Spoke type parallel piezoelectricity six-dimensional force sensor and measuring method

Abstract

The invention discloses a spoke type parallel piezoelectricity six-dimensional force sensor and a measuring method. The spoke type parallel piezoelectricity six-dimensional force sensor comprises an upper cover and a lower cover. The spoke type parallel piezoelectricity six-dimensional force sensor is characterized in that a first annular groove is formed in the lower surface of the upper cover, symmetrical wire guiding holes are formed in the lower surface of the upper cover, eight groups of first spokes are evenly distributed on the upper cover in a concentric mode, a second square groove is formed in the lower surface of each spoke, eight groups of second spokes are evenly distributed on the lower cover in a concentric mode, a third groove symmetrical with each corresponding second square groove is formed in the upper surface of each second spoke, a force sensitive element is arranged on the upper surface of each third groove, the upper surface of each force sensitive element is in contact with the surface of each corresponding second square groove, a hollow screw is installed in each wire guiding hole, four first screw holes are evenly formed in the upper cover in a symmetrical and concentric mode, four first screw holes are evenly formed in the lower cover in a symmetrical and concentric mode, and the upper cover, the force sensitive elements and the lower cover are fit together after four pre-tightening screws penetrate through the first screw holes. The spoke type parallel piezoelectricity six-dimensional force sensor is good in manufacturability and stability, easy to manufacture, long in service life, simple in operation, convenient to use, and low in cost.

Description

technical field [0001] The invention relates to the field of sensors and their measurement and control, and in particular to a spoke-type parallel piezoelectric six-dimensional force sensor and a measurement method. Background technique [0002] At present, the piezoelectric six-dimensional force sensor is a form of dynamic force measurement that uses intelligent piezoelectric materials as force-sensitive elements. The basic research on the theory and application of piezoelectric effect has always been the core issue of piezoelectric research. The main feature of the piezoelectric sensor is its high natural frequency, which is especially suitable for dynamic measurement. Piezoelectric measurement is the only measurement technology that meets the requirements of high natural frequency. Piezoelectric six-dimensional force sensors generally require multiple sets of quartz crystal groups to detect six-dimensional generalized force respectively. The rational arrangement of quart...

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Problems solved by technology

[0003] The overall pretension platform type six-dimensional force sensor disclosed in Chinese patent CN1263259 has a structure that an intermediate pretension branch is added between the upper and lower platforms of the traditional Stewart platform structure, and the upper and lower platforms are tightened by using the pretension branch. The platform pre-tightens the sensor as a whole, pre-tightens each ball pair at the same time, eliminates the gap, and improves the overall rigidity of the sensor. The structure of the road is relatively complex, and it is difficult to ensure that it only bears the force along the axis, which affects the measurement accuracy

[0006] Patents CN101149301 "Variable Value Piezoelectric Quartz Multi-Component Force Sensor", CN202153166U "A Parallel Piezoelectric Six-Dimensional Force Sensor" and CN101793574A "Adjustable Load Sharing Ratio Piezoelectric Six-Dimensional Force Sensor and Its Test Method" are all Four sets of piezoelectric quartz crystals are used as force-sensitive elements, which can realize dynamic measurement of large-scale loads, but there is coupling between force and torque. The force-sensitive elements are used to measure both force and torque, although they can be measured through computing software. Decoupling calculation, but it cannot realize direct decoupling of space force, especially when measuring large-scale loads, the volume and weight are large, and the processing cost is also high

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