CN-224231143-U - Curved surface electromagnetic type touch sensor, electronic skin and robot

CN224231143UCN 224231143 UCN224231143 UCN 224231143UCN-224231143-U

Abstract

The utility model relates to a curved electromagnetic touch sensor, electronic skin and a robot, which comprises a measuring branch, a processing module and a sensing unit, wherein the sensing unit is provided with a flexible body, a force detection assembly is arranged in an area contained by the flexible body, the flexible body is provided with a downward protruding flexible structure, the surface of the flexible structure is a curved surface, the force detection assembly comprises a magnetic source and a magnetic field measuring electronic element, the magnetic source is embedded in the flexible structure, the magnetic field measuring electronic element is arranged below the flexible structure, the magnetic field measuring electronic element is directly or indirectly contacted with the curved surface of the flexible structure, the flexible body is deformed by external force to drive the curved surface of the flexible structure to change the direct or indirect contact area with the magnetic field measuring electronic element, the measuring branch comprises an analog-to-digital conversion circuit, and the processing module is coupled with each magnetic field measuring electronic element through the analog-to-digital conversion circuit and is used for outputting an electric signal representing the contact force according to the magnetic flux of the magnetic field measuring electronic element changed by the deformation of the flexible structure.

Inventors

SUN TENGCHEN
ZHANG DAHUA
ZENG FANYOU

Assignees

北京他山科技有限公司

Dates

Publication Date: 20260512
Application Date: 20250530

Claims (15)

1. A curved electromagnetic tactile sensor, characterized by: the curved electromagnetic three-dimensional force sensor comprises a measuring branch, a processing module and at least one sensing unit, wherein each sensing unit is provided with a flexible body for contacting an external object, and a force detection assembly is arranged in an area contained in the flexible body; The flexible body is provided with a flexible structure protruding downwards, and the surface of the flexible structure is a curved surface; The force detection assembly comprises a magnetic source for actively generating a magnetic field and at least one magnetic field measurement electronic element, wherein the magnetic source is embedded in the flexible structure, the magnetic field measurement electronic element is arranged below the flexible structure, the magnetic field measurement electronic element is directly or indirectly contacted with the curved surface of the flexible structure, and the flexible body is deformed by external force to drive the curved surface of the flexible structure to change the direct or indirect contact area with the magnetic field measurement electronic element; The measuring branch comprises an analog-to-digital conversion circuit, and the processing module is coupled with each magnetic field measuring electronic element through the analog-to-digital conversion circuit and is used for outputting an electric signal representing the contact force according to the magnetic flux of the magnetic field measuring electronic element changed by the deformation of the flexible structure.
2. The curved electromagnetic tactile sensor according to claim 1, wherein: The magnetic field measuring electronic elements are at least three, and each magnetic field measuring electronic element is distributed on the periphery of the flexible structure.
3. The curved electromagnetic tactile sensor according to claim 2, wherein: The lower surface of the flexible structure forms axisymmetry, and each magnetic field measurement electronic element is positioned on the same plane and uniformly distributed along the circumferential side of the axisymmetry line of the lower surface of the flexible structure.
4. The curved electromagnetic tactile sensor according to claim 1, wherein: the flexible body is a cover body with the surface folded upwards, and the flexible structure is fixed on the inner surface of the cover body; and/or the flexible body and the flexible structure are integrally formed or separately arranged.
5. The curved electromagnetic tactile sensor of claim 1 wherein said flexible structure comprises a spherical or ellipsoidal surface.
6. The curved electromagnetic tactile sensor according to claim 1, wherein: The flexible body is made of nonferromagnetic conductive materials and is used as a proximity detection electrode; The measuring branch circuit comprises a capacitance digital conversion circuit, the capacitance digital conversion circuit is coupled with the flexible body to obtain capacitance change generated along with the approach of an external object, and the processing module is coupled with the capacitance digital conversion circuit and is used for outputting an approach sensing signal according to the capacitance change.
7. The curved electromagnetic tactile sensor according to claim 2, wherein: The flexible body is distributed with at least two measuring points, each measuring point is arranged at different positions corresponding to the flexible body to form a sensing array of the sensing unit, and each measuring point in the sensing array is used for detecting the spatial position of the stressed acting point of the flexible body corresponding to the sensing unit; the measuring branch coupling force detection assembly is used for acquiring first-class detection data, and each measuring point is respectively coupled through the switch array to acquire second-class detection data; The processing module is coupled with the measuring branch and is used for outputting a three-dimensional force signal according to the first type of detection data and outputting a spatial resolution signal according to the second type of detection data.
8. The curved electromagnetic tactile sensor according to claim 7, wherein: Each measuring point comprises a first electrode and a second electrode which are arranged above each other, and the projection of the first electrode relative to the second electrode at least covers part of the area of the second electrode; The measuring branch circuit comprises a capacitance-to-digital conversion circuit, the capacitance-to-digital conversion circuit is respectively coupled with the first electrode and the second electrode of each point location through a switch array and is used for acquiring the mutual capacitance between the first electrode and the second electrode on each point location, and the first electrode and the second electrode are used as capacitance sensing electrodes.
9. The curved electromagnetic tactile sensor according to claim 7, wherein: Each measuring point is provided with a piezoelectric material, a first electrode and a second electrode which are respectively arranged on the upper surface and the lower surface of the piezoelectric material, the piezoelectric material between the measuring points is integrated or split, and the first electrode and the second electrode are used as signal output electrodes of the piezoelectric material of corresponding points; The measuring branch circuit comprises a piezoelectric measuring circuit, the piezoelectric measuring circuit is respectively coupled with the first electrode and the second electrode of each point location through a switch array and is used for acquiring an electric signal between the first electrode and the second electrode on each point location, and the piezoelectric measuring circuit comprises a charge amplifier and is used for amplifying the electric signal.
10. The curved electromagnetic tactile sensor according to claim 9, wherein: The projection of the first electrode relative to the second electrode covers at least a partial area of the second electrode; The measuring branch circuit comprises a capacitance-to-digital conversion circuit, the capacitance-to-digital conversion circuit is respectively coupled with a first electrode and a second electrode of each point location through a switch array and is used for acquiring mutual capacitance between the first electrode and the second electrode on each point location, and the first electrode and the second electrode are used as multiplexing electrodes of a capacitance sensing electrode and a signal output electrode of a piezoelectric material.
11. The curved electromagnetic tactile sensor according to any one of claims 7-10, wherein: Each measuring point at least comprises a first electrode, the measuring branch comprises a capacitance-digital conversion circuit, the capacitance-digital conversion circuit is respectively coupled with the first electrode of each point location through a switch array and is used for acquiring the self capacitance of the first electrode and/or the mutual capacitance of the first electrode between the two point locations, and the first electrode is at least used as a proximity detection electrode.
12. The curved electromagnetic tactile sensor according to claim 7, wherein: Each measuring point is provided with a piezoresistive material, the piezoresistive material of each measuring point is correspondingly provided with a first electrode and a second electrode, the first electrode and the second electrode are respectively arranged on the upper surface and the lower surface of the piezoresistive material or are coplanar and arranged on the piezoresistive material, and the first electrode and the second electrode are used as signal output electrodes of the piezoresistive material of corresponding points; The measuring branch circuit comprises a piezoresistance measuring circuit, wherein the piezoresistance measuring circuit is respectively coupled with the first electrode and the second electrode of each point location through a switch array and is used for acquiring an electric signal between the first electrode and the second electrode on each point location when an object is contacted.
13. The curved electromagnetic tactile sensor according to claim 12, wherein: the piezoresistive material between each measuring point or between the collecting areas formed by a plurality of measuring points forms an insulating interval separately; The second electrode is used as the near-ground end of the measuring point, and a gating switch is connected in series between the second electrode and the ground; The measuring branch circuit comprises a capacitance-digital conversion circuit, the capacitance-digital conversion circuit is respectively coupled with the first electrode of each point location through a switch array and is used for acquiring the self capacitance of the first electrode and/or the mutual capacitance between two mutually insulated first electrodes when an object approaches, and the first electrodes are used as approach detection electrodes.
14. An electronic skin comprising the curved electromagnetic tactile sensor according to any one of claims 1-13.
15. A robot comprising the electronic skin of claim 14.

Description

Curved surface electromagnetic type touch sensor, electronic skin and robot Technical Field The utility model relates to machine touch perception, in particular to a curved electromagnetic touch sensor, electronic skin and a robot. Background Electromagnetic tactile sensing is an emerging tactile sensing technology, is sensitive to tiny force/deformation based on electromagnetic principles, and is not easily affected by temperature and humidity. JP6703728B2 proposes a proximity touch sensor in which a magnetic body is suspended on a magnetic detection element by a foam material, the bottom surface of which is flat, and the flexible deformation is only dependent on the deformation of the foam itself, and the force detection sensitivity is reduced. CN119880234a proposes a hemispherical magnetic touch sensor, a neodymium-iron-boron magnetic cylinder is embedded in a silica gel elastomer shell, 4 TMRs are arranged below, the silica gel elastomer shell protrudes upwards to form a curved surface, which is easy to be stressed, and a flat surface is adopted as the contact surface of the lower part and the TMR. CN119238587a proposes a magnetic sensor, the magnetic source sets up at flexible hemisphere internal surface, and flexible hemisphere inner chamber fills air, and magnetic detection element sets up at flexible hemisphere inner chamber, utilizes the air interval to realize self-adaptation deformation, although promoted the flexibility, but outside atmospheric pressure that elevation, temperature lead to changes leads to the unexpected deformation of casing to introduce the interference easily, and when flexible hemisphere warp simultaneously, the magnetic source probably takes place unexpected displacement or rotation, leads to magnetic field direction disorder, increases model calculation complexity. Disclosure of utility model In order to overcome the defects in the prior art, a curved electromagnetic tactile sensor is provided. The curved electromagnetic touch sensor comprises a measuring branch, a processing module and at least one sensing unit, wherein each sensing unit is provided with a flexible body used for contacting an external object, a force detection assembly is arranged in an area contained by the flexible body, the flexible body is provided with a downward protruding flexible structure, the surface of the flexible structure is a curved surface, the force detection assembly comprises a magnetic source used for actively generating a magnetic field and at least one magnetic field measurement electronic element, the magnetic source is embedded in the flexible structure, the magnetic field measurement electronic element is arranged below the flexible structure and is in direct or indirect contact with the curved surface of the flexible structure, the flexible body is deformed by external force to drive the curved surface of the flexible structure to change the direct or indirect contact area with the magnetic field measurement electronic element, the measuring branch comprises an analog-to-digital conversion circuit, and the processing module is coupled with each magnetic field measurement electronic element through the analog-to-digital conversion circuit and is used for outputting an electric signal representing the contact force according to the magnetic flux of the magnetic field measurement electronic element changed by the flexible structure deformation. The utility model provides a curved electromagnetic tactile sensor, which also comprises the following auxiliary schemes: the magnetic field measuring electronic elements are distributed on the periphery of the flexible structure. The lower surface of the flexible structure is axisymmetric, and the magnetic field measuring electronic elements are positioned on the same plane and uniformly distributed along the circumferential side of the axisymmetric line of the lower surface of the flexible structure. The flexible body is a cover body with the surface folded upwards, the flexible structure is fixed on the inner surface of the cover body, and/or the flexible body and the flexible structure are integrally formed or arranged in a split mode. Wherein the surface of the flexible structure is spherical or ellipsoidal. The measuring branch comprises a capacitance-digital conversion circuit, wherein the capacitance-digital conversion circuit is coupled with the flexible body to acquire capacitance change generated along with the approach of an external object, and the processing module is coupled with the capacitance-digital conversion circuit and is used for outputting an approach sensing signal according to the capacitance change. The flexible body is distributed with at least two measuring points, each measuring point is arranged at different positions of the corresponding flexible body to form a sensing array of the sensing unit, each measuring point in the sensing array is used for detecting the spatial position of the stressed acting point of t