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Joint moment sensor providing torque and bending moment overload protection

A technology of overload protection and joint torque, applied in torque measurement, instrument, power measurement and other directions, can solve problems such as overload protection, and achieve the effect of safe and reliable system operation

Inactive Publication Date: 2008-02-06
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem that the existing joint torque sensor can only realize overload protection for the torque perpendicular to the disk surface, the present invention provides a joint torque sensor that provides torque and bending moment overload protection

Method used

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  • Joint moment sensor providing torque and bending moment overload protection
  • Joint moment sensor providing torque and bending moment overload protection
  • Joint moment sensor providing torque and bending moment overload protection

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specific Embodiment approach 1

[0006] Specific implementation mode 1: Referring to Figures 1 to 3, this embodiment consists of an input connection flange 1, an output connection flange 2, four sensor strain beams 3, eight strain gauges 4, four overload protection beams 5 and Composed of four protective pins 6, the two ends of the four sensor strain beams 3 are respectively fixedly connected with the outer edge of the input connection flange 1 and the inner edge of the output connection flange 2, and are evenly distributed along the circumference of the input connection flange 1. distribution, each sensor strain beam 3 is provided with two strain gauges 4, the four strain gauges 4 on the two sensor strain beams 3 in the same diameter direction form a full bridge, and the four overload protection beams 5 are respectively arranged on Two adjacent sensor strain beams 3 are fixedly connected to the outer edge of the input connection flange 1, blind holes 10 are respectively opened on each overload protection beam...

specific Embodiment approach 2

[0007] Embodiment 2: Referring to FIG. 1 and FIG. 2 , the difference between this embodiment and Embodiment 1 is that the eight strain gauges 4 arranged on the four sensor strain beams 3 are located on the same plane. Other compositions and connections are the same as in the first embodiment. The eight strain gauges 4 are pasted on the whole plane, which can make the position of the strain gauges 4 more accurate.

specific Embodiment approach 3

[0008] Specific embodiment 3: Referring to FIG. 1 and FIG. 2 , this embodiment adds a sealing ring 7 on the basis of specific embodiment 1, and the sealing ring 7 is arranged on the output connecting flange 2 . Other compositions and connections are the same as in the first embodiment. The torque sensor is used on the output side of the joint to transmit torque to the next joint. The sealing ring 7 on the torque sensor can cooperate with other parts of the joint (such as the joint shell) to form a contact seal (such as a felt seal) or a non-contact seal (such as labyrinth seal) to protect the inside of the joint.

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Abstract

The present invention discloses a joint force moment sensor providing torque and bending moment overload protection, and relates to a joint force moment sensor, to solve the problems that the existing joint force moment sensor can only realize the overload protection on the force moment vertical to the ground. The present invention provides a blind hole (10) on each overload protection beam (5), four through holes (9) coaxial with the blind holes (10) are respectively arranged on the inner edge of an output connecting flange (2) along the radial direction, one end of each protection pin (6) respectively gets through the corresponding through holes (9) and arranged in the corresponding blind hole (10), and the other end of each protection pin (6) is fitted with the corresponding through hole (9) through a clearance. Under different operating modes of the sensor of the present invention, the variances of the overload protection annular clearances between the protection pins and the through holes are different, not only the joint force moment overload protection can be provided, but also the bending moment overload protection can be realized, thus making the system run more safely and reliably.

Description

technical field [0001] The invention relates to a joint torque sensor. Background technique [0002] The harmonic reducer has the characteristics of light weight, small size, large reduction ratio, high efficiency, and small return stroke difference. It has been widely used in the drive mechanism of manipulators and robot joints. When the manipulator grasps an object or the robot arm completes a specific action, it uses the joint torque sensor feedback signal to achieve precise torque control. However, the existing joint torque sensors are easily affected by harmonics and overload torque. When the torque sensor detects the joint output torque, the joint torque with harmonics will interfere with the output signal, reducing the control accuracy of the system, and the overload torque will also cause The accuracy of the detection results is reduced and even the sensor is damaged. The patent with the publication number CN1815156 discloses a joint torque sensor that can eliminat...

Claims

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Application Information

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IPC IPC(8): G01L3/10
Inventor 刘宏孙奎谢宗武黄剑斌熊根良李德伦
Owner HARBIN INST OF TECH
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