CN101118194A - Joint moment sensor providing torque and bending moment overload protection - Google Patents
Joint moment sensor providing torque and bending moment overload protection Download PDFInfo
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- CN101118194A CN101118194A CNA2007101443223A CN200710144322A CN101118194A CN 101118194 A CN101118194 A CN 101118194A CN A2007101443223 A CNA2007101443223 A CN A2007101443223A CN 200710144322 A CN200710144322 A CN 200710144322A CN 101118194 A CN101118194 A CN 101118194A
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Abstract
The present invention discloses a joint force moment sensor providing torque and bending moment overload protection, and relates to a joint force moment sensor, to solve the problems that the existing joint force moment sensor can only realize the overload protection on the force moment vertical to the ground. The present invention provides a blind hole (10) on each overload protection beam (5), four through holes (9) coaxial with the blind holes (10) are respectively arranged on the inner edge of an output connecting flange (2) along the radial direction, one end of each protection pin (6) respectively gets through the corresponding through holes (9) and arranged in the corresponding blind hole (10), and the other end of each protection pin (6) is fitted with the corresponding through hole (9) through a clearance. Under different operating modes of the sensor of the present invention, the variances of the overload protection annular clearances between the protection pins and the through holes are different, not only the joint force moment overload protection can be provided, but also the bending moment overload protection can be realized, thus making the system run more safely and reliably.
Description
Technical field
The present invention relates to a kind of joint moment sensor.
Background technology
The characteristics that harmonic speed reducer has is in light weight, volume is little, reduction gear ratio is big, efficient is high, the backhaul difference is little, it has obtained using widely in the driving mechanism at mechanical arm and joint of robot position.Mechanical arm utilizes the joint moment sensor feedback signal to realize accurate Torque Control when certain object of grasping or robots arm finish certain specific action.But existing joint moment sensor is subject to the influence of harmonic wave and overload torque, when torque sensor detects the joint output torque, the joint moment that has harmonic wave can produce output signal and disturb, the control accuracy of reduction system, overload torque also can cause the precision of testing result to reduce even cause sensor to damage.Publication number for the patent disclosure of CN1815156 a kind of can the harmonic carcellation influence and the joint moment sensor of overload protection is provided; but this torque sensor can only be realized overload protection to the moment perpendicular to card; and the joint is in practical work process; load torque may be from all directions, and torque sensor still causes damage easily.
Summary of the invention
The present invention can only provide a kind of joint moment sensor that torque and bending moment overload protection are provided to realize the problem of overload protection perpendicular to the moment of card for solving existing joint moment sensor.The present invention comprises input mounting flange 1; output mounting flange 2; four strain transducer beams 3; eight foil gauges 4; four overload protection beams 5 and four protection keys 6; fixedly connected with the inner edge of output mounting flange 2 with the outer rim of input mounting flange 1 respectively and evenly distribute along the circumference of importing mounting flange 1 in the two ends of four strain transducer beams 3; all be provided with two foil gauges 4 on each strain transducer beam 3; four foil gauges 4 on two strain transducer beams 3 on the same diametric(al) constitute a full-bridge; four overload protection beams 5 are separately positioned between two adjacent strain transducer beams 3 and with the outer rim of input mounting flange 1 fixedlys connected; on each overload protection beam 5, have blind hole 10; inner edge at output mounting flange 2 radially has four through holes 9 coaxial with blind hole 10; one end of each protection key 6 passes and is arranged on from the through hole 9 of correspondence respectively in the corresponding blind hole 10, the other end of each protection key 6 all with corresponding through hole 9 clearance fit.
Sensor of the present invention is under various operating modes, and the variable quantity of the annular gap between protection key and the through hole is also inequality, and the torque overload protection in joint not only can be provided, and can also realize the bending moment overload protection in joint, makes system's operation more safe and reliable.
Description of drawings
Fig. 1 is an one-piece construction synoptic diagram of the present invention, Fig. 2 be the A of Fig. 1 to synoptic diagram, Fig. 3 is the B-B cut-open view of Fig. 2, Fig. 4 is the C place enlarged drawing of Fig. 3.
Embodiment
Embodiment one: referring to Fig. 1～Fig. 3; present embodiment is by input mounting flange 1; output mounting flange 2; four strain transducer beams 3; eight foil gauges 4; four overload protection beams 5 and four protection keys 6 are formed; fixedly connected with the inner edge of output mounting flange 2 with the outer rim of input mounting flange 1 respectively and evenly distribute along the circumference of importing mounting flange 1 in the two ends of four strain transducer beams 3; all be provided with two foil gauges 4 on each strain transducer beam 3; four foil gauges 4 on two strain transducer beams 3 on the same diametric(al) constitute a full-bridge; four overload protection beams 5 are separately positioned between two adjacent strain transducer beams 3 and with the outer rim of input mounting flange 1 fixedlys connected; on each overload protection beam 5, have blind hole 10; inner edge at output mounting flange 2 radially has four through holes 9 coaxial with blind hole 10; one end of each protection key 6 passes and is arranged on from the through hole 9 of correspondence respectively in the corresponding blind hole 10, the other end of each protection key 6 all with corresponding through hole 9 clearance fit.One end of described protection key 6 can or be bonded in the blind hole 10 with blind hole 10 interference fit.The inside diameter D of through hole 9 is established rules really and then is: protection key 6 and blind hole 10 are assembled; do the time spent when being subjected to nominal torque T; protection key 6 produces with respect to corresponding through hole 9 displacement S along the circumferential direction, calculates the mean value S of all different displacement S by finite element analysis software
o, the outer diameter D of protection key 6 then
oMean value S with displacement
o2 times and be the inside diameter D of through hole 9, i.e. D=D
o+ 2 * S
oProtection key 6 is arranged in the blind hole 10; to prevent when output mounting flange 2 rotates in slewing area; protection key 6 is thrown out of owing to centrifugal action; under the situation of joint zero load; form annular gap between the inwall of the external cylindrical surface of protection key 6 and through hole 9, for different operating modes, the variable quantity in gap is also different; make the existing margin of operation of torque sensor, can avoid again owing to overload causes damage.
Embodiment two: referring to Fig. 1, Fig. 2, eight foil gauges 4 that the difference of present embodiment and embodiment one is to be arranged on four strain transducer beams 3 are in the same plane.Other composition is identical with embodiment one with annexation.Described eight foil gauges 4 adopt the whole plane method of attaching, can make the position of foil gauge 4 more accurate.
Embodiment three: referring to Fig. 1, Fig. 2, present embodiment has increased sealing ring 7 on the basis of embodiment one, and sealing ring 7 is arranged on the output mounting flange 2.Other composition is identical with embodiment one with annexation.Torque sensor is used for the joint outgoing side; transmit moment of torsion to next joint; sealing ring 7 on the torque sensor can cooperate formation contact seal (as the felt sealing) or non-contacting seal (as labyrinth seal) with other parts of joint (for example joint shell), so that inside, joint is formed protection.
Embodiment four: referring to Fig. 1～Fig. 3, present embodiment has increased mechanical position limitation mechanism 8 on the basis of embodiment one, and mechanical position limitation mechanism 8 is arranged on the outer rim of output mounting flange 2.Other composition is identical with embodiment one with annexation.Mechanical position limitation structure 8 on the torque sensor can go up corresponding respective outer side edges with other parts of joint (for example joint shell) and form mechanical position limitation, so that the range of movement in joint is limited.
Claims (7)
1. the joint moment sensor of torque and bending moment overload protection is provided; it comprises input mounting flange (1); output mounting flange (2); four strain transducer beams (3); eight foil gauges (4); four overload protection beams (5) and four protection keys (6); fixedly connected with the inner edge of output mounting flange (2) with the outer rim of input mounting flange (1) respectively and evenly distribute along the circumference of importing mounting flange (1) in the two ends of four strain transducer beams (3); all be provided with two foil gauges (4) on each strain transducer beam (3); four foil gauges (4) on two strain transducer beams (3) on the same diametric(al) constitute a full-bridge; four overload protection beams (5) are separately positioned between two adjacent strain transducer beams (3) and with the outer rim of input mounting flange (1) fixedlys connected; it is characterized in that on each overload protection beam (5), having blind hole (10); inner edge at output mounting flange (2) radially has four through holes (9) coaxial with blind hole (10); one end of each protection key (6) passes and is arranged on from the through hole (9) of correspondence respectively in the corresponding blind hole (10), the other end of each protection key (6) all with corresponding through hole (9) clearance fit.
2. the joint moment sensor that torque and bending moment overload protection are provided according to claim 1; the inside diameter D that it is characterized in that through hole (9) is established rules really and then is: protection key (6) and blind hole (10) are assembled; do the time spent when being subjected to nominal torque T; protection key (6) produces with respect to corresponding through hole (9) displacement S along the circumferential direction, calculates the mean value S of all different displacement S by finite element analysis software
o, the outer diameter D of protection key (6) then
oMean value S with displacement
o2 times and be the inside diameter D of through hole (9), computing formula is: D=D
o+ 2 * S
o
3. the joint moment sensor that torque and bending moment overload protection are provided according to claim 1, eight foil gauges (4) that it is characterized in that being arranged on four strain transducer beams (3) are in the same plane.
4. the joint moment sensor that torque and bending moment overload protection are provided according to claim 1 is characterized in that an end and blind hole (10) interference fit of protection key (6).
5. the joint moment sensor that torque and bending moment overload protection are provided according to claim 1 is characterized in that an end of protection key (6) is bonded in the blind hole (10).
6. the joint moment sensor that torque and bending moment overload protection are provided according to claim 1 is characterized in that it has increased sealing ring (7), and sealing ring (7) is arranged on the output mounting flange (2).
7. the joint moment sensor that torque and bending moment overload protection are provided according to claim 1 is characterized in that it has increased mechanical position limitation mechanism (8), and mechanical position limitation mechanism (8) is arranged on the outer rim of output mounting flange (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007101443223A CN101118194A (en) | 2007-09-14 | 2007-09-14 | Joint moment sensor providing torque and bending moment overload protection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007101443223A CN101118194A (en) | 2007-09-14 | 2007-09-14 | Joint moment sensor providing torque and bending moment overload protection |
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| CN101118194A true CN101118194A (en) | 2008-02-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2007101443223A Pending CN101118194A (en) | 2007-09-14 | 2007-09-14 | Joint moment sensor providing torque and bending moment overload protection |
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Cited By (26)
| 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 |
| CN103376174A (en) * | 2012-04-27 | 2013-10-30 | 鸿富锦精密工业（深圳）有限公司 | Pressure detecting device |
| 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 |
| CN103586772A (en) * | 2012-08-16 | 2014-02-19 | 鸿富锦精密工业（深圳）有限公司 | Pressure detection device |
| CN105092124A (en) * | 2015-05-08 | 2015-11-25 | 阳江核电有限公司 | Manipulator moment test apparatus |
| CN105606279A (en) * | 2016-02-22 | 2016-05-25 | 浙江大学 | Elastic torque sensor |
| 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 |
| CN107421667A (en) * | 2017-03-29 | 2017-12-01 | 广西大学 | A kind of condenser type torque sensor with ladder beam |
| CN107782492A (en) * | 2017-12-12 | 2018-03-09 | 哈尔滨工业大学 | A kind of modular mechanical shoulder joint torque sensor calibrating platform |
| CN107850503A (en) * | 2015-07-29 | 2018-03-27 | 三力管理株式会社 | Torque sensor |
| CN108338694A (en) * | 2017-01-25 | 2018-07-31 | 漳州灿坤实业有限公司 | Food materials measuring equipment and baking machine |
| CN108375435A (en) * | 2018-02-27 | 2018-08-07 | 中科新松有限公司 | Torque-measuring apparatus and joint of robot |
| CN109813475A (en) * | 2019-03-29 | 2019-05-28 | 溱者(上海)智能科技有限公司 | A kind of structural member and overload protecting mechanism of torque-measuring apparatus |
| CN109952497A (en) * | 2016-12-07 | 2019-06-28 | 日本电产科宝电子株式会社 | Torque sensor |
| CN110207882A (en) * | 2019-07-09 | 2019-09-06 | 东北电力大学 | Two dimensional wireless passive sensor is decoupled between joint ball-type dimension |
| CN111183007A (en) * | 2018-07-02 | 2020-05-19 | 非夕科技有限公司 | Multi-axial force and moment sensor and robot with same |
| CN111272379A (en) * | 2020-02-05 | 2020-06-12 | 中国空气动力研究与发展中心低速空气动力研究所 | Micro-axial force annular two-component strain balance |
| CN111452083A (en) * | 2019-01-21 | 2020-07-28 | 哈尔滨工业大学 | Integrated joint type driving and controlling module with force/position detection function |
| CN111742205A (en) * | 2018-02-21 | 2020-10-02 | 阿尔卑斯阿尔派株式会社 | Torque sensor |
| CN112539862A (en) * | 2020-12-04 | 2021-03-23 | 法奥意威(苏州)机器人系统有限公司 | Torque measuring device for robot joint |
| CN113820046A (en) * | 2021-08-19 | 2021-12-21 | 武汉联影智融医疗科技有限公司 | Trolley handrail |
| EP3822604A4 (en) * | 2018-07-13 | 2022-05-18 | Nidec Copal Electronics Corporation | Torque sensor attachment structure |
| CN114577381A (en) * | 2022-03-04 | 2022-06-03 | 哈尔滨工业大学 | Robot joint torque sensor and torque measuring method thereof |
| CN115683434A (en) * | 2022-10-31 | 2023-02-03 | 哈尔滨工业大学 | Space mechanical arm six-axis force/moment measuring device suitable for inchworm crawling |
| TWI804581B (en) * | 2018-03-29 | 2023-06-11 | 日商日本電產科寶電子股份有限公司 | torque sensor |
| US11761835B2 (en) | 2018-07-13 | 2023-09-19 | Nidec Copal Electronics Corporation | Mounting structure for torque sensor |
-
2007
- 2007-09-14 CN CNA2007101443223A patent/CN101118194A/en active Pending
Cited By (43)
| 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 |
| CN103376174B (en) * | 2012-04-27 | 2016-03-09 | 鸿富锦精密工业（深圳）有限公司 | Pressure-detecting device |
| CN103376174A (en) * | 2012-04-27 | 2013-10-30 | 鸿富锦精密工业（深圳）有限公司 | Pressure detecting device |
| CN103586772B (en) * | 2012-08-16 | 2016-01-06 | 鸿富锦精密工业（深圳）有限公司 | Pressure-detecting device |
| CN103586772A (en) * | 2012-08-16 | 2014-02-19 | 鸿富锦精密工业（深圳）有限公司 | Pressure detection device |
| 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 |
| 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 |
| CN105092124A (en) * | 2015-05-08 | 2015-11-25 | 阳江核电有限公司 | Manipulator moment test apparatus |
| CN105092124B (en) * | 2015-05-08 | 2018-03-02 | 阳江核电有限公司 | A kind of manipulator torque test device |
| CN107850503B (en) * | 2015-07-29 | 2019-05-28 | 三力管理株式会社 | Torque sensor |
| CN107850503A (en) * | 2015-07-29 | 2018-03-27 | 三力管理株式会社 | Torque sensor |
| CN105606279B (en) * | 2016-02-22 | 2018-08-21 | 浙江大学 | Moment of elasticity sensor |
| CN105606279A (en) * | 2016-02-22 | 2016-05-25 | 浙江大学 | Elastic torque sensor |
| 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 |
| CN109952497A (en) * | 2016-12-07 | 2019-06-28 | 日本电产科宝电子株式会社 | Torque sensor |
| US11105693B2 (en) | 2016-12-07 | 2021-08-31 | Nidec Copal Electronics Corporation | Torque sensor |
| CN108338694A (en) * | 2017-01-25 | 2018-07-31 | 漳州灿坤实业有限公司 | Food materials measuring equipment and baking machine |
| CN107421667A (en) * | 2017-03-29 | 2017-12-01 | 广西大学 | A kind of condenser type torque sensor with ladder beam |
| CN107782492B (en) * | 2017-12-12 | 2019-11-05 | 哈尔滨工业大学 | A kind of modular mechanical shoulder joint torque sensor calibrating platform |
| CN107782492A (en) * | 2017-12-12 | 2018-03-09 | 哈尔滨工业大学 | A kind of modular mechanical shoulder joint torque sensor calibrating platform |
| CN111742205B (en) * | 2018-02-21 | 2022-03-22 | 阿尔卑斯阿尔派株式会社 | Torque sensor |
| CN111742205A (en) * | 2018-02-21 | 2020-10-02 | 阿尔卑斯阿尔派株式会社 | Torque sensor |
| CN108375435A (en) * | 2018-02-27 | 2018-08-07 | 中科新松有限公司 | Torque-measuring apparatus and joint of robot |
| TWI804581B (en) * | 2018-03-29 | 2023-06-11 | 日商日本電產科寶電子股份有限公司 | torque sensor |
| CN111183007A (en) * | 2018-07-02 | 2020-05-19 | 非夕科技有限公司 | Multi-axial force and moment sensor and robot with same |
| CN111183007B (en) * | 2018-07-02 | 2023-05-16 | 非夕科技有限公司 | Multi-axis force and moment sensor and robot with same |
| US11761835B2 (en) | 2018-07-13 | 2023-09-19 | Nidec Copal Electronics Corporation | Mounting structure for torque sensor |
| TWI811395B (en) * | 2018-07-13 | 2023-08-11 | 日商日本電產科寶電子股份有限公司 | Installation structure of torque sensor |
| US11781928B2 (en) | 2018-07-13 | 2023-10-10 | Nidec Copal Electronics Corporation | Torque sensor attachment structure |
| EP3822604A4 (en) * | 2018-07-13 | 2022-05-18 | Nidec Copal Electronics Corporation | Torque sensor attachment structure |
| CN111452083B (en) * | 2019-01-21 | 2022-08-09 | 哈尔滨工业大学 | Integrated joint type driving and controlling module with force/position detection function |
| CN111452083A (en) * | 2019-01-21 | 2020-07-28 | 哈尔滨工业大学 | Integrated joint type driving and controlling module with force/position detection function |
| CN109813475A (en) * | 2019-03-29 | 2019-05-28 | 溱者(上海)智能科技有限公司 | A kind of structural member and overload protecting mechanism of torque-measuring apparatus |
| CN110207882A (en) * | 2019-07-09 | 2019-09-06 | 东北电力大学 | Two dimensional wireless passive sensor is decoupled between joint ball-type dimension |
| CN111272379B (en) * | 2020-02-05 | 2020-10-27 | 中国空气动力研究与发展中心低速空气动力研究所 | Micro-axial force annular two-component strain balance |
| CN111272379A (en) * | 2020-02-05 | 2020-06-12 | 中国空气动力研究与发展中心低速空气动力研究所 | Micro-axial force annular two-component strain balance |
| CN112539862A (en) * | 2020-12-04 | 2021-03-23 | 法奥意威(苏州)机器人系统有限公司 | Torque measuring device for robot joint |
| CN113820046A (en) * | 2021-08-19 | 2021-12-21 | 武汉联影智融医疗科技有限公司 | Trolley handrail |
| CN113820046B (en) * | 2021-08-19 | 2023-05-26 | 武汉联影智融医疗科技有限公司 | Trolley armrest |
| CN114577381A (en) * | 2022-03-04 | 2022-06-03 | 哈尔滨工业大学 | Robot joint torque sensor and torque measuring method thereof |
| CN114577381B (en) * | 2022-03-04 | 2024-05-28 | 哈尔滨工业大学 | Robot joint torque sensor and torque measurement method thereof |
| CN115683434A (en) * | 2022-10-31 | 2023-02-03 | 哈尔滨工业大学 | Space mechanical arm six-axis force/moment measuring device suitable for inchworm crawling |
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