Torque sensor

Abstract

The utility model belongs to the technical field of sensors, and relates to a torque sensor, which comprises a base, a middle connecting piece, an induction seat and an induction assembly, the middle connecting piece is flexible, and the induction seat is rotatably connected with the base through the middle connecting piece; the induction assembly comprises an amplification piece with a connecting end and an amplification end and a signal conversion device arranged on the base, the connecting end of the amplification piece is arranged on the induction seat, and the amplification end extends to the base and is connected with the signal conversion device; when the induction base and the base rotate relatively, the second deflection amplitude of the rotation of the amplification end of the amplification piece relative to the connecting end is larger than the first deflection amplitude of the relative rotation of the induction base and the base, and the second deflection amplitude obtained from the amplification piece is converted into an electric signal through the signal conversion device. Compared with an electrical amplifier, the torque sensor realizes torque measurement more stably and accurately by physically amplifying the deflection amplitude, avoids environmental influence such as temperature and the like, and is beneficial to popularization and use of application products in different areas with large temperature differences.

Description

Technical Field

[0001] The utility model relates to the technical field of sensors, in particular to a torque sensor. Background Art

[0002] A torque sensor (also known as a torque sensor, torque sensor, torque sensor, torque meter) is a sensing device that senses and detects the torsional torque exerted on various rotating or non-rotating mechanical parts, and converts the sensed torsional torque into an electrical signal. Existing torque sensors generally include at least a housing and a strain gauge built into the housing, an elastic shaft, and a bridge circuit. The strain gauge is attached to the elastic shaft, and the converter is electrically connected to the bridge circuit. When the elastic shaft is subjected to torque, the strain gauge senses the strain and produces a resistance change. The bridge circuit generates a voltage signal proportional to the torque according to the resistance change. In addition, the torque sensor usually also includes a signal processing circuit and a converter, so as to process the resistance change generated by the signal processing circuit and the converter, and amplify and correct the converted voltage signal.

[0003] However, the electrical method of amplifying the voltage signal is easily affected by environmental factors such as temperature, thus affecting the detection accuracy. Utility Model Content

[0004] The purpose of the embodiments of the utility model is to solve the technical problem that the detection accuracy of the existing torque sensor is not stable enough.

[0005] In order to solve the above technical problems, the embodiment of the utility model provides a torque sensor, which adopts the following technical solution:

[0006] The torque sensor comprises:

[0007] Pedestal;

[0008] The intermediate connecting piece is flexible;

[0009] The induction seat is rotatably connected to the base via the intermediate connecting piece;

[0010] The induction component comprises an amplifier having a connection end and an amplifier end and a signal conversion device arranged on the base, wherein the connection end of the amplifier is arranged on the induction base, and the amplifier end extends toward the base and is connected to the signal conversion device;

[0011] When the sensing seat and the base rotate relative to each other, the second deflection amplitude of the amplifying end of the amplifier relative to the connecting end is greater than the first deflection amplitude of the relative rotation of the sensing seat and the base, and the second deflection amplitude obtained from the amplifier is converted into an electrical signal by the signal conversion device.

[0012] In some embodiments of the present invention, the amplifying member is arranged along an extension direction parallel to a rotation center line of relative rotation between the sensing base and the base.

[0013] In some embodiments of the utility model, the signal conversion device includes an inductive adapter, the amplifier has an intermediate section between the connecting end and the amplifying end, and the inductive adapter is provided with an adapter hole for inserting the amplifying end and / or the intermediate section of the amplifier; the adapter hole is directly opposite to the connecting end of the amplifier and is arranged along the extension direction of the rotation centerline.

[0014] In some embodiments of the present invention, the adapter hole is recessed on the top surface of the induction adapter.

[0015] In some embodiments of the utility model, the induction base is provided with a plug-in hole for the connection end of the amplifier to be inserted, and the plug-in hole is directly opposite to the adapter hole.

[0016] In some embodiments of the present invention, the sensing component further includes a first mounting base, which is disposed on the sensing base and is mounted with the connecting end of the amplifier.

[0017] In some embodiments of the present invention, the first mounting seat is arranged on a side of the sensing seat facing the base, and a plug hole for inserting the connecting end of the amplifier is opened on the first mounting seat, and the plug hole is directly opposite to the adapter hole.

[0018] In some embodiments of the present invention, the sensing component also includes a second mounting seat, the signal conversion device also includes an encoder and a deflection feedback member, the encoder is mounted at one position of the second mounting seat, and the sensing adapter is rotatably mounted at another position of the second mounting seat to rotate with the amplifying end of the amplifier; the deflection feedback member is connected to the sensing adapter and is correspondingly arranged with the encoder to rotate under the drive of the sensing adapter; the encoder is configured to convert the rotation angle of the deflection feedback member into an electrical signal.

[0019] In some embodiments of the present invention, the second mounting seat includes a first mounting portion and a second mounting portion, the first mounting portion is mounted on the base on the side of the encoder facing the amplifier to rotatably mount the inductive adapter; the second mounting portion is mounted on the base and has the encoder mounted thereon.

[0020] In some embodiments of the present utility model, the inductive adapter is rotatably plugged into the first mounting portion via a rotating connector; and the deflection feedback component is coaxially arranged with the inductive adapter.

[0021] In some embodiments of the present invention, the deflection feedback component and the induction adapter are both pillar components, and the outer diameter of the deflection feedback component is greater than the outer diameter of the induction adapter.

[0022] In some embodiments of the present invention, the encoder is a magnetic encoder or an optical encoder.

[0023] In some embodiments of the present invention, the amplifying member is a long strip-shaped deformed body.

[0024] In some embodiments of the present utility model, the intermediate connecting member includes a plurality of hollow elastic blocks, and all of the elastic blocks are evenly arranged between the base and the induction seat in the circumferential direction;

[0025] Alternatively, the intermediate connecting member includes a plurality of flexible connecting blocks, and all the connecting blocks are evenly arranged between the base and the sensing base in the circumferential direction.

[0026] In some embodiments of the present invention, the base and the sensing seat are both disc-shaped structures; and / or the outer edges of the base, the sensing seat, the intermediate connecting piece and the sensing component are flush.

[0027] In some embodiments of the present invention, two sensing components are provided, and the two sensing components are symmetrically arranged relative to a rotation center line of relative rotation between the sensing base and the base.

[0028] Compared with the prior art, the torque sensor of the embodiment of the utility model has the following beneficial effects:

[0029] The torque sensor is provided with a flexible intermediate connecting piece between the base and the sensing base, and a sensing component is provided on the base, and the connecting end and the amplifying end of the amplifier of the sensing component are respectively provided on the sensing base and the signal conversion device. When the sensing base and the base rotate relatively, the connecting end of the amplifier rotates with the sensing base and has a first deflection amplitude. According to the lever principle, the amplifying end can amplify the first deflection amplitude to have a second deflection amplitude, and the signal conversion device connected to the amplifying end converts the second deflection amplitude into an electrical signal. Compared with the use of electrical amplifiers, the torque sensor physically amplifies deformations such as slight rotations between the base and the sensing base through the amplifier, so as to achieve torque measurement more stably and accurately through the amplification of the deflection amplitude, avoid fluctuations in measurement results due to environmental influences such as temperature, and even large deviations and other undesirable conditions, so as to facilitate the promotion and application of the product in different areas with large temperature differences, improve the versatility of the product, and reduce production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the scheme of the utility model, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are some embodiments of the utility model or corresponding prior art. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0031] Figure 1 It is a three-dimensional structural schematic diagram of a torque sensor in an example of the utility model from one viewing angle;

[0032] Figure 2 yes Figure 1 A partial enlarged view of the middle A;

[0033] Figure 3 It is a three-dimensional exploded schematic diagram of a torque sensor in an example of the utility model;

[0034] Figure 4 It is a schematic diagram of the three-dimensional structure of the torque sensor in another perspective in the example of the utility model;

[0035] Figure 5 It is a three-dimensional structural schematic diagram of the sensing component in the example of the utility model from one viewing angle;

[0036] Figure 6 It is a three-dimensional structural schematic diagram of the sensing component in another perspective in the example of the utility model;

[0037] Figure 7 It is a three-dimensional exploded schematic diagram of the sensing component in the example of the utility model.

[0038] The reference numerals in the accompanying drawings are as follows:

[0039] 100. Torque sensor;

[0040] 1. Base; 11. Avoidance hole;

[0041] 2. Intermediate connecting piece; 21. Elastic block;

[0042] 3. Induction seat;

[0043] 4. Sensing component; 41. Amplifying element; 411. Connecting end; 412. Middle section; 413. Amplifying end; 42. Signal conversion device; 421. Sensing adapter; 4211. Adapter hole; 422. Encoder; 423. Deflection feedback element; 43. First mounting seat; 431. Plug hole; 44. Second mounting seat; 441. First mounting portion; 4411. Connecting hole; 442. Second mounting portion. DETAILED DESCRIPTION

[0044] Unless otherwise defined, all technical and scientific terms used in this document have the same meaning as commonly understood by technicians in the technical field of the present invention; the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. For example, the directions or positions indicated by terms such as "length", "width", "up", "down", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", and "outside" are based on the directions or positions shown in the drawings, which are only for the convenience of description and cannot be understood as limitations on the present technical solution.

[0045] The terms "including" and "having" and any variations thereof in the specification and claims of the present utility model and the above-mentioned drawings are intended to cover non-exclusive inclusions; the terms "first", "second", etc. in the specification and claims of the present utility model or the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0046] In the specification and claims of the utility model and the above-mentioned drawings, when an element is referred to as being "fixed on" or "mounted on" or "disposed on" or "connected to" another element, it may be directly or indirectly located on the other element. For example, when an element is referred to as being "connected to" another element, it may be directly or indirectly connected to the other element.

[0047] In addition, the reference to "embodiment" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present invention. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0048] The embodiment of the utility model provides a torque sensor 100, which can be applied to multiple fields such as robots.

[0049] like Figure 1 and Figure 3 As shown, the torque sensor 100 includes a base 1, an intermediate connector 2, a sensing base 3 and a sensing component 4. The sensing base 3 is rotatably connected to the base 1 via the intermediate connector 2, and the intermediate connector 2 is flexible. The sensing component 4 is arranged on the base 1 and the sensing base 3. In this way, when one of the base 1 and the sensing base 3 has a slight rotation or other deformation, the sensing component 4 can quickly sense the deformation through the transmission of the intermediate connector 2.

[0050] Exemplarily, the sensing seat 3 and the base 1 are respectively installed on two external components that can rotate relative to each other and have an axial gap. When the two external components rotate slightly relative to each other, the sensing seat 3 and the base 1 can also rotate relative to each other, so that the torque between the two external components when they rotate relative to each other can be measured by the torque sensor 100.

[0051] In this embodiment, if Figure 1 , Figure 2 and Figure 4 As shown, in order to realize the torque detection function of the torque sensor 100, the sensing component 4 includes an amplifier 41 and a signal conversion device 42 arranged on the base 1, and the amplifier 41 has a connecting end 411 and an amplifying end 413 arranged opposite to each other, wherein the connecting end 411 of the amplifier 41 is arranged on the sensing base 3, and the amplifying end 413 extends to the base 1 and is connected to the signal conversion device 42. It should be noted that the connecting end 411 of the amplifier 41 can be directly connected to the sensing base 3, and can also be connected to other components arranged on the sensing base 3, so as to be indirectly connected or abutted with the sensing base 3.

[0052] In this embodiment, when the sensing base 3 and the base 1 rotate relative to each other, the second deflection amplitude of the amplifying end 413 of the amplifier 41 rotating relative to the connecting end 411 is greater than the first deflection amplitude of the relative rotation of the sensing base 3 and the base 1, and the sensing component 4 converts the second deflection amplitude obtained from the amplifier 41 into an electrical signal through the signal conversion device 42. In short, the torque sensor 100 detects the torque between the sensing base 3 and the base 1 through the angular deflection of the amplifier 41 in the sensing component 4.

[0053] For example, if the base 1 is fixed and the external component connected to the sensing base 3 rotates, the sensing base 3 will rotate accordingly relative to the base 1 due to the circumferential force from the external component. At this time, the sensing component 4 can not only quickly sense the rotation change of the sensing base 3 through the transmission of the flexible intermediate connecting member 2, but also amplify the rotation amplitude (that is, the first deflection amplitude) of the connecting end 411 of the amplifier 41 through the amplifying end 413 of the amplifier 41 according to the lever principle to form a second deflection amplitude, and convert the second deflection amplitude into an electrical signal through the signal conversion device 42 connected to the amplifying end 413, so as to realize the measurement of the angular deflection size of the amplifier 41.

[0054] In addition, an axial gap is set between the base 1 and the sensing base 3, the amplifier 41 also extends along the axial direction of the base 1 / sensing base 3, and the connecting end 411 and the amplifier end 413 of the amplifier 41 are respectively set on the sensing base 3 and the base 1, so that the sensing component 4 can further obtain the torque between the sensing base 3 and the base 1 according to the angular deflection size of the amplifier end 413 of the amplifier 41, the length of the amplifier 41, the flexibility parameters of the intermediate connecting member 2 and other data, and then people can measure the torque between the two external components through the torque sensor.

[0055] It should be noted that, in order to improve the amplification effect or sensitivity of the amplifier 41 , the amplifier 41 may be selected to be a long strip-shaped deformable body, specifically, a slender deformable body, such as a probe.

[0056] In this embodiment, if Figure 1 , Figure 3 and Figure 4 As shown, two sensing components 4 are provided, wherein the two sensing components 4 are symmetrically arranged with respect to a rotation center line of relative rotation between the sensing base 3 and the base 1 .

[0057] Exemplarily, the base 1 and the sensing seat 3 are both disc-shaped structures, and the two are coaxial and arranged with an axial gap, wherein the rotation centerline of the base 1 and the sensing seat 3 relative to each other is the central axis of the base 1 / sensing seat 3, that is, the two sensing seats 3 are symmetrically arranged relative to the central axis of the base 1 / sensing seat 3. In this way, on the one hand, the balance of the installation of the sensing component 4 can be ensured, and the amplifier 41 of the sensing component 4 can be prevented from shaking greatly when the base 1 and the sensing seat 3 rotate relative to each other, which is conducive to improving the detection accuracy and reliability of the torque sensor 100; on the other hand, it is conducive to simplifying the overall structure of the torque sensor 100, ensuring the compactness of the structure and the aesthetic appearance.

[0058] Optionally, the outer edges of the base 1 , the sensing base 3 , the intermediate connector 2 and the sensing assembly 4 may also be flush with each other, so that the structure of the torque sensor 100 is more compact and the appearance is more beautiful.

[0059] In addition, the number of the sensing components 4 is not limited to two, and may be three, four, five or more. There is no special limitation here. It is only necessary that all the sensing components 4 are evenly arranged around the rotation center of the relative rotation between the sensing base 3 and the base 1.

[0060] Of course, in practice, the shapes of the base 1 , the intermediate connector 2 and the induction base 3 do not need to be the same. In other embodiments, each of them can also be in other suitable shapes, which are not particularly limited here.

[0061] In summary, compared with the prior art, the torque sensor 100 has at least the following beneficial effects:

[0062] The torque sensor 100 is provided with a flexible intermediate connecting member 2 between the base 1 and the sensing seat 3, and a sensing component 4 is provided on the base 1, and the connecting end 411 and the amplifying end 413 of the amplifying member 41 of the sensing component 4 are respectively provided on the sensing seat 3 and the signal conversion device 42. When the sensing seat 3 and the base 1 rotate relatively, the connecting end 411 of the amplifying member 41 rotates with the sensing seat 3 and has a first deflection amplitude. According to the lever principle, the amplifying end 413 can amplify the first deflection amplitude to have a second deflection amplitude, and the signal conversion device 42 connected to the amplifying end 413 converts the second deflection amplitude into an electrical signal. Compared with an electrical amplifier, the torque sensor 100 physically amplifies deformations such as slight rotation between the base 1 and the sensing seat 3 through the amplifying member 41, so as to achieve torque measurement more stably and accurately through the amplification of the deflection amplitude, avoid fluctuations in the measurement results due to environmental influences such as temperature, and even large deviations and other undesirable conditions, so as to facilitate the promotion and use of the product in different areas with large temperature differences, improve the versatility of the product, and reduce production costs.

[0063] In order to make the technical personnel in this field better understand the present utility model scheme, the following will be combined with the attached Figures 1 to 7 , clearly and completely describe the technical solutions in the embodiments of the utility model.

[0064] In some embodiments of the present invention, Figure 1 and Figure 2 As shown, the enlargement member 41 is arranged along the extension direction parallel to the rotation center line of the relative rotation of the sensing base 3 and the base 1. In short, the length direction of the enlargement member 41 is parallel to the rotation center line between the sensing base 3 and the base 1. Exemplarily, the length direction of the enlargement member 41 is arranged parallel to the central axis of the sensing base 3 / base 1.

[0065] In some embodiments of the present invention, Figure 1 and Figure 2 As shown, the second rotation amplitude of the amplifying end 413 of the amplifier 41 is converted into an electrical signal through the signal conversion device 42. The signal conversion device 42 includes an inductive adapter 421. The amplifier 41 is connected to the connecting end 411 (see Figure 6 or Figure 7 ) and the enlarged end 413 have an intermediate section 412 (see Figure 7 ), wherein an adapter hole 4211 is provided on the inductive adapter 421, the adapter hole 4211 is directly opposite to the connecting end 411 of the amplifier 41, and is arranged along the extension direction of the rotation center line and parallel to the rotation center line, and the amplifying end 413 and / or the middle section 412 of the amplifier 41 is inserted into the adapter hole 4211 to ensure that the amplifier 41 is axially arranged on the signal conversion device 42 parallel to the rotation center line.

[0066] Exemplarily, the sensing adapter 421 is arranged along the radial direction of the base 1 , and of course, it can also be arranged on the base 1 along the axial direction of the base 1 or other directions, as long as the sensing adapter 421 is installed with the enlarged end 413 of the amplifier 41 .

[0067] In addition, the adapter hole 4211 is recessed in the top surface of the sensing adapter 421, so that the amplifying end 413 of the amplifier 41 can be directly placed in the adapter hole 4211 from the top of the top surface of the sensing adapter 421 to quickly complete the installation of the amplifying end 413. There is no need to specially consider whether the axial clearance between the sensing base 3 and the base 1 allows the amplifying part 41 to be axially installed. Therefore, it is very convenient to design and assemble the torque sensor 100.

[0068] It should be noted that the adapter hole 4211 can be a groove concavely arranged along the axial direction of the sensing adapter 421, or a channel formed along the radial direction of the sensing adapter 421, and the ends of the groove and the channel can be closed or open, that is, if the ends are closed, the groove and the channel do not penetrate the sensing adapter 421 in the radial direction of the sensing adapter 421, and conversely, if the ends are open, the groove and the channel penetrate the sensing adapter 421 in the radial direction of the sensing adapter 421. Among them, the enlarged end 413 of the enlarged member 41 can be completely accommodated in the groove or the channel in its extension direction, or it can extend out of the groove or the channel so that part of the middle section 412 of the enlarged member 41 is accommodated in the groove or the channel.

[0069] In addition, when the amplifying end 413 of the amplifying element 41 is deflected, the inductive adapter 421 of the signal converting device 42 is also deflected accordingly.

[0070] In some embodiments of the present invention, in order to arrange the amplifying element 41 of the sensing assembly 4 on the sensing base 3, the sensing base 3 is provided with a connecting end 411 for the amplifying element 41 (see Figure 6 or Figure 7 ) is inserted into a plug-in hole (not shown), wherein the plug-in hole is directly opposite to the adapter hole 4211 of the sensing adapter 421, so that the amplifier 41 can be directly set on the sensing base 3 and the sensing adapter 421 along the direction from the plug-in hole to the adapter hole 4211 to ensure that the amplifier 41 is axially set parallel to the rotation centerline.

[0071] Or, in other embodiments, Figure 1 and Figure 2 As shown, the sensing assembly 4 further includes a first mounting seat 43, wherein the first mounting seat 43 is disposed on the sensing seat 3 and is mounted with a connecting end 411 of the amplifier 41 (see Figure 6 or Figure 7). For example, in order to further improve the compactness of the torque sensor 100, the first mounting seat 43 is arranged on the side of the sensing seat 3 facing the base 1, and the first mounting seat 43 is provided with a plug hole 431 for the connection end 411 of the amplifier 41 to be inserted, and the plug hole 431 is directly opposite to the adapter hole 4211 to ensure that the amplifier 41 is axially arranged on the sensing seat 3 parallel to the rotation center line.

[0072] Exemplarily, the plug-in hole 431 can be recessed in the radial top surface of the sensing seat 3 / first mounting seat 43, so that the connecting end 411 of the amplifier 41 can be directly placed in the plug-in hole 431 from the top of the top surface of the sensing seat 3 / first mounting seat 43, so as to quickly install the amplifier end 413 without special consideration of the axial clearance between the sensing seat 3 and the base 1, the axial extension length of the first mounting seat 43, etc., which is conducive to simplifying the design and assembly of the torque sensor 100.

[0073] It should also be noted that, similarly, the plug hole 431 can be a groove concavely arranged on the sensing seat 3 / first mounting seat 43 along the radial direction of the sensing seat 3, or a channel formed on the sensing seat 3 / first mounting seat 43 along the axial direction of the sensing seat 3, and the ends of the groove and the channel can be closed or open, that is, if the ends are closed, the groove and the channel do not penetrate the sensing seat 3 / first mounting seat 43 in the axial direction of the sensing seat 3, and conversely, if the ends are open, the groove and the channel penetrate the sensing seat 3 / first mounting seat 43 in the axial direction of the sensing seat 3. Among them, the connection end 411 of the amplifier 41 can be completely accommodated in the groove or the channel in its extension direction, or it can extend out of the groove or the channel so that part of the middle section 412 of the amplifier 41 is accommodated in the groove or the channel.

[0074] In some embodiments of the present invention, Figure 1 , Figure 2 , Figures 4 to 7 As shown, in order to realize the signal conversion function of the signal conversion device 42 for the second deflection amplitude, the sensing component 4 also includes a second mounting seat 44, and the signal conversion device 42 also includes an encoder 422 and a deflection feedback member 423, wherein the encoder 422 is installed at one position of the second mounting seat 44, and the sensing adapter 421 is rotatably installed at another position of the second mounting seat 44 to rotate with the amplifying end 413 of the amplifier 41; the deflection feedback member 423 is connected to the sensing adapter 421 and is correspondingly arranged with the encoder 422 to rotate under the drive of the sensing adapter 421; the encoder 422 is configured to convert the rotation angle of the deflection feedback member 423 into an electrical signal.

[0075] It can be understood that when the sensing seat 3 rotates relative to the base 1, the sensing seat 3 will drive the connecting end 411 of the amplifier 41 to rotate with the first deflection amplitude, and under the action of the flexible intermediate connecting member 2, the entire amplifier 41 will rotate, wherein the sensing adapter 421 will rotate with the amplifying end 413 of the amplifier 41 with the second deflection amplitude, and the deflection feedback member 423 will also rotate with the sensing adapter 421 with the second deflection amplitude, the encoder 422 recognizes the second deflection amplitude of the deflection feedback member 423, and converts the second deflection amplitude into an electrical signal, thereby finally completing the detection of the torque between the sensing seat 3 and the base 1.

[0076] In some embodiments of the present invention, Figure 1 , Figure 2 , Figures 4 to 7 As shown, the second mounting seat 44 includes a first mounting portion 441 and a second mounting portion 442, wherein the first mounting portion 441 is mounted on the base 1 at the side of the encoder 422 facing the amplifier 41 to rotatably mount the inductive adapter 421; the second mounting portion 442 is mounted on the base 1 and is mounted with the encoder 422. Specifically, the inductive adapter 421 is rotatably plugged into the first mounting portion 441 through a rotatable connector such as a bearing (not shown).

[0077] For example, Figure 1 and Figure 2 As shown, in order to make the overall structure more compact, the base 1 is provided with an avoidance hole 11 along the radial direction, and the first mounting portion 441 is provided with a connecting hole 4411 along the radial direction parallel to the base 1, and a bearing (not shown) is installed in the connecting hole 4411, wherein the first mounting portion 441 is installed on the base 1 at the side of the base 1 facing away from the sensing base 3, and is located on the top of the encoder 422; the sensing adapter 421 is rotated along the connecting hole 4411 and inserted into the bearing, and the top is exposed to the first mounting portion 441 and provided with a connecting hole 4211 to install the enlarged end 413 and / or the middle section 412 of the amplifier 41; the deflection feedback component 423 is coaxially arranged with the sensing adapter 421, and rotates synchronously with the sensing adapter 421, and is arranged with the encoder 422 along the radial gap parallel to the base 1.

[0078] In some embodiments of the present invention, Figures 5 to 7 As shown, the deflection feedback component 423 and the sensing adapter 421 are both column components, and the outer diameter of the deflection feedback component 423 is larger than the outer diameter of the sensing adapter 421, so that the second deflection amplitude of the sensing adapter 421 can be amplified by the deflection feedback component 423, so that the encoder 422 can more easily identify the angle change of the amplifier 41, thereby accurately obtaining the torque between the sensing base 3 and the base 1.

[0079] Of course, in reality, the outer diameter of the end of the sensing adapter 421 is larger than the outer diameter of the middle section 412 or the head end, and the outer diameter of the deflection feedback component 423 is larger than or equal to the outer diameter of the end of the sensing adapter 421. No special limitation is made here. The deflection feedback component 423 only needs to transmit the second deflection amplitude of the sensing adapter 421 intactly or after amplification to the encoder 422 for its identification.

[0080] Optionally, the encoder 422 may be a magnetic encoder 422 or an optical encoder 422 . Of course, it may also be other suitable types of encoders 422 , which are not particularly limited herein.

[0081] In some embodiments of the present invention, in order to form a flexible intermediate connecting member 2, such as Figure 1 , Figure 3 and Figure 4 As shown, the intermediate connecting member 2 includes a plurality of hollow elastic blocks 21 , wherein all the elastic blocks 21 are evenly arranged between the base 1 and the induction base 3 in the circumferential direction.

[0082] Alternatively, in other embodiments, the intermediate connector 2 includes a plurality of flexible connecting blocks (not shown), all of which are evenly arranged circumferentially between the base 1 and the sensing seat 3 to form a ring- or disc-shaped intermediate connector 2 to match the base 1 and the sensing seat 3.

[0083] It should be noted that in order to avoid interference between the intermediate connecting member 2 and the middle section 412 of the enlarged member 41 and to simplify the overall structure, the intermediate connecting member 2 also adopts an avoidance design at the position corresponding to the avoidance hole 11 of the base 1, that is, no elastic block 21 or connecting block is set at the position corresponding to the avoidance hole 11.

[0084] Of course, in other embodiments, the intermediate connecting member 2 may also adopt other suitable existing structures or newly created structures, which are not particularly limited here.

[0085] The above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. For those skilled in the art, the utility model may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the scope of the claims of the utility model.

Claims

1. A torque sensor, characterized in that: The torque sensor comprises: Pedestal; The intermediate connecting piece is flexible; The induction seat is rotatably connected to the base via the intermediate connecting piece; The induction component comprises an amplifier having a connection end and an amplifier end and a signal conversion device arranged on the base, wherein the connection end of the amplifier is arranged on the induction base, and the amplifier end extends toward the base and is connected to the signal conversion device; When the sensing seat and the base rotate relative to each other, the second deflection amplitude of the amplifying end of the amplifier relative to the connecting end is greater than the first deflection amplitude of the relative rotation of the sensing seat and the base, and the second deflection amplitude obtained from the amplifier is converted into an electrical signal by the signal conversion device.

2. The torque sensor according to claim 1, characterized in that: The amplifying member is arranged along an extending direction parallel to a rotation center line of relative rotation between the sensing seat and the base.

3. The torque sensor according to claim 1, characterized in that: The signal conversion device includes an inductive adapter, the amplifier has an intermediate section between the connecting end and the amplifying end, and the inductive adapter is provided with an adapter hole for inserting the amplifying end and / or the intermediate section of the amplifier; the adapter hole is directly opposite to the connecting end of the amplifier and is arranged along the extension direction of the rotation centerline.

4. The torque sensor according to claim 3, characterized in that: The adapter hole is recessed on the top surface of the induction adapter.

5. The torque sensor according to claim 3, characterized in that: The induction seat is provided with a plug-in hole for the connecting end of the amplifier to be plugged in, and the plug-in hole is directly opposite to the adapter hole.

6. The torque sensor according to claim 3, characterized in that: The sensing component further comprises a first mounting base, which is arranged on the sensing base and is mounted with the connecting end of the amplifier.

7. The torque sensor according to claim 6, characterized in that: The first mounting seat is arranged on a side of the sensing seat facing the base, and a plug hole for inserting the connecting end of the amplifier is provided on the first mounting seat, and the plug hole is directly opposite to the adapter hole.

8. The torque sensor according to claim 3, characterized in that: The sensing component also includes a second mounting seat, and the signal conversion device also includes an encoder and a deflection feedback member, the encoder is installed at one position of the second mounting seat, and the sensing adapter is rotatably installed at another position of the second mounting seat to rotate with the amplifying end of the amplifier; the deflection feedback member is connected to the sensing adapter and is correspondingly arranged with the encoder to rotate under the drive of the sensing adapter; the encoder is configured to convert the rotation angle of the deflection feedback member into an electrical signal.

9. The torque sensor according to claim 8, characterized in that: The second mounting seat includes a first mounting portion and a second mounting portion. The first mounting portion is mounted on the base at a side of the encoder facing the amplifier to rotatably mount the inductive adapter. The second mounting portion is mounted on the base and has the encoder mounted thereon.

10. The torque sensor according to claim 9, characterized in that: The inductive adapter is rotatably plugged into the first mounting portion via a rotating connector; the deflection feedback component is coaxially arranged with the inductive adapter.

11. The torque sensor according to claim 10, characterized in that: The deflection feedback component and the induction adapter are both column components, and the outer diameter of the deflection feedback component is greater than the outer diameter of the induction adapter.

12. The torque sensor according to claim 8, characterized in that: The encoder is a magnetic encoder or an optical encoder.

13. The torque sensor according to claim 1, characterized in that: The amplifying member is a long strip-shaped deformed body.

14. The torque sensor according to claim 1, characterized in that: The intermediate connecting member includes a plurality of hollow elastic blocks, and all of the elastic blocks are evenly arranged between the base and the induction seat in the circumferential direction; Alternatively, the intermediate connecting member includes a plurality of flexible connecting blocks, and all the connecting blocks are evenly arranged between the base and the sensing base in the circumferential direction.

15. The torque sensor according to claim 1, characterized in that: The base and the sensing seat are both disc-shaped structures; and / or the outer edges of the base, the sensing seat, the intermediate connecting piece and the sensing component are flush.

16. The torque sensor according to any one of claims 1 to 15, characterized in that: The two sensing components are provided with two, and the two sensing components are arranged symmetrically with respect to the rotation center line of the relative rotation between the sensing base and the base.

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