CN106514720A - Embedded torque sensor and sensing device for joint module - Google Patents
Embedded torque sensor and sensing device for joint module Download PDFInfo
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- CN106514720A CN106514720A CN201510578263.5A CN201510578263A CN106514720A CN 106514720 A CN106514720 A CN 106514720A CN 201510578263 A CN201510578263 A CN 201510578263A CN 106514720 A CN106514720 A CN 106514720A
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- flexbile gear
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Abstract
The invention provides an embedded torque sensor for a joint module. The embedded torque sensor for the joint module comprises a sensor support flange, elastic bodies, strain gauges and a signal processing circuit, wherein one end of each elastic body adheres to the outer surface of the circumference of a flexible wheel while the other end of the elastic body adheres to a support; shear strain of a load moment born by a joint to the flexible wheel and extrusion deformation of a wave generator to the flexible wheel are transformed into elastic strain by self amplification, and then the elastic strain is transmitted to the strain gauges; the flexible wheel is extruded by the wave generator and then deforms into an ellipse; the strain gauges adhere to the elastic bodies to form a bridge circuit which is connected with the signal processing circuit; mechanical signals of the elastic strain are converted into voltage signals which are transmitted to the signal processing circuit; the signal processing circuit receives indicator signals when a photoelectric encoder in the joint module measures that a minor axis of the ellipse of the flexible wheel passes through the support; and a load voltage value which corresponds to the received voltage signals when the indicator signals are received is transformed into a load moment value. The invention further provides an embedded torque sensing device. The measurement precision of the load moment can be improved.
Description
Technical field
The present invention relates to a kind of novel torque sensor of structure and sensing device, exactly, are related to one kind
For the embedded torque sensor and sensing device of joint module, belong to the modularity machine in instrument and meter device
The technical field of the torque sensor of device person joint measurement.
Background technology
With the continuous development of roboticses, modularization robot (Modular Robot) technology is also carried
Higher technical requirements, such as quick reconfiguration, the speed for responding with height in high precision, intellectuality etc. are gone out.Module
It is structure change and the combination by modules sub-systems to change robot, realizes strong flexible working task
Robot system.Modularization robot has high flexibility, high integration, construction cycle short and easy care etc. is permitted
Many features, have extensive research and application prospect at aspects such as Agile manufactruing, hazardous environment, Aero-Space.
At present, in robot market, the portioned product of modularization robot has been obtained for the application of maturation, has
Powercube, LWA series module of representational such as SCHUNK companies etc..
Joint module is the fundamental for constituting modularization robot, after its performance also determines robot reconstruct
Ability to work, the joint module with excellent properties is by the service behaviour of greatly hoisting machine people.Holding
During some tasks of row, the control of power is requisite link.Using harmonic speed reducer as the joint of outfan
When loading moment is measured, embedded torque sensor has small volume than end power/torque sensor to module
Ingeniously, light weight and without the need for solve again with calculate etc. many advantages.Harmonic speed reducer includes wave producer, soft
Wheel and steel wheel.Pan Xinan etc. proposes a kind of ripple removing method, by strain gauge adhesion on flexbile gear end face,
By measuring the shear strain of flexbile gear end face, for reacting the output loading torque size in joint.But, should
Structure it is important that eliminating ripple, under actual dynamic behavior flexbile gear face size is less, noise is larger,
Kinetic measurement requirement cannot be met.And, because shear strain amount when flexbile gear works is minimum, it is difficult to measure
Precisely, in this way maximum shortcoming be to ensure certainty of measurement.
The content of the invention
In view of this, it is an object of the invention to provide a kind of embedded torque sensor and biography for joint module
Induction device, can reduce impact of the torque sensor to flexibility of joint, while ensureing certainty of measurement.And,
Extensively, compact, abarticular output characteristics also effectively reduce measurement cost to measurement range.
In order to achieve the above object, the invention provides a kind of embedded torque sensor for joint module,
Harmonic speed reducer is provided with the joint module, and the harmonic speed reducer includes wave producer, flexbile gear and steel
Wheel, the torque sensor include：
Sensor stand flange, including support and flange, its medium-height trestle fixing end is connected with flange, free end
Flexbile gear outer surface is connected to by elastomer, flange is affixed on joint module by bolt and flexbile gear；
For torque sensor and flexbile gear are fixedly attached to joint module；
Elastomer, one end are adhered to flexbile gear circumferential outer surface, and the other end is adhered on support, for by joint
The loading moment for being born is put by itself to the compressional deformation of flexbile gear to the shear strain of flexbile gear and wave producer
Big change be elastic strain after pass to foil gauge；Wherein, flexbile gear is deformed under wave producer squeezing action
It is oval；
Foil gauge, is pasted onto on elastomer, and composition bridge circuit is connected with signal processing circuit, for by bullet
Property strain mechanical signal be changed into voltage signal, be sent to signal processing circuit；
Signal processing circuit, the photoelectric encoder received in joint module are measuring the ellipse short shaft Jing of flexbile gear
Indication signal during support is crossed, by the corresponding load voltage values of voltage signal received when receiving indication signal
Be converted to loading moment value.
In order to achieve the above object, present invention also offers a kind of embedded torque sensing dress for joint module
Put, including described embedded torque sensor, also include the photoelectric encoder in joint module, be used for
It is unloaded in joint and when bearing loading moment, measure the ellipse short shaft of flexbile gear when support, at signal
Reason circuit sends indication signal, indicates that the signal processing circuit processes the voltage for currently receiving from foil gauge
Signal.
Harmonic reducer flexible wheel shear strain is converted into elasticity by the elastomer being pasted onto on flexbile gear by the present invention
Strain is measured, as the torque sensor of the present invention is embedded on joint module, so not increasing joint
Flexibility, and shear strain during the embedded torque sensor flexbile gear work of the present invention is by elastomer amplification,
It is changed into elastic strain, substantially increases the certainty of measurement of loading moment.Also, the present invention is used for joint mould
The embedded torque sensor of block, working method is simple, measuring speed is fast, small volume, effectively reduce cost.
Description of the drawings
Fig. 1 is the structural representation of the embedded torque sensor of joint module of the present invention.
Fig. 2 is the structural representation of harmonic speed reducer.
Fig. 3 is the schematic diagram using Finite Element Method to modeling grid division.
Fig. 4 is the flexbile gear overall strain schematic diagram obtained using Finite Element Method.
Fig. 5 is flexbile gear back side measured zone schematic diagram.
Fig. 6 is the relative position schematic diagram of torque sensor and flexbile gear.
Fig. 7 is the profile of A-A interceptings along the line in Fig. 6.
Fig. 8 is the enlarged diagram in Fig. 7.
Fig. 9 is the circuit signal that foil gauge composition bridge circuit is connected with signal processing circuit in the present embodiment
Figure.
Figure 10 is embodiment of the present invention output loading torque-voltage curve figure.
Component names are：Quiet piece of end cap 1, photoelectric encoder 2, main shaft 3, the stress bearing right side 4, motor set
Cylinder 5, motion block shell 6, a stress bearing left side 7, sensor stand flange 8, flange tight fixed bolt 9, harmonic wave
Decelerator steel wheel 10, harmonic reducer flexible wheel 11, motion block end cap 12, steel wheel fixing bolt 13, harmonic wave subtract
Fast device wave producer 14, a drive bearing left side 15, DC brushless motor 16, the drive bearing right side 17, motor side
Lid 18, brake 19, controller 20, quiet piece of shell 21, outer end adapter sleeve 22, outer end positioning sleeve 23,
Right foil gauge group 24, right elastomer 25, left elastomer 26, left foil gauge group 27.
Specific embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with the accompanying drawings to present invention work
It is described in further detail.
The present invention has measured test, and test is proved, this new embedded torque sensor can reach institute
The actual effect stated.
The embedded torque sensor measurement target of the present invention is joint module, and Fig. 1 is in joint module of the present invention
The structural representation of embedding torque sensor.Joint module is mainly made up of quiet piece and motion block two parts, direct current without
Rotation is reached wave producer 14 by drive bearing left 15 and the drive bearing right side 17 by brush motor 16, and ripple is sent out
The raw extruding of device 14 flexbile gear 11 deforms, then is exported by harmonic speed reducer steel wheel 10；Harmonic speed reducer employs soft
Wheel 11 is fixed, wave producer 14 is input into, the arrangement of the output of steel wheel 10.Photoelectric encoder 2, brake 19,
Controller 20 is placed in quiet piece, and joint mechanics are mainly undertaken by stress bearing right 4 and a stress bearing left side 7.
Wherein, harmonic speed reducer structural representation as shown in Fig. 2 harmonic speed reducer include wave producer 14,
Flexbile gear 11 and steel wheel 10, fixed using flexbile gear, wave producer input, in the form of steel wheel output.Flexbile gear with
Quiet piece of joint is connected, and wave producer is connected with main shaft, and steel wheel connection joint motion block bears loading moment.Close
When the harmonic speed reducer of section module works, wave producer forces flexbile gear that compressional deformation occurs becomes ellipticity, together
When, as steel wheel bears loading moment, the then effect to flexbile gear so that flexbile gear produces shear strain.And
And, when harmonic speed reducer works under flexbile gear stationary state, flexbile gear itself does not rotate, therefore, select flexbile gear
Carry out the measurement of loading moment.
Further, in the present invention, using the stress-strain state of analysis of finite element method flexbile gear, determine soft
The optimal measured zone of wheel.First, 1 is carried out using Proe softwares:1 three-dimensional modeling；Then, using limited
First method forms overall strain figure to modeling grid division, on flexbile gear.Use in grid division and drawn automatically
Point, stress and strain model result is as shown in Figure 3.The intensive regional centralized of grid can be seen that by stress and strain model figure
Gear and its near, this is due to the relation of the flexbile gear number of teeth.Then, load by the addition of flexbile gear working condition
Torque, effect of the basic load torque from steel wheel to flexbile gear, the maximum distortion of flexbile gear are subject to steel wheel profile of tooth
Constraint, becomes one of boundary condition of deformation of flexible wheel.By addition constraint bar when being operated in 400 Ns of rice (Nm)
Part, overall strain figure when obtaining 400Nm are as shown in Figure 4.From overall strain figure, flexbile gear end face and the back side
Position graded near gear root is maximum, is suitable as measuring the circumferential section of loading moment.End face
Measurement is relatively thin due to the wall thickness of flexbile gear, does not possess complete measurement characteristicses, and vibration and noise etc. can be brought to cause
Error, therefore the measurement of the prioritizing selection back side, flexbile gear back side measured zone are as shown in Figure 5.So, below it is described
Support is fastened on flexbile gear outer surface, and elastomer one end is adhered to flexbile gear circumferential outer surface, wherein soft
The wheel outer surface prioritizing selection flexbile gear back side.
The following detailed description of a kind of embedded torque sensor for joint module proposed by the present invention, including：
Sensor stand flange, including support and flange, its medium-height trestle fixing end is connected with flange, free end
Flexbile gear outer surface is connected to by elastomer, flange is affixed on joint module by bolt and flexbile gear；
For torque sensor and flexbile gear are fixedly attached to joint module；
Elastomer, one end are adhered to flexbile gear circumferential outer surface, and the other end is adhered on support, for by joint
The loading moment for being born is put by itself to the compressional deformation of flexbile gear to the shear strain of flexbile gear and wave producer
Big change be elastic strain after pass to foil gauge；Wherein, flexbile gear is deformed under wave producer squeezing action
It is oval；
Foil gauge, is pasted onto on elastomer, and composition bridge circuit is connected with signal processing circuit, for by bullet
Property strain mechanical signal be changed into voltage signal, be sent to signal processing circuit；
Signal processing circuit, the photoelectric encoder received in joint module are measuring the ellipse short shaft Jing of flexbile gear
Indication signal during support is crossed, by the corresponding load voltage values of voltage signal received when receiving indication signal
Be converted to loading moment value.
Wherein, signal processing circuit, is additionally operable to, when joint is unloaded, receive the photoelectric coding in joint module
Indication signal of the device when the ellipse short shaft of flexbile gear is measured through support, records floating voltage value；
Thus, load voltage values are converted to loading moment value specifically for inciting somebody to action by the signal processing circuit
Load voltage values deduct the voltage variety that floating voltage is worth to be produced by loading moment；According to presetting
Loading moment value and loading moment produce voltage variety between corresponding relation, determine present load power
Square value.
Wherein, the corresponding relation between the voltage variety that loading moment value and loading moment are produced, is to pass through
What Theoretical Calculation was obtained, specially：
1) as the torsion angle α that loading moment value and loading moment are produced on flexbile gear has the corresponding of determination
Relation, so, the torsion angle α that loading moment is produced on flexbile gear is determined according to loading moment value；
2) elongation/elastomer original length according to loading moment to the shear strain=elastomer of flexbile gear, its
In, the elongation of elastomer is equal to torsion angle α * reference radius r, obtains shearing of the loading moment to flexbile gear
Strain；Reference radius r there is no deformation for flexbile gear before radius；
3) the voltage variety Δ V=Δ R*V produced by loading moment according to foil gauge0/ (2R+ Δ R), obtains
To Δ V.Wherein, resistance of the R for foil gauge；V0For bridge circuit supply voltage；Δ R be foil gauge by
Loading moment produce resistance change, equal to foil gauge resistance * sensitivity coefficient * loading moments to flexbile gear
Shear strain.
4) obtain the corresponding relation between Δ V and loading moment value.
It should be noted that when joint is unloaded, steel wheel is not subject to loading moment, flexbile gear will not be made to produce shearing
Strain.But wave producer forces flexbile gear that compressional deformation occurs becomes ellipticity, and flexbile gear itself does not rotate, oval
Shape is in rotation.When ellipse goes to diverse location, suffered compressional deformation amount is not to same point on flexbile gear
With.In other words, the same point on flexbile gear is when ellipse goes to same position, suffered compressional deformation amount
It is identical.When ellipse short shaft is through support, caused by compressional deformation, elastomer elongation is maximum；When ellipse
, when support, caused by compressional deformation, elastomer decrement is maximum for circle major axis.
When steel wheel bears loading moment, flexbile gear is made to produce shear strain, meanwhile, wave producer is produced to flexbile gear
Raw compressional deformation.When the loading moment born by steel wheel is clockwise direction, flexbile gear produces clockwise torsion
Corner, is pasted onto the flexbile gear back side, and the right elastomer on the right side of flexbile gear opening is stretched；When steel wheel is held
When the loading moment received is counter clockwise direction, flexbile gear produces torsion angle counterclockwise, is pasted onto the flexbile gear back side,
And the left elastomer on the left of flexbile gear opening is stretched.The elongation of right elastomer by flexbile gear compressional deformation and
Shear strain two parts are constituted, and in the same manner, the elongation of left elastomer is by flexbile gear compressional deformation and shear strain two
Part is constituted.
For eliminating impact of the flexbile gear compressional deformation to measurement result, the same point measured on flexbile gear is gone in ellipse
The elongation of elastomer during same position, therefore, the present invention measures the ellipse short shaft of flexbile gear every time through support
When elastomer elongation.
In the case where steel wheel bears clockwise loading moment, when ellipse short shaft is through support, from
Current load voltage values are obtained on the right foil gauge of right elastomer, the load voltage values include being produced by loading moment
The voltage variety that raw voltage variety and compressional deformation are produced.Due to each measurement is ellipse short shaft Jing
Load voltage values during support are crossed, illustrate that the elastomer elongation for being produced by compressional deformation every time is identical,
And then the voltage variety for being produced by compressional deformation every time is also identical.That is, every time by extruding shape
It is a fixed value to become the voltage variety for producing, and this value is exactly floating voltage value, i.e., when joint is unloaded,
When ellipse short shaft is through support, the magnitude of voltage obtained from the right foil gauge of right elastomer is exactly unloaded electricity
Pressure value.So, load voltage values are deducted into the voltage variety that floating voltage is worth to be produced by loading moment,
Then according to corresponding relation set in advance, it is possible to obtain the voltage variety correspondence produced by loading moment
Loading moment value.
In the same manner, in the case where steel wheel bears anticlockwise loading moment, when ellipse short shaft is through support
When, current load voltage values are obtained from the left foil gauge of left elastomer, the load voltage values are included by loading
The voltage variety that the voltage variety and compressional deformation that torque is produced is produced.Due to each measurement is oval
Load voltage values of short axle when support, illustrate that the elastomer elongation for being produced by compressional deformation every time is phase
With, and then the voltage variety for being produced by compressional deformation every time is also identical.That is, every time by
The voltage variety that compressional deformation is produced is a fixed value, and this value is exactly floating voltage value, i.e., joint is empty
During load, when ellipse short shaft is through support, the magnitude of voltage obtained from the right foil gauge of right elastomer is exactly
Floating voltage value.So, load voltage values are deducted into the voltage that floating voltage is worth to be produced by loading moment
Variable quantity, then according to corresponding relation set in advance, it is possible to obtains being become by the voltage that loading moment is produced
The corresponding loading moment value of change amount.
Therefore, elastomer is divided into the left elastomer on the left of flexbile gear opening and the right side on the right side of flexbile gear opening
Elastomer；Left foil gauge is pasted with the left elastomer, is pasted with right foil gauge on the right elastomer；
The left elastomer, for loading moment to the shear strain of flexbile gear for it is counterclockwise when, by joint institute
The loading moment for bearing is amplified by itself to the compressional deformation of flexbile gear to the shear strain of flexbile gear and wave producer
Left foil gauge is passed to after being changed into elastic strain；
The right elastomer, for loading moment to the shear strain of flexbile gear for it is clockwise when, by joint institute
The loading moment for bearing is amplified by itself to the compressional deformation of flexbile gear to the shear strain of flexbile gear and wave producer
Right foil gauge is passed to after being changed into elastic strain.
Wherein, be that measurement is accurate, foil gauge can be foil gauge group, left foil gauge or right foil gauge be by
Multiple foil gauges foil gauge group in series.
Fig. 6 is the relative position schematic diagram of torque sensor and flexbile gear.Fig. 7 is A-A interceptings along the line in Fig. 6
Profile.Fig. 8 is the enlarged diagram in Fig. 7.In Fig. 6, sensor stand flange 8 includes support
8 ' and flange 8 ", flange 8 " be affixed on joint module by flange tight fixed bolt 9 and flexbile gear 11,
Support 8 ' is fastened on the flexbile gear back side.In Fig. 8, left elastomer 26 is located on the left of flexbile gear opening, one end
The flexbile gear circumference back side is adhered to, the other end is adhered on support.The upper and lower surface of left elastomer 26 is pasted with a left side
Foil gauge group 27.Right elastomer 25 is located on the right side of flexbile gear opening, and one end is adhered to the flexbile gear circumference back side, separately
One end is adhered on support.The upper and lower surface of right elastomer 25 is pasted with right foil gauge group 24.
The change of loading moment, reflect on foil gauge, embodiment be voltage change.In the present invention, letter
Number process circuit includes amplifier, transducer and processor.Signal processing circuit will be gathered from foil gauge
After the amplified device of analog voltage signal amplifies, then digital voltage signal is converted to by transducer, into processor
Processed.When steel wheel is not subject to loading moment, processor record floating voltage value.When steel wheel bears negative
When carrying torque, the load voltage values for receiving are deducted floating voltage and are worth to be produced by loading moment by processor
Voltage variety；According between the voltage variety that loading moment value set in advance and loading moment are produced
Corresponding relation, export present load moment values.
Circuit diagram such as Fig. 9 that foil gauge composition bridge circuit is connected with signal processing circuit in the present embodiment
It is shown.
R1 and R2 in bridge circuit represents two strain sheet resistances in foil gauge group respectively, when joint is held
During by loading moment, the collection of foil gauge signal Jing bridge circuits, AD620 amplifiers are amplified and A/D7862 turns
Parallel operation is changed, and is sent to FPGA processor process and is obtained loading moment value, finally by different loading moments
Value is sent to joint control, for the control of power.
In the present embodiment, for the voltage that loading moment value set in advance in processor is produced with loading moment
Corresponding relation between variable quantity, can be obtained by Theoretical Calculation, aforementioned to have been described above computational methods.Take
The mark of 40 nodes in 0-400Nm, AD620 amplifications 200, simulation data loading moment and voltage
Determine relation.Calibration result is as shown in table 1.
Table 1
1 data of table are fitted, output loading torque-voltage curve is obtained as shown in Figure 10.So,
Processor finds the corresponding load of voltage variety produced by loading moment according to the corresponding relation in Figure 10
Moment values.
To sum up, when flexbile gear as loading moment twists, loading moment is determined by the rigidity of flexbile gear material
The certain very little of torsion angle, and then the shear strain that torsion angle is produced on flexbile gear surface is with regard to very little.Prior art
It is middle by strain gauge adhesion on flexbile gear end face, by measure flexbile gear end face ess-strain, carry out reaction load power
Square size, due to shear strain very little, the loading moment precision measured is not high.And the present invention is by flexbile gear
The back side is used as optimum load torgue measurement region, and elastomer is arranged on the flexbile gear back side, strain gauge adhesion
Loading moment measurement is carried out on elastomer.When the flexbile gear back side as loading moment twists, torsion angle exists
The flexbile gear back side produces tangential displacement, and tangential displacement tensile elasticity body deforms upon elastomer, then by elasticity
Foil gauge measuring strain change on body.Thus, the shear strain that loading moment is produced is amplified through elastomer
Afterwards, when being changed into elastic deformation, then being measured by the foil gauge on elastomer, certainty of measurement is greatly improved.
Based on same inventive concept, the present invention also proposes a kind of embedded torque sensing dress for joint module
Put, including above-mentioned embedded torque sensor, also include the photoelectric encoder in joint module；
Wherein, grating scale is provided with photoelectric encoder, the oval rotation position of flexbile gear can be measured,
Specifically for unloaded in joint and when bearing loading moment, the ellipse short shaft of flexbile gear is measured when support,
Indication signal is sent to signal processing circuit, is indicated that the signal processing circuit is processed and is currently received from foil gauge
The voltage signal for arriving.
The invention has the beneficial effects as follows,
First, the shear strain that loading moment is produced is changed into elastic deformation after elastomer amplification, then by
When foil gauge on elastomer is measured, certainty of measurement is greatly improved.
2nd, prior art is flexbile gear end surface measurement loading moment, and as end face is relatively thin, vibration is big, so shadow
Ring the output characteristics in joint.And the present invention is flexbile gear back side measurement loading moment, it is entirely avoided sensor pair
The impact of joint output characteristics.
3rd, as the present invention is the embedded torque sensor of joint module, so not needing end to resolve, do not increase
Plus flexibility of joint, and working method is simple, measuring speed fast, small volume, effectively reduce cost.
Presently preferred embodiments of the present invention is the foregoing is only, it is not to limit the present invention, all at this
Within bright spirit and principle, any modification, equivalent substitution and improvements done etc. should be included in this
Within the scope of bright protection.
Claims (6)
1. a kind of embedded torque sensor for joint module, is provided with harmonic reduction in the joint module
Device, the harmonic speed reducer include wave producer, flexbile gear and steel wheel, and the torque sensor includes：
Sensor stand flange, including support and flange, its medium-height trestle fixing end is connected with flange, free end
Flexbile gear outer surface is connected to by elastomer, flange is affixed on joint module by bolt and flexbile gear；
For torque sensor and flexbile gear are fixedly attached to joint module；
Elastomer, one end are adhered to flexbile gear circumferential outer surface, and the other end is adhered on support, for by joint
The loading moment for being born is put by itself to the compressional deformation of flexbile gear to the shear strain of flexbile gear and wave producer
Big change be elastic strain after pass to foil gauge；Wherein, flexbile gear is deformed under wave producer squeezing action
It is oval；
Foil gauge, is pasted onto on elastomer, and composition bridge circuit is connected with signal processing circuit, for by bullet
Property strain mechanical signal be changed into voltage signal, be sent to signal processing circuit；
Signal processing circuit, the photoelectric encoder received in joint module are measuring the ellipse short shaft Jing of flexbile gear
Indication signal during support is crossed, by the corresponding load voltage values of voltage signal received when receiving indication signal
Be converted to loading moment value.
2. torque sensor is embedded as claimed in claim 1, it is characterised in that the signal processing circuit,
It is additionally operable to when joint is unloaded, the photoelectric encoder received in joint module is measuring the ellipse short shaft of flexbile gear
Indication signal when support, records floating voltage value；
The signal processing circuit, by load voltage values be converted to loading moment value specifically for,
Load voltage values are deducted into the voltage variety that floating voltage is worth to be produced by loading moment；
According to the corresponding pass between loading moment value set in advance and the voltage variety that loading moment is produced
System, determines present load moment values.
3. as claimed in claim 1 embedded torque sensor, it is characterised in that the flexbile gear outer surface is
The flexbile gear back side.
4. torque sensor is embedded as claimed in claim 1, it is characterised in that the elastomer is divided into position
In the left elastomer on the left of flexbile gear opening and the right elastomer on the right side of flexbile gear opening；On the left elastomer
Left foil gauge is pasted with, on the right elastomer, right foil gauge is pasted with；
The left elastomer, for loading moment to the shear strain of flexbile gear for it is counterclockwise when, by joint institute
The loading moment for bearing is amplified by itself to the compressional deformation of flexbile gear to the shear strain of flexbile gear and wave producer
Left foil gauge is passed to after being changed into elastic strain；
The right elastomer, for loading moment to the shear strain of flexbile gear for it is clockwise when, by joint institute
The loading moment for bearing is amplified by itself to the compressional deformation of flexbile gear to the shear strain of flexbile gear and wave producer
Right foil gauge is passed to after being changed into elastic strain.
5. as claimed in claim 4 embedded torque sensor, it is characterised in that the left foil gauge or
Right foil gauge is by multiple foil gauges foil gauge group in series.
6. a kind of embedded torque sensing device for joint module, including such as any one of claim 1-5 institute
The embedded torque sensor stated, also includes the photoelectric encoder in joint module, for unloaded in joint
During with bearing loading moment, the ellipse short shaft of flexbile gear measured when support, being sent to signal processing circuit
Indication signal, indicates that the signal processing circuit processes the voltage signal for currently receiving from foil gauge.
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| CN201510578263.5A CN106514720B (en) | 2015-09-11 | 2015-09-11 | Embedded torque sensor and sensing device for joint module |
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|---|---|---|---|
| CN201510578263.5A CN106514720B (en) | 2015-09-11 | 2015-09-11 | Embedded torque sensor and sensing device for joint module |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108072466A (en) * | 2017-12-25 | 2018-05-25 | 江苏神通阀门股份有限公司 | A kind of anti-torque thrust detection probe |
| CN111152258A (en) * | 2019-12-12 | 2020-05-15 | 中山市北京理工大学研究院 | Mechanical integrated joint with force sensing function |
| CN113043301A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Moment-adjustable sensing device and self-locking manipulator |
| CN114544058A (en) * | 2022-02-14 | 2022-05-27 | 上海非夕机器人科技有限公司 | Torque sensor device, joint, robot and deformation measurement method |
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