Novel capacitance-type torque sensor based on structure decoupling

Abstract

The invention discloses a novel capacitance-type torque sensor based on structure decoupling. The novel capacitance-type torque sensor is composed of a decoupling part and a torque detection part. Thedecoupling part comprises an outer supported flange, an inner supported flange, a crossed roller bearing and a torque input flange; the torque detection part comprises a sensor body and a printed-circuit board. The bearing outer ring of the crossed roller bearing of the decoupling part is compressed by the outer supported flange and the inner supported flange and fixed with bolts to an outer ringof the sensor, and the bearing inner ring of the crossed roller bearing is installed on the inner ring of the sensor and compressed by the torque input flange. The novel capacitance-type torque sensor has the advantages of having a structure decoupling function and being high in sensitivity, accuracy and reliability and the like; through the mechanical decoupling structure with the crossed rollerbearing, the influence of measuring errors caused by the force coupling effect, generated when an existing torque sensor is under upsetting torque, axial pressure, radial pressure and other kinds offorce or torque, between the existing torque sensor and to-be-measured torque can be reduced, and therefore, accurate measurement of the to-be-measured torque is achieved.

Description

technical field [0001] The invention belongs to the technical field of sensors, and in particular relates to a novel capacitive torque sensor based on structural decoupling. Background technique [0002] At present, a lot of research has been done on the torque sensor at home and abroad, and it has been widely used in various control fields such as robot compliance control, impedance control, collision detection, and drag teaching, providing force-sensing information for force control of robots. It is of great significance to realize the human-machine fusion and cooperation of robots. [0003] At present, many torque sensors have been proposed at home and abroad to detect the torque value. However, when the torque sensor works under various working conditions, it is easily affected by forces / torques such as overturning moment, axial pressure, and radial pressure. The force coupling effect causes a certain measurement error, reduces the accuracy and reliability of sensor mea...

AI Technical Summary

Problems solved by technology

[0003] At present, many torque sensors have been proposed at home and abroad to detect the torque value. However, when the torque sensor works under various working conditions, it is easily affected by forces / torques such as overturning moment, axial pressure, and radial pressure. The force coupling effect causes a certain measurement error, which reduces the accuracy and reliability of the sensor measurement, and puts forward higher requirements for the installation structure and installation process.

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