JPS5943322A - Torque detecting method - Google Patents

Torque detecting method

Info

Publication number
JPS5943322A
JPS5943322A JP15391782A JP15391782A JPS5943322A JP S5943322 A JPS5943322 A JP S5943322A JP 15391782 A JP15391782 A JP 15391782A JP 15391782 A JP15391782 A JP 15391782A JP S5943322 A JPS5943322 A JP S5943322A
Authority
JP
Japan
Prior art keywords
chain
sprocket
tension
deltaf2
deltaf1
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP15391782A
Other languages
Japanese (ja)
Inventor
Kazuo Honma
Hiroshi Yamamoto
Original Assignee
Hitachi Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Priority to JP15391782A priority Critical patent/JPS5943322A/en
Publication of JPS5943322A publication Critical patent/JPS5943322A/en
Pending legal-status Critical Current

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/04Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring tension in flexible members, e.g. ropes, cables, wires, threads, belts or bands
    • G01L5/10Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring tension in flexible members, e.g. ropes, cables, wires, threads, belts or bands using electrical means
    • G01L5/102Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring tension in flexible members, e.g. ropes, cables, wires, threads, belts or bands using electrical means using sensors located at a non-interrupted part of the flexible member

Abstract

PURPOSE:To make it possible to obtain sufficient sensitivity, by adhering a stress gauge to the chain connecting element of a working arm mechanism including a chain in the power transmission mechanism thereof to convert the resistance change amount thereof to an electric amount. CONSTITUTION:The chain sproket attached to a motor output shaft 21, the chain sprocket 22 attached to a robor arm 23 and a chain 24 for transmitting power to the sprocket 22 from the sprocket 21 are provided. When the initial tension of the chain 24 is Fo/2 and the changes of tension are DELTAF1, DELTAF2, the torque T around the joint shaft 25 of the robot arm 23 is shown by the formula T= (DELTAF1-DELTAF2)XD/2 wherein D is the pitch circle diameter of the sprocket 22. As mentioned above, the joint torque can be obtained by detecting the tension of the chain. In this case, the chain tension is detected by adhering stress gauges 26, 27 being crossed gauges to the link elements 24a, 24b of the chain 24.
JP15391782A 1982-09-06 1982-09-06 Torque detecting method Pending JPS5943322A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP15391782A JPS5943322A (en) 1982-09-06 1982-09-06 Torque detecting method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP15391782A JPS5943322A (en) 1982-09-06 1982-09-06 Torque detecting method

Publications (1)

Publication Number Publication Date
JPS5943322A true JPS5943322A (en) 1984-03-10

Family

ID=15572917

Family Applications (1)

Application Number Title Priority Date Filing Date
JP15391782A Pending JPS5943322A (en) 1982-09-06 1982-09-06 Torque detecting method

Country Status (1)

Country Link
JP (1) JPS5943322A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007012796A1 (en) * 2005-07-23 2007-02-01 Renold Plc Transmission chain monitoring system
CN104440901A (en) * 2014-10-23 2015-03-25 重庆交通大学 High-precision heavy-load assembly robot

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007012796A1 (en) * 2005-07-23 2007-02-01 Renold Plc Transmission chain monitoring system
US7634949B2 (en) 2005-07-23 2009-12-22 Renold Plc Transmission chain monitoring system
US7886613B2 (en) 2005-07-23 2011-02-15 Renold Plc Transmission chain monitoring system
CN104440901A (en) * 2014-10-23 2015-03-25 重庆交通大学 High-precision heavy-load assembly robot
CN104440901B (en) * 2014-10-23 2016-03-23 重庆交通大学 High-accuracy heavy-load assembly robot

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