CN114264393A - Multifunctional magnetostrictive touch sensor - Google Patents
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- CN114264393A CN114264393A CN202111586914.7A CN202111586914A CN114264393A CN 114264393 A CN114264393 A CN 114264393A CN 202111586914 A CN202111586914 A CN 202111586914A CN 114264393 A CN114264393 A CN 114264393A
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 82
- 229910052733 gallium Inorganic materials 0.000 claims description 44
- GYHNNYVSQQEPJS-UHFFFAOYSA-N Gallium Chemical compound [Ga] GYHNNYVSQQEPJS-UHFFFAOYSA-N 0.000 claims description 42
- 229910052742 iron Inorganic materials 0.000 claims description 41
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Abstract
The invention discloses a multifunctional magnetostrictive touch sensor which comprises a pressure sensing device and a base, wherein the base comprises a vertical plate and a bottom plate, the vertical plate is vertically and fixedly connected with the bottom plate, one end of the pressure sensing device is embedded into the inner side of the vertical plate and is connected with a magnetic sensor, the magnetic sensor is fixedly connected with the outer side of the vertical plate, the other end of the pressure sensing device is fixedly connected with a transmission contact, one end of the transmission contact is vertically connected with the bottom plate, the other end of the transmission contact is provided with a temperature acquisition device, and the bottom plate is fixedly connected with a permanent magnet. According to the invention, under two modes of pressing and sliding, the contact pressure, the object thermal conductivity, the temperature and the surface profile information are obtained by pressing and sliding on the surface of the object, so that various functions of a human finger are simulated, and the device is arranged on the manipulator, so that the manipulator can learn the object more fully, and more references are provided for the grabbing task of the manipulator.
Description
Technical Field
The invention relates to the technical field of sensors, in particular to a multifunctional magnetostrictive touch sensor.
Background
The finger is used as a medium for human body to sense an external object, and is a very precise touch sensing system. The finger can sense various mechanical stimuli and thermal stimuli brought by the contact of the finger and an external object, and obtain a plurality of physical information about the outside, such as: pressure, temperature, texture, material and the like, which are analyzed by the nervous system and then converted into physiological reaction, so that the human can quickly and safely interact with the surrounding environment.
As an important component of human-computer interaction and intelligent robot operation, the touch sensor gives the robot the ability to sense the contact pressure, shape, hardness and temperature of an object. In recent years, with the development of sensing technology, robot sensing systems based on various sensing principles, such as piezoresistive type, piezoelectric type, capacitance type, piezomagnetic type and the like, have been proposed, although some touch sensors have high sensitivity, most of the functions are single, and mainly focus on pressure measurement, and a few touch sensors capable of simultaneously measuring multiple parameters are difficult to popularize due to the problems of complex structure, high manufacturing cost, high difficulty, complex peripheral circuit, poor reliability and the like.
Therefore, it is necessary to design a multifunctional tactile sensor that is easy to manufacture and has high reliability.
Disclosure of Invention
The invention aims to provide a multifunctional magnetostrictive touch sensor, which aims to solve the problems in the prior art, and can obtain contact pressure, object thermal conductivity, temperature and surface profile information by pressing and sliding on the surface of an object in two modes of pressing and sliding so as to simulate various functions of human fingers.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a multifunctional magnetostrictive touch sensor, which comprises a pressure sensing device and a base, wherein the pressure sensing device is used for converting a force signal into a magnetic signal based on the inverse magnetostriction effect, the base comprises a vertical plate and a bottom plate, the vertical plate is vertically and fixedly connected with the bottom plate, one end of the pressure sensing device is embedded into the inner side of the vertical plate and is connected with the magnetic sensor, the magnetic sensor is fixedly connected with the outer side of the vertical plate, wherein the magnetic sensor is used for detecting a magnetic signal and outputting voltage, the other end of the pressure sensing device is fixedly connected with a transmission contact, one end of the transmission contact is vertically connected with the bottom plate, the other end of the transmission contact is provided with a temperature acquisition device, the bottom plate is fixedly connected with a permanent magnet, wherein the transmission contact is used for transmitting pressure to the pressure sensing device.
Optionally, the pressure sensing device includes a plurality of iron gallium wires, each iron gallium wire is parallel, a spacing distance between each iron gallium wire is equal, one end of each iron gallium wire is embedded into the vertical plate and connected with the magnetic sensor, and the other end of each iron gallium wire is fixedly connected with the transmission contact.
Optionally, the length of the iron gallium filament is 8-10 mm, and the diameter of the iron gallium filament is 0.5-0.8 mm.
Optionally, the magnetic sensor employs a hall element.
Optionally, the temperature acquisition device includes a thermocouple and a heating plate, the thermocouple is fixedly connected with the upper surface of the heating plate, and the lower surface of the heating plate is connected with the transmission contact.
Optionally, the heating plate is made of a ceramic material.
Optionally, the permanent magnet is made of neodymium iron boron.
Optionally, the material of the transmission contact is resin.
Optionally, the base is made of resin.
The invention discloses the following technical effects:
according to the multifunctional magnetostrictive touch sensor, the inverse magnetostrictive effect of the pressure sensing device is utilized, and when the contact is acted by an external force, the sensor can convert force information into a voltage signal to output, so that the pressure is accurately measured. The temperature acquisition device is installed to simulate the perception of human fingers on the temperature related information of the contact object, so that the measurement of the thermal conductivity and the temperature of the contact object is realized, and the method can be further applied to material identification. The surface contour information of the object can be obtained through sliding on the surface of the object, and the surface contour information is similar to the perception of human fingers on the surface information of the object, so that various functions of the human fingers are simulated more comprehensively, and the manipulator can interact with the outside more safely and intelligently when being installed on the manipulator. And the manufacturing process is simple, the cost is low, and a complex signal processing circuit is not required to be added.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic diagram of a multi-functional magnetostrictive tactile sensor in an embodiment of the invention;
FIG. 2 is a schematic diagram of output voltages of a sensor under different pressures according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the temperature response of a sensor in contact with objects of different thermal conductivity in an embodiment of the present invention;
FIG. 4 is a graph of the output voltage of a trapezoidal test sample across the sensor in an embodiment of the present invention.
FIG. 5 is a graph of the output voltage of a sensor as a triangular test sample is stroked across the sensor in an embodiment of the present invention.
Wherein, 1 is the thermocouple, 2 is the heating plate, 3 is indisputable gallium silk, 4 is the base, 5 is the hall element, 6 is the permanent magnet, 7 is the transmission contact.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The present invention provides a multifunctional magnetostrictive tactile sensor, as shown in fig. 1. The sensor comprises a pressure sensing device and a base 4, wherein the base 4 comprises a vertical plate and a bottom plate, the vertical plate is fixedly connected with the bottom plate in a vertical manner, one end of the pressure sensing device is embedded into the inner side of the vertical plate and is connected with a magnetic sensor, the magnetic sensor is fixedly connected with the outer side of the vertical plate, the other end of the pressure sensing device is fixedly connected with a transmission contact 7, one end of the transmission contact 7 is vertically connected with the bottom plate, a temperature acquisition device is installed at the other end of the transmission contact 7, and a permanent magnet 6 is fixedly connected with the bottom plate.
Through holes are formed in the inner side of a vertical plate of the base 4 at equal intervals, the diameter of each through hole is matched with the pressure sensing device, and a magnetic sensor is fixedly mounted on the outer side of the vertical plate of the base 4. The hall element 5 is used for magnetic signal detection and outputs a voltage. In this embodiment, the base 4 is L-shaped, and the vertical plate of the base 4 is perpendicular to the bottom plate of the base 4. The base 4 is made of resin, and two groups of permanent magnets 6 are fixed on the upper side and the lower side of the base 4 respectively, wherein in the embodiment, the permanent magnets 6 are rectangular and made of neodymium iron boron. In this embodiment, adopt L type base to make the sensor give the sensor in order to support the effect when the effect is received to the sensor, keep the stability of sensor.
The pressure sensing device is used for converting a force signal into a magnetic signal based on the inverse magnetostrictive effect. In this embodiment, the pressure sensing device includes 3 iron gallium wires 3, 3 iron gallium wires 3 are all horizontally distributed andand the parallel iron gallium wires 3 are arranged at equal intervals, one ends of the parallel iron gallium wires 3 penetrate through a through hole formed in the inner side of the vertical plate of the base 4 and are in contact with the Hall element 5, and the other ends of the parallel iron gallium wires 3 are inserted into the inner side of the transmission contact 7. The iron gallium wire 3 is used as a core element of the sensor and is fixed between the transmission contact 7 and the base 4, and when the sensor is under the action of external force, the transmission contact 7 drives the iron gallium wire 3 to displace, so that the Hall element 5 connected with the end of the iron gallium wire 3 detects the change of signals. The iron gallium wire 3 is manufactured by combining the forging, hot rolling and cold and hot drawing processes, and fibrous crystal grains are recrystallized into isometric crystals through current heat treatment, namely short-time annealing after rapid heating, so that the piezomagnetic effect of the iron gallium wire 3 is enhanced and the magnetic performance of the iron gallium wire is optimized. The saturated magnetostriction coefficient of the iron gallium wire 3 was 200X 10-6Saturation magnetization of 1.43X 106A/m, domain wall interaction coefficient 0.001, and anhysteretic magnetization shape coefficient 7012A/m.
The temperature acquisition device comprises a thermocouple 1 and a heating plate 2, wherein the thermocouple 1 is fixed in the center of the upper surface of the heating plate 2, and the heating plate 2 is horizontally arranged above the transmission contact 7. The transmission contact 7 is used as a transmission device for transmitting force to the iron gallium wire 3 when the sensor is stressed, the length is 3.8-4.5 mm, the width is 0.8-1.2 mm, the height is 2-3 mm, 3 holes are drilled at the position 0.8-1 mm away from the bottom for fixing the iron gallium wire 3, and the distance from the bottom of the transmission contact 7 to the bottom of the base 4 is 2.8-3.3 mm. In this embodiment, the transmission contact 7 is made of resin.
The whole sensor in the embodiment is of a horizontal cantilever beam structure, and the force magnitude information can be obtained by deducing the relation between the force and the output voltage, so that the pressure is sensed. The method specifically comprises the following steps: the iron gallium wire 3 is fixed on the L-shaped base 4 by adopting a cantilever beam structure; the permanent magnet 6 is used for providing a bias magnetic field for the iron gallium wire 3 and simultaneously arranging the initial magnetic domain of the iron gallium wire 3 according to a certain direction; when the heating plate 2 is in a working state and a closing state, the thermocouple 1 is contacted with an object to respectively obtain the thermal conductivity and temperature information of the object; when the heating plate 2 provided with the thermocouple 1 is acted by force, the force can be transmitted to the iron gallium wire 3 through the transmission contact 7, based on the inverse magnetostriction effect, the internal magnetic domain can be changed after the iron gallium wire 3 is deformed, so that the surrounding magnetic induction intensity is changed, the change is induced by the Hall element 5, and then the output voltage is obtained, so that the information of the contact pressure can be obtained.
The mode that the thermocouple is directly fixed above the heating plate is adopted, so that the temperature-related information can be sensed, namely the temperature and the heat conductivity of an object are measured, meanwhile, the manufacturing process is greatly simplified, and the manufacturing cost and the complexity of the structure are reduced.
The multifunctional magnetostrictive touch sensor is used for designing a sensor for a test to test, and the sensor for the test has the advantages that the whole length is 9.2mm, the width is 6.5mm and the height is 6.5 mm; the dimensions of the components are: the diameter of the iron gallium wire 3 is 0.6mm, the length of the iron gallium wire is 8mm, the distance between the axes of the adjacent iron gallium wires 3 is 1.4mm, the length of the bottom plate of the base 4 is 7mm, the width of the bottom plate is 4.5mm, and the height of the bottom plate is 1 mm; the length of the vertical plate is 4.5mm, the width of the vertical plate is 1.5mm, the height of the vertical plate is 4.8mm, the vertical plate is made of resin, three holes are formed in the vertical plate and used for fixing three iron gallium wires 3, the size of the Hall element 5 is 4mm, the width of the Hall element is 3mm, the height of the Hall element is 1mm, the model of the Hall element is EQ-730L, the distance from the bottom of the transmission contact 7 to the base 4 is 2mm, the diameter of the heating plate is 5mm, and the thickness of the heating plate is 1 mm.
Example 1: the iron gallium wire 3 with the diameter of 0.6mm and the length of 8mm has the relation between the force and the output voltage under the action of the pressure of 0-4N. The main purpose of this embodiment is to study the sensor input-output relationship and sensitivity. The heating plate 2 was in the closed state in the experiment.
Building an experiment platform: the sensor is fixed on an experiment platform, and the experiment platform consists of a direct current stabilized voltage power supply, a data acquisition card, a digital display type push-pull dynamometer and a computer. The digital display type push-pull force meter is used for applying pressure to the sensor, the direct-current stabilized power supply supplies power to the Hall element 5, and output voltage generated by the Hall element 5 is collected by the data acquisition card and transmitted to the computer.
Experimental procedures and results: the output end of the sensor of the invention is connected to a data acquisition card, the data acquisition card is connected with a computer, and the computer can read the output voltage of the sensor in real time. Digital display type push-pull force meters are used for applying 0-4N of pressure to the sensor. Pressure is applied to the heating plate 2 provided with the thermocouple 1, force is transmitted to the iron gallium wire through the transmission contact 7, so that the iron gallium wire 3 is deformed, magnetic induction intensity around the iron gallium wire 3 is changed based on the inverse magnetostriction effect, and the change is detected by the Hall element 5 and a voltage signal is output. The output voltages of the sensor under different pressures are shown in fig. 2, and as can be seen from fig. 2, the experimental results are basically consistent with the theoretical results. When the pressure is 3N, the output voltage is 71.06mV, the sensitivity is 23.69mV/N, and the performance is excellent, which is higher than the sensitivity (about 16mV/N) of the existing commercial quartz pressure sensor.
The software or protocol involved in the present invention is well known in the art.
Example 2: the tactile sensor is arranged on a three-finger manipulator (Robotiq company), the manipulator is controlled by software to respectively grab cylinders made of different materials, and the response of the sensor to objects with different heat conductivities is tested. The heating plate 2 was in the open state in the experiment.
Building an experiment platform: the experimental platform consists of a three-finger manipulator, a direct current stabilized voltage power supply, a data acquisition card and a computer. The mechanical arm is controlled by software to contact with different objects, so that the objects with different heat conductivities can be sensed.
Experimental procedures and results: the sensor is fixed on a far-end knuckle of one finger of the three-finger manipulator, objects with different heat conductivities are respectively fixed at the same position, firstly, the heating piece 2 is electrified to heat the thermocouple 1 until the temperature of the thermocouple 1 is stabilized at 40 ℃, and then the manipulator is controlled to respectively grab 4 fixed cylinders with known heat conductivities. Fig. 3 shows the temperature response of a sensor when it contacts an object of different thermal conductivity, and it can be seen from fig. 3 that the sensor can achieve a perception of thermal conductivity. In this embodiment, through installing temperature acquisition device above the transmission contact, heating plate 2 and thermocouple 1 promptly, can realize the perception to different object thermal conductivities, compare with at present most sensor that can only realize pressure perception, increased the function of sensor and widened the application scene of sensor.
Example 3: the sensor is arranged on a three-finger manipulator, the slide rail drives the experimental sample with different shapes of bulges on the surface to pass through the sensor, and the output voltage of the sensor is collected to obtain the surface profile information of the object.
Building an experiment platform: the experimental platform consists of a three-finger manipulator, a slide rail, a direct current stabilized voltage power supply, a data acquisition card and a computer.
Experimental procedures and results: the manipulator provided with the invention is fixed at a proper position, a sample with five continuous same trapezoidal bulges is manufactured by 3D printing, the slide rail fixed with the experimental sample passes through the sensor at a certain speed, and the moving track of the slide rail is parallel to the base of the sensor. The output voltage on the data acquisition card in the sliding process of the sample is acquired in real time, the waveform diagrams of the output voltage when the samples with the trapezoidal and triangular surfaces pass through the sensor are close to the surface shape of the sample, and the profile information of the surface of the sample can be obtained through the output voltage waveform diagrams, as shown in fig. 4 and 5. In this embodiment, by performing a simple stroking operation on the surface of the object, rough contour information of the surface of the object can be obtained with good repeatability.
The working principle of the sensor is as follows: the sensor is based on the inverse magnetostriction effect and the heat conduction theory, when the sensor is under pressure, the arrangement of magnetic domains in the iron-gallium wires changes, and then the magnetic induction intensity around the iron-gallium wires changes, and the change can be detected by a Hall element and output a voltage signal to realize the measurement of the force; the heating sheet is used as a device for heating the thermocouple, and when the heating sheet is started, the temperature of the thermocouple used as a temperature signal acquisition element can be higher than room temperature, so that when the heating sheet is in contact with an object at room temperature, the thermal conductivity information of the object can be obtained according to heat conduction; when the heating plate is closed, the thermocouple is contacted with the object, and then the temperature information of the object can be obtained. The sensor can work in two modes of pressing and sliding, contact pressure, object thermal conductivity, temperature and surface profile information can be obtained by pressing and sliding the surface of an object, so that various functions of human fingers are simulated, the sensor is mounted on a manipulator, the manipulator can learn the object more sufficiently, and more references are provided for a grabbing task of the manipulator.
As can be seen from the above, the tactile sensor of the invention can realize the perception of various tactile information by using the iron gallium wire as the core element and combining the thermocouple. The touch sensor has the advantages of low manufacturing cost, simple process, no need of an additional signal processing circuit, and a sensing function of various information, and has greater advantages compared with other touch sensors only having a single sensing function at present.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the present invention in its spirit and scope. Are intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (9)
1. A multifunctional magnetostrictive touch sensor is characterized by comprising a pressure sensing device and a base (4), wherein the pressure sensing device is used for converting a force signal into a magnetic signal based on a reverse magnetostrictive effect, the base (4) comprises a vertical plate and a bottom plate, the vertical plate is vertically and fixedly connected with the bottom plate, one end of the pressure sensing device is embedded into the inner side of the vertical plate and is connected with a magnetic sensor, the magnetic sensor is fixedly connected with the outer side of the vertical plate, the magnetic sensor is used for detecting the magnetic signal and outputting voltage, the other end of the pressure sensing device is fixedly connected with a transmission contact (7), one end of the transmission contact (7) is vertically connected with the bottom plate, the other end of the transmission contact (7) is provided with a temperature acquisition device, and the bottom plate is fixedly connected with a permanent magnet (6), wherein, the transmission contact (7) is used for transmitting pressure to the pressure sensing device.
2. The multifunctional magnetostrictive tactile sensor according to claim 1, characterized in that the pressure sensing device comprises a plurality of iron gallium wires (3), each iron gallium wire (3) is parallel, the spacing distance between each iron gallium wire (3) is equal, one end of each iron gallium wire (3) is embedded in the vertical plate and connected with the magnetic sensor, and the other end of each iron gallium wire (3) is fixedly connected with the transmission contact (7).
3. The multifunctional magnetostrictive tactile sensor according to claim 2, characterized in that the iron gallium wire (3) has a length of 8 to 10mm and a diameter of 0.5 to 0.8 mm.
4. Multifunctional magnetostrictive tactile sensor according to claim 1, characterized in that the magnetic sensor employs a hall element (5).
5. The multifunctional magnetostrictive tactile sensor according to claim 1, characterized in that the temperature acquisition device comprises a thermocouple (1) and a heating plate (2), wherein the thermocouple (1) is fixedly connected with the upper surface of the heating plate (2), and the lower surface of the heating plate (2) is connected with the transmission contact (7).
6. The multifunctional magnetostrictive tactile sensor according to claim 5, characterized in that the heating sheet (2) is made of ceramic.
7. Multifunctional magnetostrictive tactile sensor according to claim 1, characterized in that the permanent magnet (6) is of neodymium iron boron.
8. The multifunctional magnetostrictive tactile sensor according to claim 1, characterized in that the transmission contact (7) is made of resin.
9. The multifunctional magnetostrictive tactile sensor according to claim 1, characterized in that the base (4) is made of resin.
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