CN206920066U - Insertion type strip Grazing condition multi-dimension force sensor - Google Patents
Insertion type strip Grazing condition multi-dimension force sensor Download PDFInfo
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- CN206920066U CN206920066U CN201720665971.7U CN201720665971U CN206920066U CN 206920066 U CN206920066 U CN 206920066U CN 201720665971 U CN201720665971 U CN 201720665971U CN 206920066 U CN206920066 U CN 206920066U
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Abstract
The utility model discloses a kind of insertion type strip Grazing condition multi-dimension force sensor, including sensor flexible substrate, the upper strata microchannel and lower floor microchannel in arranged in strips are provided with inside sensor flexible substrate, upper and lower two layers of MCA is identical and connects into a passage from beginning to end respectively in Z-shaped, liquid metal gallium-indium-tin alloy conductor is injected in microchannel as sensor sensing part, wherein lower floor microchannel head and afterbody respectively draw 1 and connect lead, upper strata microchannel head, afterbody and middle part respectively draw 1 and connect lead, the lead that connects drawn is used to connect outside acquisition system, by the change for detecting resistance in microchannel, it is computed obtaining the stressing conditions of sensor.The utility model can be embedded in inside soft robot, with its tracking measurement, can detect the power on three directions.The utility model is simple in construction, and manufacture craft is easy, is easy to follow-up data processing work, its Grazing condition structure is stronger to the adaptability of environment, available for the measurement under adverse circumstances.
Description
Technical field
It the utility model is related to sensor technical field, and in particular to a kind of flexible multi-dimension force sensor.
Background technology
Soft robot has some incomparable advantages of conventional rigid robot in some aspects, it has also become machine at present
One of popular research direction among device people's technology.Power level sensor technology is widely used among the detection of robot,
For detecting the stress and motion conditions of robot, the information of needs is fed back, is monitored or is controlled.But traditional biography
Sensor often uses rigid structure, and the main performance of soft robot, therefore, soft robot technology can be limited in application
Development similarly needs the follow-up and development of flexible sensor technology.
In the research of flexible sensor, the big flexible metallic material of generally use, either silicon-based substrate material or flexibility
Cloth material etc. is researched and developed using physical phenomenons such as light, electricity, magnetic, but its most flexibility is inadequate or can only detect one-dimensional power, separately
It is outer the problems such as complicated, technique is cumbersome, demarcation is difficult to be also present.In terms of the research of multi-dimension force sensor, focus primarily upon
The design of plane class configuration, ductility is limited, and certain decoupling problem be present.
The content of the invention
The utility model aims to provide a kind of be embedded in and servo-actuated Grazing condition sensor is carried out inside soft robot, to change
The problems such as kind flexible multi-dimension force sensor ductility deficiency, decoupling difference.
The utility model purpose is realized by following technical proposals：A kind of insertion type Grazing condition multi-dimension force sensor,
Including sensor flexible substrate, it is provided with inside sensor flexible substrate micro- logical in the upper strata microchannel of bar shaped arrangement and lower floor
Road, upper and lower two layers of MCA is identical and connects into a passage from beginning to end respectively in Z-shaped, and liquid gold is injected in microchannel
Belong to sensing element of the gallium-indium-tin alloy conductor as sensor, wherein lower floor microchannel head and afterbody are drawn respectively meets lead a
With meet lead b, upper strata microchannel head and afterbody draw meet lead c respectively, meet lead d and in lead e indirectly, what is picked out respectively connects
Lead is used to connect outside acquisition system, to detect the change of resistance in microchannel；In use, the sensor can be embedded in it is any
In testing force link, its shape and flexibility can be set according to environmental requirement, when applying stretch bending load, sensor flexible substrate
Internal microchannel resistance and both end voltage change, and the three-dimensional force of application can be calculated according to four-wire system measuring resistance method
Each component, sensor can also be obtained by the relation of stress and deformation and deformed.
The three-dimensional force that the utility model can measure includes a direct stress and two moments of flexure, and feature is big become can to occur
During shape, the structure and performance of sensor are not damaged, while certain protective effect is also served to body to be measured.In addition, this practicality
New structure is simple, and manufacture craft is easy, is easy to follow-up data processing work.
The utility model is mountable to conventional machines person joint, soft robot and human-computer interaction device and other needs to examine
The occasion of multi-dimensional force is surveyed, its Grazing condition structure has stronger adaptability to environment, can be used in the measurement of adverse circumstances.
Compared with existing sensor, the utility model patent has the following advantages that：
For flexible silica gel, shape, size and flexibility can change the material of main part used according to environmental requirement, and can be by it
It is embedded in the measurement that power is carried out inside some softwares；Because of the antiacid alkali of silica gel, therefore it can be used for the Special Rings such as all kinds of soda acids, humidity
Border, the work that can stablize for a long time in adverse circumstances；Internal microchannel size, length can design according to actual requirement, convenient
Its range and the adjustment of sensitivity；Because of silica gel soft texture, liquid metal solution is injected in internal microchannel, therefore the sensor is permitted
Perhaps large scale distortion does not influence performance, while also function to buffering to body to be measured without damage check element after recovering shape
The effect of damping；Two layers up and down of sensor internal microchannel point, upper strata microchannel is divided into two parts again, by detecting each portion
Sub-resistance or both end voltage can obtain each dimension power, have height can decoupling, can accurately measure the power of multiple directions.
Brief description of the drawings
Fig. 1 is insertion type Grazing condition multi-dimension force sensor structural representation.
Fig. 2 is parallel to the sensor intermediate cross-section schematic diagram of XZ planes in sensor shown in Fig. 1.
In figure：1- sensors flexible substrate, 2- upper stratas microchannel, 3- lower floors microchannel, 4- connect lead c, 5- connect lead a,
6-, which meets lead b, 7- and meets lead d, 8-, meets lead e.
Embodiment
Below in conjunction with the accompanying drawings and embodiment is described further to the utility model：
As depicted in figs. 1 and 2, the insertion type strip Grazing condition multi-dimension force sensor of the utility model embodiment, including
The sensor flexible substrate 1 being made up of flexible silica gel, it is provided with inside sensor flexible substrate micro- logical in the upper strata of arranged in strips
Road 2 and lower floor microchannel 3, upper and lower two layers of MCA is identical and connects into a passage from beginning to end respectively in Z-shaped, micro- logical
Liquid metal gallium-indium-tin alloy conductor is injected in road as sensor sensing element, wherein lower floor microchannel head and afterbody difference
Extraction meets lead a5 and meets lead b6, upper strata microchannel head and afterbody draw meet lead c4 respectively, meet lead d7 and in indirectly
Lead e8.Coordinate system is established on surface on a sensor, and vertical upper table is Z axis upwardly, and axially a left side is X to vertical Z on an upper
Axle, vertical XZ planes are Y-axis forward.
The sensor is being met lead a5 and is being met lead b6, meets lead c4 and meet lead d7 two by four-wire system measuring resistance method
End is passed through constant-current supply, and accesses data collecting plate card and can measure magnitude of voltage corresponding to each resistance, and note original state connects lead
A5 and to meet lead b6, meet lead c4 and connect lead d7 both end voltages be U0, apply load and be followed by lead a5 and connect lead b6 both ends
Voltage is Uab, it is U to meet lead c4 and connect lead d7 both end voltagescd, it is U to meet lead c4 and connect lead e8 both end voltagesce, connect and draw
Line d7 and to connect lead e8 both end voltages be Ude。
When sensor is only by along Y-axis tensile load FYWhen, the identical i.e. U of upper and lower two layers of microchannel resistance variationsab=Ucd, can
Obtain FY=K1(Uab-U0).When sensor is only by around X-axis moment MXWhen, upper and lower microchannel resistance has resistance difference, accordingly has
Voltage difference, M can be obtainedX=K2(Ucd-Uab), due to Ucd=Uce+Ude, so MX=K2(Uce+Ude-Uab).When sensor only by around
During the moment of flexure of Z axis, the identical i.e. U of upper and lower two layers of microchannel resistance variationsab=Ucd, but Uce≠Ude, M can be obtainedZ=K3(Uce-Ude).Through
Analysis can obtain, independent input variable totally three, respectively Uab、UceAnd Ude, arrangement can be calculated：
Being write as the relational expression of input and output can obtain：
Wherein K1、K2、K3For voltage cooperation index, K1、K2、K3And U0It can be obtained by experimental calibration.
Claims (1)
1. insertion type strip Grazing condition multi-dimension force sensor, including sensor flexible substrate, it is characterised in that：It is soft in sensor
Property intrinsic silicon be provided with arranged in strips upper strata microchannel and lower floor microchannel, upper and lower two layers of MCA is identical and is in Z
Font connects into a passage from beginning to end respectively, and sensitivity of the liquid metal gallium-indium-tin alloy conductor as sensor is injected in microchannel
Element, wherein lower floor microchannel head and afterbody are drawn respectively to be met lead a and connects lead b, upper strata microchannel head and portion
Lead c Yin Chu not met, meet lead d and in lead e indirectly, the lead that respectively connects picked out is used to connect outside acquisition system, with detection
The change of resistance in microchannel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720665971.7U CN206920066U (en) | 2017-06-09 | 2017-06-09 | Insertion type strip Grazing condition multi-dimension force sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720665971.7U CN206920066U (en) | 2017-06-09 | 2017-06-09 | Insertion type strip Grazing condition multi-dimension force sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206920066U true CN206920066U (en) | 2018-01-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720665971.7U Expired - Fee Related CN206920066U (en) | 2017-06-09 | 2017-06-09 | Insertion type strip Grazing condition multi-dimension force sensor |
Country Status (1)
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| CN (1) | CN206920066U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111504522A (en) * | 2020-06-05 | 2020-08-07 | 吉林师范大学 | Capacitive flexible stretching sensor based on S-shaped micro-channel liquid metal composite dielectric layer |
-
2017
- 2017-06-09 CN CN201720665971.7U patent/CN206920066U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111504522A (en) * | 2020-06-05 | 2020-08-07 | 吉林师范大学 | Capacitive flexible stretching sensor based on S-shaped micro-channel liquid metal composite dielectric layer |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180123 |