Six-dimensional force measuring platform with mosaic self-centering decoupled force measuring branches

Abstract

The invention discloses a six-dimensional dynamometry platform with an embedded self-aligning decoupling dynamometry branch. The six-dimensional dynamometry platform comprises a first platform, a second platform, three embedded self-aligning vertical decoupling dynamometry branches, three embedded self-aligning horizontal decoupling dynamometry branches and three support frames. The first platformand the second platform are circular and are made by processing honeycomb aluminium plates. The embedded self-aligning vertical decoupling dynamometry branches, the embedded self-aligning horizontaldecoupling dynamometry branches and the support frames are mounted between the first platform and the second platform in a staggered mode. According to the six-dimensional dynamometry platform, aligning positioning of upper and lower steel balls and side dynamometry decoupling of tension-compression bidirectional dynamometry are realized; difficulty of a processing technology of the dynamometry branches is reduced; mounting and debugging are simple; cost is low; tension-compression pretightening force is adjusted through adjustment of gasket thickness; and continuous measurement precision of the dynamometry platform is ensured.

Description

technical field [0001] The invention relates to the technical field of sensors, in particular to a six-dimensional force-measuring platform with mosaic self-centering decoupling force-measuring branches. Background technique [0002] A sensor can be regarded as a device or device that can sense a specified measured value and convert it into a usable output signal according to certain rules. As an important tool for obtaining information, sensors play an important role in the fields of industrial production, national defense construction and science and technology, and are one of the three pillar industries of the modern information industry. The six-dimensional force sensor is a sensor that can simultaneously measure three force components and three torque components, and plays an important role in national defense and industry. [0003] In the study of the six-dimensional force sensor, its structure design is the core issue, the structure of the sensor is limited by its ap...

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Problems solved by technology

Patent ZL200810055347.0 discloses a six-dimensional force sensor with an overall pre-tightened double-layer, upper and lower asymmetrical seven-bar parallel structure, which uses a cone-head spherical pair, which has the advantages of high rigidity and high measurement accuracy. However, the use of a cone-head spherical pair makes The force-measuring branch of the sensor can only withstand pressure, and the same force-measuring branch needs to be arranged above the chassis so that the sensor can measure the six-dimensional force

ZL200910075789.6 discloses an over-constrained large-range parallel six-dimensional force measuring platform, which has a simple structure and high measurement accuracy, and is suitable for large-scale measurement occasions. The friction is large, which affects the measurement accuracy of the force measuring platform

CN201510828012.8 Orthogonal self-calibration branch double-ball decoupling six-dimensional force measuring platform adopts double-ball decoupling vertical force-measuring branch and double-ball decoupling horizontal force-measuring branch mechanical decoupling can realize two-way force, ensure that the joints are rolling Friction reduces joint friction coupling, but its force measuring platform includes four vertical force measuring branches and four horizontal force measuring branches, which has the problem of over-constraint, which leads to complex preloading, reduces the accuracy of continuous measurement, and increases calibration and debugging Difficulty, orthogonal self-calibration branch, double-ball decoupling six-dimensional force measuring platform branch adopts concave-convex inlaid structure, its structure is relatively complex, the overall platform is large in size, heavy in weight, high in cost, and inconvenient to transport and use

The multi-dimensional force sensor has disadvantages such as complex decoupling, low measurement accuracy, large volume, and difficult handling

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