Workpiece transfer system
US-12122616-B2 · Oct 22, 2024 · US
Force detecting device and robot
US2020209077A1 · US · A1
| Field | Value |
|---|---|
| Publication number | US-2020209077-A1 |
| Application number | US-201916724474-A |
| Country | US |
| Kind code | A1 |
| Filing date | Dec 23, 2019 |
| Priority date | Dec 26, 2018 |
| Publication date | Jul 2, 2020 |
| Grant date | — |
How to read this patent
A practical reading order for non-experts. Skip the full description unless you need deep technical detail.
- Title
What the patent document calls the invention.
- Abstract
A short plain-language summary of the technical disclosure.
- Assignees and inventors
Who owns or filed the patent and who is credited as inventor.
- Key dates
Filing, priority, publication, and grant dates set the timeline.
- First independent claim
The legal scope of protection — read this for what is actually claimed.
- CPC / IPC classifications
Technology tags used to group this patent with similar filings.
- Citations and related patents
Prior art links and similar publications in this corpus.
Abstract
Official abstract text for this publication.
A force detecting device having a first axis and a second axis orthogonal to each other, the first axis being a force detection axis, the force detecting device including a laminated body formed by laminating a first electrode, a first quartz plate, a second electrode, a second quartz plate, a third electrode, a third quartz plate, a fourth electrode, a fourth quartz plate, and a fifth electrode in this order and a force detection circuit configured to detect a force in a direction of the first axis based on an electric charge output from the second electrode and an electric charge output from the fourth electrode.
First claim
Opening claim text (preview).
What is claimed is: 1 . A force detecting device having a first axis and a second axis orthogonal to each other, the first axis being a force detection axis, the force detecting device comprising: a laminated body formed by laminating a first electrode, a first quartz plate, which is a Y-cut quartz plate, a second electrode, a second quartz plate, which is a Y-cut quartz plate, a third electrode, a third quartz plate, which is a Y-cut quartz plate, a fourth electrode, a fourth quartz plate, which is a Y-cut quartz plate, and a fifth electrode in this order; and a force detection circuit configured to detect a force in a direction of the first axis based on an electric charge output from the second electrode and an electric charge output from the fourth electrode, wherein when an electrical axis of the Y-cut quartz plate is set as an X axis, a +X direction of the first quartz plate and a +X direction of the second quartz plate face opposite directions, a +X direction of the third quartz plate and a +X direction of the fourth quartz plate face opposite directions, an angle formed by the +X direction of the second quartz plate and one direction of the first axis is different from an angle formed by the +X direction of the fourth quartz plate and the one direction of the first axis, and an angle formed by the +X direction of the second quartz plate and one direction of the second axis is equal to an angle formed by the +X direction of the fourth quartz plate and the one direction of the second axis. 2 . The force detecting device according to claim 1 , wherein the angle formed by the +X direction of the second quartz plate and the one direction of the second axis is 90° and the angle formed by the +X direction of the fourth quartz plate and the one direction of the second axis is 90°. 3 . The force detecting device according to claim 1 , wherein the angle formed by the +X direction of the second quartz plate and the one direction of the second axis is 45° and the angle formed by the +X direction of the fourth quartz plate and the one direction of the second axis is 45°. 4 . The force detecting device according to claim 1 , wherein the force detection circuit has a function of determining an abnormality of the force detecting device based on a temporal change of an electric charge output from the second electrode and a temporal change of an electric charge output from the fourth electrode. 5 . A robot comprising a force detecting device having a first axis and a second axis orthogonal to each other, the first axis being a force detection axis, the force detecting device including: a laminated body formed by laminating a first electrode, a first quartz plate, which is a Y-cut quartz plate, a second electrode, a second quartz plate, which is a Y-cut quartz plate, a third electrode, a third quartz plate, which is a Y-cut quartz plate, a fourth electrode, a fourth quartz plate, which is a Y-cut quartz plate, and a fifth electrode in this order; and a force detection circuit configured to detect a force in a direction of the first axis based on an electric charge output from the second electrode and an electric charge output from the fourth electrode, wherein when an electrical axis of the Y-cut quartz plate is set as an X axis, a +X direction of the first quartz plate and a +X direction of the second quartz plate face opposite directions, a +X direction of the third quartz plate and a +X direction of the fourth quartz plate face opposite directions, an angle formed by the +X direction of the second quartz plate and one direction of the first axis is different from an angle formed by the +X direction of the fourth quartz plate and the one direction of the first axis, and an angle formed by the +X direction of the second quartz plate and one direction of the second axis is equal to an angle formed by the +X direction of the fourth quartz plate and the one direction of the second axis.
Assignees
Inventors
Classifications
- B25J13/085Primary
Force or torque sensors (B25J13/082, B25J13/084 take precedence) · CPC title
Sensing devices · CPC title
- G01L1/16Primary
using properties of piezoelectric devices · CPC title
Piezoresistive or piezoelectric sensing devices · CPC title
Patent family
Related publications grouped by family.
External sources
Frequently asked questions
Answers are generated from the same data shown on this page.
- What does patent US2020209077A1 cover?
- A force detecting device having a first axis and a second axis orthogonal to each other, the first axis being a force detection axis, the force detecting device including a laminated body formed by laminating a first electrode, a first quartz plate, a second electrode, a second quartz plate, a third electrode, a third quartz plate, a fourth electrode, a fourth quartz plate, and a fifth electrod…
- Who is the assignee on this patent?
- Seiko Epson Corp
- What technology area does this patent fall under?
- Primary CPC classification B25J13/085. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Thu Jul 02 2020 00:00:00 GMT+0000 (Coordinated Universal Time) (A1). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 8 related publications on this page (citations in our corpus or others sharing the same primary CPC).