JP5578941B2 - 3-axis force sensor panel - Google Patents

Description

  The present invention relates to a three-axis force sensor panel capable of accurately detecting a pressed position on a panel and detecting a twisting direction of the panel itself.

  Conventionally, sensor panels that detect a pressed position on the panel are widely known (see, for example, Patent Documents 1 and 2). As an example of the structure of such a sensor panel, a capacitance type and a resistance film type are known.

Special table 2008-546113 gazette Japanese Patent No. 4137710

  In the case of a sensor panel based on a capacitance method, the operation state depends on the degree of electrostatic charge of the user's body. Specifically, for example, the charge level of the user differs between the dry season in winter and the high season of the rainy season, and the operation state of the sensor panel may vary. Also, depending on the material of the user's clothes, etc., the amount of static electricity changes and is affected.

  In addition, the capacitive sensor panel does not react even if the user touches the panel while wearing gloves, and the panel cannot be operated. On the other hand, if the sensor panel is touched to react while wearing gloves, the sensitivity of the sensor itself becomes too high. If you touch the sensor panel directly with your fingers without gloves, an error will occur due to extra input. May cause operation.

  In addition, due to the structure of the electrostatic capacity method, a change in electrostatic capacity must be accurately detected at a specific position of the sensor panel, so that the panel surface must be flat. Therefore, it is not possible to form a modeled object such as a special protrusion on the panel surface.

  On the other hand, even in the case of a resistive film type sensor panel, in order to specify the position pressed by the fingertip on the panel surface, if a complex protrusion is formed on the panel surface, the pressing force is dispersed, and the pressing force is dispersed. The specified position cannot be specified. Therefore, it is necessary to make the panel surface flat as in the case of the capacitance method described above. Moreover, since the resistive film is stretched around the sensor panel in a matrix, the light transmittance of the portion is reduced by about 10 to 15%, for example. Therefore, when a high-resolution and high-brightness LCD (liquid crystal panel) is provided below the resistive film, the resistive film is interposed in between, so even if a transparent sensor panel is provided, the brightness of the LCD panel High and clear images are not displayed on the sensor panel as they are. Such a problem may also occur due to the structure of the above-described sensor panel using the capacitance method.

  The structure described in Patent Document 1 has beam segments at four corners of the upper surface of the input pad (upper surface of the sensor panel), and has sensors for measuring strain at both ends. The structure described in Patent Document 2 has a structure having piezoresistive elements at the four corners of the upper surface of the panel.

  However, in the structures disclosed in these Patent Documents 1 and 2, even if the user can detect the position where the user locally pushes the upper surface of the panel, the panel itself detects the direction of twisting with respect to the object to which the panel is attached. I can't.

  The object of the present invention is to accurately detect the pressed position on the panel regardless of the shape on the panel surface, and to detect the direction in which the panel itself twists relative to the base plate to which the panel is attached. To provide a panel.

In order to solve the above-described problem, a three-axis force sensor panel according to claim 1 of the present invention provides
A base plate, a switch panel opposed to the base plate at a predetermined interval, three or more connecting members connecting the base plate and the switch panel, and at least three of the connecting members. A triaxial force sensor having a force sensor that detects a stress based on a force acting in the Z direction perpendicular to the panel surface and detects a stress generated when the panel is twisted around the Z direction. A sensor panel,
The connecting body is a quadrangular prism, and one end of the connecting body is fixed to the switch panel via a panel connecting portion, and the other end is fixed to the base plate via a base plate connecting portion. The connecting body is attached to the switch panel and the base plate in a state of being separated from each other,
The force sensor includes a force sensor for detecting a panel pressing position provided on a surface of the connecting body facing the switch panel, and a surface of the connecting body provided with the force sensor for detecting the panel pressing position. A force sensor for detecting a twist direction of the switch panel with respect to the base plate provided on a surface forming a predetermined angle;
The force sensor for detecting the pressing force is configured such that the output of each force sensor for detecting the pressing force changes according to the pressed position on the surface of the switch panel. it is detected in the pressed position on the panel surface, it is characterized in that said can detect twisting direction relative to the base plate of the panel from the combination of the outputs of the force sensor for each twist direction detection.

  Since the triaxial force sensor panel according to claim 1 has such a configuration, an action that cannot be generated by the conventional sensor panel, that is, a pressed position on the switch panel surface is detected, and the switch panel with respect to the base plate is detected. It exerts the effect of detecting the twist direction.

  Further, the disadvantages of the capacitive sensor panel and the resistive film sensor panel can be eliminated. Specifically, it is possible to make the surface of the sensor panel itself into the shape of an arbitrary modeled object by providing irregularities on the upper surface of the sensor panel.

  In addition, when an LCD (liquid crystal display device) is provided on the base plate, there is no extra inclusion between the base plate and the panel, which is essential for the capacitance type or resistive type sensor panel. The display content of the LCD can be projected on the panel without reducing the brightness and resolution. As a result, if a panel with excellent light transmittance is used, the sensor panel user can recognize the image on the LCD with high brightness and resolution and operate the switch panel. In addition, the switch does not operate when gloves are used as in the capacitance method, and malfunctions may not occur during normal use when the sensitivity of the switch setting is increased for gloves. .

  In addition, the capacitance method and the resistance film method can only detect the pressed position of the panel itself. However, according to the triaxial force sensor panel according to the present invention, in addition to the pressed position of the panel surface, the base The twist direction of the panel with respect to the base plate acting around the normal of the panel surface of the panel can be detected through a connecting body connected to the plate at at least three locations, and application to various uses becomes possible.

A triaxial force sensor panel according to claim 2 of the present invention is the triaxial force sensor panel according to claim 1,
The force sensor for the pressure detection, in addition to being able to detect the position pressed on the panel surface from the output of the force sensor, Ru can detect a tensile force pulling the pressing force or the panel to a panel surface of the Z-direction It is characterized a call.

  Since the triaxial force sensor panel according to the second aspect has such a configuration, in addition to detecting the pressed position on the switch panel surface, it is possible to detect a force for pushing or pulling the switch panel.

  Further, since various operation forces applied to the sensor panel can be detected with a small number of stress sensors, a sensor panel with excellent cost performance can be obtained.

A triaxial force sensor panel according to claim 3 of the present invention is the triaxial force sensor panel according to claim 1 or 2 ,
The stress sensor is composed of any one of a semiconductor gauge, a thick film resistance type gauge, and a thin film strain gauge.

By three-axis force sensor panel according to claim 3 has such a structure, it is possible to exhibit the effects of the present invention using a variety of stress sensors.

A triaxial force sensor panel according to claim 4 of the present invention is the triaxial force sensor panel according to claim 1 or 2 ,
The stress sensor is formed of a thin film strain gauge, and the connecting body is made of a member that is easily deformed.

  According to the triaxial force sensor panel according to claim 5, the stress sensor is formed of a thin film strain gauge. For example, a connection body that is mass-produced at a low cost can be used by making the connection body from resin, and the connection body. This part of the manufacturing process can be completed by simply attaching the stress sensor to the substrate. As a result, the manufacturing cost of the sensor panel can be greatly reduced.

  In addition, since the connecting body is made of resin, even if the connecting body is a thick beam, unlike the metal connecting body, it is easily deformed, so that the operation content to the sensor panel can be detected with high sensitivity. In addition, the member of a connection body is not restricted to resin, What is necessary is just to be easily deformable and to be detected with high sensitivity.

  According to the present invention, a triaxial force sensor panel capable of accurately detecting the pressed position on the panel regardless of the shape on the panel surface and detecting the direction in which the panel itself twists with respect to the base plate to which the panel is attached. Can provide.

It is a perspective view which shows the 3 axis force sensor panel which concerns on one Embodiment of this invention. It is a top view explaining the attachment position of the force sensor element of the triaxial force sensor panel shown in FIG. 1, and the detection method of force. A side view for explaining how to detect the panel pressing force and the pressed position by the force sensor element in this embodiment (FIG. 3A) and a side view for explaining how to detect the panel twist direction with respect to the base plate (FIG. 3 ( b)). FIG. 4 is a circuit block diagram showing a specific configuration of the force sensor element shown in FIGS. 2 and 3. It is a block diagram which shows the method of the signal processing of the triaxial force sensor panel shown in FIG. 2 is an algorithm showing a method for detecting a twisting direction of a panel by the triaxial force sensor panel shown in FIG. 1. It is explanatory drawing explaining the action direction of the force which produces the twist with respect to the base plate of a switch panel.

  Hereinafter, a three-axis force sensor panel according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view showing a three-axis force sensor panel according to an embodiment of the present invention. FIG. 2 is a plan view for explaining a mounting position of the force sensor (force sensor element) of the triaxial force sensor panel shown in FIG. 1 and a force detection method. FIG. 3 is a side view for explaining how to detect the panel pressing force and the pressing position by the force sensor (force sensor element) in this embodiment (FIG. 3A) and detection of the panel twist direction with respect to the base plate. It is a side view (FIG.3 (b)) explaining a method.

  The three-axis force sensor panel 1 according to an embodiment of the present invention includes a base plate 30, a switch panel 40 disposed to face the base plate 30 at a predetermined interval, and the base plate 30 and the switch panel 40 with the predetermined plate. It has four connecting bodies 100 (110, 120, 130, 140) that are connected via an interval, and four force sensors 200 (210, 220, 230, 240) provided in each connecting body 100.

  The four force sensors 200 change the outputs of the four force sensors 200 in accordance with the pressed position of the upper surface of the switch panel 40. In addition, it is possible to detect the pressing position in the Z direction orthogonal to the panel surface or the tensile force in the Z axis direction that pulls the switch panel 40. Further, the twist direction of the switch panel 40 with respect to the base surface can be detected from the outputs of the four force sensors 200. Hereinafter, this force sensor 200 is appropriately referred to as a stress sensor 200.

  The force sensor 200 includes a thin film strain gauge which is one of stress sensors. The force sensor 200 includes first force sensor elements 211, 212, 213, and 214 that detect a pressed position on the upper surface of the switch panel 40 and a force that pushes and pulls the switch panel itself, and the switch panel 40 is connected to the base plate 30. The second force sensor elements 221, 222, 223, and 224 detect the twisting direction with respect to the base surface.

  The stress sensor 200 may be composed of either a semiconductor gauge or a thick film resistance gauge in addition to the thin film strain gauge.

  Hereinafter, a specific configuration of the above-described three-axis force sensor panel 1 will be described in detail. In the following description, the plan view refers to a state viewed from the panel upper surface side of the triaxial force sensor panel 1, and the longitudinal direction refers to the long side direction of the switch panel 40 and the base plate 30 that form a rectangle in plan view. The short direction refers to the short side direction of the switch panel 40 and the base plate 30.

  In the case of this embodiment, the base plate 30 has a rectangular shape in plan view, and is made of a resin material having a certain degree of strength and excellent moldability. The member of the base plate is not limited to the resin material, and may be any member having a certain degree of strength and workability. At the four corners of the base plate 30, attachment holes 31 for attaching the base plate 30 to the object to be attached of the triaxial force sensor panel 1 are formed.

  In the present embodiment, the switch panel 40 is made of a plate material having a rectangular shape made of a resin material, and has a size corresponding to the size of the base plate 30. In some cases, the switch panel 40 may be made of a resin material having translucency, but it may not be a resin material. A central portion of the switch panel 40 is provided with a protrusion 45 that has a cross shape in plan view.

  The four connecting bodies 100 (110, 120) are arranged so that the switch panel 40 is arranged to be opposed to the base plate 30 with a predetermined distance from the four corners of the base plate 30 and the four corners of the switch panel 40. , 130, 140). In the case of this embodiment, the connecting body 100 is formed of an elongated rectangular column, and as shown in FIG. 3, one surface of each rectangular column 111, 121, 131, 141 (the upper surface 111a in FIG. 1 and FIG. , 121 a, 131 a, 141 a) face the back surface 40 a of the switch panel 40, and the other surface (the lower surfaces 111 b, 121 b, 131 b, 141 b in the drawings in FIGS. 1 and 3) is on the upper surface 30 a of the base plate 30. They are designed to face each other.

  The connecting body 100 is provided with spacer-like panel connection portions 114, 124, 134, 144 on one end side in the longitudinal direction and facing the switch panel 40, and is connected to the base plate 30 on the other end side in the longitudinal direction. Spacer-like base plate connection portions 113, 123, 133, and 143 are provided on the opposing surface.

  The arrangement structure between the base plate 30 and the switch panel 40 of the connection body 100 is as shown in FIG. That is, in the connecting bodies 110 and 130 along the panel longitudinal direction, the panel connecting portions 114 and 134 (see FIG. 3) of the connecting bodies 110 and 130 face the back surface 40a (see FIG. 3) of the switch panel 40 diagonally. Each of the sets is fixed to a corner of each set with a fastening portion or the like, and the coupling body itself extends along the long side direction edge portion 40b (see FIG. 2) of the switch panel 40, and the base plate connection portions 113 and 133 (see FIG. 3) is fixed to the base plate 30 at the ends of the coupling bodies 110 and 130.

  On the other hand, the coupling bodies 120 and 140 along the short side direction of the panel have screws or the like at the corners of the other set where the panel connection portions 124 and 144 (see FIG. 3) of the coupling bodies 120 and 140 are diagonally opposed. It is fixed with a fastener, the connecting body itself extends along the short side edge 40c (see FIG. 2) of the switch panel 40, and the base plate connecting portions 123 and 143 (see FIG. 3) are connected to the connecting body 120, 140 is fixed to the base plate 30 at the end.

  And the panel connection part 114,124,134,144 with the switch panel 40 of the coupling body 100 and the base plate connection part 113,123,133,143 with the base plate 30 are firmly attached to the switch panel 40 and the base plate 30, respectively. These parts are joined so that relative displacement of the parts does not occur at these portions.

  The force sensor elements 211, 221, 231, 241 for detecting the panel pressing position forming one side of the stress sensor 200 are made of thin film strain gauges as described above, and face the switch panel 40 of the connecting body 100 forming an elongated prism. Affixed to the upper surfaces 111a, 121a, 131a, 141a (see FIGS. 2 and 3), respectively. The force sensor elements 212, 222, 232, and 242 that detect the twist direction of the switch panel 40 that forms the other side of the stress sensor 200 with respect to the base plate 30 are formed of thin film strain gauges as described above, and are connected to each other to form an elongated prism. Attached to outer side surfaces 111c, 121c, 131c, and 141c (see FIGS. 2 and 3) extending along the panel edge of the body 100, respectively. The pasting position is not limited to the outer side surface, but may be the inner side surface or a combination thereof.

  By having such a connecting body 100, as shown in FIG. 3A, when a force F1 pushing the upper surface of the panel is applied to the switch panel 40, the pushing force F1 is a panel connecting portion 114 with the switch panel 40. , 124, 134, 144 act on the cantilever-like coupling body 100 (110, 120, 130, 140) fixed to the base plate 30. In this case, the force F1 pushing the upper surface of the panel acts only in the direction in which the upper surfaces 111a, 121a, 131a, 141a of the coupling body 100 (110, 120, 130, 140) facing the switch panel 40 are stretched, and the coupling body 100 (110 , 120, 130, 140), the outer side surfaces 111 c, 121 c, 131 c, 141 c do not act in the direction of stretching or contracting, so that only the force sensor elements 211, 212, 213, 214 for detecting the panel operation position are connected 100. Bending stress acting on the sensor is detected to generate strain output. Since no stress is generated in the force sensor elements 221, 222, 223, and 224 for detecting the panel twist direction, the output relating to the generation of strain of these elements is zero.

  On the other hand, as shown in FIG. 3B, when a force F2 for twisting the switch panel 40 against the base plate 30 is applied, the twisting force F2 is applied to the panel connecting portions 114, 124, 134, and 144 with the switch panel 40. It acts on the coupling body 100 (110, 120, 130, 140) fixed to the base plate 30 via The twisting force F2 is shown obliquely in FIG. 3B, but actually acts in the direction shown in FIG. 7 on substantially the same plane as the switch panel 40.

  In this case, the force F2 that twists the panel 40 acts only in the direction in which the outer side surfaces 111c, 121c, 131c, and 141c facing the panel of the connection body 100 (110, 120, 130, and 140) are stretched and contracted. Since the upper surface of the body 100 (110, 120, 130, 140) does not act in the direction of stretching or contracting, only the force sensor elements 221, 222, 223, and 224 for detecting the panel twist direction are bent on the coupling body 100. Detects stress and generates strain output. Since no stress is generated in the force sensor elements 211, 212, 213, and 214 for detecting the panel operation position, the output relating to the generation of strain of these elements is zero.

  Subsequently, the panel pressing position and the panel pressing force by the strain gauges constituting the force sensor elements 211, 212, 213 and 214, and the twist of the panel with respect to the base plate by the strain gauges constituting the force sensor elements 221, 222, 223 and 224 A direction detection method will be described in terms of a signal processing method. In the following description, the force sensor elements 211, 212, 213, and 214 for detecting the panel pressing position and the pressing force are referred to as ZH strain gauges 211, 212, 213, and 214, and the twist detection of the switch panel 40 with respect to the base plate 30 is detected. The force sensor elements 221, 222, 223, and 224 are referred to as ZG strain gauges 221, 222, 223, and 224. In the following description, ZH strain gauges 211, 212, 213, and 214 are abbreviated as ZH1 to ZH4, and ZG strain gauges 221, 222, 223, and 224 are abbreviated as ZG1 to ZG4, respectively, for explanation.

  FIG. 4 is a circuit block diagram showing a specific configuration of the force sensor element shown in FIGS. FIG. 5 is a block diagram showing a signal processing method of the triaxial force sensor panel shown in FIG.

In the strain gauge amplifier circuit shown in FIG. 4, assuming that the output of the operational amplifier is V, the gain of the operational amplifier is H, the resistance value of the strain gauge ZH1 is r, and the resistance value change of the strain gauge ZH1 is Δr,
V = [Vcc × [((r + Δr) / (R + r))] − (Vcc / 2)] × H.

Also, assuming that the output of the operational amplifier is V, the gain of the operational amplifier is G, the resistance value of the strain gauge ZG1 is r, and the resistance value change of the strain gauge ZG1 is Δr,
V = [Vcc × [((r + Δr) / (R + r))] − (Vcc / 2)] × G.

  In this way, the outputs of the strain gauges ZH1 to ZH4 and GH1 to GH4 are individually taken out, and each output is input to the microcomputer shown in FIG. 5 for signal processing.

  Next, a method of signal processing inside the microcomputer will be described. Inside the microcomputer, an analog signal measured by each strain gauge and amplified by a differential amplifier is A / D converted into a digital value. Then, the presence or absence of strain detection in the microcomputer is determined for each strain gauge. Here, the principle of strain detection will be specifically described.

  In addition, regarding the XYZ coordinates forming the orthogonal coordinate system described below, the X coordinate is the longitudinal direction on the switch panel surface in FIGS. 1 and 7 and is + toward the right side and − toward the left side. Also, the Y coordinate is the short direction on the switch panel surface in the figure, and is + toward the upper side and − toward the lower side. Also, the Z coordinate is a direction perpendicular to the switch panel surface through the intersection of the XY coordinates in the figure, and is + from the front side of the panel to the back side.

  The following coefficients a to d are correction coefficients for making the output errors of ZH1 to ZH4 the same. By correcting the output error with the coefficients a to d, it is possible to improve the position accuracy of the X and Y coordinates. The adjustment of the output error relating to ZH1 to ZH4 is performed in advance for measurement. Specifically, output error adjustment for ZH1 to ZH4 is executed according to the following procedure.

First, a weight of an arbitrary weight suitable for adjusting the output error is placed on the area A (see FIG. 2) on the upper surface of the switch panel 40, and the weight of the weight is applied to the four ZH strain gauges. In this case, when the total load of the four ZH strain gauges is W, W is as follows.
(1) W = a × DH1 ′ + b × DH2 ′ + c × DH3 ′ + d × DH4 ′
Similarly, weights are placed in order on the regions B, C, and D (see FIG. 2) on the upper surface of the switch panel 40, and the weights of the weights are applied to the four ZH strain gauges. At this time, the total load of the four ZH strain gauges in each case is as follows.
(2) W = a × DH1 ″ + b × DH2 ″ + c × DH3 ″ + d × DH4 ″
(3) W = a × DH1 ′ ″ + b × DH2 ′ ″ + c × DH3 ′ ″ + d × DH4 ′ ″
(4) W = a × DH1 ″ ″ + b × DH2 ″ ″ + c × DH3 ″ ″ + d × DH4 ″ ″
Since the total load of the weight W is constant regardless of the area A, B, C, or D on the upper surface of the panel, the coefficients a, b, and from the above four simultaneous equations (1) to (4) c and d are calculated. The coefficients a, b, c, and d are coefficients for correcting output errors of DH1 to DH4.

  Note that the outputs of ZG1 to ZG4 need not be adjusted until the output errors of ZG1 to ZG4 are determined because only the twist direction of the switch panel 40 with respect to the base plate 30 is determined based on these outputs by an algorithm described later. .

  Next, a method for detecting the position and pressing force of the switch panel 40 based on the outputs ZH1 to ZH4, and a method for determining the twist direction of the switch panel 40 with respect to the base plate 30 based on the outputs ZG1 to ZG4 will be described in detail. To do.

  First, the detection method of the position where the switch panel 40 is pressed and the pressing force will be described. The stress detection (step 1) of the ZH strain gauge is performed according to the following procedure. When a specific position on the upper surface of the switch panel 40 is pressed, stress is generated in a portion of the connecting body to which the strain gauges ZH1 to ZH4 are attached. At this time, no stress is generated in the portion of the connected body to which the strain gauges ZG1 to ZG4 are attached (no interference). As described above, this is because only the output of the ZH strain gauge changes when the panel is pressed, and the change of the ZG strain gauge is zero. That is, the strain gauge on the ZH side detects the bending stress of the strain generating body and generates a strain output. Further, since no stress is generated in the portion of the connected body where the ZG-side strain gauge is applied, the strain output of the ZG strain gauge is zero.

  Subsequently, the position (X coordinate and Y coordinate) at which the switch panel is pressed is specified based on the outputs of ZH1 to ZH4 described above. The X coordinate and Y coordinate calculation processing (step 2) associated with this position specification is performed according to the following procedure.

The coordinates of X and Y can be expressed by the following formula.
X coordinate position = [(b.DH2 + c.DH3)-(a.DH1 + d.DH4)] / (a.DH1 + b.DH2 + c.DH3 + d.DH4)
Y coordinate position = [(c · DH3 + d · DH4) − (a · DH1 + b · DH2)] / (a · DH1 + b · DH2 + c · DH3 + d · DH4)

Subsequently, Z axis translational force calculation processing is performed. This Z-axis translational force corresponds to a force that pushes the switch panel. Here, the denominator of the above-described two equations, that is, the calculation part represented by (a · DH1 + b · DH2 + c · DH3 + d · DH4) is the translational force W of the Z axis.
W = a · DH1 + b · DH2 + c · DH3 + d · DH4
The Z-axis translational force is used as load information data at the intersection of the X coordinate and the Y coordinate.

  Next, a method for determining the twist direction of the switch panel with respect to the base plate will be described. The ZG strain gauge stress detection (step 3) is performed according to the following procedure. When the side surface of the panel is pressed, stress is generated in the strain gauges ZG1 to ZG4. At this time, no stress is generated in the strain gauges ZH1 to ZH4 (no interference). This is because when the panel is twisted with respect to the base plate, only the output of the ZG strain gauge changes, and the amount of change of the ZH strain gauge is zero. That is, since no stress is generated in the strain gauge on the ZH side, the strain output becomes zero. The strain gauge on the ZG side detects the bending stress of the strain generating body and generates a strain output.

Subsequently, the direction of Fx and Fy and the direction of rotation around the Z axis are detected. At this time, the following points are detected by monitoring the outputs of ZG1 to ZG4.
・ Fx, Fy direction ・ Rotation direction around Z axis Note that the + output of the strain gauge is the output signal on the Comp side (compression direction side), and the − output of the strain gauge is the output signal on the Ten side (tensile direction side). The Z-axis couple is used to detect the direction of rotation of the switch panel on the Z-axis.

  Here, a detection algorithm of the twist direction of the panel when a force is applied around the normal passing through the center of the panel surface while facing the base plate will be described. FIG. 6 is an algorithm showing a method of detecting the twist direction of the switch panel by the triaxial force sensor panel shown in FIG. Moreover, FIG. 7 is explanatory drawing explaining the action direction of the force which produces the twist with respect to the base plate of a switch panel. Then, the twist direction with respect to the base surface of the switch panel is determined according to the following algorithm.

  When only the torsional force against the base plate acts on the switch panel, only the outputs of the four ZG strain gauges change as described above. Therefore, the twist direction of the switch panel is determined only from the output of each ZG strain gauge.

  First, the output of each ZG strain gauge is measured. In the following description, when the ZG output is 0, the direction in which the force is applied matches the direction in which the strain gauge (connector) extends, so that the output of the strain gauge is not affected even if a force is applied. A state that does not change.

  Here, when the direction of the XY force is + Fx, the output of the strain gauge is 0 for ZG1, 0 for ZG2, 0 for ZG3, and -G for ZG4. Therefore, from the combination of these outputs, it is determined that ZG2> ZG4, and the Z-axis rotation direction is the + Mz direction.

  On the other hand, when the direction of the XY force is -Fx, the strain gauge outputs ZG1 is 0, ZG2 is -output, ZG3 is 0, and ZG4 is + output. As a result, from the combination of these outputs, ZG4> ZG2, and the Z-axis rotation direction is determined to be the −Mz direction.

  On the other hand, when the direction of the XY force is + Fy, the output of the strain gauge is -GZ is -output, ZG2 is 0, ZG3 is + output, and ZG4 is 0. As a result, from the combination of these outputs, it is determined that ZG3> ZG1 and the Z-axis rotation direction is the + Mz direction.

  On the other hand, when the direction of the XY force is -Fy, the output of the strain gauge is ZG1 + output, ZG2 is 0, ZG3 is -output, and ZG4 is 0. As a result, from the combination of these outputs, ZG1> ZG3 is established, and the Z-axis rotation direction is determined to be the −Mz direction.

  The operation of the three-axis force sensor panel according to the embodiment described above will be described together. Since the triaxial force sensor panel according to the above-described embodiment has such a configuration, an action that cannot be produced by the conventional switch panel, that is, a pressed position on the switch panel surface is detected, and the switch for the base plate is also detected. It works to detect the twist direction of the panel.

  Further, the disadvantages of the capacitive sensor panel and the resistive film sensor panel can be eliminated. Specifically, it is possible to make the surface of the sensor panel itself into the shape of an arbitrary shaped object by providing irregularities on the upper surface of the switch panel of the triaxial force sensor panel. In addition, when an LCD (liquid crystal display device) is provided on the base plate, there is no extra inclusion between the base plate and the panel, which is essential for a capacitance type or resistive type sensor panel. The display content of the LCD can be projected on the panel without reducing the brightness and resolution. As a result, if a panel with excellent light transmittance is used, the sensor panel user can recognize the image on the LCD with high brightness and resolution, and the switch panel can be accurately operated.

  In addition, the switch does not operate when gloves are used as in the capacitance method, and malfunctions may not occur during normal use when the sensitivity of the switch setting is increased for gloves. .

  In addition, the capacitance method and the resistance film method can only detect the pressed position of the panel itself. However, according to the triaxial force sensor panel according to the present invention, in addition to the pressed position of the panel surface, the base It becomes possible to detect the twisting direction of the panel with respect to the base plate acting around the normal of the panel surface of the panel connected to the plate at at least three places, and application to various uses becomes possible.

  In addition, the triaxial force sensor panel according to the present embodiment can detect the pressed position on the panel surface from the combination of the outputs of the force sensor, in addition to the pressing force that presses the panel surface of the switch panel in the Z direction or The tensile force pulling the switch panel can be detected.

  The triaxial force sensor panel according to the present embodiment independently detects the position where the first stress sensor is pressed on the switch panel surface and the force that pushes or pulls the switch panel. The stress sensor independently detects the direction in which the panel is twisted with respect to the base surface. Therefore, the outputs of the first stress sensor and the second stress sensor can be taken out separately, and the above-described pressing force, the pressed position, and the twist direction of the switch panel with respect to the base plate can be individually accurately detected.

  Further, since various operation forces applied to the sensor panel can be detected with a small number of stress sensors, a sensor panel with excellent cost performance can be obtained.

  Further, the stress sensor of the three-axis force sensor panel according to the present embodiment is not limited to the thin film strain gauge, and a semiconductor gauge and a thick film resistance type gauge can be used in the present invention. Thereby, it becomes possible to demonstrate the effect | action of this invention using various stress sensors.

  Preferably, the stress sensor is made of a thin film strain gauge, and the coupling body is made of resin. As a result, it is possible to use a coupled body mass-produced at a low cost, and it is possible to attach the stress sensor directly to the coupled body, thereby completing the manufacturing process of this portion. As a result, the manufacturing cost of the sensor panel can be greatly reduced. Further, since the connecting body is made of resin, even if the connecting body is a thick beam, unlike the metal connecting body, it is easily deformed, so that the operation content to the sensor panel can be detected with high sensitivity.

  The three-axis force sensor panel according to the present invention described above can be applied to various uses. Specifically, for example, the location of the lighting fixture in the room is displayed on the upper surface of the panel so that it can be seen at a glance, and when the position corresponding to the lighting fixture is pressed, the pressed position is based on the output of the panel pressing force detection element. To detect.

  And, there is a protrusion on the panel surface. For example, when the panel surface is pushed clockwise around the normal line when viewed from the top surface of the panel through the protrusion, the switch panel is twisted clockwise with respect to the base plate. Therefore, the brightness of the selected luminaire is increased.

  On the other hand, when the panel surface is pushed counterclockwise around the normal line when viewed from the top surface of the panel through the protrusion, the switch panel is twisted counterclockwise with respect to the base plate so that the brightness of the illumination becomes dark. To do. In this way, various lighting fixtures in the room can be turned on / off and the brightness can be adjusted with a single three-axis force sensor panel.

  Further, the three-axis force sensor panel according to the present invention can be used as a controller of a game machine. In that case, unlike the conventional capacitive type or resistive thin film type sensor panel, for example, the display content of the LCD provided on the base plate can be viewed through the transparent panel plate without reducing the brightness. You can fully enjoy the best part of the game. In the case of the present invention, an arbitrary shaped object can be formed on the panel plate. For example, a special operation lever or the like can be provided on the panel surface, and the panel can be attached to the base plate using such a lever. By detecting the twisting direction, it is possible to diversify the command signals for the progress of the game.

  In addition, by using the three-axis force sensor panel according to the present invention, for example, by controlling the position of a massage chair such as a seat, a backrest, an armrest, and a footrest, the posture of a person using the massage chair can be controlled. A massage chair that is easy to understand for the elderly and the like and easy to use may be realized by performing or adjusting the vibration level (strength level) of the actuators of these parts at the same time.

  In addition, by using the three-axis force sensor panel according to the present invention, it is possible to individually select a desired air conditioner from among a plurality of air conditioners provided in a somewhat large room and adjust the air conditioning degree (strength) of the air conditioner. Anyway.

  Note that, as in the present embodiment, the position pressed on the switch panel may be detected, and instead of detecting the force pressing the switch panel, only the position where the former switch panel is pressed may be detected. Even in such a case, the triaxial force sensor panel according to the present invention can detect the twist direction of the switch panel with respect to the base plate at the same time, and thus has much higher functionality than the conventional sensor panel. It will be.

  Further, the panel and the base plate may have a triangular shape in plan view, and each vertex of the panel may be connected to the base plate via a coupling body. On the other hand, the panel and the base plate may be a pentagon or more polygon. In this case as well, each vertex of the panel may be connected to the base plate via a connecting body.

Moreover, if the connection body can exhibit the effect | action of this invention, it may have shapes other than the shape of an elongate square pole like embodiment mentioned above.

  Further, in the present embodiment, it is described that resin is used for the material of the base plate 30 and other parts, but the material of the constituent parts according to the present invention is not necessarily as described above. It is needless to say that other suitable materials can be selected within a range in which the action of the present invention can be exhibited.

DESCRIPTION OF SYMBOLS 1 3 axial force sensor panel 30 Base plate 40 Switch panel 45 Protrusion part 100 (110,120,130,140) Connection body 111,121,131,141 Square pillar 111a, 121a, 131a, 141a Upper surface 111c, 121c, 131c, 141c Outer side surface 200 (210, 220, 230, 240) Force sensor (stress sensor)
211, 212, 213, 214 Force sensor element (ZH strain gauge)
221, 222, 223, 224 Force sensor element (ZG strain gauge)

Claims (4)

A base plate, a switch panel opposed to the base plate at a predetermined interval, three or more connecting members connecting the base plate and the switch panel, and at least three of the connecting members. A triaxial force sensor having a force sensor that detects a stress based on a force acting in the Z direction perpendicular to the panel surface and detects a stress generated when the panel is twisted around the Z direction. A sensor panel,
The connecting body is a quadrangular prism, and one end of the connecting body is fixed to the switch panel via a panel connecting portion, and the other end is fixed to the base plate via a base plate connecting portion. The connecting body is attached to the switch panel and the base plate in a state of being separated from each other,
The force sensor includes a force sensor for detecting a panel pressing position provided on a surface of the connecting body facing the switch panel, and a surface of the connecting body provided with the force sensor for detecting the panel pressing position. A force sensor for detecting a twist direction of the switch panel with respect to the base plate provided on a surface forming a predetermined angle;
The force sensor for detecting the pressing force is configured such that the output of each force sensor for detecting the pressing force changes according to the pressed position on the surface of the switch panel. it is detected in the pressed position on the panel surface, three-axis force sensor panel, characterized in that can detect twisting direction relative to the base plate of the panel from the combination of the outputs of the force sensor for each twist direction detection. The force sensor for the pressure detection, in addition to being able to detect the position pressed on the panel surface from the output of the force sensor, Ru can detect a tensile force pulling the pressing force or the panel to a panel surface of the Z-direction characterized the this, the three-axis force sensor panel of claim 1. Before Symbol force sensors, semiconductor gauges, thick film resistive gauge, characterized in that it consists either of a thin film strain gauge, 3-axis force sensor panel of claim 1 or claim 2. Before Symbol force sensor consists of a thin film strain gauge, and wherein the coupling element is characterized by being made of easily deformable member, three-axis force sensor panel of claim 1 or claim 2.

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