Electronic device
US-2024385061-A1 · Nov 21, 2024 · US
Force detector and robot
US9481089B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-9481089-B2 |
| Application number | US-201514624882-A |
| Country | US |
| Kind code | B2 |
| Filing date | Feb 18, 2015 |
| Priority date | Feb 27, 2014 |
| Publication date | Nov 1, 2016 |
| Grant date | Nov 1, 2016 |
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- Title
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Abstract
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A force detector includes a first base part, a second base part, and a pressure detection unit provided between the first base part and the second base part and including a piezoelectric element that outputs a signal in response to an external force, wherein the pressure detection unit has a first member having a portion in contact with the first base part, a second member having a portion in contact with the second base part, and a third member connecting the first member and the second member, a first longitudinal elastic modulus of at least a part of the first member is lower than a third longitudinal elastic modulus of the third member, and a second longitudinal elastic modulus of at least a part of the second member is lower than the third longitudinal elastic modulus of the third member.
First claim
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What is claimed is: 1. A force detector comprising: a first base part; a second base part; and a pressure detection unit provided between the first base part and the second base part and including a piezoelectric element that outputs a signal in response to an external force, wherein the pressure detection unit has a first member having a portion in contact with the first base part, a second member having a portion in contact with the second base part, and a third member connecting the first member and the second member, a first longitudinal elastic modulus of at least a part of the first member is lower than a third longitudinal elastic modulus of the third member, and a second longitudinal elastic modulus of at least a part of the second member is lower than the third longitudinal elastic modulus of the third member. 2. The force detector according to claim 1 , wherein a difference between the first longitudinal elastic modulus and the second longitudinal elastic modulus is a tenth part or less of the first longitudinal elastic modulus. 3. The force detector according to claim 1 , wherein a constituent material of the first member and a constituent material of the second member are the same. 4. The force detector according to claim 1 , wherein a constituent material of the third member contains ceramic. 5. The force detector according to claim 1 , wherein the longitudinal elastic modulus of the first member is the first longitudinal elastic modulus. 6. The force detector according to claim 1 , wherein the longitudinal elastic modulus of the second member is the second longitudinal elastic modulus. 7. The force detector according to claim 1 , wherein the piezoelectric element contains crystal. 8. The force detector according to claim 1 , wherein the piezoelectric element is located inside of the pressure detection unit. 9. A robot comprising: an arm; an end effector provided on the arm; and a force detector provided between the arm and the end effector and detecting an external force applied to the end effector, the force detector including a first base part, a second base part, and a pressure detection unit provided between the first base part and the second base part and including a piezoelectric element that outputs a signal in response to an external force, wherein a housing part has a first member having a portion in contact with the first base part, a second member having a portion in contact with the second base part, and a third member connecting the first member and the second member, a first longitudinal elastic modulus of at least a part of the first member is lower than a third longitudinal elastic modulus of the third member, and a second longitudinal elastic modulus of at least a part of the second member is lower than the third longitudinal elastic modulus of the third member.
Assignees
Inventors
Classifications
using piezoelectric means · CPC title
Force sensors associated with material gripping devices · CPC title
- G01L1/16Primary
using properties of piezoelectric devices · CPC title
- B25J9/1694Primary
characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title
Force or torque sensors (B25J13/082, B25J13/084 take precedence) · CPC title
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- What does patent US9481089B2 cover?
- A force detector includes a first base part, a second base part, and a pressure detection unit provided between the first base part and the second base part and including a piezoelectric element that outputs a signal in response to an external force, wherein the pressure detection unit has a first member having a portion in contact with the first base part, a second member having a portion in c…
- Who is the assignee on this patent?
- Seiko Epson Corp
- What technology area does this patent fall under?
- Primary CPC classification G01L1/16. Mapped technology areas include Physics.
- When was this patent published?
- Publication date Tue Nov 01 2016 00:00:00 GMT+0000 (Coordinated Universal Time) (B2). 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).