Miniature piezoelectric tactile sensing type flexible sensor
By designing a micro piezoelectric tactile induction flexible sensor on the finger of a humanoid robot, using the electrical connection between multiple flexible lines and the connecting nodes, the problems of low tactile accuracy and inconvenient structure in the prior art are solved, and higher induction is achieved Accuracy and miniaturization characteristics.
Patent Information
- Application Number
- CN202421148307.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-23
- Publication Date
- 2024-12-31
- Estimated Expiration
- 2034-05-23
AI Technical Summary
The existing PVDF film pressure sensors have problems such as low tactile accuracy, inconvenient structure for miniaturization and lead connection in humanoid robot finger gripping pressure sensing, which cannot effectively reflect the accurate judgment of contact position.
A micro piezoelectric tactile induction flexible sensor is designed. Through the first flexible electrode layer, piezoelectric thin film layer and the second flexible electrode layer that are bonded up and down in sequence, multiple flexible lines and connection nodes are arranged to realize electrical power by using conductive nodes. It can be connected in a flexible manner, forming multiple tactile sensing points, improving induction accuracy, and using adhesive connection for easy layout.
It improves the tactile sensing accuracy, realizes the miniaturization of the sensor, facilitates the layout of the humanoid robot's fingers, and enhances the accuracy of judging contact positions.
Smart Images
Figure CN222279995U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a piezoelectric tactile sensor, in particular to a micro piezoelectric tactile induction type flexible sensor. Background Art
[0002] In the prior art, PVDF thin film pressure sensors are generally used for finger grasping and releasing pressure sensing of humanoid robots. The PVDF thin film pressure sensors currently on the market usually refer to large-panel single-point structures. In practical applications, they can only perform large-area or single-point touches, and the connecting leads are usually not in the same direction, with an electrode on each side, which brings a lot of inconvenience to assembly and use. At the same time, the single-point or large-area multi-point sensor structure cannot directly reflect the tactile accuracy, and the accuracy of judging the contact position is not high. Utility Model Content
[0003] The technical problem to be solved by the utility model is to provide a miniature piezoelectric tactile sensing flexible sensor which can improve the tactile sensing accuracy, has more miniaturization characteristics, and is convenient for lead connection, in view of the deficiencies of the prior art.
[0004] In order to solve the above technical problems, the utility model adopts the following technical solutions.
[0005] A micro piezoelectric tactile-sensitive flexible sensor, comprising a first flexible electrode layer, a piezoelectric film layer, and a second flexible electrode layer bonded in sequence from top to bottom, wherein the first flexible electrode layer comprises a plurality of first flexible circuits, the first flexible circuits are provided with at least one first connection node, the second flexible electrode layer is provided with a plurality of second flexible circuits, the second flexible circuits are provided with at least one second connection node, the first connection nodes and the second connection nodes are aligned up and down, the piezoelectric film layer comprises a plurality of conductive nodes, the conductive nodes are correspondingly arranged between the first connection nodes and the second connection nodes, and the conductive nodes are electrically connected to the first connection nodes and the second connection nodes.
[0006] Preferably, the first flexible electrode layer and the piezoelectric film layer are bonded to each other via a first adhesive layer.
[0007] Preferably, the second flexible electrode layer and the piezoelectric film layer are bonded to each other via a second adhesive layer.
[0008] Preferably, the plurality of first connection nodes, the plurality of second connection nodes and the plurality of conductive nodes are all distributed in an array.
[0009] Preferably, first pin portions are formed on left and right edges of the first flexible electrode layer, respectively, and a plurality of first flexible circuits extend to the first pin portions on the left and right sides, respectively.
[0010] Preferably, second pin portions are formed at the front and rear side edges of the second flexible electrode layer, respectively, and a plurality of second flexible circuits extend to the second pin portions at the front and rear side edges, respectively.
[0011] Preferably, the two first pin portions protrude toward left and right sides respectively relative to the second flexible electrode layer.
[0012] Preferably, the two second pin portions protrude toward the front and rear sides respectively relative to the first flexible electrode layer.
[0013] In the micro-piezoelectric tactile-sensing flexible sensor disclosed by the utility model, the first flexible electrode layer, the piezoelectric film layer and the second flexible electrode layer can be bonded and connected in sequence by an adhesive to form the basic structure of the flexible sensor. At the same time, a plurality of first flexible circuits are arranged on the first flexible electrode layer, and a plurality of second flexible circuits are arranged on the second flexible electrode layer. The first connection nodes on the first flexible circuits are aligned one by one with the second connection nodes on the second flexible circuits, and the first connection nodes and the second connection nodes are electrically connected through a plurality of conductive nodes on the piezoelectric film layer, so that each first connection node and the corresponding second connection node constitute a group of tactile sensing points. Compared with the prior art, this method of simultaneously arranging connection nodes on the upper and lower sides can improve the tactile sensing accuracy, and the sensor is more miniaturized, which is convenient for deployment on the fingers of a humanoid robot, and better meets the application requirements. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 This is a front view of the micro piezoelectric tactile sensing flexible sensor of the utility model;
[0015] Figure 2 This is an exploded view of the micro piezoelectric tactile sensing flexible sensor of the utility model. DETAILED DESCRIPTION
[0016] The present invention will be described in more detail below with reference to the accompanying drawings and embodiments.
[0017] The utility model discloses a micro piezoelectric tactile induction flexible sensor, combined with Figure 1 and Figure 2As shown, it includes a first flexible electrode layer 1, a piezoelectric film layer 2 and a second flexible electrode layer 3 bonded in sequence from top to bottom, the first flexible electrode layer 1 includes a plurality of first flexible circuits 10, the first flexible circuit 10 is provided with at least one first connection node 11, the second flexible electrode layer 3 is provided with a plurality of second flexible circuits 30, the second flexible circuit 30 is provided with at least one second connection node 31, the first connection node 11 and the second connection node 31 are aligned up and down, the piezoelectric film layer 2 includes a plurality of conductive nodes 20, the conductive nodes 20 are correspondingly arranged between the first connection nodes 11 and the second connection nodes 31, and the conductive nodes 20 are electrically connected to the first connection nodes 11 and the second connection nodes 31.
[0018] In the above structure, the first flexible electrode layer 1, the piezoelectric film layer 2 and the second flexible electrode layer 3 can be bonded and connected in sequence by an adhesive to form the basic structure of the flexible sensor. At the same time, a plurality of first flexible circuits 10 are arranged on the first flexible electrode layer 1, and a plurality of second flexible circuits 30 are arranged on the second flexible electrode layer 3. The first connection nodes 11 on the first flexible circuit 10 are aligned one by one with the second connection nodes 31 on the second flexible circuit 30, and the first connection nodes 11 and the second connection nodes 31 are electrically connected through the plurality of conductive nodes 20 on the piezoelectric film layer 2, so that each first connection node 11 and the corresponding second connection node 31 constitute a group of tactile sensing points. Compared with the prior art, this method of simultaneously setting connection nodes on the upper and lower sides can improve the tactile sensing accuracy, and the sensor is more miniaturized, which is convenient for deployment on the fingers of a humanoid robot, and better meets the application requirements.
[0019] In order to bond and connect two adjacent layers, in this embodiment, the first flexible electrode layer 1 and the piezoelectric film layer 2 are bonded to each other through a first adhesive layer 4. Correspondingly, the second flexible electrode layer 3 and the piezoelectric film layer 2 are bonded to each other through a second adhesive layer 5. The bonding position of the first adhesive layer 4 and the second adhesive layer 5 should avoid the connection between each connection node and the conductive node, so as to ensure good electrical contact.
[0020] As a preferred embodiment, the plurality of first connection nodes 11, the plurality of second connection nodes 31 and the plurality of conductive nodes 20 are all distributed in an array. Figure 2 , this embodiment preferably adopts an array distribution method so that each sensing node can cover the touch sensing area of the arbitrary robot hand.
[0021] In order to facilitate the connection with the matching circuit, in this embodiment, see Figure 2The first flexible electrode layer 1 has first pin portions 12 formed on its left and right edges, and a plurality of first flexible circuits 10 extend to the first pin portions 12 on the left and right sides, respectively.
[0022] Similarly, second pin portions 32 are formed at the front and rear edges of the second flexible electrode layer 3 , respectively, and a plurality of second flexible circuits 30 extend to the second pin portions 32 at the front and rear edges, respectively.
[0023] As a preferred method, see Figure 1 The two first pin portions 12 protrude toward the left and right sides of the second flexible electrode layer 3 , respectively. On this basis, the two second pin portions 32 protrude toward the front and rear sides of the first flexible electrode layer 1 , respectively.
[0024] In the above structure, Figure 1 As shown, the protruding directions of the first pin portion 12 and the second pin portion 32 are perpendicular to each other, so that the connection positions of the first pin portion 12 and the second pin portion 32 do not conflict or interfere with each other, thereby facilitating lead connection with the matching circuit.
[0025] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the technical scope of the present invention should be included in the scope of protection of the present invention.
Claims
1. A micro piezoelectric tactile sensing flexible sensor, characterized in that: The invention comprises a first flexible electrode layer (1), a piezoelectric film layer (2) and a second flexible electrode layer (3) which are sequentially bonded from top to bottom, wherein the first flexible electrode layer (1) comprises a plurality of first flexible circuits (10), the first flexible circuits (10) are provided with at least one first connection node (11), the second flexible electrode layer (3) is provided with a plurality of second flexible circuits (30), the second flexible circuits (30) are provided with at least one second connection node (31), the first connection nodes (11) and the second connection nodes (31) are arranged in an aligned manner up and down, the piezoelectric film layer (2) comprises a plurality of conductive nodes (20), the conductive nodes (20) are correspondingly arranged between the first connection nodes (11) and the second connection nodes (31), and the conductive nodes (20) are electrically connected to the first connection nodes (11) and the second connection nodes (31).
2. The micro piezoelectric tactile sensing flexible sensor according to claim 1, characterized in that: The first flexible electrode layer (1) and the piezoelectric film layer (2) are bonded to each other via a first adhesive layer (4).
3. The micro piezoelectric tactile sensing flexible sensor according to claim 1, characterized in that: The second flexible electrode layer (3) and the piezoelectric film layer (2) are bonded to each other via a second adhesive layer (5).
4. The micro piezoelectric tactile sensing flexible sensor according to claim 1, characterized in that: The plurality of first connection nodes (11), the plurality of second connection nodes (31) and the plurality of conductive nodes (20) are all distributed in an array.
5. The micro piezoelectric tactile sensing flexible sensor according to claim 1, characterized in that: First pin portions (12) are respectively formed on left and right edges of the first flexible electrode layer (1), and a plurality of first flexible circuits (10) extend to the first pin portions (12) on the left and right sides respectively.
6. The micro piezoelectric tactile sensing flexible sensor according to claim 1, characterized in that: Second pin portions (32) are respectively formed at the front and rear side edges of the second flexible electrode layer (3), and a plurality of second flexible circuits (30) extend to the second pin portions (32) at the front and rear sides respectively.
7. The micro piezoelectric tactile sensing flexible sensor according to claim 1, characterized in that: The two first pin portions (12) protrude towards the left and right sides respectively relative to the second flexible electrode layer (3).
8. The micro piezoelectric tactile sensing flexible sensor according to claim 1, characterized in that: The two second pin portions (32) protrude toward the front and rear sides respectively relative to the first flexible electrode layer (1).