Robot, drive mechanism, speed reducer, torque sensor, and torque detection method
A robot includes a speed reducer that increases a first torque output from a motor and outputs a second torque, a torque sensor including an output part that outputs the second torque output from the speed reducer, and a sensor part that detects at least a torque applied to the output part, and a damper that is positioned in a transmission path of the second torque from the speed reducer to the torque sensor and damps transmission of the second torque.
1 . A robot, comprising:
a speed reducer configured to increase a first torque output from a motor to generate a second torque, and including a first output part configured to output the second torque;
a torque sensor including
a second input part configured to input the second torque output from the first output part,
a second output part configured to output the second torque input by the second input part, and
a sensor part configured to detect at least a torque applied to the second output part; and
a damper positioned between the first output part and the second input part in a transmission path of the second torque from the speed reducer to the torque sensor and configured to damp transmission of the second torque.
2 . The robot according to claim 1 , wherein the sensor part includes an optical sensor configured to optically detect the torque.
3 . The robot according to claim 2 , wherein the speed reducer further includes:
a first input part configured to input the first torque output from the motor, and
a speed reducing part configured to increase the first torque input by the first input part,
the torque sensor further includes a linking part configured to link the second input part and the second output part, and
the optical sensor is configured to detect the torque based on a relative displacement between the second input part and the second output part.
4 . The robot according to claim 1 , wherein the damper is a member that is interposed between the first output part and the second input part and is formed separately from the speed reducer and the torque sensor.
5 . The robot according to claim 4 , wherein the member is interposed between a first transmission surface configured to transmit the second torque of the first output part and a second transmission surface configured to transmit the second torque of the second input part.
6 . The robot according to claim 5 , further comprising:
a fixer configured to fix the second input part to the first output part,
wherein the member is interposed between the first transmission surface and the second transmission surface at a position fixed by the fixer.
7 . The robot according to claim 6 , wherein the member is an elastic shim member sandwiched between the first transmission surface and the second transmission surface.
8 . The robot according to claim 5 , wherein the member is an elastic shim member sandwiched between the first transmission surface and the second transmission surface.
9 . The robot according to claim 1 , wherein the damper is formed as a part of the first output part.
10 . The robot according to claim 9 , wherein the damper is formed as a part with a lower Young's modulus than other parts.
11 . The robot according to claim 1 , wherein the damper is formed as a part of the second input part.
12 . The robot according to claim 11 , wherein the damper is formed as a part with a lower Young's modulus than other parts.
13 . The robot according to claim 1 , wherein
the speed reducer further includes:
a first input part configured to input the first torque output from the motor, and
a speed reducing part configured to increase the first torque input by the first input part.
14 . The robot according to claim 13 , wherein the torque sensor further includes a linking part configured to link the second input part and the second output part.
15 . The robot according to claim 14 , wherein the damper is a member that is interposed between the first output part and the second input part and is formed separately from the speed reducer and the torque sensor.
16 . The robot according to claim 15 , wherein the member is interposed between a first transmission surface configured to transmit the second torque of the first output part and a second transmission surface configured to transmit the second torque of the second input part.
17 . A torque sensor, comprising:
an input part configured to input a torque output from a first output part of a speed reducer;
a second output part configured to output the torque input by the input part; and
a sensor part configured to detect at least a torque applied to the second output part,
wherein the input part includes a damper positioned between the first output part and the input part in a transmission path of the torque from the speed reducer to the torque sensor and formed as a part of the input part, and configured to damp transmission of the torque from the speed reducer.
18 . A torque detection method, comprising:
increasing a first torque output from a motor using a speed reducer to output a second torque from a first output part of the speed reducer;
inputting the second torque output from the first output part using an input part of a torque sensor;
outputting the second torque input by the input part using a second output part of the torque sensor;
detecting at least a torque applied to the second output part using a sensor part of the torque sensor; and
damping transmission of the second torque using a damper positioned between the first output part and the input part in a transmission path of the second torque from the speed reducer to the torque sensor.
19 . The torque detection method according to claim 18 , wherein the damper is formed as a part of the first output part.
20 . The torque detection method according to claim 18 , wherein the damper is formed as a part of the input part.