CN209541957U - A kind of dot matrix pliable pressure distributed sensor device - Google Patents
A kind of dot matrix pliable pressure distributed sensor device Download PDFInfo
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- CN209541957U CN209541957U CN201920362820.3U CN201920362820U CN209541957U CN 209541957 U CN209541957 U CN 209541957U CN 201920362820 U CN201920362820 U CN 201920362820U CN 209541957 U CN209541957 U CN 209541957U
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Abstract
The utility model relates to a kind of dot matrix pliable pressure distributed sensor devices, including dot matrix pliable pressure distributed sensor and multi-data processing module；The dot matrix pliable pressure distribution sensor includes surface bulge, elastic matrix polymeric layer, through to electrode, flexible sensing unit and broadwise electrode；It is described to be placed in the upper surface of broadwise electrode in a manner of tiling to electrode or in the following, to form vertical structure spatially；The flexibility sensing unit is placed between each intersection through broadwise electrode；The elastic matrix polymeric layer is wrapped in through to outside electrode, flexible sensing unit and broadwise electrode；The surface bulge is placed in the upper surface of elastic matrix polymeric layer；It is described to be connect through passing through conducting wire to electricity and broadwise electrode with Multichannel data acquisition module, to measure the increased resistance value of each intersection flexibility sensing unit.The utility model can be used to detect the resistance variations under different stress, and data acquisition and procession is relatively easy and accuracy is higher.
Description
[technical field]
The utility model relates to a kind of Force sensors, and in particular to a kind of dot matrix pliable pressure distributed sensor device,
Belong to sensor technical field.
[background technique]
The world today, intelligent robot technology advance by leaps and bounds, also increasingly to the research of tactile sensing device of robot's field of sensing technologies
It is prosperous.Feedback control and crashworthiness detection field of the flexible touch sensation sensor system in unstructured have widely
With.Therefore, developing the flexible touch sensation sensor met the requirements is one of developing key technology of modern intelligent robot.
Flexible touch sensation sensor should have the flexibility and flexibility of similar human skin, can adapt to different curve, different pressures
Under external environment variation, and can rapidly and accurately obtain external information.With microelectric technique development and various have
The appearance of machine material, it has been proposed that the research and development proposal of diversified flexible touch sensation sensor, but belong to experiment greatly at present
The room stage reaches the few of commercialization.
The research of touch sensing technology starts from 1970s, research at that time be only limitted to contact with object with
No, sensor is few and precision is not high.Research to the eighties, touch sensing technology is fast-developing, while the research of sensor
It is related to the fields such as sound, light, heat and towards industrialization.After the nineties, touch sensing technology is distinguished in tactile pattern processing, shape
There is important breakthrough in the fields such as knowledge, active haptics perception.
Japanology team, which uses, to be interspersed in the method among pressure-sensitive conductive rubber for electric lead and devises a kind of flexible touch
Feel sensor, which possesses very thin thickness and good sensitivity, but is unable to measure the size of shearing force.90 years
In generation, just research team, Beijing Institute of Technology developed the sensor with contacting feeling, sliding feel and tactile pattern identification function, still
The sensor involves great expense and accuracy is not high.And till now, it is both domestic and external basic without occurring durable, reliable and having in the market
There is the flexible touch sensation sensor of versatility.
Therefore, to solve the above problems, it is necessory to provide a kind of dot matrix pliable pressure distributed sensor device of innovation,
To overcome the defect in the prior art.
[utility model content]
To solve the above problems, the purpose of this utility model is to provide a kind of dot matrix pliable pressure distributed sensor dresses
It sets, cost is relatively low, can be used to detect resistance variations under different stress, and data acquisition and procession is relatively easy and accuracy
It is higher.
To achieve the above object, a kind of technical solution that the utility model is taken are as follows: dot matrix pliable pressure distributed sensor
Device comprising dot matrix pliable pressure distributed sensor and multi-data processing module；Wherein, the dot matrix pliable pressure
Distribution sensor includes surface bulge, elastic matrix polymeric layer, through to electrode, flexible sensing unit and broadwise electrode；It is described
The upper surface of broadwise electrode is placed in a manner of tiling to electrode or in the following, so as to form vertical structure spatially；It is described soft
Property sensing unit is placed between each intersection through broadwise electrode；The elastic matrix polymeric layer is wrapped in through to electricity
Outside pole, flexible sensing unit and broadwise electrode；The surface bulge is placed in the upper surface of elastic matrix polymeric layer；The warp
It is connect to electricity and broadwise electrode by conducting wire with Multichannel data acquisition module, to measure each intersection flexibility sensing unit
Increased resistance value.
The dot matrix pliable pressure distributed sensor device of the utility model is further are as follows: the elastic matrix polymeric layer with
The mode poured is wrapped in through to outside electrode, flexible sensing unit and broadwise electrode.
Compared with prior art, the utility model has the following beneficial effects:
1. the utility model is applicable to various multiple using a kind of dot matrix flexible composite pressure sensor device
On miscellaneous curved surface, bigger extraneous load and accuracy with higher can be born, therefore usability is stronger.
2. the effect of intercoupling since the sensing unit between each crosspoint is mutually not in contact with each other, between each point
Smaller, the resistance value measured is more accurate, and the acquisition of data and processing are relatively easy.
3. the sensor can also be according to the resistance change measurement shearing force and tilting moment of each sensing unit, therefore
Applicable working environment is more.
[Detailed description of the invention]
Fig. 1 is the structural schematic diagram of the dot matrix pliable pressure distributed sensor device of the utility model.
Fig. 2 is the side view of pliable pressure distribution sensor.
Fig. 3 is the work flow diagram of pliable pressure distributed sensor device.
[specific embodiment]
It please refers to shown in Figure of description 1 and attached drawing 2, the utility model is a kind of dot matrix pliable pressure distributed sensor dress
It sets, is mainly made of the several majors such as dot matrix pliable pressure distributed sensor and multi-data processing module, works as extraneous load
It acts on dot matrix pliable pressure distributed sensor device, since the size and Orientation of the active force of each point is different, flexibility pressure
The pressure distributed intelligence that power distribution sensor will act on sensing device is converted into the resistance variations at each point, the variation by
The scanning circuit of Multichannel data acquisition module measures and is converted into digital signal, then as the fortune built in the multi-data processing module
Unit is calculated to handle to obtain ambient pressure distributed intelligence by decoupling computation.
Wherein, the dot matrix pliable pressure distribution sensor is by surface bulge 1, elastic matrix polymeric layer 2, Jing Xiang electricity
Pole 3, flexible sensing unit (such as coating the carbon nanotube of PDMS) 4 and more than 5 part of broadwise electrode composition.
It is described through being placed in a manner of tiling above or below broadwise electrode 5 to electrode 3, so as to form spatially hang down
Straight structure.The flexibility sensing unit 4 is placed between each intersection through broadwise electrode 3,5, and the sensing unit 4 is by having
There is the flexible composite of piezoresistive effect to be made, for measuring the variation of resistance.
The elastic matrix polymeric layer 2 is wrapped in through to 5 outside of electrode 3, flexible sensing unit 4 and broadwise electrode；Tool
Body says, elastic matrix polymer (such as PDMS) is wrapped in through to electrode 3, flexible sensing unit 4 and broadwise in a manner of pouring
5 outside of electrode can form the dot matrix flexibility with certain elasticity and meet material pressure distributed sensor after solidification to be baked
Device.
The surface bulge 1 is placed in the upper surface of elastic matrix polymeric layer 2.
It is described to be connect through passing through conducting wire to electricity 3 and broadwise electrode 5 with Multichannel data acquisition module, to measure each crosspoint
Locate the increased resistance value of flexible sensing unit, i.e., each flexible sensing unit 6 through to 5 intersection of electrode 3 and broadwise electrode
Increased resistance value all successively measured by Multichannel data acquisition module by scanning circuit, the primary one group of measurement number of record of every measurement
According to obtaining the stress size of each intersection finally by the decoupling algorithm of multi-data processing module, further passed
The ambient pressure distributed intelligence of sensor.
Further, the measurement range of the pressure distributed sensor device is adjusted by following three parts: 1. passing through adjusting
The elasticity modulus of flexible sensing unit 2 come achieve the purpose that change sensor measurement range；2. by adjusting through broadwise electrode 3,5
Distance, i.e. the thickness of the sensing unit of intersection changes its initial resistivity value, plays the role of adjusting transducer range；
3. by adjust matrix polymer 4 elasticity modulus, change sensor entirety flexibility, play change sensor measurement range and
The effect of its susceptibility.
Meanwhile the structure of multilayer can also be used in entire dot matrix pliable pressure distributed sensor device.Not by flexibility
Same composite layer is superimposed, and a pliable pressure sensing device with multi-layer structure is made.Its role is to:
When extraneous load variation range is larger, have detection range small compared with soft composite layer, the features such as precision is high；And it harder answers
The features such as condensation material layer has detection range big, and precision is lower.Therebetween can have complementary advantages, it is wide to reach measurement range, essence
Spend the advantages that high.
Fig. 3 is the work flow diagram of entire dot matrix flexible composite pressure distributed sensor device, including flexibility
Acquisition and processing etc. of preparation, impact test and the multi-data processing module of composite dot-matrix formula structure to information.Its
The method that the measurement of middle resistance value surveys electric current using constant pressure finally obtains the resistance value of intersection sensing unit, active force point
Cloth information can be also coupled in resistance Value Data obtained.
It is as follows to pressure localization method using above-mentioned dot matrix pliable pressure distributed sensor device: to pass through pressure distributed sensor
Device is changed by extraneous load, and deformation occurs for 2 stress of elastic matrix polymer, of the inside through between broadwise electrode 3,5
Can be close to each other, so that the flexible sensing unit 4 of intersection is deformed with external force size, so that its resistance be made to occur
Corresponding change.
Resistance change is transferred to multi-data processing module by electrode and carries out data processing, obtains the electricity in each crosspoint
Hinder changing value.
The stress size of each intersection is obtained based on the decoupling algorithm prestored finally by multi-data processing module,
Further obtain the ambient pressure distributed intelligence of sensor.Multi-data processing module is connected by data line and relevant device again
It connects, exchange and the visualization function of data is realized with this.
In addition, the pliable pressure distributed sensor device can also be used to detect size and the direction of three-dimensional active force, that is, work as
Extraneous load F1 perpendicular acting is on the surface of sensor, effect of the surface bulge 1 by normal pressure, soft around the protrusion 1
Property 4 stress of sensing unit it is of substantially equal, the resistance variations by measuring each point can calculate active force size and location；
When extraneous load F2 horizontal force is in sensor surface, surface bulge 1 is by shearing force, then quick around protrusion 1
It is inconsistent to feel 4 stress of unit, causes resistance variations inconsistent, by measuring the resistance variations in each crosspoint, can solve and cut
The size and Orientation of shear force.
Above specific embodiment is only the preferred embodiment of this creation, all in this wound not to limit this creation
Any modification, equivalent substitution, improvement and etc. done within the spirit and principle of work, should be included in this creation protection scope it
It is interior.
Claims (2)
1. a kind of dot matrix pliable pressure distributed sensor device, it is characterised in that: including dot matrix pliable pressure distributed sensor with
And multi-data processing module；Wherein, the dot matrix pliable pressure distribution sensor includes surface bulge, elastic matrix polymerization
Nitride layer, through to electrode, flexible sensing unit and broadwise electrode；It is described through the upper of broadwise electrode is placed in a manner of tiling to electrode
Face or in the following, so as to form vertical structure spatially；The flexibility sensing unit is placed on each intersection through broadwise electrode
Point between；The elastic matrix polymeric layer is wrapped in through to outside electrode, flexible sensing unit and broadwise electrode；The table
Face protrusion is placed in the upper surface of elastic matrix polymeric layer；It is described through to electricity and broadwise electrode pass through conducting wire and multi-channel data acquisition
Module connection, to measure the increased resistance value of each intersection flexibility sensing unit.
2. dot matrix pliable pressure distributed sensor device as described in claim 1, it is characterised in that: the elastic matrix polymerization
Nitride layer is wrapped in through to outside electrode, flexible sensing unit and broadwise electrode in a manner of pouring.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920362820.3U CN209541957U (en) | 2019-03-21 | 2019-03-21 | A kind of dot matrix pliable pressure distributed sensor device |
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| CN201920362820.3U CN209541957U (en) | 2019-03-21 | 2019-03-21 | A kind of dot matrix pliable pressure distributed sensor device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109946000A (en) * | 2019-03-21 | 2019-06-28 | 浙江理工大学 | A kind of dot matrix pliable pressure distributed sensor device and its pressure localization method |
| CN112120702A (en) * | 2020-09-24 | 2020-12-25 | 浙江清华柔性电子技术研究院 | Flexible sole pressure detection device and shoes |
-
2019
- 2019-03-21 CN CN201920362820.3U patent/CN209541957U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109946000A (en) * | 2019-03-21 | 2019-06-28 | 浙江理工大学 | A kind of dot matrix pliable pressure distributed sensor device and its pressure localization method |
| CN112120702A (en) * | 2020-09-24 | 2020-12-25 | 浙江清华柔性电子技术研究院 | Flexible sole pressure detection device and shoes |
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