Pressure sensor

Abstract

According to an embodiment of the present invention, disclosed is a pressure sensor comprising: a base unit; a sensing unit disposed on the base unit and including an elastic dielectric layer; and a cover unit disposed on the sensing unit. The cover unit includes a first layer which is a conductive layer and a second layer which is a non-conductive layer disposed on the first layer. The first layer is electrically connected to the base unit.

Description

pressure sensor

[0001] An embodiment according to the present invention relates to a pressure sensor.

[0002] With the advancement of electronic technology and AI, there is currently significant interest in robots. Furthermore, these robots are being utilized in various fields, including the medical and industrial sectors. In this regard, pressure sensors are widely applied to various devices such as smart windows, displays, and mobile phones; more recently, they are also being used as safety skins for robots to detect collisions while absorbing impact upon impact.

[0003] However, in the case of robots, they still lack the softness of skin, making it somewhat difficult to apply to organs such as the fingers of humanoid robots.

[0004] In addition, since it only detects forces acting perpendicular to the surface, it has not yet fully achieved free directionality.

[0005] As such, the technology of integrating pressure sensors into robot skin is a key element in enhancing robots' sensory capabilities to human levels, leading to a focus on haptics research. This technology can greatly assist robots in performing more detailed and natural tasks by detecting physical contact and providing feedback based on it when interacting with the environment.

[0006] However, when pressure sensors are used over a large area on a robot's skin, durability issues arise due to physical contact. In particular, if an outer layer is attached for durability, the increased thickness leads to a decrease in the pressure sensor's recognition rate.

[0007] Furthermore, robots can have various forms of curvature depending on the environment. In response to this, pressure sensors attached to the robot's skin also need to be implemented in various 3D shapes.

[0008] Furthermore, in detecting physical contact, force, or pressure changes and converting them into electrical signals, pressure sensor technology suitable for robot skin urgently requires high sensitivity, flexibility, and durability.

[0009] An embodiment of the present invention provides a pressure sensor that secures mechanical reliability and maintains flexible characteristics while more easily implementing the role of a shielding layer through a cover portion formed of a single composite fiber comprising a non-conductive fiber and a conductive fiber.

[0010] In addition, the embodiment provides a pressure sensor that can be easily attached to one side of a curved robot, etc., and has improved durability against movement, as the cover portion has a woven structure of conductive fibers and non-conductive fibers.

[0011] In addition, the embodiment can provide a pressure sensor that is easy to maintain and facilitates separation between the sensing part and the cover part while ensuring adhesion through a configuration in which the non-conductive fiber of the cover part is a Kevlar fiber and is woven at least partially with a conductive fiber.

[0012] In addition, the embodiment can provide a pressure sensor in which the role as a shielding layer is further enhanced by the cover portion covering the upper, side, and lower surfaces of the sensing portion.

[0013] The problems intended to be solved in the embodiments are not limited thereto, and may also include objectives or effects that can be identified from the means of solving the problems or the embodiments described below.

[0014] A pressure sensor according to an embodiment of the present invention comprises: a base portion; a sensing portion disposed on the base portion and including an elastic dielectric layer; and a cover portion disposed on the sensing portion; wherein the cover portion comprises a first layer which is a conductive layer and a second layer which is a non-conductive layer disposed on the first layer; and wherein the first layer is electrically connected to the base portion.

[0015] The above sensing unit may include the elastic dielectric layer, a first wiring and a second wiring that output a sensing signal.

[0016] The first layer and the second layer comprise Kevlar fibers, and the second layer may be woven with Kevlar fibers and conductive fibers.

[0017] The thickness of the conductive fiber may be smaller than the thickness of the Kevlar fiber.

[0018] The first wiring, the elastic dielectric layer, and the second wiring can be arranged sequentially in the thickness direction.

[0019] The above cover portion may be positioned adjacent to the above second wiring.

[0020] The first layer above may be placed between the second layer and the second wiring.

[0021] The above base portion may include a first base portion positioned adjacent to the first wiring and located below the first wiring; and a second base portion positioned on the first base portion.

[0022] The first base portion can be positioned between the second base portion and the first wiring.

[0023] The first layer and the first base portion are connected to each other, and the second layer and the second base portion can be connected to each other.

[0024] The above base portion may be larger than the width of the above sensing portion.

[0025] It further includes a connector part connected to the base part, the sensing part and the cover part; and the connector part may include a first electrode connected to the first wiring; a second electrode connected to the second wiring and a ground electrode connected to the first layer.

[0026] The ground electrode may include a first ground electrode connected to the first layer and a second ground electrode connected to the first base portion.

[0027] The above cover portion may include a side cover portion located on the side of the sensing portion.

[0028] The above side cover portion may be spaced apart from the above sensing portion.

[0029] An embodiment of the present invention implements a pressure sensor that secures mechanical reliability and maintains flexible characteristics while more easily implementing the role of a shielding layer through a cover portion formed of a single composite fiber comprising a non-conductive fiber and a conductive fiber.

[0030] In addition, the embodiment can implement a pressure sensor with improved durability against movement and can be easily attached to one side of a curved robot, etc., by having a cover portion having a woven structure of conductive fibers and non-conductive fibers.

[0031] In addition, the embodiment can implement a pressure sensor that is easy to maintain and facilitates separation between the sensing part and the cover part while securing adhesion through a configuration in which the non-conductive fiber of the cover part is a Kevlar fiber and is at least partially woven with a conductive fiber.

[0032] In addition, the embodiment can implement a pressure sensor in which the role as a shielding layer is further enhanced by the cover portion covering the upper, side, and lower surfaces of the sensing portion.

[0033] The various and beneficial advantages and effects of the present invention are not limited to those described above and may be more easily understood in the process of explaining specific embodiments of the present invention.

[0034] FIG. 1 is a drawing illustrating an application example of a pressure sensor according to an embodiment of the present invention, and

[0035] FIG. 2 is a conceptual diagram of a pressure sensor according to an embodiment, and

[0036] FIG. 3 is a perspective view of a sensing part in a pressure sensor according to an embodiment, and

[0037] FIG. 4 is a plan view illustrating the sensing of a sensing part in a pressure sensor according to an embodiment, and

[0038] FIG. 5 is a cross-sectional view illustrating the sensing in FIG. 4, and

[0039] FIG. 6 is a drawing of a cover portion in a pressure sensor according to an embodiment, and

[0040] FIG. 7 is a cross-sectional view of a first example of a pressure sensor according to an embodiment, and

[0041] FIG. 8 is a cross-sectional view of a second example of a pressure sensor according to an embodiment, and

[0042] Figure 9 is an enlarged view of part A in Figure 2.

[0043] The present invention is susceptible to various modifications and may have various embodiments, and specific embodiments are illustrated and described in the drawings. However, this does not specify the present invention.

[0044] It should be understood that the embodiments are not intended to be limited and include all modifications, equivalents, and substitutions that fall within the spirit and scope of the invention.

[0045] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings.

[0046] However, the technical concept of the present invention is not limited to some of the described embodiments but can be implemented in various different forms, and within the scope of the technical concept of the present invention, one or more of the components among the embodiments may be selectively combined or substituted.

[0047] In addition, terms used in the embodiments of the present invention (including technical and scientific terms) may be interpreted in a sense that is generally understood by those skilled in the art to which the present invention belongs, unless explicitly and specifically defined otherwise. Terms that are commonly used, such as terms defined in advance, may be interpreted in consideration of their meaning in the context of the relevant technology.

[0048] Additionally, the terms used in the embodiments of the present invention are for describing the embodiments and are not intended to limit the present invention. In this specification, the singular form may include the plural form unless specifically stated otherwise in the text, and when described as “and at least one of B and C (or more than one),” it may include one or more of all combinations that can be combined with A, B, and C.

[0049] Terms including ordinal numbers, such as second, first, etc., may be used to describe various components, but the components are not limited by the terms. The terms are used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the second component may be named the first component, and similarly, the first component may be named the second component. The term "and / or" includes a combination of multiple related described items or any of the multiple related described items. Such terms are intended only to distinguish the component from other components and are not limited by the essence, order, sequence, etc. of the component.

[0050] And, where it is stated that a component is 'connected', 'combined', or 'joined' to another component, this may include not only cases where the component is directly connected, combined, or joined to the other component, but also cases where it is 'connected', 'combined', or 'joined' due to another component located between the component and the other component.

[0051] The terms used in this application are used merely to describe specific embodiments and are not intended to limit the invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, terms such as "comprising" or "having" are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0052] Furthermore, when described as being formed or placed "above or below" each component, "above or below" includes not only cases where two components are in direct contact with each other, but also cases where one or more other components are formed or placed between the two components. Additionally, when expressed as "above or below," it may include the meaning of a downward direction as well as an upward direction relative to a single component.

[0053] In addition, the expression that configuration A is positioned between configuration B and configuration C must include the meaning that configuration A is positioned such that at least a portion of it overlaps with configurations B and C in the horizontal and / or vertical directions.

[0054] Expressions referring to directions include horizontal and vertical directions, and the horizontal direction includes a first horizontal direction and a second horizontal direction perpendicular to the first horizontal direction. These are referred to as the first horizontal direction (X-axis), the second horizontal direction (Y-axis), and the vertical direction (Z-axis) according to the Cartesian coordinate system, and the meaning of being superimposed along the horizontal direction must include the meaning of being superimposed along the first horizontal direction and / or superimposed along the second horizontal direction.

[0055] Furthermore, the statement that Configuration A is exposed from Configuration B should be understood as meaning that Configuration A is exposed from Configuration B, not that Configuration A is exposed from the entire product. In other words, when Configuration A is stated to be exposed from Configuration B, it should be understood to mean that Configuration A is covered by at least a portion of Configuration C.

[0056] Furthermore, when it is stated that Component A 'contacts' Component B, this may include not only cases where the component 'contacts' the other component directly, but also cases where it 'contacts' due to another component located between the component and the other component. Therefore, if Component A is to be understood only as 'directly contacting' Component B, it is described as 'directly contacting'.

[0057] In addition, when it is stated that configuration A is 'covered' by configuration B, it should be understood that configuration A is covered by configuration B, and that the part intended for the function and purpose to be resolved is covered, and unless there are special circumstances, it should not be understood that the entire configuration A is covered by configuration B.

[0058] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the present invention pertains. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this application.

[0059] FIG. 1 is a drawing illustrating an application example of a pressure sensor according to an embodiment of the present invention, FIG. 2 is a conceptual diagram of a pressure sensor according to an embodiment, FIG. 3 is a perspective view of a sensing part in a pressure sensor according to an embodiment, FIG. 4 is a plan view illustrating sensing of a sensing part in a pressure sensor according to an embodiment, FIG. 5 is a cross-sectional view illustrating sensing in FIG. 4, FIG. 6 is a drawing of a cover part in a pressure sensor according to an embodiment, FIG. 7 is a cross-sectional view of a first example of a pressure sensor according to an embodiment, FIG. 8 is a cross-sectional view of a second example of a pressure sensor according to an embodiment, and FIG. 9 is an enlarged view of part A in FIG. 2.

[0060] Referring to FIGS. 1 and 2, the pressure sensor (100) according to the embodiment can be attached to various products. For example, the pressure sensor (100) can be attached to a smart window, a display, a mobile phone, a robot (10), etc.

[0061] In particular, the pressure sensor (100) can be positioned at various locations on the robot (10). For example, the pressure sensor (100) can be positioned on the outer surface of the robot (10). The pressure sensor (100) can be positioned on various parts of the robot, such as the chest, abdomen, legs, and hands, and can be positioned to surround the robot (10). With this configuration, the outer surface of the robot (10) can be easily protected by the pressure sensor (100). At the same time, the pressure sensor (100) can detect the force applied to the outer surface of the robot (10). Furthermore, the pressure sensor (100) can be electrically connected to the robot (10). Accordingly, a signal (e.g., pressure information) detected by the pressure sensor (100) can be transmitted to the robot (10). Accordingly, the robot (10) can perform processing of the pressure information by a processor, control unit, etc., installed inside.

[0062] Additionally, the pressure sensor (100) according to the embodiment may include a sensing portion (110), a cover portion (130), and a base portion (140). Furthermore, the pressure sensor (100) may further include an adhesive layer (120) disposed between the sensing portion (110) and the cover portion (130). Furthermore, the pressure sensor (100) may further include a bonding layer disposed between each layer.

[0063] In an embodiment, a base portion (140), a sensing portion (110), an adhesive layer (120), and a cover portion (130) may be sequentially arranged in the thickness direction (X-axis direction). For example, the sensing portion (110) and the cover portion (130) may be sequentially arranged on the base portion (140).

[0064] And the sensing unit (110) may include a first wiring layer (111), an elastic dielectric layer (112), and a second wiring layer (113) sequentially stacked in the thickness direction (X-axis direction). The elastic dielectric layer (112) may be located between the first wiring layer (111) and the second wiring layer (113).

[0065] Referring further to FIGS. 3 to 5, the first wiring layer (111) may include a first wiring (111a). The first wiring (111a) may be a conductive fiber disposed on one side of the elastic dielectric layer (112). And the second wiring layer (113) may include a second wiring (113a). The second wiring (113a) may be a conductive fiber disposed on the other side of the elastic dielectric layer (112). Furthermore, the first wiring (111a) and the second wiring (113a) may be arranged in a predetermined pattern.

[0066] Conductive fibers may include metals such as silver (Ag), copper (Cu), and gold (Au). For example, conductive fibers may have a structure in which a conductive material, such as metal, is coated onto a core made of general fibers such as polyester, nylon, acrylic, polypropylene, polyurethane, cotton, silk, acetate, etc., or they may be yarns made solely of conductive materials. For example, any electronic fiber material may be used for conductive fibers. And non-conductive fibers may be the general fibers described above.

[0067] For example, the first wiring (111a) may be spaced apart from each other along the first horizontal direction and extend in the second horizontal direction. The first horizontal direction and the second horizontal direction may be directions perpendicular to the thickness direction (X-axis direction). Also, the second wiring (113a) may be spaced apart from each other along the second horizontal direction and extend in the first horizontal direction. Furthermore, at least one of the first wiring (111a) and the second wiring (113a) may not have a pattern.

[0068] And the elastic dielectric layer (112) may be located between the first wiring layer (111) and the second wiring layer (113). When the shape is deformed by applying a contact force or pressure from outside the elastic dielectric layer (112), the dielectric constant may change. The elastic dielectric layer (112) changes shape due to the contact force or pressure, and the dielectric constant may change according to this change in shape. The first wiring layer (111) and the second wiring layer (113) can transmit a signal to the outside according to this change in dielectric constant.

[0069] And the first wiring layer (111) and the second wiring layer (113) may include conductive fibers. As described above, the first wiring (111a) and the second wiring (113a) may be made of conductive fibers. Additionally, a bonding layer may be further disposed in the first wiring layer (111) and the second wiring layer (113) to attach the first wiring layer (111) and the second wiring layer (113) to the elastic dielectric layer (112).

[0070] The elastic dielectric layer (112) is located between the first wiring layer (111) and the second wiring layer (113), and the first wiring (111a), the elastic dielectric layer (112a), and the second wiring (113a) can be modeled as capacitors.

[0071] A dielectric is located between the top and bottom surfaces of a capacitor. When the area between the top and bottom surfaces is A, the distance between the top and bottom surfaces is L, and the permittivity of the dielectric is ε, the capacitance C of the capacitor is given by the following formula.

[0072] [Equation 1]

[0073]

[0074] As such, capacitance is inversely proportional to the distance between the top and bottom surfaces when the permittivity and area are constant.

[0075] The elastic dielectric layer (112) can be deformed by receiving an external force. When the elastic dielectric layer (112) is deformed, the thickness of the elastic dielectric layer (112) located between the first wiring layer (111) and the second wiring layer (113) changes, and thus the capacitance between the first wiring layer (111) and the second wiring layer (113) changes. The first wiring layer (111) and the second wiring layer (113) can transmit a signal generated according to the change in capacitance.

[0076] For example, as illustrated, when pressure is applied to the pressure sensor, the thickness (a2) of the elastic dielectric layer (112) in the pressure-applied area becomes thinner than the thickness (a1) of the elastic dielectric layer (112) in the pressure-applied area. Accordingly, the capacitance of the elastic dielectric layer (112) in the pressure-applied area changes and decreases, allowing pressure to be detected.

[0077] In addition, the pressure sensor (100) can detect applied pressure by detecting changes in piezoresistance as well as in this way.

[0078] Additionally, the elastic dielectric layer (112) is an elastic dielectric. The elastic dielectric layer (112) is formed to undergo elastic deformation when a contact force is applied from the outside, and may be made of a dielectric material having elasticity and restoring force that returns to its original shape when the contact force is released.

[0079] The elastic dielectric layer (112) may include, for example, a fiber substrate having a random fiber arrangement such as foam, nonwoven fabric, nanoweb, synthetic fiber or natural fiber including one selected from the group consisting of polyurethane, nylon, polyethylene terephthalate and polyester, elastomer, rubber, urethane, etc.

[0080] Additionally, the elastic dielectric layer (112) may include an elastic body and a conductive composite dispersed within the elastic body. Here, the elastic body may be a fiber substrate having a random fiber arrangement such as the aforementioned foam, nonwoven fabric, or nanoweb, a synthetic fiber or natural fiber including one selected from the group consisting of polyurethane, nylon, polyethylene terephthalate, and polyester, an elastomer, rubber, urethane, etc. The conductive composite may be coated on the surface of the fibers forming the elastic body or dispersed within the elastic body. Accordingly, the elastic dielectric layer (112) has insulating properties with a resistance of 1 kΩ or more in a normal state, but when a physical change occurs around the elastic dielectric layer (112), that is, when pressure is applied to the sensing part (110), the thickness of the elastic dielectric layer (112) decreases, and the resistance changes.

[0081] To this end, the conductive composite may include a conductive polymer and a conductive powder. The conductive composite may be included in an amount of 1 to 10 wt% of the elastomer. If the conductive composite is included in an amount exceeding 10 wt% of the elastomer, it becomes difficult to guarantee insulation properties in the absence of applied pressure. In this case, the conductive polymer may include polyaniline or polypyrrole. Additionally, the conductive powder may include one selected from the group consisting of Au, Ag, Cu, Ni, CNT (Carbon Nano Tube), graphene, and ceramic fillers.

[0082] Additionally, the elastic dielectric layer (112) may include micropores. And the thickness of the elastic dielectric layer (112) may be less than a few mm.

[0083] Furthermore, the first wiring (111a) and the second wiring (113a) can be woven together with non-conductive fibers using conductive fibers. That is, the first wiring layer (111) may be a sheet woven in a form in which the first wiring (111a) and non-conductive fibers are woven together. Similarly, the second wiring layer (113) may be a sheet woven together with the second wiring (113a) and non-conductive fibers. Furthermore, since the first wiring (111a) and the second wiring (113a) have intersecting arrangement directions, if the first wiring (111a) is a warp in the first wiring layer (111), the second wiring (113a) may be a weft in the second wiring layer (113).

[0084] Furthermore, the first wiring layer (111) and the second wiring layer (113) may have a structure in which conductive fibers and non-conductive fibers are woven together in various ways, such as plain weave, twill weave, and satin weave.

[0085] Additionally, the first wiring layer (111) and the second wiring layer (113) may be conductive fibers formed on different sides of the elastic dielectric layer (112).

[0086] Additionally, an adhesive layer (120) may be further disposed on the outer side of the sensing part (110). The adhesive layer (120) may be a conductive adhesive layer and may include a conductive material. Through this adhesive layer (120), the sensing part (110) and the cover part (130) can easily come into contact with each other. The adhesive layer (120) may be made of an epoxy-based material rather than an acrylic-based material.

[0087] Referring further to FIG. 6, the cover portion (130) may be located on the outside of the sensing portion (110). The cover portion (130) may include a first layer (131) and a second layer (132) on the first layer (131). The first layer (131) may be a conductive layer. And the second layer (132) may be a non-conductive layer.

[0088] The first layer (131) may be a layer adjacent to the sensing unit (110). In other words, the first layer (131) may be located adjacent to the sensing unit (110) relative to the second layer (132). Also, the first layer (131) may be located between the second layer (132) and the sensing unit (110). Additionally, the first layer (131) may be located between the adhesive layer (120) and the second layer (132).

[0089] The first layer (131) may include at least some conductive fibers. In an example, the first layer (131) may be composed of non-conductive fibers and conductive fibers. For instance, the cover portion (130) may have a woven structure, and the first fiber, second fiber, third fiber, fourth fiber, etc. may correspond to warp threads, weft threads, etc. In an example, the first layer (131) may include a first fiber (FB1) and a second fiber (FB2). The first fiber (FB1) and the second fiber (FB2) each correspond to warp threads, weft threads, etc., and the first fiber (FB1) and the second fiber (FB2) may be woven to form the first layer (131). Also, either of the first fiber (FB1) and the second fiber (FB2) may be a non-conductive fiber. For instance, either of the first fiber (FB1) and the second fiber (FB2) may be a Kevlar fiber. Accordingly, mechanical protection by the first layer (131) can be easily achieved. Also, one of the first fiber (FB1) and the second fiber (FB2) may include a conductive fiber. Accordingly, the first layer (131) may include a conductive metal such as silver (Ag) or copper (Cu). Additionally, the first layer (131) may include a structure in which a conductive material such as metal is coated on a core made of general fibers such as polyester, nylon, acrylic, polypropylene, polyurethane, cotton, silk, acetate, etc., or may include a yarn made only of a conductive material.

[0090] Thus, the first layer (131) may consist of at least a portion of conductive fibers, and the ratio of conductive fibers to non-conductive fibers woven together can be varied. For example, the ratio of conductive fibers in an area adjacent to the adhesive layer (120) (e.g., lower area) may be higher than the ratio of conductive fibers in an area not adjacent to it (e.g., upper area). This can improve the bonding strength between the components.

[0091] And the second layer (132) may be made of non-conductive fibers. The non-conductive fibers may include the general fibers described above. The second layer (132) may have a structure in which non-conductive fibers are woven. For example, the second layer (132) may include Kevlar fibers of non-conductive fibers. For example, the second layer (132) may include a third fiber (FB3) and a fourth fiber (FB4). The third fiber (FB3) and the fourth fiber (FB4) may be woven together.

[0092] With this configuration, the cover part (130) can also have flexible characteristics following the sensing part (110). As a result, it can be easily attached to one side of a curved robot, etc., and durability against movement can be greatly improved.

[0093] In particular, the second layer (132) on the outer side of the cover portion (130) located on the outer side of the pressure sensor is made of Kevlar fiber, which is a non-conductive fiber, thereby more effectively improving the flexibility of the pressure sensor.

[0094] In addition, the non-conductive fiber in the cover portion (130) may be a Kevlar fiber and may include a high-strength aramid fiber. This can significantly improve the heat resistance and chemical resistance of the pressure sensor (100). In particular, the cover portion (130) is located on the outside of the pressure sensor (100) to improve durability against external impacts or harsh environments.

[0095] In addition, a portion of the first layer (131) and a portion of the second layer (132) may be woven together. For example, the non-conductive fibers of the second layer (132) may be woven with at least a portion of the first layer (131). For example, the second fiber (FB2) of the first layer (131) and the third fiber (FB3) of the second layer (132) may be woven together. With this configuration, even if the non-conductive fibers (e.g., Kevlar fibers) have low adhesive strength due to chemical inertness, the adhesive strength with the adhesive layer (120) can be significantly increased through the first layer (131) containing the conductive fibers. Accordingly, in the pressure sensor according to the embodiment, the decrease in adhesive strength due to non-conductive fibers can be significantly improved, while simultaneously ensuring durability and stability.

[0096] Additionally, the adhesive strength or bonding strength may correspond to the proportion of conductive fibers included. For example, in addition to the proportion of conductive fibers in the first layer described above, if the proportion of conductive fibers in the entire cover portion (130) is 50% (e.g., volume, mass, etc.), the adhesive strength may also be implemented corresponding to the proportion of conductive fibers. That is, by controlling the proportion of conductive fibers so that the first layer (131), which is the lower layer of the cover portion (130), is partially composed of conductive fibers, separation between the sensing portion (110) and the cover portion (130) can be facilitated. As a result, maintenance of the sensing portion (110), etc., can be easily implemented.

[0097] Furthermore, a bonding layer or adhesive member for adhesion may not be further disposed between the first layer (131) and the second layer (132). However, if the cover portion (130) is formed in a sheet form, additional insulating members or insulating layers, etc. may be further disposed within the first layer and the second layer. That is, insulating members, etc. may be further disposed between the conductive fibers woven in the first layer. Likewise, insulating members, etc. may be further disposed between the non-conductive fibers woven in the second layer.

[0098] Furthermore, as described above, the first layer (131) includes conductive fibers and non-conductive fibers, and may have a woven structure of conductive fibers and non-conductive fibers. In this case, the first layer (131) of this structure may be electrically connected to a ground electrode through the conductive fibers to perform the role of ground or earthing. Accordingly, the first layer (131) or the cover portion (130) may serve as a shielding layer to eliminate noise that may occur from the external pressure sensor. To this end, the first layer (131) may be electrically connected to the base portion (140). In particular, the first layer (131) may be electrically connected to the ground layer within the base portion (140). An explanation regarding this will be provided later.

[0099] In addition, the thickness of the conductive fiber in the cover portion (130) according to the embodiment may be smaller than the thickness of the non-conductive fiber. In particular, the conductive fiber may be located only on the adhesive layer (120). That is, since the first layer (131) is located only on the surface of the adhesive layer (120), the thickness of the conductive fiber, i.e., the first layer, in the cover portion (130) may be smaller than the thickness of the second layer. For example, the thickness of the first layer may be 0.5 times or less of the thickness of the cover portion (130). With this configuration, the durability of the pressure sensor can be greatly improved by securing the thickness of the second layer while improving the adhesive strength.

[0100] Referring to FIG. 7, the cover portion (130) according to the embodiment may include an upper cover portion (131a) adjacent to a second wiring layer (113) including a second wiring. Hereinafter, the cover portion (130) located above the adhesive layer (120) or the sensing portion (110) is described as the 'upper cover portion'. And the cover portion (130) located on the side of the adhesive layer (120) or the sensing portion (110) is described as the 'side cover portion'.

[0101] Furthermore, the upper cover portion (130a) may include a first-1 layer (131a) and a second-1 layer (132a). The first layer (131) of the cover portion (130) corresponds to the first-1 layer (131a) in the upper cover portion (130a), and the second layer (132) of the cover portion (130) corresponds to the first-2 layer (132a) in the upper cover portion (130a). The second-1 layer (132a) is located above the first-1 layer (131a), so that the first-1 layer (131a) is located between the second-1 layer (132a) and the sensing portion (110).

[0102] In addition, in this example, the sensing unit (110) may be located on a part of the robot (10). In particular, the first wiring layer (111) of the sensing unit (110) may be located adjacent to a part of the robot (10). Furthermore, bonding layers (BL1, BL2, BL3, BL4) may be located between each layer. For example, the first bonding layer (BL1) may be located below the first wiring layer (111). And the second bonding layer (BL2) may be located between the first wiring layer (111) and the elastic dielectric layer (112). And the third bonding layer (BL3) may be located between the elastic dielectric layer (112) and the second wiring layer (113). Furthermore, the fourth bonding layer (BL4) may be located between the second wiring layer (113) and the adhesive layer (120). Depending on the structure, some bonding layers may be removed. For example, the adhesive layer (120) may come into direct contact with the second wiring layer (113). Accordingly, electrical characteristics and the bonding strength between the adhesive layer (120) and the wiring layer can be improved.

[0103] Additionally, in the embodiment, the cover portion (130) may be formed to cover an area adjacent to the sensing portion (110) (or the first bonding layer) and the robot (10) in the pressure sensor (100). That is, the cover portion (130) is located in a part of the base portion (140) at the bottom of the pressure sensor (100) and is connected to the base portion (140) to protect the sensing portion (110) at the bottom of the cover portion (130) through the base portion (140) and the cover portion (130). Accordingly, an upper cover portion (130a) may be placed on the opposite side from the location where the robot (10) is placed or the location where the base portion (140) is placed. In particular, the second-1 layer (132a) may be located on the outermost side of the upper cover portion (130a). That is, the second-1 layer (132a) may be a layer having a maximum distance from the robot (10) at the pressure sensor (100). With this configuration, the non-conductive second-1 layer (132a) is located at the outermost position, so the pressure sensor according to the embodiment provides a greater effect of improved durability against external pressure and can have improved flexibility according to curvature even in an area far from the robot (10). Therefore, the compatibility of the pressure sensor according to the embodiment can be greatly improved.

[0104] Furthermore, as described above, the cover portion (130) may have a structure that extends from the pressure sensor (100) to the side of the sensing portion (110).

[0105] For example, the cover portion (130) may include a side cover portion (130b) positioned along the outer side of the sensing portion (110). The side cover portion (130b) may cover the side of the pressure sensor (100). Accordingly, the side cover portion (130b) may overlap at least partially in the horizontal direction with the sensing portion (110).

[0106] Additionally, the side cover portion (130b) may be spaced apart from the sensing portion (110). In particular, the side cover portion (130b) may be spaced apart so as to be electrically separated from the first wiring and the second wiring of the sensing portion (110). Furthermore, the side cover portion (130b) may be spaced apart from the component having different electrical characteristics to prevent electrical disconnection, or an insulating member, etc., may be additionally placed between the side cover portion (130b) and the component. Accordingly, protection of the sensing portion, etc., and prevention of electrical disconnection can be easily achieved.

[0107] And as described above, the cover portion (130) can be electrically connected to the lower base portion (140). In this example, the side cover portion (130b) can be connected to the upper cover portion (130a).

[0108] And the side cover portion (130b) may include a first-2 layer (131b) and a second-2 layer (132b). Specifically, the first layer (131) may correspond to the first-2 layer (131b) in the side cover portion (130b), and the second layer (132) may correspond to the second-2 layer (132b) in the side cover portion (130b). The second-2 layer (132b) may be located on the first-2 layer (131b). And the first-1 layer (131a) may be connected to the first-2 layer (131b), and the second-1 layer (132a) may be connected to the second-2 layer (132b).

[0109] These side cover portions (130b) may be located on the side of the outer surface of the pressure sensor (100) and may extend outward in some parts. Alternatively, the side cover portions (130b) may wrap around the base portion (140) or be connected to each other. They may be connected to the base portion (140) through weaving or the like. In addition, the upper cover portion (130a) and the side cover portions (130b) may be electrically connected to at least a part of the base portion (140) and electrically separated from another part of the base portion (140).

[0110] In an embodiment, the cover portion (130) may be electrically connected to the base portion (140). For example, the first-2 layer (131b) and the first base portion (141) described later may be electrically connected to each other. For example, the first-1 layer (131a) and the first base portion (141) may be connected to each other. With this configuration, a large ground layer surrounding the edge of the pressure sensor is formed, so that electrical shielding can be performed more effectively. That is, noise shielding for the sensing portion (110) can be further improved.

[0111] And the side cover portion (130b) may cover a part of the base portion (140) and extend outward. Accordingly, the first-2 layer (131b) of the side cover portion (130b) may be offset in the horizontal direction from the second base portion (142) of the base portion (140) and may be spaced apart in the vertical direction (X-axis direction). Additionally, the second-2 layer (132b) may be spaced apart in the vertical direction (X-axis direction) from the first base portion (141) and may be parallel in the horizontal direction. For example, the second base portion (142), the first base portion (141), and the second-2 layer (132b) may be stacked sequentially.

[0112] More specifically, the pressure sensor (100) of the embodiment may include a base portion (140) located on the opposite side of the cover portion (130).

[0113] In an embodiment, the base portion (140) may include a first base portion (141) and a second base portion (142). For example, the base portion (140) may include a first base portion (141) located at the top and a second base portion (142) located at the bottom of the first base portion (141). In the thickness direction (X-axis direction), the first base portion (141) may be located between the second base portion (142) and the sensing portion (110). The first base portion (141) and the second base portion (142) may be made of a material different from that of the cover portion (130). Thus, only the area of ​​the sensing portion (110) may be effectively protected through the cover portion (130), and depending on the material, the base portion (140) may be easily removed, making it easier to repair the sensing portion, etc.

[0114] And the base portion (140) serves as a support layer, is the layer closest to the robot, and can be electrically connected to the connector portion described later. And the base portion (140) may include non-conductive fibers and conductive fibers.

[0115] In this example, the conductive fiber of the base portion (140) can be connected to the conductive fiber of the cover portion (130) (e.g., the first layer). For instance, the first base portion (141) can be positioned below the first wiring (111a) of the first wiring layer (111). The conductive fiber of the first base portion (141) is positioned between the robot (10) and the first wiring layer (111) to shield noise generated from the pressure sensor (100) and to prevent noise generated from the robot (10) from affecting the first wiring and the second wiring.

[0116] And the conductive fiber of the base portion (140) can be electrically connected to each terminal of the connector portion. Accordingly, the first layer (131) of the cover portion (130) is electrically connected to the base portion (140), and in particular, can be connected to the ground electrode as a ground layer. Accordingly, as described above, electrical shielding of the sensing portion in the pressure sensor can be implemented more effectively.

[0117] In the embodiment, the base portion (140) may be larger than the area or width of the sensing portion (110). For example, the width may be a length in the horizontal direction. Accordingly, the base portion (140) can more effectively perform the role of a shielding layer for the sensing portion (110). Furthermore, mechanical protection of the sensing portion (110) can be easily achieved. Additionally, if the sensing portion (110) has a larger area than the base portion (140), it may be difficult to accurately detect the location of pressure applied to a specific area of ​​the robot. Accordingly, the pressure sensor according to the embodiment can perform pressure detection at a more accurate location in the combined device (e.g., robot).

[0118] Referring to FIG. 8, in this example, the first-1 layer (131a) and the first base portion (141) can be electrically separated from each other.

[0119] Specifically, the first-1 layer (131a) and the first base portion (141) can be separated from each other and electrically connected to different ground electrodes. Accordingly, the structural design for each of the first-1 layer (131a) and the first base portion (141) can be made more freely, and the shielding area can also be freely adjusted.

[0120] Additionally, the second-1 layer (132a) and the second base portion (142) may be connected to or separated from each other in some areas. For example, the second-1 layer (132a) and the second base portion (142) may be spaced apart from each other in a vertical direction. Accordingly, the durability of the pressure sensor (100) according to the embodiment can be significantly improved. Furthermore, by separating the second-1 layer (132a) and the second base portion (142) from each other, the degree of design freedom for each layer can be significantly improved.

[0121] Additionally, as an example, the conductive fiber in the base portion (140) can be formed in various structures. For instance, the second base portion (142) may be located between the first base portion (141) that is spaced apart in the thickness direction. Accordingly, the first base portion (141), the second base portion (142), and the first base portion (141) may be arranged sequentially. With this configuration, the conductive fiber is positioned on the outer side of the base portion (140), thereby easily securing bonding force for both the robot (10) and the sensing portion (110). Furthermore, shielding against noise is improved through the spaced first base portion (141), and mechanical durability can also be secured through the internal second base portion (142).

[0122] As another example, the first base part (141) may be positioned adjacent to the robot (10), and the second base part (142) may be positioned adjacent to the first wiring. With this configuration, a bonding force between the robot (10) and the sensing part (110) can be secured.

[0123] In these examples, electrical connections can be applied in various ways depending on the weaving of the conductive fibers.

[0124] Referring to FIG. 9, the pressure sensor according to the embodiment may further include a connector portion (CP). The connector portion (CP) according to the embodiment may be connected to a sensing portion (110) and a cover portion (130).

[0125] Specifically, the connector portion (CP) may include a plurality of electrodes. The connector portion (CP) may be electrically connected to an external device or robot, etc., through the plurality of electrodes.

[0126] For example, the connector part (CP) may include a first electrode (E1), a second electrode (E2), and ground electrodes (GE1, GE2).

[0127] The first electrode (E1) can be connected to the first wiring of the first wiring layer. And the second electrode (E2) can be connected to the second wiring of the second wiring layer. The first wiring of the first wiring layer and the second wiring of the second wiring layer can be connected to the conductive fiber layer of the base portion. For example, the base portion may each include a layer connected to the first wiring and a layer connected to the second wiring.

[0128] As a variation, either of the first electrode (E1) and the second electrode (E2) can be connected to the ground electrode (GE1, GE2). This is because any one of the wires in the circuit can be electrically connected to the ground.

[0129] And the ground electrode may include a first ground electrode (GE1) and a second ground electrode (GE2). The first ground electrode (GE1) may be connected to the first layer (131). And the second ground electrode (GE2) may be connected to the first base portion (141). With this configuration, even if a failure occurs in at least one of the first layer (131) and the first base portion (141), it can maintain its role as a shielding layer. Furthermore, maintenance, such as repair, can be performed more easily.

[0130] However, as described above, the cover portion (130) may be electrically connected to the first base portion (141) of the base portion (140). Also, the first base portion (141) (or the first layer) may be connected to a ground electrode.

[0131] The features, structures, effects, etc. described in the embodiments above are included in at least one embodiment and are not necessarily limited to only one embodiment. Furthermore, the features, structures, effects, etc. exemplified in each embodiment may be combined or modified and implemented in other embodiments by a person skilled in the art to which the embodiments belong. Therefore, details regarding such combinations and modifications should be interpreted as being included within the scope of the embodiments.

[0132] Although the above description has focused on the embodiments, this is merely an example and is not intended to limit the embodiments. A person skilled in the art will understand that various modifications and applications not exemplified above are possible within the scope of the essential characteristics of the embodiments. For instance, each component specifically shown in the embodiments may be modified and implemented. Furthermore, differences related to such modifications and applications should be interpreted as being included within the scope of the embodiments set forth in the appended claims.

Claims

1. Base part; A sensing part disposed on the above base part and including an elastic dielectric layer; and A cover portion disposed on the above-mentioned sensing portion; including, The above cover portion includes a first layer which is a conductive layer and a second layer which is a non-conductive layer disposed on the first layer; The first layer above is a pressure sensor electrically connected to the base part.

2. In Paragraph 1, The above sensing unit is a pressure sensor comprising the elastic dielectric layer, a first wiring and a second wiring that output a sensing signal.

3. In Paragraph 1, The first layer and the second layer comprise Kevlar fibers, The second layer above is a pressure sensor woven with Kevlar fibers and conductive fibers.

4. In Paragraph 3, A pressure sensor in which the thickness of the conductive fiber is smaller than the thickness of the Kevlar fiber.

5. In Paragraph 2, A pressure sensor in which the first wiring, the elastic dielectric layer, and the second wiring are arranged sequentially in the thickness direction.

6. In Paragraph 2, The above cover portion is a pressure sensor positioned adjacent to the above second wiring.

7. In Paragraph 2, The first layer is a pressure sensor disposed between the second layer and the second wiring.

8. In Paragraph 2, A pressure sensor comprising: a first base portion disposed adjacent to the first wiring and below the first wiring; and a second base portion disposed on the first base portion.

9. In Paragraph 8, The first base portion is a pressure sensor positioned between the second base portion and the first wiring.

10. In Paragraph 8, The first layer and the first base portion are connected to each other, The pressure sensor where the second layer and the second base part are connected to each other.

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