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1. WO2018146917 - TORQUE SENSOR

Publication Number WO/2018/146917
Publication Date 16.08.2018
International Application No. PCT/JP2017/042906
International Filing Date 29.11.2017
IPC
G01L 25/00 2006.1
GPHYSICS
01MEASURING; TESTING
LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
25Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
G01L 3/10 2006.1
GPHYSICS
01MEASURING; TESTING
LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
3Measuring torque, work, mechanical power, or mechanical efficiency, in general
02Rotary-transmission dynamometers
04wherein the torque-transmitting element comprises a torsionally-flexible shaft
10involving electric or magnetic means for indicating
CPC
B25J 13/085
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
08by means of sensing devices, e.g. viewing or touching devices
085Force or torque sensors
G01L 25/003
GPHYSICS
01MEASURING; TESTING
LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
25Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
003for measuring torque
G01L 3/10
GPHYSICS
01MEASURING; TESTING
LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
3Measuring torque, work, mechanical power, or mechanical efficiency in general
02Rotary-transmission dynamometers
04wherein the torque-transmitting element comprises a torsionally-flexible shaft
10involving electrical or magnetic means for indicating
G01L 3/108
GPHYSICS
01MEASURING; TESTING
LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
3Measuring torque, work, mechanical power, or mechanical efficiency in general
02Rotary-transmission dynamometers
04wherein the torque-transmitting element comprises a torsionally-flexible shaft
10involving electrical or magnetic means for indicating
108involving resistance strain gauges
G01L 5/0042
GPHYSICS
01MEASURING; TESTING
LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
5Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
0028Force sensors associated with force applying means
0042applying a torque
G01L 5/0071
GPHYSICS
01MEASURING; TESTING
LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
5Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
0061Force sensors associated with industrial machines or actuators
0071Specific indicating arrangements, e.g. of overload
Applicants
  • 日本電産コパル電子株式会社 NIDEC COPAL ELECTRONICS CORPORATION [JP]/[JP]
Inventors
  • 鈴木 隆史 SUZUKI, Takashi
  • 池田 隆男 IKEDA, Takao
  • 遠藤 嵩幸 ENDO, Takayuki
Agents
  • 特許業務法人スズエ国際特許事務所 S & S INTERNATIONAL PPC
Priority Data
2017-02388513.02.2017JP
Publication Language Japanese (ja)
Filing Language Japanese (JA)
Designated States
Title
(EN) TORQUE SENSOR
(FR) CAPTEUR DE COUPLE
(JA) トルクセンサ
Abstract
(EN) Provided is a torque sensor which is capable of detecting an abnormality of the torque sensor itself or an abnormality of a robot arm, and which has a failsafe function. A first structure body 11 is connected to a measured body. A first bridge circuit B1 including a plurality of strain sensors detects a force transmitted between the first structure body 11 and a second structure body 12. A second bridge circuit B2 including a plurality of strain sensors detects the force transmitted between the first structure body 11 and the second structure body 12. A controller 19 outputs a signal indicating an abnormality if the difference between a first output voltage of the first bridge circuit B1 and a second output voltage of the second bridge circuit B2 is larger than a first threshold voltage.
(FR) L'invention concerne un capteur de couple qui peut détecter une anomalie du capteur de couple lui-même ou une anomalie d'un bras de robot, et qui a une fonction de sécurité intégrée. Un premier corps de structure 11 est relié à un corps mesuré. Un premier circuit en pont B1 comprenant une pluralité de capteurs de contrainte détecte une force transmise entre le premier corps de structure 11 et un second corps de structure 12. Un second circuit en pont B2 comprenant une pluralité de capteurs de contrainte détecte la force transmise entre le premier corps de structure 11 et le second corps de structure 12. Un dispositif de commande 19 délivre en sortie un signal indiquant une anomalie si la différence entre une première tension de sortie du premier circuit en pont B1 et une seconde tension de sortie du second circuit en pont B2 est supérieure à une première tension seuil.
(JA) トルクセンサ自体の異常や、ロボットアームの異常を検出することができ、フェイルセーフ機能を有するトルクセンサを提供する。第1構造体11は、被計測体に連結される。複数の歪センサを含む第1ブリッジ回路B1は、第1構造体11と第2構造体12との間に伝達される力を検出する。複数の歪センサを含む第2ブリッジ回路B2は、第1構造体11と第2構造体12との間に伝達される力を検出する。コントローラ19は、第1ブリッジ回路B1の第1出力電圧と第2ブリッジ回路B2の第2出力電圧との差が第1閾値電圧より大きい場合、異常を示す信号を出力する。
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