CN208125304U - A kind of piezoelectricity touch sensor based on human skin bionics principle - Google Patents
A kind of piezoelectricity touch sensor based on human skin bionics principle Download PDFInfo
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- CN208125304U CN208125304U CN201820511572.XU CN201820511572U CN208125304U CN 208125304 U CN208125304 U CN 208125304U CN 201820511572 U CN201820511572 U CN 201820511572U CN 208125304 U CN208125304 U CN 208125304U
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- human skin
- touch sensor
- lower template
- cope plate
- bionics principle
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 8
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- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The utility model discloses a kind of piezoelectricity touch sensors based on human skin bionics principle, it is characterised in that the sensor includes cope plate, lower template, piezoelectric membrane and electrode；One surface of the cope plate has nonplanar structure, and a surface of lower template has the corresponding nonplanar structure exactly matched with the nonplanar structure of cope plate, so that connection is inlayed in cope plate and lower template mutual cooperation；The piezoelectric membrane is fixed between cope plate and lower template；The two sides of piezoelectric membrane are mounted on electrode.This piezoelectricity touch sensor structure is simple and novel, propose the three-dimensional drape structure similar to human skin skin corium, it is the non-planar inter-embedding type structures such as rectangular configuration, wave structure and trapezium structure including upper section in the x direction and the y direction, for planar structure, increase the contact area of piezoelectric membrane, it can play the role of amplification, high sensitivity to faint force signal；And it also can recognize that the position of shearing force.
Description
Technical field
The utility model relates to touch sensor field, specifically a kind of piezoelectricity touching based on human skin bionics principle
Feel sensor.
Background technique
For robot and other intelligence equipments, tactilely-perceptible is that it obtains external object attribute and contacts weight of information
Want approach.However, the development of touch sensor also more lags relative to the perception such as vision, the sense of hearing, smell and sensing technology.
The touch sensor in robot is applied, should have can accurately detect space three-dimensional power under circumstances not known
Function and high flexibility the characteristics of.However most of touch sensors currently on the market are difficult to meet intelligent robot to tactile
The requirement of sensor flexible, multi-dimensional nature and multifunctionality can especially detect merely the touch sensor skill of normal force
Already close to maturation, the tactile sensor technology for being able to detect shearing force relatively lags behind art.Therefore similar human's skin is developed
Touch sensor is particularly important, and there is critically important meaning in the fields such as development and sport, rehabilitation medical to robot technology.
Application No. is 201610267537.3 documents to disclose a kind of artificial skin flexible touch sensation sensor measuring device,
Pedestal is depended on including bionic dermis organized layer, bionical superficial tissue layers, bionical hypodermis layer and artificial skin, wherein bionical
Three liquid core PVDF piezoceramic-polymer fibers are equipped in dermal tissue layer, PVDF piezoelectricity used by the biomimetic prosthetic skin is poly-
Although suffered shearing force can be detected by closing fibres, do not have the functional characteristic to shearing force signal amplification, and the hair
Bright structure does not meet human skin anatomical structure, while complex manufacturing process, consistency are poor.
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 based on human skin
The piezoelectricity touch sensor of bionics principle.
The technical solution that the utility model solves the technical problem is to provide a kind of based on human skin bionics principle
Piezoelectricity touch sensor, it is characterised in that the sensor includes cope plate, lower template, piezoelectric membrane and electrode；The upper mold
One surface of plate has nonplanar structure, and a surface of lower template has and the exact matching of the nonplanar structure of cope plate
Corresponding nonplanar structure, so that connection is inlayed in cope plate and lower template mutual cooperation；The piezoelectric membrane is fixed on cope plate
Between lower template；The two sides of piezoelectric membrane are mounted on electrode.
Compared with prior art, the utility model beneficial effect is：
(1) the utility model proposes a kind of using human skin bionics as the piezoelectricity touch sensor of theoretical foundation, knot
Structure is simple and novel, proposes the three-dimensional drape structure similar to human skin skin corium, including upper section in the x direction and the y direction
Piezoelectricity is increased for planar structure for the non-planar inter-embedding type structure such as rectangular configuration, wave structure and trapezium structure
The contact area of film can play the role of amplification, high sensitivity to faint force signal；And it also can recognize that the position of shearing force
It sets.
(2) bolster uses flexible material, makes it have the flexible advantage of high flexibility, from the pliability of material more
Close to human skin, similarity is high.
(3) the inter-embedding type various structures used, patterning process are simple, cheap.
(4) piezoelectric membrane is used, high sensitivity, response time short advantage are made it have.
(5) the utility model proposes auxiliary verificating sensor shearing force enlarging function device, structure is simple, can make
Property it is good, it is easy to operate, it is at low cost, can assist realize to touch sensor have shearing force amplification effect verifying.
Detailed description of the invention
Fig. 1 is a kind of sensing of embodiment of piezoelectricity touch sensor of the utility model based on human skin bionics principle
The schematic diagram of the rectangular cross-section structure of device；
Fig. 2 is a kind of sensing of embodiment of piezoelectricity touch sensor of the utility model based on human skin bionics principle
The section of device is the schematic diagram of wave structure；
Fig. 3 is a kind of sensing of embodiment of piezoelectricity touch sensor of the utility model based on human skin bionics principle
The section of device is the schematic diagram of trapezium structure；
Fig. 4 is a kind of detection of embodiment of piezoelectricity touch sensor of the utility model based on human skin bionics principle
The schematic diagram of sensor shearing force contact position；
Fig. 5 is a kind of detection of embodiment of piezoelectricity touch sensor of the utility model based on human skin bionics principle
The pictorial diagram of sensor shearing force contact position；
Fig. 6 is a kind of auxiliary of embodiment of piezoelectricity touch sensor of the utility model based on human skin bionics principle
The structural schematic diagram of the device of verificating sensor shearing force enlarging function.(in figure：1, cope plate；2, lower template；3, piezoelectricity is thin
Film；4, electrode；5, pedestal；6, gravitational load；7, bracket；8, pulley；9, top plate；10, lower plywood；11, winding pulley；12,
Compression bar；13, Flexible formwork assembly；14, coiling；)
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 provide it is a kind of based on human skin bionics principle piezoelectricity touch sensor (referring to Fig. 1-3,
Abbreviation sensor), it is characterised in that the sensor includes cope plate 1, lower template 2, piezoelectric membrane 3 and electrode 4；The cope plate
1 surface has nonplanar two dimension or three-dimensional structure, and a surface of lower template 2 has non-planar with cope plate 1
Two dimension or three-dimensional structure exact matching it is corresponding it is nonplanar two dimension or three-dimensional structure so that 2 phase of cope plate 1 and lower template
Mutually connection is inlayed in cooperation；The cross section at the interface between cope plate 1 and lower template 2 is in non-planar state；The piezoelectric membrane 3 is solid
It is scheduled between cope plate 1 and lower template 2, forms three-decker；The two sides of piezoelectric membrane 3 are mounted on electrode 4, piezoelectric membrane 3
It is connect by electrode 4 with external charge amplifier.
Nonplanar two dimension or three-dimensional structure are convex-concave structure, specifically rectangular configuration, wavy shaped configuration or trapezoidal
Structure；
The cope plate 1 and the material of lower template 2 are flexible material, can be flexible resin or flexible rubber etc. and are easy
The material of deformation, can select dimethyl silicone polymer, maximum gauge 3mm, and the minimum spacing of adjacent convex-concave structure is
0.5mm；
Preferably, it when needing detection sensor shearing force contact position, needs in the lower surface of cope plate 1 under
The upper surface of template 2 coats conductive material；Conductive material is required to interval when the surface of cope plate 1 and lower template 2 coats and applies
It covers, there is crosspoint between the conductive material of the upper surface of the lower surface and lower template 2 of cope plate 1 after formation sensor；Example
Conductive material is laterally such as coated in the following table face interval of cope plate 1, longitudinally coats conduction material at the upper surface interval of lower template 2
Material, the two have crosspoint；In another example the following table face interval in cope plate 1 longitudinally coats conductive material, in the upper table of lower template 2
Laterally coating conductive material, the two have crosspoint to face interval；
The piezoelectric membrane 3 be have frivolous mutability, high sensitivity, response speed fast characteristic flexible conducting material,
PVDF material, maximum gauge 500um can be selected；
The utility model simultaneously provide it is a kind of assist verificating sensor shearing force enlarging function device (abbreviation device,
Referring to Fig. 6), it is characterised in that the device include pedestal 5, gravitational load 6, bracket 7, pulley 8, top plate 9, lower plywood 10, around
Line pulley 11, compression bar 12, Flexible formwork assembly 13 and coiling 14；The bracket 7 is fixed on pedestal 5；The compression bar 12 is mounted on branch
On frame 7, it can move up and down；One end of the compression bar 12 is equipped with gravitational load 6, and the other end is equipped with pulley 8 by axis；Institute
Pulley 8 is stated to contact with the upper surface of top plate 9；The adjustable range of the gravitational load 6 is 0N-30N, for applying pretightning force；
Pretightning force is transmitted on pulley 8 by compression bar 12, pre-tightens top plate 9；The winding pulley 11 is mounted on pedestal 5 by axis；
Described 14 one end of coiling is connect with external cupping machine, and the other end is connect by winding pulley 11 with top plate 9, top plate
9 is removable；The lower plywood 10 is fixed on pedestal 5；The lower surface of top plate 9 and the upper surface of lower plywood 10 all have flexibility
Template 13 is the sensor among Flexible formwork assembly 13.The Flexible formwork assembly 13 is rubber material；
The working principle and workflow of piezoelectricity touch sensor of the utility model based on human skin bionics principle
It is：
Verificating sensor shearing force enlarging function：Pretightning force is provided by the gravitational load 6 of device, so that sensor is upper
Template 1 and lower template 2 are contacted with two sheets of flexible template 13 respectively, and top plate 9 is tried by coiling 14 and the stretching of application shearing force
Test machine connection；When cupping machine applies pulling force, top plate 9 can be relatively moved with lower plywood 10, and then be driven two layers
Flexible formwork assembly 13 relatively moves, so that the upper surface of cope plate 1 is generated small Displacement-deformation, upper mold by tangential force
The deformation of plate 1 will drive the deformation of intermediate piezoelectric membrane 3, and because of deformation polarization phenomena can occur for piezoelectric membrane 3, to generate charge
Signal.Since cope plate 1 and lower template 2 use nonplanar structure, intermediate piezoelectric membrane 3 is pressed into different pleated structures,
Bigger accumulation polarization can be generated under shearing force, and then the charge signal generated can be greater than planar structure.Therefore, this biography
Sensor is able to achieve the amplification to shearing force signal, and sensitivity is higher.
Detection sensor shearing force contact position：It is coated in the upper surface of lower surface and lower template 2 in cope plate 1 conductive
Material；When there is shearing force in a certain position of cope plate 1, the point can deformation occurs, and piezoelectric membrane 3 below can also be sent out
Raw deformation, to generate electric signal.It is determined by the size of current of the crossover location of 2 conductive material of cope plate 1 and lower template
The position of shearing force, the electric signal at shearing force point is most strong, and the electric signal of other points is relatively weak.Such as Fig. 4 and Fig. 5 institute
Show, when there is shearing force in encircled, the Article 3 conductive material and lower template 2 that cope plate 1 longitudinally coats laterally are applied
At the crossover location of the Article 3 conductive material covered, i.e. electric current at 3-3 ' is maximum, and the electric current of other positions is relatively small, with this
To judge shearing force contact position.
The utility model does not address place and is suitable for the prior art.
Claims (10)
1. a kind of piezoelectricity touch sensor based on human skin bionics principle, it is characterised in that the sensor includes upper mold
Plate, lower template, piezoelectric membrane and electrode；One surface of the cope plate has nonplanar structure, a surface of lower template
With the corresponding nonplanar structure exactly matched with the nonplanar structure of cope plate, so that cope plate and lower template cooperate
Inlay connection；The piezoelectric membrane is fixed between cope plate and lower template；The two sides of piezoelectric membrane are mounted on electrode.
2. the piezoelectricity touch sensor according to claim 1 based on human skin bionics principle, it is characterised in that institute
Stating nonplanar structure is convex-concave structure.
3. the piezoelectricity touch sensor according to claim 2 based on human skin bionics principle, it is characterised in that institute
Stating nonplanar structure is rectangular configuration, wavy shaped configuration or trapezium structure.
4. the piezoelectricity touch sensor according to claim 2 based on human skin bionics principle, it is characterised in that phase
The minimum spacing of adjacent convex-concave structure is 0.5mm.
5. the piezoelectricity touch sensor according to claim 1 based on human skin bionics principle, it is characterised in that institute
The material for stating cope plate and lower template is flexible resin or flexible rubber.
6. the piezoelectricity touch sensor according to claim 5 based on human skin bionics principle, it is characterised in that institute
The material for stating cope plate and lower template is dimethyl silicone polymer.
7. the piezoelectricity touch sensor according to claim 1 based on human skin bionics principle, it is characterised in that institute
It states piezoelectric membrane and selects flexible conducting material.
8. the piezoelectricity touch sensor according to claim 7 based on human skin bionics principle, it is characterised in that institute
It states piezoelectric membrane and selects PVDF.
9. the piezoelectricity touch sensor according to claim 1 based on human skin bionics principle, it is characterised in that when
When needing detection sensor shearing force contact position, need to lead in the lower surface of cope plate and the upper surface coating of lower template
Electric material；Conductive material is required to interval coating when the surface of cope plate and lower template coats, and forms upper mold after sensor
There is crosspoint between the conductive material of the upper surface of the lower surface and lower template of plate.
10. -9 any piezoelectricity touch sensor based on human skin bionics principle according to claim 1, feature
It is the device for assisting verifying the sensor shearing force enlarging function, including pedestal, gravitational load, bracket, pulley, upper layer
Plate, lower plywood, winding pulley, compression bar, Flexible formwork assembly and coiling；The bracket is fixed on the base；The compression bar is mounted on branch
On frame, it can move up and down；One end of the compression bar is equipped with gravitational load, and the other end is equipped with pulley by axis；The cunning
Wheel is contacted with the upper surface of top plate；The winding pulley is mounted on the base by axis；Described coiling one end and external drawing
Testing machine connection is stretched, the other end is connect by winding pulley with top plate, and top plate is removable；The lower plywood is fixed on pedestal
On；The lower surface of top plate and the upper surface of lower plywood all have Flexible formwork assembly, are the sensor among Flexible formwork assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820511572.XU CN208125304U (en) | 2018-04-11 | 2018-04-11 | A kind of piezoelectricity touch sensor based on human skin bionics principle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820511572.XU CN208125304U (en) | 2018-04-11 | 2018-04-11 | A kind of piezoelectricity touch sensor based on human skin bionics principle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111780659A (en) * | 2020-07-02 | 2020-10-16 | 山西工程职业学院 | Touch sensor based on pvdf piezoelectric film |
-
2018
- 2018-04-11 CN CN201820511572.XU patent/CN208125304U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111780659A (en) * | 2020-07-02 | 2020-10-16 | 山西工程职业学院 | Touch sensor based on pvdf piezoelectric film |
| CN111780659B (en) * | 2020-07-02 | 2022-06-28 | 山西工程职业学院 | Touch sensor based on pvdf piezoelectric film |
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Granted publication date: 20181120 |