KR20120054206A - Curved tectile sensor and manufacturing method thereof - Google Patents

Abstract

PURPOSE: A curved type tactile sensor and a manufacturing method are provided to minutely sense a surrounding environment because measuring power, a pressure, and a temperature are possible and automate a process mounting a sensor on a little curved portion. CONSTITUTION: A curved type tactile sensor comprises a lower layer(100), a sensor unit, and an upper layer(400). One side of the lower layer is mounted on a curved surface. The sensor member is inserted into each groove, thereby sensing an external force. The upper layer is sealed up in the other side of the lower layer. The external force is added on the upper layer.

Description

Curved tectile sensor and manufacturing method

The present invention relates to a tactile sensor, and more particularly to a curved tactile sensor that can be easily attached to a curved surface and mass production.

10 is an explanatory diagram showing a conventional curved tactile sensor. As shown in FIG. 10, the curved portion 30 is provided with a flexible tactile sensor 40. The curved portion 30 may be a skin portion such as a finger of the robot. In order to install the tactile sensor 40 on the curved portion 30, a flexible tactile sensor 40 is separately manufactured. The manufactured tactile sensor 40 is attached while being pulled to the corresponding curved portion 30.

However, such a conventional tactile sensor has a disadvantage in that it is difficult to attach to the curved portion 30 having a curvature of 15 mm or less. In addition, since the tactile sensor must be pulled out one by one, it is difficult to automate, and there is inconvenience in that manual operation is required.

In addition, a technology for attaching a metal tactile sensor to a polymer substrate has been developed. However, there have been problems such as cracks in the metal wiring, peeling of the metal wiring from the polymer substrate, and low wear resistance due to contact.

Accordingly, the present invention has been made to solve the above problems, and a first object of the present invention is to provide a tactile sensor and a method of manufacturing the same, which is easily adhered to a curved surface having a small curvature without pulling the tactile sensor. .

It is a second object of the present invention to provide a tactile sensor and a method of manufacturing the same, which automate a process of attaching a tactile sensor to a curved portion.

It is a third object of the present invention to provide a tactile sensor capable of measuring temperature in addition to force and pressure, and a manufacturing method thereof.

An object of the present invention as described above, one surface is attached to the curved surface, the lower layer 100 is formed with a plurality of grooves 110 on the other surface;

Sensor means inserted into each groove 110 to sense an external force 20;

It is sealed by the other surface of the lower layer 100, it can be achieved by a tactile sensor characterized in that it comprises an upper layer 400 is applied to the external force 20.

The sensor means has a plurality of first sensor parts 210 wired in one direction, and includes a first sensor layer 200 inserted into the groove 110; And

And a second sensor layer 300 having a plurality of second sensor portions 310 wired in one direction and inserted into the groove 110 while crossing the first sensor layer 200.

In addition, a load bump 120 may be further provided between the lower layer 100 and the sensor means or between the upper layer 400 and the sensor means.

In addition, a temperature sensor 420 may be further provided between the sensor means and the upper layer 400.

In addition, the temperature sensor 420 may be disposed along one direction of the first sensor layer 200 or one direction of the second sensor layer 300.

In addition, the groove 110 of the lower layer 100 is formed of a plurality of grooves 110 that cross each other to form a matrix shape, the sensor means is preferably provided in the cross region of the groove (110).

In addition, the groove 110 of the lower layer 100 is formed of a plurality of grooves 110 that cross each other to form a matrix, and the first sensor unit 210 and the second sensor unit 310 of the groove 110 More preferably, they are stacked at the intersection area.

Optionally, the bottom layer 100 or the top layer 400 may include at least one of stretchable PDMS, silicone, latex, and synthetic resin.

The sensor means may detect the external force 20 or the pressure by one of a contact resistance sensing method, a capacitance sensing method, or a piezoelectric material method.

In addition, the upper layer 400 may have a thickness in the range of 0.2 mm to 0.5 mm for the transmission of the external force 20 or temperature.

The sensor means has a contact resistance sensing method, and further includes a temperature compensating means having a PTC characteristic or a temperature compensating means having an NTC characteristic to detect an external force 20 more precisely regardless of temperature change.

An object of the present invention as described above, as another category, the step of placing a lower surface 100, a plurality of grooves 110 formed on the other surface on the surface jig 10 corresponding to the curved surface ( S110);

Inserting sensor means for sensing an external force into the groove 110 (S120, S130);

Sealing the upper layer 400 on the other surface of the lower layer 100 to complete the tactile sensor (S150); And

Separating the completed tactile sensor from the curved jig 10 (S160); It may be achieved by a method of manufacturing a curved tactile sensor comprising a.

And, the inserting step of the sensor means,

Inserting a first sensor layer (200) having a plurality of first sensor portions (210) wired in one direction into the groove (110); And

And inserting the second sensor layer 300 having the plurality of second sensor units 310 wired along one direction into the groove 110 while crossing the first sensor layer 200 (S130). have.

In addition, a step of installing a load bump 120 in a region corresponding to the sensor means may be further provided between the position step S110 and the insertion step S120.

In addition, between the insertion step (S130) and the completion step (S150), it is preferable that the step (S140) of installing a temperature sensor 420 between the sensor means and the upper layer 400 is further provided.

In addition, the first sensor layer 200 or the second sensor layer 300 is more preferably in a planar shape and bent and inserted into the groove 110.

And, it is most preferable that the upper layer 400 has a curved shape corresponding to the curved surface.

According to one embodiment of the present invention as described above, the tactile sensor can be easily attached to the curved portion having a small curvature without pulling the tactile sensor.

Therefore, the process of attaching the tactile sensor to the curved portion can be automated by the robot. This has the advantage of avoiding manual labor and mass production at low cost.

In addition, the tactile sensor of the present invention can measure the temperature in addition to the force and pressure, it is possible to detect a more detailed surrounding environment, and can use the measured data to implement the naturalness of various applications or behaviors.

The following drawings, which are attached in this specification, illustrate the preferred embodiments of the present invention, and together with the detailed description thereof, serve to further understand the technical spirit of the present invention, and therefore, the present invention is limited only to the matters described in the drawings. It should not be interpreted.
1 is an exploded perspective view of a curved tactile sensor according to a first embodiment of the present invention;
FIG. 2 is a cross-sectional view taken along AA in FIG. 1;
3 is a plan view of a state in which the first sensor layer 200 is inserted onto the lower layer 100 during the manufacturing process of the curved tactile sensor according to the first embodiment;
4 is a plan view of a state in which the second sensor layer 300 is inserted with respect to the plan view of FIG.
5 is a cross-sectional view according to a second embodiment of the present invention;
6 is a flowchart illustrating a manufacturing method of a curved tactile sensor according to a first embodiment of the present invention;
7 is a flowchart illustrating a method of manufacturing a curved tactile sensor according to a second embodiment of the present invention;
8 is a circuit diagram of a temperature compensation means having a PTC characteristic applied to the present invention;
9 is a circuit diagram of a temperature compensating means having NTC characteristics applied to the present invention;
10 is an explanatory diagram showing a conventional curved tactile sensor.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

<First Example  Configuration>

1 is an exploded perspective view of a curved tactile sensor according to a first embodiment of the present invention, and FIG. 2 is a cross-sectional view taken along the line A-A of FIG. 1. As shown in FIGS. 1 and 2, the curved tactile sensor is composed of approximately the lower layer 100, the first sensor layer 200, the second sensor layer 300, and the upper layer 400.

The lower layer 100 is molded by injecting a flexible material such as PDMS, silicon, latex, or synthetic resin into a mold. In particular, the lower layer 100 forms a two-dimensional curved surface or a three-dimensional curved surface as a whole. That is, the lower layer 100 may be integrally injected through the mold having the curved surface. The curvature of the curved surface may be specified according to the curvature of the point where the tactile sensor is attached.

The lower surface of the lower layer 100 is a plane forming a curved surface, a plurality of grooves 110 are formed on the upper surface. The groove 110 forms a matrix form (for example, 9 × 9, 3 cm × 3 cm size) while a plurality of linear grooves cross each other in the horizontal direction and the vertical direction. Then, a margin (sealing portion) for sealing is provided around the edge.

In addition, the load bump 120 is provided in a smaller size in the region of the groove 110 intersecting the lower layer 100. The load bump 120 has a harder hardness than the lower layer 120 or the first and second sensor parts 210 and 310, which will be described later, and has a smaller diameter than the first and second sensor parts 210 and 310. . The load bump 120 has a reaction force to the external force is concentrated in the first, second sensor unit (210, 310) serves to increase the sensitivity.

The first sensor layer 200 is made of a very thin and flexible material, such as a flexible PCB (FPCB). Thus, the first sensor layer 200 can be easily bent by hand along any direction. The first sensor unit 210 has a small disk shape and is arranged in a line through the first connection unit 220. And, arranged in a matrix form so as to correspond to each of the grooves 110 of the matrix form. Therefore, the lower surface of the first sensor unit 210 comes into contact with the load bump 120. A first wiring part 240 for outputting a signal is provided at an end of the series of first sensor parts 210, and a first between the series of first sensor parts 210 and the series of first sensor parts 210. Perforations 230 are formed. The first perforations 230 may further facilitate the deformation of the first sensor layer 200 to facilitate the insertion with the lower layer 100.

The second sensor layer 300 has the same configuration as the first sensor layer 200. That is, the second sensor unit 310 corresponds to the first sensor unit 210, the second connection unit 320 corresponds to the first connection unit 220, and the second drilling unit 330 is the first drilling unit. Corresponding to 230, and the second wiring unit 340 corresponds to the first wiring unit 240, respectively. That is, the same member may be used for the first sensor layer 200 and the second sensor layer 300 in duplicate. However, the second sensor layer 300 is rotated by 90 ° on the upper surface of the first sensor layer 200 and stacked.

In order to detect the strength of the external force 20 or the pressure between the stacked first sensor unit 210 and the second sensor unit 220, a contact resistance sensing method using a reduced pressure ink, a capacitance sensing method, a piezoelectric material method Can adopt one.

In addition, as the first sensor unit 210 and the second sensor unit 220 are arranged in a matrix form, a position at which an external force or pressure is applied may also be detected.

The temperature sensor 420 has a linear shape, and a plurality of temperature sensors 420 are disposed along the second connection part 320 of the second sensor layer 300 or along the second hole 330. The temperature sensor 420 is for measuring the temperature of the member (for example, the fingertip) to be applied. The temperature sensor 420 is preferably located as close as possible (0.2 mm to 0.5 mm) to the area where the external force 20 is applied, and does not need to be installed densely because of its high resolution.

The upper layer 400 is in close contact with the lower layer 100 and is a member for sealing the tactile sensor. The upper layer 400 may be made of the same material as the lower layer 100, and may form the same curvature as the lower layer 100 for sealing. Since the upper layer 400 is a surface on which an external force is applied, durability is weak when too thin, and when the thickness is too thick, the sensitivity of the sensor is reduced. Therefore, it is preferable to select in the thickness range of 0.2 mm to 0.5 mm.

<Second Example  Configuration>

5 is a cross-sectional view according to a second embodiment of the present invention. As shown in FIG. 5, the self-configuration of the lower layer 100, the first sensor layer 200, the second sensor layer 300, the temperature sensor 420, and the upper layer 400 is the same as in the first embodiment. .

However, the second embodiment is different in arrangement in the cross-sectional layer structure as shown in FIG. That is, the first sensor layer 100 and the second sensor layer 200 are sequentially stacked on the lower layer 100, and a load bump 120 and a temperature sensor 420 are provided thereon. That is, the load bump 120 is provided between the second sensor unit 310 and the temperature sensor 420.

Depending on the design choice, the temperature sensor 420 or the load pump 120 can be omitted, of course.

Hereinafter, when the sensor means is a sensor of the contact resistance type, it will be described for the configuration that can measure the external force more precise through temperature compensation. As an example, Figure 8 is a circuit diagram of the temperature compensation means having a PTC characteristic applied to the present invention. As shown in FIG. 8, the resistance Rs of the contact resistance sensor, the feedback resistance Rc, and the temperature compensation resistor R _t having the PTC characteristic are connected in series. The output voltage Vout is output between the feedback resistor Rc and the temperature compensation resistor R _t having the PTC characteristic.

When the temperature rises due to the finger or the outside air, the tactile sensor of the contact resistance type has a lower resistance than the normal temperature at a constant force. At this time, in the circuit diagram of the temperature compensation means as shown in FIG. 8, when the temperature compensation resistor (R _t ) having a PTC (Positive Temperature Coefficient) is connected in series, the resistance to temperature is canceled from each other so that the temperature compensation is automatically performed. do. For reference, the PTC characteristic refers to a characteristic in which the resistance increases as the temperature increases. As a result, accurate external force or pressure can be measured at all times without a change in sensitivity or malfunction of the tactile sensor due to temperature change.

9 is a circuit diagram of a temperature compensating means having a NTC (Negative Temperature Coefficient) characteristic applied to the present invention. As shown in FIG. 9, the resistance Rs of the contact resistance sensor, the feedback resistance Rc, and the temperature compensation resistor R _t having the PTC characteristics are connected in series. The output voltage Vout is output between the resistance Rs of the contact resistance sensor and the temperature compensation resistor R _t having NTC characteristics.

When the temperature rises due to the finger or the outside air, the tactile sensor of the contact resistance type has a lower resistance than the normal temperature at a constant force. At this time, in the circuit diagram of the temperature compensating means as shown in FIG. 9, when the temperature compensation resistor R _t having the NTC characteristic is connected in series with the feedback resistor Rc in the potential difference circuit, the resistance to temperature cancels each other and the temperature compensation is improved. This is done automatically. For reference, the NTC characteristic refers to the characteristic that the resistance decreases when the temperature rises. As a result, accurate external force or pressure can be measured at all times without a change in sensitivity or malfunction of the tactile sensor due to temperature change.

<First Example  Manufacturing Method>

Hereinafter, a method of manufacturing the tactile sensor having the above configuration will be described in detail with reference to the accompanying drawings. 6 is a flowchart illustrating a manufacturing method of a curved tactile sensor according to a first embodiment of the present invention. As shown in FIG. 6, first, the lower layer 100, the first and second sensor layers 200 and 300, and the upper layer 400 are prepared by molding (S100). The lower layer 100 and the upper layer 400 may be injection molded through a mold having curvature, and the first and second sensor layers 200 and 300 may be used interchangeably because they are the same parts.

Next, the lower layer 100 is positioned on the curved jig 10 (S110). At this time, the curved jig 10 preferably has the same curvature as the curvature of the lower layer 100. In other words, it may be sufficient to place the lower layer 100 on the curved jig 10 for later processing.

Next, the load bump 120 is installed between the grooves 110 of the lower layer 100 and the first sensor layer 200 is inserted (S120). 3 is a plan view of a state in which the first sensor layer 200 is inserted onto the lower layer 100. At this time, the first sensor layer 200 may be inserted between the grooves 110 of the lower layer 100 while slightly bending. The load bump 120 may be fixed to the lower layer 100 or may be inserted in a fixed state to each of the first sensor units 210 of the first sensor layer 200.

Next, the second sensor layer 300 is cross-inserted on the first sensor layer 200 (S130). 4 is a plan view of a state in which the second sensor layer 300 is inserted with respect to the plan view of FIG. 3. As shown in FIG. 4, the second sensor layer 300 is stacked while being rotated by 90 ° with respect to the first sensor layer 200.

Then, the temperature sensor 420 is attached on the second sensor layer 300 (S140).

Next, the upper layer 400 and the lower layer 100 are sealed using a sealing material (such as a paste or double-sided tape) not shown (S150).

Then, the completed tactile sensor is separated from the curved jig 10 (S160). If necessary, unnecessary parts can be cut, trimmed or coated after completion of the tactile sensor. Through such a process, the manufacturing of the tactile sensor according to the first embodiment of the present invention can be completed. The completed tactile sensor can be easily bonded to a specific part such as a finger of a robot through an automated device without pulling the sensor.

<Second Example  Manufacturing Method>

7 is a flowchart illustrating a method of manufacturing a curved tactile sensor according to a second embodiment of the present invention. As shown in FIG. 7, first, the lower layer 100, the first and second sensor layers 200 and 300, the upper layer 400, and the like are molded and prepared (S200). The lower layer 100 and the upper layer 400 may be injection molded through a mold having curvature, and the first and second sensor layers 200 and 300 may be used interchangeably because they are the same parts.

Next, the lower layer 100 is positioned on the curved jig 10 (S210). At this time, the curved jig 10 preferably has the same curvature as the curvature of the lower layer 100. In other words, it may be sufficient to place the lower layer 100 on the curved jig 10 for later processing.

Next, the first sensor layer 200 is inserted between the grooves 110 of the lower layer 100 (S220). At this time, the first sensor layer 200 may be inserted between the grooves 110 of the lower layer 100 while slightly bending.

Next, the second sensor layer 300 is cross-inserted on the first sensor layer 200 (S230). The second sensor layer 300 is stacked while being rotated by 90 ° with respect to the first sensor layer 200.

Next, a load bump 120 is installed on each second sensor unit 310 of the second sensor layer 300 (S240). The load bumps 120 may be inserted in fixed states to the second sensor units 310.

Then, attach the temperature sensor 420 on the load bump (120) (S250).

Next, the upper layer 400 and the lower layer 100 are sealed using a sealing material (such as paste or double-sided tape) not shown (S260).

Then, the completed tactile sensor is separated from the curved jig 10 (S270). If necessary, unnecessary parts can be cut, trimmed or coated after completion of the tactile sensor. Through this process it is possible to complete the manufacture of the tactile sensor according to the second embodiment of the present invention. The completed tactile sensor can be easily bonded to a specific part such as a finger or skin of a robot through an automated device without pulling the sensor.

Although the present invention has been described with respect to the curved tactile sensor, it is very easy for the reader of this specification to apply it to the flat tactile sensor. Accordingly, the specification, claims and drawings of the present invention should be construed as belonging to the scope of rights for the planar tactile sensor and its manufacturing method.

As described above, those skilled in the art will understand that the present invention can be implemented in other specific forms without changing the technical spirit or essential features. Therefore, it should be understood that the above-described embodiments are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is shown by the following claims rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and equivalent concepts should be construed as being included in the scope of the present invention.

Curved tactile sensor according to an embodiment of the present invention can be used for measuring the skin of the robot, other curved parts (portables, etc.) and the like, there is an industrial advantage that can be manufactured with high productivity.

10: curved jig,
20: external force,
30: curved portion,
40: flexible tactile sensor,
100: lower layer,
110: home,
120: load bump,
200: first sensor layer,
210: first sensor unit,
220: first connecting portion,
230: first perforation,
240: first wiring portion,
300: second sensor layer,
310: second sensor unit,
320: second connecting portion,
330: second perforation,
340: second wiring portion,
400: upper layer,
420: temperature sensor,
400: upper layer,
Rs: resistance of contact resistance sensor,
Rc: feedback resistance,
Rt: Temperature compensation resistor with PTC or NTC characteristics.

Claims (17)

A lower layer 100 having one surface attached to the curved surface and having a plurality of grooves 110 formed on the other surface thereof;
Sensor means inserted into each of the grooves 110 to detect an external force 20;
Tactile sensor is sealed to the other surface of the lower layer, characterized in that it comprises an upper layer 400 is applied to the external force (20). The method of claim 1,
The sensor means,
A first sensor layer (200) having a plurality of first sensor portions (210) wired in one direction and inserted into the groove (110); And
And a second sensor layer (300) having a plurality of second sensor portions (310) wired in one direction and inserted into the groove (110) while crossing the first sensor layer (200). Curved tactile sensor The method of claim 1,
Curved tactile sensor, characterized in that the load bump 120 is further provided between the lower layer (100) and the sensor means or between the upper layer (400) and the sensor means. The method of claim 1,
Curved tactile sensor, characterized in that the temperature sensor 420 is further provided between the sensor means and the upper layer (400). The method of claim 2,
A temperature sensor 420 is further provided between the sensor means and the upper layer 400,
The temperature sensor 420 is a curved tactile sensor, characterized in that disposed in one direction of the first sensor layer 200 or one direction of the second sensor layer (300). The method of claim 1,
The groove 110 of the lower layer 100 is formed of a plurality of grooves 110 that cross each other to form a matrix form,
The sensor means is a curved tactile sensor, characterized in that provided in the intersection area of the groove (110). The method of claim 2,
The groove 110 of the lower layer 100 is formed of a plurality of grooves 110 that cross each other to form a matrix form,
Curved tactile sensor, characterized in that the first sensor 210 and the second sensor 310 is stacked in the intersection area of the groove (110). The method of claim 1,
The lower layer (100) or the upper layer (400) is a curved tactile sensor, characterized in that it comprises at least one of stretchable PDMS, silicon, latex, and synthetic resin. The method of claim 1,
The sensor means is a curved tactile sensor, characterized in that for sensing the external force (20) or pressure by one of a contact resistance sensing method, capacitance sensing method or piezoelectric material method. The method of claim 1,
The upper layer 400 is curved tactile sensor, characterized in that having a thickness in the range of 0.2 mm to 0.5 mm for the transmission of the external force 20 or temperature. The method of claim 9,
The sensor means is a contact resistance detection method,
And a temperature compensating means having a PTC characteristic or a temperature compensating means having an NTC characteristic, so that the external force 20 can be detected more precisely regardless of temperature change. Forming a curved surface on one surface and placing a lower layer (100) having a plurality of grooves (110) formed on the other surface on the curved jig (10) corresponding to the curved surface (S110);
Inserting sensor means for sensing an external force into the groove 110 (S120, S130);
Sealing the upper layer 400 on the other surface of the lower layer 100 to complete the tactile sensor (S150); And
Separating the completed tactile sensor from the curved jig 10 (S160); Method for producing a curved tactile sensor comprising a. The method of claim 12,
Inserting the sensor means,
Inserting a first sensor layer (200) having a plurality of first sensor portions (210) wired along one direction into the groove (110); And
Inserting a second sensor layer 300 having a plurality of second sensor portions 310 wired in one direction into the groove 110 while crossing the first sensor layer 200 (S130); Method for producing a curved tactile sensor, characterized in that. The method of claim 12,
Between the position step (S110) and the insertion step (S120),
Method for manufacturing a curved tactile sensor, characterized in that the step further comprises the step of installing a load bump 120 in the area corresponding to the sensor means. The method of claim 12,
Between the insertion step (S130) and the completion step (S150),
Method of manufacturing a curved tactile sensor, characterized in that the step (S140) is further provided between the sensor means and the upper layer (400). The method of claim 13,
The first sensor layer (200) or the second sensor layer (300) is a planar shape, and the curved tactile sensor manufacturing method characterized in that is inserted into the groove (110). The method of claim 12,
The upper layer 400 is a manufacturing method of the curved tactile sensor, characterized in that it has a curved shape corresponding to the curved surface.

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