Multi-plane flexible pressure sensor

Abstract

The utility model discloses a multi-plane flexible pressure sensor, which belongs to the technical field of pressure sensing and comprises a first sensing plane and a plurality of second sensing planes arranged in the circumferential direction of the first sensing plane, and the first sensing plane and the second sensing planes can sense pressure and convert the pressure into electric signals. The plurality of second sensing planes and the first sensing plane are arranged at an inclined angle and are fixedly connected, and each second sensing plane is electrically connected with the first sensing plane. According to the multi-plane flexible pressure sensor, a plurality of sensing planes are spliced to form a main plane and a plurality of auxiliary planes, and the plurality of auxiliary planes surround the periphery of the first main plane. When the multi-plane flexible pressure sensor is used as a fingertip pressure sensor, the main plane can be used as a main pressure sensing surface, and each auxiliary plane can sense the circumferential pressure of the fingertip, so that the wrapping type test of the fingertip pressure is realized, and the multi-surface sensing of the fingertip pressure is realized.

Description

Technical Field

[0001] This utility model belongs to the field of pressure sensing technology, specifically relating to a multi-planar flexible pressure sensor. Background Technology

[0002] Fingertip sensors for robots have always been a focus of the robotics industry, and piezoresistive sensors play an important role in the application of dexterous fingertips in robots. Piezoresistive sensors are a commonly used pressure sensing technology that can measure the amount of pressure applied by a finger to an object. Piezoresistive sensors utilize the principle that resistance changes with pressure. When pressure is applied to the sensor surface, its internal resistance changes accordingly. By measuring the change in resistance, the pressure information applied to the sensor can be indirectly obtained.

[0003] Piezoresistive sensors are primarily made of pressure-sensitive materials, such as bending-sensitive materials or silicone rubber. They can generate a large resistance change under relatively small pressure, offering advantages such as high sensitivity and simple structure. Currently, robot fingertip sensors mainly collect data based on planar pressure. They cannot achieve multi-planar data acquisition and cannot sense pressure changes in multiple directions like human fingers, resulting in existing robot fingertip sensors being unable to perceive complex application environments. Utility Model Content

[0004] In response to one or more of the above-mentioned defects or improvement needs of the existing technology, this utility model provides a multi-planar flexible pressure sensor to solve the problem that existing robot fingertip sensors can only sense unidirectional planar pressure.

[0005] To achieve the above objectives, this utility model provides a multi-planar flexible pressure sensor, which includes:

[0006] A first sensing plane and a plurality of second sensing planes disposed around the first sensing plane. Both the first sensing plane and the second sensing planes can sense pressure and convert the pressure into an electrical signal.

[0007] Multiple second sensing planes are inclined to the first sensing plane and fixedly connected, and each second sensing plane is electrically connected to the first sensing plane.

[0008] As a further improvement of this utility model, the first sensing plane and each of the second sensing planes include an electrode plate layer, an insulating adhesive layer and a pressure-sensitive layer stacked sequentially along the thickness direction. The electrode plate layers of the first sensing plane and each of the second sensing planes are fixedly connected and electrically connected.

[0009] The electrode plate layer is provided with multiple pressure sensing areas, and the insulating adhesive layer is provided with a pressing hole corresponding to each pressure sensing area. The pressure-sensitive layer can be pressed and deformed to adhere to the electrode plate layer.

[0010] As a further improvement of this utility model, the first sensing plane is square, and each of the second sensing planes is connected to the four sides of the first sensing plane, and the inclination angle of each of the second sensing planes is the same as that of the first sensing plane.

[0011] As a further improvement of this utility model, the four sides of the first sensing plane are provided with connecting grooves extending outward, and the ends of each second sensing plane connected to the first sensing plane are provided with protrusions, and the end faces of each second sensing plane and the first sensing plane are interlocked.

[0012] As a further improvement of this utility model, the first sensing plane has protective plates formed at its four corners, the thickness of the protective plates being greater than the thickness of the first sensing plane, and the protective plates being welded to the first sensing plane and each of the second sensing planes.

[0013] As a further improvement of this utility model, the first sensing plane is circular, and each of the second sensing planes surrounds and connects to the outer periphery of the first sensing plane, and each of the second sensing planes has the same inclination angle as the first sensing plane.

[0014] As a further improvement of this utility model, the insulating adhesive layer is formed by insulating adhesive or by bonding insulating double-sided tape.

[0015] As a further improvement of this utility model, the electrode plate layer of the first sensing plane is provided with a control unit on the side away from the pressure-sensitive layer. The control unit is used to collect the pressure of the first sensing plane and each of the second sensing planes and transmit it to an external unit.

[0016] The aforementioned improved technical features can be combined with each other as long as they do not conflict with each other.

[0017] In summary, the beneficial effects of the above-described technical solutions conceived by this utility model compared with the prior art include:

[0018] (1) The multi-plane flexible pressure sensor of this utility model adopts a multi-sensing plane splicing form to form a main plane and multiple sub-planes, and the multiple sub-planes surround the first main plane. When the multi-plane flexible pressure sensor is used as a fingertip pressure sensor, the main plane can be used as the main pressure sensing surface, and each sub-plane can sense the circumferential pressure of the fingertip, so as to complete the enveloping monitoring of fingertip pressure and realize multi-faceted sensing of fingertip pressure.

[0019] (2) The multi-plane flexible pressure sensor of this utility model sets the sensing plane as a combination of an electrode plate layer, an insulating adhesive layer and a pressure-sensitive layer. The electrode plate layer is a rigid circuit board structure, which allows the first sensing plane and the second sensing plane to be set at a set angle to realize multi-plane pressure sensing. At the same time, this application sets a connecting groove at the end face of the first sensing plane and a protrusion on the second sensing plane. The protrusion and the connecting groove are matched to form a tenon structure to realize the initial connection of the first sensing plane and the second sensing plane, so that the first sensing plane and the second sensing plane can be set at any required angle. At the same time, it is convenient for the subsequent welding of the first sensing plane and the second sensing plane to realize the effective electrical connection between the two. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the multi-planar flexible pressure sensor in this embodiment of the utility model;

[0021] Figure 2 This is a schematic diagram of the overall structure of the multi-planar flexible pressure sensor from another perspective in an embodiment of this utility model;

[0022] Figure 3 This is a schematic diagram of the internal structure of the first sensing plane in an embodiment of this utility model.

[0023] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically:

[0024] 1. First sensing plane; 2. Second sensing plane; 3. Protective plate; 4. Electrode plate layer; 5. Insulating adhesive layer; 6. Pressure-sensitive layer; 7. Control unit. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the present utility model and are not intended to limit the present utility model. Furthermore, the technical features involved in the various embodiments of the present utility model described below can be combined with each other as long as they do not conflict with each other.

[0026] In the description of this utility model, it should be understood that, unless otherwise stated, the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0027] Furthermore, unless otherwise stated, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0028] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0029] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0030] Example:

[0031] Please see Figures 1-3The multi-plane flexible pressure sensor in the preferred embodiment of this utility model includes a first sensing plane 1, and a plurality of second sensing planes 2 are arranged circumferentially on the first sensing plane 1. Both the first sensing plane 1 and the second sensing plane 2 can sense pressure and convert the pressure into an electrical signal. At the same time, the plurality of second sensing planes 2 are arranged at an angle to the first sensing plane 1 and are fixedly connected, and each second sensing plane 2 is electrically connected to the first sensing plane 1.

[0032] Specifically, the multi-planar flexible pressure sensor in this application adopts a multi-sensing plane assembly to form a main plane and multiple sub-planes, with the sub-planes surrounding the main plane. When the multi-planar flexible pressure sensor is used as a fingertip pressure sensor, the main plane can serve as the primary pressure sensing surface, and each sub-plane can sense the circumferential pressure of the fingertip, thereby achieving enveloping monitoring of fingertip pressure and realizing multi-faceted sensing of fingertip pressure.

[0033] Furthermore, as an optional embodiment of this utility model, the first sensing plane 1 and each of the second sensing planes 2 in this application each include an electrode plate layer 4, an insulating adhesive layer 5, and a pressure-sensitive layer 6 stacked sequentially along the thickness direction, and the first sensing plane 1 and the electrode plate layers 4 of each of the second sensing planes 2 are fixedly connected and electrically connected. Secondly, multiple pressure sensing areas are provided on the electrode plate layer 4, and a pressing hole is opened on the insulating adhesive layer 5 corresponding to each pressure sensing area. The pressure-sensitive layer 6 can be pressed and deformed to adhere to the electrode plate layer 4. Specifically, this application adopts an electrode plate and pressure-sensitive combined structure. The electrode plate itself is a rigid structure, and each electrode plate forms a fingertip-like structure through a rigid connection to achieve multi-faceted sensing of the fingertip. Secondly, the insulating adhesive layer 5 separates the electrode plate layer 4 and the pressure-sensitive layer 6. When the pressure-sensitive layer 6 is pressed, it will contact the electrode plate layer 4. The pressure sensor can calculate the pressure on the pressure-sensitive layer 6 based on the contact area and pressure between the pressure-sensitive layer 6 and the electrode plate layer 4. In this application, the first sensing plane 1 and the second sensing plane 2 can be electrically connected through the connection of the electrode plate layer 4 to achieve pressure acquisition and transmission on each plane. Optionally, the insulating adhesive layer 5 in this application can form an adhesive area on the outer ring of the electrode plate layer 4 and the pressure-sensitive layer 6, so that the two are bonded together.

[0034] Furthermore, as an optional embodiment of this utility model, the first sensing plane 1 in this application is square, and each second sensing plane 2 is connected to the four sides of the first sensing plane 1, and the inclination angle of each second sensing plane 2 is the same as that of the first sensing plane 1. When the first sensing plane 1 in this application is square, each of its four sides is connected to a second sensing plane 2, and the first sensing plane 1 and the second sensing plane 2 combine to form a groove-like structure, which can sense the pressure of the fingertip and the area around the fingertip.

[0035] Furthermore, as an optional embodiment of this utility model, the first sensing plane 1 in this application is circular, and each second sensing plane 2 surrounds and connects to the outer periphery of the first sensing plane 1, and the inclination angle of each second sensing plane 2 is the same as that of the first sensing plane 1. The multi-planar flexible pressure sensor in this application can also be configured as a circular structure, and the first sensing plane 1 and the second sensing plane 2 can form a finger sleeve-like structure to realize pressure sensing of the fingertip and the area around the fingertip.

[0036] Furthermore, as an optional embodiment of this utility model, when the first sensing plane 1 in this application is square, connecting grooves are provided extending outward from the four sides of the first sensing plane 1, and each second sensing plane 2 has a protrusion at the end connected to the first sensing plane 1, and the end faces of each second sensing plane 2 and the first sensing plane 1 are interlocked. When both the first sensing plane 1 and the second sensing plane 2 are square sheet structures, the tilt angle between the first sensing plane 1 and the second sensing plane 2 is difficult to control, making it difficult to form a multi-plane flexible pressure sensor with a set angle in the actual manufacturing process, and the multi-plane mating form increases the manufacturing difficulty of the pressure sensor. Based on this, this application provides a groove structure around the first sensing plane 1 and a corresponding protrusion structure on the second sensing plane 2. Through the matting of the tenon and mortise structure, the first sensing plane 1 and the second sensing plane 2 are initially fixed, facilitating their combination to form a set angle; and the tenon and mortise structure allows the first sensing plane 1 and the second sensing plane 2 to be in a movable state before fixing, and the angle between the first sensing plane 1 and the second sensing plane 2 can be adjusted according to actual usage requirements.

[0037] Preferably, since an effective electrical connection needs to be formed between the first sensing plane 1 and the second sensing plane 2, after the first sensing plane 1 and the second sensing plane 2 are interlocked, they can be connected as a whole by welding or other means. Optionally, in this application, the electrode plate layers 4 of the first sensing plane 1 and the second sensing plane 2 are welded into a single structure. Optionally, the first sensing plane 1 and the second sensing plane 2 are welded together at the groove structure and the protrusion structure to form one or more weld points, thereby connecting the first sensing plane 1 and the second sensing plane 2 as a whole.

[0038] Furthermore, as an optional embodiment of this utility model, in this application, the first sensing plane 1 has protective plates 3 formed at its four corners. The thickness of the protective plates 3 is greater than the thickness of the first sensing plane 1, and the protective plates 3 are welded to the first sensing plane 1 and each of the second sensing planes 2. Both the first sensing plane 1 and the second sensing planes 2 are flat, connected only on one side, and are angled, resulting in an unstable connection. Therefore, this application provides protective plates 3, which are thicker than the first sensing plane 1, allowing the protective plates 3 to simultaneously connect to the other side of both the first sensing plane 1 and the second sensing plane 2, thereby enhancing the connection stability between the first sensing plane 1 and the second sensing plane 2 and improving the service life of the multi-square-meter flexible pressure sensor. Optionally, the protective plates 3 in this application are generally arc-shaped, located at the four corners of the first sensing plane 1, and connected to both sides respectively. Simultaneously, the protective plates 3 can protect the four corners of the first sensing plane 1, preventing them from being too sharp.

[0039] Furthermore, as an optional embodiment of this utility model, the insulating adhesive layer 5 in this application is formed by insulating adhesive or bonded with insulating double-sided tape.

[0040] Furthermore, as an optional embodiment of this utility model, the electrode plate layer 4 of the first sensing plane 1 in this application is further provided with a control unit 7 on the side opposite to the pressure-sensitive layer 6. The control unit 7 is used to collect the pressure of the first sensing plane 1 and each of the second sensing planes 2, and to transmit the pressure data generated by the multi-planar flexible pressure sensor to the outside. In this application, the first sensing plane 1 and the second sensing planes 2 are electrically connected. The control unit 7 can collect the pressure data on the first sensing plane 1 and each of the second sensing planes 2, and transmit it to the external processing unit to realize the data acquisition and transmission on the multi-planar flexible pressure sensor.

[0041] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A multi-planar flexible pressure sensor, characterized by, The application relates to a pressure sensor. The application relates to a pressure sensor. The application relates to a pressure sensor.

2. The multi-planar flexible pressure sensor of claim 1, wherein, The application relates to a pressure sensor. The application relates to a pressure sensor.

3. The multi-planar flexible pressure sensor of claim 2, wherein, The application relates to a pressure sensor.

4. The multi-planar flexible pressure sensor of claim 3, wherein, The application relates to a pressure sensor.

5. The multi-planar flexible pressure sensor of claim 4, wherein, The application relates to a pressure sensor.

6. The multi-planar flexible pressure sensor of claim 2, wherein, The application relates to a pressure sensor.

7. The multi-planar flexible pressure sensor of claim 2, wherein, The application relates to a pressure sensor.

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