CN102645302B - 力传感器、机器人装置、机器人手和检测设备 - Google Patents

力传感器、机器人装置、机器人手和检测设备 Download PDF

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Publication number
CN102645302B
CN102645302B CN201210033391.8A CN201210033391A CN102645302B CN 102645302 B CN102645302 B CN 102645302B CN 201210033391 A CN201210033391 A CN 201210033391A CN 102645302 B CN102645302 B CN 102645302B
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China
Prior art keywords
voltage
hall element
operation part
magnetoelectric conversion
conversion element
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Expired - Fee Related
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CN201210033391.8A
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English (en)
Chinese (zh)
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CN102645302A (zh
Inventor
太田智市郎
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Canon Inc
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Canon Inc
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    • 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
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Manipulator (AREA)
  • Measuring Magnetic Variables (AREA)
CN201210033391.8A 2011-02-15 2012-02-15 力传感器、机器人装置、机器人手和检测设备 Expired - Fee Related CN102645302B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2011029738 2011-02-15
JP2011-029738 2011-02-15

Publications (2)

Publication Number Publication Date
CN102645302A CN102645302A (zh) 2012-08-22
CN102645302B true CN102645302B (zh) 2014-06-18

Family

ID=46636322

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CN201210033391.8A Expired - Fee Related CN102645302B (zh) 2011-02-15 2012-02-15 力传感器、机器人装置、机器人手和检测设备

Country Status (3)

Country Link
US (1) US8661918B2 (enExample)
JP (1) JP5875382B2 (enExample)
CN (1) CN102645302B (enExample)

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USD678377S1 (en) * 2011-06-28 2013-03-19 Kabushiki Kaisha Yaskawa Denki Industrial robot hand
DE102013220466A1 (de) * 2012-10-12 2014-04-17 Northern Digital Inc. Kraftplattform
JP5955738B2 (ja) * 2012-10-15 2016-07-20 Ｔｍｔマシナリー株式会社 張力検出装置
JP6157101B2 (ja) * 2012-12-13 2017-07-05 キヤノン株式会社 ロボット装置
JP5843751B2 (ja) * 2012-12-27 2016-01-13 株式会社ソニー・コンピュータエンタテインメント 情報処理装置、情報処理システム、および情報処理方法
CN104215372B (zh) * 2013-05-31 2016-07-13 中国科学院沈阳自动化研究所 一种机械臂关节扭矩测量装置
DE102014109701A1 (de) * 2014-07-10 2016-01-14 Epcos Ag Sensor
DE102014215723A1 (de) * 2014-08-08 2016-02-11 Siemens Aktiengesellschaft Sensorvorrichtung mit einem Sensorelement für mechanische Spannungen und Greifer mit mechanischen Greifgliedern
KR101685800B1 (ko) * 2015-04-10 2016-12-13 성균관대학교산학협력단 다축 힘 센서 및 이를 이용한 다축 힘을 감지할 수 있는 집게
JP6105674B2 (ja) * 2015-05-28 2017-03-29 ファナック株式会社 ロボットと人間との接触力を監視するロボットシステム
DE102015214170A1 (de) * 2015-07-27 2017-02-02 Kuka Roboter Gmbh Roboter mit einer Kraftmesseinrichtung
JP6325592B2 (ja) * 2016-03-30 2018-05-16 ファナック株式会社 ロボットシステム
JP6756166B2 (ja) * 2016-06-21 2020-09-16 セイコーエプソン株式会社 力覚センサーユニットおよびロボット
EP3290167B1 (de) * 2016-09-01 2021-10-20 J. Schmalz GmbH Handhabungsvorrichtung und verfahren zur überwachung eines handhabungsvorgangs
JP2018119923A (ja) * 2017-01-27 2018-08-02 セイコーエプソン株式会社 力検出装置およびロボット
JP7112385B2 (ja) * 2017-02-28 2022-08-03 株式会社小松製作所 操作レバー
JP6553700B2 (ja) * 2017-11-24 2019-07-31 ファナック株式会社 力検出装置およびロボット
CN108044438B (zh) * 2017-12-12 2019-08-27 武汉理工大学 基于机器人变速控制的汽车铸锻件飞边去除装置及方法
JP6642619B2 (ja) * 2018-04-27 2020-02-05 第一精工株式会社 位置補正装置、ロボット、および接続治具
US11287340B2 (en) 2018-07-02 2022-03-29 Flexiv Ltd. Multi-axis force and torque sensor and robot having the same
WO2020110237A1 (ja) * 2018-11-28 2020-06-04 三菱電機株式会社 接触状態認識装置及びロボットシステム
JP7127513B2 (ja) * 2018-11-30 2022-08-30 トヨタ自動車株式会社 センサシステムおよびロボットハンド
CN111397773B (zh) * 2019-12-17 2021-07-30 浙江工业大学 一种柔性指尖接触传感器及其制备方法
JP7602348B2 (ja) * 2020-11-04 2024-12-18 株式会社Kri 圧力センサー
JP7381091B2 (ja) * 2021-01-25 2023-11-15 株式会社東洋電制製作所 触覚センサ装置及びこれを用いたロボットハンド装置
AU2022218950A1 (en) 2021-02-11 2023-08-31 Mako Surgical Corp. Robotic manipulator comprising isolation mechanism for force/torque sensor
CN113358246B (zh) * 2021-06-17 2024-01-05 上海非夕机器人科技有限公司 感测组件、力和扭矩传感器组件、机器人关节及机器人
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
EP4399489A1 (en) * 2021-09-09 2024-07-17 Melexis Technologies SA Magnetic sensor devices, systems and methods, and a force sensor
US20230103759A1 (en) * 2021-10-05 2023-04-06 Toyota Research Institute, Inc. Robotic Tool Control with Compliant Force/Geometry Sensor
CN114918921B (zh) * 2022-06-08 2024-01-26 苏州艾利特机器人有限公司 一种冗余检测的力传感器及机器人

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4254395A (en) * 1979-12-26 1981-03-03 Robert Bosch Gmbh Electromechanical force converter for measuring gas pressure
JPH02251727A (ja) * 1989-03-27 1990-10-09 Taisei Kogyo Kk 差圧計
US5195382A (en) * 1990-04-20 1993-03-23 The Torrington Company Device for measuring speed and torque on a shaft
CN101539463A (zh) * 2009-04-01 2009-09-23 邱召运 对称互补结构的霍尔差分式测力方法
CN101779110A (zh) * 2007-08-28 2010-07-14 佳能株式会社 磁性力传感器

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US5479607A (en) 1985-08-22 1995-12-26 Canon Kabushiki Kaisha Video data processing system
US6802202B2 (en) * 2001-07-27 2004-10-12 Denso Corporation Method for adjusting accelerator pedal apparatus
DE10229020A1 (de) * 2002-06-28 2004-01-22 Robert Bosch Gmbh Kraftsensor
JP2004325328A (ja) 2003-04-25 2004-11-18 Asahi Kasei Electronics Co Ltd 多分力検出器
JP4201140B2 (ja) * 2004-05-10 2008-12-24 株式会社コルグ 操作子

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4254395A (en) * 1979-12-26 1981-03-03 Robert Bosch Gmbh Electromechanical force converter for measuring gas pressure
JPH02251727A (ja) * 1989-03-27 1990-10-09 Taisei Kogyo Kk 差圧計
US5195382A (en) * 1990-04-20 1993-03-23 The Torrington Company Device for measuring speed and torque on a shaft
CN101779110A (zh) * 2007-08-28 2010-07-14 佳能株式会社 磁性力传感器
CN101539463A (zh) * 2009-04-01 2009-09-23 邱召运 对称互补结构的霍尔差分式测力方法

Also Published As

Publication number Publication date
CN102645302A (zh) 2012-08-22
US20120205931A1 (en) 2012-08-16
US8661918B2 (en) 2014-03-04
JP2012185152A (ja) 2012-09-27
JP5875382B2 (ja) 2016-03-02

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