CN109945996A - A kind of novel robot electronic skin and preparation method thereof - Google Patents
A kind of novel robot electronic skin and preparation method thereof Download PDFInfo
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- CN109945996A CN109945996A CN201910219611.8A CN201910219611A CN109945996A CN 109945996 A CN109945996 A CN 109945996A CN 201910219611 A CN201910219611 A CN 201910219611A CN 109945996 A CN109945996 A CN 109945996A
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Abstract
The invention discloses a kind of novel robot electronic skin and preparation method thereof, which includes the pressure sensitive cells and electroluminescence cell of compound setting, is not only responded to ambient pressure, and can be shown by electroluminescence cell.Electronic skin preparation method provided by the invention is simple, low energy consumption, is suitable for large area and prepares, and the electronic skin of preparation has the advantages such as low cost, high sensitivity, high stability, and have the characteristics such as flexible, stretchable, it is with a wide range of applications in robot field.
Description
Technical field
The invention belongs to flexible sensing technical field, it is related to a kind of robot electronic skin and its preparation, and in particular to one
The kind novel robot electronic skin and preparation method thereof compound based on pressure sensitive cells and electroluminescence cell.
Background technique
Robot is the automation for integrating the multidisciplinary advanced technology such as machinery, electronics, control, sensing, artificial intelligence
Equipment.After being born from Robot industry in 1956, by 60 years developments, robot be widely used in equipment preparation,
The high technology industries such as new material, biological medicine, wisdom new energy.Robot and artificial intelligence technology, advanced technology of preparing and movement
The fusion development of Internet technology has pushed the change of human society life mode.
Robot carries out corresponding operation to preferably realize the perception for external environment, it is necessary to have and
The sensing capabilities such as the similar tactile of the mankind, vision, the sense of hearing.In order to realize these functions, under the effort of scientist, electronic skin
It is continuously created and, for imitating the sense organ of the mankind, external environment is perceived, robot operating system is to obtained letter
It number is handled, to carry out a series of behavior.
Electronic skin, a kind of system that robot can be allowed to generate tactile, structure is simple, can be processed to various shapes
Shape can be attached to equipment surface as clothes, and robot perception can be allowed to believe to the place of object and orientation and hardness etc.
Breath.But general electronic skin is translated into electricity under a series of auxiliary of additional circuit modules by perceiving outside stimulus
Signal, such as capacitor, resistance variations are learned, operates extremely complex, needs many special instruments, it is with high costs, and do not have
There is visuality, can not can not be made a response in time by stimulation suffered by direct visual perception robot, operator.
Summary of the invention
In view of this, that the purpose of the present invention is to provide a kind of is compound based on pressure sensitive cells and electroluminescence cell
Novel robot electronic skin, pointedly to solve deficiency of the existing electronic skin in terms of visualizing with human-computer interaction,
Widen the application field of robot electronic skin.
Novel robot electronic skin of the invention, including the successively pressure sensitive cells of compound setting and electroluminescent list
Member.
Wherein, the pressure sensitive cells include flexible substrates and set gradually power sensitive layer on a flexible substrate and
Upper electrode layer.
The flexible substrates are dimethyl silicone polymer (PDMS), platinum catalysis silicon rubber (Eco-flex) polyimides
(PI), one of polyethylene terephthalate (PET) or a variety of.
The power sensitive layer includes the conductive layer of pyramid micro-structure.
The upper electrode layer of the pressure sensitive cells is carbon nanotube, silver nanowires, copper nano-wire, nanowires of gold, leads
One of graphene is a variety of.
Wherein, the electroluminescence cell includes the lower electrode layer, luminescent layer and upper electrode layer set gradually.
The electroluminescence cell lower electrode layer and upper electrode layer are carbon nanotube, silver nanowires, copper nano-wire, Jenner
One of rice noodles, conductive graphene are a variety of.
The luminescent layer is the doped layer of gel rubber material and luminescent quantum dot.
The gel rubber material be sodium chloride hydrogel, calcium nitrate hydrogel, lithium chloride hydrogel, lithium fluoride hydrogel,
One of poly ion liquid gel or cross-linked gel are a variety of.
The luminescent quantum dot is one of chromic sulfide, zinc sulphide, vulcanization zinc-copper, tin chromium or a variety of.
Present invention provides a kind of preparation methods of above-mentioned novel robot electronic skin, include the following steps:
S1, pyramid microstructure graph is prepared on a flexible substrate；
S2, one layer of conductive layer formation power sensitive layer is shifted on pyramid microstructure graph；
S3, upper electrode layer of the electrode layer as pressure sensitive cells is prepared below the flexible material of face on the electrically conductive；
S4, lower electrode layer of the electrode layer as electroluminescence cell is prepared again on flexible material；
S5, gel doped quantum dot layer is prepared on the lower electrode layer of electroluminescence cell as luminescent layer；
S6, the upper electrode layer for preparing electroluminescence cell on the light-emitting layer.
Compared with prior art, the invention has the benefit that
Novel robot electronic skin provided by the invention can not only perceive external force, and can pass through electroluminescent
The intensity of unit light shows.The electronic skin has the advantages that high flexibility, highly sensitive, inexpensive, production is simple, for intelligence
There is great progradation in the fields such as the development of energy Robot industry, safe early warning, human-computer interaction.
Detailed description of the invention
Fig. 1 is the concise structure schematic diagram of novel robot electronic skin of the invention；
Fig. 2 is electron microscope picture (5 μ of the pyramid microstructured conductive layers of novel robot electronic skin of the invention
m)；
Fig. 3 is the electric property figure of the pyramid microstructured conductive layers of novel robot electronic skin of the invention.
Specific embodiment
Below in conjunction with the embodiment of the present invention and attached drawing, technical solution in the embodiment of the present invention carries out detailed retouch
It states.
Embodiment 1
PDMS prepolymer is poured in the mold made, is placed on warm table and heats, taken off after solidification, as entire electricity
The flexible substrates 1 of sub- skin.The mold for producing pyramid microstructure aspects on silicon plate with etching method, PDMS prepolymer is applied
It on the pyramid microstructural mold processed, is placed on warm table and heats, at 80 DEG C, 30 minutes, taken off after solidification.With spraying
Method coat carbon nanotube on the PDMS with pyramid micro-structure, as power sensitive layer 2.In the PDMS that one piece is made
Lower section covers one layer of silver nanowires electrode, the upper electrode layer 3 as pressure sensitive cells with sputtering mode.Then on PDMS
Side covers one layer of conductive graphene with spraying method, the lower electrode layer 4 as electroluminescence cell.Later, with sodium chloride water-setting
Glue adulterates chromic sulfide, stirs 2 hours in a vacuum, heats 1 hour on warm table, form solid ion doping quantum point
Composite layer is placed on above conductive graphene layer, the luminescent layer 5 as electroluminescence cell.One is covered with spraying method on it
Layer carbon nanotube, the upper electrode layer 6 as electroluminescence cell.Finally use the mode of hot pressing by pressure sensitive cells and electroluminescent hair
Light unit is combined together, and structure is as shown in Figure 1.
Embodiment 2
Ecoflex prepolymer is poured in the mold made, is placed on warm table and heats, taken off after solidification, as whole
The flexible substrates of a electronic skin.The mold for producing pyramid microstructure aspects on silicon plate with etching method, by PDMS pre-polymerization
Object is coated on the pyramid microstructural mold processed, is placed on warm table and is heated, and at 80 DEG C, 30 minutes, is taken off after solidification.With
Sputtering mode coated with metal silver nanowires on the PDMS with pyramid micro-structure, as power sensitive layer.It is made at one piece
PDMS below, with sputtering mode, cover one layer of nanowires of gold electrode, the upper electrode layer as pressure sensitive cells.Then exist
One layer of conductive graphene is covered with spraying method above PDMS, the lower electrode layer as electroluminescence cell.Later, calcium nitrate is used
Hydrogel doped zinc sulphide vibrates 30 minutes on oscillating table, heats 1 hour under vacuum, form solid ions dosage
The composite layer of son point, is placed on above conductive graphene layer, the luminescent layer as electroluminescence cell.It is covered on it with spraying method
Upper one layer of carbon nanotube, the upper electrode layer as electroluminescence cell.Finally use the mode of hot pressing by pressure sensitive cells and electricity
Electroluminescent unit is combined together.
Embodiment 3
PDMS prepolymer is poured in the mold made, is placed on warm table and heats, taken off after solidification, as entire electricity
The flexible substrates of sub- skin.The mold for producing pyramid microstructure aspects on silicon plate with etching method, PDMS prepolymer is applied
It on the pyramid microstructural mold processed, is placed on warm table and heats, at 80 DEG C, 30 minutes, taken off after solidification.With spraying
Mode coats conductive graphene on the PDMS with pyramid micro-structure, as power sensitive layer.In the PDMS that one piece is made
Lower section covers one layer of silver nanowires electrode, the upper electrode layer as pressure sensitive cells with sputtering mode.Then on PDMS
Side covers one layer of conductive graphene with spraying method, the lower electrode layer as electroluminescence cell.Later, with lithium fluoride hydrogel
Chromic sulfide is adulterated, is vibrated on oscillating table 30 minutes, is heated 1 hour under vacuum, form solid ion doping quantum point
Composite layer is placed on above conductive graphene layer, the luminescent layer as electroluminescence cell.One layer is covered with sputtering mode on it
Nano line electrode, the upper electrode layer as electroluminescence cell.Finally use the mode of hot pressing by pressure sensitive cells and electroluminescent hair
Light unit is combined together.
Embodiment 4
Ecoflex prepolymer is poured in the mold made, is placed on warm table and heats, taken off after solidification, as whole
The flexible substrates of a electronic skin.The mold for producing pyramid microstructure aspects on silicon plate with etching method, by PDMS pre-polymerization
Object is coated on the pyramid microstructural mold processed, is placed on warm table and is heated, and at 80 DEG C, 30 minutes, is taken off after solidification.With
Spraying method coats carbon nanotube on the PDMS with pyramid micro-structure, as power sensitive layer.It is made at one piece
Below PDMS, with sputtering mode, one layer of nanowires of gold electrode, the upper electrode layer as pressure sensitive cells are covered.Then exist
One layer of carbon nanotube is covered with spraying method above PDMS, the lower electrode layer as electroluminescence cell.Later, with sodium chloride water
Gel doped tin chromium vibrates 30 minutes on oscillating table, heats 1 hour under vacuum, form solid ion doping quantum
The composite layer of point is placed on above carbon nanotube layer, the luminescent layer as electroluminescence cell.One is covered with sputtering mode on it
Layer metal silver nanowires, the upper electrode layer as electroluminescence cell.Finally use the mode of hot pressing by pressure sensitive cells and electricity
Electroluminescent unit is combined together.
Embodiment 5
PDMS prepolymer is poured in the mold made, is placed on warm table and heats, taken off after solidification, as entire electricity
The flexible substrates of sub- skin.The mold for producing pyramid microstructure aspects on silicon plate with etching method, PDMS prepolymer is applied
It on the pyramid microstructural mold processed, is placed on warm table and heats, at 80 DEG C, 30 minutes, taken off after solidification.With sputtering
Mode coats copper as power sensitive layer on the PDMS with pyramid micro-structure.Below the PDMS that one piece is made, with spray
The method of ink print covers one layer of silver nanowires electrode, the upper electrode layer as pressure sensitive cells.Then it is used above PDMS
Spraying method covers one layer of conductive graphene, the lower electrode layer as electroluminescence cell.Later, it is mixed with poly ion liquid gel
Miscellaneous tin chromium vibrates 30 minutes on oscillating table, heats one hour under vacuum, form answering for solid ion doping quantum point
Layer is closed, is placed on above conductive graphene layer, the luminescent layer as electroluminescence cell.One layer of gold is covered with sputtering mode on it
Belong to silver, the upper electrode layer as electroluminescence cell.Finally use the mode of hot pressing by power sensing unit and electroluminescence cell knot
It is combined.
The pressure sensitive unit of novel robot electronic skin of the invention is due to using with pyramid micro-structure
Power sensitive layer has apparent electrical response signal for pressure.Electroluminescent material is based on solutionization processing preparation, by solution
The gel of change adulterates luminescent quantum dot material, to prepare luminous composite layer, has that simple process, low in cost, material is sharp
The features such as high, highly sensitive with rate, electrical signal derived from the pressure sensitive unit for bottom convert it into luminous composite layer
The luminous intensity of itself is intuitive, easy.The novel robot electronic skin of preparation is in outside stimulus visualization, human-computer interaction, peace
The fields such as full early warning have broad application prospects.
Claims (9)
1. a kind of novel robot electronic skin, which is characterized in that including successively pressure sensitive cells of compound setting and electroluminescent
Luminescence unit；
Wherein, the pressure sensitive cells include flexible substrates and set gradually power sensitive layer on a flexible substrate and power on
Pole layer；The electroluminescence cell includes the lower electrode layer, luminescent layer and upper electrode layer set gradually.
2. novel robot electronic skin according to claim 1, which is characterized in that the flexible substrates are poly- diformazan
Radical siloxane, hydrogenated styrene-butadiene block copolymer, platinum catalysis silicon rubber, polyimides, polyethylene terephthalate
One of or it is a variety of.
3. novel robot electronic skin according to claim 1, which is characterized in that the power sensitive layer includes golden word
The conductive layer of tower micro-structure.
4. novel robot electronic skin according to claim 1, which is characterized in that the pressure sensitive cells it is upper
Electrode layer is one of carbon nanotube, silver nanowires, copper nano-wire, nanowires of gold, conductive graphene or a variety of.
5. novel robot electronic skin according to claim 1, which is characterized in that electric under the electroluminescence cell
Pole layer and upper electrode layer are one of carbon nanotube, silver nanowires, copper nano-wire, nanowires of gold, conductive graphene or a variety of.
6. novel robot electronic skin according to claim 1, which is characterized in that the luminescent layer is gel rubber material
With the doped layer of luminescent quantum dot.
7. novel robot electronic skin according to claim 6, which is characterized in that the gel rubber material is sodium chloride
In hydrogel, calcium nitrate hydrogel, lithium chloride hydrogel, lithium fluoride hydrogel, poly ion liquid gel or cross-linked gel
It is one or more.
8. novel robot electronic skin according to claim 6, which is characterized in that the luminescent quantum dot is vulcanization
One of chromium, zinc sulphide, vulcanization zinc-copper, tin chromium are a variety of.
9. a kind of preparation method of the claim 1~8 novel robot electronic skin, which is characterized in that including following steps
It is rapid:
S1, pyramid microstructure graph is prepared on a flexible substrate；
S2, one layer of conductive layer formation power sensitive layer is shifted on pyramid microstructure graph；
S3, upper electrode layer of the electrode layer as pressure sensitive cells is prepared below the flexible material of face on the electrically conductive；
S4, lower electrode layer of the electrode layer as electroluminescence cell is prepared again on flexible material；
S5, gel doped quantum dot layer is prepared on the lower electrode layer of electroluminescence cell as luminescent layer；
S6, the upper electrode layer for preparing electroluminescence cell on the light-emitting layer.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110608825A (en) * | 2019-09-12 | 2019-12-24 | 复旦大学 | Flexible pressure sensor based on polyimide substrate microstructure and preparation method thereof |
| CN112097962A (en) * | 2020-09-11 | 2020-12-18 | 苏州大学 | Triboelectric pressure sensor and preparation method thereof |
| CN112321862A (en) * | 2020-11-11 | 2021-02-05 | 杭州师范大学 | Simple process for high-transparency multifunctional ultrathin ionized skin |
| CN112798153A (en) * | 2020-12-25 | 2021-05-14 | 苏州大学 | Flexible capacitive pressure sensor and preparation method thereof |
| CN113103259A (en) * | 2021-05-17 | 2021-07-13 | 浙江大学 | Interactive flexible robot skin of extensible |
| CN116202661A (en) * | 2023-01-10 | 2023-06-02 | 苏州锐光科技有限公司 | Pressure sensor and manufacturing method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110608825A (en) * | 2019-09-12 | 2019-12-24 | 复旦大学 | Flexible pressure sensor based on polyimide substrate microstructure and preparation method thereof |
| CN110608825B (en) * | 2019-09-12 | 2021-08-20 | 复旦大学 | Flexible pressure sensor based on polyimide substrate microstructure and preparation method thereof |
| CN112097962A (en) * | 2020-09-11 | 2020-12-18 | 苏州大学 | Triboelectric pressure sensor and preparation method thereof |
| CN112097962B (en) * | 2020-09-11 | 2022-02-22 | 苏州慧闻纳米科技有限公司 | Triboelectric pressure sensor and preparation method thereof |
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| CN112321862B (en) * | 2020-11-11 | 2023-03-10 | 杭州师范大学 | Simple process for high-transparency multifunctional ultrathin ionized skin |
| CN112798153A (en) * | 2020-12-25 | 2021-05-14 | 苏州大学 | Flexible capacitive pressure sensor and preparation method thereof |
| CN112798153B (en) * | 2020-12-25 | 2022-12-23 | 苏州大学 | Flexible capacitive pressure sensor and preparation method thereof |
| CN113103259A (en) * | 2021-05-17 | 2021-07-13 | 浙江大学 | Interactive flexible robot skin of extensible |
| CN116202661A (en) * | 2023-01-10 | 2023-06-02 | 苏州锐光科技有限公司 | Pressure sensor and manufacturing method thereof |
| CN116202661B (en) * | 2023-01-10 | 2023-09-29 | 苏州锐光科技有限公司 | Pressure sensor and manufacturing method thereof |
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