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US 4,762,006 AGranted
Force-detecting apparatus
AssigneeFujitsu Limited
InventorsKazuo Asakawa, Nobuhiko Onda, Tadashi Akita, Toru Kamada
Life of this patent
Estimating the term…
Abstract
A force-detecting apparatus includes an elastic member deformable symmetrically with respect to the center. First displacement-detecting means, detect displacements of the elastic member, at positions symmetric with respect to the center, in the same direction with respect to an axis passing through the center of the elastic member, and second displacement-detecting means detect displacements of the elastic member, at the positions symmetric with respect to the center, in opposite directions with respect to an axis passing through the center of the elastic member.
Claims12
A force-detecting apparatus, comprising:
- a cruciform comprising first and second elastic members defining orthogonal lines of the cruciform, the orthogonal lines crossing at and defining the center point of the cruciform;
- each said elastic member comprising at least two parallel plate springs respectively, each parallel plate spring having parallel main surfaces, and the plate springs having opposite ends and defining a center point therebetween coinciding with the center point of the cruciform and an axis extending through the cruciform center point and lying in a plane parallel to the main surfaces of the plate springs, and each said elastic member being deformable in response to a force applied thereto in a direction perpendicular to the main surfaces of the plate springs and a torque applied thereto about the axis;
- a frame member associated with each said elastic member, the opposite ends of said plate springs of each said elastic member being secured to the associated frame member;
- and
- for each said elastic member:
- first displacement-detecting means for detecting deformation of the elastic member, affixed at predetermined positions on the respective main surfaces of different ones of said parallel plate springs thereof oppositely disposed relative to said center point, and said predetermined positions being symmetric with respect to said center point, and
- second displacement-detecting means for detecting deformation of the elastic member, affixed at predetermined positions on a common said main surface of one of said parallel plate springs thereof, and said predetermined positions being symmetric with respect to said central axis.
4 more elements
A force-detecting apparatus comprising:
- a plurality of elastic members, each elastic member having a center, formed as an integral module and arranged to detect at least one component of forces in directions corresponding to X-, Y- and Z-axes and torques around the X-, Y- and Z-axes, said plurality of elastic members being connected to each other through central portions thereof;
- said elastic members of said integral module for detecting forces in the directions of the X-, Y-, and Z-axes comprising three sets of parallel plate springs, deformable in the directions of the X-, Y- and Z-axes, respectively, arranged as a cruciform symmetric with respect to the central point;
- plural first displacement-detecting means for detecting displacements of corresponding ones of said elastic members, in the same direction with respect to the center, at positions symmetric with and on either side of the center of the corresponding elastic member;
- and
- plural second displacement-detecting means for detecting displacements of corresponding ones of said elastic members, in opposite directions with respect to the center of said elastic member, at positions symmetric with and on either side of the center of the corresponding elastic member.
2 more elements
A force-detecting apparatus comprising:
- a plurality of elastic members, each elastic member having a center, formed as an integral module and arranged to detect at least one component of forces in directions corresponding to X-, Y- and Z-axes and torques around the X-, Y- and Z-axes, said plurality of elastic members being connected to each other through central portions thereof;
- said elastic members of said integral module for detecting forces in the directions of the X- and Y-axes and torques around the Z-axis comprising two sets of parallel plate springs, deformable in the directions of the X- and Y-axes, respectively, arranged as a cruciform symmetric with respect to the central point;
- plural first displacement-detecting means for detecting displacements of corresponding ones of said elastic members, in the same direction with respect to the center, at positions symmetric with and on either side of the center of the corresponding elastic member;
- and
- plural second displacement-detecting means for detecting displacements of corresponding ones of said elastic members, in opposite directions with respect to the center of said elastic member, at positions symmetric with and on either side of the center of the corresponding elastic member.
2 more elements
A force-detecting apparatus comprising:
- a plurality of elastic members, each elastic member having a center, formed as an integral module and arranged to detect at least one component of forces in directions corrresponding to X-, Y- and Z-axes and torques around the X-, Y- and Z-axes, said plurality of elastic members being connected to each other through central portions thereof;
- said elastic members of said integral module for detecting forces in the directions of the X-, Y-, and Z-axes comprise two sets of parallel plate springs, deformable in the directions of the X- and Y-axes, and two sets of parallel plate springs deformable in the direction of the Z-axis, arranged as a cruciform symmetric with respect to the central point;
- plural first displacement-detecting means for detecting displacements of corresponding ones of said elastic members, in the same direction with respect to the center, at positions symmetric with and on either side of the center of the corresponding elastic member;
- and
- plural second displacement-detecting means for detecting displacements of corresponding ones of said elastic members, in opposite directions with respect to the center of said elastic member, at positions symmetric with and on either side of the center of the corresponding elastic member.
2 more elements
Dependencies are inferred from the claim text.