Supporting structure of torque sensor and robot

Abstract

A support structure for a torque sensor is provided with an adapter which fixes the torque sensor to a first member, the torque sensor being disposed between a speed reducer and the first member to which the speed reducer is mounted, and detecting a torque acting between the speed reducer and the first member. The adapter suppresses deformation of the first member caused by at least one of a force and a torque acting on the torque sensor.

Description

Technical Field

[0001] The invention relates to a supporting structure of a torque sensor and a robot. Background Art

[0002] Conventionally, a torque sensor is known, which includes at least two sensing parts provided between a first structure and a second structure connected by a third structure. In the torque sensor, the rigidity of one of the first structure and the second structure closer to the sensing part is set higher than that of the other (for example, refer to Patent Document 1).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2020-12660 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] When a torque sensor is installed between a reducer and a component that fixes the reducer, the rigidity of the component that fixes the reducer may be low. In this case, even if the rigidity of the torque sensor is increased, the torque sensor may be deformed by the deformation of the component that fixes the reducer. Therefore, a support structure and a robot for a torque sensor that can detect torque with high accuracy even if the rigidity of the component that fixes the reducer is low are desired.

[0008] Solutions for solving problems

[0009] One embodiment of the present invention is a support structure for a torque sensor, the support structure for the torque sensor comprising an adapter, wherein the adapter torque sensor is fixed to a first component, the torque sensor is arranged between a reducer and the first component on which the reducer is mounted, and detects torque around the axis of the reducer, and the adapter suppresses deformation of the first component caused by at least one of a force and a moment acting on the torque sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is a longitudinal sectional view showing a part of a robot according to an embodiment of the present invention.

[0011] Figure 2 Yes Figure 1 An enlarged longitudinal sectional view of a portion of the support structure of the torque sensor of the robot is illustrated.

[0012] Figure 3 yes Figure 1 An exploded longitudinal cross-sectional view of the robot's reducer, torque sensor, and O-ring.

[0013] Figure 4 Yes Figure 3 A longitudinal sectional view of the reducer, torque sensor and O-ring after being assembled.

[0014] Figure 5 It means assembled in Figure 4 An exploded longitudinal cross-sectional view of the adapter, O-ring and base of the assembly.

[0015] Figure 6 is Figure 2 A partial enlarged longitudinal sectional view illustrating the assembly of the torque sensor and the adapter in the support structure of the torque sensor.

[0016] Figure 7 It means that the torque sensor starts to Figure 6 A partial enlarged longitudinal sectional view of the adapter at the start of engagement with the recessed portion thereof.

[0017] Figure 8 Yes means Figure 6 A partial enlarged longitudinal sectional view of a state in which the recessed portion of the adapter and the torque sensor are completely engaged.

[0018] Fig. 9 It means in Figure 4 A longitudinal sectional view of the assembly showing the state in which the adapter, O-ring and base are assembled. DETAILED DESCRIPTION

[0019] Hereinafter, a torque sensor support structure and a robot 1 according to an embodiment of the present invention will be described with reference to the drawings.

[0020] The robot 1 of this embodiment is, for example, a vertical multi-joint robot. Figure 1 As shown, the robot 1 includes a base (first member) 2 fixed to a mounting surface such as the ground. In addition, the robot 1 includes a rotary body (second member) 3 supported rotatably around a first axis A relative to the base 2 .

[0021] The base 2 and the rotating body 3 are made of a lightweight metal material such as aluminum alloy. The base 2 has a cylindrical shape having openings 2a and 2b opened on both sides in the direction of the first axis A. In addition, the base 2 has another opening 2c for introducing a line body such as a cable in a part of the side wall. The base 2 has a partition wall 2d that divides the internal space in the direction along the first axis A.

[0022] A reducer 4 is arranged between the base 2 and the rotating body 3 to rotate and drive the rotating body 3 relative to the base 2 around the first axis (axis) A. In addition, a torque sensor 5 and an adapter 6 are fixed between the reducer 4 and the partition wall 2d of the base 2. The torque sensor 5 is arranged between the reducer 4 and the base 2, and detects the torque around the first axis A acting between the reducer 4 and the base 2.

[0023] In the support structure of the torque sensor 5 of the present embodiment, the adapter 6 is interposed between the torque sensor 5 and the base 2, thereby fixing the torque sensor 5 to the base 2. The reducer 4 is formed in a cylindrical shape, and the adapter 6 and the torque sensor 5 are interposed between the reducer 4 and the base 2, thereby indirectly fixing the reducer 4 to the base 2. In addition, the reducer 4 includes: an output portion 7, which is directly fixed to the rotating body 3; and a housing 8, which is indirectly fixed to the base 2.

[0024] The torque sensor 5 is formed into a disk shape having an outer diameter smaller than that of the reducer 4. The torque sensor 5 includes an annular first portion 9 disposed radially inwardly and an annular second portion 10 disposed radially outwardly. In addition, the torque sensor 5 includes a third portion 11 connecting the first portion 9 and the second portion 10.

[0025] A sensor such as a strain gauge (not shown) for detecting torque based on deformation is disposed on the third portion 11. The sensor may be disposed near either the first portion 9 or the second portion 10, or may be disposed at an equal distance.

[0026] The first portion 9 of the torque sensor 5 has a plurality of through holes 9a extending through the first portion 9 at intervals in the circumferential direction. The torque sensor 5 also has a circular recess 5c centered on the first axis A on one end surface 5d of the first portion 9 .

[0027] On the other hand, the housing 8 of the speed reducer 4 includes a convex portion 8b that fits in the concave portion 5c of the torque sensor 5 and an end surface 8c that closely contacts the end surface 5d of the torque sensor 5. The convex portion 8b of the housing 8 fits in the concave portion 5c of the torque sensor 5 with an extremely short fitting length of, for example, 1 to 2 mm.

[0028] The bolt 12 passing through the through hole 9a is fastened to the threaded hole 8a while the convex portion 8b is fitted into the concave portion 5c and the end face 8c is in close contact with the end face 5d. Thus, the torque sensor 5 is fixed to the reducer 4. In addition, a plurality of threaded holes 10a penetrating in the plate thickness direction are provided at intervals in the circumferential direction on the second portion 10 of the torque sensor 5.

[0029] The adapter 6 is made of a material having higher rigidity than the material constituting the base 2, such as iron, and is formed into a disk shape that is larger than the torque sensor 5 on the radially outer side. In addition, the adapter 6 is provided with a plurality of through holes 6a that penetrate in the plate thickness direction at intervals in the circumferential direction around the first axis A. The adapter 6 is fixed to the torque sensor 5 by fastening bolts 13 that penetrate through the through holes 6a to the threaded holes 10a of the second portion 10.

[0030] In addition, the adapter 6 has an outer diameter dimension that is sufficiently larger than the outer diameter of the torque sensor 5. That is, the adapter 6 exceeds the outer peripheral surface 5a of the torque sensor 5 and further extends radially outward. Figure 1 In the example shown, the outer diameter of the adapter 6 is equal to the outer diameter of the speed reducer 4 .

[0031] Furthermore, the adapter 6 has a size that covers the entire radial area of ​​the torque sensor 5 .

[0032] That is, the adapter 6 has a size that is expanded radially inward of the second portion 10 required for fixing the torque sensor 5. In addition, the adapter 6 has a thickness dimension that is sufficiently larger than the thickness of the torque sensor 5. Thus, the adapter 6 ensures sufficient rigidity while suppressing deformation of the base 2.

[0033] The adapter 6 includes a first fitting portion 15 composed of a circular convex portion, which fits into a circular concave portion 14 provided on the base 2 with the first axis A as the center. In addition, the adapter 6 includes a second fitting portion 16 composed of a circular concave portion that fits into the outer peripheral surface 5a of the torque sensor 5. The outer diameter of the convex portion constituting the first fitting portion 15 and the inner diameter of the concave portion constituting the second fitting portion 16 are set to be substantially the same.

[0034] like Figure 2 As shown, the second fitting portion 16 includes an inner peripheral surface 16a disposed radially outward with a gap relative to the outer peripheral surface 5a of the torque sensor 5. The second fitting portion 16 also includes a bottom surface 16b that abuts against the end surface 5b of the second portion 10 of the torque sensor 5 in the thickness direction.

[0035] The second fitting portion 16 includes a recessed portion 16c, and when the end face 5b of the torque sensor 5 is pressed against the bottom face 16b, only one end of the outer peripheral surface 5a is fitted. The fitting length of the recessed portion 16c is set to be slightly larger than the appropriate compression margin (compression amount) of the O-ring (sealing member) 17 described later, but is preferably as short as possible. For example, when the appropriate compression margin of the O-ring 17 is 0.7mm, the fitting length of the recessed portion 16c is preferably greater than 0.7mm and less than 2mm.

[0036] Furthermore, when the outer peripheral surface 5 a of the torque sensor 5 is fitted into the second fitting portion 16 , the through hole 6 a is provided at a position that coincides with the screw hole 10 a .

[0037] Furthermore, the base 2 includes a plurality of through holes 2 e at positions that coincide with the through holes 6 a when the first fitting portion 15 of the adapter 6 is fitted into the recessed portion 14 .

[0038] The bolts 13 passing through the through holes 2e of the base 2 and the through holes 6a of the adapter 6 are fastened to the threaded holes 10a of the torque sensor 5. Thus, the torque sensor 5 and the adapter 6 can be fixed to the base 2 by fastening them together with the bolts 13.

[0039] The outer portion of the adapter 6, which is radially outward of the torque sensor 5, has parallel end faces (planes) 6b and 6c on both sides in the thickness direction and are perpendicular to the thickness direction. The base 2 has an end face (plane) 2f that is opposed to the end face 6b of the outer portion of the adapter 6 with a gap in the direction of the first axis A. In addition, the end face (plane) 8c of the housing 8 is opposed to the end face 6c of the outer portion of the adapter 6 with a gap in the direction of the first axis A.

[0040] An annular O-ring 18 surrounding the first fitting portion 15 is disposed between the end surface 2f of the base 2 and the end surface 6b of the adapter 6. An O-ring 17 is disposed between the end surface 8c of the housing 8 of the speed reducer 4 and the end surface 6c of the adapter 6.

[0041] The gap between the flat surface 2f of the base 2 and the flat surface 6b of the adapter 6 has a size that can crush the O-ring 18 with an appropriate compression margin. In addition, the gap between the end surface 8c of the housing 8 and the end surface 6c of the adapter 6 has a size that can crush the O-ring 17 with an appropriate compression margin.

[0042] The compression allowance is the difference between the linear diameter of the O-rings 17 and 18 in the direction of the first axis A when not compressed and when compressed. The O-rings 17 and 18 are compressed with an appropriate compression allowance to seal the gap so as to prevent liquid and gas from passing through.

[0043] The O-ring 17 is formed into a ring shape surrounding the torque sensor 5, for example, Figure 4 As shown in FIG. 1 , in the unsqueezed state, the inner diameter dimension has an inner diameter dimension greater than the outer diameter dimension of the outer peripheral surface 5a of the torque sensor 5. Figure 2 As shown, the O-ring 17 has an inner diameter dimension that is not in contact with or slightly in contact with the outer peripheral surface 5 a of the torque sensor 5 when it is compressed.

[0044] Thus, the O-ring 17 seals the gap between the end faces 6c and 8c, and the end faces 6c and 8c contact the O-ring 17 from both sides in the direction of the first axis A. The O-ring 18 seals the gap between the end faces 2f and 6b, and the end faces 2f and 6b contact the O-ring 18 from both sides in the direction of the first axis A.

[0045] The base 2, the adapter 6, the torque sensor 5, and the reducer 4 have a hollow hole 19 that connects from the base 2 to the inside of the rotating body 3 in a space including the first axis A. Through the hollow hole 19, a linear body (not shown) introduced from the opening 2c of the base 2 can be wired to the rotating body 3 side.

[0046] Hereinafter, the supporting structure of the torque sensor 5 and the operation of the robot 1 according to the present embodiment configured as above will be described.

[0047] The robot 1 of the present embodiment is assembled as follows.

[0048] First, if Figure 3 As shown in the figure, the reducer 4 is arranged so that the housing 8 is at the top and the first axis A is in the vertical direction. Then, the torque sensor 5 is brought close from the top of the reducer 4. The convex portion 8b of the housing 8 is fitted with the concave portion 5c of the torque sensor 5, and the end face 5d of the torque sensor 5 is closely attached to the end face 8c of the housing 8.

[0049] In this state, the phase of the through hole 9a of the first part 9 of the torque sensor 5 is aligned with the phase of the threaded hole 8a of the housing 8. Figure 4 As shown, the bolt 12 passing through the through hole 9a of the first portion 9 of the torque sensor 5 is fastened to the threaded hole 8a of the housing 8. Thus, the torque sensor 5 is fixed to the housing 8 of the reducer 4 in a state where the first axis A direction and the direction perpendicular to the first axis A are mutually positioned.

[0050] Next, an O-ring 17 is hung around the outer circumference of the torque sensor 5 fixed above the reducer 4, and the O-ring 17 is arranged on the end surface 8c of the housing 8 radially outside the outer circumferential surface 5a. Figure 5 As shown, the adapter 6 is lowered from above the torque sensor 5, as shown in FIG. Figure 6 as well as Figure 7 As shown in FIG. 1 , the torque sensor 5 is inserted into the second fitting portion 16 of the adapter 6. Then, as shown in FIG. Figure 8 As shown, the outer peripheral surface 5 a of the torque sensor 5 is fitted into the recessed portion 16 c near the bottom surface 16 b of the second fitting portion 16 .

[0051] In this case, according to the present embodiment, the fitting length of the torque sensor 5 in the recessed portion 16c is set to be slightly larger than the appropriate compression margin of the O-ring 17. Figure 7As shown, the torque sensor 5 is fitted into the recessed portion 16 c starting before the adapter 6 comes into contact with the O-ring 17 .

[0052] When the adapter 6 starts fitting after contacting the O-ring 17, the operator cannot recognize the start of fitting by touch, and the workability of the assembly work is reduced. In contrast, by bringing the adapter 6 into contact with the O-ring 17 after the start of fitting, the operator can more reliably recognize the start of fitting. As a result, the workability of the assembly work is improved.

[0053] Then, if Figure 8 As shown, the outer peripheral surface 5a of the torque sensor 5 is fitted into the recessed portion 16c. The bottom surface 16b of the second fitting portion 16 of the adapter 6 is brought into close contact with the end surface 5b of the torque sensor 5, so that the O-ring 17 is compressed with an appropriate compression margin. In this state, the through hole 6a of the adapter 6 and the threaded hole 10a of the torque sensor 5 are aligned in phase.

[0054] In this state, an O-ring 18 is disposed on the radially outer flat surface 6b of the first fitting portion 15 of the adapter 6. Figure 5 As shown, the upside-down base 2 is brought closer from above the adapter 6 , and the first engaging portion 15 of the adapter 6 is engaged with the recess 14 of the base 2 .

[0055] When the bottom surface of the recessed portion 14 of the base 2 is in close contact with the end surface of the adapter 6, the phases of the through hole 2e of the base 2 and the through hole 6a of the adapter 6 are aligned. Fig. 9 As shown, the bolts 13 passing through the through holes 2 e and 6 a of the base 2 and the adapter 6 are fastened to the threaded holes 10 a of the torque sensor 5 .

[0056] The torque sensor 5 and the adapter 6 are fastened together and fixed to the base 2 by the bolts 13. The torque sensor 5, the adapter 6 and the base 2 are fixed in a state where they are positioned relative to each other in the first axis A direction and in a direction perpendicular to the first axis A.

[0057] By fastening the bolts 13 together, the torque sensor 5 and the adapter 6 and the adapter 6 and the base 2 can be fixed at the same radial distance. Compared with the case where the radial fixing distances are different, the torque sensor 5 can be less susceptible to the moment generated around the axis orthogonal to the first axis A.

[0058] Furthermore, by fastening together, counterboring of the adapter 6 is not required, which is required when the adapter 6 is separately fixed to the torque sensor 5 and the base 2. This can prevent the rigidity of the adapter 6 from being reduced and the adapter 6 from being larger than necessary.

[0059] After the joint fastening is completed, the gaps between the housing 8 and the adapter 6 and between the base 2 and the adapter 6 are equal to the size of the O-rings 17 and 18 compressed with an appropriate compression margin. As a result, the gap between the housing 8 of the speed reducer 4 and the adapter 6 is sealed by the O-ring 17 over the entire circumference on the radially outer side of the torque sensor 5. In addition, the gap between the base 2 and the adapter 6 is also sealed by the O-ring 18 over the entire circumference on the radially outer side of the first fitting portion 15 of the adapter 6.

[0060] Thus, according to the present embodiment, the adapter 6 is interposed between the torque sensor 5 and the base 2 to fix the torque sensor 5 to the base 2. Furthermore, the adapter 6 is made of a material having higher rigidity than the base 2. Furthermore, the adapter 6 has a shape that is thick and widely extends not only in the second portion 10 of the torque sensor 5 to be fixed but also in the radially inner and outer range thereof.

[0061] Thus, the adapter 6 has sufficiently high rigidity, and can sufficiently suppress deformation of the base 2 in the bottom surface of the recessed portion 14 that fixes the adapter 6. That is, deformation of the base 2 caused by force or torque applied from the speed reducer 4 side to the torque sensor 5 can be suppressed, and the detection accuracy based on the torque sensor 5 can be improved.

[0062] In addition, according to the present embodiment, the outer peripheral surface 5a of the torque sensor 5 and the adapter 6 are fitted together by using the recessed portion 16c having a sufficiently small fitting length. By fitting the outer peripheral surface 5a of the torque sensor 5 and the recessed portion 16c, the center of the torque sensor 5 and the center of the adapter 6 can be aligned with high precision.

[0063] In addition, by reducing the fitting length of the recessed portion 16c, it is possible to prevent the force or moment from the adapter 6 side from acting on the outer peripheral surface 5a of the torque sensor 5. In other words, it is possible to prevent the force or moment acting on the outer peripheral surface 5a of the torque sensor 5 from being detected as torque by the torque sensor 5. Thus, it is possible to prevent the detection accuracy of the torque by the torque sensor 5 from decreasing.

[0064] Furthermore, the gap between the housing 8 of the speed reducer 4 and the adapter 6 is sealed by an O-ring 17 radially outward from the torque sensor 5. This prevents the liquid that has penetrated from the outside through the gap between the base 2 and the rotary body 3 from entering the torque sensor 5 side.

[0065] In addition, the gap between the adapter 6 and the base 2 is also sealed by the O-ring 18. This prevents the liquid that has intruded from the outside through the gap between the base 2 and the rotary body 3 from entering the radially inner side of the adapter 6.

[0066] As a method of preventing the intrusion of liquid through the gap between the base 2 and the rotary body 3, there is also a method of sealing the cylindrical gap between the speed reducer 4 and the base 2. According to this method, only one O-ring is used.

[0067] However, in this case, during the operation of fitting the adapter 6 to the base 2, the sliding resistance of the O-ring that is compressed between the reducer 4 and the base 2 acts. Therefore, there is a case where the operator cannot recognize the start of the fitting by touch. In addition, there is a problem that the fitting surface is damaged by tightening the bolt 13 in a state where it is not properly fitted, or the assembly is in a tilted state.

[0068] According to the present embodiment, the O-ring 17 is compressed between the planes 6c and 8c that are orthogonal to the first axis A. Thus, the sliding resistance of the O-ring 17 does not work in the operation of fitting the first fitting portion 15 of the adapter 6 with the recessed portion 14 of the base 2. Therefore, the operator can easily recognize the start of fitting by touch and can assemble appropriately.

[0069] In this embodiment, the O-ring 17 is compressed radially outside the torque sensor 5 by compression between the housing 8 and the adapter 6 in the direction of the axis A. The compressed O-ring 17 does not contact the outer peripheral surface 5a of the torque sensor 5 or contacts it only slightly.

[0070] Therefore, the operation is performed without causing the force or moment to act on the torque sensor 5 via the O-ring 17. Thus, the torque sensor 5 can be prevented from detecting the force or moment acting on the torque sensor 5 via the O-ring 17 as torque.

[0071] In addition, in this embodiment, the O-ring 17 is arranged using the outer peripheral surface 5a of the torque sensor 5 as a guide. As a result, the surfaces of the housing 8 and the adapter 6 of the speed reducer 4 that crush the O-ring 17 can be set to simple flat surfaces 8c and 6c. As a result, the processing of the housing 8 and the adapter 6 can be facilitated.

[0072] Similarly, the O-ring 18 is arranged using the first fitting portion 15 formed by the convex portion of the adapter 6 as a guide. Thus, the surfaces of the base 2 and the adapter 6 that crush the O-ring 18 can be simple flat surfaces 2f and 6b. Thus, the base 2 and the adapter 6 can be easily processed.

[0073] In addition, in this embodiment, although the vertical articulated robot is described as an example as the robot 1, it is also applicable to the robot 1 of any other form.

[0074] In the present embodiment, the support structure of the torque sensor 5 provided between the base 2 and the rotary body 3 is described as an example. Alternatively, the same structure may be adopted as the support structure of the torque sensor disposed between the speed reducer and the first member of another joint shaft.

[0075] In the present embodiment, the case where the torque sensor 5 is fixed between the housing 8 of the speed reducer 4 and the base 2 is described. Alternatively, the present invention may be applied to a case where the torque sensor 5 is fixed between the output portion 7 of the speed reducer 4 and the rotary body 3.

[0076] In addition, in the present embodiment, the base 2, the adapter 6, and the torque sensor 5 are fastened together to be fixed at the same distance around the first axis A. Alternatively, the base 2 and the adapter 6 may be fixed by the first bolt, and the adapter 6 and the torque sensor 5 may be fixed by the second bolt. In this case, the first bolt and the second bolt may be arranged at the same distance around the first axis A at intervals in the circumferential direction.

[0077] By separating the fixing of the base 2 and the adapter 6 and the fixing of the adapter 6 and the torque sensor 5, the adapter 6 and the torque sensor 5 can be fixed in advance. Thus, the torque sensor 5 and the adapter 6 can be managed as a unit.

[0078] Alternatively, the base 2 and the adapter 6 may be fixed to the radially outer side of the torque sensor 5. In this case, the size of the bolts 13 can be increased, and the number of the bolts 13 can be reduced.

[0079] Furthermore, although the O-rings 17 and 18 are used as the sealing members, other arbitrary sealing members such as annular gaskets may be used instead.

[0080] In this embodiment, the radial positions of the O-rings 17 and 18 are roughly guided by the inner outer peripheral surface 5a or the first fitting portion 15. Alternatively, the O-ring grooves may be formed in the adapter 6, the housing 8 or the base 2 to define the radial positions of the O-rings 17 and 18.

[0081] In the present embodiment, the side wall of the base 2 is provided with the openings 2c. However, since the openings 2c of the side wall have a significant influence on the deformation of the base 2, it is desirable that the smaller the size, the smaller the number of openings 2c.

[0082] According to the present invention, there is an advantage that even if the rigidity of the base 2 as the first member to which the speed reducer 4 is fixed is low, the torque acting on the base 2 from the speed reducer 4 can be detected with high accuracy.

[0083] Furthermore, according to the robot 1 of the present invention, the force control can be performed with high accuracy by utilizing the support structure of the torque sensor 5 that can detect torque with high accuracy.

[0084] The embodiments of the present invention have been described in detail, but the present invention is not limited to the above-mentioned embodiments. In these embodiments, various additions, conversions, changes, and partial deletions can be made without departing from the scope of the main purpose of the invention, or without departing from the content recorded in the claims and the ideas and purposes of the present invention derived from their equivalents. For example, in the above-mentioned embodiments, the order of each action can be changed, the order of each process can be changed, a part of the action corresponding to the condition can be omitted or added, and a part of the process corresponding to the condition can be omitted or added without being limited to the above-mentioned examples. In addition, the same applies to the case where numerical values ​​or formulas are used for the description of the above-mentioned embodiments.

[0085] Description of reference numerals:

[0086] 1: Robot

[0087] 2: Base (first component)

[0088] 3: Rotating body (second component)

[0089] 4: Reducer

[0090] 5: Torque sensor

[0091] 6: Adapter

[0092] 12: Bolts

[0093] 13: Bolt

[0094] 17: O-ring (sealing component)

[0095] 16c: dimple

[0096] A: First axis (axis)

Claims

1. A support structure for a torque sensor, characterized in that: The support structure of the torque sensor includes an adapter, the adapter fixes the torque sensor to the first component, the torque sensor is arranged between the reducer and the first component to which the reducer is mounted, and detects torque around the axis of the reducer. The adapter suppresses deformation of the first member caused by at least one of a force and a moment acting on the torque sensor.

2. The support structure of the torque sensor according to claim 1, characterized in that: The adapter is made of a material having higher rigidity than the first component.

3. The support structure of the torque sensor according to claim 1 or 2, characterized in that: The torque sensor is fixed to the reducer, and the adapter and the first component are fastened to the torque sensor by bolts.

4. The support structure of the torque sensor according to claim 1 or 2, characterized in that: The torque sensor is fastened to the speed reducer by bolts, the first member is fastened to the adapter by first bolts, and the adapter is fastened to the torque sensor by second bolts.

5. The support structure of the torque sensor according to any one of claims 1 to 4, characterized in that: The torque sensor is formed in a disk shape. The adapter is formed in a plate shape that is larger than the torque sensor on the radially outer side.

6. The support structure of the torque sensor according to claim 5, characterized in that: The support structure of the torque sensor includes an annular sealing member surrounding the torque sensor. The sealing member is compressed between the reducer and the adapter in the axial direction.

7. The support structure of the torque sensor according to claim 6, characterized in that: The torque sensor and the adapter are fitted into each other using a recessed portion. The fitting length of the dimple is slightly larger than the appropriate compression amount of the sealing member.

8. A robot, characterized in that: have: first component; The second component; a speed reducer that supports the second member in a manner rotatable about a predetermined axis relative to the first member; a torque sensor disposed between the speed reducer and the first component and detecting a torque acting between the speed reducer and the first component; as well as an adapter fixed between the torque sensor and the first component, The adapter suppresses deformation of the first member caused by at least one of a force and a moment acting on the torque sensor.

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