Torque Sensor Support Device for Robot Arm Bending Moment Suppression
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Solution Overview
Problem
Torque sensors used in robot arms experience reduced detection accuracy due to bending moments other than torque, leading to other-axes interferences and f2 components in the sensor output.
Innovation Solution
A torque sensor supporting device is implemented using a bearing with an outer race fixed to the base and an inner race fixed to the speed reducer, suppressing deformation and displacement caused by bending moments, thereby reducing other-axes interferences and enhancing detection accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a disk-shaped torque sensor is used in a robot arm with the fulcrum on the torque sensor side, then the robot arm can achieve the desired mechanical structure and range of motion, but the torque sensor becomes subject to other-axes interferences from bending moments caused by loads at positions deviated from the first and second axis lines, resulting in f2 components and reduced detection accuracy
Solution Approach 1:
The support structure is segmented into multiple independent support points (first support section and second support section) positioned at specific locations relative to the torque sensor. This segmentation allows each support point to independently counteract bending moments from different directions, effectively eliminating other-axes interferences while maintaining the robot arm's mechanical versatility
Solution Approach 2:
The patent introduces an intermediary support structure (the bearing supporting section with first and second support sections) that acts as a mediator between the torque sensor and the external loads. This intermediary structure absorbs and counteracts bending moments before they reach the torque sensor, protecting the sensor from other-axes interferences while allowing the robot arm to maintain its desired mechanical structure
2Ease of operation
If the torque sensor is positioned with the fulcrum on its side to enable the robot arm configuration, then the arm can function properly, but bending moments from loads at various positions (especially 45°, 135°, 225°, and 315°) create other-axes interferences and f2 components that reduce sensor output accuracy
Solution Approach 1:
The patent employs counteracting support forces through the first and second support sections that generate opposing moments to balance the bending moments caused by external loads. The first support section counteracts loads on one side of the torque sensor while the second support section counteracts loads on the other side, effectively neutralizing other-axes interferences and eliminating f2 components in the sensor output
3Adaptability or versatility
If loads are present at positions deviated from the first and second axis lines by 45°, then the robot arm can operate in these positions, but large other-axes interferences occur causing peak sensor outputs and f2 components
Solution Approach 1:
The patent applies local quality by positioning support sections at specific locations with distinct functional characteristics. The first support section is positioned to provide optimal support against loads from certain directions, while the second support section is positioned to provide optimal support against loads from other directions. This localized optimization ensures that regardless of the robot arm's operational position (including 45° deviations), the appropriate support section actively counteracts the bending moment, maintaining both operational versatility and measurement precision
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 supporting device effectively suppresses other-axes interferences, preventing peak sensor outputs at specific rotational angles and improving the accuracy of torque detection in robot arms.
Implementation Method 1
a bearing 20 functioning as a supporting device configured to support the torque sensor 40
Data Source
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AI summary
A torque sensor supporting device capable of preventing bending moment other than torque from occurring to a torque sensor and improving the detection accuracy of the torque sensor. A first supporting body 21 is provided to a base 31 serving as a first mounting section of a robot. A second supporting body 22 is coupled to a second structure 42 of a torque sensor 40 including a first structure 41 provided to the base 31, the second structure 42 coupled to a first arm 32 serving as a second mounting section, third structures 43 provided between the first structure and the second structure, and at least two sensor sections 44 and 45 provided between the first structure and the second structure. Rotating bodies 23 are provided between the first supporting body 21 and the second supporting body 22.