CN113739975A - Structure decoupling six-dimensional force sensor - Google Patents
Structure decoupling six-dimensional force sensor Download PDFInfo
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- CN113739975A CN113739975A CN202110995849.7A CN202110995849A CN113739975A CN 113739975 A CN113739975 A CN 113739975A CN 202110995849 A CN202110995849 A CN 202110995849A CN 113739975 A CN113739975 A CN 113739975A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
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Abstract
The invention provides a structural decoupling six-dimensional force sensor which comprises a fixed frame, a floating frame and a force measuring assembly. And flexible spherical hinges are arranged at two ends of the force measuring component to ensure that the force measuring component is a two-force rod. The floating frame is connected with the fixed frame through 12 force measuring assemblies. When the six-dimensional force sensor bears force/moment in a certain direction, the X-element force measuring assembly, the Y-element force measuring assembly and the Z-element force measuring assembly are symmetrically arranged in pairs, and acting forces on other components are mutually counteracted, so that no interference is caused on the other components. The invention can realize mutual decoupling between force and force, mutual decoupling between force and moment, mutual decoupling between moment and moment, it has more thorough structure decoupling, convenient calibration, high precision, simple structure, convenient use, etc.
Description
Technical Field
The invention belongs to the field of mechanical sensors, and particularly relates to a structural decoupling six-dimensional force sensor.
Background
The six-dimensional force sensor generally comprises an elastic sensing element, a strain gauge and a Wheatstone bridge. The basic principle of the method is that when a component is subjected to external load, the surface of an object to be measured generates tiny mechanical deformation, and the deformation is in direct proportion to external force. The strain gauge adhered to the surface deforms similarly, so that the resistance value of the strain gauge has an increment, the resistance increment is converted into a voltage increment through a Wheatstone bridge, and the voltage increment is also in direct proportion to the external force applied to the sensor. And processing the voltage signal by a data acquisition and signal processing system to obtain the acted external load. At present, the traditional six-dimensional force sensor is difficult to completely realize structural decoupling.
Therefore, a new technical solution is needed to solve the above technical problems.
Disclosure of Invention
The invention provides a structure decoupling six-dimensional force sensor, which aims to completely or approximately completely realize structure decoupling.
In order to achieve the purpose, the invention provides the following scheme:
a structure decoupling six-dimensional force sensor comprises a fixed frame and a floating frame positioned above the fixed frame; a plurality of force measuring assemblies are arranged in a space between the fixed frame and the floating frame; the floating frame is provided with a symmetrical center of a horizontal plane;
the force measuring assemblies comprise four X force measuring assemblies arranged in a horizontal first direction, four Z force measuring assemblies arranged in a horizontal second direction and four Y force measuring assemblies arranged in a vertical direction; the horizontal first direction and the horizontal second direction are mutually vertical in a horizontal plane, and the vertical direction is simultaneously vertical to the horizontal first direction and the horizontal second direction in the horizontal plane;
the four X force measuring assemblies are symmetrically arranged on two sides of the symmetric center in a pairwise and one group, and the floating frame is provided with X upper stand columns positioned at two ends of each group of the two X force measuring assemblies; the fixing frame is provided with an X lower upright post positioned between two X force measuring assemblies of each group; two X force measuring assemblies in each group are coaxially arranged, and two ends of each X force measuring assembly are connected between an X upper stand column and an X lower stand column;
the four Z force measuring assemblies are symmetrically arranged on the other two sides of the symmetric center in a pairwise mode, and the floating frame is provided with Z upper stand columns located at two ends of each group of the two Z force measuring assemblies; the fixed frame is provided with a Z lower upright post positioned between two Z force measuring assemblies of each group; two Z force measuring assemblies in each group are coaxially arranged, and two ends of each Z force measuring assembly are connected between a Z upper stand column and a Z lower stand column;
the four Y force measuring assemblies are positioned at four corners of the floating frame, every two of the four Y force measuring assemblies are symmetrically arranged relative to the symmetric center, the upper end of each Y force measuring assembly is connected with the floating frame, and the lower end of each Y force measuring assembly is connected with the fixed frame.
Furthermore, each force measuring component is a two-force rod.
Furthermore, each force measuring assembly has the same structure and comprises a force measuring element, pull rods positioned at two ends of the force measuring element and flexible spherical hinges respectively positioned at the outer ends of the pull rods, wherein the flexible spherical hinges are used for being connected with the fixed frame or the floating frame.
Further, when a force or moment is applied to the floating frame at the symmetrical center, 12 force-measuring units simultaneously apply a force to the floating frame.
Further, the floating frame comprises a floating platform, and the X upper upright post and the Z upper upright post extend downwards from the bottom surface of the floating platform; the floating platform is a flat square body which is centrosymmetric and the large plane of the flat square body is a square surface; the structure formed by the X upper upright column, the Z upper upright column and the floating platform is still a central symmetry structure.
The technical scheme of the invention has the following beneficial effects:
the invention can realize mutual decoupling between force and force; the mutual decoupling between the force and the moment and the mutual decoupling between the moment have the advantages of complete structural decoupling, convenient calibration, high precision, simple structure, convenient use and the like.
Drawings
FIG. 1 is a schematic structural diagram of a structurally decoupled six-dimensional force sensor of the present invention;
FIG. 2 is a front view of FIG. 1;
FIG. 3 is a side view of FIG. 1;
fig. 4 is a schematic structural view of the fixing frame;
FIG. 5 is a schematic structural diagram of a floating frame;
FIG. 6 is a schematic view of a force measuring assembly;
FIG. 7 is a front view of the force measurement assembly.
Detailed Description
Referring to fig. 1 to 7, the present disclosure will be described in detail with reference to the accompanying drawings, wherein the preferred embodiments of the present disclosure are described in detail for the purpose of illustration and explanation, and are not intended to limit the present disclosure.
As shown in fig. 1 to 7, the structurally decoupled six-dimensional force sensor of the present invention comprises a fixed frame 1, a floating frame 2, 4X force- measuring assemblies 3, 4, 5, 6, 4Y force- measuring assemblies 7, 8, 9, 10, 4Z force- measuring assemblies 11, 12, 13, 14. The 12 force measuring assemblies are identical in structure and respectively comprise a force measuring element 19, pull rods 20 positioned at two ends of the force measuring element 19 and flexible spherical hinges 18 respectively positioned at the outer ends of the pull rods 20, and the flexible spherical hinges 18 are used for being connected with the fixed frame 1 or the floating frame 2. The two ends of the pull rod 20 are provided with flexible spherical hinges 18, so that the force measuring components are two-force rods.
The fixed frame 1 comprises a fixed platform 15; the floating frame 2 includes a floating platform 17. The floating platform 17 is a flat square body with central symmetry and a square surface as a large plane. The floating frame 2 is connected with the fixed frame 1 through 12 force measuring assemblies. The floating frame 2 has a center of symmetry of the horizontal plane. The force measuring assemblies comprise four X force measuring assemblies 3, 4, 5 and 6 arranged in a horizontal first direction, four Z force measuring assemblies 11, 12, 13 and 14 arranged in a horizontal second direction, and four Y force measuring assemblies 7, 8, 9 and 10 arranged in a vertical direction. The horizontal first direction and the horizontal second direction are mutually vertical in the horizontal plane, and the vertical direction is simultaneously vertical to the horizontal first direction and the horizontal second direction in the horizontal plane. In the present embodiment, in order to facilitate understanding of the symmetry center, the horizontal first direction, the horizontal second direction, and the vertical direction of the floating frame 2, reference may be made to fig. 1 to 3, in which the symmetry center of the floating frame 2 is the point O, and the horizontal first direction, the horizontal second direction, and the vertical direction may be understood as three directions of a three-dimensional rectangular coordinate with the point O as an origin, where the X direction is the horizontal first direction, the Z direction is the horizontal second direction, and the Y direction is the vertical direction. Four X force measuring assemblies 3, 4, 5 and 6 are symmetrically arranged at two sides of the symmetrical center O in pairs (one X force measuring assembly 3, 4 and one X force measuring assembly 5, 6). The floating frame 2 is provided with X upper columns 21 which are positioned at two ends of each group of two X force measuring assemblies. The fixed frame 1 is provided with an X lower upright post 16 positioned between two X force measuring assemblies of each group; two X force measuring assemblies in each group are coaxially arranged, and two ends of each X force measuring assembly are connected between an X upper upright post and an X lower upright post 16. The four Z force measuring assemblies 11, 12, 13 and 14 are symmetrically arranged on the other two sides of the symmetry center O in a pairwise manner. The floating frame 2 is provided with Z upper upright posts 22 positioned at two ends of each group of two Z force measuring assemblies; the fixed frame is provided with a Z lower upright post 17 positioned between two Z force measuring assemblies of each group; the two Z force measuring assemblies in each group are coaxially arranged, and both ends of each Z force measuring assembly are connected between one Z upper upright column 22 and one Z lower upright column 17. The four Y force measuring assemblies 7, 8, 9 and 10 are positioned at four corners of the floating frame 2, every two of the four Y force measuring assemblies are symmetrically arranged relative to the symmetric center O, the upper end of each Y force measuring assembly is connected with the floating frame 2, and the lower end of each Y force measuring assembly is connected with the fixed frame 1.
On the basis of an XYZ three-dimensional rectangular coordinate system, the axes of the 4X force measuring assemblies 3, 4, 5 and 6 are vertical to a longitudinal plane YZ and are arranged in pairwise symmetry with respect to the longitudinal plane XY and YZ; the axes of the 4Z force-measuring assemblies 11, 12, 13 and 14 are perpendicular to the plane of the floating frame 2 and the plane of the fixed frame 1, and are arranged in pairwise symmetry with respect to the longitudinal planes XY and YZ; the axes of the 4Y force- measuring cells 7, 8, 9, 10 are perpendicular to the longitudinal plane XY and are arranged two by two symmetrically with respect to the longitudinal planes XY and YZ.
The structural decoupling six-dimensional force sensor has the following use principle:
when a force in the X direction is applied at point O, no moment is generated, but 12 force-measuring elements are applied to the floating frame at the same time, and the 12 tie-bar elements have an acting force in the X direction and an acting force in the Y, Z direction on the floating frame 2 at the same time. Because the 4X force measuring assemblies 3, 4, 5 and 6, the 4Y force measuring assemblies 7, 8, 9 and 10 and the 4Z force measuring assemblies 11, 12, 13 and 14 are respectively arranged pairwise and symmetrically about the longitudinal plane XY and YZ, the Z-direction acting forces generated by the pull rod assemblies on the floating frame 2 are mutually counteracted, the four Y-direction acting forces generated by the 4Y force measuring assemblies 7, 8, 9 and 10 on the floating frame 2 are equal in magnitude and opposite in direction to the eight Y-direction acting forces generated by the 4 groups of X force measuring assemblies 3, 4, 5 and 6 and the 4 groups of Z force measuring assemblies 11, 12, 13 and 14 on the floating frame 2, and are mutually counteracted. There is no interference with the other five components when the X-direction force is applied at point O. The measured X-direction force data are then derived directly by the force cells on the 4X- force measuring cells 3, 4, 5, 6.
When a force in the X direction is applied at point O, no moment is generated, but 12 force-measuring elements are applied to the floating frame at the same time, and the 12 tie-bar elements have an acting force in the X direction and an acting force in the Y, Z direction on the floating frame 2 at the same time. Because the 4X force measuring assemblies 3, 4, 5 and 6, the 4Y force measuring assemblies 7, 8, 9 and 10 and the 4Z force measuring assemblies 11, 12, 13 and 14 are respectively arranged pairwise and symmetrically about the longitudinal plane XY and YZ, the Z-direction acting forces generated by the pull rod assemblies on the floating frame 2 are mutually counteracted, the four Y-direction acting forces generated by the 4Y force measuring assemblies 7, 8, 9 and 10 on the floating frame 2 are equal in magnitude and opposite in direction to the eight Y-direction acting forces generated by the 4 groups of X force measuring assemblies 3, 4, 5 and 6 and the 4 groups of Z force measuring assemblies 11, 12, 13 and 14 on the floating frame 2, and are mutually counteracted. There is no interference with the other five components when the X-direction force is applied at point O. The measured Y-direction force data are then derived directly by the load cells on the 4Y- load cells 7, 8, 9, 10.
When a Z-direction force is applied at the point O, the same thing as when an X-direction force is applied at the point O.
When the Mx moment acts on the point O, 12 force measuring assemblies simultaneously apply force to the floating frame 2, X, Y-direction acting force is applied to the floating frame 2 by 4X force measuring assemblies 3, 4, 5 and 6, Z, Y-direction acting force is applied to the floating frame 2 by 4Z force measuring assemblies 11, 12, 13 and 14, and Z, Y-direction acting force is applied to the floating frame 2 by 4Y force measuring assemblies 7, 8, 9 and 10. Because 4X force measuring assemblies 3, 4, 5, 6, 4Y force measuring assemblies 7, 8, 9, 10 and 4Z force measuring assemblies 11, 12, 13, 14 are respectively arranged in pairwise symmetry about the longitudinal plane XY and YZ, the My and Mz moments generated by the acting force of the 12 force measuring assemblies 3-14 on the floating frame 2 at the O point are respectively equal in magnitude and opposite in direction in pairwise manner and are mutually offset; the X, Y and Z-direction acting forces generated by the 12 force measuring assemblies 3-14 on the floating frame 2 are equal in magnitude and opposite in direction, and are offset with each other. There is no disturbance to the other five components when the Mx moment acts at point O. The measured Mx moment data are then derived directly by the load cells on the 4X- load cells 3, 4, 5, 6.
When the My moment is applied at point O, 12 load cells apply force to the floating frame 2 simultaneously, and there are X, Y and Z forces, respectively. Because 4X force measuring assemblies 3, 4, 5, 6, 4Y force measuring assemblies 7, 8, 9, 10 and 4Z force measuring assemblies 11, 12, 13, 14 are respectively arranged in pairwise symmetry about the longitudinal plane XY and YZ, 12 force measuring assemblies 3-14 have Y-direction acting force on the floating frame 2, and Mx and Mz moments generated at O point are respectively equal in magnitude and opposite in direction in pairwise manner and are mutually offset; the X-direction acting force and the Z-direction acting force generated by the 12 force measuring assemblies 3-14 on the floating frame 2 are equal in magnitude and opposite in direction in pairs respectively, and are offset with each other; the four Y-direction acting forces generated by the 4Y force measuring assemblies 7, 8, 9 and 10 on the floating frame 2 are equal to and opposite to the eight Y-direction acting forces generated by the 4 groups of X force measuring assemblies 3, 4, 5 and 6 and the 4 groups of Z force measuring assemblies 11, 12, 13 and 14 on the floating frame 2, and the four Y-direction acting forces and the eight Y-direction acting forces are mutually offset. There is no disturbance to the other five components when the My moment is applied at point O. The measured My moment data is now derived directly by the load cells on the 4Y load cells 7, 8, 9, 10.
When the Mz moment acts at the point O, the same goes for the Mx moment acting at the point O.
In conclusion, when the structural decoupling six-dimensional force sensor applies loads in any direction, other five components are not interfered, and the structural complete decoupling of the six-dimensional force sensor is realized.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A structure decoupling six-dimensional force sensor comprises a fixed frame and a floating frame positioned above the fixed frame; the device is characterized in that a plurality of force measuring assemblies are arranged in a space between the fixed frame and the floating frame; the floating frame is provided with a symmetrical center of a horizontal plane;
the force measuring assemblies comprise four X force measuring assemblies arranged in a horizontal first direction, four Z force measuring assemblies arranged in a horizontal second direction and four Y force measuring assemblies arranged in a vertical direction; the horizontal first direction and the horizontal second direction are mutually vertical in a horizontal plane, and the vertical direction is simultaneously vertical to the horizontal first direction and the horizontal second direction in the horizontal plane;
the four X force measuring assemblies are symmetrically arranged on two sides of the symmetric center in a pairwise and one group, and the floating frame is provided with X upper stand columns positioned at two ends of each group of the two X force measuring assemblies; the fixing frame is provided with an X lower upright post positioned between two X force measuring assemblies of each group; two X force measuring assemblies in each group are coaxially arranged, and two ends of each X force measuring assembly are connected between an X upper stand column and an X lower stand column;
the four Z force measuring assemblies are symmetrically arranged on the other two sides of the symmetric center in a pairwise mode, and the floating frame is provided with Z upper stand columns located at two ends of each group of the two Z force measuring assemblies; the fixed frame is provided with a Z lower upright post positioned between two Z force measuring assemblies of each group; two Z force measuring assemblies in each group are coaxially arranged, and two ends of each Z force measuring assembly are connected between a Z upper stand column and a Z lower stand column;
the four Y force measuring assemblies are positioned at four corners of the floating frame, every two of the four Y force measuring assemblies are symmetrically arranged relative to the symmetric center, the upper end of each Y force measuring assembly is connected with the floating frame, and the lower end of each Y force measuring assembly is connected with the fixed frame.
2. The structurally decoupled six-dimensional force sensor of claim 1, wherein each load cell is a two-force bar.
3. The structurally decoupled six-dimensional force sensor according to claim 1 or 2, wherein each force measuring assembly has the same structure and comprises a force measuring element, pull rods at two ends of the force measuring element, and flexible spherical hinges at outer ends of the pull rods, respectively, for connecting with a fixed frame or a floating frame.
4. The structurally decoupled six-dimensional force sensor of claim 3, wherein the 12 load cells apply force to the floating frame simultaneously when force or moment is applied to the floating frame at the center of symmetry.
5. The structurally decoupled six-dimensional force sensor of claim 4, wherein the floating frame comprises a floating platform, the X upper columns and the Z upper columns extending downward from a bottom surface of the floating platform; the floating platform is a flat square body which is centrosymmetric and the large plane of the flat square body is a square surface; the structure formed by the X upper upright column, the Z upper upright column and the floating platform is still a central symmetry structure.
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