Left and right prefastening parallel connection structure six-dimensional force sensor

Abstract

The invention discloses a six-dimensional force sensor with a left and right pretensioned parallel structure. It is characterized in that: the left preload platform (6) is a semi-open shell member, the right preload platform (2) and the left preload platform (6) have the same structure and are symmetrical to each other, and the six detection components (3) are divided into two parts. The groups are respectively distributed on both sides of the force-measuring platform (1) vertical plate, and the left and right pre-tightening platforms (6, 2) connect the detection member (3) and the force-measuring platform in the middle through connecting bolts (4) and nuts (5). (1) Pre-tightening is closed, and the six detection components (3) are connected with the force-measuring platform (1) and the left and right pre-tightening platforms (6, 2) through ball-and-socket cone head type spherical pairs. The sensor has a simple structure and a simple measurement principle; the clearance of each spherical pair is eliminated, the friction torque of each spherical pair is reduced, and the non-linearity and hysteresis error are reduced; the cost is low, it is easy to process and manufacture, and it is easy to form precision and serialization. It can be applied to various occasions requiring six-dimensional force detection, such as robots and aerospace.

Description

technical field [0001] The invention relates to the field of design and manufacture of a force sensor, in particular to a six-dimensional force sensor with a left and right pretensioned parallel structure, which can be used to test three-dimensional force components and moment components in a space. Background technique [0002] With the rapid development of science and technology, the requirements for sensors in the fields of measurement, control and information technology are getting higher and higher. Sensor technology has become one of the cores of high-tech and plays a very important role in industrial production, national defense construction and science and technology. important role. The force sensor is the most basic type of sensor. Because the traditional unidirectional force sensor cannot measure multi-dimensional force and moment comprehensively, the multi-dimensional force sensor has been fully developed and applied in many fields. The six-dimensional force and...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the shortcomings of existing six-dimensional force sensors such as force coupling or complex calibration methods, the present invention provides a six-dimensional force sensor with a left and right pretensioned parallel structure, which can detect three-dimensional force components and moment components in space at the same time, and has a simple structure, It has the advantages of convenient calibration, high rigidity and high degree of modularization, and is easy to form precision and serialization

Images