Non-coupling multi-dimensional force sensor overload protection method and device

Abstract

The invention discloses a non-coupling multi-dimensional force sensor overload protection method and device. According to the method, on the basis of the position changes between a support end and a loading end of a multi-dimensional force sensor under different loads, overload protection is carried out by limiting a position change threshold between the support side and the loading end of the multi-dimensional force sensor. The device comprises a sleeve shell and a first limiting plate; the first limiting plate is fixedly connected with a loading platform of an elastomer of the multi-dimensional force sensor; protruding columns and grooves that cooperate with each other are arranged at the first limiting plate and the elastomer of the multi-dimensional force sensor respectively; hole shaft clearances are formed between the protruding columns and the grooves; and an axial gap is formed between the surrounding edge of the top surface of the first limiting plate and the bottom surface ofthe support frame of the multi-dimensional force sensor. With the overload protection device, overload capabilities of the multi-dimensional force sensor in all directions can be adjusted independently and the accurate force / torque overload protection can be realized.

Description

technical field [0001] The invention relates to the technical field of sensors, in particular to a non-coupling multi-dimensional force sensor overload protection method and device. Background technique [0002] With the development of science and technology, more and more robot technology is used in various occasions, such as handling, welding, assembly and so on. One of the core issues of robot technology is intelligence. The six-dimensional force sensor is a key component of the intelligent feature of space robots because it can perceive full force information in three-dimensional space at the same time. The multi-dimensional force sensor generally includes a support frame and a loading table set on the support frame. The core of the six-dimensional force sensor is the design of the elastic body. The structure of the elastic body directly determines the performance of the entire sensor and is the key to the performance of the sensor. [0003] The overload protection of t...

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Problems solved by technology

[0003] The overload protection of the six-dimensional force sensor is directly related to the use and safety of the six-dimensional force sensor. It has always been the focus of research, but so far there is no better solution

Such as patent CN101419102A, CN101210850A and other six-dimensional force sensors have no overload protection function; patent CN103528726A does not consider the coupling problem for the overload protection device of the six-dimensional force sensor, it is difficult to achieve accurate overload protection

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