Patent ID: 8156823

Claim:
A 6-axis force sensor structure using a force sensor, which has 3-axis force directions and 3-axis moment directions, comprising: a bumper 10 including a bumper axis 12 receiving an external force and a press member 11 which has four horizontal beams 11 a , 11 b , 11 c and 11 d in a cross shape, is connected to the bottom of the bumper axis 12 and receives the external force; a force sensor film for measuring uniaxial force and 2-axial moments, which is composed of a first force sensor film 20 that is located under the press member 11 and has force sensors 21 , 22 , 23 and 24 distributed in at least four regions; a force sensor film for measuring 2-axis forces, which is composed of second, third, fourth and fifth force sensor films 31 , 32 , 33 and 34 that are respectively located on the vertical faces of the ends of the four horizontal beams 11 a , 11 b , 11 c and 11 d and respectively have individual force sensor distributions; a force sensor film for measuring uniaxial moment, which is composed of sixth, seventh, eighth and ninth force sensor films 41 , 42 , 43 and 44 that are respectively located on the vertical faces of the sides of the two horizontal beams 11 a and 11 c having the same central axes among the four horizontal beams 11 a , 11 b , 11 c and 11 d and respectively have individual force sensor distributions; a pad 50 located between the press member 11 and the first force sensor film 20 ; a lower plate 60 which is located under the first force sensor film 20 and reacts upon the external force; and an upper plate 70 which comes into contact with the lower plate 60 at the edges thereof, has a first hole 71 for exposing the top of the bumper axis 12 to the outside and a second hole 72 through which signal input/output lines connected to the force sensor films 20 , 31 , 32 , 33 , 34 , 41 , 42 , 43 and 44 are drawn out, and is located on the bumper 10 to receive the force sensor films 20 , 31 , 32 , 33 , 34 , 41 , 42 , 43 and 44 and the bumper 10 , having a predetermined gap between the upper plate 70 and the force sensor films 20 , 31 , 32 , 33 , 34 , 41 , 42 , 43 and 44 and the bumper 10 .