CN2624200Y - Overload protector for multiple axes force transducer - Google Patents
Overload protector for multiple axes force transducer Download PDFInfo
- Publication number
- CN2624200Y CN2624200Y CN 03221345 CN03221345U CN2624200Y CN 2624200 Y CN2624200 Y CN 2624200Y CN 03221345 CN03221345 CN 03221345 CN 03221345 U CN03221345 U CN 03221345U CN 2624200 Y CN2624200 Y CN 2624200Y
- Authority
- CN
- China
- Prior art keywords
- end cover
- bottom end
- force transducer
- overload protection
- axis force
- Prior art date
- 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.)
- Expired - Fee Related
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Abstract
The utility model relates to a multi-axis sensor for overload protection device which is characterized in that an upper end cover and a bottom end cover are fixed on the opposite bearing platforms of an elastomer, with the upper and the bottom end covers larger than the bearing platforms in area; that convexities between the upper and the bottom end covers decide the axial directions of the two end covers and between the convexities are clearances Delta1 for the use of axial direction decision; and that the convexities cooperate with the clearances through the arresting pins fixed on the convexities and through the apertures on the upper and the bottom end covers, with the apertures corresponding to the arresting pins, wherein, side clearances Delta2 are for the use of axial direction decision and the arresting pins and the bearing platforms are in parallel direction. The utility model has the advantages of simple structure, reliable performance and no impact on the loading range of the multi-axis sensor in linear operation.
Description
Technical field:
The utility model relates to sensor technology, more particularly relates 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. LOARO 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 problem to be solved in the utility model 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 the utility model technical solution problem is adopted is:
Design feature of the present utility model 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, the beneficial effects of the utility model are embodied in:
1, the utility model 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, the utility model unit protection component shape is simple, and 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, the utility model device 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 the utility model structural representation.
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 the axial limiting gap delta is arranged therebetween
1Positive 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 is arranged therebetween
2, 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 03221345 CN2624200Y (en) | 2003-04-17 | 2003-04-17 | Overload protector for multiple axes force transducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03221345 CN2624200Y (en) | 2003-04-17 | 2003-04-17 | Overload protector for multiple axes force transducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2624200Y true CN2624200Y (en) | 2004-07-07 |
Family
ID=34383987
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03221345 Expired - Fee Related CN2624200Y (en) | 2003-04-17 | 2003-04-17 | Overload protector for multiple axes force transducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2624200Y (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101337355B (en) * | 2008-08-29 | 2010-06-02 | 哈尔滨工业大学 | Robot delicate finger-joint torque sensor with torque overload protection function |
| CN102980689A (en) * | 2012-11-29 | 2013-03-20 | 昆山洺九机电有限公司 | Overload-proof load sensor |
| 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 |
| CN103528746A (en) * | 2013-11-01 | 2014-01-22 | 哈尔滨工业大学 | Cross-shaped beam type elastomer for six-dimensional force sensor |
| CN105651446A (en) * | 2016-03-18 | 2016-06-08 | 安徽锐聪机器人有限公司 | Six-dimensional force sensor |
| CN105890973A (en) * | 2016-04-01 | 2016-08-24 | 烟台正海合泰科技股份有限公司 | Elastic protection device on tension test machine |
| 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 |
-
2003
- 2003-04-17 CN CN 03221345 patent/CN2624200Y/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101337355B (en) * | 2008-08-29 | 2010-06-02 | 哈尔滨工业大学 | Robot delicate finger-joint torque sensor with torque overload protection function |
| CN102980689A (en) * | 2012-11-29 | 2013-03-20 | 昆山洺九机电有限公司 | Overload-proof load sensor |
| 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 |
| CN103528746A (en) * | 2013-11-01 | 2014-01-22 | 哈尔滨工业大学 | Cross-shaped beam type elastomer for six-dimensional force sensor |
| 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 |
| CN103528746B (en) * | 2013-11-01 | 2015-09-09 | 哈尔滨工业大学 | A kind of cross beam type elastomer for six-dimensional force sensor |
| CN105651446A (en) * | 2016-03-18 | 2016-06-08 | 安徽锐聪机器人有限公司 | Six-dimensional force sensor |
| CN105890973A (en) * | 2016-04-01 | 2016-08-24 | 烟台正海合泰科技股份有限公司 | Elastic protection device on tension test machine |
| 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 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |