CN114441072A - Bendable electronic skin, hand-pushed functional cart and preparation method of bendable electronic skin - Google Patents
Bendable electronic skin, hand-pushed functional cart and preparation method of bendable electronic skin Download PDFInfo
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- CN114441072A CN114441072A CN202210105234.7A CN202210105234A CN114441072A CN 114441072 A CN114441072 A CN 114441072A CN 202210105234 A CN202210105234 A CN 202210105234A CN 114441072 A CN114441072 A CN 114441072A
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- 238000005259 measurement Methods 0.000 claims description 8
- 238000003825 pressing Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 4
- 238000002347 injection Methods 0.000 claims description 3
- 239000007924 injection Substances 0.000 claims description 3
- 239000000853 adhesive Substances 0.000 claims description 2
- 230000001070 adhesive effect Effects 0.000 claims description 2
- 239000002390 adhesive tape Substances 0.000 claims description 2
- 239000013013 elastic material Substances 0.000 claims description 2
- 239000011159 matrix material Substances 0.000 claims description 2
- 229920001187 thermosetting polymer Polymers 0.000 claims description 2
- 230000006698 induction Effects 0.000 abstract 1
- 238000001723 curing Methods 0.000 description 11
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000005452 bending Methods 0.000 description 4
- 239000000919 ceramic Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000011888 foil Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229920001296 polysiloxane Polymers 0.000 description 2
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- 238000010586 diagram Methods 0.000 description 1
- 238000013007 heat curing Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/06—Hand moving equipment, e.g. handle bars
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K13/00—Thermometers specially adapted for specific purposes
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The application relates to the technical field of electronic skin, and provides a bendable electronic skin, which comprises an elastic sheet, a flexible circuit board, a pressure sensor and gel, wherein the pressure sensor is electrically connected with and convexly arranged on the flexible circuit board and used for sensing pressure, the elastic sheet is connected on the pressure sensor, and the gel is filled in a gap between the flexible circuit board and the elastic sheet. The application also provides a hand-push functional cart with the bendable electronic skin and a preparation method of the bendable electronic skin. According to the bendable electronic skin, the hand-push functional cart and the preparation method of the bendable electronic skin, the flexible circuit board is used as a carrier, and gel is filled in a gap between the flexible circuit board and the elastic sheet, so that the bendable electronic skin can be bent at a large angle, the pressure sensor is prevented from being in contact with air, the pressure sensor is not affected by the external environment, the accuracy of data induction of the bendable electronic skin in a severe environment is improved, and the application scene of the bendable electronic skin is enlarged.
Description
Technical Field
The application relates to the technical field of electronic skins, in particular to a bendable electronic skin, a hand-push functional cart and a preparation method of the bendable electronic skin.
Background
Current electron skin adopts the circuit board to be the rigid structure design, and it can not carry out the wide-angle and buckle, and sensor and air contact on the current electron skin in addition, under high temperature/high humidity operational environment, the electron skin can have the condition such as temperature drift and resistance drift/oxidation for it is accurate inadequately when the electron skin responds to data. Meanwhile, the existing electronic skin sense cannot accurately sense data in a severe environment, and the application scene of the electronic skin is also limited, for example, the existing data acquisition vehicle does not sense the user operation through the electronic skin to control the movement of the user.
Disclosure of Invention
In view of the above, there is a need to provide a bendable electronic skin and a method for manufacturing the bendable electronic skin to be suitable for large-angle bending and to improve the accuracy of sensing data of the electronic skin in a severe environment; it is also desirable to provide a hand-propelled utility vehicle for motion control by user action sensed electronically through the skin.
The utility model provides a flexible electron skin, includes the flexure strip, still includes flexible circuit board, pressure sensor and gel, pressure sensor electricity is connected and protruding to be located flexible circuit board for the pressure of sensing application on flexible electron skin, the flexure strip connect in on the pressure sensor, the gel fill in the flexure circuit board with the space between the flexure strip.
The utility model provides a hand push function car, includes the automobile body, rotates a plurality of wheels of connecting in the automobile body bottom and is fixed in first handrail, second handrail and controlling means on the automobile body, first handrail reaches all be provided with above-mentioned flexible electron skin on the second handrail, two flexible electron skin and a plurality of the wheel with controlling means electricity is connected, pressure sensor still is used for the sensing pressure to convey controlling means, controlling means is according to the motion of pressure control a plurality of the wheel.
A method for preparing bendable electronic skin comprises the following steps:
providing a flexible circuit board;
electrically connecting a pressure sensor and a temperature sensor at a preset position of the flexible circuit board;
pressing the elastic sheet onto the pressure sensor;
injecting gel between the elastic sheet and the circuit board to fill a gap between the flexible circuit board and the elastic sheet;
and curing the gel filled between the flexible circuit board and the elastic sheet.
The flexible electronic skin, the hand-push functional cart and the preparation method of the flexible electronic skin adopt the flexible circuit board as a carrier, the flexible electronic skin can be bent at a large angle, gel is filled in a gap between the flexible circuit board and the elastic sheet, and the pressure sensor is prevented from contacting with air, so that the pressure sensor is not influenced by the external environment, and the high-precision sensing time of the flexible electronic skin is prolonged.
Drawings
Fig. 1 is a schematic view of a bendable e-skin provided in the present application.
Fig. 2 is a sectional view of the flexible e-skin of fig. 1 taken along the direction II-II.
Fig. 3 is a perspective view of the functional trolley provided by the present application.
Fig. 4 is a left side view of the hand propelled utility vehicle of fig. 3.
Fig. 5 is a flowchart of a method for preparing a flexible electronic skin according to a first embodiment of the present application.
Fig. 6 is a flow chart of a method for preparing a flexible electronic skin according to a second embodiment of the present application.
Fig. 7 is a schematic diagram of step S544 in fig. 6.
Description of the main elements
The following detailed description will further illustrate the present application in conjunction with the above-described figures.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the application and for simplicity in description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and thus should not be considered limiting. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.
The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.
Referring to fig. 1-2, a flexible electronic skin 10 is provided. The flexible electronic skin 10 comprises a flexible circuit board 11, a pressure sensor 12, an elastic sheet 13 and a gel 14, wherein the pressure sensor 12 is electrically connected to and convexly arranged on the flexible circuit board 11 and used for sensing the pressure applied on the flexible electronic skin 10, the elastic sheet 13 is connected to the pressure sensor 12, and the gel 14 is filled in a gap between the flexible circuit board 11 and the elastic sheet 13. The flexible electronic skin 10 is characterized in that the flexible circuit board 11 is used as a carrier, and the gel 14 is filled in a gap between the flexible circuit board 11 and the elastic sheet 13, so that the flexible electronic skin 10 can be bent at a large angle, and the pressure sensor 12 is prevented from contacting with air, so that the pressure sensor 12 is not influenced by the external environment, the accuracy of data sensing of the flexible electronic skin 10 in a severe environment is improved, and the application scene of the flexible electronic skin 10 is enlarged.
Specifically, in some embodiments, the bendable e-skin 10 is circular in shape, so that the bendable e-skin 10 can be sleeved on other objects, such as a handrail. Pressure sensor 12 is ceramic voltage-variable resistance foil gage, because pottery has that the thermoplasticity is good, difficult rust, the temperature curve is comparatively even, thermal insulation is excellent, advantages such as rigidity height, makes the accurate adverse effect that is difficult for receiving the environment of pressure that ceramic voltage-variable resistance foil gage sensing again. The gel 14 is the silicone gel 14QGEL310, and the silicone gel 14QGEL310 has the advantages of shock resistance, moisture resistance, heat soaking and the like, so that the gel 14 is filled in the gap between the flexible circuit board 11 and the elastic sheet 13, the sealing of the pressure sensor 12 in the flexible electronic skin 10 can be realized, and the effects of shock resistance, moisture resistance and heat soaking on the flexible electronic skin 10 are achieved.
The flexible electronic skin 10 further comprises a temperature sensor 15 protruding from the flexible circuit board 11, the distance between the temperature sensor 15 and the elastic sheet 13 is greater than the distance between the pressure sensor 12 and the elastic sheet 13, and gel is filled between the temperature sensor 15 and the elastic sheet 13. A plurality of pressure sensors 12 are arranged in a matrix on the flexible circuit board 11 for sensing pressure applied to each point on the flexible electronic skin 10, and a plurality of temperature sensors 15 are disposed between the pressure sensors 12 for sensing temperature of each area on the flexible electronic skin 10, thereby collecting temperature variation for algorithmically compensating the influence of temperature on the pressure sensors.
Referring to fig. 3-4, the present application further provides a hand-push functional cart 100, which includes a cart body 20, a plurality of wheels rotatably connected to the bottom of the cart body 20, and a first armrest 40, a second armrest 50 and a control device 60 fixed on the cart body 20, wherein the flexible electronic skin 10 is disposed on each of the first armrest 40 and the second armrest 50, the flexible electronic skin 10 and the plurality of wheels are electrically connected to the control device 60, the pressure sensor 12 is further configured to sense a pressure and transmit the pressure to the control device 60, and the control device 60 controls the movement of the plurality of wheels according to the pressure. When the operator manually controls the movement of the vehicle body 20, the operator can control the movement of the wheels by the pressure applied to the flexible electronic skin 10 without using the actual force required when the vehicle body 20 is moved, thus reducing the working strength of the operator.
Specifically, in some embodiments, the wheels include at least one first wheel 31, such as two first wheels 31, and at least one second wheel 32, such as two second wheels 32, the first wheels 31 are located on the first handrail 40 side, the second wheels 32 are located on the second handrail 50 side, and each of the flexible electronic skins 10 includes a first side 16 and a second side 17. When the pressure on the first side 16 of the first armrest 40 is greater than the pressure on the second side 17 and the pressure on the first side 16 of the second armrest 50 is less than the pressure on the second side 17, the control device 60 controls the first wheel 31 to rotate away from the second wheel 32 and controls the second wheel 32 to rotate towards the first wheel 31; when the pressure on the first side 16 of the first armrest 40 is less than the pressure on the second side 17 and the pressure on the first side 16 of the second armrest 50 is greater than the pressure on the second side 17, the control device 60 controls the first wheel 31 to rotate in a direction closer to the second wheel 32 and controls the second wheel 32 to rotate in a direction away from the first wheel 31; the control device 60 controls the first wheel 31 and the second wheel 32 to increase or decrease the rotation speed when the pressure on the first side 16 and the second side 17 on the first armrest 40 and the pressure on the first side 16 and the second side 17 on the second armrest 50 increase or decrease simultaneously. In this manner, the movement of the wheels can be controlled by varying the force applied to the first and second armrests 40, 50.
The first side 16 is located forward of the second side 17. Thus, when the user holds the first armrest 40 and the second armrest 50 and needs to turn the first wheel 31 toward the second wheel 32, the user only needs to make the pressure applied to the first side 16 of the first armrest 40 smaller than the pressure applied to the second side 17, and the pressure applied to the first side 16 of the second armrest 50 larger than the pressure applied to the second side 17, which meets the requirement of actual operation.
The wheel comprises a brushless motor 33 and an in-wheel motor 34 connected with the brushless motor 33, the control device 60 is electrically connected with the brushless motor 33 and used for controlling the rotation of the brushless motor 33 to change the steering direction of the in-wheel motor 34, and the in-wheel motor 34 is used for driving the hand-push functional vehicle 100 to walk. The wheels are provided with damping springs to reduce vibration when the vehicle body 20 moves. The vehicle body 20 has two connecting and disconnecting interfaces 21, and the first handrail 40 and the second handrail 50 are detachably connected to the two connecting and disconnecting interfaces 21, so that an operator can quickly detach or replace the first handrail 40 and the second handrail 50.
The functional cart 100 further includes a plurality of detection devices and a data transmission device 80 connected to the detection devices, the detection devices are used to collect a plurality of data of the environment where the cart body 20 is located and transmit the data to an intelligent device (not shown) through the data transmission device 80 to learn the environment, so that the intelligent device can better adapt to the environment where the intelligent device is located, wherein the collected data includes image data.
The detection device comprises at least two first image acquisition devices 71 and at least two first distance sensors 72, the at least two first image acquisition devices 71 and the at least two first distance sensors 72 are fixed on two side surfaces of the vehicle body 20, the at least two first image acquisition devices 71 are used for acquiring images of the two side surfaces of the vehicle body 20, and the at least two first distance sensors 72 are used for acquiring distances between objects on the two side surfaces of the vehicle body 20 and the vehicle body 20. The at least one first image acquisition device 71 is fixed on one side of the vehicle body 20 and used for acquiring an image of the side surface of the vehicle body 20, and the at least one first image acquisition device 71 is fixed on the other side of the vehicle body 20 and used for acquiring an image of the side surface of the vehicle body 20; the at least one first distance sensor 72 is fixed to one side of the vehicle body 20 for acquiring a distance between an object on the side of the vehicle body 20 and the vehicle body 20, and the at least one first distance sensor 72 is fixed to the other side of the vehicle body 20 for acquiring a distance between an object on the side of the vehicle body 20 and the vehicle body 20. In one embodiment, the first image capture device 71 is a fisheye camera and the first distance sensor 72 is a binocular sensor.
The detection device further comprises a second image acquisition device 73 and a second distance sensor 74. The second image capturing device 73 and the second distance sensor 74 are fixed to the front of the vehicle body 20, the second image capturing device 73 is used for capturing an image of the front of the vehicle body 20, and the second distance sensor 74 is used for capturing position information of an object in front of the vehicle body 20. In one embodiment, the second image capture device 73 is a fisheye camera and the second range sensor 74 is a lidar.
The detection device further comprises a first inertia measurement device 75 arranged on at least one wheel, a second inertia measurement device 76 arranged on the vehicle body 20 and a pressure sensor 77 arranged on at least one wheel, wherein the first inertia measurement device 75 is used for collecting the position and the posture of the vehicle body 20, the second inertia measurement device 76 is used for collecting the acceleration of the center of the vehicle body 20 to calculate the bumpiness condition of the ground road, and the pressure sensor 77 is used for collecting the sudden change load of the vehicle body 20. The data transmission device 80 transmits the position posture, the acceleration, the distance between the objects on the two side surfaces of the vehicle body 20 and the sudden change load to the intelligent device, so that the intelligent device analyzes the image of the environment according to the position posture, the acceleration, the distance between the objects on the two side surfaces of the vehicle body 20 and the sudden change load, and learns the actual situation of the environment better, thereby being suitable for the environment better.
Referring to fig. 5, in a first embodiment, a method for manufacturing a flexible e-skin 10 includes the following steps.
Step S510: a flexible circuit board 11 is provided.
Step S520: the pressure sensor 12 and the temperature sensor 15 are electrically connected to predetermined positions of the flexible printed circuit board 11.
Step S530: the elastic sheet 13 is pressed onto the pressure sensor 12.
Step S540: a gel 14 is injected between the elastic sheet 13 and the circuit board to fill the gap between the flexible circuit board 11 and the elastic sheet 13.
Step S550: and curing the gel 14 filled between the flexible circuit board 11 and the elastic sheet 13.
According to the preparation method of the bendable electronic skin 10, the flexible circuit board 11 is used as a carrier, the gel 14 is filled in the gap between the flexible circuit board 11 and the elastic sheet 13, the bendable electronic skin 10 can be bent at a large angle, and the pressure sensor 12 is prevented from contacting with air, so that the pressure sensor 12 is not influenced by the external environment, the accuracy of data sensing of the bendable electronic skin 10 in a severe environment is improved, and the application scene of the bendable electronic skin 10 is enlarged.
In one embodiment, the step of curing the gel 14 includes: curing at 150 ℃ for 30 minutes; curing for 30 minutes under the curing condition of 100 ℃; curing at 25 deg.C for 24 hr. Under the curing conditions of the above temperature and time, the residual stress of the gel 14 can be released so as not to be pressed against the pressure sensor 12 and the temperature sensor 15.
In one embodiment, the step S530 "pressing the elastic sheet 13 onto the sensor" includes the steps of: placing a flexible circuit board 11 with a pressure sensor 12 and a temperature sensor 15 into a tooling die; placing an elastic sheet 13 formed by thermosetting an elastic material into a tooling die and pressing the elastic sheet onto the flexible circuit board 11; wherein the temperature at which the elastic sheet 13 is formed and the temperature at which the gel 14 is injected are both at the same predetermined temperature, such as 25 ℃. The elastic sheet 13 is slowly cooled to a predetermined temperature, for example, 25 c, while being prepared by a heat curing manner, so as to eliminate the curing residual stress.
Referring to fig. 6, a method for manufacturing the bendable electronic skin 10 according to the second embodiment is similar to the method for manufacturing the bendable electronic skin 10 according to the first embodiment, except that the method for manufacturing the bendable electronic skin 10 further includes step S542 between the injection gel 14 and the curing gel 14: the injected gel 14 is vented. In this way, air between the elastic sheet 13 and the flexible circuit board 11 is exhausted by the exhaust, and the influence of the environment where the flexible electronic skin 10 is located on the pressure sensor 12 and the temperature sensor 15 is further avoided. Further comprising step S544 between injecting gel 14 and curing gel 14: and bending the elastic sheet 13 with the gel and the flexible circuit board 11. In this manner, the bendable electronic skin 10 may be formed into a predetermined shape through a bending step.
Specifically, referring to fig. 7, the step S544 of bending the elastic sheet 13 with gel and the flexible circuit board 11 includes: fixing an adhesive sticker to one side of the flexible circuit board 11 far away from the pressure sensor 12; attaching the side of the adhesive tape far away from the flexible circuit board 11 to the lining 200; the outer liner 300 is sleeved on the side of the elastic sheet 13 far away from the flexible circuit board 11.
It will be appreciated by those skilled in the art that the above embodiments are illustrative only and not intended to be limiting, and that suitable modifications and variations to the above embodiments are within the scope of the disclosure provided herein, which is within the spirit and scope of the disclosure.
Claims (12)
1. The flexible electronic skin comprises an elastic sheet, and is characterized by further comprising a flexible circuit board, a pressure sensor and gel, wherein the pressure sensor is electrically connected with and convexly arranged on the flexible circuit board and used for sensing pressure applied to the flexible electronic skin, the elastic sheet is connected to the pressure sensor, and the gel is filled in a gap between the flexible circuit board and the elastic sheet.
2. The bendable electronic skin according to claim 1, further comprising temperature sensors protrudingly provided on the flexible circuit board, a plurality of the pressure sensors being arranged in a matrix on the flexible circuit board, a plurality of the temperature sensors being interposed between the pressure sensors.
3. A hand-push functional vehicle comprises a vehicle body, a plurality of wheels rotatably connected to the bottom of the vehicle body, a first handrail, a second handrail and a control device, wherein the first handrail, the second handrail and the control device are fixed on the vehicle body, the first handrail and the second handrail are respectively provided with the bendable electronic skin as claimed in any one of claims 1-2, the bendable electronic skin and the wheels are electrically connected with the control device, the pressure sensor is further used for sensing the pressure and transmitting the pressure to the control device, and the control device controls the movement of the wheels according to the pressure.
4. The hand-propelled functional vehicle of claim 3, wherein the plurality of wheels includes at least a first wheel and at least a second wheel, the first wheel is located on the first armrest side, the second wheel is located on the second armrest side, each of the flexible electronic skins includes a first side and a second side, the first side of the first armrest has a greater pressure than the second side, and the first side of the second armrest has a less pressure than the second side, the control device controls the first wheel to rotate in a direction away from the second wheel and the second wheel to rotate in a direction towards the first wheel; when the pressure on the first side of the first armrest is lower than the pressure on the second side, and the pressure on the first side of the second armrest is higher than the pressure on the second side, the control device controls the first wheel to rotate in a direction close to the second wheel, and controls the second wheel to rotate in a direction away from the first wheel, and when the pressures on the first side and the second side of the first armrest and the pressures on the first side and the second side of the second armrest increase or decrease at the same time, the control device controls the first wheel and the second wheel to increase or decrease the rotation speed.
5. The functional hand push cart according to claim 3, further comprising a plurality of detection devices and a data transmission device connected to the plurality of detection devices, wherein the plurality of detection devices are configured to collect a plurality of data of an environment in which the cart body is located and transmit the data to the intelligent device through the data transmission device to learn the environment, wherein the data includes image data.
6. The hand-push functional cart according to claim 5, wherein the detection device comprises at least two first image capturing devices and at least two first distance sensors, at least two first image capturing devices and at least two first distance sensors are fixed on two sides of the cart body, at least two first image capturing devices are used for capturing images of two sides of the cart body, at least two first distance sensors are used for capturing distances between objects on two sides of the cart body and the cart body, the hand-push functional cart further comprises a second image capturing device and a second distance sensor, the second image capturing device and the second distance sensor are fixed in front of the cart body, the second image capturing device is used for capturing images in front of the cart body, and the second distance sensor is used for capturing position information of objects in front of the cart body.
7. The hand-propelled functional vehicle as recited in claim 6, wherein the detection device further comprises a first inertial measurement device disposed on at least one of the wheels, a pressure sensor disposed on at least one of the wheels, and a second inertial measurement device disposed on the vehicle body, the first inertial measurement device is configured to acquire a position and a posture of the vehicle body, the second inertial measurement device is configured to acquire an acceleration of a center of the vehicle body, and the pressure sensor is configured to acquire an abrupt load of the vehicle body.
8. The functional hand push cart according to claim 7, wherein the wheel includes a brushless motor and a hub motor connected to the brushless motor, the control device is electrically connected to the brushless motor for controlling the rotation of the brushless motor to change the direction of rotation of the hub motor, and the hub motor is used for driving the functional hand push cart to walk.
9. A method for preparing bendable electronic skin comprises the following steps:
providing a flexible circuit board;
electrically connecting a pressure sensor and a temperature sensor at a preset position of the flexible circuit board;
pressing the elastic sheet onto the pressure sensor;
injecting gel between the elastic sheet and the circuit board to fill a gap between the flexible circuit board and the elastic sheet;
and curing the gel filled between the flexible circuit board and the elastic sheet.
10. The bendable electronic skin preparation method according to claim 9, wherein the pressing of the elastic sheet onto the sensor comprises the steps of:
placing a flexible circuit board with a pressure sensor and a temperature sensor into a tool die;
and placing an elastic sheet formed by thermosetting the elastic material into a tool die and pressing the elastic sheet onto the flexible circuit board.
11. The bendable electronic skin preparation method according to claim 9, further comprising the step between the injection gel and the curing gel of:
the injected gel is vented.
12. The bendable electronic skin preparation method according to claim 9, further comprising the step between the injection gel and the curing gel of:
fixing a double-sided adhesive sticker to one side of the flexible circuit board, which is far away from the pressure sensor;
attaching one side of the double-sided adhesive tape far away from the flexible circuit board to the lining;
and sleeving an outer liner on one side of the elastic sheet far away from the flexible circuit board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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