CN105372002A - Orthogonal self-calibration branch double-ball decoupling six-dimensional force measuring platform - Google Patents
Orthogonal self-calibration branch double-ball decoupling six-dimensional force measuring platform Download PDFInfo
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- CN105372002A CN105372002A CN201510828012.8A CN201510828012A CN105372002A CN 105372002 A CN105372002 A CN 105372002A CN 201510828012 A CN201510828012 A CN 201510828012A CN 105372002 A CN105372002 A CN 105372002A
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- 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
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Abstract
The invention discloses an orthogonal self-calibration branch double-ball decoupling six-dimensional force measuring platform. The orthogonal self-calibration branch double-ball decoupling six-dimensional force measuring platform comprises an upper platform, a lower platform as well as double-ball decoupling vertical force measuring branches and double-ball decoupling horizontal force measuring branches which are connected with the upper platform and the lower platform; each double-ball decoupling vertical force measuring branch of the force measuring platform includes a vertical branch upper supporting seat, a pressing end cover, a vertical branch lower supporting seat, a bearing plate, a decoupling steel ball, a positioning column and a single-dimensional two-way force sensor; each double-ball decoupling horizontal force measuring branch includes a horizontal branch upper supporting seat, a horizontal branch lower supporting seat, an tightening wedge block, a decoupling steel ball, a positioning column and a single-dimensional two-way force sensor; 3 to 36 double-ball decoupling vertical force measuring branches and double-ball decoupling horizontal force measuring branches are adopted respectively; the number of the double-ball decoupling vertical force measuring branches is equal to the number of the double-ball decoupling horizontal force measuring branches; and the double-ball decoupling vertical force measuring branches and the double-ball decoupling horizontal force measuring branches are evenly distributed between the upper platform and the lower platform. The orthogonal self-calibration branch double-ball decoupling six-dimensional force measuring platform of the invention has the advantages of simple structure, small inter-dimension coupling and high measuring precision, which is suitable for heavy-load and large-plane measurement occasions. According to the orthogonal self-calibration branch double-ball decoupling six-dimensional force measuring platform, mechanical decoupling is realized through the steel balls, and six-dimensional integral calibration is not required.
Description
Technical field
The invention belongs to sensor field, particularly the two ball decoupling six-dimension force plate/platform of the orthogonal self-calibration branch of one.
Background technology
Sensor is that one specific measured information such as physical quantity, chemical quantity, biomasss, can change into some available signal according to certain rule and the device exported or device.It is an independent electro-mechanical system knowledge-intensive, technology-intensive, interdisciplinary, becomes again the important component part of other electro-mechanical system simultaneously.Therefore, force snesor is most widely used general in fields such as Aero-Space, robot, biomechanics as measuring the elementary cell of mechanical signal, and can measure due to six-dimension force sensor six the power/moment components described in cartesian coordinate system simultaneously become the topmost force snesor of current high-tech sector.In the development of six-dimension force sensor, elastomeric structure is because determining the quality of multi-dimension force sensor and becoming the key problem of research.Miniature, small-range multi-dimension force sensor that current development is relatively ripe, its elastomer structure many employings integral structure, has without joint-friction and gap, the linearity is good, repeatability is high and delayed little advantage.But because rigidity is low, the shortcoming such as large, complex structure, the processing technology difference of retinoic acid syndrome causes it not to be suitable for elastomer structure as heavily loaded large multi-dimensional force transducer.Parallel institution rigidity is large, power mapping relations are simple and clear, is the ideal chose as heavily loaded large multi-dimensional force transducer elastomer structure.But the shortcomings such as owing to there is joint-friction and gap, the large multi-dimensional force transducer ubiquity anisotropy based on conventional parallel mechanism is remarkable, retinoic acid syndrome large, Measurement sensibility difference.Can find out, the elastomer structure based on conventional parallel mechanism can not meet the requirement of developing heavily loaded large multi-dimensional force transducer.Heavy duty multi-dimension force sensor causes dynamometry precision lower due to retinoic acid syndrome, and applicability is poor, limits its application in high-quality precision and sophisticated technology field.Suppress the retinoic acid syndrome of multi-dimension force sensor need design the structure of sensor, realize from source mechanically decoupled.Patent ZL200810055347.0 discloses the upper and lower asymmetric seven-rod parallel connection structure six-dimension force sensor of a kind of integral pre-tightening double-layer, have employed conehead formula spherical pair, have that rigidity is high, measuring accuracy advantages of higher, but adopt conehead formula spherical pair to make sensor dynamometry branch to bear pressure, and identical dynamometry branch need be arranged so that sensor can measure six-dimensional force above chassis.Patent ZL99102526.1 discloses a kind of integral pretightened flat bed type six-dimensional force transducer, its branch also adopts circular cone type ball secondary, pressure can only bear in dynamometry branch, therefore between the upper and lower platform of traditional Stewart platform mechanism, pretension branch road has been set up, increase sensor rigidity simultaneously, but structure is comparatively complicated, and pretension branch road can have coupling to affect precision on other direction of measurement.Patent ZL200910075789.6 discloses a kind of over-constrained wide-range parallel sextuple force measuring platform, structure is simple, measuring accuracy is high, be applicable to large range measuring occasion, pulling force and pressure can bear in dynamometry branch, but have employed traditional ball pivot, close internode friction comparatively greatly, affect the measuring accuracy of force plate/platform.Patent ZL201310606316.0 discloses a kind of mechanically decoupled heavy duty six-dimension force-measuring platform in parallel, there is the advantages such as measuring accuracy is high, range is large, steel ball structure is have employed in branch, reduce joint-friction coupling, but pressure can only bear in dynamometry branch, need above ergograph, to set up respective branch in addition make sensor to measure six-dimensional force, make complex structure, installs and be more difficultly difficult to ensure that inferior division steel ball is concentric and affect force plate/platform precision.Patent ZL201510433218.0 discloses a kind of complete-vehicle-type dynamic automobile scale with road surface, can be widely used in dynamic weighing field.Patent ZL201410213086.6 discloses a kind of truck scale, and weighing platform is set to the also detachable of split, saves material, and convenient transport, decreases deadweight.Patent ZL201210085300.5 discloses a kind of truck scale, novel structure, has under the prerequisite of the steel expending as much, improves the advantages such as scale body transverse strength.In truck scale weighing structure, truck scale measurement branches also all have employed steel ball structure and makes steel ball and sensor contacts, steel ball is adopted to make the joint-friction decoupling zero of dynamometry branch, but pulling force can only bear in dynamometry branch, truck scale demand of weighing can be met and still can not measure six-dimensional force, six-dimensional force can not be applied to and measure occasion.
Summary of the invention
The deficiency such as coupling and decoupling technology complexity thereof is there is for existing multi-dimension force sensor, provide the coupling of a kind of joint-friction little, measuring accuracy is high, and the six-axis force platform of occasion is measured in the wide range heavy duty of input/output relation clear and definite, easy for installation, applicable large dynamometry face.
It is as follows that the present invention solves the problems of the technologies described above adopted technical scheme:
The present invention includes two ball decoupling zero vertical dynamometry branch and the horizontal dynamometry branch of two ball decoupling zero of lower platform in upper mounting plate, lower platform, connection; The quantity of two ball decoupling zeros vertical dynamometry branch and two horizontal dynamometry branch of ball decoupling zero is respectively 3-36, and two kinds of numbers of branches are equal, are distributed between upper mounting plate and lower platform.
Two ball decoupling zeros vertical dynamometry branch comprises vertical branch upper bracket, upper decoupling zero steel ball, reference column, compress end cap, loading plate, one-dimensional bidirectional force sensor, lower decoupling zero steel ball, vertical branch undersetting, wherein, vertical branch upper bracket is the frame type structure of band top cover, through hole is provided with in the top cover center of vertical branch upper bracket, compression end cap is provided with in through hole, decoupling zero steel ball is provided with between upper compression end cap and one-dimensional bidirectional force sensor upper end, vertical branch's upper bracket riser level four sides that upper decoupling zero steel ball is corresponding are respectively equipped with through hole, the telescopic reference column of spring supporting is respectively equipped with in through hole, vertical branch undersetting is concave structure, vertical branch upper bracket and vertical branch undersetting are staggered to interlock and are connected, and between two risers of vertical branch undersetting, be provided with the loading plate of band through hole, above-mentioned one-dimensional bidirectional force sensor is fixed on loading plate, blind hole is provided with at vertical branch's upper bracket bottom center, lower compression end cap is placed with in blind hole, lower compression end cap is provided with lower decoupling zero steel ball, the corresponding vertical branch's upper bracket riser level of lower decoupling zero steel ball four sides are respectively equipped with through hole, in through hole, are respectively equipped with the telescopic reference column of spring supporting, above-mentioned one-dimensional bidirectional force sensor lower end contacts with lower decoupling zero steel ball, pretension adjustment is realized by adjusting the gap between compression end cap and upper decoupling zero steel ball be located at above vertical branch upper bracket.
Two ball decoupling zeros horizontal dynamometry branch comprises horizontal branch upper bracket, left decoupling zero steel ball, reference column, one-dimensional bidirectional force sensor, tightens voussoir, right decoupling zero steel ball, horizontal branch undersetting.Wherein, horizontal branch upper bracket is downward concave structure, is respectively equipped with horizontal through hole, is respectively equipped with and tightens voussoir and decoupling zero steel ball in through hole at horizontal branch upper bracket two to the middle left and right directions of lower protruding block; Left and right decoupling zero steel ball corresponding horizontal branch upper bracket riser level four sides are respectively equipped with through hole, in through hole, are respectively equipped with the telescopic reference column of spring supporting; Horizontal branch undersetting is inverted T shape structure, and together with horizontal branch upper bracket tips upside down on horizontal branch undersetting, be provided with one-dimensional bidirectional force sensor in the middle of the vertical panel of horizontal branch undersetting, this sensor contacts with above-mentioned two steel balls; Pretension adjustment is realized by regulating the above-mentioned gap tightened between voussoir and decoupling zero steel ball at horizontal branch upper bracket.
The invention has the beneficial effects as follows:
1. closing internode is rolling friction, and joint-friction coupling is little, and measuring accuracy is high.
2. pair ball decoupling zero vertical dynamometry branch is mechanically decoupled and can bear bidirectional stress with two ball decoupling zero horizontal dynamometry branch.
3. force plate/platform loads the input/output relation of measurement clearly for each dimension power, demarcates simple.
4. pair ball decoupling zero vertical dynamometry branch and two ball decoupling zero horizontal dynamometry branches modularization, Installation and Debugging are convenient.
Accompanying drawing explanation
Fig. 1 is the two ball decoupling six-dimension force plate/platform simplified schematic diagram of 16 orthogonal self-calibration branches of branch of the present invention;
Fig. 2 is the two ball decoupling six-dimension force plate/platform sectional view A-A simplified schematic diagram of 16 orthogonal self-calibration branches of branch of the present invention;
Fig. 3 is the two ball decoupling zero vertical dynamometry branched structure simplified schematic diagram of the present invention;
Fig. 4 is the present invention two ball decoupling zero vertical dynamometry branches section B-B structural representation sketches;
Fig. 5 is the two ball decoupling zero horizontal dynamometry branched structure simplified schematic diagram of the present invention;
Fig. 6 is the present invention two ball decoupling zero horizontal dynamometry branches section C-C structural representation sketches;
Fig. 7 is decoupling zero steel ball of the present invention and reference column section D-D simplified schematic diagram;
Fig. 8 is horizontal branch of the present invention adjustment voussoir simplified schematic diagram.
In figure: 1, upper mounting plate; 2, the vertical dynamometry branch of two ball decoupling zero; 3, the horizontal dynamometry branch of two ball decoupling zero; 4, lower platform; 5, vertical branch upper bracket; 6, upper compression end cap; 7, upper decoupling zero steel ball; 8, reference column; 9, one-dimensional bidirectional force sensor; 10, loading plate; 11, lower decoupling zero steel ball; 12, lower compression end cap; 13, vertical branch undersetting; 14, horizontal branch upper bracket; 15, voussoir is tightened; 16, right decoupling zero steel ball; 17, one-dimensional bidirectional force sensor; 18, left decoupling zero steel ball; 19, horizontal branch undersetting.
Embodiment
In the orthogonal self-calibration weak coupling heavy duty six-axis force platform schematic diagram in parallel shown in Fig. 1, Fig. 2, upper mounting plate 1 is connected with 4 two horizontal dynamometry branches 3 of ball decoupling zero by 4 two ball decoupling zero vertical dynamometry branches 2 with lower platform 4, two kinds of numbers of branches are equal, are distributed between upper mounting plate and lower platform;
The vertical dynamometry branch of two ball decoupling zero as shown in Figure 3 and Figure 4, vertical branch upper bracket 5 in two ball decoupling zeros vertical dynamometry branch is the frame type structure of band top cover, on vertical branch upper bracket, center is provided with through hole, compression end cap 6 is provided with in through hole, decoupling zero steel ball 7 is provided with between compression end cap and one-dimensional bidirectional force sensor 9 upper end, upper decoupling zero steel ball corresponding level four sides vertical branch upper bracket riser on be respectively equipped with through hole, be respectively equipped with the scalable reference column 8 (as shown in Figure 7) of spring supporting in through hole, vertical branch undersetting 13 is concave structure, the riser of vertical branch upper bracket is staggered to interlock with vertical branch undersetting down and is connected, the loading plate 10 of band through hole is provided with between two risers of vertical branch undersetting, above-mentioned one-dimensional bidirectional force sensor is fixed on loading plate, in vertical branch undersetting, center is provided with blind hole, lower compression end cap 12 is provided with in blind hole, lower compression end cap is provided with lower decoupling zero steel ball 11, lower decoupling zero steel ball corresponding level four sides vertical branch upper bracket riser and vertical branch undersetting riser on be respectively equipped with through hole, reference column same as described above is respectively equipped with in through hole, above-mentioned one-dimensional bidirectional force sensor lower end contacts with lower decoupling zero steel ball, downward acting force acts on force snesor by upper decoupling zero steel ball by vertical branch upper bracket, to upwards act on force snesor by acting force by lower decoupling zero steel ball, realizing pretension adjustment by adjusting the gap between compression end cap and upper decoupling zero steel ball be located at above vertical branch upper bracket.
The horizontal dynamometry branch of two ball decoupling zero is as shown in Fig. 5, Fig. 6 and Fig. 8, horizontal branch upper bracket 14 in the horizontal dynamometry branch of two ball decoupling zero is concave structure, in the middle of lower protruding block, horizontal through hole is respectively equipped with at horizontal branch upper bracket two, be respectively equipped with in through hole and tighten voussoir 15 and right decoupling zero steel ball 16, left decoupling zero steel ball 18, the position corresponding with left and right decoupling zero steel ball at horizontal branch upper bracket two wall is provided with horizontal and vertical through hole, is respectively equipped with the reference column identical with above-mentioned pair of ball decoupling zero vertical dynamometry branch in the through hole of decoupling zero steel ball surrounding, horizontal branch undersetting 19 is inverted T shape structure, together with horizontal branch upper bracket tips upside down on horizontal branch undersetting, one-dimensional bidirectional force sensor 17 is provided with in the middle of the vertical panel of horizontal branch undersetting, this sensor and an above-mentioned left side, right two steel balls contact, horizontal applied force acts on force snesor by decoupling zero steel ball by horizontal branch upper bracket, by regulating above-mentioned tightening voussoir and can realize horizontal dynamometry branch pretension in horizontal branch upper bracket both sides, above-mentioned uniform four reference columns of surrounding being located at decoupling zero steel ball position make decoupling zero steel ball ensure concentric with one-dimensional bidirectional force sensor, when force plate/platform is subject to direction positive force measured by horizontal branch, one-dimensional bidirectional force sensor contacts stressed with the side decoupling zero steel ball in horizontal branch upper bracket, when force plate/platform is subject to direction opposite force measured by horizontal branch, one-dimensional bidirectional force sensor contacts stressed with the opposite side decoupling zero steel ball in horizontal branch upper bracket.
Claims (3)
1. the two ball decoupling six-dimension force plate/platform of orthogonal self-calibration branch, it is characterized in that: it comprises upper mounting plate, lower platform and connect on, two ball decoupling zeros vertical dynamometry branch of lower platform and two horizontal dynamometry branch of ball decoupling zero, described pair of ball decoupling zero vertical dynamometry branch comprises vertical branch upper bracket, upper decoupling zero steel ball, reference column, compress end cap, loading plate, one-dimensional bidirectional force sensor, lower decoupling zero steel ball, vertical branch undersetting, wherein, vertical branch upper bracket is the frame type structure of band top cover, through hole is provided with in the top cover center of vertical branch upper bracket, compression end cap is provided with in through hole, decoupling zero steel ball is provided with between upper compression end cap and one-dimensional bidirectional force sensor upper end, vertical branch's upper bracket riser level four sides that upper decoupling zero steel ball is corresponding are respectively equipped with through hole, be equipped with in through hole around the even omnidirectional distribution of decoupling zero steel ball four by the telescopic reference column of spring supporting, vertical branch undersetting is concave structure, vertical branch upper bracket and vertical branch undersetting are staggered to interlock and are connected, and two risers of vertical branch undersetting are provided with the loading plate of band through hole, and above-mentioned one-dimensional bidirectional force sensor is fixed on loading plate, blind hole is provided with at vertical branch's upper bracket bottom center, lower compression end cap is placed with in blind hole, lower compression end is provided with lower decoupling zero steel ball, vertical branch's upper bracket riser level four sides that lower decoupling zero steel ball is corresponding are respectively equipped with through hole, be equipped with around the even omnidirectional distribution of decoupling zero steel ball four by the telescopic reference column of spring supporting in through hole, above-mentioned one-dimensional bidirectional force sensor lower end contacts with lower decoupling zero steel ball,
Described pair of ball decoupling zero horizontal dynamometry branch comprises horizontal branch upper bracket, left decoupling zero steel ball, reference column, one-dimensional bidirectional force sensor, tightens voussoir, right decoupling zero steel ball, horizontal branch undersetting; Wherein, horizontal branch upper bracket is downward concave structure, is respectively equipped with horizontal through hole, is respectively equipped with and tightens voussoir and decoupling zero steel ball in through hole at horizontal branch upper bracket two to the middle left and right directions of lower protruding block; Left and right decoupling zero steel ball corresponding horizontal branch upper bracket riser level four sides are respectively equipped with through hole, are equipped with in through hole around the even omnidirectional distribution of decoupling zero steel ball four by the telescopic reference column of spring supporting; Horizontal branch undersetting is inverted T shape structure, and together with horizontal branch upper bracket tips upside down on horizontal branch undersetting, be provided with one-dimensional bidirectional force sensor in the middle of the vertical panel of horizontal branch undersetting, this sensor two dynamometry face contacts with above-mentioned two steel balls.
2. the two ball decoupling six-dimension force plate/platform of orthogonal self-calibration branch according to claim 1, is characterized in that: the described pair of vertical dynamometry numbers of branches of ball decoupling zero is 3 to 36, and the vertical dynamometry branch upper and lower decoupling zero steel ball line of centres is perpendicular to platform dynamometry face; The described pair of horizontal dynamometry numbers of branches of ball decoupling zero is 3 to 36, and the horizontal dynamometry branch upper and lower decoupling zero steel ball line of centres is parallel to platform dynamometry face; Two kinds of numbers of branches are equal, are distributed between upper mounting plate and lower platform.
3. the two ball decoupling six-dimension force plate/platform of orthogonal self-calibration branch according to claim 1, is characterized in that: 4 two vertical dynamometry branches of ball decoupling zero are evenly distributed on lower platform corner, and the upper and lower decoupling zero steel ball line of centres is perpendicular to platform dynamometry face; 4 two horizontal dynamometry branches of ball decoupling zero are evenly distributed on lower platform four limit, and the left and right decoupling zero steel ball line of centres is parallel to platform dynamometry face, and mutually perpendicular or parallel.
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| CN106225977A (en) * | 2016-07-08 | 2016-12-14 | 燕山大学 | Shunting three plane branch parallel force transducer in six dimensions |
| CN107843388A (en) * | 2016-09-21 | 2018-03-27 | 中国石油集团长城钻探工程有限公司工程服务公司 | One kind is with reference to formula moment of torsion demarcation machine |
| CN109029818A (en) * | 2018-09-12 | 2018-12-18 | 燕山大学 | With the inserted six-dimension force-measuring platform from centering decoupling dynamometry branch |
| CN110579856A (en) * | 2019-09-19 | 2019-12-17 | 中国科学院长春光学精密机械与物理研究所 | Decoupling device for large-field telescope |
| CN112611499A (en) * | 2019-09-18 | 2021-04-06 | 马洪文 | Method for measuring micro displacement of load platform of multi-dimensional force sensor and method for mounting measuring sensitive element |
| CN114152381A (en) * | 2021-12-09 | 2022-03-08 | 河北科技大学 | Rigidity-adjustable force measurement branch and corresponding parallel multidimensional force sensor |
| CN114459660A (en) * | 2021-12-14 | 2022-05-10 | 北京无线电计量测试研究所 | Decoupling space six-dimensional force measuring device |
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| CN114152381B (en) * | 2021-12-09 | 2023-07-07 | 河北科技大学 | Rigidity-adjustable force measuring branch and corresponding parallel multidimensional force sensor |
| CN114459660A (en) * | 2021-12-14 | 2022-05-10 | 北京无线电计量测试研究所 | Decoupling space six-dimensional force measuring device |
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