| 摘要 |
PROBLEM TO BE SOLVED: To provide a low-cost device for measuring the force of a working machine, accurately measuring the force regardless of the attitude of the working machine or the direction of the force. SOLUTION: The device includes: a link mechanism 18 having a first link 16 attached to an attachment 23 via a rotation shaft 44 and a second link 17 bridged over the end of the first link and an arm 12; an attachment cylinder 15 attached to the link mechanism via a rotation shaft 45; a two-axial force detection device 42b provided to a rotation shaft 42 and detecting the forces in two axial directions orthogonal to each other; a one-axial force detection device 44b fixed to the first link to rotate integrally with the first link and detecting the force in one axial direction; angle sensors 40a, 41a, 42a detecting the attitude of the attachment; and an arithmetic unit 60 operating the force acting on the attachment based on the detection values from the two-axial force detection device, the one-axial force detection device and the angle sensors. COPYRIGHT: (C)2011,JPO&INPIT
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