Tactile sensor e-skin

Abstract

The utility model discloses a kind of tactile sensor electronic skins, comprising: abrasion-resistant layer, adhesive layer, piezoresistive sensing layer, electrode pattern layer and substrate layer are sequentially superposed, the electrode pattern layer includes left-hand electrode subarea and right-hand electrode subarea arranged at intervals, right-hand electrode subarea further includes right busbar and is connected to right busbar and is arranged at intervals several right finger strips, the left finger strip of left-hand electrode subarea is located between adjacent right finger strip of right-hand electrode subarea and is arranged at intervals, and the right finger strip of right-hand electrode subarea is located between adjacent left finger strip of left-hand electrode subarea and is arranged at intervals;Abrasion-resistant layer, adhesive layer between are provided with a super-soft silica gel layer, the piezoresistive sensing layer, electrode pattern layer have a gap air layer.The utility model improves the perception sensitivity to small pressure, can also provide excellent high sensitivity three-dimensional force, especially shear force perception ability, improves the grasping stability of robot dexterous hand.

Description

Technical Field

[0001] This utility model relates to the technical field of sensors, and in particular to a tactile sensor electronic skin. Background Technology

[0002] With the continuous development of robotics technology, robots are increasingly widely used in industries such as manufacturing, healthcare, and services. To improve the human-robot interaction experience, the tactile perception capabilities of robots are becoming increasingly important. For robots performing complex grasping tasks, tactile sensors are indispensable. When performing grasping actions, the robot must be able to grip the object firmly without damaging it. This requires tactile sensors to accurately sense the contact force between the robot and the object, enabling the robot to grasp with appropriate force while avoiding excessive force that could damage the object. Summary of the Invention

[0003] The technical problem to be solved by this utility model is to provide a tactile sensor electronic skin. This tactile sensor electronic skin, while achieving wear resistance, not only improves the sensitivity to the perception of minute pressure, but also provides excellent high-sensitivity three-dimensional force, especially shear force, perception capability, thereby improving the grasping stability of the robot's dexterous hand.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is: a tactile sensor electronic skin, comprising: a wear-resistant layer, an adhesive layer, a piezoresistive sensing layer, an electrode pattern layer, and a substrate layer stacked sequentially. The electrode pattern layer includes a left-hand electrode sub-region and a right-hand electrode sub-region spaced apart. The left-hand electrode sub-region further includes a left busbar and a plurality of left finger strips connected to the left busbar and spaced apart. The right-hand electrode sub-region further includes a right busbar and a plurality of right finger strips connected to the right busbar and spaced apart. The left finger strips of the left-hand electrode sub-region are located between adjacent right finger strips of the right-hand electrode sub-region and are spaced apart. The right finger strips of the right-hand electrode sub-region are located between adjacent left finger strips of the left-hand electrode sub-region and are spaced apart. An ultra-soft silicone layer is disposed between the wear-resistant layer and the adhesive layer. The piezoresistive sensing layer and the electrode pattern layer have a gap air layer.

[0005] The following is a further improvement to the above technical solution: 1. In the above scheme, the wear-resistant layer is a TPU layer, a natural rubber layer, or a wear-resistant coating.

[0006] 2. In the above scheme, the thickness of the ultra-soft silicone layer is 4 to 10 times the thickness of the wear-resistant layer.

[0007] 3. In the above scheme, the thickness of the wear-resistant layer is 0.2~0.5mm.

[0008] 4. In the above scheme, the thickness of the ultra-soft silicone layer is 1.0~2.0mm.

[0009] 5. In the above scheme, the substrate layer is a PET film layer or a PI film layer.

[0010] Due to the application of the above technical solution, this utility model has the following advantages compared with the prior art: 1. This utility model relates to a thin-film pressure sensor, which comprises a wear-resistant layer, an adhesive layer, a piezoresistive sensing layer, an electrode pattern layer, and a substrate layer stacked sequentially. An ultra-soft silicone layer is disposed between the wear-resistant layer and the adhesive layer. The composite structure with two layers of different hardness achieves a balance between triggering force and high sensitivity. While achieving wear resistance, it not only improves the sensitivity to small pressures but also provides excellent high-sensitivity three-dimensional force, especially shear force, sensing capability, which is beneficial for improving the grasping stability of robot dexterity hands. Furthermore, the piezoresistive sensing layer and the electrode pattern layer have a gap air layer to avoid the generation of pre-stress when no external force is applied, which would cause inaccurate measurement and interference.

[0011] 2. The capacitive pressure sensing film of this utility model has an electrode pattern layer comprising a left-hand electrode sub-region and a right-hand electrode sub-region spaced apart. The left finger strips of the left-hand electrode sub-region are located between adjacent right finger strips of the right-hand electrode sub-region and are spaced apart. The right finger strips of the right-hand electrode sub-region are located between adjacent left finger strips of the left-hand electrode sub-region and are spaced apart. This facilitates the separate implementation of the electrode pattern area and the pressure-sensitive sensing layer, avoiding mutual process interference, saving process time and improving efficiency. Since the left finger strips of the left-hand electrode sub-region are located between adjacent right finger strips of the right-hand electrode sub-region and are spaced apart, and the right finger strips of the right-hand electrode sub-region are located between adjacent left finger strips of the left-hand electrode sub-region and are spaced apart, the effective sensing area is increased, and the sensitivity of the capacitive pressure sensing film is improved. Attached Figure Description

[0012] Appendix Figure 1 This is a schematic diagram of the electronic skin planar state of the tactile sensor of this utility model; Appendix Figure 2 This is a schematic diagram of the structure of the electronic skin curved surface of the tactile sensor of this utility model; Appendix Figure 3 This is a schematic diagram of the electrode pattern layer in the curved surface of the electronic skin of this utility model.

[0013] In the above attached diagrams: 1. Wear-resistant layer; 2. Adhesive layer; 3. Piezoresistive sensing layer; 4. Electrode pattern layer; 5. Left-hand electrode sub-area; 51. Left busbar; 52. Left finger bar; 6. Right-hand electrode sub-area; 61. Right busbar; 62. Right finger bar; 7. Substrate layer; 8. Ultra-soft silicone layer; 9. Gap air layer. Detailed Implementation

[0014] The present patent can be further understood through the specific embodiments given below, but they are not intended to limit the present patent.

[0015] The present invention will be further described below with reference to embodiments: Example 1: A tactile sensor electronic skin, comprising: a wear-resistant layer 1, an adhesive layer 2, a piezoresistive sensing layer 3, an electrode pattern layer 4, and a substrate layer 7 stacked sequentially. The electrode pattern layer 4 includes a left-hand electrode sub-region 5 and a right-hand electrode sub-region 6 spaced apart. The left-hand electrode sub-region 5 further includes a left busbar 51 and a plurality of left finger strips 52 connected to the left busbar 51 and spaced apart. The right-hand electrode sub-region 6 further includes a right busbar 61 and a plurality of right finger strips 62 connected to the right busbar 61 and spaced apart. The left finger strips 52 of the left-hand electrode sub-region 5 are located between adjacent right finger strips 62 of the right-hand electrode sub-region 6 and are spaced apart. The right finger strips 62 of the right-hand electrode sub-region 6 are located between adjacent left finger strips 52 of the left-hand electrode sub-region 5 and are spaced apart. An ultra-soft silicone layer 8 is disposed between the wear-resistant layer 1 and the adhesive layer 2. The piezoresistive sensing layer 3 and the electrode pattern layer 4 have a gap air layer 9.

[0016] The aforementioned wear-resistant layer 1 is a TPU layer.

[0017] The thickness of the aforementioned ultra-soft silicone layer 8 is 5 times that of the wear-resistant layer 1.

[0018] The thickness of the wear-resistant layer 1 is 0.4 mm.

[0019] The thickness of the aforementioned ultra-soft silicone layer 8 is 2.0 mm.

[0020] The substrate layer 7 mentioned above is a PI film layer.

[0021] The electrode pattern layer 4 mentioned above is made of copper.

[0022] Example 2: A tactile sensor electronic skin, comprising: a wear-resistant layer 1, an adhesive layer 2, a piezoresistive sensing layer 3, an electrode pattern layer 4, and a substrate layer 7 stacked sequentially. The electrode pattern layer 4 includes a left-hand electrode sub-region 5 and a right-hand electrode sub-region 6 spaced apart. The left-hand electrode sub-region 5 further includes a left busbar 51 and a plurality of left finger strips 52 connected to the left busbar 51 and spaced apart. The right-hand electrode sub-region 6 further includes a right busbar 61 and a plurality of right finger strips 62 connected to the right busbar 61 and spaced apart. The left finger strips 52 of the left-hand electrode sub-region 5 are located between adjacent right finger strips 62 of the right-hand electrode sub-region 6 and are spaced apart. The right finger strips 62 of the right-hand electrode sub-region 6 are located between adjacent left finger strips 52 of the left-hand electrode sub-region 5 and are spaced apart. An ultra-soft silicone layer 8 is disposed between the wear-resistant layer 1 and the adhesive layer 2. The piezoresistive sensing layer 3 and the electrode pattern layer 4 have a gap air layer 9.

[0023] The aforementioned wear-resistant layer 1 is a natural rubber layer.

[0024] The thickness of the aforementioned ultra-soft silicone layer 8 is three times that of the wear-resistant layer 1.

[0025] The thickness of the wear-resistant layer 1 is 0.4 mm.

[0026] The thickness of the aforementioned ultra-soft silicone layer 8 is 1.2 mm.

[0027] The substrate layer 7 mentioned above is a PET film layer.

[0028] The electrode pattern layer 4 mentioned above is made of silver.

[0029] When using the above-mentioned tactile sensor electronic skin, the wear-resistant layer 1, adhesive layer 2, piezoresistive sensing layer 3, electrode pattern layer 4 and substrate layer 7 are stacked in sequence. An ultra-soft silicone layer 8 is provided between the wear-resistant layer 1 and the adhesive layer 2. The double-layer composite structure with different hardness achieves a balance between triggering force and high sensitivity. On the basis of wear resistance, it not only improves the sensitivity to the perception of small pressure, but also provides excellent high-sensitivity three-dimensional force, especially shear force perception capability, which improves the grasping stability of the robot's dexterous hand. Furthermore, in the electrode pattern layer 4, the left finger strip 52 of the left-hand electrode sub-region 5 is located between adjacent right finger strips 62 of the right-hand electrode sub-region 6 and is distributed at intervals. The right finger strip 62 of the right-hand electrode sub-region 6 is located between adjacent left finger strips 52 of the left-hand electrode sub-region 5 and is distributed at intervals. This avoids mutual process interference, saves process time and improves efficiency. Since the left finger strips of the left-hand electrode sub-region are located between adjacent right finger strips of the right-hand electrode sub-region and are distributed at intervals, and the right finger strips of the right-hand electrode sub-region are located between adjacent left finger strips of the left-hand electrode sub-region and are distributed at intervals, the effective sensing area is increased, and the sensitivity of the capacitive pressure sensing film is improved.

[0030] The above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be included within the scope of protection of this utility model.

Claims

1. A tactile sensor electronic skin, characterized in that: include: The wear-resistant layer (1), adhesive layer (2), piezoresistive sensing layer (3), electrode pattern layer (4), and substrate layer (7) are stacked sequentially. The electrode pattern layer (4) includes a left-handed electrode sub-region (5) and a right-handed electrode sub-region (6) spaced apart. The left-handed electrode sub-region (5) further includes a left busbar (51) and a plurality of left finger strips (52) connected to the left busbar (51) and spaced apart. The right-handed electrode sub-region (6) further includes a right busbar (61) and a plurality of left finger strips (52) connected to the right busbar (61) and spaced apart. A number of right finger strips (62) are spaced apart. The left finger strips (52) of the left hand electrode sub-region (5) are located between adjacent right finger strips (62) of the right hand electrode sub-region (6) and are spaced apart. The right finger strips (62) of the right hand electrode sub-region (6) are located between adjacent left finger strips (52) of the left hand electrode sub-region (5) and are spaced apart. An ultra-soft silicone layer (8) is provided between the wear-resistant layer (1) and the adhesive layer (2). The piezoresistive sensing layer (3) and the electrode pattern layer (4) have a gap air layer (9).

2. The tactile sensor electronic skin according to claim 1, characterized in that: The wear-resistant layer (1) is a TPU layer, a natural rubber layer, or a wear-resistant coating.

3. The tactile sensor electronic skin according to claim 1, characterized in that: The thickness of the ultra-soft silicone layer (8) is 4 to 10 times that of the wear-resistant layer (1).

4. The tactile sensor electronic skin according to claim 1, characterized in that: The thickness of the wear-resistant layer (1) is 0.2~0.5mm.

5. The tactile sensor electronic skin according to claim 1, characterized in that: The thickness of the ultra-soft silicone layer (8) is 1.0~2.0mm.

6. The tactile sensor electronic skin according to claim 1, characterized in that: The substrate layer (7) is a PET film layer or a PI film layer.

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