WO2020084980A1 - Dispositif de détection - Google Patents

Dispositif de détection Download PDF

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Publication number
WO2020084980A1
WO2020084980A1 PCT/JP2019/037247 JP2019037247W WO2020084980A1 WO 2020084980 A1 WO2020084980 A1 WO 2020084980A1 JP 2019037247 W JP2019037247 W JP 2019037247W WO 2020084980 A1 WO2020084980 A1 WO 2020084980A1
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WO
WIPO (PCT)
Prior art keywords
detection
axis direction
elastic member
detection device
force
Prior art date
Application number
PCT/JP2019/037247
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English (en)
Japanese (ja)
Inventor
康久 神川
将也 木下
鈴木　裕之
良 寺澤
亘 小久保
Original Assignee
ソニー株式会社
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.)
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Publication date
Application filed by ソニー株式会社 filed Critical ソニー株式会社
Publication of WO2020084980A1 publication Critical patent/WO2020084980A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • 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
    • G01L1/26—Auxiliary measures taken, or devices used, in connection with the measurement of force, e.g. for preventing influence of transverse components of force, for preventing overload
    • 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

Definitions

  • the present disclosure relates to a detection device.
  • An operating body to which an external force is applied an elastic body that is displaced according to the magnitude of the external force applied to the operating body, a driving body to which the external force is transmitted by the displacement of the elastic body, and a pressure-sensitive portion that is pressed by the driving body.
  • a diaphragm having a diaphragm is known.
  • the external force applied to the operating body is transmitted to the pressure-sensitive portion of the diaphragm via the elastic body and the driving body, so that even if an unexpected impact load occurs on the operating body, the overload is pressure-sensitive. Protect the pressure sensitive part without transmitting it directly to the part.
  • the timing of force detection is delayed, the external force cannot be accurately detected, and the detection accuracy deteriorates.
  • the present disclosure proposes a detection device capable of protecting against overload and ensuring detection accuracy.
  • a detection device includes an output member that receives an external force, a detection member that includes a force sensor that detects the force received by the output member, and the detection member that moves. And an elastic member for supporting the same.
  • FIG. 2 is a block diagram showing a configuration example of a detection device according to the first embodiment of the present disclosure.
  • FIG. 5 is a cross-sectional view showing an operation of the detection device according to the first embodiment of the present disclosure.
  • FIG. 5 is a cross-sectional view showing an operation of the detection device according to the first embodiment of the present disclosure.
  • FIG. 1 is a cross-sectional view showing a configuration example of a detection device 1 according to the first embodiment of the present disclosure.
  • FIG. 2 is an exploded perspective view showing a configuration example of the detection device 1 according to the first embodiment of the present disclosure.
  • the detection device 1 includes an output member 2, a detection member 3, an elastic member 4, a housing 5, a stopper mechanism 6, and an auxiliary elastic member 7.
  • the output member 2 receives an external force and transmits this external force to the detection member 3.
  • the output member 2 has a tip portion 2A and an output shaft plate 2B.
  • the tip portion 2A is formed in a hemispherical shape, and is made of a material capable of absorbing impact, such as rubber.
  • the tip portion 2A has a hemispherical shape and has a spherical tip surface 2Aa and a flat attachment surface 2Ab.
  • the tip portion 2A has a plurality of screws 2Ac that penetrate the attachment surface 2Ab from the tip surface 2Aa side.
  • the output shaft plate 2B is formed in a disc shape and is made of a material such as plastic that is harder than the tip 2A.
  • the output shaft plate 2B has a disk shape, and has one surface 2Ba facing the mounting surface 2Ab of the tip portion 2A and the other surface 2Bb facing the side opposite to the one surface 2Ba.
  • the output shaft plate 2B has a plurality of screw holes 2Bc penetrating from one surface 2Ba to the other surface 2Bb.
  • the output shaft plate 2B has a coupling recess 2Bd to which the detection member 3 is coupled, on the other surface 2Bb.
  • the tip portion 2A and the output shaft plate 2B are screwed into the screw hole 2Bc of the output shaft plate 2B with the screw 2Ac of the tip portion 2A so that the mounting surface 2Ab and the one surface 2Ba are in contact with each other and are integrally coupled.
  • the detection member 3 is coupled to the coupling recess 2Bd of the output shaft plate 2B.
  • the center of the hemispherical shape of the tip portion 2A and the center of the disk shape of the output shaft plate 2B substantially coincide with each other, and the alternate long and short dash line in FIGS. 1 and 2 passes through each center. It is the center line 8.
  • the coupling recess 2Bd of the output shaft plate 2B is provided at the center of the disc shape of the output shaft plate 2B, and is arranged on the center line 8.
  • the center line 8 is referred to as the Z axis, and its extending direction is referred to as the Z axis direction.
  • the detection member 3 has a detection unit 3A and a base unit 3B.
  • the detection unit 3A internally includes a force sensor 3Aa made of a strain generating body and serves as a base of the force sensor 3Aa.
  • a force sensor 3Aa is a triaxial force sensor.
  • the three axes are a Z axis 8, an X axis 9 orthogonal to the Z axis 8, and a Y axis 10 orthogonal to the Z axis 8 and the X axis 9.
  • the X axis 9 and the Y axis 10 lie in a plane orthogonal to the Z axis 8.
  • the extending direction of the X-axis 9 is called the X-axis direction
  • the extending direction of the Y-axis 10 is called the Y-axis direction.
  • the force sensor 3Aa of the present embodiment detects a force received along the Z axis 8, the X axis 9, and the Y axis 10.
  • the force sensor 3Aa is a uniaxial force sensor that detects a force received only along the Z-axis 8 or a multi-axis force sensor that detects a force received along another axis other than the Z-axis 8, the X-axis 9 and the Y-axis 10. It may be an axial force sensor.
  • the detection unit 3A has an output shaft 3Ab extending along the Z-axis direction on the Z-axis 8.
  • the output shaft 3Ab is directly coupled to the force sensor 3Aa without any other member, and projects toward the output member 2.
  • the output shaft 3Ab serves as a location where force is detected by the force sensor 3Aa.
  • the output shaft 3Ab is directly coupled to the coupling recess 2Bd of the output shaft plate 2B without any other member.
  • the detection unit 3A has a plurality of screws 3Ac penetrating in the Z-axis direction. Further, the detection unit 3A is provided on its side with a cylindrical member 3Ad projecting through which a cable including a power supply line and a signal line of the force sensor 3Aa is inserted.
  • the base portion 3B has a detection portion fixing portion 3Ba to which the detection portion 3A is fixed, and an elastic member engagement portion 3Bb with which the elastic member 4 is engaged.
  • the detection portion fixing portion 3Ba and the elastic member engagement portion 3Bb are integrally and continuously formed via a shaft portion 3Bc extending in the Z-axis direction.
  • the detection part fixing part 3Ba has a plurality of screw holes 3Bd formed in a disk shape centering on the Z axis 8 and into which the respective screws 3Ac of the detection part 3A are screwed. Therefore, the detection unit 3A and the detection unit fixing unit 3Ba are integrally coupled by screwing the screw 3Ac of the detection unit 3A into the screw hole 3Bd of the detection unit fixing unit 3Ba.
  • the elastic member engaging portion 3Bb is used to attach the elastic member 4 or to contact the elastic member 4.
  • the elastic member 4 is formed in a plurality of ring shapes, and the elastic member engaging portion 3Bb has a ring-shaped fitting groove 3Be for fitting the ring-shaped elastic member 4 or a ring-shaped elastic member. It has a flat contact surface 3Bf with which the member 4 contacts.
  • the elastic member engaging portion 3Bb is formed in a columnar shape with the Z axis 8 as the center.
  • the elastic member engaging portion 3Bb has an annular fitting groove 3Be formed so as to surround the shaft portion 3Bc on the circular surface on the detection portion fixing portion 3Ba side to which the detection portion 3A is fixed.
  • the elastic member engaging portion 3Bb has an annular fitting groove 3Be formed along the circumferential surface thereof. Further, the elastic member engaging portion 3Bb has a circular surface facing the opposite side to the circular surface on which the fitting groove 3Be is formed as the contact surface 3Bf. Further, the elastic member engaging portion 3Bb is provided with a fitting concave portion 3Bg in which the auxiliary elastic member 7 is fitted so as to be recessed about the Z axis 8 on the surface on which the contact surface 3Bf is formed.
  • the elastic member 4 is made of an elastic material such as rubber, is formed in a link shape, and is provided in plural. Specifically, the elastic member 4 is formed on the circumferential surface of the elastic member engaging portion 3Bb and the first elastic member 4A that fits into the fitting groove 3Be formed on the circular surface of the elastic member engaging portion 3Bb. The second elastic member 4B that fits in the fitted groove 3Be and the third elastic member 4C that contacts the contact surface 3Bf in the elastic member engaging portion 3Bb are included.
  • the ring-shaped elastic members 4A, 4B, 4C are arranged with the Z axis 8 as the center.
  • the housing 5 is a case that houses the output member 2, the detection member 3, and the elastic member 4.
  • the housing 5 is formed in a bottomed cylindrical shape centered on the Z axis 8.
  • the housing 5 is divided into two in the Z-axis direction, and has a first housing 5A and a second housing 5B.
  • the first housing 5A is formed in a cylindrical shape so as to surround the output member 2 and the detection portion 3A of the detection member 3.
  • a contact piece 5Aa with which the first elastic member 4A of the elastic member 4 comes into contact is formed continuously from the inner surface toward the Z axis 8 in an annular shape in the circumferential direction.
  • the inside of the contact piece 5Aa which is on the Z-axis 8 side, is formed as a circular through hole, and when the first housing 5A and the second housing 5B are coupled, the detection portion of the base portion 3B of the detection member 3 is fixed.
  • the portion 3Ba can be penetrated.
  • the first housing 5A has an annular coupling piece 5Ab formed on the outer peripheral edge on the second housing 5B side.
  • the first housing 5A has a plurality of screws 5Ac that penetrate the coupling piece 5Ab along the Z-axis direction.
  • first housing 5A is provided with a cutout portion 5Ad on a side portion thereof for extending the tubular member 3Ad in the detection portion 3A of the detection member 3 to the outside of the first housing 5A and passing a cable therethrough. There is.
  • the second housing 5B is formed in a bottomed cylindrical shape so as to surround the base portion 3B of the detection member 3 and the elastic member 4.
  • the second elastic member 4B of the elastic member 4 contacts the inner peripheral surface 5Ba of the second housing 5B.
  • An annular fitting groove 5Bb into which the third elastic member 4C of the elastic member 4 is fitted is formed on the bottom surface of the second housing 5B.
  • the second housing 5B has a fitting recess 5Bc on the bottom surface thereof, into which the auxiliary elastic member 7 is fitted, inside the fitting groove 5Bb.
  • the second housing 5B has an annular coupling piece 5Bd formed on the outer peripheral edge on the first housing 5A side.
  • the second housing 5B has a plurality of screw holes 5Be into which the respective screws 5Ac are screwed into the coupling piece 5Ab. Therefore, the first housing 5A and the second housing 5B are integrally coupled by screwing the screw 5Ac into the screw hole 5Be.
  • the stopper mechanism 6 is composed of a step portion formed on the inner peripheral surface of the first casing 5A in the casing 5.
  • the stopper mechanism 6 includes a first contact surface 6A facing the edge of the other surface 2Bb of the output shaft plate 2B of the output member 2, and an inner peripheral surface of the first housing 5A that is a peripheral surface of the output shaft plate 2B.
  • the auxiliary elastic member 7 is made of an elastic material such as elastomer.
  • the auxiliary elastic member 7 is formed in a cylindrical shape, and is formed in the fitting concave portion 3Bg formed in the elastic member engaging portion 3Bb of the base portion 3B of the detection member 3 and the second casing 5B of the casing 5. It is fitted to the fitting recessed portion 5Bc and is arranged around the Z axis 8.
  • the auxiliary elastic member 7 is fitted into the fitting recess 5Bc formed in the second housing 5B of the housing 5 to form the second housing 5B.
  • the third elastic member 4C is fitted in the fitted groove 5Bb.
  • the first elastic member 4A and the second elastic member 4B are fitted into the fitting grooves 3Be formed in the elastic member engaging portion 3Bb of the base portion 3B of the detection member 3, respectively.
  • the base portion 3B is inserted into the second housing 5B, and the auxiliary elastic member 7 is fitted into the fitting concave portion 3Bg formed in the elastic member engaging portion 3Bb.
  • the second elastic member 4B contacts the inner peripheral surface 5Ba of the second housing 5B, and the third elastic member 4C contacts the contact surface 3Bf of the elastic member engaging portion 3Bb.
  • the first housing 5A is joined to the second housing 5B.
  • the contact piece 5Aa of the first housing 5A comes into contact with the first elastic member 4A.
  • the base portion 3B of the detection member 3 is housed inside the second housing 5B together with the first elastic member 4A, the second elastic member 4B, the third elastic member 4C, and the auxiliary elastic member 7, and the first elastic member 4A.
  • the elastic force of the second elastic member 4B, the third elastic member 4C, and the auxiliary elastic member 7 is movably supported inside the second housing 5B.
  • the detection unit 3A is joined and fixed to the base portion 3B. Then, the output shaft 3Ab of the detection unit 3A and the output shaft plate 2B are coupled. Further, the output shaft plate 2B and the tip portion 2A are connected.
  • the output member 2 receives an external force in each axial direction along the Z axis 8, the X axis 9, and the Y axis 10 by the tip portion 2A, and the external force is transmitted via the output shaft plate 2B. The signal is transmitted to the detection unit 3A of the detection member 3. 3 A of detection parts detect the external force of each axial direction.
  • FIG. 3 is a diagram showing an example of a leg robot 100 to which the technology according to the present disclosure is applied.
  • FIG. 4 is a block diagram showing a configuration example of the detection device 1 according to the first embodiment of the present disclosure.
  • the leg robot 100 is a support device that supports a robot body (not shown), and in FIG. 3, a mounting portion 101 to which the leg robot 100 is attached is shown in the robot body.
  • the legged robot 100 has a link mechanism 102, a drive motor 103, and a pair of non-circular gears 104.
  • the legged robot 100 includes a robot control unit 105 (see FIG. 6), and is configured to control the drive of the drive motor 103 based on an operation instruction output from the robot control unit 105.
  • the power output from the drive motor 103 is output to the link mechanism 102 via the pair of non-circular gears 104.
  • the pair of non-circular gears 104 outputs the power output from the drive motor 103 to the link mechanism 102 at a speed reduction ratio according to the attitude of the link mechanism 102.
  • the pair of non-circular gears 104 has an input gear 104A and an output gear 104B.
  • the input side gear 104A is directly or indirectly coupled to the rotary shaft 103A of the drive motor 103.
  • the output side gear 104B meshes with the input side gear 104A. Since the rotation angle of the output side gear 104B has nonlinearity with respect to the rotation angle of the input side gear 104A, the reduction ratio can be changed according to the attitude of the link mechanism 102.
  • the link mechanism 102 includes a link 102A, a link 102B that is a part of the output gear 104B, a link 102C, a link 102D, a link 102E, and a link 102F.
  • the link 102A is provided with a pair of non-circular gears 104 and a drive motor 103.
  • the link 102A is relatively rotatable around the rotation shaft 103A with respect to the mounting portion 101 at one end side, and is provided with an input side gear 104A and a drive motor 103.
  • the output side gear 104B is provided near the one end of the link 102A.
  • the input side gear 104A is connected to the link 102A via the rotary shaft 103A of the drive motor 103 and is rotatable relative to the link 102A.
  • the output side gear 104B is connected to the link 102A via the rotating shaft 106 and is rotatable relative to the link 102A.
  • the drive motor 103 is fixed to the link 102A.
  • the link 102A is rotatably connected to the center side of the link 102D around the shaft portion 106A at the other end.
  • the link 102A is rotatably connected to the one end side of the link 102E around the shaft portion 106B near the other end side.
  • the link 102B is composed of a part of the output side gear 104B.
  • the link 102B is relatively rotatably connected to one end of the link 102C and around the shaft portion 106C.
  • the link 102C is relatively rotatably connected to the one end of the link 102D and the shaft 106D at the other end.
  • the link 102D is rotatably connected to the center side of the link 102F around the shaft portion 106E at the other end.
  • the link 102E is rotatably connected to the one end of the link 102F around the shaft 106F at the other end.
  • the other end of the link 102F is the tip of the leg robot 100, and the detection device 1 is attached to the tip of the leg.
  • the housing 5 is fixed to the other end side of the link 102F, and the output member 2 is attached to the tip of the other end side of 102F so as to face the output member 2.
  • the power output from the drive motor 103 is output to the link mechanism 102 via the pair of non-circular gears 104.
  • the link mechanism 102 expands and contracts according to the power output from the drive motor 103.
  • the detection device 1 grounds on the floor as the link mechanism 102 expands and contracts, and detects the ground pressure at this time as an external force.
  • the detection device 1 has a processing unit 11, as shown in FIG.
  • the processing unit 11 is configured to include a CPU (Central Processing Unit) and the like, and calculates the force detection results along the Z-axis 8, X-axis 9, and Y-axis 10 by the force sensor 3Aa of the detection unit 3A as force information. It is processed and output to the robot control unit 105 of the leg robot 100.
  • the robot control unit 105 is configured to include a CPU (Central Processing Unit) and the like, and outputs an operation instruction to the drive motor 103 based on the force information input from the processing unit 11.
  • leg robot 100 described above, and may be applied to other robots such as a manipulator, for example.
  • FIG. 5 and 6 are cross-sectional views showing the operation of the detection device 1 according to the first embodiment of the present disclosure.
  • FIG. 5 shows the operation when an external force is applied in the Z-axis direction
  • FIG. 6 shows the operation when an external force is applied in the Z-axis direction and the X-axis direction.
  • the output member 2 that receives the external force moves in the Z-axis direction.
  • the force sensor 3Aa of the detection unit 3A of the detection member 3 detects the force in the Z-axis direction as the output member 2 moves.
  • the force sensor 3Aa of the detection unit 3A of the detection member 3 is coupled to the output member 2 and directly detects the external force received by the output member 2. As a result, the detection device 1 can ensure the detection accuracy.
  • the output member 2 and the detection member 3 resist the elastic force of the third elastic member 4C as shown in FIG. Move further in the direction. 4 C of 3rd elastic members are crushed by the contact surface 3Bf of the elastic member engagement part 3Bb, and the whole compressively deforms.
  • the third elastic member 4C buffers the impact load applied from the output member 2 to the force sensor 3Aa of the detection member 3 by its own elastic force.
  • the housing 5 receives the load from the third elastic member 4C.
  • the detection device 1 can protect the force sensor 3Aa of the detection unit 3A of the detection member 3 against overload.
  • the auxiliary elastic member 7 when the output member 2 receives an unexpected impact load in the Z-axis direction, the auxiliary elastic member 7 also changes from the output member 2 to the force sensor 3Aa of the detection member 3 by its own elastic force, as shown in FIG. The shock load applied is buffered.
  • the auxiliary elastic member 7 suppresses elastic deformation by the third elastic member 4C.
  • the detection device 1 can adjust the amount of deformation of the third elastic member 4C by the auxiliary elastic member 7, and can increase the load limit of the force sensor 3Aa in the Z-axis direction.
  • the output member 2 When the output member 2 receives an unexpected impact load in the Z-axis direction, the output member 2 that moves in the Z-axis direction against the elastic force of the third elastic member 4C and the auxiliary elastic member 7 is the output shaft.
  • the edge of the other surface 2Bb of the plate 2B contacts the first contact surface 6A that is the stopper mechanism 6.
  • the first contact surface 6A regulates the movement of the output member 2 in the Z-axis direction when the output shaft plate 2B contacts. That is, the output member 2 is prevented from further moving in the Z-axis direction due to the interference in the stopper mechanism 6.
  • the detection device 1 prevents and limits the impact load applied from the output member 2 to the force sensor 3Aa of the detection member 3, and protects the force sensor 3Aa of the detection unit 3A of the detection member 3 against overload. it can.
  • FIG. 6 shows an example in which the output member 2 has moved in the lower left direction in the drawing.
  • the force sensor 3Aa of the detection unit 3A of the detection member 3 detects forces in the Z-axis direction and the X-axis direction (Y-axis direction) as the output member 2 moves.
  • the force sensor 3Aa of the detection unit 3A of the detection member 3 is coupled to the output member 2 and directly detects the external force received by the output member 2. As a result, the detection device 1 can ensure the detection accuracy.
  • the output member 2 and the detection member 3 are, as shown in FIG. It further moves so as to incline in the X-axis direction (Y-axis direction) with respect to the Z-axis direction against the elastic forces of 4B and 4C.
  • the first elastic member 4A is crushed by the contact piece 5Aa of the first housing 5A and partially deformed by compression.
  • the second elastic member 4B is crushed by the inner peripheral surface 5Ba of the second housing 5B and partially deformed by compression.
  • 4 C of 3rd elastic members are crushed by the contact surface 3Bf of the elastic member engagement part 3Bb, and a part compressively deforms.
  • Each elastic member 4A, 4B, 4C that has been compressed and deformed absorbs the impact load applied from the output member 2 to the force sensor 3Aa of the detection member 3 by its own elastic force.
  • the housing 5 receives the load from each elastic member 4A, 4B, 4C that is compressed and deformed.
  • the detection device 1 can protect the force sensor 3Aa of the detection unit 3A of the detection member 3 against overload.
  • the auxiliary elastic member 7 is also output by the elastic force of its own, as shown in FIG.
  • the shock load applied to the force sensor 3Aa of the detection member 3 from the above is buffered.
  • the auxiliary elastic member 7 increases the load limit of each elastic member 4A, 4B, 4C.
  • the detection device 1 can adjust the amount of deformation of each elastic member 4A, 4B, 4C by the auxiliary elastic member 7, and greatly limits the load of the force sensor 3Aa in the Z-axis direction and the X-axis direction (Y-axis direction). it can.
  • the elastic force of each elastic member 4A, 4B, 4C and the auxiliary elastic member 7 is resisted by Z.
  • the edge portion of the other surface 2Bb of the output shaft plate 2B is the first contact surface 6A that is the stopper mechanism 6.
  • the peripheral surface 2Be of the output shaft plate 2B abuts on the second abutting surface 6B which is the stopper mechanism 6.
  • the first contact surface 6A regulates the movement of the output member 2 in the Z-axis direction when the output shaft plate 2B contacts.
  • the second contact surface 6B restricts the movement of the output member 2 in the X-axis direction (Y-axis direction) when the output shaft plate 2B abuts. That is, the output member 2 is prevented from further moving in the Z-axis direction and the X-axis direction (Y-axis direction) due to the interference in the stopper mechanism 6.
  • the detection device 1 prevents and limits the impact load applied from the output member 2 to the force sensor 3Aa of the detection member 3, and protects the force sensor 3Aa of the detection unit 3A of the detection member 3 against overload. it can.
  • the first elastic member 4A is an elastic body that is deformed mainly by the upper side in the drawing in the Z-axis direction and a moment load.
  • the second elastic member 4B is an elastic body that is deformed mainly by the X-axis direction, the Y-axis direction, and a moment load.
  • the third elastic member 4C is an elastic body that deforms under the Z-axis direction in the drawing and a moment load.
  • Each of the ring-shaped elastic members 4A, 4B, 4C determines the set value of the overload for protecting the force sensor 3Aa according to its cross-sectional shape and size.
  • the ring-shaped elastic members 4A, 4B, and 4C By arranging the ring-shaped elastic members 4A, 4B, and 4C with the Z axis 8 as the center, when they are overloaded, they are deformed with symmetry about the Z axis 8 and in the Z axis direction. A cushioning effect corresponding to the impact load in the X-axis direction and the Y-axis direction can be obtained. Moreover, by dividing each of the elastic members 4A, 4B, 4C in the ring shape, the action of the shearing force can be reduced as compared with the case where all the elastic members 4 are made into one block.
  • the auxiliary elastic member 7 is an elastic body that is deformed mainly by the lower side in the Z-axis direction in the drawing and a moment load, and adjusts the deformation amount of each elastic member 4A, 4B, 4C, and the force sensor 3Aa. Increase the load limit in the Z-axis direction and the X-axis direction (Y-axis direction).
  • the auxiliary elastic member 7 By arranging the auxiliary elastic member 7 in a cylindrical shape with the Z axis 8 as the center, when it is overloaded, the auxiliary elastic member 7 is deformed symmetrically with respect to the Z axis 8 and is deformed in the Z axis direction and the X axis direction. Also, the amount of deformation of each elastic member 4A, 4B, 4C can be adjusted according to the impact load in the Y-axis direction.
  • the stopper mechanism 6 is provided in the housing 5 and limits the load on the force sensor 3Aa by colliding with the output shaft plate 2B of the output member 2 to reduce the clearance between the housing 5 and the output shaft plate 2B. Adjust the overload setting value with.
  • the load limitation on the force sensor 3Aa is determined in advance as a design value depending on the shape and elastic force of each elastic member 4A, 4B, 4C, and the clearance amount between the housing 5 of the stopper mechanism 6 and the output shaft plate 2B. It The clearance amount is preferably about 1 mm to 2 mm, for example.
  • FIG. 7 is a cross-sectional view showing a configuration example of the detection device 1 according to the modified example (1) of the first embodiment of the present disclosure.
  • FIG. 8 is a partial perspective view showing a configuration example of the detection device 1 according to the modified example (1) of the first embodiment of the present disclosure.
  • the modified example (1) of the first embodiment is different from the above-described first embodiment in the configuration of the elastic member 4 and the base portion 3B of the detection member 3, and the other configurations are the same. Therefore, in the modified example (1) of the first embodiment, the same parts as those of the first embodiment are designated by the same reference numerals and the description thereof will be omitted.
  • the elastic member 4 has a plurality of angular elastic members 4D formed in a rectangular shape and a plurality of cylindrical elastic members 4E formed in a cylindrical shape.
  • the angular elastic member 4D is formed in a quadrangular prism shape, and has two outer surfaces 4Da facing the opposite sides in the X-axis direction and two outer surfaces 4Da facing the opposite sides in the Y-axis direction. It consists of a total of four.
  • Each angular elastic member 4D is attached to the elastic member engaging portion 3Bb of the base portion 3B.
  • the elastic member engaging portion 3Bb is formed in a quadrangular prism shape, and has a mounting surface 3Bh facing opposite sides in the X-axis direction and a mounting surface 3Bh facing opposite sides in the Y-axis direction.
  • Each angular elastic member 4D is fitted and attached to each mounting surface 3Bh by a pair of key-shaped fixing portions 3Bi provided in the elastic member engaging portion 3Bb.
  • the outer surface 4Da of each angular elastic member 4D attached to the elastic member engaging portion 3Bb contacts the inner peripheral surface 5Ba of the second housing 5B in the housing 5.
  • the outer surface 4Da of each angular elastic member 4D may be a flat surface as shown in FIG. 8, or may be an arcuate surface in conformity with the inner peripheral surface 5Ba of the cylindrical second housing 5B. Good.
  • the cylindrical elastic member 4E is arranged such that the circular ends of the cylindrical shape face the opposite sides in the Z-axis direction.
  • Four cylindrical elastic members 4E are provided, and are attached to the corners of the elastic member engaging portion 3Bb formed in a quadrangular prism shape so that two cylindrical elastic members 4E are arranged in the X-axis direction and two in the Y-axis direction.
  • Each tubular elastic member 4E is inserted into and attached to each circular fixing portion 3Bj provided at the corner of the quadrangular prism shape of the elastic member engaging portion 3Bb.
  • Each tubular elastic member 4E attached to the elastic member engaging portion 3Bb has one end contacting the contact piece 5Aa of the first housing 5A and the other end fitting into the fitting groove 5Bb of the second housing 5B.
  • the fitting groove 5Bb here is not limited to the annular shape, and may be formed in a circular shape in accordance with the other end of each tubular elastic member 4E.
  • the output member 2 when an external force is applied in the Z-axis direction, the output member 2 that receives the external force moves in the Z-axis direction.
  • the force sensor 3Aa of the detection unit 3A of the detection member 3 detects the force in the Z-axis direction as the output member 2 moves.
  • the force sensor 3Aa of the detection unit 3A of the detection member 3 is coupled to the output member 2 and directly detects the external force received by the output member 2. As a result, the detection device 1 can ensure the detection accuracy.
  • each tubular elastic member 4E is crushed toward the fitting groove 5Bb side and compressed and deformed as the detection member 3 moves.
  • Each cylindrical elastic member 4E buffers the impact load applied from the output member 2 to the force sensor 3Aa of the detection member 3 by its own elastic force.
  • the housing 5 receives the load from each tubular elastic member 4E.
  • the detection device 1 can protect the force sensor 3Aa of the detection unit 3A of the detection member 3 against overload.
  • the auxiliary elastic member 7 When the output member 2 receives an unexpected shock load in the Z-axis direction, the auxiliary elastic member 7 also buffers the shock load applied from the output member 2 to the force sensor 3Aa of the detection member 3 by its own elastic force. The auxiliary elastic member 7 suppresses elastic deformation by each tubular elastic member 4E. As a result, the detection device 1 can adjust the amount of deformation of each tubular elastic member 4E by the auxiliary elastic member 7, and can increase the load limit of the force sensor 3Aa in the Z-axis direction.
  • the output member 2 When the output member 2 receives an unexpected impact load in the Z-axis direction, the output member 2 that moves in the Z-axis direction against the elastic force of each tubular elastic member 4E and the auxiliary elastic member 7 outputs the output.
  • the edge of the other surface 2Bb of the shaft plate 2B contacts the first contact surface 6A that is the stopper mechanism 6.
  • the first contact surface 6A regulates the movement of the output member 2 in the Z-axis direction when the output shaft plate 2B contacts. That is, the output member 2 is prevented from further moving in the Z-axis direction due to the interference in the stopper mechanism 6.
  • the detection device 1 prevents and limits the impact load applied from the output member 2 to the force sensor 3Aa of the detection member 3, and protects the force sensor 3Aa of the detection unit 3A of the detection member 3 against overload. it can.
  • the output member 2 When an external force is applied in the Z-axis direction and the X-axis direction (Y-axis direction), the output member 2 that receives the external force moves so as to incline in the X-axis direction (Y-axis direction) with respect to the Z-axis direction.
  • the force sensor 3Aa of the detection unit 3A of the detection member 3 detects forces in the Z-axis direction and the X-axis direction (Y-axis direction) as the output member 2 moves.
  • the force sensor 3Aa of the detection unit 3A of the detection member 3 is coupled to the output member 2 and directly detects the external force received by the output member 2. As a result, the detection device 1 can ensure the detection accuracy.
  • the output member 2 and the detection member 3 move in the X-axis direction (Y-axis direction) with respect to the Z-axis direction. Move further so that it tilts in the direction).
  • the cylindrical elastic member 4E on the side opposite to the inclined side is crushed by the contact piece 5Aa of the first housing 5A and is compressed and deformed.
  • the cylindrical elastic member 4E on the inclined side is crushed toward the fitting groove 5Bb side and is compressed and deformed.
  • the angled elastic member 4D on the inclined side is crushed by the inner peripheral surface 5Ba of the second housing 5B and is compressed and deformed.
  • the elastic members 4D and 4E that have been compressed and deformed absorb the impact load applied from the output member 2 to the force sensor 3Aa of the detection member 3 by the elastic force of the elastic members 4D and 4E.
  • the housing 5 receives the load from the elastic members 4D and 4E that are compressed and deformed. As a result, the detection device 1 can protect the force sensor 3Aa of the detection unit 3A of the detection member 3 against overload.
  • the auxiliary elastic member 7 when the output member 2 receives an unexpected impact load in the Z-axis direction and the X-axis direction (Y-axis direction), the auxiliary elastic member 7 also receives a force sensor from the output member 2 to the detection member 3 by its own elastic force. It buffers the impact load applied to 3Aa.
  • the auxiliary elastic member 7 increases the load limit of each elastic member 4D, 4E.
  • the detection device 1 can adjust the deformation amount of each elastic member 4D, 4E by the auxiliary elastic member 7, and can increase the load limitation of the force sensor 3Aa in the Z-axis direction and the X-axis direction (Y-axis direction).
  • the output member 2 when the output member 2 receives an unexpected impact load in the Z-axis direction and the X-axis direction (Y-axis direction), the output member 2 resists the elastic force of each elastic member 4D, 4E and the auxiliary elastic member 7 in the Z-axis direction.
  • the edge of the other surface 2Bb of the output shaft plate 2B contacts the first contact surface 6A that is the stopper mechanism 6.
  • the peripheral surface 2Be of the output shaft plate 2B contacts the second contact surface 6B that is the stopper mechanism 6.
  • the first contact surface 6A regulates the movement of the output member 2 in the Z-axis direction when the output shaft plate 2B contacts.
  • the second contact surface 6B restricts the movement of the output member 2 in the X-axis direction (Y-axis direction) when the output shaft plate 2B abuts. That is, the output member 2 is prevented from further moving in the Z-axis direction and the X-axis direction (Y-axis direction) due to the interference in the stopper mechanism 6.
  • the detection device 1 prevents and limits the impact load applied from the output member 2 to the force sensor 3Aa of the detection member 3, and protects the force sensor 3Aa of the detection unit 3A of the detection member 3 against overload. it can.
  • Each of the tubular elastic members 4E is an elastic body that deforms mainly in the Z-axis direction and moment load.
  • Each angular elastic member 4D is an elastic body that is deformed mainly by the X-axis direction, the Y-axis direction, and a moment load.
  • Each elastic member 4E, 4D determines a set value of overload for protecting the force sensor 3Aa according to its cross-sectional shape and size. Since each elastic member 4E, 4D is divided into a plurality around the Z-axis direction, the number of design parameters of the set value is changed more than that of each elastic member 4A, 4B, 4C in the above-described first embodiment. It's easy to do.
  • each elastic member 4E, 4D is divided into a plurality around the Z-axis direction, it is possible to take a large amount of deformation as compared with each elastic member 4A, 4B, 4C in the above-described first embodiment, Manufacturing error can be reduced.
  • the elastic members 4E and 4D are symmetrically arranged about the Z-axis 8 so that when they are overloaded, they are deformed symmetrically about the Z-axis 8 so that the Z-axis direction and the X-axis direction are changed. A cushioning effect corresponding to the impact load in the Y-axis direction can be obtained. Further, by dividing the elastic members 4D and 4E, the action of the shearing force can be reduced as compared with the case where all the elastic members 4 are made into one block.
  • FIG. 9 is a cross-sectional view showing a configuration example of the detection device 1 according to the modified example (2) of the first embodiment of the present disclosure.
  • FIG. 10 is a partial perspective view showing a configuration example of the detection device 1 according to the modified example (2) of the first embodiment of the present disclosure.
  • the modified example (2) of the first embodiment is different from the above-described first embodiment in the configurations of the elastic member 4 and the base portion 3B of the detection member 3, and the other configurations are the same. Therefore, in the modified example (2) of the first embodiment, the same parts as those of the first embodiment are designated by the same reference numerals and the description thereof will be omitted.
  • the elastic member 4 has a plurality of spherical elastic members 4F formed in a spherical shape, as shown in FIGS. 9 and 10.
  • the spherical elastic members 4F are attached to the elastic member engaging portions 3Bb of the base portion 3B on opposite sides in the Z-axis direction.
  • the elastic member engaging portion 3Bb is formed with an annular fitting groove 3Bk into which a plurality of spherical elastic members 4F are aligned and fitted on one side (the upper side in the drawing) in the Z-axis direction.
  • the elastic member engaging portion 3Bb is formed with an annular fitting groove 3Bm into which the plurality of spherical elastic members 4F are aligned and fitted on the other side (lower side in the drawing) in the Z-axis direction.
  • the plurality of spherical elastic members 4F are fitted in the fitting groove 3Bk and attached to the elastic member engaging portion 3Bb.
  • the plurality of spherical elastic members 4F fitted in the fitting groove 3Bk come into contact with the contact pieces 5Aa of the first housing 5A.
  • the plurality of spherical elastic members 4F are fitted into the fitting groove 3Bm and attached to the elastic member engaging portion 3Bb.
  • the plurality of spherical elastic members 4F fitted in the fitting groove 3Bm are fitted in the fitting groove 5Bb of the second housing 5B.
  • the output member 2 when an external force is applied in the Z-axis direction, the output member 2 that receives the external force moves in the Z-axis direction.
  • the force sensor 3Aa of the detection unit 3A of the detection member 3 detects the force in the Z-axis direction as the output member 2 moves.
  • the force sensor 3Aa of the detection unit 3A of the detection member 3 is coupled to the output member 2 and directly detects the external force received by the output member 2. As a result, the detection device 1 can ensure the detection accuracy.
  • each spherical elastic member 4F is crushed toward the fitting groove 5Bb side by the movement of the detection member 3 on the other side (lower side in the drawing) of the elastic member engaging portion 3Bb in the Z-axis direction, and is compressed and deformed.
  • Each spherical elastic member 4F buffers the impact load applied from the output member 2 to the force sensor 3Aa of the detection member 3 by its own elastic force.
  • the housing 5 receives the load from each spherical elastic member 4F.
  • the detection device 1 can protect the force sensor 3Aa of the detection unit 3A of the detection member 3 against overload.
  • the auxiliary elastic member 7 When the output member 2 receives an unexpected shock load in the Z-axis direction, the auxiliary elastic member 7 also buffers the shock load applied from the output member 2 to the force sensor 3Aa of the detection member 3 by its own elastic force.
  • the auxiliary elastic member 7 suppresses elastic deformation by each spherical elastic member 4F.
  • the amount of deformation of each spherical elastic member 4F can be adjusted by the auxiliary elastic member 7, and the load limitation of the force sensor 3Aa in the Z-axis direction can be increased.
  • the output member 2 When the output member 2 receives an unexpected impact load in the Z-axis direction, the output member 2 that moves in the Z-axis direction against the elastic force of each spherical elastic member 4F and the auxiliary elastic member 7 is the output shaft.
  • the edge of the other surface 2Bb of the plate 2B contacts the first contact surface 6A that is the stopper mechanism 6.
  • the first contact surface 6A regulates the movement of the output member 2 in the Z-axis direction when the output shaft plate 2B contacts. That is, the output member 2 is prevented from further moving in the Z-axis direction due to the interference in the stopper mechanism 6.
  • the detection device 1 prevents and limits the impact load applied from the output member 2 to the force sensor 3Aa of the detection member 3, and protects the force sensor 3Aa of the detection unit 3A of the detection member 3 against overload. it can.
  • the output member 2 When an external force is applied in the Z-axis direction and the X-axis direction (Y-axis direction), the output member 2 that receives the external force moves so as to incline in the X-axis direction (Y-axis direction) with respect to the Z-axis direction.
  • the force sensor 3Aa of the detection unit 3A of the detection member 3 detects forces in the Z-axis direction and the X-axis direction (Y-axis direction) as the output member 2 moves.
  • the force sensor 3Aa of the detection unit 3A of the detection member 3 is coupled to the output member 2 and directly detects the external force received by the output member 2. As a result, the detection device 1 can ensure the detection accuracy.
  • the output member 2 When the output member 2 receives an unexpected impact load in the Z-axis direction and the X-axis direction (Y-axis direction), the output member 2 and the detection member 3 move in the X-axis direction (Y-axis direction) with respect to the Z-axis direction. Move further so that it tilts in the direction).
  • the spherical elastic member 4F on one side (upper side in the drawing) of the elastic member engaging portion 3Bb in the Z-axis direction is crushed by the contact piece 5Aa of the first housing 5A and compressed and deformed.
  • the spherical elastic member 4F on the other side (lower side in the figure) of the elastic member engaging portion 3Bb in the Z-axis direction is crushed toward the fitting groove 5Bb side and compressed and deformed.
  • the base portion 3B does not contact the inner peripheral surface 5Ba of the second housing 5B in the housing 5 within the range of the compression deformation of the spherical elastic member 4F.
  • Each spherical elastic member 4F that has been compressed and deformed buffers the impact load applied from the output member 2 to the force sensor 3Aa of the detection member 3 by its own elastic force.
  • the housing 5 receives a load from each spherical elastic member 4F that has been compressed and deformed.
  • the detection device 1 can protect the force sensor 3Aa of the detection unit 3A of the detection member 3 against overload.
  • the auxiliary elastic member 7 when the output member 2 receives an unexpected impact load in the Z-axis direction and the X-axis direction (Y-axis direction), the auxiliary elastic member 7 also receives a force sensor from the output member 2 to the detection member 3 by its own elastic force. It buffers the impact load applied to 3Aa.
  • the auxiliary elastic member 7 increases the load limit of each spherical elastic member 4F.
  • the detection device 1 can adjust the deformation amount of each spherical elastic member 4F by the auxiliary elastic member 7, and can increase the load limitation of the force sensor 3Aa in the Z-axis direction and the X-axis direction (Y-axis direction).
  • the output member 2 When the output member 2 receives an unexpected impact load in the Z-axis direction and the X-axis direction (Y-axis direction), the output member 2 resists the elastic force of each spherical elastic member 4F and the auxiliary elastic member 7 in the Z-axis direction.
  • the edge portion of the other surface 2Bb of the output shaft plate 2B abuts on the first abutting surface 6A which is the stopper mechanism 6.
  • the peripheral surface 2Be of the output shaft plate 2B contacts the second contact surface 6B that is the stopper mechanism 6.
  • the first contact surface 6A regulates the movement of the output member 2 in the Z-axis direction when the output shaft plate 2B contacts.
  • the second contact surface 6B restricts the movement of the output member 2 in the X-axis direction (Y-axis direction) when the output shaft plate 2B abuts. That is, the output member 2 is prevented from further moving in the Z-axis direction and the X-axis direction (Y-axis direction) due to the interference in the stopper mechanism 6.
  • the detection device 1 prevents and limits the impact load applied from the output member 2 to the force sensor 3Aa of the detection member 3, and protects the force sensor 3Aa of the detection unit 3A of the detection member 3 against overload. it can.
  • Each spherical elastic member 4F is an elastic body that is deformed by a Z-axis direction, an X-axis direction, a Y-axis direction, and a moment load. Each spherical elastic member 4F determines a set value of overload for protecting the force sensor 3Aa according to its sectional shape and size. Since each spherical elastic member 4F is divided into a plurality of parts around the Z-axis direction, the number of design parameters of the set value is changed more than that of each elastic member 4A, 4B, 4C in the above-described first embodiment. Cheap.
  • each spherical elastic member 4F is divided into a plurality around the Z-axis direction, it is possible to take a large amount of deformation as compared with each elastic member 4A, 4B, 4C in the above-described first embodiment, and manufacturing The error can be reduced.
  • Each spherical elastic member 4F can be a unit provided side by side and can reduce the spring constant as compared with each elastic member 4A, 4B, 4C in the above-described first embodiment, and can cope with a small load limitation. .
  • the spherical elastic members 4F By symmetrically arranging the spherical elastic members 4F about the Z axis 8, when they are overloaded, they are symmetrically deformed about the Z axis 8 and are deformed in the Z axis direction and the Y axis direction. A cushioning effect corresponding to an axial impact load is obtained. Moreover, by dividing each of the spherical elastic members 4F, the action of the shearing force can be reduced as compared with the case where all the elastic members 4 are made into one block.
  • FIG. 11 is a cross-sectional view showing a configuration example of the detection device 1 according to the modified example (3) of the first embodiment of the present disclosure.
  • the modification (3) of the first embodiment is different from the above-described first embodiment in the configuration of the elastic member 4, and the other configurations are the same. Therefore, in the modified example (3) of the first embodiment, the same parts as those of the first embodiment are designated by the same reference numerals and the description thereof will be omitted.
  • the elastic member 4 includes a first elastic member 4A, a second elastic member 4B, and a third elastic member 4C which are continuously and integrally formed by a connecting elastic member 4G.
  • the connecting elastic member 4G connects between the first elastic member 4A and the second elastic member 4B, and contacts the contact piece 5Aa of the first housing 5A and the inner peripheral surface 5Ba of the second housing 5B. Further, the connecting elastic member 4G connects the second elastic member 4B and the third elastic member 4C, and contacts the inner peripheral surface 5Ba of the second housing 5B and the inside of the enlarged fitting groove 5Bb.
  • the first elastic member 4A is an elastic body that is deformed mainly by the upper side in the drawing in the Z-axis direction and a moment load.
  • the second elastic member 4B is an elastic body that is deformed mainly by the X-axis direction, the Y-axis direction, and a moment load.
  • the third elastic member 4C is an elastic body that deforms under the Z-axis direction in the drawing and a moment load.
  • Each of the ring-shaped elastic members 4A, 4B, 4C determines the set value of the overload for protecting the force sensor 3Aa according to its cross-sectional shape and size.
  • the connecting elastic member 4G continuously and integrally connects the elastic members 4A, 4B, 4C, and can suppress the movement of the elastic members 4A, 4B, 4C during compression deformation, and the movement of the output member 2 and the detection member 3 Therefore, the detection accuracy of the force sensor 3Aa of the detection unit 3A of the detection member 3 can be further increased.
  • FIG. 12 is a cross-sectional view showing a configuration example of the detection device 1 according to the second embodiment of the present disclosure.
  • FIG. 12 illustrates the configuration of the first embodiment as an example.
  • the stopper mechanism 6 is formed as a curved surface that connects the first contact surface 6A and the second contact surface 6B in the above-described first embodiment and modification examples (1) to (3) of the first embodiment. It has a curved contact surface 6C.
  • the curved contact surface 6C is provided along the Z axis 8 on the inner peripheral surface of the first housing 5A in the housing 5.
  • the output shaft plate 2B which can be brought into contact with the curved contact surface 6C, has, on the peripheral portion thereof, the other surface 2Bb in the first embodiment and the modified examples (1) to (3) of the first embodiment described above. And a peripheral curved surface 2Bf formed as a curved surface connecting the peripheral surface 2Be. The curved surfaces of the circumferential curved surface 2Bf may contact the curved contact surface 6C.
  • the elastic members 4A, 4B, 4C and the auxiliary members are assisted.
  • the circumferential curved surface 2Bf of the output shaft plate 2B is the stopper mechanism 6. It contacts a certain curved contact surface 6C.
  • the curved contact surface 6C restricts the movement of the output member 2 in a plurality of axial directions in the Z-axis direction and the X-axis direction (Y-axis direction) when the peripheral curved surface 2Bf of the output shaft plate 2B abuts. That is, the output member 2 is prevented from further moving in the Z-axis direction and the X-axis direction (Y-axis direction) in the plural axis directions due to the interference in the stopper mechanism 6.
  • the detection device 1 prevents and limits the impact load applied from the output member 2 to the force sensor 3Aa of the detection member 3, and protects the force sensor 3Aa of the detection unit 3A of the detection member 3 against overload. it can.
  • the stopper mechanism 6 is provided in the housing 5 and limits the load on the force sensor 3Aa by colliding with the output shaft plate 2B of the output member 2 to reduce the clearance between the housing 5 and the output shaft plate 2B. Adjust the overload setting value with.
  • the load limitation on the force sensor 3Aa is determined in advance as a design value depending on the shape and elastic force of each elastic member 4A, 4B, 4C, and the clearance amount between the housing 5 of the stopper mechanism 6 and the output shaft plate 2B. It The clearance amount is preferably about 1 mm to 2 mm, for example.
  • the curved contact surface 6C and the peripheral curved surface 2Bf are in contact with each other, so that mutual deformation can be suppressed, and a stronger load restriction can be dealt with. Further, in the stopper mechanism 6, the curved contact surface 6C and the peripheral curved surface 2Bf have the same or similar curvatures to make surface contact with each other in the Z-axis direction and the X-axis direction (Y-axis direction) of the output member 2. Movement can be controlled appropriately.
  • FIG. 13 is a block diagram showing a configuration example of the detection device 1 according to the third embodiment of the present disclosure.
  • 14 and 15 are cross-sectional views showing a configuration example of the detection device 1 according to the third embodiment of the present disclosure.
  • the configuration of the above-described first embodiment, modification examples (1) to (3) of the first embodiment and the configuration of the second embodiment can be applied to the third embodiment.
  • the third embodiment is different from the above-described first embodiment, modification examples (1) to (3) of the first embodiment, and the second embodiment in that a contact detection unit 12 is provided, and The configuration is the same. Therefore, in the third embodiment, the same parts as those in the first embodiment, the modified examples (1) to (3) of the first embodiment, and the second embodiment will be denoted by the same reference numerals and will not be described. Omit it.
  • FIG. 14 illustrates the configuration of the first embodiment as an example.
  • the contact detector 12 detects the contact between the output shaft plate 2B of the output member 2 and the housing 5 in the stopper mechanism 6. By detecting the contact between the output member 2 and the housing 5, the processing unit 11 can detect that the stopper mechanism 6 is functioning and is in the overloaded state. The processing unit 11 presents to the user the detected overload and the number of times the overload has occurred. In addition, the processing unit 11 may output the overload and the number of times the overload has occurred to the robot control unit 105 of the leg robot 100. The robot control unit 105 can perform control so that the output of the drive motor 103 is suppressed so that overload does not occur.
  • the contact detection unit 12 includes the first contact surface 6A and the second contact surface 6B of the first housing 5A in the housing 5, and the first contact surface 6A and the second contact surface 6B. Electrodes 12A and 12B are provided on the other surface 2Bb of the output shaft plate 2B and the peripheral surface 2Be of the output member 2 that abut on the surface 6B, and the abutting portions of the electrodes 12A and 12B are configured as conductors. Then, the contact detector 12 detects the contact between the output member 2 and the housing 5 based on the resistance value between the conductors due to the energization of the electrodes 12A and 12B. In the case of the second embodiment, the electrodes 12A and 12B are provided on the curved contact surface 6C and the peripheral curved surface 2Bf.
  • the contact detection unit 12 provides a pressure detection sheet 12C on the first contact surface 6A and the second contact surface 6B of the first housing 5A in the housing 5. Then, the contact detection unit 12 detects the contact pressure between the output member 2 and the housing 5 by detecting the pressure of the pressure detection sheet 12C.
  • the pressure detection sheet 12C may be provided on the other surface 2Bb and the peripheral surface 2Be of the output shaft plate 2B of the output member 2 that contacts the first contact surface 6A and the second contact surface 6B. In the case of the second embodiment, the pressure detection sheet 12C is provided on either the curved contact surface 6C or the circumferential curved surface 2Bf.
  • FIG. 16 is a block diagram showing a configuration example of a detection device according to the fourth embodiment of the present disclosure. 17 to 20 are cross-sectional views showing configuration examples of the detection device according to the fourth embodiment of the present disclosure.
  • the fourth embodiment can apply the configurations of the above-described first embodiment, modified examples (1) to (3) of the first embodiment, the second embodiment, and the third embodiment. .
  • the fourth embodiment is different from the above-described first embodiment, the modified examples (1) to (3) of the first embodiment, the second embodiment and the third embodiment in that the inclination acquisition unit 13 is provided.
  • the other configurations are the same, except that they have. Therefore, in the fourth embodiment, the same parts as those in the first embodiment, the modifications (1) to (3) of the first embodiment, the second embodiment and the third embodiment have the same reference numerals. Is attached and the description is omitted. 15 to 20, the configuration of the first embodiment is taken as an example.
  • the inclination acquisition unit 13 acquires the inclination of the force sensor 3Aa with respect to the Z axis 8 as the detection member 3 moves. Since the force sensor 3Aa detects the inclination of the force in the axial direction while the detection member 3 moves, an error may occur between the inclination of itself and the detected inclination.
  • the processing unit 11 corrects the inclination of the force detected by the force sensor 3Aa in the state where the detection member 3 is moved, based on the inclination obtained from the inclination acquisition unit 13. To do. As a result, the inclination of the force detected by the force sensor 3Aa is obtained as the inclination with respect to the Z-axis 8, so that the detection accuracy can be ensured.
  • the inclination acquired by the inclination acquisition unit 13 may be output to the robot control unit 105 of the leg robot 100.
  • the robot control unit 105 can obtain the inclination obtained from the inclination acquisition unit 13 as a variation value. As a result, the robot controller 105 can accurately control the position where the detection device 1 is attached.
  • the inclination acquisition unit 13 can acquire and store the inclination of the force sensor 3Aa with respect to the Z axis 8 in advance by simulation.
  • the load applied to the elastic member 4 when the detection member 3 is tilted in the X-axis direction with respect to the Z-axis 8 and the X-axis direction with reference to the Z-axis 8 of the detection member 3 at this load load The result of having calculated the correlation with the amount of displacement to The elastic member 4 is, for example, the left side portion in FIG. 6 in which the third elastic member 4C is compressed and deformed in FIG.
  • the position indicating the amount of displacement in the X-axis direction with reference to the Z-axis 8 is, for example, the position of the Z-axis 8 on the detection surface to which the output shaft 3Ab of the force sensor 3Aa is connected in FIG.
  • the third elastic member 4C is applied with a load load in the X-axis direction represented by ⁇ and a load load in the Z-direction represented by ⁇ , and the displacement amount in the X-axis direction under each load load is calculated. Correlation has been calculated.
  • the inclination acquisition unit 13 acquires and stores this correlation in advance.
  • the processing unit 11 when the processing unit 11 obtains the Z-axis direction force and the X-axis direction force detected by the force sensor 3Aa, the processing unit 11 applies the Z-axis direction force to the displacement amount in the Z-axis direction in FIG.
  • the processing unit 11 applies the Z-axis direction force to the displacement amount in the Z-axis direction in FIG.
  • the axial force to the displacement amount in the X-axis direction in FIG. 16
  • the displacement amount in the X-axis direction is acquired, and the inclination of the force detected by the force sensor 3Aa is corrected based on this displacement amount.
  • the inclination acquisition unit 13 that acquires and stores this simulation result in advance does not need to add a sensor that acquires the inclination separately, and can downsize the device and reduce the manufacturing cost.
  • the inclination acquisition unit 13 may have a configuration including a laser emitting unit 13Aa and a photo interrupter 13Ab as a laser receiving unit, as shown in FIG.
  • the laser emitting section 13Aa emits a laser and is arranged in the detecting section 3A of the detecting member 3.
  • the photo interrupter 13Ab receives the laser emitted by the laser emitting section 13Aa, and is arranged at the bottom of the second housing 5B in the housing 5.
  • the arrangement of the laser emitting unit 13Aa and the photo interrupter 13Ab may be reversed.
  • the detection member 3 is a moving part that moves, and the housing 5 is a fixed part that is fixed. By detecting the laser emitted from the laser emission part 13Aa as the position of the photo interrupter 13Ab, the force sensor 3Aa of the detection part 3A is detected. The tilt can be detected.
  • the processing unit 11 detects the force based on the inclination of the force sensor 3Aa detected by the laser emission unit 13Aa and the photo interrupter 13Ab.
  • the inclination of the force detected by the force sensor 3Aa is corrected while the member 3 is moved. Since the laser emission unit 13Aa and the photo interrupter 13Ab detect the actual inclination of the force sensor 3Aa, accurate correction can be performed.
  • the inclination acquisition unit 13 may be configured as a capacitance type sensor having a pair of electrodes 13Ba and 13Bb as shown in FIG.
  • One electrode 13Ba is arranged in the detection portion 3A of the detection member 3.
  • the other electrode 13Bb is arranged at the bottom of the second casing 5B in the casing 5.
  • the detection member 3 is a moving part that moves, and the housing 5 is a fixed part that is fixed.
  • the force of the detection part 3A is measured by measuring the relative positional relationship between them by the change in the capacitance of the capacitance type sensor.
  • the inclination of the sensor 3Aa can be detected.
  • the processing unit 11 obtains the force in the Z-axis direction and the force in the X-axis direction detected by the force sensor 3Aa
  • the detection member 3 moves based on the inclination of the force sensor 3Aa detected by the capacitance sensor.
  • the inclination of the force detected by the force sensor 3Aa is corrected in this state. Since the capacitance type sensor detects the actual inclination of the force sensor 3Aa, it can be accurately corrected. Further, the capacitance type sensor has high easiness of manufacturing and can suppress the manufacturing cost.
  • the inclination acquisition unit 13 may be configured as an inertial measurement unit (IMU: Inertial Measurement Unit) 13C as shown in FIG.
  • IMU Inertial Measurement Unit
  • the inertial measurement device 13C is arranged in the detection unit 3A of the detection member 3 and measures the inclination of the force sensor 3Aa by the three-dimensional angular velocity and acceleration of the force sensor 3Aa.
  • the detection member 3 moves based on the inclination of the force sensor 3Aa detected by the inertial measurement device 13C.
  • the inclination of the force detected by the force sensor 3Aa in the state is corrected. Since the inertial measurement device 13C detects the actual inclination of the force sensor 3Aa, it can perform accurate correction.
  • An output member that receives an external force A detection member including a force sensor for detecting the force received by the output member, An elastic member that movably supports the detection member, A detection device having.
  • the force sensor is provided so as to detect a force in the multi-axis direction received by the output member, and the elastic member supports the detection member so as to be movable in the multi-axis direction.
  • the said elastic member is a detection apparatus as described in (2) comprised by the some ring shape elastically deformable with the movement of the said detection member.
  • the said elastic member is a detection apparatus as described in (2) comprised by the some spherical shape elastically deformable with the movement of the said detection member.
  • the said stopper mechanism is a detection apparatus as described in (7) comprised by the curved surface which contacts the said output member mutually.
  • the said stopper mechanism is a detection apparatus as described in (7) or (8) which has a contact detection part which detects the contact at the time of regulation of the movement of the said output member.
  • the said contact detection part is a detection apparatus as described in (9) which makes a contact part a conductor and detects the resistance value between each said conductor.
  • the said contact detection part is a detection apparatus as described in (9) which detects the contact pressure of a contact part.
  • An inclination acquisition unit that acquires an inclination based on a predetermined axis of the detection member, A processing unit that corrects the inclination of the force detected by the force sensor in the moved state based on the inclination obtained from the inclination acquisition unit;
  • the detection device according to any one of (1) to (11), which includes: (13)
  • the inclination acquisition unit acquires in advance information on a correlation between a load applied to a predetermined axis of the elastic member as a reference and a displacement amount of the detection member at the load with respect to a predetermined axis as a reference.
  • the detection unit according to (12) wherein the processing unit corrects a slope of force detected by the force sensor with reference to a predetermined axis based on the information on the correlation.
  • the said inclination acquisition part is a detection apparatus as described in (12) which acquires the inclination of the said detection member with the incident angle of the laser irradiated between the said detection member and a fixed part.
  • the said inclination acquisition part is a detection apparatus as described in (12) which acquires the inclination of the said detection member from the change of the electrostatic capacitance between the said detection member and a fixed part.
  • the said inclination acquisition part is a detection apparatus as described in (12) which acquires the inclination of the said detection member from the three-dimensional angular velocity and acceleration in the said detection member.
  • a robot having the detection device according to any one of (1) to (16) at its tip.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

L'invention concerne un dispositif de détection (1) qui comprend : un élément de sortie (2) recevant une force externe ; un élément de détection (3) qui comprend un capteur de force (3Aa) pour détecter la force reçue par l'élément de sortie (2) ; et un élément élastique (4) qui supporte de façon mobile l'élément de détection (3).
PCT/JP2019/037247 2018-10-26 2019-09-24 Dispositif de détection WO2020084980A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018202169 2018-10-26
JP2018-202169 2018-10-26

Publications (1)

Publication Number Publication Date
WO2020084980A1 true WO2020084980A1 (fr) 2020-04-30

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PCT/JP2019/037247 WO2020084980A1 (fr) 2018-10-26 2019-09-24 Dispositif de détection

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Country Link
WO (1) WO2020084980A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021116995A1 (fr) * 2019-12-12 2021-06-17 Nanyang Technological University Dispositif de détection de force à conformité isotrope
CN113525549A (zh) * 2021-08-20 2021-10-22 深圳鹏行智能研究有限公司 机器人足部和具有其的机器人
CN116839768A (zh) * 2023-06-30 2023-10-03 济南大学 基于二硒化钨的微型压阻式应力传感器

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001255216A (ja) * 2000-03-10 2001-09-21 Kubota Corp デジタルロードセルユニットおよびロードセル式はかり
JP2003254843A (ja) * 2002-03-05 2003-09-10 Honda Motor Co Ltd ６軸力センサ
US20090259412A1 (en) * 2006-02-23 2009-10-15 Abb Ab system for controlling the position and orientation of an object in dependence on received forces and torques from a user
JP2011158469A (ja) * 2010-01-05 2011-08-18 Cores:Kk フォースゲージおよびロードセル

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001255216A (ja) * 2000-03-10 2001-09-21 Kubota Corp デジタルロードセルユニットおよびロードセル式はかり
JP2003254843A (ja) * 2002-03-05 2003-09-10 Honda Motor Co Ltd ６軸力センサ
US20090259412A1 (en) * 2006-02-23 2009-10-15 Abb Ab system for controlling the position and orientation of an object in dependence on received forces and torques from a user
JP2011158469A (ja) * 2010-01-05 2011-08-18 Cores:Kk フォースゲージおよびロードセル

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021116995A1 (fr) * 2019-12-12 2021-06-17 Nanyang Technological University Dispositif de détection de force à conformité isotrope
CN113525549A (zh) * 2021-08-20 2021-10-22 深圳鹏行智能研究有限公司 机器人足部和具有其的机器人
CN116839768A (zh) * 2023-06-30 2023-10-03 济南大学 基于二硒化钨的微型压阻式应力传感器
CN116839768B (zh) * 2023-06-30 2024-02-20 济南大学 基于二硒化钨的微型压阻式应力传感器

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