Mechanical decoupling heavy load parallel six-dimensional force measuring platform

Abstract

A mechanical decoupling heavy load parallel six-dimension force measuring platform comprises a loading plate, a force measuring plate, an upper cover plate, a bottom frame and more than 12 decoupling force measuring supporting chains. The upper end of the bottom frame is covered with the upper cover plate, a box body is formed, a lower plate of the loading plate is fixed at the plane center of the force measuring plate, an upper plate of the loading plate extends out of an opening in the upper cover plate, the force measuring plate, the upper cover plate and the bottom frame are connected through the decoupling force measuring supporting chains which are distributed on the six faces of the force measuring plate and are fixed on the upper face, the lower face and the four side faces of the force measuring plate respectively, one end of a pressing head A in each decoupling force measuring supporting chain is fixed on the force measuring plate, one end of a pulling pressing force sensor is fixed on the bottom frame and the upper cover plate respectively, the other end of the pulling pressing force sensor and one end of a pressing head B are fixed, the other end of the pressing head A and the other end of the pressing head B are both concave faces, and a steel ball is embedded between the two concave faces. The mechanical decoupling heavy load parallel six-dimension force measuring platform is simple in structure, mechanical decoupling is achieved through the steel ball, dimension-between coupling is small, measuring accuracy is high, and the mechanical decoupling heavy load parallel six-dimension force measuring platform is very suitable for heavy load large-tonnage measuring.

Description

technical field [0001] The invention relates to the field of six-dimensional force sensors, in particular to a decoupled heavy-load parallel six-dimensional force measuring platform. Background technique [0002] The six-dimensional force sensor can measure the magnitude of the three-dimensional force and moment in space. In occasions that require rich force measurement information and high force measurement accuracy, such as zero-force teaching, contour tracking, two-handed coordination, precise flexible assembly, multi-fingered dexterous hands, robots, etc. Force feedback and other fields have broad application prospects. In recent years, with the rapid development of the aerospace field, a heavy-duty six-dimensional force measuring device that can measure large tonnage forces and moments on a large loading surface has become one of the urgently needed high-tech products. This kind of force measuring device is usually called a heavy-duty six-dimensional force measuring pl...

AI Technical Summary

Problems solved by technology

Chinese patent ZL99102421.4 discloses a six-dimensional force and moment sensor with a parallel decoupling structure. Six elastic bodies distributed on three sides of the first platform and perpendicular to each other are respectively connected to the first platform and the second platform through elastic hinges. Connection, the force sensitive element is a non-assembled part processed and formed at one time, which has the advantages of high rigidity and compact structure, but limited by the structure and strength of the elastic hinge, the integrated sensor structure is difficult to meet the requirements of large-scale multi-dimensional force measurement

The above-mentioned six-dimensional force sensor structure is more suitable for the small-range six-dimensional force sensor structure, but applying it to large-scale multi-dimensional force measurement will bring serious problems such as inter-dimensional coupling, which cannot meet the requirements of heavy load, high precision, and large force measurement. Demand for plate multi-dimensional force measurement

[0004] Chinese patent CN101149299 discloses a six-dimensional force sensor capable of measuring large tonnage force or moment, which uses the overall assembly of three-dimensional force quartz chips to realize six-dimensional force measurement , but there is also the problem of serious inter-dimensional coupling and low measurement accuracy

[0005] Parallel structure is often used to realize heavy-duty multi-dimensional force measurement, but at present, ordinary ball joint structures are mostly used in common force-measuring branch chains. Due to the existence of sliding friction, the inter-dimensional coupling of the force-measuring platform is large and the measurement accuracy is not high, which limits the The Accuracy of Force Measuring Platform and Its Improvement

At the same time, due to the large inter-dimensional coupling of the force measuring platform, after the force measuring platform is manufactured, it needs to be calibrated as a whole. Since there is no general multi-dimensional force loading calibration system, it is necessary to develop a dedicated multi-dimensional force loading and matching system. Calibrate the system, and complete the loading calibration work, the calibration workload is large, the cycle is long, and the cost is high

Therefore, due to the inter-dimensional coupling caused by the sliding friction of the traditional parallel structure, the precision and accuracy of this kind of heavy-duty multi-dimensional force measuring platform is not high, and it also brings many difficulties to its calibration work.

There is no mature solution for the heavy-duty high-precision parallel multi-dimensional force measurement platform, which cannot meet the current demand for heavy-duty high-precision multi-dimensional force measurement. There is an urgent need for a platform with good decoupling, low inter-dimensional coupling, and convenient loading and calibration. Structural scheme of heavy-duty high-precision parallel multi-dimensional force measuring platform

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