Torque sensor

Patent metadata

Field	Value
Publication number	US-11187600-B2
Application number	US-201716464379-A
Country	US
Kind code	B2
Filing date	Dec 26, 2017
Priority date	Dec 27, 2016
Publication date	Nov 30, 2021
Grant date	Nov 30, 2021

Abstract

A connector (130) is arranged between an inner support (110) and an outer support (120), and connects the inner support (110) and the outer support (120). A deformable body (140) has one end connected to the inner support (110) at a first position with respect to the direction of rotation about a Z-axis and the other end connected to the outer support (120) at a second position different from the first position, and is bent to be deformed in a radial direction by applying compressive force or tensile force between the first position and the second position. A detection body (150) includes a capacitative element including respective electrodes disposed to face the deformable body (140) and the outer support (120), and detects an elastic deformation generated in the deformable body (140) on the basis of the characteristic value of the capacitative element.

First claim

The invention claimed is:

1. A torque sensor that detects torque, about a rotation axis, generated between a first object and a second object, the torque sensor comprising:
a first support that supports the first object;
a second support that supports the second object, the second support being located outwardly from the first support with respect to a radial direction about the rotation axis and arranged across a space from the first support;
a sheet-shaped deformable body, the deformable body having one end connected to the first support at a first position with respect to a rotation direction about the rotation axis and another end connected to the second support at a second position different from the first position with respect to the rotation direction, and the deformable body being deformed in the radial direction by applying compressive force or tensile force between the first position and the second position;
a detection body that detects an elastic deformation generated in the deformable body, based on a characteristic value of either a probe disposed between the deformable body and the first support or a probe disposed between the deformable body and the second support; and
a connector that is arranged between the first support and the second support and connects the first support and the second support.

2. The torque sensor according to claim 1 , wherein the detection body comprises a capacitative element comprising either respective electrodes disposed to face the deformable body and the first support or respective electrodes disposed to face the deformable body and the second support, and detects an elastic deformation generated in the deformable body, based on a characteristic value of the capacitative element.

3. The torque sensor according to claim 1 , wherein the deformable body comprises:
a sheet-shaped first protrusion body that protrudes from a plane of the first support toward the second support, the plane of the first support facing the second support;
a sheet-shaped second protrusion body that protrudes from a plane of the second support toward the first support, the plane of the second support facing the first support; and
a sheet-shaped extension body that is connected to a leading end of the first protrusion body and a leading end of the second protrusion body and that is extended along the rotation direction of the rotation axis.

4. The torque sensor according to claim 3 , wherein a width of the first protrusion body and a width of the second protrusion body each are less than a width of each connector with respect to the rotation direction.

5. The torque sensor according to claim 1 , wherein the detection body comprises:
a first electrode that is disposed on the deformable body; and
a second electrode that is disposed on the first support to face the first electrode.

6. The torque sensor according to claim 1 , wherein the detection body comprises:
a third electrode that is disposed on the deformable body; and
a fourth electrode that is disposed on the second support to face the third electrode.

7. The torque sensor according to claim 1 , wherein the deformable body is arranged in a space surrounded by (i) the first support, (ii) the second support, and (iii) two connectors adjacent to each other of a plurality of the connectors.

8. The torque sensor according to claim 1 , wherein the connectors each have a portion of which a width in the rotation direction is less than that of another portion, between a connection portion to the first support and a connection portion to the second support.

9. The torque sensor according to claim 1 , wherein the first support, the second support, the connectors, and the deformable body are integrated into one member; and
respective outer edges of a portion that connects the first support and the connectors, a portion that connects the second support and the connectors, a portion that connects the first support and the deformable body, and a portion that connects the second support and the deformable body are formed to have an arc shape.

10. The torque sensor according to claim 1 , wherein the first support, the second support, the connectors, the deformable body, and the detection body are arranged along a two-dimensional plane orthogonal to the rotation axis.

11. The torque sensor according to claim 1 , wherein the deformable body comprises:
a first deformable body that is orthogonal to the rotation axis and arranged in a first quadrant of a two-dimensional orthogonal coordinate system of which an origin point is a position of the rotation axis;
a second deformable body that is arranged in a second quadrant of the two-dimensional orthogonal coordinate system;
a third deformable body that is arranged in a third quadrant of the two-dimensional orthogonal coordinate system; and
a fourth deformable body that is arranged in a fourth quadrant of the two-dimensional orthogonal coordinate system.

12. The torque sensor according to claim 11 , wherein the detection body comprises:
a first detection body that detects an elastic deformation of the first deformable body;
a second detection body that detects an elastic deformation of the second deformable body;
a third detection body that detects an elastic deformation of the third deformable body; and
a fourth detection body that detects an elastic deformation of the fourth deformable body.

Assignees

• Dai Ichi Seiko Co Ltd

Inventors

• AKIBA Kazuto
• Kamiuto Takahito
• KUROMARU Akihiro

Classifications

• G01L3/101 Primary

  involving magnetic or electromagnetic means · CPC title

• G01L1/14

  by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators · CPC title

• G01L3/14 Primary

  wherein the torque-transmitting element is other than a torsionally-flexible shaft · CPC title

• G01L3/10 Primary

  involving electric or magnetic means for indicating · CPC title

• G01L5/0061

  Force sensors associated with industrial machines or actuators (for the specific machine or actuator involved see relevant class, e.g. F01, F04, F16, B66, E21) · CPC title