阅读说明：本技术 一种具有双层传感结构可模块化使用的软体曲率传感器 (Soft body curvature sensor with double-layer sensing structure and capable of being modularly used ) 是由 钟宋义 盖子仪 杨扬 邵文韫 杨毅 彭艳 蒲华燕 刘媛媛 于 2020-07-27 设计创作，主要内容包括：本发明公开一种具有双层传感结构可模块化使用的软体曲率传感器,涉及测量技术领域,下侧中间层、主要传感层和下侧保护层由上至下依次设置,下侧中间层和下侧保护层相连接,主要传感层的两端分别连接有一个导线,主要传感层沿下侧中间层的纵向延伸设置；上侧保护层、次要传感层和上侧中间层由上至下依次设置,上侧保护层、上侧中间层和下侧中间层依次连接,次要传感层包括多个次要传感栅格,多个次要传感栅格沿主要传感层的长度方向依次设置,各次要传感栅格的两端分别连接有一个导线。本发明提供的具有双层传感结构可模块化使用的软体曲率传感器,在弯曲情况为单向单一曲率或单向非单一曲率时均能应用,提高检测精度。(The invention discloses a soft body curvature sensor with a double-layer sensing structure and capable of being used in a modularized mode, and relates to the technical field of measurement; upside protective layer, secondary sensing layer and upside intermediate level set gradually from top to bottom, and upside protective layer, upside intermediate level and downside intermediate level connect gradually, and secondary sensing layer includes a plurality of secondary sensing grids, and a plurality of secondary sensing grids set gradually along the length direction on main sensing layer, and the both ends of each secondary sensing grid are connected with a wire respectively. The soft curvature sensor with the double-layer sensing structure and capable of being used in a modularized mode can be applied to the condition that the bending condition is a one-way single curvature or a one-way non-single curvature, and detection accuracy is improved.)

1. A soft curvature sensor with a double-layer sensing structure and capable of being used in a modularized mode is characterized by comprising a sensor body and a plurality of wires, wherein the sensor body comprises a protective layer, a middle layer and a sensing layer, the protective layer comprises an upper protective layer and a lower protective layer, the middle layer comprises an upper middle layer and a lower middle layer, and the sensing layer comprises a main sensing layer and a secondary sensing layer; the lower side middle layer, the main sensing layer and the lower side protective layer are sequentially arranged from top to bottom, the lower side middle layer is connected with the lower side protective layer, two ends of the main sensing layer are respectively connected with one lead, and the main sensing layer is arranged along the longitudinal extension of the lower side middle layer; the upside protective layer the secondary sensing layer with the upside intermediate level sets gradually from top to bottom, the upside protective layer the upside intermediate level with the downside intermediate level connects gradually, the secondary sensing layer includes a plurality of secondary sensing grids, and is a plurality of secondary sensing grid follows the length direction on main sensing layer sets gradually, each the both ends of secondary sensing grid are connected with one respectively the wire.

2. The modularly usable soft curvature sensor having a two-layer sensing architecture as claimed in claim 1, wherein said primary sensing layer comprises a first channel cavity and a liquid metal disposed in said first channel cavity, said first channel cavity disposed between said lower intermediate layer and said lower protective layer, said first channel cavity disposed along a longitudinal extension of said lower intermediate layer.

3. The modularly usable soft curvature sensor with two-layer sensing architecture as claimed in claim 2, wherein said secondary sensing grid comprises a second channel cavity and a liquid metal disposed in said second channel cavity, said second channel cavity being disposed between said upper protective layer and said upper intermediate layer, the length direction of said second channel cavity being perpendicular to the length direction of said first channel cavity.

4. The modularly usable soft curvature sensor with two-layer sensing structure as claimed in claim 3, wherein said first channel cavity and said second channel cavity are both circuitous channel cavities, and one of said wires is disposed at each end of said first channel cavity, and one of said wires is disposed at each end of said second channel cavity.

5. The modularly usable soft curvature sensor with two layers of sensing architecture as claimed in claim 4, wherein said two wires at both ends of said first channel cavity are located on the same side of said lower middle layer and said two wires at both ends of said second channel cavity are located on the same side of said upper middle layer.

6. The modularly usable soft curvature sensor with dual layer sensing architecture of claim 3, wherein said liquid metal is liquid gallium indium tin alloy.

7. The modularly usable soft curvature sensor with two-layer sensing structure as claimed in claim 1, wherein said upper protection layer, said upper middle layer, said lower middle layer and said lower protection layer are made of PDMS.

8. The modularly usable soft curvature sensor with two-layer sensing architecture as claimed in claim 1, wherein said upper protective layer is adhered to the upper surface of said upper intermediate layer by an adhesive, said upper intermediate layer is adhered to the upper surface of said lower intermediate layer by an adhesive, and said lower intermediate layer is adhered to the upper surface of said lower protective layer by an adhesive.

Technical Field

The invention relates to the technical field of measurement, in particular to a soft curvature sensor with a double-layer sensing structure and capable of being used in a modularized mode.

Background

Soft electronic materials have evolved from traditional electronic materials, and advances in performance, functionality, and versatility have enabled applications that have not been possible with traditional silicon technology. The largest characteristic of a product made of the soft electronic material is flexibility, and the product with flexibility can be used for developing a fist foot in the emerging fields of fire and heat such as soft robots, wearable biological monitoring, human-computer interaction and the like.

Intelligence has always been a goal sought in the field of robotics, including soft-bodied robotics, and perception is a capability necessary for intelligence. The perception of a soft robot includes motion estimation of itself, contact modeling, and mapping to the surrounding environment. In traditional solution, highly specialized rigid sensor can satisfy most requirements, but when being used for software robot, the intervention of rigid sensor greatly reduces the flexibility of software robot, not only can disturb the motion of robot itself, and measured data is also not accurate enough. The appearance of the soft sensor is to solve the problem, the sensor directly made of soft material can minimally affect the motion of the soft robot, and in addition, the consistency of the postures of the sensor and the soft robot also enables the sensor to provide accurate real-time data.

In current soft body robots, bending is the main form of motion, but due to the immaturity in soft body curvature sensor technology, the control of soft body robots is generally forced to select open loop control, which is far less precise than closed loop control. In addition, most of the soft body curvature sensors generally have only one layer of sensing structure, the measured result only has one datum, and then only a single curvature can be obtained, the bending condition of the soft body robot is not perfect, the single curvature can not provide a complete bending condition, and in the application with higher precision requirement, the soft body sensor with a single layer sensing structure can not meet the requirement.

Disclosure of Invention

In order to solve the technical problems, the invention provides a soft curvature sensor which has a double-layer sensing structure and can be used in a modularized manner, and the soft curvature sensor can be applied to both unidirectional single curvature and unidirectional non-single curvature under the bending condition, so that the detection precision is improved.

In order to achieve the purpose, the invention provides the following scheme:

the invention provides a soft curvature sensor with a double-layer sensing structure and capable of being used in a modularized mode, which comprises a sensor body and a plurality of wires, wherein the sensor body comprises a protective layer, a middle layer and a sensing layer, the protective layer comprises an upper side protective layer and a lower side protective layer, the middle layer comprises an upper side middle layer and a lower side middle layer, and the sensing layer comprises a main sensing layer and a secondary sensing layer; the lower side middle layer, the main sensing layer and the lower side protective layer are sequentially arranged from top to bottom, the lower side middle layer is connected with the lower side protective layer, two ends of the main sensing layer are respectively connected with one lead, and the main sensing layer is arranged along the longitudinal extension of the lower side middle layer; the upside protective layer the secondary sensing layer with the upside intermediate level sets gradually from top to bottom, the upside protective layer the upside intermediate level with the downside intermediate level connects gradually, the secondary sensing layer includes a plurality of secondary sensing grids, and is a plurality of secondary sensing grid follows the length direction on main sensing layer sets gradually, each the both ends of secondary sensing grid are connected with one respectively the wire.

Preferably, the primary sensing layer includes a first channel cavity and a liquid metal disposed in the first channel cavity, the first channel cavity is disposed between the lower intermediate layer and the lower protective layer, and the first channel cavity is disposed along a longitudinal extension of the lower intermediate layer.

Preferably, the secondary sensor grid includes a second channel cavity and a liquid metal disposed in the second channel cavity, the second channel cavity is disposed between the upper protective layer and the upper intermediate layer, and a length direction of the second channel cavity is perpendicular to a length direction of the first channel cavity.

Preferably, the first channel cavity and the second channel cavity are both circuitous channel cavities, two ends of the first channel cavity are respectively provided with one wire, and two ends of the second channel cavity are respectively provided with one wire.

Preferably, the two wires at the two ends of the first channel cavity are located on the same side of the lower middle layer, and the two wires at the two ends of the second channel cavity are located on the same side of the upper middle layer.

Preferably, the liquid metal is a liquid gallium indium tin alloy.

Preferably, the upper protection layer, the upper middle layer, the lower middle layer and the lower protection layer are all made of PDMS.

Preferably, the upper protective layer is bonded to the upper surface of the upper intermediate layer by an adhesive, the upper intermediate layer is bonded to the upper surface of the lower intermediate layer by an adhesive, and the lower intermediate layer is bonded to the upper surface of the lower protective layer by an adhesive.

Compared with the prior art, the invention has the following technical effects:

according to the soft curvature sensor with the double-layer sensing structure and capable of being used in a modularized mode, when the bending condition is the unidirectional non-single curvature, when the measured piece is bent and deformed, the primary sensing layer obtains the basic curvature of the bending condition of the measured piece according to the relative resistance variation, the secondary sensing layer obtains the correction curvatures of the bending condition of the measured piece at multiple positions according to the relative resistance variation of the multiple secondary sensing grids, and the basic curvature is corrected locally, so that the real bending condition is obtained, and the detection accuracy is improved. When the bending condition is a unidirectional single curvature, the sensor body can be disassembled from the middle layer at the lower side and the middle layer at the upper side, and the longitudinal soft curvature sensor containing the main sensing layer and the transverse soft curvature sensor containing the secondary sensing layer can independently complete corresponding work. The invention can solve the problem of curvature complete sensing which is urgently needed to be solved in the fields of soft robots, wearable biological monitoring, human-computer interaction and the like, the two-layer structure design of the sensing layer not only can provide single curvature information, but also can provide local curvature correction information, so that a curve with non-single curvature is drawn, the real complete bending condition is sensed, and the using method has a modularized mode.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a soft curvature sensor with a dual-layer sensing structure and capable of being used in a modularized manner according to the present invention;

FIG. 2 is a schematic structural diagram of a sensor body according to the present invention;

FIG. 3 is a schematic view of a longitudinal soft body curvature sensor according to the present invention;

FIG. 4 is a schematic structural diagram of the lateral soft body curvature sensor of the present invention.

Description of reference numerals: 1. a wire; 2. a sensor body; 3. a sensing layer; 31. a primary sensing layer; 32. a secondary sensing layer; 321. a secondary sensing grid; 4. a protective layer; 41. a lower side protective layer; 42. an upper protective layer; 5. an intermediate layer; 51. a lower intermediate layer; 52. an upper intermediate layer.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention aims to provide a soft curvature sensor which has a double-layer sensing structure and can be used in a modularized mode, wherein the soft curvature sensor can be applied to the condition that the bending condition is a one-way single curvature or a one-way non-single curvature, and the detection precision is improved.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

As shown in fig. 1-4, the present embodiment provides a soft curvature sensor with a double-layer sensing structure and capable of being used modularly, which includes a sensor body 2 and a plurality of wires 1, the sensor body 2 includes a protective layer 4, an intermediate layer 5 and a sensing layer 3, the protective layer 4 includes an upper protective layer 42 and a lower protective layer 41, the intermediate layer 5 includes an upper intermediate layer 52 and a lower intermediate layer 51, the intermediate layer 5 is divided into two layers, so as to facilitate modular usage, and the sensing layer 3 includes a primary sensing layer 31 and a secondary sensing layer 32. The lower middle layer 51, the main sensing layer 31 and the lower protective layer 41 are sequentially arranged from top to bottom, the lower middle layer 51 is connected with the lower protective layer 41, the lower middle layer 51 is used for sealing the main sensing layer 31 and isolating the secondary sensing layer 32, the lower protective layer 41 is used for sealing the main sensing layer 31 and isolating the main sensing layer 31 from the external environment to play a role in protection, two ends of the main sensing layer 31 are respectively connected with a lead 1, resistance value information of the main sensing layer 31 is transmitted to an external circuit through the lead 1, and the main sensing layer 31 is arranged along the longitudinal extension of the lower middle layer 51; the upper protection layer 42, the secondary sensing layer 32 and the upper intermediate layer 52 are sequentially arranged from top to bottom, the upper protection layer 42, the upper intermediate layer 52 and the lower intermediate layer 51 are sequentially connected, the upper intermediate layer 52 is used for sealing the secondary sensing layer 32 and isolating the primary sensing layer 31, the upper protection layer 42 is used for sealing the secondary sensing layer 32 and isolating the secondary sensing layer 32 from the external environment to play a role in protection, the secondary sensing layer 32 comprises a plurality of secondary sensing grids 321, the secondary sensing grids 321 are sequentially arranged along the length direction of the primary sensing layer 31, two ends of each secondary sensing grid 321 are respectively connected with one lead 1, and resistance value information of each secondary sensing grid 321 is transmitted to an external circuit through the leads 1.

When the bending condition is a unidirectional non-single curvature, the measured piece is bent and deformed, the primary sensing layer 31 obtains a basic curvature of the bending condition of the measured piece according to the relative resistance variation, the secondary sensing layer 32 obtains correction curvatures at a plurality of positions of the bending condition of the measured piece according to the relative resistance variation of the plurality of secondary sensing grids 321, and the basic curvature is locally corrected, so that a real bending condition is obtained, and the detection precision is improved. When the bending condition is a single-direction single curvature, the sensor body 2 can be detached from the space between the lower middle layer 51 and the upper middle layer 52, and the lower protective layer 41, the main sensing layer 31 and the lower middle layer 51 are combined into a longitudinal soft curvature sensor which can be independently used for measuring the single-direction single large curvature; the upper protective layer 42, the secondary sensing layer 32 and the upper intermediate layer 52 are combined to form a transverse soft body curvature sensor which can be independently used for measuring unidirectional single small curvature, namely, a longitudinal soft body curvature sensor containing the primary sensing layer 31 and a transverse soft body curvature sensor containing the secondary sensing layer 32 can independently complete corresponding work.

As shown in fig. 3, the primary sensor layer 31 includes a first channel cavity provided between the lower intermediate layer 51 and the lower protective layer 41, and a liquid metal provided in the first channel cavity, which is provided along the longitudinal extension of the lower intermediate layer 51.

As shown in fig. 4, the secondary sensing grid 321 includes a second channel cavity and a liquid metal disposed in the second channel cavity, the second channel cavity is disposed between the upper protective layer 42 and the upper intermediate layer 52, and a length direction of the second channel cavity is perpendicular to a length direction of the first channel cavity. The secondary sensing grids 321 in the present embodiment are provided in three, and the three secondary sensing grids 321 are uniformly arranged along the length direction of the primary sensing layer 31.

In this embodiment, the first channel cavity and the second channel cavity are both winding channel cavities, two ends of the first channel cavity are respectively provided with one conducting wire 1, and two ends of the second channel cavity are respectively provided with one conducting wire 1.

In this embodiment, the two wires 1 at the two ends of the first channel cavity are located on the same side of the lower-side interlayer 51, and the two wires 1 at the two ends of the second channel cavity are located on the same side of the upper-side interlayer 52.

In this embodiment, the liquid metal is a liquid gallium indium tin alloy. The liquid metal used as the manufacturing material has the advantages of low viscosity, high conductivity and low vapor pressure. The low viscosity can reduce air gaps between the sensing material and the sealing material. High conductivity can improve the sensitivity of the sensor. The low vapor pressure makes liquid metal can not excessively volatilize, has improved operator and user's factor of safety. In addition, liquid metals have no drift and non-linearity in the measurement compared to conductive nanocomposites and conductive organic solutions.

In the present embodiment, the upper passivation layer 42, the upper intermediate layer 52, the lower intermediate layer 51 and the lower passivation layer 41 are made of PDMS. PDMS is used as a manufacturing material, so that the soft curvature sensor has the most important flexibility, has a buffer protection function on external pressure, impact and stretching, and has a sealing effect on a sensing layer material.

In the present embodiment, the upper protective layer 42 is bonded to the upper surface of the upper intermediate layer 52 by an adhesive, the upper intermediate layer 52 is bonded to the upper surface of the lower intermediate layer 51 by an adhesive, and the lower intermediate layer 51 is bonded to the upper surface of the lower protective layer 41 by an adhesive.

Specifically, the measured piece is directly manufactured by 3D printing, the soft curvature sensor in the embodiment is embedded in a pore of the measured piece and is sealed and fixed by PDMS material, and the soft curvature sensor bends along with the bending of the measured piece to measure the bending condition of the measured piece.

When the soft curvature sensor in this embodiment is manufactured, the protective layer mold is printed by using a 3D printer, the PDMS material is poured into the mold after being mixed, and after the PDMS material is completely cured, the excess material is cut off by using a scraper, the shapes of the upper protective layer 42 and the lower protective layer 41 are completely the same as the manufacturing method, and the upper protective layer 42 and the lower protective layer 41 are both flat cuboids. The channel shapes of the primary sensing layer 31 and the secondary sensing layer 32 are printed on a mold by using a 3D printer, PDMS materials are respectively poured, and after complete curing, a lower-side intermediate layer 51 containing a first channel groove and an upper-side intermediate layer 52 containing a plurality of second channel grooves are obtained.

Bonding the lower side protective layer 41 and the lower side intermediate layer 51 by using an adhesive, arranging the first channel groove of the lower side intermediate layer 51 downwards, covering the lower side protective layer 41 on the lower surface of the lower side intermediate layer 51, so that a first channel cavity is formed between the lower side intermediate layer 51 and the lower side protective layer 41, and after the adhesive is sufficiently bonded, injecting liquid gallium indium tin alloy into the first channel cavity by using an injector to form the main sensing layer 31; bonding the upper side protection layer 42 and the upper side middle layer 52 by using an adhesive, wherein the second channel groove of the upper side middle layer 52 is arranged upwards, and the upper side protection layer 42 covers the upper surface of the upper side middle layer 52, so that a plurality of second channel cavities are formed between the upper side protection layer 42 and the upper side middle layer 52, and after the adhesive is fully bonded, injecting liquid gallium indium tin alloy into the plurality of second channel cavities by using an injector to form the secondary sensing layer 32; and finally, adhering the lower middle layer 51 and the upper middle layer 52 by using an adhesive, and finishing the manufacture of the complete soft curvature sensor after the adhesion is finished.

The specific working principle is as follows: when the measured piece is bent and deformed, the resistance value of the liquid metal material in the sensing layer 3 changes, the primary sensing layer 31 obtains the base curvature of the bending condition of the measured piece according to the relative resistance change amount, and the secondary sensing layer 32 obtains the correction curvatures of the three positions of the bending condition of the measured piece according to the relative resistance change amounts of the three secondary sensing grids 321, and locally corrects the base curvature, so that the real bending condition is obtained. The application of the soft body curvature sensor in the embodiment has a modularized mode, when the bending condition is unidirectional single curvature, the measurement task can be completed only by the longitudinal soft body curvature sensor or the transverse soft body curvature sensor, and when the bending condition is unidirectional non-single curvature, the complete soft body curvature sensor can complete the measurement task.

Therefore, the curvature complete sensing problem which needs to be solved urgently in the fields of software robots, wearable biological monitoring, human-computer interaction and the like can be solved, the two-layer structure design of the sensing layer 3 can not only provide single curvature information, but also provide local curvature correction information, so that a curve with non-single curvature is drawn, the real complete bending condition is sensed, and the using method has a modular mode.

The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.