CN104034474A - Parallel-connection 3-SPU six-dimension force transducer - Google Patents
Parallel-connection 3-SPU six-dimension force transducer Download PDFInfo
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- CN104034474A CN104034474A CN201410291350.8A CN201410291350A CN104034474A CN 104034474 A CN104034474 A CN 104034474A CN 201410291350 A CN201410291350 A CN 201410291350A CN 104034474 A CN104034474 A CN 104034474A
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Abstract
The invention relates to a parallel-connection 3-SPU six-dimension force transducer. The parallel-connection 3-SPU six-dimension force transducer comprises a carrier block, three force measurement branches and a foundation platform, and is characterized in that the carrier block is connected with the foundation platform through the force measurement branches spatially perpendicular in pairwise, and each force measurement branch is composed of a positioning block, a ball hinge, a tension pressure sensor and a flexible universal hinge to form a SPU serial-connection branch. The positioning blocks are connected with the foundation platform, one ends of the tension pressure sensors are connected with the positioning blocks, and the other ends of the same are connected with the flexible universal hinge. The parallel-connection 3-SPU six-dimension force transducer has the advantages that on the basis of 3-SPU parallel-connection mechanism, disintegration of six-dimension force on the three branches is realized, and the parallel-connection 3-SPU six-dimension force transducer is simple in structure and high in longitudinal bearing capacity by means of spatial symmetric distribution structures of the branches. The three flexible universal hinges and the carrier block are integrally processed. The parallel-connection 3-SPU six-dimension force transducer has the advantages of convenience in processing, simple structure, easy analysis and modeling, stable performance and high adaptability and the like.
Description
Technical field
The invention belongs to sensor field, relate to a kind of measurement mechanism about space large-tonnage six-dimensional force, particularly a kind of 3-SPU six-dimensional force cell sensor in parallel.
Background technology
Six-dimension force-measuring platform can measurement space the size of three-dimensional force and moment, the occasion abundant in dynamometry information requirements, dynamometry accuracy requirement is high has a wide range of applications as fields such as zero-g teaching, profile tracking, two hands coordination, accurate flexible assembly, multi-finger clever hand and Robot Force-Feedback.In recent years, the six-dimension force-measuring platform of large dynamometry scope, wide range has become one of current urgent need high-tech product, large dynamometry scope, the large-tonnage six-dimension force-measuring platform be particularly badly in need of for the thrust test, experiment in flight test and the wind tunnel experiment that are applied in aerospace field, many countries of the world today pay much attention to its development work, be considered as one of gordian technique relating to national security, economic development and scientific-technical progress, and listed among the plan of national science and technology development strategy.
In the design of sensor, between dimension, coupled problem is the key factor that affects sensor accuracy, in order to realize decoupling zero between dimension, people have proposed some solutions, for example: the disclosed patented technology of Chinese patent ZL99102421.4, its principle is to carry out decoupling zero with elastic hinge, has the advantages such as rigidity is high, compact conformation, but can not realize full decoupledly, and be difficult to be applied in the measurement of large-tonnage power or moment.The measurement range of sensor is to evaluate a key factor of its index, especially large-tonnage multi-dimension force sensor is difficult to realize accurately and measures, a kind of six-dimension force sensor that can measure large-tonnage power or moment is disclosed by Chinese patent CN101149299, this patent realizes six-dimension heavy force by three-dimensional force quartz wafer group overall package form and measures, but this sensor does not take into full account coupled problem between dimension, thereby cause its measuring accuracy not high.
The structural design of the force sensitive element of large dynamometry scope, wide range six-dimension force-measuring platform is key, the key problem of heavily loaded force plate/platform development process, it is one of focus of research always, researchist has proposed the structure of multiple six-dimension force-measuring platform, but mostly there is complex structure, the problem of the different aspect such as rigidity is low, strain sensitivity is low and decoupling zero is difficult.The measuring accuracy of the large-scale six-dimension force-measuring platform model machine of Stewart platform based on conventional hinge generally adopting is at present lower, and the performance of different directions exists larger difference.Its essential reason is to adopt common hinge unavoidably can bring and closes the problem such as internode friction and gap, structural entity distortion and branch's twist and warping, if this structure applications is also faced with to rigidity of structure problem on the weak side in the heavily loaded large-tonnage six-dimension force-measuring platform of exploitation.
Measure if existing six-dimension force sensor is applied to space large-tonnage six-dimensional force, can have following deficiency: most of six branches that adopt of six-dimension force sensor connect, complex structure; Existing six-dimension force sensor measurement range is less, and fitting operation is loaded down with trivial details; Do not take into full account the problem such as be coupled between dimension, measuring accuracy has much room for improvement.
Summary of the invention
The object of the invention is the deficiency in order to overcome parallel force transducer in six dimensions in above-mentioned prior art, a kind of high rigidity, the measurement of large-tonnage six-dimensional force and 3-SPU six-dimensional force cell sensor in parallel simple in structure realized is provided.
The technical solution adopted for the present invention to solve the technical problems:
3-SPU six-dimensional force cell sensor in parallel comprises carrier block, dynamometry branch and basic platform, wherein: carrier block by space between two orthogonal 3 dynamometry branches be connected with basic platform, dynamometry branch is made up of locating piece, ball pivot, tension-compression sensor and flexible universal hinge, and forms a SPU series branch; Locating piece is connected with basic platform, and tension-compression sensor one end is connected with locating piece by ball pivot, and the other end is connected with the universal hinge of flexibility.
The described space center line that orthogonal 3 dynamometry branches refer to three dynamometry branches is between two orthogonal between two;
Described carrier block is that the surfacing being made up of along three end to end diagonal line on three faces on summit altogether square piece processes, and three universal hinges of flexibility of 3 dynamometry branches are individually fixed in other three between two on adjacent complete facing of carrier block;
The universal hinge of described flexibility is that on two groups of opposite flanks of rectangular parallelepiped piece, to process respectively two angles be to form after the grooving of 120 °;
Described tension-compression sensor can be exported pressure signal and bidimensional unbalance loading signal.
Dynamometry branches into SPU structure, and this scheme makes ergograph compact conformation, can bear the especially heavy duty of vertical direction, and therefore the information of space large-tonnage six-dimensional force can be provided.In dynamometry branch, be all provided with and can measure the pressure of this branch and the tension-compression sensor of moment of flexure signal simultaneously, the pressure that whole branch detection can be arrived and moment of flexure information compose operation, converse the force and moment that dynamometry branch bears, thereby obtain the fast suffered six-dimensional space force information of carrying.Moment of flexure information is incorporated to ergograph and demarcate computing, compensation calibration experiment data, can effectively reduce the impact of coupling on six-dimensional force measuring accuracy between dimension, further improve the measuring accuracy of this device; This device can multiple common uses, and range will significantly improve.
Beneficial effect of the present invention:
1) by reasonable Arrangement branch location, make mechanism compacter, therefore dexterousr, convenient;
2) in branch, adopted the ball pair of low-friction coefficient, make this device effectively weaken friction that in sensor construction in the past, the normal traditional ball pivot adopting the causes impact on measuring accuracy, in addition, in reducing friction, moment of flexure information in Mei Tiao branch can be participated in to ergograph and demarcate computing, further improve the measuring accuracy of this device;
3) this device has simple in structure, dependable performance, is easy to process and assemble, and can as the case may be, be combined into new version after modularized encapsulation, has good adaptability and versatility widely.
4) this structure has the advantages such as rigidity is high, range is large, for heavily loaded large-tonnage six-dimension force sensor structural design provides good scheme.
Brief description of the drawings
Fig. 1 is surface structure simplified schematic diagram of the present invention;
Fig. 2 is dynamometry branched structure simplified schematic diagram of the present invention;
Fig. 3 is with the fast simplified schematic diagram of the carrying of three universal hinges of flexibility in the present invention;
Fig. 4 is the sensors of large measurement range of four 3-SPU six-dimensional force cell sensor compositions in parallel.
In above-mentioned accompanying drawing: 1. basic platform, 2. locating piece, 3. ball pivot, 4. tension-compression sensor, 5. set nut, 6. flexible universal hinge, 7. carrier block, 8. heavily loaded cover plate, 9. heavy load bottom plate.
Embodiment
Fig. 1 is surface structure simplified schematic diagram of the present invention.Carrier block (7) by space between two orthogonal 3 dynamometry branches be connected with basic platform (1), dynamometry branch is made up of locating piece (2), ball pivot (3), tension-compression sensor (4) and flexible universal hinge (6) and forms a SPU series branch.Locating piece (2) adopts bolt to be connected with basic platform (1), tension-compression sensor (4) one end is connected with locating piece (2) by ball pivot (3), and the other end and flexible universal hinge (6) adopt thread connection.
Fig. 2 is dynamometry branched structure simplified schematic diagram of the present invention.
Fig. 3 is the simplified schematic diagram with the carrier block of three universal hinges of flexibility in the present invention.Carrier block (7) is that the surfacing being made up of along three end to end diagonal line on three faces on summit altogether square piece processes, and three universal hinges of flexibility (6) are individually fixed in other three between two on adjacent complete facing of carrier block (7).Flexible universal hinge (6) is that on two groups of opposite flanks of rectangular parallelepiped piece, to process respectively two angles be to form after the grooving of 120 °.
Fig. 4 is its application example, applies the large force plate six-dimension force-measuring platform of wide range of four 3-SPU six-dimensional force cell sensor compositions in parallel.Wherein four 3-SPU six-dimensional force cell sensors in parallel are distributed between heavily loaded cover plate (8) and heavy load bottom plate (9), and the basic platform (1) of each 3-SPU six-dimensional force cell sensor in parallel and carrier block (7) are with bolts with heavy load bottom plate (9) and heavily loaded cover plate (8) respectively.In the time that heavily loaded cover plate (8) is subject to heavily loaded multi-dimensional force, can be by resolving and draw after the output signal overall treatment of tension-compression sensor (4) in the dynamometry branch of each 3-SPU six-dimensional force cell sensor in parallel.
In the time that carrier block (7) is subject to Spatial Multi-Dimensional power, tension-compression sensor (4) in dynamometry branch can be measured pressure and the moment of flexure information of this branch simultaneously, and by the force and moment that show after its compose operation that this dynamometry branch bears, after tension-compression sensor (4) signal of three dynamometry branches gathers and resolves, obtain the suffered six-dimensional space force information of carrier block (7).Moment of flexure information is incorporated to ergograph and demarcate in computing, compensation calibration experiment data, can effectively reduce the impact of coupling on six-dimensional force measuring accuracy between dimension, further improve the measuring accuracy of this device.Have heavily loaded large-tonnage six-dimensional space force measurement for vertical direction especially, multiple devices of use capable of being combined, to improve dynamometry range and the dynamometry area of six-dimension force-measuring platform.
Claims (5)
1. a 3-SPU six-dimensional force cell sensor in parallel, comprise carrier block, dynamometry branch and basic platform, it is characterized in that: carrier block by space between two orthogonal 3 dynamometry branches be connected with basic platform, dynamometry branch is made up of locating piece, ball pivot, tension-compression sensor and flexible universal hinge, and forms a SPU series branch; Locating piece is connected with basic platform, and tension-compression sensor one end is connected with locating piece by ball pivot, and the other end is connected with the universal hinge of flexibility.
2. 3-SPU six-dimensional force cell sensor in parallel according to claim 1, is characterized in that: the described space center line that orthogonal 3 dynamometry branches refer to three dynamometry branches is between two orthogonal between two.
3. 3-SPU six-dimensional force cell sensor in parallel according to claim 1, it is characterized in that: described carrier block is that the surfacing being made up of along three end to end diagonal line on three faces on summit altogether square piece processes, three universal hinges of flexibility of 3 dynamometry branches are individually fixed in other three between two on adjacent complete facing of carrier block.
4. 3-SPU six-dimensional force cell sensor in parallel according to claim 1, is characterized in that: the universal hinge of described flexibility is that on two groups of opposite flanks of rectangular parallelepiped piece, to process respectively two angles be to form after the grooving of 120 °.
5. 3-SPU six-dimensional force cell sensor in parallel according to claim 1, is characterized in that: described tension-compression sensor can be exported pressure signal and bidimensional unbalance loading signal.
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| CN201410291350.8A CN104034474B (en) | 2014-06-26 | 2014-06-26 | 3-SPU six-dimensional force cell sensor in parallel |
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| CN201410291350.8A CN104034474B (en) | 2014-06-26 | 2014-06-26 | 3-SPU six-dimensional force cell sensor in parallel |
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| CN104034474B CN104034474B (en) | 2016-05-04 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619388A (en) * | 2016-03-14 | 2016-06-01 | 燕山大学 | Three degree of freedom parallel rotation platform mechanism with driving decoupling arrangement |
| CN106017769A (en) * | 2016-07-08 | 2016-10-12 | 燕山大学 | Deformable parallel three-dimensional dynamic force sensor |
| CN106584513A (en) * | 2017-01-26 | 2017-04-26 | 武汉延锋时代检测技术股份有限公司 | Industrial robot repeated positioning accuracy testing method and industrial robot repeated positioning accuracy testing device |
| CN114812908A (en) * | 2021-07-23 | 2022-07-29 | 北京市计量检测科学研究院 | Eight-branch orthogonal parallel type six-component force sensor and structure optimization method thereof |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201096563Y (en) * | 2007-11-02 | 2008-08-06 | 山东理工大学 | Parallel decoupling structure three-dimensional moment sensor |
| CN101246064A (en) * | 2008-03-17 | 2008-08-20 | 燕山大学 | Elastic hinge parallel 6-UPS six-dimension force-measuring platform |
| CN102052984A (en) * | 2010-11-04 | 2011-05-11 | 燕山大学 | Redundancy fault-tolerant type parallel-structured six-dimensional force sensor |
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2014
- 2014-06-26 CN CN201410291350.8A patent/CN104034474B/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619388A (en) * | 2016-03-14 | 2016-06-01 | 燕山大学 | Three degree of freedom parallel rotation platform mechanism with driving decoupling arrangement |
| CN106017769A (en) * | 2016-07-08 | 2016-10-12 | 燕山大学 | Deformable parallel three-dimensional dynamic force sensor |
| CN106584513A (en) * | 2017-01-26 | 2017-04-26 | 武汉延锋时代检测技术股份有限公司 | Industrial robot repeated positioning accuracy testing method and industrial robot repeated positioning accuracy testing device |
| CN114812908A (en) * | 2021-07-23 | 2022-07-29 | 北京市计量检测科学研究院 | Eight-branch orthogonal parallel type six-component force sensor and structure optimization method thereof |
| CN114812908B (en) * | 2021-07-23 | 2024-03-26 | 北京市计量检测科学研究院 | eight-branch orthogonal parallel six-component force sensor and structure optimization method thereof |
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| CN104034474B (en) | 2016-05-04 |
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