ROBOT AND TORQUE SENSOR
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United States of America Patent
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app pub date -
Mar 2, 2017
filing date -
Mar 18, 2016
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Abstract
A robot includes a rotation axis and a torque sensor. The torque sensor is disposed on the rotation axis, and includes a strain generating body and a strain sensor. The strain sensor is mounted on a portion of the strain generating body. The strain generating body includes an inner flange, a ring-shaped outer flange, and a plurality of spokes. The outer flange is disposed further outward than the inner flange in a radial direction of the inner flange. The plurality of spokes are disposed between the inner flange and the outer flange and connect the inner flange and the outer flange to each other. At least one spoke of the plurality of spokes is a separate spoke which is un-integral to the inner flange and the outer flange and on which the strain sensor is mounted.
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