Interaction force detection apparatus

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.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims the priority benefit of Taiwan application serial no. 105143747, filed on Dec. 29, 2016. The entirety of the above-mentioned patent application is hereby incorporated by reference herein and made a part of this specification.

BACKGROUND

Technical Field

The disclosure relates to an interaction force detection apparatus.

Related Art

According to the present motor torque detection technologies, for example, a sensor apparatus, e.g., a torque sensor, is disposed on a rotary axis of a motor for measuring an output torque by the motor directly. However, the torque sensor has an input/output signal line; during the rotation of the rotary axis, the rotary axis may be entangled with the signal line, and the signal line may be pulled apart consequently. The torque sensor may merely be applied to measure a static torque of the motor as a result, and applications of the torque sensor are thus limited.

At present, a carbon brush may be used by the torque sensor to transmit signals. However, an abrasion may occur when the carbon brush is being used, thus resulting in an increase in the repair and maintenance difficulties. Besides, although the torque sensor may be disposed between an output terminal and a load terminal of the motor through a planetary gear set, lubrication oil used to lubricate a rotation member such as the gear set or a rotation axis may pollute the torque sensor. Moreover, when the rotation member of the motor operates, the ambient temperature may be increased, which also affects characteristics of the torque sensor as well as the sensing accuracy and the reliability of the torque sensor as a result.

SUMMARY

An interaction force detection apparatus is introduced herein by the disclosure, wherein a sensor of the interaction force detection apparatus is connected to a connecting element, and the sensor may detect a magnitude of a reaction force exerted on a driving element through the connecting element.

An interaction force detection apparatus is introduced herein by the disclosure, and the interaction force detection apparatus is equipped with an integrated circuit (IC) chip disposed in an accommodating space of the sensor, so as to calculate the magnitude of the reaction force exerted on the driving element.

An interaction force detection apparatus is introduced herein by the disclosure. The interaction force detection apparatus has a base, and the driving element and the connecting element may be fixed to the base through the sensor.

In an embodiment of the disclosure, 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 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 first force exerted on the driving element is detected by the sensor, and the second force is exerted on the moving element to generate a movement.

In an embodiment of the disclosure, an interaction force detection apparatus includes a sensor, a driving element, a moving element, a connecting element, and an IC chip. The sensor includes a strain gauge and an elastic element, and at least one strain gauge is disposed on the elastic element. The connecting element is connected to the driving element and the sensor. The IC chip is disposed in an accommodating space of the sensor. The driving element is adapted to interact with the moving element 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 first force exerted on the driving element is detected by the sensor, such that an electrical signal is transmitted to the IC chip by a strain gauge. The second force is exerted on the moving element to generate a movement.

In an embodiment of the disclosure, the interaction force detection apparatus provided by the disclosure includes a sensor, a driving element, a moving element, a connecting element, an IC chip, and a base. The sensor includes at least one strain gauge. The connecting element is connected to the driving element and the sensor. The IC chip is disposed in an accommodating space of the sensor. The sensor is connected to the base and the connecting element. The driving element is adapted to interact with the moving element 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 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.

In view of the foregoing, as provided in the embodiments of the disclosure, the sensor of the interaction force detection apparatus is disposed outside the driving element, the moving element, and the connecting element, and the sensor is not connected to the moving element. In addition, the action force may be applied on the moving element by the driving element, and the reaction force generated from the moving element in response to the action force is exerted on the driving element at the same time. Furthermore, the reaction force exerted on the driving element may be transmitted to the sensor through the connecting element. The reaction force exerted on the driving element is detected by the sensor, and the magnitude of the reaction force is calculated by the sensor.

DETAILED DESCRIPTION OF DISCLOSURED EMBODIMENTS

FIG. 1is a schematic diagram illustrating an interaction force detection apparatus according to an exemplary embodiment. The embodiment provides that an interaction force detection apparatus100includes a driving element110, a moving element120, a connecting element130, and a sensor140. As shown inFIG. 1, the moving element120is located at a side of the driving element110. The driving element110is fixed on the connecting element130. Furthermore, the sensor140is connected to the other side of the connecting element130. In other words, as shown inFIG. 1, the connecting element130is connected to the sensor140and the driving element110, respectively.

In the embodiment, the driving element110is adapted to interact with the moving element of120through an interaction force, and a pair of forces FPis generated and applied to the driving element110and the moving element120, respectively. The pair of forces FPincludes two forces that have equal magnitude but face opposite directions. The pair of forces FP may be contact-type interaction forces, for example, an action force and a reaction force generated when two bodies collide or an action force and a reaction force generated when one body impacts the other body. The pair of forces FPmay also be non-contact-type action-at-a-distance forces, for example, electrostatic forces between two bodies with electric charges or magnetic forces between two magnetic bodies.

As provided in the embodiment, the pair of forces FP includes a first force F1and a second force F2. A magnitude of the first force F1is equal to that of the second force F2. As shown inFIG. 1, the first force F1is applied to the driving element110, and the second force F2is applied to the moving element120. A movement of the moving element120(e.g., a displacement or a rotation) is generated when the second force F2is exerted on the moving element120. The first force F1is transmitted to the sensor140by the driving element110through the connecting element130.

In the embodiment, the sensor140includes elastic element142and a strain gauge144disposed on the elastic element142. According to the above, a corresponding strain is generated by the elastic element142according to a magnitude of the first force F1transmitted by the connecting element130to the sensor140. A magnitude of the strain of the elastic element142is measured by the strain gauge144, and the magnitude of the first force F1exerted on the driving element110is calculated according to the magnitude of the strain of the elastic element142. The embodiment provides that a magnitude of the second force F2corresponding to the first force F1is further calculated by the interaction force detection apparatus100through the calculated and obtained first force F1.

In the embodiment, a stiffness of the elastic element142of the sensor140is less than a stiffness of the connecting element130and less than a stiffness of the driving element110, such that the sensor140is equipped with a higher detection sensitivity. However, a certain magnitude of the stiffness of the elastic element142of the sensor140is still required, so as to prevent a fracture of the elastic element142itself due to an excessive strain generated when the first force F1is applied on the elastic element142.

Furthermore, as the driving element110is connected to the sensor140through the connecting element130, if the stiffness of the elastic element142of the sensor140is too small, the elastic element142may be easily strained by various external forces, an extra strain is thus generated, and thereby the sensing accuracy of the sensor140is affected. In addition, when the stiffness of the elastic element142of the sensor140is too small, the driving element110is also moved owing to the large strain of the elastic element142; thereby, an abnormal movement of the driving element110is generated, the stability of the driving element110is further affected, and an unexpected movement is generated by the moving element120.

Referring toFIG. 1, the interaction force detection apparatus100further includes a base170disposed on one side of the sensor140. The embodiment provides that the base170may be a first fixed element172inFIG. 1. The sensor140is connected to the connecting element130and the first fixed element172, so a greater strain is generated when the first force F1transmitted through the connecting element130is applied on the sensor140. As such, the detection sensibility of the sensor140is enhanced. In addition, the interaction force detection apparatus100is fixed to the first fixed element172through the sensor140.

As shown inFIG. 1, in the embodiment, the base170may also be a second fixed element174located on the other side of the driving element110. Therefore, the interaction force detection apparatus100is fixed to the second fixed element174through the driving element110.

In the embodiment, appropriate adjustment to the location of the base170may be made according to actual applications of the interaction force detection apparatus100, such that the interaction force detection apparatus100is fixed through the base170itself or is fixed to a wall or various working platforms through the base170.

FIG. 2Ais a schematic diagram illustrating an interaction force detection apparatus according to another exemplary embodiment.FIG. 2Bis a schematic diagram illustrating partial components of the interaction force detection apparatus ofFIG. 2A. The embodiment provides that the first force F1exerted on the driving element210is detected by the interaction force detection apparatus200during the operation of the motor, and thereby a torque of the motor F2is calculated.

As shown inFIG. 2A, the interaction force detection apparatus200may include a driving element210, a moving element220, a connecting element230, and a sensor240. The embodiment provides that the driving element210is a motor stator, the moving element220includes a motor rotor222and a motor shaft224, and the motor rotor222is fixed to the motor shaft224. In addition, the connecting element230is a motor casing230. The motor casing230includes a first wall232, a second wall234opposite to the first wall232, and a side wall236connected between the first wall232and the second wall234. The motor casing230is penetrated by the motor shaft224from the first wall232.

In the embodiment, the sensor240of the interaction force detection apparatus200is disposed on the second wall234of the motor casing230, and as shown inFIG. 2A, the sensor240is disposed on an outer side of the motor casing230. Specifically, the sensor240is a torque sensor of the motor, and the sensor240is equipped with a first cover plate241and a second cover plate243disposed opposite to each other. At least one pillar242connected to the first cover plate241and the second cover plate243. The first cover plate241is connected to the second wall234of the motor casing230, and an accommodating space245is defined by the first cover plate241, the second cover plate243, and at least one pillar242. The embodiment provides that the at least one pillar242is an elastic element and generates a strain in response to the first force F1. In addition, the strain gauge244is disposed on the at least one pillar242of the sensor240, so as to measure the strain generated by the at least one pillar242when the first force F1is exerted on the driving element210.

Referring toFIG. 2B, the embodiment provides that the sensor240further includes a printed circuit board247and an IC chip248disposed on the printed circuit board247. The printed circuit board247and the IC chip248are disposed in the accommodating space245defined by the first cover plate241, the second cover plate243, and the at least one pillar242. In addition, the IC chip248is electrically connected to the strain gauge244through the printed circuit board247, so as to receive an electrical signal from the strain gauge244. The electrical signal is processed and analyzed by the IC chip248. Furthermore, the printed circuit board247of the sensor240may further be electrically connected to an external apparatus or an external power source (not shown) disposed outside the interaction force detection apparatus200, and thereby the electrical signal is transmitted to the external apparatus, or the printed circuit board247is electrically coupled to the external power source. If the printed circuit board247and the IC chip248are disposed in the accommodating space245, a situation of the signal line being entangled with the motor shaft224and being pulled apart can be prevented.

As shown inFIG. 2A, the sensor240further includes a base249located on one side of the second cover plate243opposite to the at least one pillar242. In the embodiment, the interaction force detection apparatus200is fixed through the base249of the sensor240or fixed to a flat surface through the base249. For example, the interaction force detection apparatus200is fixed to a wall or other working platforms (not shown), so as to enhance the stability of the interaction force detection apparatus200during operation and to prevent the driving element210or the motor casing230of the interaction force detection apparatus200from generating an abnormal movement or an abnormal displacement which affects the sensing accuracy of the sensor240.

Specifically, in the embodiment, a pair of forces is generated when a magnetic field of the motor stator210interacts with a magnetic field generated by the motor rotor222. The pair of forces is non-contact-type (action-at-a-distance forces), and the pair of forces includes the first force F1exerted on the motor stator210and the second force F2exerted on the motor rotor222. The motor shaft224is driven by the second force F2to rotate about the direction of the right arrow as shown inFIG. 2A. In the embodiment, the correspondingly generated first force F1is also exerted on the motor stator210. In addition, the first force F1exerted on the motor stator210is transmitted through the motor casing230to the sensor240connected to the motor casing230. Since the first force F1and the second force F2have equal magnitude but face opposite directions, when the first force F1is detected by the sensor240, the second force F2exerted on the rotor is obtained. In other words, an output torque of the motor (i.e., the second force F2) is obtained through the detection of the sensor240.

The first force F1transmitted by the motor casing230is applied on the sensor240, and the first force F1allows the at least one pillar242of the sensor240to generate the corresponding strain. Next, the amount of a strain of the at least one pillar242is measured by the strain gauge244, and the electrical signal derived from the strain measurement is transmitted to the IC chip248. The electrical signal of the strain gauge244is received and processed by the IC chip248, and the signal is thereby calculated and analyzed. The embodiment provides that a magnitude of the first force F1exerted on the motor stator210and the motor casing230is calculated by the IC chip248according to the amount of the strain of the at least one pillar242. Based on the magnitude of the first force F1, the second force F2exerted on the motor rotor222and the motor shaft224is thereby calculated, and the output torque of the motor is further obtained.

In the embodiment, the magnitude of the first force F1exerted on the motor stator210is detected by the sensor240through the motor casing230, and the output torque of the motor is thereby calculated. Therefore, the sensor240is located outside the motor casing230without connecting the motor shaft224. Furthermore, since a gear set is not required for connecting the sensor240and the motor shaft224, the abrasion between the gear set and a bearing of the motor shaft224can be prevented, and an output torque of the motor can also be prevented from being further affected.

Similarly, since the sensor240is located outside the motor casing230without connecting the motor shaft224, lubrication oil used to lubricate the motor shaft224does not pollute the sensor240. In other words, the sensor240provided the embodiment is isolated from the motor casing230and thus not affected by environmental factors within the motor casing230, for example, an operation temperature of the motor or pollutions from various lubrication oils. As such, the sensor240can be maintained and repaired easily, and reliability of the sensor240is further enhanced.

The sensor240provided in the embodiment is disposed in a way that a power line, a signal line, or other electrical signal transmission lines (not shown) of the sensor240does not have to pass through the motor shaft224. Thus, during the rotation of the motor shaft224, the power line or the signal line of the sensor240is thus prevented from being abraded or pulled apart due to the entanglement with the motor shaft224. Therefore, in the embodiment, the effects on the transmission path of the electrical signal can be avoided, and thereby the stability of the signal transmission is enhanced.

In view of the foregoing, the interaction force detection apparatus in the embodiments of the disclosure is used to measure the first force exerted on the motor casing when the motor operates, and thereby the output torque of the motor is calculated. In the embodiments of the disclosure, the sensor used to detect the motor torque is located outside the motor casing. When the motor operates, the first force exerted on the motor stator can be exerted on the sensor through the motor casing. The magnitude of the first force and the output torque of the motor are calculated by the IC chip of the sensor according to the magnitude of the strain generated by the pillar which is strained by the first force measured by the strain gauge. Therefore, the output torque of the motor provided in the embodiments of the disclosure is calculated by the sensor of the interaction force detection apparatus directly through the first force transmitted by the motor casing. Because, in the embodiments of the disclosure, it does not need to have the sensor disposed on the motor shaft, the output torque of the motor is prevented from torque loss caused by the gear set.

Meanwhile, since the sensor is disposed outside the motor casing, the sensor is not affected by the environmental factors within the motor casing, for example, the operation temperature or pollutions from the lubrication oil. The sensing accuracy of the sensor is thus enhanced, and the sensor can be easily maintained. In addition, in view of the foregoing, the sensor provided in the embodiments of the disclosure is not required to be disposed on the motor shaft of the motor, entanglement of lines between the motor shaft and the sensor can be effectively prevented, and transmission reliability of the electrical signal of the sensor is thus enhanced.