CN208043297U - A kind of novel robot joint torque sensor - Google Patents
A kind of novel robot joint torque sensor Download PDFInfo
- Publication number
- CN208043297U CN208043297U CN201820655845.8U CN201820655845U CN208043297U CN 208043297 U CN208043297 U CN 208043297U CN 201820655845 U CN201820655845 U CN 201820655845U CN 208043297 U CN208043297 U CN 208043297U
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- ring
- outer ring
- type beam
- outside
- torque sensor
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Abstract
The utility model discloses a kind of novel robot joint torque sensors, including outer ring and inner ring, the center of inner ring offers axle center hole, square member is fixed on the outside of inner ring, the quadrangle of square member is connected separately with round ear, the center of round ear offers the second circular hole, the upper surface of outer ring offers the first circular hole through outer ring, signal string holes is offered on the outside of outer ring, the outside of connection ring is connected on the inside of outer ring, one end of signal wire is connected on the outside of connection ring, signal wire runs through signal string holes.The utility model joint of robot torque sensor, by H-type beam, measurement point generates larger measurable strain when by torque, and it is strained smaller principle by measurement point when other power and designs, overall dimensions are small, suitable for that can solve in the case that height-limited and there are other power to interfere, to need the occasion for measuring torque.
Description
Technical field
The utility model is related to sensor technical field, specially a kind of novel robot joint torque sensor.
Background technology
Torque sensor (also known as torque sensor, torsion sensor, torque sensor, torquemeter) is divided into dynamic and static state
Two major classes, wherein dynamic torque sensor can be called again torque sensor, torque rotary speed sensor, non-contact torque sensor,
Rotary torque sensor etc..Torque sensor is the inspection to being perceived to torsional moment on various rotations or non-rotary mechanical component
It surveys.The physical change of torsion is converted into accurate electric signal by torque sensor.Torque sensor can be applied in manufacture viscosity
Meter, electronic (pneumatic, fluid power) torque spanner, it has the advantages that precision is high, and frequency response is fast, good reliability, long lifespan.It is existing same
Type pressure turns round sensor of composite forces, and appearance and size is bigger than normal, and especially short transverse is higher, and it is restricted to be not applied for height space
Occasion, and pressure interference is big.
Utility model content
The purpose of this utility model is to provide a kind of novel robot joint torque sensors, have size small, anti-dry
The advantages of disturbing strong ability, high certainty of measurement, solves the problems of the prior art.
To achieve the above object, the utility model provides the following technical solutions：
A kind of novel robot joint torque sensor, including outer ring and inner ring, the center of the inner ring offer
Axle center hole, is fixed with square member on the outside of inner ring, and the quadrangle of square member is connected separately with round ear, in round ear
Heart position offers the second circular hole, and the upper surface of the outer ring offers the first circular hole through outer ring, opened up on the outside of outer ring
There is signal string holes, the outside of connection ring is connected on the inside of outer ring, one end of signal wire is connected on the outside of the connection ring, believes
Number line runs through signal string holes, and the other end of signal wire is placed in the outside of outer ring, resistance strain gage, resistance are equipped on the inside of connection ring
Foil gauge is electrically connected with signal wire, one end of H-type beam is fixed on the inside of connection ring, the centre position of the H-type beam opens up
There are rectangular opening, the other end of H-type beam and the outer side edges of square member to connect.
Preferably, the height of the outer ring and inner ring is equal, and connection ring is equal with H-type depth of beam, connection ring and H-type beam
Center line in short transverse is overlapped with the center line on outer ring and inner ring short transverse respectively.
Preferably, the H-type beam is uniformly distributed perpendicular to the side of square member, H-type beam with round ear at equal intervals.
Preferably, the quadrangle of the rectangular opening is handled by rounded corner, and the outer ledge of outer ring is handled by rounded corner.
Preferably, the junction and the junction of H-type beam and square member of the H-type beam and connection ring are all made of at reinforcing
Reason.
Preferably, resistance grid is posted on the H-type beam.
Compared with prior art, the beneficial effects of the utility model are as follows：
The utility model joint of robot torque sensor, by H-type beam when by torque measurement point generate it is larger can
Measuring strain, and strained smaller principle by measurement point when other power and design, overall dimensions are small, suitable for that can solve in height
In the case of degree is limited and there are other power to interfere, the occasion for measuring torque is needed.
Description of the drawings
Fig. 1 is the overall structure figure of the utility model；
Fig. 2 is the vertical view of the utility model；
Fig. 3 is the side view of the utility model.
In figure：1 outer ring, 11 first circular holes, 12 signal string holes, 2 connection rings, 21 signal wires, 22 resistance strain gages, 3 H-types
Beam, 31 rectangular openings, 4 inner rings, 41 axle center holes, 42 square members, 43 round ears, 431 second circular holes.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Please refer to Fig.1-3, a kind of novel robot joint torque sensor, including outer ring 1 and inner ring 4, the center of inner ring 4
Position offers axle center hole 41, and the outside of inner ring 4 is fixed with square member 42, and the quadrangle of square member 42 is connected separately with circle
The center of ear 43, round ear 43 offers the second circular hole 431, and the upper surface of outer ring 1 offers through outer ring 1
The outside of one circular hole 11, outer ring 1 offers signal string holes 12, and the inside of outer ring 1 is connected with the outside of connection ring 2, connection ring 2
Outside is connected with one end of signal wire 21, and signal wire 21 runs through signal string holes 12, and the other end of signal wire 21 is placed in the outer of outer ring 1
Side, for exporting analog electrical signal, 2 inside of connection ring is equipped with resistance strain gage 22, resistance strain gage 22 and 21 electricity of signal wire
Property connection, when plane survey torque strain by resistance strain gage 22 be converted into analog electrical signal by signal wire 21 output,
The inside of connection ring 2 is fixed with one end of H-type beam 3, and the centre position of H-type beam 3 offers rectangular opening 31, electricity is posted on H-type beam 3
Grid are hindered, harmful strain is mutually neutralized by being attached to the resistance grid on different beams, realizes the purposeful high-acruracy survey of torque, rectangle
The quadrangle in hole 31 is handled by rounded corner, can bear bigger strain, and the outer ledge of outer ring 1 is handled by rounded corner, reduced
Friction, the other end of H-type beam 3 connect with the outer side edges of square member 42, the junction and H-type beam 3 of H-type beam 3 and connection ring 2 and
The junction of square member 42 is all made of consolidation process, bears bigger strain, H-type beam 3 is perpendicular to the side of square member 42, H
Type beam 3 is uniformly distributed at equal intervals with round ear 43, and stress evenly, by resistance strain gage 22 is converted to analog electrical signal,
Outer ring 1 and 4 height of inner ring are equal, and connection ring 2 is equal with the height of H-type beam 3, in the short transverse of connection ring 2 and H-type beam 3
Center line is overlapped with the center line in 4 short transverse of outer ring 1 and inner ring respectively, is reduced size sensor, is avoided connection ring 2 and H-type beam 3
Upper and lower surface by other power, improve measurement accuracy.
The course of work：When there are mutual torque, H-type beam 3 will produce plane twist, pass through electricity for outer ring 1 and inner ring 4
Resistance foil gauge 22 is converted into analog electrical signal and carries out plane survey by the output of signal wire 21, and when outer ring 1 and inner ring 4 are by it
Variable is then very small when his power or torque, and the resistance grid by being attached to H-type beam 3 mutually neutralizes harmful strain, realizes and turns round
The purposeful high-acruracy survey of square.
In summary：The utility model joint of robot torque sensor, by H-type beam 3 when by torque measurement point
Larger measurable strain is generated, and is strained smaller principle by measurement point when other power and designs, overall dimensions are small, are suitable for energy
It is enough to solve in the case that height-limited and there are other power to interfere, to need the occasion for measuring torque.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is appreciated that can these embodiments be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaiied
Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.
Claims (6)
1. a kind of novel robot joint torque sensor, including outer ring (1) and inner ring (4), it is characterised in that：The inner ring
(4) center offers axle center hole (41), and square member (42) is fixed on the outside of inner ring (4), square member (42)
Quadrangle is connected separately with round ear (43), and the center of round ear (43) offers the second circular hole (431), the outer ring
(1) upper surface offers the first circular hole (11) through outer ring (1), offers signal string holes (12) on the outside of outer ring (1), outside
It is connected with the outside of connection ring (2) on the inside of circle (1), one end of signal wire (21), letter are connected on the outside of the connection ring (2)
Number line (21) runs through signal string holes (12), and the other end of signal wire (21) is placed in the outside of outer ring (1), peace on the inside of connection ring (2)
Equipped with resistance strain gage (22), resistance strain gage (22) is electrically connected with signal wire (21), and connection ring is fixed with H on the inside of (2)
The centre position of one end of type beam (3), the H-type beam (3) offers rectangular opening (31), the other end and the rectangular structure of H-type beam (3)
The outer side edges of part (42) connect.
2. a kind of novel robot joint torque sensor according to claim 1, it is characterised in that：The outer ring (1)
Equal with the height of inner ring (4), connection ring (2) is equal with the height of H-type beam (3), connection ring (2) and H-type beam (3) short transverse
On center line overlapped respectively with the center line in outer ring (1) and inner ring (4) short transverse.
3. a kind of novel robot joint torque sensor according to claim 1, it is characterised in that：The H-type beam (3)
Side perpendicular to square member (42), H-type beam (3) are uniformly distributed at equal intervals with round ear (43).
4. a kind of novel robot joint torque sensor according to claim 1, it is characterised in that：The rectangular opening
(31) quadrangle is handled by rounded corner, and the outer ledge of outer ring (1) is handled by rounded corner.
5. a kind of novel robot joint torque sensor according to claim 1, it is characterised in that：The H-type beam (3)
It is all made of consolidation process with the junction of connection ring (2) and H-type beam (3) and the junction of square member (42).
6. a kind of novel robot joint torque sensor according to claim 1, it is characterised in that：The H-type beam (3)
On post resistance grid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820655845.8U CN208043297U (en) | 2018-04-26 | 2018-04-26 | A kind of novel robot joint torque sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820655845.8U CN208043297U (en) | 2018-04-26 | 2018-04-26 | A kind of novel robot joint torque sensor |
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| Publication Number | Publication Date |
|---|---|
| CN208043297U true CN208043297U (en) | 2018-11-02 |
Family
ID=63928939
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820655845.8U Active CN208043297U (en) | 2018-04-26 | 2018-04-26 | A kind of novel robot joint torque sensor |
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| Country | Link |
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| CN (1) | CN208043297U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112798151A (en) * | 2021-01-26 | 2021-05-14 | 松诺盟科技有限公司 | Torque sensor arm structure and torque sensor |
| CN113465802A (en) * | 2021-06-10 | 2021-10-01 | 北京思灵机器人科技有限责任公司 | Torque sensor |
-
2018
- 2018-04-26 CN CN201820655845.8U patent/CN208043297U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112798151A (en) * | 2021-01-26 | 2021-05-14 | 松诺盟科技有限公司 | Torque sensor arm structure and torque sensor |
| CN113465802A (en) * | 2021-06-10 | 2021-10-01 | 北京思灵机器人科技有限责任公司 | Torque sensor |
| WO2022257947A1 (en) * | 2021-06-10 | 2022-12-15 | 北京思灵机器人科技有限责任公司 | Torque sensor |
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