Orthogonal decoupling six-dimensional force sensor

A six-dimensional force sensor and force measurement technology, which is applied in the direction of measuring force components, etc., can solve the problems of difficult processing and complex structure, and achieve the effect of high overall rigidity, simple measurement principle and simple structure

Inactive Publication Date: 2016-02-10
NORTH CHINA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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Problems solved by technology

In the above types of six-dimensional force sensors with parallel structures, most of the sensitive elements are arranged in space, and the structure is relatively complex, and the processing is difficult. Therefore, there are relatively few six-dimensional force sensor structures that can be applied to actual production.

Method used

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Embodiment Construction

[0024] The present invention is described in detail below in conjunction with accompanying drawing and embodiment:

[0025] In this embodiment, the force-measuring platform 1 and the fixed platform 6 are flat plates and placed parallel to each other, and a square through hole is opened in the center of the force-measuring platform 1 . The bottom end of the column 4 is fixedly connected with the fixed platform 6 . The column 4 is a cross-shaped structure with equal cross-section; the horizontal and vertical sides of the column 4 are equal in length; the fixed platform 6 and the force-measuring platform 1 are of equal-diameter structure and arranged concentrically.

[0026] A group of vertical detection branches 2 are set to four evenly distributed around the axis of the column 4, and each vertical detection branch 2 is represented by M1, M2, M3 and M4 respectively, as figure 2 shown in . Both ends of each vertical detection branch 2 are respectively connected with the ...

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Abstract

The invention relates to the field of force sensor design and manufacture, in particular to an orthogonal decoupling six-dimensional force sensor. it Including the fixed platform, the force measuring platform, the detection branch, the strain gauge, the fixed platform and the force measuring platform are arranged in a parallel state, and a group of vertical detection branches is set between the fixed platform and the force measuring platform; the fixed platform and the measuring The force platforms are disc-shaped respectively. There is a quadrilateral through-hole in the center of the force-measuring platform, and a column is arranged in the quadrilateral through-hole, and the other end of the column is connected to the fixed platform; The other end of the detection branch is connected to the hole wall of the quadrilateral through hole. The invention has the following advantages: simple structure, simple and convenient measurement principle, and high overall rigidity; each detection branch is distributed in parallel or vertically, and decoupling measurement of six-dimensional external force can be realized.

Description

technical field [0001] The invention relates to the field of force sensor design and manufacture, in particular to an orthogonal decoupling six-dimensional force sensor. Background technique [0002] The six-dimensional force sensor has become a very important type of sensor because it can perceive all the information of external force and torque. It has important application value in aerospace, machining, automobile manufacturing, intelligent robot and other fields. Its application has covered national defense technology and various fields of civil industry. Therefore, a six-dimensional force sensor with high precision, high sensitivity and adaptability to a certain environment is urgently needed and has a very broad application prospect. [0003] The upper and lower platforms of the classic Stewart platform mechanism are all hexagonal, and then the two ends of the six moving branches are connected with the vertices of the hexagon through spherical pairs to form a parallel...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01L5/16
Inventor 王志军贺静崔冰艳李占贤
Owner NORTH CHINA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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