CN206670838U - Changeable fluid flexibility force snesor based on pneumatic variation rigidity - Google Patents
Changeable fluid flexibility force snesor based on pneumatic variation rigidity Download PDFInfo
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- CN206670838U CN206670838U CN201720262042.1U CN201720262042U CN206670838U CN 206670838 U CN206670838 U CN 206670838U CN 201720262042 U CN201720262042 U CN 201720262042U CN 206670838 U CN206670838 U CN 206670838U
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Abstract
A kind of changeable fluid flexibility force snesor and its measuring method based on pneumatic variation rigidity, sensor include the flexible substrate of prolate cube, and an air pressure cavity is provided with flexible substrate；Micro- bearer path --- first micro- bearer path and the second micro- bearer path of the head and the tail connection of upper and lower two layers of Z-shaped are being provided with positioned at air pressure cavity top；First micro- bearer path is from cavity of the first port through Z-shaped head and the tail connection to the 3rd port；Second micro- bearer path is connected from cavity to the 4th port, the 3rd port of head and the tail connection of the second port through Z-shaped with the 4th port, draws two wires respectively from first port and second port to connect signal acquisition module；First micro- bearer path and second micro- bearer path fill liquid resistance sensing element of pressure.The utility model changes the range of sensor by adjusting stiffness variation, realizes the range changing measurement of power, changes the measurement that current flexible sensor is only used in small-range power field.
Description
Technical field
The utility model belongs to dynamometry and control detection device field, particularly a kind of based on the variable of pneumatic variation rigidity
Range flexibility force snesor, among the accurate measurement of flexible large bearing capacity, improve the range and essence of flexible force snesor
Degree.
Background technology
On robot Disciplinary Frontiers are explored, the research and development of robot technology is just towards high-end manufacture, medical rehabilitation, state
The state key strategy such as anti-safety field moves forward steadily, and in the power detection technique of robot, flexible force detection technique is high with it
Adaptability, the compliance of degree, in recent years development just at full speed.Current flexible sensor uses flexible large deformation material mostly
As matrix, and the nonlinear deformation of flexible substrate causes linearity deficiency of the flexible sensor in the case of large range measuring.
Such issues that in order to overcome, at present research both domestic and external focus primarily upon structure optimization and the research of control algolithm
In, do not studied from the angle of variation rigidity.
The content of the invention
The shortcomings that the utility model overcomes in the prior art, there is provided a kind of changeable fluid based on pneumatic variation rigidity is flexible
Force snesor.
In order to solve above-mentioned technical problem, the utility model is achieved through the following technical solutions：
A kind of changeable fluid flexibility force snesor based on pneumatic variation rigidity, include the flexible substrate 1 of prolate cube, soft
Main carrying position inside property matrix 1 is provided with an air pressure cavity 2, and described air pressure cavity is provided with air inlet 4；In the flexibility
Micro- bearer path of upper and lower two layers of Z-shaped head and the tail connection is provided with matrix 1 positioned at air pressure cavity top --- first micro- carrying is logical
3 and second micro- bearer path 10 of road；First micro- bearer path 3 is from cavity of the first port 6 through Z-shaped head and the tail connection to the
Three ports 8；Second micro- bearer path 10 is from the cavity of head and the tail connection of the second port 7 through Z-shaped to the 4th port 9, institute
The 3rd port 8 for stating first micro- bearer path 3 is connected with the 4th port 9 of described second micro- bearer path 10, from first end
Mouth 6 and second port 7 draw two wires to connect signal acquisition module respectively；First micro- bearer path 3 and second
Micro- bearer path 10 fills liquid resistance sensing element of pressure.
Due to using above-mentioned technical proposal, the utility model proposes the biography of the changeable fluid flexible force based on pneumatic variation rigidity
Sensor, there is such beneficial effect compared with prior art：
The utility model introduces pneumatic variation rigidity mechanism, is changed by adjusting the stiffness variation of sensor force test position
The range of sensor, solve using flexible large deformation material as the flexible sensor practical application of matrix in caused by range deficiency
Using it is limited the problem of, improve application value of the large deformation flexible sensor under the conditions of big carrying, realize the variable of power
Journey measures, and changes the measurement that current flexible sensor is only used in small-range power field.In addition, the utility model body
Simple in construction, small volume is in light weight, and compliance is strong, while power is detected, buffers stress, reduces power and stress both sides are broken
It is bad；Stable performance, acid-alkali-corrosive-resisting, adverse circumstances can be overcome, in the use that the extreme environments such as mine, ocean can also be stablized；
Do not corroded by human sweat, it is nontoxic, can be with direct skin contact.Therefore, the utility model can be in industrial production, rehabilitation doctor
Treat, defence and military is widely used.
Brief description of the drawings
Fig. 1 is a kind of changeable fluid flexible force sensor structure figure based on pneumatic variation rigidity of the utility model；
Fig. 2 is A directions zoomed-in view in Fig. 1；
Fig. 3 is that microchannel amplification is shown in a kind of changeable fluid flexibility force snesor based on pneumatic variation rigidity of the utility model
It is intended to；
Fig. 4 is a kind of flow of the changeable fluid flexible force sensor measurement based on pneumatic variation rigidity of the utility model
Figure.
In figure：1 is the flexible substrate of sensor, and 2 be air pressure cavity, and 3 be first micro- bearer path, and 4 be air inlet, and 5 are
Extraction wire, 6 be first port, and 7 be second port；8 be the 3rd port, and 9 be the 4th port；10 be second micro- bearer path.
Embodiment
The utility model is described in detail below in conjunction with accompanying drawing.
A kind of changeable fluid flexibility force snesor based on pneumatic variation rigidity, as shown in Fig. 1-3, it includes prolate cube
Flexible substrate 1, the main carrying position inside flexible substrate 1 is provided with an air pressure cavity 2, described air pressure cavity be provided with into
Gas port 4；Air inlet 4 is provided with sensor end, draws air inlet pipe, outside is connected to micro pressure input and control device, carried out
The Stress control of air pressure cavity inside.Molded in the flexible substrate 1 positioned at air pressure cavity top provided with upper and lower two layers of Z-shaped
The pico- of type head and the tail connection holds passage --- first micro- 3 and second micro- bearer path 10 of bearer path；First micro- carrying is logical
Road 3 is from cavity of the first port 6 through Z-shaped head and the tail connection to the 3rd port 8；Second micro- bearer path 10 is from second port
The cavity of the 7 head and the tail connections through Z-shaped is to the 4th port 9, the 3rd port 8 and described second of first micro- bearer path 3
4th port 9 of micro- bearer path 10 is connected, and draws two wires respectively from first port 6 and second port 7 to connect
Signal acquisition module；First micro- 3 and second micro- bearer path 10 of bearer path fills liquid resistance sensing element of pressure.Gallium indium tin
Alloy or other liquid pressure drag materials for meeting performance requirement are sensing element；It is equal at fluid to ensure sensor compliance
Integral sealing is realized using flexible glue.Simultaneously, it is ensured that the stability that sensor works in the presence of a harsh environment.
1 is a kind of changeable fluid flexible force sensor structure figure based on pneumatic variation rigidity of the utility model in figure, sensing
Primary load bearing structure of the flexible substrate 1 of device as flexible sensor, using flexible silicone rubber or other performance requirements that meet
Highly elastic material is made.
Fig. 2 is A directions zoomed-in view in Fig. 1, the air pressure cavity 2 molded from sensor flexible substrate, is as sensed
The variation rigidity module of device, change the integral rigidity of sensor by being passed through the gas of certain pressure in pneumatic cavity so that
Sensor produces certain internal stress, can resist the stretching of flexible substrate in the horizontal in stretching.
Sensor carries the microchannel of sensing element, is divided into two layers up and down, as shown in figure 3, top section is first micro-
Bearer path is introduced through being distributed in Z-shaped to the 3rd port 8 by first port 6, and it is logical for second micro- carrying to be re-introduced to underclad portion
Road is introduced through being distributed in Z-shaped to the 4th port 9 by second port 7；It is quick that liquid pressure drag is filled in described micro- carrying cavity
Sensing unit, such as the isobaric resistive material that can meet to require of liquid gallium-indium-tin alloy.First described micro- bearer path and second micro-
A diameter of 0.01mm of bearer path, single length 65mm；Described liquid sensing element resistance value is 5m Ω -20m Ω.Figure
In 4 to be passed through air inlet in sensor variation rigidity module, a diameter of 3mm, micro- source of the gas is accessed by sebific duct.Wherein, interface
Sealed using flexible glue.
Label 5 show two extraction wires in Fig. 1, is drawn respectively from the port 6,7 of microchannel, and by handling electricity
Road, the reception signal of sensor is transferred in capture card, measures the size of output.Also flexible glue sealing is used at lead.
A kind of measuring method of changeable fluid flexibility force snesor based on pneumatic variation rigidity of the present utility model, such as Fig. 4
It is shown when sensor is stretched, flexible substrate deformed in tension, its internal micro- bearer path is longitudinally elongated, and section diminishes, and leads
Cause the all-in resistance of the interior liquid element of carrying to become big, pass through Wheatstone bridge, it would be desirable to the resistance value of detection, be converted into voltage
Value, output voltage signal；By the output signal of signal acquiring system detection sensor, judge whether this measurement exceedes sensing
The current range of device, if this time measurement is not above the current range of the sensor, the measurement result of output transducer, the knot
Fruit is exact value；And when the stress of sensor is excessive, substrate tensile deformation be more than 20% when, sensor signal it is non-linear bright
Aobvious increase, if this time measurement inputs more than the current range of the sensor, control source of the gas into the air pressure cavity 2 of sensor
The gas of certain pressure, increase the integral rigidity of sensor, sensor is still made base in the case of by large-load force
Deformation in body in micro- bearer path is maintained at linear zone, and measurement is also improved while sensor measuring range is added
Precision；Because the material used is super-elasticity incompressible material, therefore change sensing by influenceing the stress of transducer transversely
The tensile performance in wale-wise of device, therefore, the rigidity for changing sensor base 1 can be equivalent to, and then the stress for reducing sensor becomes
Shape degree, improve measuring range of the sensor in linear zone；Progress signal detection, judgement and the variation rigidity process are repeated,
Until detecting sensor untill the signal that its linear area exports, finally according to final output signal and the gas being passed through
Pressure can obtain the size of power to be measured.
On the premise of the utility model in essence is not departed from, using various various forms of implementation methods, without creativeness
Design the planform similar with the utility model or layout (distribution as changed microchannel and variation rigidity module, chi in ground
It is very little etc.), belong to the scope of protection of the utility model.
Claims (1)
- A kind of 1. changeable fluid flexibility force snesor based on pneumatic variation rigidity, it is characterised in that：The sensor includes prolate side The flexible substrate (1) of body, an air pressure cavity (2) is provided with the internal main carrying position of flexible substrate (1), described air pressure is empty Chamber is provided with air inlet (4)；Upper and lower two layers of Z-shaped head and the tail are provided with the flexible substrate (1) positioned at air pressure cavity top to connect Micro- bearer path --- first micro- bearer path (3) and second micro- bearer path (10)；First micro- bearer path (3) is certainly First port (6) is through the cavity that Z-shaped head and the tail connect to the 3rd port (8)；Second micro- bearer path (10) is from the second end The cavity of head and the tail connection of mouthful (7) through Z-shaped is to the 4th port (9), the 3rd port (8) of first micro- bearer path (3) It is connected with the 4th port (9) of described second micro- bearer path (10), draws respectively from first port (6) and second port (7) Go out two wires to connect signal acquisition module；First micro- bearer path (3) and second micro- bearer path (10) fill Liquid resistance sensing element of pressure.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109781313A (en) * | 2019-03-04 | 2019-05-21 | 重庆大学 | Highly sensitive tension sensor and its manufacturing method based on liquid metal |
| CN115674276A (en) * | 2022-09-28 | 2023-02-03 | 哈尔滨工业大学 | Triboelectric type variable-stiffness soft paw state monitoring sensor and testing method thereof |
-
2017
- 2017-03-17 CN CN201720262042.1U patent/CN206670838U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109781313A (en) * | 2019-03-04 | 2019-05-21 | 重庆大学 | Highly sensitive tension sensor and its manufacturing method based on liquid metal |
| CN115674276A (en) * | 2022-09-28 | 2023-02-03 | 哈尔滨工业大学 | Triboelectric type variable-stiffness soft paw state monitoring sensor and testing method thereof |
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| CF01 | Termination of patent right due to non-payment of annual fee |