CN105673792A - Flexible transmission device capable of measuring output torque - Google Patents
Flexible transmission device capable of measuring output torque Download PDFInfo
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- CN105673792A CN105673792A CN201410664469.5A CN201410664469A CN105673792A CN 105673792 A CN105673792 A CN 105673792A CN 201410664469 A CN201410664469 A CN 201410664469A CN 105673792 A CN105673792 A CN 105673792A
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- output torque
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Abstract
The invention relates to a transmission device, in particular to a flexible transmission device capable of measuring the output torque. The flexible transmission device capable of measuring the output torque comprises a torque sensor, a stator, a rotor and flexible connecting parts, wherein the torque sensor is rotationally connected with the rotor through a bearing, the stator is arranged on the outer side of the rotor and fixedly connected with the torque sensor, and the stator is connected with the rotor through the flexible connecting parts which are torsion springs. The rigidity and number of the torsion springs can be changed according to practical needs, the rigidity of the flexible transmission component can be changed on the condition that the appearance and size of a mechanical structure are not changed, and the flexible transmission device has good suitability.
Description
Technical field
The present invention relates to a kind of transmission mechanism, specifically a kind of flexible gearing that can measure output torque.
Background technology
Along with popularizing of robot application, the collaborative work of people and robot is just becoming the important research content of robot field. Traditional robot is in order to reach the object of high precision, and its joint stiffness is general very high, and lacks torque sensor output. Therefore in normal use procedure, in order to guarantee the safety of people, it is necessary to people is away from robot, and once there is the unsafe condition that people and robot touch, robot is difficult to the generation of perceived risk, also just is difficult to guarantee the safety of people. This kind of situation significantly limit using and promoting of robot.
Summary of the invention
For the problems referred to above, it is an object of the invention to provide a kind of flexible gearing that can measure output torque. This device can be applicable to the fields such as high-performance flexible mechanical arm, high security robot, robot Shared control.
In order to realize above-mentioned purpose, the present invention by the following technical solutions:
A kind of flexible gearing that can measure output torque, comprise torque transducer, stator, mover and flexible connecting member, wherein torque transducer and mover are rotationally connected, described stator is arranged at the outside of mover and admittedly joins with torque transducer, and described stator is connected with mover by flexible connecting member. Described torque transducer is connected with mover by bearing.
The center, side of described mover is provided with the circular hole of the band keyway for being connected with motor output shaft, and another center, side is provided with the round boss for bearing set, and described mover is circumferentially provided with multiple through hole I for being connected with flexible connecting member near outer rim.
Described stator is annulus and is circumferentially provided with the through hole II equal with the through hole I number on mover on circle ring inner wall, and described through hole I and through hole II is connected by multiple flexible connecting member successively.
In the projection that the inner periphery of excircle and stator that described through hole I and through hole II is arranged at mover respectively is provided with, the symmetrical oblique pull of adjacent two flexible connecting members, forms "eight" shape, and the opening direction of adjacent two "eight" shape is contrary.
Described torque transducer comprises inner ring and outer ring, wherein the center, side of inner ring is provided with the circular groove for embedding dress bearing, the bottom centre of described circular groove is provided with threaded hole, described inner ring and outer ring are connected by multiple circumferentially uniform connection beam, each connection is pasted with foil gauge on beam, and described torque transducer is connected with stator by outer ring. Circumferentially being evenly equipped with multiple corresponding threaded hole on the outer ring of described torque transducer and stator, the outer ring of described torque transducer and stator are connected by screw at each threaded hole place.
Described flexible connecting member is extension spring, and one end of described extension spring is connected with stator, and the other end is connected with mover.
The present invention has following useful effect and advantage:
1. the present invention adopts a kind of simple structure to achieve the flexible gearing that can measure output torque, has high reliability and economy.
2. the present invention adopts extension spring to connect stator and the mover of flexible gearing, it is possible to change rigidity and the quantity of extension spring according to actual demand, it is possible to change flexible transmission part rigidity when not changing physical construction profile and size, have good suitability.
3. the present invention connects motor and other peripherals by flexible gearing, and that can reduce electric motor starting on the one hand impacts the impact on mechanism; On the other hand, when mechanical arm touches with other objects, utilize this flexibility can reduce the contact force of collision, alleviate the injury that may cause.
4. flexible gearing stator and torque transducer are connected by the present invention, it is possible to measure the output moment of motor, can judge whether, by detecting this moment in real time, collision of causing danger, and reach the object improving operator's security; The manufacture field that high precision polishing, polishing etc. need power Shared control can also be applied to, obtain better effect.
Accompanying drawing explanation
The structure explosive view of Fig. 1 the present invention;
Fig. 2 is the structural representation that in the present invention, stator is connected by extension spring with mover;
Fig. 3 is one of schematic perspective view of mover in the present invention;
Fig. 4 is the two of the schematic perspective view of mover in the present invention;
Fig. 5 is the structural representation of stator in the present invention;
Fig. 6 is one of schematic perspective view of torque transducer in the present invention;
Fig. 7 is the two of the schematic perspective view of torque transducer in the present invention;
Wherein: 1 is torque transducer, 2 is stator, and 3 is extension spring, and 4 is mover, and 5 is bearing.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As shown in Figure 1, the present invention comprises torque transducer 1, stator 2, mover 4 and flexible connecting member, and wherein torque transducer 1 is rotationally connected by bearing 5 and mover 4, the radial degree of freedom of restriction. Described stator 2 is arranged at the outside of mover 4 and joins with torque transducer 1 is solid, and described stator 2 is connected with mover 4 by flexible connecting member.
As shown in Figure 3, Figure 4, the center, side of described mover 4 is provided with the circular hole of the band keyway for being connected with motor output shaft, another center, side is provided with the round boss for bearing set 5, and described mover 4 is circumferentially provided with multiple through hole I for being connected with flexible connecting member near outer rim.
As shown in Figure 5, described stator 2 is annulus and is circumferentially provided with the through hole II equal with the through hole I number on mover 4 on circle ring inner wall, and described through hole I and through hole II is connected by multiple flexible connecting member successively. In the projection that the inner periphery of excircle and stator 2 that described through hole I and through hole II is arranged at mover 4 respectively is provided with, the symmetrical oblique pull of adjacent two flexible connecting members, forms "eight" shape, and the opening direction of adjacent two "eight" shape is contrary, as shown in Figure 2.
As shown in Figure 6, Figure 7, described torque transducer 1 comprises inner ring and outer ring, and wherein the center, side of inner ring is provided with the circular groove for embedding dress bearing 5, and circular groove bottom centre is provided with the threaded hole for being connected with step-down gear or other peripherals. Described inner ring and outer ring are connected by multiple circumferentially uniform connection beam, and each connection is pasted with foil gauge on beam, it is possible to indirectly obtained by the strain of measurement structure and be applied to structural moment of torsion.Circumferentially being evenly equipped with multiple corresponding threaded hole on the outer ring of described torque transducer 1 and stator 2, the outer ring of described torque transducer 1 and stator 2 are connected by screw at each threaded hole place.
In the present embodiment, described flexible connecting member is extension spring 3, and one end of described extension spring 3 is connected with stator 2, and the other end is connected with mover 4. By the extension spring 3 of symmetrical oblique pull, it is ensured that the stability of connection, and realizing the rotation rigidity of expectation, the quantity of extension spring 3 can adjust according to actual needs.
The principle of work of the present invention is:
Described mover 4 and motor output end shrink-fit, pass to stator 2 by extension spring 3 by output torque, and stator 2 and torque transducer 1 are connected, and moment of torsion outputs to step-down gear or other peripherals further. Utilize the flexibility of extension spring 3 between transmission mechanism stator 2, mover 4, it is possible to reduce surging force to the injury of motor and peripherals. The present invention has good application prospect in fields such as high-performance flexible mechanical arm, high security robot, robot Shared control.
Claims (8)
1. can measure the flexible gearing of output torque for one kind, it is characterized in that: comprise torque transducer (1), stator (2), mover (4) and flexible connecting member, wherein torque transducer (1) and mover (4) are rotationally connected, described stator (2) is arranged at the outside of mover (4) and joins with torque transducer (1) is solid, and described stator (2) is connected with mover (4) by flexible connecting member.
2. by the flexible gearing that can measure output torque according to claim 1, it is characterised in that: described torque transducer (1) is connected with mover (4) by bearing (5).
3. by the flexible gearing that can measure output torque according to claim 2, it is characterized in that: the center, side of described mover (4) is provided with the circular hole of the band keyway for being connected with motor output shaft, another center, side is provided with the round boss for bearing set (5), and described mover (4) is upper is circumferentially provided with multiple through hole I for being connected with flexible connecting member near outer rim.
4. by the flexible gearing that can measure output torque according to claim 3, it is characterized in that: described stator (2) is for annulus and is circumferentially provided with the through hole II equal with the through hole I number on mover (4) on circle ring inner wall, and described through hole I and through hole II is connected by multiple flexible connecting member successively.
5. by the flexible gearing that can measure output torque according to claim 4, it is characterized in that: in the projection that the inner periphery of excircle and stator (2) that described through hole I and through hole II is arranged at mover (4) respectively is provided with, the symmetrical oblique pull of adjacent two flexible connecting members, form "eight" shape, and the opening direction of adjacent two "eight" shape is contrary.
6. by the flexible gearing that can measure output torque according to claim 2, it is characterized in that: described torque transducer (1) comprises inner ring and outer ring, wherein the center, side of inner ring is provided with the circular groove for embedding dress bearing (5), the bottom centre of described circular groove is provided with threaded hole, described inner ring and outer ring are connected by multiple circumferentially uniform connection beam, each connection is pasted with foil gauge on beam, and described torque transducer (1) is connected with stator (2) by outer ring.
7. by the flexible gearing that can measure output torque according to claim 6, it is characterized in that: be circumferentially evenly equipped with multiple corresponding threaded hole on the outer ring of described torque transducer (1) and stator (2), outer ring and the stator (2) of described torque transducer (1) are connected by screw at each threaded hole place.
8. by the flexible gearing that can measure output torque described in the arbitrary item of claim 1-7, it is characterized in that: described flexible connecting member is extension spring (3), one end of described extension spring (3) is connected with stator (2), and the other end is connected with mover (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410664469.5A CN105673792B (en) | 2014-11-19 | 2014-11-19 | It is a kind of to measure the flexible gearing of output torque |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410664469.5A CN105673792B (en) | 2014-11-19 | 2014-11-19 | It is a kind of to measure the flexible gearing of output torque |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105673792A true CN105673792A (en) | 2016-06-15 |
| CN105673792B CN105673792B (en) | 2017-09-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410664469.5A Active CN105673792B (en) | 2014-11-19 | 2014-11-19 | It is a kind of to measure the flexible gearing of output torque |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107962591A (en) * | 2017-11-23 | 2018-04-27 | 哈尔滨工业大学 | A kind of passive damping elastomer element for the upper energy measuring moment of flexible machine person joint |
| CN113146659A (en) * | 2020-01-07 | 2021-07-23 | 佳能株式会社 | Torque detection device and method, robot, article manufacturing method, and control device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102008021677A1 (en) * | 2007-05-04 | 2008-12-04 | GM Global Technology Operations, Inc., Detroit | Sensor gap balancer |
| CN101799338A (en) * | 2009-02-06 | 2010-08-11 | 通用汽车环球科技运作公司 | Torque sensor with alignment system |
| CN202471322U (en) * | 2012-01-18 | 2012-10-03 | 嘉兴市兴嘉汽车零部件制造有限公司 | Torque tester for electromagnetic clutch |
| KR20150028836A (en) * | 2012-07-04 | 2015-03-16 | 헬라 카게아아 휙크 운트 콤파니 | Angular position sensor |
| CN204229655U (en) * | 2014-10-28 | 2015-03-25 | 浙江吉利控股集团有限公司 | A kind of vehicular safety distance monitoring alarm |
-
2014
- 2014-11-19 CN CN201410664469.5A patent/CN105673792B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102008021677A1 (en) * | 2007-05-04 | 2008-12-04 | GM Global Technology Operations, Inc., Detroit | Sensor gap balancer |
| CN101799338A (en) * | 2009-02-06 | 2010-08-11 | 通用汽车环球科技运作公司 | Torque sensor with alignment system |
| CN202471322U (en) * | 2012-01-18 | 2012-10-03 | 嘉兴市兴嘉汽车零部件制造有限公司 | Torque tester for electromagnetic clutch |
| KR20150028836A (en) * | 2012-07-04 | 2015-03-16 | 헬라 카게아아 휙크 운트 콤파니 | Angular position sensor |
| CN204229655U (en) * | 2014-10-28 | 2015-03-25 | 浙江吉利控股集团有限公司 | A kind of vehicular safety distance monitoring alarm |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107962591A (en) * | 2017-11-23 | 2018-04-27 | 哈尔滨工业大学 | A kind of passive damping elastomer element for the upper energy measuring moment of flexible machine person joint |
| CN107962591B (en) * | 2017-11-23 | 2021-05-07 | 哈尔滨工业大学 | Passive vibration-damping elastic element capable of measuring torque on flexible robot joint |
| CN113146659A (en) * | 2020-01-07 | 2021-07-23 | 佳能株式会社 | Torque detection device and method, robot, article manufacturing method, and control device |
| CN113146659B (en) * | 2020-01-07 | 2023-08-18 | 佳能株式会社 | Torque detection device and method, robot, article manufacturing method, and control device |
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| Publication number | Publication date |
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| CN105673792B (en) | 2017-09-29 |
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