CN106030268A - Six-dimensional sensor protection device and six-dimensional sensor having protection device - Google Patents
Six-dimensional sensor protection device and six-dimensional sensor having protection device Download PDFInfo
- Publication number
- CN106030268A CN106030268A CN201680000436.8A CN201680000436A CN106030268A CN 106030268 A CN106030268 A CN 106030268A CN 201680000436 A CN201680000436 A CN 201680000436A CN 106030268 A CN106030268 A CN 106030268A
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- China
- Prior art keywords
- force sensor
- flange
- dimension force
- hole
- protection device
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/26—Auxiliary measures taken, or devices used, in connection with the measurement of force, e.g. for preventing influence of transverse components of force, for preventing overload
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a six-dimensional sensor protection device comprising a first flange, second flanges, and protection pins. A plurality of installation holes are arranged between the first flange and one of the second flange, and through holes cooperated with the installation holes are arranged between the first flange and the other second flange. The protection pins and the installation holes are in an interference fit, and the protection pins and the through holes are in a clearance fit. The protection pins are inserted in the through holes and the installation holes, and the first flange and the second flanges are used to form a cavity used for accommodating the six-dimensional sensor. The invention also discloses a six-dimensional sensor having the protection device. The invention is advantageous in that the structure is simple, the proper structural size is designed according to the actual application scene, and a certain overload protection capability of the six-dimensional sensor is provided; the applicability is strong, and the protection device can be directly used for the six-dimensional sensor; the overload protection function is provided, and the device damage rate is reduced; for the overload collision not damaging the six-dimensional sensor, only the damaged overload protection structure is required to be replaced, and therefore the cost is reduced.
Description
Technical field
The application relates to sensor, particularly relates to a kind of six-dimension force sensor protection device and has the 6 DOF of protection device
Force transducer.
Background technology
Six-dimension force sensor is because of all one's effort information in energy simultaneously perception three dimensions, and is widely used in intelligent machine
People, automatically control, multiple research fields such as space flight and aviation, play in scientific technological advance, commercial production and national defense construction
Important function.Although existing six-dimension force sensor product possesses the advantage such as high accurancy and precision, delicate structure, but exists and outrange easily
Damage and the fatal defects of unrepairable, easily cause parts damages because of maloperation in research and development and use process.Tradition uses six
Dimensional force sensor arranges jerk control to play six-dimensional force biography often by combining six-dimension force sensor range on software view
The protective effect of sensor, but reality debug during due to programming error or the external world some burst touch by mistake,
Still the damage of six-dimension force sensor is easily caused.
Six-dimension force sensor is to obtain suffered non-coplanar force/moment by the deflection of detection core component elastomer to believe
Breath, the range of six-dimension force sensor is determined by the deformable amount of elastomer, is therefore directed to the overload protection of six-dimension force sensor,
Mainly limit elastomer in regime of elastic deformation, it is to avoid because causing device failure beyond elastomer deformation range.Existing
Part six-dimension force sensor sets up overcurrent protection structure in the elastomer, and its overload protection threshold value is limited to the rigidity of elastomer own
With six-dimension force sensor physical dimension, overload protection threshold value is less.
Summary of the invention
The application provides a kind of six-dimension force sensor protection device and has the six-dimension force sensor of protection device.
According to the first aspect of the application, the application provides a kind of six-dimension force sensor protection device, including with six-dimensional force
The second flange and guard pin holding the first flange connected to be connected fixed with six-dimension force sensor movable end by sensor, described
One of first flange and described second flange are provided with multiple installing hole, and another of described first flange and described second flange is provided with
The through hole coordinated with described installing hole, described guard pin and described installing hole interference fit and coordinate with described via clearance, institute
Stating guard pin to coordinate with described installing hole quantity, described guard pin is located in described through hole and described installing hole, makes described
One flange and described second flange cross the chamber accommodating six-dimension force sensor.
According to the second aspect of the application, the application provides a kind of six-dimension force sensor with protection device, including six
Dimensional force sensor and above-mentioned six-dimension force sensor protection device.
Owing to have employed above technical scheme, make what the application possessed to have the beneficial effects that:
In the detailed description of the invention of the application, owing to protection device includes the first flange, the second flange and guard pin, the
One of one flange and the second flange are provided with multiple installing hole, and another of the first flange and the second flange is provided with and coordinates with installing hole
Through hole, guard pin and installing hole interference fit and coordinate with via clearance, guard pin is located in through hole and installing hole, the application
It is not only simple in structure, also can select the material of proper stiffness according to practical application or design suitable physical dimension, with really
Protect and possess certain six-dimension force sensor overload protection ability.The application suitability is strong, may be directly applied to the existing 6 DOF in market
Force transducer, it is achieved cell overload defencive function, reduces device failure probability, for the mistake not injuring six-dimension force sensor
Load is touched, and only need to change the overcurrent protection structure of damage, thus reduce cost.
Accompanying drawing explanation
Fig. 1 is the first flange structural representation in one embodiment of the application；
Fig. 2 is the second flange structural representation in one embodiment of the application；
Fig. 3 is the explosive view in one embodiment of the six-dimension force sensor with protection device of the application；
Fig. 4 is the sectional view in one embodiment of the six-dimension force sensor with protection device of the application；
Fig. 5 is the through hole schematic diagram in one embodiment of the application.
Detailed description of the invention
Combine accompanying drawing below by detailed description of the invention the application is described in further detail.
Embodiment one:
As shown in Figures 1 to 5, the six-dimension force sensor protection device of the application, its a kind of embodiment, the can be included
One flange the 10, second flange 20 and guard pin 30.First flange 10 and six-dimension force sensor fixing end is connected, the second flange 20 and
Six-dimension force sensor 40 movable end connects, and one of the first flange 10 and the second flange 20 are provided with multiple installing hole 11, the first flange
10 and second another of flange 20 be provided with through hole 21, through hole 21 coordinates with installing hole 11, guard pin 30 and installing hole interference fit,
Guard pin 30 and through hole 21 matched in clearance, guard pin 30 coordinates with installing hole 11 quantity, and guard pin 30 is located in through hole 21 and peace
In dress hole 11, the first flange 10 and the second flange 20 is made to cross the chamber accommodating six-dimension force sensor 40.At a kind of embodiment
In, installing hole 11 is arranged on the first flange 10, and through hole 21 is arranged on the second flange 20, in another embodiment, installs
Hole 11 is arranged on the second flange 20, and through hole 21 is arranged on the first flange 10.It is arranged on the first flange 10 below with installing hole 11
On, through hole 21 illustrates as a example by being arranged on the second flange 20.
First flange 10 of the application can include the first connecting plate 12 and annular lug 13, and projection 13 can be around six-dimensional force
Sensor 40, projection 13 is provided with opening 14, and projection 13 is arranged on the first connecting plate 12, and installing hole 11 is evenly provided on projection
On 13.In one embodiment, the quantity of installing hole 11 can have two, three, four, or more, when installing hole 11
Quantity when being even number, installing hole 11 is symmetrical arranged.Through hole 21 is identical with the quantity of installing hole 11 with the quantity of guard pin 30, and
Position coordinates.It is outside that first flange 10 can also include that boss 15, boss 15 are arranged on projection 13, and installing hole 11 runs through and adds
Strong block 15.
Second flange 20 of the application can include the second connecting plate 22 and multiple boss 23, and boss 23 is arranged on second even
On fishplate bar 22, through hole 21 is arranged on boss 23.Second flange 20 can also include annular round platform 24, and annular round platform 24 is with sextuple
Force transducer 40 size coordinates, and round platform 24 is arranged on the second connecting plate 22, and boss 23 is arranged on round platform 24.
In one embodiment, through hole 21 includes slotted eye.The width L of through hole 21 is calculated by below equation:
L=D0+x·l (1)
The height H of through hole is calculated by below equation:
H=D0+x·h (3)
Wherein, D0For guard pin 30 diameter, x is the multiple that the load of six-dimension force sensor 40 single shaft allows overload, and l is sextuple
Gap value on the lower L direction of force transducer 40 single shaft load license, h is the lower H direction of six-dimension force sensor 40 single shaft load license
On gap value, RiEach for six-dimension force sensor 40 is measured to rotatable, PiEach to translation amount, i=for six-dimension force sensor 40
{x,y,z}。
Six-dimension force sensor 40 each to rotatably measuring RiAnd it is each to translation amount PiCalculated by below equation:
Wherein, Fi、Ti、KtiWith KiBe respectively six-dimension force sensor 40 respectively to power, moment, torsional rigidity peace dynamic stiffness
Value, r is the distribution radius of through hole.The application can be by limiting six-dimension force sensor amount of spin and translation amount, it is achieved six-dimensional force passes
The overload protection of sensor.
In one embodiment, installing hole 11 includes blind hole or through hole.
Embodiment two:
As shown in Figures 1 to 5, the six-dimension force sensor with protection device of the application, its a kind of embodiment, including
Six-dimension force sensor protection device in six-dimension force sensor and embodiment one.Six-dimension force sensor protection device can include
One flange the 10, second flange 20 and guard pin 30.First flange 10 and six-dimension force sensor fixing end is connected, the second flange 20 and
Six-dimension force sensor 40 movable end connects, and one of the first flange 10 and the second flange 20 are provided with multiple installing hole 11, the first flange
10 and second another of flange 20 be provided with through hole 21, through hole 21 coordinates with installing hole 11, guard pin 30 and installing hole interference fit,
Guard pin 30 and through hole 21 matched in clearance, guard pin 30 coordinates with installing hole 11 quantity, and guard pin 30 is located in through hole 21 and peace
In dress hole 11, making the first flange 10 and the second flange 20 cross the chamber accommodating six-dimension force sensor 40, six-dimension force sensor sets
Put in the chamber.In one embodiment, installing hole 11 is arranged on the first flange 10, and through hole 21 is arranged on the second flange
20, in another embodiment, installing hole 11 is arranged on the second flange 20, and through hole 21 is arranged on the first flange 10.Below
Being arranged on the first flange 10 with installing hole 11, through hole 21 illustrates as a example by being arranged on the second flange 20.
First flange 10 of the application can include the first connecting plate 12 and annular lug 13, and projection 13 can be around six-dimensional force
Sensor 40, projection 13 is provided with opening 14, and projection 13 is arranged on the first connecting plate 12, and installing hole 11 is evenly provided on projection
On 13.In one embodiment, the quantity of installing hole 11 can have two, three, four, or more, when installing hole 11
Quantity when being even number, installing hole 11 is symmetrical arranged.Through hole 21 is identical with the quantity of installing hole 11 with the quantity of guard pin 30, and
Position coordinates.It is outside that first flange 10 can also include that boss 15, boss 15 are arranged on projection 13, and installing hole 11 runs through and adds
Strong block 15.
Second flange 20 of the application can include the second connecting plate 22 and multiple boss 23, and boss 23 is arranged on second even
On fishplate bar 22, through hole 21 is arranged on boss 23.Second flange 20 can also include annular round platform 24, and annular round platform 24 is with sextuple
Force transducer size coordinates, and round platform 24 is arranged on the second connecting plate 22, and boss 23 is arranged on round platform 24.
In one embodiment, through hole 21 includes slotted eye.The width L of through hole 21 is calculated by below equation:
L=D0+x·l (1)
The height H of through hole is calculated by below equation:
H=D0+x·h (3)
Wherein, D0For guard pin 30 diameter, x is the multiple that the load of six-dimension force sensor 40 single shaft allows overload, and l is sextuple
Gap value on the lower L direction of force transducer 40 single shaft load license, h is the lower H direction of six-dimension force sensor 40 single shaft load license
On gap value, RiEach for six-dimension force sensor 40 is measured to rotatable, PiEach to translation amount, i=for six-dimension force sensor 40
{x,y,z}。
Six-dimension force sensor 40 each to rotatably measuring RiAnd it is each to translation amount PiCalculated by below equation:
Wherein, Fi、Ti、KtiWith KiBe respectively sensor respectively to power, moment, torsional rigidity peace dynamic stiffness value, r is logical
The distribution radius in hole.The application can be by limiting six-dimension force sensor amount of spin and translation amount, it is achieved the mistake of six-dimension force sensor
Carry protection.
In one embodiment, installing hole 11 includes blind hole or through hole.
Above content is to combine the further description that the application is made by specific embodiment, it is impossible to assert this Shen
Being embodied as please is confined to these explanations.For the application person of an ordinary skill in the technical field, do not taking off
On the premise of the application conceives, it is also possible to make some simple deduction or replace.
Claims (10)
1. a six-dimension force sensor protection device, it is characterised in that include fixing first that end is connected with six-dimension force sensor
The second flange that flange is connected with six-dimension force sensor movable end and guard pin, described first flange and described second flange
One of be provided with multiple installing hole, another of described first flange and described second flange is provided with coordinate with described installing hole logical
Hole, described guard pin and described installing hole interference fit and coordinate with described via clearance, described guard pin and described installing hole
Quantity coordinates, and described guard pin is located in described through hole and described installing hole, makes described first flange and described second flange
Cross the chamber accommodating six-dimension force sensor.
2. six-dimension force sensor protection device as claimed in claim 1, it is characterised in that described first flange includes first even
Fishplate bar and the annular lug being provided with opening, described projection is arranged on described first connecting plate, and described installing hole is arranged equably
On described projection.
3. six-dimension force sensor protection device as claimed in claim 2, it is characterised in that described first flange also includes strengthening
Block, described boss is arranged on outside described projection, and described installing hole runs through described boss.
4. six-dimension force sensor protection device as claimed in claim 2, it is characterised in that described second flange includes second even
Fishplate bar and multiple boss, described boss is arranged on described second connecting plate, and described through hole is arranged on described boss.
5. six-dimension force sensor protection device as claimed in claim 4, it is characterised in that described second flange also includes and six
The annular round platform that dimensional force sensor size coordinates, described round platform is arranged on described second connecting plate, and described boss is arranged on institute
State on round platform.
6. the six-dimension force sensor protection device as according to any one of Claims 1-4, it is characterised in that described through hole bag
Include slotted eye.
7. six-dimension force sensor protection device as claimed in claim 6, it is characterised in that the width L of described through hole by with
Lower formula calculates:
L=D0+x·l (1)
The height H of described through hole is calculated by below equation:
H=D0+x·h (3)
Wherein, D0For guard pin diameter, x is the multiple that the load of six-dimension force sensor single shaft allows overload, and l is six-dimension force sensor
Gap value on the lower L direction of single shaft load license, h is the gap value on the lower H direction of six-dimension force sensor single shaft load license, Ri
Each for six-dimension force sensor is measured to rotatable, PiFor six-dimension force sensor respectively to translation amount, i={x, y, z}.
8. six-dimension force sensor protection device as claimed in claim 7, it is characterised in that described six-dimension force sensor each to
Rotatably measure RiAnd it is each to translation amount PiCalculated by below equation:
Wherein, Fi、Ti、KtiWith KiBe respectively sensor respectively to power, moment, torsional rigidity peace dynamic stiffness value, r is described logical
The distribution radius in hole.
9. six-dimension force sensor protection device as claimed in claim 5, it is characterised in that described installing hole includes blind hole or logical
Hole.
10. a six-dimension force sensor with protection device, it is characterised in that include six-dimension force sensor and such as claim
Six-dimension force sensor protection device according to any one of 1 to 9.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/082319 WO2017197575A1 (en) | 2016-05-17 | 2016-05-17 | Six dimensional force transducer protection apparatus and six dimensional transducer having protection apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106030268A true CN106030268A (en) | 2016-10-12 |
Family
ID=57128031
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680000436.8A Pending CN106030268A (en) | 2016-05-17 | 2016-05-17 | Six-dimensional sensor protection device and six-dimensional sensor having protection device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106030268A (en) |
| WO (1) | WO2017197575A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109307567A (en) * | 2018-10-25 | 2019-02-05 | 中国科学院合肥物质科学研究院 | A kind of comprehensive overload protecting mechanism of hook conjunction plug-in and its design method for six-dimension force sensor |
| CN109708787A (en) * | 2019-03-07 | 2019-05-03 | 合肥工业大学 | A kind of non-coupling multi-dimension force sensor method and device for overload protection |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110608824A (en) * | 2019-07-17 | 2019-12-24 | 台州中清科技有限公司 | Six-dimensional force sensor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62274230A (en) * | 1986-05-22 | 1987-11-28 | ロ−ド・コ−ポレイシヨン | Force/torque sensor having overload protection |
| JPH10293070A (en) * | 1997-04-18 | 1998-11-04 | Fanuc Ltd | Overload protective mechanism for force sensor |
| CN2624200Y (en) * | 2003-04-17 | 2004-07-07 | 合肥工业大学 | Overload protector for multiple axes force transducer |
| CN1538156A (en) * | 2003-04-17 | 2004-10-20 | 合肥工业大学 | Overload protection device for multi-axial force sensor |
| CN101118194A (en) * | 2007-09-14 | 2008-02-06 | 哈尔滨工业大学 | Joint moment sensor providing torque and bending moment overload protection |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2110392A (en) * | 1981-11-24 | 1983-06-15 | Berkel Patent Nv | Overload protection device |
| JPH0643930B2 (en) * | 1988-01-23 | 1994-06-08 | ニッタ株式会社 | Overload protection device for force sensor |
| US6711960B2 (en) * | 2001-05-31 | 2004-03-30 | Teac Corporation | Compact load cell with arm tension absorption means and arm reinforcement means |
-
2016
- 2016-05-17 CN CN201680000436.8A patent/CN106030268A/en active Pending
- 2016-05-17 WO PCT/CN2016/082319 patent/WO2017197575A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62274230A (en) * | 1986-05-22 | 1987-11-28 | ロ−ド・コ−ポレイシヨン | Force/torque sensor having overload protection |
| JPH10293070A (en) * | 1997-04-18 | 1998-11-04 | Fanuc Ltd | Overload protective mechanism for force sensor |
| CN2624200Y (en) * | 2003-04-17 | 2004-07-07 | 合肥工业大学 | Overload protector for multiple axes force transducer |
| CN1538156A (en) * | 2003-04-17 | 2004-10-20 | 合肥工业大学 | Overload protection device for multi-axial force sensor |
| CN101118194A (en) * | 2007-09-14 | 2008-02-06 | 哈尔滨工业大学 | Joint moment sensor providing torque and bending moment overload protection |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109307567A (en) * | 2018-10-25 | 2019-02-05 | 中国科学院合肥物质科学研究院 | A kind of comprehensive overload protecting mechanism of hook conjunction plug-in and its design method for six-dimension force sensor |
| CN109708787A (en) * | 2019-03-07 | 2019-05-03 | 合肥工业大学 | A kind of non-coupling multi-dimension force sensor method and device for overload protection |
| CN109708787B (en) * | 2019-03-07 | 2024-01-26 | 合肥工业大学 | Non-coupling multi-dimensional force sensor overload protection method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2017197575A1 (en) | 2017-11-23 |
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Application publication date: 20161012 |