Dynamic torque sensor with compact structure

Abstract

The utility model relates to the technical field of dynamic torque sensors, in particular to a dynamic torque sensor with a compact structure, which comprises a base internally provided with a mounting cavity. The elastic element penetrates through the mounting cavity; the two ends of the elastic element are fixed to the bearing assemblies respectively. Wherein a strain gauge is pasted on the elastic element, a bendable first circuit board is arranged on the strain gauge, a Wheatstone bridge circuit part, a voltage receiving module and a wireless signal transmitting module are arranged in the first circuit board, a second circuit board is arranged at the bottom of the base, and a signal receiving module and an external connecting port are arranged on the second circuit board; a supporting frame is further arranged on one side of the first circuit board, the supporting frame is fixed to the base, and a coil is wound on the supporting frame. The beneficial effects of the utility model are that by adopting the bendable flexible circuit board, the compact layout of the internal circuit of the sensor is realized, the installation space is saved, the bending characteristic of the flexible circuit board enables the sensor to adapt to a complex installation environment, and the convenience and the flexibility are improved.

Description

Technical Field

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

[0002] The torque sensor is a precision measuring instrument used to measure torque, speed and mechanical power. By forming a strain bridge on the elastic shaft and providing power to the strain bridge, the electrical signal of the elastic shaft being torsion can be obtained, and then converted into an electrical signal proportional to the torsion strain. The torque sensor is a key component of the force control of the arm robot, which can provide real-time torque information for accurate force control. The static and dynamic measurement performance of the torque sensor is the key to restricting the control frequency and control performance. The current mainstream test methods mainly include the following two: 1. Static test, by adding a load mass block, a constant torque is applied to the torque sensor, and its output measurement value is read. This measurement method is common in sensor manufacturers, or in applications where the dynamic requirements are not high to calibrate the torque sensor. 2. Dynamic test, through a direct drive motor and a coupling, a dynamically variable torque is applied to the torque sensor, and its output measurement value is read. This special equipment can cover the static measurement needs of the sensor, and is mostly used in special measuring tool manufacturers and professional appraisal institutions. It is expensive and highly professional, and requires a certain knowledge background to complete operation and fault analysis.

[0003] Current dynamic torque sensors are usually large in size due to their complex internal structure design, which makes them inconvenient to install and maintain, and they are also expensive. In addition, the large internal structure also increases the risk of the sensor being disturbed by the environment, affecting the measurement accuracy and stability. Utility Model Content

[0004] The technical problem to be solved by the utility model is to provide a dynamic torque sensor with a compact structure, which effectively solves the problems in the background technology.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the utility model is: a compact dynamic torque sensor, including a base,

[0006] The base is provided with an installation cavity inside;

[0007] The elastic element is arranged in the installation cavity;

[0008] Both ends of the elastic element are respectively fixed on the bearing assembly;

[0009] Among them, a strain gauge is pasted on the elastic element, and a flexible first circuit board is provided on the strain gauge. A Wheatstone bridge part, a voltage receiving module and a wireless signal sending module are provided in the first circuit board. A second circuit board is provided at the bottom of the base, and a signal receiving module and an external connection port are provided on the second circuit board; a support frame is also provided on one side of the first circuit board, and the support frame is fixed on the base, and a coil is wound on the support frame.

[0010] Furthermore, both ends of the elastic element protrude from the installation cavity; and the outer circles of the protruding parts at both ends are provided with threads.

[0011] Furthermore, a protective cover is provided on the outer circle of the first circuit board.

[0012] Furthermore, a through hole is provided inside the base, and the through hole is arranged in the installation cavity and located between the support frame and the second circuit board.

[0013] Furthermore, the bearing assembly includes a spherical rolling bearing and an angular contact bearing, wherein the spherical rolling bearing is arranged close to the support frame and close to the edge of the installation cavity, and the spherical rolling bearing and the angular contact bearing are arranged in parallel away from the support frame and close to the edge of the installation cavity, and the spherical rolling bearing is located inside the installation cavity relative to the angular contact bearing.

[0014] Furthermore, mounting plates are symmetrically extended from the bottom of the base at both ends along the length direction of the elastic element, and the mounting plates are provided with mounting holes.

[0015] Furthermore, a bearing protection ring is provided outside the parallel-arranged spherical rolling bearing and the angular contact bearing.

[0016] Furthermore, a cover plate is disposed outside the second circuit board.

[0017] The beneficial effect of the utility model is that by adopting a bendable flexible circuit board, a compact layout of the internal circuit of the sensor is achieved, which significantly saves installation space and is convenient for installation and use in a small space. The bending characteristics of the flexible circuit board enable the sensor to adapt to various complex installation environments, thereby improving installation convenience and flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a schematic cross-sectional structure diagram of a compact dynamic torque sensor in an embodiment of the utility model;

[0020] Figure 2 It is an exploded view of the compact dynamic torque sensor in the embodiment of the utility model.

[0021] Figure numerals: 1. base; 11. mounting plate; 111. mounting hole; 2. mounting cavity; 3. elastic element; 4. bearing assembly; 41. spherical rolling bearing; 42. angular contact bearing; 5. first circuit board; 6. second circuit board; 7. protective cover; 8. through hole; 9. support frame; 10. bearing protection ring. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0023] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0025] like Figure 1 to Figure 2 The compact dynamic torque sensor shown in the figure includes a base 1, an installation cavity 2 is opened inside the base 1; an elastic element 3 is inserted into the installation cavity 2; both ends of the elastic element 3 are respectively fixed on the bearing assembly 4; wherein, a strain gauge is pasted on the elastic element 3, and a flexible first circuit board 5 is provided on the strain gauge, and a Wheatstone bridge part, a voltage receiving module and a wireless signal sending module are provided in the first circuit board 5; a second circuit board 6 is provided at the bottom of the base 1, and a signal receiving module and an external connection port are provided on the second circuit board 6; a support frame 9 is also provided on one side of the first circuit board 5, and the support frame 9 is fixed on the base 1, and a coil is wound on the support frame 9.

[0026] The implementation process of the utility model is that a mounting cavity 2 is designed inside the base 1, and the shape and size of the mounting cavity 2 are determined according to the specific design of the elastic element 3 and the bearing assembly 4 to ensure that they can be tightly and firmly installed inside. The elastic element 3 is inserted into the mounting cavity 2, and its two ends are respectively fixed on the bearing assembly 4. Both ends of the elastic element 3 protrude from the mounting cavity 2, and the outer rings of the protruding parts at both ends are also provided with threads to facilitate installation with other components. A strain gauge is pasted on the elastic element 3 to measure the tiny deformation caused by torque. A first circuit board 5 is provided on the strain gauge, and a Wheatstone bridge circuit part is integrated inside the circuit board to convert the resistance change of the strain gauge into a voltage signal. At the same time, the first circuit board 5 also includes a voltage receiving module and a wireless signal sending module for processing and sending the measured torque data. The first circuit board 5 sends the measured torque data to the second circuit board 6, which is arranged at the bottom of the base 1 and is provided with a signal receiving module and an external connection port. External devices can receive and record torque data by connecting these ports. A support frame 9 is also provided on one side of the first circuit board 5 . The support frame 9 is fixed on the base 1 . A coil is wound on the support frame 9 , which rotates to cut the magnetic lines of force to supply power to the circuit on the elastic element.

[0027] In the present invention, both ends of the elastic element 3 protrude from the mounting cavity 2, so that they can contact and transmit torque more directly with external transmission components (such as shafts, gears, etc.). This direct contact can reduce energy loss during transmission and enhance the stability and reliability of the connection. The outer rings of the protruding parts at both ends are provided with threads. The threads provided on the outer rings enable them to be tightly connected with external components by threaded connection, which is not only simple and fast, but also convenient for subsequent maintenance and replacement. When it is necessary to disassemble or replace the elastic element, it is only necessary to loosen the threaded connection without complicated disassembly process.

[0028] In the present invention, a protective cover 7 is provided on the outer ring of the first circuit board 5 to enhance the safety of the circuit board. The protective cover can prevent the circuit board from being subjected to external physical impact, scratches or chemical corrosion, thereby extending the service life of the circuit board and reducing the cost of repair or replacement due to damage.

[0029] In the utility model, a through hole 8 is further provided inside the base 1. The through hole 8 is arranged in the installation cavity 2 and is located between the support frame 9 and the second circuit board 6. The setting of the through hole 8 facilitates the electrical connection between the support frame 9 and the second circuit board 6, while saving space and making the internal structure more compact.

[0030] In the utility model, the bearing assembly 4 includes a spherical rolling bearing 41 and an angular contact bearing 42, wherein the spherical rolling bearing 41 is arranged near the support frame 9 and near the edge of the installation cavity 2, or the spherical rolling bearing 41 and the angular contact bearing 42 are arranged at the same time, and the spherical rolling bearing 41 and the angular contact bearing 42 are arranged in parallel at a position away from the support frame 9 and near the edge of the installation cavity 2, and the spherical rolling bearing 41 is located inside the installation cavity 2 relative to the angular contact bearing 42. This matching method can more effectively disperse and bear the load, improve the service life of the bearing and the overall performance of the equipment, and reduce the string movement of the elastic element 3 when it rotates.

[0031] In the present invention, the bottom of the base 1 symmetrically extends out mounting plates 11 at both ends along the length direction of the elastic element 3. The mounting plates 11 are provided with through holes 111. The mounting plates 11 and the through holes 111 thereon provide mounting interfaces, so that the device can be conveniently connected and fixed with other components, reducing the complexity of the installation process and improving the installation efficiency. The base 1 is fixed to other structures or platforms through the mounting plates 11, which can enhance the stability of the entire device. The symmetrical design of the mounting plates 11 makes the fixing force distribution more uniform, avoiding deformation or damage caused by uneven force.

[0032] In the utility model, a bearing protection ring 10 is also provided outside the parallel spherical rolling bearing 41 and the angular contact bearing 42 to facilitate the installation of the elastic element 3. In addition, the bearing protection ring 10 can prevent the grease inside the bearing from leaking out, ensuring that the bearing is always in a good lubricated state. The bearing protection ring 10 provides additional support and fixing for the bearing, which helps to enhance the stability of the bearing. When running at high speed or bearing a large load, the bearing protection ring 10 can prevent the bearing from displacement or deformation. The bearing protection ring 10 helps the installation cavity 2 in the base 1 to form a stepped hole, which facilitates the installation of the elastic element 3 and the uniform size of the bearings 41 on both sides of the elastic element 3.

[0033] In the present invention, a cover plate 12 is further provided outside the second circuit board 6. The cover plate 12 can effectively prevent impurities such as dust and moisture from entering the inside of the circuit board, and protect the circuit board from being corroded by the external environment.

[0034] Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the description are only for explaining the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which are within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A compact dynamic torque sensor, comprising a base (1), characterized in that: The base (1) is provided with a mounting cavity (2) inside; The elastic element (3) is inserted into the installation cavity (2); Both ends of the elastic element (3) are respectively fixed on the bearing assembly (4); A strain gauge is attached to the elastic element (3), a bendable first circuit board (5) is provided on the strain gauge, a Wheatstone bridge portion, a voltage receiving module and a wireless signal sending module are provided inside the first circuit board (5), a second circuit board (6) is provided at the bottom of the base (1), a signal receiving module and an external connection port are provided on the second circuit board (6); a support frame (9) is also provided on one side of the first circuit board (5), the support frame (9) is fixed on the base (1), and a coil is wound on the support frame (9).

2. The compact dynamic torque sensor according to claim 1, characterized in that: Both ends of the elastic element (3) protrude from the installation cavity (2); and the outer rings of the protruding parts at both ends are provided with threads.

3. The compact dynamic torque sensor according to claim 1, characterized in that: The outer ring of the first circuit board (5) is provided with a protective sleeve (7).

4. The compact dynamic torque sensor according to claim 3, characterized in that: A through hole (8) is also provided inside the base (1), and the through hole (8) is arranged in the installation cavity (2) and is located between the support frame (9) and the second circuit board (6).

5. The compact dynamic torque sensor according to claim 1, characterized in that: The bearing assembly (4) comprises a spherical rolling bearing (41) and an angular contact bearing (42), wherein the spherical rolling bearing (41) is arranged near the support frame (9) and near the edge of the installation cavity (2), and the spherical rolling bearing (41) and the angular contact bearing (42) are arranged in parallel at a position away from the support frame (9) and near the edge of the installation cavity (2), and the spherical rolling bearing (41) is located inside the installation cavity (2) relative to the angular contact bearing (42).

6. The compact dynamic torque sensor according to claim 1, characterized in that: The bottom of the base (1) has mounting plates (11) symmetrically extending from both ends along the length direction of the elastic element (3), and the mounting plates (11) are provided with mounting holes (111).

7. The compact dynamic torque sensor according to claim 5, characterized in that: A bearing protection ring (10) is also provided outside the spherical rolling bearing (41) and the angular contact bearing (42) which are arranged in parallel.

8. The compact dynamic torque sensor according to claim 1, characterized in that: A cover plate (12) is also provided outside the second circuit board (6).

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