Power plant with integrated torque measurement

Abstract

The utility model relates to the field of torque induction and measurement, concretely relates to the integration degree optimization of hardware structure in torque measurement process. The utility model discloses the purpose is to provide integrated torque measurement's power device, adopts the highly integrated design of directly built -in strain gauge on joint motor speed reducer output shaft. This design eliminates the installation space and connecting structure needed by external sensor, and greatly reduces the axial size and overall volume of joint module. The utility model is realized through the following technical schemes: integrated torque measurement's power device contains the shell, is provided with motor main body and the speed reducer connected with motor main body in the inner chamber of shell, and its characterized in that: still be provided with measuring device in the inner chamber, the measuring device contains strain carrier and strain gauge, the strain carrier is connected on the output shaft of speed reducer, and the strain gauge is installed on the strain carrier.

Description

Technical Field

[0001] This utility model relates to the field of torque sensing and measurement, specifically to the optimization of the integration of hardware structure in the torque measurement process. Background Technology

[0002] Joint motors are important power devices used in various fields, such as robotics and exoskeletons. They integrate drive, reduction, and transmission mechanisms, simulating and enhancing the movement of biological joints by outputting controllable rotational torque to drive mechanical links to perform flexion and extension movements. The torque provided by the joint motor needs to be measured in real time. Taking exoskeleton applications as an example, accurate torque measurement forms the feedback basis of the force control closed loop, enabling the system to output appropriate assistance force according to the user's movement intentions. Insufficient torque will not provide effective assistance, while excessive torque can lead to damage to the user's joint ligaments or muscles. Real-time torque measurement is a prerequisite for achieving active overload protection and preventing accidental impacts.

[0003] In existing technologies, to achieve torque measurement, an external torque sensing device is typically required, i.e., a separate, specialized torque sensor is connected in series with the joint motor. For example, a shaft-type torque sensor is an independent, coaxial measuring unit, with its two ends connected to the motor's output shaft and the actuator's input shaft via couplings. An internal torque sensor is installed; when the shaft undergoes a slight torsional deformation, a torque signal is transmitted.

[0004] While external torque sensors, as independent mechanical components, can output torque values, they suffer from two main technical drawbacks. Firstly, they increase the axial physical length of the entire drivetrain. For articulated motors, applications such as the knee, hip, and ankle joints of exoskeleton robots have extremely stringent spatial requirements. Increased axial dimensions result in bulky and non-compact joint structures, severely impacting wearability and ergonomic fit. Secondly, there are compatibility issues. Different manufacturers and models of articulated motors have varying output flange dimensions, connection hole positions, shaft diameters, and other mechanical interfaces. Furthermore, external torque sensors lack a unified interface standard. This dual mismatch leads to complex selection and integration processes, and cumbersome supply chain management. Utility Model Content

[0005] The purpose of this invention is to provide a power device for integrated torque measurement, employing a highly integrated design that directly embeds strain gauges onto the output shaft of the joint motor reducer. This design eliminates the installation space and connection structure required for external sensors, significantly reducing the axial dimensions and overall volume of the joint module. Furthermore, the built-in design constitutes a standardized torque measurement module. Through integration with the output shaft, it reduces the complexity of mechanical adaptation and calibration caused by interfacing with products from different manufacturers, significantly improving the system's reliability, interchangeability, and maintenance efficiency.

[0006] This utility model is achieved through the following technical solution: a power device for integrated torque measurement, comprising a housing, wherein a motor body and a reducer connected to the motor body are disposed in the inner cavity of the housing, characterized in that: a measuring device is further disposed in the inner cavity, the measuring device comprising a strain carrier and a strain gauge, the strain carrier being connected to the output shaft of the reducer, and the strain gauge being mounted on the strain carrier.

[0007] As a preferred embodiment of this invention, the strain gauges are in multiple groups, with most of the strain gauges being evenly spaced and arranged in a ring array on the strain carrier.

[0008] As a preferred embodiment of the present invention, the measuring device includes a bridge plate, the bridge plate comprising a plate body connected to the strain carrier and a strain gauge opening formed on the plate body, wherein the strain gauge is arranged in the strain gauge opening.

[0009] As a preferred embodiment of this utility model, a bracket is arranged in the inner cavity of the outer shell, the bracket includes a fixing plate and a hook connected to the fixing plate, the hook being used to install the motor body.

[0010] As a preferred embodiment of this invention, the bracket is equipped with a control board for receiving the torque data of the strain gauge.

[0011] As a preferred embodiment of this utility model, the hook includes a lower card, the motor body is arranged on the side of the lower card facing the reducer, and the control board is arranged on the side of the lower card facing away from the reducer.

[0012] As a preferred embodiment of this utility model, the control board includes a control board body and a wire fixing port opened on the control board body, with one end of the cable connected to the measuring device and the other end passing through the wire fixing port.

[0013] In summary, this utility model has the following beneficial effects:

[0014] 1. The strain gauge torque measurement device is fully integrated inside the housing of the articulated motor and directly fixed to the output end of the reducer. This achieves a high degree of integration between the measurement system and the power system, eliminating the additional connection structure and installation space required for external sensors, significantly reducing the axial dimension and overall volume of the entire power unit, and laying the foundation for the application of articulated motors in space-constrained scenarios.

[0015] 2. The measuring device directly measures the output shaft torque, avoiding force loss and signal interference in the intermediate transmission links, thus ensuring high-precision control.

[0016] 3. By arranging multiple strain gauges in a uniformly spaced ring array, multi-point, all-around measurement of the applied torque is achieved. This effectively compensates for measurement errors caused by microscopic inhomogeneities in the material, localized stress concentrations, or assembly deviations.

[0017] 4. The bridge board consolidates the dispersed strain gauges onto a unified circuit board and provides physical protection for them through the gauge openings. This simplifies the sensor assembly process and improves production efficiency and consistency. Furthermore, by connecting the strain gauges to the bridge circuit nearby, it significantly shortens the transmission path of weak analog signals, effectively suppresses electromagnetic interference, and improves the signal-to-noise ratio.

[0018] 5. Through the design of the fixing plate and hooks, the bracket firmly locks the motor body, reducer, and other heavy-duty and vibrating components onto the housing, ensuring the stability of the power transmission path. This reduces the impact of vibration on measurement accuracy and keeps the relative positions of each component precise, providing a mechanical foundation for the high reliability and durability of the entire module.

[0019] 6. By fixing the control board to an internal bracket rather than the inner wall of the outer casing, it remains relatively independent from vibration sources such as motors and reducers, thus minimizing the impact of mechanical vibration on precision electronic components. Simultaneously, this integrated layout shortens the wiring distance between the control board and the measuring device, optimizes internal space utilization, and achieves a compact structure.

[0020] 7. The motor body and control board are respectively arranged on both sides of the lower card, forming a physical isolation between the mechanical and electrical sides. This layout not only effectively utilizes axial space, making the structure more compact, but more importantly, it separates the heat-generating motor from the temperature-sensitive control board and uses the solid structure as a barrier to reduce the direct impact of electromagnetic interference on the control signal, thereby improving the system's thermal management and electromagnetic compatibility.

[0021] 8. The fixed cable port provides a clear positioning for the cable, preventing the connector from loosening, the solder joint from falling off, or the cable from fatigue breaking due to cable swinging during equipment movement or vibration. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of Example 1;

[0023] Figure 2 This is a detailed enlarged view of the strain gauge and the reducer;

[0024] Figure 3 These are enlarged details of the bracket, control board, and motor body.

[0025] Figure 4 This is a diagram of the cable routing.

[0026] In the diagram: 1. Outer casing, 2. Control board, 21. Control board body, 22. Cable mounting port, 3. Motor body, 4. Bracket, 41. Fixing plate, 42. Hook, 421. Lower clip, 5. Measuring device, 51. Strain carrier, 52. Bridge plate, 521. Plate body, 522. Strain gauge port, 53. Strain gauge, 6. Reducer, output shaft, 7. Cable. Detailed Implementation

[0027] The present invention will be further described in detail below with reference to the accompanying drawings.

[0028] This specific embodiment is merely an explanation of the present utility model and is not intended to limit the present utility model. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but as long as they are within the scope of the claims of the present utility model, they are protected by patent law.

[0029] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made to the function and arrangement of the described elements without departing from the scope of this specification. Various processes or components may be appropriately omitted, substituted, or added to the examples. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Furthermore, features described with respect to some examples may be combined into other examples.

[0030] Example 1: The specific implementation of the power device with integrated torque measurement is described below with reference to the accompanying drawings. Figure 1 The overall structure of the device is showcased, its most notable feature being its highly integrated modular design. The entire device is enclosed by a shell 1, forming a sealed cavity that provides structural support and environmental protection for all the internal precision components. This shell 1 not only defines the physical boundaries of the device but also forms the basis for its compact layout, with its internal space efficiently utilized to accommodate the three main functional units: power, measurement, and control.

[0031] The core of the power unit consists of the motor body 3 and the reducer 6. The motor body 3 serves as the power source, and its output shaft is connected to the input end of the reducer 6. The function of the reducer 6 is to convert the high-speed, low-torque output generated by the motor into a low-speed, high-torque output suitable for joint drive.

[0032] like Figure 1 and Figure 3 As shown, to ensure the stability of the power transmission path, a dedicated bracket 4 is installed inside the device. This bracket 4 can be firmly connected to the inner wall of the outer casing 1 via a fixing plate 41, thus becoming the main load-bearing structure of the entire module. The hooks 42 extending from the bracket 4, especially its lower clip 421, provide precise positioning and a reliable mounting base for the motor body 3, so that the motor body 3 is stably fixed on the side of the lower clip 421 facing the reducer 6.

[0033] The core innovation of this invention lies in the integrated design of the measurement unit and the power unit. For example... Figure 1 and Figure 2 As shown, the strain gauge 51 of the measuring device 5 is directly connected to the output shaft of the reducer 6. The strain gauge 51 is made of a material with excellent elastic properties and functions as the mechanical basis for torque sensing. When torque is transmitted from the reducer output shaft to the strain gauge 51, the latter produces a small torsional deformation proportional to the torque value.

[0034] To accurately detect this micron-level deformation, multiple strain gauges 53 are attached to specific areas on the surface of the strain carrier 51 using a high-precision process. These strain gauges 53 are arranged in a circular array with uniform spacing in multiple groups on the strain carrier 51. This arrangement utilizes the spatial averaging effect, which can effectively compensate for measurement errors caused by microscopic inhomogeneities of the material or local stress concentrations, thereby significantly improving the overall accuracy and stability of the measurement.

[0035] The minute resistance changes generated by the strain gauge 53 after sensing deformation need to be processed by a nearby signal conditioning circuit. For this purpose, the measuring device 5 includes a specially designed bridge board 52. The plate 521 of the bridge board 52 is connected and fixed to the strain carrier 51 or its adjacent static structure. The strain gauge housing 522 on the plate 521 provides physical protection for the fragile strain gauge 53 and its leads, and guides them to the integrated circuitry on the bridge board 52. This design, which places the signal preprocessing circuitry as close as possible to the sensing element, greatly shortens the transmission path of weak analog signals, effectively suppresses electromagnetic interference, and ensures a high signal-to-noise ratio signal output.

[0036] The differential voltage signal, after initial conditioning by the bridge board 52, is transmitted to the control unit, i.e., control board 2, via cable 7. For example... Figure 3As shown, the installation position of the control board 2 has been carefully considered; it is positioned on the side of the bracket 4, below the card 421, facing away from the reducer 6. This layout achieves physical isolation between the mechanical power side and the electronic control side. The metal bracket 4 itself acts as a barrier, effectively attenuating the vibration transmission from the motor and reducer, and partially blocking the electromagnetic noise and heat generated by them. This provides a more stable and reliable working environment for the precision components on the control board 2, such as the analog-to-digital converter and microprocessor, thereby improving the lifespan and anti-interference capability of the entire system.

[0037] Control board 2, acting as the intelligent central hub of the device, is responsible for the final processing of signals. It further amplifies and filters the received voltage signals, then converts them into digital quantities via a high-resolution analog-to-digital converter. A built-in dedicated algorithm, based on preset calibration parameters, calculates the precise torque value acting on the strain carrier 51 in real time. To ensure connection reliability in applications with continuous vibration, such as industrial vehicles, robot turntables, and exoskeletons, control board 2's control board body 21 is designed with a wiring port 22. For example... Figure 4 As shown, one end of the cable 7 connecting the measuring device 5 and the control board 2 is constrained in this fixed cable port 22. This structure plays a crucial role in stress relief, preventing the connector from loosening or the wire core from fatigue breaking due to cable swaying. In this embodiment, since the motor body 3 itself needs to lead out three UVW wires that need to pass through the control board 2, it itself requires three fixed cable ports 22. Therefore, the cable 7 can directly use these three fixed cable ports 22 without having to make an opening on the control board body 21.

[0038] The cable holder 22 provides a clear positioning and constraint point for the cable 7, preventing connector loosening, solder joint detachment, or cable fatigue breakage caused by cable swaying during equipment movement or vibration. This detailed design ensures long-term reliability of the electrical connection and reduces the failure rate due to cable problems, which is crucial for joint motors that require frequent movement.

[0039] Finally, the calculated torque data is transmitted to the upper controller of the equipment through the output interface of control board 2 to achieve high-precision torque closed-loop control. The external load is connected directly or through an actuator to the output end of strain carrier 51, completing a complete closed loop from power output to precise control.

[0040] In summary, the integrated torque measurement power unit described in this embodiment successfully integrates a high-precision torque measurement system into the joint motor body by directly embedding the strain carrier 51 as the output structure of the reducer 6, and compactly arranging components such as the bridge plate 52 and control board 2 around it. The bracket 4 is used for area division and vibration reduction / noise isolation. This design completely eliminates the dependence on external torque sensors and their additional connection structures, minimizing the axial dimensions of the power unit while ensuring high accuracy, high response speed, and high reliability in torque measurement. It is suitable for various fields, such as robot turntables, and is particularly suitable for advanced robots and exoskeletons with stringent requirements for space, weight, and performance.

[0041] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the scope of the present utility model. Furthermore, the terms "vertical," "horizontal," "front," and "rear," etc., mentioned in the embodiments of the present utility model, indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationships commonly used when the product is in use. They are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present utility model. It should be further noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "joining," and "fixing" in the description should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in the present utility model according to the specific circumstances.

[0042] Although embodiments of the present invention have been shown and described, those skilled in the art will understand 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 claims and their equivalents.

Claims

1. A power device integrating torque measurement, comprising a housing (1), wherein a motor body (3) and a reducer (6) connected to the motor body (3) are disposed in the inner cavity of the housing (1), characterized in that: The inner cavity is also provided with a measuring device (5), which includes a strain carrier (51) and a strain gauge (53). The strain carrier (51) is connected to the output shaft of the reducer (6), and the strain gauge (53) is mounted on the strain carrier (51).

2. The power device with integrated torque measurement according to claim 1, characterized in that: The strain gauges (53) are in multiple groups, and most of the strain gauges (53) are evenly spaced and arranged in a ring array on the strain carrier (51).

3. The power device with integrated torque measurement according to claim 2, characterized in that: The measuring device (5) includes a bridge plate (52), which includes a plate body (521) connected to the strain carrier (51) and a strain gauge opening (522) opened on the plate body (521), and the strain gauge is arranged in the strain gauge opening (522).

4. The power device with integrated torque measurement according to claim 1, characterized in that: A bracket (4) is arranged in the inner cavity of the outer shell (1), and a control plate (2) for receiving torque data from the strain gauge (53) is mounted on the bracket (4).

5. The power device with integrated torque measurement according to claim 4, characterized in that: The bracket (4) includes a fixed plate (41) and a hook (42) connected to the fixed plate (41). The hook (42) includes a lower card (421). The motor body (3) is arranged on the side of the lower card (421) facing the reducer (6). The control board (2) is arranged on the side of the lower card (421) facing away from the reducer (6).

6. The power device with integrated torque measurement according to claim 5, characterized in that: The control board (2) includes a control board body (21) and a wire fixing port (22) opened on the control board body (21). One end of the cable (7) is connected to the measuring device (5), and the other end passes through the wire fixing port (22).

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