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1. (WO2018043051) FORCE DETECTION DEVICE
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Pub. No.: WO/2018/043051 International Application No.: PCT/JP2017/028622
Publication Date: 08.03.2018 International Filing Date: 07.08.2017
IPC:
G01L 1/02 (2006.01) ,A61H 7/00 (2006.01) ,B25J 19/02 (2006.01) ,G01L 5/16 (2006.01)
G PHYSICS
01
MEASURING; TESTING
L
MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
1
Measuring force or stress, in general
02
by hydraulic or pneumatic means
A HUMAN NECESSITIES
61
MEDICAL OR VETERINARY SCIENCE; HYGIENE
H
PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
7
Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19
Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
02
Sensing devices
G PHYSICS
01
MEASURING; TESTING
L
MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
5
Apparatus for, or methods of, measuring force, e.g. due to impact, work, mechanical power, or torque, adapted for special purposes
16
for measuring several components of force
Applicants:
オムロンヘルスケア株式会社 OMRON HEALTHCARE CO., LTD. [JP/JP]; 京都府向日市寺戸町九ノ坪53番地 53, Kunotsubo, Terado-cho, Muko-shi, Kyoto 6170002, JP
オムロン株式会社 OMRON CORPORATION [JP/JP]; 京都府京都市下京区塩小路通堀川東入南不動堂町801番地 801, Minamifudodo-cho, Horikawahigashiiru, Shiokoji-dori, Shimogyo-ku, Kyoto-shi, Kyoto 6008530, JP
学校法人立命館 THE RITSUMEIKAN TRUST [JP/JP]; 京都府京都市中京区西ノ京東栂尾町8番地 8 Nishinokyo-higashi-toganoo-cho, Nakagyo-ku, Kyoto-shi, Kyoto 6048520, JP
Inventors:
谷口 実 TANIGUCHI, Minoru; JP
田原 知里 TAWARA, Chisato; JP
清水 正男 SHIMIZU, Masao; JP
▲濱▼口 剛 HAMAGUCHI, Tsuyoshi; JP
川村 貞夫 KAWAMURA, Sadao; JP
金 慧 鍾 KIM, Hye Jong; JP
菅野 勇希 SUGANO, Yuki; JP
Agent:
特許業務法人深見特許事務所 FUKAMI PATENT OFFICE, P.C.; 大阪府大阪市北区中之島三丁目2番4号 中之島フェスティバルタワー・ウエスト Nakanoshima Festival Tower West, 2-4, Nakanoshima 3-chome, Kita-ku, Osaka-shi, Osaka 5300005, JP
Priority Data:
2016-17260505.09.2016JP
2017-03127522.02.2017JP
Title (EN) FORCE DETECTION DEVICE
(FR) DISPOSITIF DE DÉTECTION DE FORCE
(JA) 力検出装置
Abstract:
(EN) This force detection device (11) is provided with a support body (6), fluid bags (B1, B2), a fluid bag (BS), pressure sensors (S1, S2), and a calculation unit (C). The fluid bag (BS) is disposed on the opposite side from the side where the fluid bags (B1, B2) come into contact with the support body (6), and is disposed so as to be adjacent to both of the fluid bags (B1, B2). The calculation unit (C) acquires information about the internal pressures of the fluid bags (B1, B2) from the pressure sensors (S1, S2). When an object applies external force to the fluid bag (BS), the calculation unit (C) calculates the tangential force acting on the contact surface (CS) between the object and the fluid bag (BS) on the basis of the difference between the internal pressures of the fluid bags (B1, B2). The present invention makes it possible to obtain a force detection device capable of calculating the force acting on a contact surface (CS) in the tangential direction.
(FR) La présente invention concerne un dispositif de détection de force (11) pourvu d'un corps de support (6), de poches de fluide (BT1, B2), d'un sac de fluide (BS), de capteurs de pression (S1, S2), et d'une unité de calcul (C). Le sac de fluide (BS) est disposé sur le côté opposé à partir du côté où les sacs de fluide (B1, B2) entrent en contact avec le corps de support (6), et est disposé de manière à être adjacente aux deux sacs de fluide (B1, B2). L'unité de calcul (C) acquiert des informations concernant les pressions internes des sacs de fluide (B1, B2) à partir des capteurs de pression (S1, S2). Lorsqu'un objet applique une force externe au sac de fluide (BS), l'unité de calcul (C) calcule la force tangentielle agissant sur la surface de contact (CS) entre l'objet et le sac de fluide (BS) sur la base de la différence entre les pressions internes des sacs de fluide (B1, B2). La présente invention permet d'obtenir un dispositif de détection de force apte à calculer la force agissant sur une surface de contact (CS) dans la direction tangentielle.
(JA) 力検出装置(11)は、支持体(6)、流体袋(B1,B2)、流体袋(BS)、圧力センサ(S1,S2)、および演算部(C)を備える。流体袋(BS)は、流体袋(B1,B2)が支持体(6)に接触している側とは反対側に配置され、流体袋(B1,B2)の双方に隣接するように設けられる。演算部(C)は、流体袋(B1,B2)の内圧に関する情報を圧力センサ(S1,S2)から取得する。演算部(C)は、物体から流体袋(BS)に外力が加えられた際に、流体袋(B1)の内圧と流体袋(B2)の内圧との差に基づいて、物体と流体袋(BS)との間の接触面(CS)に対して接線方向に作用している力を算出する。接触面(CS)に対して接線方向となる力を算出することが可能な力検出装置が得られる。
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: Japanese (JA)
Filing Language: Japanese (JA)