Upper and lower prefastening parallel connection structure six-dimensional force sensor

Abstract

The present invention discloses an upper and lower pre-compact type six dimensional force sensor with a parallel structure. The characteristics are: the force measuring platform (1) where three ball and sockets are distributed evenly on the upper and lower surface of the circle edge of the underpan consists of an underpan overlapped by the shaft line and a bearing disc which are fixed together; the pre-compact platform (2) is a case body with three ball and sockets distributed on the inner ring surface of the top; three ball and sockets are distributed evenly on a same circle of the top surface of the base (6); the detecting component (3) and the ball and socket forms a steeple head type spherical pair; the six detecting components (3) are divided into an upper group and a lower group, and the pre-compact platform (2), the force measuring platform (1) and the base (6) are connected through bolts (4) and nuts (5) by the two groups of detecting components (3). The structure of the sensor and the measuring principle are simple and the device is easy to produce and to form precise products and a series of products. The device can be used in the any occasions that need six dimensional forces detecting such as robots, aerospaceplanes, etc.

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 an upper and lower pretensioned parallel structure, which can be used to test three-dimensional force components and moment components in a space. Background technique [0002] Sensors play an important role in industrial production, national defense construction and science and technology. Sensor technology is one of the three pillars of modern information technology. The six-dimensional force sensor has become the most important type of sensor because it can perceive all the information of external force and torque, and can be used to monitor the force with changing direction and size and measure acceleration or inertial force. It is widely used in precision assembly, automatic grinding, contour tracking, two-hand coordination, zero force teaching and other operations, and also has important application value in the fie...

AI Technical Summary

Problems solved by technology

Its measurement principle is simple, but there are the following main problems: the structure is relatively complex; the twelve spherical pairs need to be adjusted and pre-tightened separately, and the adjustment workload is large; the traditional spherical pairs have a large contact area and a large frictional moment, which is easy to produce large Stress coupling and inter-dimensional coupling are difficult to decouple; the traditional spherical pair is prone to gaps, which makes the zero-crossing performance of the force measuring platform poor. When the external force direction changes, the linearity is not good, and hysteresis is easy to occur, etc.

Chinese patent ZL99102526.1 discloses an integral pretension platform type six-dimensional force sensor. Its structure is to add an intermediate pretension branch between the upper and lower platforms of the traditional Stuart platform structure, and use the pretension branch to tighten the upper and lower platforms. , Lower the platform, preload the sensor as a whole, and preload each ball pair at the same time, eliminate the gap, and improve the overall rigidity of the sensor. Seven detection components are required, and the calibration method is more complicated

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