Rigid-flexible mixed three-dimensional force perception mechanism

A three-dimensional force, rigidity and flexibility technology, applied in the field of sensors, can solve the problems of maintaining the same and unable to maintain the mapping relationship between the input and output of the sensor, and achieve the effect of simple structure, convenient manufacturing, and convenient serial production.

Active Publication Date: 2017-11-03
YANSHAN UNIV
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  • Application Information

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Problems solved by technology

Although the above sensor patents can be deformed, they cannot keep the mapping relationship between the input and output of the sensor unchanged.

Method used

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  • Rigid-flexible mixed three-dimensional force perception mechanism
  • Rigid-flexible mixed three-dimensional force perception mechanism
  • Rigid-flexible mixed three-dimensional force perception mechanism

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Embodiment Construction

[0014] exist figure 1 In the three-dimensional schematic diagram of the rigid-flexible mixed three-dimensional force sensing mechanism shown, the mechanism mainly includes an upper platform 2, a lower platform 1 and three deformable force-measuring branches connecting the upper and lower platforms. The lower platform is a fixed platform, near its edge there are three contour support columns distributed in an equilateral triangle. 9 is arranged between the three edge support columns 3 and the center support column, and each of them is connected with a deformable force-measuring branch. The three force-measuring branches are made up of a sensor assembly, a first moving pair 8, a first rotating pair 12, a second rotating pair 14 and a first universal winch 16, as figure 2 shown. A sensor assembly is arranged between the two parallel guide rails, which mainly includes: a sensor, a sensor connector 18 , a sensor fixed connection frame 6 , a sensor fixed support frame 7 , a guide...

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Abstract

The invention provides a rigid-flexible mixed three-dimensional force perception mechanism. The mechanism mainly comprises an upper platform, a lower platform and three deformable force measuring branches connecting the upper and lower platforms. Three edge support columns with the same height which are distributed in an equilateral triangle manner are arranged on the lower platform. A center support column is arranged in the center of the platform. Three pairs of parallel guide rails are arranged between the three edge support columns and the center support column and are connected to each other through the deformable force measuring branches respectively. Each force measuring branch consists of a sensor assembly, a first moving pair, a first revolute pair, a second revolute pair and a first universal joint. A sensor assembly is arranged between two parallel guide rails and mainly comprises a sensor, a sensor connection piece, a sensor fixing connection frame, a sensor fixing support frame, a guide rail connection frame and a spring. According to the invention, deformation can be generated in a three-dimensional force perception measurement process; space three-dimensional force information in a dynamic deformation condition is easily perceived and measured in the deformation process; and the mechanism is advantageous in that the mechanism is simple and symmetrical in structure, and easy to manufacture and serially produce.

Description

technical field [0001] The invention belongs to the field of sensors, and relates to a space three-dimensional force sensor device, in particular to a three-dimensional force sensing mechanism with both rigidity and flexibility. Background technique [0002] The three-dimensional force sensor can be used to monitor the static and dynamic forces in three mutually perpendicular directions in a space where the direction and size are constantly changing. It is widely used in industrial production, rehabilitation medicine, aerospace and other fields. In recent years, research in this field has achieved some results, such as parallel decoupling structure three-dimensional force sensor, three-dimensional force measurement device and so on. In the research field of sensor measuring three-dimensional dynamic force, Chinese patent CN201010236908.4 discloses a three-dimensional force sensor with parallel decoupling structure. Signal detection; Chinese patent CN203216659U discloses a t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L5/16
CPCG01L5/16
Inventor 赵延治刘梦华张洁李朋波梁彦
Owner YANSHAN UNIV
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