WO2013061356A1 - Capteur de glissement - Google Patents

Capteur de glissement Download PDF

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Publication number
WO2013061356A1
WO2013061356A1 PCT/JP2011/005921 JP2011005921W WO2013061356A1 WO 2013061356 A1 WO2013061356 A1 WO 2013061356A1 JP 2011005921 W JP2011005921 W JP 2011005921W WO 2013061356 A1 WO2013061356 A1 WO 2013061356A1
Authority
WO
WIPO (PCT)
Prior art keywords
piezoelectric film
vibration
slip sensor
slip
sensor
Prior art date
Application number
PCT/JP2011/005921
Other languages
English (en)
Japanese (ja)
Inventor
友美 高橋
潔人 伊藤
真 佐圓
長田　健一
Original Assignee
株式会社日立製作所
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 株式会社日立製作所 filed Critical 株式会社日立製作所
Priority to PCT/JP2011/005921 priority Critical patent/WO2013061356A1/fr
Publication of WO2013061356A1 publication Critical patent/WO2013061356A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/082—Grasping-force detectors
    • B25J13/083—Grasping-force detectors fitted with slippage detectors
    • 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
    • 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

Abstract

L'invention concerne un petit capteur de glissement très sensible qui détecte le glissement d'un objet. Le capteur de glissement (7) comprend : une partie oscillante (6) dotée d'un film piézo-électrique (4), une partie de protection (2) recouvrant le film piézoélectrique et une partie de support (1) qui maintient la partie oscillante (6). La partie oscillante (6) entre en contact avec un objet et détecte, en tant que glissement, des signaux générés à cause de l'oscillation de la partie oscillante (6). Le film piézoélectrique (4) est disposé par déplacement à partir de l'axe neutre de la partie oscillante (6) de telle sorte que ce dernier (4) se dilate suffisamment et vient en contact.
PCT/JP2011/005921 2011-10-24 2011-10-24 Capteur de glissement WO2013061356A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2011/005921 WO2013061356A1 (fr) 2011-10-24 2011-10-24 Capteur de glissement

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2011/005921 WO2013061356A1 (fr) 2011-10-24 2011-10-24 Capteur de glissement

Publications (1)

Publication Number Publication Date
WO2013061356A1 true WO2013061356A1 (fr) 2013-05-02

Family

ID=48167229

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2011/005921 WO2013061356A1 (fr) 2011-10-24 2011-10-24 Capteur de glissement

Country Status (1)

Country Link
WO (1) WO2013061356A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3130966A1 (fr) * 2021-12-20 2023-06-23 Commissariat A L'energie Atomique Et Aux Energies Alternatives Capteur piezoelectrique pour detecter une distance, une force et un glissement d’un objet

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6034294A (ja) * 1983-08-03 1985-02-21 株式会社日立製作所 皮膚感覚センサ
JPS62238417A (ja) * 1986-04-09 1987-10-19 Meidensha Electric Mfg Co Ltd 多機能マトリツクスセンサ
JPH04273031A (ja) * 1990-08-31 1992-09-29 Atochem North America Inc 材料センサー
JPH0618341A (ja) * 1992-07-02 1994-01-25 Fuji Electric Co Ltd 触覚伝達装置
JPH0755611A (ja) * 1990-01-24 1995-03-03 Wisconsin Alumni Res Found ロボットのグリッパー用センサーチップとその製造法
JPH07128163A (ja) * 1993-11-08 1995-05-19 Fuji Electric Co Ltd 触覚センサ
JPH11271351A (ja) * 1998-03-19 1999-10-08 Mitsubishi Electric Corp 圧電検出素子
JP2005515466A (ja) * 2002-01-16 2005-05-26 メソード・エレクトロニクス・インコーポレーテッド 全方向衝突センサ

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6034294A (ja) * 1983-08-03 1985-02-21 株式会社日立製作所 皮膚感覚センサ
JPS62238417A (ja) * 1986-04-09 1987-10-19 Meidensha Electric Mfg Co Ltd 多機能マトリツクスセンサ
JPH0755611A (ja) * 1990-01-24 1995-03-03 Wisconsin Alumni Res Found ロボットのグリッパー用センサーチップとその製造法
JPH04273031A (ja) * 1990-08-31 1992-09-29 Atochem North America Inc 材料センサー
JPH0618341A (ja) * 1992-07-02 1994-01-25 Fuji Electric Co Ltd 触覚伝達装置
JPH07128163A (ja) * 1993-11-08 1995-05-19 Fuji Electric Co Ltd 触覚センサ
JPH11271351A (ja) * 1998-03-19 1999-10-08 Mitsubishi Electric Corp 圧電検出素子
JP2005515466A (ja) * 2002-01-16 2005-05-26 メソード・エレクトロニクス・インコーポレーテッド 全方向衝突センサ

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3130966A1 (fr) * 2021-12-20 2023-06-23 Commissariat A L'energie Atomique Et Aux Energies Alternatives Capteur piezoelectrique pour detecter une distance, une force et un glissement d’un objet

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