Elastic body and torque sensor

Abstract

An elastic body is provided with: a first structure in which a plurality of plate-shaped transverse plate sections extending in a direction along an arbitrary reference surface and a plurality of plate-shaped vertical plate sections extending in a direction intersecting the reference surface are arranged annularly along the reference surface and connected; a second structure which is located on the inside of the first structure and in which the plurality of horizontal plate sections and the plurality of vertical plate sections are arranged in a ring along the reference surface and are connected; and a plurality of plate-shaped third structural bodies that connect the vertical plate portions of the first structural body and the second structural body to each other and that extend on the extension lines of the vertical plate portions.

Description

TECHNICAL FIELD

[0001] The present application relates to an elastic body and a torque sensor. BACKGROUND

[0002] A drive device having an elastic body disposed to an output side of a speed reducer is disclosed in Patent Literature 1. The elastic body is a member for detecting a torque. The elastic body has an outer ring fixed to a base member, an inner ring as one example of a third portion, and a plurality of plate springs as one example of an elastic portion.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Literature 1: Japanese Patent No. 7146609 SUMMARY

[0006] Problems to be Solved by the Invention

[0007] A torque sensor is provided, for example, at a joint of a robot arm, and detects a torque caused by rotation of the joint or the like. Therefore, the torque sensor uses an elastic body that elastically deforms by receiving a torque, but the elastic body described in Patent Literature 1 requires welding or cutting processing or the like of many portions at the time of manufacture, and becomes high cost.

[0008] Therefore, an object of the present disclosure is to provide an elastic body and a torque sensor that can be manufactured at low cost.

[0009] Means for Solving the Problems

[0010] One aspect of the elastic body according to the present disclosure includes: a first structure in which a plurality of plate-shaped lateral plate portions extending in a direction along an arbitrary reference surface and a plurality of plate-shaped longitudinal plate portions extending in a direction intersecting the reference surface are arranged in a ring shape along the reference surface and connected; a second structure inside the first structure, in which the plurality of lateral plate portions and the plurality of longitudinal plate portions are arranged in a ring shape along the reference surface and connected; and a plurality of plate-shaped third structures connecting the longitudinal plate portions of the first structure and the second structure to each other and extending on extension lines of the longitudinal plate portions.

[0011] In addition, one aspect of the torque sensor according to the present disclosure includes the elastic body and a strain generator between the first structure and the second structure for detecting relative displacement of the first structure and the second structure.

[0012] Effects of the Invention

[0013] According to the elastic body and the torque sensor of the present disclosure, it is possible to manufacture at low cost. BRIEF DESCRIPTION OF DRAWINGS

[0014] FIG. 1 is a diagram showing the configuration of the torque sensor of the first embodiment.

[0015] FIG. 2 is a perspective view showing the assembly structure of the torque sensor.

[0016] FIG. 3 is a cross-sectional view showing the assembly structure of the torque sensor.

[0017] FIG. 4 is a perspective view showing the metal material of the elastic body of the first embodiment.

[0018] FIG. 5 is a partial enlarged view showing the metal material of the elastic body of the first embodiment.

[0019] FIG. 6 is a perspective view showing a modification of the torque sensor.

[0020] FIG. 7 is a partial enlarged view showing a modification of the torque sensor.

[0021] FIG. 8 is a diagram showing a modification of the elastic body.

[0022] FIG. 9 is a diagram showing the torque sensor of the second embodiment.

[0023] FIG. 10 is a perspective view showing a part of the metal material of the elastic body of the second embodiment.

[0024] FIG. 11 is a plan view showing a part of the metal material of the elastic body of the second embodiment.

[0025] FIG. 12 is a diagram showing the torque sensor of the third embodiment.

[0026] FIG. 13 is a diagram showing the assembly structure of the torque sensor of the third embodiment.

[0027] FIG. 14 is a perspective view showing the metal material of the elastic body of the third embodiment.

[0028] FIG. 15 is a partial enlarged view showing the metal material of the elastic body of the third embodiment.

[0029] FIG. 16 is a diagram showing the torque sensor of the fourth embodiment.

[0030] FIG. 17 is a perspective view showing a portion of a metal material of an elastic body of the fourth embodiment.

[0031] FIG. 18 is a plan view showing a portion of a metal material of an elastic body of the fourth embodiment.

[0032] Explanation of Reference Numerals

[0033] 100, 200, 300, 400: torque sensor

[0034] 101, 201, 301, 401: elastic body

[0035] 102: strain gauge

[0036] 105, 205, 305, 405: metal material

[0037] 110, 310: first structure

[0038] 120, 320: second structure

[0039] 130, 330: third structure

[0040] 111, 121: transverse plate portion

[0041] 112, 122: longitudinal plate portion

[0042] 112a, 122a: rising portion

[0043] 112b, 122b: descending portion

[0044] 112c, 122c: return portion

[0045] 140: beam structure

[0046] 141: cutout portion

[0047] 210: structure on input side

[0048] 220: structure on output side. DETAILED DESCRIPTION

[0049] Hereinafter, the embodiments of the elastic body and the torque sensor according to the present disclosure will be described in detail with reference to the drawings. However, in order to avoid the following description from becoming unnecessarily long and to make it easy for those skilled in the art to understand, sometimes detailed description exceeding necessity will be omitted. For example, sometimes detailed description of matters already known or repetitive description of substantially the same configuration will be omitted. In addition, with respect to elements described in the previous drawings, sometimes reference will be made appropriately in the description of the following drawings.

[0050] <First Embodiment>

[0051] FIG. 1 is a view showing the configuration of the torque sensor 100 of the first embodiment.

[0052] The torque sensor 100 is provided with an elastic body 101 and a strain gauge 102.

[0053] The elastic body 101 has a ring-like structure, and is formed by bending a plate-like metal material, for example. In FIG. 1 In the present embodiment, XYZ coordinates are shown as a reference of the direction for explanation. The Z-axis direction shows the direction in which the central axis of the elastic body 101 extends, and the XY plane defined by the X-axis and the Y-axis corresponds to one example of the reference plane in the present disclosure. The XY plane is a plane perpendicular to the Z-axis. In addition, the XYZ coordinates are coordinates showing the reference of the direction, and the position of the origin does not have a particular meaning. Therefore, in the following drawings, sometimes the XYZ coordinates are shown at a position apart from the center of the elastic body 101 for the sake of easy illustration.

[0054] The torque sensor 100 is a sensor for detecting the torque of the Z-axis moment Mz with the central axis of the elastic body 101 as the rotation axis. The torque sensor 100 is mounted to a robot or the like, for example, to detect the rotational torque of the joint of the robot or the like.

[0055] The strain gauge 102 corresponds to one example of the strain generator of the present disclosure, and electrically detects the strain of the elastic body 101 due to the torque of the Z-axis moment Mz. That is, the strain gauge 102 generates an electric displacement when deformation occurs. The strain gauge 102 can be any strain gauge as long as it is a strain gauge that generates a displacement that can be electrically detected. For example, the strain gauge 102 can change the resistance according to the amount of deformation, or can generate a voltage. The torque sensor 100 detects the torque by outputting these electric displacements from the strain gauge 102. In addition, as the strain generator, a member that can optically detect displacement or strain can also be provided.

[0056] The elastic body 101 is provided with a ring-like first structure 110, a ring-like second structure 120, and a plurality of plate-like third structures 130.

[0057] The first structure 110 has a ring shape that encircles in a plane parallel to the XY plane. Also, the second structure 120 has a ring shape that encircles in a plane parallel to the XY plane inside the first structure 110. The first structure 110 and the second structure 120 are circular ring shapes, for example, and exist concentrically with each other, for example.

[0058] A plurality of third structures 130 are arranged radially between the first structure 110 and the second structure 120, connecting the first structure 110 and the second structure 120 to each other.

[0059] A strain gauge 102 is located between the first structure 110 and the second structure 120, detecting the relative displacement of the first structure 110 and the second structure 120. The strain gauge 102 can be provided in several, but is preferably provided in a plurality symmetrically with respect to the central axis of the first structure 110 and the second structure 120. In FIG. 1 In the present embodiment, two strain gauges 102 are provided, for example.

[0060] The first structure 110 and the second structure 120 each have a structure in which a plurality of cross plate portions 111, 121 and a plurality of longitudinal plate portions 112, 122 are alternately arranged in a ring shape and connected. The cross plate portions 111, 121 are plate-shaped portions extending in the XY plane, and the longitudinal plate portions 112, 122 are plate-shaped portions extending in the Z-axis direction. The plurality of longitudinal plate portions 112, 122 are arranged radially with respect to the central axis of the ring shape of the elastic body 101, for example, and the faces of the longitudinal plate portions 112, 122 extend in the radial direction from the central axis and the direction in which the central axis extends.

[0061] That is, the first structure 110 is formed by a plurality of cross plate portions 111, which are plate-shaped portions extending in the direction of the reference plane, and a plurality of longitudinal plate portions 112, which are plate-shaped portions extending in the direction intersecting the reference plane, being arranged in a ring shape along the reference plane and connected. Also, the second structure 120, which is located inside the first structure 110, is formed by a plurality of cross plate portions 121 and a plurality of longitudinal plate portions 122 being arranged in a ring shape along the reference plane and connected.

[0062] A plurality of plate-shaped third structures 130 connect the longitudinal plate portions 112, 122 of the first structure 110 and the second structure 120 to each other, extending on the extension lines of the longitudinal plate portions 112, 122.

[0063] Thus, the plurality of third structures 130 are arranged radially with respect to the central axis of the ring shape of the elastic body 101, for example, and the faces of the third structures 130 extend in the same faces as the longitudinal plate portions 112, 122 in the radial direction from the central axis and the direction in which the central axis extends.

[0064] The longitudinal plate portions 112, 122 have a shape in which the rising portions 112a, 122a, the falling portions 112b, 122b, and the turning portions 112c, 122c are connected. The rising portions 112a, 122a extend in the Z-axis direction from one of the two lateral plate portions 111, 121 adjacent in the circumferential direction of the first structure 110 and the second structure 120. The falling portions 112b, 122b extend in the -Z-axis direction and are connected to the other of the two lateral plate portions 111, 121. The turning portions 112c, 122c turn from the Z-axis direction to the -Z-axis direction.

[0065] That is, the longitudinal plate portions 112, 122 have a shape in which they extend in the Z direction intersecting the reference surface and turn to extend in the -Z direction opposite to the Z direction. By giving the longitudinal plate portions 112, 122 a shape in which they turn, the plurality of lateral plate portions 111, 121 can be arranged on the same plane.

[0066] In the longitudinal plate portions 112, 122 having a shape in which they turn, the rising portions 112a, 122a and the falling portions 112b, 122b are arranged radially with respect to a central axis of the annular shape of the elastic body 101, and the surfaces of the rising portions 112a, 122a and the falling portions 112b, 122b extend in a radial direction from the central axis and a direction in which the central axis extends.

[0067] Further, the longitudinal plate portions 112, 122 connect end portions of the two lateral plate portions 111, 121 adjacent in the circumferential direction of the first structure 110 and the second structure 120 on a side closer to each other in the circumferential direction.

[0068] FIG. 2 and FIG. 3 are views showing the assembly structure of the torque sensor 100. In FIG. 2 , a perspective view is shown, and in FIG. 3 , a sectional view is shown.

[0069] The assembly structure of the torque sensor 100 is a structure in which one of the first structure 110 and the second structure 120 of the elastic body 101 is assembled to a load that receives a torque, and the other is assembled to a power source that generates a torque. The power source side is the input side of the torque, and the load side is the output side of the torque.

[0070] In the example shown in FIG. 2 and FIG. 3 , the second structure 120 is fixed to a structure 210 on the input side. The structure 210 is, for example, a part of a motor or a reducer, or the like. Further, the first structure 110 is fixed to a structure 220 on the output side. The structure 220 is, for example, a part of a movable portion such as a hand or an arm of a robot.

[0071] The plurality of web portions 111, 121 of the first structure 110 and the second structure 120 arranged on the same plane are each fixed to the input-side structure 210 and the output-side structure 220 by screw fastening, for example. By such fixing, the first structure 110 and the second structure 120 are integrated with the input-side structure 210 and the output-side structure 220 to obtain rigidity.

[0072] The elastic body 101 of the torque sensor 100 is provided with beam structures 140 which are formed by connecting the longitudinal plate portions 112 of the first structure 110, the longitudinal plate portions 122 of the second structure 120, and the third structure 130. The plurality of beam structures 140 are arranged in a radial manner along the annular structure of the elastic body 101, and by these beam structures 140, strains other than the Z-axis moment Mz are suppressed.

[0073] That is, the radial beam structures 140 suppress strains caused by the X-axis moment Mx and the Y-axis moment Yx which are generated by rotation with each of the X-axis and the Y-axis as a center axis, and the forces Fx, Fy, Fz in each of the X-axis, the Y-axis, and the Z-axis direction.

[0074] The beam structures 140 have cutout portions 141. That is, the third structure 130 releases the first structure 110 and the second structure 120 from each other at the turn-back portions of the longitudinal plate portions 112, 122. By providing the cutout portions 141, mutual rotation around the Z-axis caused by the torque of the Z-axis moment Mz is easily generated in the first structure 110 and the second structure 120, and detection of the torque by the strain gauge 102 becomes easy.

[0075] As described above, the elastic body 101 of the torque sensor 100 can be formed by bending a plate-shaped metal material.

[0076] FIG. 4 and FIG. 5 is a view showing the metal material 105 of the elastic body 101. In FIG. 4 a perspective view is shown, and in FIG. 5 a partially enlarged view is shown.

[0077] The metal material 105 is a band-shaped metal plate which extends in an annular shape, and the elastic body 101 shown in FIG. 1 is formed by being bent. Specifically, the elastic body 101 is formed by, for example, performing press working on the metal material 105, and further performing post-working on a portion in which the working precision is insufficient.

[0078] The metal material 105 has a first rim portion 151, a second rim portion 152, and a plurality of connecting portions 153. The first rim portion 151 is a ring-like portion along one edge of the band of the metal material 105, and the second rim portion 152 is a ring-like portion along the other edge of the band of the metal material 105. The second rim portion 152 is located at a position closer to the inner periphery than the first rim portion 151, and thus the ring of the second rim portion 152 is smaller than the ring of the first rim portion 151.

[0079] The plurality of connecting portions 153 connect the first rim portion 151 and the second rim portion 152 at a plurality of discrete sites along the band of the metal material 105. In the first embodiment, the first rim portion 151 and the second rim portion 152 are connected by two connecting portions 153 at one site. The open portion between the first rim portion 151 and the second rim portion 152 that is not connected by the connecting portion 153 becomes the opening 154.

[0080] In FIG. 4 and FIG. 5 , the sites of the valley folds are shown by single-dot chain lines, and the sites of the mountain folds are shown by broken lines. The elastic body 101 is formed by performing the process of repeatedly performing the folding of valley fold, mountain fold, valley fold, valley fold, mountain fold, valley fold in a ring shape on the metal material 105.

[0081] That is, at the site sandwiched by the valley fold site shown by the single-dot chain line, the outer periphery side becomes the horizontal plate portion 111 of the first structure 110, and the inner periphery side becomes the horizontal plate portion 121 of the second structure 120. In addition, at the site sandwiched by the valley fold site shown by the single-dot chain line and the mountain fold site shown by the broken line, the outermost periphery side becomes the vertical plate portion 112 of the first structure 110, the innermost periphery side becomes the vertical plate portion 122 of the second structure 120, and between them becomes the third structure 130.

[0082] In other words, by the process of folding of the metal material 105, the connecting portions 153 become the third structure 130, and the connecting sites among the first rim portion 151 and the second rim portion 152 that are connected by the connecting portions 153 become the vertical plate portions 112, 122. In addition, the open sites among the first rim portion 151 and the second rim portion 152 other than the connecting sites (i.e., the sites adjacent to the opening 154) become the horizontal plate portions 111, 121. As a result of the process of folding of the metal material 105, the connecting sites that become the vertical plate portions 112, 122 stand in, for example, the Z direction crossing the open sites that become the horizontal plate portions 111, 121, and the open sites spread from each other along the reference surface.

[0083] By thus folding the metal material 105 to form the elastic body 101, the elastic body 101 and the torque sensor 100 can be manufactured inexpensively and in a short period of time.

[0084] FIG. 6 and FIG. 7is a diagram showing a modification example of the torque sensor 100. In FIG. 6 a perspective view is shown in FIG. 7 a partial enlarged view is shown in

[0085] In the modification example shown in FIG. 6 and FIG. 7 the torque sensor 100 is provided with strain gauges 102 on the side surfaces of the beam structure 140. As the strain gauges 102 in this case, for example, foil strain gauges or the like are used.

[0086] In addition, in the torque sensor 100 of the modification example, the strain gauges 102 are provided on both side surfaces of one beam structure 140, and the strain gauges 102 are provided on each of the beam structures 140 located at positions of tetragonal symmetry with respect to the annular elastic body 101. That is, in the torque sensor 100 of the modification example, the strain gauges 102 hidden by the beam structure 140 in FIG. 6 are also included, and a total of eight strain gauges 102 are provided.

[0087] The foil strain gauges or the like output only one detection signal indicating the magnitude of strain, and cannot detect the direction of strain. By symmetrically arranging a plurality of strain gauges 102 as described above, strain components other than the Z-axis moment Mz can be eliminated, and the torque around the Z-axis can be detected.

[0088] FIG. 8 is a diagram showing a modification example of the elastic body 101.

[0089] The elastic body 101 of the modification example does not have the cutout portion 141 in the beam structure 140. Such an elastic body 101 of the modification example has higher rigidity around the Z-axis than the case where the cutout portion 141 is provided, and can withstand a large torque. Thus, the detection of torque can be performed with respect to a large device or a strong motor or the like.

[0090] <Other Embodiments>

[0091] Next, other embodiments different from the first embodiment described above will be described. In the following description, repeated description of elements similar to those already described will be omitted.

[0092] FIG. 9 is a diagram showing the torque sensor 200 of the second embodiment, FIG. 10 and FIG. 11 is a diagram showing a part of the metal material 205 of the elastic body 201 of the second embodiment. In FIG. 10 a perspective view is shown in FIG. 11 a plan view is shown in

[0093] The torque sensor 200 of the second embodiment includes an elastic body 201 and a strain gauge (not shown) similar to that of the first embodiment. In the elastic body 201 of the second embodiment, the height of the beam structure 140 in the Z direction is lower on the outer periphery and higher on the inner periphery. That is, the dimension of the longitudinal plate portion 122 of the second structure 120 in the direction intersecting the reference plane is greater than the dimension of the longitudinal plate portion 112 of the first structure 110 in the direction intersecting the reference plane.

[0094] Because the longitudinal plate portion 122 of the second structure 120 is large, the elastic body 201 of the second embodiment is as follows: FIG. 10 and FIG. 11 The material shown can be formed from a strip of metal material 205 extending in a straight line.

[0095] The metal material 205 has a first edge 251, a second edge 252, and a plurality of connecting portions 253. The first edge 251 is a straight portion along one edge of the strip of the metal material 205, and the second edge 252 is a straight portion along the other edge of the strip of the metal material 205. The plurality of connecting portions 253 connect the first edge 251 and the second edge 252 at discrete locations along the strip of the metal material 205. The open portion between the first edge 251 and the second edge 252 that is not connected by the connecting portions 253 is called an opening 254.

[0096] An annular elastomer 201 is formed by repeatedly bending strip-shaped metal material 205 through a process involving valley bends (shown by dashed lines), mountain bends (shown by dashed lines), valley bends, valley bends, mountain bends, and valley bends.

[0097] As a result of the bending, in the area sandwiched between the valley bend of the single-dotted line, the outer periphery becomes the horizontal plate portion 111 of the first structure 110, and the inner periphery becomes the horizontal plate portion 121 of the second structure 120. Furthermore, in the area sandwiched between the valley bend of the single-dotted line and the mountain bend of the dashed line, the outermost periphery becomes the vertical plate portion 112 of the first structure 110, and the innermost periphery becomes the vertical plate portion 122 of the second structure 120, with the area between them forming the third structure 130.

[0098] In other words, by the bending process of the metal material 205, the connection portion 253 becomes the third structure 130, and the connection portions among the first and second edge portions 251 and 252 connected by the connection portion 253 become the longitudinal plate portions 112 and 122. In addition, the open portions among the first and second edge portions 251 and 252 other than the connection portions (i.e., the portions adjacent to the openings 254) become the horizontal plate portions 111 and 121. As a result of the bending process of the metal material 205, the connection portions that become the longitudinal plate portions 112 and 122 stand in a direction intersecting the open portions that become the horizontal plate portions 111 and 121, and the open portions expand toward each other along the reference surface.

[0099] In the case of the second embodiment, the valley folds of the two portions sandwiching the mountain fold are inclined in a manner that opens toward the lower side of the mountain fold. FIG. 11 In addition, the total length of the horizontal plate portion 111 and the longitudinal plate portion 112 that become the first structure 110 is equal to the total length of the horizontal plate portion 121 and the longitudinal plate portion 122 that become the second structure 120. That is, the lengths of the first and second edge portions 251 and 252 are equal. Therefore, the annular elastic body 201 can be formed from the linear metal material 205. By using the linear metal material 205, the material utilization efficiency is improved, and further reduction in cost is achieved.

[0100] FIG. 12 FIG. 1 is a diagram showing a torque sensor 100 according to a first embodiment.

[0101] The torque sensor 300 of the third embodiment includes an elastic body 301 and a strain gauge 102. The elastic body 301 of the third embodiment includes an annular first structure 310, an annular second structure 320, and a plurality of plate-shaped third structures 330.

[0102] In the third embodiment as well, the first and second structures 310 and 320 each have a structure in which a plurality of horizontal plate portions 111 and 121 and a plurality of longitudinal plate portions 112 and 122 are alternately arranged in a ring shape and connected. In addition, the plurality of plate-shaped third structures 330 connect the longitudinal plate portions 112 and 122 of the first and second structures 310 and 320 to each other and extend on the extension lines of the longitudinal plate portions 112 and 122. In addition, the longitudinal plate portion 112 of the first structure 310, the longitudinal plate portion 122 of the second structure 320, and the third structure 330 are connected and constitute a beam structure 340.

[0103] In the third embodiment, the longitudinal plate portions 112, 122 do not have a folded-back shape. That is, the longitudinal plate portions 112, 122 extend in, for example, the Z direction intersecting the reference surface, one end thereof is connected to the lateral plate portion 111, 121, and the other end thereof is connected to the other lateral plate portion 111, 121 with respect to the one end. Therefore, the positions in the Z direction of the plurality of lateral plate portions 111, 121 are different in the order of the annular arrangement alternately. In other words, the lateral plate portions 111, 121 that are odd-numbered in the order of the annular arrangement and the lateral plate portions 111, 121 that are even-numbered in the order of the annular arrangement are different in the positions in the Z direction.

[0104] In the third embodiment as well, the plurality of longitudinal plate portions 112, 122 are arranged radially with respect to the central axis of the annular shape of the elastic body 301, and the faces of the longitudinal plate portions 112, 122 extend along the radial direction from the central axis and the direction in which the central axis extends. The plurality of third structures 330 are also arranged radially with respect to the central axis of the annular shape of the elastic body 301, and the faces of the third structures 330 extend along the radial direction from the central axis and the direction in which the central axis extends in the same faces as the longitudinal plate portions 112, 122.

[0105] Further, the longitudinal plate portions 112, 122 connect the end portions of the two lateral plate portions 111, 121 that are adjacent in the circumferential direction of the first structure 310 and the second structure 320 and that are located on the side closer to each other in the circumferential direction to each other.

[0106] FIG. 13 is a view showing the assembly structure of the torque sensor 300 of the third embodiment.

[0107] In the torque sensor 300 of the third embodiment, the fixation of the structure 210 on the input side and the structure 220 on the output side with respect to the first structure 310 and the second structure 320 can be performed from both directions sandwiching the torque sensor 300. Therefore, the degree of freedom of the arrangement structure of the torque sensor 300 of the third embodiment is higher than the degrees of freedom of the arrangement structures of the first embodiment and the second embodiment.

[0108] FIG. 14 and FIG. 15 is a view showing the metal material 305 of the elastic body 301 of the third embodiment. In FIG. 14 is a perspective view, and in FIG. 15 is a partially enlarged view.

[0109] The metal material 305 of the third embodiment is a band-shaped metal plate extending in an annular shape, and the elastic body 301 shown in FIG. 12 is formed by being bent.

[0110] The metal material 305 has a first rim portion 351, a second rim portion 352, and a plurality of connecting portions 353. The first rim portion 351 is a ring-like portion along one edge of the strip of the metal material 305, and the second rim portion 352 is a ring-like portion along the other edge of the strip of the metal material 305. The second rim portion 352 is located at a position closer to the inner periphery than the first rim portion 351, and thus the ring of the second rim portion 352 is smaller than the ring of the first rim portion 351.

[0111] The plurality of connecting portions 353 connect the first rim portion 351 and the second rim portion 352 at a plurality of discrete sites along the strip of the metal material 305. The open portions between the first rim portion 351 and the second rim portion 352 that are not connected by the connecting portions 353 become openings 354.

[0112] In the third embodiment, the elastic body 301 is formed by performing a bending process in which a mountain fold shown by a dashed line, a valley fold shown by a single-dot chain line, a valley fold, a mountain fold, a mountain fold, a valley fold, a valley fold, and a mountain fold are repeatedly performed in a ring shape on the metal material 305. That is, at sites sandwiched by mountain fold sites and sites sandwiched by valley fold sites, the outer periphery side becomes the horizontal plate portion 111 of the first structure 110, and the inner periphery side becomes the horizontal plate portion 121 of the second structure 120.

[0113] In addition, at sites sandwiched by valley fold sites and mountain fold sites, the outermost periphery side becomes the vertical plate portion 112 of the first structure 110, and the innermost periphery side becomes the vertical plate portion 122 of the second structure 120, and between them becomes the third structure 330.

[0114] In other words, by the bending process on the metal material 305, the connecting portions 353 become the third structure 330, and the connecting sites among the first rim portion 351 and the second rim portion 352 that are connected by the connecting portions 353 become the vertical plate portions 112, 122. In addition, the open sites among the first rim portion 351 and the second rim portion 352 other than the connecting sites (i.e., sites adjacent to the openings 354) become the horizontal plate portions 111, 121. As a result of the bending process on the metal material 305, the connecting sites that become the vertical plate portions 112, 122 stand up in, for example, the Z direction crossing the open sites that become the horizontal plate portions 111, 121, and the open sites expand along the reference surface from each other. However, the odd-numbered open sites and the even-numbered open sites differ in height in the Z direction.

[0115] Thus, in the third embodiment as well, the elastic body 301 can be formed by bending the metal material 305, and thus the elastic body 301 and the torque sensor 300 can be manufactured inexpensively and in a short period of time.

[0116] FIG. 16 is a view showing a torque sensor 400 of a fourth embodiment, FIG. 17 andFIG. 18 is a view showing a portion of the metal material 405 of the elastic body 401 of the fourth embodiment. In FIG. 17 a perspective view is shown in FIG. 18 a plan view is shown in

[0117] The torque sensor 400 of the fourth embodiment is provided with the elastic body 401 and the same strain gauge (omitted from the drawing) as the first embodiment.

[0118] In the elastic body 401 of the fourth embodiment, as in the second embodiment, the height in the Z direction of the beam structure 340 is lower at the outer peripheral side and higher at the inner peripheral side. That is, the dimension in the Z direction of the longitudinal plate portions 112, 122 is smaller for the first structure 110 than for the second structure 120.

[0119] In addition, in the fourth embodiment, half of the plurality of the lateral plate portions 111, 121 are inclined with respect to the XY plane, and therefore, in order to be fitted to a planar structure, for example, the lateral plate portion 121 of the second structure 320 is provided with a fitting protrusion 402.

[0120] Since the longitudinal plate portion 122 of the second structure 320 is large, the elastic body 401 of the fourth embodiment can be formed from the band-shaped metal material 405 extending in a straight line as shown in FIG. 17 and FIG. 18

[0121] The metal material 405 has a first edge portion 451, a second edge portion 452, and a plurality of connection portions 453. The first edge portion 451 is a straight portion along one edge of the band of the metal material 405, and the second edge portion 452 is a straight portion along the other edge of the band of the metal material 405. The plurality of connection portions 453 connect the first edge portion 451 and the second edge portion 452 at a plurality of discrete positions along the band of the metal material 405. The open portion between the first edge portion 451 and the second edge portion 452 that is not connected by the connection portions 453 becomes an opening 454.

[0122] The elastic body 401 in a ring shape is formed by repeatedly performing bending of the band-shaped metal material 405, in which a valley fold shown by a single-dot chain line, a mountain fold shown by a broken line, a mountain fold, a valley fold, a valley fold, a mountain fold, a mountain fold, and a valley fold are performed.

[0123] In the case of the fourth embodiment as well, at the positions sandwiched by the mountain fold portions and the positions sandwiched by the valley fold portions, the outer peripheral side becomes the lateral plate portion 111 of the first structure 310, and the inner peripheral side becomes the lateral plate portion 121 of the second structure 320.

[0124] ​In addition, at a portion sandwiched by the valley fold portions and the mountain fold portions, the outermost circumferential side becomes the longitudinal plate portion 112 of the first structure 310, the innermost circumferential side becomes the longitudinal plate portion 122 of the second structure 320, and a portion therebetween becomes the third structure 330.

[0125] In other words, by the bending process of the metal material 405, the connection portion 453 becomes the third structure 330, and the connection portions among the first rim portion 451 and the second rim portion 452 connected by the connection portion 453 become the longitudinal plate portions 112, 122. In addition, the open portions among the first rim portion 451 and the second rim portion 452 other than the connection portions (i.e., portions adjacent to the openings 454) become the horizontal plate portions 111, 121. As a result of the bending process of the metal material 405, the connection portions that become the longitudinal plate portions 112, 122 stand in a direction intersecting the open portions that become the horizontal plate portions 111, 121, and the open portions expand toward each other along the reference surface. However, the odd-numbered open portions and the even-numbered open portions differ in height in the Z direction.

[0126] In the case of the fourth embodiment, the mountain folds and the valley folds are inclined in a manner opening toward the lower side of FIG. 18 , and the mountain folds and the valley folds are inclined in a manner opening toward the upper side of FIG. 18 . Also, the total length of the horizontal plate portion 111 and the longitudinal plate portion 112 that become the first structure 110 is equal to the total length of the horizontal plate portion 121 and the longitudinal plate portion 122 that become the second structure 120. Therefore, the annular elastic body 401 can be formed from a linearly extending belt-shaped metal material 405. By using a linear metal material 405, the material utilization efficiency is improved, and further reduction in cost is achieved.

[0127] Further, in the above, a metal member extending in a straight line and a metal member extending in a ring shape are given, but the metal member used for forming the elastic member is not limited to the above, and may, for example, be a metal member extending in an arc shape and not closed or a metal member extending in a wavy meandering shape, etc.

[0128] In addition, in the above, as one example of the use method of the elastic body and the torque sensor of the present disclosure, torque detection of a robot is cited, but the elastic body and the torque sensor of the present disclosure are not limited to the above use method, and can be used in a wide range of torque detection of steering and drive shafts of automobiles, torque detection of rotating shafts of motors and pumps, torque detection of gear shafts of electrically assisted bicycles, etc.

[0129] In addition, it should be considered that the above-described embodiments are illustrative and not limiting in all respects. The scope of the present disclosure is not shown by the above-described embodiments but by the claims, and is intended to include all modifications within the meaning and range equivalent to the claims.

[0130] Further, the present technology can take a configuration such as the following.

[0131] (1) An elastic body comprising:

[0132] a first structure in which a plurality of plate-shaped lateral plate portions extending in a direction along an arbitrary reference surface and a plurality of plate-shaped longitudinal plate portions extending in a direction intersecting the reference surface are arranged in a ring shape along the reference surface and connected to each other;

[0133] a second structure inside the first structure in which the plurality of lateral plate portions and the plurality of longitudinal plate portions are arranged in a ring shape along the reference surface and connected to each other; and

[0134] a plurality of third structures of plate shape connecting the longitudinal plate portions of the first structure and the second structure to each other and extending on an extension line of the longitudinal plate portions.

[0135] (2) The elastic body according to (1), wherein

[0136] a dimension of the longitudinal plate portions of the second structure in the direction intersecting the reference surface is larger than a dimension of the longitudinal plate portions of the first structure in the direction intersecting the reference surface.

[0137] (3) The elastic body according to (1) or (2), wherein

[0138] the longitudinal plate portions have a shape extending in a first direction intersecting the reference surface and turning back to extend in a direction opposite to the first direction.

[0139] (4) The elastic body according to (3), wherein

[0140] the longitudinal plate portions connect end portions of two of the lateral plate portions adjacent to each other in the ring-shaped arrangement on one side of the lateral plate portions,

[0141] the third structures extending in the same surface as rising portions of the longitudinal plate portions extending in the first direction and the third structures extending in the same surface as descending portions of the longitudinal plate portions extending in the direction opposite to the first direction,

[0142] the rising portions, the descending portions, and the third structures extend in both a direction intersecting the reference surface and a direction approaching or departing from a center of the ring shape,

[0143] turning back portions where the longitudinal plate portions turn back connect end portions of the rising portions and the descending portions on a side opposite to the lateral plate portions to each other.

[0144] (5) The elastomer according to (3), wherein

[0145] The third structure releases the first structure and the second structure from each other at a folding site of the longitudinal plate portion.

[0146] (6) The elastomer according to (1) or (2), wherein

[0147] The longitudinal plate portion extends in a first direction intersecting the reference plane, one end of which is connected to the transverse plate portion, and the other end thereof is connected to another transverse plate portion with respect to the one end.

[0148] (7) The elastomer according to (6), wherein

[0149] The longitudinal plate portion connects end portions of two adjacent transverse plate portions in the annular arrangement to each other on a side close to each other in the annular arrangement,

[0150] The longitudinal plate portion of the first structure, the longitudinal plate portion of the second structure, and the third structure expand in the same plane in two directions intersecting the reference plane and approaching and departing from the center of the annular arrangement.

[0151] (8) A torque sensor comprising:

[0152] The elastomer according to any one of (1) to (7); and

[0153] A strain generator located between the first structure and the second structure for detecting relative displacement of the first structure and the second structure.

[0154] (9) A method of manufacturing an elastic member, characterized by comprising:

[0155] A step of preparing a metal member which is a band-shaped metal member extending in a straight line or a curved line, and has a first edge portion along one edge of the band, a second edge portion along the other edge of the band, and a plurality of connection portions connecting the first edge portion and the second edge portion at discrete positions along the band; and

[0156] A step of bending the metal member to process it into a shape in which connection portions connected by the connection portions among the first edge portion and the second edge portion stand in a direction intersecting an open portion other than the connection portions, and the open portions expand from each other along an arbitrary reference plane.

Claims

1. An elastomer, characterized in that, have: A first structure, wherein a plurality of transverse plate portions extending in a direction along an arbitrary reference plane and a plurality of longitudinal plate portions extending in a direction intersecting the reference plane are arranged in a ring and connected along the reference plane. A second structure, located inside the first structure, wherein a plurality of the transverse plates and a plurality of the longitudinal plates are arranged in a ring and connected along the reference plane; and A plurality of plate-shaped third structures connect the longitudinal plate portions of the first and second structures to each other and extend along the extension lines of the longitudinal plate portions.

2. The elastomer according to claim 1, wherein, The dimension of the longitudinal plate portion of the second structure in the direction intersecting the reference plane is greater than the dimension of the longitudinal plate portion of the first structure in the direction intersecting the reference plane.

3. The elastomer according to claim 1, wherein, The longitudinal plate portion has the following shape: it extends from one end connected to the transverse plate portion in a first direction intersecting the reference plane, then turns back and extends in the opposite direction to the first direction and connects to another transverse plate portion.

4. The elastomer according to claim 3, wherein, The longitudinal plate connects the ends of two adjacent transverse plates arranged in a ring to each other on the side closest to each other. The third structure extends in the same plane as the rising portion of the vertical plate extending in the first direction, and the third structure extends in the same plane as the descending portion of the vertical plate extending in the opposite direction to the first direction. The rising portion, the descending portion, and the third structure extend in two directions: one intersecting the reference plane, and the other moving away from the center of the ring. The folding section of the longitudinal plate connects the ends of the rising section and the falling section on the side opposite to the side of the transverse plate.

5. The elastomer according to claim 3, wherein, The third structure releases the first structure and the second structure from each other at the folding point of the longitudinal plate.

6. The elastomer according to claim 1, wherein, The longitudinal plate extends in a first direction intersecting the reference plane, with one end connected to the transverse plate and the other end connected to another transverse plate relative to the first end.

7. The elastomer according to claim 6, wherein, The longitudinal plate connects the ends of two adjacent transverse plates arranged in a ring to each other on the side closest to each other. The longitudinal plate portion of the first structure, the longitudinal plate portion of the second structure, and the third structure extend in the same plane in two directions: one intersecting the reference plane and the other moving away from the center of the ring.

8. A torque sensor, characterized in that, have: The elastomer according to any one of claims 1 to 7; and A strain generator, located between the first structure and the second structure, is used to detect the relative displacement between the first structure and the second structure.

9. A method for manufacturing an elastic component, characterized in that, have: The step of preparing a metal component, wherein the metal component is a strip-shaped metal component extending in a straight or curved shape, and has a first edge along one edge of the strip, a second edge along the other edge of the strip, and a plurality of connecting portions connecting the first edge and the second edge at discrete plurality of locations along the strip; and The step of bending the metal component to form a shape in which the connecting portion of the first edge and the second edge, which is connected by the connecting portion, stands upright in a direction intersecting with the open portions other than the connecting portion, and the open portions extend along any reference plane.

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