CN110095224A - A kind of dynamometry component and six degree of freedom force measuring machine - Google Patents
A kind of dynamometry component and six degree of freedom force measuring machine Download PDFInfo
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- CN110095224A CN110095224A CN201810097358.9A CN201810097358A CN110095224A CN 110095224 A CN110095224 A CN 110095224A CN 201810097358 A CN201810097358 A CN 201810097358A CN 110095224 A CN110095224 A CN 110095224A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L9/00—Measuring steady of quasi-steady pressure of fluid or fluent solid material by electric or magnetic pressure-sensitive elements; Transmitting or indicating the displacement of mechanical pressure-sensitive elements, used to measure the steady or quasi-steady pressure of a fluid or fluent solid material, by electric or magnetic means
- G01L9/08—Measuring steady of quasi-steady pressure of fluid or fluent solid material by electric or magnetic pressure-sensitive elements; Transmitting or indicating the displacement of mechanical pressure-sensitive elements, used to measure the steady or quasi-steady pressure of a fluid or fluent solid material, by electric or magnetic means by making use of piezoelectric devices, i.e. electric circuits therefor
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Abstract
The invention belongs to motion state field of measuring technique, specifically disclose a kind of dynamometry component, comprising: upper link block and two load cells for being connected to link block lower end；Each load cell includes elastic telescopic element, lower connecting block and pressure sensor, and the upper end of elastic telescopic element and the lower end of upper link block are hinged, and the upper end of lower end and lower connecting block is hinged, and the lower end of lower connecting block and the upper end of pressure sensor connect；The axis of two elastic telescopic elements is in same plane and in predetermined angle.The invention also discloses a kind of six degree of freedom force measuring machines, include silent flatform, the moving platform parallel with silent flatform and three dynamometry components being connected between silent flatform and moving platform.Dynamometry component and six degree of freedom force measuring machine disclosed by the invention can simplify the complexity of dynamometric system and improve six degree of freedom force measuring machine using flexible.
Description
Technical field
The present invention relates to motion state field of measuring technique more particularly to a kind of dynamometry components and six degree of freedom force measuring machine
Structure.
Background technique
During controlling the sports platform that high speed and precision is run, it is placed on the moving platform for being connected to sports platform
Object influenced due to inertia or external disturbance etc., it is difficult to fully synchronized movement is kept with moving platform, thus can be to moving platform
Accurate quickly movement generates disturbance.Therefore need to carry out the object being connected on moving platform the measurement of six-freedom motion state
It feeds back in the corresponding power plant module of sports platform and carries out according to the size of monitoring and the result calculation perturbation power of measurement with monitoring
Force compensating is interfered, influence of the perturbed force to the kinematic accuracy of sports platform is reduced.
In the prior art, carrying out the dynamometric system of six-freedom motion status monitoring to object to be measured is usually six degree of freedom
Positioning robot in parallel, but conventional six-freedom parallel positioning robot's occupied area is larger, it is difficult to it is limited to be arranged in space
Sports platform on.And want to realize six degree of freedom measurement, three three-dimensional force transducers are at least needed, but three-dimensional force transducer has
Disadvantage at high cost and few manufacturer is not suitable for the popularization and application of six degree of freedom dynamometric system.Prior art discloses one
Kind Eight-dimensional dynamometer with six degrees of freedom, by upper plate, the lower plate parallel with upper plate and the eight one-dimensionals survey for being connected to upper plate and lower plate
Force mechanisms composition, each one-dimensional force measuring machine are articulated and connected by pull pressure sensor in upper plate and lower plate, and pressure is sensed
Device is subjected only to the power of axial direction.
The one-dimensional force measuring machine that above-mentioned Eight-dimensional dynamometer with six degrees of freedom uses, though it avoids using three-dimensional force transducer,
But since its pull pressure sensor is directly connected in upper plate and lower plate, the connection with measured object is rigid connection, works as sports platform
When local interference power very big situation occurs in high frequency motion, this kind rigid connection is easy to cause localized sensor failure, holds simultaneously
Force measuring machine easy to damage and the moving platform being connect with force measuring machine；And due to calculating which employs eight one-dimensional force measuring machines
It is complex in method, and need to redesign a set of new board and algorithm in terms of electrical or control, can not directly apply compared with
For the related algorithm of mature six-freedom parallel positioning robot, therefore, though whole principle seems simply, higher cost.
Summary of the invention
One of the objects of the present invention is to provide a kind of dynamometry component, with simplify using the dynamometry component force measuring machine and
The algorithm complexity of dynamometric system, improves the using flexible of dynamometry component, while providing for load-sensing unit and dynamometry component soft
Property protection.
To achieve the above object, the present invention adopts the following technical solutions:
A kind of dynamometry component, comprising: upper link block and two load cells for being connected to the upper link block lower end；
Each load cell includes elastic telescopic element, lower connecting block and pressure sensor, the elastic telescopic
The upper end of element and the lower end of upper link block are hinged, and lower end and the upper end of the lower connecting block are hinged, under the lower connecting block
End is connect with the upper end of the pressure sensor；The axis of two elastic telescopic elements is in same plane and in preset angle
Degree.
Preferably, the elastic telescopic element includes stationary housing and push rod, and the upper end of the push rod is articulated with connection
Block, lower end is located in the stationary housing, and can move along the axial direction of the stationary housing.
Preferably, the elastic telescopic element is gas spring.
Preferably, one end of the elastic telescopic element is hinged by the first flexural pivot and the upper link block, the elasticity
The other end of telescopic element is hinged by the second flexural pivot and the lower connecting block.
Preferably, first flexural pivot includes the first bulb and the threaded connection for being connected to elastic telescopic element upper end
In the first hinged-support of the upper link block.
Preferably, the pressure sensor is piezoceramic transducer.
Preferably, holding tank is offered on the lower connecting block, the upper end of the pressure sensor is located at the holding tank
It is interior, and be threadedly coupled with the lower connecting block, the bottom surface of the lower connecting block is stretched out in the lower end of the pressure sensor.
Preferably, tilted block is connected on the upper link block, the upper tilted block has and the upper link block
Bottom surface is in the first inclined surface of predetermined acute angle；Lower tilted block is connected on the lower connecting block, the lower tilted block has second
Inclined surface, second inclined surface and first inclined surface are arranged in parallel；The both ends of the elastic telescopic element respectively with institute
The first inclined surface is stated to connect with second inclined surface.
Another object of the present invention is to provide a kind of six degree of freedom force measuring machines, to simplify six degree of freedom dynamometric system
Complexity, reduces the occupied area of six degree of freedom force measuring machine, while certain flexible protective is provided for force measuring machine.
To achieve the above object, the present invention adopts the following technical solutions:
A kind of six degree of freedom force measuring machine, including moving platform, the silent flatform parallel with the moving platform and three institutes as above
The dynamometry component stated；
The upper end of the upper link block of each dynamometry component is connected to the moving platform, the institute of each dynamometry component
The lower end for stating pressure sensor is connected to the silent flatform；
The line of two hinge joints on upper link block described in any two is not parallel.
Preferably, the line of two hinge joints on upper link block described in two of them is mutually perpendicular to.
The invention has the benefit that
Dynamometry component provided by the invention, by the way that two one-dimensional load cells, Mei Gedan are arranged in every group of dynamometry component
The pressure sensor for tieing up one measurement vertical force of setting in load cell, can reduce the dynamometry algorithm of six degree of freedom force measuring structure
Complexity improves measurement accuracy；By the way that elastic telescopic element is arranged, flexible guarantor can be provided for load-sensing unit and dynamometry component
Shield；
Six degree of freedom force measuring machine provided by the invention, due to using three groups of above-mentioned dynamometry components, dynamometry algorithm is opposite
Traditional algorithm is more simple, therefore arrangement of three groups of dynamometry components in six degree of freedom force measuring machine is more flexible, Ke Yigen
It is arranged according to position of the actual condition to three groups of dynamometry components, reduces the volume of six degree of freedom force measuring machine；
Dynamometry component and six degree of freedom force measuring machine provided by the invention are since its dynamometry principle is based on existing more mature
Six axis positioning robot's systems therefore can be positioned with reference to six axis parallel connections in terms of algorithm and electrical wiring board
Robot has saved development cost.
Detailed description of the invention
Fig. 1 is the side view for the six degree of freedom force measuring machine that the embodiment of the present invention one provides；
Fig. 2 is the structural schematic diagram that the present invention implements the dynamometry component that one provides；
Fig. 3 is the explosive view of part-structure in Fig. 2；
Fig. 4 is the side view of dynamometry component provided by Embodiment 2 of the present invention；
Fig. 5 is the top view for the six degree of freedom force measuring machine that the embodiment of the present invention three provides；
Fig. 6 is the top view for another six degree of freedom force measuring machine that the embodiment of the present invention four provides.
It is marked in figure as follows:
10- dynamometry component；The upper link block of 1-；2- elastic telescopic element；21- push rod；22- stationary housing；3- lower connecting block；
4- pressure sensor；41- dynamometry main part；First end of thread of 42-；Second end of thread of 43-；The first flexural pivot of 51-；511- first is cut with scissors
Support；The connecting pin 5111-；5112- hinge support；The first bulb of 512-；The second flexural pivot of 52-；The second hinged-support of 521-；522- second
Bulb；The upper tilted block of 61-；Tilted block under 62-；
20- moving platform；30- silent flatform.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is the side view for the six degree of freedom force measuring machine that the embodiment of the present invention one provides.As shown in Figure 1, the present invention is real
The six degree of freedom force measuring machine for applying example one includes moving platform 20, the silent flatform 30 parallel with moving platform 20 and is connected to moving platform 20
Three groups of dynamometry components 10 between silent flatform 30.Object to be measured, the dynamometry component 10 are fixedly installed on the moving platform 20
The detection of six degree of freedom is carried out for the motion state to object to be measured.When servo-system driving moving platform 20 moves, connection
Be difficult in the object to be measured on moving platform 20 due to the effect of self inertia or external disturbance power it is fully synchronized with moving platform 20,
That is the kinematic parameter of servo-system output can be had differences with the actual motion of object to be measured due to the presence of disturbance, this kind default
The difference of motion state and actual motion state will lead to moving platform 20 and be disturbed power effect, to influence the essence of moving platform 20
Really movement, when moving platform 20 carries out high-speed motion, the effect of this kind of perturbed force is become apparent.Therefore, it is necessary to measure this to disturb
Power (power that the perturbed force is six degree of freedom any direction), compensates it by the servo-system.The embodiment of the present invention
Totally six one-dimensional load cells are dynamic flat to acting on by using three groups of dynamometry components 10 for the one six degree of freedom force measuring machine provided
Six degree of freedom perturbed force on platform 20 measures, and converts the six degree of freedom state of object to be measured to by the measurement of six power
Its actual displacement state, to compare the disturbance difference of actual motion state and preset state, and by servo-system to this
Disturbance difference compensates, and guarantees the movement accuracy of moving platform 20.It is based on existing six more mature axis parallel connection localization machines
The principle of device people improves design to the structure of six degree of freedom force measuring machine, six degree of freedom force measuring machine is enable preferably to fit
For actual condition, and the six degree of freedom force measuring machine can be made to refer to traditional six axis simultaneously on algorithm and electrical wiring board arrangement
Join positioning robot's system, saves development cost, improve the applicability of force measuring machine.
It should be strongly noted that in the embodiment of the present invention one and subsequent embodiment, in silent flatform 30 and moving platform 20
It is dynamic and quiet be relative concept, i.e. moving platform 20 is the opposite movable platform of silent flatform 30, silent flatform 30 can for it is static not
Dynamic platform, or the motion platform moved synchronously is done with external agency.
Three groups of 10 structures of dynamometry component in six degree of freedom force measuring machine that the embodiment of the present invention one provides are identical.Specifically
Ground, Fig. 2 are the structural schematic diagram for the dynamometry component 10 that the embodiment of the present invention one provides.As shown in Fig. 2, dynamometry component 10 includes upper
Link block 1 and two one-dimensional load cells for being connected to 1 downside of link block, two one-dimensional load cells are set at an angle to each other
It sets.Each load cell includes elastic telescopic element 2, lower connecting block 3 and pressure sensor 4；2 upper end of elastic telescopic element is logical
It crosses the first flexural pivot 51 and is connected to link block 1, lower end is connected to lower connecting block 3 by the second flexural pivot 52；The lower end of lower connecting block 3
The upper end of pressure sensor 4 is connected, the lower end of pressure sensor 4 is connected to silent flatform 30.
In the present embodiment one, the axis for being connected to two elastic telescopic elements 2 of link block 1 is generally aligned in the same plane,
It and is in predetermined angle.Center line symmetrical setting of two one-dimensional load cells relative to the angle.This kind of set-up mode, can simplify
The structure of dynamometry component 10 and the algorithm of dynamometry, and keep the arrangement of six degree of freedom force measuring machine more convenient.
Elastic telescopic element 2 can be any element for being able to achieve the linear relationship of power and displacement, and its linearity needs root
According to concrete engineering implement needed for control measurement accuracy confirmed.Elastic telescopic element 2 can be dynamometry component 10 and survey
Force mechanisms provide flexible protective: during moving platform 20 drives measured object movement, when the part for moving platform 20 occur is disturbed
When power is larger, since there are linear relationships with displacement for the power of elastic telescopic element 2, it is applied to the power of elastic telescopic element 2 not
That rigidity acts on pressure sensor 4, therefore elastic telescopic element 2 can provide alleviation to the perturbed force, be dynamometry component 10 and
Force measuring machine provides flexible protective, avoids the perturbed force acted on suddenly in the case of rigid connection that dynamometry component 10 is caused to fail or survey
Force mechanisms damage etc..And since the coefficient of elasticity of elastic telescopic element 2 and initial stroke are it is known that can be according to pressure sensor
The size of 4 power surveyed is converted into the displacement data of elastic telescopic element 2.When six load cells in three groups of dynamometry components 10
When acting on simultaneously, six displacement datas of moving platform 20 can be gone out, by six pressure data survey calculations so as to describe
The six-freedom motion state of moving platform 20 out.And pass through the effect of elastic telescopic element 2, it can be to the perturbed force of suddenly change
Be filtered, to duration effect perturbed force measure, though lose certain measurement accuracy, make dynamometry component 10 and
Six degree of freedom force measuring machine more meets actual utilization, and can reduce the complexity of algorithm.
In the present embodiment one, Fig. 3 is the part explosive view of 10 structure of dynamometry component in Fig. 2.As shown in figure 3, elasticity is stretched
Contracting element 2 includes stationary housing 22 and push rod 21, and the upper end of push rod 21 is connected to the first flexural pivot 51, and lower end is located at stationary housing 22
Cavity in, and can be moved along the axis direction of stationary housing 22, and the displacement that moves of push rod 21 and 21 stress of push rod is big
It is small in a linear relationship.Elastic telescopic element 2 can be gas spring, and such as nitrogen gas spring is filled with compression in stationary housing 22
Gas, using the compressibility of gas realize its spring act on, and its rigidity with the change of the load acted on spring and
Change, is ideal elastic telescopic element.Type, field of load and concrete model of elastic telescopic element 2 etc. are according to tool
The specific design of body application.
First flexural pivot 51 include the first bulb 512 and the first hinged-support 511, the first bulb 512 include spheroidal head and
Connecting rod, connecting rod are connected to push rod 21；First hinged-support 511 includes hinge support 5112 and the connection connecting with hinge support 5112
End 5111, one end of hinge support 5112 towards the first bulb 512 offers spherical notch, the spheroidal head of the first bulb 512
It can realize in spherical notch and in spherical notch three degree of freedom rotation；The outer diameter of connecting pin 5111 is less than hinge support
5112 outer diameter, connecting pin 5111 are threadedly coupled with upper link block 1, and upper link block 1 is stretched out in one end far from hinge support 5112
Upper end, for being connect with moving platform 20.Hinge support 5112 can not also stretch out the upper end of link block 1, at this point, other companies can be used
The mode of connecing realizes the connection of link block 1 Yu moving platform 20, such as is connected by screw bolts.The structure and the first flexural pivot of second flexural pivot 52
51 is identical, and the second bulb 522 of the second flexural pivot 52 is connected to elastic telescopic element 2, and the second hinged-support 52 is threadedly connected to lower company
Connect block 3.First bulb 512 of the first flexural pivot 51 and the second bulb 522 of the second flexural pivot 52 can be with 2 one of elastic telescopic element
Change design, i.e., processes the first bulb 512 and 522 structure of the second bulb at the both ends of elastic telescopic element 2；It can also be using separation
Formula design, i.e. the first bulb 512 and the second bulb 522 are threadedly coupled with the use of elastic telescopic element 2 or other connection types
Connection.
In the present embodiment one, pressure sensor 4 includes dynamometry main part 41, and is connected to dynamometry main part or more
First end of thread 42 and second end of thread 43 at both ends, first end of thread 42 with lower connecting block 3 for connecting, second end of thread 43
For being threadedly coupled with silent flatform 30.3 lower end of lower connecting block offers the holding tank for accommodating dynamometry main part 41, prevents from surveying
Power main part 41 is exposed to be affected by the external environment outside.The groove depth of holding tank is less than the height of dynamometry main part 41, makes when second
When the end of thread 43 is connected to silent flatform 30, there are gap between lower connecting block 3 and silent flatform 30, make to pass from elastic telescopic element 2
The pressure energy of pressure sensor 4 is handed to by correct measurement.
In the present embodiment one, pressure sensor 4 is selected as piezoceramic transducer, small in size, precision is high, installation side
Just, and after stress deform minimum.When moving platform 20 is there are when perturbed force, which is transferred to pressure through elastic telescopic element 2
Sensor 4, and it is measured record.Six lateral pressures warp of six pressure sensors 4 measurement in six degree of freedom force measuring machine
Conversion is converted to the displacement of six direction, to realize the monitoring to the six degree of freedom state of object to be measured and moving platform.
The dynamometry that vertical direction is carried out by using six pressure sensors 4, since the power of each measurement is one direction
, it does not need to decouple power, reduces algorithm complexity, reduce coupling error, improve measurement accuracy；Due to algorithm
Relatively simple, three groups of dynamometry components 10 can carry out location arrangements according to actual condition down space size, without as conventional
Six degree of freedom dynamometric system arranges three groups of dynamometry components 10 in positive triangle；And since pressure sensor 4 is disposed adjacent to quiet put down
The position of platform 30, and the lesser sensor of volume can be selected, so as to reduce dynamometry component 10 and entire six on the whole freely
The volume for spending force measuring machine, keeps the applicability of six degree of freedom force measuring machine stronger.
Embodiment two
The dynamometry group provided in the dynamometry component 10 and six degree of freedom force measuring machine and embodiment one that the present embodiment two provides
Part 10 and six degree of freedom force measuring machine are roughly the same, and only there are nuance, the present embodiment two for the structure of each dynamometry component 10
No longer the structure being the same as example 1 is repeated.
Fig. 4 is the structural schematic diagram of dynamometry component 10 that the present embodiment two provides, as shown in figure 4, the present embodiment two for
The improvement of dynamometry component 10 is to change the vertical height between upper link block 1 and lower connecting block 3, to change dynamometry component 10
And six degree of freedom force measuring machine makes six degree of freedom force measuring machine can be suitably used for various height along the vertical direction with the size of horizontal direction
Degree requires.After each elastic telescopic element 2 determines, since the length of elastic telescopic element 2 is certain, and elastic telescopic element 2
Both ends pass through the first flexural pivot 51 respectively and the second flexural pivot 52 is connected to link block 1 and lower connecting block 3, therefore, change elasticity
The upper link block 1 of change and lower connection can be realized relative to the angle of upper link block 1 or lower connecting block 3 in the axis of telescopic element 2
The height of block 3.Specifically, the water between (or reduction) two lower connecting blocks 3 can be increased on the basis of other structures are constant
Flat distance, or reduce (or increase) and be connected to the horizontal distance between two the first flexural pivots 51 on link block 1, to reduce
The height of (or increase) dynamometry component 10.
Since the first flexural pivot 51 and the second flexural pivot 52 limit on three rotational freedoms with certain rotational angle, because
This can be with when the change of above-mentioned 10 angle of reduction dynamometry component is beyond the rotational limitation of the first flexural pivot 51 or the second flexural pivot 52
By adding tilted block on upper link block 1 and lower connecting block 3, for being connect with elastic telescopic element 2.
The bottom surface of upper link block 1 is connected with tilted block 61, and the top surface of lower connecting block 3 is connected with lower tilted block 62.At this
In embodiment two, upper tilted block 61 is identical wedge block with lower tilted block 62, i.e., upper tilted block 61 has the first inclined surface, under
Tilted block 62 has the second inclined surface, and the bottom surface of the first inclined surface and upper link block 1 is in predetermined acute angle, and the second inclined surface and the
One inclined surface is parallel.The both ends of elastic telescopic element 2 pass through the first flexural pivot 51 respectively and the second flexural pivot 52 is connected to the first inclination
On face and the second inclined surface.
By the upper tilted block 61 of setting and lower tilted block 62, the angle between two elastic telescopic elements 2 can be increased, from
And in the rotational limitation of the first flexural pivot 51 and the second flexural pivot 52, further decrease between link block 1 and lower connecting block 3 away from
From.
Embodiment three
The present embodiment three provides a kind of six degree of freedom force measuring machine, with three groups of above-mentioned dynamometry components 10.
Fig. 5 is the schematic top plan view for the six degree of freedom force measuring machine that the present embodiment three provides.As shown in figure 5, three groups of dynamometry
Upper link block 1 in component 10 is connected to moving platform 20, and the lower connecting block 3 in three groups of dynamometry components 10 is connected to silent flatform 30.
The line of two the first flexural pivots 51 in two of them on link block 1 is mutually perpendicular to, two first on another on link block 1
The line of flexural pivot 51 and another two flexural pivot lines are at an acute angle, i.e., the first rectangular triangle of flexural pivot line on block 1 is connect on three
Shape arrangement.
This kind of arrangement algorithmically need to only compensate respective offsets distance and rotation angle, relative to three balls
Hinge line is algorithmically more simple in the form of any triangle is arranged；And it is arranged relative to three flexural pivot lines in positive triangle
Form, more for flexibility.
In practice, can according to specific operating condition select three groups of dynamometry components 10 arrangement, can choose as
Right angled triangle arrangement shown in fig. 5 also can choose any triangle arrangement.The case where arrangement space allows,
Also it can choose conventional positive triangle arrangement, as shown in Figure 6.
Dynamometry component 10 and six degree of freedom force measuring machine provided in an embodiment of the present invention, by every group of dynamometry component 10
Two one-dimensional load cells are set, and the pressure sensor 4 of one measurement vertical force of setting, can subtract in each one-dimensional load cell
The dynamometry algorithm complexity of small six degree of freedom force measuring structure improves measurement accuracy；And since algorithm is more simple with respect to traditional algorithm
It is single, therefore arrangement of three groups of dynamometry components 10 in six degree of freedom force measuring machine is more flexible, it can be according to actual condition pair
The position of three groups of dynamometry components 10 is arranged, and reduces the volume of six degree of freedom force measuring machine；Due in every group of dynamometry component 10
In be provided with elastic telescopic element 2, when the local dip power of moving platform 20 is larger, flexible guarantor can be provided to dynamometry component 10
Shield avoids 10 dynamometry of dynamometry component from failing or damage；Meanwhile elastic telescopic element 2 can be dynamic in acting on suddenly with filtration
The impulsive force of platform 20, and the perturbed force to continuous action in moving platform 20 measures, to make dynamometry component 10 and six certainly
Actual condition is more suitable for by degree force measuring machine；Due to dynamometry component 10 provided in an embodiment of the present invention and six degree of freedom force measuring machine
The dynamometry principle of structure is based on existing six more mature axis positioning robot's systems, therefore, in algorithm and electrical wiring board cloth
Set etc. can refer to six axis parallel connection positioning robots, and development cost is greatly saved.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of dynamometry component characterized by comprising
Upper link block (1)；
Two load cells, are connected to the lower end of the upper link block (1), and each load cell includes elastic telescopic member
Part (2), lower connecting block (3) and pressure sensor (4), the upper end of the elastic telescopic element (2) and the upper link block (1)
Lower end is hinged, and the upper end of lower end and the lower connecting block (3) is hinged, the lower end of the lower connecting block (3) and the pressure sensing
The upper end of device (4) connects, and the axis of two elastic telescopic elements (2) is in same plane and in predetermined angle.
2. dynamometry component according to claim 1, which is characterized in that the elastic telescopic element (2) includes stationary housing
(22) and push rod (21), the upper end of the push rod (21) are articulated with upper link block (1) lower end, and lower end is located at the stationary cylinder
In body (22), and it can be moved along the axial direction of the stationary housing (22).
3. dynamometry component according to claim 2, which is characterized in that the elastic telescopic element (2) is gas spring.
4. dynamometry component according to claim 1, which is characterized in that the upper end of the elastic telescopic element (2) passes through the
Hingedly, the lower end of the elastic telescopic element (2) passes through the second flexural pivot (52) and institute for one flexural pivot (51) and the upper link block (1)
It is hinged to state lower connecting block (3).
5. dynamometry component according to claim 4, which is characterized in that first flexural pivot (51) includes being connected to the bullet
First bulb (512) of property telescopic element (2) upper end and the first hinged-support (511) for being connected to the upper link block (1).
6. dynamometry component according to claim 1, which is characterized in that the pressure sensor (4) is piezoelectric ceramics sensing
Device.
7. dynamometry component according to claim 1, which is characterized in that lower connecting block (3) lower end offers holding tank,
Pressure sensor (4) upper end is located in the holding tank, and is threadedly coupled with the lower connecting block (3), and the pressure passes
The bottom surface of the lower connecting block (3) is stretched out in the lower end of sensor (4).
8. dynamometry component according to claim 1, which is characterized in that upper link block (1) lower end is equipped with upper tilted block
(61), the upper tilted block (61) has the first inclined surface with the bottom surface of the upper link block (1) in predetermined acute angle；
Lower connecting block (3) upper end is equipped with lower tilted block (62), and the lower tilted block (62) has the second inclined surface, and described the
Two inclined surface and first inclined surface are arranged in parallel；
The both ends of the elastic telescopic element (2) are hinged with first inclined surface and second inclined surface respectively.
9. a kind of six degree of freedom force measuring machine, which is characterized in that including moving platform (20), parallel with the moving platform (20) quiet
Platform (30) and three such as the described in any item dynamometry components (10) of claim 1-8；
The upper end of the upper link block (1) of each dynamometry component (10) is connected to the moving platform (20), each described
The lower end of the pressure sensor (4) of dynamometry component (10) is connected to the silent flatform (30)；
The line of two hinge joints on upper link block (1) described in any two is not parallel.
10. six degree of freedom force measuring machine according to claim 9, which is characterized in that upper link block (1) described in two of them
On the lines of two hinge joints be mutually perpendicular to.
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| CN201810097358.9A CN110095224A (en) | 2018-01-31 | 2018-01-31 | A kind of dynamometry component and six degree of freedom force measuring machine |
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| CN201810097358.9A CN110095224A (en) | 2018-01-31 | 2018-01-31 | A kind of dynamometry component and six degree of freedom force measuring machine |
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| CN115156869A (en) * | 2022-07-05 | 2022-10-11 | 航天晨光股份有限公司 | Stress measuring mechanism and assembling device |
| CN117433488A (en) * | 2023-12-20 | 2024-01-23 | 北京城建集团有限责任公司 | Building high formwork state monitoring architecture system and method |
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| CN117433488B (en) * | 2023-12-20 | 2024-03-29 | 北京城建集团有限责任公司 | Building high formwork state monitoring architecture system and method |
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Application publication date: 20190806 |