Source: https://patents.google.com/patent/WO1988008522A1/en
Timestamp: 2020-01-17 17:19:32
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WO1988008522A1 - Detector for force, acceleration and magnetism using resistor element - Google Patents
Detector for force, acceleration and magnetism using resistor element Download PDF
WO1988008522A1
WO1988008522A1 PCT/JP1988/000395 JP8800395W WO8808522A1 WO 1988008522 A1 WO1988008522 A1 WO 1988008522A1 JP 8800395 W JP8800395 W JP 8800395W WO 8808522 A1 WO8808522 A1 WO 8808522A1
PCT/JP1988/000395
Kabushiki Kaisha Nexy Kenkyusho
1987-04-24 Priority to JP62/101269 priority Critical
1987-04-24 Priority to JP62101267A priority patent/JPH0652269B2/en
1987-04-24 Priority to JP62/101267 priority
1987-04-24 Priority to JP62101269A priority patent/JPH0617834B2/en
1988-04-22 Application filed by Kabushiki Kaisha Nexy Kenkyusho filed Critical Kabushiki Kaisha Nexy Kenkyusho
1988-11-03 Publication of WO1988008522A1 publication Critical patent/WO1988008522A1/en
230000001133 acceleration Effects 0 abstract claims description title 91
A force detector comprising piezoelectric resistor elements (R) formed on a single-crystal substrate (10), said resistor element changing its resistance in accordance with the deformation thereof; and a strain generator (20) including a support (21) and an actuator (23) to cause a mechanical deformation of the resistor elements in accordance with a displacement of the actuator with respect to the support. The force detector is designed to detect a force on the actuator in the form of changes in the resistance of resistor elements. The single-crystal substrate surface, where resistor elements are formed, is such that the piezoelectric resistance coefficient is maximum in two orthogonal directions. If a plummet (30) is attached to the actuator, the acceleration against the plummet can be determined. With a magnetic member (330) attached to the actuator, it is possible to determine the magnetic force acting on this magnetic member. If a magnetic force detecting system and an acceleration detecting system are combined for a compensating operation, a net magnetic force can be determined without the influence of an acceleration. In either case, the magnitude of a measurement can be determined along each axis of a three-dimensional coordinate system by properly arranging the resistor elements.
Force, acceleration and the magnetic detection device technology component fields with bright fine resistive element
Force detection device The present invention which employs a resistance element, and relates to the acceleration detecting device and a magnetic detection device is applied to this, particularly in the three-dimensional coordinate system, to detect the pressure Waru force, acceleration, magnetic each independent directions about the possible detection device.
When detecting the force acting on the three-dimensional space, in the three-dimensional coordinate system is expressed by three axes of XYZ, is necessary to detect independently each axial component of the force acting raw _ Jill. Conventionally, the force detecting apparatus used in the General has been detected by converting the electric quantity stress strain you due to forces acting in such be sampled rate Ngeji. Normally paste scan Bok lane ♦ gauge sterically processed strain body, is often performed a force detected by detecting the XYZ stress distortion of each axial direction of the strain body.
Further, in various industrial equipment in motion, including robot Bok, it is necessary to acceleration detected in the three-dimensional coordinate system. That is, in the three-dimensional coordinate system is expressed by three axes of XYZ, it is necessary to independently detect each axial component of acceleration. Conventionally, the acceleration detecting device generally used has been detected by converting the stress distortion due to acceleration into an electrical quantity, etc. be sampled rate Ngeji. Usually in the same manner as described above for force detection device, paste be sampled rate Ngeji the structure of the cantilever beam, often perform by connexion particular direction acceleration detection stress distortion of the cantilever.
However, the conventional force sensor and acceleration detecting device described above, there is a problem that the structure is not suitable for complex mass production. For example, it must stand allowed body to combine three sets of cantilever to detect device in three axial component with structure cantilever. Therefore, it is the problem of cost high not suitable for mass production occurs. Also, the conventional apparatus because of the use of sensors, such as scan train gauge, there is also a problem of low measurement accuracy.
- How, as the magnetic detector, it is known Hall element or magneto-resistance effect element. Hall element consists generally rectangular semiconductor thin plate. Flowing longitudinally bar Iasu current of the semiconductor thin plate, when applying a magnetic field in a direction perpendicular to the bias current, at right angles to both the Baiasu current and the magnetic field by mouth one les Nkka, force proportional to the magnetic field power is generated. It reveals the magnitude of the magnetic field by detecting this electromotive force. Primary, field table of the magnetoresistive element, when a magnetic field is applied to the magnetoresistive effect element current is flowing, the passage of Canon Ria is increased by Lorre N'force, the electrical resistance increase large. The size of'll Ri magnetic field the electrical resistance in the detection child is found.
However, a Hall element or magneto-resistance effect element as described above, although the magnitude of the magnetic field can be easily detected, a problem that it is difficult to accurately detect the direction of the magnetic field rides
A first object of the present invention, the structure is suitable for simple production, the tooth is be a child that is a measurement of high accuracy and provide child a force detecting device capable.
A second object of the present invention is to provide an acceleration detecting device capable of performing a structure suitable for simple production, the teeth be measured with high accuracy.
A third object of the present invention, with the magnitude of the magnetic field is to provide a magnetic detection device which can be accurately detected until that direction. Invention is by the following features to achieve various objectives discussed above.
A first aspect of the present invention resides in a force detecting device, a resistive element that have a piezoresistive effect which changes due connexion electrical resistance mechanical deformation formed on a single crystal substrate, the supporting portion and the working portion a concatenated to the flexure element, this - in the so that cause mechanical deformation resistance element based on the displacement against the supporting portion of the working portion, so as to electrically detect the force acting on the acting portion one in which the. When a force in the action part of the force sensor according to the present invention is applied, a change in mechanical deformation based Dzugu resistance by piezoresistive effect occurs, it is possible to electrically detect the applied force. Since the all resistive elements are formed on one surface of the single crystal substrate, the structure becomes very simple, and suitable for mass production.
Second Toku徵 of the present invention, those as in the above-mentioned force sensor, piezoresistance coefficients in substantially two orthogonal directions on the resistive element forming surface to select the resistive element forming surface so as to substantially peak it is. On resistive element formation surface, for Pyezo resistance coefficient has a peak "two directions becomes cormorants by substantially orthogonal, can take two directions become the peak detection axes of the force, that the sensitivity good measure can, to improve the measurement accuracy.
A third aspect of the present invention, the working portion of the strain inducing member in the above-described force sensor, Ru der that constitutes a displaced connecting base causes a weight body to produce an acceleration detecting device in accordance with the acceleration.
A fourth aspect of the present invention, the working portion of the strain inducing member in the above-described force detection device is obtained by constituting the magnetic detection device by connecting a magnetic material to produce a displacement according to the ambient magnetic field, the a fifth aspect of the invention, the exact that using different consisting wood charge different One magnetic body having magnetic properties a magnetic detection device described above two sets were prepared, and discharge the effects of acceleration on the basis of both the detection result to each other Mel that to allow the measurement of magnetic physical quantity.
Figure 1 (a) and (b) respectively side sectional view and a plan view of a mosquito detection apparatus according to an embodiment of the present invention, FIG. 2 bridge configuration of resistance elements of the apparatus shown in Figure 1 the circuit diagram, FIG. 3 is a principle diagram showing the relationship between the resistance change of the stress strain and the resistance element in the apparatus shown in FIG. 1, FIG. 4, FIG. 5, FIG. 6 is shown in FIG. 1 in the apparatus, X-axis, respectively, Y axis, Z $ derived direction shows a stress generated when a force is One written, FIG. 7 is a resistive element used in the apparatus shown in Figure 1 over a single crystal substrate process diagram of a process for forming, Figure 8 shows the piezo resistance coefficient ^ in each surface of the sheet re co down monocrystalline Darafu, acceleration, according to an ¾ 施例 of FIG. 9 (a) and (b) the invention each side sectional view and a plan view of the detection device, the first 0 view and first 1 Figure side sectional of the acceleration detecting device according to another embodiment of the present invention Figure is a side cross-sectional view of a magnetic detection device first 2 Figure a) is according to an embodiment of the present invention, a top view of a single crystal substrate in the apparatus of the first 2 diagram (b) the figure (a), the 1 3 Figure is a side sectional view of the magnetic ^ detecting device having an acceleration cancellation function according to an embodiment of the present invention, the .1 4 Figure circuit for performing acceleration offset that put the device shown in the first 3 Figure diagram, first 5 Figure-first FIG. 8 is a diagram showing a contact Keru ^ crystal substrate protective structure to the acceleration or magnetic detection ¾ location according to the present invention.
Best example of § 1 force detector
1.1 configuration of the apparatus
Sectional side view of FIG. 1 (a) is a force detection device according to an embodiment of the present invention, FIG. (B> is a top view of the device. In here, X-axis, Y-axis, the Z axis shall be defined in the direction of FIG. FIG. 1 (a) corresponds to the cross-sectional view taken along the X axis of the apparatus shown in FIG. (b).
In this device, on the single crystal substrate 1 〇 of silicon, the total 1 two resistance elements R are formed. Resistance element R xl~R x4 are found using the provided is the X-axis direction force detecting on the X-axis, the resistance element R yl~R y4 is disposed on Upsilon $ O used in the force detection of the Y-axis direction, resistance elements R zl ~ R z4 are Ru used disposed on the axis Z-axis direction force detecting in the vicinity of the parallel Deco to the X-axis. Although described in detail later For a specific structure and a method of manufacturing the resistance element R, these resistance elements R are an element that have the piezoresistive effect of varying its electrical resistance by mechanical deformation.
The single crystal substrate 1 ◦ is bonded to the strain generating body 2 0. In apparatus according to the present embodiment, the strain generating body 2 0 and furans di part 2 1 of the disk-like, flexible and flexible part 2 2 with a reduced wall thickness in order to have a protrusion protruding to the center Ru is composed of two 3. Kovar as the material for the strain generating body 2 0 (iron, Copa 'Honoré DOO, alloy nickel) is used. Kobanore is because of having a sheet re co down monocrystalline substrate 1 0 almost the same coefficient of thermal expansion, be bonded to the single crystal substrate 1 0, I connexion resulting thermal stress change in temperature the advantage that very small that Yusuke. Strain generating body 2 0 of materials, shapes, rather than Ruwake limited to the above, 突施 example shown in here is not to trick the optimal aspect. Incidentally, the strain generating body 2 0 is secured to a support Jo Tokoro by a mounting hole 2 4.
Strain generating body to the 2 0 of the upper (not shown in FIG. 1 (b)) of the protective cover 4 0 to protect a single crystal substrate 1 0 is mounted. The protective cover 4 0 may be any one as long as it has a function of protection, may not be provided in some applications aspect of this device.
Each resistor element wiring as shown in Figure 2 is performed. That is, the resistance element R xl~ R x 4 are assembled in a bridge circuit as shown in FIG. 2 (a), the resistance element R yi~ R y4 are bridge as shown in FIG. 2 (b) braided circuit, the resistance elements R zi ~: R ^ z4 is Ru braided in bridge circuit as shown in FIG. 2 (c). Each the bridge circuit is supplied a predetermined voltage or current from the power supply 5 0, the bridge voltage is thus measured voltmeter 5 1-5 3. To perform a good Unahai line of the resistance elements R Nitaishiteko, and Bondi Ngupa head 1 1 is electrically connected to the resistance elements R on the single crystal substrate 1 0 Remind as in Figure 1 electrodes 1 3 and the force of the external wire <is connected in Bondy Nguwa catcher 1 2. Electrode 1 3 is guided to the outside through the wiring hole 2 5.
In the above embodiment, although the strain generating body 2 0 and the single crystal substrate 1 0 is a separate, if configure the strain generating body 2 0 single crystal, also be integrally formed both it can.
The basic principle of the 1.2 system.
In FIG. 1 (a), when a force to the protrusion 2 3 action point of the tip S, so that the stress distortion in accordance with the applied force to the strain generating body 2 0 occurs. Since the flexible portion 2 2 as described above with flexible thin wall thickness, displacement occurs between the central portion of the strain body (referred to hereinafter acting portion) and a peripheral portion (hereinafter referred to as supporting part), each resistor element R is mechanically deformed. Electrical resistance changes of the resistance elements R This variant, binding station, the applied force is detected as a change in the bridge voltage shown in Figure 2.
In Figure 3 shows the relationship between the change in the electrical resistance of the stress strain and the resistance element R. This Kodewa, for convenience of explanation, illustrated only protrusions 2 3 single 锆晶 substrate 1 0 and the strain generating body 2 0, four resistance elements R 1 to R 4 from left to right in figure formed consider the case you are. First, as shown in FIG. 3 (a), when the force to create ffl point S is not applied, the stress strain in the single crystal substrate 1 0 pressurized Warazu resistance change of all the resistive element is 0. When - When this Rogashita force F 1 is applied, it will be mechanically deformed to a single crystal substrate 1 Higazu. Now, the resistance MotoRyo - conductivity type if the P type, this deformation, the resistance element R 1 and R 4 (to be indicated by the + sign) extends resistance is increased, the resistance element R 2 and R 3 becomes the squashed resistance (to be indicated in one symbol) '减Ru it. Further, when the right direction of the force F 2 is applied, so that the single crystal substrate 1 ◦ is mechanically deformed as shown in FIG. (Actually against the single crystal Moto扳 1 0, the force F 2 is Mome down to act as a door force). This deformation, resistance elements R 1 and R 3 the resistance is increased stretched, the resistance element R 2 and R 4 are squashed resistance becomes possible 减Ru. Since each of the resistance elements R is a resistance element for the transverse direction in the drawing as the longitudinal direction, if a force is applied to the vertical a direction in the plane of the figure, the change in resistance in both the resistance elements are negligible . As this is to detect the resistance change characteristics of the resistance element depending on the direction of the force applied in the present apparatus independently differ by utilizing> force in each direction.
Operation of 1.3 devices.
Referring to Figure 4, second .6 FIG explaining the operation of the apparatus. If Figure 4 is the force is applied in the X-axis direction, Fig. 5 when a force is applied to the Y $ derived direction, FIG. 6 when a force is applied to Ζ axially applied to the resistance elements of stress (extending direction +, scratch shrinking direction, no change indicated by 0) is a an illustration, respectively. In the drawings, Figure 1 shows. The cross section of the to apparatus taken along the X-axis (a), the cross-sectional ffij the (b) taken along the Y-axis, and X $ element parallel to the derived R zl to indicate the Setsutsu was cross as (c) along a ~ R z4.
First, 4 (a), consider the case where X-axis direction force as indicated by the direction perpendicular) to the plane is One Kuwawa in (b>. (Arrow F x of c) (FIG. 4 (b) When the stress of the polarity shown respectively occur. the polarity of the stress will be easily understood from the description of FIG. 3. each resistive element R, arises resistance change corresponding to this stress. for example, the resistance element resistance of Rxl was reduced (-)., the resistance of the resistive element Rx2 increase (+), the resistance of the resistive element Ryl unchanged (0) the arrow F y and F z of FIG. 5 and FIG. 6 respectively force in the Y-axis contact and Zfii direction as shown by the the one where there was Kuwawa, stress as illustrated is generated.
After all, the melt summarizes the power and relationship between the change of the resistance elements applied to the table, so the Table 1.
Ku Table 1>
R xl 0
Rx2 + 0 +
Rx3 〇 +
R x4 + 0
- R l 0
R 2 0 + ten
R 3 0 +
Ry4 0 ten
Rzl 0
Rz2 + o 4-
Rz3 0 i
In Rz4 0 here, taking into account that you resistor elements R constitute a bridge such as shown in FIG. 2, applied force and the presence or absence of change in the voltmeter 5 1-5 3 a relationship such as shown in Table 2, the phrase Table 2>
The resistance element R zl~R z4 are subjected to substantially the same stress changes the resistance element R xl ~ R x4, since the pre-Tsu di configured Remind as in Figure 2 are different both from the voltmeter 5 1 and 5 3 It should be noted that the different ivy response. After all, the voltmeter 5 1, 5 2, 5 3, X-axis, respectively, Y-axis, will respond to the force in the Z-axis direction. Incidentally, Table 2 changes in the -. Showed no only ruled polarity changes the direction of applied force, also become a this amount of change depending on the size of the pressurizing Waru force is dominated (§ 2_ piezoresistive production of the resistance element having an effect
Hereinafter, an example of a method of manufacturing the resistive element used in the present invention easy 'just described. The resistive element has a piezo resistance effect are those that will be formed in Tsu by the semiconductor flop Renaburosesu on semiconductors substrate. First, Remind as in FIG. 7 (a), the sheet re co down Moto扳 1 0 1 N type is thermally oxidized to form an oxide Shi Li co down 廇 1 0 2 on the surface. Subsequently, as shown in FIG. (B), and Yotsute Etchingu the oxide silicon layer 1 0 2 to photolithographic method to form an opening 1 0 3. Subsequently, as shown in FIG. (C), the boron from the opening 1 0 3 by thermal diffusion to form P-type diffusion region 1 0 4. Incidentally, this process of thermal diffusion, the and this oxide silicon layer 1 ◦ 5 in the opening 1 0 3 is formed. Next, as shown in FIG. 2 (d), by the CVD method - one by depositing nitride silicon, to form a nitrided silicon layer 1 0 6 as coercive Mamoruso. Then, as shown in FIG. (E), after opening the conductance Tohoru by nitridation of this silicon co emission layer 1 ◦ 6 and oxidized Li Gong layer 1 0 5 to photoetching method, as shown in FIG. (F) to be deposited forms a Aruminiumu wiring layer 1 0 7. And 'finally patterning the aluminum wiring layer 1 0 7 by photoetching method to obtain a structure as shown in FIG. (G).
The steps of the production described above are shown as an example, - the present invention are short with whatever substance so Re Ah resistive element having a piezo resistance effect achievable.
2.2 single crystal of the plane orientation of the selection.-Option
The piezoresistive effect as described above - to single 锆 gamma. Pi E zone resistance coefficient δ 扳, i.e., the electric resistance change sensitivity to stress strain, there is a directional dependence. Teeth - were Therefore, the plane orientation when cutting out the single crystal S • plate, measurement sensitivity is increased left right. One feature of the present invention is that choosing a good direction most sensitive to the detection axis. To so that is shown in Fig. 1 (b), the resistance element R xl~ R x4 disposed on the X-axis, the resistance element Ryl~; Ry4 are arranged on the Y axis. Since the X-axis and Y-axis are interlinked directly, eventually, two detection axes ^ provided should this Togawakaru mutually orthogonal to the resistance element forming surface. Orthogonal detection axis direction of this, i.e., in the X-axis and Y-axis direction in Fig. 1 (b), if the piezo resistance coefficient taking the peak value, the that you can have very measure of sensitivity good precision . Such conditions are met by the this peak direction Biezo resistance coefficient performs cutting said single crystal substrate along a plane that is orthogonal. - in Figure 8 illustrates an example graph of a plane orientation of throat E zone resistance coefficient. This graph cut at a specific crystal plane in the Tan'yui曰π曰Siri co down, the piezoresistive coefficient of Te each direction "Kotsui of the cut plane in correspondence with the distance from the origin 0 plots one in which the. Figure 8 (a) is about (0 0 1) surface, FIG. (B) is about (1 1 0) plane, FIG. (C). The
It is a graph showing the respective results of measurement of (1 1 1) plane.
For example, in the (0 0 1) surface, the Figure 8 (a) shows to 0 °, 9 0 °, 1 8 0 °, in each direction 2 7 0 °, piezoresistive coefficient and the peak value connexion there. That is, the direction in which the bi chromatography click are orthogonal in a plane, the that you have to meet the conditions of the present invention. Therefore, for example, [0 1 [a 门 direction and [Ding 0 0] direction, by using each as the X-axis direction and the Y-axis direction shown to apparatus Fig. 1 (b), can be performed better measurement sensitivity It will be.
In contrast, in the example (1 1 0) plane, in the direction indicated by the broken lines in FIG. 8 (b), the piezo resistance coefficient peak - is convex a click value. Since the corner P 0 Q is not at right angles, the direction indicated by the broken line in this, Oyo X 铀 direction of the apparatus shown in FIG. 1 (b) - can not be used as a fine Y-axis direction. To perform as possible good sensitivity measured using this surface was example - if the direction of 4 5 ° as shown in the έ diagram (b) in the X-axis direction, 1 3 5 in the direction of ° Y-axis direction , although ing to be used respectively, becomes slightly deviated would result from the peak value any axis, it is impossible to obtain an ideal sensitivity conditions. Although cut surface as a peak direction as shown in FIG. 8 (a) perpendicular to exist in addition to this, the present invention may be used any of its surfaces. Note that in the equipment shown in Fig. 1 (b), the resistance element Rzl~Rz4 for detecting a force in the Z-axis direction are arranged along the X-axis direction 'direction. In principle, these resistive elements may be oriented to any direction. For example, it is also possible to detect the 2-axial forces are arranged in the direction of 4 5 ° relative to the X axis. However forces et al, as shown in FIG. 8 (a), [0 0 1) in the case of forming a resistive element with a plane, the direction of sensitivity of the 4 5 ° is not properly desirable because very poor. Accordingly, as shown in Fig. 1 (b), it is favored arbitrariness of arranging the X-axis direction showing a high sensitivity. Alternatively, the same Ru can also this that high-speed steel in the Y-axis direction by reason.
Incidentally, Remind as in Figure 8 (c), [1 1 1) plane of be used by UNA surface piezoresistance coefficient becomes a peak value with respect to good power sale in all directions, good measurement sensitivity is allowed - ability it is. In that Yosu, as piezoresistance coefficient is substantially beak in two directions substantially orthogonal on the resistive element forming surface, by selecting the resistance element type Narumen allows good measurement sensitivity.
2.3 Ko粜 force detection device according to the invention
The good cormorants device according to the present invention, the order to use the resistance element formed in a planar shape on a single sintered article substrate, the structure is very simple. Further, suitable because mass production is possible to manufacture in a process as described above, cut with this transgression achieving cost Todau down. Moreover the resistance element. Child is an element made of a single crystal, for cutting direction piezoresistance coefficient has a peak in the power sale good before mentioned in use, it is possible to measure with high accuracy.
Best example of § 3 acceleration detecting device
3.1 configuration of the apparatus
Figure 9 (a) is a side sectional view of an acceleration detection equipment according to an embodiment of the present invention, FIG. (B) is a top view of the device. In here, the. With the force detector and 问_ｰ configuration ¾ element shown in 1 囟 is shown denoted by the Question over code. It differs from the force detection device shown in FIG. 1 in that a Jutsumutai 3 0 is provided at the tip of the protrusion 2 3. In this embodiment, the weight body 3 0 is a metal mass. Second function of the weight body 3 0 is to produce a stress strain "in accordance with the acceleration applied to the strain body 2 0, which ones of the functions of any material as long as be had fruit it may be provided in a position such that.
Other constructions are exactly the same as the force detection device shown in FIG. 1, the wiring for Crossed bridge circuit as shown in Figure 2 have been made to the resistive elements.
3.2 operation of the device
In Figure 9 (a), when moving the entire apparatus takes acceleration connexion weight body 3 0 by this 違動 becomes a Okoshiibitsukyu 2 0. The stress strain corresponding to this acceleration occurs . Before Since E ^ is flexible portion 2 2 as having a wall thickness thin and flexible, central portion of the strain body (acting unit) and the peripheral portion (supporting portion). Displacement is generated between the respective resistance element R is ing to mechanically deformed. The deformation by the connexion electrical resistance change of the resistance elements R., And 锆局, motion acceleration of the entire device is detected as a change in each of the pre Tsu di voltage shown in Figure 2.
锆局, magnitude and direction of the acceleration acting weight body 3 0 will correspond to the magnitude and direction of force acting on the action point S of the force detection device shown in Figure 1. Accordingly, the force detection device shown in FIG. 1, the cormorants I could and this to detect three-way direction independently the force acting on the action point S, an acceleration detecting device shown in FIG. 9, the weight body 3 0 can be detected acceleration-3 directionally independent acting.
3.3 Example which is integrally formed
In the described embodiment, the semiconductor substrate, the flexure element, and Jutsumu body each consist of separate members, but constituted the entire device by the this to bond them, these Te to base the same material it is also possible with this to be integrally formed. The first 0 Figure is a cross-sectional view of the solid 施例 which is integrally formed with one switch-up consisting of shea Li co down monocrystalline. Shi Li co Lynch-up 2 0 0 is shaped like a figure substrate section 2 that the resistance element is formed 0 1 support 2 0 2, the action unit 2 0 3, and Jutsumu 2 0 It is composed of four. After all the heavy weight 2 0 4 serves of the weight by the weight of the sheet re co down .. Each resistor element is Li over me by the Bondi Nguwaiya 2 0 5 ^ de
It is connected to the 2 0 6. Ru. The sheet is sealed by re co Nchi' flop 2 0 0 Mamo Honoré de resin 2 0 7, the upper cover plate 2 0 8 is adhered. The mall de resin 2 0 7 and the cover plate 2 0 8 It has provided vent 2◦ 9. This is because intends want to seal, the effect of sealing pressure due to a temperature change is a table We have want Utame the detection result.
Incidentally, in the production of sheet as shown in the first 0 FIG Li co Lynch-up 2 0 (] is the officer from the state shown in FIG. 7 (g), nitride sheet re co down layer deposited on the back surface 1 0 6 patterning the, which perform the etching with the etchant for Al force Li, etc. as a mask is' good.
Embodiment shown in the first 1 figure integrally formed on a single chip comprising a semiconductor substrate and the strain body from silicon single crystal, provided the weight body 2 1 0 made of another material at the tip of the working portion 203 it is intended.
Optimal embodiment of § 4 magnetic detector
4. the configuration of the first device
In the acceleration detecting device shown FIG. 9 is an acceleration applied to the weight body 30, it detects a force acting on the tip of the protrusion 23. Magnetic detection device described here, the magnetic material provided on Ri leather weight body, the magnetic forces encountered when the magnetic body is placed in the magnetic field, a detection quotient as a force acting on the projection 23 it is intended.
The first 2 diagram (a) is a side sectional view of a magnetic detection equipment according to an embodiment of the present invention, FIG. (B) is a top view of a single crystal substrate in the same device. Magnetic detection unit 300 is configured a cylindrical pedestal 3 1 〇, the silicon single 锆晶 substrate 320, and a magnetic body 330,. Single crystal Moto扳 3 20 includes a supporting portion 32 1 of the peripheral and central action part 322, and the thin flexible portion 323 of the wall thickness is formed between these made from, the support portion 32 1 It is solid ¾ on the pedestal 3 1 0. - the material of the magnetic body 330, iron is a strong fracture resistance body, cobalt Bok, nickel, etc., or alloys thereof (e.g., Kovar) or the like. If the magnetic material 3 3 0 is in a state surrounding the has enclosed or is a cylindrical pedestal 3 1 0, gap is provided between the pedestal 3 1 0, which is placed in a magnetic field stand, it is the children that I go-between displaced in the magnetic force.
Since the flexible portion 3 2 3 single crystal substrate 3 2 0 having a wall thickness thin and flexible, the magnetic body 3 3 0 is displaced, to the this stress strain in the single crystal substrate 3 2 ◦ surface occurs Become. The stress strain thus detected to the resistance element formed on a single crystal substrate 3 2 0 of the surface. The sequence of this resistive element to the first 2 diagram (b) is shown. This sequence is exactly the same as the sequence of force detection device shown in FIG. 1 (b). Are against each resistor Sakuko R are organized is pre Tsu di circuit as shown in FIG. 2, the bridge output to the outside by Bondi Nguwaiya 3 2 5 via Bondi Ngupa' de 3 24 It is taken out. Magnetic detecting unit 3 0 0 is housed in a case 4 0 in 0, the lid 4 1 0 is covered. Bondi Nguwaiya 3 2 5 is connected to one end of rie de 2 0. Ni apparatus body will this Yo
3 0 0 is protected by the case 4 0 0. Rie de 4 2 0 to be cormorants end is led to the outside, used in the wiring.
4. operation of the two devices
When the magnetic detection device shown in 笫 1 2 Figure in a magnetic field ^ Ku, the magnetic body 3 3 ϋ is a eligible to receive a magnetic force. The magnetic force magnetic body 3 3 0 receives is transmitted to the working portion 3 2 2 single crystal Moto扳 3 2 0. Eventually, the large can and direction of the magnetic field detection device is placed is proportional to the magnitude and direction of the force acting on the working part 3 2 2. To obtain a magnitude and direction of the force acting on the acting portion 3 2 2 from the pre Tsu di output is the same as described in the operation description of the above-described force detection device. The magnitude and direction of this will to a magnetic field can be detected.
4.3 acceleration cancellation
Device shown in the first Fig. 2, when used in a stationary environment without the action of acceleration works well as a magnetic detector. However, as in the case of mounting to the vehicle, the acceleration stops and accurate operation in environments that act. This is because the magnetic body 3 3 0 has a mass, the action part 3 2 2 force based on acceleration not only a force based on magnetic force is also for pressurized Erareru.
Device showing a cross section in the first 3 figures to allow even accurate operation in an environment where the action of such accelerations is obtained by adding the acceleration offset function. The apparatus includes a magnetic detecting portion 3 0 0 and the acceleration detector 5 0 0 Case 4 0 within 0. Acceleration detecting section 5 0 0 consists magnetic detecting unit 3 0 0 walk pot same configuration. In other words, the pedestal 5 1 0 pedestal
3 1 0 and is exactly the same as the single-crystal substrate 5 2 0 is exactly the same as the Tan'yui crystal substrate 3 2 0, the support 5 2 1, create a section 5 2 2, the flexible portion 5 2 3 consisting of. The only difference is that it has a S frustums 5 3 0 instead of magnetic body 3 3 0, the S frustums 5 3 0 that Do different magnetic properties than the magnetic material 3 3 0 material, e.g. consisting of glass material. When using a glass material, arbitrarily use a borosilicate glass pie Re' box or the like having approximately the same linear expansion coefficient and the single crystal substrate 5 2 0 preferred. A magnetic detecting portion 3 0 ◦ acceleration detection section 5 0 0 because that is fixed to the case 4 0 0 by monitor pedestal 3 1 ◦ and 5 1 0, and the this receiving a monitor same acceleration become. Because both force based on magnetic force you and acceleration acting on the magnetic detection unit 3 0 0 The magnetic body 3 3 0 are detected, act only acceleration to the acceleration detection section 5 0 0 In the weight body, pressurized only force based on the speed is detected. Accordingly, it is a call to cancel the acceleration using both detection values.
First 4 Figure shows a circuit arrangement for canceling the acceleration. Block A in here corresponds to the entire device shown in the first FIG. 3, block B corresponds to Ho傥 calculating means for canceling the acceleration. Electrical signals output from the bridge circuit of the acceleration detection section 5 0 0 and the magnetic detector 3 0 0, after being 增幅 to each amplifier circuit 5 4 0 and 3 4 a predetermined level Ri by the 0, respectively 5 5 0 and the a / D converter circuit
3 5 0 by the Ri is converted from analog ί saying Nos to di digital ί saying Nos. Each Di digital ί word No. of converted is supplied to the arithmetic circuit 6 0 0.
When the magnetic force and the acceleration acts on the entire detector, the acceleration detector 5 0 0 side of AZD converter 5 5 Y from the arithmetic circuit 6 ◦ to the ◦, X axis, Y axis, for each component in the Z-axis direction , A x as the acceleration, A y, A z given. On the other hand, the A ZD converter 3 5 0 of the magnetic detection part 3 0 0 side to the arithmetic circuits 6 0 0, X axis, Y axis, for each component in the Z-axis direction, BX as the direction and magnitude of the magnetic field, B y, B z and,, A x as the force Π speed ', A y', A z 'force' applied. As before mentioned, although the weight body 5 3 0 and the magnetic 3 3 ◦ receive the same acceleration, when both of the mass are different, A x = kx • A 'ヽ A y = ky * A y the relation of 'a z = kz · a z'. However, kx, ky, kz is a constant. This based on these relationships, the arithmetic circuit 6 0 0 magnetic detecting unit 3 〇 0 and the acceleration detection unit 5 ◦ 0 is out - performing the operation of erasing the acceleration component from the force signal. If at equal mass of the weight body 53 0 to the mass of the magnetic material 3 3 0, kx, since ky, k zeta is made to 1, erase operations acceleration component becomes very single pure. Even when both the mass differential, constant kx, ky, k zeta is erasable operation if known. This _, and the direction of the precise magnetic field which is not affected by the acceleration and the magnitude of the magnetic field is detected.
Incidentally, used as the output from the acceleration detector 5 0 0 lever, Rukoto can use the present apparatus as the acceleration detecting device of course.
Necessary In the above description, the acceleration generated in the magnetic body 3 3 0 of the weight body 5 3 0 and the magnetic detection 坩 for acceleration detection was described as a becomes Μ- acceleration, which always also the same acceleration no. For example, if only the pedestal H 5 1 0 acceleration detection section 530 is constituted by a rubber material or the like having elasticity properties, acceleration AX generated in the magnetic body 330 ', A y', the A z 'weight body 530 resulting acceleration AX〃, a Y〃 "becomes different, respectively Re Towaso. in this case, acceleration a x generated in the weight body 53_Rei" a z, a Y〃, a z "is, a x 〃 = f C a ^ • A x / s A y "= f (a 2) - A y. '. A z" = f (an) · A z' represented by here by f (a丄) , f (a 2), f (a 3) mechanical properties quality and acceleration a x pedestal ', a y', 'acceleration AX generated in the magnetic body 330 Ri. by the above equation is determined by the' a z ' , A y ',
A z 'is 莧出, signal or et acceleration A x where the magnetic detection unit 30 0 is output', A y ', A z' magnitude of accurate magnetic field can not be affected to by Ri acceleration and this to erase and it is and the child to detect the direction.
Further, in the above embodiment, the weight body 30 of the acceleration detecting unit 50 0 is taken as the glass material, the weight body 5 30 be filed a magnetic material magnetic properties different from the magnetic member 3 30 There. If the weight body 53 0 was also a magnetic material, the acceleration detection unit becomes the this also detect magnetic force not only the acceleration, which acts as a ¾ qualitative magnetically detecting unit. After all, from the two magnetic detection portion is detected ί word No. of two ways becomes the this obtained. And force, while, even in the good UNA field table, as long as using a different wood K of magnetic properties from the magnetic body 3 3 0 as the weight body 5 3 0, acceleration from both detection signals it is possible to perform To償 operation to offset. However, Meniwa was to simplify the compensation calculation, as in the above embodiment, arbitrary preferable to use a non-magnetic material such as glass to the weight body 5 3 0.
§ 5 of the single-crystal substrate protection structure
Previously, it shows an embodiment of several go the acceleration detecting device and a magnetic detection device. In these devices, have in the weight body is magnetic is a child displaced by the acceleration or magnetic force, if the amount of displacement exceeds a certain limit, can destroy the single crystal substrate is there. Hereinafter, an example of a structure for protecting the single crystal substrate from such excessive displacement. In the following examples, for convenience of explanation, but all show protection structure of the magnetic detection device, but may be entirely intact application can have an acceleration detecting device Nitsu, it is also possible applications to the force detector .
5.1 the first embodiment
First 5 Figure shows a side sectional view of a first embodiment. In the device, 1 2 pedestal 7 which is secured to the stationary part 7 1 1 supports the flexure element 7 1 3. The central part of the strain body 7 1 3 magnetic body 7 1 4 fixed - by which, the magnetic body 71 4 is in a state fitted into the pedestal 7 1 2. That is, the magnetic body 7 1 4 is annular and its cross-section without the inverted T-shaped and has a inverted T-shape, of the circumference of the peripheral surface of the protruding magnetic member 7 1 4 in the horizontal direction the end face 7 1 4 a are opposed at a distance to the projecting portion 7 1 5 on which forms a recessed base 7 1 2. On the other hand, the magnetic body 71 below the peripheral end face 7 1 4 b 4 is opposed at a distance to the fixed part 7 1 1. The outer peripheral surface 7 1 4 c of the magnetic body 7 1 4 pedestal 7 1 2 is opposed at a distance to the inner wall 7 1 2 a forming a recessed. The upper surface of the strain body 7 1 3 and single crystal substrate 7 1 6 are adhered, Bondi Nguwaiya
7 1 7 via a wiring electrode 7 1 8 have been made.
With this configuration, although the magnetic body 7 1 4 is displaced when the magnetic body 71 4 receives the magnetic force, the displacement direction X and Y axes (perpendicular to the paper surface) of the base 7 1 2 inner wall
7 1 O Ri is limited to 2 a, the displacement in the Z-axis direction is a two and that is by the protrusions 7 1 5 and the fixed part 7 1 1 on the pedestal 7 1 2 "limit. Therefore, the magnetic body 7 1 4 It never is excessively displaced single crystal substrate 7 1 6 destruction.
5, 2 second embodiment
To 笫 1 6 Figure illustrates a cross-sectional side view of a second embodiment. In this example has an outer peripheral surface 7 2 1 a of the magnetic body 7 2 1 are opposed with a space in a cylindrical base 7 2 2 of the inner wall 7 2 2 a, magnetic
7 1 below peripheral end face 7 2 1 b are opposed at a fixing portion 7 2 3 intervals. Constitutes a single crystal substrate 7 2 4 feeling et strain body has action part 7 2 4 a, mouth J flexures 7 2 4 b, the support section 7 2 4 c. Its upper surface, Ue扳 7 2 5 with a gap 7 2 5 a of from flexible portions 7 2 4 b facing the inside of the ^ range is fixed.
X-axis and Y-axis direction displacement (direction perpendicular to the plane of the drawing) of the inner wall of the base 7 2 2 when the magnetic body 7 2 1 receives magnetic force
7 2 2 is limited by a, the displacement in the Z-axis direction fixed part
Having a 7 2 3 and the gap 7 2 5 a is limited by the upper plate 7 2 5.
First 7 Figure shows a side sectional view of a third embodiment. The field table also, X-axis and Y $ be displaced in a direction (direction perpendicular to the plane of the drawing) when the magnetic body 7 3 1 receives a magnetic force is limited by the inner wall 7 3 2 a of the base 7 3 2, Z axial displacement is limited by the upper protruding portion 7 3 2 b and the fixing unit 7 3 3.
First Figure 8 shows a fourth embodiment. In this example is secured the upper surface of the base 7 4 2 in the central portion of the ^ formation s "group or seven 4 1, the lower surface of the base 7 4 2 is secured to the fixed part 7 4 3. Monocrystal substrate 7 4 1 of the outer peripheral portion cylindrical magnetic body 7 4 the <There are solid wear, the distance from the outer peripheral surface 7 4 2 a of the inner wall 7 4 4 a and the base 7.4 2 of the magnetic body 7 4 4 Contact face each other are. in this embodiments, X-axis and the displacement direction (direction perpendicular to the plane of the drawing) when the magnetic body 7 4 4 is subjected to a magnetic force is limited by the outer peripheral surface 7 4 2 a of the base 7 4 2 that. industrial Applicability
Force according to the present invention ♦ acceleration ♦ magnetic detection device may be utilized by mounting the industrial machines Ru Shin'yu. In small and low-cost Bok, since it is possible to measure with high accuracy, in particular application to automotive and industrial robots Bok is expected.
Has a piezoresistive effect 1 mechanical deformation due connexion electric resistance changes, a resistor formed on the single crystal substrate (1 0) Anti element (R),
Support (2 1) and the working part (2 3) and has the resistance element mechanical deformation cause strain body on the basis of displacement relative to the support portion of the working portion (2 0),
Force detection device according to Toku徵 in that it comprises. ..
2. single crystal substrate is made of silicon co down substrate, resistive element semiconductor planar process by the sheet re co emissions formed based 扳上 and Toku徵 that have Claims first Kouki mounting force detector .
3. It can be detected forces that put the three-dimensional theta £ target system represented by three axes of XYZ, at least respectively in order to detect a force in the direction of each axis has four resistance elements provided, this four respective bridge that is formed force detection according range first of claims, wherein the resistance element
4. having a piezo resistance effect of varying by connexion electrical resistance to a mechanical deformation, a resistor formed on the single crystal substrate (1 0) Anti element (R),
The 筛E,
The on-resistance element forming surface of the single crystal substrate, as piezoresistance coefficient is substantially beak in two directions substantially orthogonal force detecting apparatus characterized by selecting said resistive element forming surface.
5. along one direction piezoresistance coefficient becomes a peak, arranged resistive elements for detecting a force in the X axis direction, along the other direction piezoresistance coefficient becomes a peak, the force in the Y-axis direction the decor resistance element for detecting a force detection device range the 4 ¾ claimed in claim you characterized.
6. have a piezoresistive effect electric resistance changes by mechanical deformation, and resistance is formed on the single crystal substrate (1 0) Anti element (R),
Support (2 1) and the working section to the (2 3), the operation ffl part the strain generating causes mechanical deformation in the resistance element based on the displacement relative to the support portion of the (2 0),
Wherein is connected to the working part of the strain body, acceleration detection device for weight body causing to best match displacement to the acceleration to said working portion (3 0), comprising: a.
7. a center or support unit one Dochi Laka the periphery of the strain body, the acceleration detecting device ranging sixth claim of claim, characterized that you a working unit to the other.
8. resistive element, the flexure element, the acceleration detecting device range 囲第 6 claim of claim where the weight body is to Toku徵 that are integrally formed on the same switch Tsu within flops sheet re co down.
9, to limit the three-dimensional direction of displacement of the weight body caused by an external force when the weight body is subjected to, that you before, further comprising a displacement restriction member formed at a ffi weight body and Jo Tokoro interval . acceleration detection instrumentation g c 1 0 X according ranging sixth preceding claims, wherein, Upsilon, can detect accelerations in the three-dimensional coordinate system is expressed by three axes of Z, acceleration in each axis direction - 'of each at least four resistive elements are provided to detect the acceleration detection device in the range 6 Personal Protection for First Aid or Rescue Personnel claimed in claim, characterized in that it is pre-Tsu di respectively formed by the four resistance elements.
1 1. It has a piezoresistive effect on mechanical deformation 'Thus the electric resistance changes, a single crystal substrate (3 2 0) formed on the resistive element (R) and
Support (3 2 1) and the working portion (3 2 2) and has the effect. Parts The strain generating causes mechanical deformation in the resistor element on the basis of the displacement with respect to the support portion of the (3 2 0), - it is connected to the working portion of the strain generating body, received magnetic cause 0 corresponding displacement in a magnetic force prior to K acting portion body (3 3 0),
Magnetic detection instrumentation S., characterized in that it comprises a
1 2. To limit the three-dimensional direction of displacement of the magnetic material element caused by the magnetic force the magnetic material is subjected, further comprising a displacement restriction member formed at the magnetic body and the predetermined distance
'Rukoto magnetic detector in the range according the first one of the preceding claims, wherein.
1 3. X, Υ, it is possible to detect magnetic in the three-dimensional coordinate system is expressed by three axes of Z, each at least four resistors element for detecting a force based on the magnetic direction of each axis provided, the magnetic detection device range 囲第 1 1 Clause according claims, characterized in that the bridge, respectively which are formed by the four resistance elements.
1 4. The magnetic detection device, comprising the following. -
(1) and has a piezo resistance effect due connexion electrical resistance mechanical deformation changes, a single crystal substrate (3 2 0) is formed on the resistance element (R),
A supporting portion (3 2 1) and the working portion (3 2 2), the strain body to cause mechanical deformation to the resistance element based on the displacement with respect to the support portion of the working portion (3 2 0 a), is connected to the working portion of the strain generating body, less the magnetic material to produce a displacement in accordance with the magnetic force received in the working portion (3 3 0),
First detecting means comprising a
(2) it has a Biezo resistance effect ¾ that by connexion electrical resistance mechanical deformation changes, a single-crystal substrate (5 2 0) is formed on the resistance element (R), 'support portion (5 2 1) the working part (5 2 2) and a, strain body causing mechanical deformation to the resistance element based on the displacement with respect to the support portion of the working portion (5 2 0),
Wherein is connected to the working part of the strain body, reduce the displacement of the function it has 5 to cause the working portion in response to the acceleration also received, weight of different material having magnetic properties and the magnetic body and the body (5 3 0),
Second detecting means for obtaining ϋ the
(3) the changes in the resistance value of the resistor MotoRyo 'of the first detecting means as the first data, the 0 resistance change of the resistance element of the second detecting means as the second data each type, the influence of the acceleration caused in the magnetic offset based on both data, capturing 儐 calculating means calculates only the magnetic force acting on the magnetic body
In 1 5. first detector, X, Υ, so as to be able to detect magnetic in the three-dimensional coordinate system is represented by 3 YasushiYukari 5 of Zeta, detecting a force based on the magnetic direction of each axis each at least provided four resistance elements for, respectively, by the four resistance elements forming the pre-Tsu di, in the second detection means, X, Upsilon, three-dimensional coordinate system is expressed zero in three axes Ζ in so that it is possible to detect the acceleration in, at least, respectively to detect the acceleration in each axial direction is provided four resistance elements, and Toku徵 to form a bridge, respectively, by the four resistance elements magnetic detection device of the first item 4, wherein the range of TsumeMotome.
PCT/JP1988/000395 1987-04-24 1988-04-22 Detector for force, acceleration and magnetism using resistor element WO1988008522A1 (en)
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WO1988008522A1 true WO1988008522A1 (en) 1988-11-03
ID=26442170
PCT/JP1988/000395 WO1988008522A1 (en) 1987-04-24 1988-04-22 Detector for force, acceleration and magnetism using resistor element
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