CN201163226Y - Touch sensor based on flexible pressure-sensitive conductive rubber - Google Patents
Touch sensor based on flexible pressure-sensitive conductive rubber Download PDFInfo
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- CN201163226Y CN201163226Y CNU2008200323116U CN200820032311U CN201163226Y CN 201163226 Y CN201163226 Y CN 201163226Y CN U2008200323116 U CNU2008200323116 U CN U2008200323116U CN 200820032311 U CN200820032311 U CN 200820032311U CN 201163226 Y CN201163226 Y CN 201163226Y
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Abstract
The utility model provides a touch sensor based on flexible voltage-sensitive conductive rubber. The touch sensor is characterized in that the structural form of a sensing unit arranged in the touch sensor is as follows: a flexible circuit board is used as a bottom plate, the disk-shaped flexible voltage-sensitive conductive rubber is arranged on the flexible circuit board and is electrically connected with electrodes arranged on the flexible circuit board, the stress surface on the top of the flexible voltage-sensitive conductive rubber is covered with a force-transmitting hemisphere; the flexible circuit board adopts a four-electrode structure, wherein a public electrode (A) is a center circle electrode which is arranged concentrically with the disk-shaped flexible voltage-sensitive conductive rubber; a signal electrode (B), a signal electrode (C) and a signal electrode (D) are sector electrodes which are evenly distributed with the inclination of 120 degrees on the same torus of the periphery of the public electrode (A). The utility model is a touch sensor which has strong surface adaptability, high reliability, simple signal acquisition circuit and convenient production, and can be applied to detection of the three-dimensional force.
Description
Technical field
The utility model belongs to field of sensing technologies, more particularly relates in particular to a kind of touch sensor that is applied to robot.
Background technology
Tactile sensing has important status in the robot sense system, it has vision etc., and other feel irreplaceable function.Vision generally must be finished by illumination, and the same with people's sensation when illumination is limited, the importance of sense of touch just highlights.What is more important, some character of surface and the physical property of sense of touch energy perceptual object: soft durometer, roughness, size, shape etc., according to the information that touch sensor provides, robot can reliably grasp target object.The trend of touch sensor is integrated, miniaturization and intellectuality.For accurately obtaining tactile data and being applicable to the surface of arbitrary shape, require touch sensor to have certain flexibility, take this to be installed on the surface of arbitrary shape adapting to different robot application, and can obtain the Three-dimension Contact force information, make it more solid and reliable ground grasping target object.
Up to now, the touch sensor of existing multiple principle of work and version.Early stage touch sensor mainly contains two kinds of mechanical type touch sensor and flexible type touch sensors, not only volume is big for they, spatial resolution is lower, and sensor is a rigidity, be that sensor can not flexural deformation and be installed on the curved surface, so they are difficult to obtain using comparatively widely in the Robotics field.
Along with the development of sensor technology, touch sensors such as condenser type and optical profile type have appearred.
Capacitance type touch sensor is when stressed, minute movement can take place in one of them electrode, thereby cause the change of electric capacity, in capacitance type touch sensor owing to there is a movable electrode, its life-span is affected, reliability is not high yet, and is difficult to obtain tangential force information, promptly can not detect three-dimensional force information.
Optical tactile sensor mainly is the optical fiber touch sensor, the detection system of optical tactile sensor is comparatively complicated, except sensor itself, therefore the high-speed computer etc. that also needs external lighting fiber, miniature CCD and be used for Flame Image Process is difficult to realize miniaturization.
Pressure-sensitive conductive rubber is to be doped with a certain amount of conducting particles in rubber matrix, and the resistance of material changes along with suffered pressure.The existing two-sided layout electrode that adopts at pressure-sensitive conductive rubber, the realization one dimension is defeated the power sensing.The sensor of this form has had certain flexibility, but because of there being an electrode on the face directly to contact with testee as workplace, can occur because of contact and grasp electron device that target object may cause and the damage of circuit, working sensor reliability thereby be affected.By this one dimension pressure transducer is carried out stack design, three-decker is set is used for detecting respectively three-dimensional force information, but need be to insulating multilayer wiring, complex manufacturing technology between each layer.
The utility model content
The utility model is for avoiding above-mentioned existing in prior technology weak point, provide that a kind of surperficial adaptability is strong, reliability is high, signal acquisition circuit is simple, easy to make, can be used for the touch sensor that three-dimensional force detects based on flexible pressure-sensitive conductive rubber.
The utility model technical solution problem adopts following technical scheme:
The utility model is that the version that sensing unit is set is based on the design feature of the touch sensor of flexible pressure-sensitive conductive rubber: be base plate with the flexible PCB, the flexible pressure-sensitive conductive rubber of disk shape places on the flexible PCB, and be electrically connected with the electrode that distributes on the flexible PCB, cover power transmission hemisphere on the top stress surface of flexible pressure-sensitive conductive rubber; Flexible PCB is four electrode structures, wherein, public electrode A is in center circle electrode on the concentric position with disk shape flexible pressure-sensitive conductive rubber, and signal electrode B, signal electrode C and signal electrode D are mutually 120 ° of sector electrodes that are evenly distributed on the same anchor ring of center circle electrode periphery.
The utility model also is based on the design feature of the touch sensor of flexible pressure-sensitive conductive rubber: press array arrangement with sensing unit in surveyed area, array can be linear array or face battle array, and the flexible PCB of all unit is an one-piece construction in the array.
Compared with the prior art, the utility model beneficial effect is embodied in:
1, in the utility model sensor construction form; flexible pressure-sensitive conductive rubber is that single face contacts with flexible PCB; version manufacture craft than " double-face electrode " is greatly simplified; the contact pressure face is the pressure-sensitive conductive rubber face; the guard electrode face has effectively improved the working sensor reliability effectively.
2, flexible pressure-sensitive conductive rubber and flexible PCB are resilient material in the utility model, allow three-dimensional force sensor to realize flexural deformation, and its flexible structure can be attached on the various curved surfaces reliably, realizes the detection to three-dimensional force, and surperficial adaptability is strong.
3, four electrode structures of flexible PCB have taken into full account coupled relation between the different directions in the utility model, and sampled signal quantity is reduced, thereby the signal sample circuit structure can obtain simplifying.
4, the utility model can obtain different detection range and detection sensitivity by suitably adjusting the area of center circle electrode, and range of adjustment is wide.
Description of drawings
Fig. 1 is the utility model structural representation;
Fig. 2 is four electrode structure synoptic diagram of flexible PCB in the utility model;
The equivalent resistance distribution schematic diagram of Fig. 3 for drawing by four electrodes in the utility model.
Number in the figure: 1 power transmission hemisphere, 2 flexible pressure-sensitive conductive rubbers, 3 flexible PCBs.
Below by embodiment, the utility model is described in further detail in conjunction with the accompanying drawings
Embodiment
Referring to Fig. 1, the version that sensing unit is set is: with flexible PCB 3 is base plate, the flexible pressure-sensitive conductive rubber 2 of disk shape places on the flexible PCB 3, and is electrically connected with the electrode that distributes on the flexible PCB 3, covers power transmission hemisphere 1 on the top stress surface of flexible pressure-sensitive conductive rubber 2;
Referring to Fig. 2, flexible PCB 3 is four electrode structures, wherein, public electrode A is in center circle electrode on the concentric position with disk shape flexible pressure-sensitive conductive rubber, and signal electrode B, signal electrode C and signal electrode D are mutually 120 ° of sector electrodes that are evenly distributed on the same anchor ring of center circle electrode periphery.
Shown in Figure 3, public electrode A on the diverse location and three signal electrodes all are electrically connected with flexible pressure-sensitive conductive rubber, corresponding form three equivalent resistance R1, R2 and R3, and change, obtain sensing three-dimensional force with this with the difference of flexible pressure-sensitive conductive rubber force-bearing situation.
In concrete the enforcement, press array arrangement with sensing unit in surveyed area, array can be linear array or face battle array, and the flexible PCB of all unit is one-piece construction (as shown in Figure 1) in the array.
Power transmission hemisphere 1 adopts the big slightly resin material of hardness, such as 217
#Phenolics, power transmission hemisphere use the high-performance binder to be bonded in the end face of flexible pressure-sensitive conductive rubber 2;
Three-dimensional force detects mechanism:
Three-dimensional force is concentrated by power transmission hemisphere 1 and is acted on flexible pressure-sensitive conductive rubber 2, flexible pressure-sensitive conductive rubber 2 contacts with flexible PCB 3 single faces, because the piezoresistive effect of flexible pressure-sensitive conductive rubber 3 and the contact resistance between flexible pressure-sensitive conductive rubber 2 and flexible PCB 3 electrodes, have three equivalent resistance R1, R2 and R3, resistance will change during strain.Three resistance are exported corresponding with it voltage signal through testing circuit separately respectively, and then realize to three-dimensional force Fx Fy, the detection of Fz.
The distance of the size of four electrodes and public electrode and signal electrode is big or small influential to strain output all.
When Fx does the time spent, because of being subjected to compressive strain, resistance R 1 reduces; Because of being subjected to the stretching strain of equal extent, resistance R 2 increases with R3, and every resistance increase amplitude is that resistance R 1 reduces half of amplitude.
When Fy does the time spent, resistance R 1 remains unchanged; Because of making resistance R 2 resistances, compressive strain reduces; Because of being subjected to the stretching strain of equal extent, resistance R 3 increases by identical amplitude.
When Fz does the time spent, because of being subjected to the compressive strain of equal extent, the resistance of resistance R 1, R2 and R3 reduces on an equal basis.
As follow-up circuit, the sensor output voltage signal is input to computing machine through switching gate circuit, voltage contrasting amplified circuit, data acquisition conversion, handles through matrix operation, obtains Fx, Fy, the correlation of Fz.
The demarcation of sensor: demarcation mode routinely, three voltage signals that each sensing unit that is arranged in array in extraction and the processing surveyed area is exported under the effect of Three-dimension Contact power, obtain the linear coupled relation between stressed and three voltage signals on x, y and the z all directions through linear decoupling zero, the process neural network decoupling obtains the coupled relation between each sensing unit again, realizes the demarcation to sensor.
Claims (2)
1, based on the touch sensor of flexible pressure-sensitive conductive rubber, it is characterized in that the version that sensing unit is set is: with flexible PCB (3) is base plate, the flexible pressure-sensitive conductive rubber of disk shape (2) places on the flexible PCB (3), and be electrically connected with electrode that described flexible PCB (3) go up to distribute, cover power transmission hemisphere (1) on the top stress surface of described flexible pressure-sensitive conductive rubber (2); Described flexible PCB (3) is four electrode structures, wherein, public electrode A is in center circle electrode on the concentric position with disk shape flexible pressure-sensitive conductive rubber, and signal electrode B, signal electrode C and signal electrode D are mutually 120 ° of sector electrodes that are evenly distributed on the same anchor ring of public electrode A periphery.
2, the touch sensor based on flexible pressure-sensitive conductive rubber according to claim 1, it is characterized in that in surveyed area with described sensing unit by array arrangement, described array can be linear array or face battle array, and the flexible PCB of all unit is an one-piece construction in the array.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200323116U CN201163226Y (en) | 2008-02-29 | 2008-02-29 | Touch sensor based on flexible pressure-sensitive conductive rubber |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200323116U CN201163226Y (en) | 2008-02-29 | 2008-02-29 | Touch sensor based on flexible pressure-sensitive conductive rubber |
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| Publication Number | Publication Date |
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| CN201163226Y true CN201163226Y (en) | 2008-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNU2008200323116U Expired - Lifetime CN201163226Y (en) | 2008-02-29 | 2008-02-29 | Touch sensor based on flexible pressure-sensitive conductive rubber |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100541151C (en) * | 2008-02-29 | 2009-09-16 | 合肥工业大学 | Touch sensor based on flexible pressure-sensitive conductive rubber |
| WO2011103808A1 (en) * | 2010-02-24 | 2011-09-01 | 香港纺织及成衣研发中心有限公司 | Flexible pressure sensor and flexible pressure sensing array |
| CN102283644A (en) * | 2011-05-31 | 2011-12-21 | 青岛光电医疗科技有限公司 | Disposable hidden line integrated electrode and connector |
| CN102735378A (en) * | 2012-06-21 | 2012-10-17 | 戴文钟 | Pressure sensor |
| CN103323152A (en) * | 2013-05-15 | 2013-09-25 | 中国矿业大学 | Bionic skin three-dimensional force touch perception device and measuring method thereof |
| CN105606270A (en) * | 2016-01-19 | 2016-05-25 | 合肥工业大学 | Composite capacitor-resistor type full-flexibility touch and pressure sensor |
| CN109470394A (en) * | 2018-11-30 | 2019-03-15 | 浙江大学 | Multiple spot touch force sensor and the method for extracting characteristic information in regular flute surfaces |
| CN110285912A (en) * | 2019-05-22 | 2019-09-27 | 浙江大学滨海产业技术研究院 | A kind of pressure sensitive signal supervisory instrument |
| CN111473904A (en) * | 2020-03-27 | 2020-07-31 | 厦门大学 | Integrated flexible three-dimensional force touch sensor and manufacturing method thereof |
| CN113049167A (en) * | 2021-03-04 | 2021-06-29 | 厦门大学 | Flexible multi-dimensional touch sensor and preparation method thereof |
| CN113147938A (en) * | 2021-04-09 | 2021-07-23 | 苏州大学 | Self-powered sensing method and device for spherical robot |
-
2008
- 2008-02-29 CN CNU2008200323116U patent/CN201163226Y/en not_active Expired - Lifetime
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100541151C (en) * | 2008-02-29 | 2009-09-16 | 合肥工业大学 | Touch sensor based on flexible pressure-sensitive conductive rubber |
| WO2011103808A1 (en) * | 2010-02-24 | 2011-09-01 | 香港纺织及成衣研发中心有限公司 | Flexible pressure sensor and flexible pressure sensing array |
| US8393229B2 (en) | 2010-02-24 | 2013-03-12 | The Hong Kong Research Institute Of Textiles And Apparel Limited | Soft pressure sensing device |
| CN102283644A (en) * | 2011-05-31 | 2011-12-21 | 青岛光电医疗科技有限公司 | Disposable hidden line integrated electrode and connector |
| CN102735378A (en) * | 2012-06-21 | 2012-10-17 | 戴文钟 | Pressure sensor |
| CN103323152B (en) * | 2013-05-15 | 2014-12-24 | 中国矿业大学 | Bionic skin three-dimensional force touch perception device and measuring method thereof |
| CN103323152A (en) * | 2013-05-15 | 2013-09-25 | 中国矿业大学 | Bionic skin three-dimensional force touch perception device and measuring method thereof |
| CN105606270A (en) * | 2016-01-19 | 2016-05-25 | 合肥工业大学 | Composite capacitor-resistor type full-flexibility touch and pressure sensor |
| CN105606270B (en) * | 2016-01-19 | 2018-11-20 | 合肥工业大学 | A kind of Grazing condition touch-pressure sensation sensor based on capacitance resistance combined type |
| CN109470394A (en) * | 2018-11-30 | 2019-03-15 | 浙江大学 | Multiple spot touch force sensor and the method for extracting characteristic information in regular flute surfaces |
| CN109470394B (en) * | 2018-11-30 | 2020-03-17 | 浙江大学 | Multipoint touch force sensor and method for extracting characteristic information on surface of regular groove |
| CN110285912A (en) * | 2019-05-22 | 2019-09-27 | 浙江大学滨海产业技术研究院 | A kind of pressure sensitive signal supervisory instrument |
| CN111473904A (en) * | 2020-03-27 | 2020-07-31 | 厦门大学 | Integrated flexible three-dimensional force touch sensor and manufacturing method thereof |
| CN113049167A (en) * | 2021-03-04 | 2021-06-29 | 厦门大学 | Flexible multi-dimensional touch sensor and preparation method thereof |
| CN113147938A (en) * | 2021-04-09 | 2021-07-23 | 苏州大学 | Self-powered sensing method and device for spherical robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Effective date of abandoning: 20080229 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |