JPS60107737U - External force detection device - Google Patents

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

【図面の簡単な説明】[Brief explanation of drawings]

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)

【実用新案登録請求の範囲】 ■　弾性リングの各対向辺に夫々１対の歪ゲージを貼付
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.