Over-constrained wide-range parallel sextuple force measuring platform

Abstract

The invention relates to the field of sextuple force sensors, in particular to an over-constrained wide-range parallel sextuple force measuring platform in the field, comprising a force measuring plate (1), a force measuring frame (2), a supporting frame (3) and a plurality of force measuring branched chains, wherein the force measuring frame (2) and the supporting frame (3) are connected by the plurality of force measuring branched chains distributed on five faces of the force measuring frame (2), parts of branched chains are connected with the bottom surface of the force measuring frame (2), and the rest branched chains are respectively connected with four side faces of the force measuring frame (2); central lines of the force measuring branched chains installed on the same face are mutually parallel and the central lines of the force measuring branched chains installed on adjacent faces are mutually vertical. The over-constrained wide-range parallel sextuple force measuring platform has simple structure, simple and convenient machining, assembly and adjustment, higher structural rigidity, easy realization of large force measuring plates, wide-range sextuple force measurement and high measurement precision and is particularly suitable for use in heavy-load measuring occasions.

Description

technical field [0001] The invention relates to a multi-dimensional force measurement, in particular to an over-constrained large-range parallel six-dimensional force measuring platform in this field. Background technique [0002] The six-dimensional force sensor can measure the magnitude of the three-dimensional force and moment in space. In occasions that require rich force measurement information and high force measurement accuracy, such as zero-force teaching, contour tracking, two-handed coordination, precise flexible assembly, multi-fingered dexterous hands, robots, etc. Force feedback and other fields have broad application prospects. In recent years, with the rapid development of the aerospace field, six-dimensional force measuring devices that can measure large tonnage forces and moments on large loading surfaces have become one of the high-tech products that are urgently needed. This kind of force measuring device is usually called a six-dimensional force measuri...

AI Technical Summary

Problems solved by technology

Chinese patent ZL99102421.4 discloses a six-dimensional force and moment sensor with a parallel decoupling structure. Six elastic bodies distributed on three sides of the first platform and perpendicular to each other are respectively connected to the first platform and the second platform through elastic hinges. Connection, the force sensitive element is a non-assembled part processed and formed at one time, which has the advantages of high rigidity and compact structure, but limited by the structure and strength of the elastic hinge, the integrated sensor structure is difficult to meet the requirements of large-scale multi-dimensional force measurement

[0004] Chinese patent CN101149299 discloses a six-dimensional force sensor capable of measuring large tonnage force or moment, which uses the overall assembly of three-dimensional force quartz chips to realize six-dimensional force measurement , but there is also the problem of serious inter-dimensional coupling and low measurement accuracy

However, since the current common structures use six-branch force-measuring branch chains to connect the force-measuring plate and the support frame, the stiffness and range of this six-branch force-measuring platform are limited.

At the same time, because the existing scheme does not consider the influence of factors such as joint friction, it has not yet met the actual needs in terms of range and measurement accuracy.

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