Six-component force sensor

A force sensor and six-component technology, applied in the field of mechanical parameter sensing devices, can solve the problem that force isotropy and moment isotropy cannot be realized at the same time, and achieve easy isotropy, simple mechanical analysis, and improved performance. Effect

Inactive Publication Date: 2012-05-09
杨锦堂
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] The technical effects of the present invention can overcome the above-mentioned defects, and provide a six-component force sensor with simple

Method used

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  • Six-component force sensor

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0034] The sensor of the present invention comprises a main platform 2 and an auxiliary platform 3, and the casing 1 is arranged between the main platform 2 and the auxiliary platform 3, and the main platform 2 is provided with three spherical hinges 6 evenly spaced along the circumference, and each spherical hinge 6 is connected with a A support rod 4 in the horizontal direction and a support rod 5 in the vertical direction, the ball joint 6 and the support rod are all arranged in the shell 1; It is fixedly connected with the auxiliary platform 3.

[0035] The support rod is a pressure sensor, and the pressure sensor includes a horizontal tension pressure sensor 11 and a vertical tension pressure sensor 12 . The support rod is connected with the shell 1 and the auxiliary platform 3 through the Hooke hinge 7 . The main platform is provided with a platform connection hole 9 , and the casing 1 is provided with a casing connection hole 10 .

[0036] like Figure 9 As shown, di...

Embodiment 2

[0071] Such as Figure 12 As shown, the sensor includes a main platform 2 and two auxiliary platforms 3 on both sides, and each ball joint 6 is connected to four support rods, namely two support rods 4 in the horizontal direction and two support rods 5 in the vertical direction . The end of the support rod 4 in the horizontal direction is connected with the shell 1 through the Hooke 7 hinge, and the support rod 5 in the vertical direction is connected with the auxiliary platform 3 through the 7 Hooke hinge. Others are with embodiment 1.

Embodiment 3

[0073] Such as Figure 13 As shown, a force-sensitive element 13, such as a strain gauge, is set at an appropriate position on each support rod, combined with a processing circuit to form a force sensor and output six components of the measured force. Others are with embodiment 1.

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Abstract

The invention relates to mechanics parameter sensing device and particularly relates to a sensor used for a robot actuating mechanism or engineering detection device which needs to simultaneously detect and sense six orthogonal components of a spatial generalized force. The six-component force sensor comprises a main platform and an auxiliary platform, wherein a shell is arranged between the main platform and the auxiliary platform; three ball pivots are uniformly arranged at intervals along the circumference of the main platform, a support bar in a horizontal direction and a support bar in a vertical direction are connected to each ball pivot, and the ball pivots and the support bars are arranged in the shell; and the tail end of the support bar in the horizontal direction is connected with the shell, and the support bar in the vertical direction are connected with the auxiliary platform. The six-component force sensor has the advantages of symmetrical and compact structure, simple process and the like, and can be used for realizing single-type or combined-type six-component force sensors; and compared with a six-component force sensor based on a classic Stewart six-bar platform, the six-component force sensor provided by the invention has the advantages of small coupling degree and easiness for realization of isotropic property.

Description

technical field [0001] The invention relates to a mechanical parameter sensing device, in particular to a sensor for a robot actuator or engineering testing equipment that needs to simultaneously detect and sense six orthogonal components of a space generalized force. Background technique [0002] Any generalized force F in space, such as figure 1 As shown, in a given coordinate system, it can generally be decomposed into six components, namely, the force vector components Fx, Fy and Fz along the three coordinate axes, and the moment components Mx, My and Mz around the three coordinate axes; or That is to say, the force state of a certain point on the research object is complex, but the force can always be decomposed into the above six components in a given coordinate system. The six-component force sensor is used to simultaneously detect and sense six components of the force, and is widely used in robotics, biomechanics, precision assembly, engineering field testing and ot...

Claims

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Application Information

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IPC IPC(8): G01L1/00
Inventor 杨锦堂
Owner 杨锦堂
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