ES8609704A1 - Un aparato detector de fuerza - Google Patents

Un aparato detector de fuerza

Info

Publication number
ES8609704A1
ES8609704A1 ES547380A ES547380A ES8609704A1 ES 8609704 A1 ES8609704 A1 ES 8609704A1 ES 547380 A ES547380 A ES 547380A ES 547380 A ES547380 A ES 547380A ES 8609704 A1 ES8609704 A1 ES 8609704A1
Authority
ES
Spain
Prior art keywords
detecting
center
respect
force
elastic member
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.)
Expired
Application number
ES547380A
Other languages
English (en)
Other versions
ES547380A0 (es
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fujitsu Ltd
Original Assignee
Fujitsu Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from JP59205721A external-priority patent/JPS6183929A/ja
Priority claimed from JP60057414A external-priority patent/JPS61226285A/ja
Priority claimed from JP60122739A external-priority patent/JPS61292029A/ja
Priority claimed from JP60122738A external-priority patent/JPS61292028A/ja
Application filed by Fujitsu Ltd filed Critical Fujitsu Ltd
Publication of ES547380A0 publication Critical patent/ES547380A0/es
Publication of ES8609704A1 publication Critical patent/ES8609704A1/es
Expired legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L19/00—Details of, or accessories for, apparatus for measuring steady or quasi-steady pressure of a fluent medium insofar as such details or accessories are not special to particular types of pressure gauges
    • G01L19/06—Means for preventing overload or deleterious influence of the measured medium on the measuring device or vice versa
    • 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
    • G01L1/04—Measuring force or stress, in general by measuring elastic deformation of gauges, e.g. of springs
    • G01L1/044—Measuring force or stress, in general by measuring elastic deformation of gauges, e.g. of springs of leaf springs
    • 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
    • G01L1/04—Measuring force or stress, in general by measuring elastic deformation of gauges, e.g. of springs
    • 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
    • G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
    • G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
    • G01L1/2206—Special supports with preselected places to mount the resistance strain gauges; Mounting of supports
    • G01L1/2243—Special supports with preselected places to mount the resistance strain gauges; Mounting of supports the supports being parallelogram-shaped
    • 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
    • G01L5/161—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 ohmic resistance
    • G01L5/1627—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 ohmic resistance of strain gauges
    • 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

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

APARATO DETECTOR DE FUERZA. CONSTA DE: UNAS VARILLAS ANULARES (A, B) QUE FORMAN UNA ESTRUCTURA CRUCIFORME Y TIENEN UNOS MUELLES DE LAMINAS PARALELAS QUE CONFORMAN LOS ORIFICIOS ANULARES (AK, C, CK), Y UNOS CALIBRES DE DEFORMACION (40A, 40B, 40C, 40D, 40E) QUE DETECTAN LOS DESPLAZAMIENTOS DE LOS MUELLES DE LAMINAS PARALELAS AL APLICARSE FUERZAS EN LAS DIRECCIONES DE LOS EJES (X, Y) Y SE UNEN SIMETRICAMENTE CON UN PUNTO CENTRAL; UNOS MIEMBROS DE SOPORTE (31, 32) QUE SE CONECTAN A LAS VARILLAS (A, B) MEDIANTE TORNILLOS DE SUJECION (34, 33); UNA VARILLA DE SALIDA (35) CONECTADA AL MIEMBRO DE SOPORTE (31) POR TORNILLO Y PASA POR EL ORIFICIO CENTRAL Y UNA RUEDA (47) DE LAMINAS CRUCIFORMES Y UNA RUEDA (50) EXTERNA Y DE SUJECION DE (47). SE UTILIZA EN ROBOTS INDUSTRIALES DE AUTOMATIZACION.
ES547380A 1984-09-29 1985-09-27 Un aparato detector de fuerza Expired ES8609704A1 (es)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP59205721A JPS6183929A (ja) 1984-09-29 1984-09-29 力検出装置
JP60057414A JPS61226285A (ja) 1985-03-20 1985-03-20 支持装置
JP60122739A JPS61292029A (ja) 1985-06-07 1985-06-07 力検出装置
JP60122738A JPS61292028A (ja) 1985-06-07 1985-06-07 力検出装置

Publications (2)

Publication Number Publication Date
ES547380A0 ES547380A0 (es) 1986-09-01
ES8609704A1 true ES8609704A1 (es) 1986-09-01

Family

ID=27463498

Family Applications (1)

Application Number Title Priority Date Filing Date
ES547380A Expired ES8609704A1 (es) 1984-09-29 1985-09-27 Un aparato detector de fuerza

Country Status (7)

Country Link
US (2) US4762006A (es)
EP (1) EP0177284B1 (es)
KR (1) KR910000267B1 (es)
AU (1) AU564927B2 (es)
CA (1) CA1259816A (es)
DE (1) DE3584066D1 (es)
ES (1) ES8609704A1 (es)

Families Citing this family (42)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4905523A (en) * 1987-04-24 1990-03-06 Wacoh Corporation Force detector and moment detector using resistance element
DE3937164C2 (de) * 1989-11-08 1993-12-02 Ewald Von Prof Dr Puttkamer Anordnung zur simultanen Messung von Kräften und Momenten
DE4012829C2 (de) * 1990-04-23 1995-11-23 Walter Rieger Vorrichtung zur mehrdimensionalen Kraftmessung und daraus abgeleiteten Größen durch Meßwertaufnahme mittels elektrischer Sensoren, z. B. Dehnungsmeßstreifen
DE4309082A1 (de) * 1993-03-20 1994-09-22 Pietzsch Automatisierungstech Meßvorrichtung zum Vermessen der Form von Zylindern
US5490427A (en) * 1994-10-17 1996-02-13 Fanuc Usa Corporation Six axis force sensor employing multiple shear strain gages
US5648708A (en) * 1995-05-19 1997-07-15 Power Concepts, Inc. Force actuated machine controller
US5936165A (en) * 1997-02-18 1999-08-10 Hughes Electronics Corporation Methods for uniform heating and cooling of large objects
KR100480011B1 (ko) * 2001-12-04 2005-03-30 이종한 스트레인 게이지를 이용한 조이스틱
FR2860474B1 (fr) * 2003-10-02 2006-04-28 Bosch Gmbh Robert Servomoteur electrique d'assistance au freinage et vehicule comportant un tel servomoteur
FI119889B (fi) * 2004-07-15 2009-04-30 Moventas Oy Mittauslaitteisto vaihteiston yhteydessä
JP4779333B2 (ja) * 2004-10-05 2011-09-28 パナソニック株式会社 歪検出装置
US8496647B2 (en) 2007-12-18 2013-07-30 Intuitive Surgical Operations, Inc. Ribbed force sensor
DE102005033527B4 (de) * 2005-07-14 2009-07-16 Schenck Process Gmbh Vorrichtung zur Erfassung von Kräften und/oder Momenten
CN100410640C (zh) * 2005-07-27 2008-08-13 同济大学 变灵敏度荷载传感装置
ITMI20061000A1 (it) * 2006-05-22 2007-11-23 Milano Politecnico Giunto elastico a cerniera sferica traslante e sensore di forze e momenti perfezionato con tale giunto
US7516675B2 (en) * 2007-07-03 2009-04-14 Kulite Semiconductor Products, Inc. Joystick sensor apparatus
US8561473B2 (en) 2007-12-18 2013-10-22 Intuitive Surgical Operations, Inc. Force sensor temperature compensation
EP2131166A1 (en) * 2008-06-03 2009-12-09 Bilwinco A/S Load measuring device
JP2010160048A (ja) * 2009-01-08 2010-07-22 Alps Electric Co Ltd 荷重検出装置、座席および荷重センサ
JP5024358B2 (ja) * 2009-01-08 2012-09-12 株式会社日本自動車部品総合研究所 作用力検出装置
EP2629068B1 (en) * 2010-10-15 2019-12-11 Yamato Scale Co., Ltd. Load cell with overload protection
US8606403B2 (en) 2010-12-14 2013-12-10 Harris Corporation Haptic interface handle with force-indicating trigger mechanism
US8918215B2 (en) * 2011-01-19 2014-12-23 Harris Corporation Telematic interface with control signal scaling based on force sensor feedback
US8918214B2 (en) 2011-01-19 2014-12-23 Harris Corporation Telematic interface with directional translation
US9205555B2 (en) 2011-03-22 2015-12-08 Harris Corporation Manipulator joint-limit handling algorithm
US8694134B2 (en) 2011-05-05 2014-04-08 Harris Corporation Remote control interface
US8639386B2 (en) 2011-05-20 2014-01-28 Harris Corporation Haptic device for manipulator and vehicle control
US9026250B2 (en) 2011-08-17 2015-05-05 Harris Corporation Haptic manipulation system for wheelchairs
US8996244B2 (en) 2011-10-06 2015-03-31 Harris Corporation Improvised explosive device defeat system
US8954195B2 (en) 2012-11-09 2015-02-10 Harris Corporation Hybrid gesture control haptic system
US8965620B2 (en) 2013-02-07 2015-02-24 Harris Corporation Systems and methods for controlling movement of unmanned vehicles
US9128507B2 (en) 2013-12-30 2015-09-08 Harris Corporation Compact haptic interface
JP6476730B2 (ja) 2014-10-21 2019-03-06 セイコーエプソン株式会社 力検出装置及びロボット
US10248093B2 (en) * 2015-12-07 2019-04-02 AndrosRobotics, LLC Compliant force control module
US10222278B2 (en) * 2016-02-25 2019-03-05 Massachusetts Institute Of Technology Directional force sensing element and system
DE102016214434B3 (de) * 2016-08-04 2018-01-11 Dr. Doll Holding Gmbh Kraft-Moment-Sensor für eine Robotikeinheit
DE102016010551B3 (de) * 2016-08-31 2018-02-08 Sensodrive Gmbh Drehmomentsensor mit radialelastischer Momentübertragung
EP3526565A1 (de) * 2016-10-17 2019-08-21 Kistler Holding AG Kraft- und momentensensor, kraftaufnehmermodul für einen solchen kraft- und momentensensor und roboter mit einem solchen kraft- und momentensensor
KR102482611B1 (ko) 2017-11-14 2022-12-30 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 분할 브리지 회로 힘 센서
US20210247249A1 (en) * 2018-08-22 2021-08-12 University Of Utah Research Foundation Force and torque sensor for prosthetic and orthopedic devices
US12070398B2 (en) 2018-08-28 2024-08-27 University Of Utah Research Foundation Variable transmission for assistive prosthesis device
JP2023518787A (ja) 2020-03-20 2023-05-08 ユニバーシティ オブ ユタ リサーチ ファウンデーション 受動型および動力付き外骨格における自己整列機構

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3915015A (en) * 1974-03-18 1975-10-28 Stanford Research Inst Strain gauge transducer system
JPS53103782A (en) * 1977-02-23 1978-09-09 Kyowa Electronic Instruments Humidity proof type convertor
IT1096649B (it) * 1977-06-11 1985-08-26 British Leyland Uk Ltd Sensore di carico
US4125168A (en) * 1977-08-04 1978-11-14 Ormond Alfred N Load cells for flexure isolated electronic scale
JPS54133176A (en) * 1978-04-05 1979-10-16 Matsushita Electric Ind Co Ltd Load detector of electronic measuring instruments
US4181011A (en) * 1978-05-11 1980-01-01 Maatschappij Van Berkel's Patent N.V. Load cell
JPS54158281A (en) * 1978-06-02 1979-12-13 Matsushita Electric Ind Co Ltd Load cell
JPS57169643A (en) * 1981-04-13 1982-10-19 Yamato Scale Co Ltd Load cell for multiple components of force
US4467661A (en) * 1981-10-02 1984-08-28 Maatschappij Van Berkel's Patent N.V. Load cell with overload protection system
CA1237739A (en) * 1982-09-21 1988-06-07 Kazuo Asakawa Supporting device
DE3238951C2 (de) * 1982-10-21 1985-10-17 A.M. Erichsen Gmbh, 5600 Wuppertal Kraftaufnehmer
EP0117334A3 (en) * 1982-11-09 1986-01-15 EMI Limited Arrangement for sensing several components of force
JPS6062497A (ja) * 1983-09-14 1985-04-10 畑村　洋太郎 多軸力センサ
US4573362A (en) * 1984-07-09 1986-03-04 Eaton Corporation Multi-axis load transducer
US4635479A (en) * 1984-08-29 1987-01-13 Massachusetts Institute Of Technology Force sensing apparatus

Also Published As

Publication number Publication date
AU4813985A (en) 1986-04-10
KR860002351A (ko) 1986-04-24
EP0177284B1 (en) 1991-09-11
EP0177284A2 (en) 1986-04-09
AU564927B2 (en) 1987-09-03
ES547380A0 (es) 1986-09-01
US4862751A (en) 1989-09-05
US4762006A (en) 1988-08-09
CA1259816A (en) 1989-09-26
EP0177284A3 (en) 1988-12-07
DE3584066D1 (de) 1991-10-17
KR910000267B1 (ko) 1991-01-23

Similar Documents

Publication Publication Date Title
ES8609704A1 (es) Un aparato detector de fuerza
DE3665935D1 (en) Device for measuring pressure, normal force and bending on canalisations
GB2181537B (en) Coordinate input device
GB2175089B (en) Optical coordinate position input device
IL79175A0 (en) Integrated,force balanced accelerometer
GB8500013D0 (en) Computing device
AU582648B2 (en) Device for connecting two parts
ES8505878A1 (es) Dispositivo de sujecion soltable durante el funcionamiento, especialmente para telefericos de circuito cerrado
AU576084B2 (en) Detecting high load on tool
GB2222458B (en) Coordinate input pad.
DE3566735D1 (en) Device for measuring masses and forces
FR2570937B1 (fr) Dispositif d'approvisionnement en curseurs de fermetures a glissiere.
GB2178166B (en) Optical coordinate input device
GB2177818B (en) Measuring and or regulating the position of a moving reference member of a machine tool depending on the position of a moving main guide member
GB2172233B (en) Hand riveter with force limitation
WO1991008871A3 (en) A transmission coupling for a manipulator head
DE3585800D1 (en) Traeger.
EP0182715A3 (en) Coordinate input device
AU1305388A (en) Ruler for measuring angles between an oriented axis and a vector
GB2211606B (en) Optical coordinate position input device
EP0070991A3 (en) A merge element for bubble devices
DE3865378D1 (es)
GB8427763D0 (en) Pneumatic hammer damping device
Meyers Part 4.2: Self-respect and autonomy
GB8916274D0 (en) Force deflection arrangement

Legal Events

Date Code Title Description
FD1A Patent lapsed

Effective date: 20020506