INTERACTION FORCE DETECTION APPARATUS

• US 20180188123A1
• Filed: 02/13/2017
• Published: 07/05/2018
• Est. Priority Date: 12/29/2016
• Status: Active Grant

• Current Assignee: Industrial Technology Research Institute
• Original Assignee: Industrial Technology Research Institute
• Granted Patent: US 10,436,654 B2
• Time in Patent Office: Days
• CPC Class Codes: G01L 1/22 using resistance strain gauges
• CPC Class Codes: G01L 1/2206 Special supports with preselected places to mount the resistance strain gauges; Mounting of supports
• CPC Class Codes: G01L 1/2231 the supports being disc- or ring-shaped, adapted for measuring a force along a single direction
• CPC Class Codes: G01L 3/108 involving resistance strain gauges
• CPC Class Codes: G01L 3/1457 involving resistance strain gauges
• CPC Class Codes: G01L 5/0052 measuring forces due to impact G01L5/0061, G01L5/14 take precedence; impact testing of structures G01M7/08; impact testing of material G01N3/00
• CPC Class Codes: G01L 5/162 of piezoresistors

Abstract

An interaction force detection apparatus includes a sensor, a driving element, a moving element, and a connecting element. The connecting element is connected to the driving element and the sensor. The driving element is adapted to interact with the moving element, so as to generate a pair of forces. The pair of forces includes a first force and a second force, and a magnitude of the first force is equal to that of the second force. The sensor detects the first force exerted on the driving element, and the second force is exerted on the moving element to generate a movement.

Claims

1. An interaction force detection apparatus, comprising:

a sensor;

a driving element;

a moving element; and

a connecting element connecting the driving element and the sensor, wherein the sensor is fixed to the driving element through the connecting element, wherein the sensor is separated from the moving element by the driving element, the driving element is adapted to interact with the moving element to generate a pair of forces comprising a first force and a second force, a magnitude of the first force is equal to that of the second force, the sensor detects the first force exerted on the driving element, and the second force is exerted on the moving element to generate a movement.

2. The interaction force detection apparatus of claim 1, wherein the sensor comprises at least one elastic element, a stiffness of the at least one elastic element is less than a stiffness of the connecting element and is less than a stiffness of the driving element.

3. The interaction force detection apparatus of claim 1, further comprising a fixed base, wherein the sensor connects the fixed base and the connecting element, wherein the sensor is between the fixed base and the driving element.

4. The interaction force detection apparatus of claim 3, further comprising an integrated circuit chip disposed in an accommodating space of the sensor.

5. The interaction force detection apparatus of claim 1, wherein the moving element comprises a motor rotor and a motor shaft, the motor rotor is fixed to the motor shaft, the connecting element comprises a motor casing, the driving element comprises a motor stator fixed to the motor casing, and the sensor is a torque sensor.

6. The interaction force detection apparatus of claim 5, further comprising a fixed base, wherein the torque sensor connects the motor casing and the fixed base.

7. The interaction force detection apparatus of claim 6, wherein the torque sensor comprises a first cover plate, a second cover plate, at least one pillar, at least one strain gauge and an integrated circuit chip, the first cover plate and the second cover plate are disposed in opposite to each other, the at least one pillar connects the first cover plate and the second cover plate to define an accommodating space, the integrated circuit chip is disposed in the accommodating space, and the at least one strain gauge is disposed on the at least one pillar.

8. An interaction force detection apparatus, comprising:

a sensor comprising at least one strain gauge and at least one elastic element, the at least one strain gauge being disposed on the at least one elastic element;

a driving element;

a moving element;

a connecting element connecting the driving element and the sensor, wherein the sensor is fixed to the driving element through the connecting element; and

an integrated circuit chip disposed in an accommodating space of the sensor, wherein the sensor is separated from the moving element by the driving element, the driving element is adapted to interact with the moving element to generate a pair of forces comprising a first force and a second force, a magnitude of the first force is equal to that of the second force, the sensor detects the first force exerted on the driving element and the at least one strain gauge transmits an electrical signal to the integrated circuit chip accordingly, and the second force is exerted on the moving element to generate a movement.

9. The interaction force detection apparatus of claim 8, a stiffness of the at least one elastic element is less than a stiffness of the connecting element and is less than a stiffness of the driving element.

10. The interaction force detection apparatus of claim 8, wherein the moving element comprises a motor rotor and a motor shaft, the connecting element comprises a motor casing, the driving element comprises a motor stator fixed to the motor casing, and the sensor is a torque sensor.

11. The interaction force detection apparatus of claim 10, wherein the torque sensor comprises a first cover plate and a second cover plate, the at least one elastic element is at least one pillar, the at least one pillar connects the first cover plate and the second cover plate to define an accommodating space, the integrated circuit chip is disposed in the accommodating space, and the at least one strain gauge is disposed on the at least one pillar.

12. An interaction force detection apparatus, comprising:

a sensor comprising at least one strain gauge;

a driving element;

a moving element;

a connecting element connecting the driving element and the sensor, wherein the sensor is fixed to the driving element through the connecting element;

an integrated circuit chip disposed in an accommodating space of the sensor; and

a base, wherein the sensor connecting the base and the connecting element, the sensor is separated from the moving element by the driving element, the driving element is adapted to interact with the moving element to generate a pair of forces comprising a first force and a second force, a magnitude of the first force is equal to that of the second force, the sensor detects the first force exerted on the driving element and the at least one strain gauge transmits an electrical signal to the integrated circuit chip accordingly, and the second force is exerted on the moving element to generate a movement.

13. The interaction force detection apparatus of claim 12, wherein the moving element comprises a motor rotor and a motor shaft, the connecting element comprises a motor casing, the driving element comprises a motor stator fixed to the motor casing, and the sensor is a torque sensor further comprising a first cover plate, a second cover plate and at least one pillar, the first cover plate and the second cover plate are disposed in opposite to each other, the first cover plate connects the motor casing, the second cover plate connects the base, the at least one pillar connects the first cover plate and the second cover plate to define an accommodating space, the integrated circuit chip is disposed in the accommodating space, and the at least one strain gauge is disposed on the at least one pillar.

14. The interaction force detection apparatus of claim 13, wherein the motor casing comprises a first wall, a second wall opposite to the first wall, and a side wall connecting the first wall and the second wall, the motor shaft penetrates the first wall, the motor stator is fixed to the side wall, and the torque sensor connects the second wall.

15. The interaction force detection apparatus of claim 13, further comprising a printed circuit board, wherein the integrated circuit chip is disposed on the printed circuit board, the printed circuit board and the integrated circuit chip are disposed in the accommodating space, and the integrated circuit chip is electrically connected to the printed circuit board and is electrically connected to the at least one strain gauge.