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一种机械臂关节扭矩测量装置
Alternative TitleMechanical arm joint torque measuring device
武加锋; 周维佳; 王洪光
Department空间自动化技术研究室
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Country中国
Subtype发明
Status有权
Abstract本发明涉及具有力感知作业机器人关节扭矩传感器,具体地说是一种机械臂关节扭矩测量装置,可适用于作业机器人轻型机械臂柔性关节及其相关的领域,包括弹性体、测头及位移检测器件,其中弹性体分为外环及内环,所述内环与外环之间通过弹性筋连接;所述位移检测器件安装在外环上,所述测头安装在弹性筋靠近内环的一端、并与所述位移检测器件相对应,可沿所述弹性体的周向、相对位移检测器件的检测方向运动。本发明结构简单、紧凑,尺寸小、重量小,易于安装,可靠实用,且检测灵敏度高,刚度好,测量实时性好、精度高,满足了轻型机械臂关节设计要求。
Other AbstractThe invention relates to a force-sensing operating robot joint torque sensor, in particular to a mechanical arm joint torque measuring device adaptive to an operating robot light mechanical arm soft joint and the relevant field. The device comprises an elastic member, a detecting head and a displacement detecting component. The elastic member comprises an internal ring and an external ring which are connected through elastic ribs. The displacement detecting component is mounted on the external ring. The detecting head is mounted at one ends of the elastic ribs adjacent to the internal ring, corresponds to the displacement detecting component and is capable of moving along the circumferential direction of the elastic member and the detecting direction of the displacement detecting component. The device is simple and compact in structure, small in size and weight, easy to mount, reliable and practical; the detecting sensitivity is high, the rigidity is high, the measuring instantaneity is high, the accuracy is high, and the light mechanical arm joint design requirements are met.
PCT Attributes
Application Date2013-05-31
2014-12-17
Date Available2016-07-13
Application NumberCN201310216440.6
Open (Notice) NumberCN104215372A
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/15554
Collection空间自动化技术研究室
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
武加锋,周维佳,王洪光. 一种机械臂关节扭矩测量装置[P]. 2014-12-17.
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