CN106918411A - For the built-in three-dimension power and torque measuring device of light flexible joint of mechanical arm - Google Patents
For the built-in three-dimension power and torque measuring device of light flexible joint of mechanical arm Download PDFInfo
- Publication number
- CN106918411A CN106918411A CN201510989195.1A CN201510989195A CN106918411A CN 106918411 A CN106918411 A CN 106918411A CN 201510989195 A CN201510989195 A CN 201510989195A CN 106918411 A CN106918411 A CN 106918411A
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- Prior art keywords
- mechanical arm
- flexible joint
- power
- light
- built
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/04—Measuring force or stress, in general by measuring elastic deformation of gauges, e.g. of springs
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
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- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The present invention relates to a kind of measurement apparatus, specifically a kind of built-in three-dimension power and torque measuring device for light flexible joint of mechanical arm.Including elastic body's unit, light barrier, support device and photoelectric displacement sensor, wherein elastic body's unit includes outer shroud, inner ring and elastic rib, the outer shroud and inner ring are connected by multiple elastic ribs, a light barrier is equipped with each elastic rib, each light barrier corresponds to a photoelectric displacement sensor by supporting device to be arranged on outer shroud.Simple structure of the present invention, size are small, lightweight, reliability is high, rigidity is good, real-time is good, it is adaptable to the use to the joint of mechanical arm of the compact requirement of lightweight construction.
Description
Technical field
It is specifically a kind of for light flexible joint of mechanical arm the present invention relates to a kind of measurement apparatus
Built-in three-dimension power and torque measuring device.
Background technology
Light flexible mechanical arm is towards the mechanical arm system of new generation with the co-melting environment of people.With robot
Towards family, into service and medical field, light flexible mechanical arm system of new generation is increasingly subject to people
Concern.Co-melting with people is the core concept of light flexible mechanical arm system design of new generation.
Perform the flexibility of task, compliance and friendship is contacted with environment to improve light flexible mechanical arm
Mutual ability, except needing to obtain joint position, velocity information of the mechanical arm in execution task exactly
Outward, in addition it is also necessary to obtain its power and moment information and make its compact conformation and there is certain flexibility degree.
Light flexible mechanical arm is different from tradition machinery arm, and it designs core requirement for small space, low weight,
High flexibility.Multi-dimensional force and torque measuring device for being applied to light flexible joint of mechanical arm then require body
Product is small, and light weight, reliability is high, can be embedded in light flexible joint of mechanical arm.And conventional multidimensional power
And torque measuring device, then due to operating environment and the difference of requirement, its size is larger, weight, it is difficult to collect
Into in joint and customization is difficult, therefore it is unsuitable for the application to light flexible mechanical arm.
The content of the invention
Regarding to the issue above, it is an object of the invention to provide a kind of for light flexible joint of mechanical arm
Built-in three-dimension power and torque measuring device.The device is applied to the mechanical arm of light flexible and compact conformation
Joint.
To achieve these goals, the present invention uses following technical scheme：
A kind of built-in three-dimension power and torque measuring device for light flexible joint of mechanical arm, including bullet
Property body unit, light barrier, support device and photoelectric displacement sensor, wherein elastic body's unit includes
Outer shroud, inner ring and elastic rib, the outer shroud and inner ring are connected by multiple elastic ribs, each elastic rib
On be equipped with a light barrier, each light barrier corresponds to the light by supporting device to be arranged on outer shroud
Electric displacement sensor.
The elastic rib closes to be formed by two SPLs, and SPL one end is connected with outer shroud, separately
One end is connected with inner ring.
The width of the elastic rib is gradually broadened by inner ring to outer shroud, and multiple elastic ribs are on elastic body
The Central Symmetry of unit.
Elastic body's unit when being acted on by torque load, the material of its deformation and elastic body's unit
The general thickness h of elastic modulus E, elastic rib quantity N and elastic body's unit is directly proportional.
Described elastic body's unit when stress load is acted on, the material of its deformation and elastic body's unit
Elastic modulus E and elastic rib quantity N are directly proportional.
Circumferentially multiple is provided with support device mounting groove on the outer shroud, and the support device is pacified by screw
On support device mounting groove on outer shroud.
The elastic rib is provided with light barrier mounting groove, and the light barrier is arranged on described being in the light by screw
On piece mounting groove.
The position of the light barrier mounting groove in the elastic rib need to make its upper stop piece be in the photoelectric displacement biography
The center of sensor.
Circumferentially arranged with multiple outward flange mounting holes on the outer shroud, circumferentially arranged with multiple in the inner ring
Inner flange mounting hole.
The inner flange mounting hole is connected with the input of light flexible joint of mechanical arm, the outward flange peace
Dress hole is connected with the output end of light flexible joint of mechanical arm.
Advantages of the present invention is with good effect：
1. simple structure of the present invention, size are small, lightweight, reliability is high, rigidity is good, real-time is good,
Suitable for the use of the joint of mechanical arm to the compact requirement of lightweight construction.
2. the present invention can meet the measurement to three-dimensional force and moment information, widely applicable.
3. present invention measurement real-time is good.By using photoelectric measurement principle, its system response time is fast.
4. electromagnetism interference of the invention is strong.
5. reliability of the invention is high, and overload capacity is strong, can within the specific limits by removing overload protection
Device, effectively reduces the design size in light-duty machinery joint.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is the structural representation of elastic body unit in the present invention；
Fig. 3 is the structural representation of light barrier in the present invention；
Fig. 4 is the structural representation of support meanss in the present invention；
Fig. 5 is power of the invention and torgue measurement schematic diagram.
Wherein：1 is elastic body's unit, and 2 is light barrier, and 3 pass to support device, 4 for photoelectric displacement
Sensor, 11 is outer shroud, and 12 is inner ring, and 13 is the first elastic rib, and 14 is the second elastic rib, and 15 is the
Three elastic ribs, 16 is the 4th elastic rib, and 17 is cable hole, and 18 is outward flange mounting hole, and 19 is interior method
Blue mounting hole, 110 is the first support device mounting groove, and 111 is the second support meanss mounting groove, and 112 are
3rd support meanss mounting groove, 113 is the 4th support device mounting groove, and 114 is the first light barrier mounting groove,
115 is the second light barrier mounting groove, and 116 is third gear mating plate mounting groove, and 117 install for fourth gear mating plate
Groove.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
As Figure 1-4, what the present invention was provided is a kind of for embedded the three of light flexible joint of mechanical arm
Dimension power and torque measuring device, including elastic body's unit 1, light barrier 2, support device 3 and photopotential
Displacement sensor 4, wherein elastic body's unit 1 include outer shroud 11, inner ring 12 and elastic rib, the outer shroud
11 and inner ring 12 connected by multiple elastic ribs, a light barrier 2 is equipped with each elastic rib, respectively
Light barrier 2 corresponds to a photoelectric displacement sensor 4 by supporting device 3 to be arranged on outer shroud 11.
The elastic rib closes to be formed by two SPLs, and SPL one end is connected with outer shroud 11,
The other end is connected with inner ring 12.The width of the elastic rib is gradually broadened by inner ring 12 to outer shroud 11, and
Even width changes, and makes structure stress uniform, to ensure its degree of flexibility and reliability.Multiple elastic ribs are closed
In the Central Symmetry of elastic body's unit 1.
Described elastic body's unit 1, the width of its elastic rib will influence measurement apparatus to loading force and power
The bearing capacity of square, and width is smaller, bearing capacity is poorer, and degree of flexibility is better.
Elastic body's unit 1 when being acted on by torque load, its deformation and elastic body's unit 1
The general thickness h of elasticity modulus of materials E, elastic rib quantity N and elastic body's unit is directly proportional, that is, sense
Torque load bearing capacity T ∝ E, T ∝ N, the T ∝ h of device.
Described elastic body's unit 1 when stress load is acted on, its deformation and elastic body's unit 1
Elasticity modulus of materials E and elastic rib quantity N are directly proportional, i.e. the power load carrying capacity F ∝ E of sensor,
F∝N。
Circumferentially multiple is provided with support device mounting groove on the outer shroud 11, and the support device 3 passes through spiral shell
Nail is on the support device mounting groove on outer shroud 11.The elastic rib is provided with light barrier mounting groove,
The light barrier 2 is arranged on the light barrier mounting groove by screw.Circumferentially set on the outer shroud 11
There are multiple outward flange mounting holes 18, circumferentially arranged with multiple inner flange mounting holes 19 in the inner ring 12,
The center of the inner ring 12 is cable hole 17.Light barrier mounting groove in elastic body's unit 1 in elastic rib
Position its upper stop piece 11 need to be made to be in the center of photoelectric displacement sensor 4.
Embodiment
Outer shroud 11 and inner ring 12 pass through the first elastic rib 13, the second bullet in described elastic body's unit 1
Property muscle 14, the 3rd elastic rib 15 and the 4th elastic rib 16 are connected in one, and the first elastic rib 13,
Two elastic ribs 14, the 3rd elastic rib 15 and the 4th elastic rib 16 are on Central Symmetry.First bullet
First gear is respectively equipped with property muscle 13, the second elastic rib 14, the 3rd elastic rib 15 and the 4th elastic rib 16
Mating plate mounting groove 114, the second light barrier mounting groove 115, third gear mating plate mounting groove 116 and fourth gear light
Piece mounting groove 117, the first light barrier mounting groove 114, the second light barrier mounting groove 115, third gear
On mating plate mounting groove 116 and fourth gear mating plate mounting groove 117 by screw respectively with the first light barrier 21,
Second light barrier 22, third gear mating plate 23 and fourth gear mating plate 24 are connected.On the outer shroud 11 circumferentially
It is evenly equipped with the first support device mounting groove 110, second and supports that device mounting groove the 111, the 3rd supports device peace
Tankage 112 and the 4th is installed and supports device groove 113, and described first supports device mounting groove 110, second
Hold device mounting groove the 111, the 3rd and support that device mounting groove 112 and the 4th is installed support device groove 113 and passed through
Screw supports that device 31, the second support meanss the 32, the 3rd support device 33 with structure identical first respectively
And the 4th support device 34 be connected, it is described first support device 31, the second support meanss 32, the 3rd
Hold device 33 and the 4th support device 34 respectively with the first photoelectric displacement sensor 41, the second photoelectric displacement
Sensor 42, the 3rd photoelectric displacement sensor 43 and the 4th photoelectric displacement sensor 44 are connected.This implementation
In example, each photoelectric displacement sensor is from the RPI-131 type products of ROHM companies.
Installation of the invention and operation principle are：
Measured provided by the present invention for light flexible joint of mechanical arm built-in three-dimension power and torque sensor
Device, its inner flange mounting hole 19 is connected with the input of light flexible joint of mechanical arm, and outward flange is installed
Hole 18 is connected with the output end of light flexible joint of mechanical arm.When the actuating station of mechanical arm is acted on by load
When, elastic body's unit 1 deforms, so as to drive the light barrier 2 installed thereon to move.By light
Electric displacement sensor 4 measures the displacement of its correspondence light barrier 2, so as to reach detection and measurement mechanical arm
Magnitude of load suffered by actuating station.
As shown in figure 5, wherein the first photoelectric displacement sensor 41 can detect power load Fx, torque load
Mz；Second photoelectric displacement sensor 42 can detect power load Fy, torque load Mz；3rd photoelectric displacement
Sensor 43 can detect power load Fx, torque load Mz；4th photoelectric displacement sensor 44 can detect power
Load Fy, torque load Mz.
When by power load Fx, the first photoelectric displacement sensor 41 and the 3rd photoelectric displacement sensor 43
Signal is conversely, and the second photoelectric displacement sensor 42 and the 4th photoelectric displacement sensor 44 are initial signal
Value；When by power load Fy, the second photoelectric displacement sensor 42 and the 4th photoelectric displacement sensor 44
Signal is conversely, and the first photoelectric displacement sensor 41 and the 3rd photoelectric displacement sensor 43 are initial signal
Value；When being acted on by torque load Mz, the first photoelectric displacement sensor 41, the second photoelectric displacement sensing
Device 42, the 3rd photoelectric displacement sensor 43, the signal of the 4th photoelectric displacement sensor 44 is identical.
Claims (10)
1. a kind of built-in three-dimension power and torque measuring device for light flexible joint of mechanical arm, it is special
Levy and be, including elastic body's unit (1), light barrier (2), support device (3) and photoelectric displacement are passed
Sensor (4), wherein elastic body's unit (1) include outer shroud (11), inner ring (12) and elastic rib,
The outer shroud (11) and inner ring (12) are connected by multiple elastic ribs, are equipped with each elastic rib
One light barrier (2), each light barrier (2) corresponds to one by supporting device (3) installed in outer shroud
(11) photoelectric displacement sensor (4) on.
2. the built-in three-dimension power and torque of light flexible joint of mechanical arm are used for according to claim 1
Measurement apparatus, it is characterised in that the elastic rib closes to be formed by two SPLs, SPL
One end is connected with outer shroud (11), and the other end is connected with inner ring (12).
3. the built-in three-dimension power and power for light flexible joint of mechanical arm according to claim 2
Square measurement apparatus, it is characterised in that the width of the elastic rib by inner ring (12) to outer shroud (11) by
Gradual change is wide, and multiple Central Symmetries of the elastic rib on elastic body's unit (1).
4. the built-in three-dimension power and power for light flexible joint of mechanical arm according to claim 3
Square measurement apparatus, it is characterised in that elastic body's unit (1) when being acted on by torque load, its
Deformation and elasticity modulus of materials E, the elastic rib quantity N and elastic body's unit of elastic body's unit (1)
General thickness h be directly proportional.
5. the built-in three-dimension power and power for light flexible joint of mechanical arm according to claim 3
Square measurement apparatus, it is characterised in that described elastic body's unit (1) when stress load is acted on, its
Deformation is directly proportional to the elasticity modulus of materials E and elastic rib quantity N of elastic body's unit (1).
6. the built-in three-dimension power and power for light flexible joint of mechanical arm according to claim 1
Square measurement apparatus, it is characterised in that circumferentially multiple is provided with support device installation on the outer shroud (11)
Groove, the support device (3) is arranged on the support device mounting groove on outer shroud (11) by screw.
7. the built-in three-dimension power and power for light flexible joint of mechanical arm according to claim 1
Square measurement apparatus, it is characterised in that the elastic rib is provided with light barrier mounting groove, the light barrier (2)
It is arranged on the light barrier mounting groove by screw.
8. the built-in three-dimension power and power for light flexible joint of mechanical arm according to claim 7
Square measurement apparatus, it is characterised in that the position of the light barrier mounting groove in the elastic rib need to make to keep off thereon
Piece (11) is in the center of the photoelectric displacement sensor (4).
9. according to claim any one of 1-8 for embedded the three of light flexible joint of mechanical arm
Dimension power and torque measuring device, it is characterised in that circumferentially arranged with the outer method of multiple on the outer shroud (11)
Blue mounting hole (18), circumferentially arranged with multiple inner flange mounting holes (19) on the inner ring (12).
10. the built-in three-dimension power and power for light flexible joint of mechanical arm according to claim 9
Square measurement apparatus, it is characterised in that the inner flange mounting hole (19) and light flexible joint of mechanical arm
Input be connected, the output end phase of the outward flange mounting hole (18) and light flexible joint of mechanical arm
Even.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510989195.1A CN106918411A (en) | 2015-12-24 | 2015-12-24 | For the built-in three-dimension power and torque measuring device of light flexible joint of mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510989195.1A CN106918411A (en) | 2015-12-24 | 2015-12-24 | For the built-in three-dimension power and torque measuring device of light flexible joint of mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN106918411A true CN106918411A (en) | 2017-07-04 |
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ID=59460129
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510989195.1A Pending CN106918411A (en) | 2015-12-24 | 2015-12-24 | For the built-in three-dimension power and torque measuring device of light flexible joint of mechanical arm |
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| CN (1) | CN106918411A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107671875A (en) * | 2017-11-23 | 2018-02-09 | 哈尔滨工业大学 | The compact metal rubber elastic element of the upper energy measuring moment of flexible machine person joint |
| CN107989960A (en) * | 2017-11-23 | 2018-05-04 | 哈尔滨工业大学 | The metal-rubber flexible member that can measure torque for flexible machine person joint |
| CN108945270A (en) * | 2018-08-20 | 2018-12-07 | 苏州力矩优行智能科技有限公司 | A kind of torque sensor for electrical bicycles |
| CN110154065A (en) * | 2019-05-15 | 2019-08-23 | 西安电子科技大学 | Flexible light electric-type torque sensor and application method for flexible mechanical shoulder joint |
| WO2022034326A1 (en) * | 2020-08-14 | 2022-02-17 | Dyson Technology Limited | Torque sensor element and torque sensor |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107671875A (en) * | 2017-11-23 | 2018-02-09 | 哈尔滨工业大学 | The compact metal rubber elastic element of the upper energy measuring moment of flexible machine person joint |
| CN107989960A (en) * | 2017-11-23 | 2018-05-04 | 哈尔滨工业大学 | The metal-rubber flexible member that can measure torque for flexible machine person joint |
| CN107989960B (en) * | 2017-11-23 | 2020-02-07 | 哈尔滨工业大学 | Metal rubber elastic element capable of measuring moment for flexible robot joint |
| CN108945270A (en) * | 2018-08-20 | 2018-12-07 | 苏州力矩优行智能科技有限公司 | A kind of torque sensor for electrical bicycles |
| CN110154065A (en) * | 2019-05-15 | 2019-08-23 | 西安电子科技大学 | Flexible light electric-type torque sensor and application method for flexible mechanical shoulder joint |
| WO2022034326A1 (en) * | 2020-08-14 | 2022-02-17 | Dyson Technology Limited | Torque sensor element and torque sensor |
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Application publication date: 20170704 |
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