Stress detection method for sensor device with multiple axis sensor and sensor device employing this method
First Claim
1. A stress detection method for a sensor device with a multiple axis sensor comprising, as the multiple axis sensor, first and second sensors having detection axes of which are orthogonal to one other,wherein, when the detection axis of the first sensor forms an angle θ
- with the axis direction in which detected stress Ax is delivered, and the stress component of an axis direction that is perpendicular to the axis in which the detected stress Ax is delivered as Az,an output Apx of the axis direction of the first sensor is found as Apx=α
x (Ax ×
cos θ
+Az×
sin θ
), andan output Apz of the axis direction of the second sensor is found as Apz=α
z (Ax×
sin θ
+Az×
cos θ
), and, when α
x and α
z are detection sensitivity coefficients of the first and second sensors respectively, the detection sensitivitycoefficient α
z of the second sensor is set as α
z=α
x tan θ
,the difference Apx−
Apz between the output Apx and output Apz is found, and the detected stress Ax is found from the difference as Ax=(Apx−
Apz)/α
x(cos θ
−
tan θ
×
sin θ
).
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Abstract
The present invention provides the stress detection method for force sensor device with multiple axis sensor device and force sensor device employing this method, whose installation angle is arbitrary. The stress detection method includes, first and second force sensors whose detection axes are orthogonal to each other. When the detection axis of first force sensor forms angle θ with direction of detected stress Ax, and the stress component of direction perpendicular to direction of the detected stress Ax is Az, output Apx of the axis direction of first force sensor is found as Apx=αx (Ax×cos θ+Az×sin θ), and output Apz of the axis direction of the second force sensor is found as Apz=αz (Ax×sin θ+Az×cos θ), and, when αx and αz are detection sensitivity coefficients of first and second force sensors respectively, the detection sensitivity coefficient αz of second force sensor is set as αz=αx tan θ, and the detected stress Ax is found as Ax=(Apx−Apz)/αx(cos θ−tan θ×sin θ).
40 Citations
11 Claims
-
1. A stress detection method for a sensor device with a multiple axis sensor comprising, as the multiple axis sensor, first and second sensors having detection axes of which are orthogonal to one other,
wherein, when the detection axis of the first sensor forms an angle θ - with the axis direction in which detected stress Ax is delivered, and the stress component of an axis direction that is perpendicular to the axis in which the detected stress Ax is delivered as Az,
an output Apx of the axis direction of the first sensor is found as Apx=α
x (Ax ×
cos θ
+Az×
sin θ
), andan output Apz of the axis direction of the second sensor is found as Apz=α
z (Ax×
sin θ
+Az×
cos θ
), and, when α
x and α
z are detection sensitivity coefficients of the first and second sensors respectively, the detection sensitivitycoefficient α
z of the second sensor is set as α
z=α
x tan θ
,the difference Apx−
Apz between the output Apx and output Apz is found, and the detected stress Ax is found from the difference as Ax=(Apx−
Apz)/α
x(cos θ
−
tan θ
×
sin θ
). - View Dependent Claims (2, 5)
- with the axis direction in which detected stress Ax is delivered, and the stress component of an axis direction that is perpendicular to the axis in which the detected stress Ax is delivered as Az,
-
3. A stress detection method for a sensor device with a multiple axis sensor comprising, as the multiple axis sensor:
-
first and second sensors the directions of which form an angle Φ
in mutually opposite directions with the direction of a detected stress F1; anda third sensor with a detection axis in a direction that is perpendicular to the plane formed with the detection axes of the first and second sensors, wherein, when the plane formed with the detection axes of the first and second sensors forms an angle θ
with the axis direction of the detected stress F1, and the stress component in an axis direction that is perpendicular to the axis in which the detected stress F1 is delivered is F2,an output Fx of the axis direction of the first sensor is found as Fx=α
x×
(F1 ×
cos Φ
×
cos θ
−
F2×
sin θ
),an output Fy of an axis direction of the second sensor is found as Fy=α
y×
(F1×
cos Φ
×
cos θ
−
F2×
sin θ
),an output Fz of an axis direction of the third sensor is found as Fz=α
z×
(F1×
sin θ
−
F2×
cos θ
), andthe combined output F of the outputs Fx, Fy and Fz is found as F=Fx+Fy−
Fz; and
,when α
x, α
y and α
z are detection sensitivity coefficients of the first, second, and third sensors respectively, the detection sensitivity coefficient α
z of the third sensor is α
z=(α
x+α
y)×
tan θ
, and the detected stress F1 is then found from the composite output F as F1=F/{(α
x+α
y)cos Φ
×
cos θ
−
α
z×
sin θ
}. - View Dependent Claims (4)
-
-
6. A sensor device with a multiple axis sensor comprising:
-
first and second sensors the detection axes of which are mutually orthogonal; and a circuit for processing the outputs of the first and second sensors, wherein, when the detection axis of the first sensor forms an angle θ
with the axis direction in which the detected stress Ax is delivered and the stress component of an axis direction that is perpendicular to the axis in which the detected stress Ax is delivered is Az, the circuit outputs;Apx=α
x (Ax×
cos θ
+Az×
sin θ
) as an output in the axis direction of the first sensor, andApz=α
z (Ax×
sin θ
+Az×
cos θ
) as an output in the axis direction of the second sensor,where α
x and α
z are detection sensitivity coefficients of the first and second sensors respectively and the detection sensitivity coefficient α
z of the second sensor is set as α
z=α
x tan θ
;the difference Apx−
Apz between the output Apx and output Apz is found; andthe detected stress Ax is detected from the difference and outputted as Ax=(Apx −
Apz)/α
x(cos θ
−
tan θ
×
sin θ
). - View Dependent Claims (7, 8)
-
-
9. A sensor device with a multiple axis sensor comprising, as the multiple axis sensor:
-
first and second sensors that form an angle Φ
in mutually opposite directions with the axis direction in which the detected stress F1 is delivered; anda third sensor with a detection axis in a direction that is perpendicular to the plane formed with the detection axes of the first and second sensors, the plane formed with the first and second sensors forming an angle θ
with the axis direction in which the detected stress F1 is delivered; anda circuit that processes the outputs of the first, second, and third sensors, such that, when the stress component in an axis direction that is perpendicular to the axis in which the detected stress F1 is delivered is F2, the circuit outputs; an output Fx of the axis direction of the first sensor as Fx=α
x×
(F1×
cos Φ
×
cos θ
−
F2×
sin θ
),an output Fy of the axis direction of the second sensor as Fy=α
y×
(F1×
cos Φ
×
cos θ
−
F2×
sin θ
),an output Fz of the axis direction of the second sensor as Fz=α
z×
(F1×
sin θ
−
F2×
cos θ
), andthe combined output F of the outputs Fx, Fy and Fz as F=Fx+Fy−
Fz; and
,wherein α
x, α
y and α
z are detection sensitivity coefficients of the first, second, and third sensors respectively,the detection sensitivity coefficient α
z of the third sensor is α
z=(α
x+α
y)×
tan θ
, andthe detected stress F1 is obtained from the composite output F and outputted as F1=F/{(α
x+α
y)cos Φ
×
cos θ
−
α
z ×
sin θ
}. - View Dependent Claims (10, 11)
-
Specification