A six-axis force / torque measuring device

Abstract

The present invention discloses a series-connected force and torque measuring device. The loading platform is used to bear the applied force and torque. The loading platform transfers the acting force and torque to the X-axis torque bearing member. The X-axis torque bearing member transfers the acting force and torque to the X-axis and Y-axis force bearing member. The X-axis and Y-axis force bearing member transfers the acting force and torque to the Y-axis torque bearing member. The Y-axis torque bearing member transfers the acting force and torque to the Z-axis force bearing member. The Z-axis force bearing member and the Z-axis torque bearing member transfer the acting force and torque. The acting force and torque are detected by strain gauges mounted on the X-axis torque bearing member, and / or the X-axis and Y-axis force bearing member, and / or the Y-axis torque bearing member, and / or the Z-axis force bearing member, and / or the Z-axis torque bearing member. The six-axis force / torque measuring device of the present invention adopts a series-connected structure to transfer the acting force and torque, and the transfer path is unique, which can effectively reduce the coupling between dimensions and reduce signal distortion.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical measurement, and more particularly to a six-dimensional force / torque measurement device. Background Art

[0002] A six-dimensional force and torque measurement device can measure the three-dimensional force components Fx, Fy, Fz and torque components Mx, My, Mz in a spatial coordinate. When the measurement device is stressed, it deforms, and the strain gauge converts the deformation into a change in an electrical signal to achieve the measurement of force and torque.

[0003] Traditional force and torque measurement devices mainly adopt a parallel structure with a symmetrical layout form. The force transmission path is not unique, and this structure cannot effectively reduce the cross-axis coupling. The acting force in one dimension will affect another dimension, resulting in distortion of the detected signal.

[0004] For those skilled in the art, how to reduce the signal distortion caused by the interaction between parallel structures is a technical problem that needs to be solved currently. Summary of the Invention

[0005] The present invention provides a six-dimensional force / torque measurement device, which adopts a series structure to make the force and torque transmission paths unique, reduce the cross-axis coupling, and thus reduce the signal distortion. The specific solution is as follows:

[0006] A six-dimensional force / torque measurement device includes a loading platform, an X-axis torque bearing member, an X-axis and Y-axis force bearing member, a Y-axis torque bearing member, a Z-axis force bearing member, and a Z-axis torque bearing member;

[0007] The loading platform is used to bear the applied force and torque; both the X-axis and Y-axis force bearing member and the Z-axis force bearing member are bent;

[0008] The X-axis torque bearing member is fixedly connected to the loading platform and the X-axis and Y-axis force bearing member;

[0009] The Y-axis torque bearing member is fixedly connected to the X-axis and Y-axis force bearing member and the Z-axis force bearing member;

[0010] The Z-axis torque bearing member is fixedly connected to the Z-axis force bearing member and the fixed platform;

[0011] Strain gauges are mounted on the X-axis torque bearing member, and / or the X-axis and Y-axis force bearing member, and / or the Y-axis torque bearing member, and / or the Z-axis force bearing member, and / or the Z-axis torque bearing member.

[0012] Optionally, flange plates for connection and fixation are respectively provided at both ends of the X-axis torque bearing member, the Y-axis torque bearing member, and the Z-axis torque bearing member.

[0013] Optionally, the X-axis torque bearing member, the Y-axis torque bearing member, and the Z-axis torque bearing member have the same shape and size and can be replaced with each other.

[0014] Optionally, the X-axis and Y-axis force bearing member is an integral structure and has four mutually perpendicular side walls;

[0015] The X-axis torque bearing member and the Y-axis torque bearing member are respectively fixedly connected to the mutually perpendicular side surfaces at the ends of the X-axis and Y-axis force bearing member.

[0016] Optionally, the Z-axis force bearing member includes two mutually perpendicular side surfaces, and the Y-axis torque bearing member and the Z-axis torque bearing member are respectively fixedly connected to the two mutually perpendicular side surfaces of the Z-axis force bearing member.

[0017] Optionally, the positions where strain gauges are surface-mounted on the X-axis and Y-axis force bearing member and the Z-axis force bearing member are machined groove surfaces.

[0018] Optionally, the X-axis torque bearing member, the Y-axis torque bearing member, and the Z-axis torque bearing member are respectively coaxial with the three axes of the loading table.

[0019] The present invention provides a six-axis force / torque measuring device. The loading table is used to bear the applied force and torque, and can load the acting forces or torques in the X-axis, Y-axis, and Z-axis directions of the spatial direction as required. The X-axis and Y-axis force bearing member and the Z-axis force bearing member are both bent; the X-axis torque bearing member is fixedly connected to the loading table and the X-axis and Y-axis force bearing member; the Y-axis torque bearing member is fixedly connected to the X-axis and Y-axis force bearing member and the Z-axis force bearing member; the Z-axis torque bearing member is fixedly connected to the Z-axis force bearing member and the fixed table; that is, the loading table transmits the acting force and torque to the X-axis torque bearing member, the X-axis torque bearing member transmits the acting force and torque to the X-axis and Y-axis force bearing member, the X-axis and Y-axis force bearing member transmits the acting force and torque to the Y-axis torque bearing member, the Y-axis torque bearing member transmits the acting force and torque to the Z-axis force bearing member, and the Z-axis force bearing member and the Z-axis torque bearing member transmit the acting force and torque. The acting force and torque are detected by the strain gauges mounted on the X-axis torque bearing member, and / or the X-axis and Y-axis force bearing member, and / or the Y-axis torque bearing member, and / or the Z-axis force bearing member, and / or the Z-axis torque bearing member; the six-axis force / torque measuring device of the present invention adopts a series structure to transmit the acting force and torque, and the transmission path is unique, which can effectively reduce the coupling between dimensions and reduce signal distortion. Description of the Drawings

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0021] Figure 1 Isometric view of the first specific embodiment of the six - dimensional force / torque measuring device provided by the present invention;

[0022] Figure 2 Exploded structure diagram of each component of the six - dimensional force / torque measuring device of the present invention;

[0023] Figure 3 Structural diagram of the second embodiment of the six - dimensional force / torque measuring device of the present invention;

[0024] Figure 4 Structural diagram of the third embodiment of the six - dimensional force / torque measuring device of the present invention;

[0025] Figure 5 Structural diagram of the X - axis and Y - axis force - bearing member;

[0026] Figure 6 Structural diagram of the Z - axis force - bearing member.

[0027] The figure includes:

[0028] Loading platform 1, X - axis torque - bearing member 2, X - axis and Y - axis force - bearing member 3, Y - axis torque - bearing member 4, Z - axis force - bearing member 5, Z - axis torque - bearing member 6. Detailed implementation manners

[0029] The core of the present invention is to provide a six - dimensional force / torque measuring device, which uses a series structure to make the transmission paths of force and torque unique, reduce the coupling between dimensions, and thus reduce signal distortion.

[0030] To enable those skilled in the art to better understand the technical solutions of the present invention, the following will, in combination with the drawings and specific implementation manners, introduce and explain the six - dimensional force / torque measuring device of the present invention in detail.

[0031] As Figure 1 shown, it is an isometric view of the first specific embodiment of the six - dimensional force / torque measuring device provided by the present invention. In the figure, A represents a strain gauge. The six - dimensional force / torque measuring device of the present invention includes a loading platform 1, an X - axis torque - bearing member 2, an X - axis and Y - axis force - bearing member 3, a Y - axis torque - bearing member 4, a Z - axis force - bearing member 5, and a Z - axis torque - bearing member 6.

[0032] The loading platform 1 is used to bear the applied forces and torques. External acting forces are applied to the loading platform 1. The loading platform 1 can bear the acting forces in the three axial directions of the X-axis, Y-axis, and Z-axis, and can also bear the torques in the three axial directions of the X-axis, Y-axis, and Z-axis. The acting forces and torques borne by the loading platform 1 are transmitted layer by layer and applied to other corresponding components.

[0033] The X-axis and Y-axis force-bearing member 3 and the Z-axis force-bearing member 5 are both plate-like structures arranged in a bent shape. The X-axis and Y-axis force-bearing member 3 is simultaneously connected to the X-axis torque-bearing member 2 and the Y-axis torque-bearing member 4. The Z-axis force-bearing member 5 is simultaneously connected to the Y-axis torque-bearing member 4 and the Z-axis torque-bearing member 6. When the X-axis and Y-axis force-bearing member 3 is subjected to an acting force in the X-axis or Y-axis direction, it undergoes corresponding deformation. When the Z-axis force-bearing member 5 is subjected to an acting force in the Z-axis direction, it undergoes corresponding deformation.

[0034] The X-axis torque-bearing member 2 is fixedly connected to the loading platform 1 and the X-axis and Y-axis force-bearing member 3, and the X-axis torque-bearing member 2 is arranged along the X-axis direction. When the X-axis torque-bearing member 2 is subjected to a torque in the X-axis direction, it generates corresponding deformation.

[0035] The Y-axis torque-bearing member 4 is fixedly connected to the X-axis and Y-axis force-bearing member 3 and the Z-axis force-bearing member 5, and the Y-axis torque-bearing member 4 is arranged along the Y-axis direction. When the Y-axis torque-bearing member 4 is subjected to a torque in the Y-axis direction, it generates corresponding deformation.

[0036] The Z-axis torque-bearing member 6 is fixedly connected to the Z-axis force-bearing member 5 and the fixed platform, and the Z-axis torque-bearing member 6 is arranged along the Z-axis direction. When the Z-axis torque-bearing member 6 is subjected to a torque in the Z-axis direction, it generates corresponding deformation.

[0037] According to the acting forces and torques to be measured, strain gauges are arranged at corresponding positions. Strain gauges are mounted on the X-axis torque-bearing member 2, and / or the X-axis and Y-axis force-bearing member 3, and / or the Y-axis torque-bearing member 4, and / or the Z-axis force-bearing member 5, and / or the Z-axis torque-bearing member 6. When the component is deformed by the force, the resistance value of the strain gauge changes accordingly, and the acting force or torque is calculated by setting the corresponding bridge circuit.

[0038] The strain gauge on the X-axis torque-bearing member 2 senses the torque in the X-axis direction. The strain gauge on the Y-axis torque-bearing member 4 senses the torque in the Y-axis direction. The strain gauge on the Z-axis torque-bearing member 6 senses the torque in the Z-axis direction. The strain gauge on the X-axis and Y-axis force-bearing member 3 senses the acting forces in the X-axis and Y-axis directions. The strain gauge on the Z-axis force-bearing member 5 senses the acting force in the Z-axis direction.

[0039] Figure 1The structure shown is used to measure six - dimensional force and torque, that is, it can measure the force and torque in the X - axis direction, the force and torque in the Y - axis direction, and the force and torque in the Z - axis direction; strain gauges are arranged at the corresponding positions of the X - axis torque - bearing member 2, the X - axis and Y - axis force - bearing member 3, the Y - axis torque - bearing member 4, the Z - axis force - bearing member 5, and the Z - axis torque - bearing member 6; if only certain specific - dimension forces and torques need to be measured, only the corresponding gauges need to be set on the corresponding members, and no corresponding gauges need to be set in other dimensions.

[0040] The six - dimensional force / torque measuring device of the present invention adopts a series - type structural arrangement form. The transmission of force and torque follows a uniquely determined path without other parallel structures, which can effectively reduce cross - axis coupling and signal distortion.

[0041] When the loading platform 1 is subjected to a force or torque, it is transmitted from the loading platform 1 to the X - axis torque - bearing member 2, from the X - axis torque - bearing member 2 to the X - axis and Y - axis force - bearing member 3, from the X - axis and Y - axis force - bearing member 3 to the Y - axis torque - bearing member 4, from the Y - axis torque - bearing member 4 to the Z - axis force - bearing member 5, and from the Z - axis force - bearing member 5 to the Z - axis torque - bearing member 6. In the entire transmission path, only each pair of members transmits relatively, and there are no parallel paths of one - to - many and many - to - many transmissions.

[0042] The following is an example for illustration:

[0043] When detecting the force information of the force Fx in the X - axis direction, a force in the X - axis direction is applied to the loading platform 1. This force is transmitted from the loading platform 1 to the X - axis torque - bearing member 2, and then from the X - axis torque - bearing member 2 to the X - axis and Y - axis force - bearing member 3. Stress concentration will occur at the position of the strain gauge for detecting the force Fx on the X - axis and Y - axis force - bearing member 3, and the resistance value of the strain gauge will change accordingly, thereby measuring the magnitude of the force.

[0044] When detecting the torque information of the torque Mz in the Z - axis direction, a torque in the Z - axis direction is applied to the loading platform 1. This torque is transmitted from the loading platform 1 to the X - axis torque - bearing member 2, then from the X - axis torque - bearing member 2 to the X - axis and Y - axis force - bearing member 3, then from the X - axis and Y - axis force - bearing member 3 to the Y - axis torque - bearing member 4, then from the Y - axis torque - bearing member 4 to the Z - axis force - bearing member 5, and then from the Z - axis force - bearing member 5 to the Z - axis torque - bearing member 6. Stress concentration will occur at the position of the strain gauge for detecting the torque Mz in the Z - axis direction on the Z - axis torque - bearing member 6, and the resistance value of the strain gauge will change accordingly, thereby measuring the magnitude of the torque.

[0045] Based on the above solution, flanges for connecting and fixing are respectively provided at both ends of the X-axis torque bearing member 2, Y-axis torque bearing member 4, and Z-axis torque bearing member 6 in the present invention, and are detachably fixed through the flanges. The above loading table 1, X-axis torque bearing member 2, X-axis and Y-axis force bearing member 3, Y-axis torque bearing member 4, Z-axis force bearing member 5, and Z-axis torque bearing member 6 are detachably fixed through flanges and bolts. The split structure is convenient for processing and reduces the manufacturing cost.

[0046] As Figure 2 shown, it is an exploded structure diagram of each component of the six-axis force / torque measuring device of the present invention, and each component adopts an independent setting form; preferably, the X-axis torque bearing member 2, Y-axis torque bearing member 4, and Z-axis torque bearing member 6 have the same shape and size and can be replaced with each other, standardizing the torque bearing structures of each axis, which is beneficial to reducing costs and improving versatility.

[0047] Due to the adoption of the split structure design, the specific structure of each component can be designed according to actual usage needs. When measuring the torque in a certain axial direction, the corresponding torque bearing structure is a torque sensitive component; when measuring the force in a certain axial direction, the corresponding torque bearing member is a force sensitive component. The main part of the torque sensitive component is a cylinder, and strain gauges are mounted on the outer cylindrical surface. As Figure 3 and Figure 4 shown, they are respectively schematic structural diagrams of the second embodiment and the third embodiment of the six-axis force / torque measuring device of the present invention; Figure 3 In the structure shown, the Z-axis force bearing member 5 and Z-axis torque bearing member 6 are replaced with ordinary components, and force sensitive components and torque sensitive components are no longer used; Figure 4 In the structure shown, the X-axis torque bearing member 2 and Y-axis torque bearing member 4 are replaced with ordinary components, and torque sensitive components are no longer used; ordinary components have low requirements for processing accuracy and reduce processing costs.

[0048] Specifically, the X-axis and Y-axis force bearing member 3 in the present invention is an integral structure and has four mutually perpendicular side walls; as Figure 5 shown, it is a schematic structural diagram of the X-axis and Y-axis force bearing member 3. The X-axis and Y-axis force bearing member 3 is equivalent to the splicing of two L-shaped members, surrounded by four sides, two sides are perpendicular to the X-axis, two sides are perpendicular to the Y-axis, and the inside is used to install the loading table 1. The X-axis torque bearing member 2 and Y-axis torque bearing member 4 are respectively fixedly connected to the mutually perpendicular side surfaces at the end of the X-axis and Y-axis force bearing member 3. Of course, if necessary, the X-axis and Y-axis force bearing member 3 can also adopt a split structure design and be relatively fixedly connected, which can achieve the same technical effect.

[0049] As Figure 6As shown, it is a schematic structural diagram of the Z-axis force-bearing member 5; the Z-axis force-bearing member 5 includes two mutually perpendicular sides, forming an L-shaped structure, one side is perpendicular to the Y-axis, and the other side is perpendicular to the Z-axis; the Y-axis moment-bearing member 4 and the Z-axis moment-bearing member 6 are respectively fixedly connected to the two mutually perpendicular sides of the Z-axis force-bearing member 5.

[0050] As Figure 5 and Figure 6 As shown, the positions where strain gauges are surface-mounted on the X-axis and Y-axis force-bearing member 3 and the Z-axis force-bearing member 5 are machined groove surfaces, and the groove surfaces are all opened on the outer surface. The strain gauges need to be installed on the finish-machined surfaces. Setting the groove surfaces can reduce the size of the finish-machined surfaces and lower the processing cost. The strain gauge for measuring the X-axis acting force is installed on the side of the X-axis and Y-axis force-bearing member 3 perpendicular to the X-axis, and the other side perpendicular to the X-axis is used for fixedly installing the X-axis moment-bearing member 2; the strain gauge for measuring the Y-axis acting force is installed on the side of the X-axis and Y-axis force-bearing member 3 perpendicular to the Y-axis, and the other side perpendicular to the Y-axis is used for fixedly installing the Y-axis moment-bearing member 4.

[0051] Based on any of the above technical solutions and their combinations, the X-axis moment-bearing member 2, the Y-axis moment-bearing member 4, and the Z-axis moment-bearing member 6 of the present invention are respectively coaxial with the three axes of the loading platform 1, that is, the axis of the X-axis moment-bearing member 2 coincides with the X-axis, the axis of the Y-axis moment-bearing member 4 coincides with the Y-axis, and the axis of the Z-axis moment-bearing member 6 coincides with the Z-axis. The origin of the X-axis, Y-axis, and Z-axis is the center point of the loading platform 1. Using this structure, there is no lever arm between the loading platform 1 and the members for measuring acting forces and moments. When acting forces in the X-axis, Y-axis, and Z-axis directions are applied to the loading platform 1, no additional moment will be generated, effectively reducing the coupling between each dimension.

[0052] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A six - dimensional force / torque measuring device, characterized in that, It includes a loading table (1), an X-axis moment bearing member (2), an X-axis and Y-axis force bearing member (3), a Y-axis moment bearing member (4), a Z-axis force bearing member (5), and a Z-axis moment bearing member (6); The loading table (1) is used to bear the applied force and moment; both the X-axis and Y-axis force bearing member (3) and the Z-axis force bearing member (5) are bent; The X-axis moment bearing member (2) is fixedly connected to the loading table (1) and the X-axis and Y-axis force bearing member (3); The Y-axis moment bearing member (4) is fixedly connected to the X-axis and Y-axis force bearing member (3) and the Z-axis force bearing member (5); The Z-axis moment bearing member (6) is fixedly connected to the Z-axis force bearing member (5) and the fixed table; Strain gauges are mounted on the X-axis moment bearing member (2), the X-axis and Y-axis force bearing member (3), the Y-axis moment bearing member (4), the Z-axis force bearing member (5), and the Z-axis moment bearing member (6); The X-axis and Y-axis force bearing member (3) is an integral structure with four side walls, including two parallel side walls one and two parallel side walls two, where the side wall one and the side wall two are perpendicular to each other, and the inside of the X-axis and Y-axis force bearing member (3) is used to install the loading table (1); The X-axis moment bearing member (2) and the Y-axis moment bearing member (4) are respectively fixedly connected to the mutually perpendicular side walls at the ends of the X-axis and Y-axis force bearing member (3); The Z-axis force bearing member (5) includes two mutually perpendicular side walls, and the Y-axis moment bearing member (4) and the Z-axis moment bearing member (6) are respectively fixedly connected to the two mutually perpendicular side walls of the Z-axis force bearing member (5).

2. The six-axis force / torque measuring device according to claim 1, wherein Flange plates for connection and fixation are respectively provided at both ends of the X-axis moment bearing member (2), the Y-axis moment bearing member (4), and the Z-axis moment bearing member (6).

3. The six-axis force / torque measuring device according to claim 2, wherein The X-axis moment bearing member (2), the Y-axis moment bearing member (4), and the Z-axis moment bearing member (6) have the same shape and size and can be replaced with each other.

4. The six-axis force / torque measuring device according to claim 2, characterized in that The positions where strain gauges are mounted on the surface of the X-axis and Y-axis force bearing member (3) and the Z-axis force bearing member (5) are machined groove surfaces.

5. The six-axis force / torque measuring device according to any one of claims 1 to 4, characterized in that The X-axis moment bearing member (2), the Y-axis moment bearing member (4), and the Z-axis moment bearing member (6) are respectively coaxial with the three axes located on the loading table (1).

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