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。