阅读说明：本技术 一种机械解耦的测力传感器 (Mechanical decoupling force cell ) 是由 李志伟 李冠豪 乐然 于 2020-11-24 设计创作，主要内容包括：本发明公开了一种机械解耦的测力传感器,包括传感器固定架、力传感器、滑轨装置和连接板,力传感器的端部与传感器固定架相连,力传感器的另一端通过滑轨装置与连接板相连。位于传感器固定架内部的待测物件所产生的力通过传感器固定架分解后,分别由力传感器进行测量。本发明所提供的一种机械解耦的测力传感器,测力传感器灵敏度高,测量范围广。(The invention discloses a mechanical decoupling force transducer, which comprises a transducer fixing frame, a force transducer, a sliding rail device and a connecting plate, wherein the end part of the force transducer is connected with the transducer fixing frame, and the other end of the force transducer is connected with the connecting plate through the sliding rail device. The force generated by the object to be measured positioned in the sensor fixing frame is decomposed by the sensor fixing frame and then is measured by the force sensor. The force transducer with mechanical decoupling provided by the invention has high sensitivity and wide measurement range.)

1. A mechanically decoupled load cell, characterized by: the sensor comprises a sensor fixing frame (1), a force sensor (5), a sliding rail device and a connecting plate (12), wherein the end part of the force sensor (5) is connected with the sensor fixing frame (1), and the other end of the force sensor (5) is connected with the connecting plate (12) through the sliding rail device; the force generated by the object to be measured positioned in the sensor fixing frame (1) is decomposed through the sensor fixing frame (1) and then is measured by the force sensor (5).

2. A mechanically decoupled load cell according to claim 1, wherein: the sensor fixing frame (1) is of a rectangular cylinder structure, a sensor fixing frame hole is formed in the middle of the sensor fixing frame (1), and the cross section of the sensor fixing frame hole is rectangular and is of a through hole structure.

3. A mechanically decoupled load cell according to claim 1, wherein: the connecting plate (12) comprises a connecting plate support and a connecting plate main body which are fixedly connected into a whole, the connecting plate support and the connecting plate main body are vertically connected, the end face of the sensor fixing frame (1) close to the connecting plate (12) is connected with the connecting plate support through a force sensor (5), and the other end face of the sensor fixing frame (1) adjacent to the connecting plate main body is connected with the connecting plate main body through another force sensor (5).

4. A mechanically decoupled load cell according to claim 1, wherein: the end of the force sensor (5) is provided with a first force sensor mounting plate (2), the other end of the force sensor (5) is provided with a second force sensor mounting plate (6), the force sensor (5) is connected with the sensor fixing frame (1) through the first force sensor mounting plate (2), and the force sensor (5) is connected with the sliding rail device through the second force sensor mounting plate (6).

5. A mechanically decoupled load cell according to claim 4, wherein: a first hole of the force sensor mounting plate and a second hole of the force sensor mounting plate are arranged on the force sensor mounting plate (2), a first screw (3) of the force sensor mounting plate is arranged in the first hole of the force sensor mounting plate in a penetrating manner, and the end part of the first screw (3) of the force sensor mounting plate is connected with the sensor fixing frame (1); and a force sensor mounting plate second screw (4) penetrates through the force sensor mounting plate second hole, and the end part of the force sensor mounting plate second screw (4) is connected with a force sensor (5).

6. A mechanically decoupled load cell according to claim 4, wherein: the sliding rail device comprises a sliding block sensor connecting plate (8), a sliding rail screw (9), a guide rail sliding block (10) and a linear guide rail (11), the sliding block sensor connecting plate (8) is connected with the force sensor second mounting plate (6), the screw penetrates through the sliding block sensor connecting plate (8) to be connected with the guide rail sliding block (10), and the bottom of the guide rail sliding block (10) is in sliding connection with the linear guide rail (11); the slide rail screw (9) passes through the linear slide rail (11) and is connected with the connecting plate (12).

7. A mechanically decoupled load cell according to claim 6, wherein: the end part of the force sensor second mounting plate (6) protrudes outwards to form a force sensor second mounting plate protrusion, the end surface of the sliding block sensor connecting plate (8) is recessed inwards to form a sliding block sensor connecting plate groove, and the force sensor second mounting plate protrusion is connected with the sliding block sensor connecting plate groove in a matched mode.

8. A mechanically decoupled load cell according to claim 1, wherein: the convex section of the second mounting plate of the force sensor is trapezoidal.

Technical Field

The invention belongs to the technical field of force detection systems of mechanisms, and particularly relates to a mechanical decoupling force transducer.

Background

In the actual force measurement process, the force vector direction is usually not coaxial with the force vector direction of the sensor, only the moment is compensated, but no force can be applied to the component force formed by bearing the structure, so that high-precision measurement is an independent measuring mechanism designed for one shaft, and the error of the multi-shaft force measurement sensor on the market is large. The general solution is to calibrate the offset by means of software processing through a soft compensation mode, namely, by utilizing the phenomenon that the stress of a sensor in the normal direction is bending moment, and a rod bearing the bending moment is pressed and pulled at the same time. The method cannot objectively reflect the stress condition of the actual workpiece, and is more suitable for calibrating the sensor. One force measuring device is adopted when measuring a small force, and the other force measuring device is adopted when a larger force is adopted. The adopted full-range measurement method has the advantages that the relative error is extremely large in a small force measurement range, small force is difficult to measure, and when the small force is measured, the numerical error is large or the change of the small force is difficult to measure. The force value can be accurately measured based on a mechanical decoupling scheme, and the measurement error basically does not change along with the change of the force. The in-situ measurement adopts an orthogonal force measurement scheme, and force decoupling is guaranteed to be completed according to the force measurement precision. The problem of high accuracy dynamometry is solved.

Disclosure of Invention

The invention aims to solve the problems and provides a mechanical decoupling force transducer with small measurement force error and high sensitivity.

In order to solve the technical problems, the technical scheme of the invention is as follows: a force transducer with mechanical decoupling comprises a transducer fixing frame, a force transducer, a sliding rail device and a connecting plate, wherein the end part of the force transducer is connected with the transducer fixing frame, and the other end of the force transducer is connected with the connecting plate through the sliding rail device; the force generated by the object to be measured positioned in the sensor fixing frame is decomposed by the sensor fixing frame and then is measured by the force sensor.

Preferably, the sensor fixing frame is of a rectangular cylinder structure, a sensor fixing frame hole is formed in the middle of the sensor fixing frame, and the cross section of the sensor fixing frame hole is rectangular and is of a through hole structure.

Preferably, the connecting plate comprises a connecting plate support and a connecting plate main body which are fixedly connected into a whole, the connecting plate support and the connecting plate main body are vertically connected, the end face of the sensor fixing frame close to the connecting plate is connected with the connecting plate support through a force sensor, and the other end face of the sensor fixing frame adjacent to the connecting plate main body is connected with the connecting plate main body through another force sensor.

Preferably, the end of the force sensor is provided with a first force sensor mounting plate, the other end of the force sensor is provided with a second force sensor mounting plate, the force sensor is connected with the sensor fixing frame through the first force sensor mounting plate, and the force sensor is connected with the sliding rail device through the second force sensor mounting plate.

Preferably, a first hole of the force sensor mounting plate and a second hole of the force sensor mounting plate are arranged on the force sensor mounting plate, a first screw of the force sensor mounting plate penetrates through the first hole of the force sensor mounting plate, and the end part of the first screw of the force sensor mounting plate is connected with the sensor fixing frame; and a second screw of the force sensor mounting plate is arranged in the second hole of the force sensor mounting plate in a penetrating manner, and the end part of the second screw of the force sensor mounting plate is connected with the force sensor.

Preferably, the slide rail device comprises a slide block sensor connecting plate, a slide rail screw, a guide rail slide block and a linear guide rail, the slide block sensor connecting plate is connected with the second mounting plate of the force sensor, the screw penetrates through the slide block sensor connecting plate to be connected with the guide rail slide block, and the bottom of the guide rail slide block is connected with the linear guide rail in a sliding manner; the slide rail screw penetrates through the linear slide rail to be connected with the connecting plate.

Preferably, the end part of the second force sensor mounting plate protrudes outwards to form a second force sensor mounting plate protrusion, the end surface of the slider sensor connecting plate is recessed inwards to form a slider sensor connecting plate groove, and the second force sensor mounting plate protrusion is connected with the slider sensor connecting plate groove in a matched mode.

Preferably, the cross section of the second mounting plate bulge of the force sensor is trapezoidal.

The invention has the beneficial effects that: according to the mechanical decoupling force transducer provided by the invention, the actual calculation and measurement results show that the mechanical decoupling structure has a remarkable effect, the design requirements are met, and the error is small. The invention has high sensitivity and wide measurement range. A solid foundation is provided for ensuring the in-situ measurement accuracy, and the system operating force and the repeated measurement accuracy are superior to design indexes.

Drawings

FIG. 1 is a schematic structural view of a mechanically decoupled load cell of the present invention;

FIG. 2 is a schematic side view of a mechanically decoupled load cell of the present invention;

fig. 3 is a schematic side view of the sensor holder of the present invention.

Description of reference numerals: 1. a sensor mount; 2. a force sensor first mounting plate; 3. a force sensor mounting plate first screw; 4. a force sensor mounting plate second screw; 5. a force sensor; 6. a force sensor second mounting plate; 8. a slider sensor connection plate; 9. a slide rail screw; 10. a guide rail slider; 11. a linear guide rail; 12. a connecting plate; 13. a mouth-shaped frame; 14. and connecting screws.

Detailed Description

The invention is further described with reference to the following figures and specific embodiments:

as shown in fig. 1 and 3, the mechanically decoupled force sensor provided by the present invention includes a sensor fixing frame 1, a force sensor 5, a sliding rail device, and a connecting plate 12, wherein an end of the force sensor 5 is connected to the sensor fixing frame 1, and another end of the force sensor 5 is connected to the connecting plate 12 through the sliding rail device. The force generated by the object to be measured inside the sensor fixing frame 1 is decomposed by the sensor fixing frame 1 and then measured by the force sensor 5.

In this embodiment, the sensor fixing frame 1 is a rectangular cylinder structure, a sensor fixing frame hole is provided in the middle of the sensor fixing frame 1, and the cross section of the sensor fixing frame hole is rectangular and has a through hole structure. The end face of the sensor fixing frame 1 is provided with a mouth-shaped frame 13 and a connecting screw 14, the mouth-shaped frame 13 is of a 'return' shape structure, and the mouth-shaped frame 13 is fixedly connected with the sensor fixing frame 1 through the connecting screw 14. The number of the connecting screws 14 is four, and the connecting screws are uniformly and symmetrically distributed on the mouth-shaped frame 13 in a rectangular shape, so that the mouth-shaped frame 13 is fastened, and the phenomena of falling, loosening and the like cannot occur in the working process.

The connecting plate 12 comprises a connecting plate support and a connecting plate main body which are fixedly connected into a whole, the connecting plate support and the connecting plate main body are vertically connected, the end face of the sensor fixing frame 1 close to the connecting plate 12 is connected with the connecting plate support through the force sensor 5, and the other end face of the sensor fixing frame 1 adjacent to the connecting plate main body is connected with the connecting plate main body through the other force sensor 5. The connecting plate bracket and the connecting plate main body form an L-shaped structure.

The first mounting panel 2 of force sensor is installed to force sensor 5's tip, and force sensor second mounting panel 6 is installed to force sensor 5's the other end, and force sensor 5 links to each other with sensor mount 1 through force sensor first mounting panel 2, and force sensor 5 links to each other with the slide rail device through force sensor second mounting panel 6. The force sensor 5 is a prior art device.

A first hole of the force sensor mounting plate and a second hole of the force sensor mounting plate are arranged on the force sensor mounting plate 2, a first screw 3 of the force sensor mounting plate is arranged in the first hole of the force sensor mounting plate in a penetrating way, and the end part of the first screw 3 of the force sensor mounting plate is connected with the sensor fixing frame 1; and a second screw 4 of the force sensor mounting plate is arranged in a second hole of the force sensor mounting plate in a penetrating manner, and the end part of the second screw 4 of the force sensor mounting plate is connected with a force sensor 5.

The slide rail device comprises a slide block sensor connecting plate 8, a slide rail screw 9, a guide rail slide block 10 and a linear guide rail 11, wherein the slide block sensor connecting plate 8 is connected with the force sensor second mounting plate 6, the screw penetrates through the slide block sensor connecting plate 8 to be connected with the guide rail slide block 10, and the bottom of the guide rail slide block 10 is connected with the linear guide rail 11 in a sliding manner; the slide rail screw 9 passes through the linear slide rail 11 and is connected with the connecting plate 12. In the present embodiment, the rail slider 10 and the linear guide 11 constitute a ball-guide slider.

The end part of the force sensor second mounting plate 6 protrudes outwards to form a force sensor second mounting plate protrusion, the end surface of the sliding block sensor connecting plate 8 is recessed inwards to form a sliding block sensor connecting plate groove, the force sensor second mounting plate protrusion is connected with the sliding block sensor connecting plate groove in a matched mode, and the cross section of the force sensor second mounting plate protrusion is trapezoidal. The force sensor second mounting plate 6 and the slider sensor connecting plate 8 are firmly and reliably connected.

The measurement principle of the mechanically decoupled force sensor is as follows:

the axes of the two installed force sensors 5 are parallel to the X axis and the Y axis respectively, a mechanical decoupling scheme is designed, ball guide rail sliders are installed on two installation surfaces which are orthogonal to the precisely processed L-shaped tool respectively, and the two sensors are installed on the guide rail sliders respectively. In this way, the decoupling of the equidirectional component force is realized through the guide rail and slide block structure, and the error of the decoupling is similar to the friction force of the slide block. Practical application proves that the structure has obvious effect. The disturbance of the force component on the other sensor arranged in the normal direction of the force measuring direction is solved.

The force sensors are only arranged on one set of force measuring tool due to small space, and the structure is shown in figure 1, one ends of the two force sensors 5 are orthogonally fixed below a high-rigidity opening frame, and the other ends of the two force sensors are connected to an L-shaped tool. The guide rail sliding block is in a cuboid shape, and the force sensor 5 is in a cylindrical structure. The contact force is a spherical ball and acts on the inner surface of the sensor fixing frame 1 respectively. The axes of the two force sensors 5 are respectively parallel to the X \ Y axis for accurate force measurement.

Two orthogonal mounting surfaces on the precisely processed connecting plate 12 are respectively provided with a ball guide rail sliding block, and two force sensors 5 are respectively arranged on the guide rail sliding blocks, are vertically distributed and are arranged as an X axis and a Y axis. In this way, the decoupling of the equidirectional component force is realized through the guide rail and slide block structure, and the error of the decoupling is similar to the friction force of the slide block. Practical application proves that the structure has obvious effect. The force can be measured with high precision by the above structure, and a two-dimensional force measuring sensor is formed. The device realizes accurate measurement of measurement errors caused by different axes of the force direction and the force measuring direction by a mechanical decoupling method. Compared with the traditional force cell sensor, the measurement result is more accurate by adopting the connecting plate 12 structure without the sliding block, and the CAE tool is adopted for analysis and evaluation, so that the evaluation result meets the design requirement. The existing software adopted in the embodiment is ANSYS software, and the stress of the bottom surface of the structure of the connecting plate 12 is 6.8574MPa through analysis of the ANSYS software. The bottom surface of the connecting plate 12 is stressed to 0.8401MPa by adopting an orthogonal sliding block structure. The force is completely decoupled and can be applied to a force detection system of the mechanism.

It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Those skilled in the art can make various other specific changes and combinations based on the teachings of the present invention without departing from the spirit of the invention, and these changes and combinations are within the scope of the invention.