JPS62102136U - - Google Patents
Info
- Publication number
- JPS62102136U JPS62102136U JP19388685U JP19388685U JPS62102136U JP S62102136 U JPS62102136 U JP S62102136U JP 19388685 U JP19388685 U JP 19388685U JP 19388685 U JP19388685 U JP 19388685U JP S62102136 U JPS62102136 U JP S62102136U
- Authority
- JP
- Japan
- Prior art keywords
- gripping force
- gripping
- diaphragm
- force sensor
- gripper
- 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
- 239000012530 fluid Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 7
- 230000007257 malfunction Effects 0.000 description 1
Landscapes
- Force Measurement Appropriate To Specific Purposes (AREA)
Description
第１図は本考案の把持力センサの一実施例の要
部を示す断面図、第２図はストレンゲージの回路
図、第３図はストレンゲージを構成する抵抗体の
貼着位置を示し、ダイヤフラムの下方から見た斜
視図、第４図は従来の把持力センサの一例を示す
説明図、第５図ａ，ｂは第４図に示す把持力セン
サの基本構造および作動原理を示す説明図、第６
図は第４図に示す把持力センサにおいて得られる
把持力―抵抗値特性を示す説明図、第７図は第４
図に示す把持力センサにおける不具合を例示する
説明図である。
１１：把持具、１２：被把持物、１３，１４：
把持部材、１５：把持力センサ、５１：突出部、
５２：貫通孔、５３：パイプ、５４：ダイヤフラ
ム、５５：油（流体）、５６：ストレンゲージ、
５６ａ〜５６ｄ：抵抗体。
FIG. 1 is a cross-sectional view showing the essential parts of an embodiment of the gripping force sensor of the present invention, FIG. 2 is a circuit diagram of a strain gauge, and FIG. 3 is a diagram showing the attachment position of a resistor constituting the strain gauge. A perspective view of the diaphragm seen from below, FIG. 4 is an explanatory diagram showing an example of a conventional gripping force sensor, and FIGS. 5a and b are explanatory diagrams showing the basic structure and operating principle of the gripping force sensor shown in FIG. 4. , 6th
The figure is an explanatory diagram showing the gripping force-resistance value characteristic obtained with the gripping force sensor shown in Figure 4, and Figure 7 is an explanatory diagram showing the gripping force-resistance value characteristic obtained with the gripping force sensor shown in Figure 4.
FIG. 3 is an explanatory diagram illustrating a malfunction in the gripping force sensor shown in the figure. 11: Grasping tool, 12: Object to be grasped, 13, 14:
gripping member, 15: gripping force sensor, 51: protrusion,
52: Through hole, 53: Pipe, 54: Diaphragm, 55: Oil (fluid), 56: Strain gauge,
56a-56d: Resistor.
Claims (1)
持される際の把持力を電気信号として出力する把
持力センサにおいて、前記把持具の把持面に設け
られた把持力作用部と、その把持力作用部の変形
に相応して圧力変化する流体と、その流体の圧力
により変形するダイヤフラムと、このダイヤフラ
ム上に設けられダイヤフラムの変形によつてひず
む抵抗体の抵抗値変化を電気信号として出力する
ストレンゲージとを具備したことを特徴とする把
持力センサ。 A gripping force sensor that is provided on a gripper and outputs the gripping force when an object to be gripped is gripped by the gripper as an electric signal, the gripping force acting portion being provided on the gripping surface of the gripping tool; A fluid whose pressure changes in accordance with the deformation of the force acting part, a diaphragm which deforms due to the pressure of the fluid, and a resistance value change of a resistor installed on this diaphragm which is distorted due to the deformation of the diaphragm are output as electrical signals. A gripping force sensor characterized by comprising a strain gauge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19388685U JPS62102136U (en) | 1985-12-17 | 1985-12-17 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19388685U JPS62102136U (en) | 1985-12-17 | 1985-12-17 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS62102136U true JPS62102136U (en) | 1987-06-29 |
Family
ID=31150333
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP19388685U Pending JPS62102136U (en) | 1985-12-17 | 1985-12-17 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62102136U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01316194A (en) * | 1988-06-16 | 1989-12-21 | Yamatake Honeywell Co Ltd | Slip detecting device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6016393A (en) * | 1983-07-04 | 1985-01-28 | 住友電気工業株式会社 | Tactile sensor |
-
1985
- 1985-12-17 JP JP19388685U patent/JPS62102136U/ja active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6016393A (en) * | 1983-07-04 | 1985-01-28 | 住友電気工業株式会社 | Tactile sensor |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01316194A (en) * | 1988-06-16 | 1989-12-21 | Yamatake Honeywell Co Ltd | Slip detecting device |
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