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WO2025158817A1 - Capteur de charge - Google Patents

Capteur de charge

Info

Publication number
WO2025158817A1
WO2025158817A1 PCT/JP2024/044011 JP2024044011W WO2025158817A1 WO 2025158817 A1 WO2025158817 A1 WO 2025158817A1 JP 2024044011 W JP2024044011 W JP 2024044011W WO 2025158817 A1 WO2025158817 A1 WO 2025158817A1
Authority
WO
WIPO (PCT)
Prior art keywords
base member
load sensor
load
conductive elastic
elastic body
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/JP2024/044011
Other languages
English (en)
Japanese (ja)
Inventor
唯 相原
玄 松本
進 浦上
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Panasonic Intellectual Property Management Co Ltd
Original Assignee
Panasonic Intellectual Property Management Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Panasonic Intellectual Property Management Co Ltd filed Critical Panasonic Intellectual Property Management Co Ltd
Publication of WO2025158817A1 publication Critical patent/WO2025158817A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/14—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes

Definitions

  • This disclosure relates to a load sensor that detects an externally applied load based on changes in capacitance.
  • Load sensors are widely used in fields such as industrial equipment, robots, and vehicles.
  • computer-based control technology and improvements in design
  • Patent Document 1 describes a load sensor (pressure-sensitive element) in which a linear second conductive member coated with a dielectric is sandwiched between a first conductive member and a substrate.
  • FC curve load-capacitance curve
  • the present disclosure aims to provide a load sensor that can accurately detect loads even in the low load range.
  • a primary aspect of the present disclosure relates to a load sensor.
  • the load sensor according to this aspect comprises a first base member, a second base member disposed opposite the first base member, a conductive elastic body formed on the opposing surface of the first base member, a conductor wire disposed overlapping the conductive elastic body, a dielectric body disposed between the conductive elastic body and the conductor wire, and a preload-applying structure.
  • the preload-applying structure applies a preload between the conductive elastic body and the conductor wire that is equal to or greater than a load near an inflection point on the FC curve, which indicates the relationship between a load that brings the first base member and the second base member closer together and the capacitance between the conductive elastic body and the conductor wire, where the curve transitions from a downwardly convex shape to an upwardly convex shape.
  • the point on the FC curve corresponding to the preload is the starting point for detecting the actual load.
  • detection of the actual load is essentially performed using the range of the upwardly convex FC curve.
  • the change in capacitance relative to a change in load is large, so load detection sensitivity is high, and even if the actual load is low, the load can be detected with high sensitivity. Therefore, the load can be accurately detected even in the low load range.
  • the present disclosure provides a load sensor that can accurately detect loads even in the low load range.
  • FIG. 1A is a diagram schematically illustrating the configuration of a structure in a manufacturing process according to the first embodiment.
  • FIG. 1B is a diagram schematically illustrating the configuration of a structure in a manufacturing process according to the first embodiment.
  • FIG. 2A is a diagram schematically illustrating the configuration of a structure in a manufacturing process according to the first embodiment.
  • FIG. 2B is a diagram schematically illustrating the configuration of the second base member according to the first embodiment.
  • FIG. 3A is a diagram schematically illustrating the configuration of a structure in a manufacturing process according to the first embodiment.
  • FIG. 3B is a perspective view schematically illustrating the configuration of the load sensor according to the first embodiment.
  • FIG. 4 is a plan view schematically illustrating the internal configuration of the load sensor according to the first embodiment.
  • FIG. 5A is a diagram schematically illustrating a cross section of the load sensor taken along a plane parallel to the XZ plane, near the intersection of the conductive elastic body and the wire, according to the first embodiment.
  • FIG. 5B is a diagram schematically showing a cross section of the load sensor taken along a plane parallel to the XZ plane, near the intersection of the conductive elastic body and the wire, according to the first embodiment.
  • FIG. 6A is a diagram schematically showing an FC curve and a detection start point according to a comparative example.
  • FIG. 6B is a diagram schematically illustrating an FC curve and a detection start point according to the first embodiment.
  • FIG. 7 is a diagram illustrating an FC curve of the load sensor obtained by simulation according to the first embodiment.
  • FIG. 8 is a diagram schematically showing a cross section of the load sensor in the vicinity of the intersection of the conductive elastic body and the wire when the load sensor is cut along a plane parallel to the XZ plane, according to a modification of the first embodiment.
  • FIG. 9A is a diagram schematically illustrating the configuration of a structure in a manufacturing process according to the second embodiment.
  • FIG. 9B is a perspective view schematically illustrating the configuration of the load sensor according to the second embodiment.
  • FIG. 10A is a diagram schematically illustrating a cross section of the load sensor in the vicinity of the intersection of the conductive elastic body and the wire when the load sensor is cut along a plane parallel to the XZ plane according to the second embodiment.
  • FIG. 9A is a diagram schematically illustrating a cross section of the load sensor in the vicinity of the intersection of the conductive elastic body and the wire when the load sensor is cut along a plane parallel to the XZ plane according to the second embodiment.
  • FIG. 10B is a diagram schematically showing a cross section of the load sensor in the vicinity of the intersection of the conductive elastic body and the wire when the load sensor is cut along a plane parallel to the XZ plane according to the second embodiment.
  • FIG. 11A is a diagram schematically illustrating the configuration of a structure in a manufacturing process according to the third embodiment.
  • FIG. 11B is a perspective view schematically illustrating the configuration of the load sensor according to the third embodiment.
  • FIG. 12A is a diagram schematically illustrating a cross section of the load sensor in the vicinity of the intersection of the conductive elastic body and the wire when the load sensor is cut along a plane parallel to the XZ plane according to the third embodiment.
  • FIG. 11A is a diagram schematically illustrating the configuration of a structure in a manufacturing process according to the third embodiment.
  • FIG. 11B is a perspective view schematically illustrating the configuration of the load sensor according to the third embodiment.
  • FIG. 12A is a diagram schematically illustrating a cross section of the load
  • FIG. 12B is a diagram schematically showing a cross section of the load sensor in the vicinity of the intersection of the conductive elastic body and the wire when the load sensor is cut along a plane parallel to the XZ plane according to the third embodiment.
  • FIG. 13 is a diagram schematically showing a cross section of the load sensor in the vicinity of the intersection of the conductive elastic body and the wire when the load sensor is cut along a plane parallel to the XZ plane, according to a modification of the third embodiment.
  • FIG. 14 is a diagram showing a cross section of the load sensor according to another modified example, taken along a plane parallel to the XZ plane, in the vicinity of the intersection of the conductive elastic body and the wire.
  • the load sensor disclosed herein can be used as a load sensor in management systems and electronic devices that perform processing in response to an applied load.
  • management systems include inventory management systems, driver monitoring systems, coaching management systems, security management systems, and nursing care/childcare management systems.
  • a load sensor installed on a stock shelf detects the weight of the stock pile, and the type and number of products on the stock shelf. This allows for efficient inventory management and labor savings in stores, factories, warehouses, etc.
  • a load sensor installed inside the refrigerator detects the weight of the food inside the refrigerator, and the type, number, and amount of food inside the refrigerator. This makes it possible to automatically suggest menus using the food inside the refrigerator.
  • a load sensor installed in the steering device of a moving body such as an automobile monitors the load distribution of the driver on the steering device (e.g., grip force, grip position, pedal force).
  • a load sensor installed in the vehicle seat monitors the load distribution of the driver on the vehicle seat while seated (e.g., center of gravity position). This makes it possible to provide feedback on the driver's driving condition (drowsiness, psychological state, etc.).
  • load sensors installed on the bottom of shoes monitor the load distribution on the soles of the feet. This makes it possible to correct or guide the wearer to an appropriate walking or running state.
  • load sensors installed on the floor detect the load distribution as a person passes through, and detect their weight, stride length, passing speed, and shoe sole pattern. This makes it possible to identify the person who has passed through by comparing this detected information with data.
  • load sensors installed on bedding and toilet seats monitor the weight distribution of the person's body relative to the bedding and toilet seat. This makes it possible to estimate what actions the person is about to take in relation to the position of the bedding or toilet seat, and to prevent falls or trips.
  • Examples of electronic devices include in-vehicle devices (car navigation systems, audio equipment, etc.), home appliances (electric kettles, induction cooking heaters, etc.), smartphones, electronic paper, electronic book readers, PC (personal computer) keyboards, game controllers, smartwatches, wireless earphones, touch panels, electronic pens, penlights, luminous clothing, and musical instruments.
  • a load sensor is provided in the input section that accepts input from the user.
  • the load sensor in the following embodiments is a capacitance-type load sensor that is typically provided in the load sensors of management systems and electronic devices such as those described above. Such load sensors are also sometimes referred to as “capacitive pressure-sensitive sensor elements,” “capacitive pressure detection sensor elements,” “pressure-sensitive switch elements,” etc. Furthermore, the load sensors in the following embodiments are connected to a detection circuit, and the load sensor and detection circuit form a load detection device.
  • each figure is labeled with X, Y, and Z axes, which are perpendicular to each other.
  • the Z-axis direction is the height direction of the load sensor 1.
  • FIG. 1A is a diagram schematically illustrating the configuration of a structure 1a in a manufacturing process according to an embodiment.
  • the structure 1a comprises a first base member 10, a plurality of conductive elastic bodies 20, and a plurality of wirings 21.
  • the first base member 10 is a flat, elastic member. When viewed from above, the first base member 10 has a rectangular shape. The thickness of the first base member 10 is constant. If the thickness of the first base member 10 is small, the first base member 10 is sometimes called a sheet member or a film member.
  • the top surface 11 (the surface on the positive side of the Z axis) and the bottom surface 12 (the surface on the negative side of the Z axis) of the first base member 10 are both parallel to the X-Y plane.
  • the bottom surface 12 is positioned facing downward during assembly and is the opposing surface facing the second base member 50, which will be described later.
  • a plurality of conductive elastic bodies 20 are provided on the underside 12 of the first base member 10. Wiring 21 is connected to each of the conductive elastic bodies 20.
  • three conductive elastic bodies 20 are formed on the underside 12.
  • the number of conductive elastic bodies 20 provided on the underside 12 is not limited to this.
  • the first base member 10 is insulating and is made of, for example, a non-conductive resin material or a non-conductive rubber material.
  • the resin material used for the first base member 10 is, for example, at least one resin material selected from the group consisting of styrene-based resins, silicone-based resins (such as polydimethylpolysiloxane (PDMS)), acrylic-based resins, rotaxane-based resins, and urethane-based resins.
  • the rubber material used for the first base member 10 is, for example, at least one rubber material selected from the group consisting of silicone rubber, isoprene rubber, butadiene rubber, styrene-butadiene rubber, chloroprene rubber, nitrile rubber, polyisobutylene, ethylene propylene rubber, chlorosulfonated polyethylene, acrylic rubber, fluororubber, epichlorohydrin rubber, urethane rubber, and natural rubber.
  • the thickness of the first base member 10 is set, for example, to between 0.02 mm and 1 mm.
  • the elastic modulus of the first base member 10 is set, for example, to between 1 MPa and 3 MPa.
  • the hardness (rubber A hardness) of the first base member 10 is set, for example, to between 10 degrees and 70 degrees.
  • the conductive elastic bodies 20 are formed on the underside 12 of the first base member 10 so as to extend in a first direction (X-axis direction).
  • the conductive elastic bodies 20 are elastic, conductive members.
  • Each conductive elastic body 20 has a strip-like shape that is long in the first direction (X-axis direction), and is arranged so as to extend in the first direction (X-axis direction). In other words, the long sides of the conductive elastic bodies 20 are parallel to the X-axis.
  • the three conductive elastic bodies 20 have the same width, length, and thickness. A predetermined gap is provided between adjacent conductive elastic bodies 20.
  • One end of the wiring 21 is connected to the conductive elastic body 20, and the other end of the wiring 21 is connected to the detection circuit.
  • the conductive elastic body 20 is formed on the underside 12 of the first base member 10 by a printing method such as screen printing, gravure printing, flexographic printing, offset printing, or gravure offset printing. These printing methods allow the conductive elastic body 20 to be formed with a predetermined thickness on the underside 12 of the first base member 10.
  • the method for forming the conductive elastic body 20 is not limited to printing methods.
  • the conductive elastic body 20 is composed of a resin material with conductive filler dispersed therein, or a rubber material with conductive filler dispersed therein.
  • the resin material used for the conductive elastic body 20 is similar to the resin material used for the first base member 10 described above, and is at least one resin material selected from the group consisting of styrene-based resins, silicone-based resins (such as polydimethylpolysiloxane (PDMS)), acrylic-based resins, rotaxane-based resins, and urethane-based resins.
  • the rubber material used for the conductive elastic body 20 is similar to the rubber material used for the first base member 10 described above.
  • the rubber material used for the conductive elastic body 20 is at least one rubber material selected from the group consisting of silicone rubber, isoprene rubber, butadiene rubber, styrene-butadiene rubber, chloroprene rubber, nitrile rubber, polyisobutylene, ethylene propylene rubber, chlorosulfonated polyethylene, acrylic rubber, fluororubber, epichlorohydrin rubber, urethane rubber, and natural rubber.
  • the conductive filler used in the conductive elastic body 20 is at least one material selected from the group consisting of metal materials such as Au (gold), Ag (silver), Cu (copper), C (carbon), ZnO (zinc oxide), In 2 O 3 (indium (III) oxide), and SnO 2 (tin (IV) oxide), conductive polymer materials such as PEDOT:PSS (i.e., a composite of poly 3,4-ethylenedioxythiophene) (PEDOT) and polystyrene sulfonate (PSS), and conductive fibers such as metal-coated organic fibers and metal wires (in a fibrous state).
  • C (carbon) is used as the filler.
  • the thickness of the conductive elastic body 20 is set, for example, to 1 ⁇ m or more and 15 ⁇ m or less.
  • the elastic modulus of the conductive elastic body 20 is set, for example, to 0.5 MPa or more and 160 MPa or less.
  • Figure 1B is a diagram showing a schematic diagram of the structure 1b during the manufacturing process.
  • Structure 1b comprises structure 1a of Figure 1A and a plurality of wires 30.
  • a plurality of wires 30 extending in the Y-axis direction (second direction) are arranged on the underside 12 of the first base member 10 so as to overlap the three conductive elastic bodies 20.
  • three wire groups G1 each consisting of four wires 30 are arranged on the underside 12, for a total of 12 wires 30.
  • the number of wires 30 arranged on the underside 12 is not limited to this.
  • the wires 30 are arranged side by side between the first base member 10 and the second base member 50.
  • a wire group G1 consisting of four wires 30 is arranged at a predetermined interval in the X-axis direction (first direction).
  • the four wires 30 in each wire group G1 are also arranged at a predetermined interval in the X-axis direction (first direction).
  • the wire 30 is composed of a conductor wire 31 and a dielectric 32 formed on the conductor wire 31.
  • the dielectric 32 is formed on the outer periphery of the conductor wire 31 and covers the surface of the conductor wire 31.
  • the end of the conductor wire 31 on the negative side of the Y axis is not covered by the dielectric 32, and this end is connected to the detection circuit.
  • the four conductor wires 31 included in one wire group G1 are connected to each other in the detection circuit. Note that the four conductor wires 31 included in one wire group G1 may be connected to each other within the load sensor 1, with one of these conductor wires 31 being connected to the detection circuit.
  • the conductor wire 31 is a linear component that is conductive.
  • the conductor wire 31 is made of, for example, a conductive metal material.
  • the conductor wire 31 may be made of a core wire made of glass with a conductive layer formed on its surface, or a core wire made of resin with a conductive layer formed on its surface.
  • the material for the conductor wire 31 is at least one metal selected from valve metals such as aluminum (Al), titanium (Ti), tantalum (Ta), niobium (Nb), zirconium (Zr), and hafnium (Hf), or at least one metal selected from tungsten (W), molybdenum (Mo), copper (Cu), nickel (Ni), silver (Ag), and gold (Au).
  • the conductor wire 31 is made of copper.
  • the conductor wire 31 may also be a twisted wire made by twisting wires made of a conductive metal material.
  • the dielectric 32 has electrical insulation properties and is made of, for example, a resin material, a ceramic material, a metal oxide material, etc.
  • the dielectric 32 may be at least one resin material selected from the group consisting of polypropylene resin, polyester resin (e.g., polyethylene terephthalate resin), polyimide resin, polyphenylene sulfide resin, polyvinyl formal resin, polyurethane resin, polyamideimide resin, polyamide resin , etc., or at least one metal oxide material selected from the group consisting of Al2O3 , Ta2O5 , etc.
  • the diameter of the conductor wire 31 may be, for example, 0.01 mm or more and 1.5 mm or less, or 0.05 mm or more and 0.8 mm or less. Such a configuration of the conductor wire 31 is preferable from the standpoint of the strength and resistance of the conductor wire 31.
  • the thickness of the dielectric 32 is preferably 5 nm or more and 100 ⁇ m or less, and can be selected appropriately depending on the design of the sensor sensitivity, etc.
  • FIG. 2A is a diagram schematically illustrating the configuration of structure 1c during the manufacturing process according to an embodiment.
  • Structure 1c comprises structure 1b of Figure 1B and a plurality of threads 41.
  • a plurality of wires 30 are loosely sewn to the underside 12 of the first base member 10 by the plurality of threads 41.
  • the plurality of threads 41 extend in the X-axis direction (first direction) at both ends and at the positions of the gaps between adjacent conductive elastic bodies 20, and sew the plurality of wires 30 to the first base member 10.
  • the threads 41 are made of synthetic fibers, natural fibers, or a mixture of these fibers.
  • Figure 2B is a diagram showing a schematic configuration of the second base member 50.
  • the second base member 50 is a flat, elastic member. When viewed from above, the second base member 50 has the same shape as the first base member 10. The thickness of the second base member 50 is constant. If the thickness of the second base member 50 is small, the second base member 50 may be called a sheet member or a film member.
  • the upper surface 51 (the surface on the positive side of the Z axis) and the lower surface 52 (the surface on the negative side of the Z axis) of the second base member 50 are both parallel to the X-Y plane.
  • the lower surface 52 is the opposing surface facing the first base member 10.
  • the second base member 50 is insulating and is made of, for example, a non-conductive resin material or a non-conductive rubber material.
  • the second base member 50 is made of, for example, a material that can be used for the first base member 10 described above. More specifically, the second base member 50 is made of silicone rubber, ethylene propylene diene rubber, urethane rubber, fluororubber, nitrile rubber, acrylic rubber, or ethylene propylene rubber.
  • Figure 3A is a diagram showing a schematic diagram of the structure 1d during the manufacturing process.
  • Structure 1d comprises structure 1c of Figure 2A, second base member 50 of Figure 2B, and thread 42.
  • the structure 1c in Figure 2A is placed upside down on the upper surface 51 of the second base member 50.
  • the outer periphery of the first base member 10 is then sewn to the outer periphery of the second base member 50 with thread 42, thereby fixing the structure 1c to the second base member 50.
  • the thread 42 is made of the same material as the thread 41.
  • Figure 3B is a perspective view showing a schematic configuration of the load sensor 1.
  • the load sensor 1 includes the structure 1d shown in Figure 3A and a top plate 60.
  • the top plate 60 is a flat member.
  • the top plate 60 has a constant thickness, extends over the entire first base member 10 in a plan view, and has the same shape as the first base member 10.
  • the top surface 61 (the surface on the positive side of the Z axis) and the bottom surface 62 (the surface on the negative side of the Z axis) of the top plate 60 are both parallel to the X-Y plane.
  • the top plate 60 is placed on top of the first base member 10.
  • the bottom surface 62 of the top plate 60 is fixed to the top surface 61 of the first base member 10, for example, by adhesive.
  • the top plate 60 is made of a resin material, rubber material, or metal material. The weight of the top plate 60 is adjusted so that an appropriate preload is applied to the load sensor 1, as described below. In this way, the load sensor 1 shown in Figure 3B is completed.
  • the load sensor 1 When using the load sensor 1, the load sensor 1 is installed with the top plate 60 facing upward (positive side of the Z axis) and the second base member 50 facing downward (negative side of the Z axis), with the negative direction of the Z axis being the vertically downward direction, i.e., the direction of gravity.
  • the upper surface 61 of the top plate 60 (upper surface of the load sensor 1) becomes the surface to which the load is applied, and the lower surface 52 of the second base member 50 (lower surface of the load sensor 1) is placed on the installation surface.
  • a base plate may also be placed on the lower surface 52 of the second base member 50.
  • Figure 4 is a plan view that schematically shows the internal configuration of the load sensor 1.
  • the load sensor 1 has a plurality of element units A1 arranged in a matrix when viewed in a plane.
  • the load sensor 1 in Figure 4 has a total of nine element units A1 arranged in the X-axis direction and the Y-axis direction.
  • One element unit A1 corresponds to a region including the intersection of the conductive elastic body 20 and the wire group G1 arranged below the conductive elastic body 20.
  • one element unit A1 includes the first base member 10, conductive elastic body 20, wire 30, second base member 50, and top plate 60 near the intersection.
  • the capacitance between the conductive elastic body 20 and the conductor wire 31 in the element portion A1 to which the load is applied changes, and the load applied to the element portion A1 is detected based on this capacitance.
  • FIGS. 5A and 5B are schematic diagrams showing a cross section of the load sensor 1 near the intersection of the conductive elastic body 20 and the wire 30 when the load sensor 1 is cut along a plane parallel to the X-Z plane.
  • Fig. 5A shows the state when no load is applied
  • Fig. 5B shows the state when a load is applied.
  • the lower surface 52 on the negative side of the Z axis of the second base member 50 is placed on the installation surface.
  • FIG. 6A is a diagram schematically showing an FC curve and detection start point according to a comparative example.
  • FIG. 6B is a diagram schematically showing an FC curve and detection start point according to this embodiment.
  • the FC curve showing the relationship between load and capacitance tends to have a downward convex shape in the low load range R11 near zero.
  • the change in capacitance relative to a change in load is significantly small in the low load range R11.
  • the change range R12 of capacitance in the low load range R11 is significantly small.
  • the load detection sensitivity is significantly low in the low load range R11, making it difficult to accurately detect load.
  • a top plate 60 for applying a preload is installed on the top surface 11 of the first base member 10.
  • the preload in this embodiment is set to load L1 at the inflection point of the FC curve, where the FC curve transitions from a downward convex shape to an upward convex shape as the load increases.
  • the start point of detecting the actual load is shifted in the direction of increasing load due to the preload, and the range of the FC curve corresponding to low loads is no longer used for load detection. Therefore, in this embodiment, the actual load is detected using the range of the upward convex FC curve, where the change in capacitance in response to a change in load is large. Therefore, even if the actual load is low, the load can be detected with high sensitivity.
  • load detection is performed, for example, as follows.
  • the capacitance F between the conductive elastic body 20 and the four conductor wires 31 of the wire group G1 is detected by an external detection circuit.
  • the load L corresponding to the detected capacitance F is calculated using the FC curve of the load sensor 1 as shown in FIG. 6B.
  • the preload (load L1 in the case of FIG. 6B) is then subtracted from the calculated load L, and the load L-L1 is obtained as the load actually applied to the element portion A1.
  • the range in which the actually applied load is low is R21, and because the shape of the FC curve in range R21 is convex upward, load detection can be performed with high sensitivity even in the low-load range R21.
  • Figure 7 is a diagram illustrating an FC curve of the load sensor 1 obtained through simulation.
  • the FC curve has a first inflection point where the FC curve transitions from an upward convex shape to a downward convex shape, and a second inflection point where the FC curve transitions from a downward convex shape to an upward convex shape.
  • the first inflection point is located near the zero point, and the second inflection point is located in a direction where the load increases more than the first inflection point.
  • the preload is set to load L1, for example, at the second inflection point where the FC curve transitions from a downward convex shape to an upward convex shape.
  • the point corresponding to the preload becomes the start point for detecting the actual load (the lower limit of the detection range).
  • the slope gradually decreases. Therefore, it is preferable to set an upper limit to the detection range of the load sensor 1 as a range within which it can detect loads with high accuracy. For example, in the range of loads greater than the inflection point where it transitions from a downward convex shape to an upward convex shape (the second inflection point in Figure 7), the point at which detection sensitivity is maintained to a certain extent is set as the upper limit of the detection range. Therefore, in Figure 7, the range of loads between L1 and L2 is the load detection range R.
  • the preload is set at the inflection point on the FC curve where the FC curve transitions from a downward convex shape to an upward convex shape, but this is not limiting and the preload may be set to a value equal to or greater than the load near the inflection point.
  • the preload may be a load slightly smaller than the inflection point where the FC curve transitions from a downward convex shape to an upward convex shape.
  • the slope at the point on the FC curve corresponding to the preload is increased compared to the point where the slope is smallest on the FC curve, so the load can be detected with high sensitivity even if the actual load is low.
  • the preload may be a load greater than the inflection point where the FC curve transitions from a downward convex shape to an upward convex shape. In this case, too, the actual load is detected using the range of the FC curve with an upward convex shape, so the load can be detected with high sensitivity even if the actual load is low.
  • the preload detection range R narrows depending on the magnitude of the preload when the preload is increased, it is preferable to set the preload to a load slightly greater than the inflection point where the FC curve transitions from a downward convex shape to an upward convex shape.
  • the load sensor 1 comprises a first base member 10, a second base member 50 disposed opposite the first base member 10, a conductive elastic body 20 formed on the lower surface 12 (opposing surface) of the first base member 10, a conductor wire 31 disposed on top of the conductive elastic body 20, a dielectric 32 disposed between the conductive elastic body 20 and the conductor wire 31, and a top plate 60 (preload application structure). As shown in FIG.
  • the top plate 60 applies a preload between the conductive elastic body 20 and the conductor wire 31 that is equal to or greater than the load near the inflection point on the FC curve, which indicates the relationship between the load that brings the first base member 10 and the second base member 50 closer together and the capacitance between the conductor wire 31 and the conductive elastic body 20, where the FC curve transitions from a downwardly convex shape to an upwardly convex shape.
  • the point on the FC curve corresponding to the preload becomes the starting point for detecting the actual load.
  • detection of the actual load is essentially performed using the range of the upwardly convex FC curve.
  • the change in capacitance relative to a change in load is large, so load detection sensitivity is high, and even if the actual load is low, the load can be detected with high sensitivity. Therefore, the load can be accurately detected even in a low load range (for example, range R21).
  • the top plate 60 (preload-applying structure) is placed on top of the first base member 10, and its weight applies a preload.
  • a preload can be applied between the first base member 10 and the second base member 50 through a simple configuration in which the top plate 60, which has a weight corresponding to the preload, is integrated into the first base member 10.
  • the top plate 60 has a constant thickness and extends across the entire first base member 10 in a plan view.
  • a plurality of conductive elastic bodies 20 are formed side by side on the underside 12 (opposing surface) of the first base member 10, and the conductor wire 31 is arranged so as to overlap the plurality of conductive elastic bodies 20.
  • This configuration allows for a wider range of load detection areas.
  • multiple conductor wires 31 are stacked on the conductive elastic body 20 to form one element portion A1 for detecting load.
  • This configuration improves the load detection sensitivity of element portion A1.
  • multiple element units A1 are arranged in a matrix.
  • the element portions A1 are arranged in a matrix, further expanding the area in which load can be detected.
  • the dielectric 32 is arranged to cover the surface of the conductor wire 31.
  • the dielectric 32 can be placed between the conductive elastic body 20 and the conductor wire 31 simply by covering the surface of the conductor wire 31 with the dielectric 32.
  • the first base member 10 and the conductive elastic body 20 are disposed vertically above the wire 30, and the second base member 50 is disposed vertically below the wire 30.
  • the first base member 10 and the conductive elastic body 20 may be disposed vertically below the wire 30, and the second base member 50 may be disposed vertically above the wire 30.
  • Figure 8 is a schematic diagram showing a cross section of the load sensor 1 in this modified example near the intersection of the conductive elastic body 20 and the wire 30 when the load sensor 1 is cut along a plane parallel to the X-Z plane.
  • Figure 8 shows the state when no load is applied.
  • the upper surface 11 of the first base member 10 is the opposing surface facing the second base member 50, and the conductive elastic body 20 is formed on the upper surface 11.
  • the second base member 50 is disposed on the positive side of the first base member 10 in the Z axis direction, and the wire 30 is disposed between the conductive elastic body 20 and the second base member 50.
  • the top plate 60 is fixed to the upper surface 51 of the second base member 50, for example, by adhesive.
  • a top plate 60 (preload-applying structure) is placed on top of the second base member 50, and a preload is applied by its weight.
  • a preload is applied between the first base member 10 and the second base member 50 using a simple configuration in which a top plate 60 having a weight corresponding to the preload is integrated into the second base member 50.
  • the top plate 60 also has a constant thickness and extends across the entire second base member 50 in a plan view. This allows a preload to be applied evenly across the entire surface of the second base member 50, which is the detection surface.
  • FIG. 9A is a diagram schematically illustrating the configuration of structure 1c during the manufacturing process according to embodiment 2.
  • top plate 60 applies a preload between conductive elastic body 20 and conductor wire 31.
  • preload is applied by thread 41 as well as thread 43 that sews wire 30 to first base member 10.
  • structure 1c of embodiment 2 further includes multiple threads 43.
  • the multiple threads 43 extend in the X-axis direction (first direction) at the center position of the conductive elastic body 20 in the Y-axis direction (second direction), and sew the multiple wires 30 to the first base member 10 and the conductive elastic body 20.
  • the threads 43 are made of the same material as thread 41.
  • multiple threads 41, 43 sew multiple wires 30 to the upper surface 11 of the first base member 10 so that a preload similar to that in embodiment 1 is generated.
  • the tightening force generated by sewing the wires 30 to the first base member 10 with the threads 41, 43 serves as the preload.
  • the preload is applied by both threads 41 and 43, but this is not limited to this.
  • Thread 41 may be omitted and the preload may be applied only by thread 43.
  • thread 43 may be omitted and the preload may be applied only by thread 41.
  • Figure 9B is a perspective view schematically showing the configuration of the load sensor 1 according to embodiment 2.
  • the load sensor 1 of embodiment 2 comprises the structure 1c of FIG. 9A, the second base member 50 of FIG. 2B, and the thread 42 of FIG. 3A. As in embodiment 1, the structure 1c is placed upside down on the second base member 50 from above (the positive Z-axis side). In this way, the load sensor 1 shown in FIG. 9B is completed.
  • FIGS. 10A and 10B are schematic diagrams showing a cross section of the load sensor 1 near the intersection of the conductive elastic body 20 and the wire 30 when the load sensor 1 is cut along a plane parallel to the X-Z plane according to embodiment 2.
  • FIG. 10A shows the state when no load is applied
  • FIG. 10B shows the state when a load is applied.
  • the lower surface 52 on the negative side of the Z axis of the second base member 50 is placed on the installation surface.
  • Thread 43 is composed of an upper thread 43a arranged along the upper surface 11 of the first base member 10, and a lower thread 43b arranged along the lower surface (the surface on the negative side of the Z axis) of the conductive elastic body 20 and the lower end of the wire 30. Thread 43 is sewn, for example, using a sewing machine. The upper thread 43a and lower thread 43b intersect at the position of a pinhole that passes through the first base member 10 and the conductive elastic body 20 in the Z axis direction, and a seam is formed at this intersection.
  • thread 41 is composed of an upper thread arranged along the upper surface 11 of the first base member 10 and a lower thread arranged along the lower end of the wire 30.
  • a preload is applied by the threads 41 and 43 pressing the wire 30 against the conductive elastic body 20, so the underside of the load sensor 1 (underside 52 of the second base member 50) can be installed on a surface of any inclination.
  • the surface on which the load sensor 1 is installed is not limited to a surface parallel to the X-Y plane that opens vertically upward as shown in Figures 10A and 10B, but may also be a surface parallel to the X-Y plane that opens vertically downward, or a surface inclined relative to the X-Y plane.
  • the underside 52 of the second base member 50 may also be the load-applying surface.
  • the upper surface of the load sensor 1 (upper surface 11 of the first base member 10) may be installed on a surface of any inclination.
  • threads 41 and 43 sew the conductor wire 31 to the first base member 10, and the tightening force applies a preload.
  • the stitching position of the thread 43 includes the position where the conductive elastic body 20 and the conductor wire 31 intersect.
  • This configuration ensures that a preload is applied reliably at the location where the conductive elastic body 20 and the conductor wire 31 intersect.
  • FIG. 11A is a diagram schematically illustrating the configuration of structure 1c during the manufacturing process according to embodiment 3.
  • top plate 60 applies a preload between conductive elastic body 20 and conductor wire 31.
  • top plate 60 is omitted, and the preload is applied by adjusting the weight of first base member 10.
  • the thickness of the first base member 10 is greater than in embodiment 1 shown in Figure 2A. In this case, the thickness of the first base member 10 is also constant over the entire area. In embodiment 3, the weight of the first base member 10 is adjusted so that a preload similar to that of embodiment 1 is generated, and the weight of the first base member 10 is adjusted by the thickness of the first base member 10.
  • the weight of the first base member 10 for generating an appropriate preload is adjusted by the thickness of the first base member 10, but this is not limited to this and it may be adjusted by other methods.
  • the weight of the first base member 10 may be adjusted by changing the material or density constituting the first base member 10 to adjust the weight per unit volume of the first base member 10.
  • the weight of the first base member 10 may be adjusted by a combination of the thickness, material, and density of the first base member 10.
  • FIG. 11B is a perspective view schematically illustrating the configuration of a load sensor 1 according to embodiment 3.
  • the load sensor 1 of embodiment 3 comprises the structure 1c of FIG. 11A, the second base member 50 of FIG. 2B, and the thread 42 of FIG. 3A. As with embodiment 1, the structure 1c is placed upside down on the second base member 50 from above (the positive side of the Z axis). In this way, the load sensor 1 shown in FIG. 11B is completed.
  • the load sensor 1 When using the load sensor 1 of embodiment 3, the load sensor 1 is installed so that the first base member 10 faces upward (positive side of the Z axis) and the second base member 50 faces downward (negative side of the Z axis), with the negative Z axis direction being the vertically downward direction, i.e., the direction of gravity.
  • the upper surface 11 of the first base member 10 (upper surface of the load sensor 1) becomes the surface to which the load is applied
  • the lower surface 52 of the second base member 50 (lower surface of the load sensor 1) is installed on the installation surface.
  • a base plate may also be placed on the lower surface 52 of the second base member 50.
  • FIGS. 12A and 12B are schematic diagrams showing a cross section of the load sensor 1 near the intersection of the conductive elastic body 20 and the wire 30 when the load sensor 1 is cut along a plane parallel to the X-Z plane according to embodiment 3.
  • Fig. 12A shows the state when no load is applied
  • Fig. 12B shows the state when a load is applied.
  • the lower surface 52 on the negative side of the Z axis of the second base member 50 is placed on the installation surface.
  • one element unit A1 includes the first base member 10, conductive elastic body 20, wire 30, and second base member 50 near the intersection of the conductive elastic body 20 and the wire group G1 arranged below it.
  • the weight of the first base member 10 applies a preload between the conductive elastic body 20 and the wire 30, as in embodiment 1. From this state, when a load is applied downward to the upper surface 11 of the first base member 10, as shown in Figure 12B, the capacitance between the conductive elastic body 20 and the conductor wire 31 changes. The potential reflecting this change in capacitance is then measured in the detection circuit, and the load is calculated.
  • the preload-applying structure includes a first base member 10 (the base member between the first base member 10 and the second base member 50 whose weight is applied to the conductor wire 31), and the weight of the first base member 10 is set so as to apply a preload.
  • the top plate 60 can be omitted. Therefore, preload can be applied without increasing the number of parts.
  • the first base member 10 (preload-applying structure) has a constant thickness.
  • This configuration allows a preload to be applied evenly across the entire detection surface of the load sensor 1.
  • the first base member 10 and the conductive elastic body 20 are disposed vertically above the wire 30, and the second base member 50 is disposed vertically below the wire 30.
  • the first base member 10 and the conductive elastic body 20 may be disposed vertically below the wire 30, and the second base member 50 may be disposed vertically above the wire 30.
  • Figure 13 is a schematic diagram showing a cross section of the load sensor 1 in this modified example, near the intersection of the conductive elastic body 20 and the wire 30, when the load sensor 1 is cut along a plane parallel to the X-Z plane.
  • Figure 13 shows the state when no load is applied.
  • the upper surface 11 of the first base member 10 is the opposing surface facing the second base member 50, and the conductive elastic body 20 is formed on the upper surface 11.
  • the second base member 50 is disposed on the positive side of the first base member 10 in the Z axis direction, and the wire 30 is disposed between the conductive elastic body 20 and the second base member 50.
  • the thickness of the first base member 10 is smaller than in embodiment 3, and the thickness of the second base member 50 is greater than in embodiment 3.
  • the preload-applying structure includes the second base member 50 (the base member between the first base member 10 and the second base member 50 whose weight is applied to the conductor wire 31), and the weight of the second base member 50 is set so as to apply a preload.
  • the top plate 60 can be omitted, and a preload can be applied without increasing the number of parts.
  • the second base member 50 preload-applying structure
  • has a constant thickness a preload can be applied evenly across the entire detection surface of the load sensor 1.
  • the weight of the second base member 50 for generating an appropriate preload is adjusted by the thickness of the second base member 50, but this is not limited to this, and it may also be adjusted by the material and density that make up the second base member 50. Furthermore, the weight of the second base member 50 may also be adjusted by a combination of the thickness, material, and density of the second base member 50.
  • the load sensor 1 may include two or more preload applying structures among the preload applying structures of the first to third embodiments.
  • the load sensor 1 may include both the top plate 60 shown in the first embodiment and the thread 43 shown in the second embodiment, and a preload may be applied by these two types of preload applying structures.
  • the number of tabletops 60 is adjusted so that a preload equal to or greater than the load near the inflection point where the FC curve transitions from a downward convex shape to an upward convex shape is applied.
  • the preload may also be adjusted by the thickness, material, density, etc. of the tabletops 60.
  • the conductive elastic body 20 is disposed only on the first base member 10, but it may also be disposed on both the first base member 10 and the second base member 50. In this case, too, it is sufficient to apply a preload equal to or greater than the load near the inflection point where the FC curve transitions from a downwardly convex shape to an upwardly convex shape.
  • the dielectric 32 is disposed so as to cover the entire circumference of the conductor wire 31, but the dielectric 32 may be disposed so as to cover at least the area of the surface of the conductor wire 31 where the contact area changes depending on the load. Furthermore, while the dielectric 32 is constructed from one type of material in the thickness direction, it may also have a structure in which two or more types of materials are layered in the thickness direction.
  • the cross-sectional shape of the conductor wire 31 is circular, but the cross-sectional shape of the conductor wire 31 is not limited to circular and may be other shapes such as elliptical or pseudo-circular. In this case, too, it is sufficient to apply a preload equal to or greater than the load near the inflection point where the FC curve transitions from a downward convex shape to an upward convex shape.
  • wire group G1 corresponding to one element portion A1 are arranged, and one wire group G1 includes four wires 30, but the number of wire groups G1 and wires 30 is not limited to this.
  • one, two, or four or more wire groups G1 may be arranged, and one wire group G1 may include one to three, or five or more wires 30.
  • three conductive elastic bodies 20 are arranged, but the number of conductive elastic bodies 20 arranged in the load sensor 1 is not limited to this. For example, one, two, four or more conductive elastic bodies 20 may be arranged.
  • the method for placing the conductive elastic body 20 on the first base member 10 is not necessarily limited to printing, and other methods, such as gluing foil, may also be used.
  • the first direction in which the conductive elastic body 20 extends and the second direction in which the wire 30 extends are perpendicular to each other, but this is not limited to this, and the angle between the first direction and the second direction may be an angle other than 90°. In other words, the wire 30 may cross the conductive elastic body 20 at an angle.
  • the width of the conductive elastic body 20 does not necessarily have to be constant; for example, the width of the conductive elastic body 20 may be narrower in the range between the element portions A1 in the first direction.
  • the dielectric 32 is disposed so as to cover the surface of the conductor wire 31, but this is not limited to this.
  • the dielectric 32 may be formed on the surface of the conductive elastic body 20.
  • a conductive elastic body may be formed on the surface of the second base member 50, and a dielectric may be formed on the surface of this conductive elastic body.
  • the preload-applying structure of any of embodiments 1 to 3 applies a preload equal to or greater than the load near the inflection point where the FC curve transitions from a downwardly convex shape to an upwardly convex shape.
  • FC curves shown in Figures 6B and 7 have only one inflection point where they transition from a downward convex shape to an upward convex shape.
  • the preload-applying structure simply applies a preload between the conductive elastic body 20 and the conductor wire 31 that is equal to or greater than the load near the inflection point farthest from the origin.
  • the FC curve has multiple inflection points, the actual load can be detected within the range of the FC curve that is substantially upward convex. Therefore, even if the actual load is low, the load can be detected with high sensitivity.
  • the point on the FC curve corresponding to the preload becomes the starting point for detecting the actual load.
  • detection of the actual load is essentially carried out using the range of the upwardly convex FC curve.
  • the change in capacitance relative to a change in load is large, so load detection sensitivity is high, and even if the actual load is low, the load can be detected with high sensitivity. Therefore, the load can be accurately detected even in the low load range.
  • the preload applying structure includes a top plate that is placed on the first base member or the second base member and applies the preload by its weight; Load sensor.
  • This technology allows a preload to be applied between the first and second base members through a simple configuration in which a tabletop with a weight corresponding to the preload is integrated into the first or second base member.
  • the top plate has a constant thickness and extends over the entire first base member or the entire second base member in a plan view. Load sensor.
  • This technology allows a preload to be applied evenly across the entire surface of the first or second base member, which is the detection surface.
  • the preload applying structure includes a thread that sews the conductor wire to the first base member and applies the preload by the fastening force of the thread. Load sensor.
  • a preload can be applied between the first and second base members by adjusting the tightening force of the thread used to sew the conductor wire to the first base member. This allows the tightening force of the thread to be generated regardless of the installation angle of the load sensor, so the load can be detected correctly no matter what angle the load sensor is installed on.
  • the sewing position of the thread includes a position where the conductive elastic body and the conductor wire intersect. Load sensor.
  • This technology ensures that a preload is applied reliably at the point where the conductive elastic body and the conductor wire intersect.
  • the preload applying structure includes one of the first base member and the second base member, the weight of which is applied to the conductor wire, and the weight of the base member is set so as to apply the preload. Load sensor.
  • This technology allows preload to be applied without increasing the number of parts.
  • the base member constituting the preload applying structure has a constant thickness. Load sensor.
  • This technology allows a preload to be applied evenly across the entire detection surface of the load sensor.
  • a plurality of the conductive elastic bodies are formed side by side on the opposing surface of the first base member, The conductor wire is arranged so as to overlap the plurality of conductive elastic bodies. Load sensor.
  • This technology makes it possible to expand the area in which load can be detected.
  • This technology can increase the load detection sensitivity of the element.
  • the element units are arranged in a matrix, further expanding the area in which load can be detected.
  • the dielectric is disposed so as to cover the surface of the conductor wire. Load sensor.
  • a dielectric can be placed between the conductive elastic body and the conductor wire simply by covering the surface of the conductor wire with a dielectric.
  • the load sensor disclosed herein can accurately detect loads even in the low load range, and is particularly useful in management systems and electronic devices that perform processing in response to the applied load. In this way, the load sensor disclosed herein is industrially useful.
  • REFERENCE SIGNS LIST 1 load sensor 10 first base member 11, 51, 61 upper surface 12, 52, 62 lower surface 20 conductive elastic body 31 conductor wire 32 dielectric material 41, 42, 43 thread 50 second base member 60 top plate A1 element section

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Abstract

La présente invention concerne un capteur de charge permettant une détection de charge précise, même dans une faible plage de charge. Un capteur de charge (1) comprend : un premier élément de base (10) ; un second élément de base (50) qui est disposé face au premier élément de base (10) ; un corps élastique conducteur (20) qui est formé sur une surface inférieure (12) du premier élément de base (10) ; un fil conducteur (31) qui est disposé de façon à chevaucher le corps élastique conducteur (20) ; un élément diélectrique (32) qui est disposé entre le corps élastique conducteur (20) et le fil conducteur (31) ; et un panneau supérieur (60). Le panneau supérieur (60) applique, entre le corps élastique conducteur (20) et le fil conducteur (31), une précharge qui n'est pas inférieure à une charge à proximité d'un point d'inflexion auquel une forme de saillie vers le bas devient une forme de saillie vers le haut sur une courbe FC indiquant la relation entre une charge qui amène le premier élément de base (10) et le second élément de base (50) à proximité l'un de l'autre et une capacité entre le corps élastique conducteur (20) et le fil conducteur (31).
PCT/JP2024/044011 2024-01-23 2024-12-12 Capteur de charge Pending WO2025158817A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2024-007860 2024-01-23
JP2024007860 2024-01-23

Publications (1)

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WO2025158817A1 true WO2025158817A1 (fr) 2025-07-31

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PCT/JP2024/044011 Pending WO2025158817A1 (fr) 2024-01-23 2024-12-12 Capteur de charge

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WO (1) WO2025158817A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014016236A (ja) * 2012-07-09 2014-01-30 Akebono Brake Ind Co Ltd 荷重センサ
WO2021075356A1 (fr) * 2019-10-15 2021-04-22 パナソニックＩｐマネジメント株式会社 Capteur de charge
WO2023100525A1 (fr) * 2021-12-03 2023-06-08 パナソニックＩｐマネジメント株式会社 Capteur de charge
WO2023105950A1 (fr) * 2021-12-08 2023-06-15 パナソニックＩｐマネジメント株式会社 Capteur de charge

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014016236A (ja) * 2012-07-09 2014-01-30 Akebono Brake Ind Co Ltd 荷重センサ
WO2021075356A1 (fr) * 2019-10-15 2021-04-22 パナソニックＩｐマネジメント株式会社 Capteur de charge
WO2023100525A1 (fr) * 2021-12-03 2023-06-08 パナソニックＩｐマネジメント株式会社 Capteur de charge
WO2023105950A1 (fr) * 2021-12-08 2023-06-15 パナソニックＩｐマネジメント株式会社 Capteur de charge

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