CN109708787B - Non-coupling multi-dimensional force sensor overload protection method and device - Google Patents
Non-coupling multi-dimensional force sensor overload protection method and device Download PDFInfo
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Abstract
The invention discloses an overload protection method and device for a non-coupling multidimensional force sensor, wherein the overload protection is carried out by limiting the position change threshold between a supporting end and a loading end of the multidimensional force sensor according to the position change conditions between the supporting end and the loading end of the multidimensional force sensor under different load actions. The device comprises a sleeve shell and a first limiting plate, wherein the first limiting plate is fixedly connected with a loading table of an elastic body of the multidimensional force sensor, a convex column and a groove which are matched with each other are respectively arranged on the first limiting plate and the loading table, the convex column stretches into the groove, a hole shaft gap is reserved between the convex column and the groove, and an axial distance is reserved between the peripheral edge of the top surface of the first limiting plate and the bottom surface of a supporting frame of the multidimensional force sensor. The overload protection device can independently adjust the overload capacity of the multidimensional force sensor in all directions, and can realize the accurate overload protection of force/moment.
Description
Technical Field
The invention relates to the technical field of sensors, in particular to an overload protection method and device for a non-coupling multidimensional force sensor.
Background
With the development of science and technology, robotics are increasingly applied to various occasions, such as transportation, welding, assembly, and the like. One of the key problems of the robot technology is intellectualization, and the six-dimensional force sensor is a key component of the intelligent characteristic of the space robot because of being capable of simultaneously sensing full force information in a three-dimensional space. The multi-dimensional force sensor generally comprises a supporting frame and a loading table arranged on the supporting frame, the core of the six-dimensional force sensor is the design of an elastomer, the structure of the elastomer directly determines the performance of the whole sensor, and the key of the performance of the sensor is the quality of the sensor.
Overload protection of six-dimensional force sensors is directly related to the use and safety of the six-dimensional force sensors, and is always the focus problem to be studied, but no better solution exists so far. Six-dimensional force sensors such as CN101419102a, CN101210850a, etc. do not have overload protection function; the overload protection device of the six-dimensional force sensor in the patent CN103528726a does not consider the problem of coupling, and it is difficult to realize accurate overload protection. In order to enhance the reliability of the multidimensional force sensor, the plastic deformation of the sensor elastomer in the overload and impact process is avoided, and the method is very important for the research of the multidimensional force sensor overload protection device.
Disclosure of Invention
The technical problem to be solved by the invention is to provide the uncoupled and uncoupled overload protection method and device for the multidimensional force sensor, which can independently adjust the overload capacity of the multidimensional force sensor in all directions and can realize the overload protection of accurate force/moment.
In order to solve the technical problems, the invention adopts the following technical scheme: the overload protection method of the non-coupling multidimensional force sensor is to carry out overload protection by limiting the position change threshold between the supporting end and the loading end of the multidimensional force sensor according to the position change conditions between the supporting end and the loading end of the multidimensional force sensor under different load actions.
Further, the linear displacement threshold of the force and the angular displacement threshold of the moment are also limited at different positions of the multi-dimensional force sensor, respectively.
Further, it is specifically a linear displacement threshold that limits forces near the central axis of the multi-dimensional force sensor, and an angular displacement threshold that limits moments at a periphery away from the central axis of the multi-dimensional force sensor.
Further, a limiting structure is arranged near the central axis of the multi-dimensional force sensor to limit the axial displacement and the radial displacement of the loading end of the multi-dimensional force sensor respectively so as to realize overload protection of force, and a limiting structure is arranged around the multi-dimensional force sensor to limit the overturning angle and the circumferential angle of the loading end of the multi-dimensional force sensor respectively so as to realize overload protection of moment.
Based on the method, the invention provides an uncoupled multi-dimensional force sensor overload protection device, wherein an elastomer of the multi-dimensional force sensor comprises a support frame and a loading table arranged on the support frame, the loading table comprises a sleeve shell and a first limiting plate, a supporting plate is arranged on the inner wall of the sleeve shell, the elastomer of the multi-dimensional force sensor is positioned in the sleeve shell, and the support frame of the elastomer of the multi-dimensional force sensor is fixedly connected with the supporting plate;
the first limiting plate is also positioned in the sleeve shell, the first limiting plate is fixedly connected with a loading table of the elastomer of the multi-dimensional force sensor, more than one convex column is arranged on the periphery edge of one face of the first limiting plate, which faces the multi-dimensional force sensor, of the elastomer of the multi-dimensional force sensor, a groove is formed in the position of the corresponding convex column on the support frame of the elastomer of the multi-dimensional force sensor, or more than one groove is formed on the periphery edge of one face of the first limiting plate, which faces the multi-dimensional force sensor, of the elastomer of the multi-dimensional force sensor, a convex column is arranged on the position of the corresponding groove on the support frame of the elastomer of the multi-dimensional force sensor, the convex column stretches into the groove, a hole shaft gap is reserved between the convex column and the groove, and an axial distance is reserved between the periphery edge of one face of the first limiting plate, which faces the elastomer of the multi-dimensional force sensor and the corresponding end face of the support frame of the multi-dimensional force sensor.
Further, still include second limiting plate and stopper, the second limiting plate links firmly in the sleeve casing, just the second limiting plate is arranged in the below or the top of first limiting plate, the orientation of first limiting plate the one side center of second limiting plate is equipped with big outside little stepped shaft, open at the center of second limiting plate has the spacing hole, the diameter minor segment of stepped shaft passes the spacing hole, the stopper links firmly the free end of the diameter minor segment of stepped shaft, just the diameter minor segment of stepped shaft with leave the hole axle clearance between the spacing hole, the shoulder of stepped shaft with between the second limiting plate and the stopper with leave the same axial distance between the second limiting plate.
Further, the sleeve shell is composed of a first sleeve and a second sleeve from top to bottom, a first flange extending outwards in the radial direction is arranged on the periphery of the lower end of the first sleeve, a second flange extending outwards in the radial direction is arranged on the periphery of the upper end of the second sleeve, and the second limiting plate is clamped between the first flange and the second flange to achieve fixation.
Further, the first limiting plate comprises a first annular supporting plate, more than two first supporting rods which are radially distributed and bosses with the same number as the first supporting rods, the outer ends of the first supporting rods are fixedly connected with the bosses in a one-to-one correspondence mode, the inner ends of the first supporting rods are integrally formed, the bosses are respectively fixed on the inner peripheral wall of the first annular supporting plate, the top surface of the boss is higher than that of the first annular supporting plate, and the first limiting plate is fixedly connected with the loading table of the elastomer of the multidimensional force sensor through the bosses.
Further, the second limiting plate comprises a second annular supporting plate and more than two second supporting rods which are distributed radially, the outer ends of the second supporting rods are fixedly connected to the inner peripheral wall of the second annular supporting plate respectively, and the inner ends of the second supporting rods are integrally formed.
Further, the elastic body of the multidimensional force sensor is any one of a three-beam structure, a cross beam structure, an E-shaped diaphragm structure and a Stewart structure.
The beneficial effects of the invention are as follows:
1. the overload protection method has low structural design requirement, is easy to implement, can independently adjust the overload capacity of the multidimensional force sensor in all directions, can realize accurate overload protection of force/moment, and has stable and reliable protection effect;
2. in the device, the sleeve shell and the supporting frame are used as supporting ends, the loading table is used as a loading end, the structure is equivalent to a structure with circumferential clearance fit and a structure with end face clearance fit between the first limiting plate and the supporting ends, overload protection of moment Mz can be realized by setting different clearances t1, and overload protection of moments Mx and My can be realized by setting different axial intervals t 2;
3. in the device, the first limiting plate, the second limiting plate and the limiting block are matched with each other, which is equivalent to a structure which is set to be in circumferential clearance fit and a structure which is set to be in end surface clearance fit, overload protection of forces Fx and Fy can be realized by setting different clearances t3, overload protection of force Fz can be realized by setting different axial intervals t4, and uncoupled overload protection of the multidimensional force sensor can be realized;
4. the overload protection device has a simple structure, is easy to process, can independently adjust the overload capacity of the multidimensional force sensor in all directions, and can realize the accurate overload protection of force/moment.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention.
Fig. 2 is a top view of an embodiment of the present invention.
Figure 3 is a cross-sectional view A-A.
Fig. 4 is an enlarged view at B.
Fig. 5 is an enlarged view at C.
Fig. 6 is an exploded view of the structure of an embodiment of the present invention.
Fig. 7 is a top view of a first limiting plate according to an embodiment of the invention.
Fig. 8 is a side view of a first limiting plate in an embodiment of the invention.
Fig. 9 is a top view of a second limiting plate according to an embodiment of the invention.
Fig. 10 is an exploded view of another embodiment of the present invention.
The components in the drawings are marked as follows: 1 sleeve shell, 2 first limiting plate, 3 second limiting plate, 4 limiting block, 5 cover plate, 6 elastic body of multidimensional force sensor, 11 first sleeve, 12 second sleeve, 13 first flange, 14 second flange, 15 supporting plate, 16 third flange, 17 fourth flange, 21 first annular supporting plate, 22 first supporting rod, 23 boss, 24 convex column, 25 stepped shaft, 26 through hole, 27 locating hole, 28 third mounting hole, 31 second annular supporting plate, 32 second supporting rod, 33 limiting hole, 34 first mounting hole, 35 second mounting hole, 61 supporting frame, 62 loading table, 63 groove.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.
The invention relates to an uncoupled multi-dimensional force sensor overload protection method, which is used for carrying out overload protection by limiting a position change (displacement) threshold between a supporting end and a loading end of a multi-dimensional force sensor according to the position change (displacement) condition between the supporting end and the loading end of the multi-dimensional force sensor under different load actions.
The support end can be a shell, a base, a lower cover, an elastomer fixed support and other structures of the multidimensional force sensor, which can provide direct/indirect support for the loading platform; the loading end can be an elastomer loading table of the multidimensional force sensor, an elastomer upper cover and the like.
The uncoupled multi-dimensional force sensor overload protection method has the advantages of low structural design requirement, easiness in implementation and stable and reliable protection effect.
In an embodiment, the method further limits the linear displacement threshold of the force and the angular displacement threshold of the moment at different locations of the multi-dimensional force sensor, respectively. If the force and moment overload protection is carried out on the multi-dimensional force sensor at the same position, the generated displacement of the force and moment on the multi-dimensional force sensor cannot be accurately distinguished, and the force and moment overload protection device can accurately carry out overload protection on the multi-dimensional force sensor by distinguishing the positions of the force and moment.
In an embodiment, the method is specifically a linear displacement threshold that limits force near a central axis of the multi-dimensional force sensor, and an angular displacement threshold that limits torque at a periphery away from the central axis of the multi-dimensional force sensor. The displacement change generated when the multidimensional force sensor is subjected to external load is very small and similar, the linear displacement generated when the loading end is subjected to the action of force is consistent in size on the whole plane, and the angular displacement generated when the loading end is subjected to the action of moment is linearly increased from the middle to the periphery, so that the multidimensional force sensor is easier to distinguish when the threshold value is limited, and the coupling influence between the force and the moment can be eliminated to the greatest extent.
In an embodiment, the method sets a limiting structure near the central axis of the multi-dimensional force sensor to limit the axial displacement and the radial displacement of the loading end of the multi-dimensional force sensor respectively so as to realize overload protection of force, and sets limiting structures around the multi-dimensional force sensor to limit the overturning angle and the circumferential angle of the loading end of the multi-dimensional force sensor respectively so as to realize overload protection of moment. The design of the invention limits the displacement generated by the load in all directions on the multidimensional force sensor at different positions, so that the overload protection of the sensor can be accurately realized, and the mutual influence among the loads is avoided.
In specific implementation, the elastomer 6 of the multidimensional force sensor can be any one of a three-beam structure, a cross beam structure, an E-shaped diaphragm structure and a Stewart structure.
See fig. 1-6.
Based on the method, the invention provides an uncoupled multi-dimensional force sensor overload protection device, which comprises a sleeve shell 1 and a first limiting plate 2, wherein an elastic body 6 of the multi-dimensional force sensor comprises a supporting frame 61 and a loading table 62 arranged on the supporting frame 61, a supporting plate 15 is arranged on the inner wall of the sleeve shell 1, the elastic body 6 of the multi-dimensional force sensor is positioned in the sleeve shell 1, and the supporting frame 61 of the elastic body 6 of the multi-dimensional force sensor is supported on the supporting plate 15 and is fixedly connected with the supporting plate 15;
the first limiting plate 2 is also located in the sleeve housing 1, the first limiting plate 2 is fixedly connected with a loading table 62 of the elastic body 6 of the multi-dimensional force sensor, one side peripheral edge of the first limiting plate 2 facing the multi-dimensional force sensor is provided with more than one convex column 24, a position of the supporting frame 61 of the elastic body 6 of the multi-dimensional force sensor corresponding to the convex column 24 is provided with a groove 63, or one side peripheral edge of the first limiting plate 2 facing the multi-dimensional force sensor is provided with more than one groove 63, a position of the supporting frame 61 of the elastic body 6 of the multi-dimensional force sensor corresponding to the groove 63 is provided with a convex column 24, the convex column 24 extends into the groove 63, a hole axis gap is reserved between the convex column 24 and the groove 63, as shown by t1 in fig. 4, an axial distance is reserved between the side peripheral edge of the elastic body 6 of the first limiting plate 2 facing the multi-dimensional force sensor and a corresponding end face of the supporting frame 61 of the elastic body 6 of the multi-dimensional force sensor, as shown by t2 in fig. 4.
According to the invention, the sleeve shell and the supporting frame are used as supporting ends, the loading table is used as a loading end, the structure of circumferential clearance fit and the structure of end face clearance fit are arranged between the first limiting plate and the supporting ends, overload protection of moment Mz can be realized by setting different clearances t1, and overload protection of moments Mx and My can be realized by setting different axial intervals t 2.
In an embodiment, referring to fig. 3 and 5, the device further includes a second limiting plate 3 and a limiting block 4, the second limiting plate 3 is fixedly connected in the sleeve housing 1, the second limiting plate 3 is disposed below or above the first limiting plate 2, a stepped shaft 25 with a small inner diameter and a small outer diameter is disposed in a center of a surface of the first limiting plate 2 facing the second limiting plate 3, a limiting hole 33 is formed in a center of the second limiting plate 3, a smaller diameter section of the stepped shaft 25 passes through the limiting hole 33, the limiting block 4 is fixedly connected to a free end of the smaller diameter section of the stepped shaft 25, a hole shaft gap is reserved between the smaller diameter section of the stepped shaft 25 and the limiting hole 33, as shown by t3 in fig. 5, an identical axial distance is reserved between a shoulder of the stepped shaft 25 and the second limiting plate 3 and between the limiting block 4 and the second limiting plate 3, and as shown by t4 in fig. 5.
The drawings only illustrate the case that the second limiting plate 3 is located below the first limiting plate 2, the case that the second limiting plate 3 is located above the first limiting plate 2 is substantially symmetrical to the structure illustrated in the drawings, the structure and mounting manner of the second limiting plate are correspondingly adjusted according to the change of the mounting position, and these can be designed by those skilled in the art as required, and for the sake of brevity, the understanding is only assisted by the exploded view of fig. 10.
By means of the design, the overload protection of the forces Fx and Fy can be achieved by setting different hole axis gaps t3, and the overload protection of the forces Fz can be achieved by setting different distances t 4.
Through the two sets of limit designs, the axial displacement and the radial displacement of the loading end of the multi-dimensional force sensor can be limited near the central axis of the multi-dimensional force sensor respectively, the overturning corner and the circumferential corner of the loading end of the multi-dimensional force sensor are limited around the multi-dimensional force sensor respectively, the overload protection of moment is realized, the displacement threshold values generated by limiting the force and the moment can be separated, namely, the linear displacement threshold value of limiting the force near the central axis of the multi-dimensional force sensor is limited, the angular displacement threshold value of limiting the moment at the periphery far away from the central axis of the multi-dimensional force sensor is comprehensively acted, and the non-coupling overload protection of the multi-dimensional force sensor is realized.
In an embodiment, referring to fig. 1, 3 and 6, the sleeve housing 1 is composed of a first sleeve 11 and a second sleeve 12 from top to bottom, a first flange 13 extending radially outwards is arranged at the periphery of the lower end of the first sleeve 11, a second flange 14 extending radially outwards is arranged at the periphery of the upper end of the second sleeve 12, and the second limiting plate 3 is clamped between the first flange 13 and the second flange 14 to achieve fixation. The design is easier to manufacture and install, and the structure is more reasonable and stable.
See figures 3, 7 and 8 below.
In an embodiment, the first limiting plate 2 includes a first annular supporting plate 21, more than two radially distributed first supporting rods 22, and bosses 23 equal to the number of the first supporting rods 22, the outer ends of the first supporting rods 22 are respectively and fixedly connected with the bosses 23 in a one-to-one correspondence manner, the inner ends of the first supporting rods 22 are integrally formed, the bosses 23 are respectively fixed on the inner peripheral wall of the first annular supporting plate 21, the top surface of the boss 23 is higher than the first annular supporting plate 21, and the first limiting plate 2 is fixedly connected with the loading platform 62 of the elastomer 6 of the multidimensional force sensor through the bosses 23. The structure of the first limiting plate is simpler and is easy to match with the multidimensional force sensor.
In one embodiment, the first annular supporting plate 21 is provided with a plurality of through holes 26 spaced apart along the circumferential direction of the first annular supporting plate 21. The through hole 26 is for reducing the weight of the first limiting plate, and its structural form is not unique.
Preferably, the stepped shaft 25 is disposed on a bottom surface of an inner end of each of the first support rods 22, and a positioning hole 27 penetrating both the inner end of each of the first support rods 22 and the stepped shaft 25 is formed. The locating hole is the locating hole that reserves in order to fix the stopper.
Preferably, the boss 23 is provided with a third mounting hole 28 for bolting with the loading platform.
See figures 3 and 9 below.
In an embodiment, the second limiting plate 3 includes a second annular supporting plate 31 and more than two radially distributed second supporting rods 32, the outer ends of the second supporting rods 32 are respectively fixedly connected to the inner peripheral wall of the second annular supporting plate 31, and the inner ends of the second supporting rods 32 are integrally formed. The structure of the second limiting plate is simpler.
In one embodiment, each of the second support rods 32 is provided with a first mounting hole 34 for fixing the circuit board.
Preferably, the second annular supporting plate 31 is provided with a plurality of second mounting holes 35 spaced apart along the circumferential direction thereof for bolting with the first flange and the second flange.
In an embodiment, the sleeve housing 1 further comprises a cover plate 5, and the cover plate 5 is detachably connected to the upper end of the sleeve housing 1. The cover plate is used for opening and closing the upper port of the sleeve shell.
Referring to fig. 3, preferably, the upper end periphery of the sleeve housing 1 is provided with a third flange 16 extending radially outwardly for detachable connection with the cover plate 5; the periphery of the lower end of the sleeve shell 1 is provided with a fourth flange 17 which extends outwards in a radial direction and is used for installing and fixing the sleeve shell; preferably, the support 61 and the sleeve housing 1 may be integrally formed and integrally formed.
The elastic body of the multi-dimensional force sensor illustrated in the figure is of a horizontal cross beam type structure, and can be of a double E-diaphragm type structure, or any one of a three-beam type structure, a cross beam type structure, an E-shaped diaphragm type structure, a Stewart type structure and the like; the limiting block can be round, square, elliptical and other irregular patterns.
The overload protection method and the overload protection device can independently adjust the overload capacity of the multidimensional force sensor in all directions, have simple structure and easy processing, and can realize the overload protection of accurate force/moment.
It should be understood that the examples and embodiments described herein are for illustrative purposes only and are not intended to limit the present invention, and that various modifications or changes in light thereof will be suggested to persons skilled in the art and are to be included within the spirit and purview of this application.
Claims (5)
1. A non-coupling multi-dimensional force sensor overload protection method is characterized in that: according to the position change condition between the supporting end and the loading end of the multi-dimensional force sensor under different load actions, overload protection is carried out by limiting the position change threshold between the supporting end and the loading end of the multi-dimensional force sensor; the linear displacement threshold value of the force and the angular displacement threshold value of the moment are respectively limited at different positions of the multi-dimensional force sensor, specifically the linear displacement threshold value of the force is limited near the central axis of the multi-dimensional force sensor, and the angular displacement threshold value of the moment is limited at the periphery far from the central axis of the multi-dimensional force sensor; limiting structures are arranged near the central axis of the multi-dimensional force sensor to limit the axial displacement and the radial displacement of the loading end of the multi-dimensional force sensor respectively so as to realize overload protection of force, and limiting structures are arranged around the multi-dimensional force sensor to limit the overturning angle and the circumferential angle of the loading end of the multi-dimensional force sensor respectively so as to realize overload protection of moment;
the elastic body (6) of the multi-dimensional force sensor comprises a supporting frame (61) and a loading table (62) arranged on the supporting frame (61), the device based on the protection method comprises a sleeve shell (1) and a first limiting plate (2), a supporting plate (15) is arranged on the inner wall of the sleeve shell (1), the elastic body (6) of the multi-dimensional force sensor is positioned in the sleeve shell (1), and the supporting frame (61) of the elastic body (6) of the multi-dimensional force sensor is fixedly connected with the supporting plate (15) mutually;
the first limiting plate (2) is also positioned in the sleeve shell (1), the first limiting plate (2) is fixedly connected with a loading table (62) of an elastomer (6) of the multi-dimensional force sensor, more than one convex column (24) is arranged at the periphery of one face of the first limiting plate (2) facing the multi-dimensional force sensor, a groove (63) is formed in a position, corresponding to the convex column (24), of a supporting frame (61) of the elastomer (6) of the multi-dimensional force sensor, or more than one groove (63) is formed in the periphery of one face of the first limiting plate (2) facing the multi-dimensional force sensor, a convex column (24) is arranged at the position, corresponding to the groove (63), of the supporting frame (61) of the elastomer (6) of the multi-dimensional force sensor, the convex column (24) stretches into the groove (63), a hole shaft clearance is reserved between the convex column (24) and the groove (63), and a corresponding axial distance is reserved between the periphery of one face of the first limiting plate (2) facing the multi-dimensional force sensor and the supporting frame (61) of the elastomer (6);
still include second limiting plate (3) and stopper (4), second limiting plate (3) link firmly in sleeve casing (1), just second limiting plate (3) are arranged in the below or the top of first limiting plate (2), the orientation of first limiting plate (2) the one side center of second limiting plate (3) is equipped with inside big outside little step shaft (25), spacing hole (33) have been opened at the center of second limiting plate (3), the diameter minor segment of step shaft (25) passes spacing hole (33), stopper (4) link firmly the free end of the diameter minor segment of step shaft (25), just leave the hole axle clearance between the diameter minor segment of step shaft (25) with leave the axial clearance between spacing hole (33) between the shoulder of step shaft (25) with between second limiting plate (3) and stopper (4) with leave the same axial clearance between the second limiting plate (3).
2. The uncoupled multidimensional force sensor overload protection method of claim 1, wherein: the sleeve shell (1) is composed of a first sleeve (11) and a second sleeve (12) from top to bottom, a first flange (13) extending outwards in the radial direction is arranged on the periphery of the lower end of the first sleeve (11), a second flange (14) extending outwards in the radial direction is arranged on the periphery of the upper end of the second sleeve (12), and the second limiting plate (3) is clamped between the first flange (13) and the second flange (14) to achieve fixation.
3. The uncoupled multidimensional force sensor overload protection method of claim 1 or 2, wherein: the first limiting plate (2) comprises a first annular supporting plate (21), more than two first supporting rods (22) which are radially distributed and bosses (23) the number of which is the same as that of the first supporting rods (22), the outer ends of the first supporting rods (22) are fixedly connected with the bosses (23) in a one-to-one correspondence mode, the inner ends of the first supporting rods (22) are integrally formed, the bosses (23) are respectively fixed on the inner peripheral wall of the first annular supporting plate (21), the top surface of the boss (23) is higher than that of the first annular supporting plate (21), and the first limiting plate (2) is fixedly connected with a loading table (62) of an elastomer (6) of the multidimensional force sensor through the bosses (23).
4. The uncoupled multidimensional force sensor overload protection method of claim 1 or 2, wherein: the second limiting plate (3) comprises a second annular supporting plate (31) and more than two second supporting rods (32) which are radially distributed, the outer ends of the second supporting rods (32) are respectively fixedly connected to the inner peripheral wall of the second annular supporting plate (31), and the inner ends of the second supporting rods (32) are integrally formed.
5. The uncoupled multidimensional force sensor overload protection method of claim 1 or 2, wherein: the elastic body (6) of the multidimensional force sensor is any one of a three-beam structure, a cross beam structure, an E-shaped diaphragm structure and a Stewart structure.
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| CN201910169704.4A CN109708787B (en) | 2019-03-07 | 2019-03-07 | Non-coupling multi-dimensional force sensor overload protection method and device |
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| CN201910169704.4A CN109708787B (en) | 2019-03-07 | 2019-03-07 | Non-coupling multi-dimensional force sensor overload protection method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111390950A (en) * | 2020-04-22 | 2020-07-10 | 成都飞机工业（集团）有限责任公司 | Robot hand with overload protection function for carrying aircraft part trays |
| CN114623959A (en) * | 2020-12-10 | 2022-06-14 | 苏州艾利特机器人有限公司 | High overload protection force sensor |
| WO2022121870A1 (en) * | 2020-12-10 | 2022-06-16 | 苏州艾利特机器人有限公司 | High overload protection force sensor and robot |
| CN114593850B (en) * | 2022-05-10 | 2022-07-29 | 常州坤维传感科技有限公司 | Overload-proof sensor elastomer and six-axis force sensor |
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