技术领域technical field
本发明涉及一种传动装置，具体地说一种能够测量输出扭矩的柔性传动装置。The invention relates to a transmission device, in particular to a flexible transmission device capable of measuring output torque.
背景技术Background technique
随着机器人应用的普及，人和机器人的协同工作正成为机器人领域的重要研究内容。传统的机器人为了达到高精度的目的，其关节刚度普遍很高，而且缺乏输出力矩传感器。因此在正常使用过程中，为了确保人的安全，需要人远离机器人，并且一旦发生人和机器人碰触的危险状况，机器人很难感知危险的发生，也就难以确保人的安全。这种情况极大地限制了机器人的使用和推广。With the popularity of robot applications, the collaborative work of humans and robots is becoming an important research content in the field of robotics. In order to achieve high precision, traditional robots generally have high joint stiffness and lack output torque sensors. Therefore, in the normal use process, in order to ensure the safety of people, people need to stay away from the robot, and once the dangerous situation of human and robot contact occurs, it is difficult for the robot to perceive the occurrence of danger, and it is difficult to ensure the safety of people. This situation greatly limits the use and promotion of robots.
发明内容Contents of the invention
针对上述问题，本发明的目的在于提供一种能够测量输出扭矩的柔性传动装置。该装置可应用于高性能柔性机械臂、高安全性机器人、机器人柔顺控制等领域。In view of the above problems, the object of the present invention is to provide a flexible transmission device capable of measuring output torque. The device can be applied to fields such as high-performance flexible manipulators, high-safety robots, and robot compliance control.
为了实现上述目的，本发明采用以下技术方案：In order to achieve the above object, the present invention adopts the following technical solutions:
一种能够测量输出扭矩的柔性传动装置，包括扭矩传感器、定子、动子及柔性连接件，其中扭矩传感器与动子转动连接，所述定子设置于动子的外侧、并与扭矩传感器固联，所述定子通过柔性连接件与动子连接。所述扭矩传感器通过轴承与动子连接。A flexible transmission device capable of measuring output torque, comprising a torque sensor, a stator, a mover and a flexible connector, wherein the torque sensor is rotatably connected to the mover, the stator is arranged on the outside of the mover and is fixedly connected to the torque sensor, The stator is connected with the mover through flexible connectors. The torque sensor is connected with the mover through a bearing.
所述动子的一侧中心设有用于与电机输出轴连接的带键槽的圆孔，另一侧中心设有用于套装轴承的圆形凸台，所述动子上靠近外缘沿周向设有多个用于与柔性连接件连接的通孔I。The center of one side of the mover is provided with a round hole with a keyway for connecting with the output shaft of the motor, and the center of the other side is provided with a circular boss for sleeve bearings. A through hole I for connecting with a flexible connector.
所述定子为圆环、并圆环内壁上沿周向设有与动子上的通孔I数目相等的通孔II，所述通孔I和通孔II依次通过多个柔性连接件连接。The stator is a ring, and the inner wall of the ring is provided with through-holes II equal in number to the through-holes I on the mover along the circumference, and the through-holes I and II are sequentially connected by a plurality of flexible connectors.
所述通孔I和通孔II分别设置于动子的外圆周和定子的内圆周上设有的凸起上，相邻两个柔性连接件对称斜拉，形成“八”字形，并相邻两个“八”字形的开口方向相反。The through hole I and the through hole II are respectively arranged on the outer circumference of the mover and the protrusions on the inner circumference of the stator, and the two adjacent flexible connectors are symmetrically pulled to form a "eight" shape, and adjacent to each other. The opening directions of the two "eight" shapes are opposite.
所述扭矩传感器包括内圈和外圈，其中内圈的一侧中心设有用于嵌装轴承的圆形凹槽，所述圆形凹槽的底部中心设有螺纹孔，所述内圈和外圈通过多个沿周向均布的连接梁连接，各连接梁上粘贴有应变片，所述扭矩传感器通过外圈与定子连接。所述扭矩传感器的外圈和定子上沿周向均布有多个相对应的螺纹孔，所述扭矩传感器的外圈和定子在各螺纹孔处通过螺钉连接。The torque sensor includes an inner ring and an outer ring, wherein a circular groove for embedded bearings is provided at the center of one side of the inner ring, and a threaded hole is provided at the bottom center of the circular groove, and the inner ring and the outer ring are The rings are connected by a plurality of connecting beams evenly distributed along the circumferential direction, each connecting beam is pasted with a strain gauge, and the torque sensor is connected with the stator through the outer ring. The outer ring of the torque sensor and the stator are evenly distributed with a plurality of corresponding threaded holes along the circumferential direction, and the outer ring of the torque sensor and the stator are connected by screws at each threaded hole.
所述柔性连接件为拉簧，所述拉簧的一端与定子连接，另一端与动子连接。The flexible connecting piece is a tension spring, one end of the tension spring is connected with the stator, and the other end is connected with the mover.
本发明具有以下有益效果及优点：The present invention has the following beneficial effects and advantages:
1.本发明采用一种简单易行的结构实现了能够测量输出扭矩的柔性传动装置，具有高可靠性和经济性。1. The present invention adopts a simple and feasible structure to realize a flexible transmission device capable of measuring output torque, which has high reliability and economy.
2.本发明采用拉簧连接柔性传动装置的定子和动子，可以根据实际需求改变拉簧的刚度和数量，可以在不改变机械结构外形和尺寸的条件下改变柔性传动部件刚度，具有良好的适配性。2. The present invention uses extension springs to connect the stator and mover of the flexible transmission device, the stiffness and quantity of the extension springs can be changed according to actual needs, and the stiffness of the flexible transmission parts can be changed without changing the shape and size of the mechanical structure. adaptability.
3.本发明通过柔性传动装置连接电机和其他外围设备，一方面可以降低电机启动的冲击对机械装置的影响；另一方面，当机械臂与其他物体碰触时，利用该柔性可以降低碰撞的接触力，减轻可能造成的伤害。3. The present invention connects the motor and other peripheral equipment through a flexible transmission device. On the one hand, it can reduce the impact of the motor starting impact on the mechanical device; on the other hand, when the mechanical arm touches other objects, the flexibility can reduce the impact of the collision. contact force to mitigate possible injury.
4.本发明将柔性传动装置定子与扭矩传感器固连，能够测量电机的输出力矩，通过实时检测该力矩可以判断是否发生危险碰撞，达到提高操作者安全性的目的；还可以应用于高精度打磨、抛光等需要力柔顺控制的加工领域，获得更好的效果。4. The present invention connects the stator of the flexible transmission device to the torque sensor, and can measure the output torque of the motor. By detecting the torque in real time, it can be judged whether a dangerous collision occurs, so as to improve the safety of the operator; it can also be applied to high-precision grinding , polishing and other processing fields that require force and soft control, to obtain better results.
附图说明Description of drawings
图1本发明的结构爆炸图；Fig. 1 is an exploded view of the structure of the present invention;
图2为本发明中定子与动子通过拉簧连接的结构示意图；Fig. 2 is the structural representation that stator and mover are connected by extension spring among the present invention;
图3为本发明中动子的立体示意图之一；Fig. 3 is one of three-dimensional schematic diagrams of the mover in the present invention;
图4为本发明中动子的立体示意图之二；Fig. 4 is the second perspective view of the mover in the present invention;
图5为本发明中定子的结构示意图；Fig. 5 is the structural representation of stator among the present invention;
图6为本发明中扭矩传感器的立体示意图之一；Fig. 6 is one of three-dimensional schematic diagrams of the torque sensor in the present invention;
图7为本发明中扭矩传感器的立体示意图之二；Fig. 7 is the second perspective view of the torque sensor in the present invention;
其中：1为扭矩传感器，2为定子，3为拉簧，4为动子，5为轴承。Wherein: 1 is a torque sensor, 2 is a stator, 3 is a tension spring, 4 is a mover, and 5 is a bearing.
具体实施方式detailed description
下面结合附图对本发明做进一步的详细说明。The present invention will be described in further detail below in conjunction with the accompanying drawings.
如图1所示，本发明包括扭矩传感器1、定子2、动子4及柔性连接件，其中扭矩传感器1通过轴承5与动子4转动连接，限制径向自由度。所述定子2设置于动子4的外侧、并与扭矩传感器1固联，所述定子2通过柔性连接件与动子4连接。As shown in FIG. 1 , the present invention includes a torque sensor 1 , a stator 2 , a mover 4 and flexible connectors, wherein the torque sensor 1 is rotationally connected with the mover 4 through a bearing 5 , limiting the radial degree of freedom. The stator 2 is arranged on the outer side of the mover 4 and fixedly connected with the torque sensor 1 , and the stator 2 is connected with the mover 4 through a flexible connecting piece.
如图3、图4所示，所述动子4的一侧中心设有用于与电机输出轴连接的带键槽的圆孔，另一侧中心设有用于套装轴承5的圆形凸台，所述动子4上靠近外缘沿周向设有多个用于与柔性连接件连接的通孔I。As shown in Fig. 3 and Fig. 4, the center of one side of the mover 4 is provided with a round hole with a keyway for connecting with the output shaft of the motor, and the center of the other side is provided with a circular boss for fitting the bearing 5, so The mover 4 is provided with a plurality of through holes I for connecting with flexible connectors along the circumference near the outer edge.
如图5所示，所述定子2为圆环、并圆环内壁上沿周向设有与动子4上的通孔I数目相等的通孔II，所述通孔I和通孔II依次通过多个柔性连接件连接。所述通孔I和通孔II分别设置于动子4的外圆周和定子2的内圆周上设有的凸起上，相邻两个柔性连接件对称斜拉，形成“八”字形，并相邻两个“八”字形的开口方向相反，如图2所示。As shown in Figure 5, the stator 2 is a ring, and the inner wall of the ring is provided with through holes II equal to the number of through holes I on the mover 4 along the circumference, and the through holes I and II pass through multiple holes in turn. connected by a flexible connector. The through hole I and the through hole II are respectively arranged on the outer circumference of the mover 4 and the protrusions provided on the inner circumference of the stator 2, and the two adjacent flexible connectors are symmetrically pulled to form a "eight" shape, and The opening directions of two adjacent "eight" shapes are opposite, as shown in Fig. 2 .
如图6、图7所示，所述扭矩传感器1包括内圈和外圈，其中内圈的一侧中心设有用于嵌装轴承5的圆形凹槽，圆形凹槽底部中心设有用于与减速机或其他外围设备连接的螺纹孔。所述内圈和外圈通过多个沿周向均布的连接梁连接，各连接梁上粘贴有应变片，可以通过测量结构的应变间接获得施加在结构上的扭矩。所述扭矩传感器1的外圈和定子2上沿周向均布有多个相对应的螺纹孔，所述扭矩传感器1的外圈和定子2在各螺纹孔处通过螺钉连接。As shown in Figures 6 and 7, the torque sensor 1 includes an inner ring and an outer ring, wherein a circular groove for embedding the bearing 5 is provided at the center of one side of the inner ring, and a circular groove for mounting the bearing 5 is provided at the center of the bottom of the circular groove. Threaded holes for connection with reducer or other peripheral equipment. The inner ring and the outer ring are connected by a plurality of connecting beams evenly distributed in the circumferential direction, each connecting beam is pasted with a strain gauge, and the torque applied to the structure can be indirectly obtained by measuring the strain of the structure. The outer ring of the torque sensor 1 and the stator 2 are uniformly distributed with a plurality of corresponding threaded holes along the circumferential direction, and the outer ring of the torque sensor 1 and the stator 2 are connected by screws at each threaded hole.
本实施例中，所述柔性连接件为拉簧3，所述拉簧3的一端与定子2连接，另一端与动子4连接。通过对称斜拉的拉簧3，可以保证连接的稳定性，并实现期望的转动刚度，拉簧3的数量可以根据实际需要调整。In this embodiment, the flexible connector is a tension spring 3 , one end of the tension spring 3 is connected to the stator 2 , and the other end is connected to the mover 4 . The symmetrically inclined tension springs 3 can ensure the stability of the connection and achieve desired rotational stiffness, and the number of tension springs 3 can be adjusted according to actual needs.
本发明的工作原理是：The working principle of the present invention is:
所述动子4与电机输出端过盈配合，通过拉簧3将输出扭矩传递给定子2，定子2与扭矩传感器1固连，将扭矩进一步输出到减速机或其他外围设备。利用传动装置定子2、动子4之间拉簧3的柔性，可以减小冲击力对电机以及外围设备的伤害。本发明在高性能柔性机械臂、高安全性机器人、机器人柔顺控制等领域有良好的应用前景。The mover 4 is in interference fit with the output end of the motor, and the output torque is transmitted to the stator 2 through the tension spring 3, and the stator 2 is fixedly connected with the torque sensor 1, and the torque is further output to the reducer or other peripheral equipment. Utilizing the flexibility of the extension spring 3 between the stator 2 and the mover 4 of the transmission device can reduce the damage of the impact force to the motor and peripheral equipment. The invention has good application prospects in the fields of high-performance flexible mechanical arms, high-safety robots, robot compliance control and the like.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410664469.5ACN105673792B (en) | 2014-11-19 | 2014-11-19 | It is a kind of to measure the flexible gearing of output torque |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410664469.5ACN105673792B (en) | 2014-11-19 | 2014-11-19 | It is a kind of to measure the flexible gearing of output torque |
| Publication Number | Publication Date |
|---|---|
| CN105673792A CN105673792A (en) | 2016-06-15 |
| CN105673792Btrue CN105673792B (en) | 2017-09-29 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410664469.5AActiveCN105673792B (en) | 2014-11-19 | 2014-11-19 | It is a kind of to measure the flexible gearing of output torque |
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| CN (1) | CN105673792B (en) |
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| JP7471825B2 (en)* | 2020-01-07 | 2024-04-22 | キヤノン株式会社 | DETECTION DEVICE, DETECTION METHOD, CONTROL METHOD, ROBOT DEVICE, PROGRAM, AND RECORDING MEDIUM |
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