JP5156822B2

JP5156822B2 - Torque sensor

Info

Publication number: JP5156822B2
Application number: JP2010285885A
Authority: JP
Inventors: 聰賢胡; 超智游; 智榮葉
Original assignee: 財団法人車輌研究測試中心
Priority date: 2010-12-22
Filing date: 2010-12-22
Publication date: 2013-03-06
Anticipated expiration: 2030-12-22
Also published as: JP2012132814A

Description

本発明はトルクセンサーに関し、特に、従来より敏感なトルクセンサーに関する。 The present invention relates to a torque sensor, and more particularly to a torque sensor that is more sensitive than the prior art.

図１は、下記特許文献１に開示されているトルクセンサーの断面図である。図示されているように、該トルクセンサーは所定の軸線１０を中心として回転できる入力軸１１と、入力軸１１と連動して同軸に回転できる出力軸１２と、入力軸１１または出力軸１２とカム接続することによって、入力軸１１と出力軸１２との回転角度差に応じで軸線１０に沿って前後摺動可能に取り付けられているスリーブ１３と、スリーブ１３の前後摺動距離を測定することができるポテンショメータ１４とを有し、ポテンショメータ１４の測定結果から前記回転角度差を発生させるトルクの強度を算出することができるものである。 FIG. 1 is a cross-sectional view of a torque sensor disclosed in Patent Document 1 below. As shown, the torque sensor includes an input shaft 11 that can rotate about a predetermined axis 10, an output shaft 12 that can rotate coaxially with the input shaft 11, and an input shaft 11 or an output shaft 12 and a cam. By connecting, the sleeve 13 attached so as to be slidable back and forth along the axis 10 according to the rotational angle difference between the input shaft 11 and the output shaft 12 and the longitudinal sliding distance of the sleeve 13 can be measured. A potentiometer 14 capable of calculating the strength of the torque that generates the rotation angle difference from the measurement result of the potentiometer 14.

このように構成されるトルクセンサーは、回転角度差に応じで生じるスリーブ１３の摺動距離を測定するものであるが、この摺動はカム接続により生じる移動であるため、カム接続部分の回動距離より短くなるので、その測定精度を上げるのにカム接続部分の回動半径を長くして摺動距離を延長するか、あるいはポテンショメータ１４の測定敏感度を高めるかによらなければならない。 The torque sensor configured in this way measures the sliding distance of the sleeve 13 that occurs according to the difference in rotation angle. Since this sliding is a movement caused by the cam connection, the rotation of the cam connecting portion is performed. Since the distance becomes shorter than the distance, in order to increase the measurement accuracy, it is necessary to extend the sliding distance by increasing the turning radius of the cam connecting portion or to increase the measurement sensitivity of the potentiometer 14.

しかし、ポテンショメータ１４の測定敏感度を高めることがコストが掛かる上技術的限界があり、そして回動半径を長くすることに相応な設置空間が必要なので、その設置空間が取れない場合も多くある。 However, increasing the measurement sensitivity of the potentiometer 14 is costly and has technical limitations, and an installation space corresponding to increasing the turning radius is required.

米国特許ＵＳ６３７０９６６号明細書US Pat. No. 6,370,966

上記問題点に鑑みて、本発明は簡単な構成で高いトルク測定精度を有するトルクセンサーの提供を目的とする。 In view of the above problems, an object of the present invention is to provide a torque sensor having a simple configuration and high torque measurement accuracy.

上記目的を達成すべく、本発明は第１の本体と、第２の本体と、前記第１の本体と前記第２の本体との間に介在している反力対抗手段と、センサー手段とを有し、且つ、前記第２の本体が回転されるとその回転軸心を軸線として生ずる入力トルクを、前記反力対抗手段を経由して前記第１の本体に伝える上、前記第１の本体がすでに出力対象に設置されている場合、更に該出力対象に出力トルクをかけると共に、前記センサー手段で前記出力トルクを計測することができるように構成されているトルクセンサーであって、前記反力対抗手段は、弾性変形可能な材料により作成され、且つ、前記軸線から離れた一部が第１の枢支部として前記第１の本体に枢支され、他の一部が第２の枢支部として前記第２の本体に枢支されている上、弾性的に曲げられて変形しない限り、前記第１の本体を前記第２の本体の前記回転と回転角度差が生じずに同調的に回転させることができるように構成されており、前記センサー手段は、前記反力対抗手段の変形具合と共に生じる前記第１の本体と前記第２の本体との前記回転角度差を測定する上、電気信号として出力することができるように構成されていることを特徴とするトルクセンサーを提供する。 In order to achieve the above object, the present invention provides a first main body, a second main body, a reaction force countermeasure means interposed between the first main body and the second main body, a sensor means, And when the second main body is rotated, an input torque generated with its rotational axis as an axis is transmitted to the first main body via the reaction force countering means. A torque sensor configured to apply an output torque to the output target and to measure the output torque by the sensor means when the main body is already installed in the output target, The force countermeasure means is made of an elastically deformable material, and a part away from the axis is pivotally supported by the first body as a first pivot part, and the other part is a second pivot part. As well as being pivotally supported by the second body As long as the first body is not deformed by being bent, the first body can be rotated synchronously without causing a rotation angle difference from the rotation of the second body. The rotation angle difference between the first main body and the second main body generated along with the deformation of the reaction force countermeasure means can be measured and output as an electric signal. Provide a torque sensor.

上記トルクセンサーにおいて、前記第１の本体と前記第２の本体とは、それぞれ前記軸線がその軸心を通過する円盤状に形成されており、前記反力対抗手段は、前記第１の本体及び前記第２の本体に前記軸線を軸心として回転可能に取り付けられている枢軸ブロックと、前記枢軸ブロックから前記軸線と直交し且つ互いに反対する両方向に沿ってそれぞれ延伸している第１、第２の延伸アームとを更に有しており、前記第１の枢支部と前記第２の枢支部は、それぞれ前記第１、第２の延伸アームの先端にあって、２本の枢支ねじによりそれぞれ前記第１の本体と前記第２の本体とに枢支されていることが好ましい。 In the torque sensor, the first main body and the second main body are each formed in a disk shape in which the axis passes through the axis thereof, and the reaction force countermeasure means includes the first main body and the second main body. A pivot block rotatably attached to the second main body with the axis as an axis, and first and second extending from the pivot block along both directions orthogonal to the axis and opposite to each other. And the first pivot portion and the second pivot portion are at the tips of the first and second extension arms, respectively, and are respectively provided by two pivot screws. It is preferable that the first main body and the second main body are pivotally supported.

上記トルクセンサーにおいて、前記第１の本体と前記第２の本体とはそれぞれ円盤状に形成されており、前記反力対抗手段は、両端が共に前記第１の枢支部として第１の枢支ねじにより前記第１の本体に枢支されている第１の変形アームと、前記第１の変形アームと直交していると共に、両端が共に前記第２の枢支部として第２の枢支ねじにより前記第２の本体に枢支されている第２の変形アームとを有するように構成されることもできる。 In the torque sensor, each of the first main body and the second main body is formed in a disk shape, and both ends of the reaction force countermeasure means have a first pivot screw as the first pivot portion. The first deformable arm pivotally supported by the first main body and the first deformable arm are orthogonal to the first deformable arm, and both ends of the first deformable arm serve as the second pivotally supported portion by the second pivotal screw. It can also be configured to have a second deforming arm pivotally supported on the second body.

また、上記トルクセンサーにおいて、前記第１の変形アームと前記第２の変形アームとが直交している部分には、前記第１の本体と前記第２の本体とにそれぞれ前記軸線に沿って回転可能に挿しこむ２本の軸棒を有するように形成されることもできる。 Further, in the torque sensor, the first deformable arm and the second deformable arm are orthogonal to each other, and the first main body and the second main body rotate along the axis. It can also be formed to have two shaft bars that can be inserted.

上記トルクセンサーにおいて、前記センサー手段として、前記第１の本体と前記第２の本体との前記回転角度差に応じて異なる電気信号を出力することができるポテンショメータを用いることができる。 In the torque sensor, as the sensor means, a potentiometer capable of outputting different electrical signals according to the rotation angle difference between the first main body and the second main body can be used.

上記トルクセンサーにおいて、前記ポテンショメータは、電気伝導率の高い材料からなった導電ユニットと、電気伝導率が比較的に低い材料からなった電気抵抗ユニットと、電気伝導率の高い材料からなった接続ユニットと、電流入力リードと、接地のリードと、電流出力リードとからなっており、前記導電ユニットと、前記電気抵抗ユニットと、前記電流入力リードと、前記接地のリードと、前記電流出力リードとは前記第１の本体に取り付けられており、前記導電ユニット及び前記電気抵抗ユニットは、前記軸線を中心とした２本の互いに間をあけている円弧線に沿って延伸するように配置されており、前記電流入力リードと前記接地のリードは、それぞれ前記電気抵抗ユニットから延伸しており、前記接続ユニットは、前記第２の本体に取り付けられていると共に、前記導電ユニットと、前記電気抵抗ユニットとを跨って電気的に接続させることができると共に、前記第１の本体と前記第２の本体との前記回転角度差に応じて前記２本の円弧線に沿って移動し、前記電流入力リードから入力される電流が該接続ユニットに到達するまで前記電気抵抗ユニットを経由する距離を変えることができるように配置されており、前記電流出力リードは、前記導電ユニットに電気的に接続しており、前記電流入力リードから入力されて前記電気抵抗ユニットと前記接続ユニットと前記導電ユニットを順番に通過した電流を外部にある電圧を計測可能な装置まで出力し、該電流出力リードにより出力される電流の電圧から前記第１の本体と前記第２の本体との前記回転角度差を読み取ることができるように構成されていることが好ましい。 In the torque sensor, the potentiometer includes a conductive unit made of a material having a high electrical conductivity, an electrical resistance unit made of a material having a relatively low electrical conductivity, and a connection unit made of a material having a high electrical conductivity. And a current input lead, a ground lead, and a current output lead. The conductive unit, the electrical resistance unit, the current input lead, the ground lead, and the current output lead are: It is attached to the first body, and the conductive unit and the electric resistance unit are arranged so as to extend along two arcs that are spaced from each other with the axis as the center, The current input lead and the ground lead extend from the electrical resistance unit, respectively, and the connection unit includes the second body. It is attached and can be electrically connected across the conductive unit and the electric resistance unit, and according to the rotation angle difference between the first body and the second body. It moves along two circular arc lines, and is arranged so that the distance through the electric resistance unit can be changed until the current input from the current input lead reaches the connection unit. The output lead is electrically connected to the conductive unit, and the voltage that is input from the current input lead and sequentially passes through the electrical resistance unit, the connection unit, and the conductive unit can be measured. To read the rotation angle difference between the first main body and the second main body from the voltage of the current output from the current output lead. It is preferably configured to allow.

また、上記トルクセンサーにおいて、前記センサー手段は、前記第１の本体に取り付けられている磁界センサーと、前記第２の本体に取り付けられている磁石とからなり、前記磁界センサーは、前記第１の本体と前記第２の本体との前記回転角度差を、磁界の変りにより感知することができるように構成されることもできる。 In the torque sensor, the sensor means includes a magnetic field sensor attached to the first main body and a magnet attached to the second main body, and the magnetic field sensor includes the first magnetic sensor. The rotation angle difference between the main body and the second main body may be configured to be sensed by a change in magnetic field.

上記構成により、本発明は従来のトルクセンサーのように回動量を摺動量に変換することなく、反力対抗手段を変形させるトルクを、該変形と共に生じる前記第１の本体と前記第２の本体との前記回転角度差を直接に測定することができるので、簡単な構成で従来より高い測定精度を有するトルクセンサーを提供することができる。 With the above configuration, the present invention does not convert the rotation amount into the sliding amount as in the conventional torque sensor, and the torque that deforms the reaction force countermeasure means is generated along with the deformation of the first main body and the second main body. Therefore, it is possible to provide a torque sensor having a simple configuration and higher measurement accuracy than the conventional one.

従来のトルクセンサーの構成例の断面図である。It is sectional drawing of the structural example of the conventional torque sensor. 本発明のトルクセンサーの第１の実施形態の斜視図である。It is a perspective view of a 1st embodiment of a torque sensor of the present invention. 本発明のトルクセンサーの第１の実施形態の分解図である。1 is an exploded view of a first embodiment of a torque sensor of the present invention. 本発明のトルクセンサーの第１の実施形態におけるセンサー手段の構成が示されている斜視図である。It is a perspective view in which the structure of the sensor means in 1st Embodiment of the torque sensor of this invention is shown. 本発明のトルクセンサーの第２の実施形態の斜視図である。It is a perspective view of 2nd Embodiment of the torque sensor of this invention. 本発明のトルクセンサーの第２の実施形態の分解図である。It is an exploded view of 2nd Embodiment of the torque sensor of this invention. 本発明のトルクセンサーの第３の実施形態の斜視図である。It is a perspective view of 3rd Embodiment of the torque sensor of this invention. 本発明のトルクセンサーの第３の実施形態の分解図である。It is an exploded view of 3rd Embodiment of the torque sensor of this invention. 本発明のトルクセンサーの第３の実施形態の断面図である。It is sectional drawing of 3rd Embodiment of the torque sensor of this invention.

以下、前掲図面を参照しながら、本発明の各好ましい実施形態について説明する。 Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

図２〜図４では本発明のトルクセンサーの第１の実施形態が示されている。図示されているように、この実施形態のトルクセンサーは、第１の本体２１と、第２の本体３１と、第１の本体２１と第２の本体３１との間に介在している反力対抗手段４と、センサー手段５とを有し、且つ、第２の本体３２が回転されるとその回転軸心Ｌを軸線として生ずる入力トルクを、反力対抗手段４を経由して第１の本体２１に伝えるように構成されている。 2 to 4 show a first embodiment of the torque sensor of the present invention. As shown in the figure, the torque sensor of this embodiment includes a first main body 21, a second main body 31, and a reaction force interposed between the first main body 21 and the second main body 31. When the second main body 32 is rotated, the input torque generated with the rotation axis L as an axis when the second main body 32 is rotated is passed through the reaction force counter means 4 to the first force. It is configured to transmit to the main body 21.

また、反力対抗手段４は、弾性変形可能な材料により作成され、且つ、軸線Ｌから離れた一部が第１の枢支部４Ａとして第１の本体２１に枢支され、他の一部が第２の枢支部４Ｂとして第２の本体３１に枢支されている上、弾性的に曲げられて変形しない限り、第１の本体２１を第２の本体３１の前記回転と回転角度差が生じずに同調的に回転させることができるように構成されている。 The reaction force countermeasure means 4 is made of an elastically deformable material, and a part away from the axis L is pivotally supported by the first main body 21 as the first pivotal support part 4A, and the other part is As long as it is pivotally supported by the second main body 31 as the second pivotal support portion 4B and is not elastically bent and deformed, the first main body 21 is caused to have a rotation angle difference from the rotation of the second main body 31. Without being rotated in a synchronized manner.

この実施形態のトルクセンサーは、更に、第１の本体２１がすでに出力対象（図示せず）に設置されている場合、該出力対象に出力トルクのかかることによって反力が生じるため、反力対抗手段４はこの反力とその出力トルクとに曲げられて変形し、そして反力対抗手段４の変形具合に応じて第１の本体２１と第２の本体３１との間に回転角度差が生じるので、センサー手段５で該回転角度差を前記出力トルクの強さとして直接測定して電気信号として出力することができるよう構成されている。 In the torque sensor of this embodiment, when the first main body 21 is already installed on an output target (not shown), a reaction force is generated by applying an output torque to the output target. The means 4 is bent and deformed by this reaction force and its output torque, and a rotation angle difference is generated between the first body 21 and the second body 31 in accordance with the deformation of the reaction force countermeasure means 4. Therefore, the sensor means 5 can directly measure the rotation angle difference as the strength of the output torque and output it as an electric signal.

本発明のトルクセンサーのこの第１の実施形態における第１の本体２１と第２の本体３１とは、また図示のように、それぞれ軸線Ｌがその軸心を通過する円盤状に形成されていると共に、第２の本体３１には入力トルクを受け入れる入力軸３１２が設けられ、第１の本体２１には出力トルクを出力する出力軸２１２が設けられている。 The first main body 21 and the second main body 31 in the first embodiment of the torque sensor of the present invention are each formed in a disk shape in which the axis L passes through the axis thereof, as shown in the figure. In addition, the second main body 31 is provided with an input shaft 312 that receives input torque, and the first main body 21 is provided with an output shaft 212 that outputs output torque.

反力対抗手段４は、第１の本体２１及び第２の本体３１に、軸線Ｌを軸心として回転可能に取り付けられている枢軸ブロック４１と、枢軸ブロック４１から軸線Ｌと直交し且つ互いに反対する両方向に沿ってそれぞれ延伸している第１、第２の延伸アーム４２、４３とを有するように棒状に形成されていると共に、第１の枢支部４Ａと第２の枢支部４Ｂは、それぞれ第１、第２の延伸アーム４２、４３の先端にあって、２本の枢支ねじ４４によりそれぞれ第１の本体２１と第２の本体３１に枢支されている。 The reaction force counter means 4 includes a pivot block 41 that is rotatably attached to the first main body 21 and the second main body 31 with the axis L as an axis, and is orthogonal to the axis L from the pivot block 41 and opposite to each other. The first pivot portion 4A and the second pivot portion 4B are respectively formed in a rod shape so as to have first and second extension arms 42 and 43 extending in both directions. At the tips of the first and second extending arms 42 and 43, the first main body 21 and the second main body 31 are pivotally supported by two pivotal support screws 44, respectively.

この第１実施形態におけるセンサー手段５は、第１の本体２１と第２の本体３１との回転角度差に応じて異なる電気信号を出力することができるポテンショメータであり、その詳しい構成については、図２及び図３を参照して以下のように説明する。 The sensor means 5 in the first embodiment is a potentiometer that can output different electrical signals according to the rotation angle difference between the first main body 21 and the second main body 31, and the detailed configuration thereof is shown in FIG. 2 and FIG. 3, it demonstrates as follows.

センサー手段５は、電気伝導率の高い材料からなった導電ユニット５１２と、電気伝導率が比較的に低い材料からなった電気抵抗ユニット５１１と、電気伝導率の高い材料からなった接続ユニット５２１と、電流入力リード５１３と、電流出力リード５１５とを主要構成として、この他には接続ユニット５２１以外の主要構成、即ち導電ユニット５１２と、電気抵抗ユニット５１１と、電流入力リード５１３と、電流出力リード５１５とを第１の本体２１に設置するための第１の設置プレート５１と、接続ユニット５２１を第２の本体３１に設置するための第２の設置プレート５２と、接地のリード５１４とを備えている。 The sensor means 5 includes a conductive unit 512 made of a material having a high electric conductivity, an electric resistance unit 511 made of a material having a relatively low electric conductivity, and a connection unit 521 made of a material having a high electric conductivity. The current input lead 513 and the current output lead 515 are the main components, and other main components other than the connection unit 521, that is, the conductive unit 512, the electric resistance unit 511, the current input lead 513, and the current output lead 515, a first installation plate 51 for installing the first main body 21, a second installation plate 52 for installing the connection unit 521 on the second main body 31, and a ground lead 514. ing.

また、第１の本体２１には通過窓２３がセンサー手段５における導電ユニット５１２及び電気抵抗ユニット５１１の設置部分に対応するように形成されており、第２の本体３１には突起台３３が通過窓２３に進入して接続ユニット５２１を導電ユニット５１２及び電気抵抗ユニット５１１に接続させることができるように形成されており、また、第２の設置プレート５２は突起台３３の先端に設置されている。 In addition, a passage window 23 is formed in the first main body 21 so as to correspond to an installation portion of the conductive unit 512 and the electric resistance unit 511 in the sensor means 5, and a projection base 33 passes through the second main body 31. It is formed so that it can enter the window 23 and connect the connection unit 521 to the conductive unit 512 and the electric resistance unit 511, and the second installation plate 52 is installed at the tip of the projection base 33. .

導電ユニット５１２及び電気抵抗ユニット５１１は、軸線Ｌを中心とした２本の互いに間をあけている円弧線に沿って延伸するように配置されており、電流入力リード５１３と接地のリード５１４は、それぞれ電気抵抗ユニット５１１から延伸するように配置されている。 The conductive unit 512 and the electrical resistance unit 511 are arranged so as to extend along two arcs with the axis L as the center, and the current input lead 513 and the ground lead 514 are These are arranged so as to extend from the electric resistance unit 511.

接続ユニット５２１は、突起台３３の先端に設置されている設置プレート５２の表面に取り付けられていると共に、導電ユニット５１２と、電気抵抗ユニット５１１とを跨って電気的に接続させることができると共に、第１の本体２１と第２の本体３１との前記回転角度差に応じて前記２本の円弧線に沿って移動し、電流入力リード５１３から入力される電流が該接続ユニット５２１に到達するまで電気抵抗ユニット５１１を経由する距離を変えることができるように配置されている。 The connection unit 521 is attached to the surface of the installation plate 52 installed at the tip of the projection base 33 and can be electrically connected across the conductive unit 512 and the electric resistance unit 511. Until the current input from the current input lead 513 reaches the connection unit 521, it moves along the two arcs in accordance with the rotation angle difference between the first main body 21 and the second main body 31. It arrange | positions so that the distance which passes through the electrical resistance unit 511 can be changed.

電流出力リード５１５は、導電ユニット５１２に電気的に接続しており、電流入力リード５１３から入力されて電気抵抗ユニット５１１と接続ユニット５２１と導電ユニット５１２を順番に通過した電流を外部にある電圧を計測可能な装置（図示せず）まで出力し、該電流出力リード５１５により出力される電流の電圧から第１の本体２１と第２の本体３１との前記回転角度差を読み取ることができるように構成されている。 The current output lead 515 is electrically connected to the conductive unit 512. The current output lead 515 receives the voltage that is input from the current input lead 513 and sequentially passes through the electric resistance unit 511, the connection unit 521, and the conductive unit 512, and outputs an external voltage Output to a measurable device (not shown) so that the rotation angle difference between the first main body 21 and the second main body 31 can be read from the voltage of the current output from the current output lead 515. It is configured.

このように、本発明のトルクセンサーは反力対抗手段５を変形させるトルクを、該変形と共に生じる第１の本体２１と第２の本体３１との前記回転角度差をセンサー手段５で直接に測定することができる。 As described above, the torque sensor of the present invention directly measures the torque for deforming the reaction force counter means 5 and the rotation angle difference between the first main body 21 and the second main body 31 generated along with the deformation by the sensor means 5. can do.

続いて、図５、図６を用いて本発明のトルクセンサーの第２の実施形態について詳しく説明する。 Subsequently, a second embodiment of the torque sensor of the present invention will be described in detail with reference to FIGS.

図示されているように、本発明のトルクセンサーの第２の実施形態は、第１の実施形態と類似する構成を有しているが、その反力対抗手段４は、第１の実施形態と異なって、両端が共に第１の枢支部４Ａとして第１の枢支ねじ４５により第１の本体２１に枢支されている第１の変形アーム４７と、第１の変形アーム４７と直交していると共に、両端が共に第２の枢支部４Ｂとして第２の枢支ねじ４６により第２の本体３１に枢支されている第２の変形アーム４８とを有するように形成されている。 As shown, the second embodiment of the torque sensor of the present invention has a configuration similar to that of the first embodiment, but the reaction force counter means 4 is the same as that of the first embodiment. The first deforming arm 47 is pivotally supported on the first main body 21 by the first pivotal support screw 45 at both ends as the first pivotal support part 4A, and is orthogonal to the first deformable arm 47. In addition, both ends are formed to have a second deforming arm 48 pivotally supported by the second main body 31 by a second pivotal screw 46 as the second pivotal support portion 4B.

また、この実施形態において、センサー手段５及びセンサー手段５に対応する構成は全て第１の実施形態と同じになっているので、その詳しい説明を省略する。 Further, in this embodiment, the sensor means 5 and the configuration corresponding to the sensor means 5 are all the same as those in the first embodiment, and therefore detailed description thereof is omitted.

この第２の実施形態では、反力対抗手段４が十字形に形成されているので、第１の実施形態より強度が高く、第１の実施形態と比べて、より強いトルクの測定に適できる。 In the second embodiment, since the reaction force countermeasure means 4 is formed in a cross shape, the strength is higher than that in the first embodiment, and it is suitable for measuring a stronger torque than in the first embodiment. .

続いて、図７〜図９を用いて本発明のトルクセンサーの第３の実施形態について詳しく説明する。 Subsequently, a third embodiment of the torque sensor of the present invention will be described in detail with reference to FIGS.

図示されているように、本発明のトルクセンサーの第３の実施形態は、第２の実施形態と類似する構成を有しているが、その反力対抗手段４における第１の変形アーム４７と第２の変形アーム４８とが十字形に直交している部分には、第１の本体２１と第２の本体３１とにそれぞれ軸線Ｌに沿って回転可能に挿しこむ２本の軸棒４１１、４１２を有するように形成され、そして第１の本体２１と第２の本体３１とにそれぞれ該２本の軸棒４１１、４１２を受け入れる軸孔２２、３２が形成されている。 As shown in the figure, the third embodiment of the torque sensor of the present invention has a configuration similar to that of the second embodiment, but the first deformation arm 47 in the reaction force counter means 4 and Two shaft rods 411 that are inserted into the first main body 21 and the second main body 31 so as to be rotatable along the axis L, respectively, in a portion where the second deforming arm 48 is orthogonal to the cross. The first main body 21 and the second main body 31 are formed with shaft holes 22 and 32 for receiving the two shaft rods 411 and 412, respectively.

また、この実施形態におけるセンサー手段５はポテンショメータではなく、磁界センサーを使用している。即ち、センサー手段５は第１の本体２１に固定するように取り付けられている磁界センサー５１７と、第２の本体３１に取り付けられている磁石５２４とを有し、磁界センサー５１７は、第１の本体２１と第２の本体３１との前記回転角度差を、磁石５２４と磁界センサー５１７との相対移動に応じて生じる磁界の変りにより感知することができる。 The sensor means 5 in this embodiment uses a magnetic field sensor instead of a potentiometer. That is, the sensor means 5 has a magnetic field sensor 517 attached to be fixed to the first main body 21 and a magnet 524 attached to the second main body 31, and the magnetic field sensor 517 has the first magnetic sensor 517. The difference in rotation angle between the main body 21 and the second main body 31 can be detected by a change in the magnetic field generated according to the relative movement between the magnet 524 and the magnetic field sensor 517.

２１第１の本体
２２、３２軸孔
２３通過窓
３１第２の本体
３３突起台
４反力対抗手段
４１枢軸ブロック
４１１、４１２軸棒
４２第１の延伸アーム
４３第２の延伸アーム
４４枢支ねじ
４５第１の枢支ねじ
４６第２の枢支ねじ
４７第１の変形アーム
４８第２の変形アーム
４Ａ第１の枢支部
４Ｂ第２の枢支部
５センサー手段
５１第１の設置プレート
５１１電気抵抗ユニット
５１２導電ユニット
５１３電流入力リード
５１４接地のリード
５１５電流出力リード
５１７磁界センサー
５２第２の設置プレート
５２１接続ユニット
５２４磁石 21 First body 22, 32 Shaft hole 23 Passing window 31 Second body 33 Projection base 4 Reaction force countermeasure means 41 Axis block 411, 412 Axle bar 42 First extension arm 43 Second extension arm 44 Pivot screw 45 First pivot screw 46 Second pivot screw 47 First deformation arm 48 Second deformation arm 4A First pivot portion 4B Second pivot portion 5 Sensor means 51 First installation plate 511 Electrical resistance Unit 512 Conductive unit 513 Current input lead 514 Ground lead 515 Current output lead 517 Magnetic field sensor 52 Second installation plate 521 Connection unit 524 Magnet

Claims

A first body, a second body, a reaction force counter means interposed between the first body and the second body, a sensor means, and the second body When the main body is rotated, the input torque generated around the axis of rotation is transmitted to the first main body via the reaction force countermeasure means, and the first main body is already installed as an output target. A torque sensor configured to further apply an output torque to the output target and to measure the output torque by the sensor means,
The reaction force countermeasure means is made of an elastically deformable material, and a part away from the axis is pivotally supported by the first body as a first pivot part, and the other part is a second part. As long as it is pivotally supported by the second main body as a pivot, and is not elastically bent and deformed, the first main body is tuned without causing a difference in rotation angle from the rotation of the second main body. Configured to be able to rotate
The sensor means is configured to measure the rotation angle difference between the first main body and the second main body generated along with the deformation of the reaction force countermeasure means and to output an electric signal. And
Each of the first main body and the second main body is formed in a disk shape in which the axis passes through the axis,
The reaction force countermeasure means includes a pivot block rotatably attached to the first main body and the second main body about the axis, and both directions perpendicular to the axis and opposite to each other from the pivot block. And first and second extending arms respectively extending along
The first pivot part and the second pivot part are at the tips of the first and second extension arms, respectively, and the first body and the second body are respectively provided by two pivot screws. Torque sensor characterized by being pivotally supported by

A first body, a second body, a reaction force counter means interposed between the first body and the second body, a sensor means, and the second body When the main body is rotated, the input torque generated around the axis of rotation is transmitted to the first main body via the reaction force countermeasure means, and the first main body is already installed as an output target. A torque sensor configured to further apply an output torque to the output target and to measure the output torque by the sensor means,
The reaction force countermeasure means is made of an elastically deformable material, and a part away from the axis is pivotally supported by the first body as a first pivot part, and the other part is a second part. As long as it is pivotally supported by the second main body as a pivot, and is not elastically bent and deformed, the first main body is tuned without causing a difference in rotation angle from the rotation of the second main body. Configured to be able to rotate
The sensor means is configured to measure the rotation angle difference between the first main body and the second main body generated along with the deformation of the reaction force countermeasure means and to output an electric signal. And
The first main body and the second main body are each formed in a disc shape,
The reaction force countermeasure means includes a first deforming arm whose both ends are pivotally supported on the first main body by a first pivot support screw as the first pivot support portion, and orthogonal to the first deformable arm. together is, it characterized in that both ends are both a second variant arm is pivotally supported on the second body by the second second pivot screw as pivot portion torque sensor.

In the portion where the first deformable arm and the second deformable arm are orthogonal to each other, two pieces are inserted into the first main body and the second main body, respectively, so as to be rotatable along the axis. The torque sensor according to claim 2 , wherein the torque sensor is formed to have a shaft rod.

The sensor means may be any of claims 1 to 3, characterized in that a potentiometer capable of outputting an electric signal varies depending on the rotational angle difference between the first body and the second body The torque sensor according to item 1 .

The sensor means includes a conductive unit made of a material having a high electrical conductivity, an electrical resistance unit made of a material having a relatively low electrical conductivity, a connection unit made of a material having a high electrical conductivity, and a current input. It consists of a lead, a ground lead, and a current output lead.
The conductive unit, the electrical resistance unit, the current input lead, the ground lead, and the current output lead are attached to the first body,
The conductive unit and the electrical resistance unit are arranged so as to extend along two arcs that are spaced from each other with the axis as the center,
The current input lead and the ground lead are each extended from the electrical resistance unit;
The connection unit is attached to the second body, and can be electrically connected across the conductive unit and the electrical resistance unit, and the first body and the second body Move along the two arcs according to the rotation angle difference with the main body, and change the distance through the electrical resistance unit until the current input from the current input lead reaches the connection unit Are arranged so that
The current output lead is electrically connected to the conductive unit, and a current that is input from the current input lead and sequentially passes through the electrical resistance unit, the connection unit, and the conductive unit is applied to an external voltage. It is configured to output to a measurable device and to read the rotation angle difference between the first main body and the second main body from the voltage of the current output by the current output lead. torque sensor according to any one of claims 1 to 3, characterized.

The sensor means comprises a magnetic field sensor attached to the first body and a magnet attached to the second body,
The magnetic field sensor according to the rotation angle difference between said first body and the second body, in any one of claims 1 to 3, characterized in that can be sensed by changes of the magnetic field Torque sensor.