Piezoelectric six-dimensional force sensor

Abstract

The invention relates to a piezoelectric six-dimensional force sensor based on a Stewart structure design. The piezoelectric six-dimensional force sensor comprises an upper platform, a lower platform, six upper rod ball hinges, six upper connecting rods, six groups of piezoelectric one-dimensional sensors, six lower connecting rods and six lower rod ball hinges, wherein the upper platform and the lower platform are connected together through sensor branches formed by the connecting rods, the upper and lower ball hinges and the piezoelectric one-dimensional sensors; the six piezoelectric one-dimensional quartz crystal groups are respectively fixed in a groove formed between the upper connecting rods and the lower connecting rods through six uniformly-arranged bolts; each quartz crystal group consists of four xy type piezoelectric quartz wafers; the quartz crystal groups are bonded together by the quartz crystal wafers and electrode sheets through conductive adhesives. As a Stewart parallel structure and a partial load principle are utilized, the measurement of large range load is realized; as each crystal group consists of the four xy type piezoelectric quartz wafers, the piezoelectric six-dimensional force sensor has the characteristics of being high in measuring sensitivity, high in measuring result accuracy, simple in structure, convenient to mount and use and good in stability and can be applied to the measurement of strong load.

Description

technical field [0001] The invention belongs to the field of six-dimensional piezoelectric sensors, and relates to a high-precision, high-sensitivity, six-dimensional force measurement heavy-load measuring sensor designed based on the Stewart structure and the parallel load sharing principle. Background technique [0002] The six-dimensional force sensor can measure the size of three-dimensional force and moment in space. When measuring space mechanical information, it has the characteristics of rich force measurement information and high force measurement accuracy. control, multi-fingered dexterous hands and robotic force feedback. The six-dimensional force sensor based on the Stewart structure is a very superior six-dimensional force sensor. It has unique advantages such as strong bearing capacity, high precision, fast response, and high sensitivity. It is favored by designers and users and has been widely used so far. Robotics, aviation (such as the impact test of aircra...

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved in the present invention is to realize the multi-dimensional measurement of large load force by combining Stewart structure, piezoelectric technology and parallel load sharing principle to the measurement of space six-dimensional force, and to use piezoelectric quartz crystal group as the sensitive element to improve The real-time performance, accuracy and sensitivity of the measurement are applied to the heavy-duty operating equipment in extreme manufacturing technology, which solves the problem that the heavy-duty operating equipment cannot perform six-dimensional vigorous measurement

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