JPS6246350U

JPS6246350U -

Info

Publication number: JPS6246350U
Application number: JP13852885U
Authority: JP
Priority date: 1985-09-10
Filing date: 1985-09-10
Publication date: 1987-03-20

Description

[Brief explanation of the drawing]

第１図ａおよびｂは、本考案による実施例とし
て負荷トルク発生器の構造を示すそれぞれ側面図
および上面図、第２図は、第１図における負荷ト
ルク発生器の制御系を示すブロツク図、第３図ａ
およびｂは、実施例により減速機のバネ定数を測
定する場合の例を示すそれぞれ上面図および側面
図、第４図は実施例により減速機のバネ定数およ
びバツクラツシユを測定した場合の実測結果の例
を示すグラフである。図において、１，２は電磁石、３は非磁性体、
３ａ，３ｂは脚部、３ｃ，３ｄはひずみ発生部、
３ｅは分岐点、４〜７はひずみゲージ、１０は負
荷トルク発生部、１１はひずみゲージ、１２はひ
ずみゲージ増幅器、１３は減算器、１４は補償器
、１５は電流増幅器、２１は減速機、２２はアー
ムである。 1A and 1B are a side view and a top view, respectively, showing the structure of a load torque generator as an embodiment of the present invention; FIG. 2 is a block diagram showing a control system of the load torque generator in FIG. 1; Figure 3a
and b are a top view and a side view, respectively, showing an example of measuring the spring constant of a reducer according to the example, and FIG. 4 is an example of actual measurement results when measuring the spring constant and backlash of the reducer according to the example This is a graph showing. In the figure, 1 and 2 are electromagnets, 3 is a non-magnetic material,
3a and 3b are leg parts, 3c and 3d are strain generation parts,
3e is a branch point, 4 to 7 are strain gauges, 10 is a load torque generator, 11 is a strain gauge, 12 is a strain gauge amplifier, 13 is a subtractor, 14 is a compensator, 15 is a current amplifier, 21 is a speed reducer, 22 is an arm.

Claims

[Scope of utility model registration request]

A non-magnetic material having a U- or U-shape and having a portion where elastic strain occurs in the middle of each leg, and a first and second electromagnets disposed to face each other with a space in between; first and second coils respectively driving the first and second electromagnets; and elastic strain of the non-magnetic material. The first and second affixed to the parts where the
a strain gauge, the branch point of the non-magnetic material is fixed, and a current is passed through the first or second coil under feedback control based on the output of the first or second strain gauge. A load torque generation device using an electromagnet, characterized in that a load torque is applied to a load torque generation arm inserted into a space between the first and second electromagnets.