CN212645955U - Dynamic torque measuring device and surgical robot - Google Patents
Dynamic torque measuring device and surgical robot Download PDFInfo
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- CN212645955U CN212645955U CN202021775591.7U CN202021775591U CN212645955U CN 212645955 U CN212645955 U CN 212645955U CN 202021775591 U CN202021775591 U CN 202021775591U CN 212645955 U CN212645955 U CN 212645955U
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Abstract
The utility model relates to a dynamic torque measuring device and surgical robot, surgical robot include robot joint and set up the dynamic torque measuring device on the joint. The dynamic torque measuring device comprises a dynamic component, a static component and a power supply communication component; the dynamic assembly comprises a moving component, a measuring component and a first processing component; the static assembly comprises a static part and a second processing part; the power supply communication assembly comprises a first coil and a second coil, wherein the first coil receives electric energy, induces an electric signal on the rotating second coil and supplies power to the dynamic assembly; the measuring component is used for sensing the torque of the moving component in the rotating process; the first processing component is used for obtaining the communication information of the torque and modulating the communication information of the torque on an electromagnetic field generated by the power supply communication component; the second processing component is used for receiving the communication information of the torque transmitted by the second coil through the first coil. This has the advantage of improving the stability of power supply and communication during dynamic torque detection.
Description
Technical Field
The utility model belongs to the technical field of measure, in particular to dynamic torque measurement device and surgical robot.
Background
The torque sensor is widely applied to torque detection, and with the development of a cooperative robot, the force output of the robot to joints needs to be accurately detected and controlled, so that the torque sensor is needed. Current torque sensors are divided into two categories: one is static torque detection, which is used to detect torque on an object that does not need to be rotated; the other is dynamic torque detection, which detects the torque on the rotating parts. However, the current sensors for dynamic torque detection use conductive slip rings to realize power supply and communication, and when the sensors are used for a long time, if the conductive slip rings are worn, the power supply and communication are affected, and when the conductive slip rings shake, the communication and power supply are unstable.
Therefore, the conductive slip ring on the dynamic torque detection sensor cannot resist shaking, and the conductive slip ring is worn after being used for a period of time, and particularly, the conductive slip ring has requirements on the rotating speed, and is more prone to wear if the rotating speed is too high, and meanwhile, signal transmission is unstable.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model aims to provide a dynamic torque measurement device and surgical robot aims at utilizing the mode of wireless power supply and carrier wave to realize the power supply of dynamic part and the transmission of signal, and the stability of power supply and communication when improving dynamic torque detection makes the device be applicable to higher rotational speed moreover, improves application scope.
In order to achieve the above object, according to one aspect of the present invention, there is provided a dynamic torque measuring device, including a dynamic component, a static component, and a power supply communication component;
the dynamic assembly comprises a moving part, a measuring part and a first processing part, wherein the measuring part and the first processing part are arranged on the moving part, and the moving part is used for rotating with a rotating body;
the static assembly comprises a static part and a second processing part arranged on the static part, and the static part is used for keeping static;
the power supply communication assembly comprises a first coil and a second coil, the first coil is fixed on the static part, the second coil is fixed on the moving part, the first coil and the second coil are coaxially arranged and are not in contact with each other, the first coil is used for receiving electric energy and inducing an electric signal on the rotating second coil to provide electric energy for the dynamic assembly;
the measuring component is used for sensing the torsional deformation of the moving component in the rotating process of the rotating body and generating torque information; the first processing component is used for receiving the torque information and processing the torque information to obtain torque communication information; the first processing component is further used for modulating the communication information of the torque on an electromagnetic field generated by the power supply communication assembly and transmitting the communication information of the torque to the outside through the second coil; the second processing component is used for receiving the communication information of the torque transmitted by the second coil through the first coil and processing the communication information to obtain the torque received by the rotating body;
wherein a carrier parameter of the communication information for transmitting the torque is different from a parameter of the electromagnetic wave for supplying power to the dynamic component.
Optionally, the moving part is of a sleeve structure and is used for being sleeved on the rotating body; the static part is a ring sleeve and is sleeved outside the moving part;
the moving part comprises a main body part, one end of the main body part is provided with a flange structure, the diameter of the flange structure is larger than that of the main body part, one side of the flange structure, facing the main body part, is provided with the second coil, and the other side of the flange structure is used for being connected with the rotating body; the stationary part is provided with the first coil at a side facing the flange structure.
Optionally, a frequency of a carrier wave used for transmitting the communication information of the torque is different from a frequency of an electromagnetic wave supplying power to the dynamic component.
Optionally, the frequency of the carrier wave used to transmit the torque communication information is higher than the frequency of the electromagnetic wave powering the dynamic component.
Optionally, the first processing component comprises a signal processing component and a wireless transmission component;
the signal processing part is used for receiving the torque information, and carrying out amplification and analog/digital conversion processing on the torque information to obtain digital information of the torque; the wireless transmitting component is used for coding the digital information of the torque to obtain the communication information of the torque and modulating the communication information of the torque so as to modulate the communication information of the torque on the electromagnetic field generated by the power supply communication component.
Optionally, the second processing component comprises a wireless receiving component and a communication component;
the wireless receiving component is used for receiving the communication information of the torque transmitted by the second coil through the first coil, demodulating and decoding the communication information of the torque to obtain the torque information; the communication component is used for transmitting the torque information to the outside.
Optionally, the signal processing means comprises an amplifying circuit and a signal processing circuit; the amplifying circuit is used for amplifying the torque information; the signal processing circuit is used for carrying out analog/digital conversion processing on the amplified torque information.
Optionally, the wireless transmitting means comprises an encoder and a modulator; the encoder is used for encoding the digital information of the torque; and the modulator is used for modulating the communication information of the torque.
Optionally, the measurement component comprises a resistive strain gauge bridge circuit or a piezoelectric transducer.
In order to achieve the above object, according to another aspect of the present invention, there is provided a surgical robot including a robot joint and a dynamic torque measuring device provided on the robot joint.
Optionally, the surgical robot further comprises a brake device, a driving motor, a reducer and an output flange which are arranged on the robot joint; the brake device, the driving motor, the speed reducer and the output flange are sequentially connected, the moving part is fixed on the output flange, and the static part is fixed on a shell.
Optionally, the surgical robot further comprises an incremental encoder and an absolute encoder disposed on the robot joint; the incremental encoder is fixed on the driving motor; the absolute type encoder is arranged at the output end of the speed reducer.
The utility model provides a dynamic assembly among the dynamic torque measuring device is used for along with the rotator is rotatory, and static part keeps motionless, when dynamic torque measurement, utilize the electromagnetic induction principle to be dynamic assembly wireless power supply by the power supply communication subassembly on the one hand, guarantee the stability of dynamic assembly power supply with this, on the other hand by the first processing part on the dynamic assembly with the communication information modulation of moment of torsion to the produced electromagnetic field of power supply communication subassembly, thereby by the communication information of the wireless transmission moment of torsion of second coil on the dynamic assembly, realize the wireless transmission of moment of torsion measurement information, ensure the stability of communication from this. Therefore, one set of coil is shared by power supply and communication, wireless power supply and signal wireless transmission are realized, the stability of power supply and communication is ensured, and the accuracy and the reliability of dynamic torque measurement are improved. And this dynamic torque measuring device's simple structure, it is small, be convenient for installation and use, also be convenient for concentrate the encapsulation, reach higher protection level, guarantee dustproof and waterproof performance.
The utility model provides a surgical robot is if use dynamic torque measuring device, then can be accurate with measure the torsion on the robot joint steadily to improve surgical robot joint control's the degree of accuracy, make surgical robot more reliable and safety when carrying out the operation.
Drawings
The accompanying drawings are included to provide a better understanding of the present invention and are not intended to constitute an undue limitation on the invention. Wherein:
FIG. 1 shows a schematic view of the installation of dynamic and static components in a preferred embodiment of the invention;
FIG. 2 is a block diagram showing the structure of the dynamic and static components in the preferred embodiment of the present invention;
fig. 3 shows a schematic diagram of a dynamic torque measuring device applied to a robot joint according to a preferred embodiment of the present invention.
The same or similar reference numbers in the drawings identify the same or similar elements.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are in simplified form and are not to precise scale, and are provided for convenience and clarity in order to facilitate the description of the embodiments of the present invention.
As used in this specification, the singular forms "a," "an," and "the" include plural referents unless the content clearly dictates otherwise. As used in this specification, the term "or" is generally employed in its sense including "and/or" unless the content clearly dictates otherwise. As used in this specification, the term "distal" is generally the end of the instrument that enters the body first, and "proximal" as opposed to "distal" refers to the end of the instrument that is distal to the operator when acted upon. As used in this specification, the term "length" generally refers to the distance in the direction of the axis of the member, and "diameter" generally refers to the distance between two points located on the outer periphery of the member, and the line connecting the two points passes through and is perpendicular to the axis of the member.
Referring to fig. 1 and 2, an embodiment of the present invention relates to a dynamic torque measuring device, which includes a dynamic component 10, a static component 20, and a power supply communication component 30. The dynamic assembly 10 comprises a moving part 11, a measuring part 12 and a first processing part 13; the moving part 11 is used for being fixed on the rotating body so as to rotate along with the rotating body, and the fixing mode can be detachably or non-detachably fixed; the measuring part 12 and the first processing part 13 are both fixedly arranged on the moving part 11. The static assembly 20 comprises a static part 21 and a second processing part 22; the stationary part 21 is intended to remain stationary, for example fixed to an external mechanism; the second processing part 22 is fixedly arranged on the stationary part 21. The power communication module 30 includes a first coil 31 and a second coil 32, the first coil 31 is wound around the stationary member 21, and the second coil 32 is wound around the moving member 11. The first coil 31 and the second coil 32 are coaxially arranged without contacting each other, and have a small air gap. The functions of the power supply communication assembly 30 include: for wireless power supply to the dynamic component 10 on the one hand and for wireless transmission of torque measurement information on the other hand. When wirelessly powered, the first coil 31 is configured to receive power and induce an electrical signal on the rotating second coil 32 to provide power to the dynamic component 10. When the torque measurement information is wirelessly transmitted, the torque communication information is modulated on the electromagnetic field generated by the power supply communication component 30, and the torque communication information is transmitted to the outside through the second coil 21, that is, the torque communication information is transmitted through electromagnetic induction. Therefore, the communication information for transmitting the torque can be loaded on the electromagnetic field of wireless power supply, so that the power supply and the communication are carried out simultaneously. And, the carrier parameter of the communication information for transmitting the torque is different from the parameter of the electromagnetic wave for supplying power to the dynamic device 10, so as to avoid mutual interference. The present invention is not limited to the way of modulating the torque communication information on the electromagnetic field generated by the power supply communication component 30, and specifically, the present invention may refer to the modulation way in the prior art, such as frequency modulation, amplitude modulation or phase modulation. Generally, according to the carrier modulation scheme relative to the signal sensitivity and the power consumption, an appropriate modulation scheme is selected, for example, the higher the signal sensitivity is, the lower the power consumption is. Preferably, a non-constant envelope modulation mode is adopted to further reduce power consumption.
Further, it is preferable to modulate the torque communication information on the electromagnetic field generated by the power supply communication component 30 in a frequency modulation manner to simplify the circuit, and the carrier frequency for transmitting the torque communication information is different from the frequency of the electromagnetic wave for supplying power to the dynamic component 10 to reduce signal interference. Furthermore, the frequency of the carrier wave for transmitting the communication information of the torque is higher than the frequency of the electromagnetic wave for supplying power to the dynamic component 10, and the frequency spectrums of the carrier wave and the frequency should not overlap, and the difference between the frequencies should be larger, so as to better extract the communication information of the torque and reduce the difficulty of circuit implementation.
The specific principle of measuring the dynamic torque by using the dynamic torque measuring device is as follows: the moving part 11 rotates along with the rotating body (such as a rotating shaft, an output flange and the like) and keeps the static part 21 fixed; the first coil 31 is then used to receive power (e.g., ac electrical pulses) from an external power source, thereby inducing an electrical signal on the rotating second coil 32, thereby providing power to the dynamic component 10; in addition, during the rotation, the measuring part 12 is used for sensing the torsional deformation of the moving part 11 during the rotation of the tunnel rotator and generating torque information, and the torque information is transmitted to the first processing part 13; the first processing component 13 is further used to process the torque information to obtain torque communication information (i.e. digital information), and the torque communication information is loaded (i.e. modulated) on the electromagnetic field generated by the power supply communication component 30, i.e. the torque communication information can be wirelessly transmitted through the second coil 32; meanwhile, the second processing component 22 receives the communication information of the torque transmitted by the second coil 32 through the first coil 31, and the torque received by the moving component 11 can be obtained after processing, and the torque received by the moving component 11 is the torque received by the rotating body.
In more detail, the measuring means 12, for example comprising a resistance strain gauge bridge circuit, are affixed to the moving means 11, for example on the external surface. In an exemplary embodiment, as shown in fig. 1, one end of the moving member 11 may be connected to the input flange, and the other end may be connected to the output flange, and when a torque is input from the input flange at a1 and output from the output flange at a2, the moving member 11 rotates with the input flange and the output flange, so as to generate a certain torsional deformation relative to the stationary member 21, the torsional deformation may deform the strain gauge attached in the deformation direction, and the deformation of the strain gauge changes with the change of the torsional force, so as to generate a change in the resistance of the resistance strain gauge bridge circuit, and further generate a corresponding change in the voltage of the bridge circuit, and output a corresponding voltage signal. Then, the first processing component 13 amplifies the received voltage signal, performs digital/analog conversion to obtain digital torque information, modulates the digital torque information on the electromagnetic field generated by the power supply communication component 30 after encoding and modulation, and transmits the digital torque information to the second coil 32, at this time, the first coil 31 on the static component 20 receives the communication information of the torque transmitted by the second coil 32, and the second processing component 22 decodes and demodulates the communication information of the torque to obtain a torque measurement value. In addition, the sensing and measuring functions of strain are not limited to the resistance strain gauge bridge circuit, but may be other types of sensors, such as piezoelectric sensors, and may perform the same or similar functions.
Therefore, the utility model discloses the method of utilizing wireless power supply and carrier wave has realized the torsion measurement of no conductive slip ring, and in the measurement process, power supply and communication can remain stable, and do not have the rotational speed restriction, use more extensively, can realize the torque measurement under the high rotational speed moreover. In addition, the device is easy to package, higher protection level is achieved, and the dustproof and waterproof effects are good. And the communication of the moment of torsion and the power supply of the dynamic assembly are all accomplished by the power supply communication assembly 30, so the arrangement can reduce the configuration of parts, make the structure of the whole device simple, the volume is also small, it is easy to install and use.
In this embodiment, the moving member 11 is a rotating body, and is fixedly connected to the rotating body and coaxially arranged with the rotating body. Further, the moving part 11 is of a sleeve structure and is used for being sleeved on the rotating body. For example, as shown in fig. 1, the moving component 11 includes a main body 111, a flange structure 112 is disposed at one end of the main body 111, and a diameter of the flange structure 112 is larger than a diameter of the main body 111, so that the second coil 32 can be wound on one side of the flange structure 112 facing the main body 111, and the other side is conveniently connected to a rotating body, such as a screw connection. The stationary member 21 may also be a ring, which is sleeved outside the moving member 11, for example, the main body 111 of the moving member 11, and the first coil 31 is wound on a side of the ring facing the flange structure 112, so that the first coil 31 and the second coil 32 are disposed face to face without contact. It should be understood that only the preferred configurations of the moving part 11 and the stationary part 21 are illustrated herein, but that the preferred configurations do not constitute a limitation of the present invention.
With continued reference to fig. 2, the first processing component 13 may include a signal processing component 131 and a wireless transmission component 132; the signal processing part 131 is configured to receive the torque information (e.g., a voltage signal, i.e., an analog signal) generated by the measuring part 12, and amplify and perform analog/digital processing on the torque information to obtain digital information (i.e., a digital signal) of the torque; the wireless transmitter 132 further encodes the digital torque information to obtain a torque communication information, and further modulates the torque communication information to the electromagnetic field generated by the power supply communication module 30. Further, the signal processing part 131 may include an amplifying circuit 131a and a signal processing circuit 131 b; the amplifying circuit 131a is used for amplifying the torque information generated by the measuring component 12; the signal processing circuit 131b is configured to perform digital processing on the amplified torque information to obtain digital torque information. Further, the wireless transmitting section 132 may include an encoder and a modulator; the encoder is used for encoding the digital information of the torque to obtain the communication information of the torque; the modulator is configured to modulate the communication information of the torque, so as to modulate the communication information of the torque on the electromagnetic field generated by the power supply communication component 30. In other embodiments, the signal processing component 131 may also integrate an encoder, and is configured to encode the digital information of the torque and send the encoded digital information to the wireless transmitting component 132, and the wireless transmitting component 132 modulates the encoded digital information of the torque and transmits the modulated digital information of the torque to the outside through the second coil 32.
Further, the second processing part 22 may include a wireless receiving part 221 and a communication part 222; the wireless receiving component 221 is configured to receive the communication information of the torque transmitted by the second coil 32 through the first coil 31, and demodulate and decode the communication information of the torque to obtain the torque information; the communication unit 222 is used for transmitting the torque information to the outside. For example, the communication unit 222 is a communication interface for transmitting torque information to an upper computer.
The present invention is not limited to the structure of the signal processing circuit 131b, and may be hardware for executing logical operations, such as a single chip, a microprocessor, a Programmable Logic Controller (PLC), a Field Programmable Gate Array (FPGA), or a software program, a function module, a function, a target library (Object Libraries) or a Dynamic Link library (Dynamic-Link Libraries) for implementing the above functions on a hardware basis. Alternatively, a combination of the above two. A person skilled in the art will know how to implement the analog-to-digital conversion processing of the data by the signal processing circuit 131b based on the disclosure of the present application. Furthermore, the present invention does not limit the structure of the amplifying circuit 131a, and can be implemented by the commonly used amplifying circuit. Similarly, the wireless transmitting unit 132 may also adopt an existing wireless transmitting circuit, and the wireless receiving unit 221 may adopt an existing wireless receiving circuit. It should be understood that signal amplification, analog-to-digital conversion, coding, modulation, and wireless communication are well known in the art and will not be described in detail. It should also be understood that the present embodiment is not limited to the kind of the rotating body, and includes, but not limited to, an output flange, and other rotating bodies, such as a rotating shaft, a main shaft, an output shaft, etc., may be used, as long as the moving component 11 is conveniently fixed on the rotating body.
It should also be understood that the dynamic torque measuring device of the present invention can be applied to various situations where dynamic torque measurement is required, including but not limited to surgical robots.
Further, the embodiment of the utility model provides a still provide a surgical robot, including robot joint and dynamic torque measuring device, dynamic torque measuring device sets up on the robot joint. Further, as shown in fig. 3, a brake 46, a driving motor 44, a reducer 43 and an output flange 41 are provided on the robot joint. The brake device 46, the driving motor 44, the speed reducer 43 and the output flange 41 are sequentially connected, the moving part 11 is fixed on the output flange 41, and the static part 21 is fixed on a shell of the robot joint. Furthermore, an incremental encoder 45 and an absolute encoder 42 are arranged on the robot joint, the incremental encoder 45 is fixed on the driving motor 44, and the absolute encoder 42 is installed at the output end of the speed reducer 43. The structure can utilize the dynamic torque measuring device to measure the torque on the robot joint on line in real time, so as to more accurately control the motion of the robot joint, improve the control precision of the surgical robot joint and ensure that the surgery is more reliable and safer.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The above description is only for the preferred embodiment of the present invention, and not for any limitation of the scope of the present invention, and any modification and modification made by those skilled in the art according to the above disclosure all belong to the protection scope of the present invention.
Claims (10)
1. A dynamic torque measuring device is characterized by comprising a dynamic component, a static component and a power supply communication component;
the dynamic assembly comprises a moving part, a measuring part and a first processing part, wherein the measuring part and the first processing part are arranged on the moving part, and the moving part is used for rotating with a rotating body;
the static assembly comprises a static part and a second processing part arranged on the static part, and the static part is used for keeping static;
the power supply communication assembly comprises a first coil and a second coil, the first coil is fixed on the static part, the second coil is fixed on the moving part, the first coil and the second coil are coaxially arranged and are not in contact with each other, the first coil is used for receiving electric energy and inducing an electric signal on the rotating second coil to provide electric energy for the dynamic assembly;
the measuring component is used for sensing the torsional deformation of the moving component in the rotating process of the rotating body and generating torque information; the first processing component is used for receiving the torque information and processing the torque information to obtain torque communication information; the first processing component is further used for modulating the communication information of the torque on an electromagnetic field generated by the power supply communication assembly and transmitting the communication information of the torque to the outside through the second coil; the second processing component is used for receiving the communication information of the torque transmitted by the second coil through the first coil and processing the communication information to obtain the torque received by the rotating body;
wherein a carrier parameter of the communication information for transmitting the torque is different from a parameter of the electromagnetic wave for supplying power to the dynamic component.
2. The dynamic torque measuring device of claim 1, wherein the moving member is a sleeve structure for fitting over the rotating body; the static part is a ring sleeve and is sleeved outside the moving part;
the moving part comprises a main body part, one end of the main body part is provided with a flange structure, the diameter of the flange structure is larger than that of the main body part, one side of the flange structure, facing the main body part, is provided with the second coil, and the other side of the flange structure is used for being connected with the rotating body; the stationary part is provided with the first coil at a side facing the flange structure.
3. The dynamic torque measurement device of claim 1, wherein a frequency of a carrier used to transmit the communication of the torque is different from a frequency of an electromagnetic wave powering the dynamic component.
4. The dynamic torque measuring device of claim 1, wherein the first processing component includes a signal processing component and a wireless transmitting component;
the signal processing part is used for receiving the torque information, and carrying out amplification and analog/digital conversion processing on the torque information to obtain digital information of the torque; the wireless transmitting component is used for coding the digital information of the torque to obtain the communication information of the torque and modulating the communication information of the torque so as to modulate the communication information of the torque on the electromagnetic field generated by the power supply communication component.
5. The dynamic torque measuring device of claim 4, wherein the second processing component includes a wireless receiving component and a communication component;
the wireless receiving component is used for receiving the communication information of the torque transmitted by the second coil through the first coil, demodulating and decoding the communication information of the torque to obtain the torque information; the communication component is used for transmitting the torque information to the outside.
6. The dynamic torque measuring device of claim 4, wherein the signal processing component includes an amplifying circuit and a signal processing circuit; the amplifying circuit is used for amplifying the torque information; the signal processing circuit is used for carrying out analog/digital conversion processing on the amplified torque information.
7. The dynamic torque measuring device of claim 4, wherein the wireless transmitting component includes an encoder and a modulator; the encoder is used for encoding the digital information of the torque; and the modulator is used for modulating the communication information of the torque.
8. The dynamic torque measuring device of claim 1, wherein the measuring component comprises a resistive strain gage bridge circuit or a piezoelectric transducer.
9. A surgical robot comprising a robot joint and a dynamic torque measuring device according to any of claims 1-8, the dynamic torque measuring device being arranged on the robot joint.
10. A surgical robot as claimed in claim 9, further comprising a brake, a drive motor, a reducer and an output flange provided on the robot joint; the brake device, the driving motor, the speed reducer and the output flange are sequentially connected, the moving part is fixed on the output flange, and the static part is fixed on a shell.
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| CN202021775591.7U CN212645955U (en) | 2020-08-21 | 2020-08-21 | Dynamic torque measuring device and surgical robot |
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| CN202021775591.7U CN212645955U (en) | 2020-08-21 | 2020-08-21 | Dynamic torque measuring device and surgical robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113203508A (en) * | 2021-05-12 | 2021-08-03 | 广东盈动高科自动化有限公司 | Torque measuring method for robot joint |
| CN113465801A (en) * | 2021-08-14 | 2021-10-01 | 东莞市南力测控设备有限公司 | Non-contact magnetic coupling torque sensor |
| CN114544058A (en) * | 2022-02-14 | 2022-05-27 | 上海非夕机器人科技有限公司 | Torque sensor device, joint, robot and deformation measurement method |
| CN115165179A (en) * | 2022-06-29 | 2022-10-11 | 广东高标电子科技有限公司 | Torque detection device |
-
2020
- 2020-08-21 CN CN202021775591.7U patent/CN212645955U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113203508A (en) * | 2021-05-12 | 2021-08-03 | 广东盈动高科自动化有限公司 | Torque measuring method for robot joint |
| CN113465801A (en) * | 2021-08-14 | 2021-10-01 | 东莞市南力测控设备有限公司 | Non-contact magnetic coupling torque sensor |
| CN114544058A (en) * | 2022-02-14 | 2022-05-27 | 上海非夕机器人科技有限公司 | Torque sensor device, joint, robot and deformation measurement method |
| CN115165179A (en) * | 2022-06-29 | 2022-10-11 | 广东高标电子科技有限公司 | Torque detection device |
| CN115165179B (en) * | 2022-06-29 | 2023-12-12 | 广东高标智能科技股份有限公司 | Torque detection device |
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Effective date of registration: 20211015 Address after: Room 816, building 1, 1601 Zhangdong Road, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai, 201203 Patentee after: Shanghai minimally invasive Digital Micro Medical Technology Co.,Ltd. Address before: 201 203 No. 501 Newton Road, China (Shanghai) Free Trade Pilot Area, Pudong New Area, Shanghai Patentee before: SHANGHAI MICROPORT MEDICAL (GROUP) Co.,Ltd. |