Sensor and its manufacturing method

Abstract

The present invention provides a sensor having an improved sensitivity and precision, which is lighter and more flexible than conventional sensors, and a method of making the sensor. The present invention relates to a sensor comprising a resin foam containing a magnetic filler, and a magnetic sensor that detects a magnetic change caused by a deformation of the resin foam, wherein the resin foam is a polyurethane resin foam that comprises a polyisocyanate component, an active hydrogen component, a catalyst and a foam stabilizer, and wherein the resin foam has a hardness change (H 1 -H 60 ) of 0 to 10 between a JIS-C hardness (H 1 ) in one second after contact with a pressure surface of a hardness tester and a JIS-C hardness (H 60 ) in 60 seconds after the contact.

Description

technical field [0001] The present invention relates to a sensor such as a tactile sensor, a bending sensor, etc., which detects deformation caused by contact with a magnetic foam, which is a resin foam containing a magnetic filler; and a method of manufacturing the sensor. Background technique [0002] Sensors that detect deformation caused by the contact of one object with another include tactile sensors, bending sensors, etc., and are widely used in various fields. The tactile sensor detects the intensity, position, direction, etc. of the contact, and the bending sensor detects bending deformation. The sensors are applied to, for example, the robot's hand and skin, and when controlling the robot's movement and responding to external pressure, the information learned from the sensor (such as strength, position, direction, etc.) is used as information to determine the next action of the robot . There are various proposals regarding such a sensor and its manufacturing meth...

AI Technical Summary

Problems solved by technology

In the case of a large magnet, there is a problem that it is difficult to detect deformation caused by contact, and a foreign body sensation occurs when touched

On the other hand, in the case of uniformly dispersed small magnets, since even if the magnetic force direction of each magnet is the same as each other, a magnetic force cancellation phenomenon still occurs between the magnet particles, and the magnet near the contact surface moves to exist inside the buffer The magnet is difficult to move, so there is a problem that when the external force is small and the deformation is very small, the detection sensitivity deteriorates

Therefore, as described in Patent Document 1, since the magnetic force cancellation phenomenon occurs between the magnet particles, and the magnet particles in the vicinity of the contact surface move and the magnet particles existing inside the buffer portion are difficult to move, there is a problem that when the external force is small, the deformation is very large. hours, the detection sensitivity deteriorates

Patent Document 3 discloses that the above-mentioned porous polymer containing ferromagnetic particles is used as a vibration sensor, but does not show performance data such as sensor sensitivity, etc.

In addition, Patent Document 3 does not disclose the specific production method of the above-mentioned porous polymer and the characteristics of the above-mentioned porous polymer.

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