Upper and lower prefastening parallel connection structure six-dimensional force sensor

Abstract

The invention discloses a six-dimensional force sensor with an up and down pre-tightened parallel structure. It is characterized in that: the force measuring platform (1) is fixedly connected by a chassis with coincident axes and a bearing disc, three ball sockets are respectively distributed on the upper and lower surfaces of the chassis edge of the force measuring platform (1), and the upper and lower surfaces of the force measuring platform (1) Three ball sockets are evenly distributed on their respective circumferences; the preload platform (2) is a shell member, and three ball sockets are evenly distributed on the inner ring surface of the top; three ball sockets are uniformly distributed on the same circumference of the upper surface of the base (6). Ball socket, the detection member (3) and the ball socket form a conical head type spherical pair, the six detection members (3) are divided into upper and lower groups, and the two groups of detection members (3) pass through the ball and socket conical head type spherical pair and the pre-tightening platform (2), the force-measuring platform (1) and the base (6) are connected, and the connection pre-tightening force is applied through the bolt (4) and the nut (5) at the joint of the pre-tightening platform (2) and the base (6). The invention has simple structure, simple and convenient measurement principle, is convenient for processing and manufacturing, and is easy to form precision and serialization, and can be applied to various occasions requiring six-dimensional force measurement such as robots and aerospace.

Description

technical field [0001] The invention relates to the field of design and manufacture of a force sensor, in particular to a six-dimensional force sensor with an upper and lower pretensioned parallel structure, which can be used to test three-dimensional force components and moment components in a space. Background technique [0002] Sensors play an important role in industrial production, national defense construction and science and technology. Sensor technology is one of the three pillars of modern information technology. The six-dimensional force sensor has become the most important type of sensor because it can perceive all the information of external force and torque, and can be used to monitor the force with changing direction and size and measure acceleration or inertial force. It is widely used in precision assembly, automatic grinding, contour tracking, two-hand coordination, zero force teaching and other operations, and also has important application value in the fie...

AI Technical Summary

Problems solved by technology

Its measurement principle is simple, but there are the following main problems: the structure is relatively complex; the twelve spherical pairs need to be adjusted and pre-tightened separately, and the adjustment workload is large; the traditional spherical pairs have a large contact area and a large frictional moment, which is easy to produce large Stress coupling and inter-dimensional coupling are difficult to decouple; the traditional spherical pair is prone to gaps, which makes the zero-crossing performance of the force measuring platform poor. When the external force direction changes, the linearity is not good, and hysteresis is easy to occur, etc.

Chinese patent ZL99102526.1 discloses an integral pretension platform type six-dimensional force sensor. Its structure is to add an intermediate pretension branch between the upper and lower platforms of the traditional Stuart platform structure, and use the pretension branch to tighten the upper and lower platforms. , Lower the platform, preload the sensor as a whole, and preload each ball pair at the same time, eliminate the gap, and improve the overall rigidity of the sensor. Seven detection components are required, and the calibration method is more complicated

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