Embedded Torque Sensors and Sensing Devices for Joint Modules

Abstract

The invention provides an embedded torque sensor for a joint module. The embedded torque sensor for the joint module comprises a sensor support flange, elastic bodies, strain gauges and a signal processing circuit, wherein one end of each elastic body adheres to the outer surface of the circumference of a flexible wheel while the other end of the elastic body adheres to a support; shear strain of a load moment born by a joint to the flexible wheel and extrusion deformation of a wave generator to the flexible wheel are transformed into elastic strain by self amplification, and then the elastic strain is transmitted to the strain gauges; the flexible wheel is extruded by the wave generator and then deforms into an ellipse; the strain gauges adhere to the elastic bodies to form a bridge circuit which is connected with the signal processing circuit; mechanical signals of the elastic strain are converted into voltage signals which are transmitted to the signal processing circuit; the signal processing circuit receives indicator signals when a photoelectric encoder in the joint module measures that a minor axis of the ellipse of the flexible wheel passes through the support; and a load voltage value which corresponds to the received voltage signals when the indicator signals are received is transformed into a load moment value. The invention further provides an embedded torque sensing device. The measurement precision of the load moment can be improved.

Description

technical field [0001] The present invention relates to a torque sensor and sensing device with a novel structure, to be precise, relates to an embedded torque sensor and sensing device for a joint module, belonging to a torque sensor for modular robot joint measurement in an instrumentation device technical field. Background technique [0002] With the continuous development of robot technology, higher technical requirements are put forward for Modular Robot technology, such as fast reconfiguration, high precision and high response speed, intelligence, etc. A modular robot is a robot system that realizes strong flexible tasks through structural changes and combinations of various modular subsystems. Modular robots have many characteristics such as high flexibility, high integration, short development cycle and easy maintenance, and have broad research and application prospects in agile manufacturing, hazardous environments, aerospace, etc. At present, in the robot market,...

AI Technical Summary

Problems solved by technology

However, the focus of this structure is to eliminate ripples. Under actual dynamic working conditions, the size of the end face of the flexible spline is small and the noise is large, which cannot meet the requirements of dynamic measurement.

Moreover, because the shear strain of the flexspline is extremely small, it is difficult to measure accurately, so the biggest disadvantage of this method is that the measurement accuracy cannot be guaranteed

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