WO2022121870A1 - 一种高过载保护力传感器及机器人 - Google Patents

一种高过载保护力传感器及机器人 Download PDF

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Publication number
WO2022121870A1
WO2022121870A1 PCT/CN2021/135939 CN2021135939W WO2022121870A1 WO 2022121870 A1 WO2022121870 A1 WO 2022121870A1 CN 2021135939 W CN2021135939 W CN 2021135939W WO 2022121870 A1 WO2022121870 A1 WO 2022121870A1
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WO
WIPO (PCT)
Prior art keywords
overload protection
force sensor
displacement
protection part
limit
Prior art date
Application number
PCT/CN2021/135939
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English (en)
French (fr)
Inventor
任少雄
孙恺
Original Assignee
苏州艾利特机器人有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from CN202022935019.9U external-priority patent/CN214334089U/zh
Priority claimed from CN202011431691.2A external-priority patent/CN114623959A/zh
Application filed by 苏州艾利特机器人有限公司 filed Critical 苏州艾利特机器人有限公司
Publication of WO2022121870A1 publication Critical patent/WO2022121870A1/zh

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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
    • 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
    • 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

Definitions

  • the invention relates to the technical field of sensors, in particular to a high overload protection force sensor and a robot.
  • the force sensor can be set at the end of the robot actuator to meet its force control requirements.
  • force sensors have become a key research direction.
  • the overload protection structure of the force sensor is of great significance, which will be directly related to the safety of the use of the force sensor.
  • the study of the safety of the force sensor is of great significance for the field of robotics, especially for collaborative robots with extremely high safety requirements.
  • the overload protection structure for the force sensor in the prior art is generally complicated.
  • the patent with the publication number of CN103528726B provides an overload protection structure, by opening a protection hole on the overload protection beam and the outer beam to cooperate with the protection pin, and the protection pin and the overload protection beam are interference fit, and the outer ring tool The through hole is a clearance fit.
  • the overload protection structure of this scheme has high rigidity and adjustable clearance, but there are problems of complex structure and difficult processing.
  • the purpose of the present invention is to provide a force sensor and a robot with a simple structure, easy implementation and good overload performance.
  • a force sensor includes an outer frame, an inner platform, and several elastic beams arranged between the outer frame and the inner platform, and the force sensor includes a plurality of overload protection parts distributed in the circumferential direction , the overload protection part comprises a mating surface with a gap formed by the inward extension of the outer frame part and the outward extension of the inner platform part.
  • the plurality of overload protection parts include a first overload protection part and a second overload protection part
  • the first overload protection part is at least used to limit the displacement of the force sensor along the vertical direction
  • the second overload protection part The protection part is at least used to limit the displacement of the force sensor in the horizontal direction.
  • 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 vertical direction of the force sensor. displacement in the straight direction.
  • the first overload protection portion includes a matching slope with a gap, and the matching slope and the vertical direction form an included angle that is not 90 degrees and not 180 degrees.
  • the matching surface of the second overload protection portion is a matching inclined surface or a matching curved surface, and the matching surface of the second overload protection portion is perpendicular to the horizontal plane.
  • the second overload protection portion includes a symmetrical matching inclined surface or a matching curved surface.
  • the plurality of overload protection parts include a pair of first overload protection parts and a pair of second overload protection parts to jointly limit the displacement or torsion of the force sensor in different directions.
  • the paired first overload protection parts are symmetrical or antisymmetrical with respect to the center of the force sensor, and/or the paired second overload protection parts are symmetrical or antisymmetrical with respect to the center of the force sensor .
  • the first overload protection portion includes a matching stepped surface along the vertical direction.
  • the overload protection part includes a matching inclined surface, and the matching inclined surface of the first overload protection part and the matching inclined surface of the second overload protection part have different inclination directions, so as to limit the displacement or torsion of the force sensor in different directions.
  • the force sensor includes four elastic beams distributed in a cross, and the overload protection portion is arranged between adjacent elastic beams.
  • the force sensor is formed as a torque sensor, a three-dimensional force sensor or a six-dimensional force sensor.
  • a robot includes a working arm driven by an actuator to perform work, the end of the working arm includes a connector for connecting various task tools, and the above-mentioned connector is arranged in the connector According to any one of the force sensors, the robot is at least partially controlled to perform work according to the detection results of the force sensor.
  • the robot is an industrial robot, and preferably, the robot is a collaborative robot.
  • the beneficial effect of the specific embodiment of the present invention is that: the overload protection part of the force sensor includes a mating surface with a gap formed by the inward extension of the outer frame part and the outward extension of the inner platform part.
  • the displacement of the force sensor is limited, and the force sensor is simple in structure, easy to process and has good overload performance.
  • FIG. 1 is a schematic diagram of a force sensor according to the first embodiment of the present invention.
  • FIG. 2 is a schematic diagram of a force sensor according to 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 diagram of a robot according to an embodiment of the present invention.
  • the present invention protects a force sensor.
  • the force sensor 1 includes an outer frame 10, an inner platform 20, and an outer frame 10 and an inner platform 20.
  • the force sensor 1 includes a plurality of overload protection parts 40 distributed circumferentially for limiting The displacement of the force sensor 1 ensures the safe use of the force sensor, and the overload protection part 40 includes a mating surface with a gap formed by the inward extension of the outer frame 10 and the outward extension of the inner platform 20 .
  • a portion of the outer frame 10 extends inward to form a tangent plane, and a portion of the inner platform 20 extends outward to form a tangent plane.
  • the tangent plane of the outer frame 10 and the tangent plane of the inner frame can form a mating plane with a gap.
  • the gap can provide an overload stroke to avoid damage to the force sensor, and at the same time, the mating surface formed by the outer frame 10 and the inner platform 20 is subjected to force
  • the outer frame 10 forms a mating surface with the inner platform, and the inwardly extending part of the outer frame and the outwardly extending part of the inner platform form a support structure, so the force sensor is subjected to
  • the load-carrying rigidity is good and the overload performance is good, and the size of the support structure can be indirectly changed by changing the size of the mating surface, so as to strengthen the overload performance of the force sensor.
  • the outer frame 10 and the inner platform 20 form a mating surface with a gap to limit the overload of the force sensor 1.
  • the existence of the gap can ensure that the force sensor 1 has an appropriate overload stroke. By adjusting the size of the gap, it can adapt to the overload requirements in different scenarios.
  • the overload protection is realized through the action of the mating surface, and no new components are added.
  • the structure of the force sensor is relatively simple, and at the same time, the processing of the mating surface is relatively simple.
  • the force sensor of the scheme is simple in structure, easy to process, easy to implement, has high rigidity and strong anti-overload capability, and is suitable for industrial application.
  • the force sensor 1 includes a plurality of overload protection parts 40, and the overload protection parts 40 include a mating surface with a gap formed by a part of the outer frame 10 extending inward and a part of the inner platform 20 extending outward.
  • a plurality of different positions of the outer frame 10 extend inward, and a plurality of different positions of the inner platform 20 extend outward, thereby forming a plurality of mating surfaces with gaps, thereby forming a plurality of overload protection parts 40, preferably,
  • the plurality of overload protection parts 40 are evenly distributed along the circumferential direction of the force sensor 1 .
  • the plurality of overload protection parts 40 include a first overload protection part 41 and a second overload protection part 42, and the first overload protection part 41 is at least used to limit the force sensor 1 along the For displacement in the vertical direction, the second overload protection portion 42 is at least used to limit the displacement of the force sensor 1 in the horizontal direction.
  • the force sensor 1 may be affected by the overload force in 6 directions at most. For a force sensor, to fully ensure the effect of its overload protection, it is necessary to consider the effect of the overload force in 6 directions.
  • the center of the force sensor 1 is the The coordinate origin establishes a coordinate system.
  • the force sensor 1 may be subjected to overload forces in six directions, namely Fx, Fy and Fz, as well as Mx, My and Mz, that is, along the X-axis direction and the Y-axis direction.
  • the force and moment in the Z-axis direction in which the overload force in the X and Y axis directions causes the horizontal displacement, and the overload force in the Z axis direction causes the vertical displacement.
  • Torsional deformations along the X, Y, and Z axes may occur respectively.
  • the effect of the overload protection of the force sensor 1 can be fully guaranteed, so that the force The sensor 1 can cope with the force in six directions.
  • the first overload protection part 41 is at least used to limit the displacement of the force sensor 1 in the vertical direction
  • the second overload protection part 42 is used at least to limit the displacement of the force sensor 1 in the vertical direction.
  • the second overload protection part 42 is used to limit the torsional deformation caused by the force sensor 1 being subjected to an overload moment
  • the first overload protection part 41 is used for To assist in limiting the deformation of the force sensor in the horizontal direction, that is, the coordinate system established with the center point of the force sensor as the origin as a reference
  • the first overload protection part 41 is at least used to limit the displacement in the Z direction
  • the second The overload protection part 42 is at least used to limit the displacement in the X and Y directions, that is, the first overload protection part 41 is at least used to limit the effect of Fz
  • the second overload protection part 42 is used to at least limit Fx, Fy, The role of Mx, My, and Mz.
  • the first overload protection part 41 is used to assist the second overload protection part 42 to limit the displacement in the horizontal direction
  • the second overload protection part is used to assist the first overload protection part to limit the vertical displacement displacement.
  • the first overload protection part 41 and the second overload protection part 42 can be used individually to limit the displacement of the force sensor in a certain direction, or the first overload protection part and the second overload protection part can work together In order to limit the displacement and/or torsion of the force sensor in a certain direction to enhance the effect of the overload protection of the force sensor, or, a plurality of first overload protection parts and a plurality of second overload protection parts work together to limit the force sensor displacement and/or torsion.
  • the overload protection part includes a matching slope, that is, the first overload protection part includes a matching slope, the second overload protection part includes a matching slope, and the first overload protection part has a matching slope.
  • the inclination direction of the inclined surface is different from that of the matching inclined surface of the second overload protection part, the inclined surface of the first overload protection part is at least used to limit the displacement of the force sensor in the vertical direction, and the inclined surface of the second overload protection part At least for limiting the displacement of the force sensor along the horizontal direction.
  • the force sensor includes a plurality of overload protection parts distributed in the circumferential direction, the plurality of overload protection parts include at least two first overload protection parts and at least two second overload protection parts, the at least two first overload protection parts
  • the protection part is at least used to limit the displacement of the force sensor in the vertical direction
  • the at least two second overload protection parts are used to limit the displacement of the force sensor in the horizontal direction at least.
  • a plurality of the first overload protection parts are used to limit the displacement of the force sensor in the vertical direction
  • a plurality of second overload protection parts are used to limit the displacement of the force sensor in the horizontal direction, so as to The overload protection performance of the force sensor is guaranteed.
  • the first overload protection part includes a matching inclined surface with a gap, and the matching inclined surface forms an included angle not 90 degrees nor 180 degrees with the vertical direction.
  • 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 the horizontal plane.
  • the mating surface of the first overload protection part forms an included angle of not 90 degrees nor 180 degrees with the vertical direction, that is, the mating surface of the first overload protection part is inclined in the vertical direction, so that It is at least used to limit the displacement of the force sensor in the vertical direction, that is, the mating surface of the first overload protection part can generate a supporting force in the vertical direction, so as to limit the displacement of the force sensor in the vertical direction.
  • the matching surface of the first overload protection part can also limit the displacement in the horizontal direction.
  • the force sensor includes a plurality of overload protection parts, the plurality of overload protection parts include a plurality of first overload protection parts, and the matching slope of the plurality of first overload protection parts and the vertical direction are not 90 degrees and not formed.
  • the plurality of first overload protection parts form an included angle with the vertical direction that is not 90 degrees and not 180 degrees, and at least two of the plurality of first overload protection parts The tilt directions in the vertical direction are opposite to limit the displacement of the force sensor caused by the opposite force in the vertical direction.
  • the mating surface of the second overload protection part is perpendicular to the horizontal plane, and the second overload protection part is at least used to limit the displacement of the force sensor in the horizontal direction.
  • the mating surface of the second overload protection part can limit the displacement caused by the acting force in the horizontal direction and the torsion of the force sensor caused by the overload moment.
  • the second overload protection part includes a matching inclined surface
  • the plurality of overload protection parts include a plurality of second overload protection parts, wherein at least two of the second overload protection parts are in a direction perpendicular to the horizontal plane
  • the tilt directions are opposite to limit displacement or twisting of the force sensor in different directions.
  • the second overload protection portion includes a symmetrical mating slope or a mating curved surface, so that the second overload protection portion can limit forces or moments in multiple directions.
  • the force sensor 1 includes a plurality of overload protection parts 40 , preferably, the plurality of overload protection parts 40 are evenly distributed along the circumferential direction of the force sensor 1 , and the plurality of overload protection parts 40 include first overload protection parts 41 arranged in pairs and the second overload protection parts 42 arranged in pairs to jointly limit the displacement or torsion of the force sensor in different directions. That is, the plurality of overload protection parts include at least two first overload protection parts and at least two second overload protection parts to jointly limit the displacement or torsion of the force sensor in different directions.
  • the paired first overload protection parts are symmetrical or antisymmetrical with respect to the center of the force sensor, and/or the paired second overload protection parts are symmetrical or antisymmetrical with respect to the center of the force sensor 1, the first overload protection parts arranged in pairs are antisymmetric to limit the displacement caused by the reaction force in the vertical direction, and a first overload protection part is mainly used to limit the direction of the force sensor in the vertical direction.
  • the other first overload protection part is mainly used to limit the upward displacement of the force sensor in the vertical direction; the second overload protection parts arranged in pairs are symmetrically arranged, so that the force sensor is subjected to the overload force along X, Y When displacement occurs in the axial direction or torsion occurs due to overload torque, different second overload protection parts are jointly limited, so as to improve the overload protection performance of the force sensor.
  • the first overload protection parts arranged in pairs can limit the displacement caused by the opposite 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 overload protection part can perform dual effects on the displacement caused by the force in all directions or the torsion caused by the moment, so as to improve the overload protection performance of the force sensor.
  • the force sensor 1 includes a plurality of overload protection parts 40, and the plurality of overload protection parts 40 include a first overload protection part 41 and a second overload protection part 42, and several of the first overload protection parts 41 and the second overload protection parts will be provided below.
  • a specific embodiment of the overload protection unit 42 is a specific embodiment of the overload protection unit 42 .
  • the first overload protection portion 41 is formed as a mating slope with a gap, that is, the outer frame 10 partially extends inward to form a slope, and the inner platform 20 partially faces the slope.
  • a slope is formed by extending outward, and the slope of the outer frame 10 and the slope of the inner platform 20 form a matching slope with a gap, so as to at least limit the displacement of the force sensor 1 in the vertical direction, that is, at least limit the displacement of the force sensor 1 in the vertical direction.
  • the displacement of the force sensor 1 along the Z-axis direction when the first overload protection part 41 including the clearance fit slope is subjected to the overload force in the Z-axis direction, due to the action of the slope, the displacement in the vertical direction can also be converted into a horizontal displacement.
  • the displacement is further limited by the second overload protection part 42, so as to strengthen the restriction of the vertical displacement of the force sensor, so that the overload protection performance of the force sensor in the vertical direction is better.
  • the force in the direction is small, only the first overload protection part can limit its displacement.
  • the matching slope of the first overload protection part converts the displacement in the vertical direction into the displacement in the horizontal plane.
  • the second overload protection part can limit the displacement of the horizontal plane, so 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, so that the overload performance of the force sensor is better, Can withstand large overload forces.
  • the first overload protection part adopts a matching slope, the larger the overload force that the force sensor is subjected to in the Z-axis direction, the friction force generated between the first overload protection part and the second overload protection part and the The larger the support reaction force is, the better the overload performance of the force sensor is.
  • 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 partially extends inward to form a stepped surface , a part of the inner platform 20 extends 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 stepped surface with a clearance fit to at least limit the force sensor
  • the displacement of the force sensor 1 along the vertical direction is at least used to limit the displacement of the force sensor 1 along the Z-axis direction.
  • the mating surface of the second overload protection portion 42 includes a symmetrical mating surface, that is, a portion of the outer frame 10 extends inward to form a cut surface, and a portion of the inner platform 20 extends outward to form a tangent surface.
  • the second overload protection portion 42 is formed as a symmetrical mating surface with a gap, so as to at least limit the displacement of the force sensor 1 along the horizontal direction, that is, at least limit the force sensor 1 in the X and Y axis directions. displacement, further, the second overload protection part 42 is used to limit the torsional deformation of the force sensor caused by the overload torque. Further, the second overload protection part 42 includes a symmetrical matching inclined surface.
  • the second overload protection part 42 in FIG. 1 includes a symmetrical matching surface. Each of these consists of two symmetrically intersecting inclined surfaces, the mating surfaces being approximately a top view of an isosceles triangle.
  • 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 approximately equal. Waist trapezoid, in other embodiments, the top view of the second overload protection portion 42 may also be a regular hexagon or the like. In yet another embodiment of the present invention, referring to FIG.
  • the second overload protection portion 42 includes symmetrical mating curved surfaces, and each of the mating surfaces includes a symmetrical curved surface, that is, the second overload protection portion 42 Symmetrical surfaces including two clearance fits.
  • the second overload protection part 42 can be used to limit the displacement of the force sensor 1 at least along each direction in the horizontal direction, combined with the first overload protection part 41 It is at least used to limit the displacement of the force sensor 1 in the vertical direction, so as to comprehensively limit the displacement of the force sensor 1 in different directions.
  • the first overload protection part 41 and the second overload protection part 42 can be used to limit displacement in different directions, and when the displacement directions restricted by the first overload protection part 41 and the second overload protection part 42 are perpendicular to each other, the When the first overload protection part 41 plays the role of overload protection, the second overload protection part 42 can give a second restriction in the direction perpendicular to the direction restricted by the first overload protection part 41 to strengthen the first overload protection part 41 .
  • the overload protection effect of an overload protection part makes the overload protection performance of the force sensor good and the safety of the force sensor good.
  • the displacement in the vertical direction can be converted into a displacement in the horizontal direction due to the action of the slope.
  • the second overload protection part 42 includes a symmetrical mating surface with a gap, the displacement direction limited by the second overload protection part 42 is vertical, and the second overload protection part can limit the displacement in the horizontal direction.
  • the second overload protection part can further limit it, so as to ensure the working effect of the overload protection.
  • the second overload protection part 42 is at least used to limit the displacement in the horizontal direction, when the force sensor is subjected to the overload force in the X and Y axis directions, the second overload protection part can limit the displacement in the horizontal direction, and , when the force sensor is subjected to an overload moment in the X, Y, and Z axis directions, the symmetrical mating surface of the second overload protection portion 42 can limit the torsional deformation of the force sensor.
  • the force sensor 1 includes an outer frame 10, the outer frame 10 includes a fixing portion 11 having an opening through which the force sensor 1 is fixedly installed, and the fixing portion 11 extends inwardly to form part of the overload protection department.
  • the force sensor 1 includes four elastic beams 30 distributed in a cross, and the overload protection portion is disposed between adjacent elastic beams 30 to uniform the overload protection effect of the force sensor.
  • the force sensor described above includes various forms, and the force sensor may be a torque sensor, a three-dimensional force sensor or a six-dimensional force sensor.
  • the overload protection structure of the force sensor includes a mating surface with a gap formed by the outer frame and the inner platform 20, and the displacement of the force sensor is limited by the abutting action of the mating surface, and the structure design of the force sensor is simple, Easy to process and easy to implement.
  • the present invention is also used to provide a robot, referring to FIG. 5 , the robot 6 includes a working arm 60 driven by an actuator to perform work, and the end of the working arm 60 includes a connector 70 for connecting various task tools , the force sensor 1 described in any one of the above is arranged in the connector 70 , and the robot is at least partially controlled to perform work according to the detection result of the force sensor.
  • the connector 70 is a tool flange, and the tool flange can be connected to various task tools, such as clamping jaws, suction cups, and the like.
  • the robot 6 is an industrial robot, preferably, the robot is a collaborative robot capable of performing work in cooperation with a human, and the collaborative robot can be taught to perform work according to a taught trajectory.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

一种高过载保护力传感器（1）及机器人（6），高过载保护力传感器（1）包括外部框架（10）、内部平台（20）和设置于外部框架（10）和内部平台（20）之间的若干弹性梁（30），高过载保护力传感器（1）包括周向分布的多个过载保护部（40），过载保护部（40）包括外部框架（10）部分向内延伸与内部平台（20）部分向外延伸形成的具有间隙的配合面。机器人（6）包括通过致动器驱动以执行工作的工作臂（60），工作臂（60）末端包括用于连接任务工具的连接器（70），连接器（70）内设置高过载保护力传感器（1），机器人（6）至少部分的根据高过载保护力传感器（1）的检测结果控制执行工作。高过载保护力传感器（1）的结构简单、易于加工、过载性能好。

Description

一种高过载保护力传感器及机器人 技术领域
本发明涉及传感器技术领域，特别是涉及一种高过载保护力传感器及机器人。
背景技术
随着机器人技术的不断发展，机器人越来越多的应用于各种场合，例如搬运、焊接、检测等，机器人愈加丰富的应用场景要求其更具智能化、精准化，随之而来的是对机器人执行机构末端的力控需求的增多。
力传感器能够设置于机器人执行机构末端，以满足其力控需求。目前，力传感器已成为一重点研究方向，关于力传感器的结构设计，尤其是对弹性梁的设计方案层出不穷，但对于力传感器的过载保护设计相对较少。力传感器的过载保护结构具有重要意义，将直接关系使用力传感器的安全性，研究力传感器的安全性对于机器人领域，尤其是对安全性要求极高的协作机器人而言，具有重要意义。
在实现本发明过程中，发明人发现现有技术中对力传感器的过载保护结构普遍较为复杂。例如，公告号为CN103528726B的专利提供了一种过载保护结构，通过在过载保护梁及外梁上开设与保护销配合的保护孔，且保护销与过载保护梁为过盈配合、与外环工具通孔为间隙配合，该方案的过载保护结构刚度大、间隙可调，但是存在结构较为复杂、加工难度大的问题。
因此，有必要设计一种结构简单、易于实现、过载性能好的力传感器及机器人。
发明内容
鉴于此，本发明的目的在于提供一种结构简单、易于实现、过载性能好的力传感器及机器人。
本发明可采用如下技术方案：一种力传感器，包括外部框架、内部平台和设置于所述外部框架和内部平台之间的若干弹性梁，所述力传感器包括周向分布的多个过载保护部，所述过载保护部包括所述外部框架部分向内延伸与所述内部平台部分向外延伸形成的具有间隙的配合面。
进一步的，所述多个过载保护部包括第一过载保护部和第二过载保护部， 所述第一过载保护部至少用于限制所述力传感器沿竖直方向的位移，所述第二过载保护部至少用于限制所述力传感器沿水平方向的位移。
进一步的，所述第一过载保护部能够将竖直方向的位移至少部分的转化为水平方向的位移，所述第一过载保护部和第二过载保护部共同作用以限制所述力传感器沿竖直方向的位移。
进一步的，所述第一过载保护部包括具有间隙的配合斜面，所述配合斜面与竖直方向形成不为90度且不为180度的夹角。
进一步的，所述第二过载保护部的配合面为配合斜面或配合曲面，所述第二过载保护部的配合面垂直于水平面。
进一步的，所述第二过载保护部包括对称的配合斜面或配合曲面。
进一步的，所述多个过载保护部包括成对设置的第一过载保护部和成对设置的第二过载保护部，以共同限制力传感器不同方向的位移或扭转。
进一步的，所述成对设置的第一过载保护部相对于力传感器的中心对称或反对称，和/或，所述成对设置的第二过载保护部相对于力传感器的中心对称或反对称。
进一步的，所述第一过载保护部包括沿竖直方向的配合阶梯面。
进一步的，所述过载保护部包括配合斜面，所述第一过载保护部的配合斜面与所述第二过载保护部的配合斜面倾斜方向不同，以限制所述力传感器不同方向的位移或扭转。
进一步的，所述力传感器包括四个呈十字分布的弹性梁，所述过载保护部设置于相邻的弹性梁之间。
进一步的，所述力传感器形成为扭矩传感器、三维力传感器或六维力传感器。
本发明还可采用如下技术方案：一种机器人，包括通过致动器驱动执行工作的工作臂，所述工作臂末端包括用于连接各种任务工具的连接器，所述连接器内设置上文任一项所述的力传感器，所述机器人至少部分的根据力传感器的检测结果控制执行工作。
进一步的，所述机器人为工业机器人，优选的，所述机器人为协作机器人。
与现有技术相比，本发明具体实施方式的有益效果是：力传感器的过载保护部包括外部框架部分向内延伸和内部平台部分向外延伸形成的具有间隙的配合面，通过配合面的抵接限制力传感器的位移，力传感器的结构简单、 易于加工、过载性能好。
附图说明
以上所述的本发明的目的、技术方案以及有益效果可以通过下面附图实现：
图1是本发明第一实施例的力传感器的示意图
图2是本发明第二实施例的力传感器的示意图
图3是本发明第三实施例的力传感器的示意图
图4是本发明第四实施例的力传感器的示意图
图5是本发明一实施例的机器人的示意图
具体实施方式
为使本发明的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的方案进行清楚、完整的描述，显然，所描述的实施例是本发明的一部分实施例而不是全部的实施例。基于本发明中的实施例，本领域普通技术在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明保护一种力传感器，参图1-4示出了本发明所保护的力传感器1的几个实施例，力传感器1包括外部框架10、内部平台20和设置于所述外部框架10和内部平台20之间的若干弹性梁30，所述弹性梁可以粘贴应变片以根据弹性梁的变形检测力/力矩，所述力传感器1包括周向分布的多个过载保护部40，用于限制所述力传感器1的位移以保证力传感器的使用安全，所述过载保护部40包括所述外部框架10部分向内延伸与所述内部平台20部分向外延伸形成的具有间隙的配合面。具体的，所述外部框架10部分向内延伸形成一个切面，所述内部平台20部分向外延伸形成一个切面，所述外部框架10的切面和所述内部框架的切面能够形成具有间隙的配合面，当力传感器受到超过所述力传感器的量程的力或力矩时，所述间隙能够提供过载行程避免所述力传感器的损坏，同时，所述外部框架10和内部平台20形成的配合面受力限制所述力传感器1的过度变形，所述外部框架10与内部平台形成配合面，所述外部框架向内延伸的部分和所述内部平台向外延伸的部分形成了支撑结构，因此力传感器受过载力刚性好、过载性能好，并且可以通过改变所述配合面的大小，间接的改变了所述支撑结构的尺寸，以强化所述力传感器的过载性能。通过外部框架10和内部平台20形成具有间隙的配合面来限制 力传感器1的过载，间隙的存在能够保证力传感器1具有适当的过载行程，通过调整间隙的大小能够适应不同场景下的过载要求，通过配合面作用实现过载保护，未增加新的零部件，所述力传感器的结构比较简单，同时，对配合面的处理较为简单，相较于传统技术中进行销孔配合或者螺钉的方式，本方案的力传感器结构简单、易于加工、容易实现并且刚度较高、抗过载能力强，适合在工业推广应用。
力传感器1包括多个过载保护部40，所述过载保护部40包括所述外部框架10部分向内延伸与所述内部平台20部分向外延伸形成的具有间隙的配合面，进一步的，所述外部框架10的多个不同位置部分向内延伸，所述内部平台20的多个不同位置部分向外延伸，进而形成多个具有间隙的配合面，进而形成多个过载保护部40，优选的，所述多个过载保护部40沿力传感器1的周向均匀分布。在本发明的一个实施例中，所述多个过载保护部40包括第一过载保护部41和第二过载保护部42，所述第一过载保护部41至少用于限制所述力传感器1沿竖直方向的位移，所述第二过载保护部42至少用于限制所述力传感器1沿水平方向的位移。力传感器1最多可能会受到6个方向的过载力的作用，对于一个力传感器而言，要全面保证其过载保护的效果，需要考虑6个方向的过载力的作用，以力传感器1的中心为坐标原点建立坐标系，参图1，力传感器1有可能会受到六个方向的过载力的作用，即Fx、Fy和Fz,以及Mx、My和Mz，也即沿X轴方向、Y轴方向、Z轴方向的力和力矩，其中X、Y轴方向的受过载力导致水平方向的位移，Z轴方向的受过载力导致竖直方向的位移，当力传感器受到不同方向的过载力矩时，分别可能产生沿X、Y、Z轴的扭转变形，通过设置多个过载保护部包括第一过载保护部41和第二过载保护部42，能够全面保证力传感器1的过载保护的效果，使得力传感器1能够应对六个方向的力的作用，具体的，所述第一过载保护部41至少用于限制所述力传感器1沿竖直方向的位移，所述第二过载保护部42至少用于限制所述力传感器1沿水平方向的位移，进一步的，所述第二过载保护部42用于限制所述力传感器1受到过载力矩时引起的扭转变形，所述第一过载保护部41用于辅助限制所述力传感器沿水平方向的变形，也即，以力传感器中心点为原点建立的坐标系为参考，所述第一过载保护部41至少用于限制Z方向的位移，所述第二过载保护部42至少用于限制X、Y方向的位移，也即，所述第一过载保护部41至少用于限制Fz的作用，所述第二过载保护部42 至少用于限制Fx、Fy、Mx、My、Mz的作用。具体的，所述第一过载保护部41用于辅助所述第二过载保护部42限制水平方向的位移，所述第二过载保护部用于辅助所述第一过载保护部限制竖直方向的位移。具体的，所述第一过载保护部41和第二过载保护部42可以单独用于限制力传感器沿某一方向的位移，或者，所述第一过载保护部和第二过载保护部能够共同作用以限制力传感器沿某一方向的位移和/或扭转，以加强所述力传感器过载保护的效果，又或者，复数个第一过载保护部和复数个第二过载保护部共同作用以限制力传感器的位移和/或扭转。
在本发明的一个实施例中，所述过载保护部包括配合斜面，即所述第一过载保护部包括配合斜面，所述第二过载保护部包括配合斜面，所述第一过载保护部的配合斜面和所述第二过载保护部的配合斜面的倾斜方向不同，所述第一过载保护部的斜面至少用于限制所述力传感器沿竖直方向的位移，所述第二过载保护部的斜面至少用于限制所述力传感器沿水平方向的位移。所述力传感器包括沿周向分布的多个过载保护部，所述多个过载保护部包括至少两个第一过载保护部和至少两个第二过载保护部，所述至少两个第一过载保护部至少用于限制所述力传感器沿竖直方向的位移，所述至少两个第二过载保护部至少用于限制所述力传感器沿水平方向的位移。进一步的，复数个所述第一过载保护部共同用于限制所述力传感器沿竖直方向的位移，以及复数个第二过载保护部共同用于限制所述力传感器沿水平方向的位移，以保证所述力传感器的过载保护性能。
在本发明的一个实施例中，所述第一过载保护部包括具有间隙的配合斜面，所述配合斜面与竖直方向形成不为90度且不为180度的夹角。所述第二过载保护部的配合面包括配合斜面或配合曲面，所述第二过载保护部的配合面垂直于水平面。即所述第一过载保护部的配合面与竖直方向形成不为90度且不为180度的夹角，即所述第一过载保护部的配合面在竖直方向上为倾斜状态，以至少用于限制力传感器沿竖直方向的位移，即所述第一过载保护部的配合面能够产生竖直方向上的支撑力，以限制力传感器沿竖直方向的位移。同时，所述第一过载保护部的配合面还能够对水平方向的位移进行限制。所述力传感器包括多个过载保护部，所述多个过载保护部包括复数个第一过载保护部，所述复数个第一过载保护部的配合斜面与竖直方向形成不为90度且不为180度的夹角，即所述复数个第一过载保护部的配合斜面在竖直方 向为倾斜状态，优选的，所述复数个第一过载保护部的配合斜面的倾斜角度相同。在本发明的一个实施例中，所述复数个第一过载保护部与竖直方向形成不为90度且不为180度的夹角，所述复数个第一过载保护部的至少其中两个在竖直方向的倾斜方向相反，以限制所述力传感器沿竖直方向的相反作用力引起的位移。
如上所述，所述第二过载保护部的配合面垂直于水平面，所述第二过载保护部至少用于限制所述力传感器沿水平方向的位移。所述第二过载保护部的配合面能够对水平方向的作用力引起的位移，以及力传感器受到过载力矩引起的扭转进行限制。在本发明的一个实施例中，第二过载保护部包括配合斜面，所述多个过载保护部包括复数个第二过载保护部，其中至少两个第二过载保护部在垂直于水平面的方向上倾斜方向相反，以限制力传感器不同方向的位移或扭转。具体的，所述第二过载保护部包括对称的配合斜面或配合曲面，以使得所述第二过载保护部能够对多个方向的力或力矩进行限制。
力传感器1包括多个过载保护部40，优选的，所述多个过载保护部40沿力传感器1周向均匀分布，所述多个过载保护部40包括成对设置的第一过载保护部41和成对设置的第二过载保护部42，以共同限制力传感器不同方向的位移或扭转。也即，所述多个过载保护部包括至少两个第一过载保护部和至少两个第二过载保护部，以共同限制力传感器不同方向的位移或扭转。进一步的，所述成对设置的第一过载保护部相对于力传感器的中心对称或反对称，和/或，所述成对设置的第二过载保护部相对于力传感器的中心对称或反对称，参图1，成对设置的第一过载保护部反对称以对竖直方向上的反作用力引起的位移进行限制，一个第一过载保护部主要用于限制所述力传感器沿竖直方向向下的位移，另一个第一过载保护部主要用于限制所述力传感器沿竖直方向向上的位移；成对设置的的第二过载保护部对称设置，使得力传感器受过载力沿X、Y轴方向产生位移或者受到过载力矩产生扭转时，均由不同的第二过载保护部进行共同限制，以提升力传感器的过载保护性能。通过这样设置，使得成对设置的第一过载保护部能够限制力传感器竖直方向的相反作用力引起的位移，或者对竖直方向的力引起的位移进行双重作用；使得成对设置的第二过载保护部能够对各个方向的力引起的位移或力矩引起的扭转进行双重作用，以提升力传感器的过载保护性能。
力传感器1包括多个过载保护部40，所述多个过载保护部40包括第一 过载保护部41和第二过载保护部42，下面将提供几个所述第一过载保护部41和第二过载保护部42的具体实施例。
在本发明的一个实施例中，参图1，所述第一过载保护部41形成为具有间隙的配合斜面，即所述外部框架10部分向内延伸形成一斜面，所述内部平台20部分向外延伸形成一斜面，上述外部框架10的斜面和内部平台20的斜面形成具有间隙的配合斜面，以至少用于限制所述力传感器1沿竖直方向的位移，也即至少用于限制所述力传感器1沿Z轴方向的位移，当包括间隙的配合斜面的第一过载保护部41受到Z轴方向的过载力时，由于斜面的作用，还能够将竖直方向的位移转化为水平方向的位移，由所述第二过载保护部42进一步作用限制位移，以强化所述力传感器对竖直方向的位移的限制，使得所述力传感器对竖直方向的过载保护性能较好，当竖直方向的力较小时，仅通过第一过载保护部即可限制其位移，当竖直方向的力持续增大时，第一过载保护部的配合斜面将竖直方向的位移转化为水平面的位移，第二过载保护部能够限制水平面的位移，因此所述第一过载保护部和第二过载保护部共同作用以限制所述力传感器沿竖直方向的位移，使得所述力传感器过载性能较好，能够承受较大的过载力。同时，由于所述第一过载保护部采用配合斜面，所述力传感器在Z轴方向所受过载力越大，所述第一过载保护部和第二过载保护部之间所产生的摩擦力及支撑反力越大，以使得力传感器的过载性能较好。
在本发明的另一实施例中，参图4，所述第一过载保护部41形成为具有间隙的沿竖直方向的配合阶梯面，即所述外部框架10部分向内延伸形成一阶梯面，所述内部平台20部分向外延伸形成一阶梯面，所述外部框架10的阶梯面和所述内部平台20的阶梯面形成具有间隙的配合的阶梯面，以至少用于限制所述力传感器1沿竖直方向的位移，也即至少用于限制所述力传感器1沿Z轴方向的位移。
在本发明的一个实施例中，所述第二过载保护部42的配合面包括对称的配合面，即所述外部框架10部分向内延伸形成一个切面，所述内部平台20部分向外延伸形成一个切面，所述外部框架10的切面和所述内部平台20的切面共同组成具有间隙的配合面，同时，所述外部框架10的切面为对称结构，所述内部平台20的切面为对称结构，所述第二过载保护部42形成为具有间隙的对称配合面，以至少用于限制所述力传感器1沿水平方向的位移，也即 至少用于限制所述力传感器1在X、Y轴方向的位移，进一步的，所述第二过载保护部42用于限制所述力传感器受到过载力矩引起的扭转变形。进一步的，所述第二过载保护部42包括对称的配合斜面，在本发明的一个实施例中，参图1，图1中的第二过载保护部42包括对称的配合面，所述配合面中的每一个由两个对称交叉的斜面组成，所述配合面大致为等腰三角形的俯视图。在本发明的另一实施例中，参图2，所述第二过载保护部42包括对称的配合面，所述配合面中的每一个包括对称的斜面，所述配合面的俯视图大致为等腰梯形，在其他的实施例中，所述第二过载保护部42的俯视图还可以是正六边形等形状。在本发明的又一实施例中，参图3，所述第二过载保护部42包括对称的配合曲面，所述配合面中的每一个包括对称的曲面，即所述第二过载保护部42包括两个间隙配合的对称曲面。通过设置第二过载保护部42包括具有间隙的对称配合面，所述对称配合面能够至少用于沿水平方向上的各方向限制所述力传感器1的位移，结合所述第一过载保护部41至少用于在竖直方向上限制所述力传感器1的位移，以全面的限制所述力传感器1在不同方向的位移。所述第一过载保护部41和第二过载保护部42可以用于限制不同方向的位移，且所述第一过载保护部41和第二过载保护部42限制的位移方向互相垂直时，所述第一过载保护部41在发挥过载保护作用时，所述第二过载保护部42能够在第一过载保护部41所限制的方向所垂直的方向上给予第二次的限制，以加强所述第一过载保护部的过载保护效果，反之亦然，使得所述力传感器的过载保护性能好，所述力传感器安全性好。例如，当第一过载保护部41为具有间隙的配合斜面时，所述第一过载保护部受到Z轴方向的过载力时，由于斜面作用能够将竖直方向的位移转化为水平方向的位移，而第二过载保护部42包括具有间隙的对称配合面，所述第二过载保护部42限制的位移方向垂直，所述第二过载保护部能够限制水平方向的位移，进而当第一过载保护部将竖直方向的位移至少部分的转化为水平方向位移时，所述第二过载保护部能对其进一步限制，以保证过载保护的工作效果。同时，所述第二过载保护部42至少用于限制水平方向的位移，当所述力传感器受到X、Y轴方向的过载力时，所述第二过载保护部能够限制水平方向的位移，以及，当所述力传感器受到X、Y、Z轴方向的过载力矩时，所述第二过载保护部42的对称配合面能够限制力传感器的扭转变形。
力传感器1包括外部框架10，所述外部框架10包括具有开孔的固定部 11，所述力传感器1通过所述开孔以固定安装，所述固定部11向内部延伸以形成部分的过载保护部。所述力传感器1包括四个呈十字分布的弹性梁30，所述过载保护部设置于相邻的弹性梁30之间，以均匀所述力传感器的过载保护效果。
上文所述的力传感器包括多种形式，所述力传感器可以是扭矩传感器、三维力传感器或六维力传感器。
以上优选实施例的有益效果是：力传感器的过载保护结构包括外部框架和内部平台20形成的具有间隙的配合面，通过配合面的抵接作用限制力传感器的位移，力传感器的结构设计简单、加工容易、易于实现。
本发明还用于提供一种机器人，参图5，所述机器人6包括通过致动器驱动以执行工作的工作臂60，所述工作臂60末端包括用于连接各种任务工具的连接器70，所述连接器70内设置上文中任一项所述的力传感器1，所述机器人至少部分的根据力传感器的检测结果控制执行工作。
具体的，所述连接器70为工具法兰，所述工具法兰可以连接各种任务工具，例如夹爪、吸盘等。具体的，所述机器人6为工业机器人，优选的，所述机器人为能够与人协作执行工作的协作机器人，所述协作机器人能够经过教导以根据教导轨迹执行工作。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (13)

  1. 一种高过载保护力传感器，包括外部框架、内部平台和设置于所述外部框架和内部平台之间的若干弹性梁，其特征在于，所述力传感器包括周向分布的多个过载保护部，所述过载保护部包括所述外部框架部分向内延伸与所述内部平台部分向外延伸形成的具有间隙的配合面。
  2. 根据权利要求1所述的力传感器，其特征在于，所述多个过载保护部包括第一过载保护部和第二过载保护部，所述第一过载保护部至少用于限制所述力传感器沿竖直方向的位移，所述第二过载保护部至少用于限制所述力传感器沿水平方向的位移。
  3. 根据权利要求2所述的力传感器，其特征在于，所述第一过载保护部能够将竖直方向的位移至少部分的转化为水平方向的位移，所述第一过载保护部和第二过载保护部共同作用以限制所述力传感器沿竖直方向的位移。
  4. 根据权利要求2所述的力传感器，其特征在于，所述第一过载保护部包括具有间隙的配合斜面，所述配合斜面与竖直方向形成不为90度且不为180度的夹角。
  5. 根据权利要求2所述的力传感器，其特征在于，所述第二过载保护部的配合面包括配合斜面或配合曲面，所述第二过载保护部的配合面垂直于水平面。
  6. 根据权利要求2所述的力传感器，其特征在于，所述第二过载保护部包括对称的配合斜面或配合曲面。
  7. 根据权利要求2所述的力传感器，其特征在于，所述多个过载保护部包括成对设置的第一过载保护部和成对设置的第二过载保护部，以共同限制力传感器不同方向的位移或扭转。
  8. 根据权利要求7所述的力传感器，其特征在于，所述成对设置的第一过载保护部相对于力传感器的中心对称或反对称，和/或，所述成对设置的第二过载保护部相对于力传感器的中心对称或反对称。
  9. 根据权利要求2所述的力传感器，其特征在于，所述第一过载保护部包括沿竖直方向的配合阶梯面。
  10. 根据权利要求2所述的力传感器，其特征在于，所述过载保护部包括配合斜面，所述第一过载保护部的配合斜面与所述第二过载保护部的配合斜面倾斜方向不同，以限制所述力传感器不同方向的位移或扭转。
  11. 根据权利要求2所述的力传感器，其特征在于，所述力传感器包括四个呈十字分布的弹性梁，所述过载保护部设置于相邻的弹性梁之间。
  12. 根据权利要求2所述的力传感器，其特征在于，所述力传感器形成为扭矩传感器、三维力传感器或六维力传感器。
  13. 一种机器人，其特征在于，包括通过致动器驱动执行工作的工作臂，所述工作臂末端包括用于连接任务工具的连接器，所述连接器内设置权利要求1-12中任一项所述的力传感器，所述机器人至少部分的根据力传感器的检测结果控制执行工作。
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