Force detection apparatus and robot
AssigneeSeiko Epson Corporation
InventorToshiyuki Kamiya
Life of this patent
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Abstract
A force detection apparatus includes a plurality of piezoelectric sensor parts placed around a first axis, and two fastening portions provided in correspondence with the piezoelectric sensor parts and applying precompression to the corresponding piezoelectric sensor part, wherein the two fastening portions are placed so that the piezoelectric sensor part may be located between the portions along a direction of the first axis. Further, four of the piezoelectric sensor parts are provided around the first axis. Furthermore, the plurality of piezoelectric sensor parts has a plurality of piezoelectric substrates.
Claims11
A force detection apparatus comprising:
- a base having a first axis and an outer circumference around the first axis;
- a plurality of piezoelectric sensor devices disposed at position directly adjacent to the outer circumference of the base;
- and
- two fastening members disposed in the outer circumference of the base, the two fastening members being configured to apply precompression to a corresponding one of the plurality of piezoelectric sensor devices,
- wherein the two fastening members sandwich the corresponding one of the plurality of piezoelectric sensor devices, and
- the two fastening members and the corresponding one of the plurality of piezoelectric sensor devices are aligned with each other parallel to the first axis.
A force detection apparatus comprising:
- a plurality of piezoelectric sensor devices placed around a first axis;
- and
- two fastening members provided in correspondence with the plurality of piezoelectric sensor devices and applying precompression to a corresponding one of the plurality of piezoelectric sensor devices,
- wherein the two fastening members are placed so that the corresponding one of the plurality of piezoelectric sensor devices is located between the two fastening members, and
- the two fastening members and the corresponding one of the plurality of piezoelectric sensor devices are aligned with each other along a third axis respectively tilted relative to the first axis and a second axis orthogonal to the first axis.
A robot comprising:
- a body;
- an arm attached to the body;
- an end effector attached at a distal end of the arm;
- a force detection apparatus disposed at the end effector, the force detection apparatus including:
- a base having a first axis and an outer circumference around the first axis;
- a plurality of piezoelectric sensor devices disposed at position directly adjacent to the outer circumference of the base;
- and
- two fastening members disposed in the outer circumference of the base, the two fastening members being configured to apply precompression to a corresponding one of the plurality of piezoelectric sensor devices,
- wherein the two fastening members sandwich the corresponding one of the plurality of piezoelectric sensor devices, and
- the two fastening members and the corresponding one of the plurality of piezoelectric sensor devices are aligned with each other parallel to the first axis.
Dependencies are inferred from the claim text.