Torque sensor

Abstract

The invention provides a torque sensor. The torque sensor includes a sensing body, a transition body, and a reinforcement. An elastic piece body and a stress body are arranged between the inner ring body and the outer ring body, and a stress groove is formed in the stress body. The depth of the stress groove is larger than the thickness of the elastic sheet body, and when a radial load is applied to the torque sensor, the stress groove on the stress body can disperse the stress on the elastic sheet body, so that the stress borne by the elastic sheet body is effectively reduced, stress concentration at the elastic sheet body is avoided, the mechanical strength of the torque sensor is improved, and the service life of the torque sensor is prolonged. Moreover, the arrangement of the reinforcing member protruding from the surface of the transition body not only can improve the stress distribution on the transition body, but also can enhance the overall rigidity of the torque sensor, reduce the influence of the assembly pre-tightening force on the measurement result of the torque sensor, avoid the crosstalk phenomenon, effectively ensure the measurement accuracy, and ensure the effective and normal use of a user.

Description

Technical Field

[0001] The present invention relates to the technical field of sensor equipment, and in particular to a torque sensor. Background Art

[0002] Nowadays, robots, in particular of lightweight construction, have an articulated arm or manipulator consisting of a plurality of arm components or links connected via joints, the articulations being actuated by means of corresponding drive units in order to selectively rotate an arm component relative to an arm component of the manipulator adjoining it.

[0003] An important part of these robots is the torque sensor used to detect the torque caused by the movement of the link itself or by forces acting from the outside. In most cases, these torque sensors are installed in or on all movable links of the robot, thus enabling compliant control of the manipulator.

[0004] As a commonly used measurement tool in industrial production and scientific research, the performance of torque sensors is directly related to the accuracy and reliability of torque measurement. As the core component of torque sensors, the design of elastomers directly affects the measurement range, accuracy and stability of the sensors.

[0005] However, although the torque sensor elastomers on the market have various designs, there are still some problems, such as uneven stress distribution, insufficient sensitivity, poor long-term stability and crosstalk that have a significant impact on measurement results, which affect the normal use of users. Summary of the invention

[0006] The purpose of the present invention is to solve the technical problems in the prior art that the torque sensor has uneven stress distribution on the elastic body, insufficient sensitivity, poor long-term stability and crosstalk phenomenon, which have a great influence on the measurement results and affect the normal use of users.

[0007] In order to solve the above technical problems, the present invention provides a torque sensor, which includes:

[0008] The sensing body comprises an inner ring body and an outer ring body arranged outside the inner ring body, wherein both the outer ring body and the inner ring body are ring-shaped;

[0009] A transition body is arranged between the inner ring body and the outer ring body, and both side surfaces of the transition body are lower than the surfaces of the outer ring body and the inner ring body; the transition body comprises a spring body and a stress body connected to each other, the spring body is arranged close to the inner ring body, and the stress body is arranged close to the outer ring body; a circular stress groove is provided on one side surface of the stress body, and the depth of the stress groove is greater than the thickness of the spring body;

[0010] A reinforcement member is arranged on the surface of the transition body and protrudes from the surface of the transition body. The reinforcement member is arranged at the connection between the transition body and the inner ring body and the outer ring body.

[0011] In some embodiments of the present application, the reinforcement member includes an inner ring reinforcement portion, which is annular; the inner ring reinforcement portion is protruding from the surface of the spring body and is arranged near the connection between the spring body and the inner ring body; the inner ring reinforcement portion and the stress groove are both arranged on the same side surface of the transition body.

[0012] In some embodiments of the present application, the reinforcement member includes an outer ring reinforcement portion, which is annular in shape; the outer ring reinforcement portion is protruding from the surface of the stress body and is arranged close to the connection between the stress body and the outer ring body; the outer ring reinforcement portion and the stress groove are both arranged on the same side surface of the stress body.

[0013] In some embodiments of the present application, the reinforcement member also includes a dorsal reinforcement portion, which is protruding from the surface of the stress body and is arranged near the connection between the stress body and the outer ring body, and the dorsal reinforcement body and the stress groove are respectively arranged on both side surfaces of the stress body.

[0014] In some embodiments of the present application, the torque sensor also includes a plurality of strain gauges, which are arranged on the surface of the spring body; the strain gauge and the stress groove are both arranged on the same side surface of the transition body, and the plurality of strain gauges are arranged at intervals along the circumference of the inner ring body.

[0015] In some embodiments of the present application, in the thickness direction of the torque sensor, the surface of the spring body on which the strain gauge is provided is lower than the surface of the stress body on which the stress groove is provided, and the surface of the spring body facing away from the strain gauge is lower than the surface of the stress body facing away from the stress groove.

[0016] In some embodiments of the present application, the thickness of the spring body is 0.8 mm-1.5 mm.

[0017] In some embodiments of the present application, the width of the stress groove is 1 mm-2.5 mm, and the depth of the stress groove is 0.7 mm-1.8 mm.

[0018] In some embodiments of the present application, the outer ring body is provided with a through external force application opening, and the inner ring body is provided with a through internal force application opening, and both the external force application opening and the internal force application opening extend along the axial direction of the sensor body.

[0019] In some embodiments of the present application, there are multiple external force openings and multiple internal force openings, and the multiple external force openings are arranged on the outer ring body at intervals along the circumference of the outer ring body, and the multiple internal force openings are arranged on the inner ring body at intervals along the circumference of the inner ring body.

[0020] It can be seen from the above technical solution that the beneficial effects of the present invention are as follows: in the torque sensor of the present invention, a spring body and a stress body are provided between the inner ring body and the outer ring body, and a stress groove is provided on the stress body. The depth of the stress groove is greater than the thickness of the spring body. When a radial load is applied to the torque sensor, the stress groove on the stress body can disperse the stress on the spring body to effectively reduce the stress on the spring body and avoid stress concentration at the spring body, thereby improving the mechanical strength and service life of the torque sensor; and, combined with the setting of the reinforcement member protruding from the surface of the transition body, it can not only improve the stress distribution on the transition body, but also enhance the overall rigidity of the torque sensor, reduce the influence of the assembly preload on the measurement result of the torque sensor, avoid crosstalk, effectively ensure the accuracy of the measurement, and ensure effective and normal use by users. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic structural diagram of an embodiment of a torque sensor of the present invention.

[0022] Figure 2 yes Figure 1 A cross-sectional view of an embodiment of a torque sensor is shown.

[0023] The description of the accompanying drawings is as follows: 100, torque sensor; 10, sensing body; 11, inner ring body; 110, mounting port; 111, internal force opening; 12, outer ring body; 121, external force opening; 122, threaded hole; 20, transition body; 21, spring body; 22, stress body; 221, stress groove; 30, reinforcement; 31, inner ring reinforcement part; 32, outer ring reinforcement part; 33, back side reinforcement part; 40, strain gauge. DETAILED DESCRIPTION

[0024] Typical embodiments that embody the features and advantages of the present invention will be described in detail in the following description. It should be understood that the present invention can have various changes in different embodiments without departing from the scope of the present invention, and the descriptions and illustrations therein are essentially used for illustration purposes rather than for limiting the present invention.

[0025] In the description of the present application, it should be understood that in the embodiments shown in the drawings, the indications of directions or positional relationships (such as up, down, left, right, front and back, etc.) are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation. These descriptions are appropriate when these elements are in the positions shown in the drawings. If the descriptions of the positions of these elements change, the indications of these directions also change accordingly.

[0026] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0027] See also Figure 1 and Figure 2 An embodiment of the present application provides a torque sensor 100 , which includes a sensor body 10 , a transition body 20 , and a reinforcement member 30 .

[0028] The sensing body 10 includes an inner ring body 11 and an outer ring body 12 arranged outside the inner ring body 11, and the outer ring body 12 and the inner ring body 11 are both annular. The transition body 20 is arranged between the inner ring body 11 and the outer ring body 12, and the two side surfaces of the transition body 20 are lower than the surfaces of the outer ring body 12 and the inner ring body 11. The transition body 20 includes a connected spring body 21 and a stress body 22, the spring body 21 is arranged close to the inner ring body 11, and the stress body 22 is arranged close to the outer ring body 12. A circular stress groove 221 is opened on one side surface of the stress body 22, and the depth of the stress groove 221 is greater than the thickness of the spring body 21. The reinforcement member 30 is arranged on the surface of the transition body 20 and protrudes from the surface of the transition body 20, and the reinforcement member 30 is arranged at the connection between the transition body 20 and the inner ring body 11 and the outer ring body 12.

[0029] For the torque sensor 100 of the present application, a spring body 21 and a stress body 22 are provided between the inner ring body 11 and the outer ring body 12, and a stress groove 221 is provided on the stress body 22. The depth of the stress groove 221 is greater than the thickness of the spring body 21. When a radial load is applied to the torque sensor 100, the stress groove 221 on the stress body 22 can disperse the stress on the spring body 21, so as to effectively reduce the stress on the spring body 21 and avoid stress concentration at the spring body 21, thereby improving the mechanical strength and service life of the torque sensor 100; and, in combination with the setting of the reinforcement member 30 protruding from the surface of the transition body 20, not only the stress distribution on the transition body 20 can be improved, but also the overall rigidity of the torque sensor 100 can be enhanced, the influence of the assembly preload on the measurement result of the torque sensor 100 can be reduced, and the crosstalk phenomenon can be avoided, so as to effectively ensure the accuracy of the measurement and ensure the effective and normal use of the user.

[0030] In some embodiments of the present application, the outer contour of the sensor body 10 may be circular. The sensor body 10 may be made of stainless steel, and the material of the stainless steel may be 17-4PH stainless steel, 630 stainless steel, etc. In other examples, the sensor body 10 may also be made of other materials, such as aluminum or aluminum alloy; and the inner ring body 11 and the outer ring body 12 may be made of different materials respectively.

[0031] The sensor body 10 includes an inner ring body 11 and an outer ring body 12, both of which are annular. The outer ring body 12 is arranged on the outer periphery of the inner ring body 11, and an assembly interval is provided between the outer ring body 12 and the inner ring body 11, and the transition body 20 is arranged in the assembly interval.

[0032] The transition body 20 is connected between the inner ring body 11 and the outer ring body 12, and the inner ring body 11, the transition body 20 and the outer ring body 12 can be integrally formed. In this example, the inner ring body 11, the outer ring body 12 and the transition body 20 are all annular, and this arrangement is conducive to the torque sensor 100 to realize the rotation between related components in the robot and other equipment, thereby realizing the rapid assembly of the joints in the robot and other equipment and the transmission of torque.

[0033] In some embodiments of the present application, a through installation opening 110 is formed inside the inner ring body 11, and the installation opening 110 can be used to connect the torque sensor 100 with related components, so that the torque sensor 100 and the related components are assembled and fixed.

[0034] The inner ring body 11 is also provided with an inner force application opening 111, which is arranged through the thickness direction of the inner ring body 11. The inner force application opening 111 extends along the axis direction of the sensor body 10, and can have any suitable geometric shape, such as a circle or other polygon.

[0035] The torque measured by the torque sensor 100 can be transmitted through a connection member connected to the inner force application opening 111 through some static components such as a rotating shaft, thereby achieving torque measurement at the inner ring body 11 area of ​​the sensor body 10.

[0036] In some examples, a plurality of inner force application openings 111 may be provided, and the plurality of inner force application openings 111 are arranged on the inner ring body 11 at intervals along the circumference of the inner ring body 11. The plurality of inner force application openings 111 may have the same size or may be provided in different sizes.

[0037] In some embodiments of the present application, the sensor body 10 further includes an outer ring body 12. The outer ring body 12 is annular and is arranged around the outer circumference of the inner ring body 11.

[0038] The outer ring body 12 is provided with an external force application opening 121, which is arranged through the thickness direction of the outer ring body 12. The external force application opening 121 extends along the axis direction of the sensor body 10, and the external force application opening 121 can have any suitable geometric shape, such as a circle or other polygon.

[0039] The torque measured by the torque sensor 100 can be transmitted through some static components such as a rotating shaft and connected to the connecting components of the outer force opening 121 and the inner force opening 111 to achieve torque measurement at the outer ring body 12 and the inner ring body 11 area of ​​the sensor body 10.

[0040] In some examples, a plurality of external force application openings 121 may be provided, and the plurality of external force application openings 121 are arranged on the outer ring body 12 at intervals along the circumference of the outer ring body 12. The plurality of external force application openings 121 may have the same size or may be provided in different sizes.

[0041] In addition, in some examples, the outer ring body 12 may be provided with a threaded hole 122, which is provided through the outer ring body 12 in the thickness direction. A plurality of threaded holes 122 may be provided, and may be arranged at intervals on the outer ring body 12.

[0042] By driving a screw into the threaded hole 122 , the torque sensor 100 fixed by the pin connection can be lifted up, so that the torque sensor 100 is disconnected and fixed, so as to facilitate the disassembly of the torque sensor 100 .

[0043] Furthermore, in some embodiments of the present application, a transition body 20 is provided between the inner ring body 11 and the outer ring body 12 of the torque sensor 100 , and the transition body includes a spring body 21 and a stress body 22 connected to each other.

[0044] In some examples, both side surfaces of the inner ring body 11 and the outer ring body 12 are flush, and both side surfaces of the transition body 20 are lower than the surfaces of the outer ring body 12 and the inner ring body 11. That is, the torque sensor 100 has recessed areas formed on both sides of the torque sensor 100 in the thickness direction, corresponding to the position of the transition body 20.

[0045] The transition body 20 includes a spring body 21 and a stress body 22 connected to each other, wherein the spring body 21 is arranged close to the inner ring body 11, and the stress body 22 is arranged close to the outer ring body 12. A stress groove 221 is provided on one side surface of the stress body 22, and the stress groove 221 is annular.

[0046] In this example, the depth of the stress groove 221 is greater than the thickness of the spring body 21. This arrangement enables the stress groove 221 on the stress body 22 to disperse the stress on the spring body 21 when the torque sensor 100 is subjected to a radial load, so as to effectively reduce the stress on the spring body 21 and avoid stress concentration at the spring body 21, thereby improving the mechanical strength and service life of the torque sensor 100.

[0047] In some embodiments of the present application, the torque sensor 100 further includes a strain gauge 40, which is disposed on the surface of the spring body 21, and the strain gauge 40 and the stress groove 221 are both disposed on the same side surface of the transition body 20. The strain gauge 40 may include at least one of a silicon strain gauge 40, a foil strain gauge 40, and a thin layer strain gauge 40 or may be composed of at least one of a silicon strain gauge 40, a foil strain gauge 40, and a thin layer strain gauge 40.

[0048] When the strain gauge 40 is a silicon strain gauge 40 , not only can the accuracy of the torque sensor 100 be higher, but also the miniaturization design of the torque sensor 100 can be achieved.

[0049] In addition, the silicon strain gauge 40 has a wide operating temperature range and can work stably for a long time in harsh industrial environments. The digital circuit in the silicon strain gauge 40 is carefully designed for various working conditions and has strong anti-interference ability, which can resist the influence of factors such as frequency, electromagnetic interference, and surge voltage. The silicon strain gauge 40 uses a temperature compensation circuit, which can automatically adjust the error caused by temperature changes to ensure the accuracy of the measurement results.

[0050] When the torque sensor 100 of the present application is working, the sensing body 10 and the transition body 20 can withstand the torque and deform accordingly. The strain gauge 40 is used to convert the deformation into a change in resistance value, so that the torque sensor 100 can measure the corresponding torque value.

[0051] In some examples, the torque sensor 100 may include a plurality of strain gauges 40, and the plurality of strain gauges 40 may be arranged in groups. Each strain group includes two strain gauges 40, and the two strain gauges 40 in each strain group may be arranged at a right angle, and the two strain gauges 40 in each strain group are arranged axially symmetrically with respect to the radial direction of the sensing body 10.

[0052] The plurality of strain gauges 40 can form a plurality of Wheatstone bridges on the sensing body 10. When the sensing body 10 is deformed, the resistance value of the strain gauge 40 changes accordingly.

[0053] For the torque sensor 100 of the present application, the strain gauge 40 is arranged on the shrapnel body 21, and the depth of the stress groove 221 on the stress body 22 is greater than the thickness of the shrapnel body 21. The stress groove 221 can suppress the influence of the radial load borne by the shrapnel body 21 during the measurement of torque, ensuring that the deformation of the shrapnel body 21 under the action of torque can be accurately and efficiently transmitted to the strain gauge 40, thereby ensuring the accuracy of the measurement of the torque sensor 100.

[0054] In some embodiments of the present application, in the thickness direction of the torque sensor 100, the surface of the shrapnel body 21 on which the strain gauge 40 is provided is lower than the surface of the stress body 22 on which the stress groove 221 is provided, and the surface of the shrapnel body 21 away from the strain gauge 40 is lower than the surface of the stress body 22 away from the stress groove 221.

[0055] In some examples, the thickness of the spring body 21 is 0.8 mm-1.5 mm, the width of the stress groove 221 is 1 mm-2.5 mm, and the depth of the stress groove 221 is 0.7 mm-1.8 mm.

[0056] This setting can achieve uniform distribution of stress on the transition body 20, so that the transition body 20 has higher mechanical strength and avoids stress concentration on the transition body 20. At the same time, it can also make the stress at the patch position on the spring body 21 more suitable for the measurement range of the strain gauge 40, reduce the influence of the assembly preload force on the measurement result of the torque sensor 100, avoid crosstalk, effectively ensure the accuracy of the measurement, and ensure effective and normal use by users.

[0057] In some examples, the surface of the transition body 20 may be specially treated, such as spraying, polishing, etc., to improve its wear resistance, corrosion resistance, and fatigue resistance, thereby extending the overall service life of the torque sensor 100 and ensuring a normal and effective user experience.

[0058] Furthermore, in some embodiments of the present application, a reinforcing member 30 is provided on the transition body 20, and the reinforcing member 30 is convexly provided on the surface of the transition body 20. The reinforcing member 30 is provided at the connection between the transition body 20 and the inner ring body 11 and the outer ring body 12.

[0059] In some examples, the reinforcement member 30 includes an inner ring reinforcement portion 31. The inner ring reinforcement portion 31 is annular and convexly disposed on the surface of the spring body 21 and is disposed close to the connection between the spring body 21 and the inner ring body 11.

[0060] The inner ring reinforcement portion 31 and the stress groove 221 are both arranged on the same side surface of the transition body 20. The surface of the inner ring reinforcement portion 31 is lower than the surface of the inner ring body 11. In the thickness direction of the torque sensor 100, the inner ring body 11, the inner ring reinforcement portion 31 and the spring body 21 form a step-like structure.

[0061] The inner ring reinforcement portion 31 can strengthen the stability of the connection between the inner ring body 11 and the spring body 21, enhance the overall rigidity of the sensor body 10 and the transition body 20, improve the stress distribution on the spring body 21 near the inner ring body 11, and ensure that the deformation of the spring body 21 under the action of torque can be accurately and efficiently transmitted to the strain gauge 40, thereby ensuring the measurement accuracy of the torque sensor 100.

[0062] In some examples, the reinforcement member 30 may further include an outer ring reinforcement portion 32, which is annular and convexly disposed on the surface of the stress body 22 and is disposed near the connection between the stress body 22 and the outer ring body 12. The outer ring reinforcement portion 32 and the stress groove 221 are both disposed on the same side surface of the stress body 22.

[0063] The surface of the outer ring reinforcement portion 32 is lower than the surface of the outer ring body 12 . In the thickness direction of the torque sensor 100 , the outer ring body 12 , the outer ring reinforcement portion 32 and the stress body 22 form a step-like structure.

[0064] The outer ring reinforcement portion 32 can strengthen the stability of the connection between the outer ring body 12 and the stress body 22, improve the overall rigidity of the sensor body 10 and the transition body 20, improve the stress distribution on the transition body 20 close to the outer ring body 12, ensure that the deformation of the transition body 20 under the action of torque can be accurately and efficiently transmitted to the strain gauge 40, and ensure the measurement accuracy of the torque sensor 100.

[0065] In other examples, the reinforcement member 30 may also include a dorsal reinforcement portion 33, which is protruding from the surface of the stress body 22 and is arranged near the connection between the stress body 22 and the outer ring body 12, and the dorsal reinforcement body and the stress groove 221 are respectively arranged on the two side surfaces of the stress body 22.

[0066] The back reinforcement part 33 is arranged to protrude from the surface of the stress body 22, and the back reinforcement part 33 and the stress body 22 form a step-shaped structure. The back reinforcement part 33 can strengthen the structural strength of the connection between the outer ring body 12 and the stress body 22, and the back reinforcement part 33 and the outer ring reinforcement part 32 can cooperate on both sides of the stress body 22 to achieve the enhancement of the structural strength, ensure the effective and uniform distribution of the stress on the transition body 20, ensure that the deformation of the transition body 20 under the action of torque can be accurately and efficiently transmitted to the strain gauge 40, and ensure the measurement accuracy of the torque sensor 100.

[0067] With respect to the torque sensor 100 of the present application, the inventor of the present application has performed a finite element simulation analysis on the torque sensor 100 and existing sensors, specifically a finite element simulation analysis of the pre-tightening force generated when screws are installed on the torque sensor 100 of the present application and existing sensors in their respective axial directions.

[0068] Among them, for the torque sensor 100 of the present application, the finite element simulation analysis of the pre-tightening force generated when the screw is installed in the axial direction thereof shows that the maximum stress value of the torque sensor 100 of the present application is 0.3063 MPa, the minimum stress value is 0.0012 MPa, and the stress value distribution shown in its stress cloud map is 0.3063 MPa, 0.2724 MPa, 0.2385 MPa, 0.2046 MPa, 0.1707 MPa, 0.1368 MPa, 0.1029 MPa, 0.0690 MPa, 0.0351 MPa, and 0.0012 MPa.

[0069] For the existing sensor, finite element simulation analysis of the pre-tightening force generated when the screws are installed in the axial direction shows that the maximum stress value of the existing sensor is 0.5129MPa, the minimum stress value is 0.0013MPa, and its stress cloud map shows the stress value distribution of 0.5129MPa, 0.4561MPa, 0.3993MPa, 0.3424MPa, 0.2856MPa, 0.2287MPa, 0.1719MPa, 0.1150MPa, 0.0582MPa, and 0.0013MPa.

[0070] From the comparison of the above data, it can be seen that the stress distribution in the torque sensor 100 of the present application is more uniform, the torque sensor 100 has higher measurement sensitivity and better long-term stability, and its overall performance is better.

[0071] For the torque sensor of the present application, a spring body and a stress body are provided between the inner ring body and the outer ring body, and a stress groove is provided on the stress body. The depth of the stress groove is greater than the thickness of the spring body. When a radial load is applied to the torque sensor, the stress groove on the stress body can disperse the stress on the spring body to effectively reduce the stress on the spring body and avoid stress concentration at the spring body, thereby improving the mechanical strength and service life of the torque sensor; and, combined with the setting of the reinforcement member protruding from the surface of the transition body, it can not only improve the stress distribution on the transition body, but also enhance the overall rigidity of the torque sensor, reduce the influence of the assembly preload on the measurement result of the torque sensor, avoid crosstalk, effectively ensure the accuracy of the measurement, and ensure effective and normal use by users.

[0072] Although the present invention has been described with reference to several typical embodiments, it should be understood that the terms used are illustrative and exemplary, rather than restrictive. Since the present invention can be embodied in a variety of forms without departing from the spirit or essence of the invention, it should be understood that the above embodiments are not limited to any of the foregoing details, but should be interpreted broadly within the spirit and scope defined by the appended claims, so all changes and modifications falling within the scope of the claims or their equivalents should be covered by the appended claims.

Claims

1. A torque sensor, characterized in that: include: The sensing body comprises an inner ring body and an outer ring body arranged outside the inner ring body, wherein both the outer ring body and the inner ring body are ring-shaped; A transition body is arranged between the inner ring body and the outer ring body, and both side surfaces of the transition body are lower than the surfaces of the outer ring body and the inner ring body; the transition body comprises a spring body and a stress body connected to each other, the spring body is arranged close to the inner ring body, and the stress body is arranged close to the outer ring body; a circular stress groove is provided on one side surface of the stress body, and the depth of the stress groove is greater than the thickness of the spring body; A reinforcement member is arranged on the surface of the transition body and protrudes from the surface of the transition body. The reinforcement member is arranged at the connection between the transition body and the inner ring body and the outer ring body.

2. The torque sensor according to claim 1, characterized in that: The reinforcement member includes an inner ring reinforcement portion, which is annular; the inner ring reinforcement portion is convexly arranged on the surface of the spring body and is arranged close to the connection between the spring body and the inner ring body; the inner ring reinforcement portion and the stress groove are both arranged on the same side surface of the transition body.

3. The torque sensor according to claim 1 or claim 2, characterized in that: The reinforcement member includes an outer ring reinforcement portion, which is annular; the outer ring reinforcement portion is protruding from the surface of the stress body and is arranged close to the connection between the stress body and the outer ring body; the outer ring reinforcement portion and the stress groove are both arranged on the same side surface of the stress body.

4. The torque sensor according to claim 3, characterized in that: The reinforcement member also includes a back reinforcement portion, which is protruding from the surface of the stress body and is arranged close to the connection between the stress body and the outer ring body. The back reinforcement body and the stress groove are respectively arranged on both side surfaces of the stress body.

5. The torque sensor according to claim 1, characterized in that: The torque sensor further comprises a plurality of strain gauges, which are arranged on the surface of the spring body; the strain gauges and the stress grooves are both arranged on the same side surface of the transition body, and the plurality of strain gauges are arranged at intervals along the circumference of the inner ring body.

6. The torque sensor according to claim 5, characterized in that: In the thickness direction of the torque sensor, the surface of the spring body provided with the strain gauge is lower than the surface of the stress body provided with the stress groove, and the surface of the spring body away from the strain gauge is lower than the surface of the stress body away from the stress groove.

7. The torque sensor according to claim 1, characterized in that: The thickness of the shrapnel body is 0.8mm-1.5mm.

8. The torque sensor according to claim 1, characterized in that: The width of the stress groove is 1 mm-2.5 mm, and the depth of the stress groove is 0.7 mm-1.8 mm.

9. The torque sensor according to claim 1, characterized in that: The outer ring body is provided with a through external force application opening, and the inner ring body is provided with a through internal force application opening. Both the external force application opening and the internal force application opening extend along the axial direction of the sensor body.

10. The torque sensor according to claim 9, characterized in that: There are multiple external force application openings and multiple internal force application openings. The multiple external force application openings are arranged on the outer ring body at intervals along the circumference of the outer ring body, and the multiple internal force application openings are arranged on the inner ring body at intervals along the circumference of the inner ring body.

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