CN107543643B - 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 PDFInfo
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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, the three-axle table they three of lower platform deformable dynamometry branch and be placed on upper mounting plate, lower platform is fixed platform, it is identical that its adjacent edges is equipped with three groups of structures, the edge supports column being evenly distributed, every group respectively includes two not contour edge supports columns, two edge supports intercolumniations are equipped with a guide rail, every guide rail is respectively connected with a deformable dynamometry branch, deformable dynamometry branch is equipped with laser type displacement sensor, angular transducer and torsional spring are respectively equipped on three-axle table, package mantle is equipped on 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 relationship of power keeps constant constant, i.e. realization large deformation constant force transmitting measurement；Simultaneously there is symmetrical configuration, it is easily manufactured, be convenient for producing in serial form the features such as.
Description
Technical field
The invention belongs to sensor fields, are related to related six-dimensional space force sensor device, especially have both rigid and soft
Six-dimensional force sensing mechanisms under the soft contact conditions of property.
Background technique
Multi-dimension force sensor refers to a kind of force snesor that can measure the above power of both direction and moment components simultaneously,
Power and torque can respectively be decomposed into three components in cartesian coordinate system, and therefore, the most complete form of multi-dimensional force is sextuple
Power/torque sensor can measure the sensor of three force components and three moment components simultaneously, now widely used more
Dimensional force sensor is exactly this sensor.In recent years, part achievement is achieved to the research in the field, as one kind can be realized six
The torque sensor of dimension space power measurement, the sensor of measurement etc. for six-dimensional space power.It is dynamic in sensor measurement 6 DOF
The research field of state power, it is a kind of disclosed in the Chinese patent of publication number CN102353482A to can be realized sextuple space power measurement
Torque sensor, by the output force information of nine one-dimensional force snesors, and according to the pass of one dimension force output and 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 the Chinese patent of notification number CN201181246Y
The sensor of amount 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 six-dimensional space power；The safety-type powerless coupling of one kind disclosed in the Chinese patent of publication number CN102323000A
Six-dimension force sensor, mechanism mainly include upper and lower two plates, by multiple supporting blocks and are pasted with the elastomer of foil gauge come real
When, accurate detect sextuple force information.Though above-mentioned patented technology can measure six-dimensional force, in sensor application process
In, sensor structure itself cannot deform.As sensor is multi-field in aerospace, robot and biomethanics etc.
Popularization and application, the demand to the multi-dimension force sensor that can be deformed continues to increase, that is, requires sensor real
Existing three-dimensional force measurement, while also needing the characteristics of having both deformation.
In deformable sensor research field, a kind of six-dimensional force biography disclosed in the Chinese patent of publication number CN204346630U
Sensor, the perception of power is realized with the foil gauge on the miniature deformation and curb girder of spring beam, thus obtain the size of six-dimensional force, but
It is only capable of generating miniature deformation；The Chinese patent of publication number CN101925793A is disclosed to have deformation-sensor flexible, by non-
Water system polymer solid electrolyte and at least a pair of electrodes constitute thin slice, can detect that deformation position and pressure distribution, but only office
It is limited to incude the pressure distribution in the displacement and position and two-dimensional surface of three-dimensional space, and precise measurement 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 the Chinese patent of publication number CN103674385A
On the deformation of sensing chip induction screw rod realize dynamometry, especially suitable for space two aircraft in contact, collision process
Dynamometry, but miniature deformation can only be generated.Though the above sensor can deform, it cannot be guaranteed that being kept under soft contact conditions
Mapping relations remain unchanged between the input and output of sensor.
Summary of the invention
The present invention is intended to provide one kind can measure six-dimensional force under soft contact conditions, deformation can produce in measurement, and
The mapping relations of its input and output remain invariable hard and soft soft mixed dynamically changeable shape six 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 connects three deformable dynamometry branches of upper and lower platform, and is placed in three axis on upper mounting plate
Turntable, the lower platform are fixed platform, and adjacent edges are equipped with the edge supports column that three groups of structures are identical, are evenly distributed, often
Group edge supports column respectively includes two not contour support columns, and the common vertical line of two support column central axis and lower platform sideline are flat
Row, and two supporting surfaces are corresponding parallel, medial support face makes an angle alpha with vertical plane, and two support intercolumniations are equipped 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
Deforming dynamometry branch includes laser type displacement sensor, laser pick-off bar, connecting rod and two springs, the laser type displacement sensing
Device is mounted on guide rail close to lower support column side, and the laser pick-off rod set is on guide rail, in guide rail and laser pick-off bar
Hole constitutes cylindrical pair, and the thickness of laser pick-off bar should be enough to receive signal and the reflection of laser type displacement sensor, to realize
The displacement measurement of laser type displacement sensor, two springs are respectively fitted on guide rail, and outside is fixed on by spring base
On two support columns, inside 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 constitute the first revolute pair, the lug both ends of the hole of upper end cross bar and upper mounting plate constitutes the second revolute pair, it is described can
Deformation dynamometry branch passes sequentially through cylindrical pair, the first revolute pair, the second revolute pair that are 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 and upper mounting plate are rotatablely connected, structure
At third revolute pair, Z axis turntable and Y-axis turntable are rotatablely connected, and constitute the 4th revolute pair, and Y-axis turntable and the rotation of X-axis turntable connect
It connects, constitutes the 5th revolute pair, third 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 shaft of angular transducer one is connected with Z axis turntable, and Z axis turntable two sides are respectively installed
One angular transducer two, two angular transducers two are connected with the two sides of Y-axis turntable, and the other two 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 extends into the package mantle of an entire mechanism of covering in column top outward, is suspended on fixed platform, the packet
Mantle is wrapped up in for being in contact with external Spatial distributions 6 DOF testing force, sextuple testing force is transmitted to internal sensing mechanisms.
The present invention uses spring to laser pick-off bar or three-axle table or torsional spring pre-tightens when specifically used.Wherein, it turns round
The effect of spring is the bidirectional torsion that shaft turntable is corresponded to after realizing stress and the two-way reset after external force unloading, the effect of spring are
Realize way moving and the reset of laser pick-off bar.By inside and outside torsional spring in various degree and different directions torsion, shaft turntable
The element of the opposite torsional spring other end carries out Double-directional rotary, realizes that turntable automatically resets after external force unloading under torsional spring active force.Work
The twisting resistance and amount of deflection for the pairs of torsional spring that the rotation angle of shaft turntable is installed by its spindle central during work determine.In addition,
The rigidity of mechanism is determined by preloading spring and preload torsion spring stiffness, thus to realize that software large-deformation measuring is laid a good foundation.
In addition, applying laser type displacement sensor real-time detection in mechanism, to go out three branches defeated in guide rail direction
Signal out applies angular transducer real-time detection and goes out the output signal of three-axle table in the axial direction, then uses parallel machine
Structure mapping algorithm can find out size and the direction of six-dimensional force.It is real by this three deformable dynamometry branches and three-axle table
The perception of six-dimensional space power and measurement are showed.In measurement process, the kinematic pair composition and arrangement form of each branch and shaft turntable
Determine that the mapping relations between the sensing mechanisms input and output remain constant.
The invention has the following advantages over the prior art:
1, one layer of mantle is enclosed on the outside of this sensing mechanisms, Spatial distributions 6 DOF testing force is in contact from outside with mantle,
Six-dimensional force is transmitted to internal sensing mechanisms, the perception of soft contact conditions down space dynamic six-dimensional force is realized, to ensure that
Continuity, the accuracy of the measured value of arbitrary direction in space testing force.
2, this sensing mechanisms is pre-tightened due to using spring and torsional spring, is automatically replied after can realizing measurement external force unloading
It is in situ, in addition, the rigidity of mechanism is determined by preloading spring and preload torsion spring stiffness, thus to realize that software large-deformation measuring is established
Basis is determined.
3, this sensing mechanisms can not only be perceived in measurement process in six-dimensional force and can be deformed, 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 constant eventually it is constant, therefore can easily perceive with measurement dynamic deformation under the conditions of six-dimensional space force information.
4, 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 sensor, and top three-axle table axis intersects at a bit, has symmetrical configuration, manufacturer
Just, it is convenient for the advantages that producing in serial form.
Detailed description of the invention
Fig. 1 is hard and soft soft mixing dynamically changeable shape six-dimensional force sensing mechanisms structural schematic diagram.
Fig. 2 is the dynamometry branched structure schematic diagram of mechanism shown in Fig. 1.
Fig. 3 is the Z axis turntable torsional spring junction diagrammatic cross-section of mechanism shown in Fig. 1.
In figure: 1- guide rail, 2- lower platform, 3- laser pick-off bar, 4- spring base, 5- high support column, the first revolute pair of 6-, 7-
Connecting rod, the second revolute pair of 8-, 9- upper mounting plate, the 5th revolute pair of 10-, 11-X axis turntable, the 4th revolute pair of 12-, 13-Y axis turntable,
14a, b, c- angular transducer one, two, three, 15-Z axis turntable, 16- torsional spring, 17- third revolute pair, 18- laser type displacement sensing
Device, 19- cylindrical pair, the low support column of 20-, 21- spring, 22- wrap up mantle.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and embodiments.
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, it is main to wrap
Upper mounting plate 9 is included, three of lower platform deformable dynamometry branches and the three-axle table being placed on upper mounting plate on lower platform 2, connection.
Lower platform 2 is fixed platform, and adjacent edges are equipped with the edge supports column 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 is corresponding parallel, and medial support face and vertical plane angular range are 90 ° of 0 °≤α <, and two support intercolumniations are equipped with one
The medial support face of guide rail 1, guide rail 1 and two support columns be in identical angle α, every guide rail respectively with a deformable dynamometry branch
It is connected, every dynamometry branch includes laser pick-off bar 3, cylindrical pair 19, the first revolute pair 6, connecting rod 7, the second revolute pair 8, swashs
Light formula displacement sensor 18 and two springs 21.Laser type displacement sensor 18 is mounted on 20 side of low support column on guide rail,
Projected square part of the sensor by screw threads for fastening in guide rail one end.Two springs 21 are cased on guide rail 1, outside passes through spring
Seat 4 is fixed on high and low support column 5,20, and inside 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 also covers on guide rail 1, constitutes cylindrical pair 19.Swash
Light-receiving bar 3 has the thickness of setting, to receive signal and the reflection of laser type displacement sensor, 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 9 edge senior middle school of upper mounting plate
Low, three lugs are in equilateral triangle to be distributed in upper mounting plate edge.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 support plates, and support plate upper end is hollow circular, and supporting surface symmetrical in edge
In parallel, Y-axis turntable 13 is a square box, and wherein one group of 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 have lug.An angular transducer one is installed at 1 center concave station of upper mounting plate
The shaft of 14a, one top of angular transducer 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
It connects, constitutes third revolute pair 17, and between Z axis turntable and upper mounting plate center concave station one group of radius is installed coaxial line is not identical
Torsional spring 16, inside and outside distribution is oppositely oriented, and two one end of torsional springs are installed in RuZZhou turntable bottom centre axis, and the other end is mounted on flat
In the center concave station of platform, Z axis turntable can be made to be connected with torsional spring between upper mounting plate with the pretightning force set.Two support plate of Z axis turntable
One two 14b of angular transducer is respectively installed on the outside of cavity ring, is fixed with lock-screw, angular transducer two 14b in two sides passes through sky
It is connected on the inside of thimble with two boss on the outside of 13 square box of Y-axis turntable, 15 cavity ring of Z axis turntable and Y-axis turntable 13 are rotatablely connected,
The 4th revolute pair 12 is constituted, and one group of radius not coaxial line identical torsional spring is respectively installed between two sides cavity ring and Y-axis turntable,
Inside and outside distribution, it is oppositely oriented.Three 14c of angular transducer 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 inside is connected with the lug at 11 both ends of X-axis turntable, Y-axis turntable 13 and X-axis
Turntable 11 is rotatablely connected, and constitutes the 5th revolute pair 10, and be respectively equipped with one and Ban in the two sides that Y-axis turntable is connected with X-axis turntable
The identical torsional spring of coaxial line, inside and outside distribution be not oppositely oriented for diameter.Extend a cylinder and in column top in 11 center of X-axis turntable
The package mantle 22 to extend outward into an entire mechanism of covering, is suspended on fixed platform 2, and package mantle 22 is used for and outside
Spatial distributions 6 DOF testing force be in contact, sextuple testing force is transmitted 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,
The deformable dynamometry branch of three of lower platform, and it is placed in the three-axle table on upper mounting plate, the lower platform is fixed platform,
Adjacent edges are equipped with the edge supports column that three groups of structures are identical, are evenly distributed, and every group of edge supports column respectively includes two and differ
The common vertical line of high support column, two support column central axis is parallel with lower platform sideline, and two supporting surfaces are corresponding parallel, inside
Supporting surface makes an angle alpha with vertical plane, and two support intercolumniations are equipped 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 that laser type displacement passes
Sensor, laser pick-off bar, connecting rod and two springs, the laser type displacement sensor are mounted on guide rail close to lower support column
Side, for the laser pick-off rod set on guide rail, guide rail and laser pick-off bar inner hole constitute cylindrical pair, the thickness of laser pick-off bar
It should be enough to receive signal and the reflection of laser type displacement sensor, thus realize the displacement measurement of laser type displacement sensor, institute
It states two springs to be respectively fitted on guide rail, outside is fixed on two support columns by spring base, and inside is solid by spring base
It being scheduled on laser pick-off bar, the lug both ends of the hole on connecting rod lower end cross bar and laser pick-off bar constitutes the first revolute pair, on
Hold the lug both ends of the hole of cross bar and upper mounting plate to constitute 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
Axis turntable and X-axis turntable, wherein Z axis turntable and upper mounting plate are rotatablely connected, and constitute third revolute pair, Z axis turntable and Y-axis turntable
Rotation connection constitutes the 4th revolute pair, and Y-axis turntable and X-axis turntable are rotatablely connected, and constitutes the 5th revolute pair, third, the 4th and the
Five revolute pair axis are met at a bit, and an angular transducer one, the top shaft of angular transducer one are installed on the upper mounting plate
It is connected with Z axis turntable, an angular transducer two is respectively installed in Z axis turntable two sides, and two angular transducers two and Y-axis turn
The two sides of platform are connected, and an angular transducer three, two angular transducers three and X-axis are respectively installed in the other two sides of Y-axis turntable
Turntable both ends are connected, and the X-axis turntable center extends a cylinder and extends into an entire mechanism of covering outward in column top
Package mantle, be suspended on fixed platform, the package mantle is used to connect with external Spatial distributions 6 DOF testing force
Touching, is transmitted to internal sensing mechanisms for sextuple testing force.
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
Degree sensor one is mounted at the concave station of upper mounting plate center, and one group of radius not coaxial line is equipped between the Z axis turntable and upper mounting plate
Identical torsional 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
One end of torsional spring is installed in RuZZhou turntable bottom centre axis, and the other end is mounted in the center concave station of upper mounting plate, can make Z axis turntable
Torsional spring is connected between upper mounting plate with the pretightning force set.
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
Erecting on axis turntable has two support plates, and support plate upper end is hollow circular, and supporting surface symmetrical in Z axis turntable edge is flat
Row, the Y-axis turntable are a square box, and wherein one group of 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 support plate cavity rings of Z axis turntable, two sides angular transducer
Two pass through cavity ring inside is connected with two boss on the outside of Y-axis turntable square box, and Z axis turntable two sides cavity ring and Y-axis turntable
Between one group of radius not identical torsional spring of coaxial line 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
Axis turntable is the platform that a both ends have 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, inside with X-axis turntable
The boss at both ends is connected, and is respectively equipped with the not identical torsion of coaxial line of one group of radius in the two sides that Y-axis turntable is connected with X-axis turntable
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. hard and soft soft mixing dynamically changeable shape six-dimensional force sensing mechanisms, feature according to above-mentioned any one claim
Be: the medial support face is 90 ° of 0 °≤α < with vertical plane angular range.
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| CN201710705799.8A CN107543643B (en) | 2017-08-17 | 2017-08-17 | Hard and soft soft mixing dynamically changeable shape six-dimensional force sensing mechanisms |
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| 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 |
| CN112611497B (en) * | 2019-09-18 | 2022-01-28 | 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 |
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| 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 |
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