CN108151944A - Flexible large deformation constant force transmits three-dimensional force sensing mechanisms - Google Patents
Flexible large deformation constant force transmits three-dimensional force sensing mechanisms Download PDFInfo
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- CN108151944A CN108151944A CN201711264200.8A CN201711264200A CN108151944A CN 108151944 A CN108151944 A CN 108151944A CN 201711264200 A CN201711264200 A CN 201711264200A CN 108151944 A CN108151944 A CN 108151944A
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- Prior art keywords
- spring
- force
- connecting rod
- connect
- platform
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Classifications
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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
Abstract
A kind of flexibility large deformation constant force transmits three-dimensional force sensing mechanisms, it includes pedestal, force plate/platform, and the dynamometry branch that connect base is identical with three structures of force plate/platform, pedestal is into triangular pyramidal, three ribs are mutually orthogonal, entirety radially distributes, every dynamometry branch includes prismatic pair composition component, the first bolt bearing, first connecting rod, the second bolt bearing, second connecting rod, third bolt bearing, upper mounting plate seat and pulling-pressing force sensor, and above-mentioned prismatic pair composition component includes guide rail, sliding block, bidirection press spring assembly；The bidirection press spring assembly includes two springs for having identical pretightning force, spring spool, spring lever and end cap.The configuration of the present invention is simple, high sensitivity can bear impact force, can occur during dynamometry compared with large deformation, and its input and output power mapping relations is invariable.
Description
Technical field
The present invention relates to a kind of dynamometry sensing mechanisms, the measuring mechanism of particularly a kind of dynamic 3 D power and impact force.
Background technology
In order to meet the real-time measurement to dynamic force, also there are many type three dimensional dynamic force sensing mechanisms in the country.South
Zhao Wei of capital aerospace university etc. proposes a kind of ultrahigh rotating speed cutting three in the patent of Publication No. CN102267069A
Dynamic force test platform is tieed up, is met when ultrahigh rotating speed is cut to the real-time and accurate measurement of dynamic force signal.Guangxi Normal University
Mu Xiangwei a kind of accurate fixed beaer of test proposed in the patent of Publication No. CN104215380A bear outside and apply
The device for measuring force of Three-Dimensional Dynamic power added can carry out firm fixing to beaer and sensor and can adjust and ensure to pass
Fit precision and position dimension precision between sensor and associated component, the three-dimensional that external application can be born to fixed beaer are moved
State power carries out accurate, real-time testing.But the structure of two above patent is rigidity, can not be deformed, and in dynamometry process
In be affected by mechanical oscillation.
Robot technology development at full speed has more requirements to the measurement of three-dimensional force, is pressed from both sides in medical rehabilitation, robot
Hold, intelligent machining manufacture, aerospace, object collision aspect, need sensing mechanism have certain flexibility, can bear to touch
It hits, and can accurately measure power while mechanism deforms, therefore, flexible large deformation dynamic 3 D power perceives
Mechanism by be future development direction.At present, the patent of Publication No. CN101925793A discloses a kind of with certain flexibility
Deformation-sensor, which is by non-water system polymer solid electrolyte and clamping the non-water system polymer solid electrolyte
The thin slice that at least a pair of electrodes is formed.Electromotive force can be generated since the macromolecule applies mechanically deform, thus can detect that deformation
Position and pressure distribution, realize that dynamic measures.But it can only detect the pressure distribution on two dimensional surface, and be only applicable to
Compared under drying regime in air, mechanically deform could be responded in high sensitivity and flexible.Publication No. CN107144389A
Patent provide a kind of be embedded in servo-actuated Grazing condition sensor carried out inside soft robot, be mountable to traditional robot
Joint, soft robot and human-computer interaction device and other occasions for needing to detect multi-dimensional force, but its exterior material uses silica gel,
Metal gallium-indium-tin alloy is as sensing element, and under high temperature environment, which will be unable to accurately measure, and sensing mechanism can not
Generate large deformation.
Invention content
The purpose of the present invention is to provide a kind of mechanism is simple, environment-adapting ability is strong, can accurately be surveyed in deformation process
The flexible large deformation constant force for measuring dynamic 3 D power transmits three-dimensional force sensing mechanisms.
The present invention includes pedestal, force plate/platform and the connect base dynamometry identical with three structures of force plate/platform point
Into triangular pyramidal, three ribs are mutually orthogonal, whole radially distributed for branch, wherein pedestal；Every dynamometry branch includes moving
Dynamic secondary composition component, the first revolute pair, first connecting rod, the second revolute pair, second connecting rod, third revolute pair, upper mounting plate seat and
Pulling-pressing force sensor；The prismatic pair composition component includes guide rail, sliding block, bidirection press spring assembly, wherein, bidirection press
Spring assembly includes two springs for having identical pretightning force, spring spool, spring lever and end cap；Guide rail is fixed on pedestal, sliding
Block is located on guide rail, and the spring spool in bidirection press spring assembly is connected with sliding block, in spring spool, the one of the first spring
End is connect with one end of spring spool, one end connection of the other end of the first spring and spring lever, the other end of spring lever and the
One end connection of two springs, the other end of second spring are connect with end cap；The spring lever is set with one end that the first spring is connect
There is screw thread, and the pulling-pressing force sensor with being fixed on base side end is connect；One end of first connecting rod passes through the first bolt
Bearing is connect with one end of spring spool end cap, the other end of the first connecting rod pass through the second bolt bearing and second connecting rod one
End connection, the other end of the second connecting rod are connect by third bolt bearing with upper mounting plate seat, and upper mounting plate seat is consolidated with force plate/platform
Even.
The present invention has the following advantages that compared with prior art:
1st, simple in structure, economy and craftsmanship are good, strong environmental adaptability, can be accurately measured in deformation process
Dynamic 3 D power.
2nd, have the characteristics that input and output power mapping relations are constant in deformation process, due to its input and output power mapping relations
Constant, external force will not change the result that this sensing mechanisms acts on because of the change of pose, have more in field of human-computer interaction
Significant advantage.
3rd, structure is flexibility, can obtain certain buffering effect when bearing and hitting, be capable of high degree avoids this sense
Know the damage of mechanism, also have stronger protective effect to the instrument of the installation present invention.
Description of the drawings
Fig. 1 is the three-dimensional simplified schematic diagram of the present invention；
Fig. 2 is the vertical view of the present invention；
Fig. 3 is the partial sectional view of the present invention.
In figure：1- force plate/platforms, 2- upper mounting plates seat, 3- second connecting rods, the second bolt bearings of 4-, 5- first connecting rods, 6- ends
Lid, 7- spring spools, 8- spring levers, 9- guide rails, 10- sliding blocks, 11- pulling-pressing force sensors, the first bolt bearings of 12-, 13-
Three bolt bearings, 14- pedestals, the first springs of 15-, 16- second springs.
Specific embodiment
In Fig. 1, Fig. 2 and flexible large deformation constant force shown in Fig. 3 transmit the schematic diagram of three-dimensional force sensing mechanisms, pedestal
14 into triangular pyramidal, and three ribs are mutually orthogonal, whole radially distributed；Guide rail 9 in identical dynamometry branch of three mechanisms
It is bolted on pedestal, sliding block 10 is located on guide rail, and the spring spool 7 in bidirection press spring assembly is consolidated with sliding block
Even, in spring spool, one end of the first spring 15 and one end of spring spool connect, the other end and spring lever of the first spring
8 one end connection, the other end of spring lever are connect with one end of second spring 16, and the other end of second spring is connect with end cap 6；
One end that the spring lever is connect with the first spring is equipped with screw thread, and the drawing and pressing type with being fixed by screws in base side end
Force snesor 11 connects, the first spring and the spring that second spring is identical pretightning force；One end of first connecting rod 5 passes through the first spiral shell
Stud shaft holds 12 and is connect with one end of spring spool end cap, and the other end of the first connecting rod is connected by the second bolt bearing 4 and second
One end connection of bar 3, the other end of the second connecting rod are connect by third bolt bearing 13 with upper mounting plate seat 2, and upper mounting plate seat leads to
Bolt is crossed to be connected with force plate/platform 1.
Claims (1)
1. a kind of flexibility large deformation constant force transmits three-dimensional force sensing mechanisms, including pedestal, force plate/platform and connect base
The dynamometry branch identical with three structures of force plate/platform, it is characterised in that：The pedestal is into triangular pyramidal, and three ribs are mutually just
It hands over, it is whole radially distributed；Every dynamometry branch includes prismatic pair composition component, the first revolute pair, first connecting rod, the
Two revolute pairs, second connecting rod, third revolute pair, upper mounting plate seat and pulling-pressing force sensor；The prismatic pair forms component packet
Include guide rail, sliding block, bidirection press spring assembly, wherein, bidirection press spring assembly include two springs for having an identical pretightning force,
Spring spool, spring lever and end cap；Guide rail is fixed on pedestal, and sliding block is located on guide rail, the bullet in bidirection press spring assembly
Spring sleeve is connected with sliding block, and in spring spool, one end of one end of the first spring and spring spool connects, the first spring it is another
One end and one end of spring lever connect, and the other end of spring lever and one end of second spring connect, the other end of second spring with
End cap connects；One end that the spring lever is connect with the first spring is equipped with screw thread, and the tension and compression with being fixed on base side end
Formula force snesor connects；One end of first connecting rod is connect by the first bolt bearing with one end of spring spool end cap, this first
The other end of connecting rod is connected by one end of the second bolt bearing and second connecting rod, and the other end of the second connecting rod passes through third spiral shell
Stud shaft is held to be connect with upper mounting plate seat, and upper mounting plate seat is connected with force plate/platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711264200.8A CN108151944B (en) | 2017-12-05 | 2017-12-05 | Flexible large deformation constant force transmits three-dimensional force sensing mechanisms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711264200.8A CN108151944B (en) | 2017-12-05 | 2017-12-05 | Flexible large deformation constant force transmits three-dimensional force sensing mechanisms |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108151944A true CN108151944A (en) | 2018-06-12 |
| CN108151944B CN108151944B (en) | 2019-09-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711264200.8A Active CN108151944B (en) | 2017-12-05 | 2017-12-05 | Flexible large deformation constant force transmits three-dimensional force sensing mechanisms |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112284602A (en) * | 2020-07-22 | 2021-01-29 | 兰州理工大学 | High-precision clamping force measuring device |
Citations (6)
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|---|---|---|---|---|
| CN100372657C (en) * | 2006-04-18 | 2008-03-05 | 燕山大学 | 3-degree-of-freedom 6-UPS tri-translational parallel robot |
| CN102410889A (en) * | 2011-09-01 | 2012-04-11 | 北京航空航天大学 | Contact stiffness generation device for simulating contact stiffness of force sense interaction equipment during operation |
| CN105216007A (en) * | 2015-11-10 | 2016-01-06 | 方勇 | Robot limited flex wrist joint and its implementation |
| CN105784250A (en) * | 2016-04-20 | 2016-07-20 | 电子科技大学 | Three-dimensional dynamic grinding force detection apparatus and decoupling algorithm thereof |
| CN106017769A (en) * | 2016-07-08 | 2016-10-12 | 燕山大学 | Deformable parallel three-dimensional dynamic force sensor |
| CN107314853A (en) * | 2017-06-09 | 2017-11-03 | 燕山大学 | A kind of hard and soft hybrid three-dimensional power sensing mechanisms |
-
2017
- 2017-12-05 CN CN201711264200.8A patent/CN108151944B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100372657C (en) * | 2006-04-18 | 2008-03-05 | 燕山大学 | 3-degree-of-freedom 6-UPS tri-translational parallel robot |
| CN102410889A (en) * | 2011-09-01 | 2012-04-11 | 北京航空航天大学 | Contact stiffness generation device for simulating contact stiffness of force sense interaction equipment during operation |
| CN105216007A (en) * | 2015-11-10 | 2016-01-06 | 方勇 | Robot limited flex wrist joint and its implementation |
| CN105784250A (en) * | 2016-04-20 | 2016-07-20 | 电子科技大学 | Three-dimensional dynamic grinding force detection apparatus and decoupling algorithm thereof |
| CN106017769A (en) * | 2016-07-08 | 2016-10-12 | 燕山大学 | Deformable parallel three-dimensional dynamic force sensor |
| CN107314853A (en) * | 2017-06-09 | 2017-11-03 | 燕山大学 | A kind of hard and soft hybrid three-dimensional power sensing mechanisms |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112284602A (en) * | 2020-07-22 | 2021-01-29 | 兰州理工大学 | High-precision clamping force measuring device |
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| Publication number | Publication date |
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| CN108151944B (en) | 2019-09-27 |
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