| 摘要 |
PROBLEM TO BE SOLVED: To provide a contact sensor having more excellent durability compared with a conventional one, capable of detecting a pressing force of an object and sliding to the object, and detecting stably regardless of a temperature. SOLUTION: This contact sensor 10 is equipped with an approximately cylindrical casing 11; an approximately cylindrical sensor housing 12 which is provided at the casing 11 movably forward and backward, and can contact with a conveyance object 9; a force sensor 112 provided in the casing 11 for detecting an external force applied to the sensor housing 12; a sensor ball 13 which is provided rotatably in the sensor housing 12, and can contact with the conveyance object 9; a light source 114 provided in the casing 11 for irradiating the sensor ball 13; and a solid imaging element 126 provided in the casing 11 for imaging the sensor ball 13 irradiated by the light source 114. COPYRIGHT: (C)2009,JPO&INPIT
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