JPS61122538A - Sensor for sense of force - Google Patents
Sensor for sense of forceInfo
- Publication number
- JPS61122538A JPS61122538A JP59245173A JP24517384A JPS61122538A JP S61122538 A JPS61122538 A JP S61122538A JP 59245173 A JP59245173 A JP 59245173A JP 24517384 A JP24517384 A JP 24517384A JP S61122538 A JPS61122538 A JP S61122538A
- Authority
- JP
- Japan
- Prior art keywords
- support
- force
- shaft
- support mechanism
- sensor
- 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
Links
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明は、産業用ロボット等に用いる力覚センサーに関
するものである。DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a force sensor used in industrial robots and the like.
従来の技術
従来のこの種力覚センサーは、例えば「日経メカニカル
Ｊ １９８３年３月２８日号１０８〜１１１ページに示
されているように、第２図のような構造になっていた。BACKGROUND ART A conventional force sensor of this type had a structure as shown in FIG. 2, for example, as shown in "Nikkei Mechanical J, March 28, 1983 issue, pages 108-111."
すなわち、平行バネとダイヤフラムを使って力ベクトル
を検出するもので、歪みゲージＧ３．Ｇ４の出力を使っ
てＸ、Ｙ方向に働く力ＦＸ、ＦＹを、歪みゲージＧ１．
Ｇ１’、Ｇ２．Ｇ２’の出力を使って上軸にかかる曲げ
モーメントＭｘ２ＭＹと２方向の力Ｆｚ を検出する。That is, it detects a force vector using a parallel spring and a diaphragm, and the strain gauge G3. Using the output of G4, the forces FX and FY acting in the X and Y directions are applied to the strain gauge G1.
G1', G2. The output of G2' is used to detect the bending moment Mx2MY applied to the upper shaft and the force Fz in two directions.
各歪みゲージの取り付は位置を第２図のようにａ、ｌ、
ｍ、ｎで表すと、Ｆ）ｃ ＝ −Ｍ ｅ／ｎ
Ｆｙ＝Ｍｆ／ｍ
Ｆｚ＝（Ｍａ−Ｍｅ）／２ａ
ＭＸ＝（Ｍａ＋Ｍｃ）／２−（１７ｍ）ＭｆＭｙ ＝
（Ｍｂ ＋Ｍｄ ）／２− （ｔ／ｎ ）Ｍｅとなる。To install each strain gauge, move the position a, l,
Expressed in m and n, F) c = -Me/n Fy=Mf/m Fz=(Ma-Me)/2a MX=(Ma+Mc)/2-(17m)MfMy =
(Mb+Md)/2-(t/n)Me.
発明が解決しようとする問題点
しかしながら上記のような構成では、歪みゲージの出力
に比例した量として各力を検出するので、検出部の剛性
を高めると微小な力の検出は難しく、また、微小な力を
検出すると検出部の剛性が低くなるという問題点を有し
ていた。Problems to be Solved by the Invention However, with the above configuration, each force is detected as an amount proportional to the output of the strain gauge, so increasing the rigidity of the detection part makes it difficult to detect minute forces. However, when a large force is detected, the rigidity of the detection part becomes low.
本発明は上記問題点に鑑み、検出部の剛性が高く、かつ
、微小な力の方向と大きさを容易に検出することができ
る力覚センサーを提供するものである。In view of the above-mentioned problems, the present invention provides a force sensor in which the detection part has high rigidity and can easily detect the direction and magnitude of minute force.
問題点を解決するための手段
、 上記問題点を解決するために本発明の
力覚センサーは、軸と、前記軸を支持するように設けた
互いに直交かつ相対する４個の支持部を有する第１の支
持機構と、前記第１の支持機構と間隔を有し、前記軸を
支持するように設けた、前記４個の支持部が構成する直
交軸と一致する互いに直交かつ相対する４個の支持部を
有する第２の支持機構と、前記第１の支持機構と前記第
２の支持機構の前記支持部上にあり、前記軸と接触する
部分に設けた感圧センサーと、前記第１の支持機構と前
記第２の支持機構を保持する保持部と、前記感圧センサ
ーの信号を処理する演算手段という構成を備えたもので
ある。Means for Solving the Problems In order to solve the above-mentioned problems, the force sensor of the present invention has a shaft, and a fourth supporting portion that is orthogonal to each other and opposite to each other and that is provided to support the shaft. one support mechanism, and four mutually orthogonal and opposite support mechanisms that are spaced apart from the first support mechanism and that are provided to support the shaft and that coincide with orthogonal axes constituted by the four support parts. a second support mechanism having a support part; a pressure-sensitive sensor provided on the support parts of the first support mechanism and the second support mechanism and in contact with the shaft; The device includes a support mechanism, a holding section that holds the second support mechanism, and a calculation means that processes the signal from the pressure sensor.
作 用
本発明は上記した構成によって外力を求める演算は、支
持力が式のうえで相殺されることにより、支持力を大き
くし検出部の剛性を高めることができると共に、８個の
出力信号の和と差により外力を演算することにより、微
小な外力を検出することが可能となる。Function The present invention uses the above-described configuration to calculate the external force by canceling out the supporting force using the formula, thereby increasing the supporting force and increasing the rigidity of the detection unit. By calculating the external force using the sum and difference, it becomes possible to detect minute external forces.
実施例
以下本発明の一実施例について、図面を参照しながら説
明する。第１図ａ、ｂ、ｃは本発明の実施例である力覚
センサーを示すもので、軸１は、感圧センサー２を介し
て、前記感圧センサー２が十分に動作する支持力で第１
の支持部３によシ支持されると同時に、感圧センサー４
を介して、前記感圧センサー４が十分に動作する支持力
で第２の支持部５により支持され、第１及び第２の支持
部３，６は保持部６により保持されている。以上のよう
に構成された力覚センサーについて、以下その動作を説
明する。EXAMPLE An example of the present invention will be described below with reference to the drawings. Figures 1a, b, and c show a force sensor according to an embodiment of the present invention. 1
At the same time, the pressure-sensitive sensor 4
The pressure sensitive sensor 4 is supported by the second support part 5 with a sufficient supporting force to operate, and the first and second support parts 3 and 6 are held by the holding part 6. The operation of the force sensor configured as above will be described below.
軸１に外力Ｗが作用すると、感圧センサー４ａ−４ｄ、
２ａ 〜２ｃｌの出力信号Ａ１−Ｄｌ、Ａ２〜Ｄ２は
各々支持力と外力の合成力を示す。このとき第１の支持
部３と第２の支持部６には、外力に応じたＸＹ平面内の
力と偶力を受ける。第１の支持部３と第２の支持部６で
構成される系に作用する外力は、Ｘ方向成分をＦＸ、Ｙ
方向成分をＦｙとすれば、
ＦＸ ＝ （（Ａ１＋Ｂ１ ＋Ａ２＋Ｂ２ ）−（Ｃ１
＋Ｄ１＋Ｃ２＋Ｄ２））／ｉＦｙ ＝ （（Ｂ１＋ＣＩ
＋Ｂ２＋Ｃ２）−（ＡＩ ＋ＤＩ ＋Ａ２＋Ｄ２）
）／ηとなり外力の方向と大きさを検出できる・次に、
第１の支持部３と第２の支持部５の間に発生する偶力は
、Ｘｌ、Ｘ２．とＹｌ 、Ｙ２にｊって構成される平面
内の成分を各々Ｍａ、Ｍβとすれば
Ｍ ＝ （（Ａ１＋Ｂ１÷Ｃ２＋Ｄ２ ）−（Ａ２＋Ｂ
２＋ＣＩ ＋ＤＩ ） ）ＸＬ／ＪＴα
Ｍβ＝ （（Ａ２＋Ｂ１ ＋Ｃ１４−Ｄ２ ）−（ＡＩ
＋Ｂ２＋０２＋ＤＩ ） ）ＸＬ／ｒｉとなり偶力の
中心点、外力の作用点が既知であれば、第１の支持部３
と第２の支持部６で構成される系に作用する偶力の方向
と大きさを検出できる。When an external force W acts on the shaft 1, the pressure sensitive sensors 4a-4d,
The output signals A1-Dl and A2-D2 of 2a to 2cl each indicate the combined force of the supporting force and the external force. At this time, the first support part 3 and the second support part 6 receive a force and a couple in the XY plane according to the external force. The external force acting on the system composed of the first support part 3 and the second support part 6 has an X direction component of FX, a Y direction component of
If the direction component is Fy, then FX = ((A1+B1 +A2+B2)-(C1
+D1+C2+D2))/iFy = ((B1+CI
+B2+C2)-(AI +DI +A2+D2)
)/η, and the direction and magnitude of the external force can be detected・Next,
The couple generated between the first support part 3 and the second support part 5 is Xl, X2. If the components in the plane composed of j and Yl and Y2 are Ma and Mβ, respectively, then M = ((A1+B1÷C2+D2) - (A2+B
2+CI +DI) )XL/JTα Mβ= ((A2+B1 +C14-D2)-(AI
+B2+02+DI) )XL/ri, and if the center point of the couple and the point of action of the external force are known, the first support part 3
It is possible to detect the direction and magnitude of the force couple acting on the system composed of the second support section 6 and the second support section 6.
以上のように本実施例によれば、４個の感圧センサーを
介し支持する第１と第２の支持部を用い軸を支持する事
により、軸にかかる外力と偶力の各々の方向と大きさを
容易に検出することができる。As described above, according to this embodiment, by supporting the shaft using the first and second supporting parts supported through four pressure-sensitive sensors, each direction of the external force and the couple applied to the shaft can be adjusted. The size can be easily detected.
なお、外力、偶力を求める演算は、支持力が式のうえで
相殺される形となっており、また、８個の出力信号の和
と差により各成分力を演算することＫＪ：り、支持力を
大きくし検出部の剛性を高め、かつ、微小な外力、偶力
を検出することが可能である、という利点を有している
。In addition, the calculations for calculating the external force and couple force are such that the supporting force is canceled out using the formula, and each component force is calculated using the sum and difference of the eight output signals. It has the advantage of increasing the supporting force, increasing the rigidity of the detection section, and being able to detect minute external forces and force couples.
また、外力の作用点、偶力の中心点に関係なく、外力・
偶力の方向の検出のみとしても良いことは言うまでもな
い。In addition, regardless of the point of application of the external force or the center point of the couple,
It goes without saying that it is also possible to detect only the direction of the couple.
発明の効果
以上のように本発明は、軸を支持し、軸と接触する部分
に感圧センサーを設けた互いに直交かつ相対する４個の
支持部を間隔を有する様に２組配置し、前記感圧センサ
ー８個の信号を処理する演算手段を設けることにより、
検出部の剛性が高く、かつ、軸にかかる微小な外力と偶
力の各々の方向と大きさを容易に検出することができ、
その実用的効果は大なるものがある。Effects of the Invention As described above, the present invention provides two sets of four mutually orthogonal and opposing support parts that support a shaft and are provided with pressure-sensitive sensors in the portions that come into contact with the shaft. By providing a calculation means to process the signals of eight pressure-sensitive sensors,
The detection part has high rigidity and can easily detect the direction and magnitude of minute external forces and couples applied to the shaft.
Its practical effects are significant.
第１図ａ、ｂ、ｃは本発明の一実施例における力覚セン
サーの正面図及び断面図、第２図は従来の力覚センサー
の構成図である。
１・・・・・・軸、２・・・・・・感圧センサー、３・
・・・・・第１のへ 支持機構、４・・・・・・
感圧センサー、６・・・・・・第２の支持機構、６・・
・・・・保持部。
代理人の氏名 弁理士 中 尾 敏 男 ほか１名第１
図 ｆ−輪
２− 蟲圧亡）７−
Ｇ−１刺八軒FIGS. 1a, b, and c are a front view and a sectional view of a force sensor according to an embodiment of the present invention, and FIG. 2 is a configuration diagram of a conventional force sensor. 1...Axis, 2...Pressure sensor, 3.
・・・・・・Go to 1st Support mechanism, 4・・・・・・
Pressure sensitive sensor, 6...Second support mechanism, 6...
...Holding part. Name of agent: Patent attorney Toshio Nakao and 1 other person No. 1
Figure f-ring 2- Mushi crush) 7- G-1 Sashihachiken
Claims (2)
、かつ相対する４個の支持部を有する第１の支持機構と
、前記第１の支持機構と間隔を有し、前記軸を支持する
ように設けた、前記４個の支持部が構成する直交軸と一
致する互いに直交、かつ相対する４個の支持部を有する
第２の支持機構と、前記第１の支持機構と前記第２の支
持機構の前記支持部上にあり、前記軸と接触する部分に
設けた感圧センサーと、前記第１の支持機構と前記第２
の支持機構を保持する保持部と、前記感圧センサーの信
号を処理する演算手段とを備えた力覚センサー。(1) a first support mechanism having a shaft, a first support mechanism provided to support the shaft and having four mutually orthogonal and opposing support parts; a second support mechanism having four mutually orthogonal and opposing support parts that are arranged to support each other and coincide with orthogonal axes constituted by the four support parts; a pressure-sensitive sensor provided on the support part of the second support mechanism and in contact with the shaft, the first support mechanism and the second support mechanism;
A force sensor comprising: a holding section that holds a support mechanism; and a calculation means that processes a signal from the pressure sensor.
と差を演算する事により、第１の支持機構と第２の支持
機構の各々４個の支持部で構成される２つの直交軸によ
り構成される互いに直交する２つの平面に対し、４５度
の角度を有した直交する２つの平面内の外力を検出する
特許請求の範囲第１項記載の力覚センサー。(2) The calculation means calculates the sum and difference of the signals of the eight pressure-sensitive sensors, thereby forming two support mechanisms each consisting of four support parts, the first support mechanism and the second support mechanism. The force sensor according to claim 1, which detects external force within two orthogonal planes having an angle of 45 degrees with respect to two mutually orthogonal planes constituted by orthogonal axes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59245173A JPS61122538A (en) | 1984-11-20 | 1984-11-20 | Sensor for sense of force |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59245173A JPS61122538A (en) | 1984-11-20 | 1984-11-20 | Sensor for sense of force |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61122538A true JPS61122538A (en) | 1986-06-10 |
Family
ID=17129690
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59245173A Pending JPS61122538A (en) | 1984-11-20 | 1984-11-20 | Sensor for sense of force |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61122538A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0902644A4 (en) * | 1995-06-07 | 1999-03-24 | ||
| US9770826B2 (en) | 2013-11-05 | 2017-09-26 | Seiko Epson Corporation | Force detecting device, robot, electronic component conveying apparatus |
| JP2019190922A (en) * | 2018-04-23 | 2019-10-31 | 株式会社テック技販 | Load cell |
-
1984
- 1984-11-20 JP JP59245173A patent/JPS61122538A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0902644A4 (en) * | 1995-06-07 | 1999-03-24 | ||
| US9770826B2 (en) | 2013-11-05 | 2017-09-26 | Seiko Epson Corporation | Force detecting device, robot, electronic component conveying apparatus |
| US9975250B2 (en) | 2013-11-05 | 2018-05-22 | Seiko Epson Corporation | Force detecting device, robot, electronic component conveying apparatus |
| JP2019190922A (en) * | 2018-04-23 | 2019-10-31 | 株式会社テック技販 | Load cell |
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