WO2019171811A1 - Capteur de couple - Google Patents

Capteur de couple Download PDF

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Publication number
WO2019171811A1
WO2019171811A1 PCT/JP2019/002578 JP2019002578W WO2019171811A1 WO 2019171811 A1 WO2019171811 A1 WO 2019171811A1 JP 2019002578 W JP2019002578 W JP 2019002578W WO 2019171811 A1 WO2019171811 A1 WO 2019171811A1
Authority
WO
WIPO (PCT)
Prior art keywords
torque sensor
stopper
torque
region portion
region
Prior art date
Application number
PCT/JP2019/002578
Other languages
English (en)
Japanese (ja)
Inventor
池田　隆男
Original Assignee
日本電産コパル電子株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日本電産コパル電子株式会社 filed Critical 日本電産コパル電子株式会社
Publication of WO2019171811A1 publication Critical patent/WO2019171811A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/02—Rotary-transmission dynamometers
    • G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
    • G01L3/10—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating

Definitions

  • the present invention relates to a torque sensor that detects torque.
  • Patent Document 1 a sensor that detects torque by elastic deformation of a member is known.
  • An object of an embodiment of the present invention is to provide a torque sensor that increases the sensitivity of the sensor and improves the rigidity against an excessive load.
  • a torque sensor includes a first region portion formed in an annular shape, and a second region formed in an annular shape that is positioned concentrically with the first region portion inside the first region portion.
  • a plurality of beam portions connecting the inside of the first region portion and the outside of the second region portion, and the first region portion and the second region portion
  • a rigidity improving means for improving the rigidity of the beam portion when the torque in the measuring direction exceeds a reference value.
  • FIG. 1 is a configuration diagram showing the configuration of the torque sensor according to the first embodiment of the present invention.
  • FIG. 2 is a cross-sectional view of the torque sensor shown in FIG. 1 cut along an ⁇ - ⁇ line using an adhesive.
  • FIG. 3 is a cross-sectional view of the torque sensor shown in FIG. 1 cut along an ⁇ - ⁇ line using a fixing member.
  • FIG. 4 is a top view showing an upper surface of a stopper according to a modification of the first embodiment.
  • FIG. 5 is a simplified diagram showing the top surface of the stopper when torque is applied to the torque sensor according to the first embodiment.
  • FIG. 6 is a graph illustrating the load torque of the torque sensor according to the first embodiment and the amount of displacement of the gap.
  • FIG. 7 is a graph showing the load torque of the torque sensor according to the first embodiment and the amount of strain of the strain generating body.
  • FIG. 8 is a configuration diagram showing the configuration of the torque sensor according to the second embodiment of the present invention.
  • FIG. 1 is a configuration diagram showing the configuration of the torque sensor 10 according to the first embodiment of the present invention.
  • the torque sensor 10 is a sensor for detecting the torque of the Z-axis moment Mz with the Z-axis (perpendicular to the drawing) as the rotation axis.
  • the torque sensor 10 is mounted on a robot or the like.
  • the torque sensor 10 includes a first region portion 1, a second region portion 2, a plurality of beam portions 3, a plurality of strain generating bodies 4, and a plurality of stoppers 5.
  • the first region portion 1, the second region portion 2, and the plurality of beam portions 3 are integrally formed of a material such as metal.
  • the first region portion 1 is formed in an annular shape.
  • the second region portion 2 is formed in an annular shape having a smaller diameter than the first region portion 1.
  • the second region portion 2 is positioned on a concentric circle on the annular inner side (center side) of the first region portion 1.
  • the plurality of beam portions 3 extend radially from the second region portion 2 and are provided so as to connect the inside of the first region portion 1 and the outside of the second region portion 2. Any number of the beam portions 3 may be provided.
  • region part 1 is a part attached to the load which receives a torque.
  • the first region portion 1 is attached to a movable portion such as a robot hand or arm.
  • the second region portion 2 is a portion that is attached to a power source that generates torque.
  • the 2nd field part 2 is attached to a motor or a reduction gear.
  • the strain body 4 is provided between the first region portion 1 and the second region portion 2 so that a force due to relative displacement between the first region portion 1 and the second region portion 2 is applied.
  • the strain body 4 includes the first protrusion T1 extending in the direction from the first region 1 to the second region 2 and the first from the second region 2 between the two adjacent beam portions 3. It is provided so as to connect the second protrusion T2 extending in the direction of the region 1. Any number of strain generating bodies 4 may be provided. Further, the strain body 4 may be provided anywhere as long as it receives a force due to relative displacement between the first region portion 1 and the second region portion 2. For example, the strain body 4 may be provided on the beam portion 3.
  • the strain body 4 includes a strain gauge that serves as a sensor for detecting strain.
  • the strain gauge is configured to generate an electrical displacement when deformed. Any strain gauge may be used as long as an electrically detectable displacement occurs. For example, the strain gauge may change its electric resistance or generate a voltage according to the amount of deformation.
  • the torque sensor 10 measures torque by detecting these electrical displacements from the strain body 4 (strain gauge).
  • the strain body 4 is used as follows.
  • a pair of strain generating bodies 4 are provided at positions where symmetrical stresses are applied (positions that are left-right symmetric or vertically symmetric).
  • the force in the direction not to be measured is not detected by canceling the output of each strain gauge of the pair of strain generating bodies 4.
  • the torque sensor 10 detects only the torque in the measuring direction (Z-axis moment Mz).
  • the stopper 5 has a rectangular parallelepiped shape whose top and bottom are rectangular or trapezoidal.
  • the stopper 5 is provided between the first region portion 1 and the second region portion 2 so as to be limited when a force due to relative displacement between the first region portion 1 and the second region portion 2 is applied for a predetermined amount or more.
  • the stopper 5 is provided so as to fit in a space surrounded by the first region portion 1, the second region portion 2, and the two adjacent beam portions 3.
  • the stopper 5 is a member for improving the rigidity of the beam portion 3.
  • the material of the stopper 5 is metal, for example.
  • the stopper 5 is attached in a state where a gap SP of a predetermined interval is maintained between each of the two beam portions 3.
  • the width of the gap SP is determined based on the rated torque of the torque sensor 10 or the like. For example, the width of the gap SP is 15 to 30 ⁇ m.
  • the stopper 5 may be provided with a gap SP between the first region portion 1 and the second region portion 2.
  • the stopper 5 may be attached in any way as long as the stopper 5 is maintained in a state where the gap SP is maintained.
  • FIG. 2 is a cross-sectional view of the torque sensor 10 shown in FIG. 1 cut along an ⁇ - ⁇ line using an adhesive AD. With reference to FIG. 2, the method of attaching the stopper 5 with the adhesive agent AD is demonstrated.
  • the top and bottom surfaces of the stopper 5 are chamfered.
  • the first region portion 1, the second region portion 2, or the beam portion 3 may be chamfered.
  • the adhesive AD is an adhesive made of resin such as silicon.
  • the adhesive AD needs to have a cured hardness that is at least lower than the rigidity of the stopper 5. This hardness is so good that it is not resistant to the torque applied to the torque sensor 10. That is, the adhesive AD is better as the cured state is softer as long as the stopper 5 cannot be removed.
  • the adhesive AD is applied around the top and bottom surfaces of the stopper 5 once. By being chamfered, the adhesive AD can easily become familiar around the stopper 5. At this time, the adhesive AD need only be applied to the chamfered portions of the top surface and the bottom surface, and the adhesive AD need not be applied to the side surface of the stopper 5. Further, it is not necessary to apply the adhesive AD once on the top and bottom surfaces, for example, only the four corners of each surface. That is, as long as the strength as the torque sensor 10 is maintained, the number of places where the adhesive AD is applied is the minimum necessary.
  • FIG. 3 is a cross-sectional view of the torque sensor 10 shown in FIG. 1 cut along an ⁇ - ⁇ line using the fixing member H1. With reference to FIG. 3, the method of attaching the stopper 5 with the fixing member H1 is demonstrated.
  • the fixing member H ⁇ b> 1 is fixedly provided on both the left and right sides (the beam portion 3 side) of the upper surface and the bottom surface of the stopper 5. Is not fixed. At this time, a part of the fixing member H1 provided on the upper surface and the bottom surface covers the upper surface and the bottom surface of the beam portion 3. Thereby, the movement of the stopper 5 in the vertical direction is fixed. On the other hand, the movement of the stopper 5 in the horizontal direction has a degree of freedom corresponding to the gap SP.
  • the stopper 5 is attached with four fixing members H1, but any number of fixing members H1 may be provided.
  • the fixing member H ⁇ b> 1 may be fixed to the beam portion 3 without being fixed to the stopper 5.
  • the fixing member H1 may have any shape such as a plate shape or a block shape.
  • FIG. 4 is a top view showing the top surface of a stopper 5a according to a modification of the present embodiment.
  • the upper surface (bottom surface) of the stopper 5a is shaped like an X shape in which elongated plates are overlapped along two diagonals with respect to the rectangular shape of the upper surface of the space where the stopper 5a is mounted.
  • the stopper 5a is attached in a state where gaps SP of a predetermined interval are maintained at the four corners when viewed from above.
  • the method of attaching the stopper 5a is the same as that of the stopper 5 described above, and the adhesive AD may be applied to the gap SP, or the fixing member H1 may be used.
  • FIG. 5 is a simplified diagram showing the upper surface of the stopper 5 when torque is applied to the torque sensor 10 according to the present embodiment.
  • Torque is generated by rotation applied by a power source attached to the torque sensor 10.
  • a Z-axis moment Mz is generated in the torque sensor 10.
  • the first region portion 1 outside the stopper 5 and the second region portion 2 inside the stopper 5 move in directions opposite to each other. Thereby, the beam part 3 located in the both ends of the stopper 5 is elastically deformed so that it may become diagonal.
  • the stopper 5 and the beam portion 3 do not come into contact with each other due to the gap SP between the stopper 5 and the beam portion 3.
  • the Z-axis moment Mz exceeds a predetermined reference value, the beam portion 3 is deformed, so that there is no gap SP in a part, and as shown in FIG.
  • the two regions 2 come in contact with the beam 3 at opposite corners on the side of the region 2.
  • the beam portion 3 is further prevented from being further deformed by the rigidity of the material of the stopper 5.
  • the reference value is, for example, the maximum load assumed under the condition where the torque sensor 10 is normally used.
  • the reference value may be determined based on the rated load, such as a value obtained by multiplying or adding a coefficient to the rated load, or may be determined in any manner.
  • the rated load is, for example, a load that is assumed to be applied most frequently in the torque sensor 10.
  • FIG. 6 is a graph showing the load torque of the torque sensor 10 according to this embodiment and the displacement amount of the gap SP.
  • the rated load is 800 Nm
  • the initial state of the gap SP is 20 ⁇ m
  • the reference value of the overload is 1000 Nm.
  • the width of the gap SP is determined based on the reference value. Specifically, when the reference value torque is applied, the width of the gap SP is determined so that the beam portion 3 is deformed and the gap SP is eliminated.
  • the gap of 20 ⁇ m disappears and the stopper 5 starts to contact the beam portion 3.
  • the deformation amount of the beam portion 3 is determined by the relative displacement amount between the first region portion 1 and the second region portion 2, it is substantially proportional to the deformation amount of the strain body 4. The greater the deformation of the strain body 4 with a small torque, the better the sensitivity (or measurement accuracy) for measuring the torque as the torque sensor 10.
  • the displacement at 1000 Nm is 20 ⁇ m. If there is no stopper 5 and the load is increased to 2000 Nm, which is the maximum load, the displacement amount by simple calculation is doubled to 40 ⁇ m. However, since the elastic deformation rate with respect to the load decreases after the stopper 5 comes into contact with the beam portion 3, the amount of deformation at the actual maximum load can be suppressed to about 26 ⁇ m.
  • FIG. 7 is a graph showing the load torque of the torque sensor 10 and the strain amount of the strain generating body 4 according to the present embodiment.
  • the torque sensor 10 is the same as in FIG.
  • the strain generating body 4 is easily deformed and the sensitivity of the torque sensor 10 as a sensor is increased.
  • the rigidity of the beam portion 3 can be improved, and plastic deformation or destruction of the beam portion 3 due to an excessive load can be prevented.
  • the rigidity of the beam portion 3 can be improved by the stopper 5.
  • the rigidity of the stopper 5 is always increased regardless of the strength of the force.
  • the structure which provides the stopper 5 was demonstrated in this embodiment, it is not restricted to this.
  • the beam portion 3 is configured so that the beam portion 3 is less likely to be deformed when the torque exceeds the reference value than when the torque is below the reference value, the stopper 5 may not be provided. .
  • FIG. 8 is a configuration diagram showing a configuration of a torque sensor 10A according to the second embodiment of the present invention.
  • the torque sensor 10A is provided with a beam portion 3A instead of the first protrusion T1 and the second protrusion T2 in order to install the strain generating body 4. It is a thing. Other points are the same as in the first embodiment.
  • the same number of the plurality of beam portions 3A as the strain body 4 is provided.
  • the beam portion 3 ⁇ / b> A is obtained by changing the shape of some of the beam portions 3 among the plurality of beam portions 3.
  • the beam portion 3A has a shape that is more easily deformed than the other beam portions 3 due to the torque of the Z-axis moment Mz. Specifically, the portion connected to the beam portion 3A of the first region portion 1 is widened outward (to the first region portion 1 side) so that the length of the beam portion 3A is longer than the other beam portions 3. It is deformed as follows. Further, the outer portion of the beam portion 3A is made thinner than the other beam portions 3, thereby making the deformation easier.
  • the beam portion 3 is configured to be prevented from being plastically deformed or broken, so that the sensitivity of torque detection is increased. Therefore, there is no problem in the durability of the torque sensor 10A even if the beam portion 3A provided with the strain generating body 4 is formed into a shape that can be easily deformed. Therefore, by providing the strain body 4 in the beam portion 3 ⁇ / b> A that is easily deformed, the sensitivity of torque detection can be increased as compared with the case where the strain body 4 is provided in the normal beam portion 3.
  • the present invention is not limited to the above-described embodiment, and constituent elements may be deleted, added or changed. Moreover, it is good also as a new embodiment by combining or exchanging a component about several embodiment. Even if such an embodiment is directly different from the above-described embodiment, those having the same gist as the present invention are described as the embodiment of the present invention, and the description thereof is omitted.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Force In General (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Power Steering Mechanism (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un capteur de couple (10) qui est pourvu : d'une première zone (1) formée sous une forme annulaire ; d'une seconde zone (2) formée sous une forme annulaire et positionnée de manière concentrique par rapport à la première zone (1) sur le côté interne de ladite première zone (1) ; une pluralité de sections de poutre (3) reliant le côté interne de la première zone (1) avec le côté externe de la seconde zone (2) ; des corps de génération de contrainte (4) qui permettent de détecter un déplacement de la première zone (1) et de la seconde zone (2) l'une par rapport à l'autre ; des butées (5) qui permettent d'améliorer la rigidité des sections de poutre (3) lorsque le couple dépasse une valeur de référence dans une direction de mesure .
PCT/JP2019/002578 2018-03-08 2019-01-25 Capteur de couple WO2019171811A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018042317A JP6980568B2 (ja) 2018-03-08 2018-03-08 トルクセンサ
JP2018-042317 2018-03-08

Publications (1)

Publication Number Publication Date
WO2019171811A1 true WO2019171811A1 (fr) 2019-09-12

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ID=67847063

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PCT/JP2019/002578 WO2019171811A1 (fr) 2018-03-08 2019-01-25 Capteur de couple

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JP (1) JP6980568B2 (fr)
TW (1) TWI796429B (fr)
WO (1) WO2019171811A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112665765A (zh) * 2020-12-01 2021-04-16 哈尔滨工业大学 一种基于并联分载原理的机器人高刚度关节力矩传感器

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH063207A (ja) * 1992-05-25 1994-01-11 Hottinger Baldwin Messtech Gmbh 回転モーメントセンサ
JP2004077172A (ja) * 2002-08-12 2004-03-11 Kyowa Electron Instr Co Ltd トルク計測装置
US20110314935A1 (en) * 2009-02-06 2011-12-29 Abb Ag Set of multiaxial force and torque sensor and assembling method
JP2017172983A (ja) * 2016-03-18 2017-09-28 株式会社安川電機 ロボット及びトルクセンサ

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI468656B (zh) * 2013-05-07 2015-01-11 Magnetic Rotary Torque Detector

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH063207A (ja) * 1992-05-25 1994-01-11 Hottinger Baldwin Messtech Gmbh 回転モーメントセンサ
JP2004077172A (ja) * 2002-08-12 2004-03-11 Kyowa Electron Instr Co Ltd トルク計測装置
US20110314935A1 (en) * 2009-02-06 2011-12-29 Abb Ag Set of multiaxial force and torque sensor and assembling method
JP2017172983A (ja) * 2016-03-18 2017-09-28 株式会社安川電機 ロボット及びトルクセンサ

Also Published As

Publication number Publication date
JP6980568B2 (ja) 2021-12-15
TWI796429B (zh) 2023-03-21
TW201939006A (zh) 2019-10-01
JP2019158420A (ja) 2019-09-19

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