JP7234417B2 - トルクを測定するための装置及びそのような装置を備えるストレイン・ウェーブ・ギア - Google Patents
トルクを測定するための装置及びそのような装置を備えるストレイン・ウェーブ・ギア Download PDFInfo
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- JP7234417B2 JP7234417B2 JP2021566357A JP2021566357A JP7234417B2 JP 7234417 B2 JP7234417 B2 JP 7234417B2 JP 2021566357 A JP2021566357 A JP 2021566357A JP 2021566357 A JP2021566357 A JP 2021566357A JP 7234417 B2 JP7234417 B2 JP 7234417B2
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1025—Harmonic drives
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/02—Rotary-transmission dynamometers
- G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
- G01L3/10—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
- G01L3/108—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving resistance strain gauges
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2002/6836—Gears specially adapted therefor, e.g. reduction gears
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/7645—Measuring means for measuring torque, e.g. hinge or turning moment, moment of force
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
- F16H2049/003—Features of the flexsplines therefor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Transplantation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Vascular Medicine (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- General Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Retarders (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Description
02 円筒形構成要素
03 外歯
04 変形感受性測定層
05 -
06 絶縁層
07 保護層
08 接触層
Claims (9)
- ストレイン・ウェーブ・ギアのトルクを測定するための装置であって、前記装置が、前記トルクが作用するフレクススプライン(01、02)と、前記フレクススプライン(01、02)の上に配置された電気的に絶縁する絶縁層(06)と、前記絶縁層(06)の上に配置された変形感受性測定層(04)と、を備え、
前記絶縁層が、少なくとも酸化物またはダイアモンドライクカーボンを含む層からなる、装置。 - 前記フレクススプライン(01、02)が、ロボティクスシステムの一部であることを特徴とする、請求項1に記載の装置。
- 保護層(07)が、前記測定層(04)上に適用されていることを特徴とする、請求項1又は2に記載の装置。
- 前記保護層(07)が、有機物又は無機物であることを特徴とする、請求項3に記載の装置。
- 前記フレクススプライン(01、02)上に適用された、前記測定層(04)、前記絶縁層(06)、及び前記保護層(07)からなる一連の層の総厚が、200μm未満であることを特徴とする、請求項3又は4に記載の装置。
- 前記絶縁層が、Al 2 O 3 またはSiO 2 からなることを特徴とする、請求項1~5のいずれか一項に記載の装置。
- 前記フレクススプライン(01、02)上に適用された、前記測定層(04)及び前記絶縁層(06)からなる一連の層の総厚が、20μm未満であることを特徴とする、請求項1~6のいずれか一項に記載の装置。
- 更なる構成要素が、前記フレクススプライン(01、02)の上に配置されていることを特徴とする、請求項1~7のいずれか一項に記載の装置。
- ロボットアーム用のストレイン・ウェーブ・ギアであって、請求項1~8のいずれか一項に記載のトルクを測定するための装置を備え、駆動シャフトと、内側リング及び外側リングを有する波動発生器と、内歯付きリングギアと、外歯付きフレクススプライン(01、02)と、を更に備え、前記外歯付きフレクススプライン(01、02)及び前記内歯付きリングギアが、歯が噛み合うように互いに対して同軸であるように配置され、前記内側リングが、前記駆動シャフトが駆動して前記外歯付きフレクススプライン(01、02)を変形させるように前記駆動シャフトの上に位置付けられている、ストレイン・ウェーブ・ギア。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102019112146.9 | 2019-05-09 | ||
DE102019112146.9A DE102019112146B3 (de) | 2019-05-09 | 2019-05-09 | Vorrichtung zum Messen eines Drehmoments und Spannungswellengetriebe mit dieser Vorrichtung |
PCT/DE2020/100350 WO2020224711A1 (de) | 2019-05-09 | 2020-04-29 | Vorrichtung zum messen eines drehmoments und spannungswellengetriebe mit dieser vorrichtung |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2022531734A JP2022531734A (ja) | 2022-07-08 |
JP7234417B2 true JP7234417B2 (ja) | 2023-03-07 |
Family
ID=70775222
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2021566357A Active JP7234417B2 (ja) | 2019-05-09 | 2020-04-29 | トルクを測定するための装置及びそのような装置を備えるストレイン・ウェーブ・ギア |
Country Status (6)
Country | Link |
---|---|
US (1) | US20220214237A1 (ja) |
JP (1) | JP7234417B2 (ja) |
KR (1) | KR20220007587A (ja) |
CN (1) | CN113677284A (ja) |
DE (1) | DE102019112146B3 (ja) |
WO (1) | WO2020224711A1 (ja) |
Citations (4)
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JP3644558B2 (ja) | 1995-11-02 | 2005-04-27 | 株式会社ハーモニック・ドライブ・システムズ | 撓み噛み合い式歯車装置のトルク検出機構 |
JP4518467B2 (ja) | 2002-09-17 | 2010-08-04 | 株式会社ハーモニック・ドライブ・システムズ | 波動歯車装置のトルク検出装置 |
CN107398921A (zh) | 2017-06-09 | 2017-11-28 | 东南大学 | 一种关节机器人的关节结构 |
CN109139856A (zh) | 2018-10-15 | 2019-01-04 | 南京信息工程大学 | 一种兼具传感功能的礼帽型谐波减速器 |
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-
2019
- 2019-05-09 DE DE102019112146.9A patent/DE102019112146B3/de active Active
-
2020
- 2020-04-29 WO PCT/DE2020/100350 patent/WO2020224711A1/de active Application Filing
- 2020-04-29 CN CN202080028247.8A patent/CN113677284A/zh active Pending
- 2020-04-29 JP JP2021566357A patent/JP7234417B2/ja active Active
- 2020-04-29 KR KR1020217032474A patent/KR20220007587A/ko unknown
- 2020-04-29 US US17/607,369 patent/US20220214237A1/en active Pending
Patent Citations (4)
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JP3644558B2 (ja) | 1995-11-02 | 2005-04-27 | 株式会社ハーモニック・ドライブ・システムズ | 撓み噛み合い式歯車装置のトルク検出機構 |
JP4518467B2 (ja) | 2002-09-17 | 2010-08-04 | 株式会社ハーモニック・ドライブ・システムズ | 波動歯車装置のトルク検出装置 |
CN107398921A (zh) | 2017-06-09 | 2017-11-28 | 东南大学 | 一种关节机器人的关节结构 |
CN109139856A (zh) | 2018-10-15 | 2019-01-04 | 南京信息工程大学 | 一种兼具传感功能的礼帽型谐波减速器 |
Also Published As
Publication number | Publication date |
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KR20220007587A (ko) | 2022-01-18 |
US20220214237A1 (en) | 2022-07-07 |
JP2022531734A (ja) | 2022-07-08 |
DE102019112146B3 (de) | 2020-09-10 |
WO2020224711A1 (de) | 2020-11-12 |
CN113677284A (zh) | 2021-11-19 |
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