Orthogonal self-calibration branch double-ball decoupling six-dimensional force measuring platform

Abstract

The invention discloses an orthogonal self-calibration branch double-ball decoupling six-dimensional force measuring platform. The orthogonal self-calibration branch double-ball decoupling six-dimensional force measuring platform comprises an upper platform, a lower platform as well as double-ball decoupling vertical force measuring branches and double-ball decoupling horizontal force measuring branches which are connected with the upper platform and the lower platform; each double-ball decoupling vertical force measuring branch of the force measuring platform includes a vertical branch upper supporting seat, a pressing end cover, a vertical branch lower supporting seat, a bearing plate, a decoupling steel ball, a positioning column and a single-dimensional two-way force sensor; each double-ball decoupling horizontal force measuring branch includes a horizontal branch upper supporting seat, a horizontal branch lower supporting seat, an tightening wedge block, a decoupling steel ball, a positioning column and a single-dimensional two-way force sensor; 3 to 36 double-ball decoupling vertical force measuring branches and double-ball decoupling horizontal force measuring branches are adopted respectively; the number of the double-ball decoupling vertical force measuring branches is equal to the number of the double-ball decoupling horizontal force measuring branches; and the double-ball decoupling vertical force measuring branches and the double-ball decoupling horizontal force measuring branches are evenly distributed between the upper platform and the lower platform. The orthogonal self-calibration branch double-ball decoupling six-dimensional force measuring platform of the invention has the advantages of simple structure, small inter-dimension coupling and high measuring precision, which is suitable for heavy-load and large-plane measurement occasions. According to the orthogonal self-calibration branch double-ball decoupling six-dimensional force measuring platform, mechanical decoupling is realized through the steel balls, and six-dimensional integral calibration is not required.

Description

technical field [0001] The invention belongs to the field of sensors, in particular to an orthogonal self-calibrating branch double-sphere decoupling six-dimensional force measuring platform. Background technique [0002] A sensor is a device or device that can convert specific measured information such as physical quantities, chemical quantities, and biomass into certain usable signals and output them according to certain rules. It is a knowledge-intensive, technology-intensive, interdisciplinary independent mechatronics system, and at the same time becomes an important part of other mechatronics systems. Therefore, as the basic unit for measuring mechanical signals, force sensors are widely used in aerospace, robotics, biomechanics and other fields, and because six-dimensional force sensors can simultaneously measure six force / torque components described in the Cartesian coordinate system, it has become the current The most important force sensor in the high-tech field. ...

AI Technical Summary

Problems solved by technology

[0003] Aiming at the shortcomings of existing multi-dimensional force sensors such as complex coupling and decoupling technology, a six-dimensional force sensor with small joint friction coupling, high measurement accuracy, clear input-output relationship, convenient installation, and suitable for large-scale measuring surface, large-scale and heavy-load measurement occasions is provided. Force measuring platform

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