Large-span space rope traction parallel six-dimensional force platform

Abstract

A large-span space rope traction parallel six-dimensional force platform comprises fixed struts, a force plate and more than eight rope force measuring branched chains. The fixed struts are fixed to the ground through bolts, the force plate and the fixed struts are connected through the multiple rope force measuring branched chains, the upper portion and the lower portion of each fixed strut are respectively provided with a lifting lug, the upper surface and the lower surface of the force plate are respectively provided with lifting lugs of which the number is the same as the number of the fixed struts, each rope force measuring branched chain is composed of a tension sensor, two sections of ropes and drag hooks, the tension sensor arranged in the middle of each branched chain is connected with the two sections of ropes through threads, the two ends of the two sections of ropes, namely the two ends of each rope force measuring branched chain are respectively provided with one drag hook, and the drag hooks at the two ends of the rope force measuring branched chains are connected with the lifting lugs on the upper surface and the lower surface of the force plate and the lifting lugs on the fixed struts respectively. The large-span space rope traction parallel six-dimensional force platform is simple in structure, large-span space six-dimensional force measurement is achieved through a rope traction parallel mechanism, coupling between dimensions is small, and the force platform is especially suitable for large structural body space large-tonnage six-dimensional force measurement.

Description

technical field [0001] The invention relates to the field of a six-dimensional force sensor, in particular to a rope-drawn parallel six-dimensional force measuring platform. 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, the force measuring device that can realize the multi-dimensional force measurement of the large structure in the large space area has become one of the high-tech products that are urgently needed in this field. This kind of force measuring device is usually called a heavy-duty six-dimensional fo...

AI Technical Summary

Problems solved by technology

The key to the development of a multi-dimensional force sensor is the design of the structure of the force-sensitive element. For this reason, some implementation schemes have been proposed. For example, Chinese patent ZL200810025591.2 discloses a six-dimensional force sensor structure of an orthogonal series linear elastic body, which has a simple structure. Easy miniaturization and other advantages; Chinese patent ZL99102421.4 discloses a six-dimensional force and moment sensor with a parallel decoupling structure, which has the advantages of high rigidity and compact structure, but it is difficult to achieve a large range due to the structure and strength of the elastic hinge. Multidimensional Force Measurement Requirements

Chinese patents CN200810054666 and CN200810054640 respectively disclose parallel six-dimensional force measuring platforms with elastic hinges, which are composed of six sets of two symmetrical integral elastic hinges after one-time processing, and have simple structure, convenient processing, and easy analysis and construction. It is suitable for the six-dimensional force measurement of small and medium loads, but there is a problem of large inter-dimensional coupling for the measurement of large loads.

[0004] Patents ZL99102526.1, ZL200710061531.1, and ZL200710061521.8 respectively disclose a six-dimensional force sensor with a parallel structure that can be preloaded as an elastic body. The ball and socket cone head spherical pair is used to replace the traditional spherical joint. The platform is preloaded as a whole. The six-dimensional force sensor structure eliminates the gap between the spherical pairs, reduces the friction torque of each spherical pair, and has the advantages of easy preloading. Applied to the structure of six-dimensional force sensor with large load

Therefore, so far, the force-sensitive element for high-precision, large-tonnage and multi-dimensional force measurement is still one of the key problems to be solved, especially in the large-span area of ​​space, it is not feasible to realize the space six-dimensional force measurement platform for large structures. technical solutions

Images