CN115674276A - Triboelectric type variable-stiffness soft paw state monitoring sensor and testing method thereof - Google Patents
Triboelectric type variable-stiffness soft paw state monitoring sensor and testing method thereof Download PDFInfo
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- CN115674276A CN115674276A CN202211187469.1A CN202211187469A CN115674276A CN 115674276 A CN115674276 A CN 115674276A CN 202211187469 A CN202211187469 A CN 202211187469A CN 115674276 A CN115674276 A CN 115674276A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 61
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims abstract description 57
- 239000000758 substrate Substances 0.000 claims abstract description 53
- 229910001338 liquidmetal Inorganic materials 0.000 claims abstract description 30
- 238000005452 bending Methods 0.000 claims abstract description 22
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- 229910001152 Bi alloy Inorganic materials 0.000 claims description 3
- GYHNNYVSQQEPJS-UHFFFAOYSA-N Gallium Chemical compound [Ga] GYHNNYVSQQEPJS-UHFFFAOYSA-N 0.000 claims description 3
- PSMFTUMUGZHOOU-UHFFFAOYSA-N [In].[Sn].[Bi] Chemical compound [In].[Sn].[Bi] PSMFTUMUGZHOOU-UHFFFAOYSA-N 0.000 claims description 3
- 229910052733 gallium Inorganic materials 0.000 claims description 3
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- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 abstract description 12
- 239000000741 silica gel Substances 0.000 abstract description 12
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Abstract
The invention provides a triboelectric type rigidity-variable soft paw state monitoring sensor and a testing method thereof. The sensor comprises an angle monitoring unit and a rigidity monitoring unit, wherein the angle monitoring unit comprises a silica gel substrate and a liquid metal electrode, and signal output ports are arranged at the tail ends of the two sides of the liquid metal electrode to monitor resistance change; the rigidity monitoring unit comprises an aluminum ball electrode and an external wrapping device, the external wrapping device is connected through a silica gel adhesive, and the aluminum ball is filled in the wrapping device. The aluminum ball can be used as a detection element and a rigidity adjusting element of the finger in the integral structure of the soft finger. When the paw is bent, the liquid metal layer stretches to change the resistance, and when the paw is changed in rigidity, the external wrapping device is in contact with the aluminum ball to change the voltage of the aluminum ball electrode, so that different electric signals are generated along with the change of the rigidity. The invention can realize the detection of the bending angle and the rigidity of the soft paw and has the advantages of wide measurement range, high measurement precision, long service life and the like.
Description
Technical Field
The invention belongs to the technical field of sensors, and particularly relates to a triboelectric type variable-stiffness soft paw state monitoring sensor and a testing method thereof.
Background
With the development of the logistics industry, the defects of low timeliness and high cost of the traditional logistics in the aspects of storage and sorting cannot meet the requirement of fast pace of the current society, and the defects of low timeliness and high cost of the traditional logistics become a main reason for hindering the development of the logistics industry. In recent years, intelligent logistics is developed vigorously, intelligent analysis is achieved through intelligent technical means such as a network physical system and the internet of things, accordingly logistics operation efficiency is improved, and in order to improve efficiency and flexibility of unmanned sorting, a rigid manipulator is widely applied to a sorting system and achieves remarkable effects. However, most of rigid manipulators are made of metal materials, so that the safety is poor, the adaptability is limited, particularly, in the sorting process of fragile and fragile objects such as fruits and eggs, the surface of the skin is easily damaged, the nondestructive sorting is difficult to realize, and certain economic loss is caused. In recent years, due to the inherent flexibility and strong adaptability, the soft paw is widely concerned, is expected to realize nondestructive sorting, and is widely used in the manufacturing industry at present.
The sensor is used as a bridge for connecting a machine and a computer, and is very important in the process of intellectualization. The software hand claw needs the sensor to monitor the centre gripping action on the one hand, and on the other hand needs can simulate the people hand under the prerequisite of guaranteeing the compliance, changes rigidity when snatching different heavy objects, strengthens the robustness. The potentiometer and the encoder in the traditional sensor limit the nonlinear deformation of the soft paw, influence the flexibility of the soft paw and are not suitable for being applied to the field of monitoring the clamping behavior of the soft paw. The current common monitoring modes of the soft paw behavior comprise optical detection, conductive nano composite material and electromagnetic effect. However, the above method still has some disadvantages, such as that the conventional visual recognition does not work in dark space, and if the light source is added separately, the mechanism is too complicated, and the electromagnetic effect detection requires additional magnetic field.
Therefore, a novel monitoring structure which is simple in structure, easy to integrate, high in precision, stable and reliable is urgently needed to be designed, the requirement for changing the rigidity of the paw is met, and various parameters of the paw can be monitored in real time so as to meet the requirements for miniaturization and intellectualization of modern mechanical equipment.
Disclosure of Invention
The invention aims to solve the problem that a variable-rigidity soft paw state monitoring sensor which is simple in structure, easy to integrate, high in precision, stable and reliable is needed to be designed to meet the requirement of current sorting intellectualization in the logistics industry, and provides a triboelectric variable-rigidity soft paw state monitoring sensor and a testing method thereof. The sensor and the testing method thereof can realize real-time monitoring of the bending angle and the rigidity of the soft paw.
The invention is realized by the following technical scheme, the invention provides a triboelectric type variable-stiffness soft paw state monitoring sensor, which comprises: the angle monitoring unit 2 comprises an upper substrate 21, a liquid metal electrode layer 22 and a lower substrate 23, the rigidity monitoring unit 3 comprises a substrate 31, an aluminum ball electrode 32, an aluminum ball sleeve 33 and a limiting layer 34, wherein an air suction hole 331 is formed in the aluminum ball sleeve 33, and the upper substrate 21 and the substrate 31 are overlapped.
Furthermore, the upper layer substrate 21 of the angle monitoring unit 2 is connected to the soft paw 1 through Sil-Poxy silica gel adhesive, the lower layer substrate 23 is formed by casting on the basis of the upper layer substrate 21, and the liquid metal electrode layer 22 is injected into a channel between the upper layer substrate 21 and the lower layer substrate 23 through an injector.
Further, the substrate 31 of the stiffness monitoring unit 3 is connected with the aluminum ball sleeve 33 through Sil-Poxy silica gel adhesive, the aluminum ball sleeve 33 is connected with the limiting layer 34 through Sil-Poxy silica gel adhesive, and the rectangular cavity formed by the substrate 31, the aluminum ball sleeve 33 and the limiting layer 34 is filled with the aluminum ball electrode 32.
Furthermore, the upper substrate 21 and the lower substrate 23 are made of Dragon skin30, and the liquid metal is liquid gallium indium tin bismuth alloy.
Further, the aluminum ball electrode 32 is composed of a solid aluminum ball, the aluminum ball sleeve 33 is made of Dragon skin30, and the limiting layer 34 is made of epoxy resin.
Further, the liquid metal electrode layer 22 includes 8 channels, each channel is arranged in parallel, the overall shape is a rectangle, the length of each channel is 133mm, the width is 1mm, the overall length of the liquid metal electrode layer 22 is 136mm, and the overall width is 24.5mm.
Further, the end of the two sides of the liquid metal electrode layer 22 is provided with an output port, a space is reserved for arranging an electric signal output wire, the length of the output port of the two sides is 5mm, and the width of the output port of the two sides is 4mm.
Further, as the soft finger 1 is bent, the upper substrate 21 and the lower substrate 23 are stretched, the channel in the middle is narrowed, the liquid metal electrode layer 22 is thinned and lengthened, the resistance is changed, and the resistance is changed according to the change of the degree of bending.
Further, the aluminum ball contact area of the silicone rubber of the rectangular cavity and the aluminum ball electrode 32 changes with the change of the air pressure of the air exhaust when the stiffness monitoring unit 3 performs the air exhaust, and the voltage of the aluminum ball electrode 32 changes with the change of the contact area with the silicone rubber.
The invention provides a testing method of a triboelectric variable-stiffness soft paw state monitoring sensor, which specifically comprises the following steps of:
step S1: the static collecting equipment is used for recording electric signals generated by the triboelectric variable-stiffness soft paw state monitoring sensor, and the original sinusoidal signals are converted into square signals through the signal processing module, so that the stability of the signals is improved, and the complexity of detection signals is reduced;
step S2: recording the bending angle and the air suction pressure of the soft paw 1 by using a professional camera;
and step S3: according to the output electric signal and the recorded angle and pressure, the bending angle of the soft paw 1 is represented by resistance change, and the rigidity of the soft paw 1 is represented by voltage change.
The invention has the beneficial effects that:
(1) According to the sensor provided by the invention, when the paw is bent, the paw drives the angle monitoring unit to stretch and bend, the length of the liquid metal electrode in the angle monitoring unit is increased, the cross-sectional area is reduced, and the resistance is changed accordingly. The output resistance value can change along with the bending angle of the paw synchronously, so that the functional relation between the bending angle of the paw and the resistance can be obtained by collecting and summarizing the resistance values of different bending angles.
(2) According to the sensor provided by the invention, when the paw becomes rigid, gaps among the aluminum balls in the aluminum ball electrode are reduced, the contact tightness is increased, the contact area with external silica gel is increased, and the voltage is changed accordingly. The output voltage can change along with the air exhaust pressure synchronously, so that the function relation between the paw stiffness and the voltage can be obtained by collecting the voltage values and the paw stiffness values under different air exhaust pressures. The sensor is integrated with the variable-rigidity structure, so that the sensor has ultra-long service life and extremely high stability, can detect the angle and the rotating speed of the soft paw, and has the advantages of self-driven sensing, wide detection range, high measurement precision, long service life and the like.
(3) The invention has the characteristics of miniaturization and integration, can realize the real-time monitoring of the bending angle and the rigidity of the paw on the premise of keeping the completeness and the functional completeness of the paw, and provides a theoretical and experimental basis for the development of a novel self-driven and self-sensing soft paw.
Drawings
FIG. 1 is a schematic structural view of a triboelectric type variable stiffness soft paw state monitoring sensor according to the present invention;
FIG. 2 is a schematic structural diagram of an angle monitoring unit in the triboelectric type variable stiffness soft paw state monitoring sensor according to the present invention;
FIG. 3 is a schematic structural diagram of a liquid metal electrode layer in the angle detection unit according to the present invention;
FIG. 4 is an enlarged schematic view of FIG. 3 at A;
FIG. 5 is a schematic structural diagram of a stiffness monitoring unit in the triboelectric variable-stiffness soft-body paw state monitoring sensor according to the present invention;
FIG. 6 is a flow chart of a method for testing a triboelectric type variable stiffness soft paw state monitoring sensor according to the present invention;
FIG. 7 is a schematic diagram of voltage characteristics of the triboelectric type variable stiffness soft paw state monitoring sensor of the present invention at different frequencies;
FIG. 8 is a schematic view of a triboelectric variable stiffness soft-body paw state monitoring sensor according to the present invention, wherein (a) shows a curve fitting a bending angle and a resistance; (b) A graph showing the fitted curve of paw stiffness to voltage.
FIG. 9 is a diagram showing the results of the durability test performed by the triboelectric type variable stiffness soft-body paw state monitoring sensor according to the present invention;
description of the reference numerals: 1-soft paw; 2-an angle monitoring unit; 21-upper substrate; 22-a liquid metal electrode layer; 23-an underlying substrate; 3-a stiffness monitoring unit; 31-a substrate; 32-aluminum ball electrodes; 33-an aluminum ball sleeve; 34-a confinement layer.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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 invention.
With reference to fig. 1 to 9, the present invention provides a triboelectric variable stiffness soft-body paw state monitoring sensor, which includes: the angle monitoring unit 2 comprises an upper substrate 21, a liquid metal electrode layer 22 and a lower substrate 23, the rigidity monitoring unit 3 comprises a substrate 31, an aluminum ball electrode 32, an aluminum ball sleeve 33 and a limiting layer 34, wherein an air suction hole 331 is formed in the aluminum ball sleeve 33, and the upper substrate 21 and the substrate 31 are overlapped.
The upper-layer substrate 21 of the angle monitoring unit 2 is connected to the soft paw 1 through Sil-Poxy silica gel adhesive, the lower-layer substrate 23 is formed by pouring on the basis of the upper-layer substrate 21, and the liquid metal electrode layer 22 is formed by injecting a syringe into a channel between the upper-layer substrate 21 and the lower-layer substrate 23. And injecting the liquid metal electrode into a channel between the upper substrate and the lower substrate to be used as an electrode material, wherein the liquid metal is required to completely fill the interior of the channel after injection is finished, and each prepared liquid metal electrode has the same initial resistance.
The base 31 and the aluminum ball sleeve 33 of the rigidity monitoring unit 3 are connected through Sil-Poxy silica gel adhesive, the aluminum ball sleeve 33 and the limiting layer 34 are connected through Sil-Poxy silica gel adhesive, and the rectangular cavity formed by the base 31, the aluminum ball sleeve 33 and the limiting layer 34 is filled with the aluminum ball electrode 32.
The upper layer substrate 21 and the lower layer substrate 23 are made of Dragon skin30, and the liquid metal is liquid gallium indium tin bismuth alloy.
The aluminum ball electrode 32 is composed of a solid aluminum ball, the aluminum ball sleeve 33 is made of Dragon skin30, and the limiting layer 34 is made of epoxy resin.
Liquid metal electrode layer 22 includes 8 passageways, and every passageway parallel arrangement, every passageway size is the same, and the interval is the same, and whole shape is the rectangle, and each passageway length is 133mm, and the width is 1mm, liquid metal electrode layer 22 whole length is 136mm, and whole width is 24.5mm.
The tail ends of the two sides of the liquid metal electrode layer 22 are provided with signal output ports for monitoring resistance change, a space is reserved for arrangement of electric signal output wires, the length of the output ends of the two sides is 5mm, and the width of the output ends of the two sides is 4mm.
The working principle of the angle monitoring unit 2 is as follows: as the soft paw 1 is bent, the upper layer substrate 21 and the lower layer substrate 23 are stretched, the channel in the middle is narrowed, the liquid metal electrode layer 22 is thinned and lengthened, the resistance is changed, and the resistance is changed along with the change of the bending degree.
The working principle of the stiffness monitoring unit 3 is as follows: and a through hole is formed in one side of the aluminum ball sleeve 33 and used for connecting a pipeline to pump air to the aluminum ball electrode 32. When the aluminum ball sleeve 33 is evacuated through the evacuation hole 331, the rectangular parallelepiped cavity formed by the substrate 31, the aluminum ball sleeve 33, and the limiting layer 34 is recessed inward under the action of external air pressure, so that gaps among the aluminum balls in the aluminum ball electrode 32 are reduced, the rigidity of the rigidity monitoring unit 3 is improved, the bending of the soft paw 1 is suppressed, the rigidity is increased along with the increase of the evacuation air pressure, meanwhile, the contact area between the silica gel in the rectangular cavity and the aluminum ball of the aluminum ball electrode 32 is increased along with the increase of the evacuation air pressure during evacuation, at this time, the gap between the aluminum ball electrode 32 and the external silica gel is reduced, and the potential difference is generated, namely, the open-circuit voltage. After the air pumping is finished, electrons flow to the aluminum ball electrode from the ground due to the difference of electronegativity, and a voltage signal is continuously generated. When the vacuum pressure is released from the air suction hole 331 to the aluminum ball sleeve 33, the force of the external air pressure is released, and the rigidity of the rigidity monitoring unit 3 is lowered. The negative charge on the surface of the aluminum ball electrode 32 drives free electrons to flow from the aluminum ball electrode 32 to the ground, resulting in the accumulation of positive charge in the outer silica gel, producing a voltage signal in the opposite direction.
The invention provides a testing method of a triboelectric variable-stiffness soft paw state monitoring sensor, which specifically comprises the following steps of:
step S1: the static collecting equipment is used for recording electric signals generated by the triboelectric variable-stiffness soft paw state monitoring sensor, and the original sinusoidal signals are converted into square signals through the signal processing module, so that the stability of the signals is improved, and the complexity of detection signals is reduced;
step S2: recording the bending angle and the air exhaust pressure of the soft gripper 1 by using a professional camera;
and step S3: according to the output electric signal and the recorded angle and pressure, the bending angle of the soft paw 1 is represented by resistance change (a function curve is obtained by corresponding the resistance to the bending angle), and the rigidity of the soft paw 1 is represented by voltage change (a function curve is obtained by corresponding the voltage to the paw rigidity).
As shown in fig. 7, a schematic diagram of voltage characteristics of the triboelectric variable-stiffness soft-body paw state monitoring sensor at different frequencies shows that the amplitude of the voltage signal of the sensor of the present invention changes with the increase of the variable-stiffness frequency of the paw, but gradually becomes stable.
As shown in fig. 8, which is a schematic view illustrating a monitoring of the triboelectric variable-stiffness soft-body paw state monitoring sensor according to the present invention, experimental results show that the resistance of the sensor according to the present invention has a certain linear relationship with the bending angle of the paw, and the paw stiffness has a certain linear relationship with the voltage.
As shown in fig. 9, the result of the durability test of the triboelectric variable-stiffness soft paw state monitoring sensor of the present invention shows that the output voltage amplitude is still stabilized at 9V after 1500 times (1.5 hours) of continuous bending variable stiffness, and no significant attenuation occurs, which indicates that the sensor of the present invention has an ultra-long service life.
Because the variable-rigidity structure of the sensor and the sensing structure are integrated, the sensor has the advantages of ultra-long service life, extremely high stability, self-driven sensing, wide detection range and high detection precision.
The triboelectric type rigidity-variable soft paw state monitoring sensor provided by the embodiment of the invention has the characteristics of miniaturization and integration, can realize real-time detection on the bending angle and rigidity of the paw on the premise of structural integrity and functional integrity of the paw, and provides theoretical and experimental basis for development of a novel self-driven and self-sensing intelligent bearing.
The triboelectric variable-stiffness soft paw state monitoring sensor and the testing method thereof provided by the invention are described in detail, a specific example is applied in the description to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A triboelectric variable stiffness soft paw status monitoring sensor, the sensor comprising: the angle monitoring unit (2) comprises an upper substrate (21), a liquid metal electrode layer (22) and a lower substrate (23), the rigidity monitoring unit (3) comprises a substrate (31), an aluminum ball electrode (32), an aluminum ball sleeve (33) and a limiting layer (34), wherein an air suction hole (331) is formed in the aluminum ball sleeve (33), and the upper substrate (21) and the substrate (31) are overlapped.
2. The sensor according to claim 1, characterized in that the upper substrate (21) of the angle monitoring unit (2) is connected to the soft gripper (1) by a Sil-Poxy silicone adhesive, the lower substrate (23) is cast on the upper substrate (21), and the liquid metal electrode layer (22) is injected by a syringe into a channel between the upper substrate (21) and the lower substrate (23).
3. The sensor according to claim 1, wherein the substrate (31) of the stiffness monitoring unit (3) is connected with the aluminum ball sleeve (33) through Sil-Poxy silicone adhesive, the aluminum ball sleeve (33) is connected with the limiting layer (34) through Sil-Poxy silicone adhesive, and the aluminum ball electrode (32) fills a rectangular parallelepiped cavity formed by the substrate (31), the aluminum ball sleeve (33) and the limiting layer (34).
4. The sensor according to claim 1, wherein the upper substrate (21) and the lower substrate (23) are made of Dragon skin30, and the liquid metal is liquid gallium indium tin bismuth alloy.
5. The sensor of claim 1, wherein the aluminum ball electrode (32) is comprised of a solid aluminum ball, the aluminum ball sleeve (33) is made of Dragon skin30, and the restriction layer (34) is made of epoxy.
6. A sensor according to claim 1, wherein the liquid metal electrode layer (22) comprises 8 channels, each channel being arranged in parallel and having an overall rectangular shape with a length of 133mm and a width of 1mm, and the liquid metal electrode layer (22) has an overall length of 136mm and an overall width of 24.5mm.
7. The sensor according to claim 6, wherein the liquid metal electrode layer (22) is provided with output ports at both ends thereof, and a space is reserved for arranging electrical signal output wires, and the output ports at both sides are 5mm in length and 4mm in width.
8. The sensor according to claim 1, characterized in that, with the bending of the soft paw (1), the upper substrate (21) and the lower substrate (23) are stretched, the channel in the middle is narrowed, the liquid metal electrode layer (22) is thinned and lengthened, the resistance is changed, and the resistance is changed with the change of the bending degree.
9. The sensor according to claim 3, wherein the rigidity monitoring unit (3) changes the aluminum ball contact area of the silicone rubber and the aluminum ball electrode (32) of the cuboid chamber along with the change of the air pressure of the air exhaust, and the voltage of the aluminum ball electrode (32) changes along with the change of the contact area of the silicone rubber.
10. A method for testing a sensor according to any one of claims 1 to 9, said method comprising in particular the steps of:
step S1: the static collecting equipment is used for recording electric signals generated by the triboelectric variable-stiffness soft gripper state monitoring sensor, and the original sinusoidal signals are converted into square signals through the signal processing module, so that the stability of the signals is improved, and the complexity of the detection signals is reduced;
step S2: recording the bending angle and the air exhaust pressure of the soft gripper (1) by using a professional camera;
and step S3: according to the output electric signal and the recorded angle and pressure, the bending angle of the soft paw (1) is represented by resistance change, and the rigidity of the soft paw (1) is represented by voltage change.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211187469.1A CN115674276A (en) | 2022-09-28 | 2022-09-28 | Triboelectric type variable-stiffness soft paw state monitoring sensor and testing method thereof |
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| CN202211187469.1A CN115674276A (en) | 2022-09-28 | 2022-09-28 | Triboelectric type variable-stiffness soft paw state monitoring sensor and testing method thereof |
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| CN113771069A (en) * | 2021-08-17 | 2021-12-10 | 中国地质大学（武汉） | Soft gripping device with adjustable gripping range and controllable rigidity and manufacturing method |
| CN114136263A (en) * | 2021-10-29 | 2022-03-04 | 中国地质大学（武汉） | Method and system for automatically, continuously and uniformly calibrating curvature of bending sensor |
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2022
- 2022-09-28 CN CN202211187469.1A patent/CN115674276A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106644183A (en) * | 2017-03-17 | 2017-05-10 | 燕山大学 | Changeable range flexible power sensor based on pneumatic variable stiffness and measurement method thereof |
| CN206670838U (en) * | 2017-03-17 | 2017-11-24 | 燕山大学 | Changeable fluid flexibility force snesor based on pneumatic variation rigidity |
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