JPS61122539A - Sensor for sense of force - Google Patents

Abstract

PURPOSE:To detect simultaneously a vertical and a horizontal force applied to the work contacting surface of the tip part of a quadrangular prism by providing the tip part and a base part which has a recessed part pairing with the tip part, and also providing a contact pressure sensor to a flank part of the quadrangular prism. CONSTITUTION:Holes through which a holding part 3 is inserted are bored in the quadrangularly primatic recessed part of the sensor base part 1 and the quadrangularly prismatic projection part of the tip part 2 coaxially with the quadrangular prisms, and the holding part 3 is fixed with a pin 4. Four contact pressure sensors 5 are installed between the base part 1 and tip part 2 and connected to an arithmetic processing part 6. Consequently, the horizontal force is detected simultaneously with the vertical force applied to the work contact surface of the tip part 2.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a force sensor that simultaneously detects a force perpendicular to a contact surface and a force horizontal to the contact surface.

BACKGROUND OF THE INVENTION Conventional force sensors attempt to detect only forces in the vertical direction or only in the horizontal direction with respect to the contact surface.

Problems to be Solved by the Invention However, in the field of using force sensors, it is necessary to detect horizontal forces as well as forces perpendicular to the contact surface. In order to do this, the force sensor of the present invention includes a sensor base, a tip portion connected to the base via a square pyramidal surface, and a holding portion that holds the tip portion while pressing it against the sensor base with a predetermined force. It consists of four contact pressure sensors bonded to each side of a square pyramid-shaped surface between the sensor base and tip, and an arithmetic processing unit that processes signals from these four sensors.

Function: With the above configuration, the contact pressure sensor itself can only measure force in a direction perpendicular to the contact surface. A sensor is used to measure force in a direction perpendicular to the workpiece contact surface and force in an arbitrary horizontal direction.

EXAMPLE An example of the present invention will be described below with reference to the drawings. FIG. 1 shows an example of the configuration of the present invention. In FIG. 1, 1. 2 is a sensor base, 2 is a tip connected to the sensor base 1 via a square pyramidal surface, 3 is a holding part that holds the tip 2 while pressing it against the sensor base 1 with a certain pressure, and 4 is a holding part. 3 is a fixing bottle, 5 is a contact sensor, and 6 is an arithmetic processing unit including an amplifier. The concave quadrangular pyramidal shape of the sensor base 1 and the convex quadrangular pyramidal shape of the tip end 2 have a hole coaxially with the quadrangular pyramid through which the holding section 3 passes. It can be stopped.

About the force sensor configured as above 1.
The operation will be explained below using FIGS. 2 and 3.

First, FIG. 2 is an assembly diagram of this embodiment. The tip part 2 is
It is pressed against the sensor base 1 by the spring of the holding part 3.

If the apex angle of the square pyramid of the tip part 2 is θ, and the pressing force of the spring of the holding part 3 is F, then the contact pressure sensors 5a, 5b, 5
The preload applied to each of c and 5d is F F = -□ ``gtnθ.Next, when vertical force and horizontal force act simultaneously on the I-y plane, the I direction and y direction .

Assuming that the forces in two directions are F, F, and F2, and the pressing pressure that the contact pressure sensor receives is FsaeFsb+Fsc*Fsd, 'z=Fsa-θ+Fsb"θ+Fs csfnθ
+F8dsfnθ−F(1)Fy=Fllacosθ−
F, Ccosθ・・・・・・・・・
・(2) Fx=Fsbcosθ−F, dCO3θ
......(3). Therefore, the outputs of contact pressure sensor 5 □ are va and vb.
, va, vd, the calculations to be performed in the arithmetic processing unit 6 are ζ, Ky, , with 0 as a proportionality constant, F, = K, (Vb-Vd) Fy=Ky(Va-VC) F2= becomes 0 at 2(Va+Vb+VC+Vd)-.

As described above, by providing a contact pressure sensor on the square pyramidal tip, the base with a recess that pairs with the tip, and the side surface of the square pyramid, it is possible to apply force in the direction perpendicular to the contact surface. In addition, it is possible to detect the magnitude of force in the horizontal direction.

Effects of the Invention As described above, the present invention includes a sensor base, a tip portion connected to the sensor base via a square pyramidal surface, and a holding device that holds the tip portion while pressing it against the sensor base with a predetermined force. a part, four contact pressure sensors joined to each surface of a square pyramid-shaped surface between the sensor base and the tip part, and an arithmetic processing part that processes signals from the four sensors, Therefore, it is possible to detect both the vertical force and the horizontal force applied to the workpiece contact surface of the tip.

Holding part, 4...Bin, 6...Contact pressure sensor, 6...Arithmetic processing unit.

Name of agent: Patent attorney Toshio Nakao FL Rikishima 1 person No. 351 Sα

Claims (1)

[Claims] A sensor base, a tip portion connected to the sensor base via a square pyramidal surface, a holding portion that holds the tip portion by pressing it against the sensor base with a certain force in advance, and a portion between the sensor base and the tip portion. This is a force sensor consisting of four contact pressure sensors bonded to each side of a square pyramid-shaped surface and an arithmetic processing unit that processes the signals from these four contact pressure sensors. A force sensor is characterized in that it can detect force in the horizontal direction as well as force in the vertical direction.