CN106737773A - A kind of high rigidity joint moment sensor - Google Patents
A kind of high rigidity joint moment sensor Download PDFInfo
- Publication number
- CN106737773A CN106737773A CN201611009934.7A CN201611009934A CN106737773A CN 106737773 A CN106737773 A CN 106737773A CN 201611009934 A CN201611009934 A CN 201611009934A CN 106737773 A CN106737773 A CN 106737773A
- Authority
- CN
- China
- Prior art keywords
- strain beam
- strain
- torque
- sensor
- input disc
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Classifications
-
- 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
- B25J13/085—Force or torque sensors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
Abstract
A kind of high rigidity joint moment sensor, belongs to torgue measurement field, solves the problems, such as existing joint moment sensor because easily being caused its quality of output signals poor by the interference of the radial load and axial force of harmonic speed reducer.The sensor includes torque input disc, torque output panel, four strain beams and eight foil gauges, the two ends of strain beam are fixed with one with the outer rim of torque input disc and the inner edge of torque output panel respectively, and four strain beams are uniformly distributed along the circumferencial direction of torque input disc.Two not parallel with the end face of torque input disc surfaces of strain beam are two side, and a foil gauge is respectively arranged with two sides of strain beam.Foil gauge on first and second strain beams constitutes the first full bridge measurement circuit, foil gauge on third and fourth strain beam constitutes the second full bridge measurement circuit, when the sensor detects joint output torque, the Impact direction of foil gauge is tangent with the direction of rotation of sensor.The present invention is used to detect the output torque in joint.
Description
Technical field
The present invention relates to a kind of high rigidity joint moment sensor, belong to torgue measurement field.
Background technology
Many advantages, such as harmonic speed reducer is because with lightweight, small volume, speed reducing ratio big, efficiency high and small backhaul difference and quilt
It is widely used in the drive mechanism of manipulator and joint of robot part.Certain object is grasped in manipulator or mechanical arm is completed
During certain specific action, control system can be realized to the accurate of torque according to the feedback signal of joint moment sensor
Control.
Existing shearing joint moment sensor, because its foil gauge be arranged on strain beam parallel to torque input disc end
Cause the poor rigidity of itself on the side in face.Existing drawing and pressing type joint moment sensor, its foil gauge is arranged on strain beam
Not with the parallel side of torque input side surface, compared with existing shearing joint moment sensor, its rigidity is obtained
Certain raising.But when it is used for the output torque for detecting joint, the Impact direction of its foil gauge is perpendicular to sensor
The direction of rotation of itself, sensor causes the reduction of its rigidity because being produced deformation by twisting resistance.
Joint moment sensor causes the interference of its radial load and axial force that are vulnerable to harmonic speed reducer because rigidity is low,
The of poor quality of its output signal is in turn resulted in, the control accuracy of control system is low.
The content of the invention
The present invention receives the radial load of harmonic speed reducer and disturbing for axial force to solve existing joint moment sensor because easy
And cause the problem of its quality of output signals difference, it is proposed that a kind of high rigidity joint moment sensor.
High rigidity joint moment sensor of the present invention includes torque input disc 1,2, four strains of torque output panel
Beam and eight foil gauges 4；
Four strain beams are respectively the first strain beam 3-1, the second strain beam 3-2, the 3rd strain beam 3-3 and the 4th should
Become beam 3-4, the first strain beam 3-1, the second strain beam 3-2, the 3rd strain beam 3-3 and the 4th strain beam 3-4 two ends it is equal
It is fixed with one with the outer rim of torque input disc 1 and the inner edge of torque output panel 2 respectively, the first strain beam 3-1, second answer
Become beam 3-2, the 3rd strain beam 3-3 and the 4th strain beam 3-4 to be uniformly distributed along the circumferencial direction of torque input disc 1；
On the strain beam, two not parallel with the end face of torque input disc 1 surfaces are two sides of strain beam；
The first strain beam 3-1, the second strain beam 3-2, the 3rd strain beam 3-3 and the 4th strain beam 3-4 two sides
On be respectively fixedly installed a foil gauge 4, two foil gauges 4 being arranged on the first strain beam 3-1 and be arranged on second
Two foil gauges 4 on strain beam 3-2 are used to constitute the first full bridge measurement circuit, are arranged on two on the 3rd strain beam 3-3
Foil gauge 4 and two foil gauges 4 set on the 4th strain beam 3-4 are used to constitute the second full bridge measurement circuit；
When the sensor is used to detect joint output torque, the Impact direction of eight foil gauges 4 with it is described
The direction of rotation of sensor is tangent.
High rigidity joint moment sensor of the present invention, its foil gauge be arranged on strain beam not with torque input disc
On the parallel side of end face, and when the sensor is used to detect joint output torque, the Impact direction of foil gauge is and institute
The direction of rotation for stating sensor is tangent.Therefore, under equal strained condition, high rigidity joint moment sensor of the present invention
Compared with existing drawing and pressing type joint moment sensor, it is influenceed smaller by torsional deflection, therefore rigidity is higher.The present invention
Described high rigidity joint moment sensor is because making the radial load and axial force of its anti-harmonic speed reducer with rigidity higher
The ability of interference is stronger, the better quality of its output signal, and then improves the control accuracy of joint motions, makes mechanical system more
Plus safely and reliably run.
Brief description of the drawings
High rigidity joint moment sensor of the present invention will hereinafter be entered based on embodiment and refer to the attached drawing
Row more detailed description, wherein：
Fig. 1 is the front view of the high rigidity joint moment sensor described in embodiment one；
Fig. 2 is the dimensional structure diagram of the high rigidity joint moment sensor described in embodiment one.
In the accompanying drawings, identical part uses identical reference.Accompanying drawing is not according to actual ratio.
Specific embodiment
High rigidity joint moment sensor of the present invention is described further below in conjunction with accompanying drawing.
Embodiment one：The present embodiment is explained with reference to Fig. 1 and Fig. 2.
High rigidity joint moment sensor described in the present embodiment includes that torque input disc 1, torque output panel 2, four should
Become beam and eight foil gauges 4；
Four strain beams are respectively the first strain beam 3-1, the second strain beam 3-2, the 3rd strain beam 3-3 and the 4th should
Become beam 3-4, the first strain beam 3-1, the second strain beam 3-2, the 3rd strain beam 3-3 and the 4th strain beam 3-4 two ends it is equal
It is fixed with one with the outer rim of torque input disc 1 and the inner edge of torque output panel 2 respectively, the first strain beam 3-1, second answer
Become beam 3-2, the 3rd strain beam 3-3 and the 4th strain beam 3-4 to be uniformly distributed along the circumferencial direction of torque input disc 1；
On the strain beam, two not parallel with the end face of torque input disc 1 surfaces are two sides of strain beam；
The first strain beam 3-1, the second strain beam 3-2, the 3rd strain beam 3-3 and the 4th strain beam 3-4 two sides
On be respectively fixedly installed a foil gauge 4, two foil gauges 4 being arranged on the first strain beam 3-1 and be arranged on second
Two foil gauges 4 on strain beam 3-2 are used to constitute the first full bridge measurement circuit, are arranged on two on the 3rd strain beam 3-3
Foil gauge 4 and two foil gauges 4 set on the 4th strain beam 3-4 are used to constitute the second full bridge measurement circuit；
When the sensor is used to detect joint output torque, the Impact direction of eight foil gauges 4 with it is described
The direction of rotation of sensor is tangent.
In the present embodiment, torque input disc 1 is fixedly connected with the output end of the flexbile gear of harmonic speed reducer, torque output panel
2 are fixedly connected with joint output flange, and harmonic speed reducer is transmitted torque on flexbile gear, and joint is reached through joint moment sensor
Output flange, so as to realize the torque output in whole joint.
Four foil gauges 4 being arranged on the first strain beam 3-1 and the second strain beam 3-2 constitute the first full bridge measurement electricity
Road, the joint output torque measured by the measuring circuit is T1.It is arranged on the 3rd strain beam 3-3 and the 4th strain beam 3-4
Four foil gauges 4 constitute the second full bridge measurement circuit, the joint output torque measured by the measuring circuit is T2.Due to this
The rigidity of the high rigidity joint moment sensor described in embodiment is high, the energy of radial load and the axial force interference of anti-harmonic speed reducer
Power is strong, and the quality of output signal is good, T1And T2Can be used as the output signal of joint moment sensor.By T1Or T2As defeated
When going out signal, T2Or T1Can be as reference and Backup Data.
Be fixedly installed on foil gauge on the side of strain beam using whole plane method of attaching by the present embodiment, by the method
The position of fixed foil gauge is more accurate.
Embodiment two：The present embodiment is to make further limit to the high rigidity joint moment sensor described in embodiment one
It is fixed.
High rigidity joint moment sensor described in the present embodiment, the foil gauge 4 is type metal foil type resistance strain gage.
The transversal effect of type metal foil type resistance strain gage is small, perfect heat-dissipating, it is allowed to which the electric current for passing through is larger, flexible,
Creep is small, and fatigue life is long.
Although describing the present invention herein with reference to specific implementation method, it should be understood that, these realities
Apply the example that example is only principles and applications.It should therefore be understood that can be permitted exemplary embodiment
Many modifications, and can be designed that other arrangements, the spirit of the invention limited without departing from appended claims and
Scope.It should be understood that can be by way of different from described by original claim come with reference to different appurtenances
It is required that and feature specifically described herein.It will also be appreciated that the feature with reference to described by separate embodiments can be used at it
In his embodiment.
Claims (2)
1. a kind of high rigidity joint moment sensor, it is characterised in that the joint moment sensor includes torque input disc
(1), torque output panel (2), four strain beams and eight foil gauges (4)；
Four strain beams are respectively the first strain beam (3-1), the second strain beam (3-2), the 3rd strain beam (3-3) and the 4th
Strain beam (3-4), first strain beam (3-1), the second strain beam (3-2), the 3rd strain beam (3-3) and the 4th strain beam
The two ends of (3-4) are respectively fixed with one with the outer rim of torque input disc (1) and the inner edge of torque output panel (2), and described
One strain beam (3-1), the second strain beam (3-2), the 3rd strain beam (3-3) and the 4th strain beam (3-4) are along torque input disc (1)
Circumferencial direction be uniformly distributed；
On the strain beam, two not parallel with the end face of torque input disc (1) surfaces are two sides of strain beam；
At two of the first strain beam (3-1), the second strain beam (3-2), the 3rd strain beam (3-3) and the 4th strain beam (3-4)
A foil gauge (4) is respectively fixedly installed on side, two foil gauges (4) being arranged on the first strain beam (3-1) and
Two foil gauges (4) on the second strain beam (3-2) are arranged on for constituting the first full bridge measurement circuit, the 3rd strain is arranged on
Two foil gauges (4) on the 4th strain beam (3-4) of two foil gauges (4) and setting on beam (3-3) are complete for constituting second
Bridge measuring circuit；
When the sensor is used to detect joint output torque, the Impact direction of eight foil gauges (4) with the biography
The direction of rotation of sensor is tangent.
2. high rigidity joint moment sensor as claimed in claim 1, it is characterised in that the foil gauge (4) is metal foil
Formula resistance strain gage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611009934.7A CN106737773A (en) | 2016-11-16 | 2016-11-16 | A kind of high rigidity joint moment sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611009934.7A CN106737773A (en) | 2016-11-16 | 2016-11-16 | A kind of high rigidity joint moment sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737773A true CN106737773A (en) | 2017-05-31 |
Family
ID=58969412
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611009934.7A Pending CN106737773A (en) | 2016-11-16 | 2016-11-16 | A kind of high rigidity joint moment sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737773A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107511821A (en) * | 2017-08-21 | 2017-12-26 | 北京精密机电控制设备研究所 | Joint of mechanical arm flexible control device and method based on electric current torque mixing sensing |
| CN107671875A (en) * | 2017-11-23 | 2018-02-09 | 哈尔滨工业大学 | The compact metal rubber elastic element of the upper energy measuring moment of flexible machine person joint |
| 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 |
| CN108593162A (en) * | 2018-05-23 | 2018-09-28 | 哈尔滨工业大学 | The heavy load flexibility torque sensor that partial structurtes are strengthened |
| CN108789477A (en) * | 2018-06-08 | 2018-11-13 | 南宁宇立仪器有限公司 | A kind of torque sensor |
| CN109186831A (en) * | 2018-09-28 | 2019-01-11 | 中国科学院长春光学精密机械与物理研究所 | A kind of torque sensor |
| CN110274717A (en) * | 2019-01-17 | 2019-09-24 | 上海肇擎传感技术有限公司 | A kind of single shaft torque sensor and its sensitive method |
| CN110928236A (en) * | 2019-11-21 | 2020-03-27 | 珠海格力智能装备有限公司 | Robot stress data detection method, device and system |
| US20210208014A1 (en) * | 2020-01-07 | 2021-07-08 | Canon Kabushiki Kaisha | Torque detection device, torque detection method, robot, method of manufacturing product, control device, recording medium, and structure |
| CN113237421A (en) * | 2021-05-31 | 2021-08-10 | 中航电测仪器股份有限公司 | Shaft pin-shaped strain sensor |
| CN113400341A (en) * | 2021-06-29 | 2021-09-17 | 中国科学院长春光学精密机械与物理研究所 | Modularized joint and joint assembly for cooperative robot |
| 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 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1914493A (en) * | 2004-02-03 | 2007-02-14 | 株式会社小野测器 | Torque meter |
| WO2008058164A2 (en) * | 2006-11-06 | 2008-05-15 | Quarq Technology, Inc. | Crankset based bicycle power measurement |
| CN102494819A (en) * | 2011-11-29 | 2012-06-13 | 北京邮电大学 | Joint torque sensor based on elastic beam |
| CN102865958A (en) * | 2012-10-12 | 2013-01-09 | 西北工业大学 | Torque sensor |
| CN105698981A (en) * | 2016-01-13 | 2016-06-22 | 西安理工大学 | Sensor used for measuring revolute pair counterforce |
-
2016
- 2016-11-16 CN CN201611009934.7A patent/CN106737773A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1914493A (en) * | 2004-02-03 | 2007-02-14 | 株式会社小野测器 | Torque meter |
| WO2008058164A2 (en) * | 2006-11-06 | 2008-05-15 | Quarq Technology, Inc. | Crankset based bicycle power measurement |
| CN102494819A (en) * | 2011-11-29 | 2012-06-13 | 北京邮电大学 | Joint torque sensor based on elastic beam |
| CN102865958A (en) * | 2012-10-12 | 2013-01-09 | 西北工业大学 | Torque sensor |
| CN105698981A (en) * | 2016-01-13 | 2016-06-22 | 西安理工大学 | Sensor used for measuring revolute pair counterforce |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107511821B (en) * | 2017-08-21 | 2019-11-29 | 北京精密机电控制设备研究所 | Joint of mechanical arm flexible control device and method based on electric current torque mixing sensing |
| CN107511821A (en) * | 2017-08-21 | 2017-12-26 | 北京精密机电控制设备研究所 | Joint of mechanical arm flexible control device and method based on electric current torque mixing sensing |
| 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 |
| CN107671875A (en) * | 2017-11-23 | 2018-02-09 | 哈尔滨工业大学 | The compact metal rubber elastic element of the upper energy measuring moment of flexible machine person joint |
| 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 |
| CN108593162A (en) * | 2018-05-23 | 2018-09-28 | 哈尔滨工业大学 | The heavy load flexibility torque sensor that partial structurtes are strengthened |
| CN108789477A (en) * | 2018-06-08 | 2018-11-13 | 南宁宇立仪器有限公司 | A kind of torque sensor |
| CN109186831A (en) * | 2018-09-28 | 2019-01-11 | 中国科学院长春光学精密机械与物理研究所 | A kind of torque sensor |
| CN109186831B (en) * | 2018-09-28 | 2020-05-19 | 中国科学院长春光学精密机械与物理研究所 | Torque sensor |
| CN110274717A (en) * | 2019-01-17 | 2019-09-24 | 上海肇擎传感技术有限公司 | A kind of single shaft torque sensor and its sensitive method |
| CN110928236A (en) * | 2019-11-21 | 2020-03-27 | 珠海格力智能装备有限公司 | Robot stress data detection method, device and system |
| US20210208014A1 (en) * | 2020-01-07 | 2021-07-08 | Canon Kabushiki Kaisha | Torque detection device, torque detection method, robot, method of manufacturing product, control device, recording medium, and structure |
| US11841286B2 (en) * | 2020-01-07 | 2023-12-12 | Canon Kabushiki Kaisha | Torque detection device, torque detection method, robot, method of manufacturing product, control device, recording medium, and structure |
| CN113237421A (en) * | 2021-05-31 | 2021-08-10 | 中航电测仪器股份有限公司 | Shaft pin-shaped strain sensor |
| CN113237421B (en) * | 2021-05-31 | 2023-11-17 | 中航电测仪器股份有限公司 | Shaft pin-shaped strain sensor |
| CN113400341A (en) * | 2021-06-29 | 2021-09-17 | 中国科学院长春光学精密机械与物理研究所 | Modularized joint and joint assembly for cooperative robot |
| 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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106737773A (en) | A kind of high rigidity joint moment sensor | |
| CN107044898B (en) | Six-dimensional force sensor with elastomer structure | |
| CN103528746A (en) | Cross-shaped beam type elastomer for six-dimensional force sensor | |
| CN105606279B (en) | Moment of elasticity sensor | |
| JP6344663B2 (en) | Axial rotational torque detector | |
| CN108918013A (en) | A kind of compliant mechanism is from decoupling six-dimension force sensor | |
| CN107421667A (en) | A kind of condenser type torque sensor with ladder beam | |
| CN204405236U (en) | The fastness that is threaded pick-up unit | |
| CN101975631A (en) | Integrated five-dimensional micro-force/torque sensor | |
| US9409298B2 (en) | Flexure elements for series elastic actuators and related methods | |
| US11781927B2 (en) | Torque sensor | |
| Kim et al. | Embedded joint torque sensor with reduced torque ripple of harmonic drive | |
| CN208595994U (en) | A kind of compliant mechanism is from decoupling six-dimension force sensor | |
| CN202748182U (en) | Torque-measuring apparatus | |
| CN201748990U (en) | Three-girder type elastomer for adhering sensor | |
| CN103017944A (en) | Measuring method for longitudinal force of welding seam | |
| CN204422122U (en) | Wheel six square shaft torsion-testing sensor | |
| CN111152201B (en) | Variable stiffness and six-dimensional force sensing passive compliant device for automated assembly | |
| CN201993189U (en) | Integrated five dimensional micro force/moment sensor | |
| CN109855773A (en) | A kind of force snesor with serpentine configuration beam | |
| CN111964829A (en) | Six-dimensional force/torque measuring device | |
| Luo et al. | A magnetic coupled rotary composite force sensor | |
| CN210426834U (en) | Novel strain type pressure-torsion two-dimensional force sensor | |
| CN114248296A (en) | Joint torque sensor of cooperative mechanical arm | |
| CN220581635U (en) | Harmonic reducer ware with moment of torsion detects function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170531 |
|
| RJ01 | Rejection of invention patent application after publication |