CN-116929623-B - Porous parallel Liang Liuwei force sensor

Abstract

The invention discloses a porous parallel Liang Liuwei force sensor. The six-dimensional force sensor comprises a six-dimensional force sensor, a plurality of connecting terminals, a plurality of strain gauges, an external amplifying circuit and a terminal device, wherein the connecting terminals and the strain gauges of the six-dimensional force sensor are arranged on the surface of a loading beam platform, the external loading device is arranged in the center of the loading beam platform, each connecting terminal is electrically connected with the corresponding strain gauges, and each connecting terminal is sequentially electrically connected with the external amplifying circuit and the terminal device. The six-dimensional force sensor has the advantages of simple structure, convenient patch and high sensitivity, can accurately measure the force of six dimensions, can effectively reduce the coupling generated during the measurement of the multi-dimensional force, and can be applied to the field of the measurement of the multi-dimensional force.

Inventors

• SONG YI
• WANG FANGNAN
• WEN YA
• ZHONG SIHUI
• QIU YE

Assignees

• 浙江工业大学

Dates

Publication Date

20260508

Application Date

20230707

Claims (5)

1. 1. A multi-hole parallel Liang Liuwei force sensor is characterized by comprising a loading beam platform, a plurality of wiring terminals (7, 8, 9, 10, 11, 12) and a plurality of strain gauges, wherein each wiring terminal (7, 8, 9, 10, 11, 12) and each strain gauge are arranged on the surface of the loading beam platform, external loading equipment is arranged at the center of the loading beam platform, each wiring terminal (7, 8, 9, 10, 11, 12) is electrically connected with the corresponding strain gauge, and each wiring terminal (7, 8, 9, 10, 11, 12) is sequentially electrically connected with an external amplifying circuit and terminal equipment; The loading beam platform is formed by integrally forming rectangular beams (1, 2, 3 and 4) and a loading boss (5), wherein the rectangular beams I (1) and the rectangular beams II (2) are arranged in parallel at intervals, the rectangular beams III (3) and the rectangular beams IV (4) are arranged between the rectangular beams I (1) and the rectangular beams II (2) in parallel at intervals, the rectangular beams III (3) and the rectangular beams IV (4) are arranged on two symmetrical sides of a connecting line of the central points of the rectangular beams I (1) and the rectangular beams II (2) and are close to the connecting line of the central points, the loading boss (5) is arranged at the central position between the rectangular beams III (3) and the rectangular beams IV (4), one end of the loading boss (5) is provided with external loading equipment through a central threaded hole (14), and each wiring terminal (7, 8, 9, 10, 11, 12) and each strain gauge are arranged on the surfaces of the rectangular beams I (1), the rectangular beams II (2), the rectangular beams III (3), the rectangular beams IV (4) and the loading boss (5) respectively. With the length direction of a rectangular beam I (1) and a rectangular beam II (2) as the X-axis direction, with the length direction of a rectangular beam III (3) and a rectangular beam IV (4) as the Y-axis direction, with the length direction of a loading boss (5) as the Z-axis direction, round corner rectangular holes (6) along the Z-axis direction are formed in the upper and lower ends of the rectangular beam III (3) and the rectangular beam IV (4), round corner rectangular holes (6) along the X-axis direction are formed in the rectangular beam III (3) and the rectangular beam IV (4) along the beam inwards, round corner rectangular holes (6) along the Z-axis direction are formed in the left and right sides of the rectangular beam I (1) and the rectangular beam II (2), round corner rectangular holes (6) along the Y-axis direction are formed in the rectangular beam inwards of the rectangular beam I (1) and the rectangular beam II (2), strain gauges are respectively arranged on the sides of the round corner rectangular holes (6) along the Z-axis direction of the rectangular beam III (3) near the rectangular beam I (1) and the rectangular beam II (2), strain gauges are respectively arranged on the sides of the round corner rectangular holes (6) along the Z-axis direction near the rectangular beam I (1) and the rectangular beam II (2), the upper surfaces of round corner rectangular holes (6) in the X-axis direction below bosses of a rectangular beam III (3) and a rectangular beam IV (4) are provided with strain gauges, the upper sides of the round corner rectangular holes (6) in the Z-axis direction of the rectangular beam I (1) are respectively provided with strain gauges, the lower sides of the round corner rectangular holes (6) in the Z-axis direction of the rectangular beam II (2) are respectively provided with strain gauges, the left side and the right side of the right end of the rectangular beam I (1) along the lower surface of the round corner rectangular holes (6) in the Y-axis are respectively provided with strain gauges, the right side of the right end of the rectangular beam I (1) along the upper surface of the round corner rectangular holes (6) in the Y-axis is provided with strain gauges, the left side and the right side of the left end of the rectangular beam II (2) along the upper surface of the round corner rectangular holes (6) in the Y-axis is respectively provided with strain gauges, and the right side of the right end of the rectangular beam II (2) along the right side of the right corner rectangular holes (6) in the Y-axis is provided with strain gauges.
2. 2. The multi-hole parallel Liang Liuwei force sensor according to claim 1, wherein the two opposite side surfaces of the rectangular beam I (1) and the rectangular beam II (2) are parallel to each other, the two opposite side surfaces of the rectangular beam III (3) and the rectangular beam IV (4) are parallel to each other, the surfaces of the rectangular beams (1, 2,3 and 4) on the same side are on the same plane, the length direction of the loading boss (5) is perpendicular to the length direction of the rectangular beams (1, 2,3 and 4), the loading boss (5) is connected with the two opposite side surfaces of the rectangular beam III (3) and the rectangular beam IV (4) into a whole, the end surface of one end of the loading boss (5) is located on the same plane as the side surfaces of the rectangular beam III (3) and the rectangular beam IV (4), the end surface of the other end of the loading boss (5) is located outside between the rectangular beam III (3) and the rectangular beam IV (4), and the other end of the loading boss (5) is provided with external loading equipment through a center threaded hole (14).
3. 3. The multi-hole parallel Liang Liuwei force sensor as set forth in claim 1, wherein the sides of two ends of the rectangular beam I (1), the rectangular beam II (2), the rectangular beam III (3) and the rectangular beam IV (4) are provided with symmetrical round rectangular holes (6) along the direction perpendicular to the sides, the two side end faces of the centers of the rectangular beam I (1), the rectangular beam II (2), the rectangular beam III (3) and the rectangular beam IV (4) are provided with symmetrical round rectangular holes (6) along the direction perpendicular to the sides, the axes of the two round rectangular holes (6) of each rectangular beam (1, 2, 3 and 4) are perpendicular to the axes of the two round rectangular holes (6) of the two ends, the two round rectangular holes (6) of the rectangular beam I (1) and the two round rectangular holes (6) of the rectangular beam II (2) are located on two sides of the rectangular beam III (3) and the rectangular beam IV (4), and the two round rectangular holes (6) of the rectangular beam III (3) and the rectangular beam IV (4) are located on two sides of the loading boss (5).
4. 4. The force sensor of claim 1, wherein each eight strain gauges are serially connected to form a Wheatstone full bridge, and each Wheatstone full bridge is electrically connected to a respective connection terminal (7, 8, 9, 10, 11, 12).
5. 5. The method for measuring the multi-hole parallel Liang Liuwei force sensor according to any one of claims 1 to 4, wherein when the six-dimensional force sensor is subjected to six-dimensional force applied by external loading equipment, each Wheatstone full bridge transmits measured voltage values to terminal equipment after passing through connecting terminals (7, 8, 9, 10, 11 and 12) and amplifying circuits in sequence, and the terminal equipment obtains the magnitude of the six-dimensional force according to each voltage value, so that the measurement of the six-dimensional force is realized.

Description

Porous parallel Liang Liuwei force sensor Technical Field The invention relates to a force sensor, in particular to a porous parallel Liang Liuwei force sensor. Background The existing six-dimensional force sensor is high in price, low in precision, complex in structure, easy to fault, large in coupling among various forces, capable of bringing large decoupling work for measurement of six-dimensional force, simple in research structure, small in coupling and high in precision, and is necessary. Disclosure of Invention In order to solve the problems in the background art, the invention provides a sensor for measuring the force of a plurality of holes parallel Liang Liuwei. Six-dimensional force can be effectively measured, and the coupling between the multi-dimensional forces is effectively reduced due to structural design and a Wheatstone bridge connection method. The technical scheme adopted by the invention is as follows: The multi-hole parallel Liang Liuwei force sensor comprises a loading beam platform, a plurality of wiring terminals and a plurality of strain gauges, wherein each wiring terminal and each strain gauge are arranged on the surface of the loading beam platform, external loading equipment is arranged in the center of the loading beam platform, each wiring terminal is electrically connected with the corresponding strain gauges, and each wiring terminal is sequentially and electrically connected with an external amplifying circuit and terminal equipment. The four corners of the loading beam platform are integrally provided with mounting blocks, each mounting block is provided with a threaded hole, the loading beam platform is fixedly mounted through threads of the four mounting blocks, the six-dimensional force sensor generates strain when receiving force, and the six-dimensional force is measured through the strain. The loading beam platform is formed by integrating a rectangular beam and a loading boss, wherein the rectangular beam I and the rectangular beam II are arranged in parallel at intervals, the rectangular beam III and the rectangular beam IV are arranged between the rectangular beam I and the rectangular beam II and are arranged in parallel at intervals, the rectangular beam III and the rectangular beam IV are arranged on two symmetrical sides of a connecting line of central points of the rectangular beam I and the rectangular beam II and are close to the connecting line of the central points, the loading boss is arranged at the central position between the rectangular beam III and the rectangular beam IV, external loading equipment is installed at one end of the loading boss through a central threaded hole, and each wiring terminal and each strain gauge are installed on the surfaces of the rectangular beam I, the rectangular beam II, the rectangular beam III, the rectangular beam IV and the loading boss. The two opposite side surfaces of the rectangular beam I and the rectangular beam II are parallel to each other, the two opposite side surfaces of the rectangular beam III and the rectangular beam IV are parallel to each other, the surfaces of the rectangular beam III and the rectangular beam IV on the same side are on the same plane, the length direction of the loading boss is perpendicular to the length direction of the rectangular beam, the loading boss is connected with the two opposite side surfaces of the rectangular beam III and the rectangular beam IV into a whole, the end surface of one end of the loading boss is positioned on the same plane with the side surfaces of the rectangular beam III and the rectangular beam IV, the end surface of the other end of the loading boss is positioned outside between the rectangular beam III and the rectangular beam IV, and the other end of the loading boss is provided with external loading equipment through a central threaded hole. The two sides of the two ends of the rectangular beam I, the rectangular beam II, the rectangular beam III and the rectangular beam IV are respectively provided with symmetrical round rectangular holes along the direction vertical to the sides, the two side end faces of the centers of the rectangular beam I, the rectangular beam II, the rectangular beam III and the rectangular beam IV are respectively provided with symmetrical round rectangular holes along the direction vertical to the sides, the axes of the two round rectangular holes of each rectangular beam at the center are vertical to the axes of the two round rectangular holes at the two ends, the two round rectangular holes of the rectangular beam I and the rectangular beam II at the center are positioned at the two sides of the rectangular beam III and the rectangular beam IV, and the two round rectangular holes of the rectangular beam III and the rectangular beam IV at the center are positioned at the two sides of the loading boss. Under the stress condition of the six-dimensional force sensor, the round-corner rectangular hole is used for generatin