CN107543643A - Hard and soft soft mixing dynamically changeable shape six-dimensional force sensing mechanisms - Google Patents

Hard and soft soft mixing dynamically changeable shape six-dimensional force sensing mechanisms Download PDF

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Publication number
CN107543643A
CN107543643A CN201710705799.8A CN201710705799A CN107543643A CN 107543643 A CN107543643 A CN 107543643A CN 201710705799 A CN201710705799 A CN 201710705799A CN 107543643 A CN107543643 A CN 107543643A
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axis turntable
turntable
axis
soft
mounting plate
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CN107543643B (en
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赵延治
刘梦华
马春雷
梁彦
单煜
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Yanshan University
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Yanshan University
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Abstract

The present invention discloses a kind of hard and soft soft mixing dynamically changeable shape six-dimensional force sensing mechanisms, belong to sensor field, it includes upper mounting plate, lower platform, in connection, three deformable dynamometry branches of lower platform and the three-axle table being placed on upper mounting plate, lower platform is fixed platform, it is identical that its adjacent edges is provided with three groups of structures, the edge supports post being evenly distributed, every group includes two not contour edge supports posts respectively, two edge supports intercolumniations are provided with a guide rail, every guide rail is respectively connected with a deformable dynamometry branch, deformable dynamometry branch is provided with laser type displacement transducer, angular transducer and torsion spring are respectively equipped with three-axle table, parcel mantle is provided with the outside of mechanism.The present invention can realize that six-dimensional force perceives under soft contact conditions, can not only be deformed in measurement process, and the input-output mappings relation of power keeps invariable, that is, realize that the transmission of large deformation constant force measures;There is symmetrical configuration simultaneously, easily manufactured, the features such as being easy to producing in serial form.

Description

Hard and soft soft mixing dynamically changeable shape six-dimensional force sensing mechanisms
Technical field
The invention belongs to sensor field, is related to relevant six-dimensional space force sensor device, particularly has concurrently rigid and soft Six-dimensional force sensing mechanisms under the soft contact conditions of property.
Background technology
Multi-dimension force sensor refers to a kind of force snesor that can measure both direction above power and moment components simultaneously, Power and torque can each be decomposed into three components in cartesian coordinate system, and therefore, the most complete form of multi-dimensional force is sextuple Power/torque sensor, i.e., the sensor of three force components and three moment components can be measured simultaneously, it is now widely used more Dimensional force sensor is exactly this sensor.In recent years, the research to the field achieves part achievement, as one kind can realize six The torque sensor, the sensor of measurement for six-dimensional space power etc. of dimension space power measurement.It is sextuple dynamic in sensor measurement The research field of state power, it is a kind of disclosed in publication number CN102353482A Chinese patent to realize sextuple space power measurement Torque sensor, by the output force information of nine one-dimensional force snesors, and according to one dimension force output and the pass of sextuple space power It is the size that formula obtains six-dimensional space power;The disclosed survey for being used for six-dimensional space power of notification number CN201181246Y Chinese patent The sensor of amount, it is the orthogonal cascaded structure of three rectangular beam compositions perpendicular to each other, passes through answering on three rectangular cross section beams Become the size of piece measurement space six-dimensional force;A kind of safety-type powerless coupling disclosed in publication number CN102323000A Chinese patent Six-dimension force sensor, its mechanism mainly include upper and lower two plate, by multiple support blocks and the elastomer for being pasted with foil gauge come real When, accurately detect sextuple force information.Though above-mentioned patented technology can measure to six-dimensional force, in sensor application process In, sensor construction cannot deform in itself.As sensor is multi-field in Aero-Space, robot and biomethanics etc. Popularization and application, the demand of the multi-dimension force sensor to that can be deformed continues to increase, that is, requires that sensor can not only be real The characteristics of showing three-dimensional force measurement, while also needing to have deformation concurrently.
In deformable sensor research field, a kind of six-dimensional force passes disclosed in publication number CN204346630U Chinese patent Sensor, the perception of power is realized with the foil gauge on the miniature deformation and curb girder of spring beam, so as to draw the size of six-dimensional force, but It is only capable of producing miniature deformation;Publication number CN101925793A Chinese patent is disclosed to have flexible deformation-sensor, by non- Water system polymer solid electrolyte and at least one pair of electrode form thin slice, can detect that deformation position and pressure distribution, but only office It is limited to sense the pressure distribution in the displacement and position and two dimensional surface of three dimensions, and accurate measuring environment is also only limited to do Under the conditions of dry.A kind of Novel six-dimensional force transducer device, passes through screw rod disclosed in publication number CN103674385A Chinese patent On the deformation of sensing chip sensing screw rod realize dynamometry, especially suitable for space two aircraft in contact, collision process Dynamometry, but miniature deformation can only be produced.Though above sensor can deform, it cannot be guaranteed that being kept under soft contact conditions Mapping relations are kept constant between the input and output of sensor.
The content of the invention
The present invention is intended to provide one kind can measure six-dimensional force under soft contact conditions, can be deformed in measurement, and The mapping relations of its input and output remain the dynamically changeable shape six of invariable hard and soft soft mixing during deformation Tie up power sensing mechanisms.
The object of the invention is realized by following technical proposals:A kind of hard and soft soft mixing dynamically changeable shape six-dimensional force perceptron Structure, including upper mounting plate, lower platform, connect three deformable dynamometry branches of upper and lower platform, and three axles being placed on upper mounting plate Turntable, the lower platform are fixed platform, and its adjacent edges is provided with the edge supports post that three groups of structures are identical, are evenly distributed, often Group edge supports post includes two not contour support columns respectively, and common vertical line and the lower platform sideline of two support column central axis are put down OK, and two supporting surfaces correspond to parallel, and its medial support face makes an angle alpha with vertical plane, and two support intercolumniations are provided with a guide rail, guide rail Medial support face with two support columns is in identical angle α, and every guide rail is respectively connected with a deformable dynamometry branch, and every can Deformation dynamometry branch includes laser type displacement transducer, laser pick-off bar, connecting rod and two springs, the laser type displacement sensing Device is arranged on guide rail close to relatively low support column side, and the laser pick-off rod set is on guide rail, in guide rail and laser pick-off bar Hole forms cylindrical pair, and the thickness of laser pick-off bar should be enough signal and the reflection for receiving laser type displacement transducer, so as to realize The displacement measurement of laser type displacement transducer, two springs are respectively fitted on guide rail, and its outside is fixed on by spring base On two support columns, its inner side is fixed on laser pick-off bar by spring base, on connecting rod lower end cross bar and laser pick-off bar Lug both ends of the hole form the first revolute pair, the lug both ends of the hole of upper end cross bar and upper mounting plate forms the second revolute pair, it is described can The first revolute pair, the second revolute pair that deformation dynamometry branch passes sequentially through cylindrical pair, is connected with connecting rod are fixed on the convex of upper mounting plate On ear, the three-axle table includes Z axis turntable, Y-axis turntable and X-axis turntable, wherein, Z axis turntable is rotatablely connected with upper mounting plate, structure Into the 3rd revolute pair, Z axis turntable is rotatablely connected with Y-axis turntable, forms the 4th revolute pair, and Y-axis turntable rotates with X-axis turntable to be connected Connect, form the 5th revolute pair, the 3rd revolute pair, the 4th revolute pair and the 5th revolute pair axis are met at a bit, on the upper mounting plate One angular transducer one is installed, the rotating shaft of angular transducer one is connected with Z axis turntable, and the Z axis turntable both sides are respectively installed One angular transducer two, two angular transducers two are connected with the both sides of Y-axis turntable, and the other both sides of Y-axis turntable are respectively pacified An angular transducer three is filled, two angular transducers three are connected with X-axis turntable both ends, and the X-axis turntable center extends one Cylinder simultaneously outwards extends into the parcel mantle of a whole mechanism of covering in column top, is suspended on fixed platform, the bag Wrap up in mantle to be used to be in contact with the Spatial distributions 6 DOF testing force of outside, sextuple testing force is delivered to internal sensing mechanisms.
The present invention employs spring or torsion spring pretension to laser pick-off bar or three-axle table when specifically used.Wherein, turn round The effect of spring is to realize the two-way reset after the bidirectional torsion that rotating shaft turntable is corresponded to after stress and external force unloading, and the effect of spring is Realize way moving and the reset of laser pick-off bar.By inside and outside torsion spring in various degree and different directions torsion, rotating shaft turntable Element with respect to the torsion spring other end carries out Double-directional rotary, realizes that turntable automatically resets under torsion spring active force after external force unloading.Work The twisting resistance for the paired torsion spring that the anglec of rotation of rotating shaft turntable is installed by its spindle central and amount of deflection determine during work.In addition, The rigidity of mechanism is determined by preloading spring and pretension torsion spring stiffness, so as to be to realize that software large-deformation measuring is laid a good foundation.
In addition, laser type displacement transducer is applied in mechanism detects that three branches are defeated in guide rail direction in real time Go out signal, apply angular transducer and detect the output signal of three-axle table in the axial direction in real time, then using parallel machine Structure mapping algorithm can obtain size and the direction of six-dimensional force.It is real by this three deformable dynamometry branches and three-axle table Show six-dimensional space power to perceive and measure.In measurement process, the kinematic pair composition and arrangement form of each branch and rotating shaft turntable Determine that the mapping relations between the sensing mechanisms input and output remain constant.
The present invention has the following advantages that compared with prior art:
1st, one layer of mantle is enclosed with the outside of this sensing mechanisms, Spatial distributions 6 DOF testing force is in contact from outside with mantle, Six-dimensional force is delivered to internal sensing mechanisms, realizes the perception of Spatial distributions six-dimensional force under soft contact conditions, so as to ensure that Continuity, the accuracy of the measured value of space any direction testing force.
2nd, this sensing mechanisms is as a result of spring and torsion spring pretension, therefore is automatically replied after can realizing measurement external force unloading Original position, in addition, the rigidity of mechanism is determined by preloading spring and pretension torsion spring stiffness, so as to be to realize that software large-deformation measuring is established Basis is determined.
3rd, this sensing mechanisms be able to can be not only deformed in six-dimensional force perceives measurement process, and in the process of deformation In, due to the sensing mechanisms special construction design so that the six-dimensional force sensing mechanisms its input, outlet chamber mapping relations begin Keep invariable eventually, therefore can easily perceive and the six-dimensional space force information under the conditions of measurement dynamic deformation.
4th, three of this sensing mechanisms bottom deformable dynamometry branches are symmetrically distributed on lower platform, the guide rail of every branch End is disposed with a laser type displacement transducer, and top three-axle table axis intersects at a bit, has symmetrical configuration, manufacturer Just, it is easy to the advantages that producing in serial form.
Brief description of the drawings
Fig. 1 is hard and soft soft mixing dynamically changeable shape six-dimensional force sensing mechanisms structural representation.
Fig. 2 is the dynamometry branched structure schematic diagram of mechanism shown in Fig. 1.
Fig. 3 is the Z axis turntable torsion spring junction diagrammatic cross-section of mechanism shown in Fig. 1.
In figure:1- guide rails, 2- lower platforms, 3- laser pick-off bars, 4- spring bases, the high support columns of 5-, the revolute pairs of 6- first, 7- Connecting rod, the revolute pairs of 8- second, 9- upper mounting plates, the revolute pairs of 10- the 5th, 11-X axle turntables, the revolute pairs of 12- the 4th, 13-Y axle turntables, 14a, b, c- angular transducer one, two, three, 15-Z axle turntables, 16- torsion springs, the revolute pairs of 17- the 3rd, 18- laser type displacement sensings Device, 19- cylindrical pairs, the low support columns of 20-, 21- springs, 22- parcel mantles.
Embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention will be further described.
As shown in Figures 1 to 3, the hard and soft soft mixing dynamically changeable shape six-dimensional force sensing mechanisms of the embodiment of the present invention, main bag Include upper mounting plate 9, three deformable dynamometry branches of lower platform and the three-axle table being placed on upper mounting plate on lower platform 2, connection. Lower platform 2 is fixed platform, and its adjacent edges is provided with the edge supports post that three groups of structures are identical, are evenly distributed, and every group is wrapped respectively A low support column 20 and one high support column 5 are included, the common vertical line of two support column central axis is parallel with lower platform sideline, and two Supporting surface corresponds to parallel, and its medial support face and vertical plane angular range be 90 ° of 0 °≤α <, and two support intercolumniations are provided with one Guide rail 1, the medial support face of the support column of guide rail 1 and two are in identical angle α, every guide rail respectively with a deformable dynamometry branch Be connected, every dynamometry branch include laser pick-off bar 3, cylindrical pair 19, the first revolute pair 6, connecting rod 7, the second revolute pair 8, swash Light formula displacement transducer 18 and two springs 21.Laser type displacement transducer 18 is arranged on the side of low support column 20 on guide rail, The sensor passes through projected square part of the screw threads for fastening in guide rail one end.Two springs 21 are cased with guide rail 1, its outside passes through spring Seat 4 is fixed on high and low support column 5,20, and inner side is fixed on laser pick-off bar 3 by spring base 4.The both ends of two springs with The pretightning force of setting is connected on corresponding two spring bases.Laser pick-off bar 3 is also enclosed on guide rail 1, forms cylindrical pair 19.Swash Light-receiving bar 3 has the thickness of setting, to receive the signal of laser type displacement transducer and reflection, realizes displacement measurement.Swash Light-receiving bar 3 is connected by the first revolute pair 6 with connecting rod 7, and the other end of connecting rod 7 and the lug at upper mounting plate edge are connected to form Second revolute pair 8.Three deformable dynamometry branches are connected with three lugs at upper mounting plate edge.Between the edge senior middle school of upper mounting plate 9 Low, three lugs are distributed in upper mounting plate edge in equilateral triangle.Three-axis platform includes Z axis turntable 15, Y-axis turntable 13 and X-axis Turntable 11, erecting on Z axis turntable 15 has two supporting plates, and supporting plate upper end is hollow circular, and supporting surface symmetrical in edge Parallel, Y-axis turntable 13 is a square box, and the one of which parallel edges frame of square box is projected with boss, corresponding on the outside of square box Distribution, X-axis turntable 11 are the platform that a both ends carry lug.An angular transducer one is installed at the center concave station of upper mounting plate 1 14a, the rotating shaft at the top of angular transducer one are connected with Z axis turntable 15.The center concave station of Z axis turntable 15 and upper mounting plate, which rotates, to be connected Connect, form the 3rd revolute pair 17, and one group of radius not coaxial line identical is installed between Z axis turntable and upper mounting plate center concave station Torsion spring 16, inside and outside distribution is oppositely oriented, and in two one ends installation RuZZhou turntables bottom centre axle, the other end is arranged on upper flat In the center concave station of platform, Z axis turntable can be made to be connected with torsion spring between upper mounting plate with the pretightning force set.The supporting plate of Z axis turntable two One 14b of angular transducer two is respectively installed on the outside of cavity ring, fixed with lock-screw, the 14b of both sides angular transducer two passes through sky It is connected on the inside of thimble with two boss on the outside of the square box of Y-axis turntable 13, the cavity ring of Z axis turntable 15 is rotatablely connected with Y-axis turntable 13, The 4th revolute pair 12 is formed, and one group of radius not coaxial line identical torsion spring is respectively installed between both sides cavity ring and Y-axis turntable, Inside and outside distribution, it is oppositely oriented.A 14c of angular transducer three is respectively installed in another group of parallel edges outer frame side of Y-axis turntable square box, Angular transducer three passes through the hollow space of square box, and inner side is connected with the lug at the both ends of X-axis turntable 11, Y-axis turntable 13 and X-axis Turntable 11 is rotatablely connected, and forms the 5th revolute pair 10, and be respectively provided with one and Ban with the both sides that X-axis turntable is connected in Y-axis turntable Coaxial line identical torsion spring, inside and outside distribution be not oppositely oriented in footpath.Extend a cylinder and in column top in the center of X-axis turntable 11 Outwards extend into the parcel mantle 22 of a whole mechanism of covering, be suspended on fixed platform 2, parcel mantle 22 is used for and outside Spatial distributions 6 DOF testing force be in contact, sextuple testing force is delivered to internal sensing mechanisms.

Claims (7)

1. hard and soft soft mixing dynamically changeable shape six-dimensional force sensing mechanisms, it is characterised in that:Including upper mounting plate, lower platform, in connection, Three deformable dynamometry branches of lower platform, and the three-axle table being placed on upper mounting plate, the lower platform are fixed platform, its Adjacent edges are provided with the edge supports post that three groups of structures are identical, are evenly distributed, and every group of edge supports post includes two respectively High support column, the common vertical line of two support column central axis is parallel with lower platform sideline, and two supporting surfaces correspond to parallel, its inner side Supporting surface makes an angle alpha with vertical plane, and two support intercolumniations are provided with a guide rail, and guide rail is with the medial support face of two support columns in identical Angle α, every guide rail is respectively connected with a deformable dynamometry branch, and every deformable dynamometry branch includes laser type displacement and passed Sensor, laser pick-off bar, connecting rod and two springs, the laser type displacement transducer are arranged on guide rail close to relatively low support column Side, for the laser pick-off rod set on guide rail, guide rail forms cylindrical pair, the thickness of laser pick-off bar with laser pick-off bar endoporus Signal and the reflection for receiving laser type displacement transducer should be enough, so as to realize the displacement measurement of laser type displacement transducer, institute State two springs to be respectively fitted on guide rail, its outside is fixed on two support columns by spring base, and its inner side is consolidated by spring base It is scheduled on laser pick-off bar, connecting rod lower end cross bar forms the first revolute pair with the lug both ends of the hole on laser pick-off bar, on Hold the lug both ends of the hole of cross bar and upper mounting plate to form the second revolute pair, the deformable dynamometry branch pass sequentially through cylindrical pair, with The first connected revolute pair of connecting rod, the second revolute pair are fixed on the lug of upper mounting plate, and the three-axle table includes Z axis turntable, Y Axle turntable and X-axis turntable, wherein, Z axis turntable is rotatablely connected with upper mounting plate, forms the 3rd revolute pair, Z axis turntable and Y-axis turntable Rotation connection, the 4th revolute pair being formed, Y-axis turntable and X-axis turntable are rotatablely connected, and form the 5th revolute pair, and the the 3rd, the 4th and the Five revolute pair axis are met at a bit, and an angular transducer one, the top rotating shaft of angular transducer one are installed on the upper mounting plate It is connected with Z axis turntable, respectively one angular transducer two of installation, two angular transducers two turn with Y-axis for the Z axis turntable both sides The both sides of platform are connected, and an angular transducer three, two angular transducers three and X-axis are respectively installed in the other both sides of Y-axis turntable Turntable both ends are connected, and the X-axis turntable center extends a cylinder and outwards extends into a whole mechanism of covering in column top Parcel mantle, be suspended on fixed platform, it is described parcel mantle be used for outside Spatial distributions 6 DOF testing force connect Touch, sextuple testing force is delivered to internal sensing mechanisms.
2. hard and soft soft mixing dynamically changeable shape six-dimensional force sensing mechanisms according to claim 1, it is characterised in that:The angle Spend sensor one to be arranged at the concave station of upper mounting plate center, one group of radius not coaxial line is installed between the Z axis turntable and upper mounting plate Identical torsion spring, inside and outside distribution are oppositely oriented.
3. hard and soft soft mixing dynamically changeable shape six-dimensional force sensing mechanisms according to claim 2, it is characterised in that:Described two In one end installation RuZZhou turntables bottom centre axle, the other end is arranged in the center concave station of upper mounting plate, can make Z axis turntable Torsion spring is connected with the pretightning force set between upper mounting plate.
4. hard and soft soft mixing dynamically changeable shape six-dimensional force sensing mechanisms according to claim 3, it is characterised in that:The Z Being erected on axle turntable has two supporting plates, and supporting plate upper end is hollow circular, symmetrical in Z axis turntable edge and supporting surface is put down OK, the Y-axis turntable is a square box, and the one of which parallel edges frame of square box is projected with boss, corresponding on the outside of square box Distribution, described two angular transducers two are separately mounted on the outside of two supporting plate cavity rings of Z axis turntable, both sides angular transducer Two are connected through cavity ring inner side with two boss on the outside of Y-axis turntable square box, and Z axis turntable both sides cavity ring and Y-axis turntable Between one group of radius not coaxial line identical torsion spring is respectively installed, inside and outside distribution is oppositely oriented.
5. hard and soft soft mixing dynamically changeable shape six-dimensional force sensing mechanisms according to claim 4, it is characterised in that:The X Axle turntable is the platform that a both ends carry lug, and described two angular transducers three are separately mounted to the Y-axis turntable square box Another group of parallel edges outer frame side, angular transducer three pass through Y-axis turntable square box hollow space, its inner side with X-axis turntable The boss at both ends is connected, and one group of radius is respectively provided with the both sides that Y-axis turntable is connected with X-axis turntable, and coaxial line identical is not turned round Spring, inside and outside distribution are oppositely oriented.
6. hard and soft soft mixing dynamically changeable shape six-dimensional force sensing mechanisms according to claim 1, it is characterised in that:Described two The both ends of spring are connected on corresponding two spring bases with the pretightning force set.
7. the hard and soft soft mixing dynamically changeable shape six-dimensional force sensing mechanisms according to above-mentioned any one claim, its feature It is:The medial support face and vertical plane angular range are 90 ° of 0 °≤α <.
CN201710705799.8A 2017-08-17 2017-08-17 Hard and soft soft mixing dynamically changeable shape six-dimensional force sensing mechanisms Active CN107543643B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108942895A (en) * 2018-09-05 2018-12-07 安徽理工大学 A kind of six-freedom parallel power head with constant force output characteristics
CN112611497A (en) * 2019-09-18 2021-04-06 马洪文 Multi-dimensional force sensor structure of parallel rod system

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US5656905A (en) * 1995-04-03 1997-08-12 Tsai; Lung-Wen Multi-degree-of-freedom mechanisms for machine tools and the like
CN2637134Y (en) * 2003-07-16 2004-09-01 刘辛军 Parallel linked robot connecting branch structure and hexafreedon parallel linked robot structure
TW201215796A (en) * 2010-10-11 2012-04-16 Hon Hai Prec Ind Co Ltd Parallel robot
CN105291094A (en) * 2015-11-27 2016-02-03 中国地质大学(武汉) Translation and rotating decoupling six-degree-of-freedom heavy load robot mechanism

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5656905A (en) * 1995-04-03 1997-08-12 Tsai; Lung-Wen Multi-degree-of-freedom mechanisms for machine tools and the like
CN2637134Y (en) * 2003-07-16 2004-09-01 刘辛军 Parallel linked robot connecting branch structure and hexafreedon parallel linked robot structure
TW201215796A (en) * 2010-10-11 2012-04-16 Hon Hai Prec Ind Co Ltd Parallel robot
CN105291094A (en) * 2015-11-27 2016-02-03 中国地质大学(武汉) Translation and rotating decoupling six-degree-of-freedom heavy load robot mechanism

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108942895A (en) * 2018-09-05 2018-12-07 安徽理工大学 A kind of six-freedom parallel power head with constant force output characteristics
CN112611497A (en) * 2019-09-18 2021-04-06 马洪文 Multi-dimensional force sensor structure of parallel rod system

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