阅读说明：本技术 一种圆柱式仿生多维力传感器 (Cylinder type bionic multi-dimensional force sensor ) 是由 韩志武 冯美 金星泽 卢秀泉 公言磊 李妍 倪志学 高帅 付强 于 2020-05-15 设计创作，主要内容包括：本发明公开一种圆柱式仿生多维力传感器,涉及力传感器技术领域,包括内轴、套筒、底盖、砂轮筒、多对感知单元和多个应变片,多个感知单元沿内轴的周向均匀分布,各感知单元的上端面和下端面分别贴设有一个应变片,感知单元包括内侧面、外侧面和两个连接侧面,连接侧面上沿高度方向设置有仿生缝组,仿生缝组基于蝎子缝感受器仿生而成,内侧面与内轴相接触,外侧面为圆弧面,且多个感知单元的外侧面形成一个完整圆柱面,套筒下端设置有开口,套筒套设于多个感知单元外部,套筒下端与底盖可拆卸连接,砂轮筒固定套设于套筒外部。本发明中的圆柱式仿生多维力传感器提高了传感器的灵敏度和精度,实现对磨削力的实时监测,体积小且重量轻。(The invention discloses a cylindrical bionic multi-dimensional force sensor, which relates to the technical field of force sensors and comprises an inner shaft, a sleeve, a bottom cover, a grinding wheel cylinder, a plurality of pairs of sensing units and a plurality of strain gauges, wherein the plurality of sensing units are uniformly distributed along the circumferential direction of the inner shaft, the upper end surface and the lower end surface of each sensing unit are respectively adhered with one strain gauge, each sensing unit comprises an inner side surface, an outer side surface and two connecting side surfaces, a bionic seam group is arranged on each connecting side surface along the height direction and is formed by bionics based on a scorpion seam sensor, the inner side surfaces are in contact with the inner shaft, the outer side surfaces are arc surfaces, the outer side surfaces of the plurality of sensing units form a complete cylindrical surface, the lower end of the sleeve is provided with an opening, the sleeve is sleeved outside the plurality of sensing units, the lower end of. The cylindrical bionic multi-dimensional force sensor improves the sensitivity and the precision of the sensor, realizes the real-time monitoring of the grinding force, and has small volume and light weight.)

1. A cylindrical bionic multi-dimensional force sensor is characterized by comprising an inner shaft, a sleeve, a bottom cover, a grinding wheel cylinder, a plurality of pairs of sensing units and a plurality of strain gauges, wherein the sensing units are uniformly distributed along the circumferential direction of the inner shaft, each pair of sensing units are symmetrically arranged, one strain gauge is respectively attached to the upper end surface and the lower end surface of each sensing unit, each sensing unit comprises an inner side surface, an outer side surface and two connecting side surfaces arranged between the inner side surface and the outer side surface, a bionic seam group is arranged on each connecting side surface in the height direction and comprises a plurality of bionic seams, each bionic seam group is formed by bionic based on a scorpion seam receptor, the inner side surface is in contact with the inner shaft, the outer side surface is an arc surface, the outer side surfaces of the sensing units form a complete cylindrical surface, and an opening is formed in the lower end of the sleeve, the sleeve is sleeved outside the sensing units, the outer side face of the sleeve is in contact with the sleeve, the lower end of the sleeve is detachably connected with the bottom cover, and the grinding wheel cylinder is fixedly sleeved outside the sleeve.

2. The cylindrical biomimetic multi-dimensional force sensor according to claim 1, wherein the inner shaft is a regular polygonal shaft, the number of sides of the regular polygonal shaft is the same as the number of the sensing units, and the inner side of one sensing unit is in contact with one side of the regular polygonal shaft.

3. The cylindrical biomimetic multi-dimensional force sensor according to claim 2, wherein the inner shaft is a regular hexagonal shaft, and the number of sensing units is six.

4. The cylindrical bionic multi-dimensional force sensor according to claim 1, wherein the sensing unit comprises a cuboid stand column and a fan-shaped stand column fixed on the outer side of the cuboid stand column, and the sensing unit is symmetrical along a central plane.

5. The cylindrical biomimetic multi-dimensional force sensor according to claim 1, wherein the biomimetic slits are uniform in height and depth.

6. The cylindrical bionic multi-dimensional force sensor according to claim 1, wherein the sleeve comprises a cylinder and a top cover fixed above the cylinder, the outer edge of the top cover extends to the outside of the cylinder, the lower end of the cylinder is connected with the bottom cover, the grinding wheel cylinder is sleeved outside the cylinder, and two ends of the grinding wheel cylinder are limited by the lower end face of the top cover and the upper end face of the bottom cover respectively.

7. The cylindrical biomimetic multi-dimensional force sensor according to claim 1, wherein a connection column is fixed to a lower end of the bottom cover.

8. The cylindrical bionic multi-dimensional force sensor according to claim 7, wherein a through hole is formed in the bottom cover, a hollow channel is formed in the connecting column, the through hole is communicated with the hollow channel, and a connecting line of the strain gauge can penetrate through the through hole and the hollow channel to extend to the outside.

Technical Field

The invention relates to the technical field of force sensors, in particular to a cylindrical bionic multi-dimensional force sensor.

Background

The aircraft engine, as the heart of the aircraft, is one of the most important core components of the aircraft, and as a key component of the engine, the mass of the blade directly determines the performance and the life of the engine. The complex curved surface profile of the blade needs to be measured in the traditional blade finish machining process, the machining efficiency is low, and the existing grinding system is lack of the problem of grinding force monitoring, so that the machining process is not accurate, and the qualification rate of the produced blade needs to be further improved.

Disclosure of Invention

In order to solve the technical problems, the invention provides the cylindrical bionic multi-dimensional force sensor, which improves the sensitivity and the precision of the sensor, realizes the real-time monitoring of the grinding force, and has small volume and light weight.

In order to achieve the purpose, the invention provides the following scheme:

the invention provides a cylindrical bionic multi-dimensional force sensor which comprises an inner shaft, a sleeve, a bottom cover, a grinding wheel cylinder, a plurality of pairs of sensing units and a plurality of strain gauges, wherein the sensing units are uniformly distributed along the circumferential direction of the inner shaft, each pair of sensing units are symmetrically arranged, the upper end surface and the lower end surface of each sensing unit are respectively attached with one strain gauge, each sensing unit comprises an inner side surface, an outer side surface and two connecting side surfaces arranged between the inner side surface and the outer side surface, a bionic seam group is arranged on each connecting side surface along the height direction and comprises a plurality of bionic seams, each bionic seam group is formed by bionic based on a scorpion seam receptor, the inner side surface is in contact with the inner shaft, the outer side surface is an arc surface, the outer side surfaces of the sensing units form a complete cylindrical surface, and the lower end of the sleeve is provided with an opening, the sleeve is sleeved outside the sensing units, the outer side face of the sleeve is in contact with the sleeve, the lower end of the sleeve is detachably connected with the bottom cover, and the grinding wheel cylinder is fixedly sleeved outside the sleeve.

Preferably, the inner shaft is a regular polygon shaft, the number of sides of the regular polygon shaft is the same as the number of the sensing units, and the inner side of one sensing unit is in contact with one side of the regular polygon shaft.

Preferably, the inner shaft is a regular hexagonal shaft, and the sensing units are arranged in six.

Preferably, the perception unit includes the cuboid stand and is fixed in the fan-shaped stand in cuboid stand outside, the perception unit is along central plane symmetry.

Preferably, the heights and depths of the bionic seams are consistent.

Preferably, the sleeve comprises a cylinder and a top cover fixed above the cylinder, the outer edge of the top cover extends to the outside of the cylinder, the lower end of the cylinder is connected with the bottom cover, the grinding wheel cylinder is sleeved outside the cylinder, and two ends of the grinding wheel cylinder are limited by the lower end face of the top cover and the upper end face of the bottom cover respectively.

Preferably, a connection column is fixed at the lower end of the bottom cover.

Preferably, the bottom cover is provided with a through hole, a hollow channel is arranged inside the connecting column, the through hole is communicated with the hollow channel, and the connecting line of the strain gauge can penetrate through the through hole and the hollow channel to extend to the outside.

Compared with the prior art, the invention has the following technical effects:

the cylindrical bionic multi-dimensional force sensor provided by the invention is combined with the principle of a scorpion seam receptor, a sensing unit with a bionic seam group is designed, the sensitivity and the precision of the sensor are improved, the problem that a force sensor for directly measuring the grinding force is lacked in the grinding processing of a complex curved surface is solved, the magnitude of the grinding and polishing force is measured in real time in the finish machining process of the complex curved surface including a blade and the like, and is fed back to an automatic processing system, so that the grinding and polishing force value at the next moment is adjusted, the real-time control of the grinding force is realized, and the efficient and fine processing of the complex curved surface is realized. Meanwhile, the cylindrical bionic multi-dimensional force sensor provided by the invention has the characteristics of small volume and light weight.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic view of the overall structure of a cylindrical bionic multi-dimensional force sensor provided by the invention;

FIG. 2 is an exploded view of a cylindrical bionic multi-dimensional force sensor provided by the present invention;

FIG. 3 is a front view of the inner shaft, sensing unit and strain gage in the present invention;

FIG. 4 is a top view of the inner shaft, sensing unit and strain gage in the present invention;

FIG. 5 is a schematic diagram of a sensing unit according to the present invention;

fig. 6 is a schematic structural view of the sleeve of the present invention.

Description of reference numerals: 1. an inner shaft; 2. a sensing unit; 21. an inner side surface; 22. an outer side surface; 23. a connecting side surface; 24. performing bionic sewing; 3. a strain gauge; 4. a sleeve; 41. a cylinder; 42. a top cover; 5. a bottom cover; 6. a grinding wheel cylinder; 7. connecting columns.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention aims to provide a cylindrical bionic multi-dimensional force sensor, which improves the sensitivity and the precision of the sensor, realizes the real-time monitoring of the grinding force, and has small volume and light weight.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

As shown in fig. 1-2, this embodiment provides a cylindrical bionic multi-dimensional force sensor, which includes an inner shaft 1, a sleeve 4, a bottom cover 5, a grinding wheel cylinder 6, a plurality of pairs of sensing units 2 and a plurality of strain gauges 3, wherein the plurality of sensing units 2 are uniformly distributed along the circumference of the inner shaft 1, each pair of sensing units 2 are symmetrically arranged, the upper end surface and the lower end surface of each sensing unit 2 are respectively attached with one strain gauge 3, each sensing unit 2 includes an inner side surface 21, an outer side surface 22 and two connecting side surfaces 23 arranged between the inner side surface 21 and the outer side surface 22, a bionic seam group is arranged on the connecting side surfaces 23 along the height direction, the bionic seam group includes a plurality of bionic seams 24, the bionic seam group is formed based on a scorpion seam receptor, that is, a certain number of bionic seams 24 are distributed on the connecting side surfaces 23 of the sensing units 2 with reference scorpion seam receptors, the inner side surface 21 is in contact with, and the lateral surface 22 of a plurality of perception units 2 forms a complete cylindrical surface, and contains all points of the inner circle of the sleeve 4, the lower end of the sleeve 4 is provided with an opening, the sleeve 4 is sleeved outside the plurality of perception units 2, the lateral surface 22 is contacted with the sleeve 4, the lower end of the sleeve 4 is detachably connected with the bottom cover 5, and the grinding wheel cylinder 6 is fixedly sleeved outside the sleeve 4.

Specifically, the inner shaft 1 is a regular polygonal shaft, the number of sides of the regular polygonal shaft is the same as the number of sensing units 2, and the inner side 21 of one sensing unit 2 is in contact with one side of the regular polygonal shaft.

As shown in fig. 3 to 4, the inner shaft 1 is a regular hexagonal shaft, and the sensing units 2 are provided in six. Six sensing units 2 are uniformly distributed in the circumferential direction of the inner shaft 1, the strain gauges 3 on each sensing unit 2 work in pairs to output six voltage values, and the three-direction force and the three-direction torque are output through analog-to-digital conversion. The connecting line of the strain gauge 3 is used for being connected with an automatic processing system, so that the grinding and polishing force is measured in real time in the finish machining process of the complex curved surface and is fed back to the automatic processing system.

As shown in FIG. 5, the sensing unit 2 comprises a cuboid column and a fan-shaped column fixed on the outer side of the cuboid column, and the sensing unit 2 is symmetrical along the central plane. The inboard of cuboid stand is the medial surface 21 of perception unit 2, and the outside of fan-shaped stand is the lateral surface 22 of perception unit 2, and two sides of cuboid stand and two sides of fan-shaped stand are connected two connection side 23 that form perception unit 2 respectively, and two connection side 23 set up for the central plane symmetry. Specifically, a transition arc surface is formed at the joint of the rectangular column and the fan-shaped column.

In this embodiment, the biomimetic slits 24 are uniform in height and depth.

As shown in fig. 6, the sleeve 4 includes a cylinder 41 and a top cover 42 fixed above the cylinder 41, an outer edge of the top cover 42 extends to the outside of the cylinder 41, a lower end of the cylinder 41 is connected with the bottom cover 5, the grinding wheel cylinder 6 is sleeved outside the cylinder 41, and two ends of the grinding wheel cylinder 6 are respectively limited by a lower end face of the top cover 42 and an upper end face of the bottom cover 5, so that the position of the grinding wheel cylinder 6 is fixed after installation. The lower end of the cylinder 41 is detachably connected with the bottom cover 5, so that the grinding wheel cylinder 6 can be replaced conveniently, in this embodiment, the lower end of the cylinder 41 is clamped with the bottom cover 5, or the lower end of the cylinder 41 is fixed on the bottom cover 5 through screws. The grinding wheel cylinder 6 is a tool used in grinding, and is a consumable product, and in the present embodiment, it can be replaced by detaching the sleeve 4.

In order to facilitate the installation or the holding of the whole device, a connecting column 7 is fixed at the lower end of the bottom cover 5. Specifically, the junction of the bottom cover 5 and the connecting column 7 forms a transition curved surface.

Specifically, a through hole is formed in the bottom cover 5, a hollow channel is formed in the connecting column 7, the through hole is communicated with the hollow channel, and the connecting line of the strain gauge 3 can penetrate through the through hole and the hollow channel to extend to the outside.

It can be seen that the cylinder type bionic multi-dimensional force sensor provided by the embodiment is combined with the principle of a scorpion seam receptor, the sensing unit 2 with the bionic seam group is designed, the sensitivity and the precision of the sensor are improved, the problem that the force sensor for directly measuring the grinding force is lacked in the grinding processing of the complex curved surface is solved, the grinding and polishing force is measured in real time in the fine machining process of the complex curved surface including the blade and the like, and is fed back to an automatic machining system, and then the grinding and polishing force value at the next moment is adjusted, so that the real-time control of the grinding force is realized, and the efficient and fine machining of the complex curved surface is realized. In summary, the cylindrical bionic multi-dimensional force sensor provided in the embodiment has the characteristics of small volume, light weight and high sensitivity.

The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In summary, this summary should not be construed to limit the present invention.