6-AXIS SENSOR STRUCTURE USING FORCE SENSOR AND METHOD OF MEASURING FORCE AND MOMENT THEREWITH

摘要

invention is a screen printing, a flexible printed circuit board (FPCB, Flexible Printed Circuit Board) process, etc. in large quantities would have to apply the production method is easy and production cost is low and the signal change produced by the force of the multi-axis force sensor structure using a speed-force sensor of the film type that can be used without amplification cursor to hundreds unit. For this purpose, in particular, in the three-axis direction, and the six-axis force sensor structure having a three-axis direction of the moment force, the external force from outside the bumper receiving transmission shaft 12, and four horizontal beams to the crosswise (11a, 11b, 11c, having a 11d) consisting of a bumper shaft 12 is connected to the transmission of an external force pressing the lower receiving member (11) bumper (10); Pushing member (11) located at the bottom and at least four of the force sensors (21, 22, 23, 24) distributed one-axis force sensor consisting of a first force film 20 and having a two-axis force sensor for measuring the moment of film; Four horizontal beams (11a, 11b, 11c, 11d) located in the direction of each long edge of the vertical surface and the second force sensor film having an individual power distribution sensor (31), the third force sensor film 32, and the fourth force sensor Film (33) and a fifth force sensor consisting of a film (34) 2-axis force sensor for measuring the strength film; Four horizontal beams (11a, 11b, 11c, 11d) of the center axis is located in the vertical width direction of the same side end of each of two horizontal beams (11a, 11c) and a sixth power sensor film having an individual power distribution sensor 41 , a seventh force sensor film 42, the eighth power sensor film 43, the ninth power sensor film (44) consisting of one-axis force sensor for measuring the moment of film; Pad which is located between the pushing member 11 and the first force sensor film 20 (50); The lower panel (60) to react to the action of an external force to the first force sensors located below the film 20; And a lower plate 60 and the first hole 71 and each force sensor film for the top to the outside of the bumper protruding shaft 12 in contact with the edge (20, 31, 32, 33, 34, 41, 42, 43, 44) and the second signal connection holes 72 is formed to withdraw the film from the force sensor output line, and the upper portion of the bumper (10, 20, 31, 32, 33, 34, 41, 42, 43, 44) and a bumper (10) to the top plate to obtain the predetermined gap constriction (70). The six-axis force sensor structure using a force sensor comprising the disclosed