CN220912214U - Flexible bending sensor and measuring system - Google Patents
Flexible bending sensor and measuring system Download PDFInfo
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- CN220912214U CN220912214U CN202322406954.XU CN202322406954U CN220912214U CN 220912214 U CN220912214 U CN 220912214U CN 202322406954 U CN202322406954 U CN 202322406954U CN 220912214 U CN220912214 U CN 220912214U
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- 238000005452 bending Methods 0.000 title claims abstract description 103
- 239000011888 foil Substances 0.000 claims abstract description 41
- 238000001514 detection method Methods 0.000 claims abstract description 26
- 239000000463 material Substances 0.000 claims abstract description 6
- 238000005259 measurement Methods 0.000 claims description 33
- 239000000853 adhesive Substances 0.000 claims description 11
- 230000001070 adhesive effect Effects 0.000 claims description 11
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 claims description 5
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 4
- 239000011889 copper foil Substances 0.000 claims description 4
- 229910052709 silver Inorganic materials 0.000 claims description 4
- 239000004332 silver Substances 0.000 claims description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 7
- 230000008859 change Effects 0.000 description 11
- 230000000712 assembly Effects 0.000 description 8
- 238000000429 assembly Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- 230000008602 contraction Effects 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
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- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The utility model discloses a flexible bending sensor and a measuring system, wherein the flexible bending sensor comprises: a flexible backsheet and a detection assembly; the flexible bending sensor provided by the utility model has the advantages that the conductive rubber sheets are connected with the conductive foil by the riveting nails, and the connection mode is stable and reliable; the conductive rubber material has low price and wide acquisition channel, and is beneficial to reducing the cost; when the angle is measured, the characteristics of the flexible bottom sheet and the conductive rubber sheet are utilized, the shape of the bending structure and the surfaces with different curvatures can be well attached, and therefore the rotation angle of the joint of the bending structure can be accurately measured.
Description
Technical Field
The utility model relates to the technical field of sensor manufacturing, in particular to a flexible bending sensor and a measuring system.
Background
In the related art, in the application process of various machines (such as a mechanical arm, a mechanical finger and the like), the rotation angle needs to be detected by using an angle sensor, but a common angle sensor is difficult to adapt to the surfaces of various shapes and curvatures of the machines, so that the measurement is difficult.
Disclosure of utility model
The present utility model aims to solve at least one of the technical problems existing in the prior art. Therefore, the utility model provides the flexible bending sensor, which can better attach the shape of the bending structure and the surfaces with different curvatures by utilizing the characteristics of the flexible bottom sheet and the conductive rubber sheet, so that the angle of the joint of the bending structure can be accurately measured.
In a second aspect, the utility model also proposes a measurement system employing the flexible bending sensor described above.
An embodiment according to a first aspect of the present utility model provides a flexible bending sensor comprising: a flexible backsheet and a detection assembly; the detection assembly comprises a conductive rubber sheet, conductive foils, wires and riveting nails, wherein the conductive rubber sheet is bonded and connected with the flexible negative sheet, the conductive foils are arranged at two opposite ends of the conductive rubber sheet, the riveting nails sequentially penetrate through the conductive foils and the conductive rubber sheet and then are fastened, and each conductive foil is connected with one wire.
The flexible bending sensor provided by the embodiment of the first aspect of the utility model has at least the following beneficial effects: the conductive rubber sheet and the conductive foil are connected together by using the riveting nails, and the connection mode is stable and reliable; the conductive rubber material has low price and wide acquisition channel, and is beneficial to reducing the cost; when the angle of the bending structure is measured by utilizing the conductive rubber sheet, the flexible bending sensor is paved on the bending structure so as to enable the flexible bottom sheet to be attached to the joint of the bending structure, when the joint of the bending structure is in telescopic bending, the conductive rubber sheet is simultaneously driven to be in telescopic bending, the elongation of the conductive rubber sheet can be obtained by measuring the change of the resistance of the conductive rubber sheet by utilizing the characteristic that the length of the conductive rubber sheet is changed and the resistance of the conductive rubber sheet is also changed, and the angle of the joint bending of the bending structure can be obtained by converting the elongation of the conductive rubber sheet.
According to an embodiment of the first aspect of the present utility model, there is provided a flexible bending sensor, wherein each of the conductive foils is fixed by a plurality of the rivet.
According to the flexible bending sensor provided by the embodiment of the first aspect of the utility model, the conductive rubber sheet is bonded with the flexible bottom sheet through an adhesive.
According to the flexible bending sensor provided by the embodiment of the first aspect of the utility model, the adhesive is formed by mixing a rubber adhesive and silver paste.
According to the flexible bending sensor provided by the embodiment of the first aspect of the utility model, a plurality of groups of detection assemblies are arranged on the flexible bottom sheet, and the plurality of groups of detection assemblies are arranged at intervals along the width direction of the flexible bottom sheet.
According to the flexible bending sensor provided by the embodiment of the first aspect of the utility model, the conductive foil is copper foil.
According to an embodiment of the first aspect of the present utility model, there is provided a flexible bending sensor, wherein the flexible backsheet is made of a rubber material.
According to a second aspect of the utility model, a measuring system is provided, comprising a bending structure and a flexible bending sensor according to an embodiment of the first aspect of the utility model, the flexible bending sensor being attached to an outer wall of the bending structure.
The measuring system provided by the embodiment of the second aspect of the utility model has at least the following beneficial effects: when the angle of the bending structure is measured by utilizing the conductive rubber sheet, the flexible bending sensor is paved on the bending structure, so that the flexible bottom sheet is attached to the joint of the bending structure, when the joint of the bending structure is in telescopic bending, the conductive rubber sheet is simultaneously driven to be in telescopic bending, the elongation of the conductive rubber sheet can be obtained by measuring the change of the resistance of the conductive rubber sheet by utilizing the characteristic that the length change resistance of the conductive rubber sheet is also changed, and the angle of the bending structure joint can be obtained by converting the elongation of the conductive rubber sheet.
According to a second aspect of the present utility model, there is provided a measurement system, the bending structure including a first joint and a second joint, the flexible bending sensor including a first detection assembly and a second detection assembly, the first detection assembly including a first conductive rubber sheet including a first measurement section and a first connection section, the first measurement section fitting and surrounding the first joint, the first measurement section being connected to the first conductive foil through the first connection section, the second detection assembly including a second conductive rubber sheet and a second conductive foil, the second conductive rubber sheet including a second measurement section and a second connection section, the second measurement section fitting and surrounding the second joint, the second measurement section being connected to the second conductive foil through the second connection section.
According to the measuring system provided by the embodiment of the second aspect of the utility model, along the width direction of the flexible bottom sheet, the width ratio of the first measuring section to the second connecting section is 2.5:1; the ratio of the width of the second measuring section to the width of the first connecting section is 2.5:1.
Additional aspects and advantages of the utility model will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model.
Drawings
Additional aspects and advantages of the present utility model will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a top view of a flexible bending sensor provided in accordance with an embodiment of the first aspect of the present utility model;
FIG. 2 is a partially exploded schematic illustration of a flexible bending sensor provided in accordance with an embodiment of the first aspect of the present utility model;
FIG. 3 is an exploded view of a flexible bend sensor provided in accordance with an embodiment of the first aspect of the present utility model;
FIG. 4 is a schematic view of a flexible bending sensor according to an embodiment of the first aspect of the present utility model;
FIG. 5 is a schematic view of a flexible bending sensor according to further embodiments of the first aspect of the present utility model;
FIG. 6 is a schematic structural diagram of a flexible bending sensor attached to a bending structure according to an embodiment of the first aspect of the present utility model;
fig. 7 is a schematic structural diagram of a flexible bending sensor according to other embodiments of the first aspect of the present utility model.
The reference numerals are as follows:
a flexible bending sensor 1000;
a flexible backsheet 100;
A detection assembly 200; an electric rubber sheet 210; a conductive foil 220; a wire 230; riveting nail 240;
a curved structure 300; a first joint 310; a second joint 320;
A first detection assembly 400; a first conductive rubber sheet 410; a first measurement section 411; a first connection section 412; a first conductive foil 420;
a second detection assembly 500; a second conductive rubber sheet 510; a second measurement section 511; a second connecting section 512; a second conductive foil 520.
Detailed Description
Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model.
In the description of the present utility model, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present utility model and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present utility model.
In the description of the present utility model, the description of the first and second is only for the purpose of distinguishing technical features, and should not be construed as indicating or implying relative importance or implying the number of technical features indicated or the precedence of the technical features indicated.
In the description of the present utility model, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present utility model can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
In the related art, in the application process of various machines (such as a mechanical arm, a mechanical finger and the like), the rotation angle needs to be detected by using an angle sensor, but the shape of a general angle sensor is difficult to adapt to the surfaces of various shapes and curvatures of the machines, so that the measurement is difficult, and the measured data is not accurate enough.
In order to solve this problem, the embodiment of the present utility model provides a flexible bending sensor 1000, which can better fit the shape of the bending structure 300 and the surfaces with different curvatures by using the characteristics of the flexible backsheet 100 and the conductive rubber sheet 210, so as to accurately measure the angle of the joint of the bending structure 300, and the specific structure and function of the flexible bending sensor 1000 provided by the embodiment of the present utility model will be further described with reference to the text and the accompanying drawings.
Referring to fig. 1 to 4, a flexible bending sensor 1000 according to an embodiment of a first aspect of the present utility model includes: a flexible backsheet 100 and a detection assembly 200; the flexible backsheet 100 is a rectangular sheet, the detecting assembly 200 includes a conductive rubber sheet 210, a conductive foil 220, a conductive wire 230 and a rivet 240, the conductive rubber sheet 210 is attached to and connected to the surface of the flexible backsheet 100, the conductive foil 220 is disposed at two opposite ends of the conductive rubber sheet 210, the rivet 240 sequentially penetrates through the conductive foil 220 and the conductive rubber sheet 210 and then is fastened, so that the conductive foil 220 and the conductive rubber sheet 210 are connected into a whole, and each conductive foil 220 is connected with a conductive wire 230.
According to the flexible bending sensor 1000 provided by the embodiment of the first aspect of the present utility model, the conductive rubber sheet 210 and the conductive foil 220 are connected together by using the rivet 240, and the connection manner is stable and reliable; the conductive rubber material has low price and wide acquisition channel, and is beneficial to reducing the cost; when the angle of the bending structure 300 is measured by using the conductive rubber sheet 210, the flexible bending sensor 1000 is paved on the bending structure 300 so as to enable the flexible bottom sheet 100 to be attached to the joint of the bending structure 300, when the joint of the bending structure 300 is in telescopic bending, the conductive rubber sheet 210 is simultaneously driven to be in telescopic bending, the elongation of the conductive rubber sheet 210 can be obtained by measuring the change of the resistance of the conductive rubber sheet 210 by using the characteristic that the change of the length of the conductive rubber sheet 210 is also changed, and then the angle of the joint bending of the bending structure 300 can be obtained by converting the elongation of the conductive rubber.
The resistance value of the conductive rubber sheet 210 changes with deformation such as stretching and bending, and the response speed and sensitivity are high, so that the sensing of micro deformation can be realized, and the measurement accuracy is improved.
Referring to fig. 4, it should be noted that, the calculation formula of the angle of the joint bending of the bending structure 300 is θ= arccos [ pi- [ (l×180)/(pi×h) ] ], where θ is the angle of the joint bending, l is the elongation, and h is the distance from the measured plane to the flexible bending sensor 1000.
Referring to fig. 1 and 3, according to the flexible bending sensor 1000 provided by the embodiment of the first aspect of the present utility model, each conductive foil 220 is fixed by a plurality of riveting nails 240, the plurality of riveting nails 240 are arranged in an array manner, and the plurality of riveting nails 240 jointly connect the conductive foil 220 and the conductive rubber sheet 210 into a whole, so that the connection manner is stable and reliable.
Referring to fig. 2 and 3, according to the flexible bending sensor 1000 provided by the embodiment of the first aspect of the present utility model, the conductive rubber sheet 210 is bonded to the flexible backsheet 100 by an adhesive, so that the stability of the connection between the conductive rubber sheet 210 and the flexible backsheet 100 is ensured.
According to the flexible bending sensor 1000 provided by the embodiment of the first aspect of the present utility model, the adhesive is formed by mixing a rubber adhesive and silver paste, and the rubber adhesive and the silver paste are mixed according to a ratio of 50:50 is put into a vacuum stirring kettle for stirring and mixing, which is beneficial to improving the stability of the adhesive and prolonging the service life of the flexible bending sensor 1000.
Referring to fig. 5 and fig. 7, according to the flexible bending sensor 1000 provided by the embodiment of the first aspect of the present utility model, a plurality of groups of detection assemblies 200 are disposed on the flexible backsheet 100, the plurality of groups of detection assemblies 200 are arranged at intervals along the width direction of the flexible backsheet 100, and by disposing a plurality of groups of detection assemblies 200 on the flexible backsheet 100, two adjacent detection assemblies 200 are spaced apart, the plurality of groups of detection assemblies 200 can detect one joint of the bending structure 300 at the same time, which is beneficial to improving the detection accuracy, or the plurality of detection assemblies 200 can detect different joints of the bending structure 300 separately, so that the detection of the bending angles of the different joints of the bending structure 300 can be completed by one flexible bending sensor 1000.
Referring to fig. 1, according to the flexible bending sensor 1000 provided by the embodiment of the first aspect of the present utility model, the conductive foil 220 is a copper foil, and the copper foil has good conductivity and a wide acquisition path.
The conductive foil 220 may be a conductive metal foil such as a silver foil or a gold foil.
Referring to fig. 2, according to the flexible bending sensor 1000 provided by the embodiment of the first aspect of the present utility model, the flexible backsheet 100 is made of a rubber material, which has good expansion and contraction properties, small elastic modulus and super-large elasticity, and is suitable for a scene of fitting the bending structure 300.
According to a second aspect of the present utility model, there is provided a measuring system comprising a bending structure 300 and a flexible bending sensor 1000 according to the first aspect of the present utility model, wherein the flexible bending sensor 1000 is attached to an outer wall of the bending structure 300.
Referring to fig. 5 and 6, according to the measurement system provided by the second aspect of the present utility model, when the angle of the bending structure 300 is measured by using the conductive rubber, the flexible bending sensor 1000 is laid on the bending structure 300, so that the flexible backsheet 100 is attached to the joint of the bending structure 300, when the joint of the bending structure 300 is elastically bent, the conductive rubber is simultaneously driven to elastically bend, the elongation of the conductive rubber can be obtained by measuring the change of the resistance of the conductive rubber by using the characteristic that the resistance of the conductive rubber is also changed due to the change of the length, and the angle of the joint bending of the bending structure 300 can be obtained by converting the elongation of the conductive rubber.
Referring to fig. 5 to 7, according to the measuring system provided in the second aspect of the present utility model, the bending structure 300 includes a first joint 310 and a second joint 320, the flexible bending sensor 1000 includes a first detecting component 400 and a second detecting component 500, the first detecting component 400 includes a first conductive rubber sheet 410 and a first conductive foil 420, the first conductive rubber sheet 410 includes a first measuring section 411 and a first connecting section 412, the first measuring section 411 is attached to and surrounds the first joint 310, the first measuring section 411 is connected to the first conductive foil 420 through the first connecting section 412, the first measuring section 411 can precisely measure the bending degree of the first joint 310 by providing the first measuring section 411 to surround the first joint 310, and the first connecting section 412 connects the first measuring section 411 with the first conductive foil 420 to form a circuit; the second detecting component 500 includes a second conductive rubber sheet 510 and a second conductive foil 520, the second conductive rubber sheet 510 includes a second measuring section 511 and a second connecting section 512, the second measuring section 511 is attached to and surrounds the second joint 320, the second measuring section 511 is connected to the second conductive foil 520 through the second connecting section 512, the second measuring section 511 surrounds the second joint 320 by providing the second measuring section 511, the second measuring section 511 can accurately measure the curvature of the second joint 320, and the first connecting section 412 connects the first measuring section 411 with the first conductive foil 420 to form a circuit.
Referring to fig. 5 to 7, according to the measurement system provided in the second aspect of the present utility model, the ratio of the width of the first measurement section 411 to the width of the second connection section 512 is 2.5:1 along the width direction of the flexible backsheet 100, when the curvature of the first joint 310 is measured, the first measurement section 411 can better wrap the first joint 310, and the width of the second connection section 512 is smaller, so that the influence on the measurement result when the second connection section 512 stretches can be reduced.
The ratio of the width of the second measuring section 511 to the width of the first connecting section 412 is 2.5:1, when the curvature of the second joint 320 is measured, the second measuring section 511 can better wrap the second joint 320, and the width of the first connecting section 412 is smaller, so that the influence on the measurement result when the first connecting section 412 stretches can be reduced
Referring to fig. 5 and 7, in the longitudinal direction, the length of the first measurement section 411 is R1, the length of the first connection section 412 is R2, the length of the second connection section 512 is R3, the length of the second measurement section 511 is R4, when measured by the sensor, the change amount of the first measurement section 411 is Δr1, the change amount of the first connection section 412 is Δr2, the change amount of the second connection section 512 is Δr3, the change amount of the second measurement section 511 is Δr4, the total elongation l1= Δr1+ & Δr2 of the first conductive rubber, and the total elongation l2= Δr3+ & Δr4 of the second conductive rubber;
When the ratio of the width of the first measuring section 411 to the width of the second connecting section 512 is 2.5:1, the ratio of the width of the second measuring section 511 to the width of the first connecting section 412 is 2.5:1; satisfies Δr1=2.5 Δr3, Δr4=2.5 Δr2;
this can be achieved by: l1= Δr1+ [ Δr2 ];
L2＝△R3+△R4；
△R1＝2.5△R3；
△R4＝2.5△R2；
Combining the above equations can solve Δr1, Δr2, Δr3, and Δr4, then solve the values of L1 and L2, and then substituting the values of L1 and L2 into L in θ= arccos [ pi- [ (l×180)/(pi×h) ], respectively, to solve the bending angles of the first joint 310 and the second joint 320.
It should be noted that the ratio of the width of the first measuring section 411 to the width of the second connecting section 512 and the ratio of the width of the second measuring section 511 to the width of the first connecting section 412 may be changed according to actual requirements, which will not be described herein.
The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings, and the embodiments are only for illustrating the technical scheme of the present utility model, but not for limiting the same, and the present utility model is not limited to the embodiments, and various changes can be made without departing from the spirit of the present utility model within the knowledge of those skilled in the art.
Claims (10)
1. A flexible bend sensor, comprising:
a flexible backsheet;
The detection assembly comprises a conductive rubber sheet, conductive foils, wires and riveting nails, wherein the conductive rubber sheet is bonded and connected with the flexible negative sheet, the conductive foils are arranged at two opposite ends of the conductive rubber sheet, the riveting nails sequentially penetrate through the conductive foils and are fastened after the conductive rubber sheet, and each conductive foil is connected with one wire.
2. The flexible bending sensor according to claim 1, wherein each of the conductive foils is secured by a plurality of the rivet.
3. The flexible bending sensor of claim 2, wherein the conductive rubber sheet is bonded to the flexible backsheet by an adhesive.
4. A flexible bend sensor according to claim 3, wherein the adhesive is formed by mixing a rubber adhesive and silver paste.
5. The flexible bending sensor according to claim 1, wherein a plurality of groups of the detecting members are provided on the flexible backsheet, and the plurality of groups of the detecting members are arranged at intervals in a width direction of the flexible backsheet.
6. The flexible bending sensor of claim 1, wherein the conductive foil is copper foil.
7. The flexible bend sensor of claim 1, wherein the flexible backsheet is made of a rubber material.
8. A measurement system comprising a flexure structure comprising at least two joints, two of which are rotatably connected, and a flexible flexure sensor according to claim 1 attached to an outer wall of the flexure structure.
9. The measurement system of claim 8, wherein the flexure structure comprises a first joint and a second joint, the flexible flexure sensor comprises a first detection assembly and a second detection assembly, the first detection assembly comprises a first conductive rubber sheet and a first conductive foil, the first conductive rubber sheet comprises a first measurement segment and a first connection segment, the first measurement segment conforms to and surrounds the first joint, the first measurement segment is connected to the first conductive foil through the first connection segment, the second detection assembly comprises a second conductive rubber sheet and a second conductive foil, the second conductive rubber sheet comprises a second measurement segment and a second connection segment, the second measurement segment conforms to and surrounds the second joint, and the second measurement segment is connected to the second conductive foil through the second connection segment.
10. The measurement system of claim 9, wherein a ratio of the width of the first measurement section to the width of the second connection section along the width of the flexible backsheet is 2.5:1; the ratio of the width of the second measuring section to the width of the first connecting section is 2.5:1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322406954.XU CN220912214U (en) | 2023-09-05 | 2023-09-05 | Flexible bending sensor and measuring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322406954.XU CN220912214U (en) | 2023-09-05 | 2023-09-05 | Flexible bending sensor and measuring system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220912214U true CN220912214U (en) | 2024-05-07 |
Family
ID=90911784
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322406954.XU Active CN220912214U (en) | 2023-09-05 | 2023-09-05 | Flexible bending sensor and measuring system |
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| Country | Link |
|---|---|
| CN (1) | CN220912214U (en) |
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2023
- 2023-09-05 CN CN202322406954.XU patent/CN220912214U/en active Active
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