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Multi-dimensional Force Sensor Structure of Parallel Bar System

A multi-dimensional force sensor and multi-dimensional force technology, applied in the field of sensor measurement, can solve problems such as low multi-dimensional force accuracy, and achieve the effects of improving measurement accuracy and structural rigidity

Active Publication Date: 2022-01-28
马洪文 +1
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The present invention solves the problem of low precision in obtaining multi-dimensional force caused by the structure of the existing multi-dimensional force sensor

Method used

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  • Multi-dimensional Force Sensor Structure of Parallel Bar System
  • Multi-dimensional Force Sensor Structure of Parallel Bar System
  • Multi-dimensional Force Sensor Structure of Parallel Bar System

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Experimental program
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specific Embodiment approach 1

[0074] This embodiment is a parallel rod system multi-dimensional force sensor structure, including a support platform and a load platform. The load platform and the support platform are connected through a parallel rod system, and each rod of the parallel rod system is set as an independent strain beam between the load platform and the load platform. Between the support platforms, the external force on the load platform is completely transmitted to the support platform by the parallel rod system; the parallel rod system can be composed of one to any number of strain beams;

[0075] A micro-displacement sensor for measuring the micro-displacement between the support platform and the load platform is arranged, and / or, a strain gauge is arranged on the strain beam of the parallel bar system, and / or, a piezoelectric crystal is used as the strain beam .

[0076] The multi-dimensional force on the load platform can be calculated through the deformation of the strain beam, or the mi...

Embodiment

[0152]In order to obtain high measurement accuracy for this type of sensor, it must be ensured that during the measurement process, the multi-dimensional force is transmitted from the load platform to the support platform through the strain beam, and the structural stiffness of all parts of the entire force transmission path needs to remain basically unchanged. However, the contact surfaces of two parts in the usual welding and bolt connection structures are prone to local contact surface disengagement during the entire stress process, which will lead to a sudden change in the contact stiffness of the contact surface, which will reduce the accuracy of the multidimensional force measurement results. The invention guarantees the invariance of the structural rigidity on the force transmission path through various structural design schemes.

[0153] Multi-dimensional mechanical sensors can be divided into 2-dimensional force (plane 2-dimensional force or 1-dimensional force plus 1-...

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Abstract

The utility model relates to a multi-dimensional force sensor structure of a parallel rod system, which belongs to the field of sensor measurement. The present invention aims to solve the problem of low precision in obtaining multi-dimensional force caused by the structure of the existing multi-dimensional force sensor. The parallel bar system multi-dimensional force sensor structure of the present invention includes a support platform and a load platform, the load platform and the support platform are connected through a parallel bar system, and the external force on the load platform is completely transmitted to the support platform through the parallel bar system; A micro-displacement sensor for measuring the micro-displacement between the platform and the load platform is arranged, and / or strain gauges are arranged on the strain beams of the parallel bar system, and / or piezoelectric crystals are used as the strain beams. It is mainly used for multi-dimensional force sensors connected in parallel.

Description

technical field [0001] The invention belongs to the field of sensor measurement and relates to a multidimensional force sensor structure. Background technique [0002] The multi-dimensional force sensor can detect the information of force acting in space, among which a typical six-dimensional force sensor can obtain 3 component forces and 3 moments formed by the force in the space coordinate system. In the fields of aerospace and robotics, the six-dimensional force sensor plays an important role, and the accuracy of the obtained six-dimensional force directly affects the work and control accuracy of the system. [0003] From the analysis of the structure of the six-dimensional force sensor, the six-dimensional force sensor can be mainly divided into the overall elastic structure, the Stewart parallel structure, the piezoelectric crystal type, the frictionless guide rail type (air floatation, magnetic levitation), the flexible structure, etc., among which the commercial small...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01L5/16G01L5/167G01L5/165
CPCG01L5/16G01L5/167G01L5/165G01L1/22G01L1/00G01L1/16
Inventor 马洪文邢宇卓
Owner 马洪文
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