JP5936374B2 - 圧電振動型力センサ及びロボットハンド並びにロボットアーム - Google Patents

圧電振動型力センサ及びロボットハンド並びにロボットアーム Download PDF

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Publication number
JP5936374B2
JP5936374B2 JP2012019708A JP2012019708A JP5936374B2 JP 5936374 B2 JP5936374 B2 JP 5936374B2 JP 2012019708 A JP2012019708 A JP 2012019708A JP 2012019708 A JP2012019708 A JP 2012019708A JP 5936374 B2 JP5936374 B2 JP 5936374B2
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JP
Japan
Prior art keywords
force sensor
substrate
vibrating body
hole
piezoelectric
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 - Fee Related
Application number
JP2012019708A
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English (en)
Japanese (ja)
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JP2012185153A (ja
JP2012185153A5 (enExample
Inventor
鈴木　仁
仁 鈴木
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.)
Canon Inc
Original Assignee
Canon Inc
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
Application filed by Canon Inc filed Critical Canon Inc
Priority to JP2012019708A priority Critical patent/JP5936374B2/ja
Priority to US13/369,254 priority patent/US8887582B2/en
Priority to EP12154873.9A priority patent/EP2490002A3/en
Priority to KR1020120014699A priority patent/KR101467626B1/ko
Priority to CN201210034199.0A priority patent/CN102645292B/zh
Publication of JP2012185153A publication Critical patent/JP2012185153A/ja
Publication of JP2012185153A5 publication Critical patent/JP2012185153A5/ja
Application granted granted Critical
Publication of JP5936374B2 publication Critical patent/JP5936374B2/ja
Expired - Fee Related 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
    • G01L1/16—Measuring force or stress, in general using properties of piezoelectric devices
    • 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
    • G01L1/16—Measuring force or stress, in general using properties of piezoelectric devices
    • G01L1/162—Measuring force or stress, in general using properties of piezoelectric devices using piezoelectric resonators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • 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
    • 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
    • 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
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Manipulator (AREA)
JP2012019708A 2011-02-15 2012-02-01 圧電振動型力センサ及びロボットハンド並びにロボットアーム Expired - Fee Related JP5936374B2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2012019708A JP5936374B2 (ja) 2011-02-15 2012-02-01 圧電振動型力センサ及びロボットハンド並びにロボットアーム
US13/369,254 US8887582B2 (en) 2011-02-15 2012-02-08 Piezoelectric vibration type force sensor and robot apparatus
EP12154873.9A EP2490002A3 (en) 2011-02-15 2012-02-10 Piezoelectric vibration type force sensor and robot apparatus
KR1020120014699A KR101467626B1 (ko) 2011-02-15 2012-02-14 압전 진동형 힘 센서 및 로봇 장치
CN201210034199.0A CN102645292B (zh) 2011-02-15 2012-02-15 压电振动型力传感器和机器人装置

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2011029737 2011-02-15
JP2011029737 2011-02-15
JP2012019708A JP5936374B2 (ja) 2011-02-15 2012-02-01 圧電振動型力センサ及びロボットハンド並びにロボットアーム

Publications (3)

Publication Number Publication Date
JP2012185153A JP2012185153A (ja) 2012-09-27
JP2012185153A5 JP2012185153A5 (enExample) 2015-03-19
JP5936374B2 true JP5936374B2 (ja) 2016-06-22

Family

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Family Applications (1)

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JP2012019708A Expired - Fee Related JP5936374B2 (ja) 2011-02-15 2012-02-01 圧電振動型力センサ及びロボットハンド並びにロボットアーム

Country Status (5)

Country Link
US (1) US8887582B2 (enExample)
EP (1) EP2490002A3 (enExample)
JP (1) JP5936374B2 (enExample)
KR (1) KR101467626B1 (enExample)
CN (1) CN102645292B (enExample)

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US10272307B2 (en) 2012-11-27 2019-04-30 Group One Limited Tennis net tension system including service let indication feature
CN103994845B (zh) * 2013-02-19 2019-09-10 精工爱普生株式会社 力检测装置、机械手、以及移动体
JP6163900B2 (ja) * 2013-06-13 2017-07-19 セイコーエプソン株式会社 力検出装置およびロボット
JP6235262B2 (ja) * 2013-07-23 2017-11-22 上田日本無線株式会社 表面にて圧力変化を起こす物体の圧力変化の測定方法
JP6125938B2 (ja) * 2013-07-23 2017-05-10 上田日本無線株式会社 測定対象物の圧力変化を圧電振動子を用いて検知する方法
JP6335460B2 (ja) 2013-09-26 2018-05-30 キヤノン株式会社 ロボットシステムの制御装置及び指令値生成方法、並びにロボットシステムの制御方法
US9705069B2 (en) * 2013-10-31 2017-07-11 Seiko Epson Corporation Sensor device, force detecting device, robot, electronic component conveying apparatus, electronic component inspecting apparatus, and component machining apparatus
JP6252241B2 (ja) * 2014-02-27 2017-12-27 セイコーエプソン株式会社 力検出装置、およびロボット
KR102177156B1 (ko) 2014-03-10 2020-11-10 삼성전자주식회사 로봇 및 그를 구비한 기판 처리 장치
JP2015184005A (ja) * 2014-03-20 2015-10-22 セイコーエプソン株式会社 力検出装置、およびロボット
KR101685800B1 (ko) * 2015-04-10 2016-12-13 성균관대학교산학협력단 다축 힘 센서 및 이를 이용한 다축 힘을 감지할 수 있는 집게
US10580605B2 (en) 2015-11-23 2020-03-03 University Of Utah Research Foundation Very low power microelectromechanical devices for the internet of everything
US10110757B2 (en) * 2016-02-16 2018-10-23 Canon Kabushiki Kaisha Printing apparatus and notification method of printing apparatus abnormality in a printing apparatus
CN105522586B (zh) * 2016-02-22 2018-01-12 北京锐洁机器人科技有限公司 半导体机器人末端执行机构
CN107627315A (zh) * 2016-07-18 2018-01-26 广明光电股份有限公司 机器手臂的力/力矩感测器
JP6862762B2 (ja) * 2016-10-28 2021-04-21 セイコーエプソン株式会社 力検出センサー、力覚センサーおよびロボット
JP6874513B2 (ja) * 2017-04-28 2021-05-19 セイコーエプソン株式会社 力検出装置およびロボット
CN209072302U (zh) * 2018-08-03 2019-07-05 瑞声科技（南京）有限公司 振动电机
JP6812510B2 (ja) * 2018-08-09 2021-01-13 キヤノン株式会社 振動型アクチュエータ及びそれを有する電子機器
CN110138372B (zh) 2019-04-25 2021-04-09 华为技术有限公司 触压按键组件、控制电路和电子设备
DE102020216234A1 (de) * 2020-12-18 2022-06-23 Contitech Antriebssysteme Gmbh Vorrichtung zur Erfassung von mechanischen Normalspannungen in einem Elastomerbauteil sowie Normalspannungssensor hierfür
JP2023006242A (ja) * 2021-06-30 2023-01-18 セイコーエプソン株式会社 圧電センサーおよびハンド
TWI824320B (zh) 2021-10-18 2023-12-01 國立中山大學 力量感測裝置及其感測器、壓電元件
EP4243222B1 (de) * 2022-03-09 2024-05-15 WEZAG GmbH & Co. KG Crimpzangen-kraftsensor und crimpzange

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Also Published As

Publication number Publication date
CN102645292B (zh) 2014-11-12
EP2490002A2 (en) 2012-08-22
KR101467626B1 (ko) 2014-12-01
US8887582B2 (en) 2014-11-18
CN102645292A (zh) 2012-08-22
EP2490002A3 (en) 2015-12-23
US20120204656A1 (en) 2012-08-16
JP2012185153A (ja) 2012-09-27
KR20120093779A (ko) 2012-08-23

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