Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Joint torque sensor based on elastic beam

A technology of torque sensor and elastic beam, which is applied in the field of joint torque sensor and can solve problems such as torque measurement at the end of the joint

Inactive Publication Date: 2012-06-13
BEIJING UNIV OF POSTS & TELECOMM
View PDF4 Cites 22 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem of measuring the torque at the end of the joint during the operation of the manipulator

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Joint torque sensor based on elastic beam
  • Joint torque sensor based on elastic beam
  • Joint torque sensor based on elastic beam

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0007] Specific implementation mode one: (see Figure 1-Figure 3 ) This embodiment includes an inner wheel (1), an outer wheel (2), a sensor strain beam (3) and a strain gauge (4). There are four sensor strain beams (3), namely No. 1 strain beam (3-1), No. 2 strain beam (3-2), No. 3 strain beam (3-3) and No. 4 strain beam (3-4 ). The two ends of No. 1 strain beam (3-1), No. 2 strain beam (3-2), No. 3 strain beam (3-3) and No. 4 strain beam (3-4) are connected with the inner wheel (1) respectively. The outer edge and the outer edge of the outer wheel (2) are fixedly connected as one and distributed symmetrically in a 90° cross along the circumference of the inner wheel (1); the strain gauges (4) are eight, and the No. 1 strain beam (3-1) , No. 2 strain beam (3-2), No. 3 strain beam (3-3) and No. 4 strain beam (3-4) fixed two strain gauges (4) respectively, No. 1 strain beam (3-1) and The four strain gauges (4) of the No. 2 strain beam (3-2) constitute the whole bridge one, a...

specific Embodiment approach 2

[0008] Specific implementation mode two: (see Figure 1-Figure 3 ) The difference between this embodiment and the specific embodiment 1 is that the planes where the inner wheel 1 and the outer wheel 2 are located are parallel and on the same plane.

specific Embodiment approach 3

[0009] Specific implementation mode three: (see Figure 1-Figure 3 ) The difference between this embodiment and the specific embodiment one is that it is fixed on No. 1 strain beam (3-1), No. 2 strain beam (3-2, No. 3 strain beam (3-3) and No. -4) eight strain gauges are parallel in pairs and are all perpendicular to the plane where the inner wheel and the outer wheel are. Other compositions and connection methods are the same as those in Embodiment 1. No. 1 strain beam (3-1) described in this embodiment 1, No. 2 strain beam (3-2), No. 3 strain beam (3-3) and No. 4 strain beam (3-4) all stick strain gauges on their two sides, and the strain gauges adopt the full-plane pasting method, which is convenient for pasting.

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

A joint torque sensor based on an elastic beam relates to a joint torque sensor. Measurement of torque has important significance for works including research development, test analysis, quality inspection, safety, optimal control and the like of various mechanical products. An existing torque sensor usually has complex structure, large size and manufacture and installation difficulty. A strain torque sensor used for torque measurement of the tail end of a mechanical arm joint is researched and designed and is simple in structure, small in size and good in performance. The joint torque sensor based on the elastic beam comprises an inner wheel (1), an outer wheel (2), four sensor strain beams (3) and eight strain gauges (4). Two ends of the four sensors are respectively fixedly connected with the outer edge of the inner wheel (1) and the outer edge of the outer wheel (2) to form a whole and are symmetrically distributed in a cross mode at 90 degrees along the circumference of the inner wheel (1). The joint torque sensor based on the elastic beam can effectively measure the joint torque of an operation arm and further improve control accuracy of action of a robot.

Description

technical field [0001] The invention relates to a joint torque sensor. Background technique [0002] The torque sensor designed in this thesis is used in the dual-joint control system of the manipulator. When manipulating the arm to perform grasping tasks or complete motions, precise force / torque control of the joints is required. Install a torque sensor for the manipulator joint, on the one hand, it can be controlled by force, so that the manipulator can complete more precise tasks and interact with people more softly and friendly; on the other hand, by using the torque sensor and the dynamic model of the manipulator itself, The collision between the operating arm and its surroundings can be detected in time, and corresponding protection measures can be taken to improve the safety and reliability of the operating arm. Contents of the invention [0003] In order to solve the problem of measuring the torque at the end of the joint during the operation of the manipulator a...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G01L3/04
Inventor 孙汉旭史瀚林叶平张延恒魏楠哲
Owner BEIJING UNIV OF POSTS & TELECOMM
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com