Torque sensor and method for detecting torque developed on or in a joint of an articulated arm robot

Abstract

The invention relates to a torque sensor (10), in particular for detecting torques generated on or in a joint of an articulated arm robot. The sensor has: a plurality of measuring spokes (1, 2, 3, 4) designed to deform under torque; and a plurality of strain gauges (DR 11 ,DR 12 ,DR 21 ,DR 22 ,DR 31 ,DR 32 ,DR 41 ,DR 42 ), wherein every two strain gauges are arranged on two opposite sides of a plurality of measuring spokes (1, 2, 3, 4). In this case, a plurality of strain gauges are each connected incorrectly in one of the at least two bridge circuits.

Description

technical field [0001] The invention relates to a sensor for detecting torques, in particular torques generated at or in a joint of an articulated arm robot, as well as a corresponding method and a robot equipped with such a sensor. Background technique [0002] Depending on the intended field of application, robots, such as articulated arm robots, which can be used in various industrial fields, have a plurality of articulated limbs which can be arranged differently. An important component of such a robot is the torque sensor for detecting the torque of the movable limb. In most cases, such torque sensors are installed in or on all movable joints of the robot. [0003] Various systems for detecting torque are known from the prior art. For example patent document WO2009083111 describes a system for torque detection using strain gauges. Strain gauges are misconnected in two Wheatstone bridges (Wheatstone measuring bridges or bridge circuits) for analysis. The resistances o...

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Problems solved by technology

[0004] However, the systems and methods known from the prior art for detecting torques have the disadvantage that the deformation of the strain gauges is independent of torque loads which may be caused, for example, by transverse forces, axial forces and bending moments resulting from the compression of the strain gauge, resulting in a different signal although there is no error

These different signals lead to inaccurate measurements and, when deviations exceed a certain limit value, lead to an emergency shutdown of the robot for no reason

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