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Torque sensor and method for detecting torque developed on or in a joint of an articulated arm robot

A technology of torque sensor, robot, applied in the field of sensors, which can solve the problems of different signals, inaccurate measurement, robot shutdown, etc.

Active Publication Date: 2019-09-10
KUKA ROBOTER
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] However, the systems and methods known from the prior art for detecting torques have the disadvantage that the deformation of the strain gauges is independent of torque loads which may be caused, for example, by transverse forces, axial forces and bending moments resulting from the compression of the strain gauge, resulting in a different signal although there is no error
These different signals lead to inaccurate measurements and, when deviations exceed a certain limit value, lead to an emergency shutdown of the robot for no reason

Method used

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  • Torque sensor and method for detecting torque developed on or in a joint of an articulated arm robot
  • Torque sensor and method for detecting torque developed on or in a joint of an articulated arm robot
  • Torque sensor and method for detecting torque developed on or in a joint of an articulated arm robot

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Embodiment Construction

[0034] figure 1 a. figure 2 a. image 3 a respectively schematically shows the four spokes (measurement spokes) 1, 2, 3, 4 and the strain gauge DR arranged on them 11 、DR 12 、DR 21 、DR 22 、DR 31 、DR 32 、DR 41 、DR 42 , where the strain gauges are misconnected as two bridge circuits. The measuring spokes form part of a torque sensor 10 which, in the embodiment shown, comprises an outer ring 11 and an inner ring or hub (measuring hub) 12 , which are connected via the measuring spokes. The spatial configuration of torque sensor 10 is only shown purely schematically by dashed lines in the figure, since its correct configuration is not relevant for the invention. Furthermore, the basic structure of such a torque sensor is familiar to a person skilled in the art, as is described, for example, in the patent document DE 36 05 964 A1 mentioned at the outset, and will therefore not be described in detail here. Furthermore, measuring devices A, B for determining bridge voltage...

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Abstract

The invention relates to a torque sensor (10), in particular for detecting torques generated on or in a joint of an articulated arm robot. The sensor has: a plurality of measuring spokes (1, 2, 3, 4) designed to deform under torque; and a plurality of strain gauges (DR 11 ,DR 12 ,DR 21 ,DR 22 ,DR 31 ,DR 32 ,DR 41 ,DR 42 ), wherein every two strain gauges are arranged on two opposite sides of a plurality of measuring spokes (1, 2, 3, 4). In this case, a plurality of strain gauges are each connected incorrectly in one of the at least two bridge circuits.

Description

technical field [0001] The invention relates to a sensor for detecting torques, in particular torques generated at or in a joint of an articulated arm robot, as well as a corresponding method and a robot equipped with such a sensor. Background technique [0002] Depending on the intended field of application, robots, such as articulated arm robots, which can be used in various industrial fields, have a plurality of articulated limbs which can be arranged differently. An important component of such a robot is the torque sensor for detecting the torque of the movable limb. In most cases, such torque sensors are installed in or on all movable joints of the robot. [0003] Various systems for detecting torque are known from the prior art. For example patent document WO2009083111 describes a system for torque detection using strain gauges. Strain gauges are misconnected in two Wheatstone bridges (Wheatstone measuring bridges or bridge circuits) for analysis. The resistances o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01L5/22G01L5/16
CPCG01L5/16G01L5/22B25J13/085G01L5/226G01L3/108G05B2219/39529
Inventor 赫尔诺特·尼茨迪特玛尔·恰尼特
Owner KUKA ROBOTER
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