公开(公告)号：WO2011074211A1

公开(公告)日：2011-06-23

申请号：PCT/JP2010/007142

申请日：2010-12-08

Applicant: CANON KABUSHIKI KAISHA ,  SATO, Shuuichi

Inventor： SATO, Shuuichi

IPC: G01L1/14 ,  G01L5/16

CPC classification number: G01L1/14 ,  G01L5/16

Abstract: There is provided a magnetic force sensor including: an action unit elastically supported by a supporting member; a magnetic-flux generating source including two or more magnets which are disposed so that a polarity of each of the magnetic-pole faces of the magnets is opposite to a polarity of a corresponding one of the magnetic-pole faces of the adjacent magnets in a particular direction; first magnetoelectric transducers that are individually provided at positions, the positions being positions at which the first magnetoelectric transducers oppose the magnetic-pole faces of the magnets in the action unit; and a second magnetoelectric transducer provided between the first magnetoelectric transducers. Vertical-direction components of a force are detected on the basis of outputs of the first magnetoelectric transducers, and a horizontal-direction component of the force is detected on the basis of an output of the second magnetoelectric transducer.

Abstract translation: 提供一种磁力传感器，包括：由支撑构件弹性支撑的动作单元; 包括两个或更多个磁体的磁通量产生源，所述磁体被设置为使得磁体的每个磁极面的极性与相邻磁体的相应磁极面中的相应一个磁极面的极性相反 特定方向 第一磁电换能器，其分别设置在位置处，位置是第一磁电变换器与动作单元中的磁体的磁极面相对的位置; 以及设置在第一磁电换能器之间的第二磁电变换器。 基于第一磁电换能器的输出检测力的垂直方向分量，并且基于第二磁电变换器的输出来检测力的水平方向分量。

公开(公告)号：WO2009028355A1

公开(公告)日：2009-03-05

申请号：PCT/JP2008/064767

申请日：2008-08-13

Applicant: CANON KABUSHIKI KAISHA ,  SATO, Shuuichi

Inventor： SATO, Shuuichi

IPC: G01L1/12 ,  G01L1/04

CPC classification number: G01L1/14 ,  G01L5/164

Abstract: A magnetic force sensor includes: an action portion on which an external force acts; a sensing unit converting a force working on the action portion into an electric signal; and an outer frame having an elastic body elastically supporting the action portion and storing the sensing unit therein. The sensing unit includes a magnetic flux generation source connected with the action portion and a magnetoelectric transducer fixed on the outer frame and the magnetic flux generation source has a magnetic body therewith that controls flow of magnetic fluxes generated by the magnetic flux generation source.

Abstract translation: 磁力传感器包括：外力作用在其上的作用部分; 感测单元，将在所述动作部分上作用的力转换为电信号; 以及外框，其具有弹性地支撑动作部的弹性体，并将感测单元保存在其中。 感测单元包括与动作部分连接的磁通量产生源和固定在外框上的磁电变换器，并且磁通量产生源具有控制由磁通量产生源产生的磁通量的磁体。

公开(公告)号：WO2009093727A1

公开(公告)日：2009-07-30

申请号：PCT/JP2009/051147

申请日：2009-01-20

Applicant: CANON KABUSHIKI KAISHA ,  SATO, Shuuichi ,  SOMEYA, Yuichi ,  NISHIDA, Hideyuki ,  YOKOMATSU, Takao ,  NAKAMURA, Kentaro

Inventor： SATO, Shuuichi ,  SOMEYA, Yuichi ,  NISHIDA, Hideyuki ,  YOKOMATSU, Takao ,  NAKAMURA, Kentaro

IPC: G01L1/10 ,  H01L41/08

CPC classification number: G01L1/162 ,  H01L41/1132

Abstract: In a piezoelectric vibration type force sensor according to the present invention, vibration is restricted by a friction force between a piezoelectric body and a restricting member, and hence a range of sensing forces can be expanded compared with a case in which the vibration is restricted directly from a direction that is the same as an vibration direction. A conventional structure, in which a lead wire is soldered directly for electrically connecting the piezoelectric body to an external control circuit, causes a restriction of the vibration due to a solder attached to the piezoelectric body, resulting in narrowing the sensing range. Using the piezoelectric vibration type force sensor, the range of sensing forces can be expanded by making a state in which conducting portions of the piezoelectric body and the restricting member are not fixed but contact with each other for keeping electric conductivity.

Abstract translation: 在根据本发明的压电振动型力传感器中，通过压电体和限制构件之间的摩擦力限制振动，因此与直接限制振动的情况相比，可以扩大感测力范围 从与振动方向相同的方向。 其中引线被直接焊接以将压电体电连接到外部控制电路的常规结构导致由于附着到压电体的焊料引起的振动的限制，导致感测范围变窄。 使用压电振动型力传感器，可以通过使压电体和限制构件的导电部分不固定但彼此接触以保持导电性的状态来扩大感测力的范围。

公开(公告)号：WO2012002137A1

公开(公告)日：2012-01-05

申请号：PCT/JP2011/063440

申请日：2011-06-07

Applicant: CANON KABUSHIKI KAISHA ,  SATO, Shuuichi

Inventor： SATO, Shuuichi

IPC: B25J9/16 ,  B25J13/08 ,  G01L25/00

CPC classification number: B25J9/1692 ,  B25J9/1682 ,  B25J9/1694 ,  B25J13/085 ,  G05B2219/39051 ,  G05B2219/39058 ,  G05B2219/40586 ,  G06F17/00

Abstract: The present invention provides a force sensor correcting method which is simple and capable of performing correction, with the force sensor remaining mounted at the end of an arm without an exchange of an end effector. In the present invention, a force sensor 1 of one robot 101 has already been corrected, and a force sensor 2 of the other robot 102 is an object to be corrected. First, hands 3a, 3b of a pair of robots 101, 102 are made to abut on each other (abutting step). A detected signal of the corrected force sensor 1 of the one robot 101, generated by execution of the abutting step, is converted into a measured value indicating a force or a moment (measurement step). Based on the measured value obtained in the measurement step, a value indicating a force or a moment acting on the hand 3b of the other robot 102 due to a reaction generated by the abutting step is obtained (calculation step). The conversion data is updated such that a detected signal, outputted by the force sensor 2 as the object to be corrected of the other robot 102 in the abutting step, is converted into an identical value to the value indicating the force or the moment obtained in the calculation step (correction step).

Abstract translation: 本发明提供了一种力传感器校正方法，该方法简单且能够执行校正，其中力传感器保持安装在臂的末端，而不会更换末端执行器。 在本发明中，已经对一个机器人101的力传感器1进行了校正，另一个机器人102的力传感器2是要校正的对象。 首先，使一对机器人101,102的手3a，3b彼此抵接（抵接步骤）。 通过执行邻接步骤产生的一个机器人101的校正力传感器1的检测信号被转换成表示力或力矩（测量步骤）的测量值。 基于在测量步骤中获得的测量值，获得指示由于由邻接步骤产生的反应而作用在另一机器人102的手3b上的力或力矩的值（计算步骤）。 更新转换数据，使得在邻接步骤中作为其他机器人102的待校正对象的力传感器2输出的检测信号被转换成与表示力或力矩 计算步骤（校正步骤）。

公开(公告)号：WO2011065267A3

公开(公告)日：2011-11-17

申请号：PCT/JP2010070522

申请日：2010-11-11

Applicant: CANON KK ,  SATO SHUUICHI

Inventor： SATO SHUUICHI

IPC: G01L1/22 ,  G01L1/14 ,  G01L5/00 ,  H01C10/10

CPC classification number: G01L1/14 ,  G01L1/12 ,  G01L1/2281 ,  G01L5/009

Abstract: The present invention provides a magnetic force sensor that can precisely detect and correct variations in a magnetic field generated by a magnetic flux generating source (5). Therefore, a displacement magneto - electric transducer (4a), which detects a change in the magnetic field caused by an external force, and a fixed magneto - electric transducer (7), where the change in the magnetic field caused by the external force does not occur, are provided to face end sides of magnetic poles of the magnetic flux generating source. The fixed magneto - electric transducer detects a variation of the magnetic field caused by, for example, changes with time and environmental variations such as a temperature rise in the interior of the sensor. On the basis of a detection amount thereof, an operational section performs a correction operation, so that a sensitivity coefficient or an offset of the displacement magneto - electric transducer is corrected.

Abstract translation: 本发明提供一种能够精确地检测和校正由磁通量产生源（5）产生的磁场变化的磁力传感器。 因此，检测由外力引起的磁场变化的位移磁电换能器（4a）和由外力引起的磁场变化的固定磁电换能器（7） 不会发生，被提供给磁通量产生源的磁极的面端侧。 固定磁电传感器检测由例如随时间的变化和环境变化（例如传感器内部的温度升高）引起的磁场的变化。 基于其检测量，操作部进行校正操作，从而校正位移磁电换能器的灵敏度系数或偏移。

公开(公告)号：WO2011065267A2

公开(公告)日：2011-06-03

申请号：PCT/JP2010/070522

申请日：2010-11-11

Applicant: CANON KABUSHIKI KAISHA ,  SATO, Shuuichi

Inventor： SATO, Shuuichi

IPC: G01L1/14

CPC classification number: G01L1/14 ,  G01L1/12 ,  G01L1/2281 ,  G01L5/009

Abstract: The present invention provides a magnetic force sensor that can precisely detect and correct variations in a magnetic field generated by a magnetic flux generating source. Therefore, a displacement magneto-electric transducer, which detects a change in the magnetic field caused by an external force, and a fixed magneto-electric transducer, where the change in the magnetic field caused by the external force does not occur, are provided to face end sides of magnetic poles of the magnetic flux generating source. The fixed magneto-electric transducer detects a variation of the magnetic field caused by, for example, changes with time and environmental variations such as a temperature rise in the interior of the sensor. On the basis of a detection amount thereof, an operational section performs a correction operation, so that a sensitivity coefficient or an offset of the displacement magneto-electric transducer is corrected.

Abstract translation: 本发明提供一种能够精确地检测和校正由磁通量产生源产生的磁场变化的磁力传感器。 因此，检测由外力引起的磁场变化的位移磁电换能器和不产生由外力引起的磁场变化的固定磁电变换器被提供给 磁通发生源的磁极的端面侧。 固定磁电换能器检测由例如随时间的变化和环境变化（例如传感器内部的温度升高）引起的磁场的变化。 基于其检测量，操作部进行校正操作，从而校正位移磁电换能器的灵敏度系数或偏移。