JPS63113327A - Load detector - Google Patents

Abstract

PURPOSE:To facilitate the arrangement work of a detection element and to simplify the structure, by providing a square pillar-shaped load detection part and a thin plate-shaped load detection part. CONSTITUTION:The first square pillar-shaped load detection part 11 is connected to a load transmitting part 10 and the second load detection part consisting of thin plates 17a, 17d is connected between the first load detection part 11 and a load transmitting part 15. The first part 11 is a columnar body having a square cross-section, and parallel plate structures 12, 13 are constituted in the columnar body. Strain gauges S31-S34 are adhered to the parallel plate structures 12, 13 and strain gauges Sa1-Sa4, Sb1-Sb4, Sc1-Sc4, Sd1-Sd4 are adhered to the thin plates 17a-17d.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a load detector that separates and detects loads applied to various objects into forces in orthogonal axial directions and moments around these axes. .

[Conventional technology]

Detecting the load (force, moment) applied to an object is essential in many fields.

For example, when performing assembly work, polishing, or deburring work using a high-performance robot, it is necessary to accurately detect the force acting on the robot's hand, and it is also necessary to perform model tests on aircraft, ships, vehicles, etc. When implementing this, the main item is to detect the load applied to each part. A load detector with excellent performance for detecting such loads has been proposed in Japanese Patent Laid-Open No. 60-62497. The schematic configuration will be explained below with reference to the drawings.

FIG. 11 is a perspective view of a conventional load detector. In the figure, 1
are columnar bodies; la, lb, lc, and ld are overhanging portions of the columnar body 1 extending in the X- and Y-axis directions; and 2 are through holes formed in the center of the columnar body 1 in the Z-axis direction. 3a, 3b, 3c.

3d are respective overhangs 1a+ 1b+ lc,
It is a parallel plate structure composed of rectangular through holes in the Z-axis direction in ld. Further, 4a, 4b, 4c, and 4d are parallel plate structures constituted by rectangular through holes that reach the central through hole 2 from the intermediate portions of the respective overhanging portions 1a, xb, and 1c+ld. Each parallel plate structure 3a to 3d, 4
a to 4d have mutually parallel thin-walled portions 5.5' and strain gauges S formed by rectangular through holes. Only the parallel plate structure 3a is labeled with the reference numeral for these thin portions 5.degree. 5' and the strain gauge S, and the reference numerals are omitted for the others. The strain gauge S is attached near the boundary (indicated by a broken line in the figure) between the thin wall portion 5.degree. 5' and the portion connected thereto. 6 is the overhanging portion 1b, 1
One load transmitting part connected to d, 7 is an overhanging part 1a,
This is the other load transmission section connected to 1c. A load detector configured in this manner is usually manufactured by subjecting a single block to turning, drilling, and the like.

In the above load detector, a force F in the X-axis direction and a moment MX around the X-axis are generated between the load transmitting parts 6 and 7.

When the moment MV around the Y-axis acts, these are detected by the parallel plate structure 4a+ 4tz 4c+ 4d, and the force FX in the X-axis direction, the force FV in the Y-axis direction,
When moments M2 about the Z axis act, these are detected by the parallel plate structures 3a, 3b, 3c, 3d.

That is, this load detector can detect force components in three axial directions and moment components around the three axes.

[Problem that the invention seeks to solve]

The conventional load detector described above has already been put into practical use, and its excellent performance has been recognized. However, at the time of manufacture, eight holes had to be machined in order to form the parallel plate structures 38 to 3d, 4a to 4d, and there was a problem in that the process was troublesome.

Furthermore, when pasting each strainer and wire S, the number of surfaces to be pasted is 8 in total for the parallel plate structures 3a to 3d, 2 in total for the parallel plate structures 48 to 4d (upper and lower surfaces in the figure), There was also the problem that there were 10 sheets in total, making the pasting work troublesome.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems of the prior art, and to provide a structural hourly load detector that is easy to process and install a detection element such as a strain gauge.

[Means for solving problems]

In order to achieve the above object, the present invention provides a first load transmitting part and a second load transmitting part facing the first load transmitting part, and a prismatic first load detecting part in the second load transmitting part. A second load detecting section is configured by connecting the thin plates outward from the four edges of the first load detecting section and connecting them to the first load transmitting section. The detection section has two parallel plate structures perpendicular to each other, and detection elements are provided at predetermined locations on these parallel plate structures, and the second load detection section is also provided with detection elements at predetermined locations. shall be.

[For production]

There is a force Fz in two axes between the first load transmitting part and the second load transmitting part, and moments M and l around the X axis.

When the moment MY around the Y-axis acts, these loads are detected by detecting the deformation of the thin plate constituting the second load detection section with the detection element, and the force FX in the X-axis direction
When a force Fv in the Y-axis direction and a moment M2 around the Z-axis act, these loads are detected by detecting deformation of the parallel plate structure configured in the first load detection section with a detection element.

〔Example〕

Hereinafter, the present invention will be explained based on illustrated embodiments.

2 is a front view of a load detector according to an embodiment of the present invention, FIG. 2 is a plan view thereof, and FIG. 3 is a sectional view taken along the line ■--■ shown in FIG. In each figure, 10 is a load transmitting part on which a load acts, and 11 is a columnar load detecting part coupled with the load transmitting part 10. The columnar load detection section 11 is a columnar body with a quadrangular cross section, and a parallel plate structure 12.13 is configured by forming through holes in the columnar body in the X-axis direction and the Y-axis direction, respectively.

Strain gauges So1 are located at the illustrated positions near the boundaries of the thin-walled portions of the parallel plate structure 12 (two on the line along the central Z-axis and one at long equidistant positions on both sides of the one).
”'S34 is pasted.The number in parentheses indicates the code of the strain gauge pasted at the corresponding position on the opposite side.Similarly, S I In S I 2+S!l+
"22 indicates a strain gauge attached on a line along the central Z-axis in the parallel plate structure 13.

Reference numeral 15 denotes the other load transmitting section provided opposite to the load transmitting section 10. As shown in detail in FIGS. 2 and 3, the load transmitting portion 15 is composed of an annular body having a circular outer circumference and a substantially rectangular inner circumference. A small circular recess 16 is formed.

17a, 17b, 17c, and 17d are thin plates extending along the X-Y plane from each side of the rectangle of the columnar load detection section 11. Each of these thin plates 17a, 17b, 17c
, 17d has a rectangular shape with a small semicircular convex part (corresponding to the concave part 16 of the load transmitting part 15) in the center,
Its outer end is connected to the lower part of the load transmitting part 15. These thin plates 17a, 17b, 17c, and 17d constitute a thin plate-like load detection section. Note that 18 indicates the space portions that appear at the four corners due to the above configuration.

The boundary extension line between each thin plate and the load transmission section 15 in the semicircular convex portion of each thin plate 17a, 17b, 17c, and 17d, and the X axis.

A strain gauge S is placed on each intersection with the line along the Y axis.
al+ S I+I'+ S CI+ S 4
1 is pasted, and each thin plate 17a, 17b, 17c
, 17d and the intersection with the line along the X-axis and Y-axis on the boundary of the columnar load detection unit 11, and at equal distances on both sides thereof, there are strain gauges S, 2 to S@4+5bz-8b, respectively.
ar Scz~5car 5at-3a4 are attached in the illustrated positional relationship.

The strain gauges attached to each parallel plate structure 12.13 of the columnar load detection section 11 and each of the thin plates 17a to 17d of the thin plate load detection section constitute a Wheatstone bridge circuit by combining predetermined strain gauges. Figures 4(a) to (fl are circuit diagrams of these Wheatstone bridge circuits. In each figure, 20 is a power supply, fX, fV, f2
．． mX, -m, and m2 indicate output signals. Each strain gauge is given the same reference numeral as shown in FIGS. 1 to 3.

Next, three axial forces and three
The detection operation of this embodiment when a moment about an axis is applied will be explained with reference to FIGS. 4(a) to 4(f) above and FIGS. 5 to 9 shown below.

(1) Detection operation of force Fz Force FZ (fifth
When a force (in the direction of the arrow in the figure) acts, each of the thin plates 17a to 17d of the thin plate-like load detection section deforms as shown in FIG. In this case, the deformation of each of the thin plates 17a to 17d is the same, and it is clear that large deformations occur at the joints with the load detection section 11 and the joints with the load transmission section 5. and,
Due to this deformation, the strain gauges Sag~Sm4+Sb! of each of the thin plates 17a~17d! ~Sba+Sct~Sc4
．． Correspondingly, the same amount of tensile strain occurs in S4□ to S44. On the other hand, when joining the load transmitting part 15, deformation seems to occur also along the concave part 16, but this is because the load transmitting part 15 is sufficiently rigid and the concave part 16 is sufficiently small. , each thin plate 17a to 17d
In the convex portion corresponding to the concave portion 16, each thin plate 17
Deformation occurs on an extension of the straight joint between a to 17d and the load transmitting portion 15. Therefore, the same amount of compressive strain occurs in each of the strain gauges S0 to Sdl attached on this extension line, as shown in FIG. 5, in accordance with the deformation.

Therefore, if a Wheatstone bridge is constructed by selecting strain gauges as shown in FIG. 4(a), a signal f8 proportional to the force Fyo can be obtained.

When the force F8 is applied, no output is produced from any circuit other than the Wheatstone bridge circuit shown in FIG. 4(a). That is, first of all, if we look at the Wheatstone bridge circuit shown in FIG. , no output is produced from this circuit. This also applies to the Wheatstone bridge circuit of FIG. 4(C).

Next, let's take a look at the Wheatstone bridge circuit shown in FIG. 4(d), (ed, (fl).
1 parallel plate structure 12.13, force F2 acts along the plane of each of their thin sections. Therefore, the force F,
In contrast, the rigidity of each thin wall part is extremely high, and almost no strain occurs in each strain gauge attached to each thin wall part, and even if it does occur, the strain will be the same amount and the same sign. . For this reason, Fig. 4 (di, (e)
, (No output is produced from the Wheatstone bridge circuit shown in fl.

In this way, when force F is applied, as shown in Fig. 4(a)
Since a signal f proportional to the Wheatstone bridge circuit shown in FIG.

(2) Moment MX detection operation Moment MX around the X axis between the load transmission parts 10 and 15
Let us consider a case in which the force acts in the direction of the arrow shown in FIG. Note that FIG. 6 is a partial cross-sectional view taken along the line Vl-VI shown in FIG. 2. In this case, since the load transmitting part 15 is sufficiently rigid and the thin plates 17a to 17d are not restrained from each other due to the existence of the space 18, 1, II plate 17b, 1
7d is deformed only in the Y-Z plane as shown in FIG.

Due to this deformation, the same amount of compressive strain is generated in the strain gauges 5bt-5ba of the thin plate 17b, the same amount of tensile strain is generated in the strain gauge S, and furthermore, the strain gauges S1 to S1 of the thin plate 17d are generated. The same amount of tensile strain as the strain gauge of the thin plate 17b occurs in Sd4, and the same amount of compressive strain as these occurs in the strain gauge Sat. Therefore, if a Wheatstone bridge circuit is constructed by selecting strain gauges as shown in FIG. 4(b), a signal mX proportional to the moment M can be obtained.

Here, Fig. 4 (
Looking at the output of the circuit shown in al, the moment Mx
In some cases, the portions of the thin plates 17a and 17c along the X axis do not deform because this portion serves as the neutral axis of deformation, and therefore, the strain gauge S all S 8
17 S cll S c! No distortion occurs.

Then, strain gauges sb, s□ have the same amount of strain and opposite sign as described above, and strain gauges Sbl
Since distortion of the same amount and opposite sign occurs in +sag, there is no output from the circuit shown in FIG. 4(a).

Next, let's look at the output of the circuit shown in FIG. 4(C).

In this case, the strain gauge S ml that constitutes the circuit
S c,r S a4+ S c4 is attached at a position offset from the neutral axis of the above deformation and therefore causes distortion. To see this strain, moment M
Let us consider the deformation of thin plates 17a and 17c when X acts on them. In the deformation shown in FIG. 6 caused by the moment Mx, the load transmitting portion 15 maintains the same plane because its rigidity is sufficiently large. For this reason, thin plate 1
7a and 17c are the columnar load detection section 11 and the load transmission section 15
A slight tear deformation occurs between the two. This torsional deformation is the seventh
It is shown in a perspective view in the figure. When the load transmitting section 15 changes from the unloaded attitude shown by the two-dot chain line in the figure to the attitude when the moment Mx is applied, shown by the solid line, the strain gauge Sal+
SB□ is on the above-mentioned neutral axis and does not cause distortion, but
Since the strain gauge 513e Sad is off the neutral axis, it produces strain. Although the strain is minute because the distance from the neutral axis is small, the strain gauge S0 has a tensile strain, and the strain gauge sag has the same amount of compressive strain. The same applies to the thin plate i7c and the strain gauge attached thereto. From the above, in the circuit shown in the 41st ffl(C), the strain gauges S mff+ se4 have the same amount of strain and opposite signs, and the strain gauges S C3+ S
Since C4 is also distorted by the same amount and opposite sign, there is no output from the circuit.

Next, let's look at the outputs of the circuits shown in FIGS. 4(d), (e), and (f). When moment MX acts, -
Compressive stress is generated on one side, and tensile stress is generated on the other side, but since these stresses are generated along the plane of the thin-walled portion, the thin-walled portion exhibits high rigidity. Therefore, almost no deformation occurs in the thin wall portion of the parallel plate structure 12, and even if deformation occurs, it will cause a minute compressive strain (or minute tensile strain) in the strain gauges S31'''S34, and a minute compressive strain (or minute tensile strain) in the strain gauges S41 to S44. A minute tensile strain (or a minute compressive strain) is generated, and their absolute values are equal. From the above, even if the moment MX acts, Fig. 4(e), (
There is no output from the Wheatstone bridge circuit shown in f).

Also, when looking at the parallel plate structure 13, Momen) MX
When this occurs, both thin-walled portions exhibit extremely high rigidity and rarely undergo deformation because the stress generated in them is along their planes.

Moreover, strain gauge SII+ SL! +5a
lt Six is the moment M in the Y-Z plane,
Since it lies on a vertical line passing through the central axis (X-axis) of , it hardly causes any distortion. Therefore, Fig. 4(d)
There is no output from the Wheatstone bridge circuit shown in .

In this way, when the moment MX acts, the fourth
A signal mX proportional to the Wheatstone bridge circuit shown in Figure (b) can be obtained, and since there is no output from other circuits, highly accurate detection can be achieved.

(3) Detection operation of moment Mv It is clear that the detection operation in this case is the same as the detection operation when moment MX acts. Then, a signal my proportional to the acting moment M can be obtained from the Wheatstone bridge circuit shown in FIG. 4(C).

However, in the moment MY detection operation, the same stress that was generated in the thin wall portion of the parallel plate structure 12 when the moment MX was applied is generated in the thin wall portion of the parallel plate structure 13.
Conversely, the same stress that occurs in the thin wall portion of the parallel plate structure 13 is generated in the thin wall portion of the parallel plate vi structure 12, so that when a minute strain occurs in the strain gauge of these parallel plate structures 12 and 13, the minute strain is different. can be seen. However, from the positional relationship of the strain gauges, it is clear that there is no output from the circuit shown in Figure 4(dl, (e)) when the moment MY acts.Therefore, the circuit shown in Figure 4(f) shows the Think about circuits.

Moment) When Mv acts, a corresponding stress is generated in the thin wall portion of the parallel plate structure 12. However, since this stress is applied along the surface of the thin-walled portion, the rigidity of the thin-walled portion is extremely high, and almost no strain occurs in each strain gauge. In particular, strain gauge S31+S3□+
341+ S4□ is on the vertical line passing through the moment center axis (Y axis) on the X-2 plane, so the strain is O
Close to. On the other hand, strain gauge S 3++
Since S 341 S a *+ S 44 is attached at a position quite far from the central axis, it generates a slight strain. That is, tensile strain occurs on one side of the central axis, and compressive strain occurs on the other side. The amount of strain is the same since the strain gauges on both sides are attached at the same position from the central axis. this,
Looking at the circuit shown in Figure 4<f), the strain gauges S and 4°S43 produce the same amount of strain in opposite directions, and the strain gauges 533r and 533r S44 also produce the same amount of strain in the opposite direction, so the output of the circuit There will be no.

In this way, when the moment M7 acts, the fourth
A signal m7 proportional to this is output from the Wheatstone bridge circuit shown in FIG.

(4) Detection operation of force FX Consider the case where a force FX in the X-axis direction acts between the load transmitting parts 10 and 15 in the direction shown in FIG. In addition, Figure 8 is the second
FIG. 3 is a partial cross-sectional view taken along the line m-m shown in the figure. In this case, due to the characteristics of the parallel plate structure, significant deformation occurs in the thin portion of the parallel plate structure 13, as shown in FIG. Due to this deformation, strain gauges S++ and Szz generate tensile strain, and strain gauge 5Iffi+ sz+ generates compressive strain, and the amounts of these strains are the same. therefore,
A signal fX proportional to the force Fx can be obtained from the Wheatstone bridge circuit shown in FIG. 4(dl).

Here, Fig. 4 (a) to (C) when force FX is applied
.

Consider the output of the circuit shown in (el, (f)).

First, the force FX acts on each of the thin plates 17a to I7d along their planes. Therefore, each thin plate 17a to 17
d exhibits high rigidity against force FX and hardly deforms. Among these, there is a possibility that deformation will occur in the thin plates 17a and 17c, but even if deformation occurs, the deformation will be extremely small, and the strain gauges S This appears as small compressive strains, and the amounts of these strains are the same. On the other hand, the thin plate 17b.

17d undergoes shearing deformation in response to the force FX, so no strain occurs in the strain gauges attached to them. From the above, it is clear that there is no output from the circuits shown in FIGS. 4(a) and 4(b).

As mentioned above, the thin plates 17a, 17c may be deformed, in which case the strain gauges S,.

Sm4 has tensile strain, strain gauge SC3+ S
(Compressive strain occurs in 4, but these strains are extremely small. Therefore, a signal may be output from the Wheatstone bridge circuit shown in Fig. 4 (C), which is made up of these strain gauges. However, this signal is extremely small and can be completely ignored.

Next, when the force FX acts on each thin wall portion of the parallel plate structure 12, a shearing force will act on each thin wall portion, and the strain gauge S31+S2! +341+
84□ causes no distortion. However, Fig. 4(e)
.

No signal is output from the Wheatstone bridge circuit shown in (f).

In this way, when force F8 acts, as shown in Fig. 4 (dl
Since the Wheatstone bridge circuit shown in FIG. 1 outputs a signal fX proportional to this, and the outputs from other circuits are almost 0, highly accurate detection is possible.

(5) Detection operation of force FV The detection operation in this case is the same as the detection operation when force FX is applied, and a noticeable deformation occurs in the thin wall portion of the parallel plate structure 12, and in response to this deformation, the fourth A signal fv proportional to the applied force FV can be obtained from the Wheatstone bridge circuit shown in Figure (e). Even if the force Fv acts, the Wheatstone bridge circuit shown in FIGS. 4(a) to 4(d) produces almost no output, as is clear from the explanation of the case of the force FX.

However, if the thin wall portion of the parallel plate structure 12 is deformed due to the action of the force FV, each strain gauge S attached thereto
sl* Sxz+ Sa+* Each strain gauge S ss+ S sa+ S that not only causes strain in Sat, but also constitutes the circuit shown in FIG. 4(f)
431 S 44 also causes distortion. In this case, the strain gauge S:ll+334 represents a compressive (tensile) strain, and the strain gauge S4:I+S44 represents a tensile (compressive) strain. However, the magnitudes of these strains are all equal. Therefore, no output is produced from the circuit shown in FIG. 4(f).

In this way, when force FY acts, as shown in Fig. 4(e)
A signal fY proportional to this is output from the Wheatstone bridge circuit shown in , and the output from other circuits is almost O.
Therefore, highly accurate detection is possible.

(6) Moment M2 detection operation Moment M2 around the Z-axis between the load transmission parts 10 and 15
Let us consider the case in which the force acts in the direction shown in FIG.

In addition, in FIG. 9, in order to facilitate understanding, only the parallel plate structure 12 is shown, and the others are omitted. Momen) Mz
When this occurs, among the upper and lower rigid bodies to which the thin-walled portions of the parallel plate structure 12 are connected, the upper rigid body rotates while maintaining the same axis relative to the lower rigid body (load transfer part IO side). Each thin portion receives an out-of-plane load due to the moment M2, causing torsional deformation as shown in the figure. Due to this transformation, the strain gauge S33+ 3
44 has tensile strain, and strain gauge S43+
Compressive strains occur in S34, and the magnitudes of these strains are equal. Therefore, the Wheatstone bridge circuit shown in FIG. 4(f) outputs a signal mz proportional to the moment M2.

Here, Fig. 4(a) when moment Mz acts
~ (Consider the output of the circuit shown in el. Moment) Mz is a load along each of the thin plates 17a to 17d of the thin plate-shaped load detection section, and acts as a shearing force, so these thin plates 17a to 17d are not deformed, and each strain gauge attached thereto is not strained.・Therefore, Figure 4 (a
There is no output from the circuits shown in ) to (C).

When Mz (moment) acts, the same deformation that occurs in each thin wall portion of the parallel plate structure 12 occurs in each thin wall portion of the parallel plate structure 13. However, parallel plate structure 12.13
Strain gauge Sll+ Sll in each thin wall part of
Sx++ Szz+ Ssr+ S! ! +
Since the attachment position of 5411 Sat is on the neutral axis of torsional deformation, no strain occurs in each of these strain gauges. Therefore, there is no output from the circuit shown in FIGS. 4(d) and 4(e), which is composed of these strain gauges.

In this way, when the moment M2 acts, the fourth
A signal m2 proportional to this is output from the Wheatstone bridge circuit shown in FIG.

The detection operation of the load detector of this embodiment shown in FIGS. 1 to 3 has been described above. The load detector of this embodiment is capable of detecting the six acting load components with high accuracy as described above, but as is clear from the figure, the conventional load detector shown in FIG. Compared to the load detector, only two through holes are formed and the overall configuration is simple, making processing extremely easy. In addition, the area to which the strain gauge is attached is reduced by half, making the attachment work easier.

FIG. 10 is a front sectional view of a load detector according to another embodiment of the present invention. In the figure, parts that are the same as those shown in FIG. 3 are given the same reference numerals, and explanations thereof will be omitted.

In the previous embodiment, as shown in FIG.
Four recesses 16 are provided in the load transmitting portion 15, so that strain gauges Sat to S are provided in the convex portions of each of the thin plates 17a to 17d.
The structure was such that 4t was attached. In contrast, in this embodiment, no recess is formed in the load transmitting portion 15. The strain gauges that were pasted on the convex portions of the thin plates 17a to 17d are then pasted to the back surfaces of the thin plates 17a to 17d. In FIG. 10, two of these four strain gauges are designated by symbols Sml' and SCI'.

Each load detection operation in this embodiment is the same as in the previous embodiment, so the explanation will be omitted. Also, the effects of this embodiment are the same as those of the previous embodiment. However, compared to the previous example, the number of bonding surfaces of the strain gauge is increased by one.
Although this makes the attachment work a little more troublesome, there is no need to form a recess in the load transmitting portion, making processing easier.

Note that the positions at which the strain gauges are attached in each of the above embodiments are merely examples, and the positions at which the strain gauges are attached for performing highly accurate detection operations are not limited to these.

〔Effect of the invention〕

As described above, in the present invention, the prismatic first load detection section is connected to the second load transmission section, and the first load detection section is connected between the first load detection section and the first load transmission section. A thin plate-shaped second load detection section is provided, and the first load detection section is provided with a heat generating element such as a strain gauge to constitute two parallel plate structures, and the second load detection section Since the detection elements are provided at appropriate locations on the thin plate, processing and installation of the detection elements can be carried out more easily than in conventional load detectors.

[Brief explanation of the drawing]

FIG. 1, FIG. 2, and FIG. 3 are a front view, a plan view, and a sectional view, respectively, of a load detector according to an embodiment of the present invention. Figure 4(a), (bl, (C1, (d+, (1
111, (f) is a circuit diagram of a Wheatstone bridge circuit composed of the strain gauges shown in FIGS. 1, 2, and 3, and FIGS. 5, 6, 7, 8, and 9 is a modified state diagram explaining the operation of the load detector shown in FIG. 1, FIG. 10 is a sectional view of a load detector according to another embodiment of the present invention, and FIG. 11 is a conventional load detector. FIG. DESCRIPTION OF SYMBOLS 10, 15... Load transmission part, 11... Column load detection part, 12°13... Parallel plate structure, 16... Recessed part,
17a to 17d...thin plates. Figure 1 Z ↑ Figure 2 W'' Figure 3 ↑ Figure 4 (σ) (b) (C) (d) (#)
(f) Figure 5 Figure 6 Figure 7 Figure 7 5sz (542) Ss+(S*4I 4I

Claims (1)

[Claims] A first load transmitting section, a second load transmitting section facing the first load transmitting section, and an orthogonal cross section having one end connected to the second load transmitting section and having a detection element provided at a predetermined location. 2
a prismatic first load detecting section having a parallel plate structure; and a first load detecting section extending outward from four edges at the other end of the first load detecting section and connected to the first load transmitting section. A load detector comprising: a thin plate-shaped second load detection section having detection elements provided at certain locations.