公开(公告)号：US20040079174A1

公开(公告)日：2004-04-29

申请号：US10661586

申请日：2003-09-15

Applicant: Harmonic Drive Systems Inc.

Inventor： Masashi Horiuchi

IPC: G01L001/22

CPC classification number: G01L3/1457 ,  F16H49/001

Abstract: The torque detection device for a wave gearing comprises a strain gauge unit having a strain gauge pattern. The strain gauge pattern includes circular-arc shaped detection segments A and B, and three terminal portions for external wiring with one being formed between the detection segments and the others at opposite ends thereof. The strain gauge unit having the strain gauge pattern can be mounted on the diaphragm of a flexible external gear by a simple operation of positioning the strain gauge unit on the diaphragm and connecting the three terminal portions to the external wirings. Compared to the case where a large number of perpendicular biaxial strain gauges are positioned and wired to form a bridge circuit, the wiring operation can be simplified, the mounting space can be reduced, and errors in detected signals due to the positioning errors of the strain gauges can also be reduced.

Abstract translation: 用于波动传动的扭矩检测装置包括具有应变计模式的应变计单元。 应变计图案包括圆弧形检测段A和B，以及三个用于外部布线的端子部分，其中一个在检测段之间形成在其相对端。 具有应变计图案的应变计单元可以通过将应变计单元定位在隔膜上并将三个端子部分连接到外部布线的简单操作来安装在柔性外齿轮的隔膜上。 与大量垂直双轴应变计定位并布线以形成桥接电路的情况相比，可以简化布线操作，减少安装空间，并且由于应变的定位误差引起的检测信号误差 仪表也可以减少。

公开(公告)号：US20040261545A1

公开(公告)日：2004-12-30

申请号：US10827363

申请日：2004-04-20

Applicant: Harmonic Drive Systems Inc.

Inventor： Naoki Kanayama ,  Masashi Horiuchi

IPC: G01L003/02

CPC classification number: G01L5/226 ,  F16H49/001 ,  G01L3/1457

Abstract: A driving mechanism includes a motor and a wave gear device. Three sets of torque sensors are attached at intervals of 120null on a diaphragm of a flexible external gear of the wave gear device. In the rotational angle detecting part of the signal processing circuit, signal components that are included in the outputs of the torque sensors, that vary in the form of two cycles of a sine wave per rotation of the wave generator and are synchronous with a rotational angle of the wave generator are extracted and a coordinate transformation is carried out for the obtained three-phase sinusoidal signals to calculate two-phase sinusoidal signals that are 90null out of phase, with the rotational angle of the wave generator being calculated based on these signals. Without providing a rotational angle detector separately, it is possible to detect the rotational angle of the wave generator using the outputs of the torque sensors.

Abstract translation: 驱动机构包括马达和波齿轮装置。 三组扭矩传感器以120°的间隔安装在波齿轮装置的柔性外齿轮的隔膜上。 在信号处理电路的旋转角度检测部分中，包括在扭矩传感器的输出中的信号分量，其以波形发生器每旋转一周期的正弦波的两个周期的形式变化，并且与旋转角度同步 并对所获得的三相正弦信号进行坐标变换，以计算相位差为90°的两相正弦信号，基于这些信号计算波发生器的旋转角度 。 不用分开设置旋转角度检测器，就可以使用扭矩传感器的输出来检测波发生器的旋转角度。