CN106476021B - A kind of flexible feeler of power position detection - Google Patents
A kind of flexible feeler of power position detection Download PDFInfo
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- CN106476021B CN106476021B CN201611203389.5A CN201611203389A CN106476021B CN 106476021 B CN106476021 B CN 106476021B CN 201611203389 A CN201611203389 A CN 201611203389A CN 106476021 B CN106476021 B CN 106476021B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pain & Pain Management (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
A kind of flexible feeler of power position detection, including position detection flexible cylindrical inner core, winding flexible cylindrical body and flexible skin, position detection flexible cylindrical inner core from first port have in an axial direction the first microchannel around cylinder to second port, there is liquid sensitivity impedor in the first microchannel, from the leaded liquid sensitivity impedor being embedded into the first microchannel of first port and second port；Winding flexible cylindrical body has the second microchannel to the 4th port around cylinder in an axial direction from third port, there is liquid sensitivity impedor in the second microchannel, from the leaded liquid sensitivity impedor being embedded into the second microchannel of third port and the 4th port；Winding flexible cylindrical body is closely wrapped on position detection flexible cylindrical inner core and fixes, and flexible skin is wrapped in the outside of winding flexible cylindrical body.The configuration of the present invention is simple, process costs are low, can be widely used in the numerous areas such as industrial production, ocean development, mine engineering and intelligence wearing.
Description
Technical field
The present invention relates to intelligence sensor field, more particularly to a kind of flexible feeler of power position detection is applied to movement
In the design of robot, the avoidance ability of robot can be effectively improved.
Background technology
Currently, in the exploration of robot technology, the basic field research of robot technology has gradually tended to be ripe, machine
The movement of people also develops from the control of simple manual intervention in the direction of motion for itself intelligent control can be achieved, intelligent
Robot need itself to have the function of perception environment, rather than controlled by the perception of people, then robot with
The core component sensor of environmental interaction has just obtained more and more concerns and research.
Sensor in robot technology can be divided into displacement sensor, force snesor, temperature sensor etc. by purposes, wherein
Force snesor has been widely applied in Practical Project, and touch sensor is as one kind in force snesor, by extensive profit
It uses in the design of robot, manufacture, more bionical skin, since the sensor of feeler type can make robot and be detected
Among the applications such as the avoidance for having the distance of bigger between object, therefore can be used for robot, ensure that obstacle is hidden by robot
The response time of object, the safety of robot itself and ambient enviroment when improving robot motion.
Current feeler type sensor research focuses mostly on is arranged sensor in the junction between feeler and robot, uses
It is detected in the collision of feeler.The material of feeler mostly uses flexible material for the protection to touching environment, still, machine
Vibration and outer gas stream in people's motion process can increase the effect of feeler, the junction setting between feeler and robot
The mode of sensor can reduce the accuracy of perception, be easy to be judged by accident.
In order to solve this problem, the present invention proposes a kind of flexibility perceiving external contact situation using feeler itself
Feeler, which uses liquid sensitivity impedor, and is distributed by the gradient of liquid sensitivity impedor, outer to perceive
Portion by force information, and then analyze the direction where barrier and distance.
Invention content
The present invention overcomes deficiencies in the prior art, provide a kind of flexible feeler of power position detection.
In order to solve above-mentioned technical problem, the present invention is achieved by the following technical solutions：
A kind of flexible feeler of power position detection, including position detection flexible cylindrical inner core 4,1 and of winding flexible cylindrical body
Flexible skin 3, the position detection flexible cylindrical inner core 4 have from first port 6 in an axial direction around cylinder by circumference gradient point
There is liquid sensitivity impedor in the first microchannel 5 of cloth penetrated through back and forth to second port 7 in first microchannel 5,
From in the leaded liquid sensitivity impedor being embedded into the first microchannel 5 of first port 6 and second port 7；Described twines
Have in an axial direction around the second microchannel 2 penetrated through back and forth that cylinder is distributed by circumference gradient from third port 8 around flexible cylindrical body 1
To the 4th port 9, there is liquid sensitivity impedor in second microchannel 2, have from third port 8 and the 4th port 9
Lead 10 is embedded into the liquid sensitivity impedor in the second microchannel；The winding flexible cylindrical body 1 is closely wound
On the position detection flexible cylindrical inner core 4 and fixed, flexible skin 3 is wrapped in the winding flexible cylindrical body 1
Outside；The position detection flexible cylindrical inner core 4 and the winding flexible cylindrical body 1 are flexible silicone rubber material；Institute
The liquid sensitivity impedor stated is liquid gallium-indium-tin alloy；The flexible skin 3 uses flexible silicone rubber highly elastic material.
Due to the adoption of the above technical scheme, the flexible feeler of a kind of power position detection provided by the invention, with the prior art
Compared to such advantageous effect：
A kind of flexible feeler of power position detection proposed by the present invention, be used for robot perception barrier the case where, safety
Carry out avoidance, the present invention is power location aware using the flexible silicone rubber of the embedded liquid sensitivity impedor by gradient distribution
Flexible core, and it is wound in the thin cylinder of silicon rubber of the insertion homogeneous liquid sensitivity impedor of power location aware flexible core, lead to
It crosses and increases the mode in round-trip embedded channel to increase the susceptibility of the feeler.When the flexibility feeler touches obstacle, pass through two
The detection of sensing element in kind flexible body, it may be determined that the touching of the barrier is inferred to the barrier in the position of the feeler
Hinder position of the object relative to robot, carries out appropriate evade.Invention increases the peaces between mobile robot and barrier
Full distance, that is, avoid the direct collision of robot and contactant, and improves the response time of robot avoiding barrier, protects
The movement of robot security is demonstrate,proved.The present invention has Grazing condition structure, can effectively avoid feeler from breaking contactant collision
It is bad, prodigious protection cushioning effect is also played to robot itself, improves the flexible avoidance ability of robot.
Since the feeler makees matrix using flexible silicone rubber, flexible silicone rubber has good electric Jie's property, acid-alkali-corrosive-resisting,
Make the flexibility feeler under the special environments such as ocean, mine, it is still with good stability, overcome lacking for vision avoidance
Point.The present invention uses liquid impedor perceptually unit, can effectively prevent conventional rigid sensing unit to flexible basic
Destruction, improve the service life of flexible feeler.
The flexible feeler of the present invention can determine that the position to target disorders, signal stabilization are not easily susceptible to gas by scanning
Stream etc. noise signals interference, can overcome it is traditional feeler root install sensing unit flexible feeler the shortcomings that.In addition,
The present invention can be directly worn on blind person's body, and for the navigation to blind person, flexible soft structure is suitble to human body to wear, and reduces not
Suitable sense.
In conclusion the configuration of the present invention is simple, process costs bottom can be widely used in industrial production, ocean development, mine
In the numerous areas such as mountain engineering and intelligence wearing.
Description of the drawings
Fig. 1 is the internal structure chart of the flexible feeler of the present invention；
Fig. 2 is the external structure of the flexible feeler of the present invention；
Fig. 3 is the position detection flexible cylindrical and its internal sensitive pathway distribution map described in the flexible feeler of the present invention；
Fig. 4 is the winding flexible cylindrical body and its internal sensitive pathway distribution map described in the flexible feeler of the present invention.
In figure：1, flexible cylindrical body is wound；2, second micro- sensitive pathway；3, crust；4, position detection flexible cylindrical inner core；
5, first micro- sensitive pathway；6, first port；7, second port；8, third port；9, the 4th port；10, position detection is flexible
Cylindrical exterior lead；11, flexible cylindrical body outside lead is wound.
Specific implementation mode
Patent of the present invention is described in detail below in conjunction in attached drawing.
The present invention a kind of power position detection flexible feeler, as shown in Figure 1, including position detection flexible cylindrical inner core 4,
Flexible cylindrical body 1 and flexible skin 3 are wound, as shown in figure 3, the position detection flexible cylindrical inner core 4 has from first port 6
The first microchannel 5 penetrated through back and forth being distributed in an axial direction by circumference gradient around cylinder to second port 7, the first microchannel 5 by
Hollow molding micro fabrication is molded；There is liquid sensitivity impedor in first microchannel 5, from 6 He of first port
Second port 7 leaded 10 is embedded into the liquid sensitivity impedor in the first microchannel 5；As shown in figure 4, the winding
Flexible cylindrical body 1 have from third port 8 the second microchannel 2 penetrated through back and forth that is distributed in an axial direction by circumference gradient around cylinder to
4th port 9, the second microchannel 2 are molded by hollow molding micro fabrication；There is liquid sensitive in second microchannel 2
Impedor is embedded into the liquid sensitivity impedor in the second microchannel 2 from third port 8 and the 4th port 9 leaded 11
In；The two groups of leads 10 and 11 drawn respectively by the first microchannel 5 and the second microchannel 2 are for acquiring the first microchannel 5 and the
The situation of change of the resistance of liquid sensitivity impedor inside two microchannels 2；As shown in Fig. 2, the winding being sealed is soft
Property cylinder 1 be closely wrapped on the position detection flexible cylindrical inner core 4 being sealed, flexible silica adhesive general be used in combination
Winding flexible cylindrical body 1 is fixed with detection flexible cylindrical inner core 4, and flexible skin 3 is wrapped in the winding flexible cylindrical body 1
Outside；The position detection flexible cylindrical inner core 4 and the winding flexible cylindrical body 1 are flexible silicone rubber material；
The liquid sensitivity impedor is liquid gallium-indium-tin alloy；The flexible skin 3 uses flexible silicone rubber high resiliency material
Material.
In the embodiment of the present invention, the position detection flexible cylindrical inner core 4 is a diameter of 2.8mm, and length is 100mm's
Cylinder, wherein forming round-trip first microchannel 5 of 12 one way into circle distribution, a diameter of 0.05mm, two one way
The depth of the straight trough mouth of the junction of first microchannel 5 is 0.1mm；A diameter of 1.3mm of the winding flexible cylindrical body 1,
In form round-trip second microchannels 2 of 8 one way into circle distribution, a diameter of 0.1mm, two the second microchannels of one way
The depth of the straight trough mouth of junction is 0.1mm；The thickness of the diameter of flexible skin 3 is 0.3mm.
Since the hardness of feeler is very low, when flexible feeler touches barrier, feeler touches the position meeting of barrier
Certain recess is generated, 1 body of winding flexible cylindrical inside flexible feeler is caused to generate recess, winding flexible cylindrical 1 squeezes position
It sets detection flexible core 4 and forms recess, both recess can be such that the length increase of two groups of sensitive pathways inside feeler, diameter becomes
Small, the resistance for eventually leading to internal liquid sensitive material increases, and builds some processing circuits such as Wheatstone bridge, passes through data
Analog input card acquires the change in resistance situation of sensing element in the first microchannel 5 and the second microchannel 2 from port pins 10 and 11.
Since the time that flexible feeler touches obstacle barrier is very short, the shape of flexible feeler is cylinder, therefore can be with
Will touching model approximately regard point touch model, the movement velocity v of robot, the data return times t of feeler and feeler because
Sensitive pathway variation caused by touching is directly proportional, directly proportional to the resistance value for the liquid sensing element being passed through in sensitive pathway, i.e.,：
Kvt=Δs R, wherein k is the form parameter of contact, small since in winding flexible cylindrical 1 sensitive pathway is at being uniformly distributed
When local point touch, winds k when being touched on each position on flexible cylindrical 1 and be equal, therefore k is constant.
Sensitive pathway in the flexible core 4 of position detection is distributed at gradient, therefore, the flexible core 4 of position detection by
The deformation for winding the sensitive pathway of the flexible core 4 of position detection caused by flexible cylindrical 1 squeezes different location is different, therefore position
The 4 form parameter k of flexible core for setting detection is different, is set as ki。
K and kiIt is come out by experimental calibration.In work, according to quick in the first microchannel 5 and the second microchannel 2 detected
The variation of sensing unit resistance, first obtains vt, carries out calculating ki, the k that is gone out by correlation calibrationiObstacle is obtained with the relationship of position
The position of feeler is contacted, and then judges the position where target obstacle, robot is reasonably evaded.
Claims (2)
1. a kind of flexible feeler of power position detection, it is characterised in that：It includes position detection flexible cylindrical inner core (4), winding
Flexible cylindrical body (1) and flexible skin (3), the position detection flexible cylindrical inner core (4) have in an axial direction from first port (6)
It is micro- logical in described first around the first microchannel (5) penetrated through back and forth to second port (7) that cylinder is distributed by circumference gradient
There is liquid sensitivity impedor in road (5), is embedded into the first microchannel (5) from first port (6) and second port (7) are leaded
In liquid sensitivity impedor in；The winding flexible cylindrical body (1) from third port (8) have in an axial direction around cylinder by
The second microchannel (2) penetrated through back and forth to the 4th port (9) of circumference gradient distribution, has in second microchannel (2)
Liquid sensitivity impedor is embedded into the liquid in the second microchannel from third port (8) and the 4th port (9) leaded (10)
In sensitive impedor；The winding flexible cylindrical body (1) is closely wrapped in the position detection flexible cylindrical inner core
(4) on and fixed, flexible skin (3) is wrapped in the outside of the winding flexible cylindrical body (1)；The position detection is flexible
Cylindrical inner core (4) and the winding flexible cylindrical body (1) are flexible silicone rubber material；The liquid sensitivity impedor
For liquid gallium-indium-tin alloy；The flexible skin (3) uses flexible silicone rubber highly elastic material.
2. a kind of flexible feeler of power position detection according to claim 1, it is characterised in that：The position detection is flexible
Cylindrical inner core (4) is a diameter of 2.8mm, and length is the cylinder of 100mm, wherein form 12 one way round-trip first is micro- logical
Road (5) is at circle distribution, the depth of a diameter of 0.05mm, the straight trough mouth of the junction of two the first microchannels of one way (5)
0.1mm；A diameter of 1.3mm of the winding flexible cylindrical body (1), wherein forming round-trip second microchannel (2) of 8 one way
At circle distribution, the depth of a diameter of 0.1mm, the straight trough mouth of the junction of two the second microchannels of one way (2) are 0.1mm；
The thickness of the diameter of flexible skin (3) is 0.3mm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611203389.5A CN106476021B (en) | 2016-12-23 | 2016-12-23 | A kind of flexible feeler of power position detection |
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| CN201611203389.5A CN106476021B (en) | 2016-12-23 | 2016-12-23 | A kind of flexible feeler of power position detection |
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| CN106476021A CN106476021A (en) | 2017-03-08 |
| CN106476021B true CN106476021B (en) | 2018-10-16 |
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| CN106695854A (en) * | 2017-03-17 | 2017-05-24 | 燕山大学 | Pneumatic redundancy self-sensing multi-degree-of-freedom flexible nimble finger |
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| CN1675653A (en) * | 2002-06-25 | 2005-09-28 | 3M创新有限公司 | Touch sensor |
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| CN105738012A (en) * | 2016-04-27 | 2016-07-06 | 扬州大学 | Artificial skin flexible tactile sensor measurement device |
| CN106017752A (en) * | 2016-07-07 | 2016-10-12 | 燕山大学 | Flexible multidimensional force transducer |
| CN206445812U (en) * | 2016-12-23 | 2017-08-29 | 燕山大学 | A kind of flexible feeler of power position detection |
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| US9158143B2 (en) * | 2011-09-12 | 2015-10-13 | Apple Inc. | Dual purpose touch sensor panel and optical retarder |
| US8890824B2 (en) * | 2012-02-07 | 2014-11-18 | Atmel Corporation | Connecting conductive layers using in-mould lamination and decoration |
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1675653A (en) * | 2002-06-25 | 2005-09-28 | 3M创新有限公司 | Touch sensor |
| CN1414357A (en) * | 2002-08-30 | 2003-04-30 | 天津大学 | Pressure sensing element |
| CN103134622A (en) * | 2013-01-31 | 2013-06-05 | 中国科学院合肥物质科学研究院 | Three-dimensional soft tactile sensor array |
| CN103335754A (en) * | 2013-06-19 | 2013-10-02 | 合肥工业大学 | Fully-flexible three-dimensional force tactile sensor |
| CN105738012A (en) * | 2016-04-27 | 2016-07-06 | 扬州大学 | Artificial skin flexible tactile sensor measurement device |
| CN106017752A (en) * | 2016-07-07 | 2016-10-12 | 燕山大学 | Flexible multidimensional force transducer |
| CN206445812U (en) * | 2016-12-23 | 2017-08-29 | 燕山大学 | A kind of flexible feeler of power position detection |
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