Using piezoelectric six-dimension power/torque sensor of 6 groups of dynamometry sensing units

Using piezoelectric six-dimension power/torque sensor of 6 groups of dynamometry sensing units

  • CN 104,677,543 B
  • Filed: 01/29/2015
  • Issued: 11/29/2019
  • Est. Priority Date: 01/29/2015
  • Status: Active Grant
First Claim
Patent Images

1. using piezoelectric six-dimension power/torque sensor of 6 groups of dynamometry sensing units, including it is internal with mounting disc (91) and outerPortion has the pedestal (9) of output electrode socket (13), the dynamometry sensing unit being mounted on the internal mounting disc (91) of the pedestal (9)(j0), the insulated electro of the two panels up and down pole plate (141,142) of the dynamometry sensing unit (j0) is clamped;

  • It is pressed on an insulated electro pole plate(141) upper cover (10) on connects output electrode on the electrode and pedestal (9) on two panels insulated electro pole plate (141,142) and insertsThe signal lead-out wire (12) of seat (13), for fixing and being dielectrically separated from the insulation filling material (11) of signal lead-out wire (12), InInner seal sleeve (15) connecting the two at the inner hole of upper cover (10) and pedestal (9);

    Wherein, the dynamometry sensing unit (j0)It is made of several bauerite chips, these quartz wafers are evenly distributed on the seat of the three-dimensional right angle on sensor base mounting disc (91)In mark system X, Y plane on circumference of the Z axis by the circle of reference (ck) in its center of circle;

    In the two panels insulated electro pole platePaired electrode on the inside of (141,142) is corresponding with each quartz wafer;

    The quartz wafer (j1~j6) for constituting the dynamometry sensing unit (j0) has six, the insulated electro pole plate (141,142)The paired electrode (d1~d6) of inside has six pairs;

    Have in this six bauerites chip three pieces be Y (0 °

    ) cut type quartz wafer (j1, j3,J5), another three pieces are X (0 °

    ) cut type quartz wafer (j2, j4, j6), and first Y (0 °

    ) cut type quartz wafer (j1) is arranged in describedOn the circumference of circle of reference (ck), the angle that the line of the center wafer point and the three-dimensional cartesian coordinate system origin deviates X-axis isα

    , remaining five bauerite chip are successively alternately uniformly placed on the circumference of the circle of reference (ck) according to cut type difference, so thatAdjacent two panels quartz wafer is 60 °

    to the angle of the three-dimensional cartesian coordinate system origin, and cut type is different, and each dynamometry is sensitive singleThe position of member is not in the reference axis of the three-dimensional cartesian coordinate system;

    It is each in three pieces Y (0 °

    ) cut type quartz wafer (j1, j3, j5)From wafer three-dimensional rectangular coordinate system in, Z axis of the Y-axis with the three-dimensional cartesian coordinate system in the sensor base mounting discIn parallel, X-axis is arranged in the same direction counterclockwise or clockwise along the circumference of the circle of reference (ck);

    In three pieces X (0 °

    ) cut type stoneIn the respective wafer three-dimensional rectangular coordinate system of English chip (j2, j4, j6), X-axis is and in the sensor base mounting discThe Z axis of three-dimensional cartesian coordinate system is parallel, circumference counterclockwise or clockwise in the same direction cloth of the Y-axis along the circle of reference (ck)It sets;

    Six pairs of electrodes (d1~d6) on the inside of the two panels insulated electro pole plate (141,142) up and down constitute six signal output ends(Q1~Q6), and connect respectively by signal lead-out wire (12) with a corresponding output electrode socket (13);

    Obtaining can be by the following method by dynamometry/torque six direction magnitude;

    directly by six signal output ends (Q1~Q6)Output valve multiply with six-dimensional force/torque sensor calibration matrix right side, can be obtained by dynamometry/torque six direction powerThe magnitude of component F x, Fy, Fz and moment components Mx, My, Mz;

    The calibration matrix constructs in the following way;

    first applying the known unit power or power of single different directions for six times respectivelySquare obtains one group of column vector being made of six signal value outputs every time, this six groups of column vectors constitute a six rank square matrixes;

    It pressesA six rank diagonal matrix are provided according to known unit power/torque corresponding to each column of six sides rank matrix, six rank is to angular momentElement on battle array leading diagonal is known unit power/torque for being applied;

    The six rank square matrixes that sensor output value is constituted are askedThe inverse rear right side multiplies six rank diagonal matrix and calibration matrix just can be obtained.

View all claims
    ×
    ×

    Thank you for your feedback

    ×
    ×