A multi-joint angle integrated serial detection system based on flexible fabric

Abstract

A multi-joint angle integrated serial detection system based on flexible fabric, including elastic electrical insulation base layer, micro switch and the first sensing plate and the second sensing plate located on both sides of the joint. There is a flexible polyimide insulating protective layer on the board, and the sensing plate adopts a sensing unit structure, including polypyrrole conductive fabric capacitor plate and polypyrrole conductive fabric layer facing each other, and conductive silicone rubber is arranged between the two layers The shielding layer is filled with a first flexible epoxy resin insulating layer between the polypyrrole conductive fabric capacitor plate and the conductive silicone rubber shielding layer, and a second flexible ring is provided between the conductive silicone rubber shielding layer and the polypyrrole conductive fabric formation layer An epoxy resin insulating layer is provided with an elastic electrical insulating base layer under the sensing plate. One end of the micro switch is connected with the polypyrrole conductive fabric capacitor plate in the first sensing plate through the shielding wire, and the other end is connected with the polypyrrole conductive fabric capacitor plate in the second sensing plate through the shielding wire.

Description

Technical field [0001] The present invention involves signal detection, sensing technology and transmission technology fields, which specifically involves a multi -joint angle integrated serial detection system based on flexible fabrics, which are suitable for intelligent robots, sports monitoring and medical monitoring. Background technique [0002] The angle measurement generally obtains the corner signal through the sensor, converts to a circuit parameter, and then converts the circuit to the electrical signal output.There are many types of modern angle measurement technologies, and have been widely used in motor, automobiles, ship transportation, transportation, mechanical manufacturing, petroleum, metallurgy and other aspects. [0003] At present, there are many types of sensors in angle detection. According to their sensors, they can be divided into non -flexible angles to detect sensors and flexible angles to detect sensors.Non -flexible angle detection sensors are general...

AI Technical Summary

Problems solved by technology

At present, a flexible joint angle sensor invented by Quan Wei et al. of Harbin Institute of Technology uses a flexible bellows as the main structure, and the two ends are fixed on both sides of the object to be detected. It has the characteristics of simple and compact structure and does not affect the joint movement. The flexibility of the entire system has not yet been realized, and the purpose of motion detection of multiple independent joints without movement barriers can not be achieved; Li Jianqing of Southeast University and others invented a flexible shoulder joint motion sensor and its measurement method. The sense plate is sewn on the fabric, which realizes the measurement of the joint angle only by wearing it, changing the previous bulky, complicated and harsh testing conditions

However, this method does not realize the complete flexibility of the sensing plate, and at the same time, it can only realize the measurement of one joint angle by traditional two polar plates. When this method is used for multi-joint angle detection, the number of detection units and their supporting measurement leads increases accordingly. , causing the detection system to be large in size and heavy in weight, resulting in a significant increase in the joint’s movement resistance. At the same time, the cost of the system is high, and the detection system is complicated to reduce its reliability; The capacitance change between them significantly affects the accuracy of joint angle detection results

These angle detection devices are partially flexible, and for multi-joint angle detection, as the joint angle increases, the signal transmission lines drawn out also increase, resulting in more lead wires at the joints closer to the detection device; at the same time, more A capacitive detection chip takes up a lot of space and hinders the normal movement of the human body

[0005] The rigid detection device of the non-flexible angle detection sensor has high hardness and cannot meet the requirements of motion detection without movement obstacles; the flexible angle detection sensor has not realized all the flexibility of the sensor, and there is still a great sense of obstacle to the movement of the human body

Images