A mechanical arm joint torque measuring device

Abstract

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 can be applied to the flexible joint of a light-duty mechanical arm of an operating robot and related fields, including elastic bodies, measuring heads and displacement detection device, wherein the elastic body is divided into an outer ring and an inner ring, and the inner ring and the outer ring are connected by elastic ribs; the displacement detection device is installed on the outer ring, and the measuring head is installed on the elastic rib close to the inner ring One end, corresponding to the displacement detection device, can move along the circumferential direction of the elastic body relative to the detection direction of the displacement detection device. The invention is simple and compact in structure, small in size and weight, easy to install, reliable and practical, has high detection sensitivity, good rigidity, good real-time measurement and high precision, and meets the design requirements of light mechanical arm joints.

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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