CN103148983A - Three-dimensional force loading and calibration device of flexible touch sensor - Google Patents
Three-dimensional force loading and calibration device of flexible touch sensor Download PDFInfo
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Abstract
The invention belongs to a testing technology of a sensor, and particularly relates to a three-dimensional force loading and calibration device of a flexible touch sensor. The three-dimensional force loading and calibration device comprises an operating floor and clamping mechanism for placing a sample, a force loading device and control mechanism, a direction and angle adjusting mechanism, and a support frame. The force loading device and control mechanism is a pneumatic power mechanism formed by a force loading rod, a pull pressure sensor, a mini cylinder, an air pressure adjusting valve and air source and an electric control box, or is an electromagnetic force mechanism formed by a force loading rod, a pull pressure sensor, a voice coil motor, a current controller and an electric control box. The support frame is a simple support or an X-Y-Z liner motion three-dimensional support frame formed by a mechanical motion pair. The force loading device is arranged on the support on an operating floor directly or through the direction and angle adjusting mechanism. According to the invention, the loading force is taken as controlled quantity, the loading force can be smoothly continuously adjusted so as to satisfy static and dynamic calibration requirements of the sensor, and the force loading and calibration work at any directions and angles can be realized in a hemispherical region on a working platform.
Description
Technical field
The invention belongs to the sensor test technology, particularly the three-dimensional force of flexible touch sensation sensor loads and caliberating device.
Background technology
Flexible touch sensation sensor is a class high precision, high resolving power, high response speed, has and the similar perception of human skin, can measure the sensor of large tracts of land tactile data.Therefore, sensors with auxiliary electrode were becomes the focus of robot skin research in recent years.
At present, the pressure distribution test macro that typical touch sensor product has U.S. Tekscan company to release, it has used a kind of flexible array sensor, this sensor array is comprised of two mylars, the inside surface of two films is printed respectively column wire and row wire, when two films were superimposed, row wire and column wire intersected mutually, formed a dot matrix that is comprised of several ranks point of crossing.Place the pressure-sensitive semiconductor material in the middle of each point of crossing in array and consist of the pressure sensitive point, when External Force Acting is to these induction points, the semiconductor resistance is proportional variation with the variation of external force, and then can detect large-area stressing conditions, this technology has been widely used in the pressure distribution test and analysis in a plurality of fields.In addition, U.S. SPI company, Belgian RSscan company etc. is also producing and is using the pliable pressure sensor array.Domestic, the touch sensor based on conductive rubber has been studied by Xi'an Communications University, not only can obtain the shape facility of body surface, can also obtain the sliding visual information of object and relative velocity.It is sensor material that engineering mechanics system of Tsing-Hua University adopts conductive rubber, has successfully developed the contact force sensing type Human Sole Pressure Distribution Measuring System with 251 dot matrix.Chinese Academy of Sciences's Shanghai micro-system and infotech research institute with dimethyl silicone polymer (PDMS) as the middle layer, flexible polyimide (PI) has been developed a kind of method for making of condenser type flexible touch sensation sensor for substrate.And Hefei Institute Of Intelligent Machines Chinese Academy Of Sciences utilizes conductive rubber to develop " artificial skin " that can detect three-dimensional force, this is a kind of similar human skin tissue, have integral multi-layered array architecture, can perception the flexible multidimensional touch sensor system of multi-dimensional force information.This sensor uses the row/column wire of many layering cross arrangements to scan, and by the resistance change between the stressed rear crossover node of detecting sensor, coordinates multiprecision arithmetic to realize the three-dimensional force measurement.This type of flexible touch sensation sensor adopts flexible sensitive material to be made, can bend to various molded non-planars, be applicable to the measurement of on-plane surface tactile data, can be used on as robot finger, joint, and the aspect such as artificial skin, represented wide application prospect.Except pressure drag and capacitance technology, the robot three-dimensional force-touch sensor array based on the new materials such as Kynoar (PVDF), optical waveguide, new technology development also obtains flourish both at home and abroad.
But, due to the difference on material composition, production technology, process technology, and the difference of environment for use, no matter use the sensor of what material and fabrication techniques, all can there be error between the measured value of actual input quantity and output.And for the occasion that needs precision measurement, these errors will have a strong impact on the accuracy of testing result, and therefore the conclusion that even can lead to errors only has calibrated sensor could drop into practical application.On the other hand, existing transducer calibration technology adopts linear least square more, but is subject to detecting the impact of the factors such as principle, material property, multidimensional nonlinear coupling, and this scaling method also is not suitable for nonlinear occasion.Thereby for improving stated accuracy, the exploitation nonlinear calibration method becomes developing direction in recent years.Nonlinear calibration relates to many derivation algorithms of nonlinear equation, such as process of iteration, bionic Algorithm etc., they all need a large amount of data as finding the solution foundation, and still mostly present demarcation means are manual operation, can not satisfy and find the solution the required intensive sampling requirement of nonlinear equation.In addition, existing caliberating device almost can not carry out the Accurate Calibration that difference adds force direction and afterburning angle to sensor, and lacks the support to the kinetic measurement aspect, thereby is difficult to the mechanical characteristic of sensor is estimated comprehensively and effectively.In view of this, can provide reinforcing continuously under different directions and angle, the calibrating platform of data and method when continuous collecting contains, the requirement of demarcating to satisfy the sensor Static and dynamic for flexible touch sensation sensor in the urgent need to a kind of.
Through retrieval, the patent document about the multi-dimension force sensor caliberating device has DE19616312, CN101109670A, CN101281073A and CN102175388A etc. at present.Wherein CN101281073A and CN102175388A and the application are the most approaching.Announced a kind of caliberating device and method of planar array mechanics sensor in CN101281073A, this patent is used the afterburning probe positions of step motor control, can exert pressure in the vertical direction, but can not realize that multi-direction multi-angle is afterburning.And announced a kind of device that can demarcate the curve flexibility touch sensor in CN102175388A, this patent uses grating scale to improve bearing accuracy, attitude by parallel institution realizable force loading head is controlled and power loads, but this device can not accurately be controlled equally and adds force direction and angle.That is to say that the augmentor that provides in these two patent documents still can not satisfy the requirement that the sensor Static and dynamic is demarcated, and due to the restriction on principle of work, must change displacement and could produce loading force, rather than directly export loading force, this is very inconvenient to practical operation.
Summary of the invention
The object of the invention is to, for problems of the prior art, the invention provides a kind of device that can carry out that three-dimensional force loads and demarcate flexible touch sensation sensor, the requirement of demarcating to satisfy the sensor Static and dynamic.
Technical scheme of the present invention is as follows:
the three-dimensional force of flexible touch sensation sensor of the present invention loads and caliberating device, comprise that one is used for placing the operator's console of sample and the clamping device of fixed sample, power loading and control gear and bracing frame, it is characterized in that, described power loads and control gear is by the power load bar, tension-compression sensor, minitype cylinder, air pressure regulator and source of the gas, photoelectric control box, the aerodynamic force mechanism that gas circuit and circuit connecting section are grouped into, or by the power load bar, tension-compression sensor, voice coil motor and current controller, the electromagnetic force mechanism that photoelectric control box and corresponding circuit connecting section are grouped into, force loading device in described power loading and control gear is arranged on the top of operator's console by bracing frame.
Support frame as described above is a freely-supported roof beam structure, is provided with a vertically moving guide rail on this roof beam structure, and force loading device is arranged on this vertical guide rail bottom; Or paid by mechanical motion, for example nut-screw rod mechanism, pinion and rack or worm-and-wheel gear, the three-dimensional bracing frame with X-Y-Z direction linear motion capability that consists of, operator's console is arranged on can realize the bracing frame bottom of moving along X-axis, Y direction, force loading device is arranged on the bottom of the Z axis guide rail that can move as vertical direction, thereby makes force loading device to make traveling priority at the X-Y-Z three-dimensional with respect to operator's console.
Described force loading device is arranged on the bottom of freely-supported roof beam structure vertical guide rail bottom or three-dimensional bracing frame Z axis guide rail, can be force loading device directly to be fixedly mounted on the bottom of vertical guide rail or Z axis guide rail, also can rolling bearing be set in the bottom of guide rail and the junction of force loading device, force loading device is rotated, to satisfy the needs of different operating positions with respect to guide rail.For convenience of operation, also the angle index mark can be set on guide rail, to indicate rotational angle.
In actual use, for satisfying the variation of loading force action direction, force loading device first can also be arranged on an angle adjusting mechanism, then this angle adjusting mechanism directly be connected with the guide rail bottom, or be connected with the guide rail bottom by rolling bearing.This angle adjusting mechanism comprises the semicircle slide rail and the slide block with matching that are positioned on vertical plane, force loading device is fixedly connected with slide block, slide block slides on semicircle slide rail, the drive charger is being to change in the scope of positive and negative 90 ° with vertical guide rail or Z axis rail axis angle, also can mark angle index on semicircle slide rail limit, more to be conducive to operation.
Power in the present invention loads and control gear has used pneumatic reinforcing or the afterburning two schemes of electromagnetism.In pneumatic afterburning scheme take minitype cylinder as force loading device, take air or nitrogen as actuating medium, by electric Proportion valve control cylinder pressure, the continuous electrodeless adjusting of realization to loading force, the large I of loading force is calculated by cylinder pressure, and compare with the detected value of tension-compression sensor, realize the closed loop of loading force is accurately controlled.Take minitype cylinder as force loading device, by the moment reinforcing of the instantaneous pressurization urging force of cylinder load bar, can be applicable to the dynamic calibration of sensor.Take voice coil motor as force loading device, realize the accurate control of voice coil motor thrust by the flow through size of current of motor of adjusting, and by comparing with the detected value of tension-compression sensor, reach the purpose that the loading force closed loop is accurately controlled in the afterburning scheme of electromagnetism.Take voice coil motor as force loading device, increase electric current by moment and loading force is improved tens of even hundreds of times within the extremely short time, can be used for the dynamic calibration of sensor.Take minitype cylinder and voice coil motor as force loading device, be with the difference of force loading device in the past, both directly take loading force as controlled quentity controlled variable, but not in the past drive motor take displacement as controlled quentity controlled variable, therefore avoided from principle the loading force hop problem that produces the afterburner process, realize the level and smooth adjusting continuously of loading force, satisfied the requirement that the sensor Static and dynamic is demarcated.
The three-dimensional force of flexible touch sensation sensor of the present invention loads and caliberating device, by having the three-dimensional bracing frame of X-Y-Z direction linear motion device, and by being set, rolling bearing regulates the force direction that adds on its surface level, the semicircle guide rail that also has an angle index by use is controlled the afterburning angle on its vertical plane, thereby in the episphere zone of workbench, can realize that carrying out power with any direction and angle loads and demarcate operation, easy to operate, this will enlarge its scope of application greatly.
Description of drawings
Be further described below by embodiment and accompanying drawing.
Fig. 1 is the example structure schematic diagram of described pneumatic reinforcing and control gear.
Fig. 2 is the example structure schematic diagram of described electromagnetism reinforcing and control gear.
Fig. 3 is described example structure schematic diagram with device of horizontal direction and angle of inclination regulating power.
Fig. 4 is the example structure schematic diagram of the three-dimensional bracing frame of the described X-Y-Z of having direction linear motion device.
Fig. 5 is the embodiment circuit module schematic diagram of described photoelectric control box.
Embodiment
Referring to Fig. 1, the power load bar 1 of being made by rigid plastic, aluminium alloy or stainless steel bar is connected with tension-compression sensor 2 by hickey, this tension-compression sensor is connected with the piston 11 of minitype cylinder by hickey again, and minitype cylinder 10 also is connected with angular adjustment slide block 6 by hickey, wherein the dead in line of power load bar 1, tension-compression sensor 2 and minitype cylinder 10.Described minitype cylinder 10 is communicated with source of the gas 5 by air pressure regulator 4 and PU pipeline 3.Described photoelectric control box 8 is connected with air pressure regulator with tension-compression sensor 2 respectively by signal wire 9 and is connected.Minitype cylinder 10 is take air or nitrogen as actuating medium, control by air pressure regulator 4, realize the electrodeless adjusting of gaseous tension, flow velocity, because power load bar 1 and minitype cylinder piston 11 are fixed into integral body, therefore change the size of the air pressure in minitype cylinder 10, namely 1 pair of realizable force load bar is by the adjusting of calibration sample amount of force.Source of the gas 5 used is pressure-air steel cylinder or air compressor, uses the PU pipe that it is connected with air pressure regulator 4, for minitype cylinder 10 provides actuating medium.There is hollow " recessed " groove structure at angular adjustment slide block 6 middle parts, in order to be connected with " protruding " font slide rail, the slide block gib screw 7 of slide block side is used for the lock slider position.The input end of photoelectric control box 8 is electrically connected to the output terminal of tension-compression sensor 2, is used for receiving the power detection signal of tension-compression sensor 2; The input end of the output terminal of photoelectric control box 8 and air pressure regulator 4 is electrically connected to, and control signal is transferred to air pressure regulator 4; Be furnished with the USB module on photoelectric control box 8, be used for being connected with computing machine, converting by computing machine obtains the value of loading force, then controls whole power loading procedure.
Referring to Fig. 2, the power load bar 1 of being made by rigid plastic, aluminium alloy or stainless steel bar is connected with tension-compression sensor 2 by hickey, this tension-compression sensor is connected with the mover 15 of voice coil motor by hickey again, and voice coil motor 14 also is connected with angular adjustment slide block 6 by hickey, wherein the dead in line of power load bar 1, tension-compression sensor 2 and voice coil motor 14.Described voice coil motor 14 is connected with current controller by wire 12 connections.Described photoelectric control box 8 is connected with current controller with tension-compression sensor 2 respectively by signal wire 9 and is connected.The electromagnetic force work that voice coil motor 14 relies on electric current to produce by the continuous fine adjustment electric current of current controller 13, can realize the electrodeless continuous adjusting to motor thrust.Because the mover 15 of power load bar 1 and voice coil motor is fixed into integral body, therefore change the size of current in voice coil motor 14, namely 1 pair of realizable force load bar is by the adjusting of calibration sample amount of force.There is hollow " recessed " groove structure at angular adjustment slide block 6 middle parts, in order to be connected with " protruding " font slide rail, the slide block gib screw 7 of slide block side is used for the lock slider position.The input end of photoelectric control box 8 is electrically connected to the output terminal of tension-compression sensor 2, is used for receiving the power detection signal of tension-compression sensor 2; The input end of the output terminal of photoelectric control box 8 and current controller 13 is electrically connected to, and control signal is transferred to current controller 13; Be furnished with the USB module on photoelectric control box 8, be used for being connected with computing machine, converting by computing machine obtains the value of loading force, then controls whole power loading procedure.
Referring to Fig. 3, semicircle slide rail 16 tops are fixedly connected with direction adjustment disk 18 bottoms, nested rolling bearings 17 in the middle of direction adjustment disk 18, and be connected with the Z axis guide rail end by rolling bearing.Angular adjustment slide block 6 links movingly with semicircle slide rail 16, and slider bottom has the threaded connector 19 that is connected with force loading device, and the slide block side is connection sliding block gib screw 7 movingly.Described semicircle slide rail 16 is crooked as center of circle semicircular in shape to add the force, and xsect becomes " protruding " font, and the surface marking angle index can accurately be indicated the angle of inclination.Described direction adjustment disk 18 is connected with the Z axis guide rail by rolling bearing 17, can the Z axis guide rail be therefore the axle center rotation, and the angle index on matching surface can accurately be controlled the sense of rotation angle in surface level.There is hollow " recessed " groove structure at angular adjustment slide block 6 middle parts, be connected movingly with semicircular " protruding " font slide rail 16, can do arcuate movement along semicircle slide rail, realize fine adjustment angle of inclination in vertical plane, the slide block gib screw 7 of slide block side is used for the lock slider position.Because force loading device and angular adjustment slide block 6 are fixed into integral body, semicircle slide rail 16 is fixed into integral body with direction adjustment disk 18 again, therefore direction adjustment disk 18 and angular adjustment slide block 6 are regulated in combination, namely realize the power loading direction centered by the power load(ing) point and any adjusting of angle in the episphere district of operator's console.
Referring to Fig. 4, Y-axis bracing frame 23 vertically is fixedly mounted on Y-axis guide rail 22, Y-axis dovetail gathering sill 21 is parallel to Y-axis and is arranged on operator's console 33 sides, and Y-axis displacement adjusting knob 20 is placed in the opposite side of operator's console 33, and its installed surface is mutually vertical with the installed surface of Y-axis dovetail gathering sill 21.Y-axis guide rail 22 is connected movingly with Y-axis dovetail gathering sill 21, and is connected movingly with Y-axis displacement adjusting knob 20 by lead screw pair.Because Y-axis bracing frame 23 and Y-axis guide rail 22 are fixed into integral body, therefore rotate Y-axis displacement adjusting knob 20, namely realize driving Y-axis bracing frame 23 along Y-axis dovetail gathering sill 21 moving linearlies.
Z axis bracing frame 30 sides are fixedly connected on X-axis crossbeam 27 ends, and perpendicular to surface level.Z axis bracing frame 30 inside are hollow structure, and fixed installation Z axis gathering sill 28, Z axis displacement adjusting knob 31 are placed in Z axis bracing frame 30 outsides.Z axis guide rail 29 is connected movingly with Z axis gathering sill 28 and passes Z axis bracing frame 30, and be connected movingly with Z axis displacement adjusting knob 31 by the rack and wheel structure, therefore rotate Z axis displacement adjusting knob 31, namely realize driving Z axis guide rail 29 and do rectilinear motion along Z axis gathering sill 28.
Z axis guide rail 29 ends are connected with direction adjustment disk 18 by rolling bearing, direction adjustment disk 18 is fixed into integral body with semicircle slide rail 16, therefore rotate Y-axis displacement adjusting knob 20, X-axis displacement adjusting knob 24 and Z axis displacement adjusting knob 31, realize that namely driving direction and angle regulator do 3 d-line in the X-Y-Z direction and move.
Operator's console 33 is positioned under Z axis guide rail 29, and the Y-axis dovetail gathering sill 21 by the side is connected movingly with whole three-dimensional support frame structure, and operator's console 33 surfaces are placed sample holders 32 and are used for fixed sample.
Referring to Fig. 5, the signal input module 34 of photoelectric control box is electrically connected to the signal output part of tension-compression sensor, signal output module 35 is electrically connected to the signal input part of pressure-regulating valve or current controller, and photoelectric control box is electrically connected to computing machine 38 by USB communication module 37.Signal input module 34 receives the thrust signal of tension-compression sensor real-time Transmission, offers single-chip microcomputer 36 and process after analog to digital conversion, signal amplification module 39; Single-chip microcomputer 36 by USB communication module 37 and computing machine 38 exchange messages, and is submitted to afterburning control gear with fill order through signal output module 35 when receiving signal input module 34 input signals.
In above-mentioned embodiment, the materials such as described minitype cylinder, tension-compression sensor, voice coil motor are directly buied by market.
Claims (7)
1. the three-dimensional force of a flexible touch sensation sensor loads and caliberating device, comprise that one is used for placing the operator's console of sample and the clamping device of fixed sample, force loading device and control gear and bracing frame, it is characterized in that, described force loading device and control gear are by the power load bar, tension-compression sensor, minitype cylinder, air pressure regulator and source of the gas, photoelectric control box, the aerodynamic force mechanism that gas circuit and circuit connecting section are grouped into, or by the power load bar, tension-compression sensor, voice coil motor and current controller, the electromagnetic force mechanism that photoelectric control box and corresponding circuit connecting section are grouped into, described force loading device is arranged on the top of operator's console by bracing frame.
2. the three-dimensional force of flexible touch sensation sensor as claimed in claim 1 loads and caliberating device, it is characterized in that, support frame as described above is a freely-supported roof beam structure, is provided with a vertically moving guide rail on this roof beam structure, and force loading device is arranged on this vertical guide rail bottom; Or paid the three-dimensional bracing frame with X-Y-Z direction linear motion device that consists of by mechanical motion, operator's console is arranged on can realize the bracing frame bottom of moving along Y-axis or X-direction, force loading device is arranged on the bottom of the Z axis guide rail that can move as vertical direction, makes charger make traveling priority with respect to operator's console at the X-Y-Z three-dimensional.
3. the three-dimensional force of flexible touch sensation sensor as claimed in claim 2 loads and caliberating device, it is characterized in that, described force loading device is arranged on the bottom of vertical guide rail bottom or three-dimensional bracing frame Z axis guide rail, be in the bottom of guide rail and the junction of force loading device, rolling bearing to be set, force loading device is rotated with respect to vertical guide rail or Z axis guide rail.
4. the three-dimensional force of flexible touch sensation sensor as claimed in claim 3 loads and caliberating device, it is characterized in that, when the bottom of described vertical guide rail bottom or Z axis guide rail and the junction of force loading device arrange rolling bearing, on vertical guide rail or Z axis guide rail, the angle index mark is set.
5. the three-dimensional force of flexible touch sensation sensor as claimed in claim 2 loads and caliberating device, it is characterized in that, described force loading device is arranged on the bottom of vertical guide rail bottom or Z axis guide rail, first force loading device to be arranged on an angle adjusting mechanism, then this angle adjusting mechanism and vertical guide rail or Z axis guide rail bottom are connected, perhaps are connected by rolling bearing and vertical guide rail or Z axis guide rail bottom.
6. the three-dimensional force of flexible touch sensation sensor as claimed in claim 5 loads and caliberating device, it is characterized in that, described angle adjusting mechanism comprises that one is positioned at semicircle slide rail on vertical plane, and slide block with matching, force loading device is fixedly connected with slide block, slide block slides on semicircle slide rail, and the drive charger changes in the angle with vertical guide rail or Z axis rail axis is the scope of positive and negative 90 °.
7. the three-dimensional force of flexible touch sensation sensor as claimed in claim 6 loads and caliberating device, it is characterized in that, the semicircle slide rail subscript of described angle adjusting mechanism is marked with angle index.
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