CN1263259A - Integral pretightened flat bed type six-dimensional force transducer - Google Patents
Integral pretightened flat bed type six-dimensional force transducer Download PDFInfo
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- CN1263259A CN1263259A CN 99102526 CN99102526A CN1263259A CN 1263259 A CN1263259 A CN 1263259A CN 99102526 CN99102526 CN 99102526 CN 99102526 A CN99102526 A CN 99102526A CN 1263259 A CN1263259 A CN 1263259A
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Abstract
The new type six-dimensional force transducer, belonging to the field of force transducer design and manufacture technology, is characterized by that in the Sterwart platform struture a pretightened branch circuit formed from reverse spherical pair and spiral mechanism is added to pretighten whole transducer to eliminate the gap of every spherical pair and raise its integral rigidity. Every branch circuit adopts steel-ball type spherical pair or conical spherical pair instead of spherical pair of traditional structure. Said invented six-dimensional force transducer not only has no coupling of forces, but also possesses the advantages ofsimple structure, high rigidity, high sensitivity and high accuracy, etc..
Description
The present invention relates to a kind of six-dimension force sensor.Belong to force transducer and manufacture and design the field.
In multi-dimension force sensor research, the structural design of force sensitive element is the key core problem of force transducer, because the performance quality of the structures shape force transducer of force sensitive element.The force sensitive element Structure Designing Problem that many scholar's research multi-dimension force sensors are arranged on internal and international.The six-dimension force sensor of people's proposition and application has up till now: the six-dimension force sensor of three vertical tendon structures, the tubular six-dimension force sensor, the Crossed Circle six-dimension force sensor, the six-dimension force sensor of four vertical tendon structures, the box structure six-dimension force sensor, the cross structure six-dimension force sensor, cylindrical six-dimension force sensor, double end shape six-dimension force sensor, the six-dimension force sensor of three girder constructions, the six-dimension force sensor of eight vertical tendon structures, and based on six-dimension force sensor of this special water (Stewart) platform structure etc.
More than cited six-dimension force sensor, except that six-dimension force sensor based on this special water (Stewart) platform structure, be characterized in that sensor is a monoblock type, has the rigidity height, advantages such as compact conformation, all exist couple of force to a certain degree to close but respectively measure sensitive part, and can't realize full decoupled.
And this special water (Stewart) platform structure six-dimension force sensor of the employing that people studied tradition spherical pair is characterized in that sensor is to connect by kinematic pair to form by each member.By the theory of mechanisms analysis as can be known, this special water (Stewart) platform structure is statically determinate structure (mechanism freedom is 0).Do the time spent when upper and lower platform is subjected to sextuple external force, because the two ends of each branch road are spherical pair, if do not consider friction, its six supporting members (branch road) only bear pressure or the pulling force along two spherical pair center line connecting directions, do not have couple of force to close.Measure the axial strain of six supporting members (branch road) during application and be converted into power, and be mapped to correspondingly on the platform, obtain the suffered sextuple external force of upper and lower platform through the sextuple transformation matrix of a full rank.But this sensor adopts the spherical pair of traditional structure secondary as connecting, therefore: the complex structure of (1) this type of force transducer, and structure is big, may accomplish microminiaturization hardly; (2) 12 spherical pairs need to adjust respectively and pretension, and it is big to adjust workload, and each pretightning force is difficult to consistent; (3) contact area of spherical pair is big, and moment of friction is bigger behind the pretension, produces certain couple of force and closes; (4) behind the spherical pair pretension, only need the gap except self, but do not have significantly to increase the rigidity of sensor integral body, especially when six supporting members (branch road) stressed had tension and compression to change, its functional reliability can reduce, and measuring error also can increase.Therefore such sensor does not almost have practical application.
For overcoming the shortcoming of this special water (Stewart) platform six-dimension force sensor of traditional structure, someone has invented a kind of this special water (Stewart) platform structure six-dimension force sensor that adopts the elasticity ball pivot, substitute traditional spherical pair with the elasticity ball pivot, sensor design is processed into the one form.Though its performance is improved on principle, it is respectively measured sensitive part and also all exists couple of force to close, and also can't realize full decoupled.
Integral pretightened flat bed type six-dimensional force transducer of the present invention is between the upper and lower platform of this special water (Stewart) platform structure of tradition, sets up one by two reverse spherical pairs and the pretension branch road that screw mechanism is formed.And on each branch road, substitute the spherical pair of traditional two-way constraint with the steel-ball type spherical pair of unilateral constrain or circular cone type spherical pair.
This integral pretightened flat bed type six-dimensional force transducer had not both had the coupling of power, have again simple in structure, rigidity is high, highly sensitive, advantage such as precision is high, adjustment is simple, and can realize the microminiaturization and the precise treatment of six-dimension force sensor.
Fig. 1 is the structural principle synoptic diagram of integral pretightened flat bed type six-dimensional force transducer;
Fig. 2 is reverse spherical pair structural principle synoptic diagram;
Fig. 3 is a steel-ball type spherical pair structural principle synoptic diagram;
Fig. 4 is a circular cone type spherical pair structural principle synoptic diagram.
With reference to Fig. 1, integral pretightened flat bed type six-dimensional force transducer of the present invention is by upper mounting plate (1), lower platform (2), six supporting members (3), (4), (5), (6), (7), (8), two have opposite rotation direction screw thread Member (9), (10) and nut (11) form. Wherein member (1) and member (2) pass through steel-ball type Spherical pair or circular cone type spherical pair A, a, B, b, C, c, D, d, E, e, F, f respectively with member (3), (4), (5), (6), (7) and (8) connect, member (1) and member (2) pass through respectively reverse sphere Secondary G, g connect with member (9), (10), and screw pair is passed through with member (11) in member (9), (10) Connect.
With reference to Fig. 2, oppositely have one on the member (1) of spherical pair and be with ball-and-socket or cone nest (to use the thin dashed line table The part of showing) hole, garden, member (2) are the ball with handle, and the ball handle passes the hole, garden on the member (1), Ball and ball-and-socket or cone nest match, sealing and pretension under the pretightning force effect.
With reference to Fig. 3, the steel-ball type spherical pair is to seal also pretension by the member (1), member (3) and the steel ball (2) that have ball-and-socket or awl nest (part of representing with thin dashed line) under the pretightning force effect.
With reference to Fig. 4, the circular cone type spherical pair is made up of the member (2) that has cone headed member (1) and have a bellmouth.The nose cone of member (1) is spherical, and the bottom of the bellmouth of member (2) is a ball-and-socket type.The bulb of member (1) and member (2) ball-and-socket seal under the pretightning force effect and pretension.
According to the theory of mechanisms analysis, the pretension branch road of being made up of two reverse spherical pairs and member (9), (10) and nut (11) brings a constraint, therefore can utilize the spiral on the pretension branch road to strain upper and lower platform, sensor is carried out integral pre-tightening, while each ball pair of pretension, eliminate the gap, improve the integral rigidity of sensor greatly.Because the two ends of each branch road (six supporting branches and a pretension branch) are spherical pair, in like manner theoretically, if do not consider friction, each branch also only bears along the pressure or the pulling force of two ball sub-center line directions, does not have couple of force to close.
Measure respectively during application (3)-axial strain on (8) and be converted into power, and be mapped to correspondingly on the platform through the sextuple transformation matrix of a full rank, obtain suffered sextuple external force of upper and lower platform and pretension branch road stressed making a concerted effort.Measure the pretension branch road the institute stressed after, then can pass through simple computation, obtain the suffered sextuple external force of upper and lower platform.
After setting up the pretension branch road, make the spherical pair of using steel-ball type spherical pair or circular cone type spherical pair replace traditional structural become possibility, so both simplified the structure of spherical pair, can reduce the moment of friction (can be reduced to negligible degree) of spherical pair behind the pretension again greatly, improve the sensitivity and the precision of sensor, realize the microminiaturization and the precise treatment of sensor.
Fatal shortcomings such as therefore integral pretightened flat bed type six-dimensional force transducer had both kept the important performance of the unable coupling of this special water (Stewart) platform structure, and complex structure, the structure that has overcome this special water (Stewart) platform structure of tradition again is big, spherical pair adjusts that workload is big, pretightning force is inconsistent, the spherical pair moment of friction is big behind the pretension, integral rigidity is low.
The invention of integral pretightened flat bed type six-dimensional force transducer is for manufacturing and designing both unable coupling, have again simple in structure, rigidity is high, highly sensitive and precision advantages of higher, can realize that the six-dimension force sensor of microminiaturized and precise treatment is laid a good foundation.
With reference to Fig. 1, optimum implementation of the present invention is:
All member all adopts hardware, and A, a, B, b, C, c, D, d, E, e, F, f all are the steel-ball type spherical pair or all are the circular cone type spherical pair simultaneously that G, g are reverse spherical pair simultaneously.Member (9), (10), the spiral on (11) all adopts about common fine groove and revolves screw thread.
Claims (1)
1. six-dimension force sensor.Feature of the present invention is between the upper and lower platform of this special water (Stewart) platform structure, sets up an integral pre-tightening branch road of being made up of two reverse spherical pairs and screw mechanism, and sensor integral body is carried out pretension.Adopt the spherical pair of steel-ball type spherical pair or circular cone type spherical pair replace traditional structural at each branch road.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 99102526 CN1112577C (en) | 1999-02-06 | 1999-02-06 | Integral pretightened flat bed type six-dimensional force transducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 99102526 CN1112577C (en) | 1999-02-06 | 1999-02-06 | Integral pretightened flat bed type six-dimensional force transducer |
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| Publication Number | Publication Date |
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| CN1263259A true CN1263259A (en) | 2000-08-16 |
| CN1112577C CN1112577C (en) | 2003-06-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 99102526 Expired - Fee Related CN1112577C (en) | 1999-02-06 | 1999-02-06 | Integral pretightened flat bed type six-dimensional force transducer |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100387952C (en) * | 2006-04-18 | 2008-05-14 | 燕山大学 | Parellel 6-UPUR hexa-dimensional force-measuring platform |
| CN100449196C (en) * | 2006-12-30 | 2009-01-07 | 浙江大学 | Master-slave mode two-in-parallel twelve degree of freedom generalized force adjustment loading mechanism |
| CN100523753C (en) * | 2007-02-07 | 2009-08-05 | 燕山大学 | Upper and lower prefastening parallel connection structure six-dimensional force sensor |
| CN100528492C (en) * | 2007-08-16 | 2009-08-19 | 上海交通大学 | Precision assembling mechanical arm with parallel structure six-dimension force sensing |
| CN101329208B (en) * | 2008-07-02 | 2010-06-16 | 燕山大学 | Six-dimensional force sensor of integral pre-tightening double-layer top and bottom asymmetry eight-rod parallel connection structure |
| CN102183331A (en) * | 2010-11-18 | 2011-09-14 | 东南大学 | Six-dimensional force sensor |
| CN103616116A (en) * | 2013-11-25 | 2014-03-05 | 燕山大学 | Mechanical decoupling heavy load parallel six-dimension force measuring platform |
| CN110091314A (en) * | 2019-04-26 | 2019-08-06 | 中国科学院长春光学精密机械与物理研究所 | Multi-freedom parallel connection robot |
| CN110216656A (en) * | 2019-05-30 | 2019-09-10 | 中国科学院长春光学精密机械与物理研究所 | A kind of pretightening force controlling mechanism and multi-freedom parallel connection robot |
| CN110259879A (en) * | 2019-06-12 | 2019-09-20 | 北京理工大学 | For electronic Stewart structure without force feedback vibration isolation control method and system |
-
1999
- 1999-02-06 CN CN 99102526 patent/CN1112577C/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100387952C (en) * | 2006-04-18 | 2008-05-14 | 燕山大学 | Parellel 6-UPUR hexa-dimensional force-measuring platform |
| CN100449196C (en) * | 2006-12-30 | 2009-01-07 | 浙江大学 | Master-slave mode two-in-parallel twelve degree of freedom generalized force adjustment loading mechanism |
| CN100523753C (en) * | 2007-02-07 | 2009-08-05 | 燕山大学 | Upper and lower prefastening parallel connection structure six-dimensional force sensor |
| CN100528492C (en) * | 2007-08-16 | 2009-08-19 | 上海交通大学 | Precision assembling mechanical arm with parallel structure six-dimension force sensing |
| CN101329208B (en) * | 2008-07-02 | 2010-06-16 | 燕山大学 | Six-dimensional force sensor of integral pre-tightening double-layer top and bottom asymmetry eight-rod parallel connection structure |
| CN102183331A (en) * | 2010-11-18 | 2011-09-14 | 东南大学 | Six-dimensional force sensor |
| CN102183331B (en) * | 2010-11-18 | 2012-06-27 | 东南大学 | Six-dimensional force sensor |
| CN103616116A (en) * | 2013-11-25 | 2014-03-05 | 燕山大学 | Mechanical decoupling heavy load parallel six-dimension force measuring platform |
| CN103616116B (en) * | 2013-11-25 | 2016-01-27 | 燕山大学 | Mechanically decoupled heavy duty six-dimension force-measuring platform in parallel |
| CN110091314A (en) * | 2019-04-26 | 2019-08-06 | 中国科学院长春光学精密机械与物理研究所 | Multi-freedom parallel connection robot |
| CN110216656A (en) * | 2019-05-30 | 2019-09-10 | 中国科学院长春光学精密机械与物理研究所 | A kind of pretightening force controlling mechanism and multi-freedom parallel connection robot |
| CN110259879A (en) * | 2019-06-12 | 2019-09-20 | 北京理工大学 | For electronic Stewart structure without force feedback vibration isolation control method and system |
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| Publication number | Publication date |
|---|---|
| CN1112577C (en) | 2003-06-25 |
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