R5, R6, R17, R19 are attached to described
On four load measurement columns.
7. bushing three-dimensional force sensor according to claim 5, it is characterised in that：Tri- groups of electric bridges of described a, b, c distinguish structure
Into full-bridge detect circuit, wherein strain gauge R1 of a groups electric bridge be respectively placed in R2, R3 and R4, R5 and R6, R7 and R8 it is relative
On the bridge arm answered, strain gauge R9 and R10, R11 and R12, R13 and R14, R15 and the R16 of b group electric bridges are respectively placed in corresponding
On bridge arm, strain gauge R17 of c group electric bridges is respectively placed on corresponding bridge arm with R18, R19 and R20.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621034990.1U CN206074171U (en) | 2016-08-31 | 2016-08-31 | A kind of bushing three-dimensional force sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621034990.1U CN206074171U (en) | 2016-08-31 | 2016-08-31 | A kind of bushing three-dimensional force sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206074171U true CN206074171U (en) | 2017-04-05 |
Family
ID=58438516
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621034990.1U Withdrawn - After Issue CN206074171U (en) | 2016-08-31 | 2016-08-31 | A kind of bushing three-dimensional force sensor |
Country Status (1)
| Country | Link |
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| CN (1) | CN206074171U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106248284A (en) * | 2016-08-31 | 2016-12-21 | 华南理工大学 | A kind of lining three-dimensional force sensor |
| CN106837935A (en) * | 2017-04-11 | 2017-06-13 | 中国航空综合技术研究所 | A kind of hydraulic cylinder side force monitoring system |
-
2016
- 2016-08-31 CN CN201621034990.1U patent/CN206074171U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106248284A (en) * | 2016-08-31 | 2016-12-21 | 华南理工大学 | A kind of lining three-dimensional force sensor |
| CN106837935A (en) * | 2017-04-11 | 2017-06-13 | 中国航空综合技术研究所 | A kind of hydraulic cylinder side force monitoring system |
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