Compact humanoid robot linear joint force sensor and assembly applying same

Abstract

The utility model proposes a compact humanoid robot linear joint force sensor and an assembly employing the same, and the sensor comprises a sensor elastic body, the sensor elastic body comprises a housing and a plurality of strain beams, the housing is in a circular ring shape, and the housing comprises a first ring body and a second ring body, the first ring body and the second ring body are coaxial and connected, the strain beam is arranged in the first ring body, a strain gauge is arranged on the strain beam, and a plurality of connecting hole columns are arranged on the outer side of the shell. The force sensor can be directly and mechanically connected with a linear joint module motor and directly outputs analog or digital signals, and compared with a traditional force sensor which is mechanically connected with a motor through an adapter flange and a shell, the force sensor performs sensor data amplification and conversion through an external circuit, so that the force sensor is more reliable and reliable. According to the utility model, the size, the weight and the cost are obviously reduced, and the installation structure, the wiring and the like are simpler.

Description

Technical Field

[0001] The utility model relates to the technical field of force sensors, in particular to a compact humanoid robot linear joint force sensor and a component using the same. Background Art

[0002] The design of humanoid robots requires reducing the height and weight of linear joints. The existing tension and pressure sensor bodies on the market cannot be directly assembled with linear joint motors. They need to be installed with adapter flanges, housings and circuit boards before they can be used. In addition, the circuit cannot be integrated inside the sensor and an external circuit board is required for signal amplification and data processing. The overall weight and size are large, which is not conducive to reducing the weight and size of humanoid robot joints. Utility Model Content

[0003] To this end, one purpose of the present invention is to provide a compact humanoid robot linear joint force sensor and components using the same, so as to solve the problems mentioned in the background technology and overcome the deficiencies in the prior art.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] On the one hand, the present invention provides a compact humanoid robot linear joint force sensor, including a sensor elastomer, the sensor elastomer including a shell and a plurality of strain beams, the shell is in a circular ring shape, the shell includes a first ring body and a second ring body, the first ring body and the second ring body are coaxial and connected, the strain beam is arranged in the first ring body, a strain gauge is provided on the strain beam, and a plurality of connecting hole columns are provided on the outside of the shell.

[0006] Furthermore, a connection block is provided at the center of the first ring body, one end of the strain beam is connected to the connection block, and the other end of the strain beam is connected to the inner surface of the first ring body, and a plurality of strain beams are evenly distributed around the connection block.

[0007] Furthermore, the inner diameter of the first ring body is smaller than the inner diameter of the second ring body, and a circuit board is provided at the connection between the first ring body and the second ring body. The shape of the circuit board is circular, and the diameter of the circuit board is larger than the inner diameter of the first ring body. The inner surface of the first ring body is provided with a plurality of fixing hole columns, and the circuit board is provided with a plurality of grooves corresponding to the fixing hole columns.

[0008] Furthermore, the outer surface of the sensor elastomer is provided with a wire outlet hole and a motor wire groove, the wire outlet hole passes through the motor wire groove to form a first wire outlet hole and a second wire outlet hole on both sides of the motor wire groove, the circuit board is connected to a first cable, and the first cable is led out through the first wire outlet hole, the motor wire groove, and the second wire outlet hole in sequence.

[0009] Furthermore, the force sensor further includes a fixed end, which is connected to the connecting block and is located on a side of the connecting block away from the second ring body, and the fixed end is a stud with a thread on the outer surface.

[0010] Furthermore, the force sensor further includes a sealing plate, which is provided on a side of the first ring body away from the second ring body, and covers the first ring body.

[0011] Furthermore, a notch is provided on the circuit board, and the notch is close to the first wire outlet hole.

[0012] Furthermore, there are 6 strain beams and 12 strain gauges, each strain beam is provided with two strain gauges, and the strain gauges are located on both sides of the strain beam.

[0013] On the other hand, the present invention also provides a compact humanoid robot linear joint assembly, including the above-mentioned compact humanoid robot linear joint force sensor, and also including an encoder and a linear joint motor, the force sensor is connected to the linear joint motor, and a accommodating cavity is formed between the force sensor and the linear joint motor, and the encoder is located in the accommodating cavity.

[0014] Furthermore, the encoder is connected to a second cable, and the linear joint motor is connected to a third cable. The second cable and the first cable merge in the second ring body of the force sensor and are led out from the first cable outlet hole together. The third cable merges with the first cable and the second cable in the motor cable groove and are led out from the second cable outlet hole together.

[0015] Therefore, the utility model has the following beneficial effects:

[0016] The force sensor of the present invention can be directly mechanically connected to the linear joint module motor and directly output analog or digital signals. Compared with traditional force sensors that are mechanically connected to the motor through an adapter flange and a housing and amplify and convert sensor data through an external circuit, the size, weight and cost of the present invention are significantly reduced, and the installation structure, wiring, etc. have become simpler.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description and in part will become apparent from the following description or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0019] Figure 1This is an axonometric diagram of the force sensor of the utility model;

[0020] Figure 2 This is an axonometric drawing of the force sensor of the utility model from another perspective;

[0021] Figure 3 It is an exploded view of the force sensor of the utility model;

[0022] Figure 4 This is a schematic diagram of the force sensor of the utility model after the cover plate, circuit board and cables are hidden;

[0023] Figure 5 This is a schematic diagram of another perspective of the force sensor of the utility model after the cover plate, circuit board and cables are hidden;

[0024] Figure 6 This is a schematic diagram of the force sensor of the utility model after the cover plate, circuit board, cables and strain gauge are hidden;

[0025] Figure 7 This is a schematic diagram of the structure of the force sensor circuit board + cable of the utility model;

[0026] Figure 8 It is a structural diagram of the components of the utility model;

[0027] Figure 9 It is an exploded schematic diagram of the components of the utility model.

[0028] In the figure: 1. Shell; 2. First ring body; 3. Second ring body; 4. Strain beam; 5. Strain gauge; 6. Connecting hole column; 7. Connecting block; 8. Circuit board; 9. Fixing hole column; 10. Groove; 11. Motor wire trough; 12. First wire outlet hole; 13. Second wire outlet hole; 14. First cable; 15. Fixed end; 16. Closing plate; 17. Notch; 18. Encoder; 19. Linear joint motor; 20. Second cable; 21. Third cable; 22. Force sensor. DETAILED DESCRIPTION

[0029] The following describes in detail embodiments of the present invention, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention.

[0030] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0031] like Figure 1-Figure 7 As shown, the present invention provides a compact humanoid robot linear joint force sensor, including a sensor elastomer, which includes a shell 1 and a plurality of strain beams 4. The shell 1 is annular and includes a first ring body 2 and a second ring body 3. The first ring body 2 and the second ring body 3 are coaxial and connected. The strain beam 4 is arranged in the first ring body 2, and a strain gauge 5 is provided on the strain beam 4. The outer side of the shell 1 is provided with a plurality of connecting hole columns 6.

[0032] The force sensor of the present invention can be directly mechanically connected to the linear joint module motor and directly output analog or digital signals. Compared with traditional force sensors that are mechanically connected to the motor through an adapter flange and a housing and amplify and convert sensor data through an external circuit, the size, weight and cost of the present invention are significantly reduced, and the installation structure, wiring, etc. have become simpler.

[0033] Further, such as Figure 4 and Figure 5 As shown, a connecting block 7 is provided at the center of the first ring body 2 , one end of the strain beam 4 is connected to the connecting block 7 , and the other end of the strain beam 4 is connected to the inner surface of the first ring body 2 , and a plurality of strain beams 4 are evenly distributed around the connecting block 7 .

[0034] As an implementation method, Figure 4 and Figure 5 As shown, there are 6 strain beams 4 and 12 strain gauges 5 . Two strain gauges 5 are provided on each strain beam 4 , and the strain gauges 5 are located on both sides of the strain beam 4 .

[0035] 12 strain gauges 5 form a Wheatstone bridge, output mV signal, connected to the circuit board 8 (transmission circuit) for signal transmission. The circuit board 8 can be designed as needed, and can be V, RS485, CAN, etc.

[0036] As an implementation manner, there are five strain beams 4 and ten strain gauges 5 . Two strain gauges 5 are provided on each strain beam 4 , and the strain gauges 5 are located on both sides of the strain beam 4 .

[0037] As an implementation manner, there are four strain beams 4 and eight strain gauges 5 . Two strain gauges 5 are provided on each strain beam 4 , and the strain gauges 5 are located on both sides of the strain beam 4 .

[0038] As an implementation manner, there are 7 strain beams 4 and 14 strain gauges 5 . Two strain gauges 5 are provided on each strain beam 4 , and the strain gauges 5 are located on both sides of the strain beam 4 .

[0039] It should be understood that the aforementioned number of strain beams 4 and strain gauges 5 is merely exemplary. That is, the number of strain beams 4 and strain gauges 5 in the force sensor of the present invention is not fixed and can be selectively configured by those skilled in the art based on practical applications. Any number of strain beams 4 and strain gauges 5 that allows the strain beams 4 to form a bridge circuit and, in conjunction with the strain gauges 5, collect the bridge voltage of the force sensor, perform amplification, and perform data conversion processing to measure force is within the scope of protection of the present invention.

[0040] Further, such as Figure 1 、 Figure 4 and Figure 7 As shown, the inner diameter of the first ring body 2 is smaller than the inner diameter of the second ring body 3, and a circuit board 8 is provided at the connection between the first ring body 2 and the second ring body 3. The circuit board 8 is circular in shape, and the diameter of the circuit board 8 is larger than the inner diameter of the first ring body 2. A plurality of fixing hole columns 9 are provided on the inner surface of the first ring body 2, and a plurality of grooves 10 corresponding to the fixing hole columns 9 are provided on the circuit board 8.

[0041] Specifically, the inner diameter of the first ring body 2 is smaller than the inner diameter of the second ring body 3 , thereby forming a step at the connection between the first ring body 2 and the second ring body 3 for placing the supporting circuit board 8 .

[0042] The fixing hole column 9 and the groove 10 cooperate with each other to fix the circuit board 8 by screws or studs, which are not shown in the figure.

[0043] As an embodiment, there are two fixing hole columns 9 and two grooves 10 . The two fixing hole columns 9 are arranged opposite to each other on the inner surface of the first ring body 2 , and the two grooves 10 are arranged opposite to each other at the edge positions of the circuit board 8 .

[0044] As an embodiment, there are three fixing holes 9 and three grooves 10. The three fixing holes 9 are distributed in a triangular position on the inner surface of the first ring body 2, and the three grooves 10 are distributed in a triangular position on the edge of the circuit board 8.

[0045] As an embodiment, there are four fixing hole columns 9 and four grooves 10 . The four fixing hole columns 9 are evenly arranged on the inner surface of the first ring body 2 , and the four grooves 10 are evenly arranged on the edge positions of the circuit board 8 .

[0046] That is to say, the present invention does not impose any specific restrictions on the number of fixing holes 9 and grooves 10. Any number of fixing holes 9 and grooves 10 that can fix the circuit board 8 by cooperating with the fixing holes 9 and grooves 10 is within the protection scope of the present invention.

[0047] The circuit board 8 is located at the connection between the first ring body 2 and the second ring body 3, that is, the circuit board 8 is located inside the sensor. The circuit board 8 is arranged with a Wheatstone bridge detection circuit, a signal amplification and data processing circuit, which processes the signal output by the Wheatstone bridge composed of the strain gauges 5 to realize force detection.

[0048] In the field of force sensors, Wheatstone bridge detection circuits, signal amplification and data processing circuits are all mature existing technologies, and are not described in detail in this utility model.

[0049] Further, such as Figure 6 As shown, a wire outlet hole and a motor wire groove 11 are provided on the sensor elastomer. The wire outlet hole passes through the motor wire groove 11 to form a first wire outlet hole 12 and a second wire outlet hole 13 on both sides of the motor wire groove 11. The circuit board 8 is connected to the first cable 14, and the first cable 14 passes through the first wire outlet hole 12, the motor wire groove 11, and the second wire outlet hole 13 in sequence to be led out.

[0050] As an embodiment, the first wire outlet hole 12 and the second wire outlet hole 13 are equal in size.

[0051] As an embodiment, the aperture of the first wire outlet hole 12 is smaller than the aperture of the second wire outlet hole 13 .

[0052] Further, such as Figure 2 、 Figure 3 and Figure 5 As shown, the force sensor further includes a fixed end 15 , which is connected to the connecting block 7 and is located on a side of the connecting block 7 away from the second ring body 3 . The fixed end 15 is a stud with a threaded outer surface.

[0053] Further, such as Figure 2 、 Figure 3 As shown, the force sensor further includes a sealing plate 16 , which is disposed on a side of the first ring body 2 away from the second ring body 3 , and covers the first ring body 2 .

[0054] Further, such as Figure 7 As shown, a notch 17 is provided on the circuit board 8, and the notch 17 is close to the first wire outlet hole 12. The notch 17 is used to avoid the wires.

[0055] On the other hand, the present invention also provides a compact humanoid robot linear joint assembly, such as Figure 8 and Figure 9As shown, it includes the above-mentioned compact humanoid robot linear joint force sensor, and also includes an encoder 18 and a linear joint motor 19. The force sensor is connected to the linear joint motor 19, and a receiving cavity is formed between the force sensor and the linear joint motor 19. The encoder 18 is located in the receiving cavity.

[0056] like Figure 8 and Figure 9 As shown, the outer surface of the force sensor elastomer is provided with a connecting hole column 6, which can be cooperated with a screw or a screw to directly connect to the linear joint motor 19. The encoder 18 is located between the force sensor 22 and the linear joint motor 19. The end face of the linear joint motor 19 and the internal space of the second ring body 3 of the force sensor form an accommodating cavity for placing the encoder 18.

[0057] Furthermore, the encoder 18 is connected to a second cable 20, and the linear joint motor 19 is connected to a third cable 21. The second cable 20 and the first cable 14 merge in the second ring body 3 of the force sensor and are led out from the first cable outlet hole 12 together. The third cable 21 merges with the first cable 14 and the second cable 20 in the motor cable groove 11 and is led out from the second cable outlet hole 13 together.

[0058] The force sensor 22 of the present invention can be directly installed on the linear joint module motor. The amplification circuit and data processing circuit on the circuit board 8 are integrated inside the force sensor. At the same time, the first cable 14, the second cable 20, and the third cable 21 (respectively the signal output cable of the force sensor, the encoder cable, and the motor cable) are three-in-one output cables.

[0059] The utility model mechanically installs the force sensor body with the linear joint motor through a connecting hole column, and the interface design is consistent. The sensor data processing circuit is designed inside the force sensor body, which can collect the force sensor bridge voltage and perform amplification and data conversion processing.

[0060] The difference between the product of the utility model and the traditional force sensor is that the mechanical installation interface of the sensor is matched with the design of the humanoid robot, and the amplification circuit and the data processing circuit are integrated inside the sensor.

[0061] The product of this utility model can be directly mechanically connected to the linear joint module motor and can directly output analog or digital signals. Compared with the traditional solution (the force sensor is mechanically connected to the motor through the adapter flange and the housing, and the sensor data is amplified and converted through an external circuit), the size, weight and cost are greatly reduced, and the installation structure and wiring are simplified.

[0062] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0063] Those skilled in the art will readily understand that the present invention encompasses any combination of the components described in the above specification and the detailed description, as well as the components shown in the accompanying drawings. Due to space limitations and to maintain clarity, not all of the various solutions resulting from these combinations are described. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

[0064] Although the embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are illustrative and should not be construed as limiting the present invention. Those skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments without departing from the principles and purpose of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A compact humanoid robot linear joint force sensor, comprising a sensor elastic body, characterized in that: The sensor elastomer includes a shell and several strain beams. The shell is in a circular ring shape and includes a first ring body and a second ring body. The first ring body and the second ring body are coaxial and connected. The strain beam is arranged in the first ring body. The strain beam is provided with a strain gauge. The outer side of the shell is provided with several connecting hole columns.

2. A compact humanoid robot linear joint force sensor according to claim 1, characterized in that: A connection block is provided at the center of the first ring body. One end of the strain beam is connected to the connection block, and the other end of the strain beam is connected to the inner surface of the first ring body. A plurality of strain beams are evenly distributed around the connection block.

3. The compact humanoid robot linear joint force sensor according to claim 1, characterized in that: The inner diameter of the first ring body is smaller than the inner diameter of the second ring body. A circuit board is provided at the connection between the first ring body and the second ring body. The circuit board is circular in shape and has a diameter larger than the inner diameter of the first ring body. A plurality of fixing hole columns are provided on the inner surface of the first ring body, and a plurality of grooves corresponding to the fixing hole columns are provided on the circuit board.

4. The compact humanoid robot linear joint force sensor according to claim 3, characterized in that: The outer surface of the sensor elastomer is provided with a wire outlet hole and a motor wire groove. The wire outlet hole passes through the motor wire groove to form a first wire outlet hole and a second wire outlet hole on both sides of the motor wire groove. The circuit board is connected to the first cable, and the first cable is led out through the first wire outlet hole, the motor wire groove, and the second wire outlet hole in sequence.

5. The compact humanoid robot linear joint force sensor according to claim 2, characterized in that: It also includes a fixed end, which is connected to the connecting block and is located on a side of the connecting block away from the second ring body. The fixed end is a stud with a thread on the outer surface.

6. The compact humanoid robot linear joint force sensor according to claim 1, characterized in that: It also includes a sealing plate, which is arranged on a side of the first ring body away from the second ring body, and the sealing plate covers the first ring body.

7. The compact humanoid robot linear joint force sensor according to claim 4, characterized in that: The circuit board is provided with a notch, and the notch is close to the first wire outlet hole.

8. The compact humanoid robot linear joint force sensor according to claim 1, characterized in that: There are 6 strain beams and 12 strain gauges. Two strain gauges are provided on each strain beam, and the strain gauges are located on both sides of the strain beam.

9. A compact humanoid robot linear joint assembly, comprising a compact humanoid robot linear joint force sensor according to any one of claims 1 to 8, characterized in that: It also includes an encoder and a linear joint motor. The force sensor is connected to the linear joint motor. A receiving cavity is formed between the force sensor and the linear joint motor. The encoder is located in the receiving cavity.

10. The compact humanoid robot linear joint assembly according to claim 9, characterized in that: The encoder is connected to a second cable, and the linear joint motor is connected to a third cable. The second cable and the first cable merge in the second ring body of the force sensor and are led out from the first cable outlet hole together. The third cable merges with the first cable and the second cable in the motor cable groove and are led out from the second cable outlet hole together.

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