An encoder-based joint output torque measurement structure
By using an encoder structure to achieve non-contact torque measurement, the problem of signal line wear is solved, thereby improving the service life of robot joints and production efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- JIANGSU YIYOU ROBOT TECH CO LTD
- Filing Date
- 2025-07-18
- Publication Date
- 2026-05-26
AI Technical Summary
In traditional robot joint torque measurement, signal lines are prone to bending, fatigue, wear, and breakage due to frequent rotation, which affects detection accuracy, equipment maintenance costs, and reduces production efficiency.
An encoder structure is adopted to achieve non-contact torque measurement through the relative angle difference between the large and small encoder disks, avoiding signal line wear. The encoder detects the angle difference in real time and converts it into a torque value.
It achieves high-precision, non-contact torque measurement, improves equipment lifespan, reduces maintenance costs, and enhances production efficiency.
Smart Images
Figure CN224286184U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robot joint torque measurement technology, specifically to an encoder-based joint output torque measurement structure. Background Technology
[0002] In mechatronic devices such as robot joints or robotic arms, traditional torque measurement typically uses a torque sensor directly mounted at the joint output end. The sensor transmits torque data to the control board via a signal line, which must pass through a hole in the joint and connect to the end effector.
[0003] However, because the joint needs to rotate frequently, the signal wire will bend and fatigue due to the long-term rotation of the joint. Especially under high-speed or large-angle rotation conditions, the signal wire will bend and rub repeatedly at the joint hole, causing the insulation layer to wear or even break. This will affect the accuracy of torque detection and the normal operation of the equipment. Furthermore, after the signal wire is damaged, the machine needs to be stopped and the joint needs to be disassembled for replacement, which increases the maintenance cost and failure rate of the equipment and seriously slows down production efficiency.
[0004] Therefore, it is necessary to design an encoder-based joint output torque measurement structure with long service life and low operating cost. Utility Model Content
[0005] The purpose of this invention is to provide an encoder-based joint output torque measurement structure to solve the problems mentioned in the background art.
[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a joint output torque measurement structure based on an encoder, including a fixed component and a motor joint. The motor joint is mounted on the fixed component. A large flange is installed at the output end of the motor joint. A first connecting shaft is provided inside the large flange, passing through the motor joint. The first connecting shaft and the large flange are an integrated hollow structure. A front bridging flange is connected to the outside of the large flange. A second connecting shaft is connected to the inside of the front bridging flange, and the second connecting shaft is embedded inside the first connecting shaft. A connecting rod is connected to the outside of the front bridging flange. A rear bridging flange is installed at the tail of the motor joint. A large encoder disk is rotatably connected inside the rear bridging flange. A small encoder disk is rotatably connected inside the large encoder disk. The large encoder disk is fixedly connected to the first connecting shaft, and the small encoder disk is fixedly connected to the second connecting shaft. A control board is connected to the outside of the rear bridging flange.
[0007] According to the above technical solution, the fixing component includes a base and a fixing plate. The fixing plate is installed on the base. A corresponding connecting hole is provided between the motor joint and the fixing plate, and a bolt is connected to the connecting hole.
[0008] According to the above technical solution, the end of the connecting rod away from the front bridging flange is provided with a load hole for installing the load.
[0009] According to the above technical solution, a bearing is embedded in the tail of the motor joint, the first connecting shaft passes through the bearing, and the first connecting shaft is rotatably connected to the bearing.
[0010] According to the above technical solution, the first connecting shaft and the second connecting shaft are provided with external threads at the end near the rear bridging flange, and the large encoder disk and the small encoder disk are provided with matching internal threads, and are fixedly connected by the external threads and the internal threads.
[0011] According to the above technical solution, at least two mounting holes are provided on both sides of the base.
[0012] Compared with the prior art, the beneficial effects achieved by this utility model are:
[0013] By incorporating a large and a small encoder disc, when the connecting rod is under load, the resulting torque causes a slight deformation in the front axle flange. This deformation is transmitted to the large and small encoder discs via the first and second connecting shafts, respectively, resulting in a relative rotation angle difference of 0.1°. The control board detects this rotation angle difference in real time and uploads it to the system to calculate the corresponding torque value, achieving non-contact, high-precision torque measurement. This completely avoids downtime caused by wear and breakage of traditional torque sensor signal lines, thereby improving equipment lifespan, reducing operating costs, and increasing production efficiency. Attached Figure Description
[0014] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:
[0015] Figure 1 This is a schematic diagram of the structural composition of this utility model;
[0016] Figure 2 This is a structural breakdown diagram of the present invention;
[0017] Figure 3 This is a cross-sectional view of the motor joint of this utility model;
[0018] Figure 4 yes Figure 3 Enlarged view of point A in the middle;
[0019] In the diagram: 10. Fixing component; 11. Base; 111. Mounting hole; 12. Fixing plate; 20. Motor joint; 21. Large flange; 211. First connecting shaft; 22. Front bridging flange; 221. Second connecting shaft; 222. Connecting rod; 223. Load hole; 23. Rear bridging flange; 231. Large encoder disc; 232. Small encoder disc; 24. Control board; 25. Bearing. Detailed Implementation
[0020] To enable those skilled in the art to better understand the present invention, the solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.
[0021] This utility model provides a technical solution: a joint output torque measurement structure based on an encoder, including a fixed component 10 and a motor joint 20. The motor joint 20 is mounted on the fixed component 10. A large flange 21 is installed at the output end of the motor joint 20. A first connecting shaft 211 is provided inside the large flange 21, passing through the motor joint 20. The first connecting shaft 211 and the large flange 21 are an integrated hollow structure. A front bridging flange 22 is connected to the outside of the large flange 21, and the inside of the front bridging flange 22 is connected to... A second connecting shaft 221 is connected, which is embedded inside the first connecting shaft 211. A connecting rod 222 is connected to the outside of the front axle flange 22. A rear axle flange 23 is installed at the tail of the motor joint 20. A large encoder disk 231 is rotatably connected inside the rear axle flange 23. A small encoder disk 232 is rotatably connected inside the large encoder disk 231. The large encoder disk 231 is fixedly connected to the first connecting shaft 211, and the small encoder disk 232 is fixedly connected to the second connecting shaft 221. A control board 24 is connected to the outside of the rear axle flange 23.
[0022] Through this technical solution, the force generated by the load is transmitted along the connecting rod 222 to the front bridging flange 22, causing the front bridging flange 22 to undergo slight deformation. Since the first connecting shaft 211 and the large flange 21, and the second connecting shaft 221 and the front bridging flange 22 are all fixedly connected, this deformation causes the first connecting shaft 211 and the second connecting shaft 221 to undergo slight torsion, which in turn causes the large encoder disk 231 and the small encoder disk 232 to produce a relative rotation angle difference with an accuracy of 0.1°. The control board 24 collects the angle signals of the large encoder disk 231 and the small encoder disk 232 in real time. The system accurately converts the relative rotation angle difference into the corresponding torque value, thereby realizing the real-time and accurate measurement of the joint output torque and getting rid of the disadvantage of the easy damage of traditional signal lines.
[0023] Furthermore, the fixing component 10 includes a base 11 and a fixing plate 12. The fixing plate 12 is mounted on the base 11. A corresponding connection hole is provided between the motor joint 20 and the fixing plate 12, and a bolt is connected to the connection hole.
[0024] Through this technical solution, the base 11 and the fixing plate 12 are connected to the motor joint 20 by bolts, providing a stable support foundation for the motor joint 20.
[0025] Furthermore, the end of the connecting rod 222 away from the front bridging flange 22 is provided with a load hole 223 for mounting a load;
[0026] Through this technical solution, the load hole 223 enables the external load to be quickly and accurately connected to the connecting rod 222, ensuring that the force generated by the load can be effectively transmitted to the front bridge flange 22.
[0027] Furthermore, a bearing 25 is embedded in the tail of the motor joint 20, and a first connecting shaft 211 passes through the bearing 25, and the first connecting shaft 211 is rotatably connected to the bearing 25.
[0028] This technical solution reduces friction and wear during rotation, ensuring the stability and continuity of torque transmission.
[0029] Furthermore, the first connecting shaft 211 and the second connecting shaft 221 are provided with external threads at the end near the rear bridging flange 23, and the large encoder disk 231 and the small encoder disk 232 are provided with matching internal threads, and are fixedly connected by the cooperation of the external threads and the internal threads.
[0030] This technical solution allows for convenient and quick disassembly and installation, and the threaded fastening method ensures that the large encoder disk 231 and the small encoder disk 232 produce a precise relative rotation angle difference under the applied force.
[0031] Furthermore, at least two mounting holes 111 are provided parallel to each other on both sides of the base 11;
[0032] With this technical solution, suitable bolts or connectors can be selected for fixing through the mounting hole 111.
[0033] Working principle: When an external load is installed in the load hole 223 of the connecting rod 222, the force generated by the load is transmitted along the connecting rod 222 to the front bridging flange 22, causing the front bridging flange 22 to undergo slight deformation. Since the first connecting shaft 211 and the large flange 21, and the second connecting shaft 221 and the front bridging flange 22 are all fixedly connected, this deformation causes the first connecting shaft 211 and the second connecting shaft 221 to undergo slight torsion, which in turn causes the large encoder disk 231 and the small encoder disk 232 to produce a relative rotation angle difference with an accuracy of 0.1°. The control board 24 collects the angle signals of the large encoder disk 231 and the small encoder disk 232 in real time. The system accurately converts the relative rotation angle difference into the corresponding torque value, thereby realizing the real-time and accurate measurement of the joint output torque.
[0034] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation or specific orientation structure and operation, and therefore should not be construed as a limitation of this utility model; the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In addition, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.
[0035] In the description of this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this utility model, the illustrative expressions 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 a suitable manner in any one or more embodiments or examples. Moreover, those skilled in the art can combine different embodiments or examples and features of different embodiments or examples described in this utility model without contradiction.
[0036] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. An encoder-based joint output torque measurement structure comprising a stationary component (10) and an electric motor joint (20), characterized in that: The motor joint (20) is mounted on the fixed assembly (10). A large flange (21) is mounted on the output end of the motor joint (20). A first connecting shaft (211) is provided on the inner side of the large flange (21). The first connecting shaft (211) passes through the motor joint (20), and the first connecting shaft (211) and the large flange (21) are an integrated hollow structure. A front bridging flange (22) is connected to the outer side of the large flange (21), and a second connecting shaft (221) is connected to the inner side of the front bridging flange (22). The second connecting shaft (221) is embedded in the motor joint (20). Inside the first connecting shaft (211), a connecting rod (222) is connected to the outside of the front bridging flange (22). A rear bridging flange (23) is installed at the tail of the motor joint (20). A large encoder disk (231) is rotatably connected inside the rear bridging flange (23). A small encoder disk (232) is rotatably connected inside the large encoder disk (231). The large encoder disk (231) is fixedly connected to the first connecting shaft (211). The small encoder disk (232) is fixedly connected to the second connecting shaft (221). A control plate (24) is connected to the outside of the rear bridging flange (23).
2. An encoder-based joint output torque measurement structure according to claim 1, characterized in that: The fixing component (10) includes a base (11) and a fixing plate (12). The fixing plate (12) is mounted on the base (11). A corresponding connection hole is provided between the motor joint (20) and the fixing plate (12), and a bolt is connected to the connection hole.
3. An encoder-based joint output torque measurement structure according to claim 1, characterized in that: The connecting rod (222) has a load hole (223) for installing a load at the end away from the front bridging flange (22).
4. The encoder-based joint output torque measurement structure according to claim 1, characterized in that: The motor joint (20) has a bearing (25) embedded in its tail end. The first connecting shaft (211) passes through the bearing (25) and is rotatably connected to the bearing (25).
5. The encoder-based joint output torque measurement structure according to claim 1, characterized in that: The first connecting shaft (211) and the second connecting shaft (221) are provided with external threads at the end near the rear bridging flange (23). The large encoder disk (231) and the small encoder disk (232) are provided with matching internal threads, and are fixedly connected by the external threads and the internal threads.
6. The encoder-based joint output torque measurement structure according to claim 2, characterized in that: The base (11) has at least two mounting holes (111) on both sides.