CN206291983U - A kind of electronic skin for touch detection - Google Patents
A kind of electronic skin for touch detection Download PDFInfo
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- CN206291983U CN206291983U CN201621243546.0U CN201621243546U CN206291983U CN 206291983 U CN206291983 U CN 206291983U CN 201621243546 U CN201621243546 U CN 201621243546U CN 206291983 U CN206291983 U CN 206291983U
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- conductive layer
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- electrode
- hand member
- electronic skin
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Abstract
The utility model discloses a kind of electronic skin for touch detection, including flexible substrate, at least two conductive layers and plurality of electrodes, conductive layer is respectively overlay on two surfaces of flexible substrate, and described electrode is arranged in the two ends of conductive layer；Conductive layer includes matrix and the first conducting particles being dispersed in matrix.The utility model output characteristics stabilization, uniformity is good between individuality, and easy for installation, cost is relatively low.
Description
[technical field]
The utility model is related to sensor, more particularly to a kind of electronic skin for touch detection.
[background technology]
Robot, as the automation devices of artificial intelligence, is more and more dissolved into the daily life of the mankind, and all
Such as high temperature, high pressure, explosive hazardous industrial instead of the mankind and perform related work.Current robot system has passed through
Various kinds of sensors it is integrated, realize vision, the sense of hearing and the olfactory function of many such as mankind.But, how as the mankind,
Possess the feeling function of sensitivity, be also all the time one of robot system institute facing challenges sex chromosome mosaicism.For example, machine of sweeping the floor
Whether, it is necessary to detect touch wall in time in traveling, and work of turning back otherwise will result in endless loop to people.Sweep now
Floor-washing robot takes complex structure, collision is triggered touch-switch, is detected.But such infrastructure cost is high, peace
Dress is complicated, also has the possibility of missing inspection.The birth of electronic skin brings huge change to robot system so that robot
More information can be obtained from external environment.
A kind of Piezoresistive electronic skin of the disclosure of the invention of Application No. CN201310034478.1 and preparation method thereof, bag
Include：Two flexible substrates；Two conductive layers, are respectively coated in two flexible substrates, and two conductive layers contact with each other；Two conductive electrodes, respectively
With two conductive layers make contacts.Wherein, use carbon nano-tube film for conductive layer and the dimethyl silicone polymer with micro-nano pattern,
The materials such as poly- polyethylene terephthalate, polyvinyl alcohol, polyvinyl formal, polyethylene are substrate so that substrate has Gao Rou
The advantages of property is flexible.The electronic skin of the invention sticks together two-layer conductive fabric, and pressure is bigger, and contact area is bigger, electricity
Resistance is smaller.But its uniformity is bad, the curve between pressure and resistance value is nonlinear, and two conductive layers are sticked together, and is needed
Ensure there is prestressing force, this prestressing force is difficult to set.Cause the characteristic of different sensors inconsistent；And two conductive layers it
Between keep certain distance by air, press long will be compressed as sponge, it is impossible to resilience.
A kind of power sensing material of the disclosure of the invention of Publication No. WO2012045259A1 and the application power sensing material
Force sensor, the power sensing material is a kind of pressure sensitive, and when being under pressure, longitudinal direction is compressed, and resistance reduces.But,
The orientation of conducting particles is parallel to electrode in power sensing material requirement material, the structural rigidity of the Force sensor compared with
Greatly, electronic skin is not suitable for.
[content of the invention]
The technical problems to be solved in the utility model is to provide that a kind of output characteristics is stable, lower-cost, can be used to touch
Touch the electronic skin of detection.
In order to solve the above-mentioned technical problem, the technical solution adopted in the utility model is, a kind of electricity for touch detection
Sub- skin, including flexible substrate, at least two conductive layers and plurality of electrodes, conductive layer are respectively overlay in two of flexible substrate
On surface, described electrode is arranged in the two ends of conductive layer；Conductive layer includes matrix and the first conductive particle being dispersed in matrix
Son.
Above-described electronic skin, conductive layer includes the second conducting particles, and the first conducting particles is carbon dust or metal powder,
Second conducting particles is carbon fiber, CNT or Graphene, and the two ends of the second conducting particles are respectively facing two electrodes.
Above-described electronic skin, described matrix is polymer.
Above-described electronic skin, described polymer is epoxy resin, polyurethane or acrylic resin.
Above-described electronic skin, including two elastic layers, described elastic layer are covered in the outer surface of conductive layer.
Above-described electronic skin, described elastic layer is rubber layer.
Above-described electronic skin, including the conductive layer described in 4, flexible substrate include the upper substrate being superimposed together
With lower substrate；First conductive layer and the second conductive layer are covered in the upper surface of substrate, and the 3rd conductive layer and the 4th conductive layer cover
Cover the lower surface in lower substrate.
Above-described electronic skin, the first conductive layer is located at the surface of the 4th conductive layer, the first conductive layer right-hand member
Electrode is electrically connected with the electrode of the 4th conductive layer right-hand member；The electrode of the second conductive layer right-hand member and the electrode electricity of the 3rd conductive layer right-hand member
Connection.
Above-described electronic skin, including 6 leads, on two surfaces of lead covering flexible substrate, the first lead
Right-hand member be connected with the electrode of the first conductive layer left end, the right-hand member of the second lead is connected with the electrode of the second conductive layer left end,
The right-hand member of three leads is connected with the electrode of the 3rd conductive layer left end, and the right-hand member of the 4th lead and the electrode of the 4th conductive layer left end connect
Connect；The right-hand member of the 5th lead is connected with the electrode of the first conductive layer right-hand member and the electrode of the 4th conductive layer right-hand member, the 6th lead
Right-hand member is connected with the electrode of the second conductive layer right-hand member and the electrode of the 3rd conductive layer right-hand member；The left end of 6 leads is electronic skin
Tip side.
Above-described electronic skin, the main part of the 5th lead, the first lead and the second lead are covered in substrate
Upper surface, the main part of the 6th lead, the 3rd lead and the 4th lead are covered in the lower surface of lower substrate；Upper substrate is with
Substrate is integrated by being pasted after same block of material doubling.
The utility model output characteristics stabilization, uniformity is good between individuality, and easy for installation, cost is relatively low.
[brief description of the drawings]
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is the front view of the electronic skin of the utility model embodiment 1.
Fig. 2 is the top view of the electronic skin of the utility model embodiment 1.
Fig. 3 is the top view that the electronic skin of the utility model embodiment 1 shows conductive layer.
Fig. 4 is the AA sectional views of Fig. 1.
Fig. 5 is the electronic skin front view of the utility model embodiment 2.
Fig. 6 is the upward view of the electronic skin of the utility model embodiment 2.
Fig. 7 is the structure chart before the electronic skin doubling of the utility model embodiment 1.
[specific embodiment]
The structure of the electronic skin of the utility model embodiment 1 as shown in Figures 1 to 4, including flexible substrate (film) 1, two
2, two elastic layers 3 of bar conductive layer and 4 electrodes 5.
Two conductive layer 2 is respectively overlay in the upper and lower surface of flexible substrate 1, and electrode 5 is arranged in the two ends of conductive layer 2.
Conductive layer 2 includes matrix 201, the first conducting particles (not shown) being dispersed in matrix 201 and the second conducting particles
202, the two ends of the second conducting particles 202 are respectively facing the electrode 5 at two ends.
Wherein, the second conducting particles 202 can be carbon fiber, CNT or Graphene.Matrix 201 is polymer, is gathered
Compound can be epoxy resin, polyurethane or acrylic resin.Elastic layer 3 is rubber layer, and rubber layer is covered in the outer of conductive layer 2
Surface.
The conductive layer 2 on the two sides of flexible substrate 1, can be with thin when electronic skin is touched or is collided used as inductive material
The bending of film, is presented different impedances, the utility model may have been detected whether by detecting the change of the impedance of conductive layer 2 by
Pressure is given birth to.
The structure of the electronic skin of the utility model embodiment 2 as shown in Figures 5 to 7, as different from Example 1, including 6
Root lead and 4 conductive layers 2, flexible substrate 1 include the upper substrate 101 and lower substrate 102 that are pasted together after overlapping.Upper substrate
101 are integrated with lower substrate 102 by being pasted after same flexible substrate material doubling；6 leads and 4 conductive layers 2 all print
Brush is in the upper surface of flexible substrate material.In the figure 7, line 30 is doubling cutting wires.
After block flexible substrate material doubling, conductive layer 2-1 and conductive layer 2-2 is covered in the upper surface of substrate 101, conductive
Layer 2-3 and conductive layer 2-4 is covered in the lower surface of lower substrate 102.
Conductive layer 2-1 is located at the surface of conductive layer 2-4, electrode 5 and the conductive layer 2-4 right-hand members of conductive layer 2-1 right-hand members
Electrode 5 is electrically connected.The electrode 5 of conductive layer 2-2 right-hand members is electrically connected with the electrode 5 of conductive layer 2-3 right-hand members.
Lead is silver paste cabling, is covered on two surfaces of flexible substrate 1 after folding, right-hand member and the conduction of lead 6-1
Layer 2-1 left ends electrode 5 connect, the right-hand member of lead 6-2 is connected with the electrode 5 of conductive layer 2-2 left ends, the right-hand member of lead 6-3 and
The electrode 5 of conductive layer 2-3 left ends is connected, and the right-hand member of lead 6-4 is connected with the electrode 5 of conductive layer 2-4 left ends.The right side of lead 6-5
End is connected with the electrode 5 of conductive layer 2-1 right-hand members and the electrode 5 of conductive layer 2-4 right-hand members, and the right-hand member of lead 6-6 is right with conductive layer 2-2
The electrode 5 at end and the electrode 5 of conductive layer 2-3 right-hand members are connected.The main part of lead 6-5, lead 6-1 and lead 6-2 are covered in
The upper surface of upper substrate 101, the main part of lead 6-6, lead 6-3 and lead 6-4 are covered in the lower surface of lower substrate 102.6
The left end of root lead is the tip side of electronic skin, for external connector.
Claims (10)
1. a kind of electronic skin for touch detection, including flexible substrate, at least two conductive layers and plurality of electrodes, it is special
Levy and be, conductive layer is respectively overlay on two surfaces of flexible substrate, and described electrode is arranged in the two ends of conductive layer；It is conductive
Layer includes matrix and the first conducting particles being dispersed in matrix.
2. electronic skin according to claim 1, it is characterised in that conductive layer includes the second conducting particles, first is conductive
Particle is carbon dust or metal powder, and the second conducting particles is carbon fiber, CNT or Graphene, the two ends point of the second conducting particles
Not towards two electrodes.
3. electronic skin according to claim 1, it is characterised in that described matrix is polymer.
4. electronic skin according to claim 3, it is characterised in that described polymer be epoxy resin, polyurethane or
Acrylic resin.
5. electronic skin according to claim 1, it is characterised in that including two elastic layers, described elastic layer covering
In the outer surface of conductive layer.
6. electronic skin according to claim 5, it is characterised in that described elastic layer is rubber layer.
7. electronic skin according to claim 1, it is characterised in that including the conductive layer described in 4, flexible substrate includes
The upper substrate and lower substrate being superimposed together；First conductive layer and the second conductive layer are covered in the upper surface of substrate, and the 3rd leads
Electric layer and the 4th conductive layer are covered in the lower surface of lower substrate.
8. electronic skin according to claim 7, it is characterised in that the first conductive layer is located at just going up for the 4th conductive layer
Side, the electrode of the first conductive layer right-hand member is electrically connected with the electrode of the 4th conductive layer right-hand member；The electrode of the second conductive layer right-hand member and
The electrode electrical connection of three conductive layer right-hand members.
9. electronic skin according to claim 8, it is characterised in that including 6 leads, the two of lead covering flexible substrate
On individual surface, the right-hand member of the first lead is connected with the electrode of the first conductive layer left end, the right-hand member of the second lead and the second conductive layer
The electrode connection of left end, the right-hand member of the 3rd lead is connected with the electrode of the 3rd conductive layer left end, the right-hand member and the 4th of the 4th lead
The electrode connection of conductive layer left end；The electricity of the electrode and the 4th conductive layer right-hand member of the right-hand member of the 5th lead and the first conductive layer right-hand member
Pole connects, and the right-hand member of the 6th lead is connected with the electrode of the second conductive layer right-hand member and the electrode of the 3rd conductive layer right-hand member；6 leads
Left end be electronic skin tip side.
10. electronic skin according to claim 9, it is characterised in that the main part of the 5th lead, the first lead and
Two leads are covered in the upper surface of substrate, and the main part of the 6th lead, the 3rd lead and the 4th lead are covered in lower substrate
Lower surface；Upper substrate is integrated with lower substrate by being pasted after same block of material doubling.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2016211066702 | 2016-10-09 | ||
| CN201621106670 | 2016-10-09 |
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| Publication Number | Publication Date |
|---|---|
| CN206291983U true CN206291983U (en) | 2017-06-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621243546.0U Active CN206291983U (en) | 2016-10-09 | 2016-11-21 | A kind of electronic skin for touch detection |
| CN201621326696.8U Active CN206235293U (en) | 2016-10-09 | 2016-12-06 | Detect the flexible sensor of strain |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621326696.8U Active CN206235293U (en) | 2016-10-09 | 2016-12-06 | Detect the flexible sensor of strain |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106525296A (en) * | 2016-10-09 | 2017-03-22 | 深圳瑞湖科技有限公司 | Electronic skin for touch detection |
| CN110849510A (en) * | 2019-09-23 | 2020-02-28 | 西安电子科技大学 | Preparation method and application of pressure stress sensor |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107720685B (en) * | 2017-06-15 | 2020-03-10 | 苏州大学 | Carbon/graphene flexible strain sensor and preparation method thereof |
| CN107655397B (en) * | 2017-08-22 | 2019-11-19 | 中国科学院上海硅酸盐研究所 | A kind of multifunctional graphite vinyl flexible sensor and preparation method thereof having both high resistance gage factor Yu high deformability |
| CN109959358B (en) * | 2017-12-22 | 2020-10-23 | 深圳光启超材料技术有限公司 | Measuring film, method for manufacturing measuring film, and method for measuring plane strain field |
| CN108577853A (en) * | 2018-04-27 | 2018-09-28 | 福州大学 | It is a kind of to be used to detect wearable strain transducer of human body joint motion and preparation method thereof |
| CN111272063A (en) * | 2020-03-09 | 2020-06-12 | 江苏柔世电子科技有限公司 | Resistance type curvature sensor |
| CN112815823B (en) * | 2020-12-31 | 2022-04-22 | 南京航空航天大学 | Flexible high-tensile-strain sensor based on flexible flat capacitor and preparation method and application thereof |
-
2016
- 2016-11-21 CN CN201621243546.0U patent/CN206291983U/en active Active
- 2016-12-06 CN CN201621326696.8U patent/CN206235293U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106525296A (en) * | 2016-10-09 | 2017-03-22 | 深圳瑞湖科技有限公司 | Electronic skin for touch detection |
| CN110849510A (en) * | 2019-09-23 | 2020-02-28 | 西安电子科技大学 | Preparation method and application of pressure stress sensor |
| CN110849510B (en) * | 2019-09-23 | 2021-06-01 | 西安电子科技大学 | Preparation method and application of pressure stress sensor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN206235293U (en) | 2017-06-09 |
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