Capacitive Force Detection Device Using Opposing Columnar Members
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Solution Overview
Problem
Existing force detection devices for robots and industrial machines are complex and costly due to the need for multiple sensors to measure inclinations in different directions, leading to complicated structures and increased manufacturing costs.
Innovation Solution
A force detection device with a simpler structure, utilizing two columnar members inclined opposite to each other, where the inclination state is measured by detecting displacements in the Z-axis direction using a pair of capacitance elements, allowing for the detection of forces in the X-axis and Z-axis directions with reduced sensor complexity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple sensors are used to measure inclinations in different directions, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent combines multiple measurement functions into a single sensor system. By configuring two capacitance elements to simultaneously measure displacements in the Z-axis direction, the system achieves the ability to detect forces in both X-axis and Z-axis directions without requiring separate sensors for each direction, thus reducing device complexity while maintaining measurement precision.
Solution Approach 2:
The capacitance elements serve multiple functions: they measure Z-axis displacements which are then used to calculate both X-axis forces and Z-axis forces. This multi-functionality allows a single sensor type to provide information for detecting forces in multiple directions, reducing the total number of sensors needed and simplifying the overall device structure.
2Measurement precision
If multiple sensors are used to measure inclinations in different directions, then measurement precision is improved, but manufacturing cost increases
Solution Approach 1:
The patent merges multiple measurement capabilities into a single sensor assembly. By using two capacitance elements that simultaneously provide data for calculating forces in X and Z directions, the system reduces the total component count, thereby lowering manufacturing costs while maintaining the precision needed for accurate force detection.
Solution Approach 2:
The capacitance elements are designed to perform multiple measurement functions. The same sensors that measure Z-axis displacements are also used to infer X-axis forces through geometric relationships, making the sensor system more versatile and reducing the need for additional specialized sensors, thus decreasing manufacturing complexity and cost.
3Measurement precision
If columnar members are disposed to measure both X-axis and Y-axis inclinations, then measurement precision is improved, but the structure becomes complicated
Solution Approach 1:
The patent employs an asymmetric configuration where two columnar members are inclined at different angles relative to the Z-axis. This asymmetric arrangement allows the system to detect forces in multiple directions using only Z-axis displacement measurements, eliminating the need for symmetric multi-directional sensor arrangements and simplifying the overall structural complexity.
Solution Approach 2:
The patent transforms a multi-directional measurement problem into a single-axis measurement problem. By inclining the columnar members, the system converts X-axis and Y-axis force detection into Z-axis displacement measurements, effectively using measurements from one dimension (Z-axis) to infer information about forces in multiple dimensions (X and Y axes).
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution enables efficient detection of forces in multiple directions with a reduced number of sensors, simplifying the device structure and lowering manufacturing costs while maintaining accuracy.
Implementation Method 1
sensors which measure the inclination degrees with respect to the X-axis direction and the inclination degrees with respect to the Y-axis direction of the respective columnar members independent of each other are necessary... when a sensor using capacitance elements is utilized as a sensor for measuring an inclination degree
Data Source
AI summary
Between an upper substrate 10 and a lower substrate 20 parallel to the XY plane, a first columnar member P1 and a second columnar member P2 are disposed. The upper end of each columnar member P1 or P2 is connected to the upper substrate 10 via an upper film portion 11 or 12, and the lower end is connected to the lower substrate 20 via a conductive lower film portion 21 or 22. The columnar members P1 and P2 are inclined mutually opposite with respect to vertical reference axes R1 and R2. When a rightward force +Fx is applied to the upper substrate 10 and the upper substrate 10 slides rightward, the columnar member P1 incline in a laying-down direction and the lower film portion 21 is deformed upward, and the columnar member P2 inclines in a rising direction and the lower film portion 22 is deformed downward. Based on a difference in capacitance value between a capacitance element consisting of the lower film portion 21 and an electrode E5 and a capacitance element consisting of the lower film portion 22 and an electrode E6, the force Fx in the X-axis direction is detected. By summing the capacitance values, a force Fz in the Z-axis direction can also be detected.