CN114264393B - Multifunctional magnetostriction touch sensor - Google Patents
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- CN114264393B CN114264393B CN202111586914.7A CN202111586914A CN114264393B CN 114264393 B CN114264393 B CN 114264393B CN 202111586914 A CN202111586914 A CN 202111586914A CN 114264393 B CN114264393 B CN 114264393B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 33
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 56
- 229910052733 gallium Inorganic materials 0.000 claims description 38
- GYHNNYVSQQEPJS-UHFFFAOYSA-N Gallium Chemical compound [Ga] GYHNNYVSQQEPJS-UHFFFAOYSA-N 0.000 claims description 28
- 229910052742 iron Inorganic materials 0.000 claims description 28
- 238000010438 heat treatment Methods 0.000 claims description 24
- 230000000694 effects Effects 0.000 claims description 9
- 239000011347 resin Substances 0.000 claims description 7
- 229920005989 resin Polymers 0.000 claims description 7
- QJVKUMXDEUEQLH-UHFFFAOYSA-N [B].[Fe].[Nd] Chemical compound [B].[Fe].[Nd] QJVKUMXDEUEQLH-UHFFFAOYSA-N 0.000 claims description 3
- 229910001172 neodymium magnet Inorganic materials 0.000 claims description 3
- 229910010293 ceramic material Inorganic materials 0.000 claims description 2
- 230000006870 function Effects 0.000 abstract description 8
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- 238000002474 experimental method Methods 0.000 description 10
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- 238000009530 blood pressure measurement Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000010259 detection of temperature stimulus Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 239000010453 quartz Substances 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
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- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a multifunctional magnetostriction 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 the two modes of pressing and sliding, the contact pressure, the thermal conductivity of the object, the temperature and the surface profile information are obtained by pressing and sliding on the surface of the object, so that various functions of human fingers are simulated, and the mechanical hand is arranged on the mechanical hand to enable the mechanical hand to learn the object more fully, so that more references are provided for the grabbing task of the mechanical hand.
Description
Technical Field
The invention relates to the technical field of sensors, in particular to a multifunctional magnetostrictive tactile sensor.
Background
The finger is used as a medium for human body to sense external objects, and is a very precise touch sensing system. The finger can feel various mechanical stimulus and thermal stimulus brought by the contact with an external object, and obtain a lot of physical information about the external environment, such as: pressure, temperature, texture, material, etc., which are converted into physiological responses after being analyzed by the nervous system, so that people can interact with the surrounding environment quickly and safely.
As an important component of human-machine interaction and intelligent robotic operation, tactile sensors give the robot the ability to perceive object contact pressure, shape, hardness and temperature. In recent years, with the development of sensing technology, various sensing principles based on robot sensing systems, such as piezoresistive, piezoelectric, capacitive, piezomagnetic and the like, are proposed, and although some tactile sensors have high sensitivity, most of the functions are single, mainly focus on pressure measurement, and few tactile 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.
For this reason, it is necessary to design a multifunctional tactile sensor that is easy to manufacture and highly reliable.
Disclosure of Invention
The invention aims to provide a multifunctional magnetostrictive touch sensor which solves the problems in the prior art, and in the pressing and sliding modes, the contact pressure, the thermal conductivity of an object, the temperature and the surface profile information are obtained by pressing and sliding on the surface of the object, so that various functions of human fingers are simulated, and the multifunctional magnetostrictive touch sensor is arranged on a manipulator to enable the manipulator to learn the object more fully and provide more references for the grabbing task of the manipulator.
In order to achieve the above object, the present invention provides the following solutions: the invention provides a multifunctional magnetostriction 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 a reverse 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 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, 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, wherein the transmission contact is used for transmitting pressure to the pressure sensing device.
Optionally, the pressure sensing device comprises a plurality of iron gallium wires, each iron gallium wire is parallel, the interval 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 wire is 8-10 mm, and the diameter is 0.5-0.8 mm.
Alternatively, the magnetic sensor employs a hall element.
Optionally, the temperature acquisition device comprises a thermocouple and a heating plate, wherein 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 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 tactile sensor provided by the invention, the inverse magnetostrictive effect of the pressure sensing device is utilized, and when the contact is acted by external force, the sensor can convert force information into voltage signals for output, so that accurate measurement of pressure is realized. The temperature acquisition device is arranged to simulate the perception of temperature related information of a human finger on a contact object, so that the measurement of the thermal conductivity and the temperature of the contact object is realized, and the device can be further applied to material identification. The object surface contour information can be obtained through sliding on the object surface, and the object surface contour information is similar to the perception of human fingers on the object surface information, so that various functions of the human fingers are more comprehensively simulated, and the manipulator can interact with the outside more safely and intelligently when being arranged on the manipulator. And the manufacturing process is simple, the cost is low, and no additional complex signal processing circuit is needed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a multifunctional magnetostrictive tactile sensor according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of output voltages of the 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 contacting an object of different thermal conductivities in an embodiment of the invention;
FIG. 4 is a graph of the output voltage of the sensor when a trapezoidal test sample is drawn across the sensor in an embodiment of the present invention.
FIG. 5 is a graph of the output voltage of a sensor when a triangle test sample is drawn across the sensor in an embodiment of the invention.
Wherein, 1 is thermocouple, 2 is the heating plate, 3 is iron gallium silk, 4 is the base, 5 is hall element, 6 is the permanent magnet, 7 is the transmission contact.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
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 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 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.
The inside equidistance of riser of base 4 leaves and is equipped with the through-hole, and the diameter and the pressure sensing device looks adaptation of through-hole have the magnetic sensor in the riser outside fixed mounting of base 4, and in this embodiment, the magnetic sensor adopts hall element 5 to use glue, fix hall element 5 with the riser outside of base 4. The hall element 5 is used for magnetic signal detection and output voltage. In this embodiment, the base 4 is L-shaped overall, 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, two groups of permanent magnets 6 are respectively fixed on the upper side and the lower side of the base 4, and in the embodiment, the permanent magnets 6 are rectangular and made of neodymium iron boron. In the embodiment, the L-shaped base is adopted to enable the sensor to support the sensor when the sensor receives force, so that the stability of the sensor is kept.
The pressure sensing device is used for converting a force signal into a magnetic signal based on the inverse magnetostriction effect. In this embodiment, the pressure sensing device includes 3 iron gallium filaments 3,3 iron gallium filaments 3 are all distributed horizontally and parallel, the interval of adjacent iron gallium filaments 3 is equal, one end of them passes through the through hole opened in the vertical plate of the base 4 and contacts with the hall element 5, and the other end inserts the inboard 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 acted by 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 a process combining forging, hot rolling and cold-hot drawing, and fibrous crystal grains are recrystallized into equiaxed crystal 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 saturation magnetostriction coefficient of the iron-gallium wire 3 is 200×10 -6, the saturation magnetization is 1.43×10 6 a/m, the domain wall interaction coefficient is 0.001, and the hysteresis-free magnetization shape coefficient is 7012A/m.
The temperature acquisition device comprises a thermocouple 1 and a heating plate 2, wherein the thermocouple 1 is fixed at the center of the upper surface of the heating plate 2, and the heating plate 2 is horizontally arranged above a 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 sensor in the embodiment is of a horizontal cantilever structure as a whole, and the information of the force can be obtained by deducing the relation between the force and the output voltage, so that the pressure is sensed. The method comprises the following steps: the iron-gallium wire 3 is fixed on the L-shaped base 4 by adopting a cantilever structure; the permanent magnet 6 is used for providing a bias magnetic field for the iron-gallium wire 3 and simultaneously enabling initial magnetic domains of the iron-gallium wire 3 to be arranged in a certain direction; when the heating plate 2 is in a working state and a closing state, the thermal conductivity and the temperature information of the object can be respectively obtained after the thermocouple 1 contacts with the object; when the heating plate 2 provided with the thermocouple 1 receives force, the force is transmitted to the iron gallium wire 3 through the transmission contact 7, the internal magnetic domain is changed after the iron gallium wire 3 is deformed based on the inverse magnetostriction effect, the surrounding magnetic induction intensity is changed, the output voltage is obtained after the change is sensed by the Hall element 5, and therefore the information of the contact pressure can be obtained.
The thermocouple is directly fixed above the heating plate, so that temperature related information can be sensed, namely temperature and thermal conductivity of an object are measured, the manufacturing process is greatly simplified, and the manufacturing cost and the complexity of the structure are reduced.
The structural design of the multifunctional magnetostrictive tactile sensor is utilized to test the sensor for test, the whole length of the sensor for test is 9.2mm, the width is 6.5mm, and the height is 6.5mm; the dimensions of the components are: the diameter of the iron-gallium wire 3 is 0.6mm, the length is 8mm, the axial center distance between adjacent iron-gallium wires 3 is 1.4mm, the length of the bottom plate of the base 4 is 7mm, the width is 4.5mm, and the height is 1mm; the vertical plate is 4.5mm long, 1.5mm wide and 4.8mm high, the material is 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 long, 3mm wide and 1mm high, the model is EQ-730L, the distance between the bottom of the transmission contact 7 and the base 4 is 2mm, the diameter of the heating plate is 5mm, and the thickness is 1mm.
Example 1: the relationship between the force and the output voltage of the iron gallium wire 3 with the diameter of 0.6mm and the length of 8mm 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 heater chip 2 was in the off state in the experiment.
Building an experiment platform: the sensor is fixed on an experiment table, and the experiment table consists of a direct-current stabilized power supply, a data acquisition card, a digital display type push-pull tension meter and a computer. The digital display push-pull tension 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 collection card and transmitted to the computer.
Experimental procedure and results: the output end of the sensor is connected to a data acquisition card, the acquisition card is connected with a computer, and the computer can read the output voltage of the sensor in real time. A digital display type push-pull gauge is adopted to apply 0-4N pressure to the sensor. Pressure is applied to the heating plate 2 provided with the thermocouple 1, and force is transmitted to the iron gallium wire through the transmission contact 7, so that the iron gallium wire 3 is deformed, and the 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 outputs a voltage signal. The output voltages of the sensor under the action of 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, which is higher than that of the existing commercial quartz pressure sensor (about 16 mV/N), and the performance is excellent.
The software or protocols involved in the present invention are all well known.
Example 2: the touch sensor is arranged on a three-finger manipulator (Robotiq company), the manipulator is controlled by software to respectively grasp cylinders made of different materials, and the response of the sensor to objects with different heat conductivities is tested. The heater chip 2 was in the on state in the experiment.
Building an experiment platform: the experimental platform consists of a three-finger manipulator, a direct-current stabilized voltage supply, a data acquisition card and a computer. The manipulator is controlled by software to contact with different objects, so that the sensing of the objects with different heat conductivities is realized.
Experimental procedure and results: the sensor is fixed on the distal knuckle of one finger of the three-finger manipulator, objects with different heat conductivities are respectively fixed at the same position, the heating plate 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 grasp the fixed 4 cylinders with known heat conductivities. Fig. 3 shows the temperature response of a sensor in contact with objects of different thermal conductivities, which sensor can achieve a perception of the thermal conductivity as can be seen from fig. 3. In this embodiment, by installing the temperature acquisition device, namely the heating plate 2 and the thermocouple 1, above the transmission contact, the sensing of the thermal conductivity of different objects can be realized, and compared with most of sensors which can only realize pressure sensing at present, the functions of the sensor are increased, and the application scene of the sensor is widened.
Example 3: the sensor is arranged on the three-finger manipulator, the sliding rail is used for driving experimental samples with protrusions in different shapes on the surface to scratch the sensor, and the output voltage of the sensor is collected so as to obtain the surface profile information of the object.
Building an experiment platform: the experimental platform consists of a three-finger manipulator, a sliding rail, a direct-current stabilized power supply, a data acquisition card and a computer.
Experimental procedure and results: the manipulator provided by the invention is fixed at a proper position, a sample with five continuous identical trapezoid bulges is manufactured by adopting 3D printing, a sliding rail fixed with an experimental sample is scratched through a sensor at a certain speed, and the moving track of the sliding rail is parallel to the base of the sensor. Output voltage on the data acquisition card in the sliding process of the sample is acquired in real time, a waveform chart of the output voltage is close to the shape of the surface of the sample when the two samples with trapezium and triangle on the surfaces are scratched by the sensor, and profile information of the surface of the sample can be obtained through the waveform chart of the output voltage, as shown in fig. 4 and 5. In this embodiment, by performing a simple stroking operation on the object surface, rough contour information of the object surface can be obtained, and the repeatability is good.
The working principle of the sensor is as follows: based on the inverse magnetostriction effect and the heat conduction theory, when the sensor is subjected to pressure, the magnetic domain arrangement in the iron gallium wire changes to further change the surrounding magnetic induction intensity, and the change can be detected by the Hall element and output a voltage signal to realize the measurement of force; the heating plate is used as a device for heating the thermocouple, when the device is started, the temperature of the thermocouple which is used as a temperature signal acquisition element is higher than the room temperature, so that the thermal conductivity information of an object can be obtained according to thermal conduction when the device is contacted with the object at the room temperature; when the heating plate is closed, the thermocouple is contacted with the object to obtain object temperature information. The sensor can work in two modes of pressing and sliding, and can obtain the contact pressure, the thermal conductivity of the object, the temperature and the surface profile information by pressing and sliding on the surface of the object, so that various functions of human fingers are simulated, the sensor is arranged on the manipulator, the manipulator can learn the object more fully, and more references are provided for the grabbing task of the manipulator.
From the above, it can be seen that the tactile sensor of the present invention adopts iron gallium wire as a core element and combines with a thermocouple to realize the perception of various tactile information. The invention has the advantages of low manufacturing cost, simple process, no need of additional signal processing circuits and multiple information sensing functions, compared with other prior tactile sensors with single sensing function.
In the description of the present invention, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the corresponding technical solutions. Are intended to be encompassed within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. The multifunctional magnetostriction 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 magnetostriction 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), and the transmission contact (7) is used for transmitting pressure to the pressure sensing device;
The pressure sensing device comprises a plurality of iron gallium wires (3), each iron gallium wire (3) is parallel, the interval distance between each iron gallium wire (3) is equal, one end of each iron gallium wire (3) is embedded into the vertical plate to be connected with the magnetic sensor, and the other end of each iron gallium wire (3) is fixedly connected with the transmission contact (7);
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).
2. A multifunctional magnetostrictive tactile sensor according to claim 1, characterized in that said iron-gallium-wire (3) has a length of 8-10 mm and a diameter of 0.5-0.8 mm.
3. A multifunctional magnetostrictive tactile sensor according to claim 1, characterized in that said magnetic sensor employs a hall element (5).
4. The multifunctional magnetostrictive tactile sensor according to claim 1, characterized in that said heating plate (2) is made of ceramic material.
5. The multifunctional magnetostrictive tactile sensor according to claim 1, characterized in that the permanent magnet (6) is made of neodymium iron boron.
6. A multifunctional magnetostrictive tactile sensor according to claim 1, characterized in that said transmission contact (7) is made of resin.
7. The multifunctional magnetostrictive tactile sensor according to claim 1, characterized in that the base (4) is made of resin.
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| CN115328316B (en) * | 2022-08-24 | 2023-09-15 | 中国科学院半导体研究所 | Construction method and device for meta-universe object material based on VR technology |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20090121688A (en) * | 2008-05-22 | 2009-11-26 | 김도엽 | Tactile sensing system and device for handicapped persons having the same |
| CN111872958A (en) * | 2020-07-24 | 2020-11-03 | 河北工业大学 | Flexible magnetostrictive touch sensor array for intelligent manipulator |
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| EP1634052A4 (en) * | 2003-06-06 | 2008-04-30 | Univ Illinois | Sensor chip and apparatus for tactile and/or flow |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20090121688A (en) * | 2008-05-22 | 2009-11-26 | 김도엽 | Tactile sensing system and device for handicapped persons having the same |
| CN111872958A (en) * | 2020-07-24 | 2020-11-03 | 河北工业大学 | Flexible magnetostrictive touch sensor array for intelligent manipulator |
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