Fanuc Corporation

Tetsuro Sakano

Hiroshi Takigawa

Yuji Nishikawa

Shunichi Odaka

Kohei Arimoto

Koji Hayano

Ryusuke Miyata

Akinori Ohyama

Junya Fujita

Takeshi Nakamura

Masao Sato

Shinya Naito

A displacement detection type six-axis force sensor. The force sensor includes a first end portion; a second end portion; an intermediate portion; a first connecting portion elastically connecting the first end portion to the intermediate portion with first three-degrees of freedom; a second connecting portion elastically connecting the second end portion to the intermediate portion with second three-degrees of freedom; a first detecting part detecting relative displacement between the first end and intermediate portions, accompanied by elastic deformation of the first connecting portion; and a second detecting part detecting relative displacement between the second end and intermediate portions, accompanied by elastic deformation of the second connecting portion. The intermediate portion and the first and second connecting portions are disposed such that a force applied to the first or second end portion is applied to both of the first and second connecting portions without propagating through the intermediate portion.

Displacement detection type six-axis force sensor

A displacement detection type force-detection structure. The force-detection structure includes a first end portion; a second end portion; a connecting portion elastically connecting the first and second end portions with three degrees of freedom; a detecting part detecting relative displacement between the first and second end portions accompanied by elastic deformation of the connecting portion. The detecting part includes a first differentially-detecting section detecting a relative movement between the first and second end portions along a first axis as first movement data by using signals reverse in phase; a second differentially-detecting section detecting a relative movement between the first and second end portions along a second axis as second movement data by using signals reverse in phase; and a third differentially-detecting section detecting a relative rotation between the first and second end portions about a central axis along a third axis as rotation data by using signals reverse in phase.

Displacement detection type force-detection structure and displacement detection type force sensor

A force detecting device includes an installed member that is installed on an installing face and a force sensor main unit that is fixed to a top face of the installed member. The installed member has a plate-shaped or brim-shaped first portion having the top face and extending at least in a horizontal direction; a second portion extending at least downward from a bottom face side of the first portion; and a third portion extending at least in the horizontal direction from the second portion and fixed to the installing face, and a gap SP in a top-down direction is formed between the first portion and the third portion.

Force detecting device and robot

A six-axis force sensor including a fixed part; a first movable part; a first connecting part connecting the first movable part to the fixed part in an elastically displaceable manner; a second movable part; a second connecting part connecting the second movable part to the first movable part in an elastically displaceable manner; a first detecting section detecting a displacement of the first movable part relative to the fixed part; and a second detecting section detecting a displacement of the second movable part relative to the first movable part. The six-axis force sensor enables, in a three-axis rectangular coordinate system, a detection of force components in first axis, second axis and third axis directions, and moment components about the first axis, the second axis and the third axis, of a force applied to the second movable part, with reference to detection values of the first and second detecting sections.

A force-controlled electric hand including: an electric motor; a rotary-linear motion conversion mechanism converting rotary motion from the electric motor to linear motion; a pair of finger bases including a movable finger base which moves linearly in parallel with a first axial line through the rotary-linear motion conversion mechanism by power from the electric motor; a pair of fingers fixed to the pair of finger bases to grip a target workpiece by linear motion of the movable finger base; and a force sensor provided at least at one of the pair of finger bases to detect gripping force of the pair of fingers. The force sensor has a pair of parallel beams extending in parallel with a second axial line vertical to the first axial line and detects the gripping force based on an amount of displacement of the parallel beams in a direction of the first axial line.

Force-controlled electric hand

A six-axis force sensor includes a pair of members, and at least three legs scatteringly disposed between the pair of members on the periphery of the members. Each leg includes a T-shaped leg consisting of a cross beam supported at both ends thereof by one of the pair of members and extending on the periphery of the member in a circumferential direction, and a vertical beam extending from the center of the cross beam to a direction perpendicular to the cross beam and connected to the other of the pair of members. The strains on the legs are detected by first single-axis-type strain gauges and second single-axis-type strain gauges. A first single-axis-type strain gauge is attached to a surface of the cross beam facing the side opposite to the vertical beam or a surface of the cross beam facing the vertical beam, so as to be able to detect a strain generated in the cross beam in a longitudinal axis direction thereof, and a second single-axis-type strain gauge is attached to a side surface of the vertical beam facing in a circumferential direction, so as to be able to detect a strain generated in the vertical beam in a longitudinal axis direction thereof.

Six-axis force sensor

A two-dimensional LD (laser diode) array light-emitting device constituted by stacking light-emitting units each having a LD bar and a cooling assembly for cooling the LD bar with a simplified electrical connection structure to reduce manufacturing cost. The cooling assembly is electrically connected with one electrode of the LD bar through the die spacer so that a part of the cooling assembly serves as one electrode of the light-emitting unit. The other electrode of the LD bar is electrically connected with a webbed extending section of a conductive layer of a TAB (tape-automated bonding) sheet so that the conductive layer serves as the other electrode of the light-emitting unit. A space between the adjacent cooling assemblies for arranging the LD bar is adjusted by the spacer sheet intervened between the TAB sheet and the cooling assembly.

Two-dimensional laser diode array light-emitting device

A cooling device suitable for cooling a laser diode bar constituting a surface illuminating device as a light source for exciting a laser medium of a solid-state laser oscillator of high power. The cooling device is capable of flowing coolant at sufficient flow rate by reducing the pressure loss in the flow passage of the coolant in the device, to realize a light source device of small thickness with high cooling capability and high reliability. The cooling device comprises a first plate member, one or more second plate member and a third plate member to be joined together to form a laminated body. The second plate member has grooved paths formed on both surfaces thereof and having depths greater than a half of thickness of the plate member, and also opened paths for communicating grooved paths formed on the first plate member and the third plate member. The pressure loss in the flow passage of coolant is reduced by increasing a sectional area of the flow passage by the grooved paths and the opened path of the second plate member without lowering mechanical strength of the device and without increasing a manufacturing cost of the device.

Cooling device

Motor drive control method

Driver circuit and a driving method for a variable-reluctance motor

Apparatus for driving a variable reluctance motor

Absolute position encoder

A method is provided for detecting a position, comprising the steps of: producing two-phase sinusoidal wave signals having a 90.degree.-spatial phase difference therebetween upon movement of a moving object; detecting the current voltage V.sub.a and V.sub.b of the two-phase sinusoidal wave signals and calculating a value of .alpha. making a value of V zero, given by V=V.sub.a .multidot.cos.alpha.-V.sub.b .multidot.sin.alpha.; determining the value of .alpha. so that polarities of sin.alpha. and cos.alpha. for the calculated .alpha. coincide with those of V.sub.a and V.sub.b, respectively; and detecting a moving position of the moving object by using the value of .alpha. determined in the preceding step as absolute position data within 1 cycle of the 2-phase signals. According to the above method for detecting a position, the absolute position of a moving object can be detected with a high resolution.

Growing community of inventors

Yamanashi, Japan

Tetsuro Sakano