CN101520406A - Bionic sensor for testing dynamic friction of fabric - Google Patents
Bionic sensor for testing dynamic friction of fabric Download PDFInfo
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- CN101520406A CN101520406A CN200910048960A CN200910048960A CN101520406A CN 101520406 A CN101520406 A CN 101520406A CN 200910048960 A CN200910048960 A CN 200910048960A CN 200910048960 A CN200910048960 A CN 200910048960A CN 101520406 A CN101520406 A CN 101520406A
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Abstract
The invention provides a bionic sensor for testing dynamic friction of fabric. The sensor consists of a friction head embedded with a PVDF film and a cantilever structure of a thin girder elastomer; and the cantilever structure is symmetrical according to the axes which are vertical with each other. The sensor comprises the PVDF film, an acrylic resin solidified body connecting rod, an acetate fiber film, vulcanized rubber, a vertical type strain girder, a horizontal type strain girder, a pedestal, a connecting girder and another connecting girder. The bionic sensor of the invention has simple structure, convenient mounting, large integrated rigidity, high inherent frequency and sensitivity of each direction of two-dimensional force, can be used for the friction test of fabric tactility evaluation and has rotary and reciprocating sliding flexibility.
Description
Technical field
The invention belongs to mechanical test technology and sensor application technical field, particularly relate to a kind of multifunctional bionic sensor that is used to test skin/dynamic friction of fabric, also can be used for the friction testing of power tactile sensing.
Background technology
Carrying out the fabric sense of touch, in the biomechanical basis research process that particularly adhere to, harsh feeling forms, we need test the dynamic friction behavior of fabric/skin under the low loading.Friction behavior between the fabric skin relates generally to two class phenomenons: the one, and the adhesion between skin and the fabric for being parallel to the tangential effect of skin surface, is detected by skin tractive responsive type thigmoreceptor; The 2nd, because of the out-of-flatness of fabric and skin surface causes contacting, vibrations in the slipping, be that the vibration sense thigmoreceptor of 250-400Hz detects by sensitive range.In the process of skin power feel sensing fabric face attribute, this two classes effect is surveyed by the different touch feeling health check-ups in the sub-dermal soft tissue respectively.And the friction behavior between fabric/skin does not satisfy the general normal pressure rule bigger about 10 times than friction force, and friction force is normal suitable with normal pressure, even higher, and stacked many minutes general force transducers are difficult to take into account simultaneously the sensitivity of the two.Simultaneously, fabric belongs to viscoelastic fiber assembly, and the surface has the periodic texture structure of rule, so that vibration frequency height in the dynamic friction process, stick-slip phenomenon are obvious.Because fabric its specific structure and mechanical property, so just need big, the special-purpose a small amount of journey Multifunction Sensor of recording level and vertical forces simultaneously of a kind of natural frequency height, rigidity.
About the core of the friction behavior of fabric sense of touch assessment is measurement to small load, friction force and the vibration frequency of fabric/skin contact.The force cell of existing known lab investigation fabric friction factor is a dimensional force sensor, the behavior of main investigation static friction, slide block type friction testing instrument (the block skid that repacks into as Instron stretching experiment instrument or same category of device, the artificial finger skid) with KES is vibration-type detecting probe surface tribometer [the Bueno M A of representative, Renner M.Compasion of a new tribological method for the evaluation of the state of a fabricsurface with the KES-F surface tester.Journal Textile Institute, 2001,92 (3): 299-313], can not react the real-time change of acting force between contact interface (normal direction and tangential) simultaneously, ignore the dynamic behaviour of normal pressure, can not imitate the vibrations in the touch process.Give the constant normal pressure of probe (50cN) as the KES-F tribometer when initial, and be not easy to the interaction between test fabric/skin, and this index has crucial directive significance to Fabric Design.Document is mentioned other 2 D force sensor that is used for frictional experiment, " two-dimensional micro-force measuring sensors " as Chinese patent publication number 200510023641.x, adopt elastic body parallel girder cantilever design, be positioned at collinear vertical bent beam and horizontal bent beam is formed by orthogonal, axis of symmetry, paste respectively by foil gauge on two groups of beams, respectively the power of measuring vertical and horizontal direction.This sensor can carry out the little friction testing of the multiple way of contact, and guarantees that certain measuring accuracy and resolution, its shortcoming are that the elastic body integral rigidity is little, easy deformation; Natural frequency is low, is unfavorable for dynamic test." 2 D force transducer in small measurement range " of Chinese patent publication number 200510094990.0, the elastic body cantilever adopts diplopore parallel girder structure, integral rigidity is not high, and borehole requires to have limited the cross sectional dimensions and the total quality of semi-girder, so that to compare natural frequency low with the semi-girder of equal range, and the dynamic range of precision that the natural frequency influence is measured and restriction testing force.Document " research of little friction testing instrument force transducer " [Li Haiwen, Jia Hongguang, Wu Yihui. precision engineering, 2002,10 (4): 388-391] in, proposed a kind of sensor that is used for the friction of micromechanics sample room, sensor elastomer has been designed to have the silicon beam of semi-girder film and foil gauge resistance, it is little that elastomer structure has determined it to measure range, the processing technology complexity; At " 2 D force sensor that is used for the friction factor test " [Shi Yan, diesel locomotive, 2002,336 (2): 41-43], this sensor adopts the perpendicular type combined sensor, and the crossbeam of test normal pressure is for shearing bridge-type, and corresponding friction testing vertical beam is the parallel beam type of diplopore, only be applicable to relatively large journey force measurement, and be not easy to carry the friction slippery fellow.And existing disclosed friction sensor does not have special in adhesion and oscillation phenomenon in skin/fabric contact, the slipping, so that test result can not accurately characterize the fabric sense of touch.Therefore, above-mentioned various kinds of sensors all is discontented with the requirement of skin of foot/fabric frictional experiment at aspects such as structure, rigidity, natural frequency, sensitivity, measurement range and characteristic variables.
Summary of the invention
Technical matters to be solved by this invention provides a kind of dynamic measurement sensor that is applied in fabric/skin friction test, can not only measure respectively simultaneously and adhere to and the vibrations component, and the friction force of energy measurement milli ox level and normal load, two are to having suitable susceptibility, natural frequency height.
The technical solution adopted for the present invention to solve the technical problems is: the biomimetic sensor that a kind of dynamic friction testing for fabric is provided, comprise two tie-beams, vertical strain beam and horizontal strain beam, the friction head of pedestal and embedded PVDF film, the two ends of described vertical strain beam are connected with the 3rd tie-beam with first tie-beam respectively, horizontal strain beam two ends are connected with pedestal with the 3rd tie-beam respectively, this structural design, deformation mainly occurs in each strain beam place when making sensor stressed, and have sensitive anisotropic power transmission capacity, thereby guarantee that each strain deflection of beam sensitive direction is consistent with the direction of testing force.Open tapped vertical hole in the middle of first tie-beam, be connected with connecting link; Dig through hole in the pedestal so that an end of sensor is fixed in workbench, the sensor other end is used to assemble the connecting link of friction head; The screw of marking closely on the pedestal is fixed in horizontal strain beam on the pedestal; Two pairs of foil strain gauges are respectively pasted in the neutral axis symmetry both sides of vertical strain beam and horizontal strain beam, promptly post 4 foil gauges on each strain beam, form Huygens's full-bridge circuit; Embedded PVDF piezoelectric membrane in the friction head.Influenced down by load and friction force at sensor, vertical strain beam is subjected to friction force effect generation strain deformation, and horizontal strain beam is subjected to load generation strain deformation, and strain resistor changes thereby this strain impels the paper tinsel formula.The thin strain beam structure Design of the orthogonal entity of central axis can increase the sensor integral rigidity just, improves natural frequency, reduce temperature error, improve the precision of measuring, and the dynamic range that enlarges testing force, keep the bidimensional power transmitting that suitable sensitivity is arranged simultaneously.
Described friction head is a composite structure, and skin is the acetate film protective seam, and the second layer is the vulcanized rubber layer of embedded PVDF piezoelectric membrane, and internal layer is the acryl resin solidifying body.Wherein, the mechanical attributes of vulcanized rubber layer and human body sub-dermal soft tissue is similar.PVDF embodies the role of body shake feel receptor, and the time variation of the output quantity of PVDF changes consistent with the signal that the vibration sense receptor in the dermal layer of the skin detects.
Beneficial effect
Biomimetic sensor of the present invention is simple in structure, easy for installation, integral rigidity is big, the natural frequency height, two to power each to the susceptibility height, contact, the slipping that can be used for skin/fabric adheres to, vibration test, can satisfy characterizing the adhesion that forms when skin/fabric contacts, the requirement of harsh feeling fully.
Description of drawings
Fig. 1 biomimetic sensor structural representation of the present invention.
Fig. 2 elastic body perspective view of the present invention.
Wherein: 1-the first tie-beam, 3-the three tie-beam 2-vertical strain beam 4-horizontal strain beam 5,6-paper tinsel formula foil gauge, 7-pedestal 8-mark closely screw 9-fixed pedestal through hole 10-connecting link through hole
Fig. 3 elastic body front view.
Fig. 4 elastic body vertical view.
Fig. 5 resistance strain gage connects and the strain-responsive synoptic diagram.
Fig. 6 friction head structural representation.
Wherein: 11-acryl resin solidifying body connecting link, 13-PVDF piezoelectric membrane, 14-acetate film, 15-vulcanized rubber
The stressed synoptic diagram of Fig. 7 sensor.
Wherein: 12-friction head, 16-textile F
f---friction force F
N---contact force
Embodiment
Below in conjunction with specific embodiment, further set forth the present invention.Should be understood that these embodiment only to be used to the present invention is described and be not used in and limit the scope of the invention.Should be understood that in addition those skilled in the art can make various changes or modifications the present invention after the content of having read the present invention's instruction, these equivalent form of values fall within the application's appended claims institute restricted portion equally.
Generation sensor one-piece construction of the present invention as shown in Figure 1.Wherein, 2 D force sensor of the present invention adopts the axis mutually vertically and respectively by the thin beam elastic body cantilever design of its axis symmetry, as shown in Figure 2.Cantilever front end tie-beam 1 connects vertical strain beam 2, opens tapped vertical hole 10 in the middle of the tie-beam 1, is convenient to be connected with connecting link 11.Connect strain beam 2 and strain beams 4 by tie-beam 3, strain beam 4 is connected with pedestal 7, has dug through hole 9 in the pedestal 7 so that sensor is fixed in workbench, marks closely the horizontal strain beam 4 of screw retention on pedestal 7 on the pedestal 7.
Two pairs of foil strain gauges 5,6 are respectively pasted in strain beam 2,4 neutral axiss symmetry both sides, as shown in Figure 3, Figure 4.Like this, on each strain beam, post 4 foil gauges, formed Huygens's full-bridge circuit,, improved the compensation ability and the sensitivity of sensor with respect to monolithic form as Fig. 5.When the friction head 12 of assembling loading end slips over fabric 13 surfaces, the friction force F of glide direction
fNormal pressure F with vertical direction
N, forcing strain beam 2,4 that deformation takes place respectively, and the paillon foil formula resistance 5,6 on the strain beam is changed, the bridge diagram balance is broken, and at the output terminal output voltage, thereby measures two-dimensional vector power according to the variation of output voltage.
Embedded PVDF piezoelectric membrane 13 in the friction head is shown in Fig. 6,7.(the about 5cm/s of finger sliding velocity is consistent when touching evaluation fabric sense of touch with the people, initial normal pressure F with Chang Su when friction head 12
NBe 1.96kPa) when slipping over fabric 16 surfaces, PVDF piezoelectric membrane output electric signal.
Claims (2)
1. the biomimetic sensor of a dynamic friction testing for fabric, the friction head that comprises two tie-beams, vertical strain beam and horizontal strain beam, pedestal and embedded PVDF film, it is characterized in that: the two ends of described vertical strain beam (2) are connected with the 3rd tie-beam (3) with first tie-beam (1) respectively, and horizontal strain beam (4) two ends are connected with pedestal (7) with the 3rd tie-beam (3) respectively; Open tapped vertical hole (10) in the middle of first tie-beam (1), be connected with connecting link (11); Dig through hole (9) in the pedestal (7) so that an end of sensor is fixed in workbench, the sensor other end is used to assemble the connecting link of friction head (12); The screw (8) of marking closely on the pedestal (7) is fixed in horizontal strain beam (4) on the pedestal (7); Two pairs of foil strain gauges (5,6) are respectively pasted in the neutral axis symmetry both sides of vertical strain beam (2) and horizontal strain beam (4), promptly post 4 foil gauges on each strain beam, form Huygens's full-bridge circuit; Embedded PVDF piezoelectric membrane (13) in the friction head (12).
2. the biomimetic sensor of a kind of dynamic friction testing for fabric according to claim 1; it is characterized in that: described friction head (12) is a composite structure; skin is the acetate film protective seam; the second layer is the vulcanized rubber layer of embedded PVDF piezoelectric membrane, and internal layer is the acryl resin solidifying body.
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| CN2009100489604A CN101520406B (en) | 2009-04-08 | 2009-04-08 | Bionic sensor for testing dynamic friction of fabric |
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| CN2009100489604A CN101520406B (en) | 2009-04-08 | 2009-04-08 | Bionic sensor for testing dynamic friction of fabric |
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| CN101520406B CN101520406B (en) | 2011-02-09 |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101886960A (en) * | 2010-07-06 | 2010-11-17 | 山东轻工业学院 | Device and method for automatically measuring tension of small-sized fine fibers |
| CN102590077A (en) * | 2012-02-02 | 2012-07-18 | 东华大学 | Skin/textile biologic friction dynamic measurement device |
| CN104142294A (en) * | 2013-05-07 | 2014-11-12 | 上海和辉光电有限公司 | Slippery feeling test device and method of protection film or protection coating |
| CN106442309A (en) * | 2016-08-31 | 2017-02-22 | 威海华菱光电股份有限公司 | Detection equipment and method |
| CN107782881A (en) * | 2017-11-30 | 2018-03-09 | 东华大学 | The textile synthesis style measurement apparatus and method felt based on human body five |
| CN109696185A (en) * | 2018-12-30 | 2019-04-30 | 吉林大学 | A kind of bionical micro cantilever structure, its manufacturing method and piezoresistance sensor |
| CN110095408A (en) * | 2018-01-30 | 2019-08-06 | 香港理工大学 | The viscosity test device and test method of textile and skin |
| CN111015740A (en) * | 2019-12-12 | 2020-04-17 | 中国科学院重庆绿色智能技术研究院 | Tactile and slippery sensation sensor, flexible finger grabbing system and grabbing method thereof |
| CN111644981A (en) * | 2020-05-15 | 2020-09-11 | 吉林大学 | Cylinder type bionic multi-dimensional force sensor |
| CN112540019A (en) * | 2020-12-04 | 2021-03-23 | 合肥工业大学 | High-speed friction interface optical in-situ observation precision friction and wear testing machine |
| CN112629717A (en) * | 2020-12-15 | 2021-04-09 | 珠海格力电器股份有限公司 | Elastic beam of force sensor, sensing assembly of force sensor and force sensor |
| CN112692854A (en) * | 2020-12-11 | 2021-04-23 | 合肥工业大学 | Flexible manipulator |
| WO2021120387A1 (en) * | 2019-12-20 | 2021-06-24 | 清华大学 | Material dynamic measurement method and axial vibration measurement system |
| CN114965166A (en) * | 2022-06-20 | 2022-08-30 | 东华大学 | Shear rheometer for measuring micro-sample |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1316235C (en) * | 2005-01-27 | 2007-05-16 | 上海交通大学 | Two-dimensional micro-force measuring sensors |
| CN1297813C (en) * | 2005-01-27 | 2007-01-31 | 上海交通大学 | Microfriction testers |
| CN1916579A (en) * | 2006-09-11 | 2007-02-21 | 东华大学 | 2D force sensor of dynamic friction testing for fabric |
-
2009
- 2009-04-08 CN CN2009100489604A patent/CN101520406B/en not_active Expired - Fee Related
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101886960A (en) * | 2010-07-06 | 2010-11-17 | 山东轻工业学院 | Device and method for automatically measuring tension of small-sized fine fibers |
| CN102590077A (en) * | 2012-02-02 | 2012-07-18 | 东华大学 | Skin/textile biologic friction dynamic measurement device |
| CN104142294A (en) * | 2013-05-07 | 2014-11-12 | 上海和辉光电有限公司 | Slippery feeling test device and method of protection film or protection coating |
| CN104142294B (en) * | 2013-05-07 | 2016-10-05 | 上海和辉光电有限公司 | A kind of protecting film or the sliding sensing examination Apparatus and method for of protective coating |
| CN106442309A (en) * | 2016-08-31 | 2017-02-22 | 威海华菱光电股份有限公司 | Detection equipment and method |
| CN106442309B (en) * | 2016-08-31 | 2023-10-24 | 威海华菱光电股份有限公司 | Detection device and method |
| CN107782881A (en) * | 2017-11-30 | 2018-03-09 | 东华大学 | The textile synthesis style measurement apparatus and method felt based on human body five |
| CN110095408A (en) * | 2018-01-30 | 2019-08-06 | 香港理工大学 | The viscosity test device and test method of textile and skin |
| CN109696185A (en) * | 2018-12-30 | 2019-04-30 | 吉林大学 | A kind of bionical micro cantilever structure, its manufacturing method and piezoresistance sensor |
| CN111015740A (en) * | 2019-12-12 | 2020-04-17 | 中国科学院重庆绿色智能技术研究院 | Tactile and slippery sensation sensor, flexible finger grabbing system and grabbing method thereof |
| WO2021120387A1 (en) * | 2019-12-20 | 2021-06-24 | 清华大学 | Material dynamic measurement method and axial vibration measurement system |
| CN111644981A (en) * | 2020-05-15 | 2020-09-11 | 吉林大学 | Cylinder type bionic multi-dimensional force sensor |
| CN111644981B (en) * | 2020-05-15 | 2021-06-01 | 吉林大学 | Cylinder type bionic multi-dimensional force sensor |
| CN112540019A (en) * | 2020-12-04 | 2021-03-23 | 合肥工业大学 | High-speed friction interface optical in-situ observation precision friction and wear testing machine |
| CN112540019B (en) * | 2020-12-04 | 2023-07-18 | 合肥工业大学 | High-speed friction interface optical in-situ observation precise friction and wear testing machine |
| CN112692854A (en) * | 2020-12-11 | 2021-04-23 | 合肥工业大学 | Flexible manipulator |
| CN112692854B (en) * | 2020-12-11 | 2022-04-01 | 合肥工业大学 | Flexible manipulator |
| CN112629717B (en) * | 2020-12-15 | 2021-11-23 | 珠海格力电器股份有限公司 | Elastic beam of force sensor, sensing assembly of force sensor and force sensor |
| CN112629717A (en) * | 2020-12-15 | 2021-04-09 | 珠海格力电器股份有限公司 | Elastic beam of force sensor, sensing assembly of force sensor and force sensor |
| CN114965166A (en) * | 2022-06-20 | 2022-08-30 | 东华大学 | Shear rheometer for measuring micro-sample |
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