CN208780370U - A planar array shear force tactile sensor - Google Patents
A planar array shear force tactile sensor Download PDFInfo
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- CN208780370U CN208780370U CN201821778140.1U CN201821778140U CN208780370U CN 208780370 U CN208780370 U CN 208780370U CN 201821778140 U CN201821778140 U CN 201821778140U CN 208780370 U CN208780370 U CN 208780370U
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- shearing force
- piezoelectricity
- polymer
- planar array
- touch sensor
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Abstract
The utility model discloses a kind of planar array column shearing force touch sensor, which includes piezoelectricity polymer, top substrate layer and underlying substrate；The piezoelectricity polymer be it is identical several, be arranged in array, the distance between two neighboring piezoelectricity polymer is identical on direction up and down；All piezoelectricity polymers are uniformly fixed between top substrate layer and underlying substrate；It is coated with conductive material in the position that top substrate layer lower surface and underlying substrate upper surface are contacted with piezoelectricity polymer, piezoelectricity polymer is connect by conductive material with external charge amplifier.This sensor can be detected simultaneously by size, direction and the active position of shearing force, improve the applicability of sensor.This sensor integrally uses planar structure, and structure is simple, and high sensitivity, fabrication cycle is short, and performance is stablized, and long service life is easy to spread.
Description
Technical field
The utility model relates to touch sensor field, specifically a kind of planar array column shearing force touch sensor.
Background technique
Touch sensor is the effective way that the mankind and intelligent robot experience external environment, tactilely-perceptible for operation,
Detection, response three behaviors are essential, and the importance that tactile operates intelligent robot embodies the most in fine movement
Obviously.Tactilely-perceptible can allow robot continuously to receive the tactile data about material and surface characteristics, as hardness, heat pass
The property led, frictional force, roughness etc., to help it preferably to identify object.With progress of the epoch, touch sensor is cured in health
The fields such as treatment, sport, robot are using increasingly extensive.
When robot completes the movements such as crawl, clamping, need by between touch sensor inspecting manipuator and contact interface
Three-dimensional force information, by control chucking power come complete crawl and operation task.However most of sensors can only detect at present
Normal pressure, the shearing force being unable between inspecting manipuator and contact surface, or the direction of shearing force can only be detected, it cannot detect and cut
The size and location of shear force, this is unfavorable for the work of robot precise and high efficiency.Study a kind of tactile sensing that can detect shearing force
Device, size, direction and active position including detecting shearing force, has a very important significance machine man-based development.
Application No. is 201710170984.1 documents to disclose a kind of sliding feel touch sensor of pyramid structure, including
Upper layer and lower layer are printed with the circuit board of induction electrode, the hemi-spherical contact of dielectric layer and PDMS with pyramid structure.The sensing
Device is only capable of the direction of detection shearing force, cannot size to shearing force and active position judge that and the sensor structure is set
Meter is complicated, and manufacturing process is cumbersome, and practical application is insufficient.
Utility model content
In view of the deficiencies of the prior art, the technical issues of the utility model intends to solve is to provide a kind of planar array column and cuts
Shear force touch sensor.
The technical solution that the utility model solves the technical problem is to provide a kind of planar array column shearing force tactile biography
Sensor, it is characterised in that the sensor includes piezoelectricity polymer, top substrate layer and underlying substrate；The piezoelectricity polymer is complete
It is identical several, be arranged in array, the distance between two neighboring piezoelectricity polymer is identical on direction up and down；All pressures
Electric polymer is uniformly fixed between top substrate layer and underlying substrate；In top substrate layer lower surface and underlying substrate upper surface and pressure
The position of electric polymer contact is coated with conductive material, and piezoelectricity polymer is connected by conductive material and external charge amplifier
It connects.
Compared with prior art, the utility model beneficial effect is:
1. sensor compared with common sensor, can be detected simultaneously by size, direction and the active position of shearing force,
Improve the applicability of sensor.
2. baseplate material used in sensor can select flexible material, can apply in curved surface, further
Its application range is expanded.
3. the selection diversification of piezoelectricity polymer used in sensor, can be stiffened piezoelectric polymer or flexible piezoelectric
Polymer, specific selection can be determined according to actual needs.
It, can self manufacture according to actual needs 4. the size of sensor is unlimited.
5. a sensor integrally uses planar structure, structure is simple, and high sensitivity, fabrication cycle is short, and performance is stablized, and uses
Service life is long, easy to spread.
6. it is convenient to be routed using conductive material, avoid using conducting wire, because conducting wire itself area occupied makes sensor structure
Out-of-flatness influences to export result.
Detailed description of the invention
Fig. 1 is that a kind of overall structure of embodiment of the utility model planar array column shearing force touch sensor overlooks signal
Figure.
Fig. 2 is a kind of overall structure main view section of embodiment of the utility model planar array column shearing force touch sensor
Schematic diagram.
Fig. 3 is the schematic diagram of the utility model planar array column shearing force touch sensor embodiment 1.
Fig. 4 is the schematic diagram of the utility model planar array column shearing force touch sensor embodiment 2.
Fig. 5 is the detection shearing force size and work of the utility model planar array column shearing force touch sensor embodiment 2
With the experimental result picture of position.
Fig. 6 is the reality in the detection shearing force direction of the utility model planar array column shearing force touch sensor embodiment 2
Test result figure.(in figure: 1, piezoelectricity polymer；2, top substrate layer；3, underlying substrate)
Specific embodiment
Specific embodiment of the utility model is given below.Specific embodiment is only used for being further described originally practical new
Type does not limit the protection scope of the claim of this application.
The utility model provides a kind of planar array column shearing force touch sensor (abbreviation sensor, referring to Fig. 1-2),
It is characterized in that the sensor includes piezoelectricity polymer 1, top substrate layer 2 and underlying substrate 3；The piezoelectricity polymer 1 is complete
It is identical several, be arranged in array, the distance between two neighboring piezoelectricity polymer 1 is identical on direction up and down；It is all
Piezoelectricity polymer 1 is uniformly fixed between top substrate layer 2 and underlying substrate 3, forms three-decker, and three-decker is in close contact；
It is coated in the position that 2 lower surface of top substrate layer and 3 upper surface of underlying substrate are contacted with piezoelectricity polymer 1 using screen printing technique
There is conductive material, piezoelectricity polymer 1 is connect by conductive material with external charge amplifier；
The piezoelectricity polymer 1 is that piezoelectric ceramics or upper and lower surface are coated with the PVDF piezoelectric membrane of electrode (to guarantee PVDF
Film can be transmitted due to the charge that polarization generates), thickness is not more than 500um；
The top substrate layer 2 and underlying substrate 3 are planar structure, and the two size is identical, and thickness is not more than 4mm；Upper layer
The cross section at the interface between substrate 2 and underlying substrate 3 is in flat state；
The material of the top substrate layer 2 and underlying substrate 3 is flexible material, can be flexible resin or flexible rubber etc.
The material being easily deformed, preferably PI insulation film or PET insulation film；
The conductive material is silk-screen type ink, specifically conductive silver paste ink or conductive graphene ink.
Using size, the method in direction and active position of planar array column shearing force touch sensor detection shearing force
It is:
The method for detecting shearing force size: when there is shearing force in some position, all piezoelectricity polymers 1 have electricity
Lotus output；When the size variation of shearing force, the charge that all piezoelectricity polymers 1 export also changes therewith；When shearing force increases
When big, the charge of output also increases, on the contrary then reduce；By charge to all outputs of piezoelectricity polymer 1 and shearing force into
Rower detects the size of shearing force surely；
The method for detecting shearing force direction: when there is shearing force, all piezoelectricity polymers 1 have charge output；
Algebraic step, the line of the maximum two piezoelectricity polymers of algebra difference are done two-by-two to the charge value of all piezoelectricity polymers 1 output
Direction is the action direction of shearing force, then the direction in the positive and negative determining shearing force direction by algebra difference；
The method for detecting shearing force position: when there is shearing force, according to the output of all piezopolymers electricity
The size of lotus amount judges the active position of shearing force；The maximum position of output charge amount is shearing force position.
The working principle of the utility model planar array column shearing force touch sensor is: 1 array of piezoelectricity polymer is set
Yu Shang；In substrate 2 and underlying substrate 3, three-decker is in close contact.When there is shearing force on 2 surface of top substrate layer, upper layer base
Plate 2 can generate small deformation, and the deformation of top substrate layer 2 will drive the deformation of intermediate piezoelectricity polymer 1,1 meeting of piezoelectricity polymer
Because polarization phenomena occur for deformation, to generate charge signal.
Embodiment 1
The number of piezoelectricity polymer 1 is 16 in the present embodiment, and 4 × 4 are evenly arranged, respectively number be 1 ', 2 ', 3 ', 4 ',
5 ', 6 ', 7 ', 8 ', 9 ', 10 ', 11 ', 12 ', 13 ', 14 ', 15 ' and 16 '；
The method for detecting shearing force size: when having shearing force F effect at the position in Fig. 3, the piezoelectricity of number 1 ' -16 ' is more
Polymers has charge output.When the size variation of shearing force, the charge of the piezoelectricity polymer output of each number also becomes therewith
Change, when shearing force increases, the charge of output also increases, on the contrary then reduce.By charge that piezoelectricity polymer is exported with cut
Shear force is demarcated to detect the size of shearing force.
The method for detecting shearing force direction: when having shearing force F effect at the position in Fig. 3, all piezoelectricity polymers 1 are all
There is charge output, algebraic step is done two-by-two to the charge value of all piezoelectricity polymers 1 output, maximum two piezoelectricity of algebra difference is more
The line direction of polymers is the action direction of shearing force, then the direction in the positive and negative determining shearing force direction by algebra difference；Such as
The direction of shearing force line shown in Fig. 3 is 7 ' -1 ' direction, then exports algebra difference and 1 ' -7 ' by the charge of comparison 7 ' -1 '
Charge output algebra difference it is positive and negative, determining that the direction of shearing force is directed toward i.e. poor is positive number, therefore in Fig. 3 shearing force direction is
7 ' are directed toward 1 ' direction.
The method for detecting shearing force position: when there is shearing force in the 7 ' upper surface of number in Fig. 3, the pressure of number 7 '
The deflection of electric polymer is maximum, so the charge value of 7 ' piezopolymer of number output is maximum, so the position is shearing force
The position of effect.
Embodiment 2
The number of piezoelectricity polymer 1 is 4 in the present embodiment, and 2 × 2 are evenly arranged, and number is 1 ", 2 ", 3 " and 4 " respectively；
Piezoelectricity polymer 1 is coated with the PVDF piezoelectric membrane of electrode using upper and lower surface；
Charge 1 in the quantity of electric charge corresponding diagram 5 of the piezoelectricity polymer of number 1 ", the quantity of electric charge of the piezoelectricity polymer of number 2 "
Charge 2 in corresponding diagram 5, the charge 3 in the quantity of electric charge corresponding diagram 5 of the piezoelectricity polymer of number 3 ", the piezoelectricity poly of number 4 "
Charge 4 in the quantity of electric charge corresponding diagram 5 of object.Embodiment illustrated in fig. 5 shows charge that each piezoelectricity polymer 1 exports with cutting
The increase of shear force and increase.The charge value of 2 " piezoelectricity polymer of number output is maximum, i.e., shearing force is closely located at this.
Charge 13 indicates that the piezoelectricity polymer charge value of number 1 " and the piezoelectricity polymer charge value of number 3 " do generation two-by-two
Number is poor, and result is that positive number then shows to be directed toward 3 " by 1 ", and result is that negative then shows to be directed toward 1 " by 3 ".The meaning of other charges is with this
Analogize.Embodiment illustrated in fig. 6 shows that the charge output difference of 1 " and 3 " two panels piezoelectricity polymers is maximum, and algebraic value is positive, i.e.,
Shearing force direction is along 1 " -3 " direction, 3 " are directed toward by 1 ".
The utility model does not address place and is suitable for the prior art.
Claims (6)
1. a kind of planar array column shearing force touch sensor, it is characterised in that the sensor includes piezoelectricity polymer, upper layer base
Plate and underlying substrate；The piezoelectricity polymer be it is identical several, be arranged in array, up and down adjacent two on direction
The distance between a piezoelectricity polymer is identical；All piezoelectricity polymers are uniformly fixed between top substrate layer and underlying substrate；?
The position that top substrate layer lower surface and underlying substrate upper surface are contacted with piezoelectricity polymer is coated with conductive material, piezoelectricity polymer
It is connect by conductive material with external charge amplifier.
2. planar array column shearing force touch sensor according to claim 1, it is characterised in that the piezoelectricity polymer
The PVDF piezoelectric membrane of electrode is coated with for piezoelectric ceramics or upper and lower surface；Piezoelectricity polymer thickness is not more than 500um.
3. planar array column shearing force touch sensor according to claim 1, it is characterised in that the top substrate layer and
Underlying substrate is planar structure, and the two size is identical, and the thickness of top substrate layer and underlying substrate is no more than 4mm；Upper layer base
The cross section at the interface between plate and underlying substrate is in flat state.
4. planar array column shearing force touch sensor according to claim 1, it is characterised in that the top substrate layer and
The material of underlying substrate is flexible resin, flexible rubber, PI insulation film or PET insulation film.
5. planar array column shearing force touch sensor according to claim 1, it is characterised in that the conductive material is
Silk-screen type ink.
6. planar array column shearing force touch sensor according to claim 5, it is characterised in that the conductive material is
Conductive silver paste ink or conductive graphene ink.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821778140.1U CN208780370U (en) | 2018-10-31 | 2018-10-31 | A planar array shear force tactile sensor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821778140.1U CN208780370U (en) | 2018-10-31 | 2018-10-31 | A planar array shear force tactile sensor |
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| CN208780370U true CN208780370U (en) | 2019-04-23 |
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| CN201821778140.1U Withdrawn - After Issue CN208780370U (en) | 2018-10-31 | 2018-10-31 | A planar array shear force tactile sensor |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109060200A (en) * | 2018-10-31 | 2018-12-21 | 河北工业大学 | A kind of planar array column shearing force touch sensor and shearing force parameter detection method |
| CN109682508A (en) * | 2018-12-29 | 2019-04-26 | 贝骨新材料科技（上海）有限公司 | A kind of sensitive ink material and pliable pressure thin film sensor and preparation method thereof |
| CN112229546A (en) * | 2020-10-12 | 2021-01-15 | 东北电力大学 | A method for fabricating a flexible piezoelectric three-dimensional sensing array |
| CN113405448A (en) * | 2021-06-11 | 2021-09-17 | 上海大学 | Composite flexible sensor and preparation method thereof |
-
2018
- 2018-10-31 CN CN201821778140.1U patent/CN208780370U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109060200A (en) * | 2018-10-31 | 2018-12-21 | 河北工业大学 | A kind of planar array column shearing force touch sensor and shearing force parameter detection method |
| CN109060200B (en) * | 2018-10-31 | 2024-01-23 | 河北工业大学 | Planar array type shear force touch sensor and shear force parameter detection method |
| CN109682508A (en) * | 2018-12-29 | 2019-04-26 | 贝骨新材料科技（上海）有限公司 | A kind of sensitive ink material and pliable pressure thin film sensor and preparation method thereof |
| CN112229546A (en) * | 2020-10-12 | 2021-01-15 | 东北电力大学 | A method for fabricating a flexible piezoelectric three-dimensional sensing array |
| CN113405448A (en) * | 2021-06-11 | 2021-09-17 | 上海大学 | Composite flexible sensor and preparation method thereof |
| CN113405448B (en) * | 2021-06-11 | 2022-07-26 | 上海大学 | Composite flexible sensor and preparation method thereof |
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