Elastomer, tension-compression torque sensor and collaborative robot

Abstract

The present invention provides an elastomer, a tension-compression torque sensor and a collaborative robot, and relates to the technical field of torque measuring devices. The elastomer is an integrated structure, including a coaxially arranged inner flange and outer flange and an elastic section connected therebetween, the inner flange can be fixedly connected to a driving component; the outer flange can be fixedly connected to a base, and the base is fixed relative to the driving component; the elastic section includes a measuring beam and a shunt beam both extending along the radial direction of the elastomer, and the two are alternately and spaced along the circumference of the elastomer; the side wall of the measuring beam extending along the axial direction of the elastomer can be attached with a tension-compression strain gauge. The elastomer can effectively avoid the adverse effects of axial force and lateral bending moment and changes in the position of the outer flange, and the measurement result is highly accurate and has high sensitivity.

Description

Technical Field

[0001] The present invention relates to the technical field of torque measuring devices, and in particular to an elastomer, a tension-compression torque sensor and a collaborative robot. Background Art

[0002] In the prior art, during the operation of collaborative robots, torque sensors are usually used to feedback the forces on the joints for further control. However, in addition to the torque around the axis, the torque sensors in the prior art are also easily disturbed by forces in other directions, such as radial force, axial force, and lateral bending moment. Therefore, the measurement accuracy of the torque sensors in the prior art is relatively low and needs to be further improved. Summary of the invention

[0003] The first object of the present invention is to provide an elastic body to solve the technical problem of low accuracy of torque sensor measurement results in the prior art.

[0004] The elastomer provided by the present invention is an integrated structure, comprising an inner flange and an outer flange arranged coaxially and an elastic section connected therebetween, wherein the inner flange can be fixedly connected to a driving component; the outer flange can be fixedly connected to a base, and the position of the base is fixed relative to the driving component; the elastic section comprises a measuring beam and a shunt beam both extending along the radial direction of the elastomer, and the two are alternately and spaced apart along the circumference of the elastomer; and a tension and compression strain gauge can be attached to the side wall of the measuring beam extending along the axial direction of the elastomer.

[0005] Furthermore, the cross-sectional area of ​​the measuring beam is smaller than the cross-sectional area of ​​the diverter beam.

[0006] Furthermore, a uniform load hole is provided in the middle of the measuring beam, and the uniform load hole divides the measuring beam into a first support beam and a second support beam, the first support beam and the second support beam are axially symmetrical, and the axis of symmetry extends along the radial direction of the elastomer; the width of the first support beam and the second support beam gradually decreases from one end connected to the inner flange to one end connected to the outer flange; the tension and compression strain gauges are attached to the side wall of the first support beam away from the uniform load hole and the side wall of the second support beam away from the uniform load hole.

[0007] Furthermore, the side walls of the first support beam and the second support beam away from the uniform load hole are both planes, and the side walls facing the uniform load hole are both arc-shaped surfaces.

[0008] Furthermore, the midpoint of the hole wall of the uniform load hole close to the inner flange is taken as the origin, the symmetry axis of the uniform load hole is taken as the x-axis, and the direction toward the outer flange is taken as the positive; a y-axis is established perpendicular to the x-axis and the central axis of the elastic body, and the first support beam is directed toward the side wall of the uniform load hole according to the function y=2x1 / 3 +C and y = -2x 1 / 3 -C, the second beam moves toward the side wall of the uniformly loaded hole according to the function y=2x 1 / 3 +C and y = -2x 1 / 3 -C, where C is a constant and greater than zero.

[0009] Furthermore, a relief groove is provided between the measuring beam and the outer flange, and the relief groove penetrates the elastic section along the axial direction of the elastic body.

[0010] Furthermore, the unloading groove includes a first unloading groove and a second unloading groove, the first unloading groove is arranged between the first support beam and the outer flange, the second unloading groove is arranged between the second support beam and the outer flange, and the second unloading groove is symmetrical with the first unloading groove about the symmetry axis of the measuring beam.

[0011] Furthermore, the inner flange has a center hole, and the center hole is a spline hole.

[0012] Furthermore, the width of the diverter beam decreases linearly from one end connected to the inner flange to one end connected to the outer flange.

[0013] Furthermore, the connection between the measuring beam and the inner flange and the outer flange is configured as a rounded transition; the connection between the diverter beam and the inner flange and the outer flange is also configured as a rounded transition.

[0014] Furthermore, the number of the measuring beams and the shunt beams are both four; along the circumference of the elastic body, the four measuring beams are evenly arranged, and the four shunt beams are respectively arranged in the middle of two adjacent measuring beams.

[0015] Furthermore, the elastic body is flat.

[0016] Furthermore, the elastomer is made of aluminum alloy.

[0017] Furthermore, the inner flange is provided with a first stopper, and the first stopper is used for axially positioning the inner flange and the driving component; the outer flange is provided with a second stopper, and the second stopper is used for axially positioning the outer flange and the base.

[0018] Furthermore, the inner flange is provided with a first through hole, which is used to cooperate with a first fixing member to fixedly connect the inner flange and the driving component; the outer flange is provided with a second through hole, which is used to cooperate with a second fixing member to fixedly connect the outer flange and the base.

[0019] Furthermore, the outer flange is also provided with a positioning hole, and the positioning hole is used to cooperate with a positioning piece to perform circumferential positioning of the outer flange and the base.

[0020] The elastomer provided by the present invention can produce the following beneficial effects:

[0021] The elastomer provided by the present invention can form a tension-compression torque sensor for measuring torque around an axis after a tension-compression strain gauge connected to a circuit board is attached to the side wall of the measuring beam. Specifically, during measurement, the inner flange of the elastomer provided by the present invention is fixedly connected to the driving component, and the outer flange is fixedly connected to a base whose position relative to the driving component is fixed. In this way, the inner flange of the elastomer is the position where the driving component applies torque to the elastomer. After the inner flange is subjected to torque, the torque is transmitted radially outward, causing strain in the measuring beam and the shunt beam, thereby causing the resistance value of the sensitive resistor of the tension-compression strain gauge to change, thereby realizing the measurement of the torque applied by the driving component.

[0022] Compared with setting a shear strain gauge on the end face of the elastic section to measure torque, the elastic body provided by the present invention sets a tension-compression strain gauge on the side of the measuring beam of the elastic section, and the thickness of the elastic section can be set relatively large, so the axial stiffness of the elastic section of the elastic body is large, which can well resist the adverse effects of axial force and lateral bending moment, thereby greatly reducing the influence of axial force and lateral bending moment on the tension-compression strain gauge, and thus improving the accuracy of the measurement result. Since the elastic section of the elastic body is not only provided with a measuring beam, but also with a shunt beam, the shunt beam can not only reduce the interference of radial force, but also reduce the torque transmitted to the outer flange, thereby reducing or compensating the radial deformation of the outer flange caused by the torque, avoiding the position change of the connection of the outer flange, and thus avoiding the decrease in measurement accuracy caused by the position change of the connection of the outer flange. In addition, since the shunt beam can shunt part of the torque load, the width of the measuring beam can be set smaller under the premise of ensuring that the measuring beam does not deform excessively, so that even if the measuring beam is subjected to a small torque, it can still produce a large strain, that is, to ensure that the measuring beam has a high sensitivity. In summary, the elastomer provided by the present invention can effectively avoid the adverse effects of axial force, radial force, lateral bending moment and external flange position change, and the measurement result has high accuracy and high sensitivity.

[0023] The second object of the present invention is to provide a tension-compression torque sensor to solve the technical problem of low accuracy of torque sensor measurement results in the prior art.

[0024] The tension-compression torque sensor provided by the present invention comprises the elastic body mentioned above, and also comprises a circuit board and a plurality of tension-compression strain gauges, wherein the tension-compression strain gauges are attached to the side walls of the elastic section of the elastic body, and the tension-compression strain gauges are connected to the circuit board; the circuit board is used to receive and process the signals of the tension-compression strain gauges, and obtain the torque applied by the driving component. The tension-compression torque sensor has all the advantages of the elastic body mentioned above, so it is not repeated here.

[0025] Furthermore, the number of the tension-compression strain gauges is eight, one tension-compression strain gauge is respectively attached to the two side walls of each measuring beam, and a total of four tension-compression strain gauges attached to two opposite measuring beams are connected to form a full bridge.

[0026] Furthermore, along the axial direction of the elastic body, the circuit board and the elastic body are spaced apart; the elastic body is provided with a mounting hole, one end of the connecting column is fixed to the mounting hole, and the other end is fixedly connected to the circuit board.

[0027] Furthermore, a sealing rubber pad is provided on the bottom surface of the elastic body for sealing the elastic section.

[0028] Furthermore, the first stopper and the second stopper are both convex stoppers, and the sealing rubber pad is annular and is disposed between the first stopper and the second stopper.

[0029] The third object of the present invention is to provide a collaborative robot to solve the technical problem of low accuracy of torque sensor measurement results existing in the prior art.

[0030] The collaborative robot provided by the present invention has its joints provided with the above-mentioned tension-compression torque sensor for detecting the torque applied to the joints. The collaborative robot has all the advantages of the above-mentioned tension-compression torque sensor, so they will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0032] Figure 1 A schematic diagram of a top view of the structure of an elastic body provided by an embodiment of the present invention;

[0033] Figure 2 for Figure 1 AA section view in;

[0034] Figure 3 A schematic diagram of a uniformly loaded hole of an elastic body provided by an embodiment of the present invention;

[0035] Figure 4 A schematic diagram of the top view of the tension-compression torque sensor provided in an embodiment of the present invention;

[0036] Figure 5 for Figure 4 BB section view in;

[0037] Figure 6 A bottom view schematic diagram of the tension-compression torque sensor provided in an embodiment of the present invention;

[0038] Figure 7 A schematic diagram of the connection of a full bridge composed of four tension-compression strain gauges in a tension-compression torque sensor provided in an embodiment of the present invention;

[0039] Figure 8 This is a schematic diagram of the connection of a full bridge composed of another four tension-compression strain gauges in the tension-compression torque sensor provided in an embodiment of the present invention.

[0040] Description of reference numerals:

[0041] 100-elastic body; 110-inner flange; 111-first stopper; 112-first through hole; 113-spline hole; 120-elastic section; 121-measuring beam; 122-diverter beam; 123-unloading groove; 124-load-equalizing hole; 125-mounting hole; 130-outer flange; 131-second stopper; 132-second through hole; 133-positioning hole;

[0042] 200-circuit board; 300-tension and compression strain gauge; 400-sealing rubber pad; 500-connecting column. DETAILED DESCRIPTION

[0043] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0044] This embodiment provides an elastic body 100, such as Figure 1As shown, the elastomer 100 is an integrated structure, including a coaxially arranged inner flange 110 and an outer flange 130 and an elastic section 120 connected therebetween, wherein the inner flange 110 can be fixedly connected to a driving component; the outer flange 130 can be fixedly connected to a base, and the position of the base relative to the driving component is fixed; the elastic section 120 includes a measuring beam 121 and a shunt beam 122 both extending along the radial direction of the elastomer 100, and the two are alternately and spaced apart along the circumference of the elastomer 100; the side wall of the measuring beam 121 extending along the axial direction of the elastomer 100 can be attached with a tension and compression strain gauge 300.

[0045] The elastomer 100 provided in this embodiment can form a tension-compression torque sensor for measuring torque around the axis after a tension-compression strain gauge 300 connected to the circuit board 200 is attached to the side wall of the measuring beam 121. Specifically, during measurement, the inner flange 110 of the elastomer 100 provided in this embodiment is fixedly connected to the driving component, and the outer flange 130 is fixedly connected to a base fixed relative to the driving component. In this way, the inner flange 110 of the elastomer 100 is the position where the driving component applies torque to the elastomer 100. After the inner flange 110 is subjected to torque, the torque is transmitted radially outward, so that the measuring beam 121 and the shunt beam 122 generate strain, thereby causing the resistance value of the sensitive resistor of the tension-compression strain gauge 300 to change, thereby realizing the measurement of the torque applied by the driving component.

[0046] Compared with setting a shear strain gauge on the end face of the elastic section 120 to measure torque, the elastic body 100 provided in this embodiment sets a tension-compression strain gauge 300 on the side of the measuring beam 121 of the elastic section 120, and the thickness of the elastic section 120 can be set relatively large, so the axial stiffness of the elastic section 120 of the elastic body 100 is large, which can well resist the adverse effects of the axial force and the lateral bending moment, thereby greatly reducing the influence of the axial force and the lateral bending moment on the tension-compression strain gauge 300, and thus improving the accuracy of the measurement result. Since the elastic section 120 of the elastic body 100 is not only provided with a measuring beam 121, but also with a shunt beam 122, the shunt beam 122 can not only reduce the interference of the radial force, but also reduce the torque transmitted to the outer flange 130, thereby reducing or compensating the radial deformation of the outer flange 130 caused by the torque, avoiding the position change of the connection of the outer flange 130, and thus avoiding the decrease in measurement accuracy caused by the position change of the connection of the outer flange 130. In addition, since the shunt beam 122 can shunt part of the torque load, the width of the measuring beam 121 can be set smaller under the premise of ensuring that the measuring beam 121 does not deform excessively, so that the measuring beam 121 can still produce a large strain even if it is subjected to a small torque, that is, the measuring beam 121 is ensured to have a high sensitivity. In summary, the elastic body 100 provided in this embodiment can effectively avoid the adverse effects of axial force, radial force and lateral bending moment, as well as the position change of the outer flange 130, and the measurement result has high accuracy and high sensitivity.

[0047] Specifically, in this embodiment, Figure 1 As shown, the cross-sectional area of ​​the measuring beam 121 is smaller than the cross-sectional area of ​​the shunt beam 122. This embodiment mainly determines the bending deformation degree of the measuring beam 121 through the tension-compression strain gauge 300. The cross-sectional area of ​​the shunt beam 122 is set to be larger than the cross-sectional area of ​​the measuring beam 121, so that the shunt beam 122 can shunt most of the torque load, while the measuring beam 121 has a larger strain than the shunt beam 122, which can effectively prevent the measuring beam 121 from being over-deformed and ensure that it has a higher sensitivity. In addition, the shunt beam 122 has a larger cross-sectional area, which can better reduce the interference of the radial force, thereby further improving the accuracy of the measurement result.

[0048] Specifically, in this embodiment, Figure 1 and Figure 3As shown, a uniform load hole 124 is provided in the middle of the measuring beam 121, and the uniform load hole 124 divides the measuring beam 121 into a first branch beam and a second branch beam, and the first branch beam and the second branch beam are axially symmetrical, and the axis of symmetry extends along the radial direction of the elastic body 100; the width of the first branch beam and the second branch beam gradually decreases from the end connected to the inner flange 110 to the end connected to the outer flange 130; the tension and compression strain gauge 300 is attached to the side wall of the first branch beam away from the uniform load hole 124 and the side wall of the second branch beam away from the uniform load hole 124. That is, the width of the measuring beam 121 gradually decreases along the radial direction and from the inside to the outside. The inner end of the measuring beam 121 is close to the torque application position, i.e., the inner flange 110, and needs to withstand a large torque, so the width is set to be larger; while the torque that the outer end needs to withstand is relatively small, so the width is set to be smaller, which can reduce the material consumption.

[0049] Specifically, in this embodiment, Figure 3 As shown, the side walls of the first and second beams away from the uniform load hole 124 are both flat, and the side walls facing the uniform load hole 124 are both arc-shaped. In this way, the side walls of the first and second beams away from the uniform load hole 124 are convenient for attaching strain gauges, and the side walls of the first and second beams facing the uniform load hole 124 are designed to be arc-shaped, which can improve the force uniformity of the strain gauges.

[0050] Specifically, in this embodiment, Figure 3 As shown, the midpoint of the hole wall of the uniform load hole 124 close to the inner flange 110 is taken as the origin, the symmetry axis of the uniform load hole 124 is taken as the x-axis, and the direction toward the outer flange 130 is taken as the positive; the y-axis is established perpendicular to the x-axis and the central axis of the elastic body 100, and the Figure 3 In the direction shown in FIG. 1 , the first beam on the left side moves toward the side wall of the uniformly loaded hole 124 according to the function y=-2x 1 / 3 -C, the second beam on the right side moves toward the side wall of the uniformly loaded hole 124 according to the function y=2x 1 / 3 +C changes in the trajectory, where C is 0.8. Of course, in other embodiments of the present application, C can also take other positive constants as needed. In this way, from the end connected to the inner flange 110 to the end connected to the outer flange 130, the shape of the side wall of the first support beam and the second support beam facing the uniform load hole 124 changes according to the function trajectory, so that the strain unevenness of the patch position on the side of the measuring beam 121 caused by the transition structure can be compensated by controlling the arc curve.

[0051] Specifically, in this embodiment, Figure 1As shown, a relief groove 123 is provided between the measuring beam 121 and the outer flange 130, and the relief groove 123 penetrates the elastic section 120 along the axial direction of the elastic body 100. In this way, the relief groove 123 can remove the force and torque transmitted from the outer flange 130, such as the force or torque caused by the misalignment of the inner flange 110 and the outer flange 130 due to the processing error, or the force or torque caused by the deformation of the driving component, or the force or torque caused by the installation error. That is, the relief groove 123 can effectively prevent the outer flange 130 from transmitting force or torque to the measuring beam 121 in the radial direction, thereby ensuring the accuracy of the measurement result. In addition, the provision of the relief groove 123 can also reduce the material consumption, thereby saving the manufacturing cost.

[0052] Specifically, in this embodiment, continue as Figure 1 As shown, the unloading groove 123 includes a first unloading groove and a second unloading groove, the first unloading groove is arranged between the first supporting beam and the outer flange 130, the second unloading groove is arranged between the second supporting beam and the outer flange 130, and the second unloading groove and the first unloading groove are symmetrical about the symmetry axis of the measuring beam 121. In this way, the first unloading groove can prevent the outer flange 130 from transmitting force and moment to the first supporting beam, and the second unloading groove can prevent the outer flange 130 from transmitting force and moment to the second supporting beam.

[0053] Specifically, in this embodiment, Figure 1 As shown, the inner flange 110 has a center hole, and the center hole is a spline hole 113. First, the center hole reserved in the inner flange 110 can facilitate wiring. For example, when the sensor including the elastomer 100 is applied to a robot joint, it can facilitate wiring inside the joint. The center hole is set in the form of a spline hole 113, so that the calibration drive or drive component can be positioned using an internal spline. Compared with using a fixing screw to position the calibration drive or drive component, the setting form of this embodiment can effectively avoid the calibration error and measurement error caused by the slip of the fixing screw when the torque is applied, and reducing or avoiding the calibration error is also conducive to ensuring the measurement accuracy. Therefore, the use of a spline hole 113 to position the calibration drive or drive component can improve the measurement accuracy.

[0054] Specifically, in this embodiment, Figure 1 As shown, the width of the diverter beam 122 decreases linearly from the end connected to the inner flange 110 to the end connected to the outer flange 130. That is, along the radial direction and from the inside to the outside, the width of the diverter beam 122 gradually decreases and changes linearly. The inner end of the diverter beam 122 is close to the torque application position, i.e., the inner flange 110, and needs to withstand a larger torque, so the width is set larger; while the outer end needs to withstand a relatively small torque, so the width is set smaller, which can reduce the material consumption.

[0055] Specifically, in this embodiment, continue as Figure 1As shown, the connection between the measuring beam 121 and the inner flange 110 and the outer flange 130 is configured as a rounded transition; the connection between the diverter beam 122 and the inner flange 110 and the outer flange 130 is also configured as a rounded transition. Figure 1 As shown, a larger rounded transition can be used. The rounded transition can effectively avoid stress concentration and prevent creep and corresponding hysteresis of the elastic body 100 caused by local plastic deformation at a sharp corner.

[0056] Specifically, in this embodiment, continue as Figure 1 As shown, there are four measuring beams 121 and four shunt beams 122; along the circumference of the elastic body 100, the four measuring beams 121 are evenly arranged, and the four shunt beams 122 are respectively arranged in the middle of two adjacent measuring beams 121. In this way, along the circumference, the measuring beams 121 are evenly stressed and have consistent performance, so it is helpful to reduce the measurement error, thereby ensuring the accuracy of the measurement result.

[0057] Specifically, in this embodiment, Figure 2 As shown, the elastic body 100 is flat. With this configuration, the elastic body 100 occupies a small space, which is beneficial to reducing the space occupied by the sensor; compared with an elastic body with large axial fluctuation, the flat elastic body 100 provided in this embodiment is also easy to process.

[0058] Specifically, in this embodiment, Figure 2 and Figure 5 As shown, the axial thickness of the measuring beam 121 and the diverting beam 122 is consistent. This arrangement can control the material usage, save manufacturing costs, and will not have an adverse effect on the measurement accuracy.

[0059] Specifically, in this embodiment, the elastic body 100 is made of aluminum alloy. This configuration can reduce weight, which is beneficial to making the sensor and robot joints lighter.

[0060] Specifically, in this embodiment, Figure 2 As shown, the inner flange 110 is provided with a first stop 111, which is used to axially position the inner flange 110 and the driving component; the outer flange 130 is provided with a second stop 131, which is used to axially position the outer flange 130 and the base.

[0061] Specifically, in this embodiment, Figure 1As shown, the inner flange 110 is provided with a first through hole 112, and the first through hole 112 is used to cooperate with a first fixing member to fix the inner flange 110 and the driving component; the outer flange 130 is provided with a second through hole 132, and the second through hole 132 is used to cooperate with a second fixing member to fix the outer flange 130 and the base. The first fixing member can be a first screw, and the second fixing member can be a second screw. Of course, both the first fixing member and the second fixing member can also be bolts or other fixing members.

[0062] Specifically, in this embodiment, Figure 1 As shown, the outer flange 130 is also provided with a positioning hole 133, which is used to cooperate with the positioning member to circumferentially position the outer flange 130 and the base. More specifically, the positioning hole 133 is a pin hole, and the positioning member is a pin, and the pin cooperates with the pin hole. Of course, in addition to the pin, the positioning member can also be a pin shaft, etc.

[0063] This embodiment also provides a tension-compression torque sensor, such as Figure 4 and Figure 5 As shown, the tension-compression torque sensor includes the elastic body 100 mentioned above, and also includes a circuit board 200 and a plurality of tension-compression strain gauges 300. The tension-compression strain gauges 300 are attached to the side wall of the elastic section 120 of the elastic body 100, and the tension-compression strain gauges 300 are connected to the circuit board 200; the circuit board 200 is used to receive and process the signals of the tension-compression strain gauges 300, and to obtain the torque applied by the driving component. Since the torque sensor adopts the elastic body 100 mentioned above, it can effectively avoid the adverse effects of axial force, radial force and lateral bending moment, as well as the position change of the outer flange 130, and the measurement result is highly accurate and has high sensitivity.

[0064] Specifically, in this embodiment, Figure 4 as well as Figures 6 to 8 As shown, there are eight tension and compression strain gauges 300, one tension and compression strain gauge 300 is attached to each of the two side walls of each measuring beam 121, and a total of four tension and compression strain gauges 300 attached to two opposite measuring beams 121 are connected to form a full bridge. In addition to measuring torque, the input voltage of the two bridges is U i Under the condition of O1 and U O2 By subtracting the two, the sensitivity of the sensor can be calculated after filtering out the noise.

[0065] Specifically, in this embodiment, Figure 5 As shown, along the axial direction of the elastic body 100 , the circuit board 200 and the elastic body 100 are spaced apart; the elastic body 100 is provided with a mounting hole 125 , one end of the connecting column 500 is fixed to the mounting hole 125 , and the other end is fixedly connected to the circuit board 200 .

[0066] Specifically, in this embodiment, Figure 5 As shown, a sealing rubber pad 400 is disposed on the bottom surface of the elastic body 100 for sealing the elastic section 120. Further, the sealing rubber pad 400 can be adhered to the bottom surfaces of the inner flange 110 and the outer flange 130.

[0067] More specifically, in this embodiment, continue as follows Figure 5 As shown, the first stop 111 and the second stop 131 are both convex stops, and the sealing rubber pad 400 is annular and is arranged between the first stop 111 and the second stop 131. In this way, the sealing rubber pad 400 can seal the entire elastic section 120, so that the elastic section 120 and the tension-compression strain gauge 300 can be effectively prevented from contacting with liquid, playing a role in sealing and preventing oil pollution.

[0068] This embodiment also provides a collaborative robot, the joints of which are provided with the above-mentioned tension-compression torque sensor for detecting the torque applied to the joints. The collaborative robot has all the advantages of the above-mentioned tension-compression torque sensor, so they will not be described in detail here.

[0069] Finally, it should be noted that, in this article, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0070] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to the embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An elastomer, characterized in that: The elastic body (100) is an integrated structure, comprising an inner flange (110) and an outer flange (130) which are coaxially arranged, and an elastic section (120) connected therebetween, wherein the inner flange (110) can be fixedly connected to a driving component; the outer flange (130) can be fixedly connected to a base, and the position of the base is fixed relative to the driving component; The elastic section (120) comprises a measuring beam (121) and a shunt beam (122) both extending in the radial direction of the elastic body (100), and the two beams are arranged alternately and at intervals along the circumferential direction of the elastic body (100); a tension-compression strain gauge (300) can be attached to the side wall of the measuring beam (121) extending in the axial direction of the elastic body (100); A load-balancing hole (124) is provided in the middle of the measuring beam (121), and the load-balancing hole (124) divides the measuring beam (121) into a first support beam and a second support beam, the first support beam and the second support beam are axially symmetrical, and the axis of symmetry extends along the radial direction of the elastic body (100); the widths of the first support beam and the second support beam gradually decrease from one end connected to the inner flange (110) to one end connected to the outer flange (130); the tension-compression strain gauge (300) is attached to the side wall of the first support beam away from the load-balancing hole (124) and the side wall of the second support beam away from the load-balancing hole (124); The side walls of the first support beam and the second support beam away from the load-balancing hole (124) are both planes, and the side walls facing the load-balancing hole (124) are both arc-shaped surfaces; The midpoint of the hole wall of the uniform load hole (124) close to the inner flange (110) is taken as the origin, the symmetry axis of the uniform load hole (124) is taken as the x-axis, and the direction toward the outer flange (130) is taken as positive; a y-axis is established perpendicular to the x-axis and the central axis of the elastic body (100), and the first support beam is directed toward the side wall of the uniform load hole (124) according to the function y=2x 1 / 3 +C and y = -2x 1 / 3 -C, the second beam moves toward the side wall of the uniformly loaded hole (124) according to the function y=2x 1 / 3 +C and y = -2x 1 / 3 -C, where C is a constant and greater than zero.

2. The elastic body according to claim 1, characterized in that The cross-sectional area of ​​the measuring beam (121) is smaller than the cross-sectional area of ​​the diverting beam (122).

3. The elastic body according to claim 1, characterized in that A relief groove (123) is provided between the measuring beam (121) and the outer flange (130), and the relief groove (123) penetrates the elastic section (120) along the axial direction of the elastic body (100).

4. The elastic body according to claim 3, characterized in that The unloading groove (123) comprises a first unloading groove and a second unloading groove, wherein the first unloading groove is arranged between the first supporting beam and the outer flange (130), and the second unloading groove is arranged between the second supporting beam and the outer flange (130), and the second unloading groove and the first unloading groove are symmetrical with respect to the symmetry axis of the measuring beam (121).

5. The elastic body according to claim 1, characterized in that The inner flange (110) has a central hole, and the central hole is a spline hole (113).

6. The elastic body according to claim 1, characterized in that The width of the diverter beam (122) decreases linearly from one end connected to the inner flange (110) to one end connected to the outer flange (130).

7. The elastic body according to claim 1, characterized in that The connection points between the measuring beam (121) and the inner flange (110) and the outer flange (130) are all configured as rounded transition points; the connection points between the diverter beam (122) and the inner flange (110) and the outer flange (130) are also configured as rounded transition points.

8. The elastomer according to any one of claims 1 to 7, characterized in that: The number of the measuring beams (121) and the number of the shunt beams (122) are both four; along the circumference of the elastic body (100), the four measuring beams (121) are evenly arranged, and the four shunt beams (122) are respectively arranged in the middle of two adjacent measuring beams (121).

9. The elastomer according to any one of claims 1 to 7, characterized in that: The elastic body (100) is flat.

10. A tension-compression torque sensor, characterized in that: The invention comprises an elastomer (100) as claimed in any one of claims 1 to 9, and further comprises a circuit board (200) and a plurality of tension-compression strain gauges (300), wherein the tension-compression strain gauges (300) are attached to the side walls of the elastic section (120) of the elastomer (100), and the tension-compression strain gauges (300) are connected to the circuit board (200); the circuit board (200) is used to receive and process the signals of the tension-compression strain gauges (300) and to obtain the magnitude of the torque applied by the driving component.

11. The tension-compression torque sensor according to claim 10, characterized in that: A sealing rubber pad (400) is provided on the bottom surface of the elastic body (100) for sealing the elastic section (120).

12. A collaborative robot, characterized in that: The joints of the collaborative robot are provided with the tension-compression torque sensor according to claim 10 or 11, which is used to detect the torque applied to the joints.

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