CN213274664U - Torque measuring device and actuator - Google Patents
Torque measuring device and actuator Download PDFInfo
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- CN213274664U CN213274664U CN202022226888.4U CN202022226888U CN213274664U CN 213274664 U CN213274664 U CN 213274664U CN 202022226888 U CN202022226888 U CN 202022226888U CN 213274664 U CN213274664 U CN 213274664U
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Abstract
The utility model discloses a torque measurement device and actuating device. According to the utility model, the torque measuring device comprises a fixed seat, a motor and a measuring device, wherein the motor comprises a motor stator and a motor rotor; the motor stator is rotatably arranged on the fixed seat, and a rotating shaft of the motor stator is coaxial with the motor rotor; the first end of the measuring device is fixed on the fixed seat, and the second end of the measuring device is fixed on the motor stator. The utility model discloses a set up to the rotatable mode of circumference between stator and the fixing base, through measuring the power that the stator received from the fixing base to the conversion obtains the moment that the rotor received, has solved and has need lead to the problem that the structure is complicated through the sliding ring among the prior art, and measurement accuracy is higher more reliable moreover.
Description
Technical Field
The utility model relates to a torque measurement field, in particular to torque measurement device and executive device.
Background
In the prior art, many occasions require measuring the force or moment applied to an actuating device. For example, during the operation of the surgical robot, the reaction force received by each operation action needs to be accurately measured, so as to provide more information for the next operation.
In various surgical robots, a motor is generally used as a power source of an actuator. In the prior art, a motor stator is generally fixedly arranged on a fixed seat, a force measuring sensor is fixedly connected with an electronic rotor, and because the electronic rotor rotates in the working process, a lead of the force measuring sensor can only be connected with a corresponding control device through a slip ring, so that the received torque is collected and calculated. Due to the existence of the slip ring, the whole structure is complex in design, the service life of the slip ring is short, and the resistance of the joint of the slip ring is related to the abrasion degree, so that the measurement precision is reduced.
SUMMERY OF THE UTILITY MODEL
The utility model provides a simple structure measures reliable torque measurement device and final controlling element.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
according to an aspect of the present invention, there is provided a torque measuring device, comprising a fixing base, a motor and a measuring device, wherein the motor comprises a motor stator and a motor rotor; the motor stator is rotatably arranged on the fixed seat, and a rotating shaft of the motor stator is coaxial with the motor rotor; the first end of the measuring device is fixed on the fixed seat, and the second end of the measuring device is fixed on the motor stator.
Furthermore, the fixed seat is provided with an annular part and a fixed leg supported on the annular part; the annular part is provided with a bearing hole; the motor stator is fixed in the bearing hole through a bearing.
Furthermore, the torque measuring device also comprises a rotating seat, and the rotating seat is fixedly connected with the motor stator; the rotating seat is provided with a shaft part matched with the inner hole of the bearing.
Furthermore, the torque measuring device also comprises a first bracket fixed on the annular part and a second bracket fixed on the rotating seat; two ends of the measuring device are respectively fixed on the first support and the second support.
Further, the first support and the second support are fixed on two opposite side surfaces of the measuring device respectively.
The utility model also provides an actuating device, including aforementioned torque measurement device.
To sum up, according to the utility model discloses a torque measuring device and final controlling element, motor stator rotationally sets up on the fixing base with the rotor is coaxial, and the measuring device both ends are fixed respectively on fixing base and motor stator. That is, the motor stator is fixed only by the measuring device in the circumferential direction, and when the motor works, the motor rotor is subjected to the electromagnetic torque applied by the motor stator and the resistance torque applied by the load. According to the law of physics, when the motor rotor moves at a constant speed, the sum of the external force applied to the motor rotor is zero. At the moment, the two torques in opposite directions applied to the motor are equal, namely the electromagnetic torque is equal to the load resisting torque. And at this moment, the stator receives the electromagnetic torque reaction force from the rotor, and its size equals with the electromagnetic torque that the rotor received, and the stator still receives the reaction moment that the fixing base passes through measuring device transmission simultaneously, and these two moment balances and guarantee that the stator does not take place to remove. The reaction moment can be obtained by multiplying the force measured by the measuring device and the force arm.
Therefore, the utility model discloses a set up to the rotatable mode of circumference between stator and the fixing base, through measuring the stator and receive the power that comes from the fixing base to the conversion obtains the moment that the rotor received, has solved among the prior art and has need lead to the problem that the structure is complicated through the sliding ring, and measurement accuracy is higher more reliable moreover.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification. In the drawings:
fig. 1 is an exploded schematic view of a torque measuring device according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
As shown in fig. 1, the present invention provides a torque measuring device, which includes a fixing base 10, a motor 20 and a measuring device 30, wherein the motor 20 includes a motor stator 21 and a motor rotor 22; the motor stator 21 is rotatably arranged on the fixed seat 10, and a rotating shaft of the motor stator 21 is coaxial with the motor rotor 22; the measuring device 30 is fixed on the fixing base 10 at a first end and fixed on the motor stator 21 at a second end.
The utility model discloses in, motor stator 21 rotationally sets up on fixing base 10 with the rotor is coaxial, and measuring device 30 both ends are fixed respectively on fixing base 10 and motor stator 21. That is, the motor stator 21 is fixed only by the measuring device 30 in the circumferential direction, and when the motor 20 is in operation, the motor rotor 22 receives the electromagnetic torque applied by the motor stator 21 and the resistance torque applied by the load. According to the law of physics, when the motor rotor 22 moves at a constant speed, the sum of the external forces is zero. The two opposite torques experienced by the motor 20 are now equal, i.e. the electromagnetic torque is equal to the load resisting torque. At this moment, the stator receives the electromagnetic torque reaction force from the rotor, the size of the electromagnetic torque reaction force is equal to that of the electromagnetic torque received by the rotor, meanwhile, the stator also receives the reaction moment transmitted by the fixed seat 10 through the measuring device 30, and the two moments are balanced to ensure that the stator does not move. The reaction moment is obtained by multiplying the force measured by the measuring device 30 by the moment arm.
Therefore, according to the above analysis, the torque applied to the motor rotor 22 during uniform motion can be calculated according to the force measured by the measuring device 30, so that the problem of complex structure caused by the need of a slip ring lead in the prior art is solved, and the measurement accuracy is higher and more reliable.
In addition, when the rotor moves in an acceleration or deceleration mode, the compensation can be performed by correspondingly considering the moment of inertia of the rotor. The device omits a slip ring mechanism, and the stability of the system is ensured more easily by utilizing the existing force measuring device 30.
Specifically, as shown in fig. 1, the fixing base 10 has a ring-shaped portion 11 and a fixing leg 12 supported on the ring-shaped portion, and a screw hole is provided in the fixing leg 12, so that the whole fixing base 10 is fixed to the fixing frame. The annular part 11 is provided with a bearing hole, and the motor stator 21 is fixed in the bearing hole through a bearing 40, so that the circumferential direction between the electronic stator and the fixed seat 10 is not stressed.
In addition, for convenience of installation and processing, the torque measuring device further comprises a rotating seat 50, wherein the rotating seat 50 is fixedly connected with the motor stator 21, and the rotating seat 50 is provided with a shaft part 51 matched with the inner hole of the bearing 40. That is, by arranging the rotating seat 50 to be matched with the bearing 40, direct processing on the motor stator 21 is avoided, and the processing complexity can be effectively reduced.
As shown in fig. 1, the torque measuring device further includes a first bracket 61 fixed to the annular portion 11 and a second bracket 62 fixed to the rotating base 50; the measuring device 30 is fixed at both ends to the first bracket 61 and the second bracket 62, respectively. By providing the first bracket 61 and the second bracket 62, the measurement device 30 is convenient to mount and fix. Preferably, as shown in fig. 1, two sides of the first bracket 61 and the second bracket 62 opposite to the measuring device 30 are respectively fixed, so that the mounting and fixing reliability is improved.
The utility model also provides an actuating device, including aforementioned torque measurement device, compare prior art, can be with moment that receives when simpler structure direct measurement rotor uniform motion, when the rotor is accelerating or when the deceleration motion, the corresponding inertia of considering the rotor compensates also can be measured.
In view of the above, it is only the specific embodiments of the present invention that other modifications and variations can be made by those skilled in the art based on the above-described embodiments in light of the above teachings. It should be understood by those skilled in the art that the foregoing detailed description is for the purpose of better explaining the present invention, and the scope of the present invention should be determined by the scope of the claims.
Claims (6)
1. A torque measuring device comprises a fixed seat, a motor and a measuring device, wherein the motor comprises a motor stator and a motor rotor; it is characterized in that the preparation method is characterized in that,
the motor stator is rotatably arranged on the fixed seat, and a rotating shaft of the motor stator is coaxial with the motor rotor;
the first end of the measuring device is fixed on the fixed seat, and the second end of the measuring device is fixed on the motor stator.
2. The torque measuring device of claim 1,
the fixed seat is provided with a ring-shaped part and a fixed leg supported on the ring-shaped part;
the annular part is provided with a bearing hole;
the motor stator is fixed in the bearing hole through a bearing.
3. The torque measuring device of claim 2,
the torque measuring device also comprises a rotating seat, and the rotating seat is fixedly connected with the motor stator;
the rotating seat is provided with a shaft part matched with the inner hole of the bearing.
4. Torque measuring device according to claim 3,
the torque measuring device further comprises a first support fixed on the annular part and a second support fixed on the rotating seat;
and two ends of the measuring device are respectively fixed on the first support and the second support.
5. Torque measuring device according to claim 4,
the first support and the second support are fixed on two opposite side surfaces of the measuring device respectively.
6. An actuator comprising a torque measuring device, wherein the torque measuring device is as claimed in any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022226888.4U CN213274664U (en) | 2020-10-09 | 2020-10-09 | Torque measuring device and actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022226888.4U CN213274664U (en) | 2020-10-09 | 2020-10-09 | Torque measuring device and actuator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213274664U true CN213274664U (en) | 2021-05-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022226888.4U Active CN213274664U (en) | 2020-10-09 | 2020-10-09 | Torque measuring device and actuator |
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| CN (1) | CN213274664U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116952437A (en) * | 2023-09-19 | 2023-10-27 | 航天泰心科技有限公司 | Motor torque measuring device |
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2020
- 2020-10-09 CN CN202022226888.4U patent/CN213274664U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116952437A (en) * | 2023-09-19 | 2023-10-27 | 航天泰心科技有限公司 | Motor torque measuring device |
| CN116952437B (en) * | 2023-09-19 | 2023-12-15 | 航天泰心科技有限公司 | Motor torque measuring device |
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