CN204495501U - A kind of assembled parallel-connection structure sensor - Google Patents
A kind of assembled parallel-connection structure sensor Download PDFInfo
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- CN204495501U CN204495501U CN201520134904.3U CN201520134904U CN204495501U CN 204495501 U CN204495501 U CN 204495501U CN 201520134904 U CN201520134904 U CN 201520134904U CN 204495501 U CN204495501 U CN 204495501U
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Abstract
The utility model discloses a kind of assembled parallel-connection structure sensor, relate to sensor design manufacturing technology field; Solve existing six-dimension force sensor sensitive element mostly to arrange in space, and structure is comparatively complicated, the technical matters that difficulty of processing is large; This technical scheme comprises: stationary platform, force plate/platform, detection branches, installation column; Stationary platform and force plate/platform are that parastate is arranged, it are respectively provided with three installation columns; Between stationary platform and force plate/platform, be provided with detection branches, detection branches is provided with two groups, and often organize three detection branches, wherein one group is vertical detection branches, and another group is horizontal detection branch; Each detection branches two ends of vertical detection branches group are connected with stationary platform and force plate/platform respectively; Each detection branches one end of horizontal detection branch group is connected with the installation column of stationary platform, and the other end is connected with the installation column of force plate/platform.
Description
Technical field
The utility model relates to sensor design manufacturing technology field, particularly a kind of assembled parallel-connection structure sensor.
Background technology
Along with the widespread use of intelligent machine, many occasions need robot to have perception and the control ability of environmental exposure power to external world, are such as engaged in the operations such as Fine Boring, Contour extraction, polishing and scouring in robot.Six-dimension force sensor with its can the sextuple force and moment of detection space full detail and become a very important class sensor, and all to have broad application prospects in fields such as Aero-Space, robot, automobile making, biologic medicals.Therefore, develop that precision is high, dynamometric system that real-time is good is to realizing robot automation and intelligent aspect all has great importance.
Since 20 century 70s, the dynamometric system of detection space all one's effort information receives the concern of lot of domestic and foreign scholar always, becomes one of international hot research problem.In the research of dynamometric system, the structural design of device for measuring force is a key problem of research, because the structure of device for measuring force determines the quality of dynamometric system performance to a certain extent.The structure of existing six-dimension force sensor mainly contains vertical beam formula, cross beam type, composite beam type, drum type brake, column type and Stewart parallel-connection structure etc.It is exactly the couple of force conjunction that each measurement sensitive part etc. all exists to a certain degree that the six-dimension force sensor of integral structure exists common problem, namely ergometry signal is coupled with the output signal of strain bridge, cannot realize full decoupled, have impact on its measuring accuracy to a certain extent.Classical Stewart parallel-connection structure adopts the connected mode of ball pivot, sensitive element is placed on measurement branches bar, there is compact conformation, rigidity is large, load-bearing capacity is large, without the advantage such as retinoic acid syndrome and flexible arrangement, become one of optimum configuration of space device for measuring force design.
In above a few class six-dimension force sensor with parallel structures, sensitive element is arranged in space mostly, and structure is comparatively complicated, and difficulty of processing is large, therefore, it is possible to the six-dimension force sensor being applied to commercialization in actual production is also fewer.
Utility model content
To be solved in the utility model is that existing six-dimension force sensor sensitive element is arranged in space mostly, and structure is comparatively complicated, the technical matters that difficulty of processing is large.
In order to solve the problem, the utility model provides a kind of assembled parallel-connection structure sensor, comprising: stationary platform, force plate/platform, detection branches, installation column;
Stationary platform and force plate/platform are that parastate is arranged, it are respectively provided with three installation columns; Between stationary platform and force plate/platform, be provided with detection branches, detection branches is provided with two groups, and often organize three detection branches, wherein one group is vertical detection branches, and another group is horizontal detection branch; Each detection branches two ends of vertical detection branches group are connected with stationary platform and force plate/platform respectively; Each detection branches one end of horizontal detection branch group is connected with the installation column of stationary platform, and the other end is connected with the installation column of force plate/platform.
More preferably, three detection branches of vertical detection branches group are distributed in circumferentially same.
More preferably, the axis of three detection branches of horizontal detection branch group is positioned at same plane, place plane is parallel to stationary platform and force plate/platform, and the axis at three detection branches places surrounds equilateral triangle structure, three detection branches of horizontal detection branch group are distributed in circumferentially same, and place circumference and vertical detection branches place circumferential concentric.
More preferably, detection branches adopts one-dimensional force snesor.
More preferably, stationary platform, force plate/platform, and installation column is provided with counterbore.
More preferably, the two ends of detection branches are equipped with threaded hole, vertical detection branches two ends are connected with stationary platform and force plate/platform at counterbore place with bolt or screw respectively by pad, and horizontal detection branch two ends are connected with the installation column of stationary platform and force plate/platform at counterbore place with bolt or screw respectively by pad.
More preferably, stationary platform and force plate/platform are all in regular hexagon structure, and measure-alike.
More preferably, the side of stationary platform, measuring table is fixed with installation column respectively, and installing column cylinder is rectangular structure.
As seen through the above technical solutions, the utility model provides a kind of assembled six-dimension force sensor with parallel structure, and it is simple that the utility model six-dimension force sensor has structure, and standardization level is high, and measuring accuracy is high, is easy to realize modularization, the advantages such as applied range.
Accompanying drawing explanation
The structural representation of a kind of assembled parallel-connection structure of Fig. 1 sensor;
Fig. 2 force plate/platform, stationary platform structural representation;
Fig. 3 detection branches connection diagram.
Embodiment
Below in conjunction with drawings and Examples, the technical solution of the utility model is described in detail.
It should be noted that, if do not conflicted, each feature in the utility model embodiment and embodiment can be combined with each other, all within protection domain of the present utility model.
Embodiment one, a kind of assembled parallel-connection structure sensor, as shown in Figure 1, Figure 2, Figure 3 shows, comprising: force plate/platform 1, vertical detection branches 2, horizontal detection branch 3, installs column 4, stationary platform 7.
Stationary platform 7 is arranged in parastate with force plate/platform 1, it is respectively provided with three installation columns 4; Between stationary platform 7 and force plate/platform 1, be provided with detection branches, detection branches is provided with two groups, and often organize three detection branches, wherein one group is vertical detection branches 2, and another group is horizontal detection branch 3; Each detection branches 2 two ends of vertical detection branches group are connected with stationary platform 7 and force plate/platform 1 respectively; Each detection branches 3 one end of horizontal detection branch group is connected with the installation column 4 of stationary platform 7, and the other end is connected with the installation column 4 of force plate/platform 1.
Embodiment two, a kind of assembled parallel-connection structure sensor, as shown in Figure 1, Figure 2, Figure 3 shows, on the basis of embodiment one, is further:
Further, three detection branches 2 of vertical detection branches group are distributed in circumferentially same.
Further, the axis of three detection branches 3 of horizontal detection branch group is positioned at same plane, place plane is parallel to stationary platform 7 and force plate/platform 1, and the axis at three detection branches 3 places surrounds equilateral triangle structure, three detection branches 3 of horizontal detection branch group are distributed in circumferentially same, and place circumference and vertical detection branches 3 place circumferential concentric.
Further, detection branches adopts one-dimensional force snesor.Vertical detection branches 2 and horizontal detection branch 3 are standard one-dimensional force snesor, can detection axis to pressure.When vertical detection branches 2 or horizontal detection branch 3 are subject to torsion, application pad 5, can eliminate unbalance loading, make it in the ideal situation, detection branches only bears axial force.Pad 5 can carry out height and regulate, and is used for compensating the error of processing and producing.
Further, stationary platform 7, force plate/platform 1, and installation column 4 is provided with counterbore.Force plate/platform 1, stationary platform 7 and installation column 4 are equipped with counterbore.
Further, the two ends of detection branches are equipped with threaded hole, vertical detection branches 2 two ends are connected with stationary platform 7 and force plate/platform 1 at counterbore place with bolt 6 or screw respectively by pad 5, and horizontal detection branch 3 two ends are connected with the installation column 4 of stationary platform 7 and force plate/platform 1 at counterbore place with bolt 6 or screw respectively by pad 5.One group of vertical detection branches 2 is uniform centered by the common axis of force plate/platform 1 and stationary platform 7 is set to three.The two ends of each vertical detection branches 2 are connected with force plate/platform 1 and stationary platform 7 at counterbore place with bolt 6 respectively by pad 5.One group of horizontal detection branch 3 is uniform centered by the common axis of force plate/platform 1 and stationary platform 7 is set to three.The axis of horizontal detection branch 3 is positioned at same plane, and place plane is parallel to force plate/platform 1 and stationary platform 7, and the axis at three detection branches places surrounds equilateral triangle structure.One end of each horizontal detection branch 3 is connected with the installation column 4 of force plate/platform 1 with bolt 6 by pad 5 at counterbore place, and the other end is connected with the installation column 4 of stationary platform 7 with bolt 6 by pad 5 at counterbore place.
Further, stationary platform 7 and force plate/platform 1 are all in regular hexagon structure, and measure-alike.Force plate/platform 1 and stationary platform 7 are regular hexagon slab construction, and size is identical, and the placement that is parallel to each other.
Further, the side of stationary platform 7, measuring table 1 is fixed with respectively installs column 4, and installing column 4 cylinder is rectangular structure.Respectively be distributed with three installation columns 4 in the side of force plate/platform 1 and stationary platform 7, and be distributed in circumferentially same, column 4 is installed in rectangular structure.
The principle of work of described assembled parallel-connection structure sensor is: because vertical detection branches 2 and horizontal detection branch 3 adopt one-dimensional force snesor, axial push-pull power can only be born, therefore, when external force is applied on force plate/platform 1, each detection branches can measure axial push-pull power suffered in this branch, finally can try to achieve by the mapping relations that detection branches is stressed and force plate/platform is stressed the sextuple external force acted on force plate/platform.When act on the external force on force plate/platform 1 be X and Y-direction power, Z-direction moment time, external force direction is vertical with the axis direction of vertical detection branches 2, therefore can be measured by three horizontal detection branches respectively.When acting on the external force on force plate/platform 1 and being Z-direction power, X and Y-direction moment, external force direction is vertical with the axis direction of horizontal detection branch 3, now can be measured by three vertical detection branches respectively, so just achieve sextuple external force to measure, and sextuple direction force can realize decoupling zero to a certain extent.
The utility model can be applicable to the multiple fields needing six-dimensional force to measure such as robot, commercial production, aeronautical and space technology.
The utility model provides a kind of assembled six-dimension force sensor with parallel structure, this sensor detection branches adopts standard one-dimensional force snesor, effectively can simplify sensor construction, increases the measuring accuracy of sensor, have and be easy to realize modularization, the advantages such as applied range.
Certainly; the utility model also can have other various embodiments; when not deviating from the utility model spirit and essence thereof; those of ordinary skill in the art are when making various corresponding change and distortion according to the utility model, but these change accordingly and are out of shape the protection domain that all should belong to claim of the present utility model.
Claims (8)
1. an assembled parallel-connection structure sensor, is characterized in that, comprising: stationary platform, force plate/platform, detection branches, installation column; Stationary platform and force plate/platform are that parastate is arranged, it are respectively provided with three installation columns; Between stationary platform and force plate/platform, be provided with detection branches, detection branches is provided with two groups, and often organize three detection branches, wherein one group is vertical detection branches, and another group is horizontal detection branch; Each detection branches two ends of vertical detection branches group are connected with stationary platform and force plate/platform respectively; Each detection branches one end of horizontal detection branch group is connected with the installation column of stationary platform, and the other end is connected with the installation column of force plate/platform.
2. sensor as claimed in claim 1, it is characterized in that, three detection branches of vertical detection branches group are distributed in circumferentially same.
3. sensor as claimed in claim 2, it is characterized in that, the axis of three detection branches of horizontal detection branch group is positioned at same plane, place plane is parallel to stationary platform and force plate/platform, and the axis at three detection branches places surrounds equilateral triangle structure, three detection branches of horizontal detection branch group are distributed in circumferentially same, and place circumference and vertical detection branches place circumferential concentric.
4. sensor as claimed in claim 1, is characterized in that, detection branches adopts one-dimensional force snesor.
5. sensor as claimed in claim 1, is characterized in that, stationary platform, force plate/platform, and installation column is provided with counterbore.
6. sensor as claimed in claim 5, it is characterized in that, the two ends of detection branches are equipped with threaded hole, vertical detection branches two ends are connected with stationary platform and force plate/platform at counterbore place with bolt or screw respectively by pad, and horizontal detection branch two ends are connected with the installation column of stationary platform and force plate/platform at counterbore place with bolt or screw respectively by pad.
7. sensor as claimed in claim 1, is characterized in that, stationary platform and force plate/platform are all in regular hexagon structure, and measure-alike.
8. sensor as claimed in claim 1, it is characterized in that, the side of stationary platform, measuring table is fixed with installation column respectively, and installing column cylinder is rectangular structure.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520134904.3U CN204495501U (en) | 2015-03-10 | 2015-03-10 | A kind of assembled parallel-connection structure sensor |
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| CN201520134904.3U CN204495501U (en) | 2015-03-10 | 2015-03-10 | A kind of assembled parallel-connection structure sensor |
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| CN204495501U true CN204495501U (en) | 2015-07-22 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105675194A (en) * | 2016-01-11 | 2016-06-15 | 徐州市计量检定测试中心 | Eccentricity test sensor for compression-testing machine and test method thereof |
| CN106017752A (en) * | 2016-07-07 | 2016-10-12 | 燕山大学 | Flexible multidimensional force transducer |
| CN110243525A (en) * | 2019-05-17 | 2019-09-17 | 南京航空航天大学 | A kind of six-dimension force sensor |
| KR102128252B1 (en) * | 2019-06-17 | 2020-06-30 | 한국생산기술연구원 | Integrated measuring apparatus for load and traction applied by a tractor and, methods therefor |
| IT202000006535A1 (en) * | 2020-03-27 | 2021-09-27 | Maschio Gaspardo Spa | Electronically controlled agricultural machine and its operating method |
| WO2021191881A1 (en) * | 2020-03-27 | 2021-09-30 | Maschio Gaspardo S.P.A. | Agricultural machine with electronic control and relevant operating method |
| WO2022021038A1 (en) * | 2020-07-28 | 2022-02-03 | Shanghai Flexiv Robotics Technology Co., Ltd. | Multi-degree of freedom force and torque sensor and robot |
-
2015
- 2015-03-10 CN CN201520134904.3U patent/CN204495501U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105675194A (en) * | 2016-01-11 | 2016-06-15 | 徐州市计量检定测试中心 | Eccentricity test sensor for compression-testing machine and test method thereof |
| CN105675194B (en) * | 2016-01-11 | 2018-11-02 | 徐州市计量检定测试中心 | Pressure testing machine eccentricity test sensor and its test method |
| CN106017752A (en) * | 2016-07-07 | 2016-10-12 | 燕山大学 | Flexible multidimensional force transducer |
| CN106017752B (en) * | 2016-07-07 | 2018-12-07 | 燕山大学 | A kind of flexibility multi-dimension force sensor |
| CN110243525A (en) * | 2019-05-17 | 2019-09-17 | 南京航空航天大学 | A kind of six-dimension force sensor |
| CN110243525B (en) * | 2019-05-17 | 2020-12-25 | 南京航空航天大学 | Six-dimensional force sensor |
| KR102128252B1 (en) * | 2019-06-17 | 2020-06-30 | 한국생산기술연구원 | Integrated measuring apparatus for load and traction applied by a tractor and, methods therefor |
| IT202000006535A1 (en) * | 2020-03-27 | 2021-09-27 | Maschio Gaspardo Spa | Electronically controlled agricultural machine and its operating method |
| WO2021191881A1 (en) * | 2020-03-27 | 2021-09-30 | Maschio Gaspardo S.P.A. | Agricultural machine with electronic control and relevant operating method |
| WO2022021038A1 (en) * | 2020-07-28 | 2022-02-03 | Shanghai Flexiv Robotics Technology Co., Ltd. | Multi-degree of freedom force and torque sensor and robot |
| US11913849B2 (en) | 2020-07-28 | 2024-02-27 | Flexiv Ltd. | Multi-degree of freedom force and torque sensor and robot |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150722 Termination date: 20160310 |
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| CF01 | Termination of patent right due to non-payment of annual fee |