JP5699904B2 - Straining body and torque sensor - Google Patents

Description

  The present invention relates to a strain generating body and a torque sensor.

  In recent years, torque sensors are provided, for example, at robot joints. Specifically, the torque sensor 100 includes a strain generating body 110 and a strain sensor 120 as shown in FIGS. 11 (a), 11 (b), and 12. The strain body 110 includes a first structure body 111, a second structure body 112, a strain body 113 that connects the first structure body 111 and the second structure body 112, and is provided with a strain sensor 120. (See Patent Document 1). One of the first structure 111 or the second structure 112 of the strain body 110 is connected to the output shaft of the speed reducer 140 that amplifies the driving force of the actuator 130 as shown in FIG. Connected to robot joints. In the torque sensor 100 having such a configuration, for example, when a torque acts on a joint portion of a robot, the first structure 111 and the second structure 112 are relatively deformed, and the strain generating portion 113 is distorted. The distortion sensor 120 detects this distortion.

  Here, in the general torque sensor, the thickness and thickness of the strain generating portion are determined so that the rigidity and strain of the strain generating portion become a predetermined value when torque is applied. Moreover, since stress concentration occurs in the vicinity of the connecting portion between the first structure or the second structure and the strain-generating portion when the torque acts, the shape in the vicinity of the connecting portion is appropriately designed (thickness and R portion). (The shape shown in FIG. 10 is set appropriately), so that stress concentration is alleviated and plastic deformation of the strain body is avoided. However, because of the ease of design and processing, the thickness of the entire strain generating body including the strain generating section is generally uniform, and the rigidity and strain of the strain generating section are adjusted by the width of the strain generating section, and the connection The stress concentration of the strain generating body is adjusted by the shape of the R portion of the portion.

JP 2009-288187 A

  In a general torque sensor, the stress acting near the position where the strain sensor is provided in the strain generating portion is applied to the stress acting near the connecting portion between the first structure or the second structure and the strain generating portion. Despite being small, the thickness of each other is the same. Therefore, the distortion generated in the vicinity of the position where the strain sensor is provided in the strain generating portion is smaller than the strain generated in the vicinity of the connection portion between the first structure or the second structure and the strain generating portion, and as a result, noise is likely to ride. There is a problem that an error occurs and detection accuracy is lowered.

  An object of the present invention is to solve such a problem, and is to provide a strain generating body and a torque sensor with high detection accuracy.

  A strain generating body according to an aspect of the present invention includes a first structure coupled to one of the input side and the output side, a second structure coupled to the other, the first structure, and the A strain-generating part that is coupled to the second structure and provided with a strain sensor, wherein the strain in the vicinity of the joint part with the first structure in the strain-generating part, A strain adjusting unit is provided that substantially equalizes the strain near the position where the strain sensor is provided in the strain generating unit.

  In the strain generating body, as the strain adjusting section, the thickness in the vicinity of the position where the strain sensor is provided in the strain generating section with respect to the thickness in the vicinity of the connecting section of the strain generating section with the first structure. It is preferable to reduce the thickness.

  In the strain generating body, it is preferable that the strain adjusting portion includes a dent portion in the vicinity of the position where the strain sensor is provided in the strain generating portion.

  In the strain generating body, it is preferable that a plurality of strain sensors are provided in the strain generating section, and that the strain adjustment section substantially equalizes the strain in the vicinity of the position where each strain sensor is provided in the strain generating section. .

  In the strain generating body, the thickness in the vicinity of the position where the strain sensor is provided in the strain generating part is set in three dimensions so that the strain in the vicinity of the position where each strain sensor is provided in the strain generating part is substantially equal. It is preferable.

  In the strain generating body, the shape in the vicinity of the connecting portion between the strain generating portion and the first structure is further set so that the strain in the strain generating portion near the position where each strain sensor is provided is substantially equal. It is preferable.

  A strain generating body according to an aspect of the present invention includes a first structure coupled to one of the input side and the output side, a second structure coupled to the other, the first structure, and the A strain generating body that is coupled to the second structure and includes a strain generating section provided with a plurality of strain sensors, wherein the strain in the strain generating section in the vicinity of the position where each strain sensor is provided is made substantially equal. A distortion adjustment unit is provided.

  The torque sensor which concerns on one form of this invention is equipped with the said strain body and the strain sensor provided in the strain part of the said strain body.

  As described above, according to the present invention, a strain generating body and a torque sensor with high detection accuracy can be provided.

1 is a plan view schematically showing a torque sensor according to a first embodiment of the present invention. It is a bottom view which shows roughly the strain body in the torque sensor of Embodiment 1 which concerns on this invention. It is a perspective view which shows roughly the strain body in the torque sensor of Embodiment 1 which concerns on this invention. It is a figure which shows roughly the deformation | transformation of a strain body in the torque sensor of Embodiment 1 which concerns on this invention. (A) is a top view which expands and shows the distortion | strain part in the torque sensor of Embodiment 1 which concerns on this invention roughly. (B) is BB arrow sectional drawing of (a). (C) is CC sectional view taken on the line of (a). (A) is a top view which expands and shows the distortion | strain part roughly in the torque sensor of Embodiment 2 which concerns on this invention. (B) is DD sectional view taken on the line of (a). (A) is a top view which expands and shows the distortion | strain part roughly in the torque sensor of Embodiment 3 which concerns on this invention. (B) is EE arrow sectional drawing of (a). (C) is FF arrow sectional drawing of (a). (A) is a top view which expands and shows the distortion | strain part in the different torque sensor of Embodiment 3 which concerns on this invention roughly. (B) is GG arrow sectional drawing of (a). (A) is a top view which expands and shows the distortion | strain part roughly in the torque sensor of other embodiment which concerns on this invention. (B) is the HH arrow sectional drawing of (a). (C) is the II arrow directional cross-sectional view of (a). It is a top view which expands and shows the distortion part in the torque sensor of other embodiments concerning the present invention roughly. (A) is a top view which shows a general torque sensor schematically. (B) is a side view schematically showing a general torque sensor. It is a perspective view which shows a general torque sensor schematically. It is a figure which shows schematically the usage form of a general torque sensor.

  The best mode for carrying out the present invention will be described below with reference to the accompanying drawings. However, the present invention is not limited to the following embodiment. In addition, for clarity of explanation, the following description and drawings are simplified as appropriate.

<Embodiment 1>
A strain body and a torque sensor using the strain body according to the present embodiment will be described. As shown in FIG. 1, the torque sensor 1 includes a strain generating body 2 </ b> A and a strain sensor 3. As shown in FIGS. 1 and 2, the strain body 2 </ b> A includes a first structure 21, a second structure 22, and a strain portion 23.

  The first structure 21 is a circular ring member connected to one member on the input side or the output side. As shown in FIG. 3, the first structure 21 has a thickness T1 and a width dimension L1 that are not easily deformed when measuring the load torque of the joint portion of the robot. The first structure 21 has, for example, an outer diameter that can be satisfactorily accommodated in a joint portion of the robot, and an inner diameter that can form the second structure 22 and the strain generating portion 23 therein. Yes. The first structure 21 is formed with a plurality of bolt holes 21a so that it can be bolted to one member on the input side or the output side.

  The second structure 22 is connected to the other member on the input side or the output side. The second structure 22 includes a main body portion 22a and an extending portion 22b. The main body portion 22a is formed in a circular shape and shares the center point O with the first structure 21. The extending portion 22b is formed to face the main body portion 22a. A plurality of bolt holes 22c are formed in the extending portion 22b so as to be bolted to the other member on the input side or the output side. Such a second structure 22 has a thickness substantially equal to that of the first structure 21.

  The strain generating portion 23 has a thickness (cross-sectional area) that can ensure rigidity that does not cause coupled vibration with the output-side member and the input-side member to be coupled. The strain generating portion 23 is arranged radially from the center point O of the first structure 21 and the second structure 22, that is, extends radially from the main body portion 22a of the second structure 22, and the center point O is They are arranged symmetrically with respect to the center, and connect the first structure 21 and the second structure 22. As a result, a torque around an axis parallel to the Y axis acts on one member on the input side or the output side, and relative to the circumferential direction of the strain generating body 2A between the one member and the other member. When the displacement occurs, the strain generating portion 23 is distorted as shown in FIG. As shown in FIGS. 1 and 5 (a) to (c), a strain sensor 3 is provided on one surface 23a of the strain generating portion 23 arranged in the Y-axis direction.

  The strain sensor 3 has a configuration in which, for example, a metal resistor (metal foil) is disposed in a corrugated shape on an insulator, similarly to a usual strain sensor. That is, the strain sensor 3 can employ, for example, a circuit based on the 1 active 1 dummy method. The strain sensor 3 outputs an output voltage proportional to the resistance change to an amplifier (not shown). This output voltage is proportional to the strain of the strain generating portion 23. The amplifier amplifies the input output voltage and outputs the amplified output voltage to an arithmetic unit (not shown). The arithmetic unit measures the distortion of the strain generating unit 23 based on the amplified output voltage, and further derives the burden torque of the joint portion of the robot based on the measured strain of the strain generating unit 23.

  The strain sensor 3 is affixed to the strain generating portion 23 with an adhesive. Adhesives should have sufficient adhesive strength and insulation against temperature and humidity, and have a low absorption rate when cured. Solvent evaporation adhesives, contact-curing adhesives, epoxy adhesives, phenolic adhesives An agent or the like can be used.

  Here, as described above, the thickness of the strain generating portion 23 near the position where the strain sensor 3 is provided and the vicinity of the connecting portion between the strain generating portion 23 and the first structure 21 (second structure 22). When the thickness is equal, the strain generated in the vicinity of the position where the strain sensor 3 is provided in the strain generating portion 23 is in the vicinity of the connecting portion between the strain generating portion 23 and the first structure 21 (second structure 22). Less than the resulting distortion. In order to increase the accuracy of the torque sensor, it is desired to increase the strain generated in the vicinity of the position where the strain sensor 3 is provided as much as possible, but this is not possible in order to avoid plastic deformation in the vicinity of the connecting portion. As a result, the accuracy of the torque sensor is insufficient.

  Therefore, in the present embodiment, as shown in FIGS. 1 to 3 and FIGS. 5A to 5C, the strain in the vicinity of the position where the strain sensor 3 is provided in the strain generating section 23, and the strain generating section 23. And a strain adjusting unit 24 that substantially equalizes the strain in the vicinity of the connecting portion between the first structure 21 and the first structure 21 (second structure 22). In the present embodiment, the vicinity of the position where the strain sensor 3 is provided in the strain generating portion 23 with respect to the thickness of the strain generating portion 23 in the vicinity of the connecting portion with the first structure 21 (second structure 22). The thickness is formed thin. Specifically, the other surface 23b arranged in the Y-axis direction in the strain-generating portion 23 has a recess in the circumferential direction so as to include the position where the strain sensor 3 is provided when viewed from the Y-axis direction. Is formed. That is, the dent portion is caused to function as the distortion adjustment unit 24.

  Here, the depth D <b> 1 and the width dimension L <b> 2 of the recessed portion (hereinafter, the same as that of the strain adjusting portion 24) 24 and the formation region and shape of the recessed portion 24 are the strain sensor 3 in the strain generating portion 23. Is set as appropriate so that the strain in the vicinity of the position where the distorted portion is provided is equal to the strain in the vicinity of the connecting portion between the strain generating portion 23 and the first structure 21 (second structure 22). However, the recess 24 shown in FIGS. 5B and 5C is schematically shown and does not show an accurate shape.

  The torque sensor 1 having such a configuration is substantially equal to the strain in the vicinity of the connecting portion between the first structural body 21 (second structural body 22) and the strain generating section 23 where the largest strain is generated. Since distortion can be generated in the vicinity of the position where the strain sensor 3 is provided, detection accuracy can be improved.

<Embodiment 2>
In the first embodiment, as viewed from the Y-axis direction, the other surface 23b arranged in the Y-axis direction of the strain-generating portion 23 faces the circumferential direction so as to include the position where the strain sensor 3 is provided. Although the recessed part 24 is formed, it is not this limitation.

  That is, as in the strain body 2B shown in FIGS. 6A and 6B, the recess 25 may be formed in the longitudinal direction of the strain section 23. Also at this time, the depth and width dimensions of the recessed portion 25 and the formation region and shape of the recessed portion 25 are the same as the strain in the strain generating portion 23 near the position where the strain sensor 3 is provided, the strain generating portion 23 and the first strain generating portion 23. The distortion in the vicinity of the connecting portion with the structure 21 (second structure 22) is appropriately set so as to be equal.

  With such a configuration, the strain near the connecting portion between the first structural body 21 (second structural body 22) and the strain generating portion 23 where the largest strain is generated is substantially equal, and the strain sensor 3 in the strain generating portion 23 is Since distortion can be generated in the vicinity of the provided position, detection accuracy can be improved.

<Embodiment 3>
The bottom surfaces of the recessed portions 24 and 25 of the first and second embodiments are formed in parallel to the X / Z plane, but this is not restrictive.

  That is, for example, it is preferable that the shape of the recessed portion is set in three dimensions so that the strain of the strain generating portion 23 in the vicinity of the position where the plurality of strain sensors 3 are provided is equal. For example, the strain body 2C shown in FIGS. 7A to 7C is a modification of the first embodiment, and the thickness of the recess 24 is changed in the circumferential direction of the strain body 2C. 8A and 8B is a modification of the second embodiment, and the thickness of the recessed portion 25 is changed in the circumferential direction of the strain generating body 2D.

  With such a configuration, when a sensor bridge is configured using a plurality of strain sensors 3, an output signal can be extracted with high accuracy.

<Other embodiments>
For example, as shown in FIG. 5A, the strain generating portions of the first to third embodiments are symmetrical with respect to a line A passing through the central portion of the strain generating portion when viewed from the Y-axis direction. However, this is not the case. For example, the shape may be asymmetric about the line A. At this time, for example, the shape of the dent portion is set in three dimensions so that the strain of the strain generating portion in the vicinity of the position where the plurality of strain sensors are provided is equal. It is preferable. Specifically, the strain generating body 2E shown in FIGS. 9A to 9C as a modification of the first embodiment has a concave portion while changing the thickness of the concave portion 24 in the circumferential direction of the strain generating body 2E. The width dimension of the part 24 (the dimension on the longitudinal direction side of the strain generating part 23) is changed in the circumferential direction of the strain generating body 2E. With such a configuration, the detection accuracy can be improved even if the strain generating portion has a complicated shape.

  Here, the strain in the vicinity of the position where the strain sensor 3 is provided in the strain generating portion 23 and the strain in the vicinity of the connecting portion between the strain generating portion 23 and the first structure 21 (second structure 22) are: It is preferable that the shape of the connecting portion between the first structure body or the second structure body and the strain generating portion 23 is also set so as to be substantially equal. For example, as a modification of the strain generating body 2E in FIG. 9, the R portion in the connecting portion between the second structure 22 and the strain generating portion 23 is asymmetrical like a strain generating body 2F shown in FIG. The strain near the position where the strain sensor 3 is provided in the strain generating portion 23 and the strain near the connecting portion between the strain generating portion 23 and the second structure 22 may be substantially equal. Thereby, the dispersion | variation in the output signal from a some distortion sensor can be reduced.

  The embodiments of the strain generating body and the torque sensor according to the present invention have been described above. However, the present invention is not limited to the above-described configuration, and modifications can be made without departing from the technical idea of the present invention.

  For example, in the above-described embodiment, a dent is formed as the strain adjustment unit, but by changing the cross-sectional area of the strain generation unit, strain near the position where the strain sensor is provided in the strain generation unit, and strain generation The strain in the vicinity of the connecting portion between the portion and the second structure may be made equal.

  For example, in the above embodiment, the first and second structures are formed in a circular shape, but the shape is not particularly limited.

  By the way, the conventional torque sensor is symmetrical with respect to the center line (that is, line A) of the strain generating portion when the planar shape of the strain generating portion must be asymmetric with respect to the radial direction of the strain generating body. Even if the two strain sensors are arranged in the same manner, the amount of strain becomes asymmetric, and the detection accuracy is lowered.

  Therefore, in the above embodiment, the strain in the vicinity of the position where the strain sensor 3 is provided in the strain generating portion 23 and the vicinity of the connecting portion between the strain generating portion 23 and the first structure 21 (second structure 22). However, as a first purpose, a strain adjusting unit is formed so that the strain in the vicinity of the position where each strain sensor 3 is provided in the strain generating unit 23 is equal. May be.

  For example, the shape of the dent portion is set in three dimensions so that the strain of the strain generating portion in the vicinity of the position where the plurality of strain sensors are provided is equal, or the strain generating portion 23 and the first structure 21 (second structure) The shape of the R portion of the connecting portion with the structure 22) may be set. That is, like the distorted portion 2E of FIG. 9 and the dent portion 24 of the distorted body 2F of FIG. 10, the thickness of the dent portion 24 is changed in the circumferential direction of the distorted body, The shape of the R portion of the connecting portion with the first structure 21 (second structure 22) is made asymmetric. Thereby, the dispersion | variation in the output signal from a some distortion sensor can be reduced.

1 Torque sensor 2A-2F Strain body 3 Strain sensor,
21 1st structure 21a Bolt hole 22 2nd structure, 22a Main body part, 22b Extension part, 22c Bolt hole 23 Strain generation part 24 Strain adjustment part (dent part)
25 dent 100 torque sensor 110 strain generating body 111 first structure 112 second structure 113 strain generating section 120 strain sensor 130 actuator 140 speed reducer

Claims (7)

A first structure coupled to one of the input side or the output side;
A second structure coupled to the other;
A strain generating part that connects the first structure and the second structure and is provided with a strain sensor;
A strain body comprising:
A force around an axis extending in the thickness direction of the strain generating body is input to the first structure or the second structure, and the first structure and the second structure are It is relatively displaced in the circumferential direction of the strain body perpendicular to the thickness direction of the strain body, and the strain section is deformed in the circumferential direction of the strain body,
The thickness of the strain generating portion in the vicinity of the position where the strain sensor is provided is reduced with respect to the thickness of the strain generating portion in the vicinity of the connecting portion with the first structure, A strain adjusting portion is formed in the strain-generating portion for making the strain in the vicinity of the connecting portion with the first structure and the strain in the strain-generating portion near the position where the strain sensor is provided substantially equal. ,
A strain generating body in which the strain sensor is provided on one surface of both surfaces of the strain generating body sandwiching the strain generating body from the thickness direction . The strain- generating body according to claim 1, wherein the strain-adjusting section includes a recessed portion that is recessed in a thickness direction of the strain-generating body near a position where the strain sensor is provided in the strain-generating section. A plurality of strain sensors are provided in the strain generating portion,
The strain-generating body according to claim 1 or 2, wherein the strain adjusting unit substantially equalizes the strain in the vicinity of the position where each strain sensor is provided in the strain-generating unit. As distortion near the position where the strain sensor is provided are substantially equal in the strain generating section, according to claim 3 in which thickness near the position where the strain sensor in the strain generating portion is provided is set in a three-dimensional The strain body. As distortion near the position where the strain sensor is provided are substantially equal in the strain generating portion, further wherein the strain generating part and claim 4, the shape of the connecting portion vicinity is set between the first structure The strain body. A first structure coupled to one of the input side or the output side;
A second structure coupled to the other;
A strain generating unit that connects the first structure and the second structure and is provided with a plurality of strain sensors;
A strain body comprising:
A force around an axis extending in the thickness direction of the strain generating body is input to the first structure or the second structure, and the first structure and the second structure are It is relatively displaced in the circumferential direction of the strain body perpendicular to the thickness direction of the strain body, and the strain section is deformed in the circumferential direction of the strain body,
A strain adjusting unit for changing the thickness of the strain generating portion in the vicinity of the position where each strain sensor is provided to make the strain in the strain generating portion near the position where each strain sensor is provided is substantially the same. Is formed,
A strain generating body in which the strain sensor is provided on one surface of both surfaces of the strain generating body sandwiching the strain generating body from the thickness direction . The strain body according to any one of claims 1 to 6 ,
A strain sensor provided in a strain-generating portion of the strain-generating body;
A torque sensor comprising:

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