Sensing electrode arrangement structure on single-layer plate and tactile sensor

Abstract

The utility model relates to a sensing electrode arrangement structure on a single-layer plate and a tactile sensor, the single-layer plate is provided with a sensing area, and a plurality of electrodes for implementing capacitance and / or piezoelectric sensing are arranged in the unit area of at most one square centimeter in the sensing area; the electrodes are strip-shaped electrodes, the strip-shaped electrodes have the same shape and size, the central positions of the strip-shaped electrodes are uniformly distributed, and the ratio of the width to the length of each strip-shaped electrode is configured to be 1: 2.9-3.2; and each strip-shaped electrode leads out a wire for transmitting electric signals to the outside on the single-layer plate.

Description

Technical Field

[0001] This utility model relates to the field of robot tactile perception, and in particular to a sensor electrode arrangement structure and tactile sensor on a single-layer plate. Background Technology

[0002] Robots have a need for tactile perception on their surfaces. By simulating the tactile function of human skin, robots can acquire rich environmental information through the force of physical contact.

[0003] Existing tactile sensors for robot surfaces include resistive, capacitive, photoelectric, piezoelectric, inductive, microelectromechanical (MEMS) sensors, and composite sensors that combine two or more principles. Resistive sensors are bulky and difficult to achieve high spatial resolution; photoelectric, inductive, and MEMS sensors are mostly in the laboratory research stage and have not yet matured for practical application; capacitive and piezoelectric sensors are gaining increasing attention from research teams due to their ease of electrode placement and cost advantages, with capacitive tactile sensing becoming the mainstream trend for robot surface perception.

[0004] For capacitive or piezoelectric tactile sensing technologies, in order to obtain higher spatial resolution of surface perception, the more electrodes are arranged per square centimeter of the robot surface, the better. At the same time, the larger the surface area of ​​each electrode of capacitive or piezoelectric sensing, the stronger the signal generated by pressing. However, each point in the dense array of electrodes needs to be led out to output a signal. In addition, the PCB process limits the minimum line width, which restricts the area of ​​each point. Therefore, how to achieve high spatial resolution of capacitive and / or piezoelectric tactile sensing while ensuring that pressing generates a high-intensity signal output is the focus of this patent research. Utility Model Content

[0005] To address the shortcomings of existing technologies, this invention provides a sensing electrode arrangement structure and a tactile sensor on a single-layer plate.

[0006] As a solution, this utility model provides a sensing electrode arrangement structure on a single-layer plate. The single-layer plate has a sensing area, and multiple electrodes for implementing capacitive and / or piezoelectric sensing are arranged in a unit area of ​​up to 1 square centimeter within the sensing area. The electrodes are strip electrodes, each with the same shape and size, and are uniformly distributed at their center positions. The width-to-length ratio of each strip electrode is configured as 1:2.9 to 3.2. Each strip electrode has a lead-out trace on the single-layer plate for transmitting electrical signals. By setting the electrode shape to a strip with an aspect ratio of 2.9 to 3.2:1, and having the lead-out trace run along the side of the electrode width, the area of ​​a single-point electrode can be maximized. Simultaneously, up to 100 electrodes can be arranged per square centimeter of the robot surface, achieving high spatial resolution requirements.

[0007] The exterior door handle provided by this utility model also includes the following auxiliary solutions:

[0008] Furthermore, the planar shape of the strip electrode is a rectangle or a hexagon, or a rectangle with chamfered corners.

[0009] Furthermore, the shape of the unit area is quadrilateral, and M electrodes for implementing capacitance and / or piezoelectric sensing are arranged in each quadrilateral unit area, where M is an integer; 1 / M of the unit area is used as the single-point limit area, and the ratio of the area of ​​each strip electrode to the single-point limit area is greater than 0.1980; some of the strip electrodes form four rows of dividing electrodes, and each row of dividing electrodes encloses a quadrilateral planar shape at the center of the unit area. Each row of dividing electrodes extends from one corner of the planar shape along its side to the boundary of the unit area to divide the area into partitions, and the remaining electrodes are evenly distributed in each partition in an array.

[0010] Furthermore, the separator electrodes in each row are perpendicularly intersected.

[0011] Furthermore, the row arrangement direction of the electrode array in each partition is parallel to the extension direction of the adjacent row of separator electrodes, and / or the column arrangement direction of the electrode array in each partition is parallel to the extension direction of the adjacent row of separator electrodes.

[0012] Furthermore, single-layer board traces with minimum trace width are formed based on PCB routing technology; or the single-layer board is an FPC.

[0013] A tactile sensor is also provided, including the aforementioned sensing electrode arrangement structure. Attached Figure Description

[0014] Figure 1 The arrangement structure of sensing electrodes on a single-layer plate of this utility model is given.

[0015] Figure 2 The arrangement structure of the circular electrodes is given;

[0016] Figure 3 The arrangement structure of the hexagonal strip electrodes is given;

[0017] Figure 4 The arrangement structure of the rectangular electrodes is given. Detailed Implementation

[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0019] When multilayer boards are covered on the surface of a robot, the deformation of the through holes at the bends can easily lead to unreliable electrical transmission. This utility model adopts a single-layer board arrangement of sensing electrodes. Figure 1This invention discloses a sensing electrode arrangement structure on a single-layer board. The single-layer board has a sensing area, in which multiple electrodes 100 for capacitive and / or piezoelectric sensing are arranged in a unit area of ​​at most 1 square centimeter. The electrodes 100 are formed on the surface of the single-layer board using a copper-clad process, and are strip-shaped. Each electrode 100 has the same shape and size to meet consistency requirements. The center positions of each strip electrode 100 are evenly distributed, and the width-to-length ratio is configured as 1:2.9 to 3.2 to maximize the single-point footprint, resulting in a larger amplitude signal output upon pressing. Each strip electrode 100 has a trace on the single-layer board for transmitting electrical signals.

[0020] Figure 2 The arrangement structure of circular electrodes is given. It can be seen that, with the premise of leaving room for external leads, the circular electrodes occupy the smallest area. Figure 3 The arrangement structure of hexagonal strip electrodes is given. The area of ​​a single point electrode with a hexagonal shape can be more than twice that of a circular electrode. Figure 4 The arrangement structure of rectangular electrodes is given, and the area of ​​a single point electrode in a rectangle can be three times that of a circular electrode. Figure 1 The electrode shape is formed by chamfering the corners of a rectangular electrode, which can improve the phenomenon of tip discharge.

[0021] contrast Figures 1 to 4 It can be seen that, under the premise of leaving room for external leads, the circular electrode occupies the smallest area. By setting the shape of the electrode 100 to a strip with an aspect ratio of 2.9 to 3.2:1, and having the lead run along the side of the width of the electrode 100, the area of ​​the single-point electrode 100 can be maximized. At the same time, up to 100 electrodes 100 can be arranged per square centimeter of the robot surface, achieving the requirement of high spatial resolution.

[0022] As a further improvement, see Figure 1The unit area is set as a quadrilateral, and M electrodes 100 for implementing capacitive and / or piezoelectric sensing are arranged in each quadrilateral unit area, where M is an integer. The single-point limit area is 1 / M of the unit area, and the ratio of the area of ​​each strip electrode 100 to the single-point limit area is greater than 0.1980. Some of the strip electrodes 100 form four rows of dividing electrodes 200. Each row of dividing electrodes 200 encloses a quadrilateral planar shape at the center of the unit area. Each row of dividing electrodes 200 extends from one corner of the planar shape along its side to the boundary of the unit area, thus dividing the area into partitions. The remaining electrodes 100 are evenly distributed in an array across each partition. This scheme achieves convenient wiring by forming a windmill-like topology, and maximizes the total electrode area while satisfying the requirement of 100 points per square centimeter. Furthermore, the rows of separator electrodes 200 are perpendicularly intersected in pairs, and the row arrangement direction of the electrode array 100 in each partition is parallel to the extension direction of the adjacent row of separator electrodes 200, and / or the column arrangement direction of the electrode array 100 in each partition is parallel to the extension direction of the adjacent row of separator electrodes 200, which facilitates the manufacturing of the electrode array and saves manufacturing costs.

[0023] In this invention, the wiring of the single-layer board is based on the PCB wiring process to form the minimum line width, leaving as much space as possible for the electrode area. The single-layer board is an FPC, which is convenient for wrapping the robot surface.

[0024] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit the scope of protection of this utility model. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the essence and scope of the technical solutions of this utility model.

Claims

1. A sensing electrode arrangement structure on a single-layer plate, characterized in that: The single-layer plate is provided with a sensing area, and in the sensing area, a plurality of electrodes for implementing capacitive and / or piezoelectric sensing are arranged in a unit area of ​​up to 1 square centimeter. The electrodes are strip electrodes, each with the same shape and size, and the center positions of each strip electrode are evenly distributed. The width-to-length ratio of each strip electrode is configured as 1:2.9 to 3.

2. Each strip electrode has a trace leading out on the single-layer board for transmitting electrical signals.

2. The sensing electrode arrangement structure according to claim 1, characterized in that: The planar shape of the strip electrode is rectangular or hexagonal, or a rectangular shape formed by chamfering the corners.

3. The sensing electrode arrangement structure according to claim 1, characterized in that: The shape of the unit area is a quadrilateral, and M electrodes for implementing capacitance and / or piezoelectric sensing are arranged in each quadrilateral unit area, where M is an integer; Using 1 / M of the unit area as the single-point limit area, the ratio of the area of ​​each strip electrode to the single-point limit area is greater than 0.1980. Some of the strip electrodes form four rows of dividing electrodes. Each row of dividing electrodes encloses a quadrilateral planar shape at the center of a unit area. Each row of dividing electrodes extends from one corner of the planar shape along its side to the boundary of the unit area, thus dividing the area into partitions. The remaining electrodes are evenly distributed in each partition in an array.

4. The sensing electrode arrangement structure according to claim 3, characterized in that: The separator electrodes in each row are perpendicularly intersecting each other.

5. The sensing electrode arrangement structure according to claim 4, characterized in that: The row arrangement direction of the electrode array in each partition is parallel to the extension direction of the adjacent row of separator electrodes, and / or the column arrangement direction of the electrode array in each partition is parallel to the extension direction of the adjacent row of separator electrodes.

6. The sensing electrode arrangement structure according to claim 1, characterized in that: The minimum trace width is formed by PCB routing technology, or the single-layer board is an FPC.

7. A tactile sensor, characterized in that, It includes the sensing electrode arrangement structure as described in any one of claims 1 to 6.

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