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WO2010079660A1 - Capteur de force - Google Patents

Capteur de force Download PDF

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Publication number
WO2010079660A1
WO2010079660A1 PCT/JP2009/070454 JP2009070454W WO2010079660A1 WO 2010079660 A1 WO2010079660 A1 WO 2010079660A1 JP 2009070454 W JP2009070454 W JP 2009070454W WO 2010079660 A1 WO2010079660 A1 WO 2010079660A1
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WO
WIPO (PCT)
Prior art keywords
base
bearing
arm
force
force sensor
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2009/070454
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English (en)
Japanese (ja)
Inventor
佐藤　栄
優 向井
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
LEPTRINO YK
Original Assignee
LEPTRINO YK
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Filing date
Publication date
Application filed by LEPTRINO YK filed Critical LEPTRINO YK
Publication of WO2010079660A1 publication Critical patent/WO2010079660A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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
    • G01L5/165—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in capacitance
    • 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
    • G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
    • G01L5/1627—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of strain gauges

Definitions

  • the present invention relates to a technique effective when applied to a force sensor.
  • the force sensor is a device that detects a force (external force) acting on a traveling table (object) included in the force sensor, and is used, for example, to realize a tactile sensation of a human fingertip in a robot hand.
  • the force sensor can simultaneously detect a total of six components including the force component in the three-axis direction of the orthogonal coordinate system (x-axis, y-axis, and z-axis) in the three-dimensional space and the moment component around the three axes. There is something.
  • a force sensor that can detect six components is also called a six-axis force sensor.
  • Patent Document 1 a top plate and a bottom plate are connected by a plurality of rods, and these plates are connected to each other by a joint having two degrees of freedom on one side and three degrees of freedom on the other side.
  • a force sensor using a joint is disclosed.
  • the rod of the force sensor is provided with a detection element capable of detecting the compression / tensile force in the rod axis direction.
  • a force sensor structure deformation mode for detecting a force when the structure is deformed is disclosed in Japanese Patent Laid-Open No. 9-318469 (Patent Document 2).
  • a six-axis force sensor of a combination of a strain gauge and an elastic body is widely used for applications such as external force measurement in a robot that performs force control.
  • force or moment acts on the elastic body to which the strain gauge is attached and the elastic body is deformed, stress is generated in each strain gauge accordingly.
  • the resulting change in the electrical resistance value of each strain gauge is output as a voltage value via a well-known bridge circuit, and further converted into a six-axis force by a predetermined calculation processing circuit or software processing.
  • Patent Document 3 discloses three-axis forces orthogonal to each other by a plurality of strain gauges attached to an optimal site set by FEM analysis of a flat plate-like strain generating body, and these A six-axis force sensor is disclosed that includes a strain detection circuit including a plurality of bridge circuits that independently detect moments about the axis.
  • Patent Document 4 discloses a six-axis load detecting device that controls the position and posture of a predetermined movable plate by cooperation of a plurality of actuators.
  • Patent Document 5 discloses that a force sense presentation mechanism for presenting and transmitting a force sense to a user attaches an operation device for connecting the user and the operation device.
  • Haptic interface having 6-axis force feedback, including 6 motion sets, 6 link sets supporting the motion platforms, 6 drive units for independently driving each link set, and 6 position sensors An apparatus is disclosed.
  • the acceleration sensor is a device that detects the acceleration of an object having mass, and is used, for example, for posture control of a robot or detection of a collision of an automobile airbag.
  • An angular velocity sensor (for example, a gyro sensor) is a device that detects an angular velocity at which an object having a mass rotates, and is used, for example, for industrial robots or detection of a rollover of an automobile.
  • These acceleration sensors and angular velocity sensors are devices (motion sensors) that detect an inertial force generated from the movement of an object with respect to a force sensor that detects a force (external force) applied to the object.
  • a uniaxial acceleration sensor In order to detect the triaxial acceleration in the x-axis, y-axis, and z-axis directions, for example, when a uniaxial acceleration sensor is used, it is necessary to arrange three uniaxial acceleration sensors in directions orthogonal to each other. Further, in order to detect the triaxial angular velocities in the rotation directions of the x axis, the y axis, and the z axis, for example, three uniaxial angular velocity sensors are required. For this reason, a 6-axis motion sensor that simultaneously detects 3-axis acceleration and 3-axis angular velocity is desired. In the present application, a motion sensor will be described as a superordinate concept of an acceleration sensor and an angular velocity sensor. That is, the motion sensor can detect acceleration and / or angular velocity.
  • a force sensor is provided at the fingertip of a robot in the medical field or daily life field.
  • Such force sensors are required to be small and highly accurate.
  • motion sensors such as acceleration sensors and angular velocity sensors are also required to be downsized and highly accurate because they are provided in industrial robots and consumer equipment.
  • the force, acceleration, and angular velocity related to the object are vector quantities, and the force sensor that detects the force received by the object and the motion sensor that detects the movement of the object from the force as acceleration and angular velocity detect the vector quantity. It is thought that the structure to be made can be common.
  • An object of the present invention is to provide a sensor that detects a plurality of vector quantities.
  • a force having a base, a table having six degrees of freedom with respect to the base, and arranged in opposition to the base, and six connecting portions arranged in parallel to connect the table and the base
  • a first bearing having three degrees of freedom for receiving movement of the table
  • a second bearing having two degrees of freedom for receiving movement of the first bearing
  • a rod connected to a bearing and having the other end connected to the second bearing
  • an arm having one end connected to the second bearing and the other end fixed to the base
  • the table and the base And a detection element for detecting displacement and / or deformation of the arm.
  • a sensor for detecting a plurality of vector quantities can be provided.
  • FIG. 7 is a cross-sectional view of an essential part schematically showing a sensor taken along line XX in FIG. 6. It is a top view which shows typically the sensor in other embodiment of this invention.
  • FIG. 9 is a top view schematically showing the sensor of FIG. 8 excluding a table.
  • FIG. 9 is a cross-sectional view schematically showing a sensor at the YY line in FIG. 8. It is explanatory drawing for detecting a force. It is a side view which shows typically the sensor in other embodiment of this invention.
  • sensor 101 in this embodiment, has a base 102 and six degrees of freedom with respect to base 102, and is arranged to face base 102.
  • a traveling table (hereinafter simply referred to as a table) 103 and six connecting portions 104 arranged in parallel for connecting the table 103 and the base 102 are provided.
  • This force sensor 101 has three degrees of force components Fx, Fy, and Fz in a three-dimensional space orthogonal coordinate system (x-axis, y-axis, and z-axis) and the three axes around the three axes, based on six degrees of freedom of the table 103. Can be detected as a total of six components of moment components Mx, My and Mz.
  • the connecting portion 104 includes a bearing 106 having three degrees of freedom for receiving the movement of the table 103, a bearing 107 having two degrees of freedom for receiving the movement of the bearing 106, and an arm 105 fixed to the base 102 and receiving the movement of the bearing 107.
  • the table 103 and the base 102 are connected.
  • the bearings 106 and 107 are spherical bearings that can hold, for example, a steel ball as a spherical surface and can move with three or two degrees of freedom.
  • the bearing 106 and the bearing 107 are directly connected to each other by an angle of the ball of each bearing, for example, by welding. That is, since the bearings 106 and 107 are physically large, they are directly connected at an angle.
  • the centers of the upper and lower bearings 106 and 107 may be connected with a certain distance and angle, and force may be transmitted to the arm 105. Therefore, the distance between the base 102 and the table 103 can be determined by the bearings 106 and 107, and the force sensor 101 can be thinned. As described above, when the distance between the base 102 and the table 103 is short, it is difficult to secure an arm length between the base 102 and the table 103.
  • the arm 105 is attached to the base 102. It extends in a plane parallel to the plane.
  • the structure in which the table 103 is supported by the plurality of connecting portions 104 in this way is a parallel link structure.
  • connecting portions 104 are arranged in order to move the table 103 in all directions (six axis directions). If a point on the plane of the table 103 is to be moved, a minimum of two connecting portions 104 are necessary.
  • the bearing 106 has three degrees of freedom and the bearing 107 has two degrees of freedom will be described.
  • the base 102 and the table 103 are connected not by the connecting portion 104 (bearings 106 and 107, arm 105) but only by a rigid rod. In this case, if the table 103 is moved in all directions, for example, Mz, the rod is still twisted while falling in the rotational direction.
  • the tilting of the rod in the rotational direction occurs when the table 103 moves in the plane direction.
  • Two degrees of freedom are required to release the tilting of the rod in the rotational direction, and another degree of freedom is required to release the twist of the rod.
  • the torsion of the rod has already been released, so there are two degrees of freedom in consideration of the amount of tilting in the rotation direction of the rod. If the rod is an elastic body instead of a rigid body, the table 103 can move freely, but no force is transmitted to the base 102.
  • the bearing 106 connected to the table 103 has three degrees of freedom, and the bearing 107 connected to the base 102 has two degrees of freedom.
  • the table 103 has a circular flat plate and is a rigid body made of a metal such as stainless steel (for example, SUS304) excellent in corrosiveness and workability.
  • a metal such as stainless steel (for example, SUS304) excellent in corrosiveness and workability.
  • a bearing 106 which is a spherical bearing, is directly connected so as to fit into the hole 103a.
  • the base 102 has a circular flat plate, and is a rigid body made of a metal such as stainless steel (for example, SUS304) excellent in corrosiveness and workability.
  • a protrusion is formed at the center of the base 102, and six arms 105 extending from the protrusion to the outer periphery of the base 102 in a branch shape are formed.
  • Each arm 105 is made of a metal such as stainless steel (for example, SUS304) excellent in corrosiveness and workability when formed integrally with the base 102, but is formed so as to extend in a branch shape.
  • the elastic body has a sufficiently large change amount with respect to the change amount of the base 102.
  • each arm 105 extends in a branch shape in parallel with the plane of the base 102.
  • Each arm 105 is formed of a hollow body at the tip, and has a hole 105a that communicates with the hollow body.
  • a bearing 107 which is a spherical bearing, is directly connected so as to fit into the hole 105a. As described above, the bearing 107 is directly connected to the bearing 106 at an angle, for example, by welding.
  • the force sensor 101 includes a capacitance element 108 as a detection element that detects displacement and / or deformation of the arm 105 that is an elastic body.
  • the capacitance element 108 is disposed below the tip of the arm 105 and on the base 102.
  • a pair of electrodes are disposed on the base 102 side and the arm side 105. Become. The change in capacitance between the pair of electrodes is detected as the displacement and / or deformation of the arm 105.
  • the force sensor 101 includes a circuit board 110 having a calculation unit (for example, a CPU) that calculates the magnitude and / or direction of the force acting on the table 103 from the detection value of the capacitance element 108.
  • the circuit board 110 is disposed on a plane facing the table 103 in the base 102.
  • a signal (analog signal) from the electrostatic capacitance element 108 (detection element SD) that has detected the displacement and / or deformation of the arm 105 is amplified by the amplifier 11 with the circuit configuration shown in FIG. After that, the analog signal is converted into a digital signal by the A / D converter 12, and the force (load) applied to the table 103 by the CPU 13 is calculated using a constant from the memory 14.
  • the CPU 13 serving as a calculation unit calculates the magnitude and / or direction of the force acting on the table 103 from the detection value detected by the capacitance element 108 (detection element SD).
  • This calculation result is output as digital output from the CPU 13 and as analog output using the D / A converter 15.
  • a constant obtained by calculation or actual measurement is required. Based on this constant, six-axis force components Fx, Fy, Fz applied to the table 103 via the CPU 13 based on the detection values from the capacitance elements 108 (detection elements SD) provided on the six arms 105, respectively.
  • the table 103 receives a load, but the base 102 may receive a force (load).
  • the CPU 13 included in the circuit board 110 calculates the magnitude and / or direction of the force acting on the base 102 from the detection value of the capacitance element 108.
  • a force component Fz in the vertical direction is added to the table 103 of the force sensor 101 will be described in order.
  • the table 103 tries to move in the ⁇ Z direction by force (Fz). Since a bearing with three degrees of freedom is connected to the table 103 and a bearing with two degrees of freedom is connected to the bearing, a force (Fz / 6) is applied in the axial direction of the bearing.
  • the force (Fz / 6) is synthesized by the mounting angle of the table 103 and the bearing 106 to obtain the force (Fz).
  • the bearing 106 and the tip of the arm 105 are connected by a bearing 107 having two degrees of freedom, and the other end of the arm 105 and the base 102 are fixed, a force (Fz / 6) is applied to the arm 105, and the arm 105 Deforms in one direction (planar deformation).
  • the bearing 106 and the bearing 107 have no sliding resistance, and the base 102 and the table 103 must be rigid bodies.
  • the magnitude and / or direction of the force applied to the table 103 can be replaced with the simplest plane deformation in the arm 105, so that a highly accurate force can be detected.
  • the magnitude / or direction of the force acting on the table 103 can be detected even when the bearing 106 and the bearing 107 are directly connected.
  • a description will be given with reference to a truss structure in which the nodes of the members shown in FIG. 11 are pin-connected.
  • the bearing 106 is replaced with a bearing B1
  • the bearing 107 is replaced with bearings B2 and B3.
  • bearings B1, B2, and B3 are arranged at each vertex of the triangle.
  • the bearing B1 and the bearing B2 are connected by a rod R1, and the bearing B1 and the bearing B3 are connected by a rod R2.
  • a force Fz is applied to the bearing B1 and balanced, only the axial forces T1 and T2 act on the rods R1 and R2, the reaction force T1 on the bearing B2, and the reaction force T2 on the bearing B3. Power works.
  • the magnitudes of these forces T1 and T2 are determined by the following equations.
  • T1 Fz / sin ⁇ 1
  • T2 Fz / sin ⁇ 2 From this, it can be seen that the forces T1 and T2 are influenced only by the respective ⁇ 1 and ⁇ 2, and are not influenced by the rod length.
  • the force sensor 101 can detect the force acting on the table 103 even if the bearing 106 and the bearing 107 are directly connected and arranged with an angle without providing a rod. Can do.
  • the force sensor 101 in which the bearing 106 and the bearing 107 are directly connected without providing a rod can be reduced in thickness and size.
  • a plurality of shafts (rods) are connected to the table 103, and the arm 105 is driven by varying the length.
  • Bearings 106 and 107 that allow the rotation of the table 103 to escape are necessary at both ends of the shaft.
  • the bearings 106 and 107 are also used as shafts (rods).
  • the rigidity of the force sensor 101 is the amount of movement of the table 103, and is an amount by which the force sensor 101 is deformed when a force is applied to the table 103.
  • the base 102, the table 103, and the bearings 106 and 107 are rigid bodies, and the arm 105 is an elastic body having a predetermined spring coefficient. For this reason, the amount of movement of the table 102 is determined by the amount of deformation of the arm 105.
  • the influence on the rigidity of the force sensor 101 is smaller than the amount of deformation of the arm 105, the attachment angle between the bearings 106 and 107 and the length of the shaft (rod) are also affected.
  • a force sensor structural deformation mode
  • a detection element for example, a strain gauge
  • position control of 1 ⁇ m must be performed. This makes accurate force control difficult.
  • a force output structure such as a force sense interface device having force feedback as described in Patent Document 5, for example.
  • the amount of movement of the actuator is fed back to the driving means by the force applied to the table and is balanced with the force applied by returning the table to a predetermined position, so that the table cannot be moved.
  • the rigidity of the force sensor 101 can be easily changed by using the arm 105 as an elastic body and changing its displacement. That is, it is possible to detect a gentle force (fine force) with high accuracy (resolution).
  • Embodiment 2 In the first embodiment, the sensor that can be reduced in thickness and size by directly connecting a bearing having three degrees of freedom and a bearing having two degrees of freedom has been described. Thus, in the structure in which the bearings are directly connected, the movable range of the table that receives the force is small. Therefore, in the present embodiment, a gentle force detection with higher accuracy can be performed by providing a rod between a bearing having three degrees of freedom and a bearing having two degrees of freedom to widen the movable range of the table.
  • the sensor 1 in the present embodiment has a base 2 and six degrees of freedom with respect to the base 2, and is arranged to face the base 2.
  • a traveling table (hereinafter simply referred to as a table) 3 and six connecting portions arranged in parallel for connecting the table 3 and the base 2 are provided.
  • the connecting portion includes a bearing 6 having three degrees of freedom for receiving the movement of the table 3, a bearing 7 having two degrees of freedom for receiving the movement of the bearing 6, and an arm 5 fixed to the base 2 and receiving the movement of the bearing 7.
  • the table 3 and the base 2 are coupled to each other including the rod 4 having one end connected to the bearing 6 and the other end connected to the bearing 7.
  • the force sensor 1 in the present embodiment does not affect the length of the rod 4 when detecting the force applied to the table 3. That is, although the force sensor 1 provided with the rod 4 is shown in the present embodiment, it is theoretically the same as the force sensor 101 shown in the first embodiment.
  • the force sensor 1 includes the rod-shaped rod 4 and the arm 5 that connect the base 2 and the table 3 to the connecting portion.
  • the structure for supporting the table 3 by a plurality of connecting portions is a parallel link structure.
  • the base 2 and the table 3 are formed in a flat plate as shown in the figure, for example, and are arranged in parallel to each other.
  • the force sensor 1 determines the magnitude and / or direction of a force (load) acting on the table 3 according to a three-dimensional force component Fx in a three-dimensional space orthogonal coordinate system (x axis, y axis, z axis), It can be detected as a total of six components including Fy and Fz and moment components Mx, My and Mz around the three axes.
  • the table 3 receives a load, but the base 2 may receive a load.
  • the force sensor 1 includes one rod 4 and one arm 5 to form one connecting member, and connects the base 2 and the table 3. Six connecting members are provided along the circumferential direction of the table 3, and two connecting members are provided side by side.
  • each material of the base 2, the table 3, the rod 4, the bearing 6, and the bearing 7 is a rigid body that can withstand a rated load applied to the table 3, and the arm 5 is an elastic body.
  • the base 2, the table 3, and the rod 4 are rigid bodies made of a metal such as stainless steel (for example, SUS304) excellent in corrosiveness and workability.
  • the arm 5 is an elastic body made of a metal such as phosphor bronze that is generally used as a spring material.
  • the load to the table 3 is a low load of 10 N or less, it can also be comprised with resin (polyacetal etc.) instead of a metal.
  • the base 2, the table 3, and the rod 4 are assumed to be rigid bodies. However, the base 2, the table 3, and the rod 4 only need to have rigidity that does not affect the measurement load accuracy, that is, the deformation amount is sufficient with respect to the deformation amount of the arm 5. It only needs to be small.
  • the arm 5 may be a load range in which plastic deformation does not occur by determining the spring coefficient by thinning and thinning the portion to be deformed.
  • the arm 5 is formed of a magnetic material within a load range in which plastic deformation does not occur.
  • One end of the table 3 and the rod 4 is connected by a bearing 6 having three degrees of freedom, and the other end of the rod 4 and one end of the arm 5 are connected by a bearing 7 having two degrees of freedom.
  • the other end and the base 2 are fixed.
  • the other end of the arm 5 and the base 2 are fixed via the arm mounting base 9, but the other end of the arm 5 and the base 2 may be directly fixed.
  • the base 2 and the arm 5 can be integrally formed.
  • the integral molding of the rigid base 2 and the elastic arm 5 is such that if the portion that becomes the arm 5 is made thinner than the thickness of the base 2, that portion can have elasticity within a specific load. Molded by integration during production. A case where a force component Fz in the vertical direction is added to the table 3 of the force sensor 1 will be described in order. First, the table 3 tries to move in the ⁇ Z direction by force (Fz).
  • the rod 4 is a rigid body and the arm 5 is provided as a target for detecting displacement and / or deformation, whereby the magnitude and / or direction of the force applied to the table 3 is replaced with the simplest planar deformation in the arm 5.
  • the force sensor 1 has a circuit board 10, and as shown in FIG. 2, the circuit board 10 is provided on the surface (back surface) opposite to the surface facing the table 3 in the base 2.
  • a signal (analog signal) from the strain gauge 8 (detection element SD) that detects the displacement and / or deformation of the arm 5 is amplified by an amplifier 11 with the circuit configuration as shown in FIG.
  • the analog signal is converted into a digital signal by the A / D converter 12, and the load applied to the table 3 by the CPU 13 is calculated using constants from the memory 14.
  • the CPU 13 as the calculation unit calculates the magnitude and / or direction of the force acting on the table 3 from the detection value detected by the strain gauge 8. This calculation result is output as digital output from the CPU 13 and as analog output using the D / A converter 15.
  • a force sensor using the technique (conventional technique) of Patent Document 1 will be described in correspondence with the terms of the present embodiment.
  • a force sensor using a conventional technique is a force sensor in which one end of a table and a rod are connected by a bearing with two degrees of freedom, and the other end of the rod and a base are connected by a bearing with three degrees of freedom. Is provided on the rod. That is, the compressive / tensile force in the axial direction of the rod is detected. For this reason, the force sensor of the prior art does not detect the displacement and / or deformation of the arm. Theoretically, only the axial compressive / tensile force is applied to the rod of the force sensor of the prior art.
  • the rod is not a rigid body, it is a design that takes into account deformation (buckling) other than the axial direction, that is, the contradictory conditions of having elasticity in the axial direction and rigidity in the axial diameter direction. If the force sensor is downsized, the design becomes more difficult. That is, the conventional force sensor in which the rod is provided with a detection element cannot accurately detect the load applied to the table.
  • the rod 4 is a rigid body and provided with an arm 5 that detects displacement and / or deformation, so that the rod 4 is compressed and tensioned as a position detection of the base 2 side end. The force can be replaced with the simplest plane deformation.
  • the force sensor 1 even when the force sensor 1 is downsized, the load applied to the table 3 can be detected with high accuracy. That is, force components Fx, Fy, Fz, Mx, My, and Mz applied to the table 3 from all six directions can be detected on a plane. In other words, even the six-direction force component applied to the table 3 can be performed completely the same as the detection when a single-direction force is applied.
  • the force sensor 1 according to the present embodiment is a device having a novel structure capable of detecting a plurality of forces (vector quantities). This new structure will be described below.
  • the force of the force sensor is used.
  • a force component Fz in the z-axis direction is applied to a position to be applied (hereinafter referred to as a table)
  • force components Fx and Fy are also generated in the x-axis and y-axis directions (other-axis sensitivity).
  • it is extremely difficult to deal with output characteristics and the like with the moment of the z-axis applied an unavoidable problem arises, and it is also difficult to apply forces from six directions at a specific place.
  • the force sensor 1 in the present embodiment can take out the wiring from the strain gauge 8 from an arbitrary position as compared with a structure such as a force sensor. Thereby, for example, even when the force sensor 1 is sized to be installed on the arm of the robot, the wiring can be passed through the centers of the base 2 and the table 3.
  • the force sensor 1 since the rod 4 is a rigid body, it is easier to design and analyze the structural deformation mode.
  • the force sensor 1 according to the present embodiment includes one rod 4 and one arm 5 to form one connecting member (link), and the base is formed by six (plural) connecting members (links). 2 and the table 3 are connected. For this reason, the force sensor 1 can realize high rigidity and high speed driving by making the six links have a closed link structure. (Embodiment 3)
  • a linear actuator is provided on the rod in the second embodiment will be described.
  • the rod 4 has a linear actuator 4a that can expand and contract in the axial direction.
  • the linear actuator 4a is made of, for example, a servo motor, a cylinder, a shape memory alloy, an artificial muscle, and the like, and can extend and contract the entire length of the rod 4 in the axial direction. Therefore, by providing the linear actuator 4a in the rod 4, the surface of the table 3 can be moved freely. As described in the first embodiment, the force sensor 1a does not affect the length of the rod 4 in detecting the force applied to the table 3.
  • the force sensor 1a provided with the rod 4 capable of extending and contracting the entire length in the axial direction is shown.
  • the force sensor 1a is the same as the force sensor 101 shown in the first embodiment. is there.
  • the rod 4 when detecting the force of the table 3, the rod 4 must be rigid. That is, even if the length of the rod 4 itself changes, only the direction of the table 3 changes, and the rod 4 does not expand or contract in the axial direction by the force applied to the table 3.
  • the linear actuator 4a in the rod 4 it is possible to detect the force applied to the table 3 moved by the expansion and contraction of the linear actuator 4a.
  • the table 3 is moved by the expansion and contraction of the rod 4, and the force detection is performed by the arm 5. Because it can be done.
  • the base 2 on the elbow side, the table 3 on the wrist side, and the rod 4 having the linear actuator 4a from the elbow to the wrist can be configured. Thereby, the force applied to the wrist can be detected while moving.
  • a strain gauge detection element
  • FIG. 4 is a cross-sectional view schematically showing the main part of the force sensor according to the present embodiment. Only part of the force sensor is hatched for easy explanation.
  • the magnetic discriminating element 20 is composed of two magnetoresistive elements 20a and a magnet 20b. As shown in FIG.
  • a power supply voltage (Vcc) is applied to a reference potential (GND) in advance.
  • the change of the magnetic flux applied to the magnetoresistive element 20a is detected as the output voltage (Vout).
  • the resistance value of the magnetoresistive element 20a changes in proportion to the strength of the magnetic field.
  • the arm 5 may be made of any material that can withstand the rated load applied to the table 3, but in the present embodiment, the arm 5 is made of a magnetic material. If two elements are placed in a static magnetic field, and the magnetic material moves, the magnetic field changes and the resistance balance is lost.
  • the magnetic identification element 20 is provided on the base 2 under one end of the arm 5 connected to the other end of the rod 4. Since the other end side of the arm 5 is fixed to the base 2, one end (front end) of the arm 5 is displaced most by the force applied to the arm 5. It is provided on the lower base 2. Further, as shown in FIG.
  • a stopper 21 is provided on a surface on one end side of the arm 5 and facing the base 2.
  • the compression / tensile force of the rod 4 can be replaced with the simplest plane deformation. Can be detected with high performance even if it is provided on the base 2 below one end of the arm 5.
  • a strain gauge detection element
  • the arm and the base are integrally molded using a gimbal structure, A case where the displacement and / or deformation of the arm (gimbal) is detected by a capacitance element (detection element) will be described.
  • a gimbal 5a which is an arm, is integrally formed with the base 2a as a gimbal structure.
  • the gimbal 5a and the base 2a are given the same hatching.
  • a gimbal structure is adopted for each of the six rods 4 (see FIGS. 1 and 2) provided along the circumferential direction of the table 3.
  • One end of the rod 4 is connected to the table 3 (see FIG.
  • the gimbal 5a is provided with a capacitance element 30 including two opposing plate-like electrodes 30a and 30b.
  • the electrostatic capacitance element 30 is a detection element that detects displacement and / or deformation of the gimbal 5a by a change in electrostatic capacitance.
  • one electrode 30 a of the capacitive element 30 is provided on the gimbal 5 a through the connection portion 31.
  • the other electrode 30b of the capacitive element 30 is provided on a circuit board 10 that is fixed to a surface opposite to the surface facing the table 3 in the base 2a.
  • the other electrode 30b of the capacitive element 30 is provided on the base 2a.
  • the change in capacitance of the capacitive element 30 can be converted into the vertical displacement of the gimbal 5a (for example, indicated by the symbol A in FIG. 7).
  • the magnitude and / or direction of the force acting on the table 3 is detected by the displacement and / or deformation of the gimbal 5a which is an arm, as in the second embodiment. .
  • the electrode 30a constituting the capacitive element 30 is provided at the other end of the rod 4 which is a rigid body, but when the gimbal 5a (arm) which is an elastic body is displaced, The position of the electrode 30a is displaced together with the other end of the rod 4, and the capacitance of the capacitance element 30 changes. That is, the change in the capacitance of the capacitance element 30 can be regarded as the displacement of the gimbal 5a and converted as the magnitude and / or direction of the force acting on the table 3.
  • the signal (detected value) of the capacitive element 30 (detection element SD) that detects the displacement and / or deformation of the gimbal 5a is sent to the circuit board 10 and processed by the circuit configuration as shown in FIG.
  • the capacitive element 30 is configured by providing the electrode 30a on the gimbal 5a via the connecting portion 31 and providing the electrode 30b at a position facing the electrode 30a. Not only this but the electrode 30a may be provided in the gimbal 5a of the surface side which opposes the electrode 30b instead of via the connection part 31.
  • the change in the capacitance of the capacitance element 30 can be regarded as the displacement and / or deformation of the gimbal 5a and converted into the magnitude and / or direction of the force acting on the table 3. It is.
  • the rod 4 as a rigid body and providing an elastic gimbal 5a (arm) as a target for detecting displacement and / or deformation
  • the compression / tensile force of the rod 4 can be replaced with the simplest plane deformation. Therefore, the force sensor in the present embodiment can detect a load applied to the table 3 with high performance.
  • the arm is integrally formed with the base 2a as the gimbal 5a, so that the rod-like arm 5 as shown in the second embodiment extends in the height direction from the base 2 to the table 3. Not done.
  • the gimbal 5a serving as an arm extends in the plane direction of the base 2a.
  • the height of the arm 5 as shown in the second embodiment can be cut, and the force sensor can be further downsized.
  • the force sensor is a device that detects an external force received by an object
  • the motion sensor is a device that detects acceleration and angular velocity from the inertial force received by the object, and both detect force (external force, inertial force). Therefore, also in the motion sensor in the present embodiment, the novel structure for detecting the force described in the first to fifth embodiments can be used in common.
  • the sensor 1 (motion sensor 1) in the present embodiment has the following structure. First, a base 2, a table 3 disposed to face the base 2, and a rod 4 and an arm 5 that connect the base 2 and the table 3 are provided.
  • the motion sensor 1 includes a strain gauge 8 (detection) that detects the magnitude and / or direction of the inertial force received by the movable part (the table 3, the rod 4, and the bearings 6 and 7) by the displacement and / or deformation of the arm 5.
  • a strain gauge 8 detection
  • the CPU 13 CPU 13 (see FIG. 3) which is a calculation unit for calculating the magnitude and / or direction of the inertial force received by the movable part from the detected value of the strain gauge 8.
  • the motion sensor 1 detects (calculates) the acceleration az in the z-axis direction.
  • the sensor 1 receives gravitational acceleration.
  • the calculation of the acceleration az can be performed by, for example, the CPU 13 shown in FIG.
  • m in the equation of motion is the mass of the movable part (table 3, rod 4, and bearings 6, 7).
  • m in the equation of motion is the mass of the movable part (table 3, rod 4, and bearings 6, 7).
  • the motion sensor 1 detects (calculates) the angular velocity ⁇ z in the z-axis direction.
  • a displacement in a direction approaching the base 2 appears in one arm 5, and a displacement and / or deformation (plane deformation) in a direction away from the base 2 appears in the other arm 5.
  • a sensor using a conventional technique is a sensor in which one end of a table and a rod are connected by a bearing with two degrees of freedom, and the other end of the rod and a base are connected by a bearing with three degrees of freedom, and a strain gauge is provided on the rod. It becomes a structure. That is, the compressive / tensile force in the axial direction of the rod, which is an elastic body, is detected.
  • a sensor of the prior art is attached to the center of the rotary table and the angular velocity around the z axis is detected, due to the inertial mass of the rod itself, an elastic rod is generated and an accurate force cannot be detected. it is conceivable that.
  • the arm 5 is a mechanism that causes displacement and / or deformation (plane deformation) only in the z-axis direction, and the influence of distortion due to inertial mass is very small. Therefore, the inertial force can be detected with high accuracy.
  • the base 2, the table 3, the rod 4, and the bearings 6 and 7 are rigid bodies, and the elastic body as an object for detecting displacement and / or deformation is the arm 5, whereby the table 3 Furthermore, the magnitude and / or direction of the force applied to the rod 4 can be replaced with the simplest plane deformation in the arm 5.
  • the inertial force received by the motion sensor 1 due to the displacement and / or deformation of the arm 5 can be detected, and the acceleration and angular velocity can be detected.
  • the base 2 and the table 3 are connected by forming one connecting member including one rod 4 and one arm 5.
  • Six connecting members are provided along the circumferential direction of the table 3, and all connecting members are arranged so as not to face the apex in the virtual conical surface formed by the connecting members.
  • the motion sensor 1 can detect (calculate) the triaxial acceleration from the components in the three axial directions, and can detect the triaxial angular velocity from the moment components around the three axes. It can be said to be an axial motion sensor.
  • the motion sensor 1 according to the present embodiment includes a process in which the CPU 13 which is a calculation unit calculates acceleration and a process in which angular velocity is calculated. Therefore, the motion sensor 1 can be configured as an acceleration sensor if only the acceleration is detected by the CPU 13, for example, and as an angular velocity sensor if only the angular velocity is detected.
  • the motion sensor 1 is provided on the base 2 side of the motion sensor 1 or the center of the rotary table. Acceleration and angular velocity can be detected.
  • the invention made by the present inventor has been specifically described based on the embodiment.
  • the present invention is not limited to the embodiment, and various modifications can be made without departing from the scope of the invention. Needless to say.
  • a detection element for detecting displacement and / or deformation of the arm a piezoelectric element may be provided on the arm, a capacitive element, an optical element (for example, a laser), or the like may be provided on the base.
  • the arm can be made of quartz to capture changes in natural vibration.
  • the displacement and / or deformation of the arm can be detected from an electric signal obtained by converting, for example, the distortion and change amount of the arm.
  • a force sensor or a motion sensor is installed in an installation part, if the installation part is regarded as a base and an arm, a bearing, a rod, a table, etc. are assembled on the installation part, a structure without a base is obtained. It can be set as a force sensor or a motion sensor.
  • the present invention is widely used in the field of force sensors, motion sensors, and robots using the same.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Manipulator (AREA)

Abstract

L’invention concerne un capteur capable de détecter une pluralité de grandeurs vectorielles. Un capteur de force (1) est pourvu d’une base (2), d’une table (3) ayant six degrés de liberté par rapport à la base (2) et placée en face de la base (2) et de six pièces de couplage disposées en parallèle afin de coupler la table (3) et la base (2). La pièce de couplage comprend une portée (6) ayant trois degrés de liberté et soumise au déplacement de la table (3), une portée (7) ayant deux degrés de liberté et soumise au déplacement de la portée (6), une tige (4) dont une extrémité est connectée à la portée (6) et l’autre extrémité est connectée à la portée (7), et un bras (5) dont une extrémité est connectée à la portée (7) et l’autre extrémité est fixée à la base (2), la pièce de couplage couplant la table (3) et la base (2) et étant pourvue d’un élément de détection (8) servant à détecter le déplacement et/ou la déformation du bras (5).
PCT/JP2009/070454 2009-01-06 2009-12-07 Capteur de force Ceased WO2010079660A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP2009001075 2009-01-06
JP2009-001075 2009-01-06
JP2009009481 2009-01-20
JP2009-009481 2009-01-20
JP2009059679A JP4389001B1 (ja) 2009-01-06 2009-03-12 力覚センサおよび運動センサ
JP2009-059679 2009-03-12

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WO2010079660A1 true WO2010079660A1 (fr) 2010-07-15

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JP (2) JP4389001B1 (fr)
WO (1) WO2010079660A1 (fr)

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DE102012223189A1 (de) * 2012-12-14 2014-06-18 Zf Friedrichshafen Ag Mehrkomponentensensor
CN105004368A (zh) * 2015-06-29 2015-10-28 深圳乐行天下科技有限公司 一种自主机器人的碰撞检测方法、装置及系统
CN109580989A (zh) * 2019-01-17 2019-04-05 北京林业大学 一种加速度传感器弹性体
US20220161666A1 (en) * 2019-04-17 2022-05-26 Mavic Sas Force measurement sensor
CN115289953A (zh) * 2022-01-24 2022-11-04 浙江师范大学 一种软传感器三叉形装置

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JP5896123B2 (ja) * 2012-01-23 2016-03-30 株式会社Ihi ツール制御方法および装置
CN106181989A (zh) * 2016-08-30 2016-12-07 浙江琦星电子有限公司 机械手
CN107448186B (zh) * 2017-09-27 2023-03-24 中国地质大学（武汉） 一种基于六支链并联机构的钻井用三维力传感器
CN108709672A (zh) * 2018-05-31 2018-10-26 哈尔滨理工大学 一种手臂压力信号采集方法
CN109030726B (zh) * 2018-06-20 2021-05-04 佛山市川东磁电股份有限公司 一种二氧化氮传感器的安装结构
JP6648246B1 (ja) * 2018-11-29 2020-02-14 Ntn株式会社 リンク作動装置の制御装置
JP2021056145A (ja) * 2019-09-30 2021-04-08 キヤノン株式会社 力覚センサ

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Publication number Priority date Publication date Assignee Title
DE102012223189A1 (de) * 2012-12-14 2014-06-18 Zf Friedrichshafen Ag Mehrkomponentensensor
CN105004368A (zh) * 2015-06-29 2015-10-28 深圳乐行天下科技有限公司 一种自主机器人的碰撞检测方法、装置及系统
CN109580989A (zh) * 2019-01-17 2019-04-05 北京林业大学 一种加速度传感器弹性体
CN109580989B (zh) * 2019-01-17 2023-07-18 北京林业大学 一种加速度传感器弹性体
US20220161666A1 (en) * 2019-04-17 2022-05-26 Mavic Sas Force measurement sensor
US12043122B2 (en) * 2019-04-17 2024-07-23 Mavic Group Force measurement sensor
CN115289953A (zh) * 2022-01-24 2022-11-04 浙江师范大学 一种软传感器三叉形装置

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