WO2021133185A1 - Capteur de couple rotatif - Google Patents

Capteur de couple rotatif Download PDF

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Publication number
WO2021133185A1
WO2021133185A1 PCT/RU2019/001000 RU2019001000W WO2021133185A1 WO 2021133185 A1 WO2021133185 A1 WO 2021133185A1 RU 2019001000 W RU2019001000 W RU 2019001000W WO 2021133185 A1 WO2021133185 A1 WO 2021133185A1
Authority
WO
WIPO (PCT)
Prior art keywords
ribs
torque sensor
torque
processing module
rim
Prior art date
Application number
PCT/RU2019/001000
Other languages
English (en)
Russian (ru)
Inventor
Андрей Владимирович НОВИКОВ
Владимир Николаевич ГЕРАСИМОВ
Роман Александрович ГОРБАЧЕВ
Никита Евгеньевич ШВИНДТ
Владимир Иванович НОВИКОВ
Андрей Евгеньевич ЕФРЕМЕНКО
Дмитрий Леонидович ШИШКОВ
Михаил Нилович ЗАРИПОВ
Филипп Александрович КОЗИН
Алексей Михайлович СТАРОСТЕНКО
Original Assignee
федеральное государственное автономное образовательное учреждение высшего образования "Московский физико-технический институт (национальный исследовательский университет)"
Общество С Ограниченной Ответственностью "Нейроассистивные Технологии"
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by федеральное государственное автономное образовательное учреждение высшего образования "Московский физико-технический институт (национальный исследовательский университет)", Общество С Ограниченной Ответственностью "Нейроассистивные Технологии" filed Critical федеральное государственное автономное образовательное учреждение высшего образования "Московский физико-технический институт (национальный исследовательский университет)"
Priority to PCT/RU2019/001000 priority Critical patent/WO2021133185A1/fr
Publication of WO2021133185A1 publication Critical patent/WO2021133185A1/fr

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Classifications

    • 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
    • G01L3/02—Rotary-transmission dynamometers
    • G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force

Definitions

  • the invention relates to devices for measuring torque, in particular, to torque sensors that can be used in various fields of technology, including robotics.
  • DE102013013634 describes a torque measuring device comprising a first tubular torsional deformation body having two end fixing devices, a second torsion deformation body having two end fixing devices coaxially located in said first torsion deformation body.
  • the second torsion deformation body is directly or indirectly connected by its two end portions with the two end portions of the first tubular body.
  • the device contains a first torsion bar and a second torsion bar.
  • torsion bars significantly complicates the design of the known device for measuring torque and increases its mass and dimensions, which is critical for use in robotics, in particular, in robotic manipulators.
  • US Pat. No. 7,424,829 discloses a torque sensor whose sensing elements provide a bipolar-type output signal, thereby reducing the effect of shaft eccentricity on the output signal.
  • the first and second rotary shafts are located on a common axis, and these rotary shafts are connected by means of a torsion bar to detect the torque transmitted between the rotary shafts.
  • the sensor is provided with means for generating a magnetic field in the radial direction, centered on the axis, means for changing the magnetic field for changing the direction and magnitude of the magnetic flux coming from the means for generating along the center line in accordance with the relative rotation between the rotating shafts, and a magnetic sensor for detecting magnetic flux.
  • the magnetic sensor generates an output signal whose polarity changes depending on the direction of the detected magnetic flux, and the magnitude changes depending on the size of the detected magnetic flux.
  • a common disadvantage of these sensors is that the magnetic sensor is susceptible to interference from external devices (for example, electric motors), which affects the accuracy and stability of measurements.
  • external devices for example, electric motors
  • the design of the sensor itself is quite complex, which is due to the use of magnetic sensors.
  • the known sensor makes it possible to measure moments of large magnitude, however, to ensure high measurement accuracy, it will be necessary to use an appropriate highly sensitive circuit for processing signals from capacitive sensors, which is susceptible to interference from devices in which this sensor can be used.
  • the regulation of the sensitivity (accuracy) of the sensor measurements cannot be carried out by simply replacing the sensitive elements, if such regulation is at all possible in this sensor.
  • RF patent RU108139 discloses a torque sensor, which is a disc-shaped aluminum alloy flange containing an outer rim to which an external load moment is applied, an inner rim fixed on the output shaft of a motor or gearbox, and four radial elements (spokes) connecting the inner and outer rims.
  • the radial elements are the main elastic elements with eight strain gauges fixed on them, located in the places where the through grooves are cut, which play the role of auxiliary elastic elements.
  • the torque sensor also includes spacers installed between the inner rims of the flange and the spokes.
  • a printed circuit board with an electrical circuit that measures torque is attached to the face of the flange.
  • the elastic element placed in the power transmission channel and deformable under the action of the measured torque, and means for registering the torque from the deformation of the elastic element.
  • the elastic element comprises a first fixable part (input part) fixed on the base of the rotary drive, a second fixable part (output part) fixed on a fixed part of the rotary drive, and a deformable part located between the first fixed part and the second fixed part.
  • the deformable portion is provided with eight slotted portions, and the joints of the slotted portions alternately consist of a torque element for receiving a torque applied to the elastic element and a load element independently of the torque element to support the load of the elastic element.
  • this torque meter is characterized by low accuracy, which is determined, first of all, by the locations of the torque registration means on the torque elements.
  • the authors of this meter note that the means for registering the torque can be mounted even in a section different from the torque element, or only on one of the torque elements.
  • the technical result of the claimed invention is to improve the accuracy and stability of measuring the magnitude of the torque, reduce the weight and dimensions of the device, increase the resistance to lateral deformations.
  • a torque sensor which contains a housing, a plurality of strain gages and a signal registration and processing module for registering and processing signals from strain gages.
  • the housing includes a rim and hub concentric with the rim, as well as a plurality of ribs connecting the rim and hub.
  • the ribs include rigid ribs and flexible ribs, with two flexible ribs interposed between two adjacent rigid ribs. Strain gages are located on the lateral sides of the flexible ribs facing each other.
  • strain gauges are placed on the lateral sides of the flexible ribs, i. E. in places of maximum deformation of the side ribs, which are concentrators of deformation stresses, and not on the outer sides, as in the known analogs.
  • the strain gages are placed on the side faces facing each other, which makes it possible to significantly increase the accuracy, since when deformation occurs, some ribs will shrink or bend towards the strain gage installed on it, and the opposite ribs will stretch or bend away from the strain gage installed on it.
  • strain gages as a sensitive element allowed to make a simple, compact and reliable design of the entire device, providing accurate torque measurement and at the same time not being subject to external interference, for example, from an electric motor.
  • the torque sensor additionally contains an insulating gasket between the flange and the printed circuit board of the signal registration and processing module to provide electrical isolation between the specified components of the device.
  • the signal registration and processing module may contain a printed signal amplifier and an analog-to-digital converter installed on the board for performing at least primary processing of the received signal, such as amplifying, digitizing and filtering the signal.
  • an analog-to-digital converter installed on the board for performing at least primary processing of the received signal, such as amplifying, digitizing and filtering the signal.
  • the torque sensor contains four rigid ribs and, therefore, eight flexible ribs and eight strain gages.
  • the first four strain gages located opposite each other in the direction of the axis, form the first bridge circuit
  • the second four strain gauges form the second bridge circuit
  • both bridge circuits are connected to the signal registration and processing module.
  • the claimed sensor may contain an additional eight strain gages, each of which is located next to the corresponding strain gage of the specified first four and second four strain gages and forms a double strain gage, and all together - four bridge circuits connected to the signal registration and processing module.
  • the angle between adjacent flexible ribs is more than 90 °, which makes it possible to increase the area of the strain gauges (and, therefore, to increase their sensitivity) and the convenience of their installation.
  • FIG. 1 is a general view of a torque sensor 1 according to the present invention.
  • the sensor 1 is made in the form of a disk, which simplifies its use and ensures its compactness.
  • the sensor 1 consists of a housing 2, which is a measuring element of the claimed device and contains sensitive elements for these purposes, and a signal registration and processing module 3 containing a printed circuit board 4, on which elements for processing signals coming from the sensitive elements are located (Fig. 2).
  • These elements of signal processing can be, in particular, a signal amplifier 5 and an analog-to-digital converter 6 (ADC) (Fig. 4, 6), for example, with a capacity of 24 bits.
  • ADC analog-to-digital converter
  • the signal amplifier 5 and the ADC 6 can be made as a single device as a part of the signal registration and processing module 3, for example, in the form of an ADC with a built-in amplifier, or they can be separate signal processing elements, as shown in FIG. 4, 6.
  • the body 2 is made in the form of a disk and in fact determines the geometric dimensions of the sensor 1; its thickness can be from 7 to 25 mm.
  • the body 2 can be made, for example, by means of milling technology from aluminum, or aluminum-magnesium alloys, or duralumin, or steels and alloys based on them.
  • the printed circuit board 4 is preferably made in the form of a fiberglass ring, on top of which a copper layer is applied in the range from 18 to 75 microns.
  • Signal processing elements are mounted on a printed circuit board 4 by means of surface mounting technology.
  • An insulating gasket 7 can be additionally placed between the housing 2 and the printed circuit board 4 to ensure the required dielectric gap between the indicated elements of the sensor 1.
  • the insulating gasket 7 is made of fiberglass, getinax, transformer paper, plastic, and other suitable material by means of milling, mechanical or laser engraving, another suitable way.
  • the thickness of the insulating strip 7 is selected on the basis of the need to set a seat for it and preferably varies in the range from 0.2 to 1.5 mm.
  • the housing 2 consists of a rim 8, a hub 9 concentrically located in it, and a plurality of ribs that connect the rim 8 and the hub 9 and on some of which the sensing elements are located (Fig. 3).
  • fastening holes 8.1, 8.2 of the rim can be made for ease of installation, for example, on the stator of an electric motor or other device, and in the hub 9 - fastening holes 9.1 of the hub for ease of installation, for example, on reducer.
  • the hub 9 can also be provided with a groove 9.2 of the hub (Fig. 2) for mounting a bearing therein.
  • the plurality of these ribs includes rigid ribs 10.1 and flexible ribs 10.2.
  • rigid ribs 10.1 it is preferable that between two adjacent rigid ribs 10.1 are placed two flexible ribs 10.2, and the number of rigid ribs 10.1 is four (therefore, the number of flexible ribs 10.2 is eight), as shown in the figures.
  • Rigid ribs 10.1 serve to stiffen the structure of the sensor 1, as well as to reduce the influence of lateral forces applied to the body 2.
  • Flexible ribs 10.2 are designed to relieve longitudinal stresses and are concentrators of deformation stresses. In places of their maximum deformation, sensitive elements are placed, for which strain gauges 11 have been chosen. Flexible ribs 10.2, preferably, have some inclination with respect to rigid ribs 10.1, so that the angle between two adjacent flexible ribs 10.2 is more than 90 °, which makes it possible to displace the area of concentration of deformations and to improve the convenience of mounting strain gages 11.
  • Strain gages 11 change their own resistance in accordance with their deformation. They are well known to a person skilled in the art and can be made on any available basis, including paper, fabric, glass fabric, and other materials.
  • the sensitive material of the strain gauge 11 can be a metal or a semiconductor.
  • Strain gages 11 can be attached to the facing each other lateral sides of adjacent flexible ribs 10.2 by means of adhesive technology or any other suitable technology.
  • the signal registration and processing module 3 contains printed circuit elements installed on the printed circuit board 4 for processing signals coming from the sensing elements, in particular, strain gages 11. It is preferable if the leads of the strain gages 11 are mounted on the printed circuit board 4.
  • the signal registration and processing module 3 may additionally include a switch for connecting the strain gauges 11 through it to the signal processing elements, in particular, to the signal amplifier 5 and the ADC 6, and not directly.
  • the signal registration and processing module 3 is made according to the ratiometric scheme. This solution allows you to reduce the requirements for the power source for the primary converter.
  • the main feature of the ratiometric signal, which is formed at the output, is the dependence of its value on the supply voltage.
  • one strain gauge 11 is mounted on each flexible rib 10.2, as shown in FIG. 3 and FIG. 5a.
  • the second bridge circuit is formed by the remaining four second strain gages R5, R6, R7 and R8, located on the perpendicular axis. Both of these bridge circuits are connected to the signal processing elements as shown in FIG. four.
  • strain gauges 11 can be used, indicated in Fig. 5b and 6 as Rl ', R2', .. R8, each of the strain gages Ri 'is placed next to the corresponding strain gauge Ri on the same flexible rib 10.2 (Fig. 5b), thus forming a double strain gauge including two sensitive elements.
  • all strain gages 11 form four bridge circuits, which are connected to the signal processing elements as shown in FIG. 6.
  • the advantage of the claimed torque sensor is the absence of a torsion bar, resistance to alternating and constant magnetic fields, which can be created by an electric motor. With eight double strain gages, the resistance to lateral deformations and the measurement accuracy are increased.

Abstract

L'invention se rapporte au domaine de la robotique, et concerne notamment des dispositifs de mesure de couple rotatif, notamment des capteurs de couple rotatif qui sont utilisés dans différents domaines des techniques, y compris la robotique. Le capteur (1) de couple rotatif comprend un corps (2), une pluralité de jauges extensométriques (11) et un module (3) d'enregistrement et de traitement des signaux provenant des jauges extensométriques (11). Le corps (2) comprend une jante (8) et un moyeu (9) disposé concentriquement à la jante (8), ainsi qu'une pluralité d'arêtes reliant la jante (8) et le moyeu (9). Les arêtes comprennent des arêtes rigides (10.1) et des arêtes flexibles (10.2), et deux arêtes flexibles (10.2) sont disposées entre deux arêtes rigides (10.1) voisines. Les jauges extensométriques (11) sont disposées des deux côtés d'arêtes flexibles (10.2) orientées l'une vers l'autre. Le résultat technique consiste en une augmentation de la précision et de la stabilité de mesure de la valeur du couple rotatif, une diminution de la masse et des dimensions hors tout du dispositif, et une augmentation de la résistance aux déformations transversales.
PCT/RU2019/001000 2019-12-23 2019-12-23 Capteur de couple rotatif WO2021133185A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/RU2019/001000 WO2021133185A1 (fr) 2019-12-23 2019-12-23 Capteur de couple rotatif

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/RU2019/001000 WO2021133185A1 (fr) 2019-12-23 2019-12-23 Capteur de couple rotatif

Publications (1)

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WO2021133185A1 true WO2021133185A1 (fr) 2021-07-01

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6324919B1 (en) * 1998-02-04 2001-12-04 Michigan Scientific Corporation Multi-axis wheel load transducer
US20060037409A1 (en) * 2004-08-23 2006-02-23 A&D Company, Limited Rotary type component force measuring device
RU108139U1 (ru) * 2011-01-11 2011-09-10 Государственное научное учреждение "Центральный научно-исследовательский и опытно-конструкторский институт робототехники и технической кибернетики" (ГНУ ЦНИИ РТК) Датчик крутящего момента
RU121930U1 (ru) * 2012-07-11 2012-11-10 Федеральное государственное автономное научное учреждение "Центральный научно-исследовательский и опытно-конструкторский институт робототехники и технической кибернетики" (ЦНИИ РТК) Шестикомпонентный датчик сил и моментов

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6324919B1 (en) * 1998-02-04 2001-12-04 Michigan Scientific Corporation Multi-axis wheel load transducer
US20060037409A1 (en) * 2004-08-23 2006-02-23 A&D Company, Limited Rotary type component force measuring device
RU108139U1 (ru) * 2011-01-11 2011-09-10 Государственное научное учреждение "Центральный научно-исследовательский и опытно-конструкторский институт робототехники и технической кибернетики" (ГНУ ЦНИИ РТК) Датчик крутящего момента
RU121930U1 (ru) * 2012-07-11 2012-11-10 Федеральное государственное автономное научное учреждение "Центральный научно-исследовательский и опытно-конструкторский институт робототехники и технической кибернетики" (ЦНИИ РТК) Шестикомпонентный датчик сил и моментов

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