Fault-tolerant wide-range parallel six-axis force sensor

Abstract

The invention discloses a fault-tolerant wide-range parallel six-axis force sensor, which mainly comprises an outer fixing ring, an inner proving ring, more than six detection branches and three or four bearing branches, wherein an annular polyhedron is formed by enveloping the inner proving ring and the outer fixing ring with a plane which is vertical to a branch axis; the inner surface of the inner proving ring is provided with a screw thread; the upper surface of the outer fixing ring is provided with a plurality of through holes, and can be connected with the outside through a bolt; the bearing branches are high-stiffness beams; the two ends of the high-stiffness beams are fixedly connected with the outer side of inner proving ring and the inner side of the outer fixing ring respectively; the detection branches are arranged pairwise among the bearing branches; the two ends of the detection branches are connected with the outer side of the inner proving ring and the inner side of the outer fixing ring through elastic spherical hinges; and a strain foil is attached to the middle part of each detection branch. The sensor can have an integral or assembled structure. The fault-tolerant wide-range parallel six-axis force sensor is reliable in structure, has high rigidity, a wide range and fault tolerance performance, and can be widely applied to the six-axis force measuring environment of a plurality of sensors requiring wide ranges and high reliability such as six-axis force measurement of aerospace, military, nuclear industry, robots, automobiles and the like.

Description

technical field [0001] The invention relates to a force sensor, in particular to a parallel structure six-dimensional force sensor. Background technique [0002] The six-dimensional force sensor can simultaneously measure three force components and three torque components. As a necessary tool for six-component force measurement technology, it can be used to monitor forces with changing directions and sizes, measure acceleration or inertial forces, and realize force and force / bit control etc. The research of large-scale, high-precision, and high-reliability six-dimensional force sensor is a difficult and challenging topic that countries all over the world are striving to study first. [0003] In the research of six-dimensional force sensor, one of the key core issues is the structural design of the force-sensitive element. The structure of the force-sensitive element determines key factors such as the stiffness, sensitivity, resolution, range, dynamic performance and relia...

AI Technical Summary

Problems solved by technology

Although the fault-tolerant structure improves the measurement reliability, there are still defects: the measured force is all carried by the detection branch. Due to the limited rigidity of the branch, especially the limited stiffness of the hinge connection, the overall stiffness of the sensor is greatly restricted. , the stiffness of the sensor can only be increased by increasing the size, but this improvement will reduce the sensitivity of the sensor and deteriorate the measurement characteristics, making the sensor unsuitable for reliable measurement of large-scale force

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