CN110196125B - Island bridge type flexible sensing array device based on porous structure - Google Patents
Island bridge type flexible sensing array device based on porous structure Download PDFInfo
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- CN110196125B CN110196125B CN201910316546.0A CN201910316546A CN110196125B CN 110196125 B CN110196125 B CN 110196125B CN 201910316546 A CN201910316546 A CN 201910316546A CN 110196125 B CN110196125 B CN 110196125B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/205—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using distributed sensing elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
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Abstract
The invention discloses an island bridge type flexible sensing array device based on a porous structure. Comprising a flexible sensing layer and a flexible substrate; the flexible substrate comprises an outer frame shell and a hollowed-out buckling structure, the hollowed-out buckling structure comprises islands and buckling arms, a plurality of islands are uniformly distributed in the outer frame shell in an interval array mode, every two adjacent islands and the inner edge of the outer frame shell adjacent to the islands are connected through the buckling arms, and mounting holes are formed in the centers of the islands; in the flexible sensing layer, the flexible sensing unit is assembled in a mounting hole of the flexible substrate in an interference fit manner; two ends of all the flexible sensing units are connected in series and then two output ends are led out to be used as electrical signal transmission channels. The invention has the advantages of large deformation of the island-bridge structure and easy adaptation to the geometric characteristics of the installation surface, has larger variable quantity and can be installed on the surface with irregular three-dimensional shape; the energy-absorbing porous flexible structure also has the advantages of safety, buffering and energy absorption of the porous flexible structure, and has the characteristics of being replaceable and being installed individually.
Description
Technical Field
The invention relates to a sensing device, in particular to an island bridge type flexible sensing array device based on a porous structure.
Background
At present, with the development of modern technology and the increase of automation level, robots are or have slowly replaced human beings in many professions or stations. Then, the human inevitably comes into contact with the robot in life or work.
In the process of human-robot interaction, safety is a primary condition considered in the process of human-robot interaction. Collisions are a non-negligible critical issue in safety considerations. The robot which can be really integrated into human life has the capability of finishing expected actions and safely interacting the human and the robot in a multi-element complex environment. In such a complex environment, the robot may be exposed to various types of collisions. The sensitive electronic skin of a robot is one of the solutions to this problem, and it is usually composed of thousands of sensors, which need to be installed at critical locations of the robot.
At present, the widely used flexible sensing array devices mostly depend on the properties of materials to realize flexible deformation, and few flexible sensing arrays rely on geometric structures to realize flexible deformation. The installation of the existing flexible sensing array device is often limited by the physical properties of the porous substrate material, and the stretching deformation quantity and the torsion deformation quantity are determined by the material properties.
Disclosure of Invention
The flexible sensing array device aims to solve the problems that the installation of the existing flexible sensing array device is often limited by the physical properties of a substrate material, and the stretching deformation quantity and the torsion deformation quantity are determined by the material properties. The invention provides an island bridge type flexible sensing array device based on a porous structure, which can be applied to safe anti-collision electronic skin in human-computer interaction.
The technical scheme adopted by the invention for solving the problems is as follows:
the flexible sensing array comprises detachable flexible sensing layers which are arrayed equidistantly and a flexible substrate with a hollowed buckling shape, wherein the flexible sensing layers are tightly assembled to form the flexible sensing array; the flexible sensing layer and the flexible substrate should both be flexible porous materials. The flexible substrate comprises an outer frame shell and a hollowed-out buckling structure arranged inside the outer frame shell, the hollowed-out buckling structure comprises islands and buckling arms, the islands are uniformly distributed inside the outer frame shell in an interval array mode, every two adjacent islands and the inner edge of the outer frame shell adjacent to the islands are connected through the buckling arms, the buckling arms are S-shaped, and mounting holes for assembling flexible sensing units are formed in the centers of the islands; the flexible sensing layer is mainly formed by arranging flexible sensing units of a porous structure in an interval array mode, the shape and size of the flexible sensing units are slightly larger than those of the mounting holes, and therefore the flexible sensing units are assembled into the mounting holes of the flexible substrate in an interference fit mode; two ends of all the flexible sensing units are respectively connected in series through wires and then lead out two output ends to be used as an electrical signal transmission channel to be connected with an external analysis circuit: specifically, for any one of the flexible sensing units, the same side end parts of the flexible sensing units on every two adjacent islands are connected through wires, and the same side end parts of all the flexible sensing units adjacent to the inner edge of the outer frame shell are connected to the same output end through wire leading-out.
The flexible sensing unit is obtained by soaking formed melamine sponge into a solution containing sensitive conductive materials such as but not limited to carbon nanotubes and the like and then taking out the melamine sponge, or dripping the solution containing the sensitive conductive materials such as the carbon nanotubes and the like on the melamine sponge; then drying, cleaning by using n-hexane solution, and drying again to obtain the product. The prepared flexible sensing unit has a porous structure, and a microscopic filiform conductive path is formed inside the flexible sensing unit.
The outer frame shell of the flexible substrate is square but not limited to square.
The flexible substrate is made of a porous material, including but not limited to melamine sponge.
The flexible substrate is used as a carrier of the flexible sensing layer, the bottom surface of the flexible substrate is attached to the mounting surface, and the island bridge type flexible sensing array device is mounted on the target surface.
The flexible sensing layer is an 8 × 8 array composed of, but not limited to, flexible multiple sensing units.
The mounting hole of the flexible substrate is a cylindrical hole but is not limited to the cylindrical hole.
The flexible sensing unit is in a cylinder shape, but not limited to a cylinder, and the shape of the flexible sensing unit is matched with that of the mounting hole of the flexible substrate.
The flexible multi-sensing unit is internally deformed when being under the action of external pressure, so that the number of microscopic filiform conductive paths inside the flexible multi-sensing unit is changed, the resistance value is changed, and the magnitude of the electrical parameter resistance value of the flexible multi-sensing unit can be used for detecting the magnitude of external force.
The island bridge structure is embodied in the form of an island bridge structure array with an openwork buckling shape formed by processing a flexible substrate. From the aspect of mechanical structure, under the same external force action, the island bridge structure has the advantages of larger deformation amount than that of a common plane structure, capability of still keeping a sensing function under the condition of large deformation amount, easiness in adapting to the geometric characteristics of an installation surface, and capability of being installed on an irregular three-dimensional surface. When the hollow buckling structure is installed on an irregular solid geometric surface, the hollow buckling structure can generate deformation such as stretching, compression, torsion and the like so as to adapt to the external environment. Meanwhile, the substrate has less constraint on the flexible sensing unit, and the position of the flexible sensing unit relative to the flexible substrate is more flexible.
In the invention, under the condition of the same external force action, the island bridge structure has the advantages of larger deformation amount than that of a common plane structure, capability of still keeping a sensing function under the condition of large deformation amount, easiness in adapting to the geometric characteristics of an installation surface and capability of being installed on an irregular three-dimensional surface. And on the premise of meeting the strength condition, the island bridge structure enables the flexible sensing array device to be lighter in weight.
Compared with the traditional integral planar array, the flexible multi-sensing unit in the integral planar array is relatively fixed relative to the position of the flexible substrate, and when the flexible multi-sensing unit is installed on the surface of an irregular three-dimensional shape, the problem that the flexible multi-sensing units are distributed too fixedly is easily caused. The island bridge structure substrate only contains four-direction constraint on the flexible multi-sensing units, so that the positions of the flexible multi-sensing units relative to the flexible substrate are more flexible, and after the flexible substrate is mounted in an irregular three-dimensional shape, the positions of the flexible multi-sensing units can be adjusted in a larger range according to sensing requirements, so that the purpose of personalized position distribution is achieved.
Meanwhile, in the sensing array, each flexible detachable sensing unit and the flexible substrate are mutually separated and detachable, so that the flexible multiple sensing units on the flexible sensing array can be replaced, the flexible sensing units with different performances can be replaced according to different application scenes, such as different Young elastic moduli, sensitivities and the like, the application range of the flexible sensing device is effectively expanded, and the replacement cost of the flexible substrate is reduced.
The invention has the beneficial effects that:
the unique hollowed-out buckling-shaped island bridge structure of the flexible sensing array is easy to deform such as stretching, compression, torsion and the like. Under the condition of the same external force, the sensor has the advantages of larger deformation amount than that of the common plane structure, capability of still keeping the sensing function under the condition of large deformation amount, easiness in adapting to the geometric characteristics of the installation surface, and capability of being installed on the surface with an irregular three-dimensional shape. On the premise of meeting the strength condition, the island bridge structure in the invention enables the flexible sensing array device to be lighter in weight.
Compared with the traditional integral planar array, the flexible multi-sensing unit in the integral planar array is relatively fixed relative to the position of the flexible substrate, and when the flexible multi-sensing unit is installed on the surface of an irregular three-dimensional shape, the problem that the flexible multi-sensing units are distributed too fixedly is easily caused. The island bridge structure substrate only contains four-direction constraint on the flexible multi-sensing units, so that the positions of the flexible multi-sensing units relative to the flexible substrate are more flexible, and after the flexible substrate is mounted in an irregular three-dimensional shape, the positions of the flexible multi-sensing units can be adjusted in a larger range according to sensing requirements, so that the purpose of personalized position distribution is achieved.
Compared with the traditional flexible pressure sensor, the invention also has the advantages of safety, buffering and energy absorption of the porous flexible structure, can effectively buffer the contact between an object (such as a human body) and the sensing device, and can reduce the damage when collision and other conditions occur.
Meanwhile, in the sensing array, each flexible multi-sensing unit and the flexible substrate are mutually separated and can be disassembled and assembled, so that the flexible multi-sensing units on the flexible sensing array can be replaced, and the use and replacement cost of the flexible sensing device can be effectively reduced.
Drawings
FIG. 1 is a schematic structural diagram of an island bridge type flexible sensor array device according to the present invention;
FIG. 2 is a top view of an island bridge flexible sensor array device according to the present invention;
FIG. 3 is a schematic diagram of a sensing unit of an island bridge type flexible sensing array device according to the present invention with a larger degree of freedom in planar position;
FIG. 4 is a detailed diagram of an island bridge structure of the island bridge type flexible sensor array device according to the present invention;
in the figure: the flexible pressure sensing device comprises a flexible sensing layer (1), a flexible substrate (2), a flexible porous pressure sensing unit (101) and a mounting hole (201).
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, the specific implementation of the present invention includes a flexible substrate 2 and flexible multiple sensing units 101 arranged inside the flexible substrate 2, wherein the flexible multiple sensing units 101 are arranged in an equally spaced array inside the flexible substrate 2 to form a flexible porous pressure sensing array 1. Specifically, the sensor comprises a flexible sensing array formed by closely assembling a detachable flexible sensing layer 1 and a flexible substrate 2, wherein the detachable flexible sensing layer 1 and the flexible substrate 2 are arranged in an equidistant array; the flexible substrate 2 comprises an outer frame shell and a hollowed-out buckling structure arranged inside the outer frame shell, the hollowed-out buckling structure comprises islands and buckling arms, a plurality of islands are uniformly distributed inside the outer frame shell in an interval array mode, every two adjacent islands and the inner edge of the outer frame shell adjacent to the islands are connected through the buckling arms, each buckling arm is S-shaped, and a mounting hole 201 for assembling the flexible sensing unit 101 is formed in the center of each island; it can be seen as if the four flexure arms meet at the intersection of the curves to form an "island" in the island bridge structure, with mounting holes 201 on the island into which the flexible sensing unit can be fitted.
As shown in fig. 1, the flexible sensing layer 1 is mainly composed of flexible sensing units 101 with a porous structure arranged in an array at intervals, and the shape and size of the flexible sensing units 101 are slightly larger than those of the mounting holes 201, so that the flexible sensing units 101 are assembled into the mounting holes 201 of the flexible substrate 2 in an interference fit manner; two ends of all the flexible sensing units 101 are respectively connected in series through wires and then two output ends are led out to be used as electrical signal transmission channels to be connected with an external analysis circuit: for any one of the flexible sensing units, the same side ends of the flexible sensing units 101 on every two adjacent islands are connected through wires, and the same side ends of all the flexible sensing units 101 adjacent to the inner edge of the outer frame shell are connected to the same output end through wire leading-out; the same is true of the other end.
In use, the power signal transmission line is mounted into the mounting signal line slit 202 on the surface of the flexible substrate 2, and the power signal transmission line may utilize, but is not limited to, an enameled wire. The power signal transmission line is connected with the external analysis circuit.
Due to the action of external force, the flexible multi-sensor unit 101 is geometrically deformed, so that the number of conductive paths inside the flexible multi-sensor unit 101 is changed, and the resistance value is changed. The magnitude of the resistance value of the electrical parameter of the flexible multi-sensing unit 101 can be used for detecting the magnitude of the external force.
The flexible multi-sensor unit 101 has a cylindrical structure, but is not limited to the cylindrical structure. The flexible multi-sensor unit 101 can be assembled into the mounting hole 201 of the flexible substrate 2 by interference fit, so that the flexible multi-sensor unit 101 is in contact with the power signal transmission lead on the flexible substrate 2. The flexible multi-sensing unit 101 is fixed inside the flexible substrate 2 by using a frictional force. The axis of the flexible multi-sensor unit 101 is parallel to the mounting hole 201 on the flexible substrate; after the assembly is completed, the flexible multi-sensor unit 101 is brought into contact with the power signal transmission wire.
The power signal transmission wire is connected with an external single chip microcomputer in an analysis circuit, and the resistance value of the flexible multi-sensing unit 101 is monitored through ohm's law. The signal is then sent to an external computer analysis device for feedback and enforcement of the corresponding security policy.
The flexible multi-sensor unit 101 maintains its original shape after installation without pressing;
when the flexible multi-sensor unit 101 is pressed down, the flexible multi-sensor unit 101 is elastically deformed, and is compressed in the direction of the pressing force under the action of the pressing force, the number of the conductive paths in the flexible multi-sensor unit 101 is changed, and the resistance value between the two electrodes is changed.
The mounting holes 201 on the flexible substrate 2 of the flexible sensing array device capable of stretching and deforming are processed by means including, but not limited to, laser cutting.
The flexible sensing unit 101 is implemented by soaking, but not limited to, a formed melamine sponge into, but not limited to, a solution containing a sensitive conductive material, such as carbon nanotubes, and then taking out the melamine sponge, or dropping the solution containing the sensitive conductive material, such as carbon nanotubes, on the melamine sponge; then drying, cleaning by using n-hexane solution, and drying again to obtain the product.
When the device is used, the upper surface and the lower surface of the flexible substrate 2 are not clearly distinguished, any one surface is selected to be attached to an area to be detected, and the island bridge type flexible sensing array device based on the porous structure can sense the magnitude of external force.
The flexible multi-sensor unit 101 can be assembled into the mounting hole 201 of the flexible substrate by interference fit, so that the flexible multi-sensor unit 101 is in contact with the power signal transmission lead on the flexible substrate 2. The flexible multi-sensor unit 101 is fitted inside the flexible substrate 2 with an interference fit and is detachable by using a frictional force, so that only the sensor unit can be replaced. Because the assembly relationship is detachable, when part of the flexible multi-sensor unit 101 fails, the failed part of the flexible multi-sensor unit 101 can be detached, the original power signal transmission lead on the flexible substrate 2 and the non-failed flexible multi-sensor unit 101 are reserved, and a new flexible multi-sensor unit 101 is replaced.
When part of the flexible multi-sensor unit 101 fails, the failed flexible multi-sensor unit 101 can be detached, the original power signal transmission lead on the flexible substrate 2 and the non-failed flexible multi-sensor unit 101 are reserved, and a new flexible multi-sensor unit 101 is installed at the position of the failed flexible multi-sensor unit 101.
The flexible multi-sensing unit arrangement mode on the island bridge type flexible sensing array device is implemented in a mode of including but not limited to a 4 x 4 array, and the structure form of higher-order arrays is the same. Higher order array structures have more flexible multi-sensing units 101, which can achieve higher accuracy pressure sensing.
The flexible substrate 2 is made of flexible materials, the outer frame shell, the island and the buckling arms are all flexible, and the flexible materials include, but are not limited to, melamine; materials of the flexible multi-sensing unit 101 include, but are not limited to, melamine; sensitive conductive materials include, but are not limited to, carbon nanotubes.
As shown in fig. 2, it can be clearly seen from a top view of the island-bridge type flexible sensing array device based on a porous structure that the flexible substrate 2 is in an island-bridge structure with a hollowed-out curved shape, and the flexible multi-sensing units 101 are distributed in an array on "islands" in the island-bridge structure.
As shown in fig. 3, the solid line portion is an original undeformed island-bridge type flexible sensing array device, and when an external force is applied to the island-bridge structure, the buckling connection structure in the structure, i.e., the "bridge" of the island-bridge structure, can easily deform, such as tension, compression, torsion, etc.; the intersection of the hollow buckling-shaped connecting structures in the structure, namely the position of an island of the island-bridge structure, can be greatly changed in space.
As shown in fig. 4, the island-bridge structure in the present invention, the curved connection structure in the structure, i.e. the "bridge" of the island-bridge structure, includes but is not limited to the buckling shape, which includes various buckling shapes that can be deformed by stretching, etc.; the intersection of the hollowed-out curved shapes in the structure, namely the shape of the island-bridge structure, is not limited to the shape shown in the figure.
Therefore, the flexible multi-sensor unit has the advantages that the island bridge structure has large deformation amount and is easy to adapt to the geometric characteristics of the installation surface, and the flexible substrate has less constraint on the flexible multi-sensor unit, so that the position of the flexible multi-sensor unit has larger variable amount and can be installed on the surface with an irregular three-dimensional shape; the porous flexible structure has the advantages of safety, buffering and energy absorption; meanwhile, the flexible multi-sensing unit also has the characteristics of being replaceable and being installed individually.
Claims (8)
1. The utility model provides a flexible sensing array device of island bridge type based on porous structure which characterized in that: the sensor comprises a flexible sensing array formed by closely assembling a detachable flexible sensing layer (1) and a flexible substrate (2) with a hollowed-out buckling shape, wherein the detachable flexible sensing layer is arranged in an equidistant array; the flexible substrate (2) comprises an outer frame shell and a hollowed-out buckling structure arranged inside the outer frame shell, the hollowed-out buckling structure comprises islands and buckling arms, the islands are uniformly distributed inside the outer frame shell in an interval array mode, every two adjacent islands and the inner edge of the outer frame shell adjacent to the islands are connected through the buckling arms, the buckling arms are S-shaped, and mounting holes (201) used for assembling the flexible sensing units (101) are formed in the centers of the islands; the flexible sensing layer (1) is formed by arranging flexible sensing units (101) with porous structures in an interval array mode, the shape and size of the flexible sensing units (101) are slightly larger than those of the mounting holes (201), and the flexible sensing units (101) are assembled into the mounting holes (201) of the flexible substrate (2) in an interference fit mode; two ends of all the flexible sensing units (101) are respectively connected in series through wires and then lead out two output ends to be used as electrical signal transmission channels to be connected with an external analysis circuit: for any one end, the same side ends of the flexible sensing units (101) on every two adjacent islands are connected through wires, and the same side ends of all the flexible sensing units (101) adjacent to the inner edge of the outer frame shell are connected to the same output end through wire leading-out;
the flexible sensing unit is when receiving external pressure effect, inside deformation takes place to lead to the inside micro filamentous conductive path number of flexible sensing unit to change, and then the resistance value changes, and then the size through monitoring flexible sensing unit electricity parameter resistance value can be used to detect external force size.
2. The island bridge type flexible sensing array device based on the porous structure as claimed in claim 1, wherein: the flexible sensing unit (101) is formed by soaking formed melamine sponge into a solution containing sensitive conductive materials and then taking out the melamine sponge, or dripping solutions containing sensitive conductive materials such as carbon nanotubes on the melamine sponge; then drying, cleaning by using n-hexane solution, and drying again to obtain the product.
3. The island bridge type flexible sensing array device based on the porous structure as claimed in claim 1, wherein: the outer frame shell of the flexible substrate (2) is square.
4. The island bridge type flexible sensing array device based on the porous structure as claimed in claim 1, wherein: the flexible substrate (2) is made of porous materials and comprises melamine sponge.
5. The island bridge type flexible sensing array device based on the porous structure as claimed in claim 1, wherein: the flexible substrate (2) is used as a carrier of the flexible sensing layer (1), and the bottom surface of the flexible substrate is attached to the mounting surface.
6. The island bridge type flexible sensing array device based on the porous structure as claimed in claim 1, wherein: the flexible sensing layer (1) is an 8 x 8 array composed of flexible sensing units (101).
7. The island bridge type flexible sensing array device based on the porous structure as claimed in claim 1, wherein: the mounting hole (201) of the flexible substrate (2) is a cylindrical hole.
8. The island bridge type flexible sensing array device based on the porous structure as claimed in claim 5, wherein: the flexible sensing unit (101) is in a cylinder shape and is matched with the mounting hole (201) of the flexible substrate in shape.
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| CN112067174A (en) * | 2020-05-28 | 2020-12-11 | 北京机械设备研究所 | Flexible capacitive touch sensor array |
| CN111906755A (en) * | 2020-08-17 | 2020-11-10 | 河北工业大学 | Intelligent flexible driving device integrating distributed sensing and cooperative actuating units and application |
| CN114384274A (en) * | 2021-12-23 | 2022-04-22 | 北京航空航天大学宁波创新研究院 | Wireless acceleration sensor based on double-layer stretchable flexible circuit and preparation method |
| CN114590018A (en) * | 2022-03-10 | 2022-06-07 | 中南大学 | Ultrasonic blood pressure patch manufacturing method based on silk-screen printing |
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