CN114184311B - Tactile sensor - Google Patents
Tactile sensor Download PDFInfo
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- CN114184311B CN114184311B CN202111381290.5A CN202111381290A CN114184311B CN 114184311 B CN114184311 B CN 114184311B CN 202111381290 A CN202111381290 A CN 202111381290A CN 114184311 B CN114184311 B CN 114184311B
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- light source
- photosensitive element
- tactile sensor
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- shell
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- 238000005286 illumination Methods 0.000 claims description 6
- 230000000903 blocking effect Effects 0.000 abstract description 17
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- 238000001514 detection method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000003760 hair shine Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000004642 Polyimide Substances 0.000 description 1
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000010923 batch production Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000004205 dimethyl polysiloxane Substances 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000000049 pigment Substances 0.000 description 1
- 229920000435 poly(dimethylsiloxane) Polymers 0.000 description 1
- -1 polydimethylsiloxane Polymers 0.000 description 1
- 229920001721 polyimide Polymers 0.000 description 1
- 229920000915 polyvinyl chloride Polymers 0.000 description 1
- 239000004800 polyvinyl chloride Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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- 239000005060 rubber Substances 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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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
- G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention relates to the technical field of sensors and provides a touch sensor. The method comprises the following steps: a flexible housing having a cavity therein; the photosensitive element is arranged in the cavity; the light source is arranged in the cavity and faces the photosensitive element; the flexible piece that shelters from, the piece that shelters from sets up between light source and light sensing element at least partially to shelter from the light source and shine to at least part light of light sensing element. The light source and the photosensitive element which are oppositely arranged are arranged in the shell, and at least part of the blocking piece is arranged between the light source and the photosensitive element. When the shell is deformed by pressure, the shell extrudes the baffle block, so that the baffle block is also deformed. The shell and the blocking piece deform, so that the light source irradiates to change the light quantity of the photosensitive element, the photosensitive element converts the light quantity change into the variable quantity of the electric signal and outputs the variable quantity, and the pressure can be known according to the change of the electric signal. So set up, tactile sensor's electrical components quantity is few, simple structure, and the cost is lower.
Description
Technical Field
The invention relates to the technical field of sensors, in particular to a touch sensor.
Background
The touch sensor in the prior art has a complex structure and high manufacturing cost. Therefore, it is an urgent technical problem to be solved by those skilled in the art to provide a tactile sensor with simple structure and low cost.
Disclosure of Invention
The invention provides a touch sensor, which is used for overcoming the defects of complex structure and higher manufacturing cost of the touch sensor in the prior art and realizing the effects of simplifying the structure and reducing the cost.
The present invention provides a tactile sensor including:
a flexible housing having a cavity therein;
the photosensitive element is arranged in the cavity;
the light source is arranged in the cavity and is arranged towards the photosensitive element;
the flexible piece that shelters from, at least part of the piece that shelters from set up in the light source with between the light sensitive element to shelter from the light source shines to at least part light of light sensitive element.
According to the tactile sensor provided by the invention, the shell is a truncated cone-shaped shell.
The tactile sensor further comprises a spherical bulge;
the spherical protrusion is arranged on the top surface of the shell.
According to the tactile sensor provided by the invention, the outer side wall of the shell is provided with a concave curved surface structure.
According to the tactile sensor provided by the invention, the shell comprises a cover body and a base;
the cover body is provided with the cavity, and the bottom of the cover body is provided with an opening communicated with the cavity;
the base is plugged in the opening;
the shielding block is arranged on the base.
According to the tactile sensor provided by the invention, one end, far away from the base, of the shielding block is abutted against the inner wall of the cover body.
According to the tactile sensor provided by the invention, the bottom of the cover body is provided with the accommodating groove for the base to be placed in.
According to the tactile sensor provided by the invention, the base is connected with the cover body in an adhesion mode or a clamping mode.
According to the tactile sensor provided by the invention, one end of the light source, which is far away from the base, is abutted against the inner wall of the cover body;
one end of the photosensitive element, which is far away from the base, is abutted against the inner wall of the cover body.
According to the invention, the tactile sensor further comprises a processor;
the processor is electrically connected with the photosensitive element.
The invention provides a touch sensor.A light source and a photosensitive element which are oppositely arranged are arranged in a shell, and at least part of a blocking piece is arranged between the light source and the photosensitive element. When the shell is deformed by pressure, the shell extrudes the baffle block, so that the baffle block is also deformed. Shell and dog take place to warp for the light source shines and changes to the illumination volume of light-sensitive element, and light-sensitive element changes the variation of illumination volume conversion for the change of signal of telecommunication and exports, can learn the size of pressure according to the change of signal of telecommunication. So set up, tactile sensor's electrical components quantity is few, simple structure, and the cost is lower.
And, when external force acts on the shell, the shell all takes place deformation with sheltering from dog 5, and the two cooperates deformation to form to shelter from illumination, can promote touch sensor's sensitivity effectively.
In addition, the touch sensor provided by the invention realizes the detection of the touch pressure by utilizing the photoelectric effect, has stronger anti-interference capability, and is not easily influenced by temperature, magnetic field and the like. In addition, the touch sensor adopts an active shielding principle, so that the sensitivity of the photoelectric touch sensor can be improved. In addition, the touch sensor shell is made of a flexible shell, so that the touch sensor has good fitting performance on flexible objects and good human-computer interaction safety. The sensor has various installation environments and can be widely applied to various fields.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is an exploded view of the structure of a tactile sensor in some embodiments provided by the present invention;
FIG. 2 is a schematic structural view of a cover in some embodiments provided by the present invention;
FIG. 3 is a schematic view of the structure of a blocking piece in some embodiments of the present invention;
FIG. 4 is a schematic view of a stopper in some embodiments of the present invention;
FIG. 5 illustrates the amount of light transmission of the blocker under different pressures according to some embodiments of the present invention;
reference numerals:
1: a cover body; 2: a cavity; 3: a photosensitive element;
4: a light source; 5: a stop block; 6: spherical surface is convex;
7: a base; 8: accommodating a tank; 9: light rays.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
The tactile sensor in the embodiment provided by the present invention is described below with reference to fig. 1 to 5.
Specifically, the tactile sensor includes a housing, a photosensor 3, a light source 4, and a shutter 5.
Wherein the shell is a flexible shell. By flexible housing is meant that the housing can be deformed, for example elastically deformed. The interior of the housing is provided with a cavity 2.
The photosensitive element 3 is disposed in the cavity 2.
The light source 4 is arranged in the cavity 2 and is arranged towards the light sensitive element 3.
The shielding block 5 is a flexible shielding block 5. By flexible shielding block is meant that the shielding block is deformable, e.g. elastically deformable. At least part of the blocking piece 5 is arranged between the light source 4 and the photosensitive element 3 to block at least part of the light 9 irradiated by the light source 4 to the photosensitive element 3. When external force acts on the shell, the shell and the blocking piece 5 are deformed, and the shell and the blocking piece are matched with each other to deform to block illumination, so that the sensitivity of the touch sensor can be effectively improved.
In the embodiment of the tactile sensor provided by the invention, the light source 4 and the photosensitive element 3 which are oppositely arranged are arranged in the shell, and at least part of the blocking piece 5 is arranged between the light source 4 and the photosensitive element 3. When the housing is deformed by pressure, the housing presses the stopper 5, so that the stopper 5 is also deformed. The shell with shelter from piece 5 and take place to warp for light source 4 shines and changes to light sensor 3's illumination volume, and light sensor 3 changes the variation of light volume conversion for the change of signal of telecommunication and output, can learn the size of pressure according to the change of signal of telecommunication. So set up, tactile sensor's electrical components quantity is few, simple structure, and the cost is lower.
In addition, the touch sensor provided by the invention realizes the detection of the touch pressure by utilizing the photoelectric effect, has stronger anti-interference capability, and is not easily influenced by temperature, magnetic field and the like. In addition, the touch sensor adopts an active shielding principle, so that the sensitivity of the photoelectric touch sensor can be improved. In addition, the touch sensor shell is made of a flexible shell, so that the touch sensor has good fitting performance on flexible objects and good human-computer interaction safety. The sensor has various installation environments and can be widely applied to various fields.
In some embodiments provided herein, the housing includes, but is not limited to, flexible structures made of polydimethylsiloxane, polyimide, polyvinyl chloride, and rubber. And in order to make the housing opaque to light, to avoid that external light influences the photosensitive element 3, an opaque pigment may be added to the housing.
In some embodiments provided by the present invention, the light source 4 comprises an LED lamp.
In some embodiments provided by the present invention, the tactile sensor further comprises an adjustment circuit for powering the light source 4 and adjusting the brightness of the light source 4. So set up, can adjust the luminance of light source 4 according to actual need. The regulating circuit may be arranged inside the cavity 2 or outside the cavity 2.
In some embodiments provided by the present invention, the light sensitive element 3 includes, but is not limited to, a silicon photocell, a photoresistor, a photodiode, a phototriode, or a photodiode.
Referring to fig. 3, in some embodiments provided by the present invention, the number of the blocking pieces 5 is provided in a single row. The single row of the blocking pieces 5 is arranged on the transmission path of the light 9 and arranged along the transmission path of the light 9 to block the light 9. For example, as shown in fig. 3, the number of the shielding blocks 5 in a single column may be two, but the number of the shielding blocks 5 in a single column may be one or more than two in practice.
Of course, the number of the shielding blocks 5 is not limited to a single row, for example, referring to fig. 4, in other embodiments provided by the present invention, the number of the shielding blocks 5 is set to two rows. The double-row shielding blocks 5 are respectively arranged at two sides of the transmission path of the light 9, and the arrangement direction of the shielding blocks 5 in each row is parallel to the transmission path of the light 9. The light 9 emitted by the light source 4 is transmitted along the gap between the two rows of stops 5. For example, as shown in fig. 4, the number of the occlusion blocks 5 in each column may be two, but the number of the occlusion blocks 5 in each column may be one or more than two in practice.
In some embodiments provided by the invention, the stopper 5 may be a cylindrical structure, a truncated cone structure, a conical structure, a pyramidal structure, a truncated pyramid structure, or a square structure.
In some embodiments of the invention, the housing is provided as a truncated cone shaped housing.
In some embodiments provided by the invention, the tactile sensor further comprises a spherical protrusion 6. The spherical protrusion 6 is disposed on the top surface of the housing. Through setting up spherical protrusion 6, spherical protrusion 6 can make pressure homodisperse when receiving pressure to promote tactile sensor's repeated measurement stability. The spherical protrusion 6 may be connected to the housing by means of gluing, clamping or integral forming.
In some embodiments, the outer side wall of the housing is configured as a concave curved structure.
In some embodiments of the invention, the housing comprises a cover 1 and a base 7.
The cover body 1 is a hollow structure with an opening at the bottom. The base 7 is sealed at the opening. The blocking piece 5 is arranged on the base 7.
So set up, be more convenient for assemble touch sensor. After the base 7 is opened, the light source 4 and the photosensitive element 3 can be fixed on the inner wall of the cover 1. The blocking piece 5 can be connected with the base 7 through bonding connection, clamping connection or integrated forming. The base 7 is plugged at the opening, and then the touch sensor can be manufactured.
Alternatively, both the light sensitive element 3 and the light source 4 may be attached to the inner wall of the cavity 2 by means of an adhesive connection. Alternatively, the light sensitive element 3 and the light source 4 may be adhesively attached to the base 7.
In some embodiments provided by the invention, one end of the shielding block 5 away from the base 7 is abutted against the inner wall of the cover 1. With the arrangement, the blocking piece 5 can be deformed when the cover body 1 is deformed, so that the response speed of the touch sensor is higher.
In some embodiments provided by the present invention, the bottom of the cover 1 is provided with a receiving groove 8 for the base 7 to be inserted. By placing the base 7 into the receiving groove 8, the base 7 is prevented from protruding from the bottom surface of the tactile sensor, thereby facilitating the connection of the tactile sensor to the surface of another object.
In some embodiments of the invention, the base 7 is adhesively or snap-fit connected to the cover 1. So set up, base 7 is simple with being connected of the cover body 1, and the equipment is convenient, is convenient for carry out batch production to tactile sensor.
In some embodiments provided by the invention, the end of the light source 4 away from the base 7 abuts against the inner wall of the cover 1. One end of the photosensitive element 3 far away from the base 7 is propped against the inner wall of the cover body 1. Further, the distance between the upper edge of the light source 4 and the base is equal to the distance between the upper edge of the photosensitive element 3 and the base, so that when the shell is pressed, the light source 4 and the photosensitive element 3 are basically synchronously lifted and displaced, the dislocation of the light source 4 and the photosensitive element 3 is avoided, and the detection precision is improved.
In some embodiments provided by the invention, the horizontal cross-section of the cavity 2 is arranged as a rectangle, a circle or an ellipse.
In some embodiments provided herein, the tactile sensor further comprises a processor.
The processor is electrically connected to the light sensitive element 3. The data acquired by the light sensitive element 3 can be transmitted to a processor, which can analyze the received data.
In some embodiments provided by the present invention, both the leads of the light sensitive element 3 and the leads of the light source 4 can be led out from the bottom of the cover 1.
Referring to fig. 5, fig. 5 shows how the light blocking area varies with pressure in some embodiments provided by the present invention, using ANSYS software to simulate the single row of the light blocking block 5 shown in fig. 3, the double row of the light blocking block 5 shown in fig. 4, and the light blocking block 5 not provided. As shown in fig. 5, under the same force, the light-shielding area of the double row of the stoppers 5 is the largest, and the light-shielding area of the single row of the stoppers 5 is the second to the smallest, and the light-shielding area of the non-installed stopper 5 is the smallest. Namely, the sensitivity of the tactile sensor can be improved by providing the stopper 5.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A tactile sensor, comprising:
a flexible housing having a cavity therein;
the photosensitive element is arranged in the cavity;
the light source is arranged in the cavity and is arranged towards the photosensitive element;
the flexible shielding block is arranged between the light source and the photosensitive element at least partially to shield at least partial light rays irradiated to the photosensitive element by the light source;
wherein the housing comprises a cover and a base; the cover body is provided with the cavity, and the bottom of the cover body is provided with an opening communicated with the cavity; the base is blocked at the opening; the shielding block is arranged on the base, the shielding block is far away from one end of the base and the inner wall of the cover body are abutted, when an external force acts on the shell, the shell and the shielding block are deformed and are matched with each other to deform so as to shield illumination.
2. A tactile sensor according to claim 1, wherein the housing is provided as a truncated cone shaped housing.
3. A tactile sensor according to claim 2, further comprising a spherical protrusion;
the spherical protrusion is arranged on the top surface of the shell.
4. A tactile sensor according to claim 2, wherein the outer side wall of the housing is provided as a concave curved structure.
5. A tactile sensor according to claim 1, wherein the bottom of the cover is provided with a receiving groove into which the base is inserted.
6. A tactile sensor according to claim 1, wherein the base is adhesively or snap-connected to the cover.
7. A tactile sensor according to claim 1, wherein an end of the light source remote from the base abuts an inner wall of the housing;
one end of the photosensitive element, which is far away from the base, is abutted against the inner wall of the cover body.
8. A tactile sensor according to claim 1, further comprising a processor;
the processor is electrically connected with the photosensitive element.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111381290.5A CN114184311B (en) | 2021-11-20 | 2021-11-20 | Tactile sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111381290.5A CN114184311B (en) | 2021-11-20 | 2021-11-20 | Tactile sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114184311A CN114184311A (en) | 2022-03-15 |
| CN114184311B true CN114184311B (en) | 2023-01-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111381290.5A Active CN114184311B (en) | 2021-11-20 | 2021-11-20 | Tactile sensor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117147040B (en) * | 2023-11-01 | 2024-01-26 | 中北大学 | Flexible conformal bionic whisker sensor |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3443249B2 (en) * | 1996-08-21 | 2003-09-02 | シャープ株式会社 | Optical coupling device |
| CN201273820Y (en) * | 2008-09-11 | 2009-07-15 | 韩力 | Photoelectric micro pressure sensor |
| HUP1100633A2 (en) * | 2011-11-17 | 2013-06-28 | Pazmany Peter Katolikus Egyetem | Device with optical feedback for measuring force and pressure |
| NL2010042C2 (en) * | 2012-12-21 | 2014-06-24 | Lely Patent Nv | A pressure sensor. |
| CN103196598A (en) * | 2013-04-16 | 2013-07-10 | 北方工业大学 | Photoelectric type force sensor |
| JP2015145856A (en) * | 2014-02-04 | 2015-08-13 | 株式会社テージーケー | Pressure sensor |
| BR102016022618A2 (en) * | 2016-09-29 | 2018-05-02 | Mistrorigo de Almeida Tácito | RESPIRATORY EFFORT MEASURING DEVICE |
| CN208573729U (en) * | 2017-12-08 | 2019-03-05 | 杭州兆观传感科技有限公司 | A kind of finger ring type pulse blood oxygen instrument |
| CN108814769B (en) * | 2018-04-27 | 2021-01-26 | 京东方科技集团股份有限公司 | Sensor, system, pressure detection circuit, method and electronic skin |
| CN110907073B (en) * | 2019-11-29 | 2021-01-05 | 中国科学院自动化研究所 | Tactile sensor |
| CN113029418B (en) * | 2021-03-09 | 2022-05-17 | 中国科学院自动化研究所 | Multi-dimensional force sensor |
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