Force-detecting apparatus

Claim 2

A force-detecting apparatus, comprising: a plurality of elastic members each elastic member having a center, being forced as an integral module, and being 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; plural first displacement-detecting means for detecting displacements of corresponding ones of said elastic members, in the same direction with respect to, and at positions symmetric with and on either side of, the center of the corresponding elastic member; plural second displacement-detecting means for detecting displacements of corresponding ones of said elastic members, in opposite directions with respect to, and at positions symmetric with and on either side of, the center of the corresponding elastic member; and one said integral module detecting torques around the X- and Y-axes and including a cruciform plate spring, arranged to lie in the X-Y plane.

Claim 3

A force-detecting apparatus as recited in claim 1, further comprising: means for preventing the displacement of the central portion of the cruciform plate spring in the direction of the Z-axis.

Claim 4

A force-detecting apparatus as recited in claim 1, said one integral module detecting forces in the direction of the Z-axis.

Claim 5

A force-detecting apparatus comprising: a plurality of elastic members, each elastic member having a center, formed as an integral module and being arranged to detect at least one component of forces in directions corresponding to X-, Y-, and Z-axes and torques around the X0, 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 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 centers of the parallel plate springs; plural first displacement-detecting means for detecting displacements of corresponding ones of said elastic members in the same direction with respect to, and at positions symmetric with and on either side of, the center of the corresponding elastic member; plural second displacement-detecting means for detecting displacements of corresponding ones of said elastic members in opposite directions with respect to, and at position symmetric with and on either side of, the center of the corresponding elastic member; the centers of said parallel plate springs deformable in the direction of the Z-axis being connected to the centers of said parallel plate springs deformable in the direction of the X- and Y-axes, respectively; and displacement-regulating means arranged on the inner side of each parallel plate spring to abut and thereby regulate the displacement of the plate spring.

Claim 6

A force-detecting apparatus comprising: a plurality of elastic members, each elastic member having a center, formed as an integral module and being arranged to detect at least one component of forces in directions corresponding to X-, Y-, and Z-axes and torques around the X0, 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 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 centers of the parallel plate springs; plural first displacement-detecting means for detecting displacements of corresponding ones of said elastic members in the same direction with respect to, and at positions symmetric with and on either side of, the center of the corresponding elastic member; plural second displacement-detecting means for detecting displacements of corresponding ones of said elastic members in opposite directions with respect to, and at position symmetric with and on either side of, the center of the corresponding elastic member; the centers of said parallel plate springs deformable in the direction of the Z-axis being connected to the centers of said parallel plate springs deformable in the direction of the X- and Y-axes, respectively; and displacement-regulating means arranged on the inner side of each parallel plate spring to abut and thereby regulate the displacement of the plate spring.

Claim 7

A force-detecting apparatus as recited in claim 4, wherein each plate spring further comprises a thick reinforcing portion at the position of abutment of each parallel plate spring and corresponding displacement-regulating means.

Claim 8

A force-detecting apparatus as recited in claim 4, wherein said displacement-regulating means is formed on said inner side of each said parallel plate spring, at the same time the plate spring is formed, by an electric discharge process.

Claim 9

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, respective, parallel plate springs, 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 side 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; and displacementregulating means arranged on the inner side of each parallel plate spring to abut and thereby regulate the displacement of the plate spring.

Claim 10

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, respective, parallel plate springs, 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 side 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; and displacementregulating means arranged on the inner side of each parallel plate spring to abut and thereby regulate the displacement of the plate spring.

Claim 11

A force-detecting apparatus as recited in claim 7, wherein said displacement-regulating means is formed on said inner side of each said parallel plate spring, at the time the plate spring is formed, by an electric discharge process.

Claim 12

A force-detecting apparatus comprising; a plurality of elastic members, each elastic member having a center, formed as an integral cross-shaped 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 to 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 centers of the parallel plate springs; plural first displacement-detecting means for detecting displacements of corresponding ones of said elastic members in the same direction with respect to, and at positions symmetric with and on either side of, the center of the corresponding elastic member; plural second displacement-detecting means for detecting displacements of corresponding ones of said elastic members in the same direction with respect to, and at positions symmetric with and on either side of, the center of the corresponding elastic member; plural second displacement-detecting means for detecting displacements of corresponding ones of said elastic members, in opposite directions with respect to, and at positions symmetric with and on either side of, the center of the corresponding elastic member; 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 are positions symmetric with each other; 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 13

A force-detecting apparatus comprising; a plurality of elastic members, each elastic member having a center, formed as an integral cross-shaped 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 to 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 centers of the parallel plate springs; plural first displacement-detecting means for detecting displacements of corresponding ones of said elastic members in the same direction with respect to, and at positions symmetric with and on either side of, the center of the corresponding elastic member; plural second displacement-detecting means for detecting displacements of corresponding ones of said elastic members in the same direction with respect to, and at positions symmetric with and on either side of, the center of the corresponding elastic member; plural second displacement-detecting means for detecting displacements of corresponding ones of said elastic members, in opposite directions with respect to, and at positions symmetric with and on either side of, the center of the corresponding elastic member; 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 are positions symmetric with each other; 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.