CN108593162A - The heavy load flexibility torque sensor that partial structurtes are strengthened - Google Patents
The heavy load flexibility torque sensor that partial structurtes are strengthened Download PDFInfo
- Publication number
- CN108593162A CN108593162A CN201810503041.0A CN201810503041A CN108593162A CN 108593162 A CN108593162 A CN 108593162A CN 201810503041 A CN201810503041 A CN 201810503041A CN 108593162 A CN108593162 A CN 108593162A
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- CN
- China
- Prior art keywords
- outer ring
- strain
- baffle
- strain beam
- torque 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
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- 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 heavy load flexibility torque sensor that partial structurtes are strengthened, is related to a kind of passive damping elastomer element.Traditional metal-rubber torque sensor is solved since stress concentration is in strain beam and strain beam baffle interconnecting part, torque sensor is caused to undertake the small problem of load capacity.Outer ring includes annular outer ring substrate, annular convex platform, two strain beams, four strain beam baffles, annular convex platform is arranged on an end face of annular outer ring substrate, two strain beams are arranged on annular outer ring substrate inner wall, and it is respectively provided with a strain beam baffle at left and right sides of each strain beam, and foil gauge is installed on strain beam；The interconnecting part that strain beam is constituted with strain beam baffle intersection, and interconnecting part is equipped with convex edge in the axial direction, convex edge is non-contact with inner ring and baffle.Present invention is mainly applied on joint of robot.
Description
Technical field
The present invention relates to a kind of passive damping elastomer elements.
Background technology
With the development of robot technology, man-machine collaboration type mechanical arm has obtained more and more concerns, and flexible joint is made
For a ring important in man-machine cooperating mechanical arm, play an important role to the safety of the guarantee mankind, but flexible link
It is also that system brings vibration to introduce, and reduces the accuracy of joint of robot position control.Active, half can be used at present actively
Inhibit to vibrate with passive three kinds of methods, Vibration Active Control is to reduce vibration, poor reliability using control algolithm.Half active vibration
Control needs the control elements such as additional increase motor, and volume is big, and construction is complicated.Using metal-rubber as damping in passive control
The advantages that vibration-absorptive material has service life long, and damping characteristic is big, good damping result, in addition can be by increasing in junction
Foil gauge measures torque.
But traditional 107671875 A structure designs of metal-rubber torque sensor CN are not reasonable, due to stress
It concentrates on strain beam, causes torque sensor to undertake load capacity small；Problem above urgent need to resolve.
Invention content
The present invention is to solve traditional metal-rubber torque sensor since stress concentration is in strain beam and strain beam
Baffle interconnecting part causes torque sensor to undertake the small problem of load capacity, strengthens the present invention provides a kind of partial structurtes
Heavy load flexibility torque sensor.
The heavy load flexibility torque sensor that partial structurtes are strengthened, including inner ring, outer ring, four metal-rubber pads and gear
Plate,
For inner ring spiral-lock on outer ring, four metal-rubber pad precommpression area defined after inner ring and outer ring fastening is empty
In, shutter is on outer ring；
Outer ring includes annular outer ring substrate, annular convex platform, two strain beams, four strain beam baffles, annular convex platform setting
On an end face of annular outer ring substrate, two strain beams are arranged on annular outer ring substrate inner wall, and each strain beam
The left and right sides is respectively provided with a strain beam baffle, and foil gauge is equipped on strain beam；
The interconnecting part that strain beam is constituted with strain beam baffle intersection, and interconnecting part is equipped with convex edge in the axial direction,
Convex edge is non-contact with inner ring and baffle.
Preferably, reinforcing rib is equipped between annular outer ring substrate and annular convex platform.
Preferably, another end face of the annular outer ring substrate on outer ring is equipped with recessed edge, and inner ring spiral-lock is in outer ring
It is recessed along upper.
Preferably, baffle is equipped with positioning convex platform, and positioning convex platform is fixedly connected with inner ring.
Preferably, the annular inner race substrate of inner ring is equipped with the first strain convex edge placement hole, and baffle is equipped with second
Strain convex edge placement hole；
First strain convex edge placement hole and the second strain convex edge placement hole for holding convex edge jointly.
Preferably, the inner ring and baffle are bolted to connection.
Preferably, each metal-rubber pads 5 ° of precommpression.
Preferably, there are at least gaps of 3mm between strain beam baffle and the inner wall of annular outer ring substrate.
The advantageous effect that the present invention is brought is the interconnecting part that the present invention is constituted in strain beam and strain beam baffle intersection
It is equipped with convex edge, it is made so that torque sensor is born bigger the intensity of strain beam and strain beam baffle intersection
Torque, bearing capacity raising 20% is reasonable in design present invention improves the contact situation between part, reduces rotation
Friction.
Description of the drawings
Fig. 1 and Fig. 2 is the structural schematic diagram for the heavy load flexibility torque sensor that partial structurtes of the present invention are strengthened；
Fig. 3 is the installation diagram of inner ring and outer ring；
Fig. 4 is the installation diagram of outer ring and baffle.
Specific implementation mode
Specific implementation mode one：Illustrate present embodiment referring to Fig. 1 to Fig. 4, the partial structurtes described in present embodiment are strong
The heavy load flexibility torque sensor of change, including inner ring 1, the metal-rubber pad 3 of outer ring 2, four and baffle 4,
For 1 spiral-lock of inner ring on outer ring 2, four metal-rubbers pad what 3 precommpression were surrounded after inner ring 1 and outer ring 2 fasten
In regional space, the lid of baffle 4 is on outer ring 2；
Outer ring 2 includes annular outer ring substrate 2-1, annular convex platform 2-2, two strain beam 2-5, four strain beam baffle 2-6,
Annular convex platform 2-2 is arranged on an end face of annular outer ring substrate 2-1, and two strain beam 2-5 are arranged in annular outer ring substrate
On 2-1 inner walls, and it is respectively provided with a strain beam baffle 2-6 at left and right sides of each strain beam 2-5, and is installed on strain beam 2-5
There is foil gauge；
The interconnecting part that strain beam 2-5 is constituted with strain beam baffle 2-6 intersections, and interconnecting part is equipped in the axial direction
Convex edge 2-7, convex edge 2-7 are non-contact with inner ring 1 and baffle 4.
In present embodiment, since stress concentration is on strain beam 2-5, convex edge 2-7 is equipped on strain beam 2-5,
It ensure that the intensity of strain beam 2-5, and inner ring substrate is kept off convex edge 2-7 with strain beam in the prior art with the non-contact replacement of inner ring 1
Plate is in direct contact, and ensures that the torque between inner ring and outer ring, this relationship are preferably reflected on strain beam 2-5, avoid unbalance loading and
The influence to rub to strain beam 3-5, improves torque measurement precision, measurement accuracy is made to improve 20% or more.
Operation principle：Input torque is transmitted through the strain beam baffle 2-6 on inner ring baffle 1-2, metal-rubber pad 3, outer ring 2
Onto strain beam 2-5, the resistance strain plate pasted on strain beam 2-5 is deformed, and the deformation extent of foil gauge reflects outside
The size of torque.
It is provided with four strain beam baffle 2-6 on outer ring 2, is convenient for the pressure transmission of four metal-rubber pads 3 to strain
On beam 2-5, while metal-rubber pad 3 being prevented to be in direct contact with the foil gauge on strain beam 2-5.
The interconnecting part that strain beam 2-5 is constituted with strain beam baffle 2-6 intersections, and interconnecting part is equipped in the axial direction
Convex edge 2-7, by simulation analysis it is found that between inner ring 1, outer ring 2 apply torque after the maximum position of stress be strain beam 2-5 with answer
Become the junctions beam baffle 2-6 (i.e.：Interconnecting part), compared to other structure-reinforced modes：Change strain beam or strain beam baffle
The width and thickness of 2-6, or certain gradient is made it have, the effect of convex edge 2-7 is arranged in the corresponding position of strain beam in the present invention
Fruit is best, can improve the bearing capacity of entire torque sensor about 20%, while can ignore to the generation of the rigidity of strain beam
The influence disregarded, and it is easily worked manufacture.
Metal-rubber pad 3 has elasticity and damping characteristic, plays the role of limit and damping.
Specific implementation mode two：Illustrate present embodiment, present embodiment and specific implementation mode one referring to Fig. 1 to Fig. 4
Difference lies in annular outer ring substrate 2-1 and annular convex platform for the heavy load flexibility torque sensor that the partial structurtes are strengthened
Reinforcing rib 2-3 is equipped between 2-2.
In present embodiment, the set-up mode of reinforcing rib 2-3 improves the bearing strength of outer ring 2.
Specific implementation mode three：Illustrate present embodiment, present embodiment and specific implementation mode one referring to Fig. 1 to Fig. 4
Or difference lies in the annular outer ring substrates on outer ring 2 for the heavy load flexibility torque sensor of the partial structurtes reinforcing described in two
Another end face of 2-1 be equipped with it is recessed along 2-4,1 spiral-lock of inner ring is in the recessed along 2-4 of outer ring 2.
In present embodiment, 1 spiral-lock of inner ring ensure that inner ring 1 and the close of outer ring 2 connect in the recessed along 2-4 of outer ring 2
It connects, limit sets inner ring 1 in radial vibration.
Specific implementation mode four：Illustrate present embodiment, present embodiment and specific implementation mode one referring to Fig. 1 to Fig. 4
Or difference lies in baffle 4 is equipped with positioning convex platform 4- to the heavy load flexibility torque sensor of the partial structurtes reinforcing described in two
1, and positioning convex platform 4-1 is fixedly connected with inner ring 1.
In present embodiment, the mode that positioning convex platform 4-1 is fixedly connected with inner ring 1 improves the steady of entire torque sensor
It is qualitative.
Positioning convex platform 4-1 is provided on baffle 4, positioning convex platform 4-1 can improve the bonding strength between inner ring 1 and baffle 4.
Specific implementation mode five：Illustrate present embodiment, present embodiment and specific implementation mode one referring to Fig. 1 to Fig. 4
Or difference lies in the annular inner race substrate 1-1 of inner ring 1 for the heavy load flexibility torque sensor of the partial structurtes reinforcing described in two
It is equipped with the first strain convex edge placement hole 1-1-1, and baffle 4 is equipped with the second strain convex edge placement hole 4-2；
First strain convex edge placement hole 1-1-1 and the second strain convex edge placement hole 4-2 for holding convex edge 2-7 jointly.
In present embodiment, be provided on annular inner race substrate 1-1 first strain convex edge placement hole 1-1-1 and baffle 4 on
The rotation that the second strain convex edge placement hole 4-2 being equipped with is strain beam 2-5 on outer ring 2 is there are enough revolution spaces, in guarantee
Torque between circle 1 and outer ring 2, this relationship are preferably reflected on strain beam 2-5, avoid unbalance loading and friction to strain beam 2-5
The measurement for interfering and influencing torque is generated, torque measurement precision is improved, measurement accuracy is made to improve 30% or more.
Baffle 4 is equipped with the second strain convex edge placement hole 4-2, and for the rotation of outer ring 2, there are enough revolution spaces, while
Reserve the wiring space of foil gauge.
Inner ring baffle 1-2 and the contact of outer ring inner wall, baffle 4 and strain beam 2-5 contacts, to limit inner ring 1 and outer ring 2
Between axial movement, axially contact area is small, can reduce friction when rotation.
Specific implementation mode six：Illustrate present embodiment, present embodiment and specific implementation mode one referring to Fig. 1 to Fig. 4
Difference lies in the inner ring 1 and baffle 4 are solid by bolt for the heavy load flexibility torque sensor that the partial structurtes are strengthened
Fixed connection.
Specific implementation mode seven：Illustrate present embodiment, present embodiment and specific implementation mode one referring to Fig. 1 to Fig. 4
Or difference lies in each metal-rubber pads 3 precommpression to the heavy load flexibility torque sensor of the partial structurtes reinforcing described in two
5°。
The metal-rubber of the present invention pads 3 precommpression certain angles, keeps the torque corner characteristic measured by torque sensor bent
Line in joint positive and negative rotation can consecutive variations, ensure that the precision near corner zero-bit.
Entire force snesor of the present invention can rotate in the range of positive and negative 5 °, metal-rubber pad 3 after the completion of assembly,
5 ° of 3 equal precommpression of each metal-rubber pad, i.e.,：When it is not by moment of face that inner ring 1 and 2 relative rotation of outer ring, which are 0 °, Mei Gejin
Belong to 5 ° of 3 precommpression of rubber pad；When inner ring 1 and 2 relative rotation of outer ring are 5 °, the metal-rubber pad 3 of the sides each strain beam 2-5
10 ° are had compressed, the metal-rubber pad 3 of the other side has compressed 0 °, so that four metal-rubber pads 3 is in compressive state always, makes power
Torque corner characteristic curve measured by square sensor in joint positive and negative rotation can consecutive variations, while preventing from closing when low-load
Section generates shaking.
Specific implementation mode eight：Illustrate present embodiment, present embodiment and specific implementation mode one referring to Fig. 1 to Fig. 4
Or the heavy load flexibility torque sensor strengthened of partial structurtes described in two difference lies in, strain beam baffle 2-6 with outside annular
There are at least gaps of 3mm between the inner wall of cycle basis plate 2-1.
In present embodiment, there are at least gaps of 3mm for the inner wall of strain beam baffle 2-6 and annular outer ring substrate 2-1.Just
In Milling Process, prevents gap too small and the processing method of the costliness such as wire cutting must be used.
Verification test：For the strain beam of width 10mm, material uses 7075 aluminium alloy of high intensity, applies turning for 70NM
Square, common torque sensor maximum stress is 395MPa, the torque sensor of present invention setting convex edge 2-7 on strain beam is maximum
Stress is 330MPa.Common torque sensor reaches yield strength 503MPa when carrying 90NM, and the present invention is set on strain beam
The torque sensor for setting convex edge 2-7 reaches yield strength 503MPa when carrying 108NM.
The structure for the heavy load flexibility torque sensor that partial structurtes of the present invention are strengthened is not limited to above-mentioned each implementation
Concrete structure recorded in mode can also be the reasonable combination of the technical characteristic recorded in the respective embodiments described above.
Claims (8)
1. the heavy load flexibility torque sensor that partial structurtes are strengthened, including inner ring (1), outer ring (2), four metal-rubber pads
(3) and baffle (4),
Inner ring (1) spiral-lock is on outer ring (2), four metal-rubber pad (3) precommpression institute after inner ring (1) and outer ring (2) fasten
In the regional space surrounded, baffle (4) lid is on outer ring (2)；
Outer ring (2) includes annular outer ring substrate (2-1), annular convex platform (2-2), two strain beams (2-5), four strain beam baffles
(2-6), annular convex platform (2-2) are arranged on an end face of annular outer ring substrate (2-1), and two strain beam (2-5) settings exist
On annular outer ring substrate (2-1) inner wall, and it is respectively provided with a strain beam baffle (2-6) at left and right sides of each strain beam (2-5),
And foil gauge is installed on strain beam (2-5)；
It is characterized in that, the interconnecting part that strain beam (2-5) is constituted with strain beam baffle (2-6) intersection, and interconnecting part is in axis
It is equipped with convex edge (2-7) to direction, convex edge (2-7) is non-contact with inner ring (1) and baffle (4).
2. the heavy load flexibility torque sensor that partial structurtes according to claim 1 are strengthened, which is characterized in that annular is outer
Reinforcing rib (2-3) is equipped between cycle basis plate (2-1) and annular convex platform (2-2).
3. the heavy load flexibility torque sensor that partial structurtes according to claim 1 or 2 are strengthened, which is characterized in that outer
Another end face for enclosing the annular outer ring substrate (2-1) on (2) is equipped with recessed edge (2-4), and inner ring (1) spiral-lock is in outer ring (2)
On recessed edge (2-4).
4. the heavy load flexibility torque sensor that partial structurtes according to claim 1 or 2 are strengthened, which is characterized in that gear
Plate (4) is equipped with positioning convex platform (4-1), and positioning convex platform (4-1) is fixedly connected with inner ring (1).
5. the heavy load flexibility torque sensor that partial structurtes according to claim 1 or 2 are strengthened, which is characterized in that interior
The annular inner race substrate (1-1) for enclosing (1) is equipped with the first strain convex edge placement hole (1-1-1), and baffle (4) is answered equipped with second
Become convex edge placement hole (4-2)；
First strain convex edge placement hole (1-1-1) and the second strain convex edge placement hole (4-2) for holding convex edge (2-7) jointly.
6. the heavy load flexibility torque sensor that partial structurtes according to claim 1 are strengthened, which is characterized in that in described
Circle (1) and baffle (4) are bolted to connection.
7. the heavy load flexibility torque sensor that partial structurtes according to claim 1 are strengthened, which is characterized in that Mei Gejin
Belong to 5 ° of rubber pad (3) precommpression.
8. the heavy load flexibility torque sensor that partial structurtes according to claim 1 are strengthened, which is characterized in that strain beam
There are at least gaps of 3mm between baffle (2-6) and the inner wall of annular outer ring substrate (2-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810503041.0A CN108593162A (en) | 2018-05-23 | 2018-05-23 | The heavy load flexibility torque sensor that partial structurtes are strengthened |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810503041.0A CN108593162A (en) | 2018-05-23 | 2018-05-23 | The heavy load flexibility torque sensor that partial structurtes are strengthened |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108593162A true CN108593162A (en) | 2018-09-28 |
Family
ID=63632753
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810503041.0A Pending CN108593162A (en) | 2018-05-23 | 2018-05-23 | The heavy load flexibility torque sensor that partial structurtes are strengthened |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108593162A (en) |
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| CN106482883A (en) * | 2016-10-21 | 2017-03-08 | 武汉理工大学 | A kind of impact tension detection mechanism |
| CN106737773A (en) * | 2016-11-16 | 2017-05-31 | 哈尔滨工业大学 | A kind of high rigidity joint moment sensor |
| 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 |
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2018
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Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090192522A1 (en) * | 2007-12-18 | 2009-07-30 | Intuitive Surgical, Inc | Force sensor temperature compensation |
| CN202033137U (en) * | 2011-03-30 | 2011-11-09 | 长城汽车股份有限公司 | Force sensor for automotive body suspension bracket |
| CN102494819A (en) * | 2011-11-29 | 2012-06-13 | 北京邮电大学 | Joint torque sensor based on elastic beam |
| CN103528733A (en) * | 2013-10-28 | 2014-01-22 | 北京理工大学 | Spindle-shaped sensor for monitoring load and temperature of flexible rope in real time |
| CN103954383A (en) * | 2014-04-28 | 2014-07-30 | 西北工业大学 | Bottom separation plate microsensor capable of being used for measuring wall shear stress in high temperature environment and manufacturing method thereof |
| CN106032014A (en) * | 2015-03-13 | 2016-10-19 | 上海理想万里晖薄膜设备有限公司 | Mechanical arm |
| CN105698745A (en) * | 2016-01-26 | 2016-06-22 | 南京航空航天大学 | A simple-component strain amplification structure |
| CN205593682U (en) * | 2016-04-29 | 2016-09-21 | 韶关学院 | Answer variant three -dimensional pressure sensor |
| CN106482883A (en) * | 2016-10-21 | 2017-03-08 | 武汉理工大学 | A kind of impact tension detection mechanism |
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Application publication date: 20180928 |