Patent ID: 8661918
Filing Date: 2014-03-04
Classification: B25J,G01L,Y10T

Abstract:
1. A force sensor comprising: a sensor main body; and a detecting device connected to the sensor main body, wherein the sensor main body comprises: a frame; an operating section which is elastically supported by the frame and which is displaced relative to the frame when subjected to an external force; a magnet which is disposed in the frame and secured to the frame; a first magnetic-electric conversion element which is secured to the operating section, facing against one pole surface of the magnet, and which is disposed such that it can be displaced together with the operating section in relation to the one pole surface; a second magnetic-electric conversion element which is secured to the operating section, facing against the other pole surface of the magnet, and which is disposed such that it can be displaced together with the operating section in relation to the other pole surface; and the detecting device determines at least one of a force and a moment acting on the operating section on the basis of voltage values of voltages output by the first magnetic-electric conversion element and the second magnetic-electric conversion element, determines the total voltage value of absolute values of the voltage values output by the first and the second magnetic-electric conversion elements, and adjusts the values of currents supplied to the first and the second magnetic-electric conversion elements such that the total voltage value becomes a predetermined reference voltage value.