CN115683434A - Space mechanical arm six-axis force/moment measuring device suitable for inchworm crawling - Google Patents
Space mechanical arm six-axis force/moment measuring device suitable for inchworm crawling Download PDFInfo
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Abstract
Six-axis force/moment measuring device of space manipulator suitable for inchworm crawling belongs to space robot technical field. The invention aims to solve the problem that the measurement sensitivity of the six-axis force/torque measurement device can be improved while the rigidity and the overload protection capability of the six-axis force/torque measurement device are improved. The flexible load-sharing beam is adopted to bear most of force/moment load, so that the rigidity of the measuring device is improved, and the overload protection effect can be realized; the T-shaped sensitive beam with a special structure is adopted to bear a small part of force/moment load, and plays a role in detection and measurement. According to the actual working condition, the rigidity ratio of the load-sharing beam and the sensitive beam is reasonably distributed, and the contradiction relation among high rigidity, large overload and sensitivity is solved, so that the space manipulator is more suitable for inchworm crawling. The measuring device is mainly used for measuring six-axis force and moment of the base and the tail end of the space manipulator for inchworm crawling.
Description
Technical Field
The invention belongs to the technical field of space robots, and relates to a multi-axis force measuring device, in particular to a space manipulator six-axis force/moment measuring device suitable for inchworm crawling.
Background
With the rapid development of the aerospace technology, a greater challenge is posed to the space robot technology with multi-sensor perception. The space robot with the traditional base fixed on the surface of the satellite or the cabin body obviously cannot adapt to the technical requirements of increasing development, and the space mechanical arm with inchworm crawling capability is a trend of future development. As one of the most important sensors for space robot force sensing, a six-axis force/torque measuring device may be installed at both the base and tip of the robot arm. However, at the end, the six-axis force/torque measuring device is required to have high sensitivity, and at the base, the six-axis force/torque measuring device is required to have high rigidity and strong overload protection capability. Therefore, the conventional six-axis force/torque measuring device only applied to the end of the robot cannot meet the requirement.
Patent publication No. CN103528726A discloses a cross beam type six-dimensional force sensor with overload protection function, specifically discloses that protection holes are formed on an overload protection beam and an outer beam, protection pins are inserted in the protection holes and are in interference fit with through holes of the overload protection beam and in clearance fit with outer ring process through holes, the size of the clearance can be adjusted, the overload protection is realized by adopting the protection pins according to overload requirements; although passive overload protection can be realized through the mode of the protection beam and the protection pin, the protection beam is of a solid structure, the rigidity is high, and the overall sensitivity is relatively low.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the rigidity and the overload protection capability of the six-axis force/torque measuring device are improved, and the measuring sensitivity of the six-axis force/torque measuring device can be improved; further provides a space manipulator six-axis force/moment measuring device suitable for inchworm crawling.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the space manipulator six-axis force/torque measuring device suitable for inchworm crawling comprises a lower end cover, a measuring element, an upper end cover and an information acquisition board which are coaxially arranged;
the measuring element comprises a central hub, a plurality of outer ring rims, a plurality of flexible beams, a plurality of load sharing beams, a plurality of sensitive beams and a plurality of strain gauges; the outer ring wheel rims are uniformly arranged on the outer side of the central hub in the circumferential direction by taking the central axis of the central hub as an axis; each outer ring rim is connected with the central hub through a load sharing beam; the load sharing beam is of a flexible hinge structure; a sensitive beam is arranged between two adjacent outer ring rims, two ends of the sensitive beam are connected with the outer ring rims through flexible beams, and one side of the sensitive beam, which faces the central hub, is connected with the central hub; the sensitive beams are provided with through holes, and each sensitive beam is adhered with a plurality of strain gauges;
the upper end cover is arranged above the lower end cover, and a gap is reserved between the upper end cover and the lower end cover; the measuring element and the information acquisition board are arranged in an upper end cover, the top end of the upper end cover is connected to an actuator at the tail end of the space manipulator, the bottom end of the upper end cover is connected with the bottom end of an outer ring rim of the measuring element, and the information acquisition board is arranged at the top end of a central hub of the measuring element; the lower end cover is arranged at the bottom end of the central hub of the measuring element.
Furthermore, the sensitive beam is of a T-shaped beam structure and comprises an inner sensitive beam and an outer sensitive beam, the outer sensitive beam is positioned between two adjacent outer ring rims, and the outer sensitive beam and the outer ring rims are integrally connected through a flexible beam; the inner sensitive beam is positioned between the outer sensitive beam and the central hub, one end of the inner sensitive beam is vertically connected to the inner side wall of the outer sensitive beam, and the other end of the inner sensitive beam is vertically connected to the outer side wall of the central hub.
Furthermore, an inner sensitive beam hole is axially formed in the inner sensitive beam.
Furthermore, when the inner sensitive beam hole is a through hole, two strain gauges are respectively pasted on the side walls of two sides of each inner sensitive beam side by side.
Furthermore, when the inner sensitive beam hole is blind, two strain gauges are respectively adhered to the upper end surface and the lower end surface of each inner sensitive beam.
Furthermore, the outer sensitive beam is provided with two radial outer sensitive beam holes side by side, and the inner sensitive beams in the two outer sensitive beam holes are distributed in an axisymmetric manner; the outer sensitive beam holes are through holes, and two strain gauges are respectively adhered to the top and the bottom of each outer sensitive beam.
Furthermore, the measuring element also comprises a plurality of thermistors, and one thermistor is arranged between two outer sensitive beam holes on each outer sensitive beam.
Furthermore, the load-sharing beam is of a flexible hinge structure and can be one of a flexible hinge, a U-shaped hinge or a spherical hinge.
Furthermore, the flexible beam is a thin plate beam, and the thickness of the flexible beam is smaller than the length and the width of the flexible beam.
Furthermore, the upper end cover is of a cylindrical structure, a circle of connecting lug I is arranged on the outer annular surface of the top end of the upper end cover, a plurality of connecting through holes are formed in the connecting lug I in the circumferential direction, and the top end of the upper end cover is connected to an actuator at the tail end of the space manipulator through the connecting through holes in the connecting lug I and bolts; a circle of connecting lug II is arranged on the inner ring surface at the bottom end of the upper end cover, and a plurality of connecting through holes are formed in the circumferential direction of the connecting lug II; the bottom end of the upper end cover is connected with an outer ring rim of the measuring element through a connecting through hole and a bolt on the connecting lug II;
the lower end cover is of a circular plate-shaped structure, a circle of connecting through holes are formed in the position, close to the central through hole, of the lower end cover, and the lower end cover is connected with a central hub of the measuring element through the connecting through holes and bolts in the lower end cover; the lower end cover is connected with the joint of the space manipulator through the connecting through holes in the connecting rings and the bolts.
Compared with the prior art, the invention has the following beneficial effects:
1. the flexible load-sharing beam is adopted to bear most of force/moment load, so that the rigidity of the measuring device is improved, and the overload protection effect can be realized; the sensitive beam bears a small part of force/moment load and plays a role in detection and measurement.
2. According to the invention, an active protection mode is adopted, the rigidity ratio of the load-sharing beam and the sensitive beam is reasonably distributed according to the actual working condition, the rigidity of the six-axis force/moment measuring device is improved, meanwhile, in order to improve the sensitivity of the measuring device, a T-shaped beam with a special structure is adopted, namely, a hole is formed in the sensitive beam to reduce the rigidity of the sensitive beam, the accurate detection of the six-axis force/moment at the tail end is realized through the sensitive beam with low rigidity, and the fine operation of the tail end of the space manipulator is completed; the invention simultaneously meets the requirements of the space mechanical arm for creeping inchworm on high rigidity and large overload of the base moment measuring device and the requirements of the tail end of the mechanical arm on high sensitivity, solves the contradiction relation between high rigidity, large overload and sensitivity, and is more suitable for the space mechanical arm for creeping inchworm.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention to its proper form.
FIG. 1 is an assembly view of a six-axis force/torque measuring device;
FIG. 2 is a top view of a six-axis force/torque measurement device;
FIG. 3 is a top view of the measurement cell assembled with the upper end cap, wherein the inner sensitive beam is a shear beam;
FIG. 4 is a top view of the measurement cell assembled with the upper end cap, wherein the inner sensitive beam is a bending beam;
FIG. 5 is an isometric view of a strain gauge mounted on a measurement member;
fig. 6 is an isometric view of an unassembled strain gauge on a measurement element.
Description of reference numerals: 1-a lower end cover; 101-a connecting ring; 2-a measuring element; 21-a central hub; 22-an outer annular rim; 23-a flexible beam; 24-load sharing beam; 25-sensitive beam; 251-inner sensitive beam; 2511-inner sensitive beam hole; 252-outer sensitive beam; 2521-outer sensitive beam aperture; 26-a strain gauge; 27-a thermistor; 3-upper end cover; 301-engaging lug I; 302-engaging lug ii; 4-information acquisition board.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used for illustrating the present invention and are not intended to limit the scope of the present invention.
Referring to fig. 1 to 6, the embodiment of the present application provides a space manipulator six-axis force/moment measuring device adapted to crawl inchworm, which includes a lower end cover 1, a measuring element 2, an upper end cover 3 and an information collecting plate 4;
referring to fig. 1, the upper end cap 3 is a cylindrical structure and is used for connecting with an effector at the tail end of the space manipulator; the concrete structure is as follows: a circle of connecting lug I301 is arranged on the outer ring surface of the top end of the upper end cover 3, a plurality of connecting through holes are formed in the connecting lug I301 in the circumferential direction, and the top end of the upper end cover 3 is connected to an actuator at the tail end of the space manipulator through the connecting through holes in the connecting lug I301 and a bolt; a circle of connecting lug II 302 is arranged on the inner ring surface of the bottom end of the upper end cover 3, and a plurality of connecting through holes are formed in the circumferential direction of the connecting lug II 302; the measuring element 2 is arranged in the upper end cover 3, and the bottom end of the upper end cover 3 is connected with the measuring element 2 through a connecting through hole and a bolt on the connecting lug II 302.
Referring to fig. 1, the lower end cover 1 is a circular plate-shaped structure and is used for connecting a space manipulator joint; the concrete structure is as follows: a circle of connecting through holes are formed in the lower end cover 1 at the position close to the central through hole, and the lower end cover 1 is connected with the measuring element 2 through the connecting through holes and bolts on the lower end cover 1; the lower end face of the lower end cover 1 is provided with a circle of connecting ring 101, the lower end face of the connecting ring 101 is provided with a connecting through hole, and the lower end cover 1 is connected with a space manipulator joint through the connecting through hole in the connecting ring and a bolt.
In this embodiment, a certain gap is left between the upper end cap 3 and the lower end cap 1, so that the two are not in direct contact; when the end effector of the space manipulator grabs or operates a load, acting force/moment can be generated, the acting force/moment is transmitted to the measuring element 2 through the upper end cover 3, the measuring element 2 is transmitted to the manipulator joint through the lower end cover 1, and the manipulator joint is fixed through the base, so that the acting force/moment generated when the end effector grabs or operates can be detected and measured through the deformation of the measuring element 2, if no gap is reserved, the acting force/moment is directly transmitted to the lower end cover 1 through the upper end cover 3, which is equivalent to that the measuring device is a rigid body, the inside of the measuring device is not deformed, and therefore, the measurement of six-axis force/moment cannot be performed.
Referring to fig. 1 and 2, the information collecting plate 4 is disposed above the measuring unit 2 and is connected to the measuring unit 2 by bolts.
Referring to fig. 5 and 6, the measuring element 2 is used for measuring the acting force/moment generated when the space manipulator end effector grabs or operates a load, and comprises a central hub 21, four outer ring rims 22, eight flexible beams 23, four load-dividing beams 24, four sensitive beams 25, thirty-two strain gauges 26 and four thermistors 27; the four outer ring wheel rims 22 are uniformly arranged on the outer side of the central hub 21 by taking the central axis of the central hub 21 as the axial circumference, and gaps are formed between the four outer ring wheel rims and the central hub 21; each outer ring rim 22 and the central hub 21 are connected through a load-sharing beam 24, and the load-sharing beam 24 is positioned in a gap formed by the outer ring rim 22 and the central hub 21, namely one end of the load-sharing beam 24 is connected to the inner wall of the outer ring rim 22, and the other end of the load-sharing beam 24 is connected to the outer wall of the central hub 21.
Referring to fig. 3 and 4, a sensing beam 25 is arranged at the middle position of two adjacent outer ring rims 22, the sensing beam 25 is a T-shaped beam structure and comprises an inner sensing beam 251 and an outer sensing beam 252, the outer sensing beam 252 is located between two adjacent outer ring rims 22, the outer sensing beam 252 and the outer ring rims 22 are integrally connected through a flexible beam 23, that is, one end of the flexible beam 23 is integrally connected to the side wall of the outer ring rim 22, and the other end of the flexible beam 23 is integrally connected to the side wall of the outer sensing beam 252; the inner sensitive beam 251 is located in a gap between the outer sensitive beam 252 and the central hub 21, one end of the inner sensitive beam 251 is vertically connected to the inner side wall of the outer sensitive beam 252, and the other end of the inner sensitive beam 251 is vertically connected to the outer side wall of the central hub 21.
Referring to fig. 4 and fig. 6, an inner sensitive beam hole 2511 is axially formed in the inner sensitive beam 251, and the inner sensitive beam hole 2511 may be a through hole or a blind hole; according to the hole opening mode of the inner sensitive beam hole 2511 on the inner sensitive beam 251, the inner sensitive beam 251 has different strain, and the installation positions of the strain gauges 26 are different; that is, referring to fig. 4, when the inner sensitive beam hole 2511 is a through hole, when the inner sensitive beam 251 is subjected to a radial load, the side walls on both sides of the inner sensitive beam 251 are more easily bent, so that the inner sensitive beam 251 is a bent beam, and two strain gauges 26 are respectively adhered to the side walls on both sides of each inner sensitive beam 251 side by side; four strain gauges 26 are pasted on each inner sensitive beam 251, sixteen strain gauges 26 are pasted on the four inner sensitive beams 251, the radial moment at the tail end of the mechanical arm or the base can be measured more easily, the strain gauges 26 are tension-compression type strain gauges used for measuring line strain (positive strain), the sensitive beams in the form of through holes are symmetrical in structure, the strain gauges are more suitable for working occasions with large temperature change, and the temperature drift is smaller (relative to a blind hole form, and a Wheatstone full-bridge mode is adopted).
Referring to fig. 3, when the inner sensitive beam hole 2511 is a blind hole, when the inner sensitive beam 251 is subjected to an axial load, the upper end and the lower end of the inner sensitive beam 251 are more easily bent, so that the inner sensitive beam 251 is a shear beam, two strain gauges 26 are respectively sputtered on the upper end surface and the lower end surface of each inner sensitive beam 251, the arrangement positions of the strain gauges 26 are opposite to the opening position of the inner sensitive beam hole 2511, sixteen strain gauges 26 are sputtered on the four inner sensitive beams 251, and the axial moment at the tail end of the mechanical arm or at the base can be more easily measured. The sensing beam in the blind hole form is more suitable for a sputtering process, and the strain gauge is directly sputtered on the surface of the sensing beam by the sputtering process instead of a strain gauge pasting mode.
Whether the inner sensitive beam 251 is a shear beam or a bending beam can cause different strain types on the sensitive beam, so that different forms of strain gauges (strain gauges) adhered to the surface are caused; if the beam is a shear beam, a strain gauge for measuring shear strain is adhered to measure the shear strain; in the case of a bending beam, it is a tension-compression type strain gauge for measuring linear strain (positive strain).
Referring to fig. 5 and 6, the outer sensitive beam 252 is provided with two radial outer sensitive beam holes 2521 side by side, and the two outer sensitive beam holes 2521 are distributed axially symmetrically with respect to the inner sensitive beam 251; the outer sensitive beam holes 2521 are through holes, the outer sensitive beams 252 are bending beams, two strain gauges 26 are respectively adhered to the top and the bottom of each outer sensitive beam 252, that is, four strain gauges 26 are adhered to each outer sensitive beam 252, sixteen strain gauges 26 are adhered to the four outer sensitive beams 252, and the adhering positions of the strain gauges 26 are opposite to the positions of the outer sensitive beam holes 2521.
Referring to fig. 3, a thermistor 27 is mounted on each outer sensor beam 252 at a position between two outer sensor beam holes 2521, and four thermistors are mounted on the four outer sensor beams 252, wherein the thermistors 27 are used for detecting the temperature of the measuring element 2.
In this embodiment, the load-sharing beam 24 is a flexible hinge structure, and may be one of a flexible hinge, a U-shaped hinge, or a spherical hinge; when the end effector of the space manipulator grabs or operates a load, acting force/torque can be generated and can be transmitted to four outer ring rims 22 of the measuring element 2 through the upper end cover 3, the four outer ring rims 22 respectively transmit the load to the central hub 21 and the sensitive beam 25 through the load dividing beam 24 and the flexible beam 23, and the central hub 21 transmits the load to the manipulator joint through the lower end cover 1; because the load dividing beam 24 is a flexible hinge and the sensitive beam 25 is provided with an opening, the whole measuring element 2 is an elastic body rather than a rigid body, when the outer ring rim 22 and the center hub 21 transmit load, the load dividing beam 24 and the flexible beam 23 both generate certain deformation, and the outer ring rim 22 and the center hub 21 are dislocated, so the sensitive beam 25 necessarily generates deformation, and the moment is indirectly measured through the strain gauge 26; if the load-sharing beam 24 is a rigid body, the outer ring rim 22 and the central hub 21 form a rigid integrated structure, and in the process of transmitting the load between the outer ring rim 22 and the central hub 21, the load-sharing beam 24 does not deform or slightly deforms, so that the position between the outer ring rim 22 and the central hub 21 is kept unchanged, all the load is directly transmitted to the lower end cover 2 through the rigid load-sharing beam 24 of the measuring element 2 by the upper end cover 3, the force/moment load is transmitted on the sensitive beam 25, the sensitive beam 25 does not deform, so that no strain is generated, therefore, the strain gauge 26 cannot be used for detecting the deformation, the non-electrical physical quantity (force/moment signal) cannot be directly converted into an electrical signal through a wheatstone bridge, and the force/moment signal cannot be measured.
Because the load-sharing beam 24 is of a flexible hinge structure, the sensitive beam 25 is provided with a through hole, and the acting force/moment transmitted through the upper end cover 3 is jointly borne by the load-sharing beam 24 and the sensitive beam 25; the rigidity of the load-sharing beam 24 is greater than that of the sensitive beam 25, the load-sharing beam 24 bears most of the load transmitted between the central hub 21 and the outer ring rim 22 to play a role in shunting and overload protection, and the sensitive beam 25 bears a small part of the load to play a role in detection and measurement; assuming that the rigidity of the load-sharing beam 24 is consistent with that of the sensitive beam 25, the load-sharing beam 24 bears one-half of the load, if the rigidity of the load-sharing beam 24 is 4 times that of the sensitive beam 25, the load-sharing beam 24 bears 80% of the load, and if the rigidity of the load-sharing beam 24 is 9 times that of the sensitive beam 25, the load-sharing beam 24 bears 90% of the load; the ratio of the rigidity of the load-sharing beam 24 to the rigidity of the sensitive beam 25 is the key for designing the six-axis force/moment measuring device.
In the embodiment, the influence of the load sharing beam 24 on the sensitivity of the sensitive beam 25 is reduced by adjusting the structural parameters of the load sharing beam 24; when the load-sharing beam 24 is of a spherical hinge structure, the radius R of the spherical hinge of the load-sharing beam is adjusted, and the cross-sectional area of the load-sharing beam is changed, so that the rigidity of bending resistance, torsion resistance, tensile resistance, compression resistance, shear resistance and the like are changed, and when the radius R is reduced and the cross-sectional area of the load-sharing beam is increased, the bending rigidity, the torsion rigidity, the tensile rigidity, the compression resistance rigidity and the shear resistance of the load-sharing beam are all increased, so that when a certain external load is applied, the load-sharing beam can bear more loads, the load acting on the sensitive beam is further reduced, and the sensitivity of the sensitive beam is reduced.
In the embodiment, holes are formed in the inner sensitive beam 251 and the outer sensitive beam 252 to reduce the rigidity of the sensitive beam 25, so that under the condition that the external applied load is constant, the strain of the sensitive beam part is increased, the stress concentration is increased, and the strain value is increased, thereby improving the sensitivity of the sensitive beam.
Referring to fig. 3, 4, 5 and 6, the flexible beam 23 is a thin plate beam, and the thickness of the flexible beam 23 is much smaller than the length and width thereof; the length direction of the flexible beam 23 is consistent with that of the outer sensitive beam 252, and the width direction of the flexible beam 23 is consistent with that of the outer sensitive beam 252; because the flexible beam 23 is a thin plate beam and has certain strain, the flexible beam 23 can better transmit the strain force between the outer sensitive beam 252 and the outer ring rim 22.
Referring to fig. 3 and 5, in the present embodiment, the strain gauges 26 are adhered to the sensitive beam 25, the plurality of strain gauges 26 form a wheatstone bridge, detect the micro-deformation of the strain gauges 26 under the action of the six-axis force/moment, and are converted into electric signals such as voltage and current through the amplification and filtering of the information acquisition board 4 to measure the six-axis force/moment information, the thermistor 27 is used for detecting the temperature of the measuring element 2, and the temperature data is processed through the information acquisition board 4, so that the temperature monitoring of the six-axis force/moment measuring apparatus can be realized.
Referring to fig. 1, two through holes are axially formed in the outer ring rim 22 of the measuring element 2, and the connecting lug ii 302 of the upper end cover 3 is connected with the outer ring rim 22 of the measuring element 2 through a bolt; a plurality of connecting through holes are formed in the central hub 21 of the measuring element 2 in the circumferential direction, and the lower end cover 1 is connected with the central hub 21 of the measuring element 2 through the connecting through holes in the inner side through bolts. The information acquisition board 4 is arranged on the central hub 21.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (10)
1. Adapt to six axial force of space arm/moment measuring device that inchworm crawled, its characterized in that: the device comprises a lower end cover (1), a measuring element (2), an upper end cover (3) and an information acquisition board (4) which are coaxially arranged;
the measuring element (2) comprises a central hub (21), a plurality of outer ring wheel rims (22), a plurality of flexible beams (23), a plurality of load-sharing beams (24), a plurality of sensitive beams (25) and a plurality of strain gauges (26); the outer ring wheel rims (22) are uniformly arranged on the outer side of the central hub (21) in the circumferential direction by taking the central axis of the central hub (21) as an axis; each outer ring wheel rim (22) is connected with the central wheel hub (21) through a load-sharing beam (24); the load-sharing beam (24) is of a flexible hinge structure; a sensitive beam (25) is arranged between two adjacent outer ring wheel rims (22), two ends of the sensitive beam (25) are connected with the outer ring wheel rims (22) through flexible beams (23), and one side, facing the central wheel hub (21), of the sensitive beam (25) is connected with the central wheel hub (21); the sensing beams (25) are provided with through holes, and each sensing beam (25) is adhered with a plurality of strain gauges (26);
the upper end cover (3) is arranged above the lower end cover (1), and a gap is reserved between the upper end cover and the lower end cover; the measuring element (2) and the information acquisition board (4) are arranged in the upper end cover (3), the top end of the upper end cover (3) is connected to an effector at the tail end of the space manipulator, the bottom end of the upper end cover (3) is connected with the bottom end of an outer ring rim (22) of the measuring element (2), and the information acquisition board (4) is arranged at the top end of a central hub (21) of the measuring element (2); the lower end cover (1) is arranged at the bottom end of a central hub (21) of the measuring element (2).
2. The space manipulator six-axis force/moment measuring device suitable for inchworm crawling according to claim 1, wherein: the sensitive beam (25) is of a T-shaped beam structure and comprises an inner sensitive beam (251) and an outer sensitive beam (252), the outer sensitive beam (252) is positioned between two adjacent outer ring wheel rims (22), and the outer sensitive beam (252) and the outer ring wheel rims (22) are integrally connected through a flexible beam (23); the inner sensitive beam (251) is arranged between the outer sensitive beam (252) and the central hub (21), one end of the inner sensitive beam (251) is vertically connected to the inner side wall of the outer sensitive beam (252), and the other end of the inner sensitive beam (251) is vertically connected to the outer side wall of the central hub (21).
3. The space manipulator six-axis force/moment measuring device suitable for inchworm crawling according to claim 2, wherein: an inner sensitive beam hole (2511) is axially formed in the inner sensitive beam (251).
4. The space manipulator six-axis force/moment measuring device suitable for inchworm crawling according to claim 3, wherein: when the inner sensitive beam holes (2511) are through holes, two strain gauges (26) are respectively pasted on the side walls of two sides of each inner sensitive beam (251) side by side.
5. The space manipulator six-axis force/moment measuring device suitable for inchworm crawling according to claim 3, wherein: when the inner sensitive beam hole (2511) is a blind hole, two strain gauges (26) are respectively adhered to the upper end face and the lower end face of each inner sensitive beam (251).
6. The space manipulator six-axis force/moment measuring device suitable for inchworm crawling according to claim 2, characterized in that: the outer sensitive beam (252) is provided with two radial outer sensitive beam holes (2521) in parallel, and the two outer sensitive beam holes (2521) are axially and symmetrically distributed on the inner sensitive beam (251); the outer sensitive beam hole (2521) is a through hole, and two strain gauges (26) are respectively adhered to the top and the bottom of each outer sensitive beam (252).
7. The space manipulator six-axis force/moment measuring device suitable for inchworm crawling according to claim 2, wherein: the measuring element (2) further comprises a plurality of thermistors (27), and one thermistor (27) is arranged on each outer sensitive beam (252) at a position between two outer sensitive beam holes (2521).
8. The space manipulator six-axis force/moment measuring device suitable for inchworm crawling according to claim 1, characterized in that: the load-sharing beam (24) is of a flexible hinge structure and can be one of a flexible hinge, a U-shaped hinge or a spherical hinge.
9. The space manipulator six-axis force/moment measuring device suitable for inchworm crawling according to claim 1, characterized in that: the flexible beam (23) is a thin plate beam, and the thickness of the flexible beam (23) is smaller than the length and the width of the flexible beam.
10. The space manipulator six-axis force/moment measuring device suitable for inchworm crawling according to claim 1, wherein: the upper end cover (3) is of a cylindrical structure, a circle of connecting lug I (301) is arranged on the outer annular surface of the top end of the upper end cover (3), a plurality of connecting through holes are formed in the connecting lug I (301) in the circumferential direction, and the top end of the upper end cover (3) is connected to an effector at the tail end of the space manipulator through the connecting through holes in the connecting lug I (301) and a bolt; a circle of connecting lug II (302) is arranged on the inner annular surface of the bottom end of the upper end cover (3), and a plurality of connecting through holes are formed in the circumferential direction of the connecting lug II (302); the bottom end of the upper end cover (3) is connected with an outer ring wheel rim (22) of the measuring element (2) through a connecting through hole and a bolt on the connecting lug II (302);
the lower end cover (1) is of a circular plate-shaped structure, a circle of connecting through holes are formed in the position, close to the central through hole, of the lower end cover (1), and the lower end cover (1) is connected with a central hub (21) of the measuring element (2) through the connecting through holes and bolts in the lower end cover; the lower end face of the lower end cover (1) is provided with a circle of connecting ring (101), the lower end face of the connecting ring is provided with a connecting through hole, and the lower end cover (1) is connected with a space manipulator joint through the connecting through hole and a bolt on the connecting ring (101).
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| CN202211350238.8A CN115683434B (en) | 2022-10-31 | 2022-10-31 | Six-axis force/moment measuring device of space manipulator suitable for inchworm crawling |
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| CN202211350238.8A CN115683434B (en) | 2022-10-31 | 2022-10-31 | Six-axis force/moment measuring device of space manipulator suitable for inchworm crawling |
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| CN1815156A (en) * | 2006-02-24 | 2006-08-09 | 哈尔滨工业大学 | Joint torque sensor capable eliminating harmonic wave effect by itself |
| CN101118194A (en) * | 2007-09-14 | 2008-02-06 | 哈尔滨工业大学 | Joint moment sensor providing torque and bending moment overload protection |
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| CN113567030A (en) * | 2021-07-28 | 2021-10-29 | 华北水利水电大学 | Plane series non-coupling six-dimensional wrist force sensor |
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