Title:
力覚センサ
Document Type and Number:
Japanese Patent JP6893717
Kind Code:
B2
Abstract:
To provide a force sensor of electrostatic capacity type that is inexpensive compared to a conventional force sensor, by simplifying a structure of a strain body including a capacitive element.SOLUTION: A force sensor comprises: an annular deformable body 40 disposed so as to surround an original point O as viewed from a Z-axis direction and that causes elastic deformation by action of a force or moment; and a detection circuit that, on the basis of the elastic deformation caused in the deformable body, outputs an electric signal indicating the force or the moment that has acted. The deformable body has: two stationary portions 41, 42 fixed relative to an XYZ three-dimensional coordinate system; two force-receiving portions 43, 44 positioned so as to alternate with the stationary portions in a circumferential direction of said deformable body and that receive the action of the force or the moment; and four deformable portions positioned between each stationary portion and each force-receiving portion adjacent in the circumferential direction of said deformable body. Each deformable portion has a curved part protruding in the Z-axis direction and, on the basis of the elastic deformation caused in the curved part, the detection circuit outputs the electric signal.SELECTED DRAWING: Figure 1
Inventors:
Kazuhiro Okada
Satoshi Era
Satoshi Era
Application Number:
JP2020195013A
Publication Date:
June 23, 2021
Filing Date:
November 25, 2020
Export Citation:
Assignee:
Triforce Management Co., Ltd.
International Classes:
G01L5/165; B25J19/02
Domestic Patent References:
| JP6552026B2 | ||||
| JP7117470B2 | ||||
| JP676933B2 | ||||
| JP5490619B2 | ||||
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Attorney, Agent or Firm:
Yukitaka Nakamura
Satoru Asakura
Yasushi Kawasaki
Hiroyuki Nagai
Satoru Asakura
Yasushi Kawasaki
Hiroyuki Nagai