JP2017167164A - Force detection device and robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a force detection device capable of improving accuracy of force detection while miniaturizing the device, and to provide a robot, an electronic component conveyance device, an electronic component testing device, a component processing device, and a mobile body.SOLUTION: A force detection device includes: a first substrate; a second substrate; a circuit board provided between the first substrate and the second substrate; and an element mounted on the circuit board and outputting a signal in response to external force. A hole is formed in the circuit board at a location where the element is arranged. The first substrate is provided with a first convex part which is inserted into the hole and projected toward the element. Further, the element is arranged inside the first convex part when viewed from a vertical direction to the first substrate.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a force detection device, a robot, an electronic component transport device, an electronic component inspection device, a component processing device, and a moving body.

  In recent years, industrial robots have been introduced into production facilities such as factories for the purpose of improving production efficiency. Such an industrial robot includes an arm that can be driven in the direction of one axis or a plurality of axes, and an end effector such as a hand, a component inspection device, or a component transfer device, which is attached to the tip of the arm. Parts manufacturing work such as parts assembly work, parts processing work, parts transport work, parts inspection work, etc. can be executed.

  In such an industrial robot, for example, a force detection device is provided between the arm and the end effector. As a force detection device used for an industrial robot, for example, a force detection device disclosed in Patent Document 1 is used. The force detection device described in Patent Literature 1 includes a pair of substrates and an element having a crystal disk provided between the pair of substrates. A pressure is applied to the element. When an external force is applied to the substrate, the pair of substrates are relatively displaced, and the force acting between the pair of substrates is detected by the element. In a force detection device using such an element having a crystal disk, deformation of the crystal disk due to an external force is converted into a voltage and output.

Japanese Unexamined Patent Publication No. Hei 4-231827

However, in the conventional force detection device, a circuit board including a circuit for converting the electric charge output from the crystal disk into a voltage or the like is provided outside the pair of substrates. There is a problem of doing.
Therefore, in order to solve such a problem and reduce the size of the entire apparatus, it is conceivable to install a circuit board between a pair of boards and mount elements on the circuit board.

However, since the circuit board is interposed between the pressing plate and the element, the circuit board serves as a cushioning material, and the force applied to the element is dispersed, so that a sufficient pressure can be applied to the element. In addition, there is a problem that the accuracy of force detection is reduced.
An object of the present invention is to provide a force detection device, a robot, an electronic component transport device, an electronic component inspection device, a component processing device, and a moving body that can improve the accuracy of force detection while downsizing the device. .

SUMMARY An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as the following forms or application examples.
The force detection device of the present invention includes a first substrate,
A second substrate;
A circuit board provided between the first board and the second board;
An element mounted on the circuit board and outputting a signal according to an external force;
A hole is formed in a portion of the circuit board where the element is disposed,
The first substrate is provided with a first protrusion that is inserted into the hole and protrudes toward the element.

Thereby, since the circuit board is provided between the first board and the second board, the apparatus can be reduced in size.
Further, the element can be sandwiched between the first convex portion and the second substrate without interposing the circuit board. As a result, it is possible to prevent the circuit board from acting as a cushioning material and to prevent the force applied to the element from being dispersed, whereby a sufficient pressure can be applied to the element. Accuracy can be improved.

In the force detection device according to the aspect of the invention, it is preferable that the element is disposed in the first convex portion when viewed from a direction perpendicular to the first substrate.
As a result, when the force is detected, an external force applied to the first substrate or the second substrate is applied to the entire element, so that a larger detection signal can be obtained than when the external force is applied to a part of the element. More accurate force detection can be performed.

In the force detection device according to the aspect of the invention, it is preferable that the element is sandwiched between the first convex portion and the second substrate.
Thereby, a pressurizing force can be applied to the element, whereby a force in both forward and reverse directions can be detected.
In the force detection apparatus according to the aspect of the invention, it is preferable that the element is pressurized by the first convex portion and the second substrate.
Thereby, it is possible to detect force in both forward and reverse directions.

In the force detection device of the present invention, it is preferable that a surface of the second substrate facing the first substrate is a flat surface.
This eliminates the need for alignment between the second substrate and the element at the time of manufacture, and the force detection device can be easily manufactured.
In the force detection device of the present invention, the force detection device has a second protrusion provided on the second substrate and protruding toward the element,
The element is preferably disposed between the first convex portion and the second convex portion.
Thereby, an element can be pinched | interposed by a 1st convex part and a 2nd convex part without interposing a circuit board. As a result, it is possible to prevent the circuit board from acting as a cushioning material and to prevent the force applied to the element from being dispersed, whereby a sufficient pressure can be applied to the element. Accuracy can be improved.

In the force detection device according to the aspect of the invention, it is preferable that the element is disposed in the second convex portion when viewed from a direction perpendicular to the first substrate.
As a result, when the force is detected, an external force applied to the first substrate or the second substrate is applied to the entire element, so that a larger detection signal can be obtained than when the external force is applied to a part of the element. More accurate force detection can be performed.

In the force detection device of the present invention, it is preferable that the element is sandwiched between the first convex portion and the second convex portion.
Thereby, a pressurizing force can be applied to the element, whereby a force in both forward and reverse directions can be detected.
In the force detection device of the present invention, it is preferable that the device is provided with a first member having a recess and a second member that seals the recess.
Thereby, gas resistance and water resistance are improved. That is, the element can be protected by the first member and the second member, and a highly reliable force detection device can be provided.

In the force detection device of the present invention, it is preferable that the first convex portion is in contact with the first member.
As a result, the element can be sandwiched between the first convex portion and the second substrate via the first member, and pressure can be applied to the element. Can be detected.

In the force detection device of the present invention, it is preferable that the first member is provided with a terminal electrically connected to the element and the circuit board.
Thereby, an element and a circuit board can be electrically connected with a simple configuration, thereby reducing labor, time, and cost when manufacturing the force detection device.
The force detection device of the present invention has a plurality of the elements,
The respective elements are preferably arranged at equiangular intervals along the circumferential direction of the first substrate or the second substrate.
Thereby, an external force can be detected without deviation, and a more accurate force detection can be performed.

In the force detection device of the present invention, the first substrate and the second substrate have the first convex portion on the inside, and the surface of the first substrate and the surface of the second substrate are It is preferable that they are opposed to each other with an interval.
Thereby, the external force applied to the first substrate or the second substrate can be applied to the element between the first convex portion and the second substrate without going through the circuit board. As a result, it is possible to prevent the circuit board from acting as a cushioning material and to prevent the force applied to the element from being dispersed, whereby a sufficient pressure can be applied to the element. Accuracy can be improved.

In the force detection device of the present invention, it is preferable that the hole is a through hole penetrating the circuit board.
Thus, the element can be sandwiched between the first convex portion and the second substrate without interposing the circuit board. As a result, it is possible to prevent the circuit board from acting as a cushioning material and to prevent the force applied to the element from being dispersed, whereby a sufficient pressure can be applied to the element. Accuracy can be improved.

The robot of the present invention includes an arm,
An end effector provided on the arm;
A force detecting device provided between the arm and the end effector for detecting an external force applied to the end effector;
The force detection device includes a first substrate,
A second substrate;
A circuit board provided between the first board and the second board;
An element mounted on the circuit board and outputting a signal according to an external force;
A hole is formed in a portion of the circuit board where the element is disposed,
The first substrate is provided with a first protrusion that is inserted into the hole and protrudes toward the element.

  Thereby, the same effect as the force detection device of the present invention can be obtained. Then, the external force detected by the force detection device can be fed back to perform the operation more precisely. Further, the contact of the end effector with the obstacle can be detected by the external force detected by the force detection device. Therefore, an obstacle avoidance operation, an object damage avoidance operation, and the like, which are difficult with conventional position control, can be easily performed, and the work can be executed more safely.

An electronic component transport apparatus according to the present invention includes a gripping unit that grips an electronic component,
A force detection device that detects an external force applied to the gripping portion;
The force detection device includes a first substrate,
A second substrate;
A circuit board provided between the first board and the second board;
An element mounted on the circuit board and outputting a signal according to an external force;
A hole is formed in a portion of the circuit board where the element is disposed,
The first substrate is provided with a first protrusion that is inserted into the hole and protrudes toward the element.

  Thereby, the same effect as the force detection device of the present invention can be obtained. Then, the external force detected by the force detection device can be fed back to perform the operation more precisely. In addition, contact of the grip portion with an obstacle can be detected by the external force detected by the force detection device. Therefore, an obstacle avoidance operation, an object damage avoidance operation, and the like, which are difficult with conventional position control, can be easily performed, and the electronic component transport operation can be executed more safely.

The electronic component inspection apparatus of the present invention includes a gripping unit that grips an electronic component,
An inspection unit for inspecting the electronic component;
A force detection device that detects an external force applied to the gripping portion;
The force detection device includes a first substrate,
A second substrate;
A circuit board provided between the first board and the second board;
An element mounted on the circuit board and outputting a signal according to an external force;
A hole is formed in a portion of the circuit board where the element is disposed,
The first substrate is provided with a first protrusion that is inserted into the hole and protrudes toward the element.

  Thereby, the same effect as the force detection device of the present invention can be obtained. Then, the external force detected by the force detection device can be fed back to perform the operation more precisely. In addition, contact of the grip portion with an obstacle can be detected by the external force detected by the force detection device. Therefore, an obstacle avoidance operation, an object damage avoidance operation, and the like that are difficult with conventional position control can be easily performed, and an electronic component inspection operation can be performed more safely.

The component processing apparatus of the present invention is equipped with a tool displacing unit for mounting a tool and displacing the tool,
A force detection device for detecting an external force applied to the tool;
The force detection device includes a first substrate,
A second substrate;
A circuit board provided between the first board and the second board;
An element mounted on the circuit board and outputting a signal according to an external force;
A hole is formed in a portion of the circuit board where the element is disposed,
The first substrate is provided with a first protrusion that is inserted into the hole and protrudes toward the element.

  Thereby, the same effect as the force detection device of the present invention can be obtained. Then, by feeding back the external force detected by the force detection device, the component processing device can execute the component processing operation more precisely. Further, contact of the tool with an obstacle can be detected by an external force detected by the force detection device. Therefore, an emergency stop can be performed when an obstacle or the like comes into contact with the tool, and the component processing apparatus can execute a safer component processing operation.

The moving body of the present invention includes a power unit that supplies power for movement,
A force detection device for detecting an external force generated by the movement,
The force detection device includes a first substrate,
A second substrate;
A circuit board provided between the first board and the second board;
An element mounted on the circuit board and outputting a signal according to an external force;
A hole is formed in a portion of the circuit board where the element is disposed,
The first substrate is provided with a first protrusion that is inserted into the hole and protrudes toward the element.
Thereby, the same effect as the force detection device of the present invention can be obtained. The force detection device can detect an external force due to vibration, acceleration, or the like that occurs with movement, and the moving body can execute control such as posture control, vibration control, and acceleration control.

It is sectional drawing which shows 1st Embodiment of the force detection apparatus of this invention. It is a top view of the force detection apparatus shown in FIG. It is a circuit diagram which shows roughly the force detection apparatus shown in FIG. It is sectional drawing which shows schematically the electric charge output element of the force detection apparatus shown in FIG. It is sectional drawing which shows 2nd Embodiment of the force detection apparatus of this invention. It is a top view of the force detection apparatus shown in FIG. It is a top view which shows 3rd Embodiment of the force detection apparatus of this invention. It is sectional drawing in the AA line in FIG. It is a circuit diagram which shows roughly the force detection apparatus shown in FIG. It is a figure which shows an example of the single arm robot using the force detection apparatus of this invention. It is a figure which shows an example of the multi-arm robot using the force detection apparatus of this invention. It is a figure which shows an example of the electronic component inspection apparatus and electronic component conveyance apparatus using the force detection apparatus of this invention. It is a figure which shows one example of the electronic component conveying apparatus using the force detection apparatus of this invention. It is a figure which shows one example of the component processing apparatus using the force detection apparatus of this invention. It is a figure which shows an example of the moving body using the force detection apparatus of this invention.

Hereinafter, a force detection device, a robot, an electronic component conveyance device, an electronic component inspection device, a component processing device, and a moving body according to the present invention will be described in detail based on preferred embodiments shown in the accompanying drawings.
<First Embodiment>
FIG. 1 is a cross-sectional view showing a first embodiment of the force detection device of the present invention. FIG. 2 is a plan view of the force detection device shown in FIG. FIG. 3 is a circuit diagram schematically showing the force detection device shown in FIG. FIG. 4 is a cross-sectional view schematically showing a charge output element of the force detection device shown in FIG.

In the following, for convenience of explanation, the upper side in FIG. 1 is referred to as “upper” or “upper”, and the lower side is referred to as “lower” or “lower”.
1 and 2 has a function of detecting an external force (including a moment), that is, three axes (α (X) axis, β (Y) axis, γ (Z) axis) orthogonal to each other. Has a function of detecting an external force applied along the line.

  The force detection device 1 includes a first substrate 2, a second substrate 3 that is disposed at a predetermined interval from the first substrate 2, and that faces the first substrate 2, the first substrate 2, and the first substrate 2. The analog circuit board (circuit board) 4 provided between the two circuit boards 3 and the first circuit board 2 and the second board 3 are electrically connected to the analog circuit board 4. A digital circuit board 5, a charge output element (element) 10 that is mounted on an analog circuit board and outputs a signal according to an applied external force, and a sensor device 6 having a package 60 that houses the charge output element 10, and two sensor devices 6 A pressurizing bolt (fixing member) 71 is provided.

  As shown in FIG. 3, the analog circuit board 4 includes a conversion output circuit 90 a that converts the charge Qx output from the charge output element 10 of the mounted sensor device 6 into a voltage Vx, and the output from the charge output element 10. A conversion output circuit 90b for converting the charge Qz into the voltage Vz and a conversion output circuit 90c for converting the charge Qy output from the charge output element 10 into the voltage Vy are provided. The digital circuit board 5 includes an external force detection circuit 40 that detects the applied external force. The digital circuit board 5 is arranged on the first board 2 side of the analog circuit board 4, that is, between the analog circuit board 4 and the first board.

  As shown in FIG. 1, the sensor device 6 is disposed on the surface of the analog circuit board 4 on the second substrate 3 side, and a convex portion (first convex portion) 21 described later provided on the first substrate 2. And the second substrate 3. That is, the charge output element 10 is sandwiched between the convex portion 21 and the second substrate 3 via the package 60 and is pressurized. Note that either the first substrate 2 or the second substrate 3 may be a substrate on which a force is applied, but in the present embodiment, the second substrate 3 is described as a substrate on which a force is applied. The charge output element 10 may be disposed on the surface of the analog circuit board 4 on the first substrate 2 side.

  The shapes of the first substrate 2, the second substrate 3, the analog circuit substrate 4, and the digital circuit substrate 5 are not particularly limited, but in the present embodiment, the first substrate 2, the second substrate 3, and the analog The external shape of the circuit board 4 and the digital circuit board 5 is circular in plan view. In addition, as said other external shape in planar view of the 1st board | substrate 2, the 2nd board | substrate 3, the analog circuit board 4, and the digital circuit board 5, for example, polygons, such as a rectangle and a pentagon, an ellipse, etc. Is mentioned. Further, as the constituent materials of the first substrate 2, the second substrate 3, and the parts other than the respective elements and wirings of the analog circuit board 4, and the constituent elements of the respective parts of the digital circuit board 5 and other than the respective wirings, For example, various resin materials, various metal materials, and the like can be used.

<Charge output element (element)>
The charge output element 10 has three charges Qx corresponding to each of external forces applied (received) along three axes (α (X) axis, β (Y) axis, γ (Z) axis) orthogonal to each other. , Qy, and Qz are output.
The shape of the charge output element 10 is not particularly limited, but in the present embodiment, the charge output element 10 has a quadrangular shape when viewed from the top of the first substrate 2, that is, from a direction perpendicular to the first substrate 2. Examples of the other external shape in plan view of the charge output element 10 include other polygons such as a pentagon, a circle, and an ellipse.

  As shown in FIG. 4, the charge output element 10 outputs the charge Qy according to the four ground electrode layers 11 grounded to the ground (reference potential point) and the external force (shearing force) parallel to the β axis. 1 sensor 12, a second sensor 13 that outputs a charge Qz according to an external force (compression / tensile force) parallel to the γ-axis, and a charge Qx according to an external force (shearing force) parallel to the α-axis The ground electrode layer 11 and the sensors 12, 13, and 14 are alternately stacked. In FIG. 4, the lamination direction of the ground electrode layer 11 and the sensors 12, 13, and 14 is defined as the γ-axis direction, and the directions orthogonal to and orthogonal to the γ-axis direction are defined as the α-axis direction and the β-axis direction, respectively.

In the illustrated configuration, the first sensor 12, the second sensor 13, and the third sensor 14 are stacked in this order from the lower side in FIG. 4, but the present invention is not limited to this. The stacking order of the sensors 12, 13, and 14 is arbitrary.
The ground electrode layer 11 is an electrode grounded to the ground (reference potential point). Although the material which comprises the ground electrode layer 11 is not specifically limited, For example, gold | metal | money, titanium, aluminum, copper, iron, or an alloy containing these is preferable. Among these, it is particularly preferable to use stainless steel which is an iron alloy. The ground electrode layer 11 made of stainless steel has excellent durability and corrosion resistance.

The first sensor 12 has a function of outputting a charge Qy according to an external force (shearing force) applied (received) along the β axis. The first sensor 12 is configured to output a positive charge according to an external force applied along the positive direction of the β axis and to output a negative charge according to an external force applied along the negative direction of the β axis. Has been.
The first sensor 12 is provided with a first piezoelectric layer 121 having a first crystal axis CA1 and a first piezoelectric layer 121 facing the first piezoelectric layer 121 and having a second crystal axis CA2. A body layer 123 is provided between the first piezoelectric layer 121 and the second piezoelectric layer 123 and has an output electrode layer 122 that outputs a charge Q.

  The first piezoelectric layer 121 is composed of a piezoelectric body having a first crystal axis CA1 oriented in the negative direction of the β axis. When an external force along the positive direction of the β axis is applied to the surface of the first piezoelectric layer 121, electric charges are induced in the first piezoelectric layer 121 due to the piezoelectric effect. As a result, positive charges gather near the surface of the first piezoelectric layer 121 on the output electrode layer 122 side, and negative charges gather near the surface of the first piezoelectric layer 121 on the ground electrode layer 11 side. Similarly, when an external force along the negative direction of the β axis is applied to the surface of the first piezoelectric layer 121, negative charges are generated near the surface of the first piezoelectric layer 121 on the output electrode layer 122 side. As a result, positive charges are collected in the vicinity of the surface of the first piezoelectric layer 121 on the ground electrode layer 11 side.

  The second piezoelectric layer 123 is composed of a piezoelectric body having a second crystal axis CA2 oriented in the positive direction of the β axis. When an external force along the positive direction of the β axis is applied to the surface of the second piezoelectric layer 123, electric charges are induced in the second piezoelectric layer 123 due to the piezoelectric effect. As a result, positive charges are collected in the vicinity of the surface of the second piezoelectric layer 123 on the output electrode layer 122 side, and negative charges are collected in the vicinity of the surface of the second piezoelectric layer 123 on the ground electrode layer 11 side. Similarly, when an external force along the negative direction of the β axis is applied to the surface of the second piezoelectric layer 123, negative charges are generated near the surface of the second piezoelectric layer 123 on the output electrode layer 122 side. As a result, positive charges are collected near the surface of the second piezoelectric layer 123 on the ground electrode layer 11 side.

  Thus, the first crystal axis CA1 of the first piezoelectric layer 121 is oriented in the direction opposite to the direction of the second crystal axis CA2 of the second piezoelectric layer 123. As a result, in comparison with the case where the first sensor 12 is configured by only one of the first piezoelectric layer 121 and the second piezoelectric layer 123 and the output electrode layer 122, the output electrode layer 122 is closer to the vicinity. The collected positive or negative charge can be increased. As a result, the charge Q output from the output electrode layer 122 can be increased.

The constituent materials of the first piezoelectric layer 121 and the second piezoelectric layer 123 include quartz, topaz, barium titanate, lead titanate, lead zirconate titanate (PZT: Pb (Zr, Ti) O ₃ ), lithium niobate, lithium tantalate and the like. Of these, quartz is particularly preferable. This is because the piezoelectric layer made of quartz has excellent characteristics such as a wide dynamic range, high rigidity, high natural frequency, and high load resistance. Further, like the first piezoelectric layer 121 and the second piezoelectric layer 123, a piezoelectric layer that generates an electric charge with respect to an external force (shearing force) along the surface direction of the layer is configured by a Y-cut crystal. be able to.

  The output electrode layer 122 has a function of outputting positive charges or negative charges generated in the first piezoelectric layer 121 and the second piezoelectric layer 123 as charges Qy. As described above, when an external force along the positive direction of the β axis is applied to the surface of the first piezoelectric layer 121 or the surface of the second piezoelectric layer 123, a positive charge is present in the vicinity of the output electrode layer 122. Gather. As a result, positive charge Qy is output from the output electrode layer 122. On the other hand, when an external force along the negative direction of the β axis is applied to the surface of the first piezoelectric layer 121 or the surface of the second piezoelectric layer 123, negative charges are collected in the vicinity of the output electrode layer 122. As a result, a negative charge Qy is output from the output electrode layer 122.

  The width of the output electrode layer 122 is preferably equal to or greater than the width of the first piezoelectric layer 121 and the second piezoelectric layer 123. When the width of the output electrode layer 122 is narrower than that of the first piezoelectric layer 121 or the second piezoelectric layer 123, a part of the first piezoelectric layer 121 or the second piezoelectric layer 123 is the output electrode layer. No contact with 122. Therefore, some of the charges generated in the first piezoelectric layer 121 or the second piezoelectric layer 123 may not be output from the output electrode layer 122. As a result, the charge Qy output from the output electrode layer 122 decreases. The same applies to output electrode layers 132 and 142 described later.

The second sensor 13 has a function of outputting a charge Qz according to an external force (compression / tensile force) applied (received) along the γ axis. The second sensor 13 is configured to output a positive charge according to a compressive force parallel to the γ axis and to output a negative charge according to a tensile force parallel to the γ axis.
The second sensor 13 is provided with a third piezoelectric layer 131 having a third crystal axis CA3 and a third piezoelectric layer 131 facing the third piezoelectric layer 131 and having a fourth crystal axis CA4. There is an output electrode layer 132 that is provided between the body layer 133, the third piezoelectric layer 131, and the fourth piezoelectric layer 133 and outputs a charge Qz.

  The third piezoelectric layer 131 is composed of a piezoelectric body having a third crystal axis CA3 oriented in the positive direction of the γ axis. When a compressive force parallel to the γ-axis is applied to the surface of the third piezoelectric layer 131, electric charges are induced in the third piezoelectric layer 131 due to the piezoelectric effect. As a result, positive charges gather near the surface of the third piezoelectric layer 131 on the output electrode layer 132 side, and negative charges gather near the surface of the third piezoelectric layer 131 on the ground electrode layer 11 side. Similarly, when a tensile force parallel to the γ-axis is applied to the surface of the third piezoelectric layer 131, negative charges gather near the surface of the third piezoelectric layer 131 on the output electrode layer 132 side, Positive charges collect near the surface of the third piezoelectric layer 131 on the ground electrode layer 11 side.

  The fourth piezoelectric layer 133 is composed of a piezoelectric body having a fourth crystal axis CA4 oriented in the negative direction of the γ axis. When a compressive force parallel to the γ-axis is applied to the surface of the fourth piezoelectric layer 133, charges are induced in the fourth piezoelectric layer 133 due to the piezoelectric effect. As a result, positive charges are collected in the vicinity of the surface of the fourth piezoelectric layer 133 on the output electrode layer 132 side, and negative charges are collected in the vicinity of the surface of the fourth piezoelectric layer 133 on the ground electrode layer 11 side. Similarly, when a tensile force parallel to the γ-axis is applied to the surface of the fourth piezoelectric layer 133, negative charges gather near the surface of the fourth piezoelectric layer 133 on the output electrode layer 132 side, Positive charges are collected near the surface of the fourth piezoelectric layer 133 on the ground electrode layer 11 side.

  As the constituent material of the third piezoelectric layer 131 and the fourth piezoelectric layer 133, the same constituent material as that of the first piezoelectric layer 121 and the second piezoelectric layer 123 can be used. In addition, like the third piezoelectric layer 131 and the fourth piezoelectric layer 133, the piezoelectric layer that generates an electric charge with respect to an external force (compression / tensile force) perpendicular to the surface direction of the layer is made of X-cut quartz. Can be configured.

  The output electrode layer 132 has a function of outputting positive charges or negative charges generated in the third piezoelectric layer 131 and the fourth piezoelectric layer 133 as charges Qz. As described above, when a compressive force parallel to the γ axis is applied to the surface of the third piezoelectric layer 131 or the surface of the fourth piezoelectric layer 133, positive charges are collected in the vicinity of the output electrode layer 132. . As a result, a positive charge Qz is output from the output electrode layer 132. On the other hand, when a tensile force parallel to the γ axis is applied to the surface of the third piezoelectric layer 131 or the surface of the fourth piezoelectric layer 133, negative charges are collected in the vicinity of the output electrode layer 132. As a result, a negative charge Qz is output from the output electrode layer 132.

The third sensor 14 has a function of outputting a charge Qx according to an external force (shearing force) applied (received) along the α axis. The third sensor 14 is configured to output a positive charge according to an external force applied along the positive direction of the α axis and to output a negative charge according to an external force applied along the negative direction of the α axis. Has been.
The third sensor 14 is provided to face the fifth piezoelectric layer 141 having the fifth crystal axis CA5 and the fifth piezoelectric layer 141, and the sixth piezoelectric layer having the sixth crystal axis CA6. It has an output electrode layer 142 that is provided between the body layer 143, the fifth piezoelectric layer 141, and the sixth piezoelectric layer 143, and outputs a charge Qx.

  The fifth piezoelectric layer 141 is composed of a piezoelectric body having a fifth crystal axis CA5 oriented in the negative direction of the α axis. When an external force along the positive direction of the α axis is applied to the surface of the fifth piezoelectric layer 141, electric charges are induced in the fifth piezoelectric layer 141 by the piezoelectric effect. As a result, positive charges gather near the surface of the fifth piezoelectric layer 141 on the output electrode layer 142 side, and negative charges gather near the surface of the fifth piezoelectric layer 141 on the ground electrode layer 11 side. Similarly, when an external force along the negative direction of the α axis is applied to the surface of the fifth piezoelectric layer 141, negative charges are generated near the surface of the fifth piezoelectric layer 141 on the output electrode layer 142 side. As a result, positive charges are collected in the vicinity of the surface of the fifth piezoelectric layer 141 on the ground electrode layer 11 side.

  The sixth piezoelectric layer 143 is composed of a piezoelectric body having a sixth crystal axis CA6 oriented in the positive direction of the α axis. When an external force along the positive direction of the α axis is applied to the surface of the sixth piezoelectric layer 143, electric charges are induced in the sixth piezoelectric layer 143 by the piezoelectric effect. As a result, positive charges are collected in the vicinity of the surface of the sixth piezoelectric layer 143 on the output electrode layer 142 side, and negative charges are collected in the vicinity of the surface of the sixth piezoelectric layer 143 on the ground electrode layer 11 side. Similarly, when an external force along the negative direction of the α axis is applied to the surface of the sixth piezoelectric layer 143, negative charges are generated near the surface of the sixth piezoelectric layer 143 on the output electrode layer 142 side. The positive charges are collected near the surface of the sixth piezoelectric layer 143 on the side of the ground electrode layer 11.

  As the constituent materials of the fifth piezoelectric layer 141 and the sixth piezoelectric layer 143, the same constituent materials as those of the first piezoelectric layer 121 and the second piezoelectric layer 123 can be used. Further, like the fifth piezoelectric layer 141 and the sixth piezoelectric layer 143, the piezoelectric layer that generates an electric charge with respect to an external force (shearing force) along the surface direction of the layer is the first piezoelectric layer. Similarly to 121 and the second piezoelectric layer 123, it can be composed of Y-cut quartz.

  The output electrode layer 142 has a function of outputting positive charges or negative charges generated in the fifth piezoelectric layer 141 and the sixth piezoelectric layer 143 as the charge Qx. As described above, when an external force along the positive direction of the α axis is applied to the surface of the fifth piezoelectric layer 141 or the surface of the sixth piezoelectric layer 143, a positive charge is generated in the vicinity of the output electrode layer 142. Gather. As a result, a positive charge Qx is output from the output electrode layer 142. On the other hand, when an external force along the negative direction of the α axis is applied to the surface of the fifth piezoelectric layer 141 or the surface of the sixth piezoelectric layer 143, negative charges are collected in the vicinity of the output electrode layer 142. As a result, a negative charge Qx is output from the output electrode layer 142.

  Thus, the first sensor 12, the second sensor 13, and the third sensor 14 are stacked so that the force detection directions of the sensors are orthogonal to each other. Thereby, each sensor can induce an electric charge according to force components orthogonal to each other. Therefore, the charge output element 10 outputs three charges Qx, Qy, and Qz according to each of external forces along the three axes (α (X) axis, β (Y) axis, γ (Z) axis). Can do.

<Sensor device>
The sensor device 6 includes the charge output element 10 and a package 60 that houses the charge output element 10.
The package 60 includes a base (first member) 61 having a recess 611 and a lid (second member) 62 joined to the base 61. The charge output element 10 is installed in the recess 611 of the base 61, and the recess 611 of the base 61 is sealed with a lid 62. Thereby, the charge output element 10 can be protected and the highly reliable force detection apparatus 1 can be provided. Note that the upper surface of the charge output element 10 is in contact with the lid 62. The lid 62 of the package 60 is disposed on the upper side, that is, the second substrate 3 side, and the base 61 is disposed on the lower side, that is, the first substrate 2 side, and the base 61 is the analog circuit board. 4 is fixed. With this configuration, the base 61 and the lid 62 are sandwiched between the convex portion 21 and the second substrate 3 and pressurized, and the charge output element 10 is sandwiched and applied by the base 61 and the lid 62. Pressed.

Moreover, it does not specifically limit as a constituent material of the base 61, For example, insulating materials, such as ceramics, etc. can be used. Moreover, it does not specifically limit as a constituent material of the cover body 62, For example, various metal materials, such as stainless steel, can be used. In addition, the constituent material of the base 61 and the constituent material of the lid 62 may be the same or different.
Further, the shape of the package 60 is not particularly limited, but in the present embodiment, the package 60 has a quadrangular shape in a plan view of the first substrate 2. Examples of the other shape in the plan view of the package 60 include other polygons such as a pentagon, a circle, and an ellipse. Moreover, when the shape of the package 60 is a polygon, the corner | angular part may be roundish, for example, and may be notched diagonally.

  Further, in this embodiment, the lid 62 has a plate shape, and the central portion 625 protrudes toward the second substrate 3 by bending a portion between the central portion 625 and the outer peripheral portion 626. Yes. The shape of the central portion 625 is not particularly limited, but in the present embodiment, the shape is the same as that of the charge output element 10 in a plan view of the first substrate 2, that is, a quadrangle. Note that the upper surface and the lower surface of the central portion 625 of the lid 62 are both flat.

  A plurality of terminals 63 that are electrically connected to the charge output element 10 are provided at the end of the lower surface of the base 61 of the package 60. Each terminal 63 is electrically connected to the analog circuit board 4, whereby the charge output element 10 and the analog circuit board 4 are electrically connected. The number of terminals 63 is not particularly limited, but is four in the present embodiment, that is, the terminals 63 are respectively provided at four corners of the base 61.

<Conversion output circuit>
Conversion output circuits 90 a, 90 b, and 90 c are connected to the charge output element 10. The conversion output circuit 90a has a function of converting the charge Qx output from the charge output element 10 into a voltage Vx. The conversion output circuit 90b has a function of converting the charge Qz output from the charge output element 10 into a voltage Vz. The conversion output circuit 90c has a function of converting the charge Qy output from the charge output element 10 into a voltage Vy. Since the conversion output circuits 90a, 90b, and 90c are the same, the conversion output circuit 90c will be typically described below.

  The conversion output circuit 90c has a function of converting the charge Qy output from the charge output element 10 into a voltage Vy and outputting the voltage Vy. The conversion output circuit 90 c includes an operational amplifier 91, a capacitor 92, and a switching element 93. The first input terminal (minus input) of the operational amplifier 91 is connected to the output electrode layer 122 of the charge output element 10, and the second input terminal (plus input) of the operational amplifier 91 is grounded to the ground (reference potential point). ing. The output terminal of the operational amplifier 91 is connected to the external force detection circuit 40. The capacitor 92 is connected between the first input terminal and the output terminal of the operational amplifier 91. The switching element 93 is connected between the first input terminal and the output terminal of the operational amplifier 91, and is connected in parallel with the capacitor 92. The switching element 93 is connected to a drive circuit (not shown), and the switching element 93 performs a switching operation in accordance with an on / off signal from the drive circuit.

  When the switching element 93 is off, the charge Qy output from the charge output element 10 is stored in the capacitor 92 having the capacitance C1, and is output to the external force detection circuit 40 as the voltage Vy. Next, when the switching element 93 is turned on, both terminals of the capacitor 92 are short-circuited. As a result, the electric charge Qy stored in the capacitor 92 is discharged to 0 coulomb, and the voltage V output to the external force detection circuit 40 is 0 volt. When the switching element 93 is turned on, the conversion output circuit 90c is reset. Note that the voltage Vy output from the ideal conversion output circuit 90 c is proportional to the amount of charge Qy output from the charge output element 10.

  The switching element 93 is a semiconductor switching element such as a MOSFET (Metal Oxide Semiconductor Field Effect Transistor), for example. Since the semiconductor switching element is smaller and lighter than the mechanical switch, it is advantageous for reducing the size and weight of the force detection device 1. Hereinafter, a case where a MOSFET is used as the switching element 93 will be described as a representative example.

  The switching element 93 has a drain electrode, a source electrode, and a gate electrode. One of the drain electrode and the source electrode of the switching element 93 is connected to the first input terminal of the operational amplifier 91, and the other of the drain electrode and the source electrode is connected to the output terminal of the operational amplifier 91. The gate electrode of the switching element 93 is connected to a drive circuit (not shown).

  The same drive circuit may be connected to the switching element 93 of each of the conversion output circuits 90a, 90b, and 90c, or different drive circuits may be connected to each other. Each of the switching elements 93 receives an on / off signal that is all synchronized from the drive circuit. As a result, the operations of the switching elements 93 of the conversion output circuits 90a, 90b, and 90c are synchronized. That is, the on / off timings of the switching elements 93 of the conversion output circuits 90a, 90b, and 90c coincide with each other.

<External force detection circuit>
The external force detection circuit 40 detects the applied external force based on the voltage Vx output from the conversion output circuit 90a, the voltage Vz output from the conversion output circuit 90b, and the voltage Vy output from the conversion output circuit 90c. It has the function to do. The external force detection circuit 40 includes an AD converter 401 connected to the conversion output circuits 90a, 90b, and 90c, and an arithmetic unit 402 connected to the AD converter 401.

The AD converter 401 has a function of converting the voltages Vx, Vy, and Vz from analog signals to digital signals. The voltages Vx, Vy, Vz digitally converted by the AD converter 401 are input to the calculation unit 402.
That is, when an external force is applied in which the relative positions of the first substrate 2 and the second substrate 3 are shifted in the α (X) axis direction, the AD converter 401 outputs the voltage Vx. Similarly, when an external force is applied in which the relative positions of the first substrate 2 and the second substrate 3 are shifted from each other in the β (Y) axis direction, the AD converter 401 outputs the voltage Vy. Further, when an external force is applied in which the relative positions of the first substrate 2 and the second substrate 3 are shifted in the γ (Z) axis direction, the AD converter 401 outputs a voltage Vz.

  The arithmetic unit 402 performs various processes such as correction for eliminating the difference in sensitivity between the conversion output circuits 90a, 90b, and 90c on the digitally converted voltages Vx, Vy, and Vz. The arithmetic unit 402 outputs three signals proportional to the accumulated amounts of the charges Qx, Qy, and Qz output from the charge output element 10. Since these three signals correspond to the triaxial force (shearing force and compression / tensile force) applied to the charge output element 10, the force detection device 1 detects the triaxial force applied to the charge output element 10. can do.

  As shown in FIGS. 1 and 2, in the force detection device 1, a convex portion (first convex portion) 21 is provided on the first substrate 2. The first substrate 2 and the second substrate 3 have the convex portion 21 on the inside, and the surface of the first substrate 2 and the surface of the second substrate 3 are opposed to each other with a space therebetween. The upper surface (surface facing the second substrate 3) 211 of the convex portion 21 is a flat surface. The convex portion 21 may be formed integrally with the first substrate 2 or may be formed by a separate member. In addition, the constituent material of the convex part 21 is not specifically limited, For example, it can be the same as that of the 1st board | substrate 2. As shown in FIG.

Further, the position of the convex portion 21 is not particularly limited, but in the present embodiment, the convex portion 21 is disposed at the central portion of the first substrate 2.
Further, the shape of the convex portion 21 is not particularly limited, but in the present embodiment, the shape is the same as that of the charge output element 10 in a plan view of the first substrate 2, that is, a quadrangle. In addition, as said other shape in planar view of the convex part 21, polygons, such as a square and a pentagon, an ellipse etc. are mentioned, for example.

  In addition, a hole 41 into which the convex portion 21 is inserted is formed in a portion of the analog circuit board 4 where the charge output element 10 is disposed, that is, in the central portion. The hole 41 is a through hole that penetrates the analog circuit board 4. The shape of the hole 41 is not particularly limited, but in the present embodiment, the shape is the same as that of the convex portion 21 in the plan view of the first substrate 2, that is, a quadrangle. The analog circuit board 4 is supported by the convex portion 21.

Similarly, a hole 51 into which the convex portion 21 is inserted is formed in a portion of the digital circuit board 5 where the charge output element 10 is disposed, that is, in the central portion. The shape of the hole 51 is not particularly limited, but in the present embodiment, the shape is the same as that of the convex portion 21 in the plan view of the first substrate 2, that is, a quadrangle. The digital circuit board 5 is supported by the convex portion 21.
The analog circuit board 4 has two holes 42 through which the two pressurizing bolts 71 are inserted. Similarly, the digital circuit board 5 has two holes 52 through which the two pressurizing bolts 71 are inserted. Is formed.

  The protrusion 21 is inserted into the hole 41 of the analog circuit board 4 and 51 of the digital circuit board 5 and protrudes toward the charge output element 10. The sensor device 6 is sandwiched between the convex portion 21 and the second substrate 3, whereby the charge output element 10 is sandwiched between the convex portion 21 and the second substrate 3 via the package 60. . Note that the lower surface (surface facing the first substrate 2) 36 of the second substrate 3 is a flat surface, and the lower surface 36 abuts against the central portion of the lid 62 of the sensor device 6 and the upper surface of the convex portion 21. 211 abuts the base 61.

  Further, the dimension of the convex portion 21 is not particularly limited, but the area of the convex portion 21 is preferably equal to or larger than the area of the charge output element 10 in a plan view of the first substrate 2. It is more preferable that it is larger than the above. In the configuration shown in the figure, the area of the convex portion 21 is larger than the area of the charge output element 10. The charge output element 10 is disposed in the convex portion 21 in a plan view of the first substrate 2 (viewed from a direction perpendicular to the first substrate 2), and the center of the charge output element 10 The line and the center line of the convex portion 21 coincide with each other. In this case, the charge output element 10 does not have to protrude from the convex portion 21 in the plan view of the first substrate 2. As a result, a pressure can be applied to the entire charge output element 10, and an external force is applied to the entire charge output element 10 during force detection, so that more accurate force detection can be performed.

  The first substrate 2 and the second substrate 3 are fixed by two pressurizing bolts 71. The “fixing” by the pressurizing bolt 71 is performed while allowing a predetermined amount of movement of the two fixed objects. Specifically, the first substrate 2 and the second substrate 3 are fixed by two pressurizing bolts 71 while allowing a predetermined amount of movement in the surface direction of the second substrate 3 to be allowed. . This also applies to other embodiments.

  Each pressurizing bolt 71 is arranged so that its head 715 is on the second substrate 3 side, and is inserted from the hole 35 formed in the second substrate 3, and the hole 42 of the analog circuit board 4. The male screw 716 is inserted into the hole 52 of the digital circuit board 5 and screwed into the female screw 25 formed on the first board 2. Each pressurizing bolt 71 applies a predetermined amount of pressure in the Z-axis direction (see FIG. 4), that is, pressurization, to the charge output element 10. In addition, the magnitude | size of the said pressurization is not specifically limited, It sets suitably.

  Further, the position of each pressurizing bolt 71 is not particularly limited, but in the present embodiment, each pressurizing bolt 71 is located on the first board 2, the second board 3, the analog circuit board 4, or the digital circuit board 5. Along the circumferential direction, they are arranged so as to face each other through the charge output element 10 in equiangular intervals (180 ° intervals), that is, in a plan view of the second substrate 3. As a result, the first substrate 2 and the second substrate 3 can be fixed with good balance, and pressure can be applied to each charge output element 10 with good balance. The number of pressurizing bolts 71 is not limited to two, and may be three or more, for example.

In addition, it does not specifically limit as a constituent material of each pressurization volt | bolt 71, For example, various resin materials, various metal materials, etc. can be used.
As described above, according to the force detection device 1, the analog circuit board 4 and the digital circuit board 5 are provided between the first board 2 and the second board 3. can do.

Further, the sensor device 6 is sandwiched between the convex portion 21 and the second substrate 3 without the analog circuit substrate 4 and the digital circuit substrate 5, that is, the charge output element 10 is sandwiched via the package 60. be able to. Thereby, a sufficient pressure can be applied to the charge output element 10, and the accuracy of force detection can be improved.
Further, since the central portion 625 of the lid 62 of the package 60 protrudes toward the second substrate 3, it is sufficient for the charge output element 10 even if the lower surface 36 of the second substrate 3 is flat. Pressurization can be applied, and it is possible to prevent external force from becoming difficult to be applied during force detection. And since the lower surface 36 of the 2nd board | substrate 3 is a plane, alignment with the 2nd board | substrate 3 and the charge output element 10 becomes unnecessary at the time of manufacture, and the force detection apparatus 1 can be manufactured easily.

Second Embodiment
FIG. 5 is a cross-sectional view showing a second embodiment of the force detection device of the present invention. FIG. 6 is a plan view of the force detection device shown in FIG.
In the following, for convenience of explanation, the upper side in FIG.

Hereinafter, the second embodiment will be described with a focus on the differences from the first embodiment described above, and the description of the same matters will be omitted.
As shown in FIG. 5, in the force detection device 1 of the second embodiment, the second substrate 3 is also provided with a convex portion (second convex portion) 31. The convex portion 31 is disposed at a position corresponding to the charge output element 10 and protrudes toward the charge output element 10. Further, the lower surface (surface facing the first substrate 2) 311 of the convex portion 31 is a flat surface. The convex portion 31 may be formed integrally with the second substrate 3 or may be formed of a separate member. In addition, the constituent material of the convex part 31 is not specifically limited, For example, it can be the same as that of the 2nd board | substrate 3. FIG.

In addition, the shape of the protrusion 31 is not particularly limited, but in the present embodiment, the first substrate 2 has the same shape as the charge output element 10 in a plan view, that is, a quadrangle. In addition, as said other shape in planar view of the convex part 31, polygons, such as a square and a pentagon, an ellipse, etc. are mentioned, for example.
The sensor device 6 is disposed between the convex portion 21 and the convex portion 31, the lower surface 311 of the convex portion 31 is in contact with the lid body 62, and the upper surface 211 of the convex portion 21 is in contact with the base portion 61. That is, the sensor device 6 is sandwiched between the convex portion 21 and the convex portion 31, whereby the charge output element 10 is sandwiched between the convex portion 21 and the convex portion 31 via the package 60.

Further, the dimension of the convex portion 31 is not particularly limited, but the area of the convex portion 31 is preferably equal to or larger than the area of the charge output element 10 in plan view of the first substrate 2. It is more preferable that the value is larger than In the illustrated configuration, the area of the convex portion 31 is larger than the area of the charge output element 10. The charge output element 10 is disposed in the convex portion 31 in a plan view of the first substrate 2 (viewed from a direction perpendicular to the first substrate 2), and the center of the charge output element 10 The line and the center line of the convex portion 21 coincide with each other. In this case, the charge output element 10 does not have to protrude from the convex portion 31 in the plan view of the first substrate 2. As a result, a pressure can be applied to the entire charge output element 10, and an external force is applied to the entire charge output element 10 during force detection, so that more accurate force detection can be performed.
According to the force detection device 1, the same effect as that of the first embodiment described above can be obtained.

<Third Embodiment>
FIG. 7 is a plan view showing a third embodiment of the force detection device of the present invention. 8 is a cross-sectional view taken along line AA in FIG. FIG. 9 is a circuit diagram schematically showing the force detection device shown in FIG.
Hereinafter, the third embodiment will be described with a focus on differences from the first embodiment described above, and descriptions of the same matters will be omitted.

The force detection device 1 of the third embodiment shown in FIGS. 7 and 8 has a function of detecting an external force (including moment), that is, a six-axis force (translation force component (shear force) in the x, y, and z-axis directions). And a rotational force component (moment) around the x, y, and z axes.
As shown in FIGS. 7 and 8, the force detection device 1 has four sensor devices 6 and four pressurizing bolts 71. Although the position of each sensor device 6 is not particularly limited, in this embodiment, each sensor device 6, that is, each charge output element 10, is arranged around the first substrate 2, the second substrate 3, and the analog circuit substrate 4. Along the direction, they are arranged at equiangular intervals (90 ° intervals). Thereby, an external force can be detected without deviation. And a six-axis force can be detected. In the present embodiment, all the charge output elements 10 face the same direction, but the present invention is not limited to this.
The first substrate 2 is provided with four convex portions 21 so as to correspond to the sensor devices 6. Since the convex portion 21 has been described in the first embodiment, the description thereof is omitted.

  The number of sensor devices 6 is not limited to the above four, and may be two, three, five, or more, for example. However, the number of sensor devices 6 is preferably plural, and more preferably three or more. In addition, if the force detection apparatus 1 has at least three sensor devices 6, it can detect a six-axis force. When there are three sensor devices 6, since the number of sensor devices 6 is small, the force detection apparatus 1 can be reduced in weight. Further, when there are four sensor devices 6 as shown in the figure, the 6-axis force can be obtained by a very simple calculation to be described later, so that the calculation unit 402 can be simplified.

<Conversion output circuit>
As shown in FIG. 9, conversion output circuits 90a, 90b, and 90c are connected to each charge output element 10, respectively. Since each of the conversion output circuits 90a, 90b, and 90c is the same as the conversion output circuit 90 of the first and second embodiments described above, description thereof is omitted.
<External force detection circuit>
The external force detection circuit 40 includes voltages Vx1, Vx2, Vx3, and Vx4 output from the conversion output circuits 90a, voltages Vz1, Vz2, Vz3, and Vz4 output from the conversion output circuits 90b, and the conversion output circuits 90c. Based on the output voltages Vy1, Vy2, Vy3, and Vy4, it has a function of detecting the applied external force. The external force detection circuit 40 includes an AD converter 401 connected to the conversion output circuits 90a, 90b, and 90c, and an arithmetic unit 402 connected to the AD converter 401.

  The AD converter 401 has a function of converting the voltages Vx1, Vy1, Vz1, Vx2, Vy2, Vz2, Vx3, Vy3, Vz3, Vx4, Vy4, and Vz4 from analog signals to digital signals. The voltages Vx 1, Vy 1, Vz 1, Vx 2, Vy 2, Vz 2, Vx 3, Vy 3, Vz 3, Vx 4, Vy 4, Vz 4 that are digitally converted by the AD converter 401 are input to the arithmetic unit 402.

  That is, when an external force is applied in which the relative positions of the first substrate 2 and the second substrate 3 are shifted in the α (X) axis direction, the AD converter 401 outputs the voltages Vx1, Vx2, Vx3, and Vx4. Similarly, when an external force is applied in which the relative positions of the first substrate 2 and the second substrate 3 are shifted in the β (Y) axis direction, the AD converter 401 outputs voltages Vy1, Vy2, Vy3, and Vy4. . Further, when an external force is applied in which the relative positions of the first substrate 2 and the second substrate 3 are shifted in the γ (Z) axis direction, the AD converter 401 outputs voltages Vz1, Vz2, Vz3, and Vz4.

The first substrate 2 and the second substrate 3 are capable of relative displacement rotating around the x axis, relative displacement rotating around the y axis, and relative displacement rotating around the z axis. It is possible to transmit the external force accompanying to the charge output element 10.
The calculation unit 402 translates the translational force component Fx in the x-axis direction and the translation in the y-axis direction based on the digitally converted voltages Vx1, Vy1, Vz1, Vx2, Vy2, Vz2, Vx3, Vy3, Vz3, Vx4, Vy4, and Vz4. It has a function of calculating a force component Fy, a translational force component Fz in the z-axis direction, a rotational force component Mx around the x axis, a rotational force component My around the y axis, and a rotational force component Mz around the z axis. Each force component can be obtained by the following equation.

Fx = Vx1 + Vx2 + Vx3 + Vx4
Fy = Vy1 + Vy2 + Vy3 + Vy4
Fz = Vz1 + Vz2 + Vz3 + Vz4
Mx = b × (Vz4-Vz2)
My = a × (Vz3−Vz1)
Mz = b * (Vx2-Vx4) + a * (Vy1-Vy3)
Here, a and b are constants.

Thus, the force detection device 1 can detect six-axis forces.
Note that the arithmetic unit 402 may perform, for example, correction that eliminates the difference in sensitivity between the conversion output circuits 90a, 90b, and 90c.
As shown in FIGS. 7 and 8, the first substrate 2 and the second substrate 3 are fixed by four pressurizing bolts 71. The number of pressurizing bolts 71 is not limited to four, and may be two, three, five, or more, for example.

Further, the position of each pressurizing bolt 71 is not particularly limited, but in the present embodiment, each pressurizing bolt 71 is located on the first board 2, the second board 3, the analog circuit board 4, or the digital circuit board 5. They are arranged at equiangular intervals (90 ° intervals) along the circumferential direction. As a result, the first substrate 2 and the second substrate 3 can be fixed with good balance, and pressure can be applied to each charge output element 10 with good balance.
According to the force detection device 1, the same effect as that of the first embodiment described above can be obtained.
The third embodiment can also be applied to the second embodiment. That is, the convex part 31 in the second embodiment may be provided on the second substrate 3 in the third embodiment.

<Embodiment of single arm robot>
Next, based on FIG. 10, a single-arm robot which is an embodiment of the robot of the present invention will be described. Hereinafter, the present embodiment will be described with a focus on differences from the first, second, and third embodiments described above, and descriptions of similar matters will be omitted.
FIG. 10 is a diagram showing an example of a single-arm robot using the force detection device of the present invention. 10 includes a base 510, an arm 520, an end effector 530 provided on the distal end side of the arm 520, and a force detection device 100 provided between the arm 520 and the end effector 530. Have In addition, as the force detection apparatus 100, the thing similar to each embodiment mentioned above is used.

The base 510 has a function of accommodating an actuator (not shown) that generates power for rotating the arm 520, a control unit (not shown) that controls the actuator, and the like. The base 510 is fixed on, for example, a floor, a wall, a ceiling, or a movable carriage.
The arm 520 includes a first arm element 521, a second arm element 522, a third arm element 523, a fourth arm element 524, and a fifth arm element 525, and rotates adjacent arms. It is configured by linking freely. The arm 520 is driven by being rotated or bent in a compound manner around the connecting portion of each arm element under the control of the control unit.

The end effector 530 has a function of gripping an object. The end effector 530 has a first finger 531 and a second finger 532. After the end effector 530 reaches the predetermined operating position by driving the arm 520, the object can be gripped by adjusting the distance between the first finger 531 and the second finger 532.
The end effector 530 is a hand here, but the present invention is not limited to this. Other examples of the end effector include, for example, a component inspection device, a component transport device, a component processing device, a component assembly device, and a measuring instrument. The same applies to the end effectors in other embodiments.

The force detection device 100 has a function of detecting an external force applied to the end effector 530. By feeding back the force detected by the force detection device 100 to the control unit of the base 510, the single-arm robot 500 can perform more precise work. Further, the single-arm robot 500 can detect contact of the end effector 530 with an obstacle by the force detected by the force detection device 100. Therefore, an obstacle avoidance operation, an object damage avoidance operation, and the like, which are difficult with conventional position control, can be easily performed, and the single-arm robot 500 can perform work more safely.
In the illustrated configuration, the arm 520 includes a total of five arm elements, but the present invention is not limited to this. When the arm 520 is constituted by one arm element, when constituted by 2 to 4 arm elements, and when constituted by 6 or more arm elements, it is within the scope of the present invention. .

<Embodiment of double-arm robot>
Next, based on FIG. 11, a multi-arm robot which is an embodiment of the robot of the present invention will be described. Hereinafter, the present embodiment will be described with a focus on differences from the first, second, third, and fourth embodiments described above, and description of similar matters will be omitted.
FIG. 11 is a diagram showing an example of a multi-arm robot using the force detection device of the present invention. The multi-arm robot 600 of FIG. 11 includes a base 610, a first arm 620, a second arm 630, a first end effector 640a provided on the distal end side of the first arm 620, and a second A second end effector 640b provided on the distal end side of the arm 630, and between the first arm 620 and the first end effector 640a and between the second arm 630 and the second end effector 640b. A force detecting device 100. In addition, as the force detection apparatus 100, the thing similar to each embodiment mentioned above is used.

The base 610 has a function of accommodating an actuator (not shown) that generates power for rotating the first arm 620 and the second arm 630, a control unit (not shown) that controls the actuator, and the like. Have. The base 610 is fixed on, for example, a floor, a wall, a ceiling, or a movable carriage.
The 1st arm 620 is comprised by connecting the 1st arm element 621 and the 2nd arm element 622 so that rotation is possible. The second arm 630 is configured by rotatably connecting the first arm element 631 and the second arm element 632. The first arm 620 and the second arm 630 are driven by being complexly rotated or bent around the connecting portion of each arm element under the control of the control unit.

  The first and second end effectors 640a and 640b have a function of gripping an object. The first end effector 640a has a first finger 641a and a second finger 642a. The second end effector 640b has a first finger 641b and a second finger 642b. After the first end effector 640a reaches a predetermined operating position by driving the first arm 620, the object is grasped by adjusting the distance between the first finger 641a and the second finger 642a. Can do. Similarly, after the second end effector 640b reaches a predetermined operation position by driving the second arm 630, the distance between the first finger 641b and the second finger 642b is adjusted to thereby adjust the object. It can be gripped.

The force detection device 100 has a function of detecting an external force applied to the first and second end effectors 640a and 640b. By feeding back the force detected by the force detection device 100 to the control unit of the base 610, the multi-arm robot 600 can perform the operation more precisely. Further, the multi-arm robot 600 can detect contact of the first and second end effectors 640a and 640b with an obstacle by the force detected by the force detection device 100. Therefore, an obstacle avoidance operation, an object damage avoidance operation, and the like that have been difficult with conventional position control can be easily performed, and the multi-arm robot 600 can perform the operation more safely.
In the illustrated configuration, there are a total of two arms, but the present invention is not limited to this. The case where the multi-arm robot 600 has three or more arms is also within the scope of the present invention.

<Embodiments of Electronic Component Inspection Device and Electronic Component Transfer Device>
Next, based on FIG. 12 and FIG. 13, an electronic component inspection apparatus and an electronic component transport apparatus that are embodiments of the present invention will be described. Hereinafter, the present embodiment will be described with a focus on differences from the first, second, and third embodiments described above, and descriptions of similar matters will be omitted.
FIG. 12 is a diagram illustrating an example of an electronic component inspection device and a component conveyance device using the force detection device of the present invention. FIG. 13 is a diagram illustrating an example of an electronic component transport apparatus using the force detection device of the present invention.

  An electronic component inspection apparatus 700 in FIG. 12 includes a base 710 and a support base 720 provided upright on the side surface of the base 710. On the upper surface of the base 710, an upstream stage 712u on which the electronic component 711 to be inspected is placed and transported, and a downstream stage 712d on which the inspected electronic component 711 is placed and transported are provided. ing. Further, between the upstream stage 712u and the downstream stage 712d, an imaging device 713 for confirming the posture of the electronic component 711, and an inspection table 714 on which the electronic component 711 is set for inspecting electrical characteristics. And are provided. Examples of the electronic component 711 include semiconductors, semiconductor wafers, display devices such as CLD and OLED, crystal devices, various sensors, inkjet heads, various MEMS devices, and the like.

  Further, the support base 720 is provided with a Y stage 731 that can move in a direction (Y direction) parallel to the upstream stage 712u and the downstream stage 712d of the base 710. An arm portion 732 is extended in a direction (X direction) toward 710. An X stage 733 is provided on the side surface of the arm 732 so as to be movable in the X direction. In addition, the X stage 733 is provided with an imaging camera 734 and an electronic component transfer device 740 incorporating a Z stage movable in the vertical direction (Z direction). In addition, a gripping portion 741 that grips the electronic component 711 is provided on the front end side of the electronic component transport apparatus 740. Further, a force detection device 100 is provided between the tip of the electronic component transport device 740 and the gripping portion 741. Further, on the front side of the base 710, a control device 750 for controlling the overall operation of the electronic component inspection device 700 is provided. In addition, as the force detection apparatus 100, the thing similar to each embodiment mentioned above is used.

  The electronic component inspection apparatus 700 inspects the electronic component 711 as follows. First, the electronic component 711 to be inspected is placed on the upstream stage 712u and moved to the vicinity of the inspection table 714. Next, the Y stage 731 and the X stage 733 are moved to move the electronic component transport device 740 to a position immediately above the electronic component 711 placed on the upstream stage 712u. At this time, the position of the electronic component 711 can be confirmed using the imaging camera 734. Then, when the electronic component transport device 740 is lowered using the Z stage built in the electronic component transport device 740 and the electronic component 711 is gripped by the gripping portion 741, the electronic component transport device 740 is directly placed on the imaging device 713. The position of the electronic component 711 is confirmed using the imaging device 713. Next, the attitude of the electronic component 711 is adjusted using a fine adjustment mechanism built in the electronic component transport apparatus 740. Then, after moving the electronic component transport device 740 to above the inspection table 714, the Z stage built in the electronic component transport device 740 is moved to set the electronic component 711 on the inspection table 714. Since the attitude of the electronic component 711 is adjusted using the fine adjustment mechanism in the electronic component conveying apparatus 740, the electronic component 711 can be set at the correct position on the inspection table 714. Next, after the electrical characteristic inspection of the electronic component 711 is completed using the inspection table 714, the electronic component 711 is picked up from the inspection table 714, the Y stage 731 and the X stage 733 are moved, and the upper stage 712d is moved. The electronic component conveying device 740 is moved to the position, and the electronic component 711 is placed on the downstream stage 712d. Finally, the downstream stage 712d is moved to transport the electronic component 711 that has been inspected to a predetermined position.

  FIG. 13 is a diagram illustrating an electronic component transport device 740 including the force detection device 100. The electronic component transport device 740 includes a gripping portion 741, a six-axis force detection device 100 connected to the gripping portion 741, a rotation shaft 742 connected to the gripping portion 741 via the six-axis force detection device 100, and a rotation shaft. A fine adjustment plate 743 is rotatably attached to 742. The fine adjustment plate 743 is movable in the X direction and the Y direction while being guided by a guide mechanism (not shown).

  Further, a piezoelectric motor 744θ for rotation direction is mounted toward the end surface of the rotation shaft 742, and a driving convex portion (not shown) of the piezoelectric motor 744θ is pressed against the end surface of the rotation shaft 742. Therefore, by operating the piezoelectric motor 744θ, the rotation shaft 742 (and the gripping portion 741) can be rotated by an arbitrary angle in the θ direction. Further, a piezoelectric motor 744 x for X direction and a piezoelectric motor 744 y for Y direction are provided toward the fine adjustment plate 743, and each drive convex portion (not shown) is a surface of the fine adjustment plate 743. It is pressed against. For this reason, by operating the piezoelectric motor 744x, the fine adjustment plate 743 (and the gripper 741) can be moved by an arbitrary distance in the X direction. Similarly, the fine adjustment can be performed by operating the piezoelectric motor 744y. The plate 743 (and the gripping portion 741) can be moved by an arbitrary distance in the Y direction.

  Further, the force detection device 100 has a function of detecting an external force applied to the grip portion 741. By feeding back the force detected by the force detection device 100 to the control device 750, the electronic component transport device 740 and the electronic component inspection device 700 can perform work more precisely. Further, the contact of the gripping portion 741 with an obstacle can be detected by the force detected by the force detection device 100. Therefore, an obstacle avoidance operation, an object damage avoidance operation, and the like that were difficult with conventional position control can be easily performed, and the electronic component transport device 740 and the electronic component inspection device 700 can perform safer work. is there.

<Embodiment of component processing apparatus>
Next, an embodiment of the component processing apparatus of the present invention will be described based on FIG. Hereinafter, the present embodiment will be described with a focus on differences from the first, second, and third embodiments described above, and descriptions of similar matters will be omitted.
FIG. 14 is a diagram showing an example of a component processing apparatus using the force detection device of the present invention. The component processing apparatus 800 of FIG. 14 is attached to a base 810, a support column 820 that is erected on the upper surface of the base 810, a feed mechanism 830 that is provided on a side surface of the support column 820, and a feed mechanism 830 that can be moved up and down. A tool displacement unit 840, a force detection device 100 connected to the tool displacement unit 840, and a tool 850 attached to the tool displacement unit 840 via the force detection device 1. In addition, as the force detection apparatus 100, the thing similar to each embodiment mentioned above is used.

  The base 810 is a base for mounting and fixing the workpiece 860. The column 820 is a column for fixing the feed mechanism 830. The feed mechanism 830 has a function of moving the tool displacement portion 840 up and down. The feed mechanism 830 includes a feed motor 831 and a guide 832 that raises and lowers the tool displacement portion 840 based on an output from the feed motor 831. The tool displacement unit 840 has a function of imparting displacement such as rotation and vibration to the tool 850. The tool displacement portion 840 includes a displacement motor 841, a tool attachment portion 843 provided at the tip of a main shaft (not shown) connected to the displacement motor 841, and a holder attached to the tool displacement portion 840 and holding the main shaft. Part 842. The tool 850 is attached to the tool attachment portion 843 of the tool displacement portion 840 via the force detection device 1 and is used for machining the workpiece 860 in accordance with the displacement given from the tool displacement portion 840. The tool 850 is not particularly limited, and is, for example, a wrench, a Phillips screwdriver, a flat-blade screwdriver, a cutter, a circular saw, a nipper, a cone, a drill, or a milling cutter.

  The force detection device 100 has a function of detecting an external force applied to the tool 850. By feeding back the external force detected by the force detection device 1 to the feed motor 831 and the displacement motor 841, the component processing device 800 can execute the component processing operation more precisely. Further, the contact of the tool 850 with an obstacle or the like can be detected by an external force detected by the force detection device 100. Therefore, an emergency stop can be performed when an obstacle or the like comes in contact with the tool 850, and the component processing apparatus 800 can execute a safer component processing operation.

<Embodiment of moving body>
Next, an embodiment of the moving body of the present invention will be described based on FIG. Hereinafter, the present embodiment will be described with a focus on differences from the first, second, and third embodiments described above, and descriptions of similar matters will be omitted.
FIG. 15 is a diagram showing an example of a moving object using the force detection device of the present invention. The moving body 900 of FIG. 15 can move by the applied power. The moving body 900 is not particularly limited, and is, for example, a vehicle such as an automobile, a motorcycle, an airplane, a ship, or a train, a robot such as a bipedal walking robot, or a wheeled robot.

The moving body 900 detects a main body 910 (e.g., a vehicle casing, a robot main body, etc.), a power unit 920 that supplies power for moving the main body 910, and an external force generated by the movement of the main body 910. It has the force detection apparatus 100 of this invention and the control part 930. In addition, as the force detection apparatus 100, the thing similar to each embodiment mentioned above is used.
When the main body 910 is moved by the power supplied from the power unit 920, vibration, acceleration, and the like are generated with the movement. The force detection device 100 detects an external force due to vibration, acceleration, or the like that occurs with movement. The external force detected by the force detection device 100 is transmitted to the control unit 930. The control unit 930 can execute control such as posture control, vibration control, and acceleration control by controlling the power unit 920 and the like according to the external force transmitted from the force detection device 100.

As described above, the force detection device, the robot, the electronic component transport device, the electronic component inspection device, the component processing device, and the moving body of the present invention have been described based on the illustrated embodiment, but the present invention is not limited to this. Instead, the configuration of each part can be replaced with any configuration having the same function. In addition, any other component may be added to the present invention.
In addition, the present invention may be a combination of any two or more configurations (features) of the embodiment.

In the present invention, the package, that is, the first member and the second member may be omitted.
In the present invention, the element may protrude from the first convex portion in a plan view of the first substrate.
In the present invention, the element may protrude from the second convex portion in a plan view of the first substrate.

In the above embodiment, a device using a piezoelectric body is used as an element for outputting a signal in accordance with an external force. However, in the present invention, if the output changes depending on the applied external force, this element may be used. In addition, the thing using a pressure sensitive conductor etc. is mentioned, for example.
Further, in the present invention, instead of the pressurizing bolt, for example, one having no function of applying pressurization to the element may be used, or a fixing method other than the bolt may be adopted.

In addition, the robot of the present invention is not limited to an arm type robot (robot arm) as long as it has an arm, but is another type of robot such as a scalar robot, a legged walking (running) robot, or the like. Also good.
In addition, the force detection device of the present invention is not limited to a robot, an electronic component transport device, an electronic component inspection device, a component processing device, and a moving body, but other devices such as other transport devices, other inspection devices, and vibration meters. It can also be applied to measuring devices such as accelerometers, gravimeters, dynamometers, seismometers, inclinometers, and input devices.

  DESCRIPTION OF SYMBOLS 1,100 ... Force detection apparatus 2 ... 1st board | substrate 21 ... Convex part 211 ... Upper surface 25 ... Female screw 3 ... 2nd board | substrate 31 ... Convex part 311 ... Lower surface 35 ... Hole 36 ... Lower surface 4 ... Analog circuit board 40 ... External force detection circuit 401 ... AD converter 402 ... calculation unit 41, 42 ... hole 5 ... digital circuit board 51, 52 ... hole 6 ... sensor device 60 ... package 61 ... base 611 ... concave 62 ... lid body 625 ... center 626 ... outer periphery Numeral 63: Terminal 71 ... Pressure bolt 715 ... Head 716 ... Male screw 90a, 90b, 90c ... Conversion output circuit 91 ... Operational amplifier 92 ... Capacitor 93 ... Switching element 10 ... Charge output element (element) 11 ... Ground electrode layer 12 ... first sensor 121 ... first piezoelectric layer 122 ... output electrode layer 123 ... second piezoelectric layer DESCRIPTION OF SYMBOLS 13 ... 2nd sensor 131 ... 3rd piezoelectric material layer 132 ... Output electrode layer 133 ... 4th piezoelectric material layer 14 ... 3rd sensor 141 ... 5th piezoelectric material layer 142 ... Output electrode layer 143 ... 6th Piezoelectric layer 500 ... single arm robot 510 ... base 520 ... arm 521 ... first arm element 522 ... second arm element 523 ... third arm element 524 ... fourth arm element 525 ... fifth arm Element 530 ... End effector 531 ... First finger 532 ... Second finger 600 ... Multi-arm robot 610 ... Base 620 ... First arm 621 ... First arm element 622 ... Second arm element 630 ... Second Arm 631 ... First arm element 632 ... Second arm element 640a ... First end effector 641a ... First finger 642a ... Second finger 64 b ... second end effector 641b ... first finger 642b ... second finger 700 ... electronic component inspection device 710 ... base 711 ... electronic component 712u ... upstream stage 712d ... downstream stage 713 ... imaging device 714 ... inspection Base 720 ... Support base 731 ... Y stage 732 ... Arm part 733 ... X stage 734 ... Imaging camera 740 ... Electronic component transfer device 741 ... Gripping part 742 ... Rotating shaft 743 ... Fine adjustment plate 744x, 744y, 744θ ... Piezoelectric motor 750 ... Control device 800 ... parts processing device 810 ... base 820 ... support 830 ... feed mechanism 831 ... feed motor 832 ... guide 840 ... tool displacement part 841 ... displacement motor 842 ... holding part 843 ... tool attachment part 850 ... tool 860 ... Workpiece 900 ... Moving body 9 DESCRIPTION OF SYMBOLS 0 ... Main body 920 ... Power part 930 ... Control part CA1 ... 1st crystal axis CA2 ... 2nd crystal axis CA3 ... 3rd crystal axis CA4 ... 4th crystal axis CA5 ... 5th crystal axis CA6 ... 6th Crystal axis

The present invention, force detection device, and relates to a robot.

Claims (19)

A first substrate;
A second substrate;
A circuit board provided between the first board and the second board;
An element mounted on the circuit board and outputting a signal according to an external force;
A hole is formed in a portion of the circuit board where the element is disposed,
The force detection device according to claim 1, wherein the first substrate is provided with a first protrusion that is inserted into the hole and protrudes toward the element.   The force detection device according to claim 1, wherein the element is disposed in the first convex portion when viewed from a direction perpendicular to the first substrate.   The force detection device according to claim 1, wherein the element is sandwiched between the first convex portion and the second substrate.   The force detection device according to claim 3, wherein the element is pressurized by the first convex portion and the second substrate.   5. The force detection device according to claim 1, wherein a surface of the second substrate that faces the first substrate is a flat surface. A second protrusion provided on the second substrate and protruding toward the element;
The force detection device according to claim 1, wherein the element is disposed between the first convex portion and the second convex portion.   The force detection device according to claim 6, wherein the element is disposed in the second convex portion when viewed from a direction perpendicular to the first substrate.   The force detection device according to claim 6 or 7, wherein the element is sandwiched between the first convex portion and the second convex portion.   The force detection device according to any one of claims 1 to 8, further comprising: a first member on which the element is disposed and having a concave portion; and a second member that seals the concave portion.   The force detection device according to claim 9, wherein the first protrusion is in contact with the first member.   The force detection device according to claim 9 or 10, wherein a terminal electrically connected to the element and the circuit board is provided on the first member. A plurality of the elements,
12. The force detection device according to claim 1, wherein the elements are arranged at equiangular intervals along a circumferential direction of the first substrate or the second substrate.   The first substrate and the second substrate have the first convex portion on the inside, and the surface of the first substrate and the surface of the second substrate are opposed to each other with a gap therebetween. The force detection device according to any one of claims 1 to 12.   The force detection device according to claim 1, wherein the hole is a through-hole penetrating the circuit board. Arm,
An end effector provided on the arm;
A force detecting device provided between the arm and the end effector for detecting an external force applied to the end effector;
The force detection device includes a first substrate,
A second substrate;
A circuit board provided between the first board and the second board;
An element mounted on the circuit board and outputting a signal according to an external force;
A hole is formed in a portion of the circuit board where the element is disposed,
The robot according to claim 1, wherein the first substrate is provided with a first protrusion that is inserted into the hole and protrudes toward the element. A gripper for gripping electronic components;
A force detection device that detects an external force applied to the gripping portion;
The force detection device includes a first substrate,
A second substrate;
A circuit board provided between the first board and the second board;
An element mounted on the circuit board and outputting a signal according to an external force;
A hole is formed in a portion of the circuit board where the element is disposed,
The electronic component transport apparatus according to claim 1, wherein the first substrate is provided with a first protrusion that is inserted into the hole and protrudes toward the element. A gripper for gripping electronic components;
An inspection unit for inspecting the electronic component;
A force detection device that detects an external force applied to the gripping portion;
The force detection device includes a first substrate,
A second substrate;
A circuit board provided between the first board and the second board;
An element mounted on the circuit board and outputting a signal according to an external force;
A hole is formed in a portion of the circuit board where the element is disposed,
The electronic component inspection apparatus, wherein the first substrate is provided with a first protrusion that is inserted into the hole and protrudes toward the element. A tool displacing part for mounting the tool and displacing the tool;
A force detection device for detecting an external force applied to the tool;
The force detection device includes a first substrate,
A second substrate;
A circuit board provided between the first board and the second board;
An element mounted on the circuit board and outputting a signal according to an external force;
A hole is formed in a portion of the circuit board where the element is disposed,
The component processing apparatus according to claim 1, wherein the first substrate is provided with a first protrusion that is inserted into the hole and protrudes toward the element. A power unit for supplying power for movement;
A force detection device for detecting an external force generated by the movement,
The force detection device includes a first substrate,
A second substrate;
A circuit board provided between the first board and the second board;
An element mounted on the circuit board and outputting a signal according to an external force;
A hole is formed in a portion of the circuit board where the element is disposed,
The moving body, wherein the first substrate is provided with a first protrusion that is inserted into the hole and protrudes toward the element.

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