JP2002082001A - Cylindrical force gauge - Google Patents
Cylindrical force gaugeInfo
- Publication number
- JP2002082001A JP2002082001A JP2000271056A JP2000271056A JP2002082001A JP 2002082001 A JP2002082001 A JP 2002082001A JP 2000271056 A JP2000271056 A JP 2000271056A JP 2000271056 A JP2000271056 A JP 2000271056A JP 2002082001 A JP2002082001 A JP 2002082001A
- Authority
- JP
- Japan
- Prior art keywords
- stress
- cylindrical
- cylindrical portion
- cylinder part
- strain gauge
- 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.)
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Landscapes
- Measurement Of Force In General (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は円筒型力計にかか
る。[0001] The present invention relates to a cylindrical force meter.
【０００２】[0002]
【従来の技術】図８に示すように、上下受圧部５１、５
２と応力円筒部５３より成り、この応力円筒部５３の中
央部外面に歪ゲージ５４を接着し、上下の加圧板５５と
５６の間に置いて加圧するようにした型式の円筒型力計
（ロードセル）又は円柱型力計（ロードセル）が多用さ
れている。2. Description of the Related Art As shown in FIG.
2 and a stress cylindrical portion 53, and a strain gauge 54 is adhered to an outer surface of a central portion of the stress cylindrical portion 53, and is placed between upper and lower pressing plates 55 and 56 so as to apply pressure. A load cell) or a cylindrical force meter (load cell) is frequently used.
【０００３】この従来型の場合、応力円筒部５３（又は
円柱部）は軸力（荷重Ｐ１）に対応するポアソン比によ
る歪みを受け、半径方向の湾曲（膨らみ）を生じる。こ
の膨らみは上下の受圧部５１，５２の拘束を受けてほぼ
半径ｒ１で樽型に湾曲（円柱の場合は樽型に膨出）す
る。In the case of this conventional type, the stress cylindrical portion 53 (or the cylindrical portion) is distorted by the Poisson's ratio corresponding to the axial force (load P1), and is curved (bulged) in the radial direction. This bulge is curved in a barrel-type in a generally radial r 1 and restrained by the upper and lower pressure-receiving portions 51 and 52 (bulging barrel in the case of cylinder).
【０００４】図９でわかる通り、この湾曲による歪ゲー
ジ５４の電気的出力は非直線的となる。As can be seen from FIG. 9, the electric output of the strain gauge 54 due to this bending becomes non-linear.
【０００５】図１０はこの非直線性を軽減するために採
用されている従来型の手段を示してある。即ち、歪ゲー
ジ５４を上下受圧部５１，５２より遠く離して、上下受
圧部５１，５２の拘束による影響を少なくするのであ
る。実用的には、円筒部（円柱部）の長さｌは円筒の両
肉厚２ｔ１（又は円柱直径）の７倍以上とされている。FIG. 10 shows a conventional means employed to reduce this non-linearity. That is, the strain gauge 54 is separated from the upper and lower pressure receiving portions 51 and 52 to reduce the influence of the restraint of the upper and lower pressure receiving portions 51 and 52. Practically, the length l of the cylindrical portion (the column portion) is set to be 7 times or more the thickness 2t1 (or the column diameter) of the cylinder.
【０００６】[0006]
【発明が解決しようとする課題】円筒部の長さをこのよ
うに長くすると、力計全高が高くなって大型となり、ま
た、細長い円筒（又は円柱）ともなって、荷重Ｐ１に対
し不安定な形状となる欠点を生じる。本発明はこのよう
な課題を解決する円筒型力計を提供することを目的とす
る。When the length of the cylindrical portion is increased in this way, the total height of the dynamometer is increased and the size becomes large, and the shape becomes an elongated cylinder (or column) which is unstable with respect to the load P1. Disadvantages occur. An object of the present invention is to provide a cylindrical force meter that solves such a problem.
【０００７】[0007]
【課題を解決するための手段】本発明に係る円筒型力計
は、応力円筒部を備えた力計において、該応力円筒部の
仮想中立円筒面との関連位置で該応力円筒部に歪ゲージ
を設ける。A cylindrical dynamometer according to the present invention is a dynamometer having a stress cylindrical portion, wherein a strain gauge is provided on the stress cylindrical portion at a position related to a virtual neutral cylindrical surface of the stress cylindrical portion. Is provided.
【０００８】仮想中立円筒とは、応力円筒部の肉厚の中
立線を、この応力円筒部の横断面上でその中心からこの
中立線位置までの寸法を半径とする円周上に回転して出
来ると仮想される円筒のことで、実在はしないものであ
る。The imaginary neutral cylinder is obtained by rotating a thickness neutral line of a stress cylinder portion on a circumference having a radius from a center to a position of the neutral line on a cross section of the stress cylinder portion. It is a cylinder that is assumed to be possible and does not exist.
【０００９】関連位置とは、仮想中立円筒面上は勿論、
その近辺から、応力円筒部の外周面を含む範囲である。
歪ゲージは応力円筒部に埋め込まれても、貼着されても
よい。The relevant position is, of course, on the virtual neutral cylindrical surface,
From the vicinity, the range includes the outer peripheral surface of the stress cylindrical portion.
The strain gauge may be embedded in or adhered to the stress cylinder.
【００１０】応力円筒部は荷重が加わると変形して外方
へ膨出する。この際、応力円筒部を縦断した状態で現れ
る中立線の外側では応力円筒部に引張力が作用し、内側
では圧縮力が作用する。しかしながら、中立線上では円
筒の湾曲による引張力も圧縮力も作用せず、従って、歪
ゲージには力計に加わった軸方向荷重だけが作用し、歪
ゲージの電気的出力は直線的となる。応力円筒部の長さ
は短くてよいので、力計全高を低くして小型に纏めら
れ、また、細長い円筒（又は円柱）にもならず、荷重Ｐ
に対し安定した形状にできる。When a load is applied, the stress cylindrical portion is deformed and swells outward. At this time, a tensile force acts on the stress cylindrical portion outside the neutral line that appears when the stress cylindrical portion is longitudinally cut, and a compressive force acts on the inside thereof. However, on the neutral line, neither the tensile force nor the compressive force due to the bending of the cylinder acts, and therefore, only the axial load applied to the force gauge acts on the strain gauge, and the electrical output of the strain gauge becomes linear. Since the length of the stress cylindrical portion may be short, the total height of the dynamometer is reduced to be compact, and the load P is not formed into an elongated cylinder (or cylinder).
To a stable shape.
【００１１】該関連位置が該応力円筒部の周面から該仮
想中立円筒面に向けて穿たれた溝の平底面となっていて
もよい。この場合、溝を円筒部の周面から仮想中立円筒
面に向けて穿つことができ、溝の形成が容易で、歪ゲー
ジは平底面に貼着されるのでそれ自体が撓むことがな
く、正確な測定ができる。[0011] The related position may be a flat bottom surface of a groove formed from the peripheral surface of the stress cylindrical portion toward the virtual neutral cylindrical surface. In this case, the groove can be drilled from the peripheral surface of the cylindrical portion to the virtual neutral cylindrical surface, the formation of the groove is easy, and the strain gauge is attached to the flat bottom surface so that it does not bend itself. Accurate measurement is possible.
【００１２】該関連位置が該応力円筒部に放射状に穿た
れた透孔の該仮想中立円筒面と直交する壁面であっても
よい。この場合、透孔は貫通孔なので穿孔作業がし易
く、歪ゲージは仮想中立円筒面と直交する壁面に相対向
して貼着されるので、歪みの測定が一層確実となる。[0012] The related position may be a wall surface of a through hole radially drilled in the stress cylinder portion, the wall surface being orthogonal to the virtual neutral cylindrical surface. In this case, since the through-hole is a through-hole, the drilling operation is easy, and the strain gauge is attached to the wall surface orthogonal to the virtual neutral cylindrical surface so as to oppose to each other.
【００１３】該壁面は平坦面部を備えていてもよい。こ
の場合、歪ゲージは仮想中立円筒面と直交する壁面の平
坦面部に相対向して貼着されるので、歪ゲージ自体が撓
むことがなく、歪みの測定が更に一層確実となる。The wall may have a flat surface. In this case, the strain gauges are stuck opposite to each other on the flat surface of the wall surface orthogonal to the virtual neutral cylindrical surface, so that the strain gauge itself does not bend and the measurement of the strain is further reliably performed.
【００１４】該関連位置が該応力円筒部の内面と外面で
あってもよい。この場合、湾曲による内面と外面の成分
出力は互いに相殺して軸方向のみの出力となり、又、応
力円筒部に溝を付けたり、透孔を穿つ必要はなく、コス
トがかからない。The relevant position may be an inner surface and an outer surface of the stress cylinder. In this case, the component outputs of the inner surface and the outer surface due to the curvature cancel each other out to be output only in the axial direction, and it is not necessary to form a groove or a through hole in the stress cylindrical portion, so that no cost is required.
【００１５】[0015]
【発明実施の形態】図１は本発明に係る円筒型力計の具
体例を、上下の受圧部Ａ及びＢと応力円筒部１だけを取
り出して示す、左半分の切断側面図で、図２は歪ゲージ
４を正面から見た側面図、図３は平面図である。FIG. 1 is a cut-away side view of the left half showing a specific example of a cylindrical force meter according to the present invention, in which only upper and lower pressure receiving portions A and B and a stress cylindrical portion 1 are taken out. Is a side view of the strain gauge 4 as viewed from the front, and FIG. 3 is a plan view.
【００１６】本発明に係る円筒型力計は応力円筒部１を
備えた力計を対象とする。この応力円筒部１の仮想中立
円筒面２との関連位置３で、この応力円筒部１に歪ゲー
ジ４を設ける。The cylindrical dynamometer according to the present invention is intended for a dynamometer having a stress cylindrical portion 1. At a position 3 related to the virtual neutral cylindrical surface 2 of the stress cylinder 1, a strain gauge 4 is provided on the stress cylinder 1.
【００１７】仮想中立円筒面２は実在しないもので、構
成の説明の便宜上、想定したものである。即ち、応力円
筒部１の肉厚ｔの中立線ｍを、この応力円筒部１の横断
面上でその中心ｃからこの中立線ｍまでの距離を半径ｒ
とする円周上に、回転して出来ると仮想される円筒面の
ことである。The virtual neutral cylindrical surface 2 does not exist, and is assumed for convenience of description of the configuration. That is, the neutral line m of the thickness t of the stress cylindrical portion 1 is defined by the distance from the center c to the neutral line m on the cross section of the stress cylindrical portion 1 having a radius r.
Is a cylindrical surface assumed to be formed by rotation on the circumference of the circle.
【００１８】関連位置３とは、仮想中立円筒面２の面上
は勿論、その近辺から、応力円筒部１の外周面を含む範
囲である。歪ゲージ４は応力円筒部１に埋め込まれて
も、貼着されてもよい。The relevant position 3 is a range including the outer peripheral surface of the stress cylindrical portion 1 from the vicinity thereof as well as the surface of the virtual neutral cylindrical surface 2. The strain gauge 4 may be embedded in or adhered to the stress cylinder 1.
【００１９】応力円筒部１は荷重Ｐが加わると変形し
て、図８に示すように、外方へ膨出する。この際、応力
円筒部１を縦断した状態で現れる中立線ｍの外側では応
力円筒部１に引張力が作用し、内側では圧縮力が作用す
るが、中立線ｍ上では湾曲による引張力も圧縮力も作用
せず、歪ゲージ４は力計に加わった軸方向荷重だけを電
気的かつ直線的に出力する。応力円筒部１の長さは短く
できるので、力計全高を低くでき、荷重Ｐに対し安定し
た形状にできる。The stress cylindrical portion 1 is deformed when a load P is applied, and swells outward as shown in FIG. At this time, a tensile force acts on the stress cylindrical portion 1 outside the neutral line m that appears when the stress cylindrical portion 1 is longitudinally cut, and a compressive force acts on the inside thereof. Without acting, the strain gauge 4 outputs only the axial load applied to the dynamometer electrically and linearly. Since the length of the stress cylindrical portion 1 can be shortened, the total height of the dynamometer can be reduced, and the shape can be made stable with respect to the load P.
【００２０】再度図１乃至３で、関連位置３が応力円筒
部１の周面から仮想中立円筒面２に向けて穿たれた溝５
の平底面６となっている。こうすると、溝５を応力円筒
部１の周面から仮想中立円筒面２に向けて穿つことがで
き、溝５の形成が容易で、歪ゲージ４は平底面６に貼着
されるのでそれ自体が撓んだりせず、正確な測定ができ
る。Referring again to FIGS. 1 to 3, the relevant position 3 is a groove 5 drilled from the peripheral surface of the stress cylindrical portion 1 to the virtual neutral cylindrical surface 2.
Is a flat bottom surface 6. By doing so, the groove 5 can be drilled from the peripheral surface of the stress cylindrical portion 1 toward the virtual neutral cylindrical surface 2, and the groove 5 is easily formed, and the strain gauge 4 is adhered to the flat bottom surface 6. Can be measured accurately without bending.
【００２１】図４は、関連位置３の別の形態を示す、図
１と同様の左半分の切断側面図で、図５は歪ゲージ４を
正面から見た側面図である。この例では、関連位置３が
応力円筒部１に放射状に穿たれた透孔７の仮想中立円筒
面２と直交する壁面８となっている。こうすると、透孔
７は貫通孔なので穿孔作業がし易く、歪ゲージ４は仮想
中立円筒面２と直交する壁面８、８に相対向して貼着さ
れるので、歪みの測定が一層確実となる。FIG. 4 is a left side cut-away side view similar to FIG. 1 showing another form of the associated position 3, and FIG. 5 is a side view of the strain gauge 4 as viewed from the front. In this example, the associated position 3 is a wall surface 8 orthogonal to the virtual neutral cylindrical surface 2 of the through hole 7 radially drilled in the stress cylindrical portion 1. In this case, since the through hole 7 is a through hole, drilling work is easy, and the strain gauges 4 are stuck on the wall surfaces 8, 8 orthogonal to the virtual neutral cylindrical surface 2, so that distortion measurement can be performed more reliably. Become.
【００２２】これらの壁面８、８は平坦面部９、９を備
えている。こうすると、歪ゲージ４は仮想中立円筒面２
と直交する壁面８、８の平坦面部９、９に相対向して貼
着されるので、歪ゲージ４自体が湾曲によって撓むこと
がなく、歪みの測定が更に一層確実となる。The wall surfaces 8 have flat surface portions 9. Then, the strain gauge 4 becomes the virtual neutral cylindrical surface 2
Are adhered to the flat surfaces 9 and 9 of the wall surfaces 8 and 8 which are perpendicular to each other, so that the strain gauge 4 itself does not bend due to the curvature, and the measurement of the strain is further ensured.
【００２３】図６は、関連位置３の更に別の形態を示
す、図１と同様の左半分の切断側面図で、図７は平面図
である。この例の場合は、関連位置３が応力円筒部１の
内面１０と外面１１となっている。こうすると、応力円
筒部１に溝５を付けたり、透孔７を穿つ必要はなく、コ
ストがかからない。FIG. 6 is a cut-away side view of the left half similar to FIG. 1, showing a further embodiment of the associated position 3, and FIG. 7 is a plan view. In this example, the relevant position 3 is the inner surface 10 and the outer surface 11 of the stress cylinder 1. In this case, it is not necessary to form the groove 5 or the through hole 7 in the stress cylindrical portion 1, and the cost is not increased.
【００２４】[0024]
【発明の効果】本発明によれば、応力円筒部を備えた力
計において、該応力円筒部の仮想中立円筒面との関連位
置で該応力円筒部に歪ゲージを設けたので、応力円筒部
の肉厚の中立線の外側に作用する引張力や、内側に作用
する圧縮力の影響を受けることなく、歪ゲージに力計に
加わった軸方向荷重だけを作用させることができ、歪ゲ
ージの電気的出力を直線的にできる。また、応力円筒部
の長さは短くてよいので、力計全高を低くして小型に纏
められ、荷重に対し安定した形状にできる。According to the present invention, in the dynamometer provided with the stress cylindrical portion, the strain gauge is provided on the stress cylindrical portion at a position related to the virtual neutral cylindrical surface of the stress cylindrical portion. It is possible to apply only the axial load applied to the force gauge to the strain gauge without being affected by the tensile force acting on the outside of the neutral line of the wall thickness and the compressive force acting on the inside. Electrical output can be linear. In addition, since the length of the stress cylindrical portion may be short, the total height of the dynamometer is reduced, the size is reduced, and the shape can be made stable with respect to load.
【００２５】請求項２によれば、該関連位置が該応力円
筒部の周面から該仮想中立円筒面に向けて穿たれた溝の
平底面となっているので、溝を円筒部の周面から仮想中
立円筒面に向けて穿つことができ、溝の形成が容易で、
歪ゲージは平底面に貼着されるのでそれ自体が湾曲によ
って撓むことがなく、正確な測定ができる。According to the second aspect, since the relevant position is the flat bottom surface of the groove formed from the peripheral surface of the stress cylindrical portion toward the virtual neutral cylindrical surface, the groove is formed on the peripheral surface of the cylindrical portion. Can be drilled toward the virtual neutral cylindrical surface from
Since the strain gauge is attached to the flat bottom surface, the strain gauge itself does not bend due to bending, and accurate measurement can be performed.
【００２６】請求項３によれば、該関連位置が該応力円
筒部に放射状に穿たれた透孔の該仮想中立円筒面と直交
する壁面となっているので、透孔は貫通孔で穿孔作業が
し易く、歪ゲージは仮想中立円筒面と直交する壁面に相
対向して貼着されるので、歪みの測定が一層確実とな
る。According to the third aspect, since the relevant position is a wall surface orthogonal to the virtual neutral cylindrical surface of the through hole radially drilled in the stress cylindrical portion, the through hole is formed by a through hole. Since the strain gauge is easily attached to the wall surface orthogonal to the virtual neutral cylindrical surface, the strain can be measured more reliably.
【００２７】請求項４によれば、該壁面は平坦面部を備
えているので、歪ゲージはこれらの平坦面部に相対向し
て貼着され、歪ゲージ自体が湾曲によって撓むことがな
く、歪みの測定が更に一層確実となる。According to the fourth aspect, since the wall surface has a flat surface portion, the strain gauges are stuck to these flat surface portions so as to face each other, and the strain gauge itself does not bend due to bending, and the strain gauge does not deform. Is more reliably measured.
【００２８】請求項５によれば、該関連位置が該応力円
筒部の内面と外面となっているので、応力円筒部に溝を
付けたり、透孔を穿つ必要はなく、コストがかからな
い。According to the fifth aspect, since the relevant position is the inner surface and the outer surface of the stress cylindrical portion, it is not necessary to form a groove or a hole in the stress cylindrical portion, so that the cost is not increased.
【図１】本発明に係る円筒型力計の具体例を、上下の受
圧板及び応力円筒部だけを取り出して示す、左半分を切
断した側面図である。FIG. 1 is a side view of a specific example of a cylindrical force meter according to the present invention, in which only upper and lower pressure receiving plates and a stress cylindrical portion are taken out and a left half is cut.
【図２】図１の側面図である。FIG. 2 is a side view of FIG.
【図３】平面図である。FIG. 3 is a plan view.
【図４】関連位置の別の形態を示す図１と同様の左半分
を切断した側面図である。FIG. 4 is a side view of the left half similar to FIG. 1, showing another form of the associated position.
【図５】図４の側面図である。FIG. 5 is a side view of FIG.
【図６】関連位置の更に別の形態を示す図１と同様の左
半分の切断側面図である。6 is a cut-away side view of the left half similar to FIG. 1, showing yet another form of the relevant position.
【図７】図６の平面図である。FIG. 7 is a plan view of FIG. 6;
【図８】従来型の円筒型力計（ロードセル）の作動状態
の左半分切断側面図である。FIG. 8 is a left half cut side view of the operation state of a conventional cylindrical force meter (load cell).
【図９】従来型の円筒型力計（ロードセル）の応力円筒
部の湾曲による荷重と歪ゲージの電気的出力の関係を示
す図である。FIG. 9 is a diagram showing a relationship between a load caused by bending of a stress cylindrical portion of a conventional cylindrical force meter (load cell) and an electrical output of a strain gauge.
【図１０】非直線性を軽減するために、歪ゲージ５４を
上下受圧部５１，５２より遠く離した従来型の円筒型力
計（ロードセル）の左半分切断側面図である。FIG. 10 is a left half cut side view of a conventional cylindrical force meter (load cell) in which the strain gauge 54 is separated from the upper and lower pressure receiving portions 51 and 52 in order to reduce non-linearity.
１ 応力円筒部 ２ 仮想中立円筒面 ３ 関連位置 ４ 歪ゲージ ５ 溝 ６ 平底面 ｔ 肉厚 ｍ 中立線 ｃ 中心 Ｐ 荷重 ７ 透孔 ８ 壁面 ９ 平坦面部 １０ 内面 １１ 外面 DESCRIPTION OF SYMBOLS 1 Stress cylindrical part 2 Virtual neutral cylindrical surface 3 Related position 4 Strain gauge 5 Groove 6 Flat bottom t Wall thickness m Neutral line c Center P Load 7 Through hole 8 Wall surface 9 Flat surface portion 10 Inner surface 11 Outer surface
Claims (5)
該応力円筒部(1)の仮想中立円筒面(2)との関連位置(3)
で該応力円筒部(1)に歪ゲージ(4)を設けるようにしたこ
とを特徴とする円筒型力計。1. A force meter having a stress cylindrical portion (1),
The relative position (3) of the stress cylindrical portion (1) with the virtual neutral cylindrical surface (2)
A strain gauge (4) provided in the stress cylindrical portion (1).
から該仮想中立円筒面(2)に向けて穿たれた溝(5)の平底
面(6)となっている請求項１に記載の円筒型力計。2. The related position (3) is a flat bottom surface (6) of a groove (5) drilled from the peripheral surface of the stress cylindrical portion (1) toward the virtual neutral cylindrical surface (2). The cylindrical force meter according to claim 1.
状に穿たれた透孔(7)の該仮想中立円筒面(2)と直交する
壁面(8)である請求項１に記載の円筒型力計。3. The associated position (3) is a wall surface (8) orthogonal to the virtual neutral cylindrical surface (2) of a through hole (7) radially drilled in the stress cylindrical portion (1). 2. The cylindrical force meter according to 1.
求項３に記載の円筒型力計。4. The cylindrical dynamometer according to claim 3, wherein the wall surface has a flat surface portion.
(10)と外面(11)である請求項１に記載の円筒型力計。5. The inner surface of the stress cylinder (1), wherein the related position (3) is
2. The cylindrical force meter according to claim 1, wherein the force gauge is a (10) and an outer surface (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000271056A JP2002082001A (en) | 2000-09-07 | 2000-09-07 | Cylindrical force gauge |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000271056A JP2002082001A (en) | 2000-09-07 | 2000-09-07 | Cylindrical force gauge |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2002082001A true JP2002082001A (en) | 2002-03-22 |
Family
ID=18757393
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2000271056A Pending JP2002082001A (en) | 2000-09-07 | 2000-09-07 | Cylindrical force gauge |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2002082001A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006284515A (en) * | 2005-04-05 | 2006-10-19 | Nippon Steel Corp | Dynamic load measuring apparatus |
| JP2011016183A (en) * | 2009-07-08 | 2011-01-27 | Yaskawa Electric Corp | Robot |
| JP2011183859A (en) * | 2010-03-05 | 2011-09-22 | Nissin Kogyo Co Ltd | Load detection device and brake stepping force detection device equipped with the same |
-
2000
- 2000-09-07 JP JP2000271056A patent/JP2002082001A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006284515A (en) * | 2005-04-05 | 2006-10-19 | Nippon Steel Corp | Dynamic load measuring apparatus |
| JP4741273B2 (en) * | 2005-04-05 | 2011-08-03 | 新日本製鐵株式会社 | Dynamic load measuring device |
| JP2011016183A (en) * | 2009-07-08 | 2011-01-27 | Yaskawa Electric Corp | Robot |
| JP2011183859A (en) * | 2010-03-05 | 2011-09-22 | Nissin Kogyo Co Ltd | Load detection device and brake stepping force detection device equipped with the same |
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