Six-dimensional force sensor of integral pre-tightening double-layer top and bottom asymmetry seven-rod parallel connection structure

Abstract

The invention discloses a six-dimensional force sensor with the parallel-connected structure of seven rods that are integrally pre-tightened and asymmetrically 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, three oblique ball socket holders (4) are evenly arranged on the upper surface and the lower surface of the chassis, and a round ball socket holder (6) is fixed at the center of the lower surface of the chassis; three oblique ball socket holders (4) are evenly arranged on the top inner loop surface of a pre-tightening platform (2); three oblique ball socket holders (4) are evenly arranged on the upper surface of a base (8), and a round ball socket holder (6) is fixed at the center of the upper surface of the base (8); a detecting component (3) and the oblique ball socket holders (4) as well as a middle detecting component (5) and the round ball socketholder (6) respectively form conehead-typed spherical pairs, and all the detecting components are connected with the pre-tightening platform (2), the force measuring platform (1) and the base (8) by bolts, pre-tightened and closed. The six-dimensional force sensor has simple structure, simple and convenient measuring principles, high measuring precision and larger loaded tilting moment, and can be applied to various situations that need six-dimensional force measurement in the fields of robots and aviation, 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 integrally pre-tightened double-layer upper and lower asymmetrical seven-bar 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...

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