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: A slip ring includes an exterior, a plurality of brushes, a plurality of rings, a brush fixing member that causes the plurality of brushes to contact the plurality of rings and supports the plurality of brushes, and a rotating shaft inserted into the plurality of rings and supports the plurality of rings. The slip ring also includes a reference signal generation unit configured to generate a reference signal, and a detection unit configured to detect a signal, wherein a circuit is formed by the reference signal generation unit, a first brush, which is at least one of the plurality of brushes, a first ring that contacts the first brush, and the detection unit, and wherein a state of contact of the first brush and the first ring is detected based on the signal detected by the detection unit.

Abstract: A force sensor that detects external force includes a sheath, a pressure member configured to be provided on the sheath, a sensor unit configured to detect force applied to the pressure member, and a slip ring unit configured to supply power or transmit signals through a contact between a brush and a ring. The sensor unit and the slip ring unit are stored in the sheath, and power is supplied or signals are transmitted between the slip ring unit and the sensor unit.

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: 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).

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: 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: 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: 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: 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.