JP7264136B2 - 力検出装置、力検出システム及び力検出装置の製造方法 - Google Patents
力検出装置、力検出システム及び力検出装置の製造方法 Download PDFInfo
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- JP7264136B2 JP7264136B2 JP2020144899A JP2020144899A JP7264136B2 JP 7264136 B2 JP7264136 B2 JP 7264136B2 JP 2020144899 A JP2020144899 A JP 2020144899A JP 2020144899 A JP2020144899 A JP 2020144899A JP 7264136 B2 JP7264136 B2 JP 7264136B2
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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
- G01L1/142—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 using capacitors
- G01L1/146—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 using capacitors for measuring force distributions, e.g. using force arrays
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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
- G01L1/005—Measuring force or stress, in general by electrical means and not provided for in G01L1/06 - G01L1/22
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- 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
- G01L1/00—Measuring force or stress, in general
- G01L1/18—Measuring force or stress, in general using properties of piezo-resistive materials, i.e. materials of which the ohmic resistance varies according to changes in magnitude or direction of force applied to the material
-
- 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
-
- 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
- G01L5/0061—Force sensors associated with industrial machines or actuators
-
- 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
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Power Engineering (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Description
力検出システム1の校正について、図5などを参照して説明する。力検出装置10において、基板12は、折り曲げられた状態で固定部材13によって固定されている。基板12がどのように折り曲げられて固定部材13に固定されているかは、個々の力検出装置10によって異なるため、ある力が印加されたときに力検出装置10がどのような出力をするかは、個々の力検出装置10によって異なる。
図6に、既に校正値が算出された後の力検出装置10によって、印加された力102及び力103を検出している様子を示す。
続いて、図7に示すフローチャートを参照して、力検出装置10の製造方法の一例について説明する。
10 力検出装置
11 力センサ
12 基板
13 固定部材
14 配線
14A 縦配線
14B 横配線
20 演算装置
21 入力部
22 記憶部
23 表示部
24 制御部
Claims (6)
- 基板と、
前記基板上に形成された複数の力センサと、
前記基板を固定する固定部材と、を備え、
前記固定部材は、ランダムに折り曲げられた状態の前記基板を固定しており、
前記力センサが1つの方向の力のみを検出可能な場合は、少なくとも3つ以上の前記力センサが前記基板上に形成されている、力検出装置。 - 請求項1に記載の力検出装置において、
前記複数の力センサは、前記基板上に2次元に分布して形成されている、力検出装置。 - 請求項1又は2に記載の力検出装置において、
前記基板は、フレキシブルな基板である、力検出装置。 - 請求項1から3のいずれか一項に記載の力検出装置において、
前記固定部材は、樹脂である、力検出装置。 - 請求項1から4のいずれか一項に記載の力検出装置と、演算装置と、を備える力検出システムであって、
前記演算装置は、
前記力検出装置に予め印加された力に基づいて算出された校正値を格納している記憶部と、
前記校正値に基づいて、前記力検出装置に印加された力を算出する制御部と、を備える、力検出システム。 - 力検出装置の製造方法であって、
複数の力センサを基板上に形成するステップと、
前記基板をランダムに折り曲げるステップと、
ランダムに折り曲げられた状態の前記基板を固定部材によって固定するステップと、を含み、
前記形成するステップは、前記力センサが1つの方向の力のみを検出可能な場合は、少なくとも3つ以上の前記力センサを前記基板上に形成する、製造方法。
Priority Applications (4)
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JP2020144899A JP7264136B2 (ja) | 2020-08-28 | 2020-08-28 | 力検出装置、力検出システム及び力検出装置の製造方法 |
EP21191145.8A EP3961172A1 (en) | 2020-08-28 | 2021-08-12 | Force detection device, force detection system, and manufacturing method of force detection device |
US17/406,593 US20220065714A1 (en) | 2020-08-28 | 2021-08-19 | Force detection device, force detection system, and manufacturing method of force detection device |
CN202111002982.4A CN114199443B (zh) | 2020-08-28 | 2021-08-30 | 力检测设备、力检测系统以及力检测设备的制造方法 |
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JP2020144899A JP7264136B2 (ja) | 2020-08-28 | 2020-08-28 | 力検出装置、力検出システム及び力検出装置の製造方法 |
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JP2022039736A JP2022039736A (ja) | 2022-03-10 |
JP7264136B2 true JP7264136B2 (ja) | 2023-04-25 |
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US (1) | US20220065714A1 (ja) |
EP (1) | EP3961172A1 (ja) |
JP (1) | JP7264136B2 (ja) |
CN (1) | CN114199443B (ja) |
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2021
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- 2021-08-19 US US17/406,593 patent/US20220065714A1/en not_active Abandoned
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EP3961172A1 (en) | 2022-03-02 |
CN114199443B (zh) | 2024-06-21 |
CN114199443A (zh) | 2022-03-18 |
JP2022039736A (ja) | 2022-03-10 |
US20220065714A1 (en) | 2022-03-03 |
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