A kind of miniature tactile sensing element and its preparation method

Abstract

The invention discloses a mini tactile sensor and the manufacturing method thereof. The mini tactile sensor with excellent electrical performances and high sensitivity is provided, and the mini tactile sensor and the manufacturing method thereof are breakthrough in robot skin and highly sensitive sensing application field. The mini tactile sensor comprises a main body which is a compound of based resin and a heavily coiled micro-carbon spring, wherein the heavily coiled micro-carbon spring is arranged in an oriented manner in the based resin and regularly coiled along a spring shaft with certain spring diameter and pitch rules. The mini tactile sensor further comprises a pair of electrodes, which are integrated with a main body. The mini tactile sensor is applicable to a capacitor with the compound of an oriented heavily coiled micro-carbon spring and based resin as a tactile sensor. The tactile sensor is highly sensitive, light and has excellent mechanical and electrical performance and is especially suitable for the field of cutting-edge medical instruments, such as minimally invasive surgery instruments.

Description

technical field [0001] The invention relates to a miniature tactile sensing element and a preparation method thereof. The tactile sensing element is mainly used in the technical field of robot tactile skin. Background technique [0002] With the advancement of science and technology and the gradual increase in the requirements for robot touch in industrial production, robot skin technology has developed rapidly. [0003] The tactile sensor for touch pressure detection described in Japanese Patent Laid-Open No. 2002-236059 is an LC resonant circuit in which a coil and a capacitor are connected in series. When the coil is pressed, the inductance L of the coil changes, and the resonant frequency of the LC series circuit also changes. Here, the resonant frequency of the LCR series circuit can be detected by the detection device and become the identification basis for tactile judgment. [0004] However, this type of tactile sensor not only has a relatively complex structure, but...

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Problems solved by technology

[0004] However, this type of tactile sensor not only has a relatively complex structure, but also changes the resonant frequency only when the inductance L of the coil changes. For the case of a weak touch pressure applied to the tactile sensor, the inductance L of the coil hardly changes, and the corresponding It cannot cause significant changes in the resonance frequency, so this type of tactile sensor has the inherent defect of low detection sensitivity

[0005] The sensing element described in JP-A-2005-49331 uses a double spiral micro-carbon spring, and the tactile sensor for touch pressure detection is an LCR resonant circuit. Rolled together, almost like a round microtube, their physical properties such as stretchability are very limited, and when forming a tactile sensing element, they cannot produce sufficient deformation for the applied touch pressure, which will also lead to insufficient sensitivity; and the double spiral coil When the micro-carbon spring is mixed with the matrix resin, one is that the dispersion is not sufficient, and the other is that air bubbles remain in the cylindrical coil, so there are also problems of limited mechanical and electrical properties.

In addition, there is also a highly elastic double-coil micro-carbon spring. Although the two carbon filaments are coiled with a relatively large pitch, the shape is not regular enough, so the signal stability is limited, and there are high requirements for signal stability. case not applicable

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