Force sensor and robot

A robot comprising:

• a force sensor mounted on a flange of a wrist portion;
• and
• an end effector attached to a tip side of the force sensor,
• the force sensor comprising:
• a first base member one surface of which is fixed on the flange;
• a plurality of load sensor elements that is provided on another surface of the first base member to detect a load;
• a second base member that is disposed facing the other surface of the first base member to generate a preload to be applied to each of the load sensor elements toward the first base member;
• a preload adjusting unit that adjusts magnitude of the preload generated by the second base member;
• and
• a buffer body that receives a part of an external load to be applied to each of the load sensor elements from the end effector.

A force sensor comprising:

• means for fixing the force sensor, one surface thereof being fixed on a fixed member;
• a plurality of load sensor elements that is provided on another surface of the means for fixing to detect a load;
• means for generating a preload to be applied to each of the load sensor elements toward the means for fixing, the means for generating being disposed facing the other surface of the means for fixing;
• means for adjusting magnitude of the preload generated by the means for generating;
• and
• means for receiving a part of an external load to be applied to each of the load sensor elements from outside.