Search

CN-121994388-A - Single-shaft static torque sensor, mechanical arm and surgical robot

CN121994388ACN 121994388 ACN121994388 ACN 121994388ACN-121994388-A

Abstract

The application relates to a single-shaft static torque sensor, a mechanical arm and a surgical robot, wherein the single-shaft static torque sensor comprises an inner ring, an outer ring, at least one elastic arm and a strain detection unit, the inner ring and the outer ring are coaxially arranged, one of the inner ring and the outer ring is used for being connected with a measured torque source, the other of the inner ring and the outer ring is used for being connected with a fixed structure, the elastic arm is connected between the inner ring and the outer ring and is used for elastically deforming when the inner ring or the outer ring bears torque, the strain detection unit is arranged on the elastic arm, and the strain detection unit is used for detecting deformation of the elastic arm and outputting corresponding electric signals. Through setting up the elastic arm between inner ring and outer loop, will strain the detecting element and directly set up on the elastic arm, when moment of torsion acted on inner ring or outer loop, the moment of torsion passed through the elastic arm and made the elastic arm take place elastic deformation, and the deformation of elastic arm can be detected to the strain the detecting element and corresponding electrical signal is output this moment to the concrete numerical value of moment of torsion is measured.

Inventors

  • Huang Zishuai
  • ZHOU RENBIN

Assignees

  • 核动医疗机器人(深圳)有限公司

Dates

Publication Date
20260508
Application Date
20251231

Claims (11)

  1. 1. A single-axis static torque sensor, characterized in that the single-axis static torque sensor comprises: an inner ring (100) and an outer ring (200) coaxially arranged, wherein one of the inner ring (100) and the outer ring (200) is used for being connected with a measured torque source, and the other is used for being connected with a fixed structure; -at least one elastic arm (300) connected between said inner ring (100) and said outer ring (200), said elastic arm (300) being adapted to elastically deform when said inner ring (100) or said outer ring (200) is subjected to a torque; And the strain detection unit is arranged on the elastic arm (300) and is used for detecting the deformation of the elastic arm (300) and outputting corresponding electric signals.
  2. 2. The uniaxial static torque sensor of claim 1 wherein the resilient arm (300) is internally vented with a cavity (310).
  3. 3. The uniaxial static torque sensor of claim 2 wherein the strain sensing unit comprises at least one strain gauge (400), the strain gauge (400) being affixed to an inner sidewall of the cavity.
  4. 4. A uniaxial static torque sensor according to claim 2 or 3, wherein the resilient arms (300) extend in a radial direction of the inner ring (100).
  5. 5. The uniaxial static torque sensor of claim 4 wherein the resilient arms (300) are provided in plurality and the plurality of resilient arms (300) are evenly distributed along the circumference of the inner ring (100).
  6. 6. The uniaxial static torque sensor of claim 1 wherein the elastic arms (300) are provided with grooves on their outer circumference.
  7. 7. The uniaxial static torque sensor according to claim 6, wherein the groove is located between the inner ring (100) and the outer ring (200) and is recessed inwardly in the circumferential direction of the inner ring (100).
  8. 8. The uniaxial static torque sensor according to claim 6 or 7 wherein the resilient arm (300) has a first outer side wall and a second outer side wall arranged in the circumferential direction of the inner ring (100), the first outer side wall being provided with a first groove (500), the second outer side wall being provided with a second groove (600), and the first groove (500) and the second groove (600) being arranged in the circumferential direction of the inner ring (100).
  9. 9. The uniaxial static torque sensor according to claim 1, wherein the inner ring (100) and/or the outer ring (200) is/are of a standard toroidal shape.
  10. 10. A robotic arm comprising a single axis static torque sensor according to any one of claims 1-9.
  11. 11. A surgical robot comprising the robotic arm of claim 10.

Description

Single-shaft static torque sensor, mechanical arm and surgical robot Technical Field The application relates to the technical field of torque measurement, in particular to a single-shaft static torque sensor, a mechanical arm and a surgical robot. Background Along with the rapid development of robots, precise transmission and automatic measurement technologies, the requirements for high-precision torque measurement on rotating parts such as joints, rotating shafts and the like are increasingly highlighted. The torque sensor is used as a core device for realizing the function, and the performance of the torque sensor directly influences the control precision and the feedback reliability of the system. Particularly in the integrated application scene with limited space, such as a cooperative robot joint, a precise medical instrument driving unit and the like, the sensor is required to have high measurement precision and stability, and higher requirements are also put on the compactness and the light weight of the sensor and whether a line or a shaft element is allowed to pass through (namely, a hollow design). In the related art, a single-axis static torque sensor is a measuring device for measuring the torque born by an object in a static state, and is characterized by a single axis and a static state, wherein the single axis refers to the fact that the sensor can only measure the torque in the direction of a single sensitive axis, the static state refers to the fact that the whole sensor has no rotating part, is only used for static measurement, and is not suitable for torque measurement in a continuous rotation state. However, the existing single-shaft static torque sensor has the problems that the volume is large, the occupied space is large, and the large-size hollow shaft passing through is difficult to realize while the measurement sensitivity is ensured. Disclosure of Invention Accordingly, it is necessary to provide a single-axis static torque sensor, a robot arm, and a surgical robot, which solve the problems that the conventional single-axis static torque sensor has a large volume and occupies a large space, and a hollow shaft cannot pass through. The present application provides a uniaxial static torque sensor comprising: The inner ring and the outer ring are coaxially arranged, one of the inner ring and the outer ring is used for being connected with a measured torque source, and the other is used for being connected with a fixed structure; at least one elastic arm connected between the inner ring and the outer ring, the elastic arm being configured to elastically deform when the inner ring or the outer ring is subjected to a torque; the strain detection unit is arranged on the elastic arm and is used for detecting the deformation of the elastic arm and outputting corresponding electric signals. In one embodiment, the elastic arm is internally provided with a cavity. In one embodiment, the strain detection unit comprises at least one strain gauge attached to the inner side wall of the cavity. In one embodiment, the resilient arms extend radially of the inner ring. In one embodiment, the elastic arms are provided in plurality, and the plurality of elastic arms are uniformly distributed along the circumferential direction of the inner ring. In one embodiment, the elastic arm is provided with a groove on its outer circumferential surface. In one embodiment, the groove is located between the inner ring and the outer ring and is recessed inward in the circumferential direction of the inner ring. In one embodiment, the elastic arm has a first outer side wall and a second outer side wall arranged along the circumferential direction of the inner ring, a first groove is formed in the first outer side wall, a second groove is formed in the second outer side wall, and the first groove and the second groove are arranged along the circumferential direction of the inner ring. In one embodiment, the inner ring and/or the outer ring is a standard annular ring. The application also provides a mechanical arm which comprises the single-shaft static torque sensor. The application also provides a surgical robot comprising the mechanical arm. According to the single-shaft static torque sensor, the coaxial inner ring and the coaxial outer ring are arranged, one of the inner ring and the outer ring is connected to a measured torque source, the other one of the inner ring and the outer ring is connected to a fixed structure, and the elastic arm is arranged between the inner ring and the outer ring, so that a torque transmission system is formed between the inner ring and the outer ring. The strain detection unit is directly arranged on the elastic arm, when the torque acts on the inner ring or the outer ring, the torque is transmitted through the elastic arm and enables the elastic arm to elastically deform, and at the moment, the strain detection unit can detect the deformation of the elastic arm and output correspondin