Torque limiter

Patent metadata

Field	Value
Publication number	US-11118634-B2
Application number	US-201816495204-A
Country	US
Kind code	B2
Filing date	Feb 24, 2018
Priority date	Mar 19, 2017
Publication date	Sep 14, 2021
Grant date	Sep 14, 2021

Abstract

A torque limiter 10 includes an input unit 11 connected to a driving device M on input side, and an output unit 12 connected to a robot arm A on output side. The input unit 11 and the output unit 12 include a coupling structure in which the input unit 11 and the output unit 12 approach and recede from each other so as to enable switching of a connecting state where the input unit 11 and the output unit 12 are connected to each other and a non-connecting state where the input unit 11 and the output unit 12 are not connected to each other, through adjustment of magnetic force therebetween. The coupling structure includes an electromagnet 17 that enables adjustment of the magnetic force through adjustment of an application voltage.

First claim

The invention claimed is:

1. A torque limiter that is disposed between an input-side member and an output-side member to electromagnetically adjust a torque limit value as an upper limit value of torque transmitted from the input-side member to the output-side member, the torque limiter comprising:
an input unit connected to the input-side member; and
an output unit connected to the output-side member, wherein
the input unit and the output unit include a coupling structure in which the input unit and the output unit approach and recede from each other to enable switching of a connecting state where the input unit and the output unit are connected to each other and a non-connecting state where the input unit and the output unit are not connected to each other, through adjustment of magnetic force between the input unit and the output unit,
the coupling structure includes an electromagnet that enables adjustment of the magnetic force through adjustment of an application voltage,
the coupling structure is set to the connecting state when the application voltage is zero,
upon increasing the application voltage from zero, the coupling structure is put into the non-connecting state when the application voltage has a predetermined value, and
when the application voltage is increased from the predetermined value, the coupling structure is put into the connecting state, with further increase in the application voltage thereafter during the connecting state increasing a joining force between the input unit and the output unit and increasing the torque limit value.

2. The torque limiter according to claim 1 , wherein, the coupling structure is provided as a structure in which, when the application voltage is gradually increased from zero, the torque limit value is gradually reduced to establish the non-connecting state.

3. The torque limiter according to claim 1 , wherein the coupling structure is provided as a structure in which the non-connecting state is established when the application voltage is set to a predetermined negative value, and the torque limit value is gradually increased when the application voltage is changed from the negative value to zero.

4. The torque limiter according to claim 1 , further comprising power-supply backup means that is actuated when a power supply supplying the application voltage to the electromagnet is shut off, wherein
the power-supply backup means includes a control circuit that is charged during energization by the power supply, and uses the charged power to supply power to the electromagnet on behalf of the power supply when the power supply is shut off.

5. A torque limiter that is disposed between an input-side member and an output-side member to electromagnetically adjust a torque limit value as an upper limit value of torque transmitted from the input-side member to the output-side member, the torque limiter comprising:
an input unit connected to the input-side member; and
an output unit connected to the output-side member, wherein
the input unit includes an electromagnet that is changeable in generated magnetic force according to a magnitude of an application voltage, and a joining portion that enables joining with the output unit by contact friction with the output unit,
the joining portion includes a first input plate located on the electromagnet side, and a second input plate disposed closer to the output unit than the first input plate,
the output unit includes an output plate that is disposed to be movable between the first and second input plates by change of the magnetic force, and
when the application voltage is zero, the output plate is in a connecting state where the output plate is in contact with the second input plate to connect the input unit and the output unit to each other,
when the application voltage is increased from zero, the output plate recedes from the second input plate and is attracted toward the first input plate, and comes into contact with the first input plate to be put into the connecting state through a non-connecting state where the output plate is also not in contact with the first input plate, and
when the output plate is in contact with the first input plate, joining force with the first input plate is increased to increase the torque limit value as the application voltage to the electromagnet is increased.

6. The torque limiter according to claim 5 , wherein, in the input unit, a maximum torque limit value in the connecting state where the second input plate and the output plate are in contact with each other is set smaller than a maximum torque limit value in the connecting state where the first input plate and the output plate are in contact with each other.

7. A torque limiter that is disposed between an input-side member and an output-side member to electromagnetically adjust a torque limit value as an upper limit value of torque transmitted from the input-side member to the output-side member, the torque limiter comprising:
an input unit connected to the input-side member; and
an output unit connected to the output-side member, wherein
the input unit includes an input plate configured by an electromagnet that is changeable in generated magnetic force according to a magnitude of an application voltage,
the output unit includes an output plate configured by a magnetic body approaching and receding from the input plate, and
the input plate and the output plate are provided to be changeable, by changing a polarity of the application voltage, between a state where the input plate and the output plate mutually repel and move in a receding direction and a state where the input plate and the output plate mutually attract and move in an approaching direction, and are put into a connecting state where the input plate and the output plate are in contact with each other to connect the input unit and the output unit to each other when the application voltage is zero.

8. The torque limiter according to claim 7 , wherein the input plate and the output plate are put into a non-connecting state where the input plate and the output plate are not in contact with each other when the application voltage has a predetermined negative value, and are put into the connecting state to gradually increase joining force and to gradually increase the torque limit value when the application voltage is changed in a positive direction in the non-connecting state.

9. The torque limiter according to claim 7 , wherein pressing means that applies pressing force bringing the input plate and the output plate into contact with each other when the application voltage is zero, is provided between the input unit and the output unit.

Assignees

• Univ Waseda

Inventors

• Schmitz Alexander
• Wang Wei
• Holgado Alexis Carlos
• Hsu Chincheng
• Kobayashi Kento
• Lopez Javier Alvarez
• Wang Yushi
• Sugano Shigeki

Classifications

• F16D7/02 Primary

  of the friction type · CPC title

• B25J19/00 Primary

  Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators (safety-devices in general F16P; protection against radiation in general G21F) · CPC title

• F16D27/14

  Details · CPC title

• B60W30/188

  Controlling power parameters of the driveline, e.g. determining the required power · CPC title

• F16D7/025

  with flat clutching surfaces, e.g. discs · CPC title