JP2023183228A - torque sensor - Google Patents

Abstract

To provide a torque sensor capable of preventing misdetection of torque.SOLUTION: A torque sensor 1 includes: a first member 2; a second member 3; a detection body 6 for detecting torque around a center axis Z generated between the first member 2 and the second member 3; and a suppression member 7 for suppressing shifting of a relative position of the first member 2 and the second member 3 other than in a rotational direction around the center axis Z.SELECTED DRAWING: Figure 1

Description

The present invention relates to a torque sensor.

Patent Document 1 discloses that a plurality of radial members are provided between a rigid central member centered on a predetermined axis and a rigid annular ring, and by detecting strain occurring in the radial members, the rigid central member and the rigid annular ring are A sensor is disclosed that detects a torque around a predetermined axis or a force in a predetermined direction acting between the annular ring and the annular ring.

Special Publication No. 2001-500979

In the sensor described in Patent Document 1, when it is desired to detect torque around a predetermined axis, a force other than the torque around the predetermined axis, for example, a force in a predetermined direction, acts on a radial member, thereby detecting the torque. This has the disadvantage that accuracy decreases.

The present invention was made under the above circumstances, and an object of the present invention is to provide a torque sensor that can prevent erroneous detection of torque.

In order to achieve the above object, a torque sensor according to a first aspect of the present invention includes:
a first member;
a second member;
a detection body that detects torque around an axis generated between the first member and the second member;
a suppressing member that suppresses changes in the relative position between the first member and the second member in a direction other than the direction of rotation around the axis;
Equipped with

The suppressing member is
an annular member arranged around the axis;
held by the first member and the second member in a radial direction centered on the axis;
It may also be a thing.

a holding member that holds the suppressing member in the direction in which the shaft extends between the first member and the second member;
It may also be a thing.

The suppressing member is an annular member arranged around the axis,
fixed to one of the first member and the second member, and between the first member and the other of the second member in a radial direction centering on the axis. , comprising a holding member that holds the suppressing member;
It may also be a thing.

The holding member holds the suppressing member in the direction in which the axis extends between the first member and the second member.
It may also be a thing.

The suppressing member is
disposed on both sides of the detection body with respect to the direction in which the axis extends;
It may also be a thing.

the suppressing member is a bearing;
It may also be a thing.

The suppressing member is
an outer peripheral member centered on the axis;
an inner circumferential member disposed concentrically with the outer circumferential member and closer to the axis than the outer circumferential member in a radial direction centered on the axis;
a connecting body extending in the radial direction and connecting the outer peripheral member and the inner peripheral member;
Equipped with
Due to the deformation of the connecting body, the outer circumferential member can be relatively displaced around the axis with respect to the inner circumferential member,
It may also be a thing.

the outer peripheral member is fixed to the first member,
the inner peripheral member is fixed to the second member;
It may also be a thing.

The detection object is
comprising a connecting body that connects the first member and the second member;
It may also be a thing.

The connected body is
One end is connected to the first member at a first position in a rotational direction about the axis, the other end is connected to the second member at a second position different from the first position in the rotational direction, and the an elastic deformable body that deforms in a radial direction about the axis when compressive force or tensile force is applied between the first position and the second position;
The detection object is
detecting the torque based on the change in the radial direction of the elastically deformable body;
It may also be a thing.

The connected body is
an elastically deformable body that connects the first member and the second member in the radial direction;
The detection object is
detecting the torque based on the distortion of the elastically deformable body;
It may also be a thing.

The detection body includes an angle sensor or a rotary encoder that detects a relative displacement in a rotational direction around the axis between the first member and the second member,
detecting the torque based on the relative displacement detected by the angle sensor or the rotary encoder;
It may also be a thing.

According to the present invention, erroneous detection of torque can be prevented.

(A) is a top view of a torque sensor according to an embodiment of the present invention. (B) is a sectional view taken along line IB-IB of (A). FIG. 2 is a top view of the torque sensor of FIG. 1(A) with a holding member removed. It is a figure which shows the other example of a detection object. FIG. 2 is a cross-sectional view of a torque sensor according to a second embodiment of the present invention as viewed in the Y-axis direction and a cross-sectional view as viewed in the Z-axis direction. FIG. 3 is a sectional view of a torque sensor according to Embodiment 3 of the present invention. FIG. 4 is a cross-sectional view of a torque sensor according to Embodiment 4 of the present invention. FIG. 7 is a sectional view of a torque sensor according to Embodiment 5 of the present invention. FIG. 7 is a cross-sectional view of a torque sensor according to a sixth embodiment of the present invention. FIG. 7 is a cross-sectional view of a torque sensor according to Embodiment 7 of the present invention. FIG. 7 is a cross-sectional view of a torque sensor according to Embodiment 8 of the present invention as viewed in the Y-axis direction and a partial cross-sectional view as viewed in the Z-axis direction.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In each drawing, the same or equivalent parts are given the same reference numerals.

Embodiment 1
First, Embodiment 1 of the present invention will be described. As shown in FIGS. 1(A) and 1(B), the torque sensor 1 according to the first embodiment has an overall disk shape, but is not limited to this.

For convenience of explanation, as shown in the figure, an XYZ three-axis orthogonal coordinate system with the origin O at the center position of the torque sensor 1 is defined, and on the premise that the torque sensor 1 is arranged in this coordinate system, each part will be explained. Explain the structure. In FIG. 1A, an X axis is defined on the left and right, a Y axis is defined on the top and bottom, and a Z axis is defined in the direction perpendicular to the paper surface. The torque sensor 1 is arranged with the Z-axis as the central axis, as shown in FIG. 1(B). This torque sensor 1 detects torque acting around the Z-axis (in this embodiment, detects torque acting around the central axis Z). Note that the central axis Z is a virtual axis of rotation for defining the detected torque.

[overall structure]
As shown in FIG. 1(A), the torque sensor 1 includes a first member 2 and a second member 3. The first member 2 and the second member 3 are annular members. The first member 2 and the second member 3 are arranged concentrically about the central axis Z and in the same plane. The first member 2 is disposed on the outer periphery of the second member 3.

Note that the term "ring" is not limited to a "circular ring" but also includes a "rectangular ring" and "arbitrarily shaped ring", and the first member 2 and the second member 3 include, for example, a "hexagonal ring". An annular shape, an octagonal annular shape, an annular shape including an arc portion and a straight portion may also be used.

In FIG. 1(B), in addition to the configuration of FIG. 1(A), a first shaft member 4 and a second shaft member 5 are further illustrated. As shown in FIG. 1(B), the first member 2 is attached to the first shaft member 4, and the second member 3 is attached to the second shaft member 5.

The torque sensor 1 detects the torque generated between the first member 2 and the second member 3 around the central axis Z. As shown in FIG. 2, the first member 2 is spaced apart from the second member 3 in the radial direction centered on the Z-axis. A detection body 6 is provided in this space.

The detection body 6 connects the first member 2 and the second member 3. The detection body 6 detects the torque generated between the first member 2 and the second member 3 around the central axis Z. Details of the configuration of the detection body 6 will be described later.

Returning to FIG. 1(B), the torque sensor 1 includes a suppressing member 7. The suppressing member 7 is an annular member that suppresses changes in the relative position between the first member 2 and the second member 3 except in the rotational direction around the central axis Z.

In this embodiment, the suppressing member 7 is, for example, a bearing. This bearing is a radial bearing that resists radial loads. In a radial bearing, rolling elements are inserted between an annular body placed on the outer periphery and an annular body placed on the inner periphery, and the annular bodies placed on the outer periphery and the annular body placed on the inner periphery rotate relative to each other. configured to be possible. The bearing can also withstand loads in the direction in which the Z-axis extends. The bearing is incorporated into the torque sensor 1 so that its rotation axis coincides with the central axis Z.

As shown in FIG. 1(A), the torque sensor 1 includes a holding member 8. The holding member 8 is an annular member, and as shown in FIG. 1(B), it is fixed to the first member 2 near the outer periphery, and also has a radius around the central axis Z between it and the second member 3. Hold the restraining member 7 in the direction. Furthermore, the holding member 8 holds the suppressing member 7 in the direction in which the Z-axis extends between the holding member 8 and the second member 3.

As shown in FIG. 1(B), the second member 3 has a convex portion protruding in the +Z direction near its inner periphery. The suppressing member 7 is arranged so that the inner circumferential surface of the suppressing member 7 is in contact with the outer circumferential surface of this convex portion.

The holding member 8 has a convex portion protruding in the − direction of the Z-axis at the center in the radial direction. The holding member 8 is arranged on the suppressing member 7 such that the inner circumferential surface of the convex portion is in contact with the outer circumferential surface of the suppressing member 7. Furthermore, the holding member 8 is fixed to the first member 2 and presses the suppressing member 7 against the second member 3 in the radial direction and in the negative direction of the Z axis. Thereby, the torque sensor 1 including the suppressing member 7 is formed. In the torque sensor 1, changes in the relative positions between the first member 2 and the holding member 8 and the second member 3 are suppressed, and even if they are in contact with the suppressing member 7, the first member 2 and the second member 3 can be rotated around the central axis Z.

[Detected object]
The detection object 6 will be explained in more detail. As shown in FIG. 2, the detection body 6 includes a connecting body 9. The connecting body 9 connects the first member 2 and the second member 3 in the radial direction. The connecting bodies 9 are a set of two, and are provided at intervals of 45 degrees in the rotational direction about the central axis Z. Note that the connecting body 9 may not be provided. In this way, there are no particular restrictions on the number or arrangement of the connecting bodies 9.

[Elastic deformable body]
The connecting body 9 includes an elastically deformable body 10. As shown in FIG. 2, the elastically deformable body 10 is an elongated and bent member. One end of the elastically deformable body 10 is connected to the first member 2 at a first position P1 in the rotational direction about the central axis Z. Further, the other end of the elastically deformable body 10 is connected to the second member 3 via the connecting body 9 at a second position P2 that is different from the first position P1 in the direction of rotation about the central axis Z.

In the elastically deformable body 10, there is a circumferential portion extending in the circumferential direction of a circle centered on the central axis Z between the portion connected to the first member 2 and the portion connected to the second member 3. It is connected. When compressive force or tensile force is applied between the first position P1 and the second position P2, the circumferential portion of the elastically deformable body 10 is displaced in the radial direction about the central axis Z. The elastically deformable body 10 may be directly connected to the second member 3 at the second position P2.

A detection electrode 11 is provided between the circumferential portion of the elastically deformable body 10 and the inner circumferential surface of the first member 2 . In the detection electrode 11, the capacitance changes depending on the radial displacement of the circumferential portion. The detection body 6 detects torque based on a change in the radial direction of the elastically deformable body 10, that is, a change in the capacitance of the detection electrode 11. Note that the detection electrode 11 may be provided between the circumferential portion of the elastically deformable body 10 and the outer circumferential surface of the second member 3.

As shown in FIG. 3, the elastically deformable body 10 may connect the first member 2 and the second member 3 in a radial direction centered on the central axis Z. In this case, a strain gauge 12 is attached to the elastically deformable body 10. The detection body 6 detects the torque between the first member 2 and the second member 3 based on the strain of the elastically deformable body 10, that is, the strain of the strain gauge 12.

The configuration of the detection body 6 is not limited to that described above. Various detection methods such as an angle sensor, rotary encoder type, magnetostrictive type, etc. can be used alone or in combination. That is, the detection body 6 includes an angle sensor or a rotary encoder that detects the relative displacement in the rotational direction around the central axis Z between the first member 2 and the second member 3, and the detection is detected by the angle sensor or rotary encoder. Torque may be detected based on relative displacement.

The suppressing member 7 suppresses relative displacement between the first member 2 and the second member 3, and suppresses deformation of the elastically deformable body 10 in the detection body 6. This can prevent erroneous detection of torque. For example, as shown in FIG. 1(A), even if a force F in the + direction on the Y-axis is applied, the relative positions of the first member 2 and the second member 3 do not change due to the restraining member 7, and the elastic The deformable body 10 does not deform. This is the same even when a force in the negative direction on the Y-axis and a force in the direction in which the X-axis extends are applied. If the external force includes a component that causes the first member 2 and the second member 3 to rotate around the central axis Z, the detection body 6 detects the torque due to that component.

The suppressing member 7 is held by the members of the torque sensor 1 including the first member 2 and the second member 3 also in the direction in which the central axis Z extends. Therefore, the torque sensor 1 can be made difficult to bend even against forces applied outside the XY plane.

As described above in detail, according to the present embodiment, the suppressing member 7 that suppresses changes in the relative positions of the first member 2 and the second member 3 in a direction other than the rotational direction around the central axis Z Since it is inserted between the detection body 6 and the detection body 6, erroneous detection of torque can be prevented.

The suppressing member 7 inserted between the first member 2 and the second member 3 suppresses changes in their relative positions in rotational directions other than the rotational direction around the central axis Z. It is possible to prevent the detection body 6 from erroneously detecting a change in the relative position between the first member 2 and the second member 3 as torque. On the other hand, since the suppressing member 7 does not suppress the rotation of the first member 2 and the second member 3 about the central axis Z, the torque can be detected with high accuracy by the detecting body 6.

Embodiment 2
Next, a second embodiment of the present invention will be described. As shown in FIG. 4, the torque sensor 1 according to this embodiment is the same as the torque sensor 1 according to the above embodiment in that it includes a first member 2 and a second member 3. A first shaft member 4 is fixed to the first member 2, a second shaft member 5 is fixed to the second member 3, and a detection body 6 connects the first member 2 and the second member 3. This is also the same as in the first embodiment. Also, the present embodiment is the same as the first embodiment in that it includes a suppressing member 7 which is an annular member arranged around the central axis Z.

As shown in FIG. 4, the torque sensor 1 according to the present embodiment has holding members 8A and 8B that hold the suppressing member 7 in the direction in which the Z-axis extends between the first member 2 and the second member 3. Be prepared. The holding member 8A and the holding member 8B are annular members arranged concentrically about the central axis Z. The holding member 8A is arranged closer to the outer circumference, and the holding member 8B is arranged closer to the inner circumference. The holding member 8A is fixed to the first member 2, and the holding member 8B is fixed to the second member 3.

The holding member 8A holds an annular portion near the outer periphery of the suppressing member 7 in the direction in which the Z-axis extends between the holding member 2 and the first member 2. The holding member 8B holds the suppressing member 7 in the radial direction about the central axis Z between the holding member 8B and the first member 2. Further, the holding member 8B holds the annular portion of the suppressing member 7 closer to the inner circumference in the direction in which the Z-axis extends between the holding member 8B and the second member 3.

The first member 2 has a convex portion protruding in the − direction of the Z-axis near its outer periphery. The suppressing member 7 is arranged so that the outer circumferential surface of the suppressing member 7 is in contact with the inner circumferential surface of the convex portion. Next, the holding member 8B is arranged so as to be in contact with the inner circumferential surface of the suppressing member 7 and the −Z plane (the surface facing the first shaft member 4) near the inner circumference. A holding member 8A is arranged on the outermost inner peripheral surface of the first member 2. The holding member 8A is fixed to the first member 2, and the holding member 8B is fixed to the second member 3, thereby forming the torque sensor 1 including the suppressing member 7. With this configuration, the first member 2 and the holding member 8A, and the second member 3 and the holding member 8B are restrained from changing their relative positions by the suppressing member 7, and although they are in contact with the suppressing member 7, their central axes are It can be rotated around Z.

According to the present embodiment, the suppressing member 7 that suppresses changes in the relative position other than the rotational direction around the central axis Z is located between the holding member 8B fixed to the first member 2 and the second member 3. This prevents erroneous detection of torque. The suppressing member 7 has a portion near the outer periphery held in the direction in which the Z-axis extends by the first member 2 and the holding member 8A, and a portion near the outer periphery in the direction in which the Z-axis extends by the second member 3 and the holding member 8B. The parts near the periphery are preserved. Therefore, the change in the relative position of the first member 2 and the second member 3 in the direction in which the central axis Z extends is also suppressed.

Embodiment 3
Next, a third embodiment of the present invention will be described. As shown in FIG. 5, the torque sensor 1 according to this embodiment is the same as the torque sensor 1 according to the above embodiment in that it includes a first member 2 and a second member 3. A first shaft member 4 is fixed to the first member 2, a second shaft member 5 is fixed to the second member 3, and a detection body 6 is inserted between the first member 2 and the second member 3. This is also the same as in the first embodiment. This embodiment is also the same as the first embodiment in that it includes a suppressing member 7 which is an annular member arranged around the central axis Z.

As shown in FIG. 5, the suppressing member 7 is held by the first member 2 and the second member 3 in a radial direction centered on the central axis Z. The torque sensor 1 includes holding members 8A and 8B that hold the suppressing member 7 in the direction in which the Z-axis extends. The holding member 8A and the holding member 8B are annular members arranged concentrically. The holding member 8A is fixed to the first member 2, and the holding member 8B is fixed to the second member 3.

The holding member 8A holds the suppressing member 7 with the first member 2 in the direction in which the Z-axis extends. The holding member 8B holds the suppressing member 7 in the direction in which the Z-axis extends between the holding member 8B and the second member 3.

The first member 2 and the second member 3 connected by the detection body 6 each have a convex portion protruding in the negative direction of the Z axis, and an annular concave portion is formed between the convex portions. There is. The suppressing member 7 is arranged in this annular recess. Furthermore, the holding member 8A is fixed to the first member 2 with the annular portion near the outer periphery of the suppressing member 7 being located between the first member 2 and the holding member 8A in the direction in which the Z-axis extends, and the inner periphery The holding member 8B is fixed to the second member 3 with the annular portion located between the second member 3 and the holding member 8B in the direction in which the Z-axis extends. Thereby, the torque sensor 1 including the suppressing member 7 is formed. With this configuration, the first member 2 and the holding member 8A, and the second member 3 and the holding member 8B are prevented from changing relative positions by the suppressing member 7, and are in contact with the suppressing member 7, but the center of the It becomes possible to rotate around the axis Z.

According to the present embodiment, the suppressing member 7 is inserted between the first member 2 and the second member 3 to suppress changes in their relative positions other than in the rotational direction around the central axis Z. false detection can be prevented. The restraining member 7 has a portion closer to the outer periphery held by the first member 2 and the holding member 8A, and a portion closer to the inner periphery held by the second member 3 and the holding member 8B. Therefore, the change in the relative position of the first member 2 and the second member 3 in the direction in which the central axis Z extends is also suppressed.

Embodiment 4
Next, a fourth embodiment of the present invention will be described. As shown in FIG. 6, the torque sensor 1 according to the present embodiment includes the first member 2 and the second member 3, which is the same as the torque sensor 1 according to the above embodiment. A first shaft member 4 is fixed to the first member 2, a second shaft member 5 is fixed to the second member 3, and a detection body 6 is inserted between the first member 2 and the second member 3. This is also the same as in the first embodiment. This embodiment is also the same as the first embodiment in that it includes a suppressing member 7 which is an annular member arranged around the central axis Z.

As shown in FIG. 6, holding members 8A and 8B are provided between the first member 2 and the second member 3 to hold the suppressing member 7 in the direction in which the Z-axis extends. The holding member 8A and the holding member 8B are annular members arranged concentrically. The holding member 8A is fixed to the first member 2, and the holding member 8B is fixed to the second member 3.

The holding member 8A holds the suppressing member 7 with the first member 2 in the direction in which the Z-axis extends. Further, the holding member 8A holds the suppressing member 7 in the radial direction about the central axis Z between the holding member 8A and the second member 3. The holding member 8B holds the suppressing member 7 in the direction in which the Z-axis extends between the holding member 8B and the second member 3.

The second member 3 has a convex portion protruding in the + direction of the Z-axis near the inner periphery. The suppressing member 7 is arranged on the second member 3 so that the inner circumferential surface of the suppressing member 7 is in contact with the outer circumferential surface of this convex portion. Further, a holding member 8A is arranged near the outer periphery of the suppressing member 7, and a holding member 8B is arranged near the inner periphery. Then, the holding member 8A is fixed to the first member 2, and the holding member 8B is fixed to the second member 3. Thereby, the torque sensor 1 including the suppressing member 7 is formed. With this configuration, the first member 2 and the holding member 8A, and the second member 3 and the holding member 8B are prevented from changing relative positions by the suppressing member 7, and are in contact with the suppressing member 7, but the center of the It becomes possible to rotate around the axis Z.

According to the present embodiment, the central axis Z is disposed between the first member 2 and the holding member 8A fixed to the first member 2, and the second member 3 and the holding member 8B fixed to the second member 3. Since the suppressing member 7 that suppresses changes in the relative position of the surroundings other than in the rotational direction is inserted, erroneous detection of torque can be prevented. The restraining member 7 has a portion closer to the outer periphery held by the first member 2 and the holding member 8A, and a portion closer to the inner periphery held by the second member 3 and the holding member 8B. Therefore, the change in the relative position of the first member 2 and the second member 3 in the direction in which the central axis Z extends is also suppressed.

Embodiment 5
Next, Embodiment 5 of the present invention will be described. As shown in FIG. 7, the torque sensor 1 according to this embodiment is the same as the torque sensor 1 according to the above embodiment in that it includes a first member 2 and a second member 3. A first shaft member 4 is fixed to the first member 2, a second shaft member 5 is fixed to the second member 3, and a detection body 6 is inserted between the first member 2 and the second member 3. This is also the same as in the first embodiment. The provision of the suppressing member 7 is also the same as in the first embodiment.

As shown in FIG. 7, the suppressing member 7 is held by the first member 2 and the second member 3 in a radial direction centered on the central axis Z. The torque sensor 1 includes holding members 8A and 8B that hold the suppressing member 7 in the direction in which the Z-axis extends. The holding member 8A and the holding member 8B are annular members. The holding member 8A is fixed to the first member 2, and the holding member 8B is fixed to the second member 3.

The holding member 8A holds the suppressing member 7 with the first member 2 in the direction in which the Z-axis extends. The holding member 8B holds the suppressing member 7 in the direction in which the Z-axis extends between the holding member 8B and the second member 3.

The first member 2 and the second member 3 connected by the detection body 6 are each formed with an annular convex portion that protrudes in the + direction of the Z axis, and an annular concave portion is formed between the convex portions. ing. The suppressing member 7 is arranged in this annular recess. The holding member 8A is fixed to the first member 2 with a portion of the suppressing member 7 closer to the outer periphery being located between the first member 2 and the holding member 8A in the direction in which the Z-axis extends. On the other hand, the holding member 8B is fixed to the second member 3 with the portion of the suppressing member 7 closer to the inner circumference located between the second member 3 and the holding member 8B in the direction in which the Z-axis extends. Thereby, the torque sensor 1 including the suppressing member 7 is formed. With this configuration, between the first member 2 and the holding member 8A and the second member 3 and the holding member 8B, the change in relative position is suppressed by the suppressing member 7, while the change in the relative position is suppressed by the suppressing member 7. , the first member 2 and the second member 3 are rotatable around the central axis Z.

According to the present embodiment, the suppressing member 7 is inserted between the first member 2 and the second member 3 to suppress changes in their relative positions other than in the rotational direction around the central axis Z. false detection can be prevented. The restraining member 7 has a portion closer to the outer periphery held by the first member 2 and the holding member 8A, and a portion closer to the inner periphery held by the second member 3 and the holding member 8B. Therefore, the change in the relative position of the first member 2 and the second member 3 in the direction in which the central axis Z extends is also suppressed.

Embodiment 6
Next, a sixth embodiment of the present invention will be described. As shown in FIG. 8, the torque sensor 1 according to the present embodiment includes the first member 2 and the second member 3, as in the torque sensor 1 according to the above embodiment. A first shaft member 4 is fixed to the first member 2, a second shaft member 5 is fixed to the second member 3, and a detection body 6 is inserted between the first member 2 and the second member 3. This is also the same as in the first embodiment.

Torque sensor 1 according to this embodiment includes suppressing members 7A and 7B. The suppressing member 7A is arranged at a positive position with respect to the X-axis as a reference in the direction in which the central axis Z extends, and the suppressing member 7B is arranged in a negative position with respect to the X-axis as a reference in the direction in which the central axis Z extends. has been done.

As shown in FIG. 8, the torque sensor 1 includes holding members 8A and 8B that hold the suppressing member 7A between the first member 2 and the second member 3 in the direction in which the Z-axis extends. The holding member 8A and the holding member 8B are annular members arranged concentrically. The holding member 8A is fixed to the first member 2, and the holding member 8B is fixed to the second member 3.

The holding member 8A holds an annular portion near the outer periphery of the suppressing member 7A in the direction in which the Z-axis extends between the holding member 8A and the first member 2. Further, the holding member 8A holds the suppressing member 7A in the radial direction about the central axis Z between the holding member 8A and the second member 3. The holding member 8B holds an annular portion closer to the inner circumference of the suppressing member 7A in the direction in which the Z-axis extends between the holding member 8B and the second member 3.

The first member 2 and the holding member 8A, and the second member 3 and the holding member 8B are restrained from changing relative positions by the suppressing member 7A, and are in contact with the suppressing member 7A, but around the central axis Z. can be rotated.

On the other hand, the suppressing member 7B is held by the first member 2 and the second member 3 in a radial direction centered on the central axis Z. The torque sensor 1 includes holding members 8C and 8D that hold the suppressing member 7B in the direction in which the Z-axis extends. The holding member 8C and the holding member 8D are annular members arranged concentrically. The holding member 8C is fixed to the first member 2, and the holding member 8D is fixed to the second member 3.

The holding member 8C holds the suppressing member 7B in the direction in which the Z axis extends between the holding member 8C and the first member 2. The holding member 8D holds the suppressing member 7B in the direction in which the Z-axis extends between the holding member 8D and the second member 3.

According to the torque sensor 1 according to the present embodiment, the suppressing members 7A and 7B are provided between the first member 2 and the second member 3 to suppress changes in the relative positions other than the rotational direction around the central axis Z. Because it is inserted, erroneous detection of torque can be prevented. Since the suppressing members 7A and 7B are arranged to sandwich the detection body 6, the torque sensor 1 becomes robust even against forces in directions outside the XY plane.

Embodiment 7
Next, a seventh embodiment of the present invention will be described. As shown in FIG. 9, the torque sensor 1 according to the present embodiment includes the first member 2 and the second member 3, the same as the torque sensor 1 according to the above embodiment. A first shaft member 4 is fixed to the first member 2, a second shaft member 5 is fixed to the second member 3, and a detection body 6 is inserted between the first member 2 and the second member 3. This is also the same as in the first embodiment. In this embodiment, the suppressing member 7 is different from the above embodiment.

In this embodiment, the suppressing member 7 is a bearing with mounting holes provided at a position closer to the outer circumference and a position closer to the inner circumference. The suppressing member 7 is connected to a holding member 8 fixed to the first member 2 with a bolt 20 through a mounting hole located near the outer periphery, and is further connected to a second holding member 8 through a mounting hole located near the inner periphery. It is connected to the member 3 with a bolt 21. Thereby, the outer periphery of the suppressing member 7 is rotatable in conjunction with the first member 2 , and the inner periphery of the suppressing member 7 is rotatable in conjunction with the second member 3 . Note that the first member 2 and the holding member 8 are connected with a bolt 22.

In the torque sensor 1 according to the present embodiment, first, the annular suppressing member 7 is arranged near the inner periphery of the annular holding member 8, and both members are fastened with bolts 20. An assembly is formed. Furthermore, this assembly is fastened to the second member 3 with bolts 21. Further, the first member 2 and the holding member 8 are connected with a bolt 22. Thereby, the torque sensor 1 including the suppressing member 7 is assembled. With this configuration, the change in relative position between the first member 2 and the holding member 8 and the second member 3 is suppressed by the suppressing member 7, while the first member 2 and the second member 3 are suppressed. Although it is in contact with the member 7, it is rotatable around the central axis Z.

According to the present embodiment, the suppressing member 7 is inserted between the first member 2 and the second member 3 to suppress changes in their relative positions other than in the rotational direction around the central axis Z. false detection can be prevented.

Embodiment 8
Next, an eighth embodiment of the present invention will be described. In this embodiment, the suppressing member 7 is different from the above embodiment. As shown in FIG. 10, the torque sensor 1 according to this embodiment is the same as the torque sensor 1 according to the above embodiment in that it includes a first member 2 and a second member 3. A first shaft member 4 is fixed to the first member 2, a second shaft member 5 is fixed to the second member 3, and a detection body 6 is arranged between the first member 2 and the second member 3. This is also the same as in the first embodiment. In this embodiment, the suppressing member 7 is different from the above embodiment.

The suppressing member 7 radially connects an annular outer circumferential member 7a centered on the central axis Z, an annular inner circumferential member 7b arranged concentrically with the outer circumferential member 7a, and the outer circumferential member 7a and the inner circumferential member 7b. A connecting member 7c. The inner peripheral member 7b is arranged closer to the central axis Z than the outer peripheral member 7a in the radial direction about the central axis Z. The connecting member 7c that connects the inner circumferential member 7b with the outer circumferential member 7a makes it difficult for the relative positions of the outer circumferential member 7a and the inner circumferential member 7b to change due to radial force, while the outer circumferential member 7a and the inner circumferential member The circumferential member 7b can be relatively displaced around the central axis Z in the rotational direction.

The first member 2 has an annular convex portion whose outer peripheral portion protrudes in the negative direction of the Z-axis. The suppressing member 7 is arranged on the inner periphery of this convex portion. The outer peripheral member 7a of the suppressing member 7 is fixed to the first member 2, and the inner peripheral member 7b is fixed to the second member 3. As a result, the torque sensor 1 including the suppressing member 7 arranged in line with the detecting body 6 is formed. With this configuration, the first member 2 and the second member 3 are prevented from changing relative positions by the suppressing member 7, and are still able to rotate around the central axis Z although they are in contact with the suppressing member 7. Become.

According to the present embodiment, the suppressing member 7 is inserted between the first member 2 and the second member 3 to suppress changes in their relative positions other than in the rotational direction around the central axis Z. false detection can be prevented.

The suppressing member 7 according to this embodiment can be used in combination with a bearing. A bearing may be arranged at a position opposite to the suppressing member 7 with respect to the detecting body 6.

By providing the suppressing member 7, it is possible to prevent the detection body 6 from being damaged due to relative displacement between the first member 2 and the second member 3.

This invention is capable of various embodiments and modifications without departing from the broad spirit and scope of this invention. Further, the embodiments described above are for explaining the present invention, and do not limit the scope of the present invention. That is, the scope of the invention is indicated by the claims rather than the embodiments. Various modifications made within the scope of the claims and the meaning of the invention equivalent thereto are considered to be within the scope of this invention.

The present invention can be applied to torque detection.

Reference Signs List 1 torque sensor, 2 first member, 3 second member, 4 first shaft member, 5 second shaft member, 6 detection body, 7, 7A, 7B suppressing member, 7a outer peripheral member, 7b inner peripheral member, 7c connecting member , 8, 8A, 8B, 8C, 8D holding member, 9 connecting body, 10 elastic deformable body, 11 detection electrode, 12 strain gauge, 20, 21, 22 bolt

Claims (13)

a first member;
a second member;
a detection body that detects torque around an axis generated between the first member and the second member;
a suppressing member that suppresses changes in the relative position between the first member and the second member in a direction other than the direction of rotation around the axis;
Torque sensor equipped with. The suppressing member is
an annular member arranged around the axis;
held by the first member and the second member in a radial direction centered on the axis;
The torque sensor according to claim 1. a holding member that holds the suppressing member in the direction in which the shaft extends between the first member and the second member;
The torque sensor according to claim 2. The suppressing member is an annular member arranged around the axis,
fixed to one of the first member and the second member, and between the first member and the other of the second member in a radial direction centering on the axis. , comprising a holding member that holds the suppressing member;
The torque sensor according to claim 1. The holding member holds the suppressing member in the direction in which the axis extends between the first member and the second member.
The torque sensor according to claim 4. The suppressing member is
disposed on both sides of the detection body with respect to the direction in which the axis extends;
The torque sensor according to claim 1. the suppressing member is a bearing;
The torque sensor according to claim 1. The suppressing member is
an outer peripheral member centered on the axis;
an inner circumferential member disposed concentrically with the outer circumferential member and closer to the axis than the outer circumferential member in a radial direction centered on the axis;
a connecting body extending in the radial direction and connecting the outer peripheral member and the inner peripheral member;
Equipped with
Due to the deformation of the connecting body, the outer circumferential member can be relatively displaced around the axis with respect to the inner circumferential member,
The torque sensor according to claim 1. the outer peripheral member is fixed to the first member,
the inner peripheral member is fixed to the second member;
The torque sensor according to claim 8. The detection object is
comprising a connecting body that connects the first member and the second member;
The torque sensor according to claim 1. The connected body is
One end is connected to the first member at a first position in a rotational direction about the axis, the other end is connected to the second member at a second position different from the first position in the rotational direction, and the an elastic deformable body that deforms in a radial direction about the axis when compressive force or tensile force is applied between the first position and the second position;
The detection object is
detecting the torque based on the change in the radial direction of the elastically deformable body;
The torque sensor according to claim 10. The connected body is
an elastically deformable body that connects the first member and the second member in the radial direction;
The detection object is
detecting the torque based on the distortion of the elastically deformable body;
The torque sensor according to claim 10. The detection body includes an angle sensor or a rotary encoder that detects a relative displacement in a rotational direction around the axis between the first member and the second member,
detecting the torque based on the relative displacement detected by the angle sensor or the rotary encoder;
The torque sensor according to claim 10.

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