Patent US1888113A successfully refreshed from Google Patents.
US4762006A
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US
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Force-detecting apparatus
Assignee: Fujitsu Ltd
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Filing: 1985-09-24
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Granted: 1988-08-09
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Expires: 2005-09-24
Abstract
Abstract A force-detecting apparatus includes an elastic member deformable symmetrically with respect to the center. First displacement-detecting means, detect displacements of the elastic member, at positions symmetric with respect to the center, in the same direction with respect to an axis passing through the center of the elastic member, and second displacement-detecting means detect displacements of the elastic member, at the positions symmetric with respect to the center, in opposite directions with respect to an axis passing through the center of the elastic member.
Inventors
- 👤 Kazuo Asakawa
- 👤 Nobuhiko Onda
- 👤 Tadashi Akita
- 👤 Toru Kamada
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-06 08:26
CPC Classifications
G; G01; G01L; G01L19/00; G01L19/06; G01L1/00; G01L1/04; G01L1/044; G01L1/20; G01L1/22; G01L1/2206; G01L1/2243; G01L5/00; G01L5/16; G01L5/161; G01L5/1627; G01L5/22; G01L5/226
Claims Analysis
Total Claims: 16
Claim 1
Independent Claim
251 words
A force-detecting apparatus, comprising: a cruciform comprising first and second elastic members defining orthogonal lines of the cruciform, the orthogonal lines crossing at and defining the center point of the cruciform; each said elastic member comprising at least two parallel plate springs respectively, each parallel plate spring having parallel main surfaces, and the plate springs having opposite ends and defining a center point therebetween coinciding with the center point of the cruciform and an axis extending through the cruciform center point and lying in a plane parallel to the main surfaces of the plate springs, and each said elastic member being deformable in response to a force applied thereto in a direction perpendicular to the main surfaces of the plate springs and a torque applied thereto about the axis; a frame member associated with each said elastic member, the opposite ends of said plate springs of each said elastic member being secured to the associated frame member; and for each said elastic member: first displacement-detecting means for detecting deformation of the elastic member, affixed at predetermined positions on the respective main surfaces of different ones of said parallel plate springs thereof oppositely disposed relative to said center point, and said predetermined positions being symmetric with respect to said center point, and second displacement-detecting means for detecting deformation of the elastic member, affixed at predetermined positions on a common said main surface of one of said parallel plate springs thereof, and said predetermined positions being symmetric with respect to said central axis.
Claim 2
Dependent Claim
251 words
A force-detecting apparatus, comprising: a cruciform comprising first and second elastic members defining orthogonal lines of the cruciform, the orthogonal lines crossing at and defining the center point of the cruciform; each said elastic member comprising at least two parallel plate springs respectively, each parallel plate spring having parallel main surfaces, and the plate springs having opposite ends and defining a center point therebetween coinciding with the center point of the cruciform and an axis extending through the cruciform center point and lying in a plane parallel to the main surfaces of the plate springs, and each said elastic member being deformable in response to a force applied thereto in a direction perpendicular to the main surfaces of the plate springs and a torque applied thereto about the axis; a frame member associated with each said elastic member, the opposite ends of said plate springs of each said elastic member being secured to the associated frame member; and for each said elastic member: first displacement-detecting means for detecting deformation of the elastic member, affixed at predetermined positions on the respective main surfaces of different ones of said parallel plate springs thereof oppositely disposed relative to said center point, and said predetermined positions being symmetric with respect to said center point, and second displacement-detecting means for detecting deformation of the elastic member, affixed at predetermined positions on a common said main surface of one of said parallel plate springs thereof, and said predetermined positions being symmetric with respect to said central axis.
Claim 3
Dependent Claim
25 words
A force-detecting apparatus as set forth in claim 1, wherein the first and second deformation-detecting means associated with each said elastic member comprise strain gauges.
Claim 4
Dependent Claim
139 words
A force-detecting apparatus as set forth in claim 1, wherein, for each said elastic member: each said first displacement-detecting means comprises strain gauges arranged on the respective, oppositely disposed main surfaces of the associated parallel plate springs of said elastic member at positions symmetric with each other; and each said second displacement-detecting means comprises strain gauges arranged on a common surface of one of the associated parallel plate springs of said elastic member at positions symmetric with each other; said force detecting apparatus further comprising, for each said elastic member: a first bridge circuit, including the strain gauges on said oppositely disposed main surfaces of the associated parallel plate springs of said elastic member; and a second bridge circuit, including the strain gauges on the common surface of one of the associated parallel plate springs of said elastic member.
Claim 5
Dependent Claim
32 words
A force-detecting apparatus as set forth in claim 1, wherein a displacement-regulating means is arranged on the inner side of each parallel plate spring to regulate the displacement of the plate spring.
Claim 6
Dependent Claim
33 words
A force-detecting apparatus as set forth in claim 4, wherein a thick reinforcing portion is provided on the plate spring at the points where the parallel plate spring and the displacement-regulating means abut.
Claim 7
Dependent Claim
190 words
A force-detecting apparatus comprising: a plurality of elastic members, each elastic member having a center, formed as an integral module and arranged to detect at least one component of forces in directions corresponding to X-, Y- and Z-axes and torques around the X-, Y- and Z-axes, said plurality of elastic members being connected to each other through central portions thereof; said elastic members of said integral module for detecting forces in the directions of the X-, Y-, and Z-axes comprising three sets of parallel plate springs, deformable in the directions of the X-, Y- and Z-axes, respectively, arranged as a cruciform symmetric with respect to the central point; plural first displacement-detecting means for detecting displacements of corresponding ones of said elastic members, in the same direction with respect to the center, at positions symmetric with and on either side of the center of the corresponding elastic member; and plural second displacement-detecting means for detecting displacements of corresponding ones of said elastic members, in opposite directions with respect to the center of said elastic member, at positions symmetric with and on either side of the center of the corresponding elastic member.
Claim 8
Dependent Claim
190 words
A force-detecting apparatus comprising: a plurality of elastic members, each elastic member having a center, formed as an integral module and arranged to detect at least one component of forces in directions corresponding to X-, Y- and Z-axes and torques around the X-, Y- and Z-axes, said plurality of elastic members being connected to each other through central portions thereof; said elastic members of said integral module for detecting forces in the directions of the X-, Y-, and Z-axes comprising three sets of parallel plate springs, deformable in the directions of the X-, Y- and Z-axes, respectively, arranged as a cruciform symmetric with respect to the central point; plural first displacement-detecting means for detecting displacements of corresponding ones of said elastic members, in the same direction with respect to the center, at positions symmetric with and on either side of the center of the corresponding elastic member; and plural second displacement-detecting means for detecting displacements of corresponding ones of said elastic members, in opposite directions with respect to the center of said elastic member, at positions symmetric with and on either side of the center of the corresponding elastic member.
Claim 9
Dependent Claim
75 words
A force-detecting apparatus as set forth in claim 6, further comprising a supporting frame; wherein end portions of respective sets of parallel plate springs forming the integral module for detecting forces in the directions of the X-, Y-, and -axes are held on the supporting frame so that said respective sets of parallel plate springs can be rotated relative to the supporting frame around the longitudinal axes of the respective sets of parallel plate springs.
Claim 10
Dependent Claim
37 words
A force-detecting apparatus as set forth in claim 7 further comprising a plurality of bearings for rotatably connecting the end portions of the respective sets of parallel plate springs of the integral module to the supporting frame.
Claim 11
Dependent Claim
38 words
A force-detecting apparatus as set forth in claim 7, further comprising a plurality of torsion bars for rotatably connecting the end portions of the respective sets of parallel plate springs of the integral module to the supporting frame.
Claim 12
Dependent Claim
193 words
A force-detecting apparatus comprising: a plurality of elastic members, each elastic member having a center, formed as an integral module and arranged to detect at least one component of forces in directions corresponding to X-, Y- and Z-axes and torques around the X-, Y- and Z-axes, said plurality of elastic members being connected to each other through central portions thereof; said elastic members of said integral module for detecting forces in the directions of the X- and Y-axes and torques around the Z-axis comprising two sets of parallel plate springs, deformable in the directions of the X- and Y-axes, respectively, arranged as a cruciform symmetric with respect to the central point; plural first displacement-detecting means for detecting displacements of corresponding ones of said elastic members, in the same direction with respect to the center, at positions symmetric with and on either side of the center of the corresponding elastic member; and plural second displacement-detecting means for detecting displacements of corresponding ones of said elastic members, in opposite directions with respect to the center of said elastic member, at positions symmetric with and on either side of the center of the corresponding elastic member.
Claim 13
Dependent Claim
193 words
A force-detecting apparatus comprising: a plurality of elastic members, each elastic member having a center, formed as an integral module and arranged to detect at least one component of forces in directions corresponding to X-, Y- and Z-axes and torques around the X-, Y- and Z-axes, said plurality of elastic members being connected to each other through central portions thereof; said elastic members of said integral module for detecting forces in the directions of the X- and Y-axes and torques around the Z-axis comprising two sets of parallel plate springs, deformable in the directions of the X- and Y-axes, respectively, arranged as a cruciform symmetric with respect to the central point; plural first displacement-detecting means for detecting displacements of corresponding ones of said elastic members, in the same direction with respect to the center, at positions symmetric with and on either side of the center of the corresponding elastic member; and plural second displacement-detecting means for detecting displacements of corresponding ones of said elastic members, in opposite directions with respect to the center of said elastic member, at positions symmetric with and on either side of the center of the corresponding elastic member.
Claim 14
Dependent Claim
202 words
A force-detecting apparatus comprising: a plurality of elastic members, each elastic member having a center, formed as an integral module and arranged to detect at least one component of forces in directions corrresponding to X-, Y- and Z-axes and torques around the X-, Y- and Z-axes, said plurality of elastic members being connected to each other through central portions thereof; said elastic members of said integral module for detecting forces in the directions of the X-, Y-, and Z-axes comprise two sets of parallel plate springs, deformable in the directions of the X- and Y-axes, and two sets of parallel plate springs deformable in the direction of the Z-axis, arranged as a cruciform symmetric with respect to the central point; plural first displacement-detecting means for detecting displacements of corresponding ones of said elastic members, in the same direction with respect to the center, at positions symmetric with and on either side of the center of the corresponding elastic member; and plural second displacement-detecting means for detecting displacements of corresponding ones of said elastic members, in opposite directions with respect to the center of said elastic member, at positions symmetric with and on either side of the center of the corresponding elastic member.
Claim 15
Dependent Claim
202 words
A force-detecting apparatus comprising: a plurality of elastic members, each elastic member having a center, formed as an integral module and arranged to detect at least one component of forces in directions corrresponding to X-, Y- and Z-axes and torques around the X-, Y- and Z-axes, said plurality of elastic members being connected to each other through central portions thereof; said elastic members of said integral module for detecting forces in the directions of the X-, Y-, and Z-axes comprise two sets of parallel plate springs, deformable in the directions of the X- and Y-axes, and two sets of parallel plate springs deformable in the direction of the Z-axis, arranged as a cruciform symmetric with respect to the central point; plural first displacement-detecting means for detecting displacements of corresponding ones of said elastic members, in the same direction with respect to the center, at positions symmetric with and on either side of the center of the corresponding elastic member; and plural second displacement-detecting means for detecting displacements of corresponding ones of said elastic members, in opposite directions with respect to the center of said elastic member, at positions symmetric with and on either side of the center of the corresponding elastic member.
Claim 16
Dependent Claim
63 words
A force-detecting apparatus as set forth in claim 11, wherein: said parallel plate springs deformable in the directions of the X-, Y-, and Z-axes each have a center; and the centers of said parallel plate springs deformable in the direction of the Z-axis are connected to the centers of said parallel plate springs deformable in the direction of the X and Y-axes, respectively.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1991-08-09 | 1992-02-08 | 1992-08-09 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1995-08-09 | 1996-02-08 | 1996-08-09 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1999-08-09 | 2000-02-08 | 2000-08-09 | $7700.00 | Window Closed / Lapsed |