FORCE DETECTOR AND ROBOT

摘要

A force detector includes a first base part, a second base part, and a pressure detection unit provided between the first base part and the second base part and including a piezoelectric element that outputs a signal in response to an external force, wherein the pressure detection unit has a first member having a portion in contact with the first base part, a second member having a portion in contact with the second base part, and a third member connecting the first member and the second member, a first longitudinal elastic modulus of at least a part of the first member is lower than a third longitudinal elastic modulus of the third member, and a second longitudinal elastic modulus of at least a part of the second member is lower than the third longitudinal elastic modulus of the third member.

主权项

1. A force detector comprising:
a first base having a base plate and a wall extending from a top surface of the base plate, wherein a center line passes through a center of the first base; a second base having a sidewall extending from a bottom surface of the second base; and first through fourth pressure detection sensors, each of the first through fourth pressure detection sensors being provided between an outer surface of the wall of the first base and an inner surface of the sidewall of the second base, and each of the first through fourth pressure detection sensors including a piezoelectric element which outputs a first signal in response to an external force, wherein the first through fourth pressure detection sensors are circumferentially spaced apart from each other by 90 degrees with respect to the center line, and the inner surface of the second base faces the center line.