Piezoelectric six-dimensional large force sensor

Abstract

The invention belongs to the piezoelectric sensor, especially it relates to the big force splitting measurement technology of many dimension force measure in the condition of big load ability and the big force sensor with the shunt splitting actuating mode. The piezoelectric six-dimension big force sensor is made up of the up platform, low platform, the mechanism arm, six upper boom ball sockets, six connecting upper poles, six groups of piezoelectric quartz wafer, six connecting lower poles, six lower-pole ball sockets. The up and down platforms are connected with the mechanism arm through four connecting nuts, the piezoelectric quartz wafer is inserted into the flute which is matched with the boss; the upper pole is connected with the lower pole through four up and down bolts and nuts. The sensor is designed by the shunt partial load structure, which has the good load splitting effect, convenience installation, high precision, good stability and simple structure. So it is proper for measuring the six dimension big force in the heavy load operation device.

Description

technical field [0001] The invention belongs to the field of piezoelectric sensors, in particular to a large-force shunt measurement technology for realizing multi-dimensional force measurement under the premise of large bearing capacity and a high-force sensor with a parallel shunt force mode. Background technique [0002] During the operation of heavy-duty operating equipment, six-dimensional force measurement and real-time force feedback are the basis for realizing multi-equipment coordinated operation control and force compliance control. The large-force measurement technology is developed driven by the demand for heavy equipment. Usually, the sensors with a load capacity in the range of 10-2000kN are called high-force sensors, and the maximum rated load-bearing capacity of high-force sensors in heavy-duty manufacturing equipment can be as high as 100MN or more. The manufacturing process of supporting heavy-duty force sensors is complex and technically difficult. Only a ...

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved by the present invention is to realize multi-dimensional measurement of large load force by combining parallel load sharing with six-dimensional force measurement, and use piezoelectric quartz as a sensitive element to improve the real-time performance of measurement, and apply it to forging In heavy-duty operating equipment such as manipulators, the problem that heavy-duty operating equipment cannot perform six-dimensional vigorous measurement is solved

Images