Elastic hinge parallel 6-UPS six-dimension force-measuring platform

A 6-UPS, elastic hinge technology, applied in the field of force sensors, can solve the problems of pre-tightening force variation and limitation, and achieve the effects of stable performance, simple structure, and easy analysis and modeling

Inactive Publication Date: 2008-08-20
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, because the elastic spherical joint is difficult to bear large loads, it is limited in the development of large-range six-dimensional force sensors.
In addition, a 6-SPS six-dimensional force sensor structure with a

Method used

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  • Elastic hinge parallel 6-UPS six-dimension force-measuring platform
  • Elastic hinge parallel 6-UPS six-dimension force-measuring platform
  • Elastic hinge parallel 6-UPS six-dimension force-measuring platform

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Embodiment 1

[0021] figure 1 It is an embodiment disclosed by the present invention. The assembled one-dimensional force-measuring branch is respectively connected with the foundation platform 1 and the loading platform 9 through fastening bolts 7, positioning pins 8 and upper and lower positioning blocks (6, 2). The assembled one-dimensional force measuring branch consists of lock nut 11, stud bolt 10, integrated elastic universal hinge 3, lock nut 12, one-dimensional force sensor 4, lock nut 13, integrated elastic ball hinge 5, lock The lock nut 15 is connected with the stud bolt 14, and the lock nuts 11, 12, 13 and 15 are used for locking after threaded connection to prevent the thread from loosening during force measurement. The shape of the one-piece elastic universal hinge 3 is a cuboid, and two slits are respectively processed on two sets of opposite sides thereof. The angle between the two slits is 110°. Make the cuboid an integral elastic universal hinge whose axes intersect per...

Embodiment 2

[0023] Figure 6 For the second embodiment of the present invention, the one-dimensional force measuring branch is an integral one-dimensional force measuring branch 17, which is formed at one time. Its middle part is a cuboid structure, and the outer surface of the cuboid middle part is pasted with strain gauges 16 as force sensitive element. The integral one-dimensional force measuring branch is connected with the foundation platform 1 and the loading platform 9 through fastening bolts 7 and positioning pins 8 .

Embodiment 3

[0025] Figure 8 As the third embodiment of the present invention, the one-dimensional force-measuring branch is an inner cavity integral one-dimensional force-measuring branch 20, which is formed by one-time processing. The middle part of the cuboid is processed with a hollow cavity, and the two sides of the cavity are Strain gauge 16 is housed. The integral one-dimensional force-measuring branch of the inner cavity is connected with the positioning blocks (6, 2) fixed on the foundation platform 1 and the loading platform 9 through cylindrical pins 21, respectively.

[0026] The one-dimensional force-measuring branch can be replaced by one-dimensional linear micro-drive branch, so that the force-measuring platform becomes a six-dimensional precision positioning platform; the middle part of the one-dimensional linear micro-drive branch is a cuboid structure, and the middle part of the cuboid is processed with a cavity with upper and lower bosses The piezoelectric ceramic line...

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Abstract

The present invention discloses an elastic hinge parallel-connected 6-UPS six-dimensional force measuring platform. The invention has the following characters: each one-way force-measuring branch contains an integrated elastic universal hinge (3) and an integral elastic spherical hinge (5), and the angle between each group of one-dimensional force measuring branch installed between a base platform (1) and a load-applying platform (9) is 120 degrees. The one-dimensional force-measuring branch has two structures: the first is an assembled one-dimensional force-measuring branch structure; and the second structure is an integral one-dimensional force-measuring branch structure (17). The invention obtains an easy parallel-connected six-dimensional force-measuring platform structure totally composed of single-freedom elastic revolute pair by adopting a structure plan that the integral elastic universal hinge (3) and integral elastic spherical hinge (5) are used in the branch. The one-dimensional force-measuring branch can be replaced by the one-dimensional linear micro-driving branch to lead to that the six-dimensional force-measuring platform becomes the six-dimensional precise-orientated platform. The invention avoids the friction of the routine kinematic pair and has the advantages of simple structure, being easy to be analyzed and built with a model, stable capability, broad adaptability and the like.

Description

technical field [0001] The invention relates to the field of force sensors, in particular to an elastic hinge parallel 6-UPS six-dimensional force measuring platform. Background technique [0002] The key to measuring the six-dimensional force is to convert the six components of the force into six electrical signal outputs. For this reason, people have designed many kinds of structures of six-dimensional force sensor sensitive elements, such as three vertical rib structure, cylindrical structure, double ring structure, four vertical rib structure, cross structure, non-radial three-beam structure and eight vertical rib structure. Wait. These sensor structures have their own characteristics, but most of them have different problems such as complex structure, low stiffness, low strain sensitivity, and difficult decoupling. Therefore, some scholars at home and abroad have introduced the parallel structure into the design of the force sensor structure of the six-dimensional for...

Claims

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Application Information

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IPC IPC(8): G01L1/22
Inventor 赵铁石赵延志刘丽欢
Owner YANSHAN UNIV
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