2639 results about "Torque sensor" patented technology

Provided is a self-adaptive identification method for nonlinear dynamic parameters of a reducer, which belongs to the design field of a reducer. The method includes: modeling a harmonic reducer corresponding to a flexible joint as a concatemer of a rigid reducer and an elastic torsion spring, and carrying out dynamic theoretical modeling and parameter variable independence processing on the concatemer to form a dynamic equation for parameter identification; giving an optimized motion trajectory to each joint of a robot and controlling the robot to act accordingly, acquiring relevant data needed for parameter identification based on a built-in torque sensor and double encoders inside the joint; using an offline identification algorithm to accurately identify a plurality of dynamic parameters of a collaborative robot considering joint flexibility and friction, and obtaining a minimum parameter set.

The invention relates to the technical field of water-based paint production, in particular to a water-based paint stirring device with a viscosity detection function, which comprises a mounting seat, a stirring tank is arranged at one corner of the top of the mounting seat, and a tank cover is arranged at the top of the stirring tank; the stirring assembly is arranged in the stirring tank; the bubble adsorption assembly is arranged at the other corner of the mounting seat; the detection assembly comprises a high-frequency ultrasonic probe arranged on the inner wall of the stirring tank, a micro torque sensor and a temperature compensation module which are integrated in the stirring assembly, and a microwave resonant cavity sensor located on the bubble adsorption assembly. Compared with the prior art, the multi-mode viscosity accurate detection and bubble dynamic control of the water-based paint coating in the stirring process are realized through the arrangement of the detection assembly and the cooperative work of the high-frequency ultrasonic probe, the micro torque sensor, the temperature compensation module and the microwave resonant cavity sensor.

The invention belongs to the technical field of automatic assembly, and discloses an automatic assembly system and method for a large nut of a water turbine ball valve, and the system comprises a mechanical arm, an end effector and an intelligent nut tightening control system. The end effector integrates an electromagnet adsorption mechanism, a servo drive rotating mechanism, a floating compensation mechanism and a visual recognition mechanism, nuts of different specifications are grabbed in a self-adaptive mode through an electromagnet, submillimeter-level accurate positioning is achieved through a laser galvanometer stereo camera, and the assembling posture is automatically adjusted in combination with the floating compensation mechanism. The intelligent control system adopts a staged tightening strategy, performs real-time monitoring through a torque sensor, and has a dual protection mechanism. The hydraulic turbine ball valve large nut assembling machine achieves full-automatic assembling of hydraulic turbine ball valve large nuts, has the advantages of being high in assembling efficiency, high in positioning precision, high in adaptability, reliable in quality and the like, solves the problems that manual assembling is large in labor intensity, many in potential safety hazards, poor in quality consistency and the like, and remarkably improves the assembling quality and efficiency of key parts of a hydropower station.

The embodiment of the invention provides a mechanical arm insertion and extraction control method and device, test equipment and a storage medium, and the method comprises the steps that sensor data for sensing the working environment of a mechanical arm is received, and the working environment is the environment where the mechanical arm executes insertion and extraction operation on a target interface; according to the sensor data, the tail end acting force of a tail end executor of the mechanical arm and the pose of the target interface are determined; and under the condition that any one of the tail end acting force and the pose of the target interface is abnormal, control parameters of the mechanical arm are adjusted. According to the embodiment of the invention, the detection results of the visual sensor and the force / torque sensor are fused, the process of executing the plugging operation of the mechanical arm is monitored in real time, and once the target interface pose or the tail end acting force is abnormal, the motion track of the mechanical arm is immediately corrected and the insertion force is adjusted, so that self-adaptive adjustment is realized; and the success rate and the automation level of the plugging task are effectively improved.

The invention provides an intelligent whipping control and monitoring system for an eggbeater, and the system comprises a rotating speed sensor, a torque sensor and a temperature sensor which are respectively used for detecting the rotating speed of the eggbeater, the torque change in the stirring process and the temperature of a stirred material in real time, and transmitting a detection signal to a control host. The control host comprises a processor and a memory, and standard torque curve databases corresponding to different whipping types are stored in the memory. And the processor calculates an actual torque curve of the current whipping process according to the sensor signal, and compares the actual torque curve with a standard torque curve in real time. When it is detected that the actual torque curve deviates from the standard torque curve and exceeds a preset threshold value, the system automatically adjusts the output power of the eggbeater motor so as to optimize the beating effect. According to the egg beater, accurate control over the beating process can be achieved, the stability of food material beating is improved, manual operation errors are reduced, and the intelligent level of the egg beater is improved.

The invention relates to an intelligent CNC (computer numerical control) machining method which comprises the following steps: dynamically monitoring a tool-workpiece interaction interface in a CNC machining process through a multi-dimensional torque sensor array to obtain a machining process feature data set, and analyzing a tool motion track in real time to obtain a tool motion state feature quantity; secondly, performing multi-scale analysis by adopting a wavelet packet decomposition technology, and determining processing quality evaluation data; and if the data does not reach the preset standard, performing microstructure reconstruction on the surface of the workpiece based on the data, and generating a workpiece processing state characteristic spectrum. Then, comprehensively analyzing the atlas by utilizing a multi-objective optimization technology to obtain a processing parameter optimization sequence; and finally, implementing closed-loop feedback control on the numerical control system according to the optimized sequence, and generating a real-time processing control instruction. The key problem of how to improve the automation level and the machining precision in the CNC machining process through an intelligent means is solved.

The invention discloses an automatic stacking method and device, a terminal and a storage medium, and the method comprises the steps that package information of a to-be-stacked package is obtained according to an acquisition device, and an optimal stack type is matched for the to-be-stacked package in combination with historical stack type data of an automatic stacking system; carrying out point cloud segmentation on the tray with the stacked parcels through a preset segmentation model to obtain a segmentation result, calculating a tray gap in combination with the optimal stack type and a preset path planning algorithm, and generating a stacking path; the flexible clamping jaw device is controlled to grab the parcels to be stacked, the grabbing posture is corrected in real time in combination with feedback of the torque sensor, and the mechanical arm is controlled to execute stacking according to the stacking path; and when the segmentation result of the tray is matched with the optimal stack type, a stacking three-dimensional model is generated, the stacking three-dimensional model is bound with the AGV below the tray, and the AGV is controlled to be automatically put in storage. According to the method, stacking and warehousing are completed through stack type matching and path planning, and the adaptability and the space utilization rate of a stacking system are improved.

The invention discloses a hand exoskeleton control system and method for piano on-demand auxiliary teaching. The hand exoskeleton control system comprises a hand exoskeleton mechanical module, a dynamics module, an outer ring admittance controller, an inner ring position controller and an online compensation unit. The hand exoskeleton mechanical module is composed of a servo motor, a dynamic torque sensor, a hand exoskeleton base, a shaft sleeve, a palm fixing plate and a finger module. The dynamics module is used for constructing a dynamics simplified model of the finger module; the outer ring admittance controller is used for generating a compliant trajectory compensation amount conforming to the actual dynamic response; the inner ring position controller is used for dynamically adjusting the output torque of the servo motor, reducing buffeting of the sliding mode and realizing finger playing trajectory tracking; and the online compensation unit is used for performing real-time estimation and feed-forward compensation on a nonlinear disturbance term existing in the tracking error of the inner loop position controller based on the RBF neural network.

The invention belongs to the technical field of mechanical test tool equipment, and particularly relates to an electro-hydraulic speed regulator test testing device. Comprising the steps that a virtual diesel engine model generates a signal and supplies the signal to a rotating speed controller, an alternating current power supply supplies power to a frequency converter to drive a motor to operate, and the rotating speed of the motor is transmitted to an electro-hydraulic speed regulator through a first coupler to drive a main pump in the electro-hydraulic speed regulator to build pressure; a hydraulic bridge circuit in the electro-hydraulic speed regulator acts to drive the output shaft to rotate, the output shaft transmits an output signal back to the virtual diesel engine model through the flywheel, the magnetic powder brake and the angle sensor, and the virtual diesel engine model feeds back the signal to the magnetic powder brake through the brake controller; and the output torque of the electro-hydraulic speed regulator is ensured to meet the operation requirement and is confirmed by the torque sensor. The electro-hydraulic speed regulator test device has the advantages that the electro-hydraulic speed regulator test device is provided with the outer circulation oil way, and the test requirements of various electro-hydraulic speed regulators can be met.

The embodiment of the invention discloses an automobile power-assisted steering test system and method, and relates to the technical field of automobile electronics. An EPS controller in the automobile power-assisted steering test system is used for acquiring an input torque generated by a driver simulation motor through an angle torque sensor; according to the input torque and the state information of the vehicle, the power-assisted torque needing to be output by the EPS motor in the steering process is determined; the power-assisted torque is sent to an EPS motor, so that the EPS motor assists the vehicle in steering; if the input torque, the power-assisted torque and the actual resistance torque of the rocker arm end are balanced in the steering process of the vehicle, and the amplitude and the variation trend of the power-assisted torque all accord with the preset power-assisted characteristic curve, the vehicle power-assisted steering test passes. Therefore, by introducing a driver steering wheel input part and a steering resistance simulation part, the automobile power-assisted steering test system can simulate the working principle of a steering system more truly, so that the test precision and effect are improved.

The invention relates to the technical field of coupler fatigue test, in particular to coupler fatigue test equipment which comprises a rack, a fixed seat, a sliding seat, a rotating disc, a first mounting plate, a torque sensor and a second mounting plate, the fixed seat is fixedly connected to the rack, the sliding seat is slidably connected to the rack, and the rotating disc is fixedly connected to the rack; the rotating disc is rotatably connected to the fixed seat around the axis of the rotating disc, the rotating axis of the rotating disc is horizontal, the first mounting plate is connected to the end, facing the sliding seat, of the rotating disc, one end of the torque sensor is fixedly connected to the end, facing the fixed seat, of the sliding seat, and the other end of the torque sensor is fixedly connected to the second mounting plate. The torque sensor and the rotating disc are coaxially arranged, and the first mounting plate and the second mounting plate are used for fixing the two ends of the coupler respectively. The torque sensor is adopted for torque acquisition, and the torque sensor and the coupling adopt a direct connection structure, so that errors caused by transmission are reduced, and the fatigue measurement precision of the coupling is improved.

The invention discloses a device and a method for measuring dragging torque of an electronic mechanical brake caliper assembly, and belongs to the technical field of automobile brake system testing. The device comprises a first supporting seat, a driving rotating shaft, a brake disc and a driven rotating shaft assembly with a torque sensor, and precise positioning of a caliper support is achieved through cooperation of a rotating clamp and a guide pin. During testing, the calipers clamp the brake disc firstly to output clamping force and then release pressure, the motor drives the brake disc to rotate by a circle to eliminate inertia moment, and then the torque sensor dynamically collects dragging torque. A modularized brake disc fixing seat is adopted to adapt to products of different specifications, a coupler compensates for shafting offset, a fixing block locking mechanism guarantees non-measurement state safety, and inertia errors are eliminated in combination with a dynamic and static friction separation measurement method. According to the scheme, the problems of positioning deviation, mechanical interference and friction interference in a traditional test are solved, and the measurement precision and efficiency of the dragging torque of the brake calipers are remarkably improved.

The invention relates to a robot self-adaptive control method and system based on visual radiation perception, and relates to the field of intelligent control, environmental data are obtained by integrating a laser radar, a plantar pressure sensor, a joint torque sensor, a binocular camera, an IMU and other sensors, and the environmental data are preprocessed and then input into an environment recognition model to obtain initial environment and attitude information; and constructing a local area map and planning an initial advancing path, evaluating the contact surface type by using a flexible capacitor array and a plantar pressure sensor, and finally matching a motion mode according to an advancing sequence and the surface type and controlling the robot to move. The technical problems that the robot is limited in environment sensing capacity, insufficient in autonomous decision-making capacity and poor in motion control flexibility in the complex, changeable and unknown environment are solved, and efficient environment sensing, autonomous path planning and flexible motion control of the robot in the complex environment are achieved.

The invention discloses a six-dimensional force / torque sensor decoupling system and method based on a width neural network, and the method comprises the steps: in a data collection and preprocessing unit, carrying out the null drift correction and normalization processing of a collected voltage signal through a weight type calibration platform and a data collection card, and forming a network model training data set; carrying out model training on the established six-dimensional force / torque sensor decoupling model of the width neural network, and solving a mapping matrix from a hidden layer to an output layer by adopting an importance score-based neuron pruning algorithm and a Moore-Pengos generalized inverse to obtain optimal model parameters; and finally, inputting the voltage signal subjected to data preprocessing to obtain a real-time output vector, and performing reverse normalization processing to obtain a decoupled six-dimensional force / torque vector. According to the method, precise decoupling of the six-dimensional force / torque sensor is achieved, and the inter-dimensional coupling error is remarkably reduced.

The invention relates to a tractor test data acquisition and fault diagnosis system, which belongs to the technical field of agricultural machinery, and comprises a multi-source heterogeneous data acquisition module for performing real-time data acquisition on the working state of the whole tractor through a sensor group deployed at a key part of the tractor; collecting a vibration signal measured by an engine body acceleration sensor; acquiring a real-time rotating speed measured by an engine rotating speed sensor; load torque measured by a torque sensor of the power output shaft is collected; the current instruction rotating speed obtained by the vehicle-mounted control unit is collected; the collected original data are transmitted to the dynamic state evaluation module in real time; the dynamic state evaluation module is used for receiving the multi-dimensional data; carrying out fusion analysis on the multi-dimensional data based on an instantaneous impact index model; according to the method, the system obtains the comprehensive and robust perception capability for the risk, the early-stage and composite impact risk can be accurately recognized, and the misjudgment rate caused by single index fluctuation is greatly reduced.

The invention relates to the technical field of robots, in particular to a joint module and a robot, and solves the problems of low force control precision and low response speed due to the fact that a joint module in the related technology realizes a force control function by means of a current loop. The joint module comprises a shell, a power assembly, a torque sensor and a first bearing. The power assembly comprises a fixed assembly and a moving assembly, the fixed assembly is connected into the shell, and the fixed assembly drives the moving assembly to rotate so that the moving assembly can output rotating force. The torque sensor is connected with the motion assembly and is configured to output rotating force and detect the torque borne by the torque sensor. The outer ring of the first bearing is fixedly connected with the shell, and the inner ring of the first bearing is fixedly connected with the torque sensor, so that the bending moment borne by the torque sensor can be transmitted to the shell through the first bearing, the crosstalk influence of the bending moment on the torque sensor is reduced, and the torque detection accuracy of the torque sensor is improved.

The utility model discloses a worm type steer-by-wire device which comprises a moment road sense feedback device, a steering column comprises a spline shaft, and one end of the spline shaft is connected with a steering wheel. The torque feedback assembly comprises a first gear shaft, an angle torque sensor, a motor, a worm and a worm gear. The first gear shaft is connected with the spline shaft. The angle torque sensor is installed on one side of the first gear shaft. The worm gear is mounted on the first gear shaft; a worm matched with the worm gear is arranged at the output end of the motor. Detecting the torque and angle of the steering wheel through an angle torque sensor; according to the detected torque and angle, a feedback torque is simulated through a motor, a worm and a worm gear, and linear steering control can be realized through simulating and adjusting steering damping through the motor; mechanical decoupling between the steering wheel and the steering actuator is achieved, the steering hand feeling is improved, and personalized driving requirements can be met.

The invention discloses a face gear planetary transmission system dynamic uniform load test platform and test method, and belongs to the field of gear transmission, and the test platform comprises a rack, a drive motor, a step-up gear box, a face gear planetary transmission system, a magnetic powder brake, a torque sensor, a slip ring, a stress strain test system and the like. The face gear planetary transmission system comprises an input face gear, a planet wheel, a planet carrier, a fixed face gear and the like. According to the dynamic uniform load test, stress values at the tooth root of the face gear and the tooth root of the planetary gear are measured mainly through strain gauges, and the corresponding relation between the tooth root stress and the meshing force at the gear meshing point is obtained through finite element simulation. And calculating the dynamic uniform load coefficient according to the dynamic meshing force root-mean-square values and the average values obtained at the tooth roots of the face gear and the planetary gear. By testing and analyzing the dynamic uniform load coefficient, the load distribution characteristic of the face gear planetary transmission system can be accurately revealed, a scientific basis is provided for structural parameter optimization, meshing performance improvement and reliability design of the face gear planetary transmission system, and then accurate and high-performance design of the transmission system is achieved.

The sensor comprises two Hall type steering wheel angle sensors which are coaxially installed at a steering wheel transmission shaft, the models of the two Hall type steering wheel angle sensors are consistent, and the two Hall type steering wheel angle sensors are independently connected to a data processing module. When torque generated after the steering wheel is stressed acts on the steering wheel transmission shaft (1), a tubular column of the steering wheel transmission shaft deforms, rotation angles of deformation in different areas in the axial direction are different, and the two Hall type steering wheel angle sensors detect the tubular column rotation angles in the installation areas of the Hall type steering wheel angle sensors respectively and output the tubular column rotation angles to the data processing module. The data processing module calculates the torque borne by the steering wheel according to the angular deviation of the tubular column rotation angle measured by the two Hall type steering wheel angle sensors. Through cooperative work of the two sensors, the torque measuring function can be achieved, and the redundancy safety performance of the system can be improved.

The invention belongs to the technical field of medical robots, and discloses a surgical robot accurate pose real-time registration method and system based on multi-sensor fusion, and the system comprises a multi-source sensing collection assembly; a time-space calibration mechanism; fusing a resolving platform and an exception elimination platform; a deformation sensing and dynamic compensation device; and a registration result closed-loop feedback unit. According to the invention, a multi-source sensing acquisition assembly and a synchronous control board are integrated on a hardware level, a nanosecond timestamp is generated by using a high-precision clock driven by an onboard crystal oscillator, and a cross-correlation delay calculation chip is combined to execute a cross-correlation function method delay estimation formula, so that microsecond-level accurate correction of delay amount among sensing sources is realized; the coordinate transformation unit automatically selects a matched calibration matrix according to a correction result, multi-source data such as optical positioning, inertial measurement, a torque sensor, ultrasonic or electromagnetic positioning and the like are unified to a global rectangular coordinate system, and the structure can effectively ensure the consistency of time and space references of data output by different sensors.

The utility model provides a double-rigid-gear harmonic speed reducer with a torque sensing function, which relates to the technical field of speed reducers and comprises a wave generator, a flexible bearing, a flexible gear, an output end rigid gear, a crossed roller bearing and a fixed end rigid gear. The crossed roller is arranged between the bearing outer ring and the output end rigid wheel, the output end rigid wheel serves as an inner ring of the crossed roller bearing, and the fixed end rigid wheel is detachably and fixedly connected with the bearing outer ring; the two end faces of the fixed end rigid wheel are each provided with a receding groove coaxial with the fixed end rigid wheel, a connecting wall is formed between the bottoms of the two receding grooves, and a plurality of strain gauges arranged in a circumferential array mode are installed at the position, close to one side of the output end rigid wheel, of the bottom of the receding groove. The elastic strain gauge is embedded in the rigid fixed end rigid wheel, so that the fixed end rigid wheel has a torque sensing function, the axial thickness of the harmonic speed reducer is not increased, and the use requirements of more occasions are met.

The invention discloses a downhole casing pipe external windowing experiment device and method, and belongs to the technical field of downhole casing pipe windowing, the downhole casing pipe external windowing experiment device comprises an experiment bench, an angle control mechanism, a drilling mechanism and a drill column mechanism, the angle control mechanism is arranged on the experiment bench and used for adjusting the position of a casing pipe, and the drilling mechanism is arranged on the experiment bench and used for controlling the drilling mechanism; a first driving assembly of the drilling mechanism is used for driving a working plate to move in the direction close to the outer wall of the casing pipe, and a first pressure sensor is used for detecting thrust of the first driving assembly. A first servo motor of the drill string mechanism can drive a drill rod to drive a milling shoe to rotate so as to open a window from the outer wall of the casing pipe, a torque sensor is arranged between an output shaft of the first servo motor and the drill rod and used for detecting the cutting torque of the milling shoe, and a second pressure sensor is arranged on a working plate and used for detecting the cutting pressure of the milling shoe on the casing pipe. The underground casing pipe external windowing experiment method adopts the underground casing pipe external windowing experiment device. According to the method, data support is provided for an actual casing pipe external windowing process, and the windowing quality is improved.

The invention provides a wind driven generator fault monitoring system, and relates to the technical field of wind driven generator fault monitoring. The wind driven generator fault monitoring system comprises a sensor deployment module and a warning alarm unit, and the sensor deployment module is composed of a vibration and strain sensor, a displacement and torque sensor, a pressure and temperature sensor, a magnetic field and oil temperature sensor and a plurality of sensor nodes. The plurality of sensor deployment modules are respectively and uniformly distributed on each wind generating set, each sensor deployment module acquires data information in a detection process in real time, and judges whether an alarm threshold value is out of limit according to a set alarm threshold value corresponding to each characteristic parameter. Through combination of a sensor deployment module, regular collection and detection of a lubricating oil sample and inspection of equipment such as an unmanned aerial vehicle, real-time monitoring is carried out on the wind generating set more comprehensively and meticulously, potential faults are found in time and analyzed and processed, and corresponding schemes can be customized conveniently for maintenance and replacement.

The invention discloses an electric inertia simulation braking power test bench and an electric inertia control method thereof, and relates to the technical field of electric transmission simulation of flywheels, the electric inertia simulation braking power test bench comprises a motor, an incremental encoder, a main shaft, a flywheel, a force arm frame, a mechanical friction braking torque sensor, an electric transmission control system and a brake disc; an incremental encoder is installed at the rear end of the motor, the transmission end of the motor is connected with the main shaft through a coupler, the flywheel is installed on the main shaft, a brake disc is installed on the force arm frame, and meanwhile the force arm frame is connected with a mechanical friction braking torque sensor. According to the invention, the angular speed, the angular displacement and the mechanical friction braking torque are synchronously collected, and the motor torque is calculated and given, so that the test bench operates in a state of approaching an equivalent flywheel and equivalently having no system resistance; the algorithm can control the total error within a very small range; accurate matching of rotational inertia is achieved, and the control precision can meet the high-precision test requirement. And investment and operation cost are saved.

The utility model discloses a part torsion detection device, which comprises a positioning assembly, a pressing assembly and a detection assembly, and is characterized in that the positioning assembly comprises a plurality of positioning blocks, and the positioning blocks are provided with positioning pins; the pressing assembly comprises a pressing air cylinder, a pressing plate is arranged at the output end of the pressing air cylinder, and the pressing plate is used for moving and pressing in the direction of the positioning block; the detection assembly comprises a rotating motor and a torque sensor, the output end of the rotating motor is connected with a detection head through a rotating shaft, and the torque sensor is connected with the rotating shaft. According to the invention, the part is fixed, the motor drives the detection head to drive the to-be-detected part of the part to rotate, and the torsion condition is judged through the torque sensor, so that the automation of torsion detection is realized.

Provided is a magnetostrictive torque measurement device that makes it easy to ensure accuracy of torque measurement, sensitivity of torque measurement, or both. A magnetostrictive torque measurement device 1 comprises: a rotary shaft 2 that has a detected part 4 that has magnetostrictive characteristics at a portion in the axial direction of an outer circumferential surface; and a magnetostrictive torque sensor 3. The magnetostrictive torque sensor 3 includes: a holder 5 that is formed from a synthetic resin, has an inner circumferential surface 7 that is loosely fitted in the radial direction onto the outside of the detected part 4 so as not to rattle, and does not rotate even during use; and a coil unit 6 that is held by the holder 5 and has a detection part 12 that includes a plurality of detection coils 11 (11a–11d).

The utility model discloses a device for testing the service life of a gear motor, and particularly relates to the technical field of detection equipment, which comprises a torque sensor and an input transition seat. The torque sensor, the input transition seat and the load gear motor are all arranged on the workbench, the tested gear motor is fixedly installed at one end of the input transition seat, and an output shaft of the tested gear motor is fixedly connected with the input end of the input transition seat. The output end of the input transition seat is fixedly connected with the input end of a torque sensor through a first coupler, and the output end of the torque sensor is fixedly connected with a rotating shaft of a load gear motor through a second coupler. According to the utility model, the load gear motor and the input transition seat are arranged, the tested gear motor is fixed on the input transition seat and is powered by the tested gear motor, and the load gear motor is arranged at the tail end to serve as a load, so that the working environment of a conventional gear motor is simulated, and the service life of the gear motor can be conveniently tested after long-time operation of the gear motor.

The invention provides a mid-motor driving system and an electric moped. The mid-motor driving system comprises a torque sensor assembly, an output shaft assembly, a magnetic group assembly, a motor and a controller. Motor gear shafts of the motors are connected with the output shaft assemblies in a pairwise meshed mode through duplicate gears, and speed reduction is carried out on the sides of the output shaft assemblies; the output shaft assembly comprises a large gear, a one-way needle bearing, an output shaft, a third bearing, a ratchet wheel, a pawl, a ratchet ring and a tensioning piece. The torque sensor assembly is used for detecting the torque of the center shaft, the magnetic group assembly is used for detecting the rotating speed of a gear shaft of the motor, and the controller controls the torque and the rotating speed output by the motor according to the detected torque and the rotating speed. Two-stage speed reduction is adopted, and the high rotating speed of the motor rotor is converted into stable large-torque low-rotating-speed output of the output shaft. The duplicate gear is fixed through cooperation of the machine shell partition plate and the machine shell, so that the overall structure is more compact.

The invention provides a joint torque sensor and a robot. The joint torque sensor comprises at least two strain beams and a strain gauge, wherein each strain beam comprises a first mounting surface and a second mounting surface which are oppositely arranged; strain gauges are mounted on each first mounting surface and each second mounting surface; the plane where each first installation face and each second installation face are located intersects with the direction of torque. Wherein the strain gauge comprises at least one strain gauge, the joint torque sensor further comprises a bridge formed by connecting the strain gauges, and a bridge arm of the bridge at least comprises the strain gauges which are correspondingly arranged on a first mounting surface and a second mounting surface on the same strain beam and are arranged in series. The joint torque sensor provided by the invention can improve the detection precision.

The invention provides a transmission shaft torque detection device and system, and relates to the technical field of sensors. The device comprises a torque sensor tone wheel, a magnetoelectric torque sensor and a torque signal processor. The torque sensor tone wheel is fixedly arranged on the shaft head of the transmission shaft; magnetic steel assemblies are arranged on the torque sensor tone wheel at intervals in the circumferential direction. The acquisition end face of the torque sensor faces the magnetic steel assembly on the torque sensor tone wheel, and the torque sensor is used for acquiring an induced magnetic field generated by the magnetic steel assembly driven by the rotation of the torque sensor tone wheel; the torque signal processor determines a torque signal based on the induced magnetic field and preset calculation parameters; wherein the preset calculation parameters comprise a tail transmission shaft torque rigidity value, a torque maximum value, a rated torque value and a torque angle; through the arrangement of the magnetoelectric torque sensor and the matched induced magnetic field generation assembly and signal processing assembly, the measurement accuracy of the torque of the transmission shaft is greatly improved in a heavily polluted environment.