CN104034474B - 3-SPU six-dimensional force cell sensor in parallel - Google Patents
3-SPU six-dimensional force cell sensor in parallel Download PDFInfo
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- CN104034474B CN104034474B CN201410291350.8A CN201410291350A CN104034474B CN 104034474 B CN104034474 B CN 104034474B CN 201410291350 A CN201410291350 A CN 201410291350A CN 104034474 B CN104034474 B CN 104034474B
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Abstract
The present invention relates to a kind of 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. Its advantage is: the present invention is based on 3-SPU parallel principle, realize the decomposition of six-dimensional force in three branches, particularly utilize three structures that branch space is symmetrical, obtained a kind of simple in structure, six-dimension force-measuring platform in parallel that longitudinal load-bearing ability is strong. Three universal hinges of flexibility and the processing of carrier block one, that the present invention has is easy to process, simple in structure, be easy to the features such as analysis modeling, stable performance and adaptability are extensive.
Description
Technical field
The invention belongs to sensor field, relate to a kind of measurement mechanism about space large-tonnage six-dimensional force, particularly one alsoConnection 3-SPU six-dimensional force cell sensor.
Background technology
Six-dimension force-measuring platform can measurement space the size of three-dimensional force and moment,, dynamometry precision abundant in dynamometry information requirements wantedAsk high occasion as zero-g teaching, profile tracking, two hands coordination, accurate flexible assembly, multi-finger clever hand and Robot Force-FeedbackHave a wide range of applications in field. In recent years, the six-dimension force-measuring platform of large dynamometry scope, wide range has become current urgent needOne of high-tech product, is particularly badly in need of for the thrust test, experiment in flight test and the wind tunnel experiment that are applied in aerospace fieldLarge dynamometry scope, large-tonnage six-dimension force-measuring platform, many countries of the world today pay much attention to its development work, are considered as relating toAnd one of the key technology of national security, economic development and scientific and technological progress, and listed in the plan of national science and technology development strategy itIn.
In the design of sensor, between dimension, coupled problem is the key factor that affects sensor accuracy, separates in order to realize between dimensionCoupling, people have proposed some solutions, for example: the disclosed patented technology of Chinese patent ZL99102421.4, its principleBe to carry out decoupling zero with elastic hinge, there is the advantages such as rigidity is high, compact conformation, but can not realize full decoupled, and be difficult to shouldUse in the measurement of large-tonnage power or moment. The measurement category of sensor is to evaluate a key factor of its index, especially largeThe multi-dimension force sensor of tonnage is difficult to realize accurately and measures, a kind of six-dimension force sensor that can measure large-tonnage power or moment byChinese patent CN101149299 is open, and this patent realizes six-dimension heavy force by three-dimensional force quartz wafer group overall package form and surveysAmount, but this sensor does not take into full account coupled problem between dimension, thus cause its certainty of measurement not high.
The structural design of the force sensitive element of large dynamometry scope, wide range six-dimension force-measuring platform is heavily loaded force plate/platform development processKey, key problem, be one of focus of research always, researcher 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. Generally adopt at presentThe certainty of measurement of the large-scale six-dimension force-measuring platform model machine of Stewart platform based on conventional hinge is lower, and the performance of different directions is depositedIn larger difference. Its essential reason is to adopt common hinge unavoidably can bring pass internode friction and gap, structural entity to becomeThe problems such as shape and branch's twist and warping, if it is inclined to one side that this structure applications is also faced with to the rigidity of structure in the heavily loaded large-tonnage six-dimension force-measuring platform of exploitationWeak problem.
Measure if existing six-dimension force sensor is applied to space large-tonnage six-dimensional force, can have following deficiency: six-dimensional force passesMost of six branches that adopt of sensor connect, complex structure; Existing six-dimension force sensor measurement category 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, certainty of measurement 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, provide one to realizeHigh rigidity, large-tonnage six-dimensional force are measured and 3-SPU six-dimensional force cell sensor in parallel simple in structure.
The technical solution adopted for the present invention to solve the technical problems:
A kind of 3-SPU six-dimensional force cell sensor in parallel, comprises carrier block, dynamometry branch and basic platform, it is characterized in that: instituteStating carrier block is along three flush cuts that end to end diagonal forms on three faces on common summit by a square pieceProcess, three universal hinges of flexibility of 3 dynamometry branches be individually fixed in carrier block other three adjacent just complete between twoOn square face, carrier block by space center's line between two orthogonal 3 dynamometry branches be connected with basic platform, dynamometry branchFormed by locating piece, ball pivot, tension-compression sensor and flexible universal hinge, and form a SPU series branch; Locating piece and basePlinth platform is connected, 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 universal hinge of described flexibility is that on two groups of opposite flanks of cuboid piece, to process respectively two angles be after the grooving of 120 °Become;
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 weight of vertical directionCarry, therefore the information of space large-tonnage six-dimensional force can be provided. In dynamometry branch, be all provided with and can measure drawing of this branch simultaneouslyThe tension-compression sensor of pressure and moment of flexure signal, the pressure that whole branch detection can be arrived and moment of flexure information compose operation, converseThe force and moment that dynamometry branch bears, thus the fast suffered six-dimensional space force information of carrying obtained. Moment of flexure information is incorporated to surveyPower station symbol is determined computing, and compensation calibration experiment data can effectively reduce the impact of coupling on six-dimensional force certainty of measurement between dimension, furtherImprove the certainty of measurement 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, this device had effectively been weakened in the past and in sensor construction, often adoptThe impact of the friction that causes of traditional ball pivot on certainty of measurement, in addition, in reducing friction, can be by Mei Tiao branch curvedSquare information participates in ergograph and demarcates computing, has further improved the certainty of measurement of this device;
3) this device has simple in structure, dependable performance, is easy to process and assemble, and can be as the case may be, modularized encapsulationAfter be combined into new version, there is 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 goodGood 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. locking nut, 6. flexibility ten thousandTo hinge, 7. carrier block, 8. heavily loaded cover plate, 9. heavy load bottom plate.
Detailed description of the invention
Fig. 1 is surface structure simplified schematic diagram of the present invention. Carrier block (7) is by space orthogonal 3 dynamometry branches between twoBe connected with basic platform (1), dynamometry branch is by locating piece (2), ball pivot (3), tension-compression sensor (4) and flexible universal hinge(6) form and form a SPU series branch. Locating piece (2) adopts bolt to be connected with basic platform (1), and tension and compression passSensor (4) one end is connected with locating piece (2) by ball pivot (3), and the other end and flexible universal hinge (6) adopt screw thread connectionConnect.
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 by prosThe flush cut that body piece forms along three end to end diagonal on three faces on common summit processes, three flexibilities ten thousandBe individually fixed in other three between two on adjacent complete facing of carrier block (7) to hinge (6). Flexible universal hinge(6) be that on two groups of opposite flanks of cuboid 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 6 DOF of wide range of four 3-SPU six-dimensional force cell sensor compositions in parallelForce plate/platform. Wherein four 3-SPU six-dimensional force cell sensors in parallel be distributed on heavily loaded cover plate (8) and heavy load bottom plate (9) itBetween, the basic platform (1) of each 3-SPU six-dimensional force cell sensor in parallel and carrier block (7) respectively with heavy load bottom plate (9)With bolts with heavily loaded cover plate (8). In the time that heavily loaded cover plate (8) is subject to heavily loaded multi-dimensional force, can be by each 3-SPU in parallelIn the dynamometry branch of six-dimensional force cell sensor, after the output signal integrated treatment of tension-compression sensor (4), resolve and draw.
In the time that carrier block (7) is subject to Spatial Multi-Dimensional power, the tension-compression sensor (4) in dynamometry branch can be measured this point simultaneouslyPressure and the moment of flexure information of propping up, and by the force and moment that show after its compose operation that this dynamometry branch bears, through three dynamometryAfter tension-compression sensor (4) signal of branch gathers and resolves, obtain the suffered six-dimensional space force information of carrier block (7). By moment of flexureInformation incorporates ergograph demarcates in computing, and compensation calibration experiment data can effectively reduce coupling between dimension to six-dimensional force certainty of measurementAffect, further improve the certainty of measurement of this device. There is heavily loaded large-tonnage six-dimensional space power for vertical direction especiallyMeasure, multiple devices of use capable of being combined, to improve dynamometry range and the dynamometry area of six-dimension force-measuring platform.
Claims (3)
1. a 3-SPU six-dimensional force cell sensor in parallel, comprises carrier block, dynamometry branch and basic platform, it is characterized in that: described inCarrier block is that the flush cut being made up of along three end to end diagonal on three faces on common summit a square piece addsWork forms, and three universal hinges of flexibility of 3 dynamometry branches are individually fixed in other three adjacent complete pros between two of carrier blockOn shape face, carrier block by space center's line between two orthogonal 3 dynamometry branches be connected with basic platform, dynamometry branch byLocating piece, ball pivot, tension-compression sensor and flexible universal hinge form, and form a SPU series branch; Locating piece and basisPlatform is connected, 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 universal hinge of described flexibility is to growAfter processing respectively two angles on two groups of opposite flanks of side's body piece and be the grooving of 120 °, form.
3. 3-SPU six-dimensional force cell sensor in parallel according to claim 1, is characterized in that: described tension-compression sensor can be exportedPressure 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 true CN104034474B (en) | 2016-05-04 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619388B (en) * | 2016-03-14 | 2017-10-20 | 燕山大学 | A kind of freedom degree parallel connection rotatable platform mechanism for driving decoupling to arrange |
| CN106017769B (en) * | 2016-07-08 | 2018-12-28 | 燕山大学 | A kind of deformable Three-Dimensional Dynamic force snesor in parallel |
| 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 |
| 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 |
Citations (3)
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|---|---|---|---|---|
| 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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Patent Citations (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 |
Non-Patent Citations (1)
| Title |
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| 一种新型大刚度高灵敏度的并联六维力传感器设计研究;刘芳华，倪受东，张弛;《机械设计与制造》;20120131(第1期);23-25 * |
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