CN111089676A - Rotating shaft force measuring device and manipulator with same - Google Patents
Rotating shaft force measuring device and manipulator with same Download PDFInfo
- Publication number
- CN111089676A CN111089676A CN202010018282.3A CN202010018282A CN111089676A CN 111089676 A CN111089676 A CN 111089676A CN 202010018282 A CN202010018282 A CN 202010018282A CN 111089676 A CN111089676 A CN 111089676A
- Authority
- CN
- China
- Prior art keywords
- rotating shaft
- measuring device
- force measuring
- shaft
- worm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- 238000001514 detection method Methods 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000036316 preload Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
- G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a rotating shaft force measuring device which is characterized by comprising a frame (1), a rotating shaft (2) to be measured, a motor (3) and a first rotating shaft (6); the rotating shaft (2) to be tested is rotatably fixed on the frame (1); a turbine (4) is sleeved on the rotating shaft (2) to be tested; the first rotating shaft (6) is rotatably fixed on the frame (1); a worm (5) is sleeved on the first rotating shaft (6) in a sliding manner; the worm (5) is meshed with the worm wheel (4); both ends of the worm (5) can rotatably abut against a pressure transmission plate (7). The rotating shaft force measuring device can detect the external moment borne by the rotating shaft to be measured, and is suitable for scenes with requirements on the external moment borne by the rotating shaft; the invention realizes the detection of the external moment applied to the rotating shaft by the worm gear transmission principle, so that the rotating shaft to be detected has the self-locking function; the output shaft of the motor can be perpendicular to or parallel to the space of the rotating shaft to be measured, and the adaptability is strong.
Description
Technical Field
The invention relates to the field of detection of rotating shaft force, in particular to a rotating shaft force measuring device and a manipulator with the same.
Background
In some scenes with high requirements on precision control or safety, the external moment applied to the rotating shaft needs to be detected in real time to prevent the motor from continuing to operate after collision or overload, so that a device capable of detecting the external moment applied to the rotating shaft in real time needs to be developed.
Disclosure of Invention
In order to solve the problems in the background art, the invention discloses a rotating shaft force measuring device, which comprises a frame, a rotating shaft to be measured, a motor and a first rotating shaft; the rotating shaft to be tested is rotatably fixed on the frame; a turbine is sleeved on the rotating shaft to be tested; the first rotating shaft is rotatably fixed on the frame; a worm is sleeved on the first rotating shaft in a sliding manner; the worm is meshed with the worm wheel; both ends of the worm are rotatably pressed against the pressure transmission plate; the pressure transmission plate is tightly abutted to the sensor limiting plate through the pressure sensor; the pressure transmission plate is slidable in the axial direction of the first rotary shaft; the sensor limiting plate is connected with the frame; a first gear is sleeved on the first rotating shaft; the motor is fixed on the frame; the output shaft of the motor is connected with a second gear; the first gear and the second gear are engaged.
The first rotating shaft and the rotating shaft to be detected are mutually vertical in space.
And both ends of the worm are tightly propped against the pressure transfer plate through thrust bearings.
The first rotating shaft is a spline shaft; the axial hollow structure of the worm is matched with the spline shaft.
The pressure transmission plate is slidably sleeved on the guide shaft; two ends of the guide shaft are fixed on the frame; the guide shaft is parallel to the first rotation shaft.
The first gear and the second gear are both bevel gears.
An adjusting bolt is screwed on the frame; the head of the screw rod of the adjusting bolt is tightly propped against the end face of the sensor limiting plate; the sensor limiting plate is slidably sleeved on the guide shaft.
The invention also discloses a manipulator with the rotating shaft force measuring device, which comprises a plurality of joints; two adjacent joints are hinged through a hinge shaft; the hinge shaft is connected with a rotating shaft force measuring device of claim 1.
The tail end joint J is provided with an execution rotating shaft; the execution rotating shaft is connected with the rotating shaft force measuring device.
The first joint at the head end is fixedly connected with the fixed seat; each joint is provided with an outer cover.
The invention has the beneficial effects that: the rotating shaft force measuring device can detect the external moment borne by the rotating shaft to be measured in real time, and is suitable for scenes with requirements on the external moment borne by the rotating shaft; the invention realizes the detection of the external moment applied to the rotating shaft by the worm gear transmission principle, so that the rotating shaft to be detected has the self-locking function; the output shaft of the motor can be perpendicular to or parallel to the space of the rotating shaft to be measured, and the adaptability is strong.
Drawings
FIG. 1 is a schematic view of the overall structure of a rotary shaft force measuring device according to the present invention.
Fig. 2 is a front view of fig. 1.
Fig. 3 is an exploded view of a spindle force measuring device of the present invention.
Fig. 4 is a perspective view of the internal structure of the present invention.
Fig. 5 is a front view of fig. 4.
Fig. 6 is a sectional view taken along a-a in fig. 5.
FIG. 7 is a schematic view of the entire structure of the rotary force measuring device of the present invention.
Fig. 8 is a perspective view of fig. 7 (with a portion of the frame removed).
Fig. 9 is a schematic view of the overall structure of the robot with a spindle force measuring device according to the present invention.
Fig. 10 is a schematic view of the structure of fig. 9 with the cover removed.
Detailed Description
The following detailed description of the embodiments of the present invention is provided to enable those skilled in the art to more easily understand the advantages and features of the present invention, and to clearly and clearly define the scope of the present invention.
Example 1
Referring to fig. 1-8, the rotating shaft force measuring device comprises a frame 1, a rotating shaft 2 to be measured, a motor 3 and a first rotating shaft 6; the rotating shaft 2 to be tested is rotatably fixed on the frame 1; a turbine 4 is sleeved on the rotating shaft 2 to be tested; the first rotating shaft 6 is rotatably fixed on the frame 1; a worm 5 is slidably sleeved on the first rotating shaft 6; the worm 5 is meshed with the worm wheel 4; both ends of the worm 5 can rotatably abut against a pressure transmission plate 7; the pressure transmission plate 7 is tightly abutted with a sensor limiting plate 9 through a pressure sensor 8; the pressure transmission plate 7 is slidable in the axial direction of the first rotary shaft 6; the sensor limiting plate 9 is connected with the frame 1; a first gear 10 is sleeved on the first rotating shaft 6; the motor 3 is fixed on the frame 1; the output shaft of the motor 3 is connected with a second gear 11; the first gear 10 and the second gear 11 are engaged.
The first rotating shaft 6 and the rotating shaft 2 to be measured are mutually vertical in space.
Both ends of the worm 5 tightly abut against the pressure transmission plate 7 through thrust bearings 13.
The first rotating shaft 6 is a spline shaft; the axial hollow structure of the worm 5 is matched with the spline shaft; so that the worm 5 can rotate with the spline shaft and can slide in the axial direction of the spline shaft.
The pressure transmission plate 7 is slidably sleeved on the guide shaft 12; both ends of the guide shaft 12 are fixed to the frame 1; the guide shaft 12 is parallel to the first rotating shaft 6; the pressure transmission plate 7 can be slidably sleeved on the guide shaft 12 through a linear bearing, so that the pressure transmission plate 7 can slide along the axial direction of the guide shaft 12, and the axial sliding along the first rotating shaft 6 is realized.
Referring to fig. 7-8, the first gear 10 and the second gear 11 are bevel gears; therefore, the rotating shaft 2 to be measured and the output shaft of the motor 3 can be parallel to meet specific use scenes.
Example 2
Referring to fig. 1-6, the difference between the rotary shaft force measuring device, embodiment 2 and embodiment 1 is that an adjusting bolt 14 is screwed on the frame 1; the head of the adjusting bolt 14 is tightly pressed against the end face of the sensor limiting plate 9; the sensor limiting plate 9 is slidably sleeved on the guide shaft 12; by adjusting the tightening degree of the adjusting bolt 14 in this way, it is possible to adjust the preload of the pressure sensor 8 and also the axial position of the worm 5 with respect to the first rotary shaft 6.
Explanation of force measuring principle of the rotating shaft force measuring device: the motor 3 drives the second gear 11 to rotate, the second gear 11 drives the first gear 10 to rotate, and the first gear 10 drives the worm 5 to rotate through the first rotating shaft 6; the worm 5 drives the rotating shaft 2 to be tested to rotate through the turbine 4, so that the machine 3 indirectly controls the rotating shaft 2 to be tested to rotate; when external torque is applied to the rotating shaft 2 to be tested, the external torque enables the rotating shaft 2 to be tested to drive the worm gear 4 to rotate, but the worm gear and the worm are self-locked, namely the worm gear 4 cannot drive the worm 5 to rotate, so that the worm gear 4 has a rotation trend due to the external torque, the rotation trend of the worm gear 4 is applied to the worm 5, the worm 5 is subjected to axial force to generate a trend of sliding along the axial direction of the first rotating shaft 6, the worm 5 is subjected to the axial force to be applied to the pressure sensor 8 through the pressure transmission plate 7, and the external torque applied to the rotating shaft 2 to be tested can be obtained through the numerical change of the pressure sensor 8 and the combination of the sizes of all; thus, the external moment applied to the rotating shaft 2 to be detected is detected.
Example 3
Referring to fig. 1-10, a robot with a spindle force measuring device includes a plurality of joints J; the two adjacent joints J are hinged through a hinged shaft C; the articulated shaft C is connected with a rotating shaft force measuring device X; the external moment applied to each joint J can be obtained through a rotating shaft force measuring device X connected with a hinged shaft C.
The tail end joint J is provided with an execution rotating shaft D; the execution rotating shaft D is connected with a rotating shaft force measuring device X; the external moment received by the actuating rotating shaft D can be obtained by the rotating shaft force measuring device X connected with the actuating rotating shaft D.
The first joint J at the head end is fixedly connected with the fixed seat B; the fixing seat B is used for fixing the whole manipulator.
Each joint J is provided with an outer cover 15; the cover 15 is used to protect the internal mechanisms of the respective joints J.
The manipulator with the rotating shaft force measuring device can detect the external moment borne by each joint and the execution rotating shaft D in real time through each rotating shaft force measuring device X; the motor can effectively prevent the joint from collision or overload from continuing to operate.
The above embodiments and drawings are not intended to limit the form and style of the present invention, and any suitable changes or modifications thereof by those skilled in the art should be considered as not departing from the scope of the present invention.
Claims (10)
1. The rotating shaft force measuring device is characterized by comprising a frame (1), a rotating shaft (2) to be measured, a motor (3) and a first rotating shaft (6); the rotating shaft (2) to be tested is rotatably fixed on the frame (1); a turbine (4) is sleeved on the rotating shaft (2) to be tested; the first rotating shaft (6) is rotatably fixed on the frame (1); a worm (5) is sleeved on the first rotating shaft (6) in a sliding manner; the worm (5) is meshed with the worm wheel (4); both ends of the worm (5) can rotatably abut against a pressure transmission plate (7); the pressure transmission plate (7) is tightly abutted with a sensor limit plate (9) through a pressure sensor (8); the pressure transmission plate (7) is slidable in the axial direction of the first rotating shaft (6); the sensor limiting plate (9) is connected with the frame (1); a first gear (10) is sleeved on the first rotating shaft (6); the motor (3) is fixed on the frame (1); the output shaft of the motor (3) is connected with a second gear (11); the first gear (10) and the second gear (11) are meshed.
2. A spindle force measuring device according to claim 1, characterized in that the first spindle (6) and the spindle (2) to be measured are spatially perpendicular to each other.
3. A rotary shaft force measuring device according to claim 1, wherein both ends of the worm (5) are pressed against the pressure transmission plate (7) by thrust bearings (13).
4. A rotary shaft force measuring device according to claim 1, wherein the first rotary shaft (6) is a splined shaft; the axial hollow structure of the worm (5) is matched with the spline shaft.
5. A spindle force measuring device according to claim 1, wherein the pressure transmission plate (7) is slidably fitted over a guide shaft (12); both ends of the guide shaft (12) are fixed to the frame (1); the guide shaft (12) is parallel to the first rotating shaft (6).
6. A spindle force measuring device according to claim 1, characterized in that the first gear (10) and the second gear (11) are bevel gears.
7. A spindle force measuring device according to claim 1, wherein said frame (1) is screwed with an adjusting bolt (14); the head of the adjusting bolt (14) is tightly propped against the end face of the sensor limiting plate (9); the sensor limiting plate (9) is slidably sleeved on the guide shaft (12).
8. The manipulator is provided with a rotating shaft force measuring device and is characterized by comprising a plurality of joints (J); two adjacent joints (J) are hinged through a hinge shaft (C); the articulated shaft (C) is connected to a rotary shaft force measuring device (X) according to claim 1.
9. The manipulator with spindle force measuring device according to claim 8, characterized in that the endmost joint J is provided with an execution rotation axis (D); the execution rotating shaft (D) is connected with the rotating shaft force measuring device (X).
10. The manipulator with the rotating shaft force measuring device according to claim 8, wherein the first joint (J) at the head end is fixedly connected with the fixed seat (B); each joint (J) is provided with an outer cover (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010018282.3A CN111089676A (en) | 2020-01-08 | 2020-01-08 | Rotating shaft force measuring device and manipulator with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010018282.3A CN111089676A (en) | 2020-01-08 | 2020-01-08 | Rotating shaft force measuring device and manipulator with same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111089676A true CN111089676A (en) | 2020-05-01 |
Family
ID=70398917
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010018282.3A Pending CN111089676A (en) | 2020-01-08 | 2020-01-08 | Rotating shaft force measuring device and manipulator with same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111089676A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4182168A (en) * | 1978-08-31 | 1980-01-08 | Comptrol, Inc. | Thrust-torque transducer |
| JPH03295433A (en) * | 1990-04-13 | 1991-12-26 | Toa Valve Kk | Torque measuring instrument of electrically operated valve driving device |
| JPH05172663A (en) * | 1991-12-20 | 1993-07-09 | Nippon Gear Co Ltd | Torque measuring method and apparatus for valve actuator |
| US5257535A (en) * | 1992-09-16 | 1993-11-02 | Westinghouse Electric Corp. | Stem stress measuring instrument for valve operating system |
| CN101436356A (en) * | 2008-12-16 | 2009-05-20 | 北京航空航天大学 | Apparatus and method for measuring gyro moment |
| CN105043615A (en) * | 2014-11-10 | 2015-11-11 | 新安乃达驱动技术(上海)有限公司 | Rotating shaft system capable of dynamically measuring rotary moment and method and device thereof |
| WO2016027024A1 (en) * | 2014-08-19 | 2016-02-25 | Hispano-Suiza | Speed reducer for a turbomachine |
| CN105509960A (en) * | 2015-12-11 | 2016-04-20 | 天津七一二通信广播有限公司 | Mechanical apparatus applied to calibration of torque sensor, and method |
| CN109682751A (en) * | 2019-01-29 | 2019-04-26 | 兰州华汇仪器科技有限公司 | Multifunctional material surface property tester and its control system |
| CN211205607U (en) * | 2020-01-08 | 2020-08-07 | 北京仙进机器人有限公司 | Rotating shaft force measuring device and manipulator with same |
-
2020
- 2020-01-08 CN CN202010018282.3A patent/CN111089676A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4182168A (en) * | 1978-08-31 | 1980-01-08 | Comptrol, Inc. | Thrust-torque transducer |
| JPH03295433A (en) * | 1990-04-13 | 1991-12-26 | Toa Valve Kk | Torque measuring instrument of electrically operated valve driving device |
| JPH05172663A (en) * | 1991-12-20 | 1993-07-09 | Nippon Gear Co Ltd | Torque measuring method and apparatus for valve actuator |
| US5257535A (en) * | 1992-09-16 | 1993-11-02 | Westinghouse Electric Corp. | Stem stress measuring instrument for valve operating system |
| CN101436356A (en) * | 2008-12-16 | 2009-05-20 | 北京航空航天大学 | Apparatus and method for measuring gyro moment |
| WO2016027024A1 (en) * | 2014-08-19 | 2016-02-25 | Hispano-Suiza | Speed reducer for a turbomachine |
| CN105043615A (en) * | 2014-11-10 | 2015-11-11 | 新安乃达驱动技术(上海)有限公司 | Rotating shaft system capable of dynamically measuring rotary moment and method and device thereof |
| CN105509960A (en) * | 2015-12-11 | 2016-04-20 | 天津七一二通信广播有限公司 | Mechanical apparatus applied to calibration of torque sensor, and method |
| CN109682751A (en) * | 2019-01-29 | 2019-04-26 | 兰州华汇仪器科技有限公司 | Multifunctional material surface property tester and its control system |
| CN211205607U (en) * | 2020-01-08 | 2020-08-07 | 北京仙进机器人有限公司 | Rotating shaft force measuring device and manipulator with same |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11278949B2 (en) | PEX crimping tool | |
| CN211205607U (en) | Rotating shaft force measuring device and manipulator with same | |
| CN201363397Y (en) | Worm-and-wheel mechanism for zero-clearance transmission and location | |
| JPS6372947A (en) | Controlling speed change gear | |
| US20120079904A1 (en) | Joint device and control method thereof | |
| KR950017607A (en) | Electric power steering | |
| JPH06509164A (en) | Compact axial torque transducer | |
| KR930002184A (en) | Steering gear and reduction gear | |
| US7556299B2 (en) | Finger unit and multi-finger grasping mechanism | |
| CN110886835B (en) | Anti-backlash mechanism based on low-speed worm gear and worm transmission pair | |
| US10513024B1 (en) | Transmission system and electric tool provided with same | |
| WO2017212588A1 (en) | Linear actuator | |
| US20060151235A1 (en) | Steering device | |
| CN111089676A (en) | Rotating shaft force measuring device and manipulator with same | |
| TWM588039U (en) | Electric screwdriver integrated with torque adjustment and sensing functions | |
| US7186197B2 (en) | Actuator with two motors, a differential reducer and a torque limiter | |
| JP4197551B2 (en) | Method and apparatus for measuring preload dynamic torque of ball screw | |
| JP3440343B2 (en) | Torque calibration device for electric valve drive | |
| JP2008223812A (en) | Backlash adjusting mechanism and robot provided with same | |
| JPH07123631A (en) | Electric actuator | |
| CN109366463B (en) | Five-degree-of-freedom hybrid robot with double platforms | |
| JP3027795U (en) | Electric cylinder | |
| TWI426011B (en) | Robot arm assembly | |
| KR100630384B1 (en) | A differential equipment | |
| TWI458613B (en) | Robot arm assembly |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |