CN101329208B - Six-dimensional force sensor of integral pre-tightening double-layer top and bottom asymmetry eight-rod parallel connection structure - Google Patents
Six-dimensional force sensor of integral pre-tightening double-layer top and bottom asymmetry eight-rod parallel connection structure Download PDFInfo
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- CN101329208B CN101329208B CN2008100553466A CN200810055346A CN101329208B CN 101329208 B CN101329208 B CN 101329208B CN 2008100553466 A CN2008100553466 A CN 2008100553466A CN 200810055346 A CN200810055346 A CN 200810055346A CN 101329208 B CN101329208 B CN 101329208B
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Abstract
The invention discloses a six-dimensional force sensor with the parallel-connected structure of eight rods that are integrally pre-tightened and symmetrically arranged in an upper layer and a lower layer, which is characterized in that a force measuring platform (1) consists of a chassis and a supporting disk that are fixedly connected, and four ball socket holders (4) are evenly arranged on the upper surface and the lower surface of the chassis of the measuring platform (1); a pre-tightening platform (2) adopts a shell component, and four ball socket holders (4) are evenly arranged on the topinner loop surface of the pre-tightening platform (2); four ball socket holders (4) are evenly arranged on the upper surface of a base (6); a detecting component (3) and the ball socket holders (4) form conehead-typed spherical pairs that are distributed on the upper and lower sides of the chassis of the measuring platform (1), and the detecting component (3) is connected with the pre-tighteningplatform (2), the force measuring platform (1) and the base (6) by pre-tightening bolts (5), pre-tightened and closed. The six-dimensional force sensor has simple structure, simple and convenient measuring principles, high measuring precision, easy formation of precision and series and larger loaded tilting moment, and can be applied in various situations that need six-dimensional force measurement in the fields of robots and aviation, ect.
Description
Technical field
The present invention relates to a kind of force transducer and manufacture and design the field, particularly relate to a kind of integral pre-tightening double-layer symmetrical eight-rod parallel connection structure six-dimension force sensor up and down, can be used for the three-dimensional force component and the moment components of the test space.
Background technology
Sensor is being brought into play important effect in commercial production, national defense construction and science and technology field, and sensor technology is one of three big pillars of modern information technologies.Six-dimension force sensor can perception external force with it and the full detail of moment and become a most important class sensor, can be used for the power that monitoring direction and size constantly change and measure acceleration or inertial force etc.It is widely used in the operations such as accurate assembling, automatic grinding, profile tracking, two hands coordination, zero-g teaching, also has important use to be worth simultaneously in fields such as robot, Aeronautics and Astronautics, machining and automobile.World today developed country for paying attention to, is considered as one of gordian technique that relates to national security, economic development and scientific-technical progress to its development pole, and it is listed among the plan of national science and technology development strategy.
In six-dimension force sensor research, the structural design of force sensitive element is a key core problem wherein, the structure of force sensitive element will influence the factor of most critical such as be coupled between sensitivity, rigidity, dynamic property and the dimension of sensor, determine the quality of sensor performance to a great extent.Some scholars propose and have studied the structure of multiple six-dimension force sensor, and obtain multiple patented technology, as: Chinese patent (ZL93224329.0) discloses a kind of six-dimension force sensor with rood beam structure, Chinese patent (ZL99102421.4) discloses a kind of have sextuple power of elastic hinge and torque sensor, both are all integral structure, has the rigidity height, advantages such as compact conformation, but respectively measuring sensitive part all exists couple of force to a certain degree to close, can't realize full decoupledly, and be difficult to same structure realization from microsensor to large-scale test platform.
Traditional Stewart (Stewart) platform structure six-dimension force sensor is characterized in that sensor is connected with last lower platform by spherical pair by each elastic component to form.When being subjected to sextuple external force to do the time spent, do not consider that its six supporting members only bear pulling force or the pressure along two spherical pair center line connecting directions under the situation of each spherical pair friction and member dead weight, can realize that the sextuple power of unstressed coupling is measured.Can utilize the demarcation transformation matrix to be mapped on the platform one to one, and then obtain the suffered sextuple external force of platform by measuring six axial forces that detection means is suffered during application.Its measuring principle is simple, but has following subject matter: structure is comparatively complicated; 12 spherical pairs need to adjust respectively and pretension, and it is big to adjust workload; Tradition spherical pair contact area is very big, and moment of friction is bigger, easily produces coupling and very difficult decoupling zero between bigger stress coupling and dimension; The tradition spherical pair easily produces the gap, makes that the stressed zero passage of force plate/platform is poor, and when the external force direction that is born changed, the linearity was bad, is easy to generate hysteresis phenomenon etc.The disclosed integral pretightened flat bed type six-dimensional force transducer of Chinese patent (ZL99102526.1), its structure is on traditional stewart platform structure, between the lower platform, pretension branch road in the middle of setting up one, utilize in this pretension branch road tension, lower platform, sensor is carried out integral pre-tightening, while each ball pair of pretension, eliminate the gap, improve the integral rigidity of sensor, yet total is by middle pretension branch road pretension sealing, and required pretightning force is bigger, and pretension props up comparatively complexity of line structure, be difficult to guarantee that it bears the acting force along axis direction, make measuring accuracy be affected.
Summary of the invention
In order to overcome existing six-dimension force sensor above shortcomings, the invention provides a kind of integral pre-tightening double-layer symmetrical eight-rod parallel connection structure six-dimension force sensor up and down, this sensor not only can detect three-dimensional power and moment, has also simultaneously that simple in structure, rigidity is big, calibration is convenient, precision is high, good economy performance and a degree of modularity advantages of higher.
The technical solution adopted for the present invention to solve the technical problems is: this sensor is by base, force plate/platform, the pretension platform, 16 ball and socket bases, eight detection means and pretension bolt are formed, ball and socket base is connected to base by bolt, on force plate/platform and the pretension platform, eight detection means two ends coneheads link to each other with ball-and-socket on the ball and socket base, adopt the ball-and-socket conehead formula spherical pair of unilateral constrain to substitute the spherical pair of traditional double to constraint, detection means is divided into two groups like this, four detection means wherein are distributed in the upside of force plate/platform, four downsides that are distributed in force plate/platform in addition, pretension platform and base carry out integral pre-tightening by the pretension bolt connection to sensor, eliminate the gap of each spherical pair, improve the integral rigidity of sensor.The two ends of detection means are the taper bulb, and force sensing element is equipped with at its middle part, and force sensing element can be selected strain-type or piezoelectric type.
The invention has the beneficial effects as follows: this sensor construction is simple, measuring principle is easy; Cancelled the ball pivot of traditional structure, structure is greatly simplified, and adjusts workload and greatly reduces, and is easy to realize standardization, universalization; The conehead of composition spherical pair and the contact area of ball-and-socket are little, and moment of friction is reduced, and the stress coupling of each elastic component power sensitive part reduces; Adopt integral pre-tightening formula organization plan, do not have the zero passage problem, non-linear and lag error will reduce, and the rigidity of sensor is increased; The force plate/platform of this sensor is distributed with detection means in both sides up and down, can make force plate/platform bear bigger disturbing moment; This firmly beforehand means is simple, reliable, can effectively improve the pretension effect, and then guarantees the measuring accuracy of sensor; Sensor is assembled by resolution element, and cost is low, is convenient to processing and manufacturing, realizes modularization, seriation, can realize with same structure from microsensor to large-scale test platform.
Description of drawings
Fig. 1 is the integral pre-tightening double-layer structural representation of symmetrical eight-rod parallel connection structure six-dimension force sensor up and down;
Fig. 2 is detection means and ball and socket base connection diagram;
Fig. 3 is the structural representation of ball-and-socket conehead formula spherical pair.
In Fig. 1,1. force plate/platform, 2. pretension platform, 3. detection means, 4. ball and socket base, 5. pretension bolt, 6. base.
Embodiment
Fig. 1 is an embodiment disclosed by the invention, and described integral pre-tightening double-layer up and down symmetrical eight-rod parallel connection structure six-dimension force sensor is made up of force plate/platform 1, pretension platform 2, base 6, eight detection means 3,16 ball and socket bases 4, pretension bolts 5.Force plate/platform 1 is connected firmly by the chassis of dead in line and carrying disk and forms, upper and lower surface, the chassis of force plate/platform 1 four ball and socket bases 4 that respectively distribute, and lay respectively on the same circumference; Pretension platform 2 is a housing member, and four ball and socket bases 4 that distribute on its top inner ring surface circumference are evenly equipped with bolt hole on the flange of bottom; Four ball and socket bases 4 of distribution on the same circumference of base 6 upper surfaces, the edge is evenly equipped with bolt hole; Dug ball-and-socket on the ball and socket base 4, be distributed with bolt hole on its flange, and fixed by bolt and force plate/platform 1, pretension platform 2, base 6; Detection means 3 forms conehead formula spherical pair with ball and socket base 4, is distributed in the upper and lower surface on force plate/platform 1 chassis, and all detection means 3 connect with pretension platform 2, force plate/platform 1 and base 6 by pretension bolt 5 and the pretension sealing.
The present invention can be applicable to the field that the sextuple power of multiple needs such as robot, biomechanics, aerospace field is measured.
Claims (2)
1. an integral pre-tightening double-layer symmetrical eight-rod parallel connection structure six-dimension force sensor up and down, the case top of pretension platform (2) has a circular hole, has bolt hole on its bottom flange connector; The carrying disk of force plate/platform (1) stretches out from the circular hole of pretension platform (2), the two ends of detection means (3) are the taper ball head structure, detection means is equipped with force sensing element on (3), it is characterized in that: disk is affixed forms by the chassis of dead in line and carrying for force plate/platform (1), the upper and lower surface, chassis of force plate/platform (1) four ball and socket bases (4) that respectively distribute, and lay respectively at separately on the circumference; Pretension platform (2) is a housing member, and four ball and socket bases (4) that distribute on its top inner ring surface circumference are evenly equipped with bolt hole on the flange of bottom; Distribution four ball and socket bases (4) on the same circumference of base (6) upper surface, the edge is evenly equipped with bolt hole; Detection means (3) forms conehead formula spherical pair with ball and socket base (4), is distributed in the upper and lower surface on force plate/platform (1) chassis, and pretension platform (2) and base (6) carry out integral pre-tightening by pretension bolt (5) connection to sensor.
2. integral pre-tightening double-layer according to claim 1 is symmetrical eight-rod parallel connection structure six-dimension force sensor up and down, it is characterized in that: ball and socket base (4) is by on the upper and lower surface, pretension platform (2) and the base (6) that are bolted to force plate/platform (1) chassis, forms the ball-and-socket conehead formula spherical pair of unilateral constrain with the conehead at detection means (3) two ends.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2008100553466A CN101329208B (en) | 2008-07-02 | 2008-07-02 | Six-dimensional force sensor of integral pre-tightening double-layer top and bottom asymmetry eight-rod parallel connection structure |
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| CN2008100553466A CN101329208B (en) | 2008-07-02 | 2008-07-02 | Six-dimensional force sensor of integral pre-tightening double-layer top and bottom asymmetry eight-rod parallel connection structure |
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| CN101329208A CN101329208A (en) | 2008-12-24 |
| CN101329208B true CN101329208B (en) | 2010-06-16 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101937008A (en) * | 2010-07-23 | 2011-01-05 | 燕山大学 | Bar-beam structure six-axis accelerometer |
| CN103616116B (en) * | 2013-11-25 | 2016-01-27 | 燕山大学 | Mechanically decoupled heavy duty six-dimension force-measuring platform in parallel |
| CN203811306U (en) * | 2014-05-13 | 2014-09-03 | 葛洲坝集团试验检测有限公司 | Concrete strain gauge assembly device |
| CN108354588B (en) * | 2018-01-15 | 2020-12-15 | 南京邮电大学 | Mechanical structure of micro robot for exploring mechanical characteristics of human skin |
| CN109668670B (en) * | 2019-02-15 | 2020-11-24 | 上海交大临港智能制造创新科技有限公司 | Six-dimensional force sensor |
| CN110216656B (en) * | 2019-05-30 | 2021-01-15 | 中国科学院长春光学精密机械与物理研究所 | Pretightening force adjusting mechanism and multi-degree-of-freedom parallel robot |
| CN113029416A (en) * | 2021-04-08 | 2021-06-25 | 哈尔滨工业大学 | Six-dimensional force measuring device based on gas lubrication mechanical decoupling |
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|---|---|---|---|---|
| US4216467A (en) * | 1977-12-22 | 1980-08-05 | Westinghouse Electric Corp. | Hand controller |
| CN1263259A (en) * | 1999-02-06 | 2000-08-16 | 赵永生 | Integral pretightened flat bed type six-dimensional force transducer |
| US6349604B1 (en) * | 1997-02-17 | 2002-02-26 | Samsung Electronics Co., Ltd. | Parallel type six-axes force-moment measuring apparatus |
| CN101038221A (en) * | 2007-02-10 | 2007-09-19 | 燕山大学 | Left and right prefastening parallel connection structure six-dimensional force sensor |
| CN101038222A (en) * | 2007-02-07 | 2007-09-19 | 燕山大学 | Upper and lower prefastening parallel connection structure six-dimensional force sensor |
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2008
- 2008-07-02 CN CN2008100553466A patent/CN101329208B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4216467A (en) * | 1977-12-22 | 1980-08-05 | Westinghouse Electric Corp. | Hand controller |
| US6349604B1 (en) * | 1997-02-17 | 2002-02-26 | Samsung Electronics Co., Ltd. | Parallel type six-axes force-moment measuring apparatus |
| CN1263259A (en) * | 1999-02-06 | 2000-08-16 | 赵永生 | Integral pretightened flat bed type six-dimensional force transducer |
| CN101038222A (en) * | 2007-02-07 | 2007-09-19 | 燕山大学 | Upper and lower prefastening parallel connection structure six-dimensional force sensor |
| CN101038221A (en) * | 2007-02-10 | 2007-09-19 | 燕山大学 | Left and right prefastening parallel connection structure six-dimensional force sensor |
Non-Patent Citations (4)
| Title |
|---|
| JP特开2003-254843A 2003.09.10 |
| JP特开平9-131690A 1997.05.20 |
| JP特开平9-318469A 1997.12.12 |
| 姚建涛等.预紧式Stewart平台六维力传感器的预紧力分析.中国机构与机器科学国际会议暨海峡两岸第四届机构学研讨会论文集.2008,317-319. * |
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