Flexible large deformation constant force transmission three-dimensional force sensing mechanism
A technology of large deformation and constant force, applied in the direction of measuring force components, etc., can solve the problems of inaccurate measurement and the inability of the sensing mechanism to produce large deformation, and achieve the effect of good economy and manufacturability, simple structure, and avoidance of damage.
Active Publication Date: 2019-09-27
YANSHAN UNIV
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However, it can only detect the pressure distribution on a two-dimensional plane, and it is only suitable for a relatively dry state in the air, so it can respond with high sensitivity to mechanical deformation and be flexible.
The patent with the publication number CN107144389A provides a fully flexible sensor that can be embedded in a soft robot for follow-up. It can be installed in traditional robot joints, soft robots and human-computer interaction equipment and other occasions that need to detect multi-dimensional forces, but its external materials Using silica gel, metal gallium indium tin alloy as the sensitive element, the sensor will not be able to measure accurately in high temperature environment, and its sensing mechanism cannot produce large deformation
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[0014] exist figure 1 , figure 2 with image 3 In the schematic diagram of the flexible large deformation constant force transmission three-dimensional force sensing mechanism shown, the base 14 is in the shape of a triangular cone, the three edges are orthogonal to each other, and the whole is radially uniform; the guide rails 9 in the same force-measuring branches of the three mechanisms are fixed by bolts On the base, the slide block 10 is arranged on the guide rail, and the spring sleeve 7 in the two-way pressure spring device is fixedly connected with the slide block. In the spring sleeve, one end of the first spring 15 is connected with one end of the spring sleeve. The other end of the spring is connected with an end of the spring bar 8, and the other end of the spring bar is connected with an end of the second spring 16, and the other end of the second spring is connected with the end cover 6; It is threaded and connected to the pull-compression force sensor 11 fixe...
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A flexible large-deformation constant-force-transmission three-dimensional force sensing mechanism comprises a pedestal, a force measuring platform and three force measuring branches with the same structure and connected to the pedestal and force measuring platform. The pedestal is of a trigonal pyramid shape, three ribs are orthogonal with one another, and the whole pedestal is distributed in a radial way; each force measuring branch comprises a moving pair composition member, a first bolt bearing, a first connecting rod, a second bolt bearing, a second connecting rod, a third bolt bearing, an upper platform seat and a tension and compression type force sensor; the moving pair composition member a guide rail, a slide block and a bidirectional pressure spring device; and the bidirectionalpressure spring device comprises springs with the same pretightning force, a spring sleeve, a spring rod and an end cap. The flexible large-deformation constant-force-transmission three-dimensional force sensing mechanism is simple in structure and high in sensitivity, can bear a collision force, generates relatively large deformation in the force measuring process, and includes a constant mappingrelation between input and output forces.
Description
technical field [0001] The invention relates to a force-measuring and sensing mechanism, in particular to a measuring mechanism for dynamic three-dimensional force and collision force. Background technique [0002] In order to meet the real-time measurement of dynamic force, many types of three-dimensional dynamic force sensing mechanisms have appeared in China. Zhao Wei of Nanjing University of Aeronautics and Astronautics proposed a three-dimensional dynamic force test platform for ultra-high-speed cutting in the patent with the publication number CN102267069A, which can meet the real-time and accurate measurement of dynamic force signals during ultra-high-speed cutting. Mou Xiangwei of Guangxi Normal University proposed a force-measuring device for accurately testing the three-dimensional dynamic force applied externally by a fixed force-bearing body in the patent with the publication number CN104215380A, which can firmly fix the force-bearing body and the sensor and can ...
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IPC IPC(8): G01L5/16
Inventor 赵延治单煜梁彦杨伟
Owner YANSHAN UNIV