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Force sensor

A technology of force sensor and main body, applied in the field of six-axis force sensor, can solve the problems such as the damage of the strain body and the shape of the strain body not returning to its original state.

Active Publication Date: 2019-10-25
COPAL ELECTRON CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Here, when an excessive external force is applied to the strain body, the deformation of the strain body exceeds the limit, and even after the external force is removed, there is a possibility that the shape of the strain body does not return to its original shape, or damage occurs in the strain body

Method used

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Experimental program
Comparison scheme
Effect test

no. 1 approach

[0039] [structure]

[0040] the whole frame

[0041] figure 1 It is a perspective view showing the force sensor of the first embodiment. figure 2 It is a plan view showing the force sensor of the first embodiment. The force sensor 10 of the first embodiment is used, for example, in a robot arm, and detects force and torque in the XYZ axis directions. As an example, a six-axis force sensor will be described.

[0042] Such as figure 1 and figure 2 As shown, the force sensor 10 includes a cylindrical main body 11 and a cylindrical movable body 12 movable relative to the main body 11 . The main body 11 is fixed to, for example, the main body of an unillustrated robot arm or the like. The movable body 12 functions as, for example, a mounting plate or the like for mounting a hand portion of a robot arm (not shown) to the upper surface thereof.

[0043] The main body 11 is the base part of the force sensor 10, and the movable body 12 is provided with an elastically deformab...

no. 2 approach

[0105] (Second Embodiment (an example provided with a member for suppressing thermal expansion (thermal expansion suppressing member)))

[0106] The second embodiment relates to measures against thermal expansion of the strain body 16, and relates to the strain body 16 provided with a thermal expansion suppressing member. Figure 10 It is a sectional view showing the force sensor 10A of the second embodiment.

[0107] Figure 10 The force sensor 10A shown differs from the first embodiment in that the second stopper 24A is formed of the same material as the strain body 16 , and the second stopper 24A functions as a thermal expansion suppressing member of the strain body 16 . In addition, at least a portion of the second stopper 24A attached to the strain body 16 by the bolt 18 is in contact with the strain body 16 .

[0108] Figure 11 It is a plan view showing the strain body 16 of the force sensor of this embodiment. Such as Figure 11 As shown, the strain body 16 includ...

no. 3 approach

[0120] (Third Embodiment (an example provided with a waterproof and dustproof structure))

[0121] The third embodiment relates to an example of a force sensor having a waterproof and dustproof structure. Figure 12 It is a sectional view showing the force sensor 10B of the third embodiment.

[0122] Such as Figure 12 As shown, the force sensor 10B of the third embodiment is different from the first and second embodiments in that it further includes a rubber member 41 (first sealing member) as a waterproof and dustproof member 40 , and a foam member (third sealing member). 42, and a cover member (second sealing member) 43. The rubber member 41 covers the opening 13 provided on the side surface of the force sensor 10B. The cover member 43 is attached to the movable body 12 and covers the upper surface and side surfaces of the movable body 12 and a part of the rubber member 41 . The foam member 42 covers the main body 11 and the gap between the rubber member 41 and the cove...

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Abstract

Provided is a force sensor which is capable of inhibiting breakage of a strain body, and improving reliability, even if the rigidity of the strain body differs in the axial direction. A force sensor 10 according to an embodiment of the present application has a main body 11 which is cylindrical. A cylindrical movable body 12 is capable of moving with respect to the main body, and has at least three circular openings 13 provided to the circumference. A strain body 16 is fixed to the main body and the movable body, and is capable of deforming in accordance with the movement of the movable body.A strain sensor 16a is provided to the strain body. First stoppers 14 are provided inside each of the openings, and are provided with first outer circumferential surfaces having a first external diameter that is smaller than the diameter of the openings. A cylindrical second stopper 24 is provided a first distance away from a first inner circumferential surface of the main body, and is provided with a second outer circumferential surface having a second external diameter that is smaller than the diameter of the first inner circumferential surface.

Description

technical field [0001] Embodiments of the invention relate to six-axis force sensors used, for example, in robotic arms and the like. Background technique [0002] For example, a force sensor is known which is used in a robot arm or the like and detects external force and torque in the XYZ axis direction (for example, refer to Patent Documents 1 and 2). [0003] In such a force sensor, an external force applied to a movable part as a force receiving body is transmitted to, for example, a strain body, and the deformation of the strain body is converted into an electrical signal by a deformation sensor (strain gauge), thereby detecting force and torque. [0004] Here, when an excessive external force is applied to the strain body, the strain body deforms beyond the limit, and even after the external force is removed, the shape of the strain body may not return to its original shape, or damage may occur in the strain body. [0005] Therefore, in order to protect the strain bod...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L5/16G01L1/26
CPCB25J19/02G01L1/22G01L1/26G01L5/16G01L5/1627B25J13/085G01L3/108
Inventor 远藤嵩幸
Owner COPAL ELECTRON CO LTD