CN113739975B - Structure decoupling six-dimensional force sensor - Google Patents
Structure decoupling six-dimensional force sensor Download PDFInfo
- Publication number
- CN113739975B CN113739975B CN202110995849.7A CN202110995849A CN113739975B CN 113739975 B CN113739975 B CN 113739975B CN 202110995849 A CN202110995849 A CN 202110995849A CN 113739975 B CN113739975 B CN 113739975B
- Authority
- CN
- China
- Prior art keywords
- force
- force measuring
- measuring assemblies
- floating frame
- assemblies
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention provides a structural decoupling six-dimensional force sensor which comprises a fixed frame, a floating frame and a force measuring assembly. And flexible spherical hinges are arranged at two ends of the force measuring component to ensure that the force measuring component is a two-force rod. The floating frame is connected with the fixed frame through 12 force measuring assemblies. When the six-dimensional force sensor bears force/moment in a certain direction, the X-element force measurement assembly, the Y-element force measurement assembly and the Z-element force measurement assembly are symmetrically arranged in pairs, and acting forces on other components are mutually offset, so that the other components are not interfered. The invention can realize mutual decoupling between force and force, mutual decoupling between force and moment, mutual decoupling between moment and moment, it has more thorough structure decoupling, convenient calibration, high precision, simple structure, convenient use, etc.
Description
Technical Field
The invention belongs to the field of mechanical sensors, and particularly relates to a structural decoupling six-dimensional force sensor.
Background
The six-dimensional force sensor generally comprises an elastic sensing element, a strain gauge and a Wheatstone bridge. The basic principle of the method is that when a component is subjected to external load, the surface of an object to be measured generates tiny mechanical deformation, and the deformation is in direct proportion to external force. The strain gauge adhered on the surface deforms correspondingly, so that the resistance value of the strain gauge has an increment, the resistance increment is converted into a voltage increment through a Wheatstone bridge, and the voltage increment is also in direct proportion to the external force applied to the sensor. And processing the voltage signal by a data acquisition and signal processing system to obtain the acted external load. At present, the traditional six-dimensional force sensor is difficult to completely realize structural decoupling.
Therefore, a new technical solution is needed to solve the above technical problems.
Disclosure of Invention
The invention provides a structure decoupling six-dimensional force sensor, which aims to completely or approximately completely realize structure decoupling.
In order to achieve the purpose, the invention provides the following scheme:
a structure decoupling six-dimensional force sensor comprises a fixed frame and a floating frame positioned above the fixed frame; a plurality of force measuring assemblies are arranged in a space between the fixed frame and the floating frame; the floating frame is provided with a symmetrical center of a horizontal plane;
the force measuring assemblies comprise four X force measuring assemblies arranged in a horizontal first direction, four Z force measuring assemblies arranged in a horizontal second direction and four Y force measuring assemblies arranged in a vertical direction; the horizontal first direction and the horizontal second direction are mutually vertical in a horizontal plane, and the vertical direction is simultaneously vertical to the horizontal first direction and the horizontal second direction in the horizontal plane;
the four X force measuring assemblies are symmetrically arranged on two sides of the symmetric center in a pairwise and one group, and the floating frame is provided with X upper stand columns positioned at two ends of each group of the two X force measuring assemblies; the fixed frame is provided with an X lower stand column positioned between two X force measuring assemblies of each group; two X force measuring assemblies in each group are coaxially arranged, and two ends of each X force measuring assembly are connected between an X upper stand column and an X lower stand column;
the four Z force measuring assemblies are symmetrically arranged on the other two sides of the symmetric center in a pairwise mode, and the floating frame is provided with Z upper stand columns located at two ends of each group of the two Z force measuring assemblies; the fixed frame is provided with a Z lower upright post positioned between two Z force measuring assemblies of each group; two Z force measurement assemblies in each group are coaxially arranged, and two ends of each Z force measurement assembly are connected between one Z upper stand column and one Z lower stand column;
the four Y force measuring assemblies are positioned at four corners of the floating frame, every two of the four Y force measuring assemblies are symmetrically arranged relative to the symmetric center, the upper end of each Y force measuring assembly is connected with the floating frame, and the lower end of each Y force measuring assembly is connected with the fixed frame.
Furthermore, each force measuring component is a two-force rod.
Furthermore, each force measuring assembly has the same structure and comprises a force measuring element, pull rods positioned at two ends of the force measuring element and flexible spherical hinges respectively positioned at the outer ends of the pull rods, wherein the flexible spherical hinges are used for being connected with the fixed frame or the floating frame.
Further, when a force or moment is applied to the floating frame at the symmetrical center, 12 force-measuring units simultaneously apply a force to the floating frame.
Further, the floating frame comprises a floating platform, and the X upper upright post and the Z upper upright post extend downwards from the bottom surface of the floating platform; the floating platform is a flat square body which is centrosymmetric and the large plane of which is a square surface; the structure formed by the X upper upright column, the Z upper upright column and the floating platform is still a central symmetry structure.
The technical scheme of the invention has the following beneficial effects:
the invention can realize mutual decoupling between force and force; the mutual decoupling between the force and the moment and the mutual decoupling between the moment have the advantages of complete structural decoupling, convenient calibration, high precision, simple structure, convenient use and the like.
Drawings
FIG. 1 is a schematic structural diagram of a structurally decoupled six-dimensional force sensor of the present invention;
FIG. 2 is a front view of FIG. 1;
FIG. 3 is a side view of FIG. 1;
fig. 4 is a schematic structural view of the fixing frame;
FIG. 5 is a schematic structural diagram of a floating frame;
FIG. 6 is a schematic view of a force measuring assembly;
FIG. 7 is a front view of the force-measuring assembly.
Detailed Description
Referring to fig. 1 to 7, the present disclosure will be described in detail with reference to the accompanying drawings, wherein the preferred embodiments of the present disclosure are described in detail for the purpose of illustration and explanation, and are not intended to limit the present disclosure.
As shown in fig. 1 to 7, the structurally decoupled six-dimensional force sensor of the present invention comprises a fixed frame 1, a floating frame 2,4X force- measuring assemblies 3, 4, 5, 6,4Y force- measuring assemblies 7, 8, 9, 10,4Z force- measuring assemblies 11, 12, 13, 14. The 12 force measuring assemblies are identical in structure and respectively comprise a force measuring element 19, pull rods 20 positioned at two ends of the force measuring element 19 and flexible spherical hinges 18 respectively positioned at the outer ends of the pull rods 20, and the flexible spherical hinges 18 are used for being connected with the fixed frame 1 or the floating frame 2. The two ends of the pull rod 20 are provided with flexible spherical hinges 18, so that the force measuring components are two-force rods.
The fixed frame 1 comprises a fixed platform 15; the floating frame 2 comprises a floating platform. The floating platform is a flat square body with the center being symmetrical and the large plane being a square surface. The floating frame 2 is connected with the fixed frame 1 through 12 force measuring assemblies. The floating frame 2 has a center of symmetry of the horizontal plane. The force measuring assemblies comprise four X force measuring assemblies 3, 4, 5 and 6 arranged in a horizontal first direction, four Z force measuring assemblies 11, 12, 13 and 14 arranged in a horizontal second direction, and four Y force measuring assemblies 7, 8, 9 and 10 arranged in a vertical direction. The horizontal first direction and the horizontal second direction are mutually vertical in the horizontal plane, and the vertical direction is simultaneously vertical to the horizontal first direction and the horizontal second direction in the horizontal plane. In the present embodiment, in order to facilitate understanding of the symmetry center, the horizontal first direction, the horizontal second direction, and the vertical direction of the floating frame 2, reference may be made to fig. 1 to 3, in which the symmetry center of the floating frame 2 is the point O, and the horizontal first direction, the horizontal second direction, and the vertical direction may be understood as three directions of a three-dimensional rectangular coordinate with the point O as an origin, where the X direction is the horizontal first direction, the Z direction is the horizontal second direction, and the Y direction is the vertical direction. The four X force measuring components 3, 4, 5 and 6 are symmetrically arranged at two sides of the symmetry center O in pairs (one X force measuring component 3, 4; one X force measuring component 5, 6). The floating frame 2 is provided with X upper columns 21 which are positioned at two ends of each group of two X force measuring assemblies. The fixed frame 1 is provided with an X lower upright post 16 positioned between two X force measuring assemblies of each group; two X force measuring assemblies in each group are coaxially arranged, and two ends of each X force measuring assembly are connected between an X upper upright post and an X lower upright post 16. The four Z force measuring assemblies 11, 12, 13 and 14 are symmetrically arranged on the other two sides of the symmetry center O in a pairwise manner. The floating frame 2 is provided with Z upper upright posts 22 positioned at two ends of each group of two Z force measuring assemblies; the fixed frame is provided with a Z lower upright post 17 positioned between two Z force measuring assemblies of each group; the two Z force measurement components in each group are coaxially arranged, and both ends of each Z force measurement component are connected between one Z upper column 22 and one Z lower column 17. The four Y force measuring assemblies 7, 8, 9 and 10 are positioned at four corners of the floating frame 2, every two of the four Y force measuring assemblies are symmetrically arranged relative to the symmetric center O, the upper end of each Y force measuring assembly is connected with the floating frame 2, and the lower end of each Y force measuring assembly is connected with the fixed frame 1.
On the basis of an XYZ three-dimensional rectangular coordinate system, the axes of the 4X force measuring assemblies 3, 4, 5 and 6 are vertical to a longitudinal plane YZ and are arranged in pairwise symmetry with respect to the longitudinal plane XY and YZ; the axes of the 4Y force measuring assemblies 7, 8, 9 and 10 are vertical to the plane of the floating frame 2 and the plane of the fixed frame 1, and are arranged in pairwise symmetry with respect to the longitudinal planes XY and YZ; the axes of the 4Z force- measuring cells 11, 12, 13, 14 are perpendicular to the longitudinal plane XY and are arranged two by two symmetrically with respect to the longitudinal planes XY and YZ.
The structural decoupling six-dimensional force sensor has the following use principle:
when a force in the X direction is applied at point O, no moment is generated, but 12 force-measuring assemblies apply a force to the floating frame at the same time, and the 12 tie-rod assemblies have an acting force in the X direction and an acting force in the Y, Z direction to the floating frame 2. Because the 4X force measuring assemblies 3, 4, 5, 6,4Y force measuring assemblies 7, 8, 9, 10 and the 4Z force measuring assemblies 11, 12, 13, 14 are respectively arranged in pairwise symmetry about the longitudinal planes XY and YZ, the Z-direction acting forces generated by the pull rod assemblies on the floating frame 2 are mutually offset, and the four Y-direction acting forces generated by the 4Y force measuring assemblies 7, 8, 9, 10 on the floating frame 2 are opposite to the eight Y-direction acting forces generated by the 4 groups of X force measuring assemblies 3, 4, 5, 6 and the 4 groups of Z force measuring assemblies 11, 12, 13, 14 on the floating frame 2 in the same direction and mutually offset. There is no interference with the other five components when the X-direction force is applied at point O. The measured X-direction force data are then derived directly by the force cells on the 4X force measuring assemblies 3, 4, 5, 6.
When a force in the Y direction is applied at point O, no moment is generated, but 12 force-measuring assemblies apply force to the floating frame at the same time, and the 12 tie-rod assemblies have an acting force in the Y direction and an acting force in the X, Z direction to the floating frame 2. Because the 4X force measuring components 3, 4, 5, 6,4Y force measuring components 7, 8, 9, 10 and the 4Z force measuring components 11, 12, 13, 14 are respectively arranged in pairs and symmetrically relative to the longitudinal plane XY and YZ, Z-direction acting forces generated by the pull rod components to the floating frame 2 are mutually counteracted, four X-direction acting forces generated by the 4X force measuring components 3, 4, 5, 6 to the floating frame 2 and eight X-direction acting forces generated by the 4 groups of Y force measuring components 7, 8, 9, 10 and the 4 groups of Z force measuring components 11, 12, 13, 14 to the floating frame 2 have equal magnitudes and opposite directions, and are mutually counteracted. There is no interference with the other five components when a Y-direction force is applied at point O. The measured Y-direction force data are then derived directly by the load cells on the 4Y- load cells 7, 8, 9, 10.
When a Z-direction force is applied at the point O, the same thing as when an X-direction force is applied at the point O.
When an Mx moment acts on the point O, 12 force measuring assemblies simultaneously apply force to the floating frame 2,4X force measuring assemblies 3, 4, 5 and 6 to apply force in the direction of X, Y to the floating frame 2, 4Z force measuring assemblies 11, 12, 13 and 14 to apply force in the direction of Z, Y to the floating frame 2, and 4Y force measuring assemblies 7, 8, 9 and 10 to apply force in the direction of Z, Y to the floating frame 2. Because 4X force measuring assemblies 3, 4, 5, 6, 4Y force measuring assemblies 7, 8, 9, 10 and 4Z force measuring assemblies 11, 12, 13, 14 are respectively arranged in pairwise symmetry about the longitudinal plane XY and YZ, the My and Mz moments generated by the acting force of the 12 force measuring assemblies 3-14 on the floating frame 2 at the O point are respectively equal in magnitude and opposite in direction in pairwise manner and are mutually counteracted; the acting forces in the X, Y and the Z direction generated by the 12 force measuring assemblies 3-14 on the floating frame 2 are equal in magnitude and opposite in direction in pairs respectively, and are offset mutually. There is no disturbance to the other five components when the Mx moment acts at point O. The measured Mx moment data are then derived directly by the load cells on the 4X- load cells 3, 4, 5, 6.
When the My moment acts on the point O, 12 force measuring assemblies simultaneously exert force on the floating frame 2, and X, Y and Z-direction acting force respectively exist. Because 4X dynamometry components 3, 4, 5, 6, 4Y dynamometry components 7, 8, 9, 10 and 4Z dynamometry components 11, 12, 13, 14 are respectively arranged in pairs symmetrically about the longitudinal plane XY and YZ, 12 dynamometry components 3-14 have Y-direction acting force to the floating frame 2, and Mx and Mz moments generated at the O point are respectively equal in magnitude and opposite in direction in pairs, and are mutually counteracted; the X-direction acting force and the Z-direction acting force generated by the 12 force measuring components 3 to 14 on the floating frame 2 are equal in magnitude and opposite in direction in pairs respectively, and are counteracted with each other; the four Y-direction acting forces generated by the 4Y force measuring assemblies 7, 8, 9 and 10 on the floating frame 2 are equal to and opposite to the eight Y-direction acting forces generated by the 4 groups of X force measuring assemblies 3, 4, 5 and 6 and the 4 groups of Z force measuring assemblies 11, 12, 13 and 14 on the floating frame 2, and the four Y-direction acting forces and the eight Y-direction acting forces are mutually offset. There is no disturbance to the other five components when the My moment is applied at point O. The measured My moment data is now derived directly by the load cells on the 4Y load cells 7, 8, 9, 10.
When the Mz moment acts at the point O, the same goes for the Mx moment acting at the point O.
In conclusion, when the structural decoupling six-dimensional force sensor applies load in any direction, other five components are not interfered, and the structural complete decoupling of the six-dimensional force sensor is realized.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A structure decoupling six-dimensional force sensor comprises a fixed frame and a floating frame positioned above the fixed frame; the device is characterized in that a plurality of force measuring assemblies are arranged in a space between the fixed frame and the floating frame; the floating frame is provided with a symmetrical center of a horizontal plane;
the force measuring assemblies comprise four X force measuring assemblies arranged in a horizontal first direction, four Z force measuring assemblies arranged in a horizontal second direction and four Y force measuring assemblies arranged in a vertical direction; the horizontal first direction and the horizontal second direction are mutually vertical in a horizontal plane, and the vertical direction is simultaneously vertical to the horizontal first direction and the horizontal second direction in the horizontal plane;
the four X force measuring assemblies are symmetrically arranged on two sides of the symmetric center in a pairwise mode, and the floating frame is provided with X upper stand columns located at two ends of each group of the two X force measuring assemblies; the fixing frame is provided with an X lower upright post positioned between two X force measuring assemblies of each group; two X force measuring assemblies in each group are coaxially arranged, and two ends of each X force measuring assembly are connected between an X upper stand column and an X lower stand column;
the four Z force measuring assemblies are symmetrically arranged on the other two sides of the symmetric center in a pairwise mode, and the floating frame is provided with Z upper stand columns located at two ends of each group of the two Z force measuring assemblies; the fixed frame is provided with a Z lower upright post positioned between two Z force measuring assemblies of each group; two Z force measuring assemblies in each group are coaxially arranged, and two ends of each Z force measuring assembly are connected between a Z upper stand column and a Z lower stand column;
the four Y force measuring assemblies are positioned at four corners of the floating frame, every two of the four Y force measuring assemblies are symmetrically arranged relative to the symmetric center, the upper end of each Y force measuring assembly is connected with the floating frame, and the lower end of each Y force measuring assembly is connected with the fixed frame;
when force or moment is applied to the floating frame at the symmetry center, 12 force-measuring assemblies simultaneously apply force to the floating frame.
2. The structurally decoupled six-dimensional force sensor of claim 1, wherein each load cell is a two-force bar.
3. The structurally decoupled six-dimensional force sensor according to claim 1 or 2, wherein each force measuring assembly has the same structure and comprises a force measuring cell, pull rods at both ends of the force measuring cell, and flexible spherical hinges at outer ends of the pull rods, respectively, for connection with a fixed frame or a floating frame.
4. The structurally decoupled six-dimensional force sensor of claim 1, wherein the floating frame comprises a floating platform, the X upper columns and the Z upper columns extending downward from a bottom surface of the floating platform; the floating platform is a flat square body which is centrosymmetric and the large plane of the flat square body is a square surface; the structure formed by the X upper upright column, the Z upper upright column and the floating platform is still a central symmetry structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110995849.7A CN113739975B (en) | 2021-08-27 | 2021-08-27 | Structure decoupling six-dimensional force sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110995849.7A CN113739975B (en) | 2021-08-27 | 2021-08-27 | Structure decoupling six-dimensional force sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113739975A CN113739975A (en) | 2021-12-03 |
| CN113739975B true CN113739975B (en) | 2022-11-25 |
Family
ID=78733464
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110995849.7A Active CN113739975B (en) | 2021-08-27 | 2021-08-27 | Structure decoupling six-dimensional force sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113739975B (en) |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1092329C (en) * | 1999-09-09 | 2002-10-09 | 燕山大学 | Parallel decoupling structure six-dimensional force and moment sensor |
| CN101216359A (en) * | 2008-01-09 | 2008-07-09 | 南京航空航天大学 | Frame type decoupling six component sensor and use method |
| CN102095534B (en) * | 2010-12-08 | 2014-02-19 | 上海交通大学 | Double rood beam high-sensitivity six-dimensional moment sensor |
| CN102589765B (en) * | 2012-03-19 | 2014-07-23 | 南宁宇立汽车安全技术研发有限公司 | Multi-dimensional force sensor |
| CN105424255B (en) * | 2015-11-11 | 2018-05-01 | 上海大学 | A kind of combined type four dimensional force and torque sensor based on structure decoupling |
| CN106124113B (en) * | 2016-06-14 | 2020-08-21 | 南京神源生智能科技有限公司 | Novel six-dimensional force and torque sensor |
| CN106153237A (en) * | 2016-06-14 | 2016-11-23 | 南京神源生智能科技有限公司 | A kind of small-sized six-dimensional force and torque sensor |
| CN110132477B (en) * | 2019-06-21 | 2024-02-02 | 清华大学深圳研究生院 | Decoupling method of six-dimensional force sensor and six-dimensional force sensor |
| CN111998982B (en) * | 2020-09-11 | 2022-03-18 | 上海智籍机器人有限公司 | Six-dimensional force sensor |
| CN112304483A (en) * | 2020-11-30 | 2021-02-02 | 济南大学 | Combined self-decoupling piezoelectric film three-dimensional force sensor and measuring method thereof |
| CN113091981A (en) * | 2021-03-16 | 2021-07-09 | 南京航空航天大学 | Sensor with pretightening force and measuring method |
-
2021
- 2021-08-27 CN CN202110995849.7A patent/CN113739975B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113739975A (en) | 2021-12-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111272328B (en) | High-sensitivity low-dimensional coupling six-dimensional force sensor | |
| CN109632159B (en) | Six-dimensional force and moment sensor | |
| CN113739976B (en) | Six-dimensional force sensor with integrated structure decoupling | |
| CN103091026B (en) | Parallel structure six-dimension force sensor | |
| CN201083760Y (en) | Three axis integrated piezoresistance type acceleration sensor | |
| CN103292939B (en) | Spoke and central pin column combined type three-dimensional force sensor | |
| CN103076131A (en) | Six-dimensional force and torque sensor for measuring large force and small torque of large mechanical arm | |
| CN103323097A (en) | Ultra-low frequency high-accuracy micro-vibration measuring system | |
| CN110243525B (en) | Six-dimensional force sensor | |
| CN111896216B (en) | Wind tunnel half-mould balance | |
| KR100413807B1 (en) | Parallel type 6-axis force-moment measuring device | |
| CN103575435B (en) | For the three-dimensional force sensor of automobile axle test macro | |
| CN206710057U (en) | A kind of six component measurement balances and model for wind tunnel experiment | |
| CN102141576A (en) | High-gravity (g) acceleration sensor in plane of micro-electromechanical system (MEMS) based on resonance tunnelling structure (RTS) | |
| CN108507753B (en) | Output signal combination method of three-component optical fiber balance | |
| CN107621332B (en) | A kind of scaling method of more fulcrum piezoelectric force instrument | |
| CN106940243B (en) | Six-component measuring balance and model for wind tunnel experiment | |
| CN105841857B (en) | A kind of parallel five-dimensional force sensor | |
| CN113739975B (en) | Structure decoupling six-dimensional force sensor | |
| Sun et al. | Design and optimization of a novel six-axis force/torque sensor with good isotropy and high sensitivity | |
| CN105973455A (en) | Combined piezoelectric strain vibration measurement device | |
| CN203241182U (en) | Spoke/center pin column combined-type three-dimensional force sensor | |
| CN102338675A (en) | Three-dimensional force sensor | |
| KR101455307B1 (en) | Divided sensing part 6-components load-cell | |
| CN202814606U (en) | Two-dimension force cell sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |