CN110154065A - Flexible light electric-type torque sensor and application method for flexible mechanical shoulder joint - Google Patents
Flexible light electric-type torque sensor and application method for flexible mechanical shoulder joint Download PDFInfo
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- CN110154065A CN110154065A CN201910407562.0A CN201910407562A CN110154065A CN 110154065 A CN110154065 A CN 110154065A CN 201910407562 A CN201910407562 A CN 201910407562A CN 110154065 A CN110154065 A CN 110154065A
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- flexible
- light barrier
- support base
- outer ring
- shoulder joint
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- 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
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- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention belongs to torque measuring device technical fields, disclose a kind of flexible light electric-type torque sensor and application method for flexible mechanical shoulder joint, and the inner ring of elastic element is connect with outer ring by two flexible muscle；Flexible muscle is equipped with light barrier mounting hole, and light barrier is fixed on flexible muscle；Elastic element outer ring is equipped with support base mounting hole, and support base is fixed on elastic element outer ring；Optical displacement sensor is mounted on support base and is located in the inner space of elastic element.Two optical displacement sensor installation directions that the present invention uses on the contrary, its corresponding operative orientation on the contrary, so as to detect the moment information of positive and negative both direction；Flexible deformation occurs when elastic element is by torque, generates biggish torsion angle, effectively reduce mechanical arm by dynamic stiffness, increase the flexibility of robot.The present invention had not only realized torgue measurement of the mechanical arm in main story reversion both direction, but also provided the greatly flexible safety for guaranteeing robot and interacting with the external world for mechanical arm.
Description
Technical field
The invention belongs to torque measuring device technical field more particularly to a kind of flexible lights for flexible mechanical shoulder joint
Electric-type torque sensor and application method.
Background technique
Currently, the immediate prior art: with cooperation robot technology development, how to guarantee cooperate robot with
Safety when external environment interaction becomes more and more important, this requires robots in interactive process can real-time detection touch
It hits, and reduces the harm after collision occurs.External torque and therefore can be monitored using joint moment sensor in robot
Detection collision can be effectively reduced harm caused by collision by increasing the flexibility of robot after collision occurs.
The prior art one discloses a kind of to be filled for the built-in three-dimension power of light flexible joint of mechanical arm and torgue measurement
It sets, its principle is when the actuating station of mechanical arm is acted on by load, and flexible deformation occurs for elastic body's unit, to drive
The movement of light barrier thereon, the displacement of corresponding light barrier is measured by optical displacement sensor, to realize detection
The function of suffered magnitude of load.The photoelectric displacement sensor of the device can only be measured on single direction using distribution in the same direction
Moment values, in addition the device is made of four elastic ribs, and rigidity is good, and flexibility is insufficient.
The prior art two discloses a kind of linear displacement transducer collocation elastic element to realize output torque measurement and mention
For device flexible, its principle is to calculate elastic element inner and outer ring by straight line level sensor to rotate differential seat angle, according to Hooke
Law obtains the force information at joint loads end.The device is the deformation that elastic element is measured using linear displacement transducer, because
For there are the frictions between brush and resistive film, it is therefore desirable to biggish energy input, due to abrasion will affect service life and
Reliability is reduced, measurement accuracy is reduced, and linear displacement transducer is mounted on elastic element surface can make apparatus structure
Become complicated, increases the axial dimension of the device to increase the size in joint.
The prior art three discloses a kind of utilization series connection elastomer and two position sensors and provides torque measurement for joint
With offer device flexible, its principle is the torsion of the elastic element obtained according to the position sensor measurement at elastic element both ends
Corner calculates joint moment information using Hooke's law.The device obtains elasticity member by two absolute position magnetic encoders
The deflection of part not only increases production cost using two magnetic coders, increases the size in joint, and increase control
Difficulty.
In conclusion problem of the existing technology is:
(1) prior art one has the maximum flexibility deformation generated under loading moment effect small, and measurement torque range is small,
And the feature of the torque on single direction can only be measured, this feature this device is had flexibility is limited, impact resistance
It is poor, the shortcomings that can not being measured when mechanical arm is by opposing torque and deficiency.
(2) prior art two measures the feature of deformation of elastic element using linear displacement transducer, and this feature makes
Rubbing action when torgue measurement due to linear displacement transducer causes measurement accuracy to decline, and linear displacement transducer is installed
Apparatus structure can be made to become complicated on elastic element surface, increase the size of the device, be unfavorable for being integrated in intra-articular.
(3) three production cost of the prior art is excessively high, and the complicated integrated belt to joint of structure comes the deuce to pay, measurement accuracy
It is easy to be influenced by position sensor measurement accuracy.
Solve the difficulty of above-mentioned technical problem:
How robot output torque information is obtained in real time, can examine in real time when machine human and environment collides
Survey collision.
How for integrated joint enough flexibilities is provided.
How to be convenient for being integrated into inside integral joint.
How production cost is reduced.
Solve the meaning of above-mentioned technical problem:
Can real-time detection collision, collision occur after biggish flexibility is provided, therefore can guarantee machine person to person hand over
Safety when mutually.
Realize the accurate power control of integral joint, preferable impact resistance
It can be widely applied for needing the cooperation robot of low manufacturing cost and low weight.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of flexible light electric-type for flexible mechanical shoulder joint
Torque sensor and application method.
The invention is realized in this way a kind of flexible light electric-type torque sensor for flexible mechanical shoulder joint, described
Flexible light electric-type torque sensor for flexible mechanical shoulder joint is provided with
Elastic element；
Elastic element includes outer ring, inner ring, flexible muscle；
Pass through two flexible muscle connections between the outer ring and inner ring of elastic element；Two optical displacement sensors are mounted on
In elastic element inner space and installation direction is opposite；
Flexible muscle is equipped with light barrier mounting hole；Light barrier is just being fixed on the first flexible muscle by screw by light barrier mounting hole
On, by light barrier against being fixed on the second flexible muscle, light barrier just corresponding one is just being mounted on the light on outer ring by support base
Electric displacement sensor；
Light barrier inverse correspondence one by the inverse photoelectric displacement sensor being mounted on outer ring of support base, it is light-blocking on flexible muscle
The position of piece mounting hole should make light barrier just with light barrier against the light-blocking center for being partially located in optical displacement sensor.
Further, the outer ring is equipped with photoelectric switch support base mounting groove, and support base is just being mounted on support base Zhengan County
On tankage, support base is inverse to be mounted on support base against on mounting groove.
Further, the flexible muscle is closed by two curves with inner and outer ring, is uniformly narrowed from both ends to centre, and
About elastic element central symmetry, 0 °~270 ° of geometry revolution range.
Further, the support base is just just being applied in combination with light barrier, support base it is inverse it is inverse with light barrier be applied in combination, it is light-blocking
The piece just inverse geometry mirror symmetry with light barrier, operative orientation is opposite；Measured by the photoelectric displacement sensor of different location
Direction of displacement it is opposite.
Further, pass through two flexible muscle connections between the outer ring and inner ring；Outer ring is circumferentially arranged with multiple outward flanges
Mounting hole, inner ring are connected circumferentially arranged with multiple inner flange mounting holes, outward flange mounting hole with flexible mechanical shoulder joint output end,
Inner flange mounting hole is connected with flexible mechanical shoulder joint input terminal.
Another object of the present invention is to provide the flexible light electric-type torque biographies that flexible mechanical shoulder joint is used for described in one kind
The application method of the application method of sensor, the flexible light electric-type torque sensor for flexible mechanical shoulder joint includes:
When joint of mechanical arm is by positive moment loading, loading moment sends out the inner ring of elastic element relative to outer ring
Raw relative displacement, the first flexible muscle under tension drive light barrier positive motion, the first photo-electric position while generating flexible deformation
Displacement sensor detects the positive displacement of light barrier, is converted into positive torque M_ (z+) information output；When joint of mechanical arm by
When opposing torque acts on, the second flexible muscle, which is under pressure while generating flexible deformation, drives light barrier against counter motion, and second
Optical displacement sensor detects the inverse displacement of light barrier, is converted into the output of opposing torque M_ (z-) information.
Another object of the present invention is to provide the flexible light electric-type power that flexible mechanical shoulder joint is used for described in a kind of application
The robot integral joint system of square sensor.
Another object of the present invention is to provide the flexible light electric-type power that flexible mechanical shoulder joint is used for described in a kind of application
The robot of square sensor.
In conclusion advantages of the present invention and good effect are as follows: connected in elastic element of the invention using two flexible muscle
It connects, extends the length of flexible muscle by way of variable curvature, significantly increase the flexibility of elastic element, fabulous solves biography
The flexible insufficient disadvantage of the torque sensor of system.
For the present invention using optical displacement sensor as the sensor for detecting flexible muscle, system response time is fast, measures
Precision is high, error is small, and optical displacement sensor is mounted on inside elastic element, significantly reduces the outer dimension of device.
Anti-electromagnetic interference capability of the invention is strong, and stability is high；Two optical displacement sensors are reversely installed, it can
Realize the measurement to load in positive and negative both direction；Overload capacity is high, at low cost, easy to install, while being integrated with torque sensor
And the advantages of elastic driver, there is good torgue measurement and flexible drive characteristic.
Detailed description of the invention
Fig. 1 is the flexible light electric-type torque sensor provided in an embodiment of the present invention for flexible mechanical shoulder joint and use
Method
Fig. 2 is the structural schematic diagram of elastic element provided in an embodiment of the present invention；
Fig. 3 is optical displacement sensor mounting and positioning device schematic diagram provided in an embodiment of the present invention；
Fig. 4 is torgue measurement schematic diagram provided in an embodiment of the present invention；
In figure: 1, elastic element；2, the first optical displacement sensor；3, support base is being just；4, light barrier is being just；5, support base
It is inverse；6, the second optical displacement sensor；7, light barrier is inverse；8, outer ring；9, inner ring；10, the first flexible muscle；11, light barrier is being just
Mounting hole；12, the positive mounting groove of support base；13, the second flexible muscle；14, light barrier is against mounting hole；15, support base is against mounting groove；
16, outward flange mounting hole；17, inner flange mounting hole.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
The present invention uses elastic element as matrix measuring force to overcome the flexible deficiency of torque sensor in the prior art
Defect existing for measurement method when square information provides a kind of flexible light electric-type torque sensor for flexible mechanical shoulder joint
Device.
Application principle of the invention is explained in detail with reference to the accompanying drawing.
As shown in Figure 1, the flexible light electric-type torque sensor provided in an embodiment of the present invention for flexible mechanical shoulder joint
Including elastic element 1, optical displacement sensor 2, support base, positive 4, light barrier is described against 7 against 5, light barrier for positive 3, support base
Elastic element 1 includes outer ring 8, inner ring 9, flexible muscle 10.Elastic element 1 is connected by two flexible muscle 10.
Flexible muscle 10 is equipped with light barrier mounting hole；It is soft that light barrier positive 4 by screw is fixed on first by light barrier mounting hole
Property muscle on, light barrier is fixed on the second flexible muscle against 7, corresponding one of light barrier positive 4 is mounted on outer ring by support base positive 3
Photoelectric displacement sensor 2 on 8.Light barrier corresponds to one against 7 and is passed by the photoelectric displacement that support base is mounted on outer ring 8 against 5
Sensor 6, the position of light barrier mounting hole should make light barrier positive 4 and light barrier light-blocking be partially located in photo-electric against 7 on flexible muscle 10
The center of displacement sensor；Outer ring 8 is equipped with photoelectric switch support base mounting groove, and support base positive 3 is mounted on support base
On positive mounting groove 12, support base is mounted on support base against on mounting groove 15 against 5.
In a preferred embodiment of the invention, flexible muscle 10 is to be closed by two curves with inner and outer ring, from both ends to
Centre uniformly narrows, and is central symmetry about elastic element 1, and 0 °~270 ° of geometry revolution range.
In a preferred embodiment of the invention, support base positive 3 is applied in combination with light barrier positive 4, and support base is against 5 and light barrier
Inverse 7 are applied in combination, the geometry mirror symmetry of light barrier positive 4 and light barrier against 5, and operative orientation is opposite；The light of different location
Direction of displacement measured by electric displacement sensor 2 is opposite.
In a preferred embodiment of the invention, it is connected between outer ring 8 and inner ring 9 by two flexible muscle 10, outer ring 8 is along week
To being equipped with multiple outward flange mounting holes 16, inner ring 9 circumferentially arranged with multiple inner flange mounting holes 17, outward flange mounting hole 16 with it is soft
Property joint of mechanical arm output end be connected, inner flange mounting hole 17 is connected with flexible mechanical shoulder joint input terminal.
In a preferred embodiment of the invention, elastic element 1 uses spring steel 50CrVA.
For the present invention when joint of mechanical arm is by positive moment loading, the outer ring 8 of load-strap dynamic elasticity element 1 is relative to interior
Relative displacement occurs for ring 9, and the first flexible 10 under tension of muscle drives light barrier positive 4 to move while generating flexible deformation, and first
Optical displacement sensor 2 detects the positive displacement of light barrier, is translated into positive torque M_ (z+) according to Hooke's law
Information output；When joint of mechanical arm is acted on by opposing torque, the second flexible muscle 13, which is under pressure, generates the same of flexible deformation
When drive light barrier against 7 counter motions, the second optical displacement sensor 6 detects the inverse displacement of light barrier, is converted
For the output of opposing torque M_ (z-) information.
The model of optical displacement sensor of the invention selects RPI-131, the outer dimension of the photoelectric displacement sensor
For 4.2*4.2*5.2mm, small in size convenient for being integrated in intra articular, vertical linear measurement range is 0.7mm~1.4mm, amount
Journey is 0.7mm.The photo-electric torque sensor linear measurement range is big, is capable of providing very big overload protection space, measurement essence
Degree is high.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (8)
1. a kind of flexible light electric-type torque sensor for flexible mechanical shoulder joint, which is characterized in that described to be used for flexible machine
The flexible light electric-type torque sensor of tool shoulder joint is provided with
Elastic element；
Elastic element includes outer ring, inner ring, flexible muscle；
Pass through two flexible muscle connections between the outer ring and inner ring of elastic element；Two optical displacement sensors are mounted on elasticity
In element inner space and installation direction is opposite；
Flexible muscle is equipped with light barrier mounting hole；Light barrier is just being fixed on the first flexible muscle by light barrier mounting hole by screw,
By light barrier against being fixed on the second flexible muscle, light barrier just corresponding one is just being mounted on the photopotential on outer ring by support base
Displacement sensor, light barrier inverse correspondence one passes through the inverse photoelectric displacement sensor being mounted on outer ring of support base；
The position of light barrier mounting hole should make light barrier just be partially located in photo-electric displacement biography against light-blocking with light barrier on flexible muscle
The center of sensor.
2. being used for the flexible light electric-type torque sensor of flexible mechanical shoulder joint as described in claim 1, which is characterized in that institute
Outer ring is stated equipped with photoelectric switch support base mounting groove, support base is just being mounted on the positive mounting groove of support base, the inverse peace of support base
Mounted in support base against on mounting groove.
3. being used for the flexible light electric-type torque sensor of flexible mechanical shoulder joint as described in claim 1, which is characterized in that institute
It states flexible muscle and is closed by two curves with inner and outer ring, uniformly narrowed from both ends to centre, and about elastic element center
Symmetrically, 0 °~270 ° of geometry revolution range.
4. being used for the flexible light electric-type torque sensor of flexible mechanical shoulder joint as described in claim 1, which is characterized in that institute
Support base is stated just just to be applied in combination with light barrier, support base it is inverse it is inverse with light barrier be applied in combination, light barrier is just inverse with light barrier
Geometry mirror symmetry, operative orientation are opposite；Direction of displacement measured by the photoelectric displacement sensor of different location is opposite.
5. being used for the flexible light electric-type torque sensor of flexible mechanical shoulder joint as described in claim 1, which is characterized in that institute
It states between outer ring and inner ring through two flexible muscle connections；Outer ring is circumferentially arranged with multiple outward flange mounting holes, and inner ring is circumferentially
Equipped with multiple inner flange mounting holes, outward flange mounting hole is connected with flexible mechanical shoulder joint output end, inner flange mounting hole with it is soft
Property joint of mechanical arm input terminal be connected.
6. a kind of application method for the flexible light electric-type torque sensor of flexible mechanical shoulder joint as described in claim 1,
It is characterized in that, the application method of the flexible light electric-type torque sensor for flexible mechanical shoulder joint includes:
When joint of mechanical arm is by positive moment loading, loading moment makes the inner ring of elastic element that phase occur relative to outer ring
To displacement, the first flexible muscle under tension drives light barrier positive motion while generating flexible deformation, and the displacement of the first photo-electric passes
Sensor detects the positive displacement of light barrier, is converted into positive torque M_ (z+) information output；When joint of mechanical arm is by reversed
When moment loading, the second flexible muscle, which is under pressure while generating flexible deformation, drives light barrier against counter motion, the second photoelectricity
Formula displacement sensor detects the inverse displacement of light barrier, is converted into the output of opposing torque M_ (z-) information.
7. a kind of using the flexible light electric-type moment sensing for being used for flexible mechanical shoulder joint described in Claims 1 to 5 any one
The robot integral joint system of device.
8. a kind of using the flexible light electric-type moment sensing for being used for flexible mechanical shoulder joint described in Claims 1 to 5 any one
The robot of device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910407562.0A CN110154065A (en) | 2019-05-15 | 2019-05-15 | Flexible light electric-type torque sensor and application method for flexible mechanical shoulder joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910407562.0A CN110154065A (en) | 2019-05-15 | 2019-05-15 | Flexible light electric-type torque sensor and application method for flexible mechanical shoulder joint |
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| CN201910407562.0A Pending CN110154065A (en) | 2019-05-15 | 2019-05-15 | Flexible light electric-type torque sensor and application method for flexible mechanical shoulder joint |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110640783A (en) * | 2019-09-11 | 2020-01-03 | 哈尔滨工业大学（深圳） | Flexible joint based on oppositely-installed planar torsion springs |
| CN111993394A (en) * | 2020-09-08 | 2020-11-27 | 中南大学 | Passive compliance device |
| CN112171674A (en) * | 2020-09-25 | 2021-01-05 | 苏州微创畅行机器人有限公司 | Control method of flexible mechanical arm and robot system |
| CN118617459A (en) * | 2024-08-13 | 2024-09-10 | 河北工业大学 | Robot joint reliability testing device and testing method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110640783A (en) * | 2019-09-11 | 2020-01-03 | 哈尔滨工业大学（深圳） | Flexible joint based on oppositely-installed planar torsion springs |
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| CN118617459A (en) * | 2024-08-13 | 2024-09-10 | 河北工业大学 | Robot joint reliability testing device and testing method |
| CN118617459B (en) * | 2024-08-13 | 2024-10-18 | 河北工业大学 | Robot joint reliability testing device and testing method |
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Application publication date: 20190823 |