Stretchable sensor structures and smart devices

Abstract

This utility model discloses a stretchable sensor structure and an intelligent device. The stretchable sensor structure includes a circuit board and a sensing structure. The sensing structure includes a thin film and a transverse plane sensing structure and / or a longitudinal plane sensing structure mounted on the thin film. The transverse plane sensing structure includes a first conductor, a second conductor spaced apart from the first conductor along the transverse plane, and a conductive strain-sensitive structure connecting the first conductor and the second conductor. The first conductor and the second conductor are mounted on the thin film and are both located on the first surface of the thin film. The longitudinal plane sensing structure includes the first conductor and a third conductor arranged longitudinally with the first conductor. The third conductor is mounted on the second surface of the thin film and forms a capacitor structure with the first conductor.

Description

Technical Field

[0001] This utility model relates to the field of sensor technology, specifically to a stretchable sensor structure and intelligent device. Background Technology

[0002] In recent years, with the rapid rise of emerging application areas such as smart wearable devices, health monitoring systems, and software-based intelligent devices, the market demand for strain sensors capable of detecting deformation of objects or structures has been continuously increasing. As a key tool for assessing health status, predicting failures, and optimizing designs, the importance of strain sensors is becoming increasingly prominent.

[0003] Currently, strain sensors on the market are mainly divided into two categories: the first category is metal foil strain gauges, which fix metal foils onto insulators through processes such as etching and photolithography, and connect them with wires; the other category is semiconductor strain gauges, which are based on the piezoresistive effect of materials. That is, when a material is deformed by force, the change in its internal energy band structure will cause a change in the carrier concentration, thereby causing a change in the resistance value.

[0004] The aforementioned traditional strain sensors are mostly based on rigid substrate materials, making them difficult to adapt to the installation requirements of complex curved surfaces. Especially in scenarios requiring high flexibility and stretchability, such as robotic arms, the application of rigid sensors is limited. In addition, although existing flexible sensors have a certain degree of stretchability, they lack accuracy in multidimensional strain detection (such as simultaneously detecting complex deformations such as tension, compression, and shear) and have poor signal stability, making it difficult to simultaneously meet the requirements of high sensitivity, multidimensional detection, and durability. Utility Model Content

[0005] In view of this, the present invention provides a stretchable sensor structure and intelligent device to solve the problems that traditional strain sensors are mostly based on rigid substrate materials, which makes it difficult to adapt to the installation requirements of complex curved surfaces, and that existing flexible sensors have insufficient accuracy in multidimensional strain detection and poor signal stability, making it difficult to simultaneously meet the requirements of high sensitivity, multidimensional detection and durability.

[0006] This invention provides a stretchable sensor structure, comprising a circuit board and a sensing structure. The sensing structure includes a thin film and a transverse plane sensing structure and / or a longitudinal plane sensing structure mounted on the thin film. The transverse plane sensing structure includes a first conductor, a second conductor spaced apart from the first conductor along the transverse plane, and a conductive strain-sensitive structure connecting the first conductor and the second conductor. The first conductor and the second conductor are mounted on the thin film and are both located on the first surface of the thin film. The longitudinal plane sensing structure includes the first conductor and a third conductor arranged longitudinally with the first conductor. The third conductor is mounted on the second surface of the thin film and forms a capacitor structure with the first conductor. The first conductor, the second conductor, and the third conductor are electrically connected to the circuit board.

[0007] Preferably, in the stretchable sensor structure, there are multiple second conductors, which are arranged relative to the first conductor in different directions along the transverse plane.

[0008] Preferably, in the stretchable sensor structure, there are three second conductors, which are evenly distributed around the outer periphery of the first conductor.

[0009] Preferably, in the stretchable sensor structure, the strain-sensitive structure is a conductive paste, which is coated on the film and located between the first conductor and the second conductor.

[0010] Preferably, in the stretchable sensor structure, the conductive paste has a linear and / or serpentine shape.

[0011] Preferably, in the stretchable sensor structure, the first conductor includes multiple conductive structures, which are arranged in different directions, and each conductive structure forms a capacitor structure with the third conductor.

[0012] Preferably, in the stretchable sensor structure, the plurality of conductive structures are arranged in a random or matrix pattern.

[0013] Preferably, in the stretchable sensor structure, the thickness of the film is H, where 0.1 mm ≤ H ≤ 0.5 mm.

[0014] Preferably, the stretchable sensor structure further includes an insulating elastomer that wraps around the periphery of the sensing structure.

[0015] To achieve the above objectives, the present invention also provides an intelligent device, which includes the aforementioned stretchable sensor structure.

[0016] This utility model has at least the following beneficial effects:

[0017] The present invention provides a stretchable sensor structure, the sensing structure of which includes a thin film and a transverse plane sensitive structure and / or a longitudinal plane sensitive structure mounted on the thin film. The transverse plane sensitive structure includes a first conductor, a second conductor spaced apart from the first conductor along the transverse plane, and a conductive strain-sensitive structure connecting the first and second conductors. The first and second conductors are mounted on the thin film and are both located on the first surface of the thin film. The longitudinal plane sensitive structure includes the first conductor and a third conductor arranged longitudinally with the first conductor. The third conductor is mounted on the second surface of the thin film and forms a capacitor structure with the first conductor. The first, second, and third conductors are electrically connected to a circuit board. Thus, by monitoring the resistance value of the strain-sensitive structure, the magnitude and direction of the external load on the transverse plane can be identified, ensuring the real-time performance, reliability, and accuracy of the sensor's identification results. The magnitude and direction of the external load on the longitudinal plane can be identified by monitoring the capacitance value between the first and third conductors.

[0018] Furthermore, the first conductor includes multiple conductive structures arranged in different directions. Each conductive structure forms a capacitor structure with the third conductor. Thus, each conductive structure corresponds to a detection direction with the third conductor. The force in the corresponding direction can be more accurately determined based on the detected change in capacitance between the conductive structure and the third conductor.

[0019] Furthermore, taking a smart device as a robotic arm as an example, the multi-dimensional strain perception function and tactile perception function of the robotic arm can be realized by using a horizontal plane sensitive structure and a vertical plane sensitive structure, respectively. In this way, it has both strain perception and tactile perception functions, reducing the number and complexity of sensors on the robotic arm, and the device has a high degree of integration.

[0020] Furthermore, the stretchable sensor structure provided by this utility model is made of stretchable material, which can adapt to the complex deformation and flexible operation requirements of robotic arms, and has broad market prospects. Attached Figure Description

[0021] The features and advantages of this utility model will be more clearly understood by referring to the accompanying drawings. The drawings are schematic and should not be construed as limiting the utility model in any way. In the drawings:

[0022] Figure 1A schematic diagram of the stretchable sensor structure provided by this utility model in the first embodiment;

[0023] Figure 2 for Figure 1 A schematic diagram of the middle section structure;

[0024] Figure 3 for Figure 2 Schematic diagram of the cross-section at point A;

[0025] Figure 4 A schematic diagram of the stretchable sensor structure provided by this utility model in a second embodiment.

[0026] The labels in the attached figures are explained as follows:

[0027] 1-Circuit board, 21-First conductor, 211-Conductive structure, 22-Second conductor, 23-Third conductor, 3-Thin film, 4-Strain sensitive structure, 5-Insulating elastomer. Detailed Implementation

[0028] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. The present utility model will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0029] In this embodiment of the invention, the term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0030] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0031] In this embodiment of the invention, the term "multiple" refers to two or more, and other quantifiers are similar.

[0032] In this utility model, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not used to limit this utility model.

[0033] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the various embodiments of this utility model will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details are provided in the various embodiments of this utility model to facilitate a better understanding of the invention. However, the technical solutions claimed by this utility model can be implemented even without these technical details and various variations and modifications based on the following embodiments. The division of the various embodiments below is for ease of description and should not constitute any limitation on the specific implementation of this utility model. The various embodiments can be combined with and referenced by each other without contradiction.

[0034] This invention provides a stretchable sensor structure; please refer to [link / reference]. Figures 1 to 3 The stretchable sensor structure includes a circuit board 1 and a sensing structure.

[0035] Circuit board 1 can be a conventional circuit board or a flexible circuit board.

[0036] The sensing structure includes a thin film 3, and a transverse plane sensing structure and / or a longitudinal plane sensing structure mounted on the thin film 3. The transverse plane sensing structure includes a first conductor 21, a second conductor 22 spaced apart from the first conductor 21 along the transverse plane, and a conductive strain-sensitive structure 4 connecting the first conductor 21 and the second conductor 22. The first conductor 21 and the second conductor 22 are mounted on the thin film 3 and are both located on the first surface of the thin film 3. The longitudinal plane sensing structure includes the first conductor 21 and a third conductor 23 arranged longitudinally with the first conductor 21. The third conductor 23 is mounted on the second surface of the thin film 3 and forms a capacitor structure with the first conductor 21. The first conductor 21, the second conductor 22, and the third conductor 23 are electrically connected to the circuit board 1.

[0037] In this invention, the horizontal plane can be understood as the XY plane, and the vertical plane can be understood as the Z-axis direction. When the horizontal plane sensing structure is subjected to an external force, the first conductor 21 and the second conductor 22 deform, and the resistance value of the strain-sensitive structure 4 located between the first conductor 21 and the second conductor 22 changes. This provides force feedback and deformation information, so that it can be determined whether the horizontal plane is subjected to an external force by detecting the resistance value of the strain-sensitive structure 4 between the first conductor 21 and the second conductor 22.

[0038] Specifically, to detect whether force is applied in any direction on the XY plane, second conductors 22 can be placed in different directions as needed. In some embodiments, there are multiple second conductors 22, arranged relative to the first conductor 21 along different directions on the transverse plane, thus enabling force sensing in various directions. For example, there are three second conductors 22, evenly distributed around the outer periphery of the first conductor 21, with adjacent second conductors 22 located at a 120-degree angle to the first conductor 21. In other embodiments, the number of second conductors 22 can also be set according to specific requirements.

[0039] In some embodiments, the strain-sensitive structure 4 is a conductive paste, which is coated on the thin film 3 and located between the first conductor 21 and the second conductor 22. The first conductor 21 and the second conductor 22 are connected by the conductive paste. The conductive paste may include, but is not limited to, conductive silver paste, conductive carbon paste, etc. The conductive paste covers the space between the first conductor 21 and the second conductor 22, and at least partially covers the first conductor 21 and the second conductor 22. The conductive paste can be coated or printed between the first conductor 21 and the second conductor 22, and the specific method used depends on the specific material of the conductive paste.

[0040] The transverse planar sensitive structure can be used to connect smart devices, such as robotic arms. Taking a robotic arm as an example, when the robotic arm is subjected to an external force, the first conductor 21 and the second conductor 22 deform, causing a change in the resistance value of the conductive slurry. Since there is a linear relationship between the rate of change of resistance of the conductive slurry and strain, the external force and its direction can be detected by providing force feedback and deformation information. In some embodiments, the second conductor 22 can be set according to the orientation of the robotic arm that needs strain sensing, or multiple second conductors 22 can be set. By calculating the strain values ​​of the robotic arm in various directions, multi-dimensional strain sensing of the robotic arm can be achieved.

[0041] The conductive paste can be linear, serpentine, or a combination of both. In other embodiments, it can also be other shapes, without any specific limitations.

[0042] In some embodiments, the first conductor 21 and the second conductor 22 are copper sheets; in other embodiments, the first conductor 21 and the second conductor 22 can also be other conductive metals, as long as they are conductive metals.

[0043] When the longitudinal sensitive structure is subjected to an external force in the longitudinal direction, the distance between the first conductor 21 and the third conductor 23 changes, causing a change in the capacitance value between the first conductor 21 and the third conductor 23. Thus, it can be determined whether an external force has occurred in the longitudinal direction by detecting the capacitance value between the first conductor 21 and the third conductor 23.

[0044] The longitudinal plane sensing structure can be used to measure external forces acting longitudinally. When it is necessary to detect the specific direction of the longitudinal force, the orientation of the first conductor 21 and the third conductor 23 can be set according to specific needs. Please refer to [link to relevant documentation]. Figure 4 In some embodiments, the first conductor 21 includes a plurality of conductive structures 211 arranged in different directions. Each conductive structure 211 forms a capacitor structure with the third conductor 23, thus each conductive structure 211 and the third conductor 23 corresponds to a detection direction. The force in the corresponding direction is determined based on the detected change in capacitance between the conductive structure 211 and the third conductor 23.

[0045] Multiple conductive structures 211 can be arranged randomly or in a matrix, depending on the specific requirements. For example, multiple conductive structures 211 can be arranged in a 3x3 matrix.

[0046] Vertical plane sensitive structures can be used to connect smart devices, such as robotic arms. Taking a robotic arm as an example, when the robotic arm is subjected to external force, the distance between the first conductor 21 and the third conductor 23 changes, causing a change in the capacitance value between the first conductor 21 and the third conductor 23. This allows for further determination of the force situation on the robotic arm along the vertical plane, realizing the tactile sensing function of the robotic arm. The more conductive structures 211 contained in the first conductor 21 corresponding to different directions, the more accurately the area of ​​force applied to the robotic arm can be determined.

[0047] In some embodiments, the third conductor 23 is a copper sheet; in other embodiments, the third conductor 23 can also be other conductive metals, as long as the metal can conduct electricity.

[0048] Since both the transverse and longitudinal sensitive structures are mounted on the thin film 3, the thickness of the thin film 3 cannot be too thick, as this would reduce sensitivity; conversely, the thickness of the thin film 3 cannot be too thin, as this would reduce elasticity and make it difficult to recover when the tensile stress is released. In some embodiments, the thickness of the thin film 3 is H, where 0.1 mm ≤ H ≤ 0.5 mm.

[0049] In addition, the stretchable sensor structure also includes an insulating elastomer 5, which wraps around the periphery of the sensing structure. By encapsulating the sensing structure with the insulating elastomer 5, the sensing structure can be protected from damage. In some embodiments, the insulating elastomer 5 may be, but is not limited to, PDMS material; in other embodiments, it may be other insulating materials with a certain degree of elasticity. Besides encapsulating the sensing structure, the insulating elastomer 5 can also be used to fill the gaps between the sensing structure and connected smart devices, thus protecting the devices from damage.

[0050] The first conductor 21, the second conductor 22, and the third conductor 23 are electrically connected to the circuit board 1, respectively. This connection can be achieved by using a wire bonding machine to connect the first conductor 21, the second conductor 22, and the third conductor 23 to the metal structure on the circuit board 1. Other traditional methods can also be used for connection, and no specific restrictions are imposed here.

[0051] This invention also provides a smart device that includes the aforementioned stretchable sensor structure. Embodiments of this smart device include those with the aforementioned stretchable sensor structure, and the beneficial effects of the stretchable sensor structure can also be applied to this smart device. The smart device can be, but is not limited to, smart wearable devices, health monitoring systems, and soft robots, etc.

[0052] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A stretchable sensor structure, characterized in that, include: Circuit board; A sensing structure, comprising a thin film, and a transverse plane sensing structure and / or a longitudinal plane sensing structure mounted on the thin film, wherein the transverse plane sensing structure comprises a first conductor, a second conductor spaced apart from the first conductor along the transverse plane, and a conductive strain sensing structure connecting the first conductor and the second conductor, wherein the first conductor and the second conductor are mounted on the thin film and are both located on the first surface of the thin film; The longitudinal plane sensitive structure includes a first conductor and a third conductor arranged longitudinally with the first conductor. The third conductor is mounted on the second surface of the thin film and forms a capacitor structure with the first conductor. The first conductor, the second conductor, and the third conductor are electrically connected to the circuit board.

2. The stretchable sensor structure as described in claim 1, characterized in that, There are multiple second conductors, which are arranged relative to the first conductor in different directions along the transverse plane.

3. The stretchable sensor structure as described in claim 2, characterized in that, There are three second conductors, which are evenly distributed around the outer periphery of the first conductor.

4. The stretchable sensor structure as described in claim 1, characterized in that, The strain-sensitive structure is a conductive paste, which is coated on the film and located between the first conductor and the second conductor.

5. The stretchable sensor structure as described in claim 4, characterized in that, The conductive paste has a straight and / or serpentine shape.

6. The stretchable sensor structure as described in claim 1, characterized in that, The first conductor includes multiple conductive structures, which are arranged in different directions, and each conductive structure forms a capacitor structure with the third conductor.

7. The stretchable sensor structure as described in claim 6, characterized in that, The multiple conductive structures are arranged randomly or in a matrix.

8. The stretchable sensor structure as described in claim 1, characterized in that, The thickness of the film is H, where 0.1 mm ≤ H ≤ 0.5 mm.

9. The stretchable sensor structure as described in claim 1, characterized in that, It also includes an insulating elastomer, which is wrapped around the periphery of the sensing structure.

10. A smart device, characterized in that, Includes the stretchable sensor structure as described in any one of claims 1 to 9.

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