CN1538156A - Overload protection device for multi-axial force sensor - Google Patents
Overload protection device for multi-axial force sensor Download PDFInfo
- Publication number
- CN1538156A CN1538156A CNA031132537A CN03113253A CN1538156A CN 1538156 A CN1538156 A CN 1538156A CN A031132537 A CNA031132537 A CN A031132537A CN 03113253 A CN03113253 A CN 03113253A CN 1538156 A CN1538156 A CN 1538156A
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- China
- Prior art keywords
- end cover
- bottom end
- overload protection
- axis force
- force transducer
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- Force Measurement Appropriate To Specific Purposes (AREA)
- Measurement Of Force In General (AREA)
Abstract
An overload protector of multi-axis force sensor features that the upper and lower end covers are fixed to the end faces of a bearing platform for elastic body, the position limiting bosses are arranged between said end covers, and the limiting pins on said limiting bosses are fit with the limiting holes on said end covers.
Description
Technical field:
The present invention relates to sensor technology, more particularly relate to the overload protection arrangement of multi-axis force transducer in the robot actual job.
Background technology:
The overload protection of multi-axis force transducer is directly connected to the safety and the practical application thereof of multi-axis force transducer, is the focal issue that receives much concern all the time, but neither one solution preferably so far.The multiaxis power of being produced by U.S. LOARD company passes device; its overload protection method cannot say for sure to demonstrate,prove design accuracy; guarantee the reliability of overload protection, overload protection arrangement itself will inevitably produce coupled interference to the load range of multi-axis force transducer under the normal linear duty.SAFMS series multi-axis force transducer by Hefei intelligence institute of the Chinese Academy of Sciences, Southeast China University and Harbin Institute of Technology's joint research and development; adopt the screw mode to realize overload protection; but also cannot say for sure to demonstrate,prove the intensity and the rigidity of gap precision and overload device; guarantee the reliability of overload protection; the nominal operation load of multi-axis force transducer be must reduce, thereby the result of use and the application scenario of multi-axis force transducer limited greatly.
Summary of the invention:
Technical matters to be solved by this invention provides a kind of easy, multi-axis force transducer overload protection arrangement of reliably, not influencing the load range of multi-axis force transducer under the linear work situation.
The technical scheme that technical solution problem of the present invention is adopted is:
Design feature of the present invention is: on elastomeric support platform end face, fixedly install upper end cover and bottom end cover, described upper end cover, bottom end cover and support platform are " worker " shape; Other has between upper end cover and bottom end cover, respectively upper end cover and bottom end cover are formed the positive stop lug boss of axial limiting, and the axial limiting gap delta is arranged therebetween
1Positive stop lug boss cooperates with limit pin hole radial play on corresponding position upper end cover and the bottom end cover with the spacer pin that fixedly installs on it, and spacing sideshake δ is arranged therebetween
2, the parallel axes of spacer pin and support platform.
Compared with the prior art, beneficial effect of the present invention is embodied in:
1, the present invention can produce forward and reverse, symmetrical overload protection to the multi-axis force transducer that is subjected to three axial forces and three axial moment effects.Comprising: produce protection by upper end cover, bottom end cover with the overload effect that cooperates of positive stop lug boss to being subjected to power Fz, moment Mx and My; Produce protection by the limit pin hole on upper end cover, the bottom end cover with the overload effect that cooperates of spacer pin to being subjected to power Fx, Fy, moment Mz.
2, apparatus of the present invention protecting component simple shape, anufacturability is good, is easy to guarantee size and the higher smart height of form and position tolerance, makes gap delta
1, sideshake δ
2Meet design requirement.
3, apparatus of the present invention can be by with uniform on circumference of limit pin hole and the corresponding spacer pin that is provided with; thereby the contact stiffness when guaranteeing the sensor overload; make overload protection more reliable; the operating load scope of sensor is bigger, has solved the coupled interference problem that overload device produces the load range of multi-axis force transducer under the normal linear duty effectively.Make multi-axis force transducer can be under multiple environment and operating mode trouble free service, satisfy the demand that robot does under normal and rugged surroundings.
Accompanying drawing is a structural representation of the present invention.
Embodiment:
Referring to accompanying drawing, present embodiment is on the end face of the support platform 3 of elastic body 2, fixedly installs upper end cover 6 and bottom end cover 7, and upper end cover 6, bottom end cover 7 are " worker " font with support platform 3, connect with screw between upper end cover 6, bottom end cover 7 and the support platform 3.
Other has between upper end cover 6 and bottom end cover 7, respectively upper end cover 6 and bottom end cover 7 are formed the positive stop lug boss 4 of axial limitings, and the axial limiting gap delta is arranged therebetween
1
Positive stop lug boss 4 cooperates with limit pin hole 8 radial plays on corresponding position upper end cover 6 and the bottom end cover 7 with the spacer pin 5 that fixedly installs on it, and spacing sideshake δ is arranged therebetween
2, spacer pin 5 parallels with the axis of support platform 3.
In concrete the enforcement, spacer pin 5 is fixedly to be assemblied in the through hole of positive stop lug boss 4 with interference fit.Positive stop lug boss 4 connects firmly on the madial wall of housing 1, also can be the projection that housing 1 madial wall extends internally.Limit pin hole 8 and the corresponding pin position pin 5 that is provided with are uniform on circumference.
By analyzing and experiment, the elastic body 2 that obtains sensor respectively is subjected to three-dimensional force Fx, Fy, Fz and three-dimensional moment Mx, My, Mz and does the time spent, the maximum displacement that upper end cover 6, bottom end cover 7 and limit pin hole 8 are produced in linear working range; Safety coefficient according to the rules obtains corresponding maximum safe displacement.Utilize minimum value in three maximum safe displacements that Fx, Fy and Mz determine to formulate tolerance clearance δ between spacer pin 5 and the limit pin hole 8
1Utilize minimum value in three maximum safe displacements that Fz and Mx, My determine to formulate two sideshake δ of upper end cover 6, bottom end cover 7 and positive stop lug boss 4
2Best clearance δ
1, sideshake δ
2Formulation, not only guaranteed the reliability of overload protection, and can not cause overload device that the load range of sensor under the normal linear duty produced coupled interference.
In the present embodiment, elastic body 2 is main parts of multi-axis force transducer, and elastic body 2 is a girder structure, penetrates shape by 3 one-tenth of support platforms and is supported, and its outer end is bearing on the housing 1.Upper end cover 6 is the parts that link to each other with extraneous service part, and base 9 is the joining part of sensor installation, is connected on the housing 1 by screw retention.Sensor is subjected to various power and acts on the corresponding strain of generation on the elastic body 2 by end cap and support platform, causes the resistance of foil gauge on the elastic body 2 to change.
When operating load increases, gap delta
1, sideshake δ
2Reduce thereupon; After operating load exceeds rated load, gap delta
1, sideshake δ
2Disappear,, produce the effect of overload protection because stopping of positive stop lug boss 4 and limit pin hole 8 is spacing.
Claims (3)
1, multi-axis force transducer overload protection arrangement is characterized in that: on support platform (3) end face of elastic body (2), fixedly install upper end cover (6) and bottom end cover (7), upper end cover (6), bottom end cover (7) are " worker " shape with support platform (3); Other has the positive stop lug boss (4) that is positioned between upper end cover (6) and the bottom end cover (7), respectively upper end cover (6) and bottom end cover (7) is formed axial limiting, and axial limiting gap 61 is arranged therebetween; Positive stop lug boss (4) cooperates with limit pin hole (8) radial play on corresponding position upper end cover 6 and the bottom end cover (7) with the spacer pin (5) that fixedly installs on it, and spacing sideshake δ 2 is arranged therebetween, the parallel axes of spacer pin (5) and support platform (3).
2, multi-axis force transducer overload protection arrangement according to claim 1 is characterized in that described positive stop lug boss (4) connects firmly on the madial wall of housing (1).
3, multi-axis force transducer overload protection arrangement according to claim 1 is characterized in that described limit pin hole (8) and the corresponding pin position pin (5) that is provided with are uniform on circumference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03113253 CN1283985C (en) | 2003-04-17 | 2003-04-17 | Overload protection device for multi-axial force sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03113253 CN1283985C (en) | 2003-04-17 | 2003-04-17 | Overload protection device for multi-axial force sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1538156A true CN1538156A (en) | 2004-10-20 |
| CN1283985C CN1283985C (en) | 2006-11-08 |
Family
ID=34320019
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03113253 Expired - Fee Related CN1283985C (en) | 2003-04-17 | 2003-04-17 | Overload protection device for multi-axial force sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1283985C (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103528726A (en) * | 2013-11-01 | 2014-01-22 | 哈尔滨工业大学 | Cross-beam-type six-dimensional force sensor with overload protection function |
| CN106030268A (en) * | 2016-05-17 | 2016-10-12 | 中国科学院深圳先进技术研究院 | Six-dimensional sensor protection device and six-dimensional sensor having protection device |
| 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 |
| CN114414113A (en) * | 2021-12-01 | 2022-04-29 | 蓝点触控(北京)科技有限公司 | Six-dimensional force sensor overload protection device and equipment with same |
| 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 |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11821782B2 (en) | 2020-09-17 | 2023-11-21 | Delta Electronics, Inc. | Load cell for measuring a loading force under a specific range with limitation element to prevent irreversible deformation |
-
2003
- 2003-04-17 CN CN 03113253 patent/CN1283985C/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103528726A (en) * | 2013-11-01 | 2014-01-22 | 哈尔滨工业大学 | Cross-beam-type six-dimensional force sensor with overload protection function |
| CN103528726B (en) * | 2013-11-01 | 2015-05-13 | 哈尔滨工业大学 | Cross-beam-type six-dimensional force sensor with overload protection function |
| CN106030268A (en) * | 2016-05-17 | 2016-10-12 | 中国科学院深圳先进技术研究院 | Six-dimensional sensor protection device and six-dimensional sensor having protection device |
| WO2017197575A1 (en) * | 2016-05-17 | 2017-11-23 | 中国科学院深圳先进技术研究院 | Six dimensional force transducer protection apparatus and six dimensional transducer having protection apparatus |
| 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 |
| 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 |
| CN114414113A (en) * | 2021-12-01 | 2022-04-29 | 蓝点触控(北京)科技有限公司 | Six-dimensional force sensor overload protection device and equipment with same |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1283985C (en) | 2006-11-08 |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20061108 Termination date: 20100417 |