Abstract: In an ingot cutting apparatus that cuts an ingot using a plurality of stretched wires, load sensors are provided on the new wire side and the old wire side of the ingot, and loads applied to the new wire side and the old wire side of the ingot are measured using the load sensors on the new wire side and the old wire side. When measuring the loads, for example, the center of moment about the X-axis that is the running direction of the wire is calculated. When the deviation from the center of gravity of the ingot is greater than or equal to a reference value, notification for replacement of the wire, control of the conveying speed of the wire, control of the pressing speed of the ingot, and so forth are performed through a control unit.

Abstract: In an ingot cutting apparatus that cuts an ingot using a plurality of stretched wires, load sensors are provided on the new wire side and the old wire side of the ingot, and loads applied to the new wire side and the old wire side of the ingot are measured using the load sensors on the new wire side and the old wire side. When measuring the loads, for example, the center of moment about the X-axis that is the running direction of the wire is calculated. When the deviation from the center of gravity of the ingot is greater than or equal to a reference value, notification for replacement of the wire, control of the conveying speed of the wire, control of the pressing speed of the ingot, and so forth are performed through a control unit.

Abstract: Disclosed is a tactile sensor which includes: a disk-shaped first strain generating section; plate-shaped second to fifth strain generating sections each provided as an extension of the first strain generating section extended from one of four substantially equiangular peripheral edge portions of the first strain generating section, each of the second to fifth strain generating sections being structured to support the first strain generating section as a leg thereof; first to fourth foot sections extended at a side different from a first strain generating section side respectively from the second to fifth strain generating sections; a diaphragm type first strain gauge attached to a discoid surface of the first strain generating section; and second to fifth strain gauges attached respectively to planer surfaces of the second to fifth strain generating sections, and a gripping robot using the tactile sensor for detecting contact pressure.