Preparation method and device of robot skin tactile sensor

Abstract

The invention discloses a preparation method and device of a robot skin tactile sensor, and the method comprises the steps: obtaining a preset polymer according to a preset weight, and preparing an organic solution according to a preset proportion; stirring and dissolving the obtained preset polymer in the organic matter solution to obtain sol; coating the sol on a preset organic silicon substrate to obtain a flexible film; and packaging the flexible film, the base and the electrode plate to obtain the robot skin tactile sensor. The robot skin tactile sensor prepared by the invention can be attached to the curved surface of a robot so as to be fully attached to the robot, so that the sensitivity is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of tactile sensors, and in particular to a method and device for preparing a robot skin tactile sensor. Background Art

[0002] Tactile sensors are sensors that can detect and respond to physical contact or touch and are widely used in robots. Tactile sensors can detect the contact between the robot's skin surface and other objects, providing the robot with real-time information about the surrounding environment. At the same time, multiple tactile sensors can also form a tactile sensor array, which can measure the pressure distribution on the contact surface, thereby helping the robot understand the force and direction of the contact.

[0003] However, since the structure of robots is usually complex and has many curved surfaces, current tactile sensors cannot fit completely onto the surface of the robot, causing the pressure to be absorbed or dispersed before being transmitted to the sensor, weakening the strength of the signal received by the sensor and reducing its sensitivity. Summary of the invention

[0004] The embodiments of the present invention provide a method and device for preparing a robot skin tactile sensor, aiming to solve the problem of low sensitivity of current tactile sensors due to the inability to fully fit the robot.

[0005] In a first aspect, an embodiment of the present invention provides a method for preparing a robot skin tactile sensor, which is applied to the robot skin tactile sensor. The method comprises:

[0006] Obtaining a preset polymer according to a preset weight, and preparing an organic solution according to a preset ratio;

[0007] stirring and dissolving the obtained predetermined polymer in the organic solution to obtain a sol;

[0008] applying the sol onto a predetermined organic silicon substrate to obtain a flexible film;

[0009] The flexible film, the base and the electrode sheet are packaged to obtain a robot skin tactile sensor.

[0010] In a second aspect, an embodiment of the present invention further provides a tactile sensor device, which includes a charge amplifier circuit and a voltage amplifier circuit; the input end of the charge amplifier circuit is connected to the tactile sensor; the input end of the voltage amplifier circuit is connected to the output end of the charge amplifier circuit, and the output end of the voltage amplifier circuit is connected to a control device.

[0011] Furthermore, the charge amplifier circuit includes a first operational amplifier, a non-inverting input terminal of the first operational amplifier is grounded, an inverting input terminal of the first operational amplifier is connected to the tactile sensor, and an output terminal of the first operational amplifier is connected to the control device.

[0012] Furthermore, the voltage amplification circuit includes a second operational amplifier, a non-inverting input terminal of the second operational amplifier is grounded, an inverting input terminal of the second operational amplifier is connected to an output terminal of the first operational amplifier, and an output terminal of the second operational amplifier is connected to the control device.

[0013] The embodiment of the present invention provides a method and device for preparing a robot skin tactile sensor. The method for preparing the robot skin tactile sensor includes: obtaining a preset polymer according to a preset weight, and configuring an organic solution according to a preset ratio; stirring and dissolving the obtained preset polymer in the organic solution to obtain a sol; applying the sol on a preset organic silicon substrate to obtain a flexible film; and packaging the flexible film, base, and electrode sheet to obtain a robot skin tactile sensor. The embodiment of the present invention can mix the preset polymer and the organic solution to obtain a sol, and apply the sol on the organic silicon substrate to obtain a flexible film, and then package the flexible film with the base and electrode sheet into a tactile sensor. The formed tactile sensor can be completely fitted with the curved surface of the robot, which is convenient for timely response to tactile feedback information and improves sensitivity. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0015] Figure 1 It is a schematic flow chart of a method for preparing a robot skin tactile sensor provided by an embodiment of the present invention;

[0016] Figure 2 is a schematic diagram of a first sub-process of a method for preparing a robot skin tactile sensor provided by an embodiment of the present invention;

[0017] Figure 3 is a schematic diagram of a second sub-process of the method for preparing a robot skin tactile sensor provided by an embodiment of the present invention;

[0018] Figure 4 is a schematic structural diagram of a robot skin tactile sensor provided by an embodiment of the present invention;

[0019] Figure 5is a block diagram of a tactile sensor device provided by an embodiment of the present invention;

[0020] Figure 6 is a circuit diagram of a charge amplifier circuit provided by an embodiment of the present invention;

[0021] Figure 7 is a circuit diagram of a voltage amplifier circuit provided by an embodiment of the present invention;

[0023] 100. Robot skin tactile sensor; 10. Upper base; 20. Lower base; 30. First electrode sheet; 40. Second electrode sheet; 50. Flexible film; 60. Housing;

[0024] 200, tactile sensor device; 210, charge amplifier circuit; 220, voltage amplifier circuit; 300, control device. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, operations, elements, components and / or groups thereof.

[0027] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, the singular forms of "a", "an" and "the" are intended to include the plural forms unless the context clearly indicates otherwise. It should also be further understood that the term "and / or" used in the specification of the present invention and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0028] See also Figure 1 , Figure 1 FIG. 1 is a flow chart of a method for preparing a robot skin tactile sensor provided by an embodiment of the present invention. The method for preparing a robot skin tactile sensor provided by an embodiment of the present invention is used to prepare a flexible film of a tactile sensor. Figure 1 As shown, the method includes steps S110 to S130.

[0029] S110, obtaining a preset polymer according to a preset weight, and preparing an organic solution according to a preset ratio.

[0030] In an embodiment of the present invention, when preparing a flexible film, the weight of the required preset polymer can be confirmed according to the required size of the flexible film, and the confirmed weight is the preset weight. The preset polymer can be a fluorine-containing polymer, and preferably, the preset polymer is polyvinylidene fluoride. Polyvinylidene fluoride can be synthesized from vinylidene fluoride monomers through polymerization. Setting the preset polymer to polyvinylidene fluoride can further improve the sensitivity.

[0031] The preset polymer is usually in powder form. During preparation, a preset polymer can be weighed quantitatively by a weighing device, that is, a preset polymer consistent with a preset weight can be weighed. For example, the preset polymer can be weighed quantitatively by an electronic scale. After the preparation of the preset polymer is completed, the organic solution is prepared according to the preset weight and the preset ratio.

[0032] The organic solution is used to dissolve the preset polymer, and it needs to be able to dissolve the preset polymer. Therefore, the organic in the organic solution can be set according to the specific type of the preset polymer. For example, if the preset polymer is polyvinylidene fluoride, the organic solution can be an organic solution such as dimethylformamide, dimethylacetamide, dimethyl sulfoxide, tetrahydrofuran and methyl pyrrolidone.

[0033] The ratio of the preset polymer to the organic matter needs to be strictly in accordance with the preset ratio, so that the preset polymer can be fully dissolved in the organic solution. A high concentration of the organic solution will make it difficult for the final flexible sol to form a micron-sized film. If the concentration of the organic solution is too low, it will affect the adhesion of the solution and the time it takes to form a flexible film.

[0034] Preferably, the preset ratio ranges from 1:4 to 1:6, that is, the ratio of the preset polymer to the organic matter is 1:4 to 1:6. For example, the ratio of the preset polymer to the organic matter can be 1:5.2. For every portion of the preset polymer, 5.2 portions of organic matter are required, and then the organic matter is configured into an organic solution, and finally the preset polymer is dissolved in the organic solution.

[0035] In the actual preparation process, the preset polymer can be polyvinylidene fluoride, the organic solution can be a dimethylformamide solution, and the ratio of polyvinylidene fluoride to dimethylformamide solution is 1:5.2, and polyvinylidene fluoride and dimethylformamide can be accurately weighed by an electronic scale. It should be noted that when dissolving polyvinylidene fluoride in dimethylformamide solution, it is necessary to avoid a large number of bubbles in the solution.

[0036] S120, stirring and dissolving the obtained preset polymer in the organic solution to obtain a sol.

[0037] In an embodiment of the present invention, after the preset polymer and the organic solution are configured according to a preset ratio, the preset polymer is dissolved in the organic solution. During the dissolution, the organic solution containing the preset polymer needs to be continuously stirred, and after the stirring is completed, the organic solution needs to be left to stand for a period of time, so that a flexible film can be obtained.

[0038] See also Figure 2 In some embodiments, such as in an embodiment of the present invention, step S120 includes steps S121-S22.

[0039] S121, dissolving the preset polymer in the organic solution to obtain a mixed solution, and stirring the mixed solution for 2-3 hours;

[0040] S122, allowing the stirred mixed solution to stand for 12-14 hours to obtain the sol.

[0041] In an embodiment of the present invention, after the preset polymer is dissolved in the organic solution to obtain a mixed solution, the mixed solution needs to be stirred, and the stirring needs to be continued for a period of time to fully dissolve the preset polymer. Preferably, the mixed solution needs to be placed in a room temperature environment during stirring, that is, the mixed solution is placed in an environment of 20°C-25°C. The mixed solution is placed in a room temperature environment and stirred. The stirring time can last for 2-3 hours, for example, the stirring time can be 2.5 hours, so that the preset polymer is fully in contact with the organic solution.

[0042] After the mixed solution is stirred, the mixed solution needs to be left to stand for a period of time to obtain a sol. Preferably, after the mixed solution is stirred, the mixed solution is left to stand for 12-14 hours, for example, the mixed solution can be left to stand for 13 hours. During the standing period, the preset polymer can be completely dissolved in the organic solution to form a uniform sol.

[0043] In the actual preparation process, the preset polymer can be polyvinylidene fluoride, the organic solution can be a dimethylformamide solution, and the ratio of polyvinylidene fluoride to dimethylformamide solution is 1:5.2. After dissolving polyvinylidene fluoride in dimethylformamide solution to obtain a mixed solution, the mixed solution is rapidly stirred for 2.5 hours by a magnetic stirrer. After the stirring is completed, the mixed solution is allowed to stand for 13 hours to obtain a sol.

[0044] S130, applying the sol on a preset organic silicon substrate to obtain a flexible film.

[0045] In an embodiment of the present invention, after obtaining the sol, the sol is applied to an organic silicon substrate to obtain a flexible film. Preferably, the organic silicon substrate may be a polydimethylsiloxane substrate, and during application, the sol is evenly applied to the polydimethylsiloxane substrate, and then dried or cured to obtain a flexible film.

[0046] See also Figure 3 In some embodiments, such as in an embodiment of the present invention, step S130 includes steps S131-S132.

[0047] S131, spraying or spin coating the sol on the organosilicon substrate;

[0048] S132, drying the organic silicon substrate coated with the sol to obtain the flexible film.

[0049] In the embodiment of the present invention, the sol can be applied to the silicone substrate by spraying or spin coating, and the silicone substrate coated with the sol can be dried to obtain a flexible film. Preferably, the silicone substrate coated with the sol can be dried in an oven to obtain a flexible film.

[0050] S140, encapsulating the flexible film, the base and the electrode sheet to obtain a robot skin tactile sensor.

[0051] In the embodiment of the present invention, after the flexible film is obtained, the flexible film, the base and the electrode sheet are packaged by epoxy resin to form a tactile sensor.

[0052] See also Figure 4 , Figure 4 A robot skin tactile sensor 100 is provided in an embodiment of the present invention. The robot skin tactile sensor 100 includes a flexible film, a base, an electrode sheet and a shell.

[0053] Specifically, the robot skin tactile sensor 100 may include a base, an electrode sheet, a housing, and a flexible film 50. The base may include an upper base 10 and a lower base 20, and the flexible film 50 and the electrode sheet are disposed between the upper base 10 and the lower base 20.

[0054] The flexible film 50 is attached to the side of the lower base 20 facing the upper base 10, and the electrode sheet may include a first electrode sheet 30 and a second electrode sheet 40. The first electrode sheet 30 is disposed between the flexible film 50 and the lower base 20 and is attached to the side of the flexible film 50 facing the lower base 20. The second electrode sheet 40 is disposed between the flexible film 50 and the upper base 10 and is attached to the side of the flexible film 50 facing the upper base 10. The first electrode sheet 30 and the second electrode sheet 40 may specifically be conductive adhesive.

[0055] The shell 60 is used to package the base. The shell 60 may be epoxy resin. The epoxy resin is applied to the edges of the upper base 10 and the flexible film 50 and is formed after curing to reinforce the tactile sensor.

[0056] In actual use, the preset polymer can be polyvinylidene fluoride, and the flexible film 50 made of polyvinylidene fluoride is a polyvinylidene fluoride flexible film 50. The polyvinylidene fluoride flexible film 50 has strong flexibility and can be attached to complex curved surfaces, which is convenient for improving sensitivity. When the polyvinylidene fluoride flexible film 50 is subjected to an external force (such as pressure), physical deformation will occur, thereby stimulating its inherent piezoelectric properties. This deformation causes the change of the internal polarization of the molecules of the polyvinylidene fluoride flexible film 50, thereby generating a charge proportional to the stress and strain it is subjected to on its surface. As the polarization state changes, different electric potentials are formed on the two surfaces of the polyvinylidene fluoride flexible film 50, which promotes the flow of charge between the electrodes in contact with it, and realizes the conversion of mechanical signals to electrical signals, and vice versa. The packaged tactile sensor can be an elliptical line, which is convenient for simulating the shape of the Pacinian corpuscle, so that micro-vibration perception can be achieved.

[0057] See also Figure 5 , Figure 5 is a block diagram of a tactile sensor device 200 provided in an embodiment of the present invention, such as Figure 5 As shown, the tactile sensor device 200 includes a charge amplifier circuit 210 and a voltage amplifier circuit 220; the input end of the charge amplifier circuit 210 is connected to the tactile sensor 100; the input end of the voltage amplifier circuit 220 is connected to the output end of the charge amplifier circuit 210, and the output end of the voltage amplifier circuit 220 is connected to the control device 300.

[0058] Specifically, the tactile sensor device 200 may include a charge amplifier circuit 210 and a voltage amplifier circuit 220. The charge amplifier circuit 210 is used to convert the sensed charge generated by the flexible film when it is subjected to force into a detectable voltage signal. On the one hand, the charge amplifier circuit 210 converts the high internal resistance output of the flexible film into a low impedance signal to facilitate signal transmission; on the other hand, the charge amplifier circuit 210 is also responsible for enhancing the tiny signal output by the flexible film so that it can be accurately detected and analyzed in the subsequent processing process. The voltage amplifier circuit 220 is connected to the output end of the charge amplifier circuit 210, and is used to amplify the signal received from the charge amplifier circuit 210, and is also used to suppress the interference of the common mode signal.

[0059] The robot skin tactile sensor 100 may include an upper base and a lower base, with a flexible film provided between the upper base and the lower base. When an external force contacts the lower base, the external force will be transmitted to the flexible film, and the flexible film can be used as a piezoelectric sensor. The flexible film bends to generate electric charges, and the generated charges are input to the charge amplifier circuit 210, amplified by the charge amplifier circuit 210 and output to the voltage amplifier circuit 220, and then amplified by the voltage amplifier circuit 220 and output to the control device 300.

[0060] As a further embodiment, the charge amplifier circuit 210 includes a first operational amplifier U1, a non-inverting input terminal of the first operational amplifier U1 is grounded, an inverting input terminal of the first operational amplifier U1 is connected to the tactile sensor 100, and an output terminal of the first operational amplifier U1 is connected to the control device 300.

[0061] The charge amplifier circuit 210 may include a first operational amplifier U1, and a two-stage amplification system is formed based on the first operational amplifier U1 to ensure efficient conversion and amplification of the signal, improve the signal-to-noise ratio of the signal, and ensure the integrity of the signal during long-distance transmission.

[0062] As a further embodiment, the voltage amplification circuit 220 includes a second operational amplifier U2, the non-inverting input terminal of the second operational amplifier U2 is grounded, the inverting input terminal of the second operational amplifier U2 is connected to the output terminal of the first operational amplifier U1, and the output terminal of the second operational amplifier U2 is connected to the control device 300.

[0063] Among them, the non-inverting input terminal of the second operational amplifier U2 is grounded, the inverting input terminal of the second operational amplifier U2 is connected to the output terminal of the first operational amplifier U1, and the output terminal of the second operational amplifier U2 is connected to the control device 300, which is used to separate and amplify the signal output by the first operational amplifier U1 and output it to the control device 300.

[0064] The robot skin tactile sensor 100 provided by the present invention has strong flexibility and can be applied to the layout of complex curved surfaces, such as the limbs and torso of the robot. At the same time, the robot skin tactile sensor 100 has high sensitivity and can generate piezoelectric signals for different types of touch vibrations, and the generated piezoelectric signals can be input to the charge amplifier circuit 210.

[0065] It should be noted that those skilled in the art can clearly understand that the specific implementation process of the above-mentioned robot skin tactile sensor and each unit can refer to the corresponding description in the aforementioned method embodiment, and for the convenience and brevity of description, it will not be repeated here.

[0066] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0067] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

[0068] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for preparing a robot skin tactile sensor, characterized in that: The method comprises: Obtaining a preset polymer according to a preset weight, and preparing an organic solution according to a preset ratio; stirring and dissolving the obtained predetermined polymer in the organic solution to obtain a sol; applying the sol onto a predetermined organic silicon substrate to obtain a flexible film; The flexible film, the base and the electrode sheet are packaged to obtain a robot skin tactile sensor.

2. The method according to claim 1, characterized in that The step of stirring and dissolving the obtained preset polymer in the organic solution to obtain the target sol comprises: Dissolving the predetermined polymer in the organic solution to obtain a mixed solution, and stirring the mixed solution for 2-3 hours; The stirred mixed solution was left to stand for 12-14 hours to obtain the sol.

3. The method according to claim 2, characterized in that While the mixed solution is stirred, the mixed solution is placed in a room temperature environment.

4. The method according to claim 2, characterized in that When the mixed solution is stirred, the mixed solution is stirred at a high speed by a magnetic stirrer.

5. The method according to claim 1, characterized in that The step of applying the sol on a preset organic silicon substrate to obtain a flexible film comprises: Spraying or spin coating the sol on the organosilicon substrate; The flexible film is obtained by drying the organic silicon substrate coated with the sol.

6. The method according to claim 1, characterized in that The preset polymer is polyvinylidene fluoride.

7. The method according to claim 1, characterized in that The organic solution is dimethylformamide.

8. A tactile sensor device, characterized in that: include: A charge amplifier circuit, wherein an input end of the charge amplifier circuit is connected to the tactile sensor; A voltage amplifier circuit, wherein the input end of the voltage amplifier circuit is connected to the output end of the charge amplifier circuit, and the output end of the voltage amplifier circuit is connected to the control device.

9. The tactile sensor device according to claim 8, characterized in that The charge amplifier circuit comprises a first operational amplifier, a non-inverting input terminal of the first operational amplifier is grounded, an inverting input terminal of the first operational amplifier is connected to the tactile sensor, and an output terminal of the first operational amplifier is connected to the control device.

10. The tactile sensor device according to claim 9, characterized in that The voltage amplification circuit comprises a second operational amplifier, a non-inverting input terminal of the second operational amplifier is grounded, an inverting input terminal of the second operational amplifier is connected to an output terminal of the first operational amplifier, and an output terminal of the second operational amplifier is connected to the control device.

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