CN100387952C - Parellel 6-UPUR hexa-dimensional force-measuring platform - Google Patents
Parellel 6-UPUR hexa-dimensional force-measuring platform Download PDFInfo
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- CN100387952C CN100387952C CNB2006100126024A CN200610012602A CN100387952C CN 100387952 C CN100387952 C CN 100387952C CN B2006100126024 A CNB2006100126024 A CN B2006100126024A CN 200610012602 A CN200610012602 A CN 200610012602A CN 100387952 C CN100387952 C CN 100387952C
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Abstract
The present invention discloses a parallel 6-UPUR six-dimensional force-measuring platform which is characterized in that a one-dimensional force-measuring branch is connected to a foundation platform (1) and a loading platform (13) by a lower fixed nut (2) and an upper fixed nut (12), and a space 6-UPUR parallel mechanism is formed by the foundation platform (1), the loading platform (13) and six one-dimensional force-measuring branches. Each one-dimensional force-measuring branch has two kinds of structures that the first kind of structure is an assembled type one-dimensional force-measuring branch structure, and the second kind of structure is an integral unit of the branches. The present invention realizes the decomposition of six-dimensional force into the six branches based on the principle of a novel 6-UPUR parallel mechanism, and a simple parallel six-dimensional force-measuring platform structure composed of single-freedom flexible rotary pairs is especially obtained by the project of the six flexible rotary pairs designed on the loading platform and the adoption of flexible universal hinge structure in the branch. The one-dimensional force-measuring branch can be replaced by a one-dimensional linear micro-drive branch, and the six-dimensional force-measuring platform can be changed to a six-dimensional precise positioning platform. Thus, the present invention has the advantages of convenient processing, simple structure, easy analysis and modeling, stable performance, wide adaptability, etc.
Description
Technical field
The present invention relates to a kind of force transducer field, particularly relate to a kind of parallel 6-UPUR six-dimension force-measuring platform.
Background technology
The key of measuring sextuple power is six components of power to be changed into the output of six road electric signal.People have designed the six-dimension force sensor sensitive element of many kinds of structures for this reason, for example three vertical tendon structures, tubular construction, Crossed Circle structure, four vertical tendon structures, cross structure, non-radially three girder constructions and eight vertical tendon structures etc.These sensor constructions differ from one another, but have complex structure mostly, the problem of different aspects such as rigidity is low, strain sensitivity is low, decoupling zero difficulty.Therefore, some scholars are incorporated into parallel-connection structure in the six-dimension force sensor force sensing element structure Design both at home and abroad.Compare with other structure, Stewart platform six-dimension force sensor structure in parallel can be mapped to the sextuple power that acts on stressed platform (S one ball pivot in six SPS branches, P one moving sets), and only bears single Tensile or Compressive Loading on each bifurcation theory, eliminated stretch bending and turned round coupling problems.Another advantage of Stewart platform six-dimension force sensor structure is both can be very little by what adopt flexible hinge to make, can adopt the assembly structure of general spherical shape hinge to manufacture the large-scale six-dimension force sensor of big dynamometry scope, wide range again.But find that by calibration experiment the big dynamometry scope, the wide range six-dimension force sensor precision that adopt general spherical shape hinge assemblies structure to manufacture based on the Stewart platform mechanism are relatively poor, be difficult to reach the requirement of high Precision Detection.Causing the low one of the main reasons of precision is to have gap and friction in the spherical linkage.In order to eliminate the influence of general spherical shape hinge internal clearance and friction, people have proposed a kind of solution of the Stewart flatbed six-dimension force sensor based on the elasticity ball pivot, for example: the disclosed patented technology of Chinese patent ZL99102421.4, its principle is to replace common ball pivot with the thin neck in the part of the good metal bar of elasticity, and the elastic bending and the torsional deflection that are produced by thin neck place are similar to the Three dimensional rotation that replaces ball pivot.Present this structure has been developed to the robot finger and has used six-dimension force sensor and sextuple power mouse.But, thereby when exploitation wide range six-dimension force sensor, be restricted because the elasticity ball pivot is difficult to bear big load.In addition, it is open that a kind of 6-SPS six-dimension force sensor structure with middle pretension branch also has been suggested Chinese patent ZL99102526.1, and this structure can be eliminated zero error by the medial fascicle pretension, but have problem such as pretightning force scholar change.
In order to overcome the deficiencies such as pretightning force scholar change that elasticity ball pivot in the prior art is difficult to bear big load and existence, the invention provides a kind of parallel 6-UPUR six-dimension force-measuring platform, this invention adopts single-freedom and flexible turning joint and one dimension high precision linear transducer (or foil gauge) to constitute sextuple power detection platform by assembling, this platform structure both can have been eliminated gap and the friction that common ball pivot exists, big load can be born again, the needs of wide range can be satisfied.
The technical solution adopted for the present invention to solve the technical problems is: parallel 6-UPUR six-dimension force-measuring platform is formed by connecting by basic platform, weighted platform and six one dimension dynamometry branches, one dimension dynamometry branch passes through down, and hold-down nut is connected with weighted platform with basic platform with last hold-down nut, basic platform is upper table surface and following table two parts, load cover and be connected with weighted platform by screw rod, basic platform, weighted platform and six one dimension dynamometry branches have constituted space 6-UPUR parallel institution;
There is a connecting hole at the weighted platform center, and periphery has three groups of six engaging lugs, and the angle between every group of engaging lug is 120 °, hole that is connected with one dimension dynamometry branch of processing on the engaging lug, six engaging lugs and six flexible revolute pairs of center disk formation; The upper table surface of basic platform also can be processed six engaging lugs;
There are following two kinds of structures in one dimension dynamometry branch:
First kind of structure is: one dimension dynamometry branch by following flexible universal coupling, lower locking nut, a dimensional force sensor, lower locking nut, connecting link, on adjust set nut, two-way left-hand thread adjust nut, on adjust set nut and go up flexible universal coupling and be formed by connecting, adjust the nut two ends and be processed with left-hand thread (LHT) and right-hand thread respectively; The profile of flexible universal coupling and last flexible universal coupling is a rectangular parallelepiped down, processes two groovings on its two opposite groups side respectively, and two grooving angles are 60 °～120 °, and two groups of groovings make rectangular parallelepiped become the flexible revolute pair of intersect vertical axis;
Second kind of structure is: the one dimension dynamometry branches into the integral type one dimension dynamometry branch of time processing moulding, and its middle part is a rectangular structure, and two ends have screw rod to be used for being connected with weighted platform with basic platform; Rectangular structure is processed two groovings respectively near on the two opposite groups side, screw rod two ends, and two grooving angles are 60 °～120 °, and the middle part of rectangular structure is posted foil gauge and is used to export Tensile or Compressive Loading, and one dimension dynamometry branch is processed by resilient material;
One dimension dynamometry branch can replace with the little driving of one-dimensional linear branch, makes force plate/platform become sextuple precisely locating platform; The middle part of the little driving of described one-dimensional linear branch is a rectangular structure, and the screw rod at two ends is used for being connected with weighted platform with basic platform; Rectangular structure is processed two groovings respectively near on the two opposite groups side, screw rod two ends, two grooving angles are 60 °～120 °, the middle part of rectangular structure is processed with the cavity of upper and lower boss, the piezoelectric ceramics linear actuator is installed between the upper and lower boss, make one dimension dynamometry branch become one dimension and drive branch, make six-dimension force-measuring platform become sextuple precisely locating platform.
Load cover and can be made into spherical crown shape, cylindric and tabular, also can be made into operating grip.
The invention has the beneficial effects as follows: the principle that the present invention is based on novel 6-UPUR parallel institution, realized the decomposition of sextuple power in six branches, particularly by with six flexible revolute pairs designs on the weighted platform and in branch, adopt the organization plan of flexible universal coupling, obtained a kind of simply, all constitute parallel-connection type six-dimension force plate/platform structure by single-freedom and flexible revolute pair (universal coupling is equivalent to two revolute pairs).That the present invention has is easy to process, simple in structure, be easy to advantages such as analysis modeling, stable performance, wide adaptability.
Description of drawings
Fig. 1 is the front view of parallel 6-UPUR six-dimension force-measuring platform;
Fig. 2 is assembled one dimension dynamometry branched structure figure;
Fig. 3 is integral type one dimension dynamometry branched structure figure;
Fig. 4 is the weighted platform structural drawing;
Fig. 5 is the little driving branched structure of one dimension figure;
Fig. 6 is the axonometric drawing of parallel 6-UPUR six-dimension force-measuring platform;
Fig. 7 removes the axonometric drawing that loads cover for the entire finger parallel 6-UPUR six-dimension force-measuring platform;
Fig. 8 is the axonometric drawing of the sextuple precisely locating platform of 6-UPUR in parallel.
In Fig. 1-Fig. 5,1. basic platform 2. descends hold-down nut, 3. following flexible universal coupling, 4. first lower locking nut, 5. a dimensional force sensor, 6. second lower locking nut, 7. connecting link, 8. first upper locking nut, 9. two-way left-hand thread is adjusted nut, 10. second upper locking nut, 11. go up flexible universal coupling, 12. last hold-down nut, 13. weighted platforms, 14. load cover, 15. nut, 16. body formula one dimension dynamometry branch, 17. foil gauges, 18. engaging lugs, 19. the flexible hinge telescoping mechanism, 20. piezoelectric ceramics linear actuators.
Embodiment
Fig. 1 is an embodiment disclosed by the invention.Assembled one dimension dynamometry branch passes through down, and hold-down nut 2 is connected with weighted platform 13 with basic platform 1 with last hold-down nut 12.Basic platform 1 is upper table surface and following table two parts, loads cover 14 and is connected with weighted platform 13 by nut 15.Basic platform 1, weighted platform 13 and six assembled one dimension dynamometry branches have constituted space 6-UPUR parallel institution.Connecting hole of the center of weighted platform 13 processing, periphery has three groups of six engaging lugs 18, and the angle between every group of engaging lug 18 is 120 °, and hole of processing also can process six engaging lugs 18 on the engaging lug 18 on the table top of basic platform 1.Assembled one dimension dynamometry branch adjusts to adjust set nut 10 and go up flexible universal coupling 11 on the nut 9, second and is formed by connecting by adjusting set nut 8, two-way left-hand thread on the following flexible universal coupling 3, first lower locking nut 4, a dimensional force sensor 5, second lower locking nut 6, connecting link 7, first, locking after set nut 4,6,8 and 10 is used to be threaded, thread looseness when preventing dynamometry.The profile of flexible universal coupling 3 and last flexible universal coupling 11 is a rectangular parallelepiped down, processes two groovings on its two opposite groups side respectively, and two grooving angles are 60 °～120 °, and two groups of groovings make rectangular parallelepiped become the flexible revolute pair of intersect vertical axis.Sensor 5 is the one dimension pull pressure sensor, connecting link 7 is used to connect sensor 5 and adjusts nut 9 with two-way left-hand thread, two-way left-hand thread is adjusted nut 9 two ends and is processed with left-hand thread (LHT) and right-hand thread respectively, rotate two-way left-hand thread and adjust nut 9 dynamometry branches and will shorten or extend, it act as each dynamometry branch sensor and returns to zero.The materials processing that weighted platform 13 usefulness have favorable elasticity forms, and its six engaging lugs 18 have constituted six flexible revolute pairs with center disk.Load cover 14 and can make different shape according to the dynamometry needs, as spherical crown shape, cylindric and tabular, also operating grip.
Fig. 3 is second kind of embodiment of the present invention, and the one dimension dynamometry branches into integral type one dimension dynamometry branch 16, is the time processing moulding, and its middle part is a rectangular structure, and two ends have screw rod to be used for being connected with weighted platform 13 with basic platform 1; Rectangular structure is processed two groovings respectively near on the two opposite groups side, screw rod two ends, and two grooving angles are 60 °～120 °, and foil gauge 17 is posted as force sensitive element in the middle part of rectangular structure.Integral type one dimension dynamometry branch passes through down, and hold-down nut 2 is connected with weighted platform 13 with basic platform 1 with last hold-down nut 12.
Embodiment 3
Fig. 5 is a little driving branch synoptic diagram.One dimension dynamometry branch can replace with the little driving of one-dimensional linear branch 19, the little driving of described one-dimensional linear branch 19, and its middle part is a rectangular structure, the screw rod at two ends is used for being connected with weighted platform 13 with basic platform 1; Rectangular parallelepiped is processed two groovings respectively near on the two opposite groups side, screw rod two ends, two grooving angles are 60 °～120 °, the middle part of rectangular structure is processed with the cavity of upper and lower boss, piezoelectric ceramics linear actuator 20 is installed between upper and lower boss, piezoelectric ceramics linear actuator energising back elongation, thus realize the elongation of branch.
Claims (7)
1. parallel 6-UPUR six-dimension force-measuring platform, by basic platform (1), weighted platform (13), load cover (14) and six one dimension dynamometry branches compositions, it is characterized in that: one dimension dynamometry branch is connected with weighted platform (13) with basic platform (1) with last hold-down nut (12) by following hold-down nut (2), and described one dimension dynamometry branch is by descending flexible universal coupling (3), first lower locking nut (4), one dimensional force sensor (5), second lower locking nut (6), connecting link (7), adjust set nut (8) on first, two-way left-hand thread is adjusted nut (9), adjust set nut (10) on second and last flexible universal coupling (11) is formed by connecting; There is a connecting hole at described weighted platform (13) center, and periphery has three groups 6 engaging lugs (18), and engaging lug (18) is gone up hole that is connected with one dimension dynamometry branch of processing; Basic platform (1) is upper table surface and following table two parts, and six connecting holes of upper table surface processing of basic platform (1) load cover (14) and are connected with weighted platform (13) by nut (15).
2. parallel 6-UPUR six-dimension force-measuring platform according to claim 1 is characterized in that: the angle between every group of engaging lug (18) is 120 °.
3. parallel 6-UPUR six-dimension force-measuring platform according to claim 1 and 2, it is characterized in that: the profile of described flexible universal coupling (3) down and last flexible universal coupling (11) is a rectangular parallelepiped, on its two opposite groups side, process two groovings respectively, two grooving angles are 60 °～120 °, and two groups of groovings make rectangular parallelepiped become the flexible revolute pair of intersect vertical axis.
4. parallel 6-UPUR six-dimension force-measuring platform according to claim 3 is characterized in that: described two-way left-hand thread is adjusted nut (9) two ends and is processed with left-hand thread (LHT) and right-hand thread respectively.
5. parallel 6-UPUR six-dimension force-measuring platform according to claim 1 and 2, it is characterized in that: described one dimension dynamometry branches into the integral type one dimension dynamometry branch (16) of time processing moulding, the middle part is a rectangular structure, and two ends have screw rod to be used for being connected with weighted platform (13) with basic platform (1); Rectangular structure is processed two groovings respectively near on the two opposite groups side, screw rod two ends, and two grooving angles are 60 °～120 °, and foil gauge (17) is posted at the middle part of rectangular structure.
6. parallel 6-UPUR six-dimension force-measuring platform according to claim 1 and 2, it is characterized in that: the one dimension dynamometry branch little driving of the one-dimensional linear branch (19) that draws replaces, the middle part of described one-dimensional linear little driving branch (19) is a rectangular structure, and the screw rod at two ends is used for being connected with weighted platform (13) with basic platform (1); Rectangular structure is processed two groovings respectively near on the two opposite groups side, screw rod two ends, two grooving angles are 60 °～120 °, the middle part of rectangular structure is processed with the cavity of upper and lower boss, and piezoelectric ceramics linear actuator (20) is installed between upper and lower boss.
7. parallel 6-UPUR six-dimension force-measuring platform according to claim 1 is characterized in that: described loading cover (14) is made spherical crown shape, cylindric or tabular, perhaps makes operating grip.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2006100126024A CN100387952C (en) | 2006-04-18 | 2006-04-18 | Parellel 6-UPUR hexa-dimensional force-measuring platform |
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| CNB2006100126024A CN100387952C (en) | 2006-04-18 | 2006-04-18 | Parellel 6-UPUR hexa-dimensional force-measuring platform |
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| CN100387952C true CN100387952C (en) | 2008-05-14 |
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| CN101451933B (en) * | 2008-12-18 | 2010-11-10 | 北京林业大学 | Six-dimension loading material mechanical test machine |
| CN102095440A (en) * | 2009-12-15 | 2011-06-15 | 上海宇航系统工程研究所 | Method for establishing three-dimensional coordinate system of large test equipment |
| CN102722016B (en) * | 2012-06-21 | 2014-08-20 | 中国科学院长春光学精密机械与物理研究所 | Adjusting device for micro-motion with Z, tip and tilt degrees of freedom of optical element |
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| CN109444468B (en) * | 2018-11-27 | 2020-08-07 | 中国地质大学（武汉） | Six-dimensional acceleration sensor based on micro-displacement parallel mechanism |
| CN112611497B (en) * | 2019-09-18 | 2022-01-28 | 马洪文 | Multi-dimensional force sensor structure of parallel rod system |
| CN114112158B (en) * | 2021-12-02 | 2023-11-21 | 华北水利水电大学 | Constrained parallel three-dimensional force/moment sensor |
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