KR0173199B1 - Three component power sensor - Google Patents

Abstract

The present invention relates to a three-component force sensor used in the automation of mechanical equipment and advanced machine tools by detecting the load applied in the x-axis and y-axis direction and the load applied in the rotational direction of the z-axis at the same time. An x-axis parallel flat plate formed parallel to the top and bottom in a direction to receive a y-axis load; A y-axis parallel plate unit which is integrally formed at both ends of the x-axis parallel plate unit and parallel to the y-axis direction, and receives an x-axis load; a torsional parallel plate portion formed at right angles to the side surface of the x-axis parallel plate portion and being formed at right angles to the side surface of the y-axis parallel plate portion; Located in the center of the torsion parallel plate portion and the stress transmission unit for receiving and transmitting a multi-axial load from the outside; The x-axis parallel plate portion, the y-axis parallel plate portion and the torsional parallel plate portion deformed by the stress transfer unit is characterized in that it comprises a sensing unit for measuring the stress applied.

Description

3-component force sensor

1 is a perspective view of a three-component force sensor of the present invention.

2 is a view briefly shown to explain the deformation caused by the action of the force in the present invention,

(a) shows the state without force,

(b) shows a state in which the lateral load is applied,

(c) shows a state in which an axial torsional moment is applied,

3 is a view showing the mounting of the sensing unit to the three-component force sensor of the present invention.

* Explanation of symbols for main parts of the drawings

10: x-axis parallel plate 12: the first block

14: 2nd block 20: y-axis parallel plate

22: left block 24: right block

30: torsional parallel plate 32: vertical block

34: horizontal block 40: stress transfer part

50: detector

[Purpose of invention]

[Technical Field of Invention]

The present invention relates to a three-component force sensor, and more particularly, the load applied in the x-axis and the y-axis direction and the moment applied in the rotational direction of the z-axis at the same time to detect the automation of the machine equipment and advanced machine tools A three component force sensor is used.

[Prior art]

With the development of the industry, the importance of accurate force and moment measurement is increasing. Currently, in Korea, only the force acting in the direction in which the force sensor is installed depends on the uniaxial force sensor. However, there is an increasing need to accurately measure forces and moments in various directions due to the automation of machine facilities and advanced machine tools. In addition, the safety of the structure is becoming an important problem according to the trend of the larger size of the structure, the force measurement in each direction is essential for the stress analysis, optimal design, and the like.

In addition, multi-axis force measurements are also needed to detect whether the forces are properly being transmitted to machines and structures that must transmit forces in one direction. For example, by detecting bending moment acting on the rotating axis, the alignment can be checked continuously.Increasing the accuracy of force measurement by detecting the inclination load and bending moment, which are the error factors of the actual load force standard, etc. It can be done.

Therefore, in the related art, because of the necessity for measuring the multi-axis force, as described above, a single-axis force sensor was mounted in various directions, and the combined signals detected by the force sensors in the various directions were measured.

[Problems of the prior art to solve the invention]

In measuring the force in the conventional multi-axis direction as described above, there is a problem that the size of the measuring equipment is increased and the error due to the interaction between the force components to be measured is increased.

The present invention has been invented to meet the above-mentioned demand for force measurement in the multi-axis direction, and to solve the problems occurring in the conventional measurement technology. The object of the present invention is to apply a parallel plate structure to the x-axis and y-axis It is to provide a three-component force sensor that senses the force in the three-axis direction by simultaneously measuring the force applied in the direction and the moment applied in the rotation direction in the z-axis.

[Technical means to solve the conventional problems]

In order to achieve the above object, the present invention, the x-axis parallel plate portion formed in parallel in the x-axis direction to receive the y-axis load; A y-axis parallel plate unit which is integrally formed at both ends of the x-axis parallel plate unit and parallel to the y-axis direction, and receives an x-axis load; a torsional parallel plate portion formed at right angles to the side surface of the x-axis parallel plate portion and being formed at right angles to the side surface of the y-axis parallel plate portion; Located in the center of the torsion parallel plate portion and the stress transmission unit for receiving and transmitting a multi-axial load from the outside; The x-axis parallel plate, the y-axis parallel plate and the torsional parallel plate portion deformed by the stress transfer unit is a three-component force sensor, characterized in that configured to measure the stress applied.

Therefore, the present invention detects the stress from the compressive deformation or the tensile deformation caused by the bending moment when the y-axis load is applied from the stress transfer portion to the x-axis parallel plate portion, while also transmitting the stress to the y-axis parallel plate portion When the x-axis load is applied from the part, the bending moment is generated, and the stress is measured from the deformation caused by this. In addition, when the torsion moment occurs in the stress transfer part, the tensile and compressive deformation occur in the torsional parallel plate part. Detects and outputs simultaneously with the deformation caused by the celebration

[Configuration and Function of Invention]

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention.

1 is a perspective view of the three-component force sensor 1 of the present invention, the x-axis parallel plate portion 10 receives the y-axis load, the y-axis parallel plate portion 20 receives the x-axis load, and receives the torsion moment It consists of a torsional parallel plate portion 30, a stress transfer unit 40 for receiving and transmitting various multi-axial loads, and a sensing unit 50 for detecting stress from deformation caused by various loads.

The x-axis parallel plate portion 10 is formed to be parallel to the upper and lower, which is composed of a first block 12 located on the upper side and a second block 14 formed on the lower side.

In addition, the y-axis parallel plate portion 20 is formed to be parallel to the left and right, which is integral with the left end of the first block 12 and the second block 14 of the x-axis parallel plate portion 10. The left block 22 is formed, and the right block 24 is formed integrally with the right end of the first block 12 and the second block 14 of the x-axis parallel plate portion 10.

The torsional parallel plate part 30 includes a vertical block 32 formed across the first block 12 and the second block 14 of the x-axis parallel plate part 10, and the y-axis parallel plate part 30. It consists of the horizontal block 34 formed across the left block 22 and the right block 24 of (20).

In addition, the angular blocks 12, 14, 22, 24, 32, and 34 of the x-axis parallel plate portion 10, the y-axis parallel plate portion 20, and the torsional parallel plate portion 30 are both sides. The stages are combined with each other to form a fixed end, and both ends are fixed to the supporting portion 25 to the lower side, with a gap between the fixed both ends to be in a free state.

The first block 12 and the second block 14 of the x-axis parallel plate unit 10 and the left block 22 and the right block 24 of the y-axis parallel plate unit 20 are stress transfer. It causes maximum deflection in the parallel plate portions 10 and 20 that are under axial load by the x, y axial load transmitted from the portion 40 and causes elastic deformation due to the bending moment.

In addition, the torsional parallel plate portion 30 has a torsion angle in the torsion direction and causes elastic deformation when the torsional moment is received from the stress transmission unit 40.

As described above, the blocks 12, 14, 22, 24, 32, and 34 of the x-axis parallel plate portion 10, the y-axis parallel plate portion 20, and the torsional parallel plate portion 30 are as described above. ) Is the frame that causes elastic deformation due to stress, which is the most important factor in measuring the applied force.

Therefore, each of the blocks 12, 14, 22, 24, 32, and 34 has an interval from the stressed central portion to cause easy elastic deformation, and the inner spaces 16a and 16b. ) 26a, 26b, 36a, and 36b, but are formed with a predetermined distance from both ends fixed in combination with each other.

In addition, the above-described inner spaces 16a, 16b, 26a, 26b, 36a, and 36b may be formed in the shape of a closed curve and a closed polygon, but in the present embodiment, the + side in the stress direction is most preferable. One square was chosen to form a corner aligned on the and -sides.

When the load is applied in the + direction or the-direction of the x-axis or the y-axis, the internal space causes stress concentration at the edges to maximize elastic deformation.

In addition, the stress transmission part 40 causing the elastic deformation has a rectangular shape which is integrated in the center of the torsional parallel plate part 30 and protrudes upward.

The stress transmission part 40 has a screw hole (n) formed on the upper side and is connected to a predetermined mechanism to the outside to receive the force generated while the mechanism is operating, and the x-axis parallel plate portion 10 and the y-axis parallelism. It serves to deliver to the flat plate portion 20 and the torsion flat plate portion 30.

However, the stress transmission unit 40 is located in the center of the torsional parallel plate unit 30 as described above, the torsional parallel plate unit 30 is the x-axis parallel plate unit 10 and the y-axis parallel plate unit The force applied because it is formed across (20) is transmitted to the x-axis parallel plate portion or the y-axis parallel plate portion through each block of the torsional parallel plate portion 30 according to the direction of the force.

In other words, when the force applied to the stress transmission unit 40 is applied in the y-axis direction is transmitted to the x-axis parallel plate portion 10 through the longitudinal block 32 of the torsion parallel plate portion 30 to cause deformation. , When applied in the x-axis direction is transmitted to the y-axis parallel plate portion 20 through the horizontal block 34 of the torsion parallel plate portion 30 to cause deformation.

As described above, the torsional parallel plate portion 30 not only causes torsional deformation but also serves to transmit side loads.

In addition, the sensing unit 40 measures the stress state by detecting the deformation of the x-axis parallel plate unit 10, the y-axis parallel plate unit 20, and the torsional parallel plate unit 30. There are knowledge, magnetic and elastic modulus, and magnetel type, but the strain gauge formula mainly used for elastic deformation is the most preferable.

In general, the strain gauge equations are used to bond the strain gauge equations to an elastic body that is deformed by force, and form a bridge circuit to convert the force into an electrical signal.

Adhesion of the strain gauge type will be described in detail below.

Reference numeral 2 denotes a cover part, which is intended to protect the present invention.

In addition, the connector 60 formed on one side of the support portion 25 is for transmitting a signal sensed by the detection unit 50, and transmits a signal for detecting the stress applied to the x-axis parallel plate unit 10 The y-axis connector (60b) for transmitting a signal for detecting the stress applied to the x-axis connector (60a) and the y-axis parallel plate portion 20, and the signal for detecting the torsional moment of the torsional parallel plate portion (30) It consists of the z-axis connector 60c.

Figure 2 is a simplified diagram to explain the deformation caused by the transmission of the force acting in the present invention, (a) is a state in which no force is applied, (b) is a lateral celebration The addition shows the state, and (c) shows the state in which the torsional moment in the axial direction is applied.

In the drawing, each block 12, 14, 22, 24, 32, 34 of the x-axis parallel plate portion 10, the y-axis parallel plate portion 20, and the torsional parallel plate portion 30 is shown. It is intended to explain the deformation caused by the axial and torsional moments applied from the x and y axes by separating one component.

Accordingly, the block B is in a state where both ends are fixed as in the blocks 12, 14, 22, 24, 32, and 34, and the block B has a predetermined size from both sides with a predetermined distance from the center. Internal spaces BL1 and BL2 are formed, respectively, and are spaced apart from both fixed ends.

(a) shows a state in which no stress is applied to the block B, and is in a state where there is no deformation.

(b) shows that bending moment acts when deflection is applied to the center of the block B in the x-axis or y-axis direction in the state of (a), causing deflection.

However, as can be seen in the drawing, the surface of the block B is stressed at the corners of the inner spaces BL1 and BL2 due to the concentric gravity applied to the center, causing the largest deformation. By the way, it can be seen that the above-mentioned block (B) receiving congratulation is symmetrical with respect to the vertical axis of each other, the first edge portion (P1) and both ends of the inner space (BL1) (BL2) close to the concentric action point It can be seen that the deformation generated in the second corner portion P2 is also symmetrically generated.

In other words, on the surface in the working direction during the celebration, the first front edge portion P1 close to the action point at each corner portion of the inner space BL1 (BL2) causes compression deformation and the second front edge close to both ends. The part P2 is causing tensile strain. In addition, on the surface opposite to the direction of action, the first rear edge portion P1 'at the center portion causes tensile deformation, and the second rear edge portion P2' close to both ends causes compression deformation.

By the way, the site | part in which the deformation | transformation is in a stable state among each corner part mentioned above corresponds to the edge part P2 (P2 ') of both ends rather than the edge part P1 (P1') of the center part which axing action | action acts on.

And, both end side edge portions (P2) (P2 ') are different from each other in the axial direction. Therefore, by using the strain gauge (G) as a sensing unit on the corner (P2) (P2 ') by using it can detect the deformation due to compression and tension.

In (c), a torsional moment is generated in a predetermined direction about the center, thereby applying a torsional stress to the block (B).

As can be seen in the figure, the torsional moment is generated about the axis Z in the center, and the deformation due to the torsion is maximized at the corner portions formed in the inner spaces BL1 and BL2 at both ends.

However, the block B elastically deforms in the direction of the torsional moment, and the first front edge portion P1 at the center of the left inner space BL1 causes compression deformation and the first rear edge portion P1 '. ) Causes tensile strain, and the first anterior edge portion P1A at the center portion of the right inner space BL2 causes a tensile strain and a second posterior edge portion P1A 'causes compression deformation. That is, when the strain gauge G is attached to the corner portions P1, P1 ', P1A, and P1A', the deformation is measured.

3 is a view for explaining the three-component force sensor of the present invention, showing a state equipped with a sensing unit.

It can be seen from the figure that the x-axis parallel plate portion 10 and y-axis in which the mounting position of the strain gauges according to the stress transmission and the elastic deformation resulting from the above-mentioned reference to FIG. 2 are combined with the block B of FIG. It is applied to the parallel plate portion 20 and the torsional parallel plate portion 30, it will be described in comparison with the second degree.

The x-axis parallel plate portion 10 and the y-axis parallel plate portion 20 that receive the y-axis load and the x-axis load receive the congratulation in the center of each block, so that the concentric direction of FIG. Has the same variation as

Therefore, when Fy is applied during the constellation applied from the y-axis, the first block 12 and the second block 14 of the x-axis parallel plate portion 10 deflect in the axial direction. The two corners P2 compressively deform, and the second corner P2 'of the second block tensilely deforms. Therefore, the strain gauge G1 (G2), which is the sensing unit 50 mounted on the second edge P2 of the first block, is a compression deformation gauge, and is mounted on the second edge P2 'of the second block. Strain gauges G1 'and G2' are tensile strain gages.

In addition, when Fx is applied during the congratulations applied from the x-axis, the left block 22 and the right block 24 of the y-axis parallel plate portion 20 deflect in the axial direction, and the second edge P2 of the right block. ) Is compressively deformed, and the second edge P2 'of the left block is deformed. Therefore, the strain gauge G3 (G4), which is the sensing unit 50 mounted on the second edge P2 of the right block, is an extrusion deformation gauge, and the strain gauge mounted on the second edge P2 'of the left block. (G3 ') (G4') is a tensile strain gage.

When a torsional moment occurs in the central stress transmission part 40 in the counterclockwise direction, the first front edge portion P1 of the left inner space 36a of the longitudinal block 32 is deformed to compression and the right inner space ( The first posterior corner portion P1A 'of 36b) is tensilely deformed.

In addition, the first rear edge portion P1 'of the left inner space 36a of the lateral block 34 is compression-deformed, and the first front edge portion P1A of the right inner space 36b is tensilely strained.

Therefore, the strain gauge G6 mounted on the first front edge portion P1 of the longitudinal block 32 is a compression deformation gauge, and the strain gauge G7 mounted on the first rear edge portion P1A 'is tensioned. It is a strain gage. The strain gauge G8 mounted on the first rear edge portion P1 ′ of the lateral block 34 is a compression deformation gauge, and the strain gauge G9 mounted on the first front edge portion P1A is tensioned. It is a strain gage.

The present invention as described above, the y-axis parallel plate portion detects the stress from the compressive or tensile strain caused by the bending moment occurs when the y-axis load is applied to the x-axis parallel plate portion, while the y-axis parallel plate portion When the x-axis load is applied from the stress transmission part, the bending moment is generated, and the stress is measured from the deformation caused by the stress transmission part. Also, when the torsion moment occurs in the stress transmission part, tensile deformation and compression deformation occur in the torsional parallel plate part. At the same time, it detects and outputs the deformation caused by the above-mentioned celebration.

[Effects of the Invention]

Therefore, the present invention has the effect of sensing the force in the three-axis direction by simultaneously measuring the force applied in the x-axis and y-axis direction and the moment applied in the rotation direction in the z-axis by applying a parallel plate structure.

Since what has been described above is merely a mere example in all respects, the present invention should not be limitedly interpreted based on this. Therefore, modifications and equivalent embodiments that fall within the true spirit and scope of the present invention shall fall within the claims of the present invention.

Claims (10)

an x-axis parallel plate portion 10 formed parallel to the x-axis direction and receiving a y-axis load; A y-axis parallel plate unit 20 integrated with both sides of the x-axis parallel plate unit 10 and formed in parallel in the y-axis direction to receive an x-axis load; a torsional parallel plate portion 30 which is formed across the x-axis parallel plate portions 10 and is formed between the y-axis parallel plate portions 20 and receives a torsion moment; A stress transfer part 40 positioned at the center of the torsion parallel plate part 30 to receive and transmit a multiaxial load from the outside; The three-component is characterized in that it consists of a sensing unit 50 for measuring the stress applied to the x-axis parallel plate portion and the y-axis parallel plate portion and the torsional parallel plate portion deformed by the stress transfer unit 40 Force sensor. According to claim 1, wherein the x-axis parallel plate portion 10 is formed on the upper side and the first block (12) having an inner space (16a, 16b) with a predetermined interval from the center to both sides; The three-part force sensor is formed as a lower side of the first block (12) and has a predetermined interval from the center to both sides and has a second block (14) formed with an inner space (16a, 16b). 3. The three-component force sensor according to claim 2, wherein the internal spaces (16a) (16b) are formed in a quadrangular shape having corners in the stress direction. According to claim 1, wherein the y-axis parallel plate portion 20 is formed on the left side and the left block (22) formed with an inner space (26a, 26b) with a predetermined distance from the center to both sides; The three-component force sensor formed on the right side of the left block (22) is composed of a right block (24) having an inner space (26a) (26b) with a predetermined interval from the center to both sides. The three-component force sensor according to claim 4, wherein the internal spaces (26a) (26b) are formed in a quadrangular shape having corners in the stress direction. According to claim 1, wherein the torsional parallel plate portion 30 has a constant distance from the center formed across the first block 12 and the second block 14 of the x-axis parallel plate portion 10 at both sides. A longitudinal block 32 having internal spaces 36a and 36b; From the center formed across the left block 22 and the right block 24 of the y-axis parallel plate portion 20 to the lateral blocks 34 having a predetermined distance from both sides to form inner spaces 36a and 36b. Three-component force sensor, characterized in that configured. 7. The three-component force sensor according to claim 6, wherein the internal spaces (36a) (36b) are formed in a quadrangular shape having corners in the stress direction. The method of claim 1, wherein the stress transmission portion 40 is integral with the center of the torsion parallel plate portion 30 has a rectangular shape protruding upward, characterized in that the screw hole (n) is formed on the upper side 3-component force sensor. 2. The sensing unit (50) according to claim 1, wherein the sensing unit (50) is a block (12) (14) (22) of the x-axis parallel plate (10) and the y-axis parallel plate (20) and the torsional parallel plate (30). A three-component force sensor characterized in that it is mounted on the corners of the inner spaces (116a) (16b) (26a) (126b) (3a) (36b) formed in the (24) (32) (34). 10. The apparatus of claim 9, wherein the sensing unit (50) comprises: an x-axis connector (60a) for transmitting a signal for detecting a stress applied to the x-axis parallel plate unit (10); a y-axis connector 60b for transmitting a signal for detecting a stress applied to the y-axis parallel plate portion 20; And a three-component force sensor, characterized in that for transmitting the detection signal to the connector (60) consisting of a z-axis connector (60c) for transmitting a signal sensing the torsional parallel plate portion (30).