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A high-precision harmonic gear transmission built-in torque sensor and its measurement method

A technology of torque sensor and harmonic gear, which is applied in force/torque/power measuring instrument, measuring force, measuring device, etc., can solve the problems of increasing the number of parts of torque sensor, increasing the flexibility of transmission system, and complex system structure, etc. Achieve the effects of reducing weight and volume, less changes in mechanical parts, and reducing system components

Active Publication Date: 2018-07-13
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

This type of torque sensor increases the number of components, making the system structure more complex, and the elastic body used further increases the flexibility of the transmission system

Method used

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  • A high-precision harmonic gear transmission built-in torque sensor and its measurement method
  • A high-precision harmonic gear transmission built-in torque sensor and its measurement method
  • A high-precision harmonic gear transmission built-in torque sensor and its measurement method

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Embodiment Construction

[0037] The present invention will be further described in detail below in conjunction with the accompanying drawings and implementation examples.

[0038] The invention obtains the magnitude of the moment by measuring the strain of the flexwheel of the harmonic gear transmission.

[0039] Such as figure 1 As shown, the device is composed of 1 DC voltage stabilization module, 10 measurement modules, 1 adder and 1 signal acquisition module. The DC voltage stabilization module provides power for other modules, and the output voltages of the 10 measurement modules are accumulated by an adder, and converted into digital signals by the signal acquisition module, which is the torque measurement value.

[0040] figure 2 It is a schematic diagram of a DC voltage regulator module, which uses a high-precision voltage regulator chip to convert the power supply voltage into high-precision and low-noise positive and negative voltages (±V) and digital ground (SGND).

[0041] image 3 It...

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Abstract

The invention relates to a high-precision harmonic wave gear transmission built-in torque sensor. The sensor comprises a DC voltage stabilizing module, a straight-angle strain rosette, a Wheatstone half-bridge circuit, a signal amplification circuit, an adder and a signal acquisition circuit. The method comprises steps that strain amount generated by a flexible wheel during transmission of a harmonic wave gear is converted by the straight-angle strain rosette pasted at the bottom portion of the flexible wheel into resistance change amount and is then converted by the Wheatstone half-bridge circuit into voltage signals, disturbance signals caused by rotation of a wave generator and the flexible wheel can be removed through signal amplification and signal superposition, load torque signals are acquired, and the load torque signals are converted by the signal acquisition module into digital quantity for output. Through the sensor and the method, disturbance in the measurement signals caused by rotation of the wave generator and the flexible wheel can be effectively inhibited, a measurement error caused by a self error of a strain gauge and a pasting error can be solved, high-precision and high-integration transmission torque measurement of the harmonic wave gear can be provided.

Description

technical field [0001] The invention relates to a built-in torque sensor for harmonic gear transmission and a measurement method thereof, in particular to a torque sensor and a measurement method for torque measurement of harmonic gears without adding additional elastic bodies. Background technique [0002] Harmonic gear transmission has the advantages of light weight, small size, large transmission ratio, large carrying capacity, high transmission precision, and small hysteresis, and has been widely used in the field of robots and other automation equipment. In order to improve the force perception and force control ability, it is necessary to measure the output torque of the harmonic gear drive. [0003] The commonly used torque sensor is based on the principle of resistance strain. An elastic body is added between the harmonic gear drive and the load, and the harmonic output torque is measured by measuring the deformation of the elastic body. This type of torque sensor i...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01L5/00G01L1/22
Inventor 王雪竹崔龙李洪谊
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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