CN211388872U

CN211388872U - Tactile sensor and manipulator

Info

Publication number: CN211388872U
Application number: CN201922368968.0U
Authority: CN
Inventors: 张弘; 张学成; 江楠; 曲绍兴
Original assignee: Institute of Flexible Electronics Technology of THU Zhejiang
Current assignee: Institute of Flexible Electronics Technology of THU Zhejiang
Priority date: 2019-12-24
Filing date: 2019-12-24
Publication date: 2020-09-01
Anticipated expiration: 2029-12-24

Abstract

The utility model discloses a touch sensor and manipulator, touch sensor includes flexible outer shell, locates the rigidity inner shell in the flexible outer shell, locates the detection structure between flexible outer shell and the rigidity inner shell, and with detect the processing circuit system that the structure signal is connected; the detection structure comprises a plurality of first cavities which are arranged along a first direction and contain media, and a plurality of second cavities which are arranged along a second direction and contain media, and the detection structure can respectively detect the pressure of the media in each first cavity and each second cavity. When the target object is matched with the touch sensor, the utility model can detect the signals of temperature, force, position and vibration when the target object is contacted with the touch sensor, and has higher measurement flexibility and sensitivity; meanwhile, the touch sensor is small in overall size, light in weight and small in signal processing amount, and the use requirements of the fingers of the manipulator are further met.

Description

Tactile sensor and manipulator

Technical Field

The utility model belongs to the technical field of the robot sense of touch is relevant, especially relate to a touch sensor and manipulator.

Background

At present, most flexible sensors can only carry out independent measurement on temperature, force and position, the measurement on the vibration aspect is not mature, and the pressure sensors of the array are not completely flexible, and the piezoresistive elements of the pressure sensors are still rigid, so that the existing flexible sensors cannot flexibly detect the position and the force, and the use requirement of a manipulator cannot be met.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is necessary to provide a tactile sensor and a robot hand for solving the technical problems in the related art.

The touch sensor comprises a flexible outer shell, a rigid inner shell arranged in the flexible outer shell, a detection structure arranged between the flexible outer shell and the rigid inner shell, and a processing circuit system in signal connection with the detection structure; the detection structure comprises a first media component and a second media component; the first medium assembly comprises a plurality of first cavities which are arranged along a first direction and contain media, and the second medium assembly comprises a plurality of second cavities which are arranged along a second direction and contain media; the first media assembly further comprises a plurality of first pressure sensors corresponding to the first cavities, the first pressure sensors being capable of detecting corresponding pressures of media within the first cavities, and the second media assembly further comprises a plurality of second pressure sensors corresponding to the second cavities, the second pressure sensors being capable of detecting corresponding pressures of media within the second cavities.

As a preferred embodiment of the present invention, the first medium assembly includes a first pressure sensing chip, and the first pressure sensor is integrated on the first pressure sensing chip.

As the utility model discloses a preferred scheme, be equipped with a plurality of correspondences on the first pressure sensing chip the first attach fitting of first cavity, every first attach fitting and corresponding first cavity is pegged graft the cooperation and is sealed corresponding first cavity.

As the preferred scheme of the utility model, every first cavity is keeping away from corresponding the one end of first attach fitting is established to the blind end.

As the preferred embodiment of the present invention, the second medium assembly includes a second pressure sensing chip, and the second pressure sensor is integrated on the second pressure sensing chip.

As the utility model discloses a preferred scheme, be equipped with a plurality of correspondences on the second pressure sensing chip the second attach fitting of second cavity, every the second attach fitting with correspond the cooperation of pegging graft of second cavity and sealed corresponding the second cavity.

As the preferred scheme of the utility model, every the second cavity is keeping away from corresponding the one end of second attach fitting is established to the blind end.

As a preferable aspect of the present invention, the first dielectric member and the second dielectric member are stacked between the flexible outer shell and the rigid inner shell.

As the utility model discloses an optimal selection scheme is a plurality of the first direction at first cavity place is with a plurality of the second direction mutually perpendicular at second cavity place.

As a preferable embodiment of the present invention, the cross section of the first cavity and/or the cross section of the second cavity is a semi-cylindrical structure.

As a preferred embodiment of the present invention, the flexible housing includes a heat conductive elastomer, and a temperature sensing element connected to the heat conductive elastomer and in signal connection with the processing circuit system; when the flexible shell is in contact with a target object, the temperature sensing element can detect the temperature of the target object under the heat conduction of the heat-conducting elastic body.

As the preferred scheme of the utility model, heat conduction elastomer with position between the detection structure is equipped with flexible thermal-protective coating.

The utility model discloses still ask for protection manipulator, including the aforesaid arbitrary touch sensor.

Because of above-mentioned technical scheme's application, compared with the prior art, the utility model have the following advantage:

the utility model provides a touch sensor and manipulator can be according to different first pressure sensor to the first cavity that corresponds, and different second pressure sensor is to the pressure detection of the medium of the second cavity that corresponds, convert the measurement of power signal into the measurement of pressure signal, when reaching the target object with this touch sensor cooperation, can be to the purpose of the flexible detection of power, position and the vibration that target object and touch sensor contacted, and then improve this touch sensor's measurement flexibility ratio, have higher sensitivity; meanwhile, the touch sensor is small in overall size, light in weight and small in signal processing amount, and the use requirements of the fingers of the manipulator are further met.

Drawings

Fig. 1 is a partial cross-sectional view of a tactile sensor according to an embodiment of the present invention.

Fig. 2 is a partial cross-sectional view of another perspective of a tactile sensor according to an embodiment of the present invention.

Fig. 3 is an assembly diagram of the first pressure sensing chip and the first connection joint in the tactile sensor according to the present invention.

Fig. 4 is an assembly diagram of the second pressure sensing chip and the second connection joint in the tactile sensor according to the present invention.

10, a flexible shell; 11. a thermally conductive elastomer; 12. a temperature sensing element; 13. a flexible thermal insulation layer; 20. a rigid inner shell; 31. a first media pack; 311. a first cavity; 312. a first pressure sensing chip; 313. a first connection joint; 32. a second media pack; 321. a second cavity; 322. a second pressure sensing chip; 323. a second connection joint.

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 some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

The utility model discloses a tactile sensor, on being applied to the manipulator, when can realizing manipulator and target object contact, the flexible detection to the multiple signal of temperature, position, power and vibration when target object and manipulator contact.

Referring to fig. 1 to 4, a tactile sensor according to an embodiment of the present invention includes a flexible outer shell 10, a rigid inner shell 20 disposed in the flexible outer shell 10, a detection structure disposed between the flexible outer shell 10 and the rigid inner shell 20, and a processing circuit system in signal connection with the detection structure

In the present embodiment, the flexible housing 10 includes a heat conductive elastomer 11, and a temperature sensing element 12 connected to the heat conductive elastomer 11. When the flexible shell 10 is in contact with an object, the heat-conducting elastomer 11 can conduct the temperature of the object to the temperature sensing element 12, so that the flexible shell 10 has the function of measuring the temperature.

The heat-conducting elastic body 11 is provided with a groove-shaped structure and is used for being in direct contact with an object, and the temperature sensing element 12 is arranged at the position of the groove edge of the heat-conducting elastic body 11, so that the rigid material of the temperature sensing element 12 is prevented from influencing the flexible contact between the heat-conducting elastic body 11 and the object.

It should be noted that the heat conductive elastic body 11 of the present embodiment may be a flexible material with high heat conductivity, specifically, a heat conductive silicone rubber, and the temperature sensing element 12 may be selected according to different temperature measurement accuracy, range and sensor volume, specifically, but not limited to, a temperature sensor, an intelligent temperature sensitive element, and the like. When the flexible shell 10 is contacted with the target object, the temperature of the target object can be accurately measured.

As the preferred embodiment of the present invention, the touch sensor of this embodiment is in heat conduction elastomer 11 with detect the position between the structure and be equipped with flexible thermal insulation layer 13, be used for with heat conduction elastomer 11 with it is thermal-insulated to detect the structure, to prevent the heat influence of heat conduction elastomer 11 and target object contact back gaseous pressure in the detection structure, and then have the accurate nature of ensureing this detection structure during operation to gaseous pressure detection.

Specifically, the flexible thermal insulation layer 13 is a flexible thermal insulation coating or a flexible thermal insulation film, so that when the flexible thermal insulation layer 13 is applied to a position between the heat-conducting elastic body 11 and the detection structure, the flexibility of the entire tactile sensor is not affected while the thermal insulation function is performed.

In the present embodiment, the detection structure includes a first medium member 31 and a second medium member 32; the first medium assembly 31 comprises a plurality of first cavities 311 containing media and arranged along a first direction, and the second medium assembly 32 comprises a plurality of second cavities 321 containing media and arranged along a second direction; the first media assembly 31 further comprises a plurality of first pressure sensors corresponding to the first cavities 311, the first pressure sensors being capable of detecting the corresponding pressure of the media in the first cavities 311, and the second media assembly 32 further comprises a plurality of second pressure sensors corresponding to the second cavities 321, the second pressure sensors being capable of detecting the corresponding pressure of the media in the second cavities 321.

In this embodiment, the medium contained in the first cavity 311 is a gas and the first pressure sensor is a gas pressure sensor, and/or the medium contained in the second cavity 321 is a gas and the second pressure sensor is a gas pressure sensor. It should be noted that the medium contained in the first cavity 311 and/or the second cavity 321 may also be a liquid according to the use requirement, and will not be described herein.

Wherein the first media assembly 31 and the second media assembly 32 are stacked between the flexible outer shell 10 and the rigid inner shell 20.

It should be noted that the first direction and the second direction are two different directions, and the first cavity 311 and the second cavity 321 respectively wrap the rigid inner shell 20, so that a cross-overlapped portion is formed between each first cavity 311 and each second cavity 321. When any part of the flexible housing 10 contacts and interacts with a target object, the first cavity 311 with pressure change on the first medium component 31 and the second cavity 321 with pressure change on the second medium component 32 can be detected by the corresponding first pressure sensor and the corresponding second pressure sensor, and then the position where the flexible housing 10 contacts the target object can be detected according to the crossed and overlapped position of the first cavity 311 and the second cavity 321 with pressure change detected, and vibration information when the flexible housing 10 contacts the target object can be realized through the frequency of air pressure fluctuation detected by the first pressure sensor and the second pressure sensor; in addition, the acting force when the flexible casing 10 contacts with the target object can be obtained through a certain calculation according to the change of the pressure, and will not be elaborated herein. That is, the tactile sensor according to the present embodiment can detect the position and force when the flexible cover 10 is in contact with the object by appropriately arranging the first medium member 31 and the second medium member 32.

It is understood that the first direction and the second direction are two different directions, in this embodiment, the first direction is a transverse direction of the rigid inner shell 20, and the second direction is a vertical direction of the rigid inner shell 20, so that the first media assembly 31 and the second media assembly 32 can completely wrap the rigid inner shell 20.

Wherein the second media assembly 32 is disposed at a peripheral position of the first media assembly 31; and/or the first medium assembly 31 is arranged at the peripheral position of the second medium assembly 32.

In this embodiment, the first media assembly 31 further includes a first pressure sensing die 312, and a plurality of the first pressure sensors are integrated on the first pressure sensing die 312; and/or, the second media assembly 32 further includes a second pressure sensing chip 322, and a plurality of the second pressure sensors are integrated on the second pressure sensing chip 322. That is, the tactile sensor of the present embodiment can detect the air pressure of all the first cavities 311 on the first dielectric assembly 31 by using one first pressure sensing chip 312; and/or, a second pressure sensing chip 322 is used to detect the air pressure of all the second cavities 321 on the second dielectric assembly 32.

Furthermore, a plurality of first connection joints 313 corresponding to the first cavities 311 are arranged on the first pressure sensing chip 312, and each first connection joint 313 is in insertion fit with the corresponding first cavity 311 and seals the corresponding first cavity 311, so that the assembly connection of each first cavity 311 on the first pressure sensing chip 312 is realized, and the assembly between the first cavity 311 and the first pressure sensing chip 312 is facilitated; similarly, a plurality of second connection joints 323 corresponding to the second cavities 321 may also be disposed on the second pressure sensing chip 322 of the present embodiment, and each of the second connection joints 323 is inserted into and engaged with the corresponding second cavity 321 to seal the corresponding second cavity 321.

Each of the first cavities 311 is disposed as a closed end at an end far away from the corresponding first connection joint 313, and/or each of the second cavities 321 is disposed as a closed end at an end far away from the corresponding second connection joint 323, so that when the tactile sensor is in contact with an object, the first cavities 311 and the second cavities 321 can generate a corresponding change in medium pressure.

In this embodiment, the cross section of the first cavity 311 and the cross section of the second cavity 321 are semi-cylindrical structures, wherein the arc-shaped portion of the first cavity 311 and the arc-shaped portion of the second cavity 321 are abutted to each other, so that when the flexible housing 10 contacts with a target and generates interaction, the corresponding first cavity 311 of the first dielectric assembly 31 and the corresponding second cavity 321 of the second dielectric assembly 32 can be pressed against each other and generate respective changes of air pressure, thereby improving the sensitivity of signal detection of the contact position and force between the flexible housing 10 and the target when the tactile sensor operates.

As a preferred aspect of the present invention, the tactile sensor of the present embodiment further includes a processing circuit system (not shown), the processing circuit system is disposed inside the rigid inner casing 20, and is used for performing signal connection with the first pressure sensing chip 312 and the second pressure sensing chip 322 on the detection structure, and the temperature sensing element 12 on the flexible outer casing 10, so as to process the signals detected by the first pressure sensing chip 312, the second pressure sensing chip 322, and the temperature sensing element 12, such as performing amplification and filtering, and finally obtain the required information of temperature, position, force, and vibration.

The utility model discloses still ask for protection manipulator, including the aforesaid tactile sensor.

To sum up, the utility model provides a tactile sensor, through reasonable structure setting, when the target object cooperates with this tactile sensor, can be to the signal detection of temperature, power, position, vibration when target object contacts with tactile sensor, and have higher measurement flexibility ratio and sensitivity; meanwhile, the touch sensor is small in overall size, light in weight and small in signal processing amount, and the use requirements of the fingers of the manipulator are further met.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A tactile sensor, characterized by: the device comprises a flexible outer shell, a rigid inner shell arranged in the flexible outer shell, a detection structure arranged between the flexible outer shell and the rigid inner shell, and a processing circuit system in signal connection with the detection structure; the detection structure comprises a first media component and a second media component; the first medium assembly comprises a plurality of first cavities which are arranged along a first direction and contain media, and the second medium assembly comprises a plurality of second cavities which are arranged along a second direction and contain media; the first media assembly further comprises a plurality of first pressure sensors corresponding to the first cavities, the first pressure sensors being capable of detecting corresponding pressures of media within the first cavities, and the second media assembly further comprises a plurality of second pressure sensors corresponding to the second cavities, the second pressure sensors being capable of detecting corresponding pressures of media within the second cavities.

2. The tactile sensor according to claim 1, wherein: the first media pack includes a first pressure sensing die with a plurality of the first pressure sensors integrated thereon.

3. The tactile sensor according to claim 2, wherein: the first pressure sensing chip is provided with a plurality of first connecting joints corresponding to the first cavities, and each first connecting joint is in inserting fit with the corresponding first cavity and seals the corresponding first cavity.

4. The tactile sensor according to claim 3, wherein: each first cavity is arranged to be a closed end at one end far away from the corresponding first connecting joint.

5. A tactile sensor according to any one of claims 1 to 4, wherein: the second media pack includes a second pressure sensing die with a plurality of the second pressure sensors integrated thereon.

6. The tactile sensor according to claim 5, wherein: and the second pressure sensing chip is provided with a plurality of second connecting joints corresponding to the second cavities, and each second connecting joint is in plug-in fit with the corresponding second cavity and seals the corresponding second cavity.

7. The tactile sensor according to claim 6, wherein: each second cavity is provided with a closed end at one end far away from the corresponding second connecting joint.

8. The tactile sensor according to claim 1, wherein: the first and second media assemblies are stacked between the flexible outer shell and the rigid inner shell.

9. The tactile sensor according to claim 1, wherein: the first direction where the plurality of first cavities are located is perpendicular to the second direction where the plurality of second cavities are located.

10. The tactile sensor according to claim 1, wherein: the cross section of the first cavity and/or the cross section of the second cavity are/is of a semi-cylindrical structure.

11. The tactile sensor according to claim 1, wherein: the flexible shell comprises a heat-conducting elastomer and a temperature sensing element which is connected with the heat-conducting elastomer and is in signal connection with the processing circuit system; when the flexible shell is in contact with a target object, the temperature sensing element can detect the temperature of the target object under the heat conduction of the heat-conducting elastic body.

12. The tactile sensor according to claim 11, wherein: and a flexible heat insulation layer is arranged between the heat conduction elastic body and the detection structure.

13. A manipulator, its characterized in that: a tactile sensor comprising any one of claims 1 to 12.