A kind of non-coupling multi-dimension force sensor method and device for overload protectionTechnical field
The present invention relates to sensor technical fields, relate in particular to a kind of non-coupling multi-dimension force sensor overload protectionMethod and device.
Background technique
With the development of science and technology, robot technology is more and more applied to various occasions, such as carry, weld,Assembly etc..One key problem of robot technology is intelligence, and six-dimension force sensor because that can perceive in three-dimensional space simultaneouslyAll one's effort information is a critical component as robot for space intelligent feature.Multi-dimension force sensor generally comprises support frameAnd the loading bench of setting on the support frame, the core of six-dimension force sensor is the design of elastomer, and the structure of elastomer is directThe performance that decide entire sensor is the key that sensor performance superiority and inferiority.
The overload protection of six-dimension force sensor is directly related to the use and safety of six-dimension force sensor, is standby all the timeThe focal issue studied, but none preferable solution so far.Such as patent CN101419102A, CN101210850AThere is no overload protection functions for equal six-dimension force sensors；Overload protection arrangement of the patent CN103528726A to six-dimension force sensorNot the problem of not accounting for coupling, it is difficult to realize accurate overload protection.For the reliability for enhancing multi-dimension force sensor, avoid in mistakeIt carries and generates plastic deformation with sensor elastomer in impact process, the research of multi-dimension force sensor overload protection arrangement is extremely closedIt is important.
Summary of the invention
Technical problem to be solved by the invention is to provide one kind can independently adjust multi-dimension force sensor all directionsOverload capacity, and can be realized the non-coupling multi-dimension force sensor overload of the overload protection of accurate power/torqueGuard method and device.
In order to solve the above-mentioned technical problem, the present invention adopts the following technical scheme: a kind of non-coupling multi-dimension force sensorOverload protection method is the change in location feelings acted between the support end and loading end of lower multi-dimension force sensor according to different loadsCondition carries out overload protection by the change in location threshold value between the support end and loading end of limitation multi-dimension force sensor.
Further, also at the displacement of the lines threshold value of the different position difference restraints of multi-dimension force sensor and the angle of torqueDisplacement threshold value.
Further, specially near the central axis of multi-dimension force sensor restraint displacement of the lines threshold value, separateThe angular displacement threshold value of restraining moment at the surrounding of the central axis of multi-dimension force sensor.
Further, the axis that position limiting structure limits its loading end respectively is set near the central axis of multi-dimension force sensorTo displacement and radial displacement to realize the overload protection to power, limited respectively in the surrounding setting position limiting structure of multi-dimension force sensorTopple corner and the circumferential corner of its loading end are to realize the overload protection to torque.
Based on the above method, the present invention provides a kind of non-coupling multi-dimension force sensor overload protection arrangement, and multi-dimensional force passesThe elastomer of sensor includes support frame and setting loading bench on the support frame, including barrel housing and the first limit plate,Supporting plate is provided on the inner wall of the barrel housing, the elastomer of multi-dimension force sensor is located in the barrel housing, and multidimensionalThe support frame of the elastomer of force snesor and the supporting plate are mutually connected；
First limit plate also is located in the barrel housing, and the bullet of first limit plate and multi-dimension force sensorProperty body loading bench be mutually connected, the one side edge towards multi-dimension force sensor of first limit plate be equipped with one withOn pillar, be provided with groove or described at the position of the corresponding pillar on the support frame of the elastomer of multi-dimension force sensorThe one side edge towards multi-dimension force sensor of first limit plate is provided with more than one groove, the bullet of multi-dimension force sensorProperty body support frame on the corresponding groove position at be equipped with pillar, the pillar protrudes into the groove, and the pillarThere are hole shaft clearance between the groove, the one side edge towards multi-dimension force sensor of first limit plate and moreThere are axial spacings between the corresponding end surface of the support frame of the elastomer of dimensional force sensor.
It further, further include the second limit plate and limited block, second limit plate is connected in the barrel housingIt is interior, and second limit plate is placed in the below or above of first limit plate, described in the direction of first limit plateThe one side center of second limit plate is equipped with interior big outer small multi-diameter shaft, and the center of second limit plate is provided with limit hole, describedThe diameter of multi-diameter shaft passes through the limit hole compared with segment, and the limited block is connected in freedom of the diameter compared with segment of the multi-diameter shaftEnd, and there are hole shaft clearance, the shaft shoulder of the multi-diameter shaft and institutes compared between segment and the limit hole for the diameter of the multi-diameter shaftState between the second limit plate and the limited block and second limit plate between there are identical axial spacings.
Further, the barrel housing is made of first sleeve and second sleeve from top to bottom, the first sleeveLower end periphery is equipped with the first flange for extending radially out, and the upper end periphery of the second sleeve is equipped with the extended radially outTwo flanges, second limit plate, which is clamped between first flange and the second flange, realizes fixation.
Further, first limit plate include the first annular support plate, two or more radially distribute firstSupport rod and boss identical with the first support bar quantity, the outer end of each first support bar correspond respectively withEach boss is connected, and the inner end of each first support bar is integrally formed, and each boss is separately fixed at first ringOn the internal perisporium of shape support plate, and the top surface of the boss is higher than first annular support plate, and first limit plate is with eachThe loading bench of the elastomer of the boss and multi-dimension force sensor is mutually connected.
Further, second limit plate includes that the second annular support plate and two or more radially distributeTwo support rods, the outer end of each second support bar are respectively fixedly connected on the internal perisporium of second annular support plate, each describedThe inner end of second support bar is integrally formed.
Further, the elastomer of multi-dimension force sensor be triple-beam structure, cruciform girder structure, E type diaphragm structure,Any one in Stewart structure.
The beneficial effects of the present invention are embodied in:
1. overload protection method of the present invention is low to Structural Design Requirement, it is easy to implement, can independently adjusts multi-dimensional force sensingThe overload capacity of device all directions, and can be realized the overload protection of accurate power/torque, protecting effect is stable, reliable；
2. in apparatus of the present invention, as support end, loading bench is equivalent to as loading end for barrel housing and support frameIt is provided with the structure of circumferential gap cooperation and the structure of end clearance cooperation between first limit plate and support end, passes through settingThe overload protection of torque Mz may be implemented in different clearance ts 1, by set different axial spacing t2 may be implemented torque Mx andThe overload protection of My；
3. in apparatus of the present invention, cooperating between the first limit plate, the second limit plate and limited block, being equivalent to settingFor the structure of circumferential gap cooperation and the structure of end clearance cooperation, by set different clearance t 3 may be implemented power Fx andThe overload protection of Fy may be implemented the overload protection of power Fz by setting different axial spacing t4, may be implemented to multi-dimensional forceThe non-coupling overload protection of sensor；
4. overload protection arrangement structure of the present invention is simple, easy to process, each side of multi-dimension force sensor can be independently adjustedTo overload capacity, and can be realized the overload protection of accurate power/torque.
Detailed description of the invention
Fig. 1 is the schematic perspective view of one embodiment of the invention.
Fig. 2 is the top view of one embodiment of the invention.
Fig. 3 is A-A cross-sectional view.
Fig. 4 is enlarged drawing at B.
Fig. 5 is enlarged drawing at C.
Fig. 6 is the structural exploded view of one embodiment of the invention.
Fig. 7 is the top view of the first limit plate in one embodiment of the invention.
Fig. 8 is the side view of the first limit plate in one embodiment of the invention.
Fig. 9 is the top view of the second limit plate in one embodiment of the invention.
Figure 10 is the structural exploded view of another embodiment of the present invention.
The label of each component in attached drawing are as follows: 1 barrel housing, 2 first limit plates, 3 second limit plates, 4 limited blocks, 5 cover boards,The elastomer of 6 multi-dimension force sensors, 11 first sleeves, 12 second sleeves, 13 first flanges, 14 second flanges, 15 supporting plates, 16Three flanges, 17 the 4th flanges, 21 first annular support plates, 22 first support bars, 23 boss, 24 pillars, 25 multi-diameter shafts, 26 lead toHole, 27 location holes, 28 third mounting holes, 31 second annular support plates, 32 second support bars, 33 limit holes, 34 first mounting holes,35 second mounting holes, 61 support frames, 62 loading bench, 63 grooves.
Specific embodiment
It is next below with reference to the accompanying drawings that the present invention will be described in detail.It should be noted that in the absence of conflict, in the applicationEmbodiment and embodiment in feature can be combined with each other.
The non-coupling multi-dimension force sensor overload protection method of the present invention is that lower multi-dimensional force sensing is acted on according to different loadsChange in location (displacement) situation between the support end and loading end of device, by the support end and the load that limit multi-dimension force sensorChange in location (displacement) threshold value between end carries out overload protection.
The fixed support etc. that support end can be the shell of multi-dimension force sensor, pedestal, lower cover, elastomer can be loadPlatform provides directly/structure for supporting indirectly；Loading end can be the loading bench of the elastomer of multi-dimension force sensor, elastomer it is upperLid etc..
The non-coupling multi-dimension force sensor overload protection method of the present invention, it is low to Structural Design Requirement, it is easy to implement, andProtecting effect is stable, reliable.
In one embodiment, this method is also in the displacement of the lines threshold value of the different position difference restraints of multi-dimension force sensorWith the angular displacement threshold value of torque.It, cannot be accurate if carrying out the overload protection of power and torque to multi-dimension force sensor in same positionThe displacement to the generation of multi-dimension force sensor of distinction and torque, the present invention distinguishes its position, can be accurately to moreDimensional force sensor carries out overload protection.
In one embodiment, this method is specially the displacement of the lines threshold of the restraint near the central axis of multi-dimension force sensorValue, the angular displacement threshold value of restraining moment at the surrounding of the central axis far from multi-dimension force sensor.Multi-dimension force sensor byGenerated change in displacement very little and similar when external applied load, and the displacement of the lines generated when the effect of loading end stress is in entire planeIt is upper in the same size, and loading end by torque effect when the angular displacement that generates be linearly increasing, therefore this hair around by centreIt is bright to be more easily discriminated when limiting its threshold value, the coupling influence between power and torque can be eliminated to the full extent.
In one embodiment, this method position limiting structure is arranged near the central axis of multi-dimension force sensor limits it respectivelyThe axial displacement of loading end and radial displacement are to realize the overload protection to power, in the surrounding setting limit knot of multi-dimension force sensorStructure limits topple corner and the circumferential corner of its loading end respectively to realize the overload protection to torque.The mistake of multi-dimension force sensorCarrying protection is to realize that the power to all directions suffered by multi-dimension force sensor/torque carries out overload protection, design of the inventionIt will act at displacement caused by the load of all directions on multi-dimension force sensor to be limited in different positions, in this way canOverload protection accurately is carried out to sensor, in turn avoids influencing each other between each load.
In specific implementation, the elastomer 6 of multi-dimension force sensor can be triple-beam structure, cruciform girder structure, E type diaphragm knotAny one in structure, Stewart structure.
Referring to Fig. 1 to Fig. 6.
Based on the above method, the present invention provides non-coupling multi-dimension force sensor overload protection arrangement, including barrel housing 1And first limit plate 2, the elastomer 6 of multi-dimension force sensor include support frame 61 and the loading bench that is arranged on support frame 6162, supporting plate 15 is provided on the inner wall of the barrel housing 1, and the elastomer 6 of multi-dimension force sensor is located at the barrel housing 1It is interior, and the support frame 61 of the elastomer 6 of multi-dimension force sensor is supported on the supporting plate 15 and is mutually connected with the supporting plate 15；
First limit plate 2 also is located in the barrel housing 1, and first limit plate 2 and multi-dimension force sensorElastomer 6 loading bench 62 mutually be connected, the one side edge towards multi-dimension force sensor of first limit plate 2 is setThere is more than one pillar 24, is opened at the position of the corresponding pillar 24 on the support frame 61 of the elastomer 6 of multi-dimension force sensorFluted 63 or first limit plate 2 the one side edge towards multi-dimension force sensor be provided with it is more than one recessedSlot 63 is equipped with pillar 24 at the position of the corresponding groove 63 on the support frame 61 of the elastomer 6 of multi-dimension force sensor, described convexColumn 24 protrudes into the groove 63, and there are hole shaft clearance between the pillar 24 and the groove 63, in Fig. 4 shown in t1, instituteState the support frame of the elastomer 6 of the one side edge and multi-dimension force sensor towards multi-dimension force sensor of the first limit plate 2There are axial spacing between 61 corresponding end surface, in Fig. 4 shown in t2.
The present invention does above-mentioned design, barrel housing and support frame as support end, and loading bench is equivalent to as loading endThe structure of circumferential gap cooperation and the structure of end clearance cooperation are provided between the first limit plate and support end, by settingThe overload protection of torque Mz may be implemented in fixed different clearance t 1, and torque Mx may be implemented by the axial spacing t2 for setting differentWith the overload protection of My.
It in one embodiment, further include the second limit plate 3 and limited block 4, second limit plate 3 referring to Fig. 3 and 5It is connected in the barrel housing 1, and second limit plate 3 is placed in the below or above of first limit plate 2, it is describedThe one side center towards second limit plate 3 of first limit plate 2 is equipped with interior big outer small multi-diameter shaft 25, second limitThe center of plate 3 is provided with limit hole 33, and the diameter of the multi-diameter shaft 25 passes through the limit hole 33 compared with segment, and the limited block 4 is solidIt is connected in free end of the diameter compared with segment of the multi-diameter shaft 25, and the diameter of the multi-diameter shaft 25 is compared with segment and the limit hole 33Between there are hole shaft clearance, it is between the shaft shoulder of the multi-diameter shaft 25 and second limit plate 3 and described in Fig. 5 shown in t3There are identical axial spacing between limited block 4 and second limit plate 3, in Fig. 5 shown in t4.
Attached drawing illustrates only the case where the second limit plate 3 is located at the lower section of the first limit plate 2, and the second limit plate 3 is located at theThe structure almost symmetry that the case where top of one limit plate 2 and attached drawing illustrate, the structure of the second limit plate and mounting means according toThe variation of installation site adjusts accordingly, these are that those skilled in the art can according to need and design, for succinct descriptionFor the sake of, only understood with the exploded view help of Figure 10.
Above-mentioned design is done, the structure for being provided with hole axle clearance fit between the first limit plate and the second limit plate is equivalent toAnd the structure of end face two sides clearance fit, the overload that power Fx and Fy may be implemented by setting different hole axle clearance ts 3 are protectedThe overload protection of power Fz may be implemented by setting different spacing t4 in shield.
It is designed by above-mentioned two sets of limits, its loading end can be limited respectively near the central axis of multi-dimension force sensorAxial displacement and radial displacement realize to the overload protection of power, limit its loading end respectively in the surrounding of multi-dimension force sensorTopple overload protection of the corner with circumferential corner realization to torque, can separate the displacement threshold value that restraint and torque generate, i.e.,The displacement of the lines threshold value of restraint near multi-dimension force sensor central axis, in the surrounding far from multi-dimension force sensor central axisLocate the angular displacement threshold value of restraining moment, comprehensive function is realized to the non-coupling overload protection of multi-dimension force sensor.
In one embodiment, referring to Fig. 1,3 and 6, the barrel housing 1 is from top to bottom by first sleeve 11 and second sleeve12 are constituted, and the lower end periphery of the first sleeve 11 is equipped with the first flange 13 extended radially out, the second sleeve 12Upper end periphery is equipped with the second flange 14 for extending radially out, and second limit plate 3 is clamped in first flange 13 and theIt realizes and fixes between two flanges 14.It designs in this way, it is easier to which fabrication and installation, structure is more reasonable, stablizes.
Hereinafter, referring to Fig. 3,7 and 8.
In one embodiment, first limit plate 2 includes that first annular support plate 21, two or more radially distributesFirst support bar 22 and boss 23 identical with 22 quantity of first support bar, the outer end of each first support bar 22It corresponds and is connected with each boss 23 respectively, the inner end of each first support bar 22 is integrally formed, each boss 23It is separately fixed on the internal perisporium of first annular support plate 21, and the top surface of the boss 23 is higher than the described first cyclic annular branchFagging 21, first limit plate 2 are mutually solid with the loading bench 62 of each boss 23 and the elastomer 6 of multi-dimension force sensorEven.It designs in this way, the structure of the first limit plate is more succinct, is easy to cooperate with multi-dimension force sensor.
In one embodiment, multiple weeks along first annular support plate 21 are provided on first annular support plate 21To the through-hole 26 being spaced apart.Through-hole 26 is the weight in order to mitigate the first limit plate, and structure type is not unique.
Preferably, the multi-diameter shaft 25 is arranged in the bottom surface of the inner end of each first support bar 22, and each described firstThe location hole 27 of both perforations is provided on the inner end of strut 22 and the multi-diameter shaft 25.Location hole be in order to fix limited block andReserved location hole.
Preferably, it is provided with third mounting hole 28 on the boss 23, for being bolted with loading bench.
Below referring to Fig. 3 and 9.
In one embodiment, second limit plate 3 includes that the second annular support plate 31 and two or more are radialThe outer end of the second support bar 32 of distribution, each second support bar 32 is respectively fixedly connected in second annular support plate 31On peripheral wall, the inner end of each second support bar 32 is integrally formed.It designs in this way, the structure of the second limit plate is more succinct.
In one embodiment, the first mounting hole 34 is had in each second support bar 32, is used for fixing circuit board.
Preferably, multiple the second mounting holes 35 being spaced apart are provided with along its circumferential direction on second annular support plate 31,For being bolted with the first flange and the second flange.
It in one embodiment, further include cover board 5, the cover board 5 is detachably connected on the upper end of the barrel housing 1.LidPlate is used to switch the upper port of barrel housing.
Referring to Fig. 3, it is preferable that the upper end periphery of the barrel housing 1 is equipped with the third flange 16 extended radially out, usesIt is detachably connected in cover board 5；The lower end periphery of the barrel housing 1 is equipped with the 4th flange 17 extended radially out, is used forFixes sleeve shell is installed；Preferably, support frame as described above 61 can be integrally formed with the barrel housing 1, overall processing.
The elastomer of the multi-dimension force sensor illustrated in figure is planche cross girder structure, can also be double E diaphragms certainlyAny one in formula structure or triple-beam structure, cruciform girder structure, E type diaphragm structure, Stewart structure etc.；The limitPosition block can be round, rectangular, oval and other irregular figures.
Heretofore described method and device for overload protection can independently adjust the overload of multi-dimension force sensor all directionsAbility, and structure is simple, it is easy to process, and can be realized the overload protection of accurate power/torque.
It should be understood that example as described herein and embodiment are not intended to restrict the invention, this field only for explanationTechnical staff can make various modifications or variation according to it, all within the spirits and principles of the present invention, made any modification,Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.