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Planar elastomer rigidity measuring device for robot flexible joint

A flexible joint and measuring device technology, applied in measuring devices, machine/structural component testing, elasticity testing, etc., can solve the problems of poor reliability, low test efficiency, low degree of automation, etc., and achieve good reliability and measurement work. Simple and convenient effects

Inactive Publication Date: 2018-08-17
HARBIN INST OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] At present, the stiffness measurement technology of planar elastic bodies is still relatively backward, such as low test efficiency, poor reliability, low degree of automation, relatively low precision, etc., and it is difficult to meet the requirements of today's small and medium batches, high precision, and automation

Method used

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  • Planar elastomer rigidity measuring device for robot flexible joint
  • Planar elastomer rigidity measuring device for robot flexible joint
  • Planar elastomer rigidity measuring device for robot flexible joint

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Embodiment Construction

[0015] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0016] like figure 1 and figure 2 As shown, a planar elastic body stiffness measurement device for a robot flexible joint includes a motor 1, a reducer 2, a torque sensor 4, a magnetic induction sensor, a base plate 6, a holder 12 and a force applying shaft 13;

[0017] The output end of the motor 1 is connected to the input end of the reducer 2, the output end of the reducer 2 is connected to the torque sensor 4, the reducer 2 and the torque sensor 4 are both installed on the base plate 6, the torque sensor 4 is connected to the force shaft 13, and the magnetic induction sensor The magnetic induction gear 9 is installed on the force application shaft 13, the holder 12 is inserted at the end of the force application shaft 13, the magnetic induction measuring head 8 of the magnetic induction sensor is fixed on the base plate ...

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Abstract

A planar elastomer rigidity measuring device for a robot flexible joint relates to the instrument measurement technology field. The device comprises a motor, a speed reducer, a torque sensor, a magnetic induction sensor, a bottom plate, a holder and a force application shaft. The output terminal of the motor is connected to the input terminal of the speed reducer. The output terminal of the speedreducer is connected to the torque sensor. The speed reducer and the torque sensor are installed on the bottom plate. The torque sensor is connected to the force application shaft. The magnetic induction gear of the magnetic induction sensor is installed on the force application shaft. The holder is inserted into the end portion of the force application shaft. The magnetic induction probe of the magnetic induction sensor is fixedly arranged on the bottom plate through a sensor support. The torque sensor, the magnetic induction gear and the force application shaft are coaxially arranged. The structure is simple, reliability is good, and the device is suitable for the rigidity measurement of the medium and small batch of planar elastomers.

Description

technical field [0001] The invention relates to the technical field of instrument measurement, in particular to a high-precision measuring device for measuring the stiffness of a planar elastic body in a flexible joint of a robot. Background technique [0002] In recent years, in order to solve the safety problem in the process of interaction and cooperation between robots and humans, people have applied serial elastic actuators to the flexible joints of robots. Power and other parameters, most of the elastic body of the series elastic driver adopts a planar elastic body, [0003] Therefore, the performance of the planar elastic body directly determines the performance of the series elastic actuator. Therefore, the stiffness of the planar elastic body and the maximum torque it can bear are the parameters that must be accurately measured. They can reflect the rationality of the planar elastic body in terms of material, design, processing accuracy and process level, and have ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01M5/00B25J19/00
CPCB25J19/0095G01M5/005
Inventor 赵志强赵立军刘星孙振业
Owner HARBIN INST OF TECH
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