JPS60107737U - External force detection device - Google Patents
External force detection deviceInfo
- Publication number
- JPS60107737U JPS60107737U JP20111583U JP20111583U JPS60107737U JP S60107737 U JPS60107737 U JP S60107737U JP 20111583 U JP20111583 U JP 20111583U JP 20111583 U JP20111583 U JP 20111583U JP S60107737 U JPS60107737 U JP S60107737U
- Authority
- JP
- Japan
- Prior art keywords
- external force
- detection device
- force detection
- strain gauges
- ring
- 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.)
- Pending
Links
Landscapes
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
第1図は本考案の実施にかかるロボット手先部の正面図
、第2図は外力検出装置の構成例を示す断面図、第3図
は第2図■−■線に沿う断面図、第4図は外力検出装置
の平面図、第5図は弾性リングの構成を示す斜面図、第
6図は外力検出回路のブロック図、第7図は外力検出装
置を手元部とアームとの間に配備した状態を示すロボッ
トの正面図、第8図は従来例を示すロボットの正面図で
ある。 ′
3・・・・・・外力検出装置、4・・・・・・弾性リン
グ、7a、 7 b9 7 c、 7 d”””歪ゲ
ージ。Fig. 1 is a front view of a robot hand according to the present invention, Fig. 2 is a sectional view showing an example of the configuration of an external force detection device, Fig. 3 is a sectional view taken along the line ■-■ in Fig. 2, and Fig. 4 Figure 5 is a plan view of the external force detection device, Figure 5 is a perspective view showing the configuration of the elastic ring, Figure 6 is a block diagram of the external force detection circuit, and Figure 7 is the external force detection device installed between the hand portion and the arm. FIG. 8 is a front view of a conventional robot. ' 3... External force detection device, 4... Elastic ring, 7a, 7 b9 7 c, 7 d""" strain gauge.
Claims (1)
して成り、各辺の歪ゲージは、一方をリング内面に、他
方をリング外面に、相互に一定角度傾けて対向位置させ
た外力検出装置。 ■ 前記歪ゲージ相互間の角度は、4鍍に設定した実用
新案登録請求の範囲第1項記載の外力検出装置。[Claims for Utility Model Registration] ■ A pair of strain gauges are attached to each opposite side of an elastic ring, and the strain gauges on each side are fixed to each other, one on the inner surface of the ring and the other on the outer surface of the ring. External force detection device located at an angle and facing each other. (2) The external force detection device according to claim 1, wherein the angle between the strain gauges is set to 4 degrees.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP20111583U JPS60107737U (en) | 1983-12-26 | 1983-12-26 | External force detection device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP20111583U JPS60107737U (en) | 1983-12-26 | 1983-12-26 | External force detection device |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS60107737U true JPS60107737U (en) | 1985-07-22 |
Family
ID=30762596
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP20111583U Pending JPS60107737U (en) | 1983-12-26 | 1983-12-26 | External force detection device |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS60107737U (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01103281A (en) * | 1987-10-13 | 1989-04-20 | Nippon Hoso Kyokai <Nhk> | Joint sensor |
JPH01316193A (en) * | 1988-06-11 | 1989-12-21 | Wako:Kk | Gripper for robot |
JP2021109268A (en) * | 2020-01-08 | 2021-08-02 | 株式会社村田製作所 | Gripping load detection device |
-
1983
- 1983-12-26 JP JP20111583U patent/JPS60107737U/en active Pending
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01103281A (en) * | 1987-10-13 | 1989-04-20 | Nippon Hoso Kyokai <Nhk> | Joint sensor |
JPH01316193A (en) * | 1988-06-11 | 1989-12-21 | Wako:Kk | Gripper for robot |
JP2021109268A (en) * | 2020-01-08 | 2021-08-02 | 株式会社村田製作所 | Gripping load detection device |
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