Mechanical arm joint torque measuring device

Abstract

The invention relates to a force-sensing operating robot joint torque sensor, in particular to a mechanical arm joint torque measuring device adaptive to an operating robot light mechanical arm soft joint and the relevant field. The device comprises an elastic member, a detecting head and a displacement detecting component. The elastic member comprises an internal ring and an external ring which are connected through elastic ribs. The displacement detecting component is mounted on the external ring. The detecting head is mounted at one ends of the elastic ribs adjacent to the internal ring, corresponds to the displacement detecting component and is capable of moving along the circumferential direction of the elastic member and the detecting direction of the displacement detecting component. The device is simple and compact in structure, small in size and weight, easy to mount, reliable and practical; the detecting sensitivity is high, the rigidity is high, the measuring instantaneity is high, the accuracy is high, and the light mechanical arm joint design requirements are met.

Description

technical field [0001] The invention relates to a torque sensor for a joint of an operating robot with force perception, in particular to a torque measuring device for a joint of a mechanical arm, which is applicable to the flexible joint of a light-duty mechanical arm of an operating robot and related fields. Background technique [0002] Light manipulators have developed rapidly in the past two decades, and have broad prospects for development in the fields of industry, military, service, and healthcare. Its status and role have attracted people's attention. The most critical component of the light manipulator is the integrated flexible joint. In order to improve the flexibility of the light manipulator to perform tasks and the ability to interact with the environment, and to improve its compliance during operation, in addition to accurately obtaining joint position and velocity information , accurate feedback of joint torque information is also crucial. [0003] The desi...

AI Technical Summary

Problems solved by technology

The magnetoelectric type is to install gears, iron cores, coils, etc. on both sides of the torsion shaft, resulting in a complex structure, the corresponding sensor size and mass are large, and the signal is small at low speeds

The photoelectric torque sensor is mainly to fix the disk grating on the fixed shaft and the rotating shaft respectively, and provide the measurement signal through the grating interlaced. This method is complex in structure, difficult in manufacture, difficult in calibration, and difficult to popularize.

Therefore, due to the disadvantages of the existing torque measuring device, it is difficult to be well applied in the joint of the light manipulator

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