CN103624803A - Artificial skin of robot - Google Patents
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- CN103624803A CN103624803A CN201210304199.8A CN201210304199A CN103624803A CN 103624803 A CN103624803 A CN 103624803A CN 201210304199 A CN201210304199 A CN 201210304199A CN 103624803 A CN103624803 A CN 103624803A
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Abstract
The invention discloses artificial skin of a robot, wherein an outer shell of the robot is provided with an electronic circuit layer which is directly generated and a sensor layer. The sensor layer comprises a force-sensing material, wherein the force-sensing material is elastic, and the resistance of the force-sensing material changes along with stress when the force-sensing material is compressed by stress. The artificial skin of the robot is simple in structure, a manufacturing method is simple, the force-sensing material is utilized so that presses, pats, touches and other operation on the robot can be fed back to a controller of the robot in time, the position and degree of the operation can be detected, as a result, the controller can respond appropriately, and the humanization degree of the robot is increased.
Description
Technical field
The present invention relates to a kind of artificial skin of robot, particularly relate to the artificial skin of the tactile robot of a kind of tool.
Background technology
In the industry the routine of robot skin being understood, is a kind of outward appearance artificial skin similar to human skin.Can there is color, the pliability of similar human skin, the more important thing is and there is sense of touch, can feel touch.
The exhausted majority of current robot only possesses shell and does not possess soft skin, the shell that soft skin is compared hard makes robot hommization more, increase affinity, particularly for household service class or toys robot, the skin with soft class people is a spotlight.
In the artificial skin of existing robot, the skin majority with the robot of soft skin is all the skin with simulation people such as silica gel, although profile and feel can be very high with true man's similarity.But nearly all do not possess feeling function.
The tactile artificial skin of tool of the only a few in the past occurring in scientific research field, majority is the surface of hard, lacks softness and elasticity.
Nearly 1 year, scientific research institutions and mechanism of university have announced some both at home and abroad the sensitive sense of touch artificial skin of softness again.But its manufacture method is usually silicon crystal etched circuit and sensor, or adopt expensive nano material, cause manufacture method complicated, with high costs, fragile rapid wear.Cannot successful Application on the robot product of producing in enormous quantities.
The invention that relates at present touch sensor is both at home and abroad a lot, the touch sensor based on flexible pressure-sensitive conductive rubber that for example application number is 200810018554.9, its sensitive material is the rubber of doping carbon black, its preparation method is discrete sensing unit, be produced on printed circuit board (PCB), with sensitive material be split.Cost is high and reliability is not high, be difficult to production in enormous quantities.
For example application number is a kind of multifunctional skin-like sensor of CN 98111392.3 again, and the method for preparing sensor sensing unit is silicone based crystal etching etc., and shortcoming is the same.
For example application number is 200410103086.7 1 kinds of flexible touch sensation sensors of CN again, is to make of the technical method of MEMS based on piezo-resistance and monocrystalline silicon.Shortcoming is the same.
For example application number is the preparation method of CN 200910244953 Yi Zhongwei robot supporting human simulation body skins again, its skin is that silica gel material is made, outward appearance and true man's skin and similar, but this invention does not have the circuit such as touch sensor, and its skin does not have feeling function.
For example application number is CN 201080020481.2 sensors again, this patent is the application of Britain Peratech company, application to QTC material (quantum tunneling effect composite) has proposed many application of speaking of in general terms, lack concrete preparation method, its detection line is 4 lines, robot skin is not proposed to a specifically method clearly.
Summary of the invention
The technical problem to be solved in the present invention is that in prior art, the artificial skin of robot is expensive, manufacture method is complicated and the defect of fragile rapid wear in order to overcome, provide a kind of simple in structure, manufacture method is simple and easy, with low cost and be difficult for the artificial skin of impaired robot.
The present invention solves above-mentioned technical problem by following technical proposals:
An artificial skin for robot, its feature is to have on the shell of ，Gai robot electronic circuit layer and the sensor layer of direct generation.This sensor layer is for converting this artificial skin to the signal of telecommunication because of mechanical deformation stressed and that produce, this electronic circuit layer is for surveying this signal of telecommunication and by the controller of this electric signal transmission Zhi Gai robot, controlling this robot carry out corresponding operation by this controller according to this signal of telecommunication.This artificial skin, the shell of its structure Shi Yi robot is substrate, has the electronic circuit of direct generation on shell, this electronic circuit is exposed conduction, as the sense of touch detecting electrode of sensor, at the shell outside that has electronic circuit, the sensor layer that cover has force-sensitive material to make.The characteristic of force-sensitive material is resistance variations during according to compressive strain, and the resistance between electrode that the force-sensitive material that touch is caused distortion changes electronic circuit into changes, and subsequent conditioning circuit detects resistance variations, and perceives thus touch.
Different according to touch location, the resistance between electrode of relevant position can change, and can find out the position of touch.
Different according to the dynamics touching, the amplitude that resistance between electrode changes is different, and both have corresponding relation, can find out the dynamics of touch.
Preferably, this shell is made by hard material, and this hard material is plastic material and/or metal material.Why adopting this hard material is the support for other layers as in this artificial skin.
The hard shell outside of robot adopts several different methods to generate the electronic circuit of surface conductance.Can be to electroplate or the method for chemical plating generates the electronic circuit of the conduction of metal, way that also can two component injection mouldings generates the electronic circuit of nonmetallic conduction, can be also that the method for using spraying or brushing semi-solid conductive material generates.
Preferably, the material of this electronic circuit layer is metal material or non-metallic conducting material, and preferably, this metal material is one or more in copper, nickel, gold, silver and tin, or preferably, this non-metallic conducting material is conductive plastics or conductive rubber.
Preferably, this electronic circuit layer is made by plating or this metal material of chemical plating.
Preferably, this electronic circuit layer is by spraying or brushing or these nonmetallic materials of injection moulding are made.
Preferably, this shell and this electronic circuit layer be formed in one or be independent form separately.This electronic circuit layer can be to be directly printed on this shell, also can be used as an independent stratum forming separately and is covered on this shell.
This sensor layer covers the surface of robot shells, in the outside of sensor layer, can also be as required again protective mulch, decorative layer, tissue layer as extra play.
Preferably, this sensor layer comprises force-sensitive material, this force-sensitive material has elasticity and this force-sensitive material, and the resistance of this force-sensitive material can be according to stressed size variation when compressed stressed, this force-sensitive material is the non-metal insulating material of conductive doped particle, preferably, this force-sensitive material is the conductive rubber of QTC or doping carbon black.
Preferably, this artificial skin also comprises extra play, and this extra play comprises: one or more in protective layer, decorative layer and tissue layer.Wherein, the various piece in this extra play can three be integrated, and also can combination of two be integrated.
Preferably, this is protective layer used in preventing mechanical type damage or chemical damage, and preferably, this mechanical type damage is scratch or scratch, or preferably, this chemical damage is one or more in aging of the aging and oxygen of vapour corrosion, sweat burn into sunlight, and/or,
This protective layer is silica gel coat or plastic layer, and/or,
This protective layer is by spraying or printing formation.
Preferably, on this decorative layer, comprise pattern or color, and possess decorative effect.
Preferably, this tissue layer comprises textile fabric.Similar the outer of robot of giving of this textle layers worn the clothes, and makes robot skin hommization more.
Positive progressive effect of the present invention is: the artificial skin of robot of the present invention is simple in structure, preparation method is also comparatively simple and easy, utilization by force-sensitive material in time Jiang Dui robot press, pat and the operational feedback such as touch to the controller of robot, and detected position and the degree of aforesaid operations, make controller can make applicable reaction, increased the hommization degree of robot.
Accompanying drawing explanation
Fig. 1 is the sectional view of artificial skin of the robot of one embodiment of the invention.
Fig. 2 is the partial sectional view of artificial skin of the robot of one embodiment of the invention.
The specific embodiment
Below in conjunction with accompanying drawing, provide preferred embodiment of the present invention, to describe technical scheme of the present invention in detail.
With reference to figure 1 and Fig. 2, on the shell 1 of the artificial skin of robot of the present invention by the following stated structure ，Gai robot, there is electronic circuit layer 2 and the sensor layer 3 of direct generation.This sensor layer 3 is for converting this artificial skin to the signal of telecommunication because of mechanical deformation stressed and that produce, this electronic circuit layer 2 is for surveying this signal of telecommunication and by the controller of this electric signal transmission Zhi Gai robot, controlling this robot carry out corresponding operation by this controller according to this signal of telecommunication.This artificial skin, the shell of its structure Shi Yi robot is substrate, has the electronic circuit of direct generation on shell, this electronic circuit is exposed conduction, as the sense of touch detecting electrode of sensor, at the shell outside that has electronic circuit, the sensor layer that cover has force-sensitive material to make.The characteristic of force-sensitive material is resistance variations during according to compressive strain, and the resistance between electrode that the force-sensitive material that touch is caused distortion changes electronic circuit into changes, and subsequent conditioning circuit detects resistance variations, and perceives thus touch.
Different according to touch location, the resistance between electrode of relevant position can change, and can find out the position of touch.
Different according to the dynamics touching, the amplitude that resistance between electrode changes is different, and both have corresponding relation, can find out the dynamics of touch.
Specifically, this shell is made by hard material, and this hard material is plastic material and/or metal material.Why adopting this hard material is the support for other layers as in this artificial skin.
The hard shell outside of robot adopts several different methods to generate the electronic circuit of surface conductance.Can be to electroplate or the method for chemical plating generates the electronic circuit of the conduction of metal, way that also can two component injection mouldings generates the electronic circuit of nonmetallic conduction, can be also that the method for using spraying or brushing semi-solid conductive material generates.
In addition, the material of this electronic circuit layer is metal material or non-metallic conducting material, and comparatively commonly, this metal material is one or more in copper, nickel, gold, silver and tin, and this non-metallic conducting material is conductive plastics or conductive rubber.
Wherein, this electronic circuit layer is made by plating or this metal material of chemical plating.Or this electronic circuit layer is by spraying or brushing or these nonmetallic materials of injection moulding are made.
In addition, this shell and this electronic circuit layer be formed in one or be independent form separately.This electronic circuit layer can be to be directly printed on this shell, also can be used as an independent stratum forming separately and is covered on this shell.
This sensor layer covers the surface of robot shells, in the outside of sensor layer, can also be as required again protective mulch, decorative layer, tissue layer as extra play.
Specifically, this sensor layer comprises force-sensitive material, this force-sensitive material has elasticity and this force-sensitive material, and the resistance of this force-sensitive material can be according to stressed size variation when compressed stressed, this force-sensitive material is the non-metal insulating material of conductive doped particle, preferably, this force-sensitive material is the conductive rubber of QTC or doping carbon black.
As mentioned above, this artificial skin also comprises extra play (not shown), and this extra play comprises: one or more in protective layer, decorative layer and tissue layer.Wherein, the various piece in this extra play can three be integrated, and also can combination of two be integrated.
Wherein, this is protective layer used in preventing mechanical type damage or chemical damage; preferably; this mechanical type damage is scratch or scratch; or; preferably, this chemical damage is one or more in aging of the aging and oxygen of vapour corrosion, sweat burn into sunlight, and this protective layer is silica gel coat or plastic layer.Like this, this artificial skin is just more durable in use, not fragile.
In the present embodiment, this protective layer is by spraying or printing formation.
In order to make this artificial skin seem more attractive in appearance, on this decorative layer, comprise pattern or color, and possess decorative effect.
And this tissue layer comprises textile fabric.Similar the outer of robot of giving of this textle layers worn the clothes, and makes robot skin hommization more.
This artificial skin has advantages of that tactility is high, skin color and skin soft durometer can be adjusted in a big way, particularly have can produce low-costly and in high volume, reliability is high.
Certainly; this artificial skin need to be combined with together with robot; the controller of You Gai robot is made corresponding response for the operation Lai Shi robot of pressing, pat or stroke of user Dui Gai robot; specifically; on robot plastic casing, with electro-plating method, generate gold-plated electronic circuit; put the sensor layer that force-sensitive material is made, then put and there is protection and the tissue layer of decorating.Electronic circuit is connected to controller (being for example connected on the circuit board of a processor) by cable plug.Between each electronic circuit, be distributed with resistance, this resistance is the resistance of the force-sensitive material of correspondence position between each circuit.After robot start, the processor circuit board of artificial skin will be started.Processor circuit is ceaselessly measured the resistance between the numerous electrodes that are distributed on shell.
If have the physical contact of the forms such as touch or beating or collision to the artificial skin of robot, the sensor layer of this artificial skin will be out of shape by compression, the sensor layer resistance respective change that causes compression part, the part resistance of compressive deformation does not change, the degree changing depends on the size of compression, is also that the amplitude of resistance variations has been reacted the dynamics touching.
Processor circuit is measured resistance variations between each electronic circuit, i.e. the position of known touch and the dynamics of touch.
Although more than described the specific embodiment of the present invention, it will be understood by those of skill in the art that these only illustrate, protection scope of the present invention is limited by appended claims.Those skilled in the art is not deviating under the prerequisite of principle of the present invention and essence, can make various changes or modifications to these embodiments, but these changes and modification all fall into protection scope of the present invention.
Claims (11)
- The artificial skin of 1.Yi Zhong robot, is characterized in that having on the shell of ，Gai robot electronic circuit layer and the sensor layer of direct generation.
- 2. artificial skin as claimed in claim 1, is characterized in that, this shell is made by hard material, and this hard material is plastic material and/or metal material.
- 3. artificial skin as claimed in claim 1, it is characterized in that, the material of this electronic circuit layer is metal material or non-metallic conducting material, preferably, this metal material is one or more in copper, nickel, gold, silver and tin, or preferably, this non-metallic conducting material is conductive plastics or conductive rubber.
- 4. artificial skin as claimed in claim 3, is characterized in that, this electronic circuit layer is made by plating or this metal material of chemical plating.
- 5. artificial skin as claimed in claim 3, is characterized in that, this electronic circuit layer is by spraying or brushing or these nonmetallic materials of injection moulding are made.
- 6. artificial skin as claimed in claim 1, is characterized in that, that this shell and this electronic circuit layer are formed in one or be independent form separately.
- 7. the artificial skin as described in any one in claim 1-6, it is characterized in that, this sensor layer comprises force-sensitive material, this force-sensitive material has elasticity and this force-sensitive material, and the resistance of this force-sensitive material can be according to stressed size variation when compressed stressed, this force-sensitive material is the non-metal insulating material of conductive doped particle, preferably, this force-sensitive material is the conductive rubber of QTC or doping carbon black.
- 8. the artificial skin as described in any one in claim 1-6, is characterized in that, this artificial skin also comprises extra play, and this extra play comprises: one or more in protective layer, decorative layer and tissue layer.
- 9. artificial skin as claimed in claim 8; it is characterized in that; this is protective layer used in preventing mechanical type damage or chemical damage; preferably, this mechanical type damage is scratch or scratch, or; preferably; this chemical damage is one or more in aging of the aging and oxygen of vapour corrosion, sweat burn into sunlight, and/orThis protective layer is silica gel coat or plastic layer, and/or,This protective layer is by spraying or printing formation.
- 10. artificial skin as claimed in claim 8, is characterized in that, comprises pattern or color on this decorative layer.
- 11. artificial skins as claimed in claim 8, is characterized in that, this tissue layer comprises textile fabric.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210304199.8A CN103624803A (en) | 2012-08-23 | 2012-08-23 | Artificial skin of robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210304199.8A CN103624803A (en) | 2012-08-23 | 2012-08-23 | Artificial skin of robot |
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| CN103624803A true CN103624803A (en) | 2014-03-12 |
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| CN201210304199.8A Pending CN103624803A (en) | 2012-08-23 | 2012-08-23 | Artificial skin of robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104209960A (en) * | 2014-08-25 | 2014-12-17 | 北京信息科技大学 | Full fabric artificial skin based on snake-shaped deformation search and rescue robot |
| CN104827491A (en) * | 2015-04-30 | 2015-08-12 | 广东双虹新材料科技有限公司 | High-sensitivity intelligent robot skin |
| CN105843406A (en) * | 2016-06-01 | 2016-08-10 | 杨杰 | Simulated epidermis with built-in tactile feedback |
| CN107053254A (en) * | 2017-01-24 | 2017-08-18 | 重庆大学 | Wearable robot skin based on multi-layer airbag |
| CN107427663A (en) * | 2015-01-04 | 2017-12-01 | 赛威医疗公司 | Method and apparatus for the percutaneous stimulation of external ear |
| CN107436159A (en) * | 2016-05-17 | 2017-12-05 | 康茂股份公司 | Sensorised covering for commercial plant |
| CN108972625A (en) * | 2018-08-18 | 2018-12-11 | 胡明建 | A kind of design method of cut and pasted robot skin |
| CN109203518A (en) * | 2018-08-20 | 2019-01-15 | 胡明建 | A kind of design method of plastotype formula robot skin |
| WO2019010741A1 (en) * | 2017-07-14 | 2019-01-17 | 江苏申源新材料有限公司 | Method for preparing robot skin with high flexibility |
| CN109253819A (en) * | 2018-10-17 | 2019-01-22 | 上海熊猫线缆股份有限公司 | A kind of intelligent robot sense organ sensor skin and preparation method thereof |
| CN111341188A (en) * | 2020-04-27 | 2020-06-26 | 上海临韵智达智能科技有限公司 | A kind of human simulation skin and its manufacturing method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104209960B (en) * | 2014-08-25 | 2016-02-24 | 北京信息科技大学 | A kind of full fabric artificial skin based on snakelike distortion search and rescue robot |
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| CN107427663A (en) * | 2015-01-04 | 2017-12-01 | 赛威医疗公司 | Method and apparatus for the percutaneous stimulation of external ear |
| CN104827491A (en) * | 2015-04-30 | 2015-08-12 | 广东双虹新材料科技有限公司 | High-sensitivity intelligent robot skin |
| CN107436159A (en) * | 2016-05-17 | 2017-12-05 | 康茂股份公司 | Sensorised covering for commercial plant |
| CN107436159B (en) * | 2016-05-17 | 2021-05-28 | 康茂股份公司 | Sensorized covers for industrial installations |
| CN105843406A (en) * | 2016-06-01 | 2016-08-10 | 杨杰 | Simulated epidermis with built-in tactile feedback |
| CN107053254B (en) * | 2017-01-24 | 2019-07-12 | 重庆大学 | Wearable robot skin based on multi-layer airbag |
| CN107053254A (en) * | 2017-01-24 | 2017-08-18 | 重庆大学 | Wearable robot skin based on multi-layer airbag |
| WO2019010741A1 (en) * | 2017-07-14 | 2019-01-17 | 江苏申源新材料有限公司 | Method for preparing robot skin with high flexibility |
| CN108972625A (en) * | 2018-08-18 | 2018-12-11 | 胡明建 | A kind of design method of cut and pasted robot skin |
| CN109203518A (en) * | 2018-08-20 | 2019-01-15 | 胡明建 | A kind of design method of plastotype formula robot skin |
| CN109253819A (en) * | 2018-10-17 | 2019-01-22 | 上海熊猫线缆股份有限公司 | A kind of intelligent robot sense organ sensor skin and preparation method thereof |
| CN111341188A (en) * | 2020-04-27 | 2020-06-26 | 上海临韵智达智能科技有限公司 | A kind of human simulation skin and its manufacturing method |
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Application publication date: 20140312 |