CN204604356U - Flexible responsive artificial skin - Google Patents
Flexible responsive artificial skin Download PDFInfo
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- CN204604356U CN204604356U CN201520277255.2U CN201520277255U CN204604356U CN 204604356 U CN204604356 U CN 204604356U CN 201520277255 U CN201520277255 U CN 201520277255U CN 204604356 U CN204604356 U CN 204604356U
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Abstract
The utility model proposes a kind of flexible responsive artificial skin, it is characterized in that: comprise by conductive elements by a certain percentage with the composite bed of macromolecule doped and compounded, composite bed double-sided electrode layer is located in plating, and being wrapped in the extexine of electrode layer appearance, described conductive elements at least comprises conduction Microspring.The utility model utilizes conductive carbon fibre and macromolecule complex technique, not only have pliability and the multidimensional sensivity feature of human skin concurrently, meet the requirement of the high sensitivity of robot skin, pliability and multifunction, and the sense of touch sense organ of nearlyer ground connection simulating human skin quality.
Description
Technical field
The utility model relates to intelligent sensing technology, is specifically related to a kind of flexible responsive artificial skin.
Background technology
The skin of people is a very large sense organ, energy perception sense of touch, the polyesthesias such as the pain sensation, wherein the perception of sense of touch is particularly important, environmental stimuli is accepted by being distributed in the sense of touch sense organ organs such as the Bassini corpuscula lamellosa of meissner tactile corpuscle in top layer and deep skin, and carry out power conversion, physical energy is converted to neurochemistry energy, because the afferent nerve be connected with these corpusculum tactus reaches corticocerebral central area, i.e. sense of touch cortex receptive field, comprehensively produces sense of touch by analysis.
Be similar to the skin of people, robot skin refers to large area, and soft, with the miniature array of data-handling capacity, can cover robotic surface, in order to perception external environment condition, robotics sensitive skin can realize the quantitative detection of physical quantity to external world.Due to the complexity of external environment condition, the touch sensor requiring robot skin to adopt should possess many physical quantitys acquisition function, the emphasis of this robotics sensitive skin research field now just.
If have the structures such as conventional haptic sensor main pressure resistance type, piezoelectric type and the optical profile type on robot, mechanical arm, its main material is silicon and metal; Because existing touch sensor weight is large, complex structure and lack compliance, make the adjustment of its sensitivity by larger restriction.
Also some submissive and that quality is light artificial skins are developed in recent years, as high polymer piezoelectric materials such as PVDF (Kynoar), because its material is pliable and tough, the advantage such as low-density, Low ESR and high-tension electricity voltage constant is received much concern in recent years, and develop aspects such as being applied to underwater sound ultrasonic measurement, pressure sensing rapidly; Its weak point is: the piezoelectric strain constant of self is on the low side, charge leakage and make its sensitivity not high enough, makes it apply and is very restricted.
Again such as, the pressure drag materials such as conductive rubber, it has body pressure effect: resistivity increases along with pressurized and reduces; With surface pressure inhibition effect: rubber surface and electrode are that non-fully contacts, there is a surface contacted resistance between the two, the impact given up by rubber and interelectrode exposure level of contact resistance, conductive rubber is stressed to be compressed, under causing microcosmic, rubber surface contacts further with electrode, thus contact area between the two increases, sheet resistance reduces; The stressed stretching of conductive rubber then causes rubber surface to be separated with electrode part, and contact area reduces between the two, and surface contacted resistance increases;
Above two kinds of resistive effects cause some significantly not enough: the contact resistance variation of electrode and conducting resinl part has hysteresis, nonlinear characteristic, poor sensitivity, easily by electromagnetic interference.
In addition, originally existing robot skin is only detection three virial and designs, be attached to by one piece one piece independent sensor unit and a flexible material forms, each sensor unit is not flexible, pliability and the multidimensional sensivity feature of human skin can not be had concurrently, and have and involve great expense, signal transacting is complicated.
Utility model content
Based on problem mentioned in background technology, the utility model is in order to meet the requirement of the high sensitivity of robot skin, pliability and multifunction, the sense of touch sense organ of nearlyer ground connection simulating human skin quality, propose a kind of flexible responsive artificial skin, its concrete technical scheme is as follows:
A kind of flexible responsive artificial skin, comprise by conductive elements by a certain percentage with the composite bed of macromolecule doped and compounded, composite bed double-sided electrode layer is located in plating, and is wrapped in the extexine of electrode layer appearance, and described conductive elements at least comprises conduction Microspring.
In the middle of one or more embodiment of the present utility model, described composite bed, electrode layer and extexine are soft material.
In the middle of one or more embodiment of the present utility model, described conductive elements also comprise conductive fiber and or conductive particle.
In the middle of one or more embodiment of the present utility model, described electrode layer comprises electroplating or the mode of chemical plating plates the conducting wire being located at composite bed surface, and be close to the macromolecule membrane hidden in surface, conducting wire, described conducting wire is the linear array of the some metal, carbon or other conducting medium that are parallel to each other.
In the middle of one or more embodiment of the present utility model, the conducting wire of described composite bed double-sided electrode layer is mutually vertical relation.
The utility model compared with prior art, its advantageous exists: utilize conductive carbon fibre and macromolecule complex technique, not only have pliability and the multidimensional sensivity feature of human skin concurrently, meet the requirement of the high sensitivity of robot skin, pliability and multifunction, and the sense of touch sense organ of nearlyer ground connection simulating human skin quality.
Accompanying drawing explanation
Fig. 1 is the perspective structure schematic diagram of the flexible responsive artificial skin of the utility model.
Fig. 2 is the cross-sectional view of the flexible responsive artificial skin of the utility model.
Fig. 3 is the electrode layer structure schematic diagram of the flexible responsive artificial skin of the utility model.
Fig. 4 is the equivalent circuit diagram of the flexible responsive artificial skin of the utility model.
Fig. 5 is the relation schematic diagram between the conductive body of the utility model and the Distance geometry transducing signal of the responsive artificial skin of flexibility.
Fig. 6 is the relation schematic diagram between the deformation quantity of the flexible responsive artificial skin of conductive body contact of the utility model and sensing.
Detailed description of the invention
As follows by reference to the accompanying drawings, the application's scheme is further described:
As shown in Figure 1,2 and 3, a kind of flexible responsive artificial skin, comprise by conductive elements by a certain percentage with the composite bed 1 of macromolecule doped and compounded, composite bed 1 double-sided electrode layer 2 is located in plating, and being wrapped in the extexine 3 of electrode layer 2 appearance, described conductive elements comprises conduction Microspring 41, conductive fiber 42 and conductive particle 43; In the middle of the present embodiment, described conductive fiber 42 is bar-shaped carbon fiber, and described particle 43 is carbon black, and each conductive elements random doping is in composite bed 1, and particularly, described conductive fiber 42, conductive particle 43 are distributed in the gap of conduction Microspring 41.
Described composite bed 1, electrode layer 2 are soft material with extexine 3, and concrete, described composite bed and extexine can adopt resin or silastic material.
Described electrode layer 2 comprises electroplating or the mode of chemical plating plates the conducting wire being located at composite bed 1 surface, and be close to the macromolecule membrane hidden in surface, conducting wire, described conducting wire is by the linear array of the some metal, carbon or other conducting medium that are parallel to each other.
Described electrode layer 2 specifically comprises the upper electrode layer 21 being covered in composite bed 1 upper surface, and be covered in the lower electrode layer 22 of composite bed 1 lower surface, correspondingly, described extexine 3 just comprises and is covered in upper electrode layer 21 extexine 31 on the surface, and is covered in the lower extexine 32 on lower electrode layer 22 surface.
Described upper electrode layer 21 is mutually vertical relation with the conducting wire of lower electrode layer 22.
As shown in Figure 4, described conduction Microspring 41 has the inductance L, electric capacity C and the resistance R that depend on its form parameter to equivalent circuit structure of the present utility model, and each conduction Microspring 41 is equivalent to the inductance L of series connection
1with resistance R
1, then be parallel with electric capacity C in two ends
1; Equivalent conjunction electric capacity C between each conduction Microspring 41
0;
Described conductive fiber 42 and conductive particle 43 be equivalent to conduct electricity Microspring 41 circuit model in and termination R
3, affect the LCR resonance performance of sensing part.
When conducting objects close to time, form electric capacity between conducting objects and skin, and produce capacitance parameter variable signal, and along with the distance of conducting objects and skin close, the LCR resonance characteristic change of skin entirety is more tending towards obvious, causes its signal to export the change had as shown in Figure 5;
When conducting objects presses skin time, along with the deformation of skin, the same generation deformation of conduction Microspring 41, and the contact between conductive fiber 42 and conductive particle 43 and conduction Microspring 41, what now cause is the change of resistance parameter and the change of LCR resonance characteristic, and along with the increase of deformation quantity, resistance R
1greatly reduce, cause its signal to export the change had as shown in Figure 6;
In the Carbon Materials (conduction Microspring 41, conductive fiber 42 and conductive particle 43) that the utility model adopts submicron order and polymer composite, carbon fiber 41 plays a part to be similar to meissner tactile corpuscle in human body skin; In each input electrode of electrode layer 2, access high-frequency oscillation signal, then obtained the signal intensity of each output electrode of electrode layer 2 by signal supervisory instrument;
When target object close to time, form capacitor between target object and electronic skin, and produce capacitance parameter variable signal; When target object presses electronic skin time, the distortion of conduction Microspring 41 causes contacting of it and perimeter conductive fiber 42 and conductive particle 43, and resistance R is reduced greatly, generation R parameter variation signal; Above-mentioned parameter changes, and causes the change of LCR resonance characteristic, thus makes electronic skin have responsive signal to export.
Above-mentioned preferred embodiment should be considered as illustrating of the application's scheme implementation mode, allly to duplicate with the application's scheme, technology that is approximate or that make based on this is deduced, replaces, improvement etc., all should be considered as the protection domain of this patent.
Claims (5)
1. the responsive artificial skin of flexibility, it is characterized in that: comprise by conductive elements by a certain percentage with the composite bed of macromolecule doped and compounded, composite bed double-sided electrode layer is located in plating, and is wrapped in the extexine of electrode layer appearance, and described conductive elements at least comprises conduction Microspring.
2. the responsive artificial skin of flexibility according to claim 1, is characterized in that: described composite bed, electrode layer and extexine are soft material.
3. the responsive artificial skin of flexibility according to claim 2, is characterized in that: described conductive elements also comprise conductive fiber and or conductive particle.
4. the responsive artificial skin of the flexibility according to claim 1-3 any one, it is characterized in that: described electrode layer comprises electroplating or the mode of chemical plating plates the conducting wire being located at composite bed surface, and be close to the macromolecule membrane hidden in surface, conducting wire, described conducting wire is the linear array of the some metal, carbon or other conducting medium that are parallel to each other.
5. the responsive artificial skin of flexibility according to claim 4, is characterized in that: the conducting wire of described composite bed double-sided electrode layer is mutually vertical relation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520277255.2U CN204604356U (en) | 2015-04-30 | 2015-04-30 | Flexible responsive artificial skin |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520277255.2U CN204604356U (en) | 2015-04-30 | 2015-04-30 | Flexible responsive artificial skin |
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| Publication Number | Publication Date |
|---|---|
| CN204604356U true CN204604356U (en) | 2015-09-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520277255.2U Withdrawn - After Issue CN204604356U (en) | 2015-04-30 | 2015-04-30 | Flexible responsive artificial skin |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104827491A (en) * | 2015-04-30 | 2015-08-12 | 广东双虹新材料科技有限公司 | High-sensitivity intelligent robot skin |
| CN108489643A (en) * | 2018-04-11 | 2018-09-04 | 河北工业大学 | A kind of piezoelectricity touch sensor based on human skin bionics principle |
| CN110202595A (en) * | 2019-06-19 | 2019-09-06 | 安徽建筑大学 | The artificial skin sensor of the double-deck sparse array structure |
| CN113650023A (en) * | 2017-07-21 | 2021-11-16 | 北京纳米能源与***研究所 | Autonomous sensing flexible robot and application thereof |
-
2015
- 2015-04-30 CN CN201520277255.2U patent/CN204604356U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104827491A (en) * | 2015-04-30 | 2015-08-12 | 广东双虹新材料科技有限公司 | High-sensitivity intelligent robot skin |
| CN113650023A (en) * | 2017-07-21 | 2021-11-16 | 北京纳米能源与***研究所 | Autonomous sensing flexible robot and application thereof |
| CN108489643A (en) * | 2018-04-11 | 2018-09-04 | 河北工业大学 | A kind of piezoelectricity touch sensor based on human skin bionics principle |
| CN110202595A (en) * | 2019-06-19 | 2019-09-06 | 安徽建筑大学 | The artificial skin sensor of the double-deck sparse array structure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150902 Effective date of abandoning: 20160427 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |