Force detection apparatus and robot

Patent metadata

Field	Value
Publication number	US-10654173-B2
Application number	US-201816048816-A
Country	US
Kind code	B2
Filing date	Jul 30, 2018
Priority date	Jul 31, 2017
Publication date	May 19, 2020
Grant date	May 19, 2020

Abstract

A force detection apparatus includes a first plate, a second plate, a first member projecting from the first plate toward the second plate, a second member projecting from the second plate toward the first plate, a third member projecting from the second plate toward the first plate, a first sensor device provided between the first member and the second member and having a piezoelectric element that outputs a signal according to an external force, and a second sensor device provided between the first member and the third member and having a piezoelectric element that outputs a signal according to an external force, wherein the first member has a first projection in contact with the first sensor device, a second projection in contact with the second sensor device, and a slit or a plurality of through holes between the first projection and the second projection.

First claim

What is claimed is:

1. A force detection apparatus comprising:
a first plate;
a second plate opposed to the first plate;
a first member projecting from the first plate toward the second plate;
a second member placed to be opposed to the first member and projecting from the second plate toward the first plate;
a third member placed to be opposed to the first member in a position different from that of the second member and projecting from the second plate toward the first plate;
a first sensor device provided between the first member and the second member and having a piezoelectric element that outputs a signal according to an external force; and
a second sensor device provided between the first member and the third member and having a piezoelectric element that outputs a signal according to an external force,
wherein the first member has a first projection in contact with the first sensor device, a second projection in contact with the second sensor device, and a slit or a plurality of through holes between the first projection and the second projection.

2. The force detection apparatus according to claim 1 , wherein the first member has a frame shape.

3. The force detection apparatus according to claim 2 , wherein the first projection and the second projection are respectively placed in an outer periphery of the first member.

4. The force detection apparatus according to claim 1 , wherein the slit or the plurality of through holes are provided on the second plate side of the first member in first directions as directions in which the first plate and the second plate overlap.

5. The force detection apparatus according to claim 1 , wherein an end on the first plate side of the first projection and an end on the first plate side of the second projection are respectively located closer to the first plate side than the end on the first plate side of the slit or the plurality of through holes in the first directions.

6. The force detection apparatus according to claim 1 , further comprising a screw movable with respect to the slit and a plate connected to the screw.

7. The force detection apparatus according to claim 6 , wherein the screw is adapted so that a drive source that generates power for moving the adjustment part to adjust the size of the slit or the plurality of through holes may be connected.

8. The force detection apparatus according to claim 1 , wherein the first member and the first plate are integrally formed.

9. A robot comprising:
a base;
an arm connected to the base; and
a force detection apparatus,
wherein the force detection apparatus includes:
a first plate;
a second plate opposed to the first plate;
a first member projecting from the first plate toward the second plate;
a second member placed to be opposed to the first member and projecting from the second plate toward the first plate;
a third member placed to be opposed to the first member in a position different from that of the second member and projecting from the second plate toward the first plate;
a first sensor device provided between the first member and the second member and having a piezoelectric element that outputs a signal according to an external force; and
a second sensor device provided between the first member and the third member and having a piezoelectric element that outputs a signal according to an external force, and
the first member has a first projection in contact with the first sensor device, a second projection in contact with the second sensor device, and a slit or a plurality of through holes between the first projection and the second projection.

10. The robot according to claim 9 , wherein the first member has a frame shape.

11. The robot according to claim 10 , wherein the first projection and the second projection are respectively placed in an outer periphery of the first member.

12. The robot according to claim 9 , wherein the slit or the plurality of through holes are provided on the second plate side of the first member in first directions as directions in which the first plate and the second plate overlap.

13. The robot according to claim 9 , wherein an end on the first plate side of the first projection and an end on the first plate side of the second projection are respectively located closer to the first plate side than the end on the first plate side of the slit or the plurality of through holes in the first directions.

14. The robot according to claim 9 , further comprising a screw movable with respect to the slit and a plate connected to the screw.

15. The robot according to claim 14 , wherein the screw is adapted so that a drive source that generates power for moving the adjustment part to adjust the size of the slit or the plurality of through holes may be connected.

16. The robot according to claim 9 , wherein the first member and the first plate are integrally formed.

17. The robot according to claim 9 , wherein an end effector having fingers that can hold an object is attached to the force detection apparatus, and
the fingers are provided in a position off a center axis of the force detection apparatus.

Assignees

• Seiko Epson Corp

Inventors

• Fujikawa Kohei

Classifications

• B25J13/085 Primary

  Force or torque sensors (B25J13/082, B25J13/084 take precedence) · CPC title

• G01L5/009

  Force sensors associated with material gripping devices · CPC title

• G01L5/167

  using piezoelectric means · CPC title

• G01L1/16

  using properties of piezoelectric devices · CPC title