CN110031143A - A kind of conductive rubber formula multi information touch sensor - Google Patents
A kind of conductive rubber formula multi information touch sensor Download PDFInfo
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- CN110031143A CN110031143A CN201910430571.1A CN201910430571A CN110031143A CN 110031143 A CN110031143 A CN 110031143A CN 201910430571 A CN201910430571 A CN 201910430571A CN 110031143 A CN110031143 A CN 110031143A
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- sensor
- touch sensor
- conductive rubber
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- multi information
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- 238000003384 imaging method Methods 0.000 claims description 5
- 238000012545 processing Methods 0.000 abstract description 9
- 238000013461 design Methods 0.000 abstract description 5
- 238000004891 communication Methods 0.000 abstract description 3
- 230000008447 perception Effects 0.000 abstract description 3
- 230000035807 sensation Effects 0.000 abstract 2
- 230000035945 sensitivity Effects 0.000 description 4
- 230000003321 amplification Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000003199 nucleic acid amplification method Methods 0.000 description 3
- 230000005355 Hall effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000005622 photoelectricity Effects 0.000 description 2
- 230000002463 transducing effect Effects 0.000 description 2
- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000005352 galvanomagnetic phenomena Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 239000011368 organic material Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000037152 sensory function Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
- G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
- G01L5/228—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping using tactile array force sensors
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- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of conductive rubber formula multi information touch sensor, including touch sensor, signal processing circuit, analog-digital converter and controller and host computer, the signal output end of the touch sensor and the input terminal of signal processing circuit connect, the other end of signal processing circuit is connected with the digital analog converter, the digital analog converter is connected with the controller, the controller and host computer two-way communication.Design of the invention is more suitable for operating, and the present invention is applied to flexible touch sensation sensor, can accurately detect the stability of signal.The flexible touch sensation sensor is easy to contact, to create the chance of perception environment.
Description
Technical field
The invention belongs to sensor device field, more particularly, to a kind of conductive rubber formula multi information tactile sensing
Device.
Background technique
Touch sensor is the sensor for imitating feeling function in robot.Tactile is that people directly connects with external environment
Important sensory function when touching, developing the touch sensor met the requirements is one of developing key problem in technology of robot.With
The development of microelectric technique and the appearance of various organic materials, it has been proposed that the development side of diversified touch sensor
Case, but laboratory stage is belonged to greatly at present, reach the few of commercialization.Touch sensor is broadly divided into contacting feeling by function
Sensor, force-moment feel sensor, killing fluid additive and sliding feeling sensor etc..Touch sensor can formally be divided into electricity
The diversified forms such as appearance formula, resistance-type, piezoelectric type, optical fiber type, wherein capacitance type touch sensor is because temperature drift is small, sensitivity is high etc.
Advantage is always the research hotspot in this field.
Summary of the invention
In view of this, the invention be directed to it is a kind of applied to Low ESR robot sensing's system, it is low in cost
Conductive rubber formula multi information visual sensor.
In order to achieve the above objectives, the technical solution of the invention is achieved in that
A kind of conductive rubber formula multi information touch sensor, including robot gripping body and sensor placed on it
Group, the sensor group are made of 4 touch sensors, and the touch sensor includes being placed in above sensor array
Semi-transparent Ming Dynasty style fexible film convex surface, the sensor array for acquiring the convex surface force vector, the film convex surface it is interior
Evenly distributed black magnetic stripe is covered on surface；The gripping body includes mechanical hand seat, fixed plate and clamping plate, described
Fixed plate and clamping plate are separately connected on mechanical hand seat, the fixed plate is fixedly connected with mechanical hand seat, the clamping plate with
The rotation connection of mechanical hand seat.
Further, the center for the sensor array stated is equipped with a ccd image sensor, the imaging sensor
It is connected with controller, to acquire the line image deformed on the inside of nonreentrant surface, is additionally provided on every side of the sensor array
One light source.
Further, the sensor array is equipped at least 64 Hall sensors, is connected with controller, described
Hall sensor with rectangular array.
Further, the film for nonreentrant surface is conductive rubber film.
Further, the sensor array is equipped with pressure sensor, is connected with controller.
Compared with the existing technology, a kind of conductive rubber formula multi information touch sensor described in the invention has following
Advantage:
Design of the invention is more suitable for operating, and can acquire two kinds of electromagnetism, photoelectricity transducing signals, make it than pervious design
It is more suitable for operating.It meets the surface of resiliency deforming contact, can grab more objects.Shape renders it susceptible to contact, thus
Create the chance of perception environment.The present invention is very sensitive to normal forces and lateral force, provides for robot about clamping object
More preferable feedback.The present invention has high sensitivity, and more data-signals can be obtained by touch sensor, to analyze control
System.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide to further understand the invention, present invention wound
The illustrative embodiments and their description made are used to explain the present invention creation, do not constitute the improper restriction to the invention.?
In attached drawing:
Fig. 1 is structural schematic diagram described in the invention embodiment；
Fig. 2 is sensor group schematic diagram described in the invention embodiment；
Fig. 3 is robot schematic diagram described in the invention embodiment.
Description of symbols:
1- fexible film convex surface；2- sensor array；3, touch sensor；4, sensor group；5, mechanical hand seat；6, it presss from both sides
Plate；7, fixed plate.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the invention can
To be combined with each other.
In the description of the invention, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description the invention and simplifies description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For the limitation to the invention.In addition, term " first ", " second " etc. are used for description purposes only, and should not be understood as indicating
Or it implies relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " etc. are defined as a result,
Feature can explicitly or implicitly include one or more of the features.In the description of the invention, unless separately
It is described, the meaning of " plurality " is two or more.
In the description of the invention, it should be noted that unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, on being understood by concrete condition
State concrete meaning of the term in the invention.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments creates.
A kind of conductive rubber formula multi information touch sensor 3, including robot gripping body and sensing placed on it
Device group 4, the sensor group 4 are made of 4 touch sensors 3, and the touch sensor 3 includes being placed in sensor array
The semi-transparent Ming Dynasty style fexible film convex surface 1 of 2 top of column, the sensor array 2 for acquiring the convex surface force vector, described is thin
Evenly distributed black magnetic stripe is covered on the inner surface on film convex surface；The gripping body include mechanical hand seat 5, fixed plate 7 with
And clamping plate 6, fixed plate 7 and clamping plate 6 are separately connected on the mechanical hand seat 5, the fixed plate 7 and mechanical hand seat 5 are solid
Fixed connection, the clamping plate 6 and mechanical hand seat 5 are rotatablely connected.In addition, further including external signal processing circuit, analog-to-digital conversion
Device and controller and host computer, the signal output end of the touch sensor 3 and the input terminal of signal processing circuit connect,
The other end of signal processing circuit is connected with the digital analog converter, the digital analog converter and the controller phase
Even, the controller and host computer two-way communication；
The center of the sensor array 2 is equipped with a ccd image sensor, the imaging sensor and control
Device is connected, to acquire the line image deformed on the inside of nonreentrant surface, is additionally provided with a light on every side of the sensor array 2
Source.
The sensor array 2 is equipped at least 64 Hall sensors, is connected with controller, and the Hall passes
Sensor is with rectangular array.
The film for nonreentrant surface is conductive rubber film.
It is equipped with pressure sensor into the sensor array 2, is connected with controller.
The present invention is applied on the pedestal of robot, fixed plate 7 and is respectively equipped with convex described in 4 touch sensors 3
The inner surface in face 1 is covered with black magnetic stripe.When contact object, when generating pressure, the hall effect sensor on sensor array 2 can
To be contacted with the black magnetic stripe, to generate galvanomagnetic-effect.Each hall effect sensor is read by analog-digital converter.
The converter is a part of DSP digital processing unit, transmits information.Four have been used in each sensor group 4 of robot
Dome shares 32 touch sensors 3 on the manipulator of robot.In addition, ccd image sensor can directly and ccd image
Sensor IO connection, acquires simple picture signal, so as to meet detection pressure signal, avoids pressure excessive, to tactile
Sensor 3 generates damage；Preferably, the signal processing circuit includes current-to-voltage converting circuit, signal amplification
Circuit and signal comparator circuit, the current-to-voltage converting circuit, signal amplification circuit, signal comparator circuit and difference turn
Change circuit to be sequentially connected, circuit described above is the set of available circuit, and details are not described herein, example: in signal amplification circuit
In, mainly it is made of the active high-pass filter that EL2075 operational amplifier forms.Difference conversion circuit, the circuit mainly will
The square wave of comparison circuit output is converted into differential signal, it is therefore an objective to improve the stability and anti-interference ability of signal.
Preferably, the controller is DSP digital processing unit.
Preferably, the controller passes through ZigBee module or the two-in-one communication module of WIFI/ bluetooth and host computer
Connection.
Preferably, the controller is connect by RJ45 network interface with host computer.
It can detecte the force vector in all directions by imaging sensor, provide for main robot about object to be grabbed
Better signal feedback.The present invention has higher sensitivity, passes through imaging sensor, Hall sensor and other sensors
Complete acquisition system to realize the voltage signal of pressing position and pressure size；Design of the invention is more suitable for operating, can
To acquire two kinds of electromagnetism, photoelectricity transducing signals, it is made to be more suitable for operating than pervious design.It meets the table of resiliency deforming contact
Face can grab more objects.Shape renders it susceptible to contact, to create the chance of perception environment.The present invention is to normal
Power and lateral force are all very sensitive, provide the more preferable feedback about clamping object for robot.The present invention has high sensitivity, can
More data-signals are obtained by touch sensor 3, so as to analysis and Control.
The foregoing is merely the preferred embodiments of the invention, are not intended to limit the invention creation, all at this
Within the spirit and principle of innovation and creation, any modification, equivalent replacement, improvement and so on should be included in the invention
Protection scope within.
Claims (5)
1. a kind of conductive rubber formula multi information touch sensor, it is characterised in that: including robot gripping body and be placed in it
On sensor group, the sensor group is made of 4 touch sensors, and the touch sensor includes being placed in sensor
Semi-transparent Ming Dynasty style fexible film convex surface above array, the sensor array for acquiring the convex surface force vector, described is thin
Evenly distributed black magnetic stripe is covered on the inner surface on film convex surface；The gripping body include mechanical hand seat, fixed plate and
Clamping plate is separately connected fixed plate and clamping plate on the mechanical hand seat, and the fixed plate is fixedly connected with mechanical hand seat, institute
The clamping plate and mechanical hand seat stated are rotatablely connected.
2. a kind of conductive rubber formula multi information touch sensor according to claim 1, it is characterised in that: the sensing
The center of device array is equipped with a ccd image sensor, and the imaging sensor is connected with controller, to acquire convex table
The line image deformed on the inside of face is additionally provided with a light source on every side of the sensor array.
3. a kind of conductive rubber formula multi information touch sensor according to claim 1, it is characterised in that: the sensing
Device array is equipped at least 64 Hall sensors, is connected with controller, the Hall sensor is with rectangular array.
4. a kind of conductive rubber formula multi information touch sensor according to claim 1, it is characterised in that: described is used for
The film of nonreentrant surface is conductive rubber film.
5. a kind of conductive rubber formula multi information touch sensor according to claim 1, it is characterised in that: the sensing
Device array is equipped with pressure sensor, is connected with controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910430571.1A CN110031143A (en) | 2019-05-22 | 2019-05-22 | A kind of conductive rubber formula multi information touch sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910430571.1A CN110031143A (en) | 2019-05-22 | 2019-05-22 | A kind of conductive rubber formula multi information touch sensor |
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| Publication Number | Publication Date |
|---|---|
| CN110031143A true CN110031143A (en) | 2019-07-19 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910430571.1A Pending CN110031143A (en) | 2019-05-22 | 2019-05-22 | A kind of conductive rubber formula multi information touch sensor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117723172A (en) * | 2023-12-20 | 2024-03-19 | 中北大学 | Bionic flexible force sensor based on magnetic column |
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| CN102435668A (en) * | 2011-08-31 | 2012-05-02 | 重庆大学 | Array ferromagnetic member surface defect detector based on leakage magnetic field double component |
| CN102928137A (en) * | 2012-11-14 | 2013-02-13 | 合肥工业大学 | Four-interdigital-electrode type three-dimensional force contact sensor for artificial skin |
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| CN210005145U (en) * | 2019-05-22 | 2020-01-31 | 浙江大学滨海产业技术研究院 | multifunctional robot touch sensor |
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2019
- 2019-05-22 CN CN201910430571.1A patent/CN110031143A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1853093A (en) * | 2003-09-16 | 2006-10-25 | 株式会社东京大学Tlo | Optical tactile sensor and method of reconstructing force vector distribution using the sensor |
| KR20100131349A (en) * | 2009-06-05 | 2010-12-15 | 성균관대학교산학협력단 | Active skin for conformable tactile interace |
| CN102175362A (en) * | 2011-03-07 | 2011-09-07 | 合肥工业大学 | Multifunctional flexible touch sensor |
| CN102282973A (en) * | 2011-07-11 | 2011-12-21 | 浙江理工大学 | Multi-finger under-actuated end effector with sensing function |
| CN102435668A (en) * | 2011-08-31 | 2012-05-02 | 重庆大学 | Array ferromagnetic member surface defect detector based on leakage magnetic field double component |
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| CN108885146A (en) * | 2016-01-29 | 2018-11-23 | 株式会社理光 | Voltage sensitive sensor, grabbing device and robot |
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| CN117723172A (en) * | 2023-12-20 | 2024-03-19 | 中北大学 | Bionic flexible force sensor based on magnetic column |
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