Actuator and robot with reliable torque sensor arrangement

Patent metadata

Field	Value
Publication number	US-12186897-B2
Application number	US-201916545833-A
Country	US
Kind code	B2
Filing date	Aug 20, 2019
Priority date	Oct 9, 2018
Publication date	Jan 7, 2025
Grant date	Jan 7, 2025

Abstract

An actuator of a robotic system and a robot are provided. The actuator may include a center shaft, an outer shell connected to the center shaft, an input flange, and an output flange coaxially installed on the center shaft, a torque sensor and a motor assembly. The input flange and the output flange are radially fixed with at least one of the outer shell and the center shaft through a plurality of bearings. The torque sensor is connected between the input flange and the output flange, and configured to measure a torque transmitted by the input flange and the output flange. The motor assembly is coupled to the input flange. Disturbances transmitted from either side of the torque sensor may be isolated from the torque sensor. Therefore, the reliability of the readings of the torque sensor may be improved.

First claim

What is claimed is:

1. An actuator of a robotic system, comprising:
a center shaft;
an outer shell connected to the center shaft;
an input flange and an output flange coaxially installed on the center shaft, wherein the input flange and the output flange are radially fixed with at least one of the outer shell and the center shaft through a plurality of bearings;
a torque sensor connected between the input flange and the output flange, and configured to measure a torque transmitted by the input flange and the output flange, wherein the torque sensor is in contact with the input flange and the output flange; and
a motor assembly coupled to the input flange, wherein the input flange is a separate component from the motor assembly,
wherein the plurality of bearings comprise:
a first bearing connected between the input flange and the outer shell;
a second bearing connected between the output flange and the outer shell; and
a third bearing connected between the output flange and the center shaft.

2. An actuator of a robotic system, comprising:
a center shaft;
an outer shell connected to the center shaft;
an input flange and an output flange coaxially installed on the center shaft, wherein the input flange and the output flange are radially fixed with at least one of the outer shell and the center shaft through a plurality of bearings;
a torque sensor connected between the input flange and the output flange, and configured to measure a torque transmitted by the input flange and the output flange, wherein the torque sensor is in contact with the input flange and the output flange; and
a motor assembly coupled to the input flange, wherein the input flange is a separate component from the motor assembly,
wherein the plurality of bearings comprise:
a first bearing connected between the input flange and the center shaft;
a second bearing connected between the output flange and the center shaft; and
a third bearing connected between the output flange and the outer shell.

3. The actuator of claim 2 , further comprising:
a shaft sleeve disposed around the center shaft and between the first bearing and the second bearing so as to keep a pre-determined distance between the first bearing and the second bearing.

4. The actuator of claim 3 , further comprising:
a limiting nut connected to the input flange or the output flange with a threaded connection, wherein the limiting nut is configured to limit an axial position of the first bearing and the second bearing.

5. The actuator of claim 1 , wherein
the motor assembly comprises a motor and a harmonic drive, wherein the harmonic drive is coupled between the motor and the input flange, and
the motor comprises
a motor stator installed on the outer shell; and
a motor rotor rotatably connected to the center shaft through a motor bearing.

6. The actuator of claim 5 , wherein the harmonic drive comprises:
a wave generator coupled with an output end of the motor rotor;
a circular spline fixed with the outer shell; and
a flexspline coupled with the input flange,
wherein the wave generator and the flexspline are rotatably connected to the center shaft through multiple harmonic drive bearings.

7. The actuator of claim 5 , wherein
the motor stator comprises a coil and an annular fixture, wherein the coil and the annular fixture are assembled together, and
the annular fixture fits an inner surface of the outer shell and is connected to the outer shell with a radial screw.

8. The actuator of claim 1 , wherein
the center shaft defines a center tunnel passing through the center shaft for accommodating control cables of the actuator.

9. A robot with a plurality of actuators and a plurality of links, wherein the plurality of links are connected successively by the plurality of actuators, and each of the plurality of actuators comprises:
a center shaft;
an outer shell connected to the center shaft;
an input flange and an output flange coaxially installed on the center shaft, wherein the input flange and the output flange are radially fixed with at least one of the outer shell and the center shaft through a plurality of bearings;
a torque sensor connected between the input flange and the output flange, and configured to measure a torque transmitted by the input flange and the output flange, wherein the torque sensor is in contact with the input flange and the output flange; and
a motor assembly coupled to the input flange, wherein the input flange is a separate component from the motor assembly,
wherein the plurality of bearings comprise:
a first bearing connected between the input flange and the center shaft;
a second bearing connected between the output flange and the center shaft; and
a third bearing connected between the output flange and the outer shell.

10. The robot of claim 9 , further comprising:
a shaft sleeve disposed around the center shaft and between the first bearing and the second bearing so as to keep a pre-determined distance between the first bearing and the second bearing.

11. The robot of claim 10 , further comprising:
a limiting nut connected to the input flange or the output flange with a threaded connection, wherein the limiting nut is configured to limit an axial position of the first bearing and the second bearing.

12. The robot of claim 9 , wherein the motor assembly comprises a motor and a harmonic drive, wherein the harmonic drive is coupled between the motor and the input flange, and
the motor comprises
a motor stator installed on the outer shell; and
a motor rotor rotatably connected to the center shaft through a motor bearing.

13. The robot of claim 12 , wherein the harmonic drive comprises:
a wave generator coupled with an output end of the motor rotor;
a circular spline fixed with the outer shell; and
a flexspline coupled with the input flange,
wherein the wave generator and the flexspline are rotatably connected to the center shaft through multiple harmonic drive bearings.

14. The robot of claim 12 , wherein
the motor stator comprises a coil and an annular fixture, wherein the coil and the annular fixture are assembled together, and
the annular fixture fits an inner surface of the outer shell and is connected to the outer shell with a radial screw.

15. The robot of claim 9 , wherein
the center shaft defines a center tunnel passing through the center shaft for accommodating control cables of the robot.

Assignees

• Flexiv Ltd

Inventors

• Wang Shiquan
• An Ran

Classifications

• B25J17/00

  Joints · CPC title

• B25J9/1025

  Harmonic drives (in general: F16H49/001) · CPC title

• B25J9/126

  Rotary actuators · CPC title

• G01L3/02

  Rotary-transmission dynamometers · CPC title

• B25J19/0025

  Means for supplying energy to the end effector · CPC title