A robot mimics skin with flexible pressure receptors

Abstract

The utility model discloses a kind of flexible pressure receptors for robot imitating skin, it is related to pressure receptor technical field, including receptor main part, including lower base layer and upper base layer, the upper base layer and lower base layer are respectively located in the upper and lower surfaces of receptor main part, upper electrode layer and lower electrode layer are fixedly connected between the upper base layer and lower base layer, upper electrode layer and lower electrode layer are fixedly connected with filling layer between it.The utility model is provided with arc convex stripe on the surface of receptor main part, improve the high bionics of flexible pressure receptor to skin, by setting upper adhesive layer and lower adhesive layer, increase the connectivity of flexible pressure receptor structure, simultaneously, by sawtooth edge, increase the connecting area of upper adhesive layer and lower adhesive layer, further strengthen the connectivity of flexible pressure receptor structure, then by filling layer is set to porous sponge structure, increase the induction to external pressure, improve the perception of robot to external pressure.

Description

Technical Field

[0001] This utility model relates to the field of pressure sensor technology, and in particular to a flexible pressure sensor for robot-mimicking skin. Background Technology

[0002] Robots mimic the flexible pressure sensing of skin, and their technological foundation stems from revolutionary breakthroughs in materials science. Traditional rigid sensors cannot meet the flexibility and extensibility required by bionic skin. Therefore, flexible materials are used to form the body of the sensors. They can respond to external pressure through changes in their own physical properties (such as resistance and capacitance), thus realizing the physical basis of sensing.

[0003] The basic structure of existing flexible pressure sensors is usually a multi-layer structure. During dynamic operation, the functional layers are connected by planar adhesive. Under repeated deformation, interlayer peeling or slippage is likely to occur. The sensor generally senses pressure by deforming under external pressure. The traditional solid elastomer filling layer has a solid internal structure, which is not easy to deform and is difficult to sense low-intensity pressure signals. Utility Model Content

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the present invention.

[0005] In view of the problems existing in the above and / or existing flexible pressure sensors for robot-mimicking skin, this utility model is proposed.

[0006] Therefore, the problem to be solved by this invention is how to address the issue that existing flexible pressure sensors are prone to interlayer peeling or slippage under repeated deformation, and their internal structure is generally solid, making them difficult to deform and thus difficult to detect low-intensity pressure signals.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a flexible pressure sensor for robot-mimicking skin, comprising a sensor body, including a lower base layer and an upper base layer, wherein the upper base layer and the lower base layer are respectively located on the upper and lower surfaces of the sensor body, an upper electrode layer and a lower electrode layer are respectively fixedly connected between the upper base layer and the lower base layer, and a filling layer is fixedly connected between the upper electrode layer and the lower electrode layer.

[0008] In a preferred embodiment of the flexible pressure sensor for robot-mimicking skin described in this utility model, the upper and lower base layers are both made of polydimethylsiloxane.

[0009] As a preferred embodiment of the flexible pressure sensor for robot-mimicking skin described in this utility model, a plurality of arc-shaped protrusions are fixedly provided on the side of the upper and lower base layers that are far apart from each other.

[0010] As a preferred embodiment of the flexible pressure sensor for robot-mimicking skin described in this utility model, the upper and lower base layers are both provided with serrated edges on the sides that are close to each other.

[0011] As a preferred embodiment of the flexible pressure sensor for robot-mimicking skin described in this utility model, wherein: the bottom of the upper base layer is fixedly connected to the top of the upper adhesive layer, the top of the lower base layer is fixedly connected to the bottom of the lower adhesive layer, the bottom of the upper adhesive layer is fixedly connected to the top of the upper electrode layer, and the top of the lower adhesive layer is fixedly connected to the bottom of the lower electrode layer.

[0012] As a preferred embodiment of the flexible pressure sensor for robot-mimicking skin described in this utility model, the upper and lower adhesive layers are both made of triethoxysilane.

[0013] In a preferred embodiment of the flexible pressure sensor for robot-mimicking skin described in this utility model, both the upper and lower electrode layers are made of silver nanowire thin films.

[0014] As a preferred embodiment of the flexible pressure sensor for robot-mimicking skin described in this utility model, the filling layer is made of polydimethylsiloxane / carbon nanotubes.

[0015] As a preferred embodiment of the flexible pressure sensor for robot-mimicking skin described in this utility model, the filling layer has multiple micro-holes.

[0016] In a preferred embodiment of the flexible pressure sensor for robot-mimicking skin described in this utility model, the filling layer is located at the center of the sensor body.

[0017] The beneficial effects of this utility model are as follows: By setting arc-shaped protrusions on the surface of the sensor body, the biomimicry of the flexible pressure sensor to the skin is improved. By setting an upper adhesive layer and a lower adhesive layer, the connectivity of the flexible pressure sensor structure is increased. At the same time, the connection area between the upper adhesive layer and the lower adhesive layer is increased by the serrated edge, further strengthening the connectivity of the flexible pressure sensor structure. Furthermore, by setting the filling layer as a porous sponge structure, the sensitivity to external pressure is increased, thereby improving the robot's perception of external pressure. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a partial cross-sectional view of a flexible pressure sensor used by a robot to mimic skin.

[0020] Figure 2 A partial top view of a robot using a flexible pressure sensor that mimics skin.

[0021] Figure 3 This is a partial cross-sectional view of a flexible pressure receptor used by a robot to mimic skin.

[0022] Figure 4 This is an enlarged schematic diagram of part A of a flexible pressure sensor used by a robot to mimic skin.

[0023] Figure 5 This is an enlarged schematic diagram of part B of a flexible pressure sensor used by a robot to mimic skin.

[0024] In the figure: 1. Receptor body; 11. Lower base layer; 12. Lower adhesive layer; 13. Lower electrode layer; 14. Filler layer; 141. Micropore; 15. Upper electrode layer; 16. Upper adhesive layer; 17. Upper base layer; 171. Arc-shaped protrusion; 172. Serrated edge. Detailed Implementation

[0025] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0026] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0027] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that excludes other embodiments.

[0028] Example 1, referring to Figure 1 , Figure 2and Figure 3 This is the first embodiment of the present invention. This embodiment provides a flexible pressure sensor for robot-mimicking skin. The flexible pressure sensor for robot-mimicking skin includes a serrated edge 172 and a filling layer 14. By setting a connector, the connectivity of the sensor structure is increased. At the same time, the serrated edge 172 increases the connection area of ​​the connector, further strengthening the connectivity of the flexible pressure sensor structure. Furthermore, by setting the filling layer 14 as a porous sponge structure, the sensitivity to external pressure is increased, thereby improving the robot's perception of external pressure.

[0029] Specifically, the receptor body 1 includes a lower base layer 11 and an upper base layer 17. The upper base layer 17 and the lower base layer 11 are located on the upper and lower surfaces of the receptor body 1, respectively. An upper electrode layer 15 and a lower electrode layer 13 are fixedly connected between the upper base layer 17 and the lower base layer 11, respectively. A filling layer 14 is fixedly connected between the upper electrode layer 15 and the lower electrode layer 13.

[0030] By setting an upper electrode layer 15 and a lower electrode layer 13 inside the sensor body 1, and a filling layer 14 between the upper electrode layer 15 and the lower electrode layer 13, a capacitor for sensing pressure is realized. The upper base layer 17 and the lower base layer 11 protect the internal structure of the sensor body 1 and reduce external damage to the sensor body 1.

[0031] The working principles of this section are all existing technologies, which are clearly understood by those skilled in the art, and will not be elaborated here.

[0032] Example 2, refer to Figures 2-5 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0033] Specifically, the material of both the upper base layer 17 and the lower base layer 11 is polydimethylsiloxane.

[0034] Specifically, multiple arc-shaped protrusions 171 are fixedly installed on the side of the upper base layer 17 and the lower base layer 11 that are far apart from each other.

[0035] Specifically, the sides of the upper base layer 17 and the lower base layer 11 that are close to each other are both set with serrated edges 172.

[0036] Specifically, the bottom of the upper base layer 17 is fixedly connected to the top of the upper adhesive layer 16, the top of the lower base layer 11 is fixedly connected to the bottom of the lower adhesive layer 12, the bottom of the upper adhesive layer 16 is fixedly connected to the top of the upper electrode layer 15, and the top of the lower adhesive layer 12 is fixedly connected to the bottom of the lower electrode layer 13.

[0037] Specifically, the material of both the upper adhesive layer 16 and the lower adhesive layer 12 is triethoxysilane.

[0038] Specifically, both the upper electrode layer 15 and the lower electrode layer 13 are made of silver nanowire thin films.

[0039] Specifically, the material of the filling layer 14 is set as polydimethylsiloxane / carbon nanotube.

[0040] Specifically, the filling layer 14 has multiple micro-holes 141.

[0041] Specifically, the filling layer 14 is located at the center of the receptor body 1.

[0042] By setting the upper base layer 17 and lower base layer 11 to polydimethylsiloxane, the upper electrode layer 15 and lower electrode layer 13 to silver nanowire film, and the filling layer 14 to polydimethylsiloxane / carbon nanotube, the softness of the receptor body 1 is achieved, and the good bending and stretching properties of the receptor body 1 are also achieved.

[0043] Since the surface of polydimethylsiloxane is chemically inert, the silver nanowire film has weak adhesion to it and is easily peeled off when repeatedly bent. Adding an upper adhesion layer 16 made of triethoxysilane between the upper base layer 17 and the upper electrode layer 15, and adding a lower adhesion layer 12 made of triethoxysilane between the lower base layer 11 and the lower electrode layer 13, increases the connectivity between the upper base layer 17 and the upper electrode layer 15, as well as between the lower base layer 11 and the lower electrode layer 13, which can significantly improve the adhesion and also ensure the flexibility of the sensor body 1.

[0044] The interfaces of the upper base layer 17 and the upper adhesive layer 16 adhering to the inner wall, as well as the lower base layer 11 and the lower adhesive layer 12 adhering to the inner wall, are all set with serrated edges 172, which can significantly increase the contact area between the upper base layer 17 and the upper adhesive layer 16, as well as between the lower base layer 11 and the lower adhesive layer 12, and is beneficial to withstand tensile deformation.

[0045] By setting multiple arc-shaped protrusions 171 on the surfaces of the upper base layer 17 and the lower base layer 11, that is, the surface of the sensor body 1, skin fingerprints can be imitated, achieving a high degree of biomimicry of the skin. At the same time, when the tiny arc-shaped protrusions 171 are subjected to shear force or sliding, the structure of the arc-shaped protrusions 171 will deform, amplifying the tiny lateral friction force into more obvious local compressive and tensile strains, which are transmitted to the upper electrode layer 15, the lower electrode layer 13 and the filling layer 14 below, thereby greatly improving the sensitivity to shear force and sliding.

[0046] By setting multiple micropores 141 on the filling layer 14, the shape of the filling layer 14 is changed into a porous sponge structure, so that when pressure is applied, the pore walls are compressed, bent and come into contact with each other, the conductive path increases rapidly and continuously, the resistance decreases significantly, and the sensitivity of pressure sensing is improved.

[0047] When in use, the upper base layer 17, the lower base layer 11, the upper electrode layer 15, the lower electrode layer 13 and the filling layer 14 are all made of soft materials to achieve the softness of skin. At the same time, the upper base layer 17 and the lower base layer 11 are provided with arc-shaped raised strips 171 that are similar to skin fingerprints to achieve a high degree of skin biomimicry and improve the sensitivity to pressure sensing.

[0048] An upper adhesive layer 16 is provided between the upper base layer 17 and the upper electrode layer 15, and a lower adhesive layer 12 is provided between the lower base layer 11 and the lower electrode layer 13. Additionally, the serrated edges 172 on the upper base layer 17 and the lower base layer 11 can increase the connectivity between the base layer and the electrode layer, thereby improving the service life of the sensor body 1. At the same time, the filling layer 14 is set as a porous sponge structure to increase the sensitivity to pressure, significantly improving the performance of the sensor body 1.

[0049] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. 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 solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A flexible pressure sensor for robotic skin mimicking, characterized in that: include, The receptor body (1) includes a lower base layer (11) and an upper base layer (17). The upper base layer (17) and the lower base layer (11) are located on the upper and lower surfaces of the receptor body (1), respectively. An upper electrode layer (15) and a lower electrode layer (13) are fixedly connected between the upper base layer (17) and the lower base layer (11), respectively. A filling layer (14) is fixedly connected between the upper electrode layer (15) and the lower electrode layer (13).

2. The flexible pressure sensor for robot-mimicking skin as described in claim 1, characterized in that: The material of both the upper base layer (17) and the lower base layer (11) is polydimethylsiloxane.

3. A flexible pressure sensor for robot-mimicking skin as described in claim 1 or 2, characterized in that: Multiple arc-shaped protrusions (171) are fixedly provided on the side of the upper base layer (17) and the lower base layer (11) that are far apart from each other.

4. A flexible pressure sensor for robot-mimicking skin as described in claim 3, characterized in that: The upper base layer (17) and the lower base layer (11) are both provided with a sawtooth edge (172) on the side that is close to each other.

5. A flexible pressure sensor for robot-mimicking skin as described in any one of claims 1, 2, or 4, characterized in that: The bottom of the upper base layer (17) is fixedly connected to the top of the upper adhesive layer (16), the top of the lower base layer (11) is fixedly connected to the bottom of the lower adhesive layer (12), the bottom of the upper adhesive layer (16) is fixedly connected to the top of the upper electrode layer (15), and the top of the lower adhesive layer (12) is fixedly connected to the bottom of the lower electrode layer (13).

6. A flexible pressure sensor for robot-mimicking skin as described in claim 5, characterized in that: The material of both the upper adhesive layer (16) and the lower adhesive layer (12) is triethoxysilane.

7. A flexible pressure sensor for robot-mimicking skin as described in claim 6, characterized in that: The upper electrode layer (15) and the lower electrode layer (13) are both made of silver nanowire thin film.

8. A flexible pressure sensor for robot-mimicking skin as described in claim 7, characterized in that: The filling layer (14) is made of polydimethylsiloxane / carbon nanotubes.

9. A flexible pressure sensor for robot-mimicking skin as described in claim 8, characterized in that: The filling layer (14) has multiple micro-holes (141).

10. A flexible pressure sensor for robot-mimicking skin as described in claim 9, characterized in that: The filling layer (14) is located at the center of the receptor body (1).

Images