CN206683798U - A kind of new six force snesor based on Stewart structures - Google Patents
A kind of new six force snesor based on Stewart structures Download PDFInfo
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- CN206683798U CN206683798U CN201720058039.8U CN201720058039U CN206683798U CN 206683798 U CN206683798 U CN 206683798U CN 201720058039 U CN201720058039 U CN 201720058039U CN 206683798 U CN206683798 U CN 206683798U
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- transmiting disk
- force
- force transmiting
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- branch road
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Abstract
It the utility model is related to a kind of new (3 3/3 3 type) six-dimension force sensor based on Stewart structures, the upper force transmiting disk set gradually including point interval, middle force transmiting disk and lower force transmiting disk, three branch road components are respectively connected between three force transmiting disks, upper free bearing of the described branch road component with coaxially connected from top to bottom, sensor cluster, connector, lower free bearing composition, sensor cluster therein has the elastomer of the more beam circular membrane sheet structures in the hard center of the use with connector, the circuit board being connected with connector is provided with elastomer, four sensitive foil gauges being made up of strain resistor are symmetrically pasted with surface of elastomer, each sensitive foil gauge is by welding manner and circuit board group into wheatstone bridge configuration.The beneficial effects of the utility model are to further enhancing six-dimension force sensor structure decoupling ability, improve the synthesis precision of sensor.
Description
Technical field
The utility model belongs to test sensor technical field, is related to that a kind of anti-coupling is strong, high-precision is based on Stewart
The six-dimension force sensor of structure.
Background technology
Six-dimension force sensor based on Stewart structures is a kind of six-dimension force sensor of superior performance, due to its carrying
The particular advantages such as ability is strong, precision is high, response is fast, sensitivity height are extensive so far by the favor of designer and user
Applied to fields such as national defence, industrial robot, Aeronautics and Astronautics, auto industry and shipbuildings.It is well known in the art more advanced at present
Six-dimension force sensor be two layers of configuration of 6-6/Stewart six-dimension force sensor, such as the present utility model application, people exists
Six-dimension force sensor based on Stewart structures proposed in CN201320799809.6 patent texts etc., but prior art is produced
Anti- coupling performance is relatively poor, the relatively low low problem of precision through finding still also to exist in actual use for product.
Utility model content
The purpose of type of the present invention is for being asked existing for the six-dimension force sensor of two layers of configuration of known 6-6/Stewart
Topic is solved, there is provided one kind meets anxious strong, the synthesis precision height of screw theory, anti-Space Coupling power performance and possessed certain
Rigidity property the new six force snesor based on Stewart structures.
The technical solution used for achieving the above object is such：What is provided is tied based on Stewart
The new six force snesor of structure includes upper force transmiting disk, middle force transmiting disk and the lower force transmiting disk that point interval is set gradually, in upper power transmission
Three branch road components, described branch road component are respectively connected between disk and middle force transmiting disk and between middle force transmiting disk and lower force transmiting disk
Upper free bearing, sensor cluster, connector, lower free bearing with coaxially connected from top to bottom form, sensor cluster therein
The elastomer of the more beam circular membrane sheet structures in the hard center of the use with connector with one, it is provided with elastomer and is connected with connector
Circuit board, be symmetrically pasted with four by strain resistor R in surface of elastomer1、R2、R3、R4The sensitive foil gauge of composition, it is each quick
Foil gauge is felt by welding manner and circuit board group into wheatstone bridge configuration.
In the above-mentioned new six force snesor based on Stewart structures, three between upper force transmiting disk and middle force transmiting disk
The individual spaced hexagonal angle arrangement of branch road component, and be connected in the form of diagonal brace between amphidisc；Passed in middle force transmiting disk with
The spaced hexagonal angle arrangement of three branch road components between power disk, and be connected in the form of diagonal brace between amphidisc.
In the above-mentioned new six force snesor based on Stewart structures, one end of the sensor cluster in branch road component
Wear and be connected with the screw thread of upper free bearing, the other end carries out pivot pin tolerance fit, bayonet fittings and welding shape with connector side
Formula is connected, and the other end of connector is worn with the screw thread of lower free bearing to be connected.
In the above-mentioned new six force snesor based on Stewart structures, the lower end of each lower free bearing passes through in branch road component
Positioning spiro pit connects with corresponding middle force transmiting disk or lower force transmiting disk, and upper end is provided with screwed hole and is connected with connector；Branch road component
In the upper end of each upper free bearing be connected by positioning spiro pit with corresponding upper force transmiting disk or middle force transmiting disk, lower end be provided with screwed hole with
The elastomer of sensor cluster is connected.
In the above-mentioned new six force snesor based on Stewart structures, four sensitive foil gauges interconnection group successively
Into ring type structure resistance bridge, and the largest deformation area in elastomer.
Compared with prior art, the utility model has the advantage that as described below with technique effect：
1st, the utility model provides a kind of new 3-3/3-3 type three-decker six-dimension force sensors, and it is based on spy
The coupled characteristic of three layers of Stewart six-dimension force sensors of 3-3/3-3 types of optimum structural parameter is determined with exporting on distribution character,
The flexible hinge structure that can realize specific direction Light deformation will be added in every branch road component, substituted for the six of traditional sense from
By the spherical hinge structure discharged, eliminate the interference effect of the complete machine non-measured direction load adjoint in main measurement load effect,
So as to reach the effect that coupled outside release ensures with rigidity.
2nd, more beam circular irises from release function and with hard center are employed in the utility model in sensor cluster
Structural elasticity body, the centre of the sensor elastomer structure are the hard center of stress, and strain beam is symmetrical, work strain position
In beam reverse side.The elastomer flexural deformation when structure stand under load, caused bending strain are need of work value, category direct stress type sensing
Device.Have the advantages that simple in construction, small volume, anti-coupling ability is strong, output sensitivity is high, be machined and be heat-treated it is easy.
3rd, entire change of the utility model to Stewart structure six-dimensional force sensor construction parameters and complete machine combination property
Relation is optimized, and draws the optimal balance parameter of Local Property and global property, it is compatible with rigidity that optimization solves precision
Problem, improve the combination property of sensor complete machine.
Test and detect through the utility model designer, the six-dimension force sensor with known 6-6 types bilayer Stewart structures
Contrast, synthesis precision of the present utility model is significantly improved.Design parameter is as follows：Single channel loading accuracy≤0.2%F.S.；It is multiple
Close loading accuracy≤0.6%F.S.；Has certain stiffness requirement simultaneously.
Brief description of the drawings
Fig. 1 is the structural representation of one specific embodiment of the utility model.Label 1 is upper force transmiting disk in figure, and 2 be branch road
Component, 3 be middle force transmiting disk, and 4 be lower force transmiting disk.
Fig. 2 is the structural representation of branch road component in the new six force snesor.Label 21 is upper free bearing in figure, and 22 are
Sensor cluster, 23 be connector, and 24 be lower free bearing.
Fig. 3 is the schematic diagram of sensor cluster surface setting structure in branch road component.Label 22a is elastomer in figure.
Fig. 4 is Fig. 3 B direction views.Label 22b is sensitive foil gauge (R in figure1、R2、R3、R4)。
Fig. 5 is the electrical block diagram of sensor cluster.Label 22c is circuit board in figure, and 22d is connector, and 22e is
Wire.
Embodiment
The utility model content is described further below with reference to accompanying drawing, but actual fabrication structure of the present utility model
It is not limited in following embodiments.
Referring to accompanying drawing 1, it is described in the utility model based on the new six force snesor of Stewart structures by upper force transmiting disk
1st, diameter forms equal to the middle force transmiting disk 3 of upper force transmiting disk 1 with lower force transmiting disk 4 and six branch road components 2；Six described branch
Road component 2 is divided into two groups, and according to special angle diagonal brace form symmetric arrays, is integrally spirally distributed in three force transmiting disks
1st, between 3,4.
The structure of branch road component 2 is as shown in Figure 2.It is upper free bearing 21, the sensor with coaxially connected from top to bottom
Component 22, connector 23, lower free bearing 24 form.Wherein, one end of sensor cluster 22 wears with the screw thread of upper free bearing 21 and is connected,
The other end and the side of connector 23 carry out pivot pin tolerance fit, bayonet fittings, Type of Welding and are connected；The other end of connector 23
Wear and be connected with the screw thread of lower free bearing 24；The lower end of lower free bearing 24 passes through positioning spiro pit and corresponding lower force transmiting disk 4 or middle biography
Power disk 3 connects, and upper end is provided with screwed hole and is connected with connector 23；The upper end of upper free bearing 21 passes through positioning spiro pit and upper force transmiting disk
1 or middle force transmiting disk 3 is connected, and lower end is provided with screwed hole and is connected with the threaded rod of sensor cluster elastomer.
As shown in Figure 3-Figure 5, there is the structure of sensor cluster 22 band to patch for it in the utility model branch road component 2
The elastomer 22a of the part 22d more beam circular membrane sheet structures in the hard center of use, it is provided with what is be connected with connector 22d on elastomer 22a
Circuit board 24c, four are symmetrically pasted with by strain resistor R on elastomer 22a surfaces1、R2、R3、R4The sensitive foil gauge of composition
22b, four sensitive foil gauge 22b are connected with each other and form ring type structure by circuit on welding manner and circuit board 22c successively
Wheatstone bridge, and the largest deformation area in elastomer 22a.
The making step of the utility model product is：
1st, the elastomer 22a working surfaces of machined processing cleaned, polished, being rule, after the processing step such as brush coating
It is then using wire 22e that four sensitive foil gauge 22b are (electric on circuit board 22c by sensitive strain gauge adhesion in processing surface
Hinder R1、R2、R3、R4) composition Wheatstone bridge road, then complete to be electrically connected with connector 22d.
2nd, sensor cluster 22 is located at the centre of branch road component 2, and both ends are connected with upper free bearing 21, connector 23 respectively；So
Connector 23 is connected with lower free bearing 24 afterwards.Sensor cluster 22 is first connected with connector 23 reconnects free bearing 21, completes branch
The assembling of road component 2；It must ensure the axiality of component after assembling in certain error range in assembling.
3rd, complete six branch road components 2 assembling after, by precalculated position make they respectively with upper, middle and lower force transmiting disk 1,
3rd, 4 are connected.During assembling, upper and lower free bearing 21,24 is first located by connecting with each force transmiting disk with pin, then is connected with screw, is vertically connected with
Mode is identical, is finally completed the overall assembling of the new six force snesor described in the utility model based on Stewart structures.
Claims (5)
- A kind of 1. new six force snesor based on Stewart structures, it is characterised in that：Set gradually including a point interval upper Force transmiting disk (1), middle force transmiting disk (3) and lower force transmiting disk (4), between upper force transmiting disk (1) and middle force transmiting disk (3) and middle force transmiting disk (3) three branch road components (2) are respectively connected between lower force transmiting disk (4), described branch road component (2) by coaxially connecting from top to bottom Connect upper free bearing (21), sensor cluster (22), connector (23), lower free bearing (24) composition of cooperation, sensor cluster therein (22) there is the elastomer (22a) of the more beam circular membrane sheet structures in the hard center of use with connector (22d), in elastomer (22a) is provided with the circuit board (22c) being connected with connector (22d), and four are symmetrically pasted with by electrostrictive strain in surface of elastomer Hinder R1、R2、R3、R4The sensitive foil gauge (22b) of composition, each sensitive foil gauge (22b) pass through welding manner and circuit board (22c) Form wheatstone bridge configuration.
- 2. the new six force snesor according to claim 1 based on Stewart structures, it is characterised in that：Uploading The spaced hexagonal angle arrangement of three branch road components (2) between power disk (1) and middle force transmiting disk (3), and connect in the form of diagonal brace It is connected between amphidisc；Three spaced hexagonal angles of branch road component (2) between middle force transmiting disk (3) and lower force transmiting disk (4) Arrangement, and be connected in the form of diagonal brace between amphidisc.
- 3. the new six force snesor according to claim 1 based on Stewart structures, it is characterised in that：Branch road group One end of sensor cluster (22) in part (2) is worn with the screw thread of upper free bearing (21) to be connected, the other end and connector (23) one Side carries out being connected for pivot pin tolerance fit, bayonet fittings and Type of Welding, the other end of connector (23) and lower free bearing (24) Screw thread wear it is connected.
- 4. the new six force snesor according to claim 1 based on Stewart structures, it is characterised in that：Branch road group The lower end of each lower free bearing (24) is connected by positioning spiro pit with corresponding middle force transmiting disk (3) or lower force transmiting disk (4) in part (2), Upper end is provided with screwed hole and is connected with connector (23)；The upper end of each upper free bearing (21) passes through positioning spiro pit in branch road component (2) It is connected with corresponding upper force transmiting disk (1) or middle force transmiting disk (3), lower end is provided with the elastomer (22a) of screwed hole and sensor cluster It is connected.
- 5. the new six force snesor according to claim 1 based on Stewart structures, it is characterised in that：Described four Individual sensitive foil gauge (22b) is connected with each other composition ring type structure resistance bridge, and the maximum shape in elastomer (22a) successively Become area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720058039.8U CN206683798U (en) | 2017-01-17 | 2017-01-17 | A kind of new six force snesor based on Stewart structures |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720058039.8U CN206683798U (en) | 2017-01-17 | 2017-01-17 | A kind of new six force snesor based on Stewart structures |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108918013A (en) * | 2018-09-14 | 2018-11-30 | 哈尔滨工业大学（威海） | A kind of compliant mechanism is from decoupling six-dimension force sensor |
| CN109668670A (en) * | 2019-02-15 | 2019-04-23 | 上海交大临港智能制造创新科技有限公司 | A kind of six-dimension force sensor |
| CN109974917A (en) * | 2019-04-16 | 2019-07-05 | 上海交通大学 | A kind of six-dimension force sensor cloth chip architecture that strain is concentrated |
-
2017
- 2017-01-17 CN CN201720058039.8U patent/CN206683798U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108918013A (en) * | 2018-09-14 | 2018-11-30 | 哈尔滨工业大学（威海） | A kind of compliant mechanism is from decoupling six-dimension force sensor |
| CN109668670A (en) * | 2019-02-15 | 2019-04-23 | 上海交大临港智能制造创新科技有限公司 | A kind of six-dimension force sensor |
| CN109974917A (en) * | 2019-04-16 | 2019-07-05 | 上海交通大学 | A kind of six-dimension force sensor cloth chip architecture that strain is concentrated |
| CN109974917B (en) * | 2019-04-16 | 2021-06-04 | 上海交通大学 | Strain-concentrated six-dimensional force sensor cloth piece structure |
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