Sensing assembly, force / torque sensor assembly, and robot joint

Abstract

To provide a force / torque sensor assembly that causes linearity between a relative motion and a sensor signal.SOLUTION: The present application provides a sensing assembly. The sensing assembly is configured to detect a relative motion between a first component and a second component, and the sensing assembly includes a magnet assembly configured to be connected to the first component, and a pair of Hall effect sensors configured to be connected to the second component. The pair of Hall effect sensors are configured to generate basically the same signal changes according to a first relative motion along a first direction between the magnet assembly and the pair of Hall effect sensors, and generate signal changes that are basically equal but opposite to each other according to a second relative motion along a second direction between the magnet assembly and the pair of Hall effect sensors. The first direction is a direction perpendicular to the second direction.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] This application claims the priority of the PCT international application filed on June 17, 2021, with the application number PCT / CN2021 / 100549, and incorporates the entire content thereof by reference herein.

[0002] [Technical Field] This application relates to the field of sensing technology, and in particular to sensing assemblies, force / torque sensor assemblies, and robot joints.

Background Art

[0003] Hall effect sensors are used to detect motion and position in various applications. A Hall effect sensor detects a change in magnetic field due to the deflection of a structure caused by a force or torque load and generates an electrical signal that can reflect the force or torque load. Current sensor assemblies use a set of magnets and a set of Hall effect sensors located on the same side of the magnets, and such a configuration is generally applied to position encoders. However, since the change in magnetic field strength with respect to the motion between the Hall effect sensor and the magnet may be non-linear, this configuration affects the linearity of the entire sensing signal.

Summary of the Invention

[0004] One aspect of this application is a sensing assembly configured to detect relative motion between a first component and a second component, including a magnet assembly configured to be connected to the first component and a pair of Hall effect sensors configured to be connected to the second component. The pair of Hall effect sensors is configured to generate basically the same signal change in response to a first relative motion along a first direction between the magnet assembly and the pair of Hall effect sensors, and to generate basically equal but opposite signal changes in response to a second relative motion along a second direction between the magnet assembly and the pair of Hall effect sensors, where the first direction is perpendicular to the second direction.

[0005] Another aspect of the present application is a force / torque sensor assembly configured to detect an applied force or torque, including a body including a first component, a second component, and a deformable component connecting the first component and the second component, and at least one sensing assembly attached to the body and configured to detect relative movement between the first component and the second component. The at least one sensing assembly includes a magnet assembly connected to the first component and a pair of Hall effect sensors connected to the second component. The pair of Hall effect sensors generate substantially the same signal change in response to a first relative movement along a first direction between the magnet assembly and the pair of Hall effect sensors, and generate substantially equal but opposite signal changes in response to a second relative movement along a second direction between the magnet assembly and the pair of Hall effect sensors, where the first direction is perpendicular to the second direction.

[0006] Another aspect of the present application provides a robotic joint including a force / torque sensor assembly configured to detect an applied force or torque. The force / torque sensor assembly includes a body including a first component, a second component, and a deformable component connecting the first component and the second component, and at least one sensing assembly attached to the body and configured to detect relative movement between the first component and the second component. The at least one sensing assembly includes a magnet assembly connected to the first component and a pair of Hall effect sensors connected to the second component The pair of Hall effect sensors generate substantially the same signal change in response to a first relative movement along a first direction between the magnet assembly and the pair of Hall effect sensors, and generate substantially equal but opposite signal changes in response to a second relative movement along a second direction between the magnet assembly and the pair of Hall effect sensors, where the first direction is perpendicular to the second direction.

[0007] Details of one or more embodiments of the present invention are set forth in the following drawings and description. Other features, objects, and advantages of the present invention will become apparent from the specification, drawings, and claims.

Brief Description of the Drawings

[0008] By referring to the drawings for explaining various embodiments of the present application and explaining various aspects of the present application in detail below, other features of the present application will be more easily understood.

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[0009] Note that it should be noted that the drawings of the present application are not necessarily drawn to scale. The drawings are only intended to show typical aspects of the present application and should not be considered as limiting the scope of the present invention.

Embodiments for Carrying Out the Invention

[0010] To more clearly and easily understand the above objects, features, and advantages of the present invention, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the following description, it is obvious that those skilled in the art can obtain improvements without departing from the spirit of the present invention. It goes without saying that all embodiments obtained by those skilled in the art without creative labor based on the examples of the present application are included in the scope of the present application.

[0011] The present disclosure provides a force / torque sensor assembly that detects an applied force or torque. The force / torque sensor assembly includes a body and at least one sensing assembly . The body includes a first component, a second component, and a deformable component that connects the first component and the second component. At least one sensing assembly is attached to the body to detect relative movement between the first component and the second component. At least one sensing assembly includes a magnet assembly connected to the first component and a pair of Hall effect sensors connected to the second component. The pair of Hall effect sensors generate basically the same signal change in response to a first relative movement along a first direction between the magnet assembly and the pair of Hall effect sensors, and generate basically equal but opposite signal changes in response to a second relative movement along a second direction between the magnet assembly and the pair of Hall effect sensors. The first direction is a direction perpendicular to the second direction.

[0012] Hereinafter, with reference to each embodiment, the force / torque sensor assembly according to the present application will be described in detail. FIG. 1 is a perspective view of a force / torque sensor assembly 10 according to an embodiment of the present invention 。Figure 2 is a side view of the force / torque sensor assembly 10 shown in FIG. 1. In the present embodiment, the force / torque sensor assembly 10 includes a main body 20 and a plurality of sensing assemblies 30 attached to the main body 20. The main body 20 has a first component 21, a second component 22, and a plurality of deformable components 23 provided between the first component 21 and the second component 22 and connecting the first component 21 and the second component 22. The first component 21 and the second component 22 may each be, for example, disk-shaped. When either the first component 21 or the second component 22 receives a force or torque, the deformable component 23 elastically deforms, and relative movement (hereinafter abbreviated as "movement" or "relative movement") occurs between the first component 21 and the second component 22. The sensing assembly 30 is configured to detect the relative movement between the first component 21 and the second component 22. Based on the detected relative movement and the characteristics of the deformable component 23, the force or torque applied to the first component 21 or the second component 22 can be determined. An exemplary basic structure of the force / torque sensor assembly can be referred to in the applicant's previous patent application (U.S. Patent Application No. 16 / 456562), the content of which is incorporated herein by reference.

[0013] As shown in FIG. 3, in one embodiment, a plurality of sensing assemblies 30 are arranged along the circumferential direction of the force / torque sensor assembly 10. Each sensing assembly 30 includes a magnet assembly 31 connected to the first component 21 and a pair of Hall effect sensors 32 connected to the second component 22. Referring to the exemplary structure shown in FIG. 4, the magnet assembly 31 is attached to two first mounting legs 210 extending from the first component 21, and the pair of Hall effect sensors 32 are attached to second mounting legs 220 extending from the second component 22. The second mounting legs 220 are positioned between the two first mounting legs 210. Thus, the sensing assemblies 30 may be arranged as shown in FIGS. 6-9. Referring to another exemplary structure shown in FIG. 5, the magnet assembly 31 is attached to a first mounting leg 210 extending from the first component 21, and each of the pair of Hall effect sensors 32 is attached to two second mounting legs 220 extending from the second component 22. Since the first mounting leg 210 is positioned between the two second mounting legs 220, the sensing assemblies 30 may be arranged as shown in FIGS. 10-13. According to the embodiments shown in FIGS. 4-5, the two Hall effect sensors 32 of the sensing assembly 30 are connected to each other by being fixed to the same component (i.e., the second component 22), and thus can move synchronously. Similarly, according to the embodiment shown in FIG. 4, the two sets of magnets of the magnet assembly 31 are fixed to the same component (i.e., the first component 21) and connected to each other, and thus can move synchronously.

[0014] The embodiments shown in FIGS. 1-5 are merely exemplary, and it should be understood that the structure of the force / torque sensor assembly according to the present application can be configured in different manners. For example, in one embodiment, different from the up-and-down structure shown in FIGS. 1-3, the first component and the second component of the force / torque sensor assembly may be an inner ring and an outer ring, respectively, and may be arranged in an inner-outer configuration. In one embodiment, the force / torque sensor assembly may include only one set of sensing assemblies for detecting a force or torque in one direction. In other embodiments, the force / torque sensor assembly may include different numbers, for example, six or more sensing assemblies to achieve redundant measurement.

[0015] Figures 6 to 13 show the configurations of the sensing assembly 30 according to different embodiments. For the convenience of explanation, each of the illustrated sensing assemblies 30 is described in a Cartesian coordinate system having corresponding mutually perpendicular X-axis , Y-axis and Z-axis.

[0016] Those skilled in the art can understand that the Hall effect sensor 32 is pre-calibrated in order to zero the output of the Hall effect sensor when, for example, the force / torque sensor assembly 10 does not receive any force or torque.

[0017] In the embodiments shown in FIGS. 6 to 9, a pair of Hall effect sensors are located on opposite sides of the magnet assembly. Referring to the sensing assembly 30a shown in FIG. 6, in order to detect a change in the Z-direction magnetic flux component, the detection directions of the pair of Hall effect sensors 32a both face the magnet assembly 31a, that is, the detection directions of the two Hall effect sensors 32a are opposite to each other. In this embodiment, the magnet assembly 31a includes one magnet whose magnetization direction is perpendicular to the line connecting the pair of Hall effect sensors 32a. According to such a configuration, the relative movement in the X direction between the Hall effect sensor 32a and the magnet assembly 31a gives the same magnetic field change to the pair of Hall effect sensors 32a. Therefore, in response to the relative movement in the X direction between the Hall effect sensor 32a and the magnet assembly 31a, the pair of Hall effect sensors 32a generate the same signal change. Conversely, the relative movement in the Z direction gives different magnetic field changes to the pair of Hall effect sensors 32a. For example, one Hall effect sensor 32a may detect more magnetic flux in its detection direction, and the other Hall effect sensor 32a may detect less magnetic flux in its detection direction. Therefore, due to the relative movement in the Z direction between the Hall effect sensor 32a and the magnet assembly 31a, the pair of Hall effect sensors 32a generate signal changes that are basically equal but opposite to each other.

[0018] Therefore, when the sensing assembly 30a is configured to detect the major relative movement in the X direction, an averaging method may be used. Specifically, by adding the signals of the two Hall effect sensors 32a, the sensor signals due to the relative movement in the X direction between the Hall effect sensor 32a and the magnet assembly 31a are merged (i.e., twice the signal of one Hall effect sensor), and the sensor signals due to the relative movement in the Z direction cancel or reduce each other. As a result, a relatively distinct linear signal that is only affected by the relative movement in the X direction can be obtained. Of course, when the major relative movement detected by the sensing assembly 30a is in the Z direction, a differential method may be used instead of the above averaging method. Specifically, by subtracting the sensor signals, the sensor signals due to the relative movement in the Z direction are merged, and the sensor signals due to the relative movement in the X direction cancel or reduce each other. Note that although the sensor signals for detecting the movement in the Z direction may not be as linear as the signals for detecting the movement in the X direction, the sensing assembly 30a can detect the relative movement in the Z direction between the Hall effect sensor 32a and the magnet assembly 31a.

[0019] Referring to the sensing assembly 30b shown in FIG. 7, the two Hall effect sensors 32b have a detection direction (i.e., the X direction) perpendicular to the line connecting the two Hall effect sensors 32b as well, in order to detect the change in the magnetic flux component in the X direction. The magnet assembly 31b includes one magnet (for example, the two magnetic poles of the magnet face the corresponding Hall effect sensors 32b respectively) whose magnetization direction is parallel to the line connecting the pair of Hall effect sensors 32b. According to such a configuration, due to the relative movement in the X direction between the Hall effect sensors 32b and the magnet assembly 31b, the two Hall effect sensors 32b can sense the change in the magnetic flux density although the magnetic flux directions are exactly opposite to each other. Thereby, due to the relative movement in the X direction, the pair of Hall effect sensors 32b generate sensor signals that are basically equal but opposite to each other. Conversely, due to the relative movement in the Z direction between the Hall effect sensors 32b and the magnet assembly 31b, the two Hall effect sensors 32b sense the change in the magnetic flux density that is opposite to each other, and the sensed magnetic flux directions are exactly opposite. Therefore, due to the relative movement in the Z direction, the pair of Hall effect sensors 32b generate sensor signals that are basically the same.

[0020] Therefore, when the sensing assembly 30b is configured to detect the main relative movement in the X direction, the differential method may be used. Specifically, by subtracting the sensor signals, the sensor signals due to the relative movement in the X direction are combined, and the sensor signals due to the relative movement in the Z direction cancel each other out or are reduced. Thereby, a distinct linear signal affected only by the relative movement in the X direction can be obtained. If the main relative movement to be detected is in the Z direction, the averaging method may be used instead. By combining the signals of the two Hall effect sensors 32b , the sensor signals due to the relative movement in the Z direction are combined, and the sensor signals due to the relative movement in the X direction cancel each other out or are reduced.

[0021] In the embodiments shown in FIGS. 8 and 9, the magnet assembly includes a plurality of magnets arranged in parallel and having magnetization directions that are alternately opposite to each other. The magnetization directions of the magnets are all in a direction parallel to the line connecting the Hall effect sensors. Referring to the sensing assembly 30c in FIG. 8, in order to detect a change in the magnetic flux component in the Z direction, the detection directions of the pair of Hall effect sensors 32c both face the magnet assembly 31c. The magnet assembly 31c includes two magnets having magnetization directions that are opposite to each other and are both parallel to the line connecting the pair of Hall effect sensors 32c (For example, the two magnetic poles of each magnet face the corresponding Hall effect sensor 32c respectively ). According to such a configuration, due to the relative movement in the X direction between the Hall effect sensor 32c and the magnet assembly 31c, the two Hall effect sensors 32c can sense changes in the magnetic flux density that have opposite magnetic flux directions but are the same. Thereby, due to the relative movement in the X direction, the pair of Hall effect sensors 32c generate sensor signals that are basically equal but opposite to each other. Conversely, due to the relative movement in the Z direction, the two Hall effect sensors 32c sense changes in the magnetic flux density that are opposite to each other, and the sensed magnetic flux directions are opposite to each other. Therefore , due to the relative movement in the Z direction, the pair of Hall effect sensors 32c generate sensor signals that are basically the same.

[0022] Therefore, when the sensing assembly 30c is configured to detect the main relative movement in the X direction, the differential method may be used. Specifically, by subtracting the sensor signals, the sensor signals due to the relative movement in the X direction are combined, and the sensor signals due to the relative movement in the Z direction cancel each other out or are reduced. Thereby, a clear linear signal that is only affected by the relative movement in the X direction can be obtained. If the main relative movement to be detected is in the Z direction, the averaging method may be used instead. By combining the signals of the two Hall effect sensors 32c , the sensor signals due to the relative movement in the Z direction are combined, and the sensor signals due to the relative movement in the X direction cancel each other out or are reduced.

[0023] As shown in FIG. 9, the difference between the sensing assembly 30d and the sensing assembly 30c is that the magnet assembly 31d includes three magnets whose magnetization directions are alternately opposite to each other. In order to detect the change in the magnetic flux component in the X direction, the detection directions of the pair of Hall effect sensors 32d are in the direction perpendicular to the line connecting the pair of Hall effect sensors 32d (i.e., the X direction). The operation of the sensing assembly 32d is the same as that of the sensing assembly 32c in FIG. 8. That is, due to the relative movement in the X direction between the Hall effect sensor 32d and the magnet assembly 31d, the two Hall effect sensors 32d generate signals that are basically equal but opposite to each other, and due to the relative movement in the Z direction, the two Hall effect sensors 32d generate signals that are basically the same. Thereby, the main relative movement in the X direction or the Z direction can be detected similarly with an appropriate algorithm.

[0024] It should be understood that by using more magnets having alternately opposite magnetization directions, the main relative movement can be detected similarly and the interference from the relative movement in other directions can be removed. However, as a differentiating point, more magnets can provide a stronger magnetic field and may result in different linearities between the relative movement and the sensor signal.

[0025] Also, in all the embodiments shown above, it should also be noted that if the two Hall effect sensors generate signals that are basically the same in response to the first relative movement between the Hall effect sensor and the magnet assembly, and generate signals that are basically equal but opposite to each other in response to the second relative movement perpendicular to the first relative movement between the Hall effect sensor and the magnet assembly, the detection direction of the Hall sensor and the magnet arrangement direction may be different. For example, in other embodiments, the detection direction of the Hall effect sensor 32a in FIG. 6 may be changed to face the positive or negative direction of the X direction. In such a configuration, the two Hall effect sensors 32a are Similarly, it generates signals that are basically the same in response to relative movement in the X direction between the Hall effect sensor 32a and the magnet assembly 31a, and can generate signals that are basically equal but opposite to each other in response to relative movement in the Z direction between the Hall effect sensor 32a and the magnet assembly 31a. Such a configuration may increase the non-linearity of the sensor to some extent, but it is feasible.

[0026] In some other embodiments, the relative positions of the magnet and the Hall effect sensor 32 may be interchangeable. Referring to the embodiments shown in FIGS. 10 to 13, the magnet assembly includes a first magnet group and a second magnet group, and a pair of Hall effect sensors are located between the first magnet group and the second magnet group. The first magnet group and the second magnet group are connected to each other (for example, fixed to the same support structure) to realize the integrated movement of the two magnet groups.

[0027] Referring to the sensing assembly 30e shown in FIG. 10, the detection directions of the pair of Hall effect sensors 32e are respectively directed towards two sets of magnets 310e and 311e to detect the magnetic flux components in the Z direction. The first magnet group 310e and the second magnet group 311e each include one magnet with the same magnetization direction, and the magnetization direction is perpendicular to the line connecting the pair of Hall effect sensors 32e. According to such a configuration, due to relative movement in the X direction, the pair of Hall effect sensors 32e detect the same magnetic flux change and generate the same signal change. Due to relative movement in the Z direction, one Hall effect sensor 32e detects more magnetic flux in its detection direction, and the other Hall effect sensor 32e detects less magnetic flux in its detection direction. Therefore, the pair of Hall effect sensors 32e generate signal changes that are basically equal but opposite to each other. Therefore, when the sensing assembly 30e is configured to detect the main relative movement in the X direction, a clear linear signal affected only by the relative movement in the X direction can be obtained by using the averaging method. When it is configured to detect the main relative movement in the Z direction, the difference method may be used instead.

[0028] Referring to the sensing assembly 30f shown in FIG. 11, a pair of Hall effect sensors 32f have a detection direction perpendicular to the line connecting the two Hall effect sensors 32f (i.e., the X direction) for detecting the magnetic flux component in the X direction. The first magnet group 310f and the second magnet group 311f each include one magnet having a magnetization direction parallel to the line connecting the pair of Hall effect sensors 32g. According to such a configuration, due to the relative movement in the X direction, the pair of Hall effect sensors 32f sense changes in the magnetic flux density although the magnetic flux directions are exactly opposite to each other. Therefore, due to the relative movement in the X direction, the pair of Hall effect sensors 32f generate signal changes that are basically equal but opposite to each other. Conversely, due to the relative movement in the Z direction, the two Hall effect sensors 32f sense changes in the magnetic flux density that are opposite to each other, and the sensed magnetic flux directions are exactly opposite. Therefore, due to the relative movement in the Z direction, the pair of Hall effect sensors 32f generate basically the same signal change. Thus, when the sensing assembly 30g is configured to detect the main relative movement in the X direction, a clear linear signal affected only by the relative movement in the X direction can be obtained using the differential method. Also, when detecting the relative movement in the Z direction, the averaging method may be used instead.

[0029] In the embodiments of FIGS. 12 and 13, the first magnet group and the second magnet group each include a plurality of magnets arranged in parallel and having magnetization directions parallel to the line connecting the pair of Hall effect sensors and alternatingly opposite to each other. Also, any two magnets located on the same straight line parallel to the line connecting the two Hall effect sensors (i.e., in the Z direction) have the same magnetization direction.

[0030] Referring to the sensing assembly 30g in FIG. 12, the first magnet group 310g and the second magnet group 311g each include two magnets that are parallel to each other and have magnetization directions that are alternately opposite. The detection directions of the pair of Hall effect sensors 32g are each directed toward the first magnet group 310g and the second magnet group 311g in order to detect changes in the magnetic flux component in the Z direction. With such a configuration, due to relative movement in the X direction, the pair of Hall effect sensors 32g sense changes in magnetic flux density although the magnetic flux directions are opposite to each other. Therefore, due to relative movement in the X direction, the pair of Hall effect sensors 32g generate signal changes that are basically equal but opposite to each other. Conversely, due to relative movement in the Z direction, the two Hall effect sensors 32g sense changes in magnetic flux density that are opposite to each other, and since the sensed magnetic flux directions are opposite to each other, due to relative movement in the Z direction, the two Hall effect sensors 32g generate basically the same signal change. Thus, when the sensing assembly 30g is configured to detect major relative movement in the X direction, a distinct linear signal that is only affected by relative movement in the X direction can be obtained using the differential method. Also , when detecting relative movement in the Z direction, an averaging method may be used instead.

[0031] Referring to the sensing assembly 30h in FIG. 13, the first magnet group 310h and the second magnet group 311h each have three magnets that are parallel to each other and have magnetization directions that are alternately opposite. The pair of Hall effect sensors 32h have a detection direction (i.e., in the X direction) that is perpendicular to the line connecting the two Hall effect sensors 32h in order to detect the magnetic flux component in the X direction. The operation of the sensing assembly 30h is similar to the embodiment in FIG. 12, that is, due to relative movement in the X direction, the two Hall effect sensors 32h generate signal changes that are basically equal but opposite to each other, and due to relative movement in the Z direction, the two Hall effect sensors 32h generate basically the same signal change. Therefore, by means of an appropriate algorithm, major movement in the X direction or the Z direction can be detected.

[0032] In the configurations of FIGS. 12 to 13, it should be understood that if more magnets having alternately magnetized directions are used, the main relative motion can be detected in the same way and the interference from relative motion in other directions can be removed. However, as a differentiating point, more magnets can provide a stronger magnetic field and may result in different linearities between the relative motion and the sensor signal.

[0033] Similar to the embodiments shown in FIGS. 6 to 9, in all the embodiments shown in FIGS. 10 to 13, the two Hall effect sensors generate signals that are basically the same in response to a first relative motion between the Hall effect sensor and the magnet assembly, and generate signals that are basically equal but opposite to each other in response to a second relative motion perpendicular to the first relative motion between the Hall effect sensor and the magnet assembly. Even if the detection direction of the Hall sensor and the magnet arrangement direction are different. For example, in other embodiments of the sensing assembly shown in FIG. 10, the detection directions of the pair of Hall effect sensors may be changed to face the positive or negative direction of the X direction. In such a configuration, the two Hall effect sensors similarly generate signals that are basically the same in response to a relative motion in the X direction between the Hall effect sensor and the magnet assembly, and can generate signals that are basically equal but opposite to each other in response to a relative motion in the Z direction between the Hall effect sensor and the magnet assembly. Such a configuration may increase the non-linearity of the sensor to some extent, but is feasible.

[0034] In the embodiments shown in FIGS. 6 to 13, the two sensors are symmetrically arranged, and the line connecting them is perpendicular or parallel to the detection direction of the sensors or the magnetization direction of the magnets. However, in practical use, the positions of the two sensors may be slightly deviated, that is, it should be understood that the line connecting the two sensors is approximately perpendicular or approximately parallel to the detection direction or the magnetization direction.

[0035] In the configurations of the above-described respective sensing assemblies 30a to 30h, when the Hall effect sensors 32a to 32h are not close to the edges of the magnet, the edge effect of the magnet in the Y direction can be ignored, so it is considered that the magnet-sensor signal characteristics in the Y direction are constant.

[0036] According to each of the above embodiments, the sensing assembly 30 further includes a magnetic conduction assembly 33 that aligns the magnetic field of the magnet assembly 31. The magnetic conduction assembly 33 may include a magnetic conduction material including a metal or alloy having a high magnetic permeability, such as cast iron, silicon steel sheet, nickel zinc ferrite, nickel iron alloy, manganese zinc ferrite, etc. In one specific embodiment, the material of the magnetic conduction assembly 33 is carbon steel. The magnetic conduction material may be arranged, for example on both sides of the magnet and on both sides of the pair of Hall effect sensors 32.

[0037] According to each of the above embodiments, the sensing assemblies 30a to 30h detect movements in a plurality of directions using a pair of Hall effect sensors 32a to 32h. In other embodiments, more pairs of sensors may be used to more accurately measure the load applied to the force / torque sensor assembly 10.

[0038] With a plurality of Hall effect sensors, cross-checking and cross-monitoring between a plurality of sensor signals can be realized, particularly when the movement in the non-linear direction is not the main movement. Through cross-checking and cross-monitoring, it is possible to quickly determine that one or more sensors or magnets are damaged or malfunctioned, thus providing further safety for the operation. The plurality of sensors may be used to suppress common mode noise, particularly Gaussian electrical noise.

[0039] According to the embodiment shown in FIG. 3, a plurality of sensing assemblies 30 are arranged along the circumferential direction of the force / torque sensor assembly 10. In other embodiments, the sensing assemblies 30 may be arranged in other ways. For example, the sensing assemblies 30 may be randomly arranged between the first component 21 and the second component 22.

[0040] The plurality of sensing assemblies 30 may have the same configuration, for example, like any one of the sensing assemblies 30a - 30h shown in FIGS. 6 - 13. The plurality of sensing assemblies 30 may have different configurations, for example, each selected from the sensing assemblies 30a - 30h. The plurality of sensing assemblies 30 can simultaneously measure the force or torque applied to the force / torque sensor assembly 10, and thereby integrate the outputs of these sensing assemblies 30 to obtain more accurate results. In one specific embodiment, for example, two sensing assemblies 30 are configured such that for each pair of Hall effect sensors, they both generate basically the same signal change or basically equal but opposite signal changes in response to the same force and torque. In another specific embodiment, in response to the same force and torque, one sensing assembly 30 is configured such that a pair of Hall effect sensors generate basically the same signal change, and the other sensing assembly 30 is configured such that a pair of Hall effect sensors generate basically equal but opposite signal changes. No matter how the two sensing assemblies 30 are arranged, the same force or torque can be measured simultaneously.

[0041] Furthermore, by arranging the sensing assemblies 30 at different positions on the force / torque sensor assembly 10, the relative displacement at different positions between the first component 21 and the second component 22 can be detected. Also, since the plurality of sensing assemblies 30 are attached at different positions, the deflection of the entire force / torque sensor assembly 10 can be obtained, and based on the rigidity of the force / torque sensor assembly 10, the overall external force or torque can be determined. For example, when detecting a shear force that generates different displacements at different positions, it is particularly useful to detect the displacements at different positions.

[0042] In one embodiment, the plurality of sensing assemblies 30 may have different spatial orientations regardless of whether their configurations are the same. For example, the plurality of sensing assemblies 30 using any of the configurations shown in FIGS. 6 to 13 may be arranged on the main body 20 such that their main detection directions (for example, the X direction) are along the axial direction, the radial direction, and the shear direction of the sensor assembly 10, respectively. According to such a configuration, the force / torque sensor assembly 10 can detect forces or torques in multiple directions. For example, due to the force applied perpendicular to the force / torque sensor assembly 10, some of the sensing assemblies 30 may move relative to each other in the X direction. Therefore, this part of the sensing assembly 30 can generate a linear sensor signal and is suitable for measuring the above-mentioned perpendicular force. However, when a torque is applied around the axis of the force / torque sensor assembly 10, the sensing assembly 30 in this part may be substantially moved relative to each other in the Y direction by the torque. Therefore, the sensing assembly 30 in this part may not be applicable to detect the torque. In this case, a sensing assembly 30 that changes the torque into a movement in the X direction is required, and the orientation of the sensing assembly 30 may be, for example, 90 degrees with respect to the above-mentioned part of the sensing assembly 30.

[0043] It should be understood that the detection direction of the Hall effect sensor 32 can be changed in each configuration. For example, in the embodiment shown in FIG. 6, the detection direction of the Hall effect sensor 32 may be changed to be parallel to the magnetization direction of the magnet assembly 31. When the detection direction of the Hall effect sensor 32 is changed, it may also affect the linearity.

[0044] It should be understood that the sensing assembly according to the present application is not limited to the detection of the above-mentioned forces or torques, and may be used in various other applications that require the detection of movement or displacement.

[0045] Note that, in this application, the terms "same" or "equal" used to describe the change in the sensor signal or the change in the magnetic flux do not mean that the change in the signal or the change in the magnetic flux is exactly the same or exactly equal, and there may be some deviation due to the distribution of the magnetic flux, etc. Furthermore, it should be noted that the terms "linear" and "linearity" used to describe the relationship between the sensor signal and the motion do not mean that the signal change with respect to the motion is completely linear.

[0046] The present invention further provides a robot and a robot joint used for the robot. The robot joint includes the force / torque sensor assembly 10 according to any of the above embodiments.

[0047] In FIG. 14, a robot 100 including an arm 101 and a robot joint 102 connecting adjacent arms 101 is exemplarily shown. The robot joint 102 has a force / torque sensor assembly, and the first component and the second component of the force / torque sensor assembly may be respectively connected to two adjacent arms 101, for example.

[0048] The purpose of the terms used in this specification is only to describe specific embodiments and is not intended to limit this application. As used in this specification, the singular forms "a", "one " and "the" are also intended to include the plural form unless the context specifically states otherwise. The term "comprising", when used in this specification, means that the said features, steps, operations, elements and / or components exist, but it should be understood that it does not exclude the existence of one or more other features, steps, operations , elements, components and / or combinations thereof. "Optional" or "optionally" means that the event or situation described thereafter is possible but not essential, and the description includes both the case where the said event or situation occurs and the case where the said event or situation does not occur.

[0049] As used throughout this specification and the claims, the approximating language is applicable to modify any quantitative representation that could vary within a degree that would not result in a change in the basic function to which it is related. Accordingly, values modified by one or more terms such as “about,” “substantially,” and “essentially” are not to be limited to the exact value specified. In at least some instances, the approximating language may correspond to the precision of the instrument for measuring the value. Here, as well as throughout this specification and the claims, range limitations are combinable and / or interchangeable, and such ranges are specified and include all subranges subsumed therein unless the context and language specifically indicate otherwise.

[0050] All apparatus or steps and corresponding structural, material, acts, and equivalents within the scope of the appended claims are intended to include any structural, material, or act for performing the functions in combination with other claimed elements as specifically claimed. The description of the invention has been presented for purposes of illustration and description but is not intended to be exhaustive or limited to the invention in the disclosed form. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope of the invention. Embodiments were chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.

Claims

1. A sensing assembly configured to detect relative movement between a first component and a second component, comprising: a magnet assembly configured to be connected to the first component; and a pair of Hall effect sensors configured to be connected to the second component, wherein the pair of Hall effect sensors generate substantially the same signal change in response to a first relative movement along a first direction between the magnet assembly and the pair of Hall effect sensors, and generate substantially equal but opposite signal changes in response to a second relative movement along a second direction perpendicular to the first direction between the magnet assembly and the pair of Hall effect sensors; wherein the pair of Hall effect sensors are respectively located on opposite sides of the magnet assembly, and the magnet assembly includes at least two magnets arranged in parallel and having magnetization directions alternately opposite to each other, and the magnetization directions of the magnets are in a direction parallel to the line connecting the pair of Hall effect sensors.

2. The sensing assembly according to claim 1, wherein the pair of Hall effect sensors each have a detection direction facing the magnet assembly, or the same detection direction perpendicular to the line connecting the pair of Hall effect sensors.

3. The sensing assembly according to claim 1, further comprising a magnetic conduction assembly configured to align the magnetic field of the magnet assembly.

4. A force / torque sensor assembly configured to detect an applied force or torque, comprising: a main body including a first component, a second component, and a deformable component connecting the first component and the second component; at least one sensing assembly attached to the main body and configured to detect relative movement between the first component and the second component, the at least one sensing assembly including a magnet assembly connected to the first component and a pair of Hall effect sensors connected to the second component, wherein the pair of Hall effect sensors generate substantially the same signal change in response to a first relative movement along a first direction between the magnet assembly and the pair of Hall effect sensors, and generate substantially equal but opposite signal changes in response to a second relative movement along a second direction perpendicular to the first direction between the magnet assembly and the pair of Hall effect sensors; The pair of Hall effect sensors are respectively located on opposite sides of the magnet assembly, and the magnet assembly includes at least two magnets arranged in parallel and having magnetization directions that are alternately opposite to each other, and the magnetization direction of the magnets is in a direction parallel to the line connecting the pair of Hall effect sensors, a force / torque sensor assembly.

5. The at least one sensing assembly includes two sensing assemblies arranged in the force / torque sensor assembly, and the two sensing assemblies are configured such that, in response to the same force or torque applied to the force / torque sensor assembly, each pair of Hall effect sensors generates substantially the same signal change, or generates signal changes that are substantially equal but opposite to each other, the force / torque sensor assembly according to claim 4.

6. The at least one sensing assembly includes two sensing assemblies arranged in the force / torque sensor assembly, and the two sensing assemblies are configured such that, in response to the same force or torque applied to the force / torque sensor assembly, the pair of Hall effect sensors of one sensing assembly generates substantially the same signal change, and the pair of Hall effect sensors of the other sensing assembly generates signal changes that are substantially equal but opposite to each other, the force / torque sensor assembly according to claim 4.

7. The at least one sensing assembly includes two sensing assemblies arranged in the force / torque sensor assembly, and the two sensing assemblies are each configured to detect relative movement at different positions between the first component and the second component, the force / torque sensor assembly according to claim 4.

8. A robot joint including a force / torque sensor assembly configured to detect an applied force or torque, wherein the force / torque sensor assembly includes a main body including a first component, a second component, and a deformable component connecting the first component and the second component, and a sensing assembly attached to the main body and configured to detect relative movement between the first component and the second component, the sensing assembly including at least one sensing assembly including a magnet assembly connected to the first component and a pair of Hall effect sensors connected to the second component. The pair of Hall effect sensors are configured to generate basically the same signal change in response to a first relative motion along a first direction between the magnet assembly and the pair of Hall effect sensors, and to generate basically equal but opposite signal changes in response to a second relative motion along a second direction perpendicular to the first direction between the magnet assembly and the pair of Hall effect sensors. The pair of Hall effect sensors are respectively located on opposite sides of the magnet assembly, and the magnet assembly includes at least two magnets arranged in parallel and having magnetization directions that are alternately opposite to each other, and the magnetization direction of the magnets is in a direction parallel to the line connecting the pair of Hall effect sensors, a robot joint.

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