Robot Torque Sensor Support Structure for Deformation Suppression
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Solution Overview
Problem
Existing torque sensors in robots face issues with deformation and detection accuracy due to the rigidity imbalance between structural bodies, leading to inaccurate torque detection and potential liquid ingress.
Innovation Solution
A torque sensor support structure using an adaptor with higher rigidity than the base, fixed between the decelerator and the base, which suppresses deformation and enhances detection accuracy by aligning centers and sealing gaps with O-rings.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the rigidity of structural bodies is increased to suppress deformation, then measurement precision improves, but device complexity increases due to rigidity imbalance requirements
Solution Approach 1:
The patent introduces a support structure as an intermediary component between the first and second structural bodies. This support structure provides additional rigidity support to suppress deformation at the sensor unit location without requiring the entire structural body to have high rigidity, thus resolving the contradiction between measurement precision and device complexity
Solution Approach 2:
The patent applies local quality by concentrating rigidity enhancement only where needed - specifically at the support structure near the sensor units - rather than making the entire structural body rigid. This localized approach improves torque detection accuracy while avoiding unnecessary complexity in other parts of the structure
2Measurement precision
If the rigidity of structural bodies is increased to suppress deformation, then measurement precision improves, but manufacturing cost increases
Solution Approach 1:
The patent applies local quality by concentrating rigidity enhancement only where needed - specifically at the support structure near the sensor units - rather than making the entire structural body rigid. This localized approach improves torque detection accuracy while avoiding unnecessary complexity in other parts of the structure
Solution Approach 2:
The patent segments the structural body into multiple parts (first structural body, second structural body, and support structure). This segmentation allows the support structure to be optimized for rigidity only in the critical area, while other parts can use standard materials and designs, reducing overall manufacturing cost
3Measurement precision
If the engagement length between torque sensor and structural body is increased to suppress deformation, then measurement precision improves, but the torque sensor is more likely to come into contact with the decelerator causing liquid ingress
Solution Approach 1:
The patent introduces a support structure as an intermediary component that provides rigidity support without requiring increased engagement length between the torque sensor and structural bodies. This maintains adequate clearance between the torque sensor and decelerator, preventing liquid ingress while still suppressing deformation through the support structure
Data Source
AI summary
A torque sensor support structure. A torque sensor is disposed between a decelerator and a first member for attaching the decelerator, and detects torque acting between the decelerator and the first member. An adaptor is provided to fix the torque sensor to the first member. The adaptor suppresses deformation of the first member due to at least one of moment or force which act on the torque sensor.