CN205015106U - Microminiature touch sensing component - Google Patents
Microminiature touch sensing component Download PDFInfo
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- CN205015106U CN205015106U CN201520474253.2U CN201520474253U CN205015106U CN 205015106 U CN205015106 U CN 205015106U CN 201520474253 U CN201520474253 U CN 201520474253U CN 205015106 U CN205015106 U CN 205015106U
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- circumvolution
- spring
- touch sensing
- microminiature
- carbon
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Abstract
The utility model provides a microminiature touch sensing component, aim at provide the touch sensing component that the electric property is good, the sensitivity is high scheme, in the new nature of high acuity sensing application belt leather development such as robot skins. The utility model discloses a microminiature touch sensing component, including the main part, this main part is matrix resin and the heavy complex of the little carbon spring of circumvolution, the heavily little carbon spring of circumvolution orientation range in the matrix resin to along its spring axle with certain spring diameter and the ground circumvolution of pitch rule, a pair of electrode, with main part solidification is integrative. The utility model discloses use one after the orientation heavily the complex of the little spring of circumvolution carbon and matrix resin as the condenser of touch sensing component, use the utility model discloses the touch sensing ware sensitivity of touch sensing component is big, the quality light, machinery and electric excellent performance, creates most advanced medical instrument fields such as operation in the specially adapted.
Description
Technical field
The utility model relates to a kind of microminiature tactile sensing element, and this tactile sensing element is mainly used in the technical field of robot sense of touch skin.
Background technology
Along with in the progress of science and technology and commercial production to the progressively raising that robot sense of touch requires, robot skin technology is developed rapidly.
Pressing the touch sensor detected described in No. 2002-236059, JP, is the LC resonance circuit of coil and capacitor series connection.When coil is pressed, the inductance L of coil changes, and the resonant frequency of LC series loop also just changes, and the resonant frequency of LCR series loop here can be detected device and detect, and becomes the basis of characterization that sense of touch judges.
But, this kind of touch sensor not only constructs relative complex, and only have the Shi Caineng that changes of the inductance L when coil to cause variation of resonant frequency, and for being applied to the faint situation about pressing of touch sensor, the inductance L of coil has almost no change, the corresponding significant change that also just cannot cause resonant frequency, so there is the low inherent shortcoming of check-up inducing degree in this kind of touch sensor.
Sensing element described in JP 2005-49331 uses the micro-carbon spring of double circumvolution, pressing the touch sensor detected is LCR resonance circuit, but due to two carbon filaments forming the micro-carbon spring of double circumvolution, closely circumvolution is together, almost as the round microtubule shape, the physical property such as their retractility are very limited, sufficient distortion can not be produced for applied pressing when forming tactile sensing element, sensitivity also can be caused inadequate; And the micro-carbon spring of double circumvolution and matrix resin mixing time, first dispersion is abundant not, and it two is residual bubbles inside cylindric coil, therefore also there is machinery and the limited problem of electric property.In addition, also have the micro-carbon spring of a kind of elastomeric double circumvolution, although its two carbon filaments are with larger pitch circumvolution, form is regular not, so signal stabilization is limited, inapplicable when having a high request to signal stabilization.
Utility model content
For problem mentioned in background technology, the utility model proposes a kind of microminiature tactile sensing element, object is to provide electric property good, sensitive tactile sensing element solution, brings innovative to develop in robot skin contour sensitivity Application in Sensing field.
The microminiature tactile sensing element of the utility model, comprises
Main body, this main body is the compound of the heavy micro-carbon spring of circumvolution of matrix resin and, the described one heavy micro-carbon spring of circumvolution orientations in matrix resin, and along its spring shaft with certain spring diameter and pitch circumvolution regularly;
Pair of electrodes, with described bulk cured one.
In the middle of one or more embodiment of the present utility model, the carbon filament diameter of the described one heavy micro-carbon spring of circumvolution is 0.05-2 micron, and spiral shell footpath is 0.1-50 micron, and pitch is 0.1-50 micron.
In the middle of one or more embodiment of the present utility model, the carbon filament diameter of the described one heavy micro-carbon spring of circumvolution is 0.2-1.5 micron, and spiral shell footpath is 1-10 micron, and pitch is 0.25-5 micron.
In the middle of one or more embodiment of the present utility model, the addition of the described one heavy micro-carbon spring of circumvolution accounts for the 0.1-10% of main body gross mass.
In the middle of one or more embodiment of the present utility model, the parallel placement of described pair of electrodes, and described one heavily circumvolution micro-carbon spring be oriented to the direction perpendicular with described pair of electrodes, or have for the direction perpendicular with described pair of electrodes the direction being less than or equal to 15 degree of angles.
The utility model compared with prior art, its advantageous exists: the compound of one after application-oriented heavily circumvolution carbon Microspring and matrix resin is as the capacitor of tactile sensing element, use the touch sensor of the utility model tactile sensing element can make small size and keep high sensitivity, signal stabilization, quality is light, machinery and excellent electrical properties, is specially adapted to the most advanced and sophisticated medical instruments fields such as interior invasive procedures and bio-robot field.
Accompanying drawing explanation
Fig. 1 is the scanning electron microscopy of the heavy micro-carbon spring of circumvolution of one of the utility model.
Fig. 2 is the structural representation of the microminiature tactile sensing element of the utility model.
Fig. 3 is a rectified signal legend heavily under circumvolution micro-carbon spring orientations.
Fig. 4 be one heavily circumvolution micro-carbon spring non-oriented arrangement under rectified signal legend.
Embodiment
As follows by reference to the accompanying drawings, the application's scheme is further described:
As shown in Figure 1-2, a kind of microminiature tactile sensing element, comprises
Main body 1, this main body 1 by the compound of the heavy micro-carbon spring 12 of circumvolution of matrix resin 11 and, the described one heavy micro-carbon spring 12 of circumvolution orientations in matrix resin 1, and along its spring shaft with certain spring diameter and pitch circumvolution regularly;
Pair of electrodes 2, solidifies one with described main body 1.
Wherein, described micro-carbon spring can be implemented in following preferable range:
The carbon filament diameter of the described one heavy micro-carbon spring of circumvolution is 0.2-1.5 micron, and spiral shell footpath is 1-10 micron, and pitch is 0.25-5 micron.
The addition of the described one heavy micro-carbon spring 12 of circumvolution accounts for the 0.1-10% of main body 1 gross mass.
The parallel placement of described pair of electrodes 2, and described one heavily circumvolution micro-carbon spring 12 be oriented to the direction perpendicular with described pair of electrodes 2, or have for the direction perpendicular with described pair of electrodes 2 direction being less than or equal to 15 degree of angles.
In such scheme, the matrix resin 11 of indication is a kind of dielectric, has static capacity, plays capacitor.Matrix resin 11 can be silicones, polyurethane, epoxy resin, as the multipolymer of polystyrene and thermoplastic elastomer, styrene copolymer resin and thermoplastic elastomer, the Septon resin of Kuraray company, the liquid epoxies EXA-5850-150 etc. of large Japanese ink chemistry (strain).
And select one heavily circumvolution micro-carbon spring is larger than tight double circumvolution micro-carbon spring pitch, small pressing can produce deformation, the capital no matter from which direction come produces distortion, produce the change of L, C, R, Z, θ in LCR resonance circuit thus, the electric parameter particularly produced along the deformation in the direction of spring shaft changes maximum, thus can detect deformation quantity.Under equal conditions, the sensitivity of a heavy touch sensor for circumvolution micro-carbon spring is 1.5 ~ 200 times of the touch sensor of the micro-carbon spring of double circumvolution.And, use the minimum of touch sensor of heavy circumvolution micro-carbon spring of orientation to detect 1.2 ~ 1000 times that value is the touch sensor of the micro-carbon spring of double circumvolution.
Concrete enforcement and experiment method:
By precomputation 5% weight ratio one heavily the micro-carbon spring of circumvolution cut off from graphite substrate, be contained in be embedded with electrode casting of metals mould (long 10mm, wide 10mm, thickness 3mm) on, during cutting, cut surface is parallel with graphite substrate;
By one, heavily the micro-carbon spring shaft of circumvolution is fixing to two ends stretching, then matrix resin (the silicones of SHIN-ETSU HANTOTAI chemistry KE103 is injected, its JISA hardness is 16) and rigidizer, modulation placement is after 7 hours, forms the tactile sensing element of a heavy micro-carbon spring of circumvolution after solidification.
On electrode, apply 0.5V, the voltage of 200KHz, and in one heavily the micro-carbon spring shaft of circumvolution to progressively applying loading (load of key value is respectively 1gf, 2gf, 10gf, 20gf), measure corresponding electric parameter.
We generally convert DC voltage to by the absolute value output signal of aobvious ripple device Agilent-54621A to LC and R and measure.Specifically, the alternating current of two groups of 0.5V, 200KHz is put on sensing element by electrode, wherein one group of alternating current has the phase shift of 90 degree relative to another group; Two groups of alternating currents superpose counteracting mutually, export to obtain a mild signal.
When some stress is applied to sensor component, LC and the R parameter of a heavy micro-carbon spring of circumvolution will change, thus modulating action exports in above-mentioned flattened signal to produce corresponding signal.
As shown in Figure 3, be a detection gained signal heavily after circumvolution micro-carbon spring orientations, can see that the signal waveform forming degree of orientations is good, highly sensitive, be convenient to detect and respond.
Meanwhile, as a comparison case, we introduce as shown in Figure 4 one heavily circumvolution micro-carbon spring non-oriented arrangement detection gained signal.Can find out under comparing, the signal waveform amplitude fluctuations that the signal waveform of orientations arranges than non-oriented is more obvious, improves the precision of loading identification.
Above-mentioned preferred implementation should be considered as illustrating of the application's scheme implementation mode, allly to duplicate with the application's scheme, technology that is approximate or that make based on this is deduced, replaces, improvement etc., all should be considered as the protection domain of this patent.
Claims (5)
1. a microminiature tactile sensing element, is characterized in that: comprise
Main body, this main body is the compound of the heavy micro-carbon spring of circumvolution of matrix resin and, the described one heavy micro-carbon spring of circumvolution orientations in matrix resin, and along its spring shaft with certain spring diameter and pitch circumvolution regularly;
Pair of electrodes, with described bulk cured one.
2. a kind of microminiature tactile sensing element according to claim 1, is characterized in that: the carbon filament diameter of the described one heavy micro-carbon spring of circumvolution is 0.05-2 micron, and spiral shell footpath is 0.1-50 micron, and pitch is 0.1-50 micron.
3. a kind of microminiature tactile sensing element according to claim 2, is characterized in that: the carbon filament diameter of the described one heavy micro-carbon spring of circumvolution is 0.2-1.5 micron, and spiral shell footpath is 1-10 micron, and pitch is 0.25-5 micron.
4. a kind of microminiature tactile sensing element according to claim 1, is characterized in that: the addition of the described one heavy micro-carbon spring of circumvolution accounts for the 0.1-10% of main body gross mass.
5. a kind of microminiature tactile sensing element according to claim 1, it is characterized in that: the parallel placement of described pair of electrodes, and described one heavily circumvolution micro-carbon spring be oriented to the direction perpendicular with described pair of electrodes, or have for the direction perpendicular with described pair of electrodes the direction being less than or equal to 15 degree of angles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520474253.2U CN205015106U (en) | 2015-07-03 | 2015-07-03 | Microminiature touch sensing component |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520474253.2U CN205015106U (en) | 2015-07-03 | 2015-07-03 | Microminiature touch sensing component |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205015106U true CN205015106U (en) | 2016-02-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201520474253.2U Withdrawn - After Issue CN205015106U (en) | 2015-07-03 | 2015-07-03 | Microminiature touch sensing component |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105043604A (en) * | 2015-07-03 | 2015-11-11 | 广东双虹新材料科技有限公司 | Mini tactile sensor and manufacturing method thereof |
| CN107287685A (en) * | 2017-07-04 | 2017-10-24 | 福建星宏新材料科技有限公司 | A kind of preparation method of elastomeric sensor body and elastic composites therein |
| CN107436159A (en) * | 2016-05-17 | 2017-12-05 | 康茂股份公司 | Sensorised covering for commercial plant |
-
2015
- 2015-07-03 CN CN201520474253.2U patent/CN205015106U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105043604A (en) * | 2015-07-03 | 2015-11-11 | 广东双虹新材料科技有限公司 | Mini tactile sensor and manufacturing method thereof |
| CN105043604B (en) * | 2015-07-03 | 2016-09-28 | 广东双虹新材料科技有限公司 | A kind of microminiature tactile sensing element and preparation method thereof |
| CN107436159A (en) * | 2016-05-17 | 2017-12-05 | 康茂股份公司 | Sensorised covering for commercial plant |
| CN107436159B (en) * | 2016-05-17 | 2021-05-28 | 康茂股份公司 | Sensorized covers for industrial devices |
| CN107287685A (en) * | 2017-07-04 | 2017-10-24 | 福建星宏新材料科技有限公司 | A kind of preparation method of elastomeric sensor body and elastic composites therein |
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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 |
Granted publication date: 20160203 Effective date of abandoning: 20160928 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |