Multi-Layer Piezoelectric Force Sensor with Adjustable Resolution
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Solution Overview
Problem
Existing force detection apparatuses in robots have fixed detectable ranges and resolutions, making them inadequate for varying force magnitudes and required resolutions, necessitating replacement when resolution mismatch occurs.
Innovation Solution
A force detection apparatus with multiple piezoelectric sensor layers and adjustable capacitance conversion circuits allows for selectable detectable ranges and resolutions, enabling proper force detection by switching between modes based on force magnitude and required resolution.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a single detectable range is set for each measuring apparatus, then the apparatus structure is simple, but the apparatus cannot measure forces beyond the detectable range and requires replacement when resolution mismatch occurs
Solution Approach 1:
The sensor element is divided into multiple piezoelectric material layers (first, second, third, and fourth layers) that can be independently connected to different capacitance conversion circuits. This segmentation allows each layer to operate in different detectable ranges and resolutions simultaneously, enabling the apparatus to measure forces across a wider range without requiring multiple separate sensors.
Solution Approach 2:
The invention implements dynamic switching between different detectable ranges by connecting piezoelectric layers to different capacitance conversion circuits based on the magnitude of the applied force. The system can adaptively select between a first detectable range (with first capacitance) and a second detectable range (with second capacitance), providing dynamic adaptability while maintaining a single integrated sensor structure.
2Measurement precision
If single resolution is set for each measuring apparatus, then the apparatus structure is simple, but when the resolution does not cover the required resolution, it is necessary to replace the measuring apparatus
Solution Approach 1:
Different piezoelectric material layers are connected to capacitance conversion circuits with different capacitance values, creating local quality variations within the sensor. The first piezoelectric layer connects to a first capacitance for one resolution level, while the second piezoelectric layer connects to a second capacitance for a different resolution level. This allows the system to provide locally optimized resolution for different force magnitudes within a single apparatus.
Solution Approach 2:
The invention changes the electrical parameters (capacitance values) of the conversion circuits to achieve different resolution levels. By varying the capacitance values in the conversion circuits connected to different piezoelectric layers, the system can adjust the resolution of force detection without changing the physical structure of the sensor element itself, enabling multi-resolution capability from a single sensor.
3Adaptability or versatility
If multiple piezoelectric material layers with different capacitance conversion circuits are used, then detection modes with different ranges and resolutions can be realized, but the device complexity increases
Solution Approach 1:
The single sensor element with multiple piezoelectric layers serves multiple functions by detecting forces in different ranges and resolutions simultaneously. The first and second piezoelectric layers, when connected to different capacitance conversion circuits, enable the apparatus to function in both a first detection mode (wider range, lower resolution) and a second detection mode (narrower range, higher resolution), making the single apparatus universal for various measurement requirements.
Solution Approach 2:
The invention merges multiple piezoelectric layers and multiple capacitance conversion circuits into a single integrated sensor apparatus. Instead of using separate sensors for different force ranges and resolutions, the system combines these functions into one unified device, reducing the overall system complexity despite the increased internal circuit complexity, while providing seamless transition between detection modes.
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
Enables accurate force detection across varying ranges and resolutions without the need for apparatus replacement, improving detection accuracy and versatility in robotic applications.
Implementation Method 1
a piezoelectric sensor device sandwiched by the first member and the second member and outputting electric charge according to an external force
Implementation Method 2
a first conversion and output circuit having a first capacitor, and converting the electric charge output from the first piezoelectric material layer into a voltage and outputting the voltage
Data Source
AI summary
A force detection apparatus includes a first member, a second member, a piezoelectric sensor device sandwiched by the first member and the second member and outputting electric charge according to an external force, and a conversion and output circuit converting an electric charge output from the piezoelectric sensor device into a voltage and outputting the voltage. When a detectable range of a component of the external force in a predetermined axis direction is a first range, the external force is detected within the first range. When the detectable range is a second range different from the first range, the external force is detected within the second range.