Folded tactile sensor

Abstract

In the tactile sensor (10), the tactile sensor includes electrical contacts (6) and a carrier that holds the contacts (6) in a predetermined arrangement structure, and the carrier is elastically deformable such that the contacts (6) can move relative to each other between a first position in contact with each other and a second position in separation from each other. The present invention proposes that the carrier has a tensioned, pre-stretched elastic surface element (1) which is fixedly connected to a support structure (2) and automatically achieves a three-dimensional shape determined by the support structure (2) after relaxation.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202480083794.4 (22) Application Date 2024.12.19 (30) Priority Data 102024100266.2 2024.01.05 DE (85) PCT International Application Entering National Phase Date 2026.07.03 (86) PCT International Application Application Data PCT / EP2024 / 087422 2024.12.19 (87) PCT International Application Publication Data WO2025 / 146361 DE 2025.07.10 (71) Applicant: HACKER AG, Germany (72) Inventors: F. Hamm, E. Dietrich, S. Gerhard, K. Wagner, M. Westphall (74) Patent Agency: China Council for the Promotion of International Trade Patent & Trademark Office Co., Ltd., 11038 Patent Attorney: Lv Chenfang (51) Int.Cl. B25J 13 / 08 (2006.01) H01H 3 / 14 (2006.01) G01L 5 / 22 (2006.01) (54) Invention Title Foldable Tactile Sensor (57) Abstract In a tactile sensor (10), the tactile sensor includes electrical contacts (6) and includes a carrier that holds the contacts (6) in a predetermined arrangement structure, and the carrier is elastically deformable such that the contacts (6) can move relative to each other between a first position in contact with each other and a second position in separation from each other. The present invention proposes that the carrier has a tensioned, pre-stretched elastic surface element (1) which is fixedly connected to a support structure (2) and automatically achieves a three-dimensional shape determined by the support structure (2) after relaxation. Claims 2 pages, Description 15 pages, Drawings 12 pages, CN 122497573 A 2026.07.31 CN 1 22 49 75 73 A 1. A tactile sensor (10), - comprising electrical contacts (6), - and comprising a carrier, the carrier holding the contacts (6) in a predetermined arrangement, and the carrier being elastically deformable such that the contacts (6) are movable relative to each other between a first contact position and a second separation position, characterized in that the carrier has a tensioned, pre-stretched elastic surface element (1), the elastic surface element being fixedly connected to a support structure (2), and automatically achieving a three-dimensional shape determined by the support structure (2) after relaxation. 2. The sensor according to claim 1, characterized in that the surface element (1) is constructed of a textile material. 3. The sensor according to claim 2, characterized in that the surface element (1) is constructed of a plain knit fabric, particularly a single-sided plain knit fabric.4. The sensor according to any one of the preceding claims, characterized in that the contact (6) is stitched to the surface element (1). 5. The sensor according to any one of claims 1 to 3, characterized in that the contact (6) is fastened to the support structure (2). 6. The sensor according to any one of the preceding claims, characterized in that the contact (6) is constructed as a conductive surface element. 7. The sensor according to any one of the preceding claims, characterized in that a wire is connected to the contact (6). 8. The sensor according to any one of the preceding claims, characterized in that the contact (6) is connected to a conductive area of ​​the surface element (1). 9. The sensor according to any one of the preceding claims, characterized in that the contact (6) forms a normally closed contact arrangement and is interconnected in a meandering manner by an electrical conductor (5). 10. The sensor according to any one of claims 1 to 8, characterized in that the contact (6) forms a normally open contact arrangement. 11. The sensor according to any one of the preceding claims, characterized in that the surface element (1) and the contact (6) are disposed within an elastically deformable sheath (15). 12. The sensor according to claim 11, wherein the sheath (15) is configured to be circumferentially closed and moisture-proof. 13. The sensor according to claim 11 or 12, wherein the sheath (15) is a flexible, elongated tube, and the contact (6) is configured such that the sensor (10) is configured as a switch bar (14). 14. The sensor according to any one of claims 11 to 13, wherein the surface element (1) and the contact (6) are disposed within the sheath (15), the sheath being formed of foam material. 15. The sensor according to any one of claims 11 to 14, wherein the sensor (10) is configured as a so-called collision buffer or switch buffer. 16. The sensor according to any one of the preceding claims, wherein the support structure (2) is printed onto the surface element (1) as a 3D printed part. 17. The sensor according to any one of the preceding claims, wherein the relaxed, folded surface element (1) has elongated ribs having substantially V-shaped cross-sections forming two inclined planes (9). Claims 1 / 2 Page 2 CN 122497573 A 18. The sensor according to claim 17, characterized in that the cross section of the rib has a tip and two foot points, wherein the sensor (10) rests against the support surface with the foot points, and the rib has at least one sliding pad (31) at at least one foot point, the sliding pad sliding along the support surface on the support surface in use when the sensor (10) is deformed.19. The sensor according to claim 17 or 18, characterized in that the sensor (10) is constructed as a normally open contact and has two adjacent ribs, the contacts (6) being arranged adjacent to each other at a distance between the tips of the ribs, such that the inclined surface (9) of the rib is opened by pressing on the rib and the contacts (6) of the rib contact with the contacts (6) of the adjacent rib. 20. The sensor according to claim 17 or 18, characterized in that the sensor (10) is constructed as a normally closed contact, and contacts (6) are respectively provided on the inner side of the two inclined surfaces (9), such that the two opposing contacts (6) are in principle in contact, and the inclined surface (9) of the rib is opened by pressing on the rib and the two contacts (6) are spaced apart from each other. 21. Application of elastic surface elements (1), particularly 4D textiles, as carriers for contacts (6) of a tactile sensor (10). Claims 2 / 2 Page 3 CN 122497573 A Folding Tactile Sensor Technical Field

[0001] The present invention relates to a tactile sensor according to the preamble of claim 1. Background Art

[0002] Such sensors in different construction schemes are known in practice. For example, in the form of a switch bar, which is constructed as normally closed contacts and has a series of electrical contacts that are held together under pre-tension, for example by being connected in series to an elastically stretched band. Based on the stretch of the band, the band automatically contracts together after the electrical contacts are assembled and causes the respective adjacent contacts to contact each other. Under the force acting transversely to the longitudinal direction on the switch bar, the adjacent contacts are separated from each other and the quiescent current is interrupted, otherwise the quiescent current flows through the contacting contacts. Furthermore, a switch bar is known that is constructed as normally open contacts and has two elongated contacts on an elastically deformable carrier, which extend along the length of the switch bar. Under the force acting transversely to the longitudinal direction on the switch bar, the two contacts come into contact, so that current can now flow through the two contacts.

[0003] The switch bar mentioned relates to the field of safety technology, and in the case of the switch bar, corresponding changes in the switch state can be used for this purpose in the case of normally closed contacts and normally open contacts, or directly, for example by current interruption or indirectly, for example by means of analysis and processing circuitry, for issuing alarm signals and / or for slowing down and / or completely shutting off the driver of movable elements.

[0004] The present invention is based on the objective of improving this type of tactile sensor so that it can be manufactured in a number of different construction schemes in a cost-effective manner and with the least possible weight, for example, with different sizes and / or different triggering forces, and wherein the sensor is robust, particularly against point-acting mechanical loads, and has high responsiveness in the case of planar mechanical loads.

[0005] This objective is achieved by a sensor having the features of claim 1 and by its application to 4D textiles according to claim 21. Advantageous construction schemes are described in the dependent claims.

[0006] A first aspect of the invention relates to a tactile sensor comprising electrical contacts and a carrier that holds the contacts in a predetermined arrangement, and the carrier being elastically deformable such that the contacts are movable relative to each other between a first position of mutual contact and a second position of mutual separation, wherein the carrier has tensioned, pre-stretched elastic planar elements fixedly connected to a support structure and automatically achieving a three-dimensional shape determined by the support structure after relaxation.

[0007] In other words, the present invention proposes to use an elastic surface element, such as a film or textile material, like woven fabric, warp-knitted or weft-knitted fabric, as the carrier for the electrical contacts of a tactile sensor, and to first stretch the surface element, either in one direction or in two directions, for example, in two directions that extend laterally relative to each other. The stretching is achieved within the elastic range of the surface element, so that after stretching, if the force causing the stretching is reduced, the surface element tends to automatically return to its initial size.

[0008] In the stretched state, the surface element is fixedly connected to the support structure. Only after this connection is established is the load on the surface element removed, so that the surface element now automatically contracts. The support structure thus impedes the surface element, causing the surface element to fold automatically. The interruption or weakening line between the various sections of the support structure—for example, having a reduced material cross-section—is used herein as a hinge line (Scharnierlinie), which determines the type of folding. The folding process is automatically achieved in principle based on the restoring force acting in the surface element, that is, without the action of additional external forces. If it is necessary to overcome, for example, the initial deformation resistance of the support structure, an external force can naturally be applied to initiate the folding process, or an external force can be applied to determine the folding direction along the hinge line.

[0009] Regarding the arrangement, shape, and rigidity of the various sections of the support structure, the construction scheme of the support structure here can realize the shape of the folded surface element and the pre-calculation of the folding process, that is, how the surface element will behave when the load is removed, so that the desired three-dimensional shape can be predetermined.In the sense of a process called "seif assembly," in a construction scheme, the desired three-dimensional structure can be produced virtually without any additional external action when the surface element contracts. Alternatively, the folding process of a specific portion of the surface element with the support structure can be determined by external force, or by corresponding manual post-processing, for example in the case of a small number of pieces, or thereby causing the surface element with the support structure to move along a defined transport direction and on a guide surface therein, which causes the desired folding process along the respective desired folding direction.

[0010] For example, individual point tips or protrusions, or elongated ribs, can be realized, which extend straight, curved, or seemingly arbitrarily. Thus, a carrier for the contact point of a tactile sensor can be realized, which has a very small weight and whose size can be arbitrarily scaled in practice, since the elastic two-dimensional surface element can be economically purchased as a commodity sold by the meter and only needs to be appropriately cut and the corresponding element with the support structure must be provided.

[0011] The possibility of manufacturing tactile sensors with very small structural dimensions enables their application in areas where the sensors should be as inconspicuous as possible or completely invisible for visual reasons, for example, as switches for lighting in the home furnishing industry, which should be turned on when operating a door, or as safety mechanisms for cutting and pressing edges of furniture, such as in the case of removable or retractable displays or height-adjustable desks.

[0012] On the other hand, sensors with deliberately large structural dimensions and low economic cost can also be manufactured, so that, for example, in the field of safety technology, tactile sensors can be mounted on movable elements that can achieve a relatively large back travel. For example, movable elements used in the industrial and logistics fields, such as robotic arms and vehicles, especially autonomous vehicles, can be equipped with such tactile sensors. In this case, the sensor is positioned at the front of the movable element along the direction of movement, so that the sensor contacts the obstacle first before the movable element itself contacts the obstacle. The greater the distance between the trigger surface of the tactile sensor and the movable element itself, the more time remains for braking of the movable element between the triggering switching process—that is, if the sensor comes into contact with an obstacle—and the contact between the obstacle and the movable element itself.

[0013] The small weight and easily achievable deformability enable the sensor according to the invention to be matched with components of different shapes. In particular, if the movable element does not perform linear motion but swinging motion, as is the case in the case of a robotic arm, then the small weight of the sensor can be advantageous: with increasing distance from the swing axis, a fixed weight causes an increasingly larger inertial torque, which inhibits the acceleration of the movable element.The square of the distance from the point of rotation or swing is incorporated into the calculation of the moment of inertia, thus the weight saving on the sensor is particularly advantageous in this or similar applications. The tactile sensor—which is used to brake a movable component as quickly as possible in the event of a collision—is typically located on the outer end of the component, such as a robotic arm, and therefore at the maximum distance from the point of rotation or swing. Unlike in the case of linearly movable components, such as autonomous land transport vehicles, the weight saving of the sensor at the free end of a swinging robotic arm is therefore significantly advantageously proportional.

[0014] The aforementioned distance between the trigger surface of the tactile sensor and the movable element itself is called the back travel, which, according to the specification on pages 2 / 15 of CN 122497573 A, can be used to brake a movable element to a non-dangerous speed level or even to a complete stop before contact with an obstacle that could cause property damage or personal injury. The sensor according to the invention can be constructed such that it can be flattened and retracted from its unfolded three-dimensional form, thus giving the sensor an integrated back travel. Additionally, structural measures regarding the sensor's mounting location in a manner known to itself can achieve a back-run stroke, for example, by using compressible elements, such as, for example, hollow elastomer profiles, foam rubber profiles, elastic support buffers, or similar load-bearing sensors, thereby forming the aforementioned back-run stroke by the available stroke segment for compression of the involved element after sensor triggering, which can be used to reduce the speed of the movable element. The sensor's construction according to the invention and the back-run stroke integrated therein can provide a longer back-run stroke without altering the application of the compressible element, or the compressible element can be constructed to a smaller size or, if possible, completely omitted.

[0015] The elastic surface element contributes to the robust construction of the sensor because it enables a very large number of load changes, for example, by acting as a hinge, which allows the tactile sensor to deform upon contact with an obstacle and always provides a restoring force so that, for example, a sensor flattened and compressed together returns to its three-dimensional form. Furthermore, the deformable sensor is also insensitive to applied point loads, thus the sensor is also robust in this respect. While insensitive to the risk of mechanical damage, the sensor exhibits high sensitivity in terms of response performance, meaning it triggers a switching process upon mechanical contact with an obstacle. The sensor's deformability enables the electrodes to be arranged such that the switching process is triggered after a short deformation displacement, either by separating the electrodes in the normally closed state or by bringing them into contact in the normally open state.

[0016] The resilient surface element provides a cost-effective substrate for three-dimensional folded sensors, thus requiring only the application of different support structures to achieve sensors of different sizes or folds. The support structure itself can be manufactured at low cost in terms of the amount of material used and processing, which supports the economical manufacturability of the sensor, and in the sense of different variations of the sensor.

[0017] The resilient surface element can also be used to mount sensors: the surface element, whose size is correspondingly determined based on its elastic stretchability, can extend beyond the sensor and, for example, form an annular sleeve, which can be fitted onto a movable component, such as a robotic arm, thereby allowing the sensor to be mounted on the robotic arm. In this way, the sensor can be mounted on components of different sizes or shapes without the need for self-matching rigid mounting or connecting components, such as mounting rails or the like, thus making the assembly simple and cost-effective. Furthermore, the number of components required for assembly can be reduced, which advantageously affects its procurement and storage costs.

[0018] Therefore, the resilient surface element also enables the mounting of sensors in locations that are otherwise difficult to access. If the face element is pulled onto the hinge, for example as an elastic sleeve, the hinge is always movable, whereas with rigid fitting or connecting members, this mobility can be restricted if possible, and therefore it is impossible for the sensor to be mounted in that position.

[0019] The anti-slip coating of the face element and / or movable member can ensure that the sensor retains its position and remains in the desired position during normal use of the movable member. However, in the event of a collision with an obstacle, the holding force of the sleeve on the member can be exceeded, so that the sensor not only triggers the switching signal but is also moved. This can help to prevent further damage to the sensor, thereby avoiding sensor repair or replacement if possible.

[0020] Due to its deformability, if the face element is formed into a ring or hose sleeve, the face element can be rolled up, thereby interchangeding the inner and outer sides. This can be used to allow the electrical contacts, which are initially located on the outside, to reach a position that is better protected on the inner side of the sleeve, so that the face element forms an outer protective layer to protect the contacts from contamination and moisture. Furthermore, it simplifies sensor assembly by allowing the sleeve to be unfolded onto the movable component instead of linearly fitting it onto the component, and it can be rolled up in this manner. This is particularly advantageous when the sleeve is non-slip against the movable component (see page 3 / 15 of the instruction manual, CN 122497573 A) to ensure the sensor maintains its position. Additionally, the unfolding motion, unlike a linear push-sleeve movement, prevents the electrical contacts located inside and thus facing the movable component from rubbing against the component, which could cause premature wear.

[0021] The sensor can be mounted in a safety member, which is fitted onto a movable element, for example, in the form of a crash bar made of an elastomeric material, which in particular can be constructed as a deformable hollow profile. If the sensor is mounted in the front of the safety member along the direction of movement, i.e., at a distance from the movable element, then the response time for triggering the sensor in the event of contact with an obstacle is short, and the size of the safety member allows for the largest possible back travel. Alternatively, the sensor can also be mounted in the rear of the safety member, thus positioned in front of the sensor along the direction of movement, and the safety member provides the highest possible mechanical protection for the sensor.

[0022] The deliberately large structural dimensions of the tactile sensor that facilitate the back travel naturally mean that the sensor according to the invention can be constructed significantly smaller than other sensor configurations. The relatively large integrated deformation displacement of the sensor—which can be flattened in practice based on its three-dimensional unfolded shape—already provides a larger back travel for sensors with the same cross-sectional dimensions, in the case of which rigid elements, although pushed aside, cannot be compressed. Compared to sensors with movable yet rigid contact elements, which are classic normally closed contacts, the sensor according to the present invention significantly alters its shape.

[0023] In one construction, the surface element can be constructed as a textile material.

[0024] The surface element cannot be constructed as a membrane, but can be constructed as a textile material. The high elasticity that textiles can possess can first be generated by the stretchability of the applied fibers—monofilaments or yarns—and secondly by the three-dimensional structure of the interlaced fibers. Textile materials can achieve a long service life for the surface element as a carrier of electrical sensor contacts through a correspondingly large number of operating cycles. Furthermore, high elasticity ensures, through high reset force, that the sensors reliably return to their initial positions after triggering. The porous structure of the textile also simplifies the fixed connection with the support structure by means of a form-locking connection, eliminating the need to introduce holes or cuts into the surface element, thus minimizing the risk of cracking and reliably achieving the mentioned long service life.

[0025] In one construction, the surface element can be constructed as a plain knit fabric, particularly a single-sided plain knit fabric.

[0026] The elastic stretchability of the face element can be ensured by applying a suitable stretchable material, such as a stretchable membrane, or, in the case of textiles, by applying stretchable fibers. In one construction, the face element is constructed as a woven weft-knitted fabric, for example, in the form of a plain knitted fabric, and particularly as a single-sided plain knitted fabric, because this textile structure has high stretchability.

[0027] In one construction, the contacts can be sewn to the face element.

[0028] Electrical contacts can be connected to resilient surface elements in various ways, such as by bonding or by thermal or ultrasonic welding. In one construction, the contacts are sewn to the surface element. This is a suitable connection method for textile materials, and thus advantageous, especially if the textile is used as a carrier.

[0029] In one construction, the contacts can be fastened to a support structure, for example, in combination with contacts sewn to the surface element, or alternatively.

[0030] In another construction, the electrical contacts are fastened to a support structure and / or formed by conductive sections of the support structure. Because the support structure has significantly higher resistance to deformation compared to a resilient surface element, and therefore can be stretched less, the contacts themselves can be fastened to the support structure particularly reliably if they are also limited to being deformable and, for example, not constructed as conductive lines, but rather as surface elements, molded parts, or the like. For example, the contacts may be made of a metal alloy or a plastic material containing conductive particles, as described on page 4 / 15 of the specification (CN 122497573 A).

[0031] If the electrical contacts are fastened to a support structure and / or constructed as conductive sections of the support structure, then the safest possible contact between adjacent electrical contacts can be supported, such that the support structure has adjacent, relatively movable elements that are constructed as contact carriers at the location of the electrical contacts. For example, such contact carriers may be wider than the area of ​​the support structure to which they are connected, so as to ensure safe and reliable contact between two separate but electrically connected sections of the support structure through a correspondingly large area of ​​contact. Alternatively, adjacent contact carriers may have protrusions facing each other, for example in the form of ridges. If the sensor is constructed as normally closed contacts, then after the surface element has folded the sensor three-dimensionally based on its reset force, for example, after triggering in use in the case of corresponding deformation of the sensor, the two electrical contacts are safely abutted against each other by the protrusions. If the sensor is constructed with normally open contacts, and if the sensor deforms during use and thus triggers a switching process, then the two contacts are securely in contact by protrusions located at other corresponding positions.

[0032] The electrical contacts are connected to electrical conductors so that, depending on the sensor's construction, the contacts can be interconnected if possible, i.e., in the case of normally closed contacts, and so that the sensor can be connected to a current source or voltage source, or to analysis and processing circuitry, or the like, in any case. Compared to electrical conductors, electrical contacts are relatively large contact areas so as to ensure reliable coverage contact between adjacent contacts, given the mobility of the sensor and the relative mobility of the contacts.

[0033] In one construction embodiment, the contacts can be formed by the electrical conductor itself, in a spiral, sawtooth, meandering, or planar pattern extending where contact areas should be achieved, and where the conductor extends linearly and narrowly between contact areas. At turning points, such as inflection points—where the conductor bends 90° or more—large resistance naturally often occurs.

[0034] In one construction embodiment, the contacts can be configured as conductive planar elements.

[0035] The contacts, as conductive planar elements, can be constructed, for example, as strips and / or sheets made of a highly conductive metal, such as aluminum, copper, silver, and / or gold, and / or a highly conductive plastic material. Electrical conductors are used to interconnect such planar contact areas.

[0036] In one construction embodiment, the contacts can be connected to conductive areas of the planar elements.

[0037] When using a multilayer film as the carrier, the electrical conductor and / or wider contacts can be formed by correspondingly configuring the film layers into conductive areas. When using textile materials, the conductor and / or contacts can be formed from the fibers of the material, similar to patterns of different colors known in textile materials and achieved through suitable weaving, warp knitting, or weft knitting methods, i.e., using fibers that are not only conductive but also electrically insulating to manufacture the corresponding textile material.

[0038] In one construction scheme, a wire can be attached to the contacts.

[0039] The wire can be made of different materials, such as metal, carbon fiber, or conductive plastic. Since the electrical conductor is thus formed from elements of the sensor in addition to the surface element, the surface element can be selected independently of its electrical characteristics. Given the stretchability of the surface element, interruptions in the electrical conductor can be reliably prevented by a separate wire, which might otherwise occur in the case of excessive stretching of the conductive areas of the surface element. Metal wires, used as electrical conductors, enable the application of such fine wires that they can be stitched together, particularly in the case of using textile materials as flexible surface elements to support suitable material construction schemes for sensors.

[0040] The wires are connected to contacts for connection between contacts, for example in the case of contact chains of normally closed contacts, or for connection of the sensor to external components, such as current or voltage sources, electronic analysis and processing circuits, controllers, or similar types as described on pages 5 / 15 of this specification, CN 122497573 A. The wires can be connected to individual planar contacts or to contact areas formed by the planar elements themselves.

[0041] In one construction scheme, the contacts can be configured to form a normally closed contact arrangement and preferably interconnected in a meandering manner by electrical conductors.

[0042] Advantageously, the contacts form a normally closed contact arrangement.The deformability of the sensor in the form of a folded structure enables the following sensor construction scheme, wherein two electrical contacts are in contact, located on two different sections of the folded carrier, and separated from each other when the carrier is deformed. In the construction scheme of the sensor as a dot-button type, the sensor has only these two contacts. In the construction scheme of the elongated sensor as a switch bar type, the sensor has multiple contacts on each of the two different sections, and the contacts are preferably interconnected in a meandering manner by electrical conductors, thereby realizing a continuous electrical circuit that always alternates from one section of the carrier to another, which is interrupted when the only contact pair is separated and thus changes the switching state of the sensor.

[0043] Furthermore, it can be configured that the contacts form a normally open contact arrangement structure.

[0044] Alternatively, as a normally closed contact construction scheme, the sensor can be constructed as normally open contacts, wherein two contacts are positioned at a distance from each other and are in contact when the carrier is deformed.

[0045] Furthermore, there is the possibility of combining two switching circuits, namely a normally closed contact circuit and a normally open contact circuit, thereby generating a dual-channel, diversified, redundant sensor. A very high level of safety can be achieved here in combination with a corresponding controller.

[0046] In one construction, the surface element and contacts can be arranged in a resiliently deformable sheath.

[0047] For example, the carrier and contacts are arranged in a resiliently deformable sheath. The sheath provides mechanical protection, which is particularly advantageous if the sensor is delicately constructed and lightweight. The resilient deformability of the sheath allows for the deformation of the sensor and the subsequent reset of such deformation after contact with an obstacle is eliminated.

[0048] Furthermore, the sheath can be configured to be circumferentially closed and moisture-proof.

[0049] In one construction, the resilient sheath is circumferentially closed and moisture-proof. The circumferentially closed construction prevents the entry of foreign objects that could damage the electrical connections of adjacent electrical contacts and / or the deformability of the sensor. Furthermore, it prevents moisture from entering, which could damage electrical conductors or contacts through oxidation, or could cause unwanted electrical short circuits and subsequently sensor malfunction.

[0050] In one improvement, the sheath may be configured as a flexible, elongated tube, and preferably, the contacts are arranged such that the sensor is constructed as a switch bar.

[0051] The sheath may be constructed generally in a dotted manner, for example, circular, hemispherical, or the like, so that the sensor can be used as a button. In one configuration, the sheath is constructed as a flexible, elongated tube, so that the sensor is preferably used as a switch bar in safety technology, for example, as a clamping protection or as protection in the case of freely movable objects.The tubular construction of the sheath results in a circumferentially closed cross-section of the sheath, so that after the elongated sensor is moved into the tubular, the sheath only needs to be closed at both ends, for example, by a castable sealing material or a sealing plug. The tubular construction of the sheath can be achieved by a single hollow profile, thereby achieving a seamless cross-section of the sheath and thus providing optimized moisture protection. In another construction, the tubular construction is achieved by a two-piece cross-section of the sheath, thereby simplifying the introduction of the sensor into the sheath. The two cross-sectional sections of the sheath can be immediately connected to each other in a moisture-proof manner by vulcanization or bonding.

[0052] A large-area sensor can be achieved by a correspondingly large cut of the elastic surface element, which can be used as a switching pad. Alternatively, the switching pad can be achieved by a parallel arrangement of multiple switching strips or by a serpentine extension of correspondingly long individual switching strips or multiple successively arranged switching strips. In the case of a switch pad, the sheath is constructed over an area as large as the switch pad itself. This can be the sole sheath for the sensor, or the sheath, the size of the switch pad, can be an outer wrapping layer. A switch strip with its own sheath can be provided, as described on page 6 / 15 of the specification, 9 CN 122497573 A. Furthermore, in one construction, the switch pad can have multiple individual, spaced-apart sensors distributed across the surface of the switch pad. Simple manipulation of these multiple individual sensors is thus achieved, i.e., these sensors do not necessarily need to be manufactured and manipulated individually, but are constructed as local segments of large, elastic surface elements with their respective support structures and locally arranged contacts.

[0053] In one construction, the surface elements and contacts can be arranged within a sheath formed of foam material.

[0054] Furthermore, the sensor can be constructed as a so-called collision buffer or switch buffer.

[0055] The support structure is fixedly connected to the surface element, thereby locally preventing the previously stretched surface element from contracting together and thus enabling folding into the desired three-dimensional form of the sensor. Different connection techniques are considered based on the construction scheme of the elastic surface element in order to fix the support structure to the surface element. For example, the elements of the support structure can be bonded to the surface element, wherein an elastic adhesive can be used, so that while the support structure prevents the movement of the elastic surface element, the elastic characteristics of the adhesive help to avoid stress peaks that may cause the surface element to detach undesirably from the support structure. Alternatively, if the above-mentioned problem of detachment does not occur, an adhesive that is not very elastic and becomes as rigid as possible after curing can be used, so that the rigidity of the adhesive can cause the desired movement restriction of the surface element that should be achieved by means of the support structure as unrestricted as possible.

[0056] Alternatively, the support structure can be welded to the surface element, for example by heat or by ultrasonic welding.In this case, the heating of the surface element should be limited as precisely as possible to the area in contact with the support structure, because the elastic stretchability of the surface element is no longer possible through contact with the support structure. However, outside this contact surface, thermal effects can cause the surface element to bend or drastically alter its elastic characteristics, thus damage may occur on the surface element in the area where elasticity is low and not stabilized by the support structure, for example, in the form of cracks or fractures, under repeated deformation of the sensor during use.

[0057] Advantageously, regardless of the connection technology used in the application, the surface element retains elastic deformability and stretchability outside the contact surface abutting the support structure.

[0058] The support structure can be composed of prefabricated elements, which is beneficial for the shortest possible required duration for manufacturing the sensor. For example, the support structure can be manufactured by injection molding, especially when the sensor should be manufactured in a large number of pieces.

[0059] In one construction scheme, the support structure abuts not only one side of the surface element, but both sides. If, for example, a hinge line is achieved on one side, where the support structure has an interruption along a continuous imaginary line, then a support structure can be provided on the opposite side of the face element, extending beyond the hinge line. In this way, folding of the face element is possible only along a defined, predetermined folding direction, and the hinge is blocked along another undesired folding direction, thereby automatically taking the desired three-dimensional shape in the sense of the already mentioned "self-assembly" principle, without the need for additional externally applied forces to initiate or fully implement the defined folding process.

[0060] If support structures are to be provided on both sides of the face element, then these support structures can be mechanically interconnected, for example, by snap-fit, so that a direct connection between the support structure and the face element is not required. For example, the support structure on one side of the face element can have an arrow-like protrusion, and the opposite support structure can have an opening that cooperates with it. In this case, the face element is drilled point-by-point, which is not a problem in the case of textile materials, for example, and will not cause tearing of the face element if the protrusion extends through the holes of the textile without damaging the fibers. Alternatively, the support structure may have a groove, for example, a dovetail-shaped cross-section, and the opposing support structure may have ribs that cooperate with it, thereby clamping, but not penetrating, the surface element extending between the two support structures.

[0061] In one construction embodiment, the support structure may be configured to be printed onto the surface element as a 3D printed part. Specification 7 / 15 pages 10 CN 122497573 A

[0062] Thus, the support structure is printed onto the surface element as a 3D printed part only at the moment of contact with the surface element. In a first undisclosed experiment, it has been demonstrated that the support structure can be formed from relatively flat lines, thereby allowing 3D printing to be carried out with a small amount of time.The scalability of the support structure—either through replication and interconnection of individual segments or through proportional scaling—can be achieved at a low cost using 3D printing, allowing the support structure to be matched without problems to the desired size of the sensor to be implemented. Furthermore, the triggering pressure determined by the construction scheme of the support structure can also be matched to the desired characteristics of the sensor through the variability of 3D printing.

[0063] Different materials are considered for the support structure depending on the construction scheme of the 3D printed part, such as metals, but also plastic materials, such as those based on PLA or ABS, for example. In first trials, PETG has proven suitable as a plastic material for the support structure because, on the one hand, the desired rigidity of the support structure can be achieved to ensure the immediate retention of the sensor during folding and in the desired form, and on the other hand, the support structure can have sufficient flexibility compared to materials with higher bending stiffness to prevent the face element from undesirably detaching from the support structure. The face element is stretched and held in this stretched state, for example, by spreading the face element open on one surface. The degree of stretching is related to the construction scheme of the elastic face element and the resulting restoring force and can be, for example, 30% to 80%. The fixed connection with the support structure can be achieved through form-locking and / or material-locking:

[0064] Printing molten liquid plastic material onto the stretched face element causes the plastic material to enter the structure of the textile face element based on its flow characteristics or to fuse with the film forming the face element based on its heat, such as a laminate of a multilayer film, wherein the laminate has a suitable low melting point so as to achieve a tight connection with the material entry of the support structure. Moreover, in the case of using textile materials for the face element, if the textile material has fibers or fiber components with a suitable melting point, then a material-locking connection can be achieved in addition to the molten plastic form-locking into the textile structure.

[0065] In one improvement, the relaxed folded face element can be configured to have elongated ribs having a substantially V-shaped cross section forming two inclined surfaces.

[0066] The face element and the support structure are coordinated in one construction scheme of the sensor such that the face element, after becoming relaxed and undergoing three-dimensional deformation based on the support structure, forms elongated ribs, preferably having a substantially V-shaped cross section with two inclined surfaces. Sensors with such ribs can be deformed in a simple way, so that pressure is applied to the tip of the V-shape, thereby causing the two inclined surfaces to open.

[0067] Alternatively, the surface element and the support structure can be coordinated such that they form an elongated member in a relaxed folded state, having a generally circular, elliptical, or rectangular cross-section. The basic shape of this elongation can extend in a straight line or in a curved manner, which can also be determined by the construction scheme of the support structure and / or the way the surface element is stretched.The elongated basic shape is well-suited for using the sensor in security technology as a switch bar or component of a switch bar, for example, with an outer sheath.

[0068] Unlike the basic shape forming the elongated shape, the surface elements and support structures can be coordinated with each other so that they take a generally circular, petal-like shape in a relaxed folded state and have multiple protrusions, which can be similarly deformed under pressure, for example, as described above for the elongated ribs.

[0069] By the possibility of finely constructing the support structure, the sensor according to the invention can also be generally deformable, so that the sensor can extend, for example, about a radius, and in the case of a corresponding matching construction of the support structure, it can also extend about an angle, for example, 90°.

[0070] Advantageously, the sensor can be configured as a normally open contact with two adjacent ribs, the contacts of which are arranged adjacent to each other at a distance between their tips, such that their slopes are opened by pressing on the ribs and the contacts of the ribs come into contact with the contacts of the adjacent ribs. Instruction manual, page 8 / 15, CN 122497573 A

[0071] In one construction scheme, such a sensor forms a normally open contact by having two adjacent ribs. In the event of contact with an obstacle, the two ribs deform accordingly, and by the opening of the ramps, the two adjacent, mutually facing ramps, previously separated by a distance, come into contact with each other. Electrical contacts provided on these two mutually facing ramps can come into contact with each other through this movement, thereby changing the sensor's switching state from "open" to "closed".

[0072] Alternatively, the sensor can be configured as a normally closed contact with contacts on the inner sides of each of the two ramps, such that the two opposing contacts are in principle in contact, and the ramps are opened by pressing against the ribs and the two contacts are separated by a distance.

[0073] Alternatively, such a ribbed sensor forms a normally closed contact. For this purpose, the two ramps carry electrical contacts on their respective inner sides—their opposing ramps. Therefore, if no external force is applied to the sensor, the two contacts are in principle in contact. However, if the bevel is opened by pressing on the rib, the contacts are separated from each other, thereby changing the sensor's switching state from "closed" to "open".

[0074] A second aspect of the invention relates to the application of elastic surface elements, particularly 4D textiles, as carriers for contacts of tactile sensors.

[0075] The principle of 4D textiles is known. One aspect of the invention is the use of 4D textiles as carriers for contacts of tactile sensors.

[0076] The continuous manufacturing of the sensor can thus be achieved by using only natural materials for the surface elements, such as cotton, and the desired stretchability can also be achieved in the form of cotton jerseys.Furthermore, the support structure can be made of biodegradable materials for the continued manufacturing of the sensor, for example, by applying biodegradable filaments in the case of 3D printed support structures.

[0077] In order to purposefully apply elastic restoring force and achieve predetermined folding of the 4D textile, thereby enabling the sensor to automatically take its desired three-dimensional shape in a “self-assembly” process when the surface element is relaxed, as far as possible without the need for additional external influences, the following measures can be applied in addition to the above:

[0078] - Two or more separate surface elements can be applied. For example, two different types of surface elements can be applied. These two types can be made of different materials in the way that they differ, for example, with respect to their restoring force. However, these two types can also be constructed identically and differ only in that they are stretched in different directions before being connected to the support structure, thereby causing folding in different directions accordingly when the surface element is relaxed.

[0079] For example, the first type of surface element can cover the entire surface, which should be provided with the support structure, while the second type of surface element, if possible, is only provided in a strip manner where the structure has hinge lines, so that each causes folding of the support structure in a defined direction there.

[0080] - The surface element can be stretched in two or more steps.

[0081] After the first stretch, the surface element is connected to a first part of the support structure. Immediately thereafter, in a second step, the surface element is stretched, either more forcefully in the same direction as in the first stretching step, or in a different direction than in the first step, and then connected to a second part of the support structure. Alternatively, the surface element is connected to the first part of the support structure after the first stretch and then relaxed, wherein the relaxation is partially prevented by the first part of the support structure. Now, in the second step, the surface element is stretched in the same or different direction as in the first stretching step, connected to a second part of the support structure, and then relaxed. Variations are thus possible, i.e., the aforementioned stretching can be achieved in each of the stretching steps, either in a single direction or in two or more directions.

[0082] - The support structure can be arranged on both sides of the surface element as already mentioned above.

[0083] For example, the first layer of the support structure can be produced in 3D printing, and then the surface element is placed on this layer (page 9 / 15 of the specification of the support structure, CN 122497573 A), and finally the second layer of the support structure is produced on the surface element in 3D printing.

[0084] Alternatively, a prepared first portion of the support structure can be applied to or already connected to the surface element on a first side of the surface element, and then a prepared second portion of the support structure can be applied to and connected to the first portion of the support structure or to the surface element on a second opposite side of the surface element.

[0085] Moreover, two or more separate surface elements can be applied for other reasons: one of the surface elements can form a protective layer on the completed sensor, or form a protective layer on the inner side of the sensor, where electrical contacts may be located, thereby mechanically protecting these electrical contacts if the sensor is pressed flat; or form a protective layer on the outer side of the sensor, thereby protecting the sensor from external influences such as moisture or dirt and if an additional outer sleeve is unnecessary.

[0086] The measures can be based on independent inventive value.

[0087] In one construction, the rib can be configured such that the cross-section of the rib has a tip and two foot points, wherein the sensor rests against the support surface with the foot points, and the rib has at least one sliding pad at at least one foot point, which slides along the support surface on it in the event of sensor deformation during use.

[0088] The sensor can be constructed as described such that the sensor can be pressed in a planar manner in the event of contact with an obstacle, wherein the sensor is pressed relative to the support surface. In one construction scheme, the sensor has a sliding pad that either continuously or at least in contact with the support surface when the sensor is deformed, so that the sliding pad slides on the support surface when the sensor is deformed. This reduces or even completely eliminates friction between the surface element and the support surface, thus preventing the surface element from wearing out too quickly and maximizing the service life of the sensor. The sliding pad can be part of the support structure or made of the same or another, particularly sliding-friendly material. Advantageously, the sliding pad can be fastened to the surface element together with the support structure in the same working steps, so as to keep the cost in sensor manufacturing as low as possible.

[0089] The invention is further illustrated below with reference to purely schematic drawings.Wherein:

[0090] Figure 1 shows a top view of an arrangement consisting of stretched flexible surface elements, a support structure, electrical conductors, and electrical contacts;

[0091] Figure 2 shows a perspective view of the arrangement of Figure 1 after the surface elements have been relaxed;

[0092] Figure 3 shows a perspective view of the arrangement of Figure 2 folded into a sensor, wherein the sensor is shown in its rest position;

[0093] Figure 4 shows a view similar to Figure 3, wherein the sensor is shown in its triggered position;

[0094] Figure 5 shows a cross-section of a switch bar, wherein the individual elements are shown spaced apart from each other;

[0095] Figures 6 and 7 show second and third embodiments of the switch bar;

[0096] Figures 8 and 9 show two embodiments in which the sensors are each disposed in a collision buffer;

[0097] Figure 10 shows a fourth embodiment of the switch bar;

[0098] Figure 11 shows a partial view of a fifth embodiment from the support structure side;

[0099] Figure 12 shows a view of the embodiment of Figure 11 from the opposite side;

[0100] Figure 13 shows a partial view of the sixth embodiment from the support structure side; and

[0101] Figure 14 shows a view of the embodiment of Figure 13 from the opposite side. Specification 10 / 15 pages 13 CN 122497573 A Detailed Description

[0102] Figure 1 shows a top view of a stretched face element 1 stretched onto a plate, which can be used, for example, as a printing platform for a 3D printed part. In the illustrated embodiment, the face element 1 is formed from a textile material in the form of a single-sided plain knit fabric. In this stretched state, a support structure 2 is printed onto the face element, i.e., printed from PLA plastic filaments using a 3D printing method. The support structure 2 consists of a plurality of generally semi-circularly extending arcuate portions 3, wherein each arcuate portion 3 is always separated from each other by a small distance. The separation points 4 thus achieved realize a hinge line, along which the face element automatically folds if the face element 1 is removed from the plate and shrinks in an effort to regain its initial size.

[0103] An electrical conductor 5 is applied to the surface element 1, which in the illustrated embodiment is constructed in the form of a wire, i.e., an enameled wire. Furthermore, the surface element 1 carries electrical contacts 6, which in the illustrated embodiment are constructed as planar segments of a metal film, i.e., a copper film, and are electrically connected to the electrical conductor 5.

[0104] In the illustrated embodiment of the support structure 2, two inner arcuate portions 3 are positioned opposite each other such that they collectively form approximately a row of circles. At the two ends of this row, the arcuate portions 3 are not formed to a semicircle, but are bent at an angle to form a stabilizing end connector 7 for the support structure 2. Purely exemplary, the surface element 2 extends outward beyond the end connector 7, although this corresponding extension of the surface element 2 may be omitted in a manner different from the illustrated embodiment.

[0105] Furthermore, the support structure 2 has two outwardly curved portions 3, which are separated from each other by a middle curved portion 3, and each of the outwardly curved portions, unlike the middle curved portion 3, has a middle connecting piece 8, which stabilizes the support structure 2 on the outer edge of the surface element 1. This stabilization prevents the sensor from bending in its longitudinal direction after the surface element 1 relaxes. In addition, the middle connecting piece 8 is used to fasten the electrical contacts 6 by providing a closed surface, for example, unlike the textile structure of the surface element 2, and thus providing the largest possible surface for bonding.

[0106] FIG. 2 shows the surface element 1 of FIG. 1 after it has been removed from the plate, which was previously stretched onto the plate. By means of an elastic restoring force, the surface element 1 automatically deforms to try to regain its initial size. The restoring force is indicated by four arrows pointing from the outside of the surface element 1 toward its center. The resetting deformation of the elastic surface element 1 is prevented by the relatively stiffer support structure 2, so that the separation points 4, each located in a row, act as hinge lines around which the surface element 1 folds automatically.

[0107] The arcuate portion 3 in the middle of the two rows forms a rib here, which has a substantially V-shaped cross section and two inclined surfaces 9. It is shown in FIG2 purely exemplary and for better clarity: the arcuate portions 3 of the two outer rows fold outward. In addition, for clarity, the electrical conductors 5 and contacts 6 are not shown in FIG2.

[0108] FIG3 illustrates in the same schematic view as FIG2, i.e. without the electrical conductors 5 and contacts 5: the arcuate portions 3 of the two outer rows fold inward, thus realizing the sensor 10 ready for operation. The sensor 10 is formed in a triangular rib in cross section and has two inner surfaces 11 and 12 in the two outer inclined surfaces 9, each of which is provided with the outer arcuate portion 3 of FIG1. As clearly seen in Figure 1, the two outwardly curved portions 3 carry electrical contacts 6 on the intermediate connecting piece 8, so that the contacts 6 of the two inner surfaces 11 and 12 come into contact with each other. Below the perspective view, in Figure 3, a simplified cross-sectional view illustrates how the contact 6 of the shorter inner surface 11 abuts against the contact 6 of the longer inner surface 12.

[0109] Unlike the illustrated embodiment, the two inner surfaces 11 and 12 can be constructed to the same length. The inner surface 11 or 12 that is folded inward last is stopped in its movement by another inner surface 11 or 12 that has been folded inward previously, so that if the sensor 10 is constructed as a normally closed contact, then the contacts 6 abut against each other.

[0110] The orientation of the electrical conductor 5 shown in FIG1 results in a continuous electrical circuit along the length of the sensor 10, wherein the various circuit segments alternate, which either extend on the short inner surface 10 or on the long inner surface 11 and are each connected in the region of the two contacting contacts 6 to the respective adjacent circuit segments on the other inner surface 12 or 11.Sensor 10, as described on pages 11 / 15 of the specification (CN 122497573 A), is constructed as a normally closed contact, through which a static current flows during use and which generates a switching signal if the static current is interrupted by the interrupted electrical circuit. Figure 3 shows sensor 10 in its resting position, in which contacts 6 are in contact with each other and the electrical circuit is conductive.

[0111] Figures 2 and 3 are idealized views. The elastic surface element 1, based on its restoring force, results in, for example, the upper edge of sensor 10 extending not linearly along the tip of the rib as shown in the figures, but concavely inward between adjacent arcuate portions 3 of the support structure 2.

[0112] Figure 4 shows sensor 10 in a view similar to Figure 3, wherein pressure is applied to the tip of the triangular rib, as indicated by the arrow in Figure 4. Under this pressure, the sensor 10 deforms by the restoring force of the two inclined surfaces 9 relative to the elastic surface element 2, which is spread about the hinge line by the separation point 4 of the middle arcuate portion 3. Because the two inner surfaces 11 and 12 are connected to the two mutually distant lower ends of the inclined surfaces 9, this spreading movement also causes the two inner surfaces 11 and 12 to move apart relative to each other. The separation surface 4 between the middle arcuate portion and the outer arcuate portion 3 also serves as the hinge line here and enables the movement of the inner surfaces 11 and 12 relative to the inclined surfaces 9 to which they are respectively connected.

[0113] By causing the two inner surfaces 11 and 12 to move apart relative to each other, the distance between the previously abutting contacts 6 is also realized, thereby interrupting the static current flowing through the electrical circuit. This can be seen in the schematic cross-sectional sketch of FIG4. The sensor 10 thus changes its switching state compared to FIG3 by opening the contacts 6, so that FIG4 shows the trigger position of the sensor 10 in a position different from that in FIG3.

[0114] FIG5 shows a cross-section of the switch bar 14, wherein the switching mechanism is implemented by the sensor 10 according to FIG1 to 4. For clarity, the various structural elements are shown not directly abutting each other, but with a small distance between them. The sensor 10 is located in the rest position as shown in FIG5, which is also visible in FIG3. The sensor 10 is disposed in a sleeve 15, which is constructed in a flexible tube manner, i.e., constructed as an elongated hollow profile having a circumferentially closed cross-section. The sleeve 15 is made of an elastomeric material and is accordingly deformable, so that pressure is applied to the tip of the sensor 10 in the event of contact with an obstacle and can trigger the switching process of the sensor 10.

[0115] The sleeve 15 can be directly fastened to a component that is provided with the switch bar 14.In the illustrated embodiment, the sleeve 15 is bonded to the adapter profile 16, wherein the adapter profile 16 consists of essentially three segments: an adhesive surface 17 for attaching to the sleeve 15, a retaining surface 18 for attaching the adapter profile 16 itself to a suitable support, and a middle segment of the adapter profile 16 serving as a distance retainer 19 such that the adhesive surface 17 and the retaining surface 18 are spaced apart from each other.

[0116] The retaining surface 18 is accommodated in a C-shaped metal profile 20, and the distance retainer 19 ensures, according to the wall thickness of the metal profile 20, that the adapter profile 16 can be inserted into the metal profile 20 without problems. The sleeve 15 can be cost-effectively manufactured as an elastomeric profile in large lengths and can be adapted to match the desired length of each switch bar 14. The sleeve, in conjunction with the sensor 10 disposed therein, ensures the invariant and standardized characteristics of the different switch bars 14.

[0117] By applying different adapter profiles 16, if the switch bar 14 is not directly mounted to the component to be protected, then the switch bar can be matched to different supports, such as different metal profiles or grooves, which are set in the article to be protected for securing the switch bar 14. Furthermore, the adapter profile 16 can be composed of a material that allows for low-resistance insertion into the metal profile 20.

[0118] By not directly mounting the switch bar 14 to the component to be protected, for example, by bonding it to the component, the switch bar 14 can be quickly and cost-effectively replaced in the event of damage, by means that the switch bar can be removed from the support, as shown in the metal profile 20, using the adapter profile 16 and replaced with an undamaged switch bar 14.

[0119] Unlike the illustrated embodiment, the sleeve 15, the adapter profile 16, the retaining surface 18, and the distance retainer 19 can be one piece and made of the same material or, for example, by means of co-extrusion, of different materials, such as plastics with different Shore hardness as described on pages 12 / 15 of the specification, CN 122497573 A. Such a one-piece profile simplifies manufacturing because the different components do not have to be joined together to form the profile. The retaining surface 18 can be used to push such a co-extruded profile into a receiving groove, such as the metal profile shown in FIG5.

[0120] The metal profile 20 or a similar receiving groove enables time-saving replacement of the sleeve 15 along with the sensor 10 and the adapter profile 16, which can be advantageous in harsh operating environments, where, as can be expected, damage to the switch bar 14 frequently occurs. Unlike the illustrated embodiment, if a consistently secure fit and the smallest possible size of the sensor 10 are desired, then the metal profile 20 and the adapter profile 16 can be omitted.

[0121] As shown in FIG6, instead of receiving recesses—as implemented, for example, in the metal profile 20 of FIG5—a side-projecting connecting plate 21 can be used to secure the switch bar 14 to the movable element 22.The connecting plate 21, together with the base 23, is made of a harder material, which, together with the softer sheath 15, is co-extruded.

[0122] Furthermore, as shown in FIG. 6, the sensor 10 is disposed in the rear portion of the sheath 15, that is, closer to the movable element 22 than to the free end of the sheath 15 that is far from the movable element 22. Even so, in order to ensure the most sensitive and early response performance of the switch bar 14 in the event of contact with an obstacle, the rod 24 extends rearward from the free end of the front portion of the sheath 15 to the sensor 10. To ensure that the rod 24 does not deviate from the sensor 10, the rod 24 is guided on both sides by a crossbeam 25. The crossbeam 25, together with the sheath 15, defines a sensor cavity 26 within the switch bar 14 in which the sensor 10 is disposed.

[0123] FIG. 7 shows a cross section of the switch bar 14, wherein fastening is achieved by means of a retaining surface 18 as in the embodiment of FIG. 5. The sensor cavity 26 and the sensor 10 disposed therein are located at the free end of the front portion within the housing 15. This ensures a rapid response of the sensor 10 in the event of contact with an obstacle, and the housing travels backward until the length of the retaining surface 18 is determined, which is available for braking of the movable element until the element itself contacts the obstacle.

[0124] FIG8 shows an arrangement in which the sensor 10 is not disposed in the switch bar on the movable element 22, but in the collision buffer 27. The sensor cavity with the sensor 10 is located in the front portion of the collision buffer 27, in a segment 28 made of foam material. The rear portion 29 of the collision buffer 27 is fastened, for example, bonded to the movable element 22 and the aforementioned rear travel is determined by its length. The rear portion 29 may be composed of the same foam material as the front portion 28 or another material, for example, a foam material with a different spatial weight.

[0125] Figure 9 shows an arrangement in which a sensor 10 is disposed on a movable element 22 within a one-piece collision buffer 27, i.e., at the rear, wherein the sensor cavity 26 is rearwardly constrained by the movable element 22 itself. Depending on the strength of the deformable material comprising the collision buffer 27—typically foam—a sensitive response of the sensor 10 can be achieved in this case by the sensor 10 changing its on / off state as quickly as possible after the collision buffer 27 comes into contact with an obstacle.

[0126] Figure 10 schematically shows an arrangement in which a sensor 10 is disposed on a movable element 22 within a switch bar 14. The structural form of the sensor 10 generally corresponds to the structural form illustrated according to Figures 1 to 5. The dimensions of the ramp 9 and the inner surfaces 11 and 12, and the matching dimensions of the sheath 15, are different from those in Figure 5, resulting in a large structural depth for the switch bar 14, similar to the collision buffer 27 visible in Figure 9.Correspondingly, material for the collision buffer 27, such as the aforementioned foam material, can be saved, which enables a construction scheme with a particularly small weight for the entire arrangement. The specific construction scheme of the inner surfaces 11 and 12 of the sensor 10 and the electrical contacts 6 is determined here: after what deformation displacement of the switch bar 14 the contacts 6 open and the sensor 10 thus changes its switching state. In this way, a sensor device with a small weight can be achieved compared to a similarly large collision buffer, which, compared to a typically smaller switch bar, can achieve the same long back-run stroke as when a collision buffer is applied.

[0127] FIG11 partially shows a view of another embodiment of the sensor 10 from the side of the support structure 2. Moreover, in this embodiment specification, pages 13 / 15, CN 122497573 A example, the surface element 1 is constructed in the form of textile and the support structure 2 is produced in the form of a 3D printed part of the surface element 1. Moreover, in this embodiment, the support structure 2 forms a plurality of arcuate portions 3. The portion of sensor 10 shown in FIG. 11 includes two ribs that extend parallel to each other and terminate in adjacent arcuate portions 3, wherein the ends of the adjacent arcuate portions 3 are connected to each other and each forms a contact carrier 30. Each contact carrier 30 has a generally triangular cross-section and thus forms a protrusion that protrudes from the planes in which the two associated arcuate portions 30 extend toward the adjacent contact carrier 30. The contact carrier 30 is formed in a relatively large area section within the support structure 2 and can be fitted with planar contact elements, such as a molded part made of a conductive material or a film segment or sheet made of such a material, or the like.

[0128] In use, the contact carrier 30 is located at the tip of the respective rib. In the portion of sensor 10 shown in FIG. 11, two ribs are located within the portion shown, and in order to realize a large area sensor 10, for example in the form of a switch pad, multiple ribs can be arranged to extend side by side. This can be achieved by selecting a correspondingly large surface element 1 or by connecting multiple surface elements 1 to each other. In the illustrated embodiment, the surface element 1 is constructed as a textile, for example, adjacent surface elements 1 can be sewn together to achieve a correspondingly large sensor 10.

[0129] In the embodiment shown in FIG11, there are the tips of two ribs at the point where the arcuate portion 3 terminates and is connected to each other by the contact carrier 30. Conversely, there are corresponding feet of ribs at the apex of the arcuate portion 3. In the illustrated embodiment, adjacent ribs are not directly connected to each other, but a narrow intermediate space is provided therebetween, in which a sliding pad 31 is disposed. The sliding pad 31 is not connected to the support structure 2, but is produced by 3D printing of the surface element 1 and connected to the surface element 1, just like the support structure 2—that is, in the same working process.

[0130] Unlike the illustrated embodiment, the sliding pad 31 can also be constructed as a segment of the support structure 2. If pressure is applied to the tip of the rib by contacting an obstacle with the sensor 10, the rib slides on the support surface with at least one of its two feet, the feet of the rib resting against the support surface. This minimizes wear on the sensor 10, allowing the sliding movement and thus friction to occur on the sliding pad 31, which is specifically designed for this purpose.

[0131] FIG12 shows the embodiment of FIG11, also partially, i.e., from the opposite side of the surface element 1, so that the support structure 2 is identifiable but covered by the surface element 1. The two parallel ribs of the sensor 10 are identifiable, with the pair of contact types 30 clearly visible at the corresponding tips of the ribs on one hand, and the sliding pad 31 clearly visible between the feet of adjacent ribs on the other hand.

[0132] FIG13 shows another embodiment of the sensor 10, which is similar to the view of the support structure 2 side of FIG11. The sensor 10 is configured similarly to the embodiment of FIG. 11, however, it has two different types of contact carriers 30: a wide contact carrier 30 with a generally triangular cross-section—unlike in the embodiment of FIG. 11—is not located at the end of the arcuate portion 3, but rather the intermediate connecting piece 8 extends further from the apex of the arcuate portion 3 to the tip of the corresponding rib and forms the wide contact carrier 30 there.

[0133] A contact carrier 30 is also present at the end of the arcuate portion 3, however, it is constructed to be significantly narrower than the wide contact carrier 30 on the intermediate connecting piece 8. The wide contact carrier 30 has a triangular cross-section and therefore has bulges toward each adjacent contact carrier 30 in use, while the narrow contact carriers 30 are not aligned and opposite each other at the end of the arcuate portion 3, but are staggered from each other in a toothed manner.

[0134] The difference between the embodiment of FIG. 13 and the embodiment of FIG. 11 is that the intermediate connecting piece 8 supports an arrangement of all ribs as flat as possible and thus supports a construction scheme of a flat sensor 10, whereas in the embodiment of FIG. 11, the ribs extend in a curved manner based on the restoring force of the surface element 1, for example, to form the sensor 10, which conforms as closely as possible to the curved movable member. Furthermore, the narrow contact carrier 30 in the embodiment of FIG. 13 causes high sensitivity of the sensor 10 because the number of contact points along the length of the ribs is increased compared to the embodiment of FIG. 11.

[0135] FIG. 14 shows the sensor 10 of FIG. 13 viewed from the opposite side, i.e., looking at the surface element 1; however, the support structure 2 passing through the surface element 1 is identifiable. The arcuate portion 3, the intermediate connecting piece 8, the wide and narrow contact carriers 30, and the sliding pad 31 are identifiable.

[0136] List of reference numerals

[0137] 1 Surface element

[0138] 2 Support structure

[0139] 3 Arc-shaped part

[0140] 4 Separation point

[0141] 5 Electrical conductor

[0142] 6 Electrical contact

[0143] 7 End connecting piece

[0144] 8 Middle connecting piece

[0145] 9 Bevel

[0146] 10 Sensor

[0147] 11 Short inner surface

[0148] 12 Long inner surface

[0149] 14 Switch bar

[0150] 15 Sheath

[0151] 16 Adaptor profile

[0152] 17 Adhesive surface

[0153] 18 Holding surface

[0154] 19 Distance holder

[0155] 20 Metal profile

[0156] 21 Connecting plate

[0157] 22 Movable Components

[0158] 23 Base

[0159] 24 Rod

[0160] 25 Crossbeam

[0161] 26 Sensor Cavity

[0162] 27 Collision Buffer

[0163] 28 Front Section

[0164] 29 Rear Section

[0165] 30 Contact Carrier

[0166] 31 Sliding Pad Instruction Manual 15 / 15 Page 18 CN 122497573 A Figure 1 Figure 2 Instruction Manual Drawings 1 / 12 Page 19 CN 122497573 A Figure 3 Instruction Manual Drawings 2 / 12 Page 20 CN 122497573 A Figure 4 Instruction Manual Drawings 3 / 12 Page 21 CN 122497573 A Figure 5 Instruction Manual Drawings 4 / 12 Page 22 CN 122497573 A Figure 6 Instruction Manual Drawings 5 / 12 Page 23 CN 122497573 A Figure 7 Appendix to the Instruction Manual 6 / 12 Page 24 CN 122497573 A Figure 8 Figure 9 Appendix to the Instruction Manual 7 / 12 Page 25 CN 122497573 A Figure 10 Appendix to the Instruction Manual 8 / 12 Page 26 CN 122497573 A Figure 11 Appendix to the Instruction Manual 9 / 12 Page 27 CN 122497573 A Figure 12 Appendix to the Instruction Manual 10 / 12 Page 28 CN 122497573 A Figure 13 Appendix to the Instruction Manual 11 / 12 Page 29 CN 122497573 A Figure 14 Appendix to the Instruction Manual 12 / 12 Page 30 CN 122497573 A.

Claims

1. Tactile sensor (10), -Including electrical contacts (6). -and including the carrier, The carrier holds the contact (6) in a predetermined arrangement, and The carrier can elastically deform, allowing the contact points (6) to move relative to each other between a first contact position and a second separation position, characterized in that... The carrier has a tensioned, pre-stretched elastic surface element (1), which is fixedly connected to the support structure (2) and automatically achieves a three-dimensional shape determined by the support structure (2) after relaxation.

2. The sensor according to claim 1, characterized in that, The surface element (1) is constructed of textile material.

3. The sensor according to claim 2, characterized in that, The surface element (1) is constructed as a plain knit fabric, particularly as a single-sided plain knit fabric.

4. The sensor according to any one of the preceding claims, characterized in that, The contact point (6) is stitched to the surface element (1).

5. The sensor according to any one of claims 1 to 3, characterized in that, The contact (6) is fastened to the support structure (2).

6. The sensor according to any one of the preceding claims, characterized in that, The contact (6) is constructed as a conductive planar element.

7. The sensor according to any one of the preceding claims, characterized in that, The wire is connected to the contact (6).

8. The sensor according to any one of the preceding claims, characterized in that, The contact (6) is connected to the conductive area of ​​the surface element (1).

9. The sensor according to any one of the preceding claims, characterized in that, The contacts (6) form a normally closed contact arrangement and are interconnected in a meandering manner by electrical conductors (5).

10. The sensor according to any one of claims 1 to 8, characterized in that, The contact (6) forms a normally open contact arrangement structure.

11. The sensor according to any one of the preceding claims, characterized in that, The surface element (1) and the contact (6) are disposed in an elastically deformable sleeve (15).

12. The sensor according to claim 11, characterized in that, The sheath (15) is constructed to be circumferentially closed and moisture-proof.

13. The sensor according to claim 11 or 12, characterized in that, The sheath (15) is a long, flexible tube, and the contact (6) is configured such that the sensor (10) is constructed as a switch bar (14).

14. The sensor according to any one of claims 11 to 13, characterized in that, The surface element (1) and the contact (6) are disposed in a sleeve (15) formed of foam material.

15. The sensor according to any one of claims 11 to 14, characterized in that, The sensor (10) is constructed as a so-called collision buffer or switch buffer.

16. The sensor according to any one of the preceding claims, characterized in that, The support structure (2) is printed onto the surface element (1) as a 3D printed part.

17. The sensor according to any one of the preceding claims, characterized in that, The relaxed folded surface element (1) has elongated ribs with a substantially V-shaped cross section forming two inclined planes (9).

18. The sensor according to claim 17, characterized in that, The cross-section of the rib has a tip and two foot points, wherein the sensor (10) rests against the support surface with the foot points, and the rib has at least one sliding pad (31) at at least one foot point, the sliding pad sliding along the support surface in use when the sensor (10) is deformed.

19. The sensor according to claim 17 or 18, characterized in that, The sensor (10) is constructed as a normally open contact and has two adjacent ribs. The contacts (6) are arranged adjacent to each other at a distance between the tips of the ribs, such that the inclined surface (9) of the rib is opened by pressing on the rib and the contacts (6) of the rib contact with the contacts (6) of the adjacent rib.

20. The sensor according to claim 17 or 18, characterized in that, The sensor (10) is constructed as a normally closed contact, and contacts (6) are respectively provided on the inner side of the two inclined surfaces (9), so that the two opposing contacts (6) are in contact in principle, and the inclined surface (9) of the rib is opened by pressing on the rib and the two contacts (6) are spaced apart from each other.

21. Application of elastic surface elements (1), especially 4D textiles, as carriers for contacts (6) of tactile sensors (10).

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