CN108195495A - A kind of sensor - Google Patents
A kind of sensor Download PDFInfo
- Publication number
- CN108195495A CN108195495A CN201711440775.0A CN201711440775A CN108195495A CN 108195495 A CN108195495 A CN 108195495A CN 201711440775 A CN201711440775 A CN 201711440775A CN 108195495 A CN108195495 A CN 108195495A
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- CN
- China
- Prior art keywords
- elastomer
- flange
- face
- shaft
- sensor
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- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- 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
The present invention relates to a kind of light-duty suitable for sound state and be easy to and the Miniature Sensor that connect of outside mechanical structure.The present invention small-sized torque sensor by be connected with input shaft disk-shaped structure, be connected with output shaft elastomer and loop configuration, external circuit three parts form.The present invention is suitable for detection ectoskeleton and shakes the small-sized torque sensor for operating main swivel of hand torque, meets integrally-built compact, stability, sensor is connect with motor shaft and rack, and torque-feedback is carried out in real time to feed back to control system by detecting torque difference.
Description
Technical field
The present invention relates to a kind of light-duty suitable for sound state and be easy to and the Miniature Sensor that connect of outside mechanical structure.
Background technology
Force information perceive obtain be intelligent robot it is most important perceive one of, power/moment information sense of real-time high-precision
Know one of most important precondition that robot fulfils assignment.When power/torque sensor can obtain robot manipulating task with it is extraneous
Interaction force between environment, and then the perception such as power feel, tactile and sliding feel for realizing robot.Manipulator allows for sensitive
Perception from the variation of end power, and the factors such as the connection of sensor and joint and resolution ratio affect the precision of whole system.
Therefore, how efficiently, the acquisition that is realized with a low cost high-precision force/moment information, the rigidity for how solving power/torque sensor and
Contradiction between sensitivity and the precision of acquisition of information, speed how are improved, reduce sensor mechanism mechanism, realize sensing
Device miniaturization is the significant challenge that currently faces so as to improve overall compactness.
In torque sensor, the performance of the structures shape of elastic element torque sensor is good and bad, while also influences sensor
Processing technology and patch complexity.For multi-dimension force sensor due to elastomer design principle and manufacture processing etc.
Factor influences, and there are retinoic acid syndromes for sensor, and this coupled relation is complicated and is difficult to theoretically accurately be described, and leads to it
Measurement accuracy reduces.The structure design of elastomer is very big on the comprehensive performance influence of sensor, is the core for influencing sensor performance
Heart technology.According to the demand of different application, it is the problem for needing constantly to capture at present to design sensor novel elastomer structure.
Due to the difference of application environment, the sensor for designing different application constantly must be from the elastomer structure, material, signal of sensor
Acquisition, information integration and transmission method etc. are rethought.Meet the novel elastic body sensor of special applications and environmental requirement
Design is one of main research hotspot of current power/torque sensor.
In the research for shaking the main hand of operation and human body harmony in ectoskeleton it is found that due to the kinematic dexterity and complexity of human body,
Require real-time moment information of the sensor when measuring different posture of the ectoskeleton with respect to human body, and, weight small with size
The features such as amount is light, high sensitivity, dynamic characteristic is good.Sensor plays a crucial role in ectoskeleton train of mechanism, because
This needs to design applicable sensor to meet the operation of whole system, so as to improve according to the characteristics of ectoskeleton joint motions
The performance of integrated model.The ectoskeleton that the present invention is directed to shakes the main hand of operation and awards reason 201410432249.X.
The present invention around it is above accepted the related ectoskeleton of patent shake the main hand of operation research and propose it is a kind of suitable for the small of the structure
Type joint moment sensor, the sensor are carried out structure design according to the size of ectoskeleton connecting shaft, are attached using key,
Suitable for being used under sound state two states；Elastomer and interior outer rim integral structure, can accurately pass under disk-shaped structure
Pass torque；The form of sensor is embedded in using magnification circuit plate, substantially reduces the conveying length of connecting wire, improves system
Signal-to-noise ratio.
Invention content
Therefore, the present invention is exactly and makes in view of the above problems, and the purpose of the present invention is to provide one kind to be suitable for inspection
It surveys ectoskeleton and shakes the small-sized torque sensor for operating main swivel of hand torque, in order to meet integrally-built compact, stability, sensing
Device is connect with motor shaft and rack, and torque-feedback is carried out in real time to feed back to control system by detecting torque difference.To reach
Above-mentioned purpose, the present invention are realized using following technical solution：The small-sized torque sensor of the present invention is by being connected with input shaft
Disk-shaped structure, the elastomer for being connected with output shaft and loop configuration, external circuit three parts composition.Wherein, elastomer is with connecting
There is the annular flange integral type of input shaft, amplifying circuit is embedded in sensor structure.
The sensor is designed according to ectoskeleton articulation feature and structure size, since inventive sensor is only used
In the detection of the rotating torque of ectoskeleton joint, therefore it is one-dimensional torque sensor, is rotated by input and output shaft and generate torque,
Elastomer is deformed by interior outer rim by torque difference, and the strain detected is not had between the dimension for considering to be generated due to multidimensional
Coupled problem avoids the reduction of measurement accuracy.Overall structure is made of two components, wherein each component is connecting shaft integral type knot
Structure, two component link positions, input and output shaft and connection transition axis are all in same shaft core position, in this parallel step axis connection
Place is consolidated using screw.Concrete structure connection mode is：1 elastomer one end of component is consolidated with connecting shaft inner rim (8), lubrication groove
Edge (8) is consolidated with output shaft, and the elastomer other end is consolidated with 1 wheel rim of flange (6), and flange 1 is consolidated with flange 2 by screw, method
Orchid 2 and input shaft integral structure integrally save the type of attachment gathered and are equivalent to elastomer there are while connection space one
End is fixedly arranged on input shaft, and the other end is fixedly arranged on output shaft.Sensor remains to carry out well while with connecting shaft
The transmission of torque.
1 end of component is connect as output shaft (1) with structure at ectoskeleton remote operating swivel of hand, is passed through connecting shaft (3)
Torque is transmitted, flange inner rim (8) consolidation connecting shaft, the diameter of axle is there are certain difference between connecting shaft and inner rim, therefore lubrication groove
Edge provides the circuit board of a platform insertion, while exists between flange outer end face (19) and elastomer outer end face (20) same
Axis degree alternate position spike thus provides enough locational spaces to circuit board installation.By the bullet between outer rim in annular flange
Property body carries out torque differences detection, and the change of resistance value occurs with the generation of elastic body strain for the foil gauge on elastomer.It should
Become piece using 4, paste two panels respectively on arbitrary symmetrical two spring beams, by the lead-out wire on foil gauge and peripheral power supply and
Conducting wire connects, and four foil gauges form full-bridge circuit with peripheral power supply, so as to generate voltage signal.In addition, annular flange foreign steamer
Vertical range is 3mm or so between edge inner face (17) and elastomer inner face (18) parallel surface, is equivalent in elastomer inner end
There is the cyclic structure of 3mm long in face side, therefore flange 1 carries out transition when being connect with component 2 by cyclic structure, without with elasticity
Body is in direct contact, and such spring beam would not be interfered when being deformed by 2 structure of component.Annular flange (6) and dish type
It is connected between flange (11) using screw (D4), the threaded hole on flange 1 is avoided using perforative threaded hole in process
There are crumb in hole, the abrasion caused by friction during so as to prevent installation between part.
Dish type flange extremity axis is connect as input shaft (9) with motor driving shaft in the component 2, by connecting transition axis by power
Square is transmitted to disc shaped flange (11), which provides enough spaces and avoid contact of the external mechanical structure with ring flange.Method
Blue (11) are flange disk-form, can be consolidated and provided strong structure with annular flange in component 1 well
Support, inside are designed with axle sleeve (13) formula structure, and forming hole base system of fits with annular flange (6) connect, and improves overall structure
Installation accuracy.2 inner face of disc shaped flange (14) design protrusion split axle tube-in-tube structure inner hollow, shaft sleeve inner face with
Disc shaped flange outer end face vertical range 2mm or so, than flange outer rim inner face (17) in component 1 and elastomer inner face (18)
Between vertical range difference it is small, therefore two part consolidations together when shaft sleeve outer end face will not be connect with elastomer inner face (18)
It touches, such elastomer will not be interfered when being deformed by moment loading by ring flange in component 2.Component 2 with portion
When part 1 connects, shaft sleeve also plays good radial positioning effect in the mating connection with annular flange.Hollow axle sleeve
Cylinder not only supports annular flange (6) structure in guard block 1, while reduces overall structure quality.
The magnification circuit plate 3 is the form for being embedded in sensor structure.The present invention uses the amplifying circuit of brief low-power consumption
Design effectively promotes signal-to-noise ratio, and the anti-rfi filter of difference is existed simultaneously in the circuit board, and elimination as much as possible is defeated
Enter the RF energy in circuit.Circuit board inner circle size in the present invention is according to connecting shaft (3) size design, and outer circle is according to dish type
The inner circle size design of flange (6), circuit plate thickness according between elastomer outer end face (20) and end face (19) there are gap
Size is chosen, therefore entire amplifying circuit harden structure just may be mounted at sensor elastomer endface.Simultaneously in circuit
It is opened at plate circumference there are four ring week symmetrical aperture, onboard a symmetrical hole is nearby respectively equipped with input terminal and output during wiring
The four socket needles at end, facilitate the connection of input/output signal line, have shortened foil gauge lead-out wire and the length of other connecting lines.
There are one regulated power supply adjuster 78L05 for the design of circuit board signal input terminal, which, which is placed on input terminal, can adjust input
Voltage protects amplifying circuit and follow-up signal acquisition module well.
Advantageous effect of the present invention：
1st, disc shaped flange coupling type structure, can be applied to sound state torque sensor, and application range is wider.Sensor elastomer is adopted
Four symmetrical spreader beams are connected with coupling type structure, relatively large strain can be generated, sensitivity higher measures more accurate.
2nd, it is consolidated in sensor by two components using screw, during torque is transmitted well, there are avoid machinery
The space that structure interferes.Connecting shaft sleeve can play the role of radial positioning and pivot flange wheel rim, while hollow structure
Form reduces overall structure quality, more lightness.
3rd, circuit board is using sensor structure form is embedded in, according to sensor structure size, designed, designed circuit board shape
Shape size and circuit distribution, the length of line has been shortened in signals transmission, has avoided extra noise, improves whole noise
Than.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is torque sensor overall structure figure；
Fig. 2 is 1 structure chart of torque sensor component；
Fig. 3 is 2 structure chart of torque sensor component；
Fig. 4 is torque sensor inner embedded type circuit board（Embedded magnification circuit plate structure chart）.
Symbol description in attached drawing：Fig. 1 entirety installation diagrams：D1 components 1, D2 components 2, D3 elastomers, D4 screws.Fig. 2 components 1：(1)
Output shaft, (2) key 1, (3) connection transmission axle, (4) beam：Elastic deformable body, (5) foil gauge, (6) disc shaped flange 1, (7) screw thread
Hole, (8) connecting shaft inner rim, 1 inner face of (17) flange, (18) elastomer inner face, 1 outer end face of (19) flange, (20) elasticity
External end face.Fig. 3 components 2：(9) input shaft, (10) key 2, (11) disc shaped flange 2, (12) through-hole, (13) positioning shaft sleeve, (14)
2 inner face of flange, (15) shaft sleeve inner face.
Specific embodiment
The preferred embodiment of the present invention will be described in detail by reference to attached drawing, in this way showing for field that the present invention belongs to
There are these embodiments easy to implement for the people in technical staff with ordinary skill.However the present invention can also be a variety of different
Form is realized, therefore the present invention is not limited to embodiments described hereinafters.
The present invention is a kind of small-sized torque sensor, belongs to one-dimensional torque sensor.It is the entirety of the sensor shown in Fig. 1
Structure chart.Sensor of the invention is mainly by coupling type annular flange component 1, coupling type disc shaped flange component 2, magnification circuit plate
(Fig. 4), 4 part of peripheral signal processing system form.Wherein, component 1 is consolidated with component 2 by screw, is being filled
Timing makes the keyway on input and output shaft be in parallel position as possible, convenient to be assembled with external connection mechanism.Such as allow input
Axis (9) and motor axis connection, output shaft (1) are connect with rack, during startup, are generated torque by motor, are transferred to input shaft, by defeated
Enter axis by connecting shaft, ring flange, elastomer sends output shaft to, and then sends rack to, the movement of driving mechanism.Work as output
When the torque of axis is not enough to driving mechanism, mechanism will make during exercise output shaft torque and input shaft torque generate it is poor
Value, elastomer at this time is to be located at input and the middle position of output terminal.Outer rim and input axis connection on elastomer, it is interior
Wheel rim is connected with exporting axis, and elastomer is deformed since the torque on interior outer rim is different, is pasted onto answering on elastomer
Become piece as the variation of resistance value occurs for deformation.The full-bridge circuit of four foil gauge compositions generates voltage signal, is put by embedded
Big circuit transmission gives external signal processing system, then the control system of exoskeleton mechanism is transferred to by signal processing system, and then
The control of torque is carried out, adjusts the output of motor torque, sensor completes feedback and the adjusting of torque.
Fig. 2 show integrally-built component 1 in the present invention, including the output shaft (1) being connected with external agency and for fixing
The key (2) of connection, connection transmission axle (3), elastomer beam (4), connecting shaft inner rim (8), flange (6).In order to make elastomer beam
In force analysis closer to deforming under the torque difference in interior outer rim, in 1 size of design part, according to ANSYS
Software analysis calculates, and 1 outer end face of flange (19) and elastomer outer end face (20) are provided in distortional elastomer strength range meeting
The distance between, distance between 1 inner face of flange (17) and elastomer inner face (18), so as to ensure in theory elastomer with
Input and output shaft both ends reduce the deviation for transmitting torque to the greatest extent apart from equal.Elastomer beam size is smaller when by torque, becomes
Shape is bigger, and the output signal of generation is stronger, and sensitivity will be higher.But the intensity and toughness of material has certain tolerance range, this
Under the premise of just needing to ensure again that the stiffness and strength of structure does not damage, reduce elastomer beam size as far as possible.The both ends of spring beam
Chamfering is all designed with, avoids the generation of stress concentration.Using Workbench simulation-analysis softwares, structure is carried out to elastomer beam
Design analysis and optimization, selections basis material be aluminium alloy, consider safety coefficient, apply torque capacity, analysis result answer
Power is no more than the yield limit of aluminium alloy.Final choice elastomer is calculated analytically as bending hub-type structure, spring beam
Long 8mm, wide 3mm, thick 6mm.Screw can be installed into the flange ring diameter satisfaction of elastomer consolidation just, make integral diameter as possible
It is smaller.
Fig. 3 show integrally-built component 2 in the present invention, including the input shaft (9) with motor axis connection, for being fixedly connected
Key (10), the disc shaped flange (11) of connecting flange 1, positioning shaft sleeve (13).Input shaft (9) is connect with motor driving shaft, is passed through
Connection transition axis transmits torque to disc shaped flange (11), and transition axis avoids being connected to external machinery and ring flange on input shaft
Contact.Interfered during distortional elastomer in order to prevent, 2 inner face of disc shaped flange (14) designs the protrusion split axle of design
Tube-in-tube structure inner hollow is to disc shaped flange outer end face coaxial vertical distance 2mm or so, than flange outer rim inner face in component 1
(17) vertical range difference 3mm is small between elastomer inner face (18), from shaft sleeve is in the mating connection with annular flange
Good radial positioning effect is arrived.Hollow shaft sleeve not only supports guard block 1 heavy annular flange (6) structure, drops simultaneously
Low overall structure quality.Entirely the thickness of disc shaped flange 2 is determined according to selected screw length size, connecting component 1 and component 2
Screw select M3, length 12mm soket head cap screws, then disc shaped flange thickness takes 5mm, and screw hole uses through-hole.It is connected with input shaft
Connecting shaft can play the role of transmitting torque and compensator or trimmer pressure to component 2.
Fig. 4 show the circuit board that sensor structure is embedded in the present invention, should in order to which circuit board is embedded in sensor structure
The structure size of circuit board is designed, while according to the connecting shaft inner rim (8) and elastomer outer rim size of component 1 at this
4 holes have been opened to symmetry on circuit board, have facilitated the extraction of foil gauge connecting line.According to the amplifying circuit schematic diagram designed,
Pcb board is connected up, wave filter and amplification chip are designed in schematic diagram, the filtering and amplification of signal can be carried out.Due to electricity
Resistance R5 and R6 on the plate of road help instrument amplifier input circuit and outside source to be isolated, therefore the wave filter has simultaneously
There is input overload protection function.The instrument amplifier AD620 of selection is at low cost, and precision is high, low in energy consumption, is suitble in high accuracy data
It is used in acquisition system.A CYT78L05 three-terminal voltage-stabilizing feed regulator isolator is increased at input terminal J1 simultaneously, can be adjusted
Input voltage.Due to strain gauge adhesion and interference there are the problems such as, it is difficult to ensure that electric bridge is defeated when no torsional load loads
Go out for absolute 0V, therefore zeroing circuit is designed on the pcb board, be made of R1, R2, R3, R4.Measured voltage signal is final
It is exported by interface 2 in output terminal J2.
According to These characteristics it is found that the small-sized power torque sensor volume smaller of the present invention, quality is lighter, meeting miniaturization will
It asks, compact-sized, sensitivity higher, precision higher, and is suitble to use under the conditions of sound state.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar can understand present disclosure and be implemented, and it is not intended to limit the scope of the present invention, all according to the present invention
The equivalent change or modification that Spirit Essence is made should all cover within the scope of the present invention.
Claims (5)
1. a kind of sensor, including two parallel axially opposed disc shaped flanges (6,11), which is coupling type, comprising
There are the input shaft (9) of motor drive and the connection outer rim ring around flange, need defeated with external mechanical devices consolidation
Shaft (1);
Component (1), component (2) are consolidated by screw (D4);
Annular flange (6) is an integral structure with elastomer (4) in component 1, entire loop type flange outer rim and 2 dish type of component
Flanged joint, connecting shaft (3) consolidate disk-form flange inner rim (8) and input shaft (9) as transition axis, inner rim and foreign steamer
There are during torque difference between edge, four beams of elastomer will generate deformation, be pasted onto the resistance value hair of the foil gauge on spring beam
Changing, circuit will generate voltage signal, and magnification circuit plate is mounted at elastomer outer end face (20), is embedded in entire sensing
Inside device.
2. according to right 1 require a kind of sensor, which is characterized in that both ends input and output shaft directly respectively with motor and rack
Connection carries out the transmission of dynamic locked rotor torque, is driven suitable for the mechanical mechanism under two kinds of forms of motion;
Output shaft (1) in component 1 designs to be attached according to rack interface structure；Axis (3) is as connection transition axis and bullet
Property body in wheel rim consolidation and have the length of itself, reserve spatial transition, elastomer and circuit board allowed to avoid by rack construction
Interference;
In addition, elastomer outer end face (20) and (19) two parallel surface axial direction existence position of flange outer end face are poor, the alternate position spike according to
Circuit plate thickness is set, and installation space is reserved to circuit board.
3. a kind of sensor required according to right 2, which is characterized in that overall structure is made of two components, but two components connect
Position, input and output shaft and connection transition axis only have screw at one to consolidate all in same shaft core position in this parallel step axis
Tie position, remaining all connecting shaft integral structure;
1 elastomer one end of component is consolidated with connecting shaft inner rim (8), and inner rim (8) is consolidated with output shaft, the elastomer other end
It is consolidated with 1 wheel rim of flange (6), flange 1 is consolidated with flange 2 by screw, and flange 2 and input shaft integral structure, whole section gather
Type of attachment elastomer is equivalent to be fixedly arranged on input shaft there are one end while connection space, the other end is fixedly arranged at defeated
On shaft.
4. a kind of sensor required according to right 3, which is characterized in that 1 inner face of flange (17) being connect with component 2 and elasticity
The inner face (18) of body (4) is misaligned, there is certain same axis degree alternate position spike therebetween;
The protrusion split axle tube-in-tube structure inner hollow designed at ring flange inner face (14) in component 2 is to disc shaped flange outer end face
Coaxial vertical distance 2mm or so reduces overall structure quality;
Shaft sleeve (13) external structure supports and connection elastomer outer rim, inner face (15) and elastomer inner face (18) it
Between between same axis degree parallel surface there are vertical ranges, elastomer during the end face of flange of component 2 consolidation with that will not generate face
Contact, will not be interfered being deformed elastomer by component 2.
5. a kind of sensor required according to right 4, which is characterized in that structure and the wiring design of magnification circuit plate,
Circuit board is mounted near elastomer structure;
Circuit board inner circle size is consistent according to connecting shaft (3) size, and outer circle is according to the inner circle size design of disc shaped flange 1 (6), electricity
Road plate thickness according between elastomer outer end face (20) and end face (19) there are gap size choose, at circuit board circumference
Ring week symmetrical aperture there are four opening;
Circuit board is onboard respectively equipped with four socket needles of input terminal and output terminal near a symmetrical hole in wiring, convenient
The connection of input/output signal line;
In the design of circuit board signal input terminal, there are one regulated power supply adjusters, which, which is placed on input terminal, can adjust input
Voltage;
Entire embedded magnification circuit plate is fixed at elastomer outer end face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711440775.0A CN108195495A (en) | 2018-04-19 | 2018-04-19 | A kind of sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711440775.0A CN108195495A (en) | 2018-04-19 | 2018-04-19 | A kind of sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108195495A true CN108195495A (en) | 2018-06-22 |
Family
ID=62584364
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711440775.0A Pending CN108195495A (en) | 2018-04-19 | 2018-04-19 | A kind of sensor |
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| Country | Link |
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| CN (1) | CN108195495A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109900398A (en) * | 2019-03-22 | 2019-06-18 | 长春大学 | Squash type torque-measuring apparatus based on sheet type piezoresistor |
| CN110146212A (en) * | 2019-05-15 | 2019-08-20 | 南京邮电大学 | Joint of mechanical arm torque posture wireless sensor |
| CN111631903A (en) * | 2020-05-27 | 2020-09-08 | 太原理工大学 | Torque output device based on force sensor feedback |
| 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 |
-
2018
- 2018-04-19 CN CN201711440775.0A patent/CN108195495A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109900398A (en) * | 2019-03-22 | 2019-06-18 | 长春大学 | Squash type torque-measuring apparatus based on sheet type piezoresistor |
| CN109900398B (en) * | 2019-03-22 | 2023-09-29 | 长春大学 | Extrusion type torque measuring device based on sheet type force sensitive resistor |
| CN110146212A (en) * | 2019-05-15 | 2019-08-20 | 南京邮电大学 | Joint of mechanical arm torque posture wireless sensor |
| 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 |
| CN113043301B (en) * | 2019-12-27 | 2022-06-28 | 沈阳新松机器人自动化股份有限公司 | Moment-adjustable sensing device and self-locking manipulator |
| CN111631903A (en) * | 2020-05-27 | 2020-09-08 | 太原理工大学 | Torque output device based on force sensor feedback |
| CN111631903B (en) * | 2020-05-27 | 2022-01-28 | 太原理工大学 | Torque output device based on force sensor feedback |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180622 |
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| WD01 | Invention patent application deemed withdrawn after publication |