Reducer Module Torque Sensing Wire Torsion Prevention
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Solution Overview
Problem
Conventional reducer modules with torque sensing in robot arms experience undesired torsion and stretch in wires due to postural changes, which affect the accuracy of torque measurement.
Innovation Solution
A reducer module design featuring a tubular casing with a ring having radially raised ribs, where front and rear harmonic reducers are connected to the ring, and strain gage torque sensors are mounted on the ribs to measure torque by converting deformation into torque values, preventing wire torsion and stretch through a centrally bored axial channel.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If wires are electrically connected to the motor in a conventional reducer module, then electrical connection is achieved, but the wires experience undesired torsion and stretch as the robot arm changes postures
Solution Approach 1:
The patent introduces a torque sensor as an intermediary component between the motor and the control system. This torque sensor is integrated into the output shaft assembly, allowing electrical connections to be made at a fixed point rather than directly to the rotating motor, thereby eliminating wire torsion and stretch issues while enabling accurate torque measurement
Solution Approach 2:
The patent replaces the conventional mechanical wire connection system with an integrated torque sensing system. Instead of using flexible wires that connect directly to the motor, the design uses a torque sensor mounted on the output shaft that mechanically integrates with the gear train, substituting the flexible wire-motor connection with a rigid mechanical measurement system
2Measurement precision
If torque sensors are mounted on the output shaft in a conventional reducer module, then real-time torque measurement is achieved, but wire torsion and stretch affect measurement accuracy
Solution Approach 1:
The patent merges the torque sensing function with the output shaft structure itself. The torque sensor is integrated into the output shaft assembly, combining the mechanical support structure with the measurement function, which eliminates the need for separate wire connections and ensures accurate torque measurement不受wire torsion interference
Solution Approach 2:
The torque sensor acts as an intermediary that directly measures torque at the output shaft without requiring flexible wire connections. By positioning the sensor on the output shaft rather than connecting it via wires to the motor, the system achieves accurate real-time torque measurement while avoiding the harmful effects of wire torsion and stretch
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 solution effectively prevents wire torsion and stretch in robot arms, ensuring accurate real-time torque measurement and deceleration/acceleration functions, maintaining measurement precision during postural changes.
Implementation Method 1
the torque sensors are strain gages, so that when the ribs have strains due to the received force, the torque sensors measure levels of deformation at where the strains happen and convert the measured levels into the corresponding torque value
Data Source
AI summary
A reducer module with real-time torque sensing includes two harmonic reducers that are installed in opposite directions in a casing and located in front of and behind a ring, respectively; and a plurality of torque sensors mounted on ribs of the ring for measuring a torque value. The ring's inner circle, the front harmonic reducer, and the rear harmonic reducer are centrally bored to form a channel, through which wires of the torque sensors go out the reducer module and are prevented from torsion and stretch during operation of the reducer module.