Patent ID: 11898922
Assignee: KABUSHIKI KAISHA YASKAWA DENKI
Field: Measurement (Instruments)
Classification: CPC G  B | IPC B  G

Claim 18:
19. A robot comprising a torque sensor at a tip of an arm, wherein
the torque sensor includes
a strain body, and
a sensor configured to detect a deformation of the strain body,

the strain body includes
an outer peripheral body having a ring shape,
an inner peripheral body of which at least a part is disposed inside the outer peripheral body in a radial direction, and
a protrusion provided in the outer peripheral body, and protruding from an end of the inner peripheral body in an axial direction toward one side of the axial direction, and the torque sensor further includes
a seal disposed between the protrusion and a functional operator to which the outer peripheral body or the inner peripheral body is fixed, the functional operator including a slide bearing that is provided with an outer ring, and an inner ring rotatable with respect to the outer ring along with a sliding body disposed between the inner ring and the outer ring.