High-rigidity joint torque sensor

Abstract

The invention discloses a high-rigidity joint torque sensor, belongs to the field of torque measurement, and solves the problem of weak output signal quality caused by easy influence on a traditional joint torque sensor by the radial force and the axial force of a harmonic reducer. The sensor comprises a torque input disc, a torque output disc, four strain beams and eight strain pieces; two ends of the strain beams are fixedly connected with the outer edge of the torque input disc and the inner edge of the torque output disc as a whole; and the four strain beams are uniformly distributed in the peripheral direction of the torque input disc. Two surfaces, not parallel to the end surface of the torque input disc, of the strain beams are two side surfaces; and the strain pieces are respectively arranged on the two side surfaces of the strain beams. The strain pieces on the first and second strain beams form a first full-bridge measurement circuit; the strain pieces on the third and fourth strain beams form a second full-bridge measurement circuit; and when the sensor detects a joint output torque, the stress directions of the strain pieces are tangential to the rotating direction of the sensor. The sensor is used for detecting the joint output torque.

Description

technical field [0001] The invention relates to a high-rigidity joint torque sensor, which belongs to the field of torque measurement. Background technique [0002] Harmonic reducers are widely used in the drive mechanisms of manipulators and robot joints because of their light weight, small size, large reduction ratio, high efficiency, and small return stroke difference. In the process of the manipulator grasping an object or the manipulator arm completing a specific action, the control system can realize precise control of the torque according to the feedback signal of the joint torque sensor. [0003] The existing shear joint torque sensor has poor stiffness because the strain gauges are arranged on the side of the strain beam parallel to the end face of the torque input disk. In the existing tension-compression joint torque sensor, the strain gauges are arranged on the side of the strain beam that is not parallel to the end face of the torque input disk. Compared with t...

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Problems solved by technology

[0005] In order to solve the problem that the existing joint torque sensor is easily interfered by the radial force and axial force of the harmonic reducer, resulting in poor output signal quality, the present invention proposes a joint torque sensor with high stiffness

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