CN108151944B - 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
- Publication number
- CN108151944B CN108151944B CN201711264200.8A CN201711264200A CN108151944B CN 108151944 B CN108151944 B CN 108151944B CN 201711264200 A CN201711264200 A CN 201711264200A CN 108151944 B CN108151944 B CN 108151944B
- Authority
- CN
- China
- Prior art keywords
- spring
- force
- connecting rod
- bolt bearing
- pedestal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
A kind of flexibility large deformation constant force transmitting three-dimensional force sensing mechanisms, it includes pedestal, force plate/platform, and the identical dynamometry branch of three structures of connection pedestal and force plate/platform, pedestal is at 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 arrangement；The bidirection press spring arrangement 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 are able to bear impact force, larger deformation can occur during dynamometry, and its input and output power mapping relations is invariable.
Description
Technical field
The present invention relates to a kind of dynamometry sensing mechanisms, especially a kind of measuring mechanism of dynamic 3 D power and impact force.
Background technique
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
The Zhao Wei etc. of capital aerospace university proposes a kind of ultrahigh rotating speed cutting three in the patent of Publication No. CN102267069A
Dynamic force test platform is tieed up, the real-time and accurate measurement in ultrahigh rotating speed cutting to dynamic force signal is met.Guangxi Normal University
Mu Xiangwei proposed in the patent of Publication No. CN104215380A it is a kind of accurate test fixed beaer bear outside apply
The device for measuring force of the Three-Dimensional Dynamic power added can carry out firm fixing and adjustable and ensure to pass to beaer and sensor
It is dynamic can to bear the external three-dimensional applied to fixed beaer for cooperation precision and position dimension precision between sensor and associated component
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, presss from both sides in medical rehabilitation, robot
It holds, intelligent machining manufacture, aerospace, the aspect of object collision, needs sensing mechanism that there is certain flexibility, can bear to touch
It hits, and can accurately measure power while mechanism deforms, therefore, flexible large deformation dynamic 3 D power perception
Mechanism by be future development direction.Currently, the patent of Publication No. CN101925793A, which discloses one kind, has certain flexibility
Deformation-sensor, which is by non-water system polymer solid electrolyte and clamping the non-water system polymer solid electrolyte
At least thin slice of a pair of electrodes composition.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 that the pressure on two-dimensional surface is distributed, 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 and carry out servo-actuated Grazing condition sensor inside a kind of embeddable 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 precise measurement, and sensing mechanism can not
Generate large deformation.
Summary of the invention
The purpose of the present invention is to provide a kind of mechanisms, and simple, environment-adapting ability can be surveyed accurately by force, in deformation process
Measure the flexible large deformation constant force transmitting three-dimensional force sensing mechanisms of dynamic 3 D power.
The present invention includes pedestal, force plate/platform, and the identical dynamometry point of three structures of connection pedestal and force plate/platform
Branch, wherein for pedestal at triangular pyramidal, three ribs are mutually orthogonal, whole radially distributed；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 arrangement, wherein bidirection press
Spring arrangement includes two springs for having identical pretightning force, spring spool, spring lever and end cap；Guide rail is fixed on the base, sliding
Block is located on guide rail, and the spring spool in bidirection press spring arrangement and sliding block are connected, 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 of two springs connects, and the other end of second spring is connect with end cap；One end that the spring lever is connect with the first spring is set
There is screw thread, and is connect with the pulling-pressing force sensor for being fixed on base side end；One end of first connecting rod passes through the first bolt
Bearing is connect with one end of spring spool end cap, and the other end of the first connecting rod passes through the one of the second bolt bearing and second connecting rod
The other end of end connection, the second connecting rod is connect by third bolt bearing with upper mounting plate seat, and upper mounting plate seat and force plate/platform are solid
Even.
The invention has the following advantages over the prior art:
1, structure is simple, and economy and craftsmanship are good, strong environmental adaptability, can accurately measure in deformation process
Dynamic 3 D power.
2, have the characteristics that input and output power mapping relations are constant in deformation process, due to its input and output power mapping relations
It is constant, the result that external force acts on this sensing mechanisms will not because of pose change and change, have more in field of human-computer interaction
Significant advantage.
3, structure is flexibility, can obtain certain buffering effect when bearing and hitting, be capable of high degree avoids this sense
The damage for knowing mechanism also has stronger protective effect to the instrument for installing of the invention.
Detailed description of the invention
Fig. 1 is three-dimensional simplified schematic diagram of the invention；
Fig. 2 is top view of the invention；
Fig. 3 is partial sectional view of the invention.
In figure: 1- force plate/platform, 2- upper mounting plate seat, 3- second connecting rod, the second bolt bearing of 4-, 5- first connecting rod, the end 6-
Lid, 7- spring spool, 8- spring lever, 9- guide rail, 10- sliding block, 11- pulling-pressing force sensor, the first bolt bearing of 12-, 13-
Three bolt bearings, 14- pedestal, the first spring of 15-, 16- second spring.
Specific embodiment
In Fig. 1, Fig. 2 and the schematic diagram of flexible large deformation constant force transmitting three-dimensional force sensing mechanisms shown in Fig. 3, pedestal
14 at triangular pyramidal, and three ribs are mutually orthogonal, whole radially distributed；Guide rail 9 in identical dynamometry branch, three mechanisms
It is bolted on pedestal, sliding block 10 is located on guide rail, and the spring spool 7 in bidirection press spring arrangement and sliding block are solid
Even, in spring spool, one end of the first spring 15 and one end of spring spool are connected, 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 with the drawing and pressing type that is fixed by screws in base side end
The connection of force snesor 11, the first spring and second spring are the spring of identical pretightning force；One end of first connecting rod 5 passes through the first spiral shell
Stud shaft holds 12 and 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 of bar 3 connects, and the other end of the second connecting rod is connect by third bolt bearing 13 with upper mounting plate seat 2, and upper mounting plate seat is logical
It crosses bolt and force plate/platform 1 is connected.
Claims (1)
1. a kind of flexibility large deformation constant force transmits three-dimensional force sensing mechanisms comprising pedestal, force plate/platform, and connection pedestal
Dynamometry branch identical with three structures of force plate/platform, it is characterised in that: the pedestal is at triangular pyramidal, and three ribs are mutually just
It hands over, it is whole radially distributed；Every dynamometry branch include prismatic pair composition component, the first bolt bearing, first connecting rod,
Second bolt bearing, second connecting rod, third bolt bearing, upper mounting plate seat and pulling-pressing force sensor；The prismatic pair composition
Component includes guide rail, sliding block, bidirection press spring arrangement, wherein bidirection press spring arrangement, which includes two, identical pretightning force
Spring, spring spool, spring lever and end cap；Guide rail is fixed on the base, and sliding block is located on guide rail, bidirection press spring arrangement
In spring spool and sliding block be connected, in spring spool, one end of one end of the first spring and spring spool is connected, the first bullet
One end of the other end of spring and spring lever connects, and the other end of spring lever and one end of second spring connect, second spring it is another
One end is connect with end cap；One end that the spring lever is connect with the first spring be equipped with screw thread, and be fixed on base side end
Pulling-pressing force sensor connection；One end of first connecting rod is connected by one end of the first bolt bearing and end cap, first company
The other end of bar 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 bolt
Bearing is connect with upper mounting plate seat, and upper mounting plate seat and force plate/platform are connected.
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 CN108151944A (en) | 2018-06-12 |
| CN108151944B true CN108151944B (en) | 2019-09-27 |
Family
ID=62466382
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711264200.8A Active CN108151944B (en) | 2017-12-05 | 2017-12-05 | Flexible large deformation constant force transmits three-dimensional force sensing mechanisms |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108151944B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112284602B (en) * | 2020-07-22 | 2022-03-08 | 兰州理工大学 | High-precision clamping force measuring device |
Family Cites Families (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 |
| CN102410889B (en) * | 2011-09-01 | 2013-01-30 | 北京航空航天大学 | Contact stiffness generation device for simulating contact stiffness of force sense interaction equipment during operation |
| CN105216007B (en) * | 2015-11-10 | 2017-05-31 | 方勇 | Robot limited flex wrist joint |
| CN105784250B (en) * | 2016-04-20 | 2019-02-05 | 电子科技大学 | A kind of Three-Dimensional Dynamic grinding force checking device and its decoupling algorithm |
| CN106017769B (en) * | 2016-07-08 | 2018-12-28 | 燕山大学 | A kind of deformable Three-Dimensional Dynamic force snesor in parallel |
| CN107314853B (en) * | 2017-06-09 | 2019-06-25 | 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
Also Published As
| Publication number | Publication date |
|---|---|
| CN108151944A (en) | 2018-06-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107238457B (en) | A kind of low thrust measuring device | |
| CN202903617U (en) | In-situ three-point bending test device | |
| CN102331376B (en) | Cross-scale micro-nano in-situ three-point bending mechanical performance testing platform | |
| CN103175644B (en) | Can variable load ball-screw friction measurement device and method of testing | |
| CN100478663C (en) | Detector for measuring bearing friction torque | |
| CN103765181A (en) | Force sensor and robot | |
| CN103868693A (en) | Mechanical main shaft system thermal analysis comprehensive test experimental facility | |
| CN102235927A (en) | Method and device for testing constraint reaction of automobile parts | |
| CN108151944B (en) | Flexible large deformation constant force transmits three-dimensional force sensing mechanisms | |
| CN102506688B (en) | Resistance strain thickness measuring device and measurement method thereof | |
| CN103196493B (en) | The measurement mechanism of a kind of microscale torsional angle and moment of torsion and measuring method | |
| CN102410905B (en) | Rotational inertia and center of gravity integrated measuring apparatus for unmanned helicopter | |
| CN106950137A (en) | Tangential fretting abrasion test device and test method | |
| CN105388011A (en) | Test apparatus for axial static rigidity of main shaft and using method thereof | |
| CN107179148B (en) | Platform for measuring contact force between magnetic suspension shafting and protection bearing | |
| CN106092391B (en) | A kind of split type 2 D force sensor | |
| CN105033288A (en) | High-precision flexible tip with measurable ejecting and holding force | |
| CN201680982U (en) | Automobile parts constraining counter force test device | |
| CN109781321B (en) | Split cylinder type torque sensor | |
| JP2012002554A (en) | Three dimensional load cell | |
| CN107702835B (en) | Restructural parallel connection three-dimensional force and torque sensor | |
| CN103398805B (en) | Three-dimensional nanometer measurement head elastically supported by spiral leaf spring | |
| CN204649177U (en) | Modular pulsation measurement device | |
| CN210242614U (en) | Internal groove spherical surface size detection device | |
| EP3317629B1 (en) | Test bench for charging devices |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |