Robotic arm using torque sensor

Abstract

The present application provides a torque sensor and a mechanical arm using the torque sensor, and relates to the field of sensors. It includes a shell, the inner side of which is provided with a sensor body, the top of which is provided with a threaded hole, a connecting plate for mounting the shell is located on the outer side of the shell, and a threaded rod is provided on the side of the connecting plate facing the shell, and the threaded rod is adaptively screwed into the threaded hole. The mechanical arm includes a base, an arm and a manipulator, one end of the arm is provided on the base, the other end of the arm is connected to the manipulator, and the connecting plate is provided between the arm and the manipulator. The present application has the effect of high disassembly and assembly efficiency.

Description

Technical Field

[0001] The present application relates to the field of sensors, and in particular to a mechanical arm using a torque sensor. Background Art

[0002] Force torque sensors work in a variety of ways. The basic principle of operation is to convert mechanical stress (force, torque, etc.) into an electrical signal. When a force acts on a deformable elastic shaft (usually in the form of a strain gauge); the amount of mechanical deformation is converted into an electrical signal, which is converted into a digital number to indicate a quantifiable measurement value.

[0003] Existing torque sensors have the problem of complicated assembly and disassembly, that is, they generally need to be locked by multiple bolts, which takes a lot of time. Moreover, after assembly, the torque sensor is exposed to the outside and lacks protective measures, so it is easy to be damaged during use. Summary of the invention

[0004] In order to improve the problem of complex assembly and disassembly of existing torque sensors, the present application provides a torque sensor and a mechanical arm using the torque sensor.

[0005] In a first aspect, the present application provides a torque sensor, which adopts the following technical solution:

[0006] The torque sensor comprises a shell, wherein a sensor body is arranged on the inner side of the shell, a threaded hole is arranged on the top of the shell, a connecting plate for mounting the shell is located on the outer side of the shell, a threaded rod is arranged on the side of the connecting plate facing the shell, and the threaded rod is adaptively screwed into the threaded hole.

[0007] By adopting the above technical solution, the shell can be quickly installed and disassembled through the threaded connection between the threaded rod and the threaded hole, which effectively improves the efficiency of installing and disassembling the shell.

[0008] In the second aspect, the present application provides a robotic arm applying a force torque sensor, adopting the following technical solution: the robotic arm applying a force torque sensor comprises a base, an arm and a manipulator, one end of the arm is arranged on the base, the other end of the arm is connected to the manipulator, and the connecting plate is arranged between the arm and the manipulator.

[0009] By adopting the above technical solution, the arm, shell and manipulator can be quickly connected through the connecting action of the connecting plate.

[0010] Optionally, a connecting seat is provided on one side of the arm facing the connecting plate, the other side of the connecting plate is connected to a side of the shell having a threaded hole, and a side of the shell away from the threaded hole is connected to the manipulator;

[0011] A connecting ring is provided at the bottom of the connecting seat, and a plurality of accommodating holes are provided on the inner wall of the connecting ring, and the plurality of accommodating holes all point to the axis of the connecting ring. A spring and a movable rod are provided in the accommodating hole, and one end of the spring is connected to the bottom of the accommodating hole, and the other end of the spring is connected to the movable rod, and one end of the movable rod is located in the accommodating hole, and the other end of the movable rod extends to the outside of the accommodating hole;

[0012] An inserting plate is provided at the end of the connecting plate, and a plurality of accommodating grooves are provided on the outer wall of the inserting plate. The plurality of movable rods are inserted into the plurality of accommodating grooves in a one-to-one correspondence.

[0013] By adopting the above technical solution, in the initial state, the spring is in a naturally extended state, and one end of the movable rod can be pushed out to the outside of the receiving hole. When the connecting plate needs to be installed, the plug plate is aligned with the connecting ring, and then the plug plate is pushed to the inside of the connecting ring. In this way, the movable rod will first move toward the inside of the receiving hole, so that the spring is in a compressed state. When the receiving hole is aligned with the receiving groove, the spring releases energy and rebounds, and pushes the movable rod to be inserted into the receiving groove. In this way, the connecting plate and the connecting ring are quickly connected, further improving the installation efficiency of the shell.

[0014] Optionally, one end of the movable rod located outside the accommodating hole is hemispherical, and the sum of the length of the movable rod and the length of the spring after being fully compressed is less than the depth of the accommodating hole.

[0015] By adopting the above technical solution, when the shell needs to be disassembled, the shell is pulled downward so that the plug plate interferes with the hemispherical end surface of the movable rod, thereby pressing the movable rod into the receiving hole. In this way, the limiting effect of the movable rod on the connecting rod is released, and the shell can be quickly disassembled. By reasonably setting the depth of the receiving hole, it is ensured that the movable rod can completely enter the inner side of the receiving hole.

[0016] Optionally, a plurality of through holes are provided on the end surface of the connecting ring, and a locking rod is threadedly connected in the through hole, one end of the locking rod is screwed into the arm, and the other end of the locking rod is located on the inner side of the connecting ring.

[0017] By adopting the above technical solution, the locking effect of the locking rod and the through hole realizes the rapid connection between the connecting seat and the connecting ring.

[0018] Optionally, an insertion rod is passed through the connecting plate, and the insertion rod is in the shape of a hexagonal prism. A limiting hole is provided at one end of the locking rod facing the insertion rod, and the limiting hole is a hexagonal hole. The insertion rod is fitted and inserted into the limiting hole.

[0019] By adopting the above technical solution, when the insertion rod is inserted into the limiting hole, the insertion rod will form a limiting effect on the locking rod, which can prevent the limiting rod from loosening on the one hand and prevent the shell from loosening on the other hand, effectively improving the overall connection stability.

[0020] Optionally, a rotating plate is provided at one end of the insertion rod close to the threaded rod, an annular sliding groove is provided at the bottom of the connecting plate, the sliding groove is a dovetail groove, and a sliding block is provided at the top of the rotating plate, the sliding block is arranged in the sliding groove and slides in the sliding groove.

[0021] By adopting the above technical solution, the insertion rod can be easily rotated through the setting of the rotating plate, thereby ensuring that the insertion rod can be quickly and accurately inserted into the limiting hole. Furthermore, through the cooperation of the slider and the slide groove, the insertion rod and the rotating plate can be prevented from falling off the connecting plate without affecting the rotation effect of the rotating plate on the insertion rod, thereby ensuring that the limiting effect of the insertion rod on the locking rod and the shell is reliable and continuous.

[0022] Optionally, a cavity is further provided in the locking rod, the cavity is connected to the limiting hole, a gear, an active rack and a driven rack are provided in the cavity, the gear is arranged in the cavity through a rotating shaft, the driven rack is on one side of the gear, and the active rack is located on the other side of the gear, the active rack and the driven rack are both meshed with the gear, one end of the active rack is located in the cavity, and the other end of the active rack is located in the limiting hole; a push rod is passed through the insertion rod, one end of the push rod is flush with the top of the insertion rod, and the other end of the push rod extends to the bottom of the rotating plate, the push rod is used to push the active rack to move toward the cavity, and the driven rack is used to push the insertion rod to move toward the outside of the limiting hole.

[0023] By adopting the above technical solution, when it is necessary to disassemble the shell, the push rod is pressed to move the push rod toward the direction of the cavity, and the push rod is in abutment with the active rack. In this way, the push rod forms a pushing effect on the active rack, thereby driving the gear to rotate, and the gear and the driven rack are in a state of mutual meshing, which makes the driven rack move toward the limiting hole. In this way, the driven rack will form a reverse pushing effect on the insertion rod, thereby making the insertion rod move toward the outside of the limiting hole. In this process, the insertion rod and the driving connecting plate move in the direction away from the connecting ring, thereby realizing the rapid disassembly of the connecting plate and the shell.

[0024] Optionally, a button is provided at one end of the push rod close to the rotating plate, and a compression spring is sleeved on the push rod, and the compression spring is located between the rotating plate and the button.

[0025] By adopting the above technical solution, the setting of the button makes it easy to press the push rod, and the setting of the compression spring plays a role in resetting the push rod.

[0026] Optionally, a sheath is provided on the connecting plate, the sheath is coaxially arranged with the threaded rod, and the shell is located on the inner side of the sheath.

[0027] By adopting the above technical solution, the sheath can protect the shell and effectively prevent the shell from being damaged by impact during use.

[0028] In summary, this application has the following beneficial effects:

[0029] 1. By inserting the movable rod into the receiving groove, the movable rod can quickly lock the plug plate, thereby realizing the rapid installation of the shell. Furthermore, by cooperating with the plug rod and the limiting hole, the vibration of the locking rod and the threaded rod during use can be effectively prevented, which may cause the strength of the threaded connection to decrease, thereby ensuring that the shell can always maintain a stable working state.

[0030] 2. The gear is driven by the push action of the push rod on the active rack, and then the driven rack is driven by the gear to move, so as to push the plug rod, so that the plug plate can be pulled out of the connecting ring by pressing, which effectively improves the disassembly efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a schematic stereogram of the present application;

[0032] Figure 2 It is the explosion state reference diagram of this application;

[0033] Figure 3 Is the exploded state reference of the connecting plate Figure 1 ;

[0034] Figure 4 Is the exploded state reference of the connecting plate Figure 2 ;

[0035] Figure 5 is a schematic perspective view of a locking lever;

[0036] In the figure: 1. shell; 11. threaded hole; 2. connecting plate; 21. threaded rod; 22. plug plate; 220. receiving groove; 23. plug rod; 241. rotating plate; 242. push rod; 243. button; 244. compression spring; 25. slide groove; 250. slider; 26. sheath; 3. base; 4. arm; 41. connecting seat; 5. manipulator; 6. connecting ring; 61. receiving hole; 62. spring; 63. movable rod; 64. through hole; 65. locking rod; 651. limiting hole; 652. cavity; 653. gear; 654. active rack; 655. driven rack. DETAILED DESCRIPTION

[0037] The following is combined with Figure 1-5 This application is described in further detail.

[0038] This embodiment discloses a torque sensor.

[0039] See also Figure 1-5 The torque sensor comprises a housing 1, a sensor body is arranged on the inner side of the housing 1, a threaded hole 11 is arranged on the top of the housing 1, a connecting plate 2 for mounting the housing 1 is located on the outer side of the housing 1, a threaded rod 21 is arranged on the side of the connecting plate 2 facing the housing 1, and the threaded rod 21 is screwed in the threaded hole 11 in an adaptive manner. The threaded connection between the threaded rod 21 and the threaded hole 11 realizes the rapid installation and removal of the housing 1, and effectively improves the assembly and removal efficiency of the housing 1.

[0040] This embodiment also discloses a mechanical arm using a force torque sensor.

[0041] The mechanical arm using the force torque sensor comprises a base 3, an arm 4 and a manipulator 5. One end of the arm 4 is arranged on the base 3. The arm 4 can rotate and move in multiple dimensions, thereby increasing the range of action of the mechanical arm. The other end of the arm 4 is connected to the manipulator 5. The connecting plate 2 is arranged between the arm 4 and the manipulator 5. The housing 1 is arranged between the connecting plate 2 and the manipulator 5. A connecting seat 41 is arranged on the side of the arm 4 facing the connecting plate 2, that is, the connecting seat 41 is used to connect the arm 4 and the connecting plate 2. A connecting ring 6 is arranged at the bottom of the connecting seat 41. A plurality of accommodating holes 61 are arranged on the inner wall of the connecting ring 6. The plurality of accommodating holes 61 all point to the axis of the connecting ring 6. A spring 62 and a movable rod 63 are arranged in the accommodating hole 61. One end of the spring 62 is connected to the bottom of the accommodating hole 61. The other end of the spring 62 is connected to the movable rod 63. One end of the movable rod 63 is located in the accommodating hole 61. The other end of the movable rod 63 extends to the outside of the accommodating hole 61, and the other end of the movable rod 63 is hemispherical. When the spring 62 is in a naturally extended state, one end of the movable rod 63 is located outside the accommodating hole 61 and close to the accommodating hole 61. The end of the connecting plate 2 is provided with an insert plate 22, and a plurality of accommodating grooves 220 are provided on the outer wall of the insert plate 22, and the accommodating grooves 220 and the other end of the movable rod 63 are in a mutually adapted state.

[0042] The inner diameter of the connecting ring 6 is equal to the outer diameter of the plug plate 22. Thus, when the plug plate 22 is inserted into the connecting ring 6, the outer wall of the plug plate 22 will interfere with the movable rod 63, thereby pressing the movable rod 63 into the receiving hole 61. Since the sum of the length of the movable rod 63 and the length of the spring 62 after being fully compressed is less than the depth of the receiving hole 61, it is ensured that the movable rod 63 can fully enter the receiving hole 61. Thus, the movable rod 63 cannot interfere with the plug plate 22, and the plug plate 22 can be fully inserted into the inner side of the connecting ring 6. When the plug plate 22 is plugged in, the plurality of receiving holes 61 and the plurality of receiving grooves 220 are in a state of one-to-one correspondence and coaxiality with each other. Thus, under the action of the elastic force of the spring 62, the other end of the movable rod 63 can be pushed out of the receiving hole 61 again and enter into the receiving groove 220. Thus, the movable rod 63 forms a locking effect on the plug plate 22, thereby realizing the rapid installation of the connecting plate 2 and the housing 1. When the shell 1 needs to be disassembled, the shell 1 is pulled downward so that the inner wall of the accommodating groove 220 interferes with the hemispherical end surface of the movable rod 63, thereby pressing the movable rod 63 into the accommodating hole 61. In this way, the limiting effect of the movable rod 63 on the connecting rod is released, and the shell 1 can be quickly removed.

[0043] The end surface of the connecting ring 6 is provided with a plurality of through holes 64, which extend into the connecting seat 41. A locking rod 65 is connected to the through hole 64 by a thread. One end of the locking rod 65 is screwed into the connecting seat 41, and the other end of the locking rod 65 is located at the inner side of the connecting ring 6. In this way, the connecting ring 6 and the connecting seat 41 are locked. The connecting plate 2 is provided with an insert rod 23, which is in the shape of a hexagonal prism. The locking rod 65 is provided with a limiting hole 651 at one end facing the insert rod 23. The limiting hole 651 is a hexagonal hole, and the insert rod 23 can be inserted into the limiting hole 651. A rotating plate 241 is provided at one end of the insert rod 23 close to the threaded rod 21. An annular slide groove 25 is provided at the bottom of the connecting plate 2. The slide groove 25 is a dovetail groove. A slider 250 is provided at the top of the rotating plate 241. The slider 250 is provided in the slide groove 25 and can slide in the slide groove 25. Since the slide groove 25 is a dovetail groove, the slider 250 can slide in the slide groove 25 but will not fall out of the slide groove 25, thus achieving a fixing effect on the rotating plate 241, that is, the rotating plate 241 can achieve a rotation effect on the plug rod 23, but cannot be separated from the connecting plate 2, that is, the positions of the rotating plate 241 and the plug rod 23 relative to the connecting plate 2 are fixed. Through the rotation of the plug rod 23 by the rotating plate 241, the plug rod 23 and the limiting hole 651 can be aligned, ensuring that the plug rod 23 can be reliably inserted into the limiting hole 651, and in this process, the plug plate 22 is also inserted into the connecting ring 6.

[0044] Since the insertion rod 23 is in the shape of a hexagonal prism, after the insertion rod 23 is inserted into the limiting hole 651, when the insertion rod 23 is in a fixed state, the locking rod 65 will also be in a fixed state that cannot be rotated at any time. In this way, it is ensured that the insertion rod 23 can form a locking effect on the locking rod 65, thereby ensuring that the insertion plate 22 will not fall off from the connecting ring 6 and the connecting ring 6 will not fall off from the bottom of the connecting seat 41.

[0045] Furthermore, a cavity 652 is provided in the locking rod 65, and the cavity 652 is communicated with the limiting hole 651. A gear 653, an active rack 654 and a driven rack 655 are provided in the cavity 652. The gear 653 is provided in the cavity 652 through a rotating shaft, the driven rack 655 is on one side of the gear 653, and the active rack 654 is located on the other side of the gear 653. Both the active rack 654 and the driven rack 655 are meshed with the gear 653, and one end of the active rack 654 is located in the cavity 652. The other end of the active rack 654 is located in the limiting hole 651; a push rod 242 is passed through the insertion rod 23, one end of the push rod 242 is flush with the top of the insertion rod 23, and the other end of the push rod 242 extends to the bottom of the rotating plate 241. The push rod 242 and the active rack 654 are in an aligned state, and a button 243 is provided at one end of the push rod 242 close to the rotating plate 241. A compression spring 244 is sleeved on the push rod 242, and the compression spring 244 is located between the rotating plate 241 and the button 243. When the button 243 is pressed, the push rod 242 will move toward the direction of the cavity 652, so that the push rod 242 will form a pushing effect on the active rack 654, and the active rack 654 is engaged with one side of the gear 653, and the driven rack 655 is engaged with the other side of the gear 653, which makes the active rack 654 move toward the cavity 652, and the driven rack 655 moves toward the outside of the cavity 652. When the driven rack 655 moves toward the outside of the cavity 652, a pushing effect is formed on the insertion rod 23, and the insertion rod 23 and the connecting plate 2 are in a mutually connected state. When the driven rack 655 pushes the insertion rod 23, a pushing effect is also formed on the connecting plate 2. In this way, without pulling out the shell 1, the insertion plate 22 can be pushed to the outside of the connecting ring 6 through the pushing effect of the driven rack 655, the insertion rod 23 and the connecting plate 2, thereby realizing the rapid removal of the connecting plate 2 and the shell 1 and significantly improving the disassembly and assembly efficiency.

[0046] A sheath 26 is provided on the connecting plate 2, and the sheath 26 is coaxially arranged with the threaded rod 21. When the threaded rod 21 is completely screwed into the threaded hole 11 of the housing 1, the housing 1 is located on the inner side of the sheath 26. In this way, the sheath 26 can form a protective effect on the housing 1, preventing external debris from hitting the housing 1 during use, thereby ensuring that the sensor body in the housing 1 can be in a reliable working state. Further, an airbag can be provided on the outer side of the threaded rod 21, and the inner diameter of the sheath 26 is enlarged. In this way, when the housing 1 is sleeved on the outer side of the threaded rod 21, the housing 1 will form an extrusion effect on the airbag, thereby causing the airbag to deform and allowing the airbag to fill the gap between the sheath 26 and the housing 1, that is, the airbag will wrap around the outer side of the housing 1, achieving a buffering effect on the impact energy transmitted to the housing 1, and further improving the protective effect of the housing 1.

[0047] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A mechanical arm using a torque sensor, characterized in that: The torque sensor comprises a housing (1), a sensor body is provided on the inner side of the housing (1), a threaded hole (11) is provided on the top of the housing (1), a connecting plate (2) for mounting the housing (1) is located on the outer side of the housing (1), a threaded rod (21) is provided on the side of the connecting plate (2) facing the housing (1), and the threaded rod (21) is adaptively screwed into the threaded hole (11); the robot arm comprises a base (3), an arm (4) and a robot (5), one end of the arm (4) is provided on the base (3), the other end of the arm (4) is connected to the robot (5), and the connecting plate (2) is provided between the arm (4) and the robot (5); The arm (4) is provided with a connection seat (41) on one side facing the connection plate (2), the other side of the connection plate (2) is connected to the side of the shell (1) provided with a threaded hole (11), and the side of the shell (1) away from the threaded hole (11) is connected to the manipulator (5); A connecting ring (6) is provided at the bottom of the connecting seat (41), and a plurality of accommodating holes (61) are provided on the inner wall of the connecting ring (6), and the plurality of accommodating holes (61) all point to the axis of the connecting ring (6), and a spring (62) and a movable rod (63) are provided in the accommodating hole (61), and one end of the spring (62) is connected to the bottom of the accommodating hole (61), and the other end of the spring (62) is connected to the movable rod (63), and one end of the movable rod (63) is located in the accommodating hole (61), and the other end of the movable rod (63) extends to the outside of the accommodating hole (61); An inserting plate (22) is provided at the end of the connecting plate (2), a plurality of accommodating grooves (220) are provided on the outer wall of the inserting plate (22), and a plurality of the movable rods (63) are inserted into the plurality of accommodating grooves (220) in a one-to-one correspondence; A plurality of through holes (64) are provided on the end surface of the connecting ring (6), a locking rod (65) is threadedly connected in the through hole (64), one end of the locking rod (65) is screwed into the arm (4), and the other end of the locking rod (65) is located on the inner side of the connecting ring (6); The connecting plate (2) is provided with an insertion rod (23), the insertion rod (23) is in the shape of a hexagonal prism, and the locking rod (65) is provided with a limiting hole (651) at one end facing the insertion rod (23), the limiting hole (651) is a hexagonal hole, and the insertion rod (23) is inserted into the limiting hole (651); A rotating plate (241) is provided at one end of the insertion rod (23) close to the threaded rod (21); an annular sliding groove (25) is provided at the bottom of the connecting plate (2); the sliding groove (25) is a dovetail groove; a sliding block (250) is provided at the top of the rotating plate (241); the sliding block (250) is arranged in the sliding groove (25) and slides in the sliding groove (25).

2. The robotic arm according to claim 1, characterized in that: One end of the movable rod (63) located outside the accommodating hole (61) is hemispherical, and the sum of the length of the movable rod (63) and the length of the spring (62) after being fully compressed is less than the depth of the accommodating hole (61).

3. The robotic arm according to claim 1, characterized in that: The locking rod (65) is further provided with a cavity (652), the cavity (652) being communicated with the limiting hole (651), the cavity (652) being provided with a gear (653), an active rack (654) and a driven rack (655), the gear (653) being provided in the cavity (652) via a rotating shaft, the driven rack (655) being provided on one side of the gear (653), the active rack (654) being provided on the other side of the gear (653), the active rack (654) and the driven rack (655) both being meshed with the gear (653), one end of the active rack (654) being provided in the cavity (652), and the other end of the active rack (654) being provided in the limiting hole (651); A push rod (242) is inserted into the insertion rod (23), one end of the push rod (242) is flush with the top of the insertion rod (23), and the other end of the push rod (242) extends to the bottom of the rotating plate (241). The push rod (242) is used to push the active rack (654) to move toward the cavity (652), and the driven rack (655) is used to push the insertion rod (23) to move toward the outside of the limiting hole (651).

4. The robotic arm according to claim 3, characterized in that: A button (243) is provided at one end of the push rod (242) close to the rotating plate (241), and a compression spring (244) is sleeved on the push rod (242), and the compression spring (244) is located between the rotating plate (241) and the button (243).

5. The robotic arm according to claim 3, characterized in that: A protective sleeve (26) is provided on the connecting plate (2), the protective sleeve (26) is coaxially arranged with the threaded rod (21), and the housing (1) is located on the inner side of the protective sleeve (26).

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