CN102735378A - Pressure sensor - Google Patents
Pressure sensor Download PDFInfo
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- CN102735378A CN102735378A CN2012102069604A CN201210206960A CN102735378A CN 102735378 A CN102735378 A CN 102735378A CN 2012102069604 A CN2012102069604 A CN 2012102069604A CN 201210206960 A CN201210206960 A CN 201210206960A CN 102735378 A CN102735378 A CN 102735378A
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- pressure transducer
- inductive component
- coupling assembling
- induction part
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Abstract
The invention discloses a pressure sensor which comprises two connecting components on one side of the pressure sensor, wherein the connecting components are spaced at a first interval; an electronic device is electrically connected between the connecting components; the connecting components are respectively in electric connection with two ends of a sensing component made of conductive rubber, so as to conduct a current transferred from the electronic device and form a potential difference between the connecting components; sensing parts which are bent in sinuous form are arranged on the middle part of the sensing component; the sensing parts are located on the other side of the pressure sensor; adjacent sensing parts are spaced at a second interval; and under the condition that the pressure sensor is extruded by an external force, a current transmission path and a resistance value on the sensing component are changed by the sensing parts due to the elastic deformation of the sensing component under stress. The bent sensing parts of the pressure sensor can elastically deform and accurately judge the magnitude of the external force endured by the pressure sensor according to the change in the resistance value, so that the accuracy and the smooth degree of the control of a robot are greatly promoted.
Description
Technical field
The present invention relates to a kind of pressure transducer, particularly a kind of conductive rubber that adopts is the pressure transducer of one of material.
Background technology
Along with advancing by leaps and bounds and the high development of electronic industry of micro-computer technology; Robot (Robot) has become a kind of new industry; In contemporary industry, robot can replace or assist the mankind to carry out high risk work, as: assemble, spray paint, welding, high temperature casting are forged etc.; Or even medical aid, entertainment service, military affairs are saved from damage and fields such as space probation; Also used many robot devices, according to the statistical data that IFR (International Federation of Robotics) is provided, the consumption market of global robot in 2010 has reached 35,000,000,000 dollars; Wherein the sales volume of industrial robot is about 19,000,000,000 dollars; The sales volume of service type robot then is about 16,000,000,000 dollars, therefore, and for designing more suitable and dynamical robot device; Various robot competitions have appearred now; For example: the contest of the international Olympics of WRO robot, the contest of FLL OIC (Open International Championship) Kaohsiung world cup robot, the intention contest of PMC robot, Hong Kong teenager's RoboCup (RCJHK), and numerous producer also improves to each position structure of robot one after another, can satisfy the various demands on the industry.
Generally speaking, on the whole the development of robot industry is main towards professional application, but along with the variation of social structure, as: elderly population increase, nuclear family's quantity rising etc., the service type robot also obtains the producer and consumer's attention gradually.The overall appearance of service type robot is designed to approximate human mostly, possesses characteristics such as four limbs and face, so the producer's the main land of research and development emphasis are in four broad aspect such as " dexterous palm, safe perception, quick mobile, wisdom controls ".Yet, because robot does not have human nervous system, the adjustment that can't move according to its sense of hearing, sense of touch and vision; Therefore unsatisfactory in the control of aforementioned four general orientation, require to be example with " quick the moving " of robot, as shown in Figure 1; Traditional biped robot walks in the 10 last times of ground of non-flat forms by two soles 11,12; If wherein a sole 11 is trampled to ground 10 bump pad 101, because biped robot's control module does not learn that this sole 11 only has the part to touch bump pad 101, so after robot lifts another sole 12; The whole body weight of bipedal robot will drop down onto on this sole 11; Because these sole 11 overwhelming majority are all vacant state, thus the crank of this bipedal robot can be caused, and shake or even situation such as fall down; Not only have a strong impact on the fluency that bipedal robot is expert at and is gone on, more possibly cause bipedal robot to be damaged.In addition, except the situation of aforementioned ground 10 protuberances, when ground 10 has recess, trample to recess, the problem of crank can take place equally, cause the bipedal robot integral inclination and fall down at a wherein sole 11,12 of bipedal robot.In like manner; When the machine human desires grasps a more yielding object (as: water tumbler, carton) with palm, because whether robot can't judge the size of the present application of force suitable, so be easy to destroy object because of the application of force is overweight; Or drop object because of the application of force kicks the beam, cause the limitation in its action.
In sum, though have the producer with nanoparticle layer to design the inductor that be used for robot at present, and in medical field, also developed the electronics skin that to respond to sense of touch; Yet; No matter be inductor or electronics skin, its sensing mode and inner structure are all too complicated, need very accurate electronic control system; And its production cost is also too high, is difficult to penetration and promotion.Therefore, how to design a kind of pressure transducer, decapacitation senses the suffered external force of robot exactly, still possesses advantages such as simple in structure and with low cost, promptly becomes the present invention in these technical issues that need to address.
Summary of the invention
The technical matters that the present invention will solve provides a kind of external force size can accurately judged, and pressure transducer simple in structure, that cost is low.
For solving the problems of the technologies described above, the present invention adopts following technical scheme: a kind of pressure transducer comprises two coupling assemblings that are positioned at this pressure transducer one side; Be separated with first spacing between between the said coupling assembling, and be electrically connected mutually with an electronic installation, the two ends of the inductive component that said coupling assembling is processed with a conductive rubber respectively are electrically connected; The electric current that transmits with the conducting electronic installation; And between coupling assembling, form a potential difference (PD), and the stage casing part of said inductive component is that bending is back-shaped induction part, this induction part is positioned at the opposite side of pressure transducer; And be separated with second spacing between respectively between the adjacent induction part; Receive at pressure transducer under the situation of external force extruding, each induction part will be because of the stressed elastic deformation that produces of inductive component, and changes current delivery path and the resistance value on the inductive component.
Induction part according to the invention is coated in the insulation shell.
Insulation shell according to the invention is made up of elastic material, and its inside is provided with the accommodation space of a ccontaining inductive component, and the top of insulation shell is passed at the two ends of this inductive component, and exposes to insulation shell with coupling assembling.
Coupling assembling according to the invention is made up of elastic caoutchouc, and coupling assembling and inductive component are one-body molded.
Be concaved with a depressed part on the coupling assembling according to the invention respectively; The diameter of this depressed part is less than the two ends of coupling assembling; And mate also inlay card mutually with the perforation on the circuit board in the electronic installation; Pressure transducer firmly is positioned on the circuit board, and is electrically connected mutually with electronic circuit on the circuit board.
The deformation direction of induction part according to the invention is the axis direction along pressure transducer.
The present invention compared with prior art; The induction part of bending is under the situation that receives the external force extruding; Can produce elastic deformation, and change its resistance value, thereby make the electronic installation can be through the variation of resistance value; Judge that accurately pressure transducer bears the size of external force, greatly precision and the fluency of hoisting machine people in control.
Description of drawings
Fig. 1 is an existing robots sole synoptic diagram;
Fig. 2 is the synoptic diagram of pressure transducer first preferred embodiment of the present invention;
Fig. 3 A is one of user mode figure of pressure transducer first preferred embodiment of the present invention;
Fig. 3 B be pressure transducer first preferred embodiment of the present invention user mode figure two;
Fig. 3 C be pressure transducer first preferred embodiment of the present invention user mode figure three;
Fig. 4 is the diagrammatic cross-section of pressure transducer second preferred embodiment of the present invention.
Critical part symbol description in the accompanying drawing:
Pressure transducer ... 2
Coupling assembling ... 21
Depressed part ... 210
Inductive component ... 22
Connecting portion ... 221
Induction part ... 222
First induction part ... 222a
Second induction part ... 222b
The 3rd induction part ... 222c
Insulation shell ... 23
Accommodation space ... 231
Circuit board ... 4
Perforation ... 40
The transmission position ... A1, A2, A3, B1, B2, B3, C1, C2, C3,
D1、D2、D3、E1、E2、E3
First spacing ... M1
Second spacing ... M2
Thickness ... M3
Axis ... L
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is done further explain.
Shown in Fig. 2 and Fig. 3 A; The pressure transducer 2 of the present invention's first preferred embodiment is applied on the electronic installation (as: robot); Comprise two coupling assemblings 21 and an inductive component 22; This coupling assembling 21 is positioned at a side of pressure transducer 2, and is separated with the first spacing M1 to each other, and this coupling assembling 21 can be electrically connected with the electronic circuit of electronic installation mutually.Wherein, The material of inductive component 22 is a conductive rubber; Its two ends are connected to each coupling assembling 21 respectively, the electric current that transmits with the conducting electronic installation, and inductive component 22 is through being bent to form two connecting portions 221 and back-shaped induction part 222 (this is back-shaped by two U-shapeds curved end to end composition in the present embodiment); Each connecting portion 221 is positioned at the position at proximity sensing assembly 22 two ends; 222 of induction parts corresponding to the opposite side position (position of coupling assembling 21 relatively) of pressure transducer 2, and are separated with the second spacing M2 between respectively to each other between connecting portion 221, in first preferred embodiment of the present invention; Induction part 222 comprises one first induction part 222a, one second induction part 222b and one the 3rd induction part 222c; Induction part 222 is arranged along the axis L of pressure transducer 2, and perpendicular with this axis L, but is parallel to each other to each other.
Shown in Fig. 3 A～3B; Pressure transducer 2 actual sensed modes are following: do not receive at pressure transducer 2 under the situation of external force extruding; Because induction part 222 does not contact; A1, B1, C1, D1 and E1 etc. so the electric current of electronic installation will be flowed through in regular turn among Fig. 3 A respectively transmit the position; And between coupling assembling 21, forming a potential difference (PD), this electronic installation can further calculate the first resistance value R1 of inductive component 22 when not stressed after the potential difference (PD) that detects electric current and two ends thereof on the pressure transducer 2 of flowing through; Shown in Fig. 3 B, when inductive component 2 received the external force extruding of light degree, the first induction part 222a contacted with the second induction part 222b; Can know by nurse law difficult to understand; The circuit that impedance is low more, distribution of current are big more, so in Fig. 3 B; The main transmission path of electric current will change transmission positions such as flow through in regular turn A2, B2, C2, D2 and E2 into; Because the transmission path of this moment does not comprise the first induction part 222a and the second induction part 222b fully, thus when obviously receiving external force than inductive component 22, its transmission range do not lack, so the second resistance value R2 that electronic installation calculates will be less than the first resistance value R1.
In like manner; Shown in Fig. 3 C; When pressure transducer 2 bears bigger external force extruding; The first induction part 222a, the second induction part 222b and the 3rd induction part 222c will make the transmission path of electric current change the A3 that flows through in regular turn, B3, C3, D3 and E3 into all against contact, and the 3rd resistance value R3 that this moment, electronic installation calculated will be less than the resistance value R1, the R2 that calculate before.To particularly point out at this, as shown in Figure 2, though in the present embodiment; Induction part 222 is the impedances that change on the pressure transducer 2 that whether are in contact with one another through each other, but in other preferred embodiment of the present invention, the impedance variations of induction part 222 also need not be defined in and need be in contact with one another; This be because of elastic caoutchouc be an elastic material; So when pressure transducer 2 receives the external force extruding, respectively the thickness M3 of this induction part 222 also will produce deformation with the external force extruding, and the variation of the thickness M3 of each induction part 222; Can make the current delivery path contraction, and then change the impedance of each induction part 222.That is to say, among earlier figures 3A～3C, be in order to highlight the significant change in induction part 222 current delivery path when the pressurized especially; Event is plotted as each induction part 222 and is in contact with one another, but when reality was used, each induction part 222 also need not to be in contact with one another; Only need stress and deformation; The impedance of pressure transducer 2 is changed, and then the sub-device of supplying power judge the size of this external force, in this special instruction.
As shown in Figure 2; Electronic installation only needs the variation according to resistance value R1～R3, can correctly learn the external force size that pressure transducer 2 bears at present, and then carry out corresponding action; For example: the producer can be installed in a plurality of pressure transducers 2 sole of a robot; Whether the sole to learn robot through pressure transducer 2 is treaded fully, or each position stressed whether average on the sole, make robot can be more accurately, walking stably.In addition; The force direction that receives of this pressure transducer 2 does not exceed with the bottom side of inductive component 22 (be among Fig. 3 A under); No matter the force part of this pressure transducer 2 is the junction of connecting portion 221, connecting portion 221 and the first induction part 222a; This inductive component 22 all can change its impedance by elastic deformation, with sensing range, acuity and the practicality thereof of adherence pressure sensor 2.
Shown in Fig. 2～3C, in the aforementioned embodiment, though 222 of induction parts keep the second identical spacing M2; But apart from can adjusting according to the producer's demand, perhaps 222 of induction parts also can be minimum at interval even be reclined each other, because inductive component 22 has elasticity between the induction part 222; So induction part 222 can be towards direction packing each other; To change the integral thickness of induction part 222, so, the current lead-through path of electronic installation also will shorten along with the compression of induction part 222; And then the resistance value of change inductive component 22, reach identical pressure-sensing effect.
In addition, as shown in Figure 4 is the present invention's second preferred embodiment, and this pressure transducer 2 also comprises an insulation shell 23; This insulation shell 23 is made up of the elastic material of insulation; And its inside is provided with an accommodation space 231, and the configuration of this accommodation space 231 is slightly larger than inductive component 22, for ccontaining inductive component 22; And envelope induction part 222; The top of insulation shell 23 can be passed in the two ends of inductive component 22, and outside coupling assembling 21 exposes to insulation shell 23, coupling assembling 21, inductive component 22 and insulation shell 23 is combined into one.So; Insulation shell 23 can not only completely cut off extraneous aqueous vapor and dust; With the serviceable life of adherence pressure inductor 2, and owing to inductive component 22 is limited in the insulation shell 23, so can also guarantee that inductive component 22 is when receiving the external force extruding; Induction part 222 can be along the direction displacement of axis L (or produce deformation along the direction of axis L), makes the impedance variations of inductive component 22 can be corresponding with the external force size more accurately.
As shown in Figure 4, in the present embodiment, the material of coupling assembling 21 also is a conductive rubber; And with inductive component 22 one-body molded processing; The position of contiguous one of which end also is concaved with a depressed part 210 respectively on each coupling assembling 21, and the diameter of this depressed part 210 is less than the two ends of coupling assembling 21, but with electronic installation in perforation 40 on the circuit board 4 be complementary; With the end at coupling assembling 21 pass via deformation the perforation 40 after; This depressed part 210 can with perforation 40 inlay cards mutually, pressure transducer 2 firmly is positioned on the circuit board 4, and is electrically connected mutually with electronic circuit on the circuit board 4.
Will particularly point out at this, as shown in Figure 2, pressure transducer 2 is except that being applied to the robot sensing; Still can be applied in various different aspects, for example: the producer can be installed in pressure transducer 2 inlet or the window limit of household, automobile, and pressure transducer 2 is electrically connected with a burglary-resisting installation mutually; So; Under the situation that burglary-resisting installation is not disengaged,, can give the alarm automatically if burglary-resisting installation detects on the pressure transducer 2 and produces impedance variations.
The above; Be merely some preferred embodiments of the present invention, but technical characterictic of the present invention is not limited thereto, the personage of all correlative technology fields is with reference to behind the technology contents of the present invention; Can think easily and equivalence change, all should not break away from protection category of the present invention.
Claims (6)
1. a pressure transducer comprises two coupling assemblings that are positioned at this pressure transducer one side, it is characterized in that: be separated with first spacing between between the said coupling assembling; And be electrically connected mutually with an electronic installation; The two ends of the inductive component that said coupling assembling is processed with a conductive rubber respectively are electrically connected, the electric current that transmits with the conducting electronic installation, and between coupling assembling, form a potential difference (PD); The stage casing part of said inductive component is that bending is back-shaped induction part; This induction part is positioned at the opposite side of pressure transducer, and is separated with second spacing between respectively between the adjacent induction part, receives at pressure transducer under the situation of external force extruding; Each induction part will be because of the stressed elastic deformation that produces of inductive component, and changes current delivery path and resistance value on the inductive component.
2. pressure transducer according to claim 1 is characterized in that: said induction part is coated in the insulation shell.
3. pressure transducer according to claim 2; It is characterized in that: said insulation shell is made up of elastic material; Its inside is provided with the accommodation space of a ccontaining inductive component, and the top of insulation shell is passed at the two ends of this inductive component, and exposes to insulation shell with coupling assembling.
4. pressure transducer according to claim 3 is characterized in that: said coupling assembling is made up of elastic caoutchouc, and coupling assembling and inductive component are one-body molded.
5. pressure transducer according to claim 4; It is characterized in that: be concaved with a depressed part on the said coupling assembling respectively; The diameter of this depressed part is less than the two ends of coupling assembling; And with perforation on the circuit board in electronic installation coupling and inlay card mutually, pressure transducer firmly is positioned on the circuit board, and is electrically connected mutually with electronic circuit on the circuit board.
6. according to claim 1 or 5 described pressure transducers, it is characterized in that: the deformation direction of said induction part is the axis direction along pressure transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210206960.4A CN102735378B (en) | 2012-06-21 | 2012-06-21 | Pressure sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210206960.4A CN102735378B (en) | 2012-06-21 | 2012-06-21 | Pressure sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102735378A true CN102735378A (en) | 2012-10-17 |
| CN102735378B CN102735378B (en) | 2014-07-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210206960.4A Expired - Fee Related CN102735378B (en) | 2012-06-21 | 2012-06-21 | Pressure sensor |
Country Status (1)
| Country | Link |
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| CN (1) | CN102735378B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106468785A (en) * | 2015-08-21 | 2017-03-01 | 麦格纳覆盖件有限公司 | The method that variable resistance conductive rubber sensor and detection object/people are in contact with it |
| CN106949995A (en) * | 2015-09-29 | 2017-07-14 | 法拉第未来公司 | System and method for detection and the processing of pressure signal |
| US10584983B2 (en) | 2015-02-17 | 2020-03-10 | Nok Corporation | Cover structure of tactile sensor and tactile sensor |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050155435A1 (en) * | 2002-07-25 | 2005-07-21 | Mettler-Toledo Gmbh | Moisture protection for an electromechanical transducer |
| CN201163226Y (en) * | 2008-02-29 | 2008-12-10 | 合肥工业大学 | Touch sensor based on flexible pressure-sensitive conductive rubber |
| CN101326422A (en) * | 2006-03-30 | 2008-12-17 | 千年纪门技术株式会社 | Strain gauge manufacturing method |
| CN101576421A (en) * | 2009-06-08 | 2009-11-11 | 哈尔滨工业大学 | Flexibility touch sensor for flexible finger tips of humanoid robot |
| CN102175362A (en) * | 2011-03-07 | 2011-09-07 | 合肥工业大学 | Multifunctional flexible touch sensor |
-
2012
- 2012-06-21 CN CN201210206960.4A patent/CN102735378B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050155435A1 (en) * | 2002-07-25 | 2005-07-21 | Mettler-Toledo Gmbh | Moisture protection for an electromechanical transducer |
| CN101326422A (en) * | 2006-03-30 | 2008-12-17 | 千年纪门技术株式会社 | Strain gauge manufacturing method |
| CN201163226Y (en) * | 2008-02-29 | 2008-12-10 | 合肥工业大学 | Touch sensor based on flexible pressure-sensitive conductive rubber |
| CN101576421A (en) * | 2009-06-08 | 2009-11-11 | 哈尔滨工业大学 | Flexibility touch sensor for flexible finger tips of humanoid robot |
| CN102175362A (en) * | 2011-03-07 | 2011-09-07 | 合肥工业大学 | Multifunctional flexible touch sensor |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10584983B2 (en) | 2015-02-17 | 2020-03-10 | Nok Corporation | Cover structure of tactile sensor and tactile sensor |
| CN106468785A (en) * | 2015-08-21 | 2017-03-01 | 麦格纳覆盖件有限公司 | The method that variable resistance conductive rubber sensor and detection object/people are in contact with it |
| CN106949995A (en) * | 2015-09-29 | 2017-07-14 | 法拉第未来公司 | System and method for detection and the processing of pressure signal |
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| Publication number | Publication date |
|---|---|
| CN102735378B (en) | 2014-07-02 |
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Granted publication date: 20140702 Termination date: 20160621 |