Torque Sensor with Planar Capacitive Detection for Lightweight Robot Arms
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Solution Overview
Problem
Existing torque sensors face challenges in reducing thickness and weight due to complex structures and the need for multiple rigid members, making them unsuitable for applications like robot arms where a simple and lightweight design is required.
Innovation Solution
A torque sensor design featuring a detection deformable body with elastic deformability, supported by inner and outer ring-shaped structure bodies connected by members, utilizing capacitor elements to detect elastic deformation between support points, allowing for a thin and lightweight configuration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If multiple rigid members are attached to the ring-shaped load detection mechanism, then structural strength is improved, but weight increases and thickness increases
Solution Approach 1:
The patent merges the support function and connection function into a single integrated support member structure. The support member simultaneously provides structural support and connects the detection ring to the measurement system, eliminating the need for separate rigid members and reducing overall weight while maintaining structural strength.
Solution Approach 2:
The support member is designed to perform multiple functions: it acts as both a structural support element and a connection element between the detection ring and the measurement system. This multi-functionality reduces the number of components needed, thereby reducing weight and thickness while maintaining structural integrity.
2Measurement precision
If multiple layers of detection rings or support members are stacked, then detection capability is improved, but structural complexity increases and weight increases
Solution Approach 1:
The patent transitions from a multi-layer stacked configuration to a planar configuration where the detection ring and support members are arranged in essentially one plane. This dimensional change maintains detection capability through the support member's geometric design while significantly reducing structural complexity and weight by eliminating vertical stacking.
3Measurement precision
If a ring-shaped load detection mechanism with multiple rigid members is used, then torque detection accuracy is improved, but thickness increases
Solution Approach 1:
The patent reconfigures the torque sensor from a multi-layer stacked structure to a planar structure where all major components lie in essentially one plane. This dimensional reconfiguration reduces thickness while maintaining torque detection accuracy through the support member's geometric design and its interaction with the detection ring.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The design achieves a simple structure with reduced thickness and weight, enabling effective torque detection while minimizing material usage and complexity, making it suitable for applications like robot arm joints.
Implementation Method 1
a detection element for detecting elastic deformation occurring in the detection deformable body
Implementation Method 2
a detection deformable body having elastic deformability in at least a portion thereof
Data Source
AI summary
An inner support member, a detection deformable body, and a ring-shaped outer support member are disposed sequentially from the inside to the outside around a Z axis as a central axis. Inner surfaces in the vicinity of inner support points of the detection deformable body connect to outer surfaces of the inner support member via inner connecting members, and outer surfaces in the vicinity of outer support points of the detection deformable body connect to inner surfaces of the outer support member via outer connecting members. When a torque acts in the clockwise direction on the outer support member (130) while the inner support member is fixed, detection parts are displaced outwardly, and detection parts are displaced inwardly. These displacements are detected electrically as changes in capacitance values of four capacitor elements including opposing electrodes.