CN114623959A - High overload protection force sensor - Google Patents
High overload protection force sensor Download PDFInfo
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- CN114623959A CN114623959A CN202011431691.2A CN202011431691A CN114623959A CN 114623959 A CN114623959 A CN 114623959A CN 202011431691 A CN202011431691 A CN 202011431691A CN 114623959 A CN114623959 A CN 114623959A
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- 238000006073 displacement reaction Methods 0.000 claims description 80
- 230000013011 mating Effects 0.000 claims description 22
- 238000001514 detection method Methods 0.000 claims description 4
- 238000012545 processing Methods 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 7
- 238000013461 design Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
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- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000003466 welding Methods 0.000 description 1
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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
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
- G01L1/2287—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges constructional details of the strain gauges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
- G01L5/1627—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of strain gauges
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- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention relates to a high overload protection force sensor which comprises an outer frame, an inner platform and a plurality of elastic beams arranged between the outer frame and the inner platform. The invention has the beneficial effects that: the force sensor has simple structure, easy processing and good overload performance.
Description
Technical Field
The invention relates to the technical field of sensors, in particular to a high overload protection force sensor.
Background
With the continuous development of robot technology, robots are increasingly applied to various occasions such as carrying, welding, detection and the like, and the increasingly rich application scenarios of robots require that the robots are more intelligent and precise, and the force control requirements on the tail ends of the robot execution mechanisms are increased.
The force sensor can be arranged at the tail end of the robot actuating mechanism so as to meet the force control requirement of the robot actuating mechanism. At present, force sensors have become a key research direction, and there are many design schemes for the structure design of force sensors, especially for the elastic beam, but the design for the overload protection of the force sensor is relatively few. The overload protection structure of the force sensor has important significance, the safety of the force sensor is directly related to the safety of the force sensor, and the research on the safety of the force sensor has important significance for the field of robots, particularly for cooperative robots with extremely high safety requirements.
In the process of implementing the invention, the inventor finds that the overload protection structure of the force sensor in the prior art is generally complex. For example, patent with publication number CN103528726B provides an overload protection structure, in which protection holes matched with protection pins are formed in an overload protection beam and an outer beam, and the protection pins are in interference fit with the overload protection beam and in clearance fit with outer ring tool through holes.
Therefore, there is a need for a force sensor with simple structure, easy implementation and good overload performance.
Disclosure of Invention
In view of this, the present invention aims to provide a force sensor with simple structure, easy implementation and good overload performance.
The invention can adopt the following technical scheme: the utility model provides a force transducer, includes outer frame, inside platform and set up in a plurality of elastic beams between outer frame and the inside platform, force transducer includes a plurality of overload protection portions that circumference distributes, overload protection portion includes outer frame part inwards extend with inside platform part outwards extends the fitting surface that forms that has the clearance.
Further, the plurality of overload protection portions include a first overload protection portion and a second overload protection portion, the first overload protection portion is at least used for limiting the displacement of the force sensor along the vertical direction, and the second overload protection portion is at least used for limiting the displacement of the force sensor along the horizontal direction.
Further, the first overload protection part can at least partially convert the displacement in the vertical direction into the displacement in the horizontal direction, and the first overload protection part and the second overload protection part work together to limit the displacement of the force sensor in the vertical direction.
Further, first overload protection portion is including having gapped cooperation inclined plane, cooperation inclined plane and vertical direction form not for 90 degrees and not for the contained angle of 180 degrees.
Furthermore, the matching surface of the second overload protection part is a matching inclined surface or a matching curved surface, and the matching surface of the second overload protection part is perpendicular to the horizontal plane.
Further, the second overload protection part comprises symmetrical matching inclined planes or matching curved surfaces.
Further, the plurality of overload protection portions include a first overload protection portion and a second overload protection portion, which are arranged in pairs, so as to limit displacement or torsion of the force sensor in different directions.
Further, the first overload protecting portions arranged in pairs are symmetrical or antisymmetrical with respect to the center of the force sensor, and/or the second overload protecting portions arranged in pairs are symmetrical or antisymmetrical with respect to the center of the force sensor.
Further, the first overload protection portion includes a fitting stepped surface in a vertical direction.
Further, overload protection portion includes the cooperation inclined plane, the cooperation inclined plane of first overload protection portion with the cooperation inclined plane incline direction of second overload protection portion is different to the restriction displacement or the torsion of the different directions of force sensor.
Further, the force sensor comprises four elastic beams which are distributed in a cross shape, and the overload protection part is arranged between the adjacent elastic beams.
Further, the force sensor is formed as a torque sensor, a three-dimensional force sensor or a six-dimensional force sensor.
The invention can also adopt the following technical scheme: a robot comprising a working arm for performing work by being driven by an actuator, the end of the working arm comprising a connector for connecting various task tools, the connector being provided with a force sensor as described in any of the above, the robot controlling the work to be performed at least partially based on the detection result of the force sensor.
Further, the robot is an industrial robot, and preferably, the robot is a cooperative robot.
Compared with the prior art, the specific implementation mode of the invention has the beneficial effects that: force sensor's overload protection portion includes that outside frame part extends inwards and inside platform part extends outwards and forms the fitting surface that has the clearance, through the displacement of the butt restriction force sensor of fitting surface, force sensor's simple structure, easily processing, overload performance are good.
Drawings
The above objects, technical solutions and advantages of the present invention can be achieved by the following drawings:
FIG. 1 is a schematic diagram of a force sensor according to a first embodiment of the present invention
FIG. 2 is a schematic diagram of a force sensor of a second embodiment of the present invention
FIG. 3 is a schematic diagram of a force sensor according to a third embodiment of the present invention
FIG. 4 is a schematic diagram of a force sensor according to a fourth embodiment of the present invention
FIG. 5 is a schematic view of a robot according to an embodiment of the present invention
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the embodiments of the present invention will be described in detail and fully with reference to the accompanying drawings in the following embodiments of the present invention, and it is obvious that the described embodiments are some but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The invention protects a force sensor, referring to fig. 1-4, which show several embodiments of the force sensor 1 protected by the invention, the force sensor 1 comprises an outer frame 10, an inner platform 20 and a plurality of elastic beams 30 arranged between the outer frame 10 and the inner platform 20, the elastic beams can be pasted with strain gauges to detect force/moment according to the deformation of the elastic beams, the force sensor 1 comprises a plurality of overload protection parts 40 distributed circumferentially and used for limiting the displacement of the force sensor 1 to ensure the use safety of the force sensor, and the overload protection parts 40 comprise matching surfaces with gaps formed by inward extension of the outer frame 10 part and outward extension of the inner platform 20 part. Specifically, the outer frame 10 extends partially inwards to form a tangent plane, the inner platform 20 extends partially outwards to form a tangent plane, the tangent plane of the outer frame 10 and the tangent plane of the inner frame can form a matching surface with a gap, when the force sensor is subjected to a force or a moment exceeding the range of the force sensor, the gap can provide an overload stroke to avoid the damage of the force sensor, meanwhile, the matching surface formed by the outer frame 10 and the inner platform 20 limits the excessive deformation of the force sensor 1 under the force, the outer frame 10 and the inner platform form a matching surface, the part extending inwards of the outer frame and the part extending outwards of the inner platform form a supporting structure, so that the force sensor has good rigidity and overload performance under the overload force, and the size of the supporting structure can be indirectly changed by changing the size of the matching surface, to enhance the overload performance of the force sensor. Form through outer frame 10 and interior platform 20 and have gapped fitting surface and restrict the transshipping of force sensor 1, the existence in clearance can guarantee that force sensor 1 has suitable overload stroke, can adapt to the overload requirement under the different scenes through the size in adjustment clearance, realizes overload protection through the fitting surface effect, does not increase new spare part, force sensor's structure is fairly simple, simultaneously, and is comparatively simple to the processing of fitting surface, compares in the mode of carrying out pinhole cooperation or screw in the conventional art, and force sensor simple structure of this scheme, easily processing, easy realization and rigidity is higher, anti overload capacity is strong, is fit for popularizing and applying in the industry.
In one embodiment of the present invention, the overload protection portions include a matching inclined surface, that is, the first overload protection portion includes a matching inclined surface, the second overload protection portion includes a matching inclined surface, the matching inclined surface of the first overload protection portion and the matching inclined surface of the second overload protection portion have different inclined directions, the inclined surface of the first overload protection portion at least is used for limiting the displacement of the force sensor along the vertical direction, and the inclined surface of the second overload protection portion at least is used for limiting the displacement of the force sensor along the horizontal direction. The force sensor comprises a plurality of overload protection portions distributed along the circumferential direction, the overload protection portions comprise at least two first overload protection portions and at least two second overload protection portions, the at least two first overload protection portions are at least used for limiting displacement of the force sensor along the vertical direction, and the at least two second overload protection portions are at least used for limiting displacement of the force sensor along the horizontal direction. Further, the first overload protection portions are commonly used for limiting the displacement of the force sensor along the vertical direction, and the second overload protection portions are commonly used for limiting the displacement of the force sensor along the horizontal direction, so that the overload protection performance of the force sensor is ensured.
In one embodiment of the present invention, the first overload protection portion includes a fitting slope having a gap, the fitting slope forming an angle other than 90 degrees and other than 180 degrees with a vertical direction. The matching surface of the second overload protection part comprises a matching inclined surface or a matching curved surface, and the matching surface of the second overload protection part is perpendicular to the horizontal plane. That is, the fitting surface of the first overload protection portion and the vertical direction form an included angle which is not 90 degrees and not 180 degrees, that is, the fitting surface of the first overload protection portion is in an inclined state in the vertical direction to at least be used for limiting the displacement of the force sensor along the vertical direction, that is, the fitting surface of the first overload protection portion can generate a supporting force in the vertical direction to limit the displacement of the force sensor along the vertical direction. Meanwhile, the matching surface of the first overload protection part can limit the displacement in the horizontal direction. Force transducer includes a plurality of overload protection portions, a plurality of overload protection portions include a plurality of first overload protection portions, the cooperation inclined plane of a plurality of first overload protection portions and vertical direction form not for 90 degrees and not for the contained angle of 180 degrees, promptly the cooperation inclined plane of a plurality of first overload protection portions is the tilt state in vertical direction, and is preferred, the inclination on the cooperation inclined plane of a plurality of first overload protection portions is the same. In one embodiment of the present invention, the plurality of first overload protection portions form an included angle with the vertical direction, which is not 90 degrees and not 180 degrees, and at least two of the plurality of first overload protection portions are inclined in opposite directions in the vertical direction so as to limit displacement of the force sensor caused by opposite acting forces in the vertical direction.
As described above, the mating surface of the second overload protection portion is perpendicular to the horizontal plane, and the second overload protection portion is at least used for limiting the displacement of the force sensor in the horizontal direction. The mating surface of the second overload protection portion can limit displacement caused by acting force in the horizontal direction and torsion of the force sensor caused by overload moment. In one embodiment of the invention, the second overload protection portions comprise mating inclined surfaces, and the plurality of overload protection portions comprise a plurality of second overload protection portions, wherein at least two of the second overload protection portions are inclined in opposite directions in a direction perpendicular to a horizontal plane to limit displacement or torsion of the force sensor in different directions. Specifically, the second overload protection portion includes a symmetrical matching inclined surface or a matching curved surface, so that the second overload protection portion can limit forces or moments in multiple directions.
The force sensor 1 comprises a plurality of overload protection portions 40, preferably, the plurality of overload protection portions 40 are uniformly distributed along the circumferential direction of the force sensor 1, and the plurality of overload protection portions 40 comprise a first overload protection portion 41 and a second overload protection portion 42 which are arranged in pairs to jointly limit displacement or torsion of the force sensor in different directions. That is, the plurality of overload protecting portions include at least two first overload protecting portions and at least two second overload protecting portions to collectively restrict displacement or torsion of the force sensor in different directions. Further, the paired first overload protection portions are symmetrical or antisymmetrical with respect to the center of the force sensor and/or the paired second overload protection portions are symmetrical or antisymmetrical with respect to the center of the force sensor, and referring to fig. 1, the paired first overload protection portions are antisymmetrical to limit displacement caused by reaction force in the vertical direction, one first overload protection portion is mainly used for limiting downward displacement of the force sensor in the vertical direction, and the other first overload protection portion is mainly used for limiting upward displacement of the force sensor in the vertical direction; the second overload protection parts arranged in pairs are symmetrically arranged, so that when the force sensor is displaced along the X, Y axis direction by overload force or twisted by overload torque, the force sensor is limited by different second overload protection parts together, and the overload protection performance of the force sensor is improved. Through the arrangement, the first overload protection parts arranged in pairs can limit the displacement caused by the opposite acting force in the vertical direction of the force sensor or perform double action on the displacement caused by the force in the vertical direction; the second overload protection parts arranged in pairs can perform double functions on displacement caused by force in all directions or torsion caused by moment so as to improve the overload protection performance of the force sensor.
The force sensor 1 comprises a plurality of overload protection sections 40, said plurality of overload protection sections 40 comprising a first overload protection section 41 and a second overload protection section 42, several specific embodiments of said first overload protection section 41 and second overload protection section 42 being provided below.
In one embodiment of the present invention, referring to fig. 1, the first overload protection portion 41 is formed as a matching inclined surface with a gap, that is, the outer frame 10 extends inward to form an inclined surface, the inner platform 20 extends outward to form an inclined surface, the inclined surface of the outer frame 10 and the inclined surface of the inner platform 20 form a matching inclined surface with a gap, at least for limiting the displacement of the force sensor 1 in the vertical direction, that is, at least for limiting the displacement of the force sensor 1 in the Z-axis direction, when the first overload protection portion 41 including the matching inclined surface with a gap is subjected to an overload force in the Z-axis direction, the displacement in the vertical direction can be converted into the displacement in the horizontal direction due to the inclined surface, and the second overload protection portion 42 further limits the displacement to strengthen the limitation of the displacement in the vertical direction by the force sensor, the force sensor has good overload protection performance to the vertical direction, can limit the displacement of the force sensor only through the first overload protection part when the force in the vertical direction is small, and can limit the displacement of the horizontal plane when the force in the vertical direction is continuously increased, the displacement of the vertical direction is converted into the displacement of the horizontal plane through the matching inclined plane of the first overload protection part, and the displacement of the horizontal plane can be limited by the second overload protection part, so that the first overload protection part and the second overload protection part act together to limit the displacement of the force sensor along the vertical direction, so that the force sensor has good overload performance and can bear large overload force. Meanwhile, the first overload protection part adopts a matching inclined plane, the larger the overload force applied to the force sensor in the Z-axis direction is, the larger the friction force and the support counter force generated between the first overload protection part and the second overload protection part are, so that the overload performance of the force sensor is better.
In another embodiment of the present invention, referring to fig. 4, the first overload protection portion 41 is formed as a matching stepped surface with a gap along the vertical direction, that is, the outer frame 10 extends partially inward to form a stepped surface, the inner platform 20 extends partially outward to form a stepped surface, and the stepped surface of the outer frame 10 and the stepped surface of the inner platform 20 form a matching stepped surface with a gap at least for limiting the displacement of the force sensor 1 along the vertical direction, that is, at least for limiting the displacement of the force sensor 1 along the Z-axis direction.
In one embodiment of the present invention, the mating surface of the second overload protection portion 42 includes a symmetrical mating surface, that is, the outer frame 10 is partially extended inward to form a tangent plane, the inner platform 20 is partially extended outward to form a tangent plane, the cut surfaces of the outer frame 10 and the cut surfaces of the inner platform 20 together constitute a mating surface with clearance, meanwhile, the section of the outer frame 10 is a symmetrical structure, the section of the inner platform 20 is a symmetrical structure, the second overload protection part 42 is formed as a symmetrical mating surface with a gap, at least for limiting the displacement of the force sensor 1 in the horizontal direction, i.e. at least for limiting the displacement of the force sensor 1 in the direction of axis X, Y, and further, the second overload protection 42 is used to limit the torsional deformation of the force sensor caused by an overload moment. Further, the second overload protecting portion 42 includes symmetrical matching inclined surfaces, and in one embodiment of the present invention, referring to fig. 1, the second overload protecting portion 42 in fig. 1 includes symmetrical matching surfaces, each of which is composed of two symmetrical crossed inclined surfaces, and the matching surfaces are approximately the top view of an isosceles triangle. In another embodiment of the present invention, referring to fig. 2, the second overload protection portion 42 includes symmetrical mating surfaces, each of the mating surfaces includes a symmetrical inclined surface, and the top view of the mating surfaces is substantially isosceles trapezoid, and in other embodiments, the top view of the second overload protection portion 42 may also be regular hexagon, etc. In a further embodiment of the invention, with reference to fig. 3, said second overload protection portion 42 comprises symmetrical mating curved surfaces, each of said mating surfaces comprising a symmetrical curved surface, i.e. said second overload protection portion 42 comprises two clearance-fitted symmetrical curved surfaces. Through setting up second overload protection portion 42 including having gapped symmetrical fitting surface, symmetrical fitting surface can be used for at least following each direction restriction on the horizontal direction force sensor 1's displacement combines first overload protection portion 41 is used for at least limiting on the vertical direction force sensor 1's displacement to comprehensive restriction force sensor 1 is at the displacement of equidirectional not. The first overload protection portion 41 and the second overload protection portion 42 can be used for limiting displacement in different directions, when the displacement directions limited by the first overload protection portion 41 and the second overload protection portion 42 are perpendicular to each other, when the first overload protection portion 41 plays an overload protection role, the second overload protection portion 42 can give a second-time limitation to the direction perpendicular to the direction limited by the first overload protection portion 41 so as to strengthen the overload protection effect of the first overload protection portion, and vice versa, so that the overload protection performance of the force sensor is good, and the safety of the force sensor is good. For example, when the first overload protection portion 41 is a matching inclined plane with a gap, the first overload protection portion receives an overload force in the Z-axis direction, the displacement in the vertical direction can be converted into the displacement in the horizontal direction due to the inclined plane, the second overload protection portion 42 comprises a symmetrical matching surface with a gap, the displacement direction limited by the second overload protection portion 42 is vertical, the displacement in the horizontal direction can be limited by the second overload protection portion, and further, when the first overload protection portion converts at least part of the displacement in the vertical direction into the displacement in the horizontal direction, the second overload protection portion can further limit the displacement, so as to ensure the working effect of overload protection. Meanwhile, the second overload protection portion 42 is at least used to limit the displacement in the horizontal direction, when the force sensor is subjected to an overload force in the X, Y axis direction, the second overload protection portion can limit the displacement in the horizontal direction, and, when the force sensor is subjected to an overload moment in the X, Y, Z axis direction, the symmetrical mating surface of the second overload protection portion 42 can limit the torsional deformation of the force sensor.
The force sensor 1 comprises an outer frame 10, said outer frame 10 comprising a fixing part 11 with an opening through which said force sensor 1 is fixedly mounted, said fixing part 11 extending inwardly to form part of an overload protection part. The force sensor 1 comprises four elastic beams 30 which are distributed in a cross shape, and the overload protection part is arranged between the adjacent elastic beams 30 to ensure that the overload protection effect of the force sensor is uniform.
The force sensors described above include various forms, which may be torque sensors, three-dimensional force sensors, or six-dimensional force sensors.
The beneficial effects of the above preferred embodiment are: force sensor's overload protection structure includes that outer frame and interior platform 20 form have gapped fitting surface, and the displacement of force sensor is restricted to the butt effect through the fitting surface, and force sensor's structural design is simple, processing is easy, easily realize.
The present invention is also intended to provide a robot, and referring to fig. 5, the robot 6 includes a working arm 60 driven by an actuator to perform work, the end of the working arm 60 includes a connector 70 for connecting various task tools, the connector 70 is provided with a force sensor 1 as described above, and the robot controls the work to be performed at least partially according to the detection result of the force sensor.
In particular, the connector 70 is a tool flange that can be connected to various task tools, such as jaws, suction cups, and the like. In particular, the robot 6 is an industrial robot, preferably a cooperative robot capable of performing work in cooperation with a human, and capable of being taught to perform work according to a teaching trajectory.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent should be subject to the appended claims.
Claims (10)
1. The utility model provides a force transducer, includes outer frame, inside platform and set up in a plurality of elastic beams between outer frame and the inside platform, its characterized in that, force transducer includes a plurality of overload protection portions that circumference distributes, overload protection portion includes outer frame part inwards extend with the inside platform part outwards extends the fitting surface that forms that has the clearance.
2. The force sensor of claim 1, wherein the plurality of overload protection portions includes a first overload protection portion for at least limiting displacement of the force sensor in a vertical direction and a second overload protection portion for at least limiting displacement of the force sensor in a horizontal direction.
3. The force sensor of claim 2, wherein the first overload protection portion is capable of at least partially translating a vertical displacement into a horizontal displacement, and wherein the first and second overload protection portions cooperate to limit the vertical displacement of the force sensor.
4. The force sensor of claim 2, wherein the first overload protection feature includes a mating ramp having a gap, the mating ramp forming an angle other than 90 degrees and other than 180 degrees from vertical.
5. The force sensor according to claim 2, wherein the mating surface of the second overload protection portion includes a mating slope or a mating curved surface, and the mating surface of the second overload protection portion is perpendicular to a horizontal plane.
6. The force sensor of claim 2, wherein the second overload protection portion includes a symmetrical mating ramp or mating curve.
7. The force sensor of claim 2, wherein the plurality of overload protection portions includes a first overload protection portion disposed in a pair and a second overload protection portion disposed in a pair to collectively limit displacement or torsion of the force sensor in different directions.
8. The force sensor according to claim 7, wherein the first overload protection portions arranged in pairs are symmetrical or antisymmetrical with respect to a center of the force sensor, and/or the second overload protection portions arranged in pairs are symmetrical or antisymmetrical with respect to the center of the force sensor.
9. The force sensor of claim 2, wherein the first overload protection portion includes a mating stepped surface in a vertical direction.
10. A robot comprising a working arm driven by an actuator to perform work, the end of the working arm including a connector for connecting various task tools, the connector having a force sensor according to any one of claims 1 to 9 disposed therein, the robot controlling the work to be performed at least partially based on a detection result of the force sensor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011431691.2A CN114623959A (en) | 2020-12-10 | 2020-12-10 | High overload protection force sensor |
| PCT/CN2021/135939 WO2022121870A1 (en) | 2020-12-10 | 2021-12-07 | High overload protection force sensor and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011431691.2A CN114623959A (en) | 2020-12-10 | 2020-12-10 | High overload protection force sensor |
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| CN114623959A true CN114623959A (en) | 2022-06-14 |
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| CN202011431691.2A Pending CN114623959A (en) | 2020-12-10 | 2020-12-10 | High overload protection force sensor |
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| CN116638536A (en) * | 2023-07-27 | 2023-08-25 | 之江实验室 | robot |
| CN116698260A (en) * | 2023-07-07 | 2023-09-05 | 锐马（福建）电气制造有限公司 | Three-dimensional six-dimensional force sensor |
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| US20200284667A1 (en) * | 2019-03-10 | 2020-09-10 | Ati Industrial Automation, Inc. | Force/Torque Sensor Having Serpentine or Coiled Deformable Beams and Overload Beams |
| CN214334089U (en) * | 2020-12-10 | 2021-10-01 | 苏州艾利特机器人有限公司 | High overload protection force sensor and robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116698260A (en) * | 2023-07-07 | 2023-09-05 | 锐马（福建）电气制造有限公司 | Three-dimensional six-dimensional force sensor |
| CN116698260B (en) * | 2023-07-07 | 2023-11-14 | 锐马（福建）电气制造有限公司 | Three-dimensional six-dimensional force sensor |
| CN116638536A (en) * | 2023-07-27 | 2023-08-25 | 之江实验室 | robot |
| CN116638536B (en) * | 2023-07-27 | 2023-12-26 | 之江实验室 | robot |
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