초록 ▼

A force sensor according to embodiments includes a light-emitting unit, a pair of first light detectors, a reflector, and a first frame. The light-emitting unit emits diffuse light. The first light detectors are arranged in a first direction with the light-emitting unit interposed therebetween. The

A force sensor according to embodiments includes a light-emitting unit, a pair of first light detectors, a reflector, and a first frame. The light-emitting unit emits diffuse light. The first light detectors are arranged in a first direction with the light-emitting unit interposed therebetween. The reflector is arranged to face the light-emitting unit on an optical axis of the light-emitting unit and reflects the diffuse light emitted from the light-emitting unit toward the first light detectors. The first frame is deformed in the first direction so that a reflection range of the diffuse light reflected by the reflector is displaced in the first direction.

대표청구항 ▼

1. A force sensor, comprising: a light-emitting unit that emits diffuse light;a pair of first light detectors that are arranged facing in a first direction with the light-emitting unit interposed between the first light detectors;a reflector that is arranged to face the light-emitting unit on an opt

1. A force sensor, comprising: a light-emitting unit that emits diffuse light;a pair of first light detectors that are arranged facing in a first direction with the light-emitting unit interposed between the first light detectors;a reflector that is arranged to face the light-emitting unit on an optical axis of the light-emitting unit, the reflector reflecting the diffuse light emitted from the light-emitting unit toward the pair of first light detectors;a first frame that is deformed in the first direction so that a reflection range of the diffuse light reflected by the reflector mounted on the first frame is displaced in the first direction;a pair of second light detectors that are arranged in a second direction perpendicular to the first direction with the light-emitting unit interposed therebetween; anda second frame that is deformed in the second direction so that the reflection range of the diffuse light reflected by the reflector is displaced in the second direction, whereinthe first frame includes: a first leg part that is fixed to a mounting surface on which the light-emitting unit is mounted; anda first opposed surface that is supported by the first leg part so that the first opposed surface faces the light-emitting unit on the optical axis of the light-emitting unit, the first opposed surface having an opening provided in an area including a position intersecting with the optical axis of the light-emitting unit,the second frame includes: a second leg part that is connected to the first frame; anda second opposed surface that is supported by the second leg part so that the second opposed surface faces the light-emitting unit on the optical axis of the light-emitting unit, the opening of the first opposed surface being located between the second opposed surface and the light-emitting unit, andthe reflector is provided, on the second opposed surface, in the area including the position intersecting with the optical axis of the light-emitting unit. 2. The force sensor according to claim 1, wherein the first leg part includes two legs,the second leg part includes two legs,the two legs of the first leg part of the first frame are provided on both sides of the first opposed surface in the first direction,the first frame further includes connecting arms that are provided on both sides of the first opposed surface in the second direction,the two legs of the second leg part of the second frame are provided on both sides of the second opposed surface in the second direction, andthe two legs of the second leg part are respectively connected to the connecting arms of the first frame on sides closer to the mounting surface of the light-emitting unit than to the first opposed surface. 3. The force sensor according to claim 1, wherein the first frame includes a connecting portion at which the first leg part and the first opposed surface are connected at an angle other than a right angle, andthe connecting portion is deformed in the first direction so that the reflection range of the diffuse light reflected by the reflector is displaced in the first direction. 4. The force sensor according to claim 2, wherein the first frame includes connecting portions at which the two legs of the first leg part and the first opposed surface are respectively connected at an angle other than a right angle, andthe connecting portions are deformed in the first direction so that the reflection range of the diffuse light reflected by the reflector is displaced in the first direction. 5. The force sensor according to claim 1, wherein the second frame includes a connecting portion at which the second leg part and the second opposed surface are connected at an angle other than a right angle, andthe connecting portion is deformed in the second direction so that the reflection range of the diffuse light reflected by the reflector is displaced in the second direction. 6. The force sensor according to claim 2, wherein the second frame includes connecting portions at which the two legs of the second leg part and the second opposed surface are respectively connected at an angle other than a right angle, andthe connecting portions are deformed in the second direction so that the reflection range of the diffuse light reflected by the reflector is displaced in the second direction. 7. The force sensor according to claim 3, wherein the second frame includes a connecting portion at which the second leg part and the second opposed surface are connected at an angle other than the right angle, andthe connecting portion is deformed in the second direction so that the reflection range of the diffuse light reflected by the reflector is displaced in the second direction. 8. A force sensor, comprising: a light-emitting unit that emits diffuse light;a pair of first light detectors that are arranged facing in a first direction with the light-emitting unit interposed between the first light detectors;a first frame that includes an opposed surface facing the light-emitting unit on an optical axis of the light-emitting unit and is fixed to a mounting surface on which the light-emitting unit is mounted, the first frame having one degree of freedom in an arrangement direction of the pair of light-emitting units;a reflector that is provided on the opposed surface of the first frame, the reflector reflecting the diffuse light emitted from the light-emitting unit toward the pair of light-emitting units;a pair of second light detectors that are arranged in a second direction perpendicular to the first direction with the light-emitting unit interposed therebetween; anda second frame that is deformed in the second direction so that the reflection range of the diffuse light reflected by the reflector is displaced in the second direction, whereinthe first frame includes: a first leg part that is fixed to a mounting surface on which the light-emitting unit is mounted; anda first opposed surface that is supported by the first leg part so that the first opposed surface faces the light-emitting unit on the optical axis of the light-emitting unit, the first opposed surface having an opening provided in an area including a position intersecting with the optical axis of the light-emitting unit,the second frame includes: a second leg part that is connected to the first frame; anda second opposed surface that is supported by the second leg part so that the second opposed surface faces the light-emitting unit on the optical axis of the light-emitting unit, the opening of the first opposed surface being located between the second opposed surface and the light-emitting unit, andthe reflector is provided, on the second opposed surface, in the area including the position intersecting with the optical axis of the light-emitting unit. 9. A force sensor, comprising: a light-emitting unit that emits diffuse light;a pair of first light detectors that are arranged facing in a first direction with the light-emitting unit interposed between the first light detectors;a reflector that is arranged to face the light-emitting unit on an optical axis of the light-emitting unit, the reflector reflecting the diffuse light emitted from the light-emitting unit toward the pair of first light detectors;a first frame that includes an opposed surface provided to face the light-emitting unit on the optical axis of the light-emitting unit and is fixed to a mounting surface on which the light-emitting unit is mounted, the first frame being deformed in the first direction so that a reflection range of the diffuse light reflected by the reflector is displaced in the first direction;a pair of second light detectors that are arranged in a second direction perpendicular to the first direction with the light-emitting unit interposed therebetween; anda second frame that is deformed in the second direction so that the reflection range of the diffuse light reflected by the reflector is displaced in the second direction, whereinthe first frame includes: a first leg part that is fixed to a mounting surface on which the light-emitting unit is mounted; anda first opposed surface that is supported by the first leg part so that the first opposed surface faces the light-emitting unit on the optical axis of the light-emitting unit, the first opposed surface having an opening provided in an area including a position intersecting with the optical axis of the light-emitting unit,the second frame includes: a second leg part that is connected to the first frame; anda second opposed surface that is supported by the second leg part so that the second opposed surface faces the light-emitting unit on the optical axis of the light-emitting unit, the opening of the first opposed surface being located between the second opposed surface and the light-emitting unit,the reflector is provided, on the second opposed surface, in the area including the position intersecting with the optical axis of the light-emitting unit, andthe reflector is provided on the opposed surface of the first frame. 10. A robot comprising: an end effector; anda force sensor that is provided in the end effector,the force sensor comprising:a light-emitting unit that emits diffuse light;a pair of first light detectors that are arranged facing in a first direction with the light-emitting unit interposed between the first light detectors;a reflector that is arranged to face the light-emitting unit on an optical axis of the light-emitting unit, the reflector reflecting the diffuse light emitted from the light-emitting unit toward the pair of first light detectors;a first frame that is deformed in the first direction so that a reflection range of the diffuse light reflected by the reflector mounted on the first frame is displaced in the first direction;a pair of second light detectors that are arranged in a second direction perpendicular to the first direction with the light-emitting unit interposed therebetween; anda second frame that is deformed in the second direction so that the reflection range of the diffuse light reflected by the reflector is displaced in the second direction, whereinthe first frame includes: a first leg part that is fixed to a mounting surface on which the light-emitting unit is mounted; anda first opposed surface that is supported by the first leg part so that the first opposed surface faces the light-emitting unit on the optical axis of the light-emitting unit, the first opposed surface having an opening provided in an area including a position intersecting with the optical axis of the light-emitting unit,the second frame includes: a second leg part that is connected to the first frame; anda second opposed surface that is supported by the second leg part so that the second opposed surface faces the light-emitting unit on the optical axis of the light-emitting unit, the opening of the first opposed surface being located between the second opposed surface and the light-emitting unit, andthe reflector is provided, on the second opposed surface, in the area including the position intersecting with the optical axis of the light-emitting unit. 11. A force sensor, comprising: means for emitting diffuse light;means for reflecting the diffuse light emitted from the means for emitting, the means for reflecting being arranged to face the means for emitting on an optical axis of the means for emitting;a pair of first light detectors that detect the diffuse light reflected by the means for reflecting, the first light detectors being arranged facing in one direction with the means for emitting interposed between the first light detectors;means for displacing a reflection range of the diffuse light reflected by the means for reflecting in the one direction by an external force, the means for displacing including a first frame;a pair of second light detectors that are arranged in a second direction perpendicular to the first direction with the means for emitting interposed therebetween; anda second frame that is deformed in the second direction so that the reflection range of the diffuse light reflected by the means for reflecting is displaced in the second direction, whereinthe first frame includes: a first leg part that is fixed to a mounting surface on which the means for emitting is mounted; anda first opposed surface that is supported by the first leg part so that the first opposed surface faces the means for emitting on the optical axis of the means for emitting, the first opposed surface having an opening provided in an area including a position intersecting with the optical axis of the means for emitting,the second frame includes: a second leg part that is connected to the first frame; anda second opposed surface that is supported by the second leg part so that the second opposed surface faces the means for emitting on the optical axis of the means for emitting, the opening of the first opposed surface being located between the second opposed surface and the means for emitting, andthe means for reflecting is provided, on the second opposed surface, in the area including the position intersecting with the optical axis of the means for emitting.