CN101779110A - 磁性力传感器 - Google Patents

磁性力传感器 Download PDF

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Publication number
CN101779110A
CN101779110A CN200880025638A CN200880025638A CN101779110A CN 101779110 A CN101779110 A CN 101779110A CN 200880025638 A CN200880025638 A CN 200880025638A CN 200880025638 A CN200880025638 A CN 200880025638A CN 101779110 A CN101779110 A CN 101779110A
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CN
China
Prior art keywords
magnetic
magnetic flux
source
produces
along
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN200880025638A
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English (en)
Chinese (zh)
Inventor
佐藤修一
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Canon Inc
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Canon Inc
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Publication date
Application filed by Canon Inc filed Critical Canon Inc
Publication of CN101779110A publication Critical patent/CN101779110A/zh
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/14—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G01L5/164—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in inductance

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Measuring Magnetic Variables (AREA)
CN200880025638A 2007-08-28 2008-08-13 磁性力传感器 Pending CN101779110A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2007221295 2007-08-28
JP221295/2007 2007-08-28
PCT/JP2008/064767 WO2009028355A1 (en) 2007-08-28 2008-08-13 Magnetic force sensor

Publications (1)

Publication Number Publication Date
CN101779110A true CN101779110A (zh) 2010-07-14

Family

ID=40387078

Family Applications (1)

Application Number Title Priority Date Filing Date
CN200880025638A Pending CN101779110A (zh) 2007-08-28 2008-08-13 磁性力传感器

Country Status (6)

Country Link
US (1) US8453523B2 (enExample)
EP (1) EP2188606A4 (enExample)
JP (1) JP5376859B2 (enExample)
KR (1) KR101270359B1 (enExample)
CN (1) CN101779110A (enExample)
WO (1) WO2009028355A1 (enExample)

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CN102645302A (zh) * 2011-02-15 2012-08-22 佳能株式会社 力传感器、机器人装置、机器人手和检测设备
CN102788655A (zh) * 2012-08-14 2012-11-21 北京金风科创风电设备有限公司 风机载荷的测量装置、系统和风机控制系统
CN103512694A (zh) * 2012-06-29 2014-01-15 佳能株式会社 力传感器和包括力传感器的机器人臂
CN103765177A (zh) * 2011-07-28 2014-04-30 Ntn株式会社 直动致动器用的磁性负载传感器以及直动致动器
CN110799799A (zh) * 2017-06-02 2020-02-14 爱德拜克私人有限公司 位移测量装置
WO2022261887A1 (en) * 2021-06-17 2022-12-22 Shanghai Flexiv Robotics Technology Co., Ltd. Sensing assembly, force and torque sensor assembly, robot joint and robot

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EP2513620B1 (en) * 2009-12-15 2020-05-13 Canon Kabushiki Kaisha Magnetic force sensor
JP5836633B2 (ja) * 2011-05-10 2015-12-24 キヤノン株式会社 力覚センサ及び組立ロボット
JP5833405B2 (ja) * 2011-10-11 2015-12-16 Ntn株式会社 直動アクチュエータ用の磁気式荷重センサおよび直動アクチュエータ
US9453769B2 (en) 2014-08-25 2016-09-27 Maglogix, Llc Method for developing a sensing system to measure the attractive force between a magnetic structure and its target by quantifying the opposing residual magnetic field (ORMF)
US10201901B2 (en) 2015-01-29 2019-02-12 Canon Kabushiki Kaisha Robot apparatus, method for controlling robot, program, and recording medium
JP6771888B2 (ja) * 2015-01-29 2020-10-21 キヤノン株式会社 ロボット装置、制御方法、物品の製造方法、プログラム及び記録媒体
WO2016145011A1 (en) * 2015-03-09 2016-09-15 Worcester Polytechnic Institute Soft-body deformation and force sensing
EP4219093B1 (en) * 2015-08-26 2025-04-02 Berkshire Grey Operating Company, Inc. Systems and methods for providing contact detection in an articulated arm
ES2935283T3 (es) 2015-09-01 2023-03-03 Berkshire Grey Operating Company Inc Sistemas y métodos para proporcionar sistemas de control robótico dinámico
US11370128B2 (en) 2015-09-01 2022-06-28 Berkshire Grey Operating Company, Inc. Systems and methods for providing dynamic robotic control systems
EP4088889A1 (en) 2015-11-13 2022-11-16 Berkshire Grey Operating Company, Inc. Sortation systems and methods for providing sortation of a variety of objects
US10371257B2 (en) 2015-11-30 2019-08-06 Denso Corporation Rotational drive apparatus and shift-by-wire system having the same
CN108472814B (zh) 2016-01-08 2021-07-16 伯克希尔格雷股份有限公司 用于获取并移动物体的系统和方法
DE102016111262B3 (de) * 2016-06-20 2017-12-07 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Kraft-Momenten-Sensor
JP6501746B2 (ja) 2016-10-07 2019-04-17 キヤノン株式会社 変位測定装置、ロボット、ロボットアーム及び物品の製造方法
JP6686966B2 (ja) 2017-05-17 2020-04-22 株式会社デンソー 回転式アクチュエータ
CN109643141B (zh) * 2017-02-28 2020-12-25 株式会社小松制作所 操作杆
CN115319788A (zh) 2017-03-06 2022-11-11 伯克希尔格雷运营股份有限公司 用于有效地移动各种物体的系统和方法
JP6843726B2 (ja) 2017-10-17 2021-03-17 キヤノン株式会社 力覚センサ及びロボット
JP6626075B2 (ja) * 2017-11-28 2019-12-25 ファナック株式会社 変位検出方式の６軸力センサ
US11865722B2 (en) 2018-01-17 2024-01-09 Berkshire Grey Operating Company, Inc. Systems and methods for efficiently moving a variety of objects
CA3189612A1 (en) 2020-07-22 2022-01-27 Berkshire Grey Operating Company, Inc. Systems and methods for object processing using a vacuum gripper that provides object retention by evacuation
US11945103B2 (en) 2020-07-22 2024-04-02 Berkshire Grey Operating Company, Inc. Systems and methods for object processing using a passively collapsing vacuum gripper
CN115112286A (zh) * 2021-03-19 2022-09-27 美蓓亚三美株式会社 应变体、力传感器装置
CA3248499A1 (en) 2022-01-21 2023-07-27 Berkshire Grey Operating Company, Inc. Systems and methods for processing objects with programmable motion devices using yawing motion gripping devices

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JP2005221418A (ja) * 2004-02-06 2005-08-18 Tdk Corp 圧力センサ
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Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102645302B (zh) * 2011-02-15 2014-06-18 佳能株式会社 力传感器、机器人装置、机器人手和检测设备
CN102645302A (zh) * 2011-02-15 2012-08-22 佳能株式会社 力传感器、机器人装置、机器人手和检测设备
US8661918B2 (en) 2011-02-15 2014-03-04 Canon Kabushiki Kaisha Force sensor, robot apparatus, robot hand, and detecting device
CN103765177B (zh) * 2011-07-28 2015-12-02 Ntn株式会社 直动致动器用的磁性负载传感器以及直动致动器
CN103765177A (zh) * 2011-07-28 2014-04-30 Ntn株式会社 直动致动器用的磁性负载传感器以及直动致动器
CN103512694B (zh) * 2012-06-29 2016-03-23 佳能株式会社 力传感器和包括力传感器的机器人臂
US9027417B2 (en) 2012-06-29 2015-05-12 Canon Kabushiki Kaisha Force sensor and robot arm including force sensor
CN103512694A (zh) * 2012-06-29 2014-01-15 佳能株式会社 力传感器和包括力传感器的机器人臂
CN102788655B (zh) * 2012-08-14 2014-07-02 江苏金风科技有限公司 风机载荷的测量装置、系统和风机控制系统
CN102788655A (zh) * 2012-08-14 2012-11-21 北京金风科创风电设备有限公司 风机载荷的测量装置、系统和风机控制系统
CN110799799A (zh) * 2017-06-02 2020-02-14 爱德拜克私人有限公司 位移测量装置
CN110799799B (zh) * 2017-06-02 2022-04-29 爱德拜克私人有限公司 位移测量装置
WO2022261887A1 (en) * 2021-06-17 2022-12-22 Shanghai Flexiv Robotics Technology Co., Ltd. Sensing assembly, force and torque sensor assembly, robot joint and robot
US20240033946A1 (en) * 2021-06-17 2024-02-01 Shanghai Flexiv Robotics Technology Co., Ltd. Sensing assembly, force and torque sensor assembly, robot joint and robot
US12042929B2 (en) * 2021-06-17 2024-07-23 Shanghai Flexiv Robotics Technology Co., Ltd. Sensing assembly, force and torque sensor assembly, robot joint and robot

Also Published As

Publication number Publication date
US20100175487A1 (en) 2010-07-15
KR101270359B1 (ko) 2013-05-31
EP2188606A4 (en) 2012-06-27
EP2188606A1 (en) 2010-05-26
US8453523B2 (en) 2013-06-04
WO2009028355A1 (en) 2009-03-05
JP5376859B2 (ja) 2013-12-25
JP2009075083A (ja) 2009-04-09
KR20100056534A (ko) 2010-05-27

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Application publication date: 20100714