CN114923518A - Composite sensor based on magnetostriction-resistance - Google Patents
Composite sensor based on magnetostriction-resistance Download PDFInfo
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- CN114923518A CN114923518A CN202210526698.5A CN202210526698A CN114923518A CN 114923518 A CN114923518 A CN 114923518A CN 202210526698 A CN202210526698 A CN 202210526698A CN 114923518 A CN114923518 A CN 114923518A
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/28—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring contours or curvatures
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Abstract
The invention discloses a composite sensor based on magnetostriction and resistance, which is formed by integrating a magnetostriction touch sensor and a resistance sensor, wherein the magnetostriction touch sensor is used for identifying the hardness and the shape of an object, and the resistance sensor is used for measuring the size of the object. The method and the device can acquire more tactile information and reduce errors, thereby realizing accurate identification and classification of the objects. The composite sensor can accurately identify and classify the shapes, hardness and sizes of different objects according to the change of the output voltage.
Description
Technical Field
The invention relates to the technical field of sensors, in particular to a magnetostrictive-resistance-based composite sensor.
Background
In recent years, with the development of artificial intelligence technology, the exploration of precise operation of robots will be an important direction for future research. The development of the robot is not necessarily separated from the research of vision and touch, the vision can sense the appearance and the color of an object, and the touch can acquire various information such as the hardness, the shape, the size, the temperature and the like of the surface of the object. The robot can be helped to stably, accurately and reliably grab objects through object identification. The touch sense is an important way for people to sense the external environment, and the touch sensor can sense the characteristics of various contact forces, temperature, humidity, vibration, materials, hardness and the like in the environment and plays an important role in the fine operation of stability analysis, grabbing classification and the like of a mechanical hand. According to the different conversion and detection principles of external stimulation signals, the touch sensor can be mainly divided into: piezoresistive, capacitive, piezoelectric and electromagnetic tactile sensors. The piezoresistive sensor has large volume and high power consumption, and is easily influenced by the outside; the output power of the capacitive sensor is low, and the stability is poor; the piezoelectric sensor has poor thermal stability and weak direct current response; with the development of the touch sensing theory and the magnetic material, a novel magnetostrictive touch sensor is produced. Iron gallium alloy (also known as Galfenol, main component (Fe) 83 Ga 17 ) The magnetostrictive touch sensor has the advantages of high tensile strength, good ductility, large magnetostriction, high electromechanical coupling efficiency and the like, so that the magnetostrictive touch sensor with high sensitivity, high reaction speed and excellent dynamic characteristics is widely applied. The magnetostrictive sensor has the advantages of simple circuit structure, high sensitivity, high reaction speed and excellent dynamic characteristic, and can realize precise operation of a manipulator. Because the information detected by a single sensor is relatively rough, the measured data is less, and the measured object cannot be accurately measured. In order to reduce errors and realize accurate identification and classification of objects, a magnetostrictive-resistance-based composite sensor is urgently needed.
Disclosure of Invention
The invention aims to design a magnetostrictive-resistance-based composite sensor to acquire more tactile information and reduce errors, thereby realizing accurate identification and classification of objects. The composite sensor can accurately identify and classify the shapes, hardness and sizes of different objects according to the change of the output voltage.
The technical scheme adopted by the invention is as follows:
a composite sensor based on magnetostriction and resistance is formed by integrating a magnetostriction touch sensor and a resistance sensor, wherein the magnetostriction touch sensor is used for identifying the hardness and the shape of an object, and the resistance sensor is used for measuring the size of the object;
the magnetostrictive touch sensor comprises an array consisting of a plurality of sensing units, wherein each sensing unit comprises an iron gallium wire, a permanent magnet, a TMR sensor, a contact and a base, the iron gallium wire is fixed on the base, the permanent magnet is placed on the upper side of the base, the TMR sensor is used as a signal acquisition unit and is arranged on the base to sense the change of a surrounding magnetic field and generate output voltage, the contact is used as a force transmission element and is fixed at the top end of the iron gallium wire, one end of the iron gallium wire is connected with the TMR sensor, the other end of the iron gallium wire is connected with the contact, the iron gallium wire is stressed and deformed by applying force in one vertical direction to the contact, the permanent magnet provides a bias magnetic field for the sensing units, the magnetic domain in the iron gallium wire deflects according to the inverse magnetostrictive effect to cause the change of magnetic induction intensity, and the TMR sensor detects the change of the magnetic induction intensity in the iron gallium wire, and outputs in the form of voltage signals;
the resistance-type sensor includes induction zone, sensing module and microcontroller, the induction zone comprises the resistance strip for discern the camber, sensing module includes regulating circuit and amplifier circuit, regulating circuit turns into analog signal with resistance, amplifier circuit is right analog signal enlargies, and the analog signal after the amplification passes through microcontroller handles.
Preferably, the TMR sensor is embedded in a groove at the lower left of the sidewall of the base.
Preferably, the number of the sensing units is three, and the sensing units form a 1 × 3 array, so as to simultaneously test the tactile information of three different contact points, identify the hardness of the object according to the difference of the output voltages, and identify the shape of the object according to the change of the output voltages respectively corresponding to the three sensing units.
As the preferred technical scheme, the base is of an L-shaped structure, two through holes are formed in the side wall of the base, and grooves are formed in the top end and the left lower end of the side wall of the base to place the permanent magnet and the TMR sensor.
As a preferred technical solution, one end of the iron gallium wire is connected with the TMR sensor through a through hole provided on a side wall of the base.
As a preferred technical solution, the magnetostrictive tactile sensor further comprises a printed circuit board, the printed circuit board comprises three connecting units and eight output terminals, the connecting units comprise five bonding pads, namely a VCC bonding pad, an NA bonding pad, a GND bonding pad, a SIG1 bonding pad and a SIG2 bonding pad, five pins of the TMR sensor are respectively welded with the five bonding pads, and the VCC bonding pads of the three connecting units are connected with a first output terminal; GND bonding pads of the three connecting units are connected and then connected with a second output end; the SIG1 pad and the SIG2 pad of the three connection units are connected to the second to eighth output terminals in turn.
As a preferred technical solution, the microcontroller receives and processes the amplified analog signal through an I/O port.
As a preferable technical scheme, the length of the sensing area is 70-80mm, and the width of the sensing area is 6-6.5 mm.
As a preferable technical scheme, the sensing module is 40-45mm long and 10-15mm wide.
According to a preferable technical scheme, the permanent magnet is rectangular, 2-5mm long, 1-1.2mm wide and 0.3-0.9mm thick, and is made of rubidium, iron and boron.
The invention has the following advantages:
1. the iron gallium wire is used as a force sensing element, and based on the piezomagnetic effect, a pressure signal is converted into a voltage signal through the TMR sensor, so that accurate measurement of force can be realized. Experiments show that the magnetostrictive touch sensor has high sensitivity, good real-time performance and excellent dynamic performance.
2. The resistance type sensor has the advantages that the resistance changes along with the bending degree of the strip-shaped sensing area, and the curvature information of an object can be acquired in the grabbing process. The robot touch information acquisition and identification device has the characteristics of high resolution, flexibility, durability, light weight, wireless transmission and the like, and can be used for acquiring and identifying the touch information of the robot.
3. A sensor array is formed by using sensing units with iron gallium wires as force sensing elements. The sensor array is provided with 3 sensing units to form a 1 x 3 array, can simultaneously test the touch information of 3 different contact points, identifies the hardness of an object according to the difference of output voltages, and simultaneously distinguishes the shape of the object according to the change of the output voltages respectively corresponding to the three sensing units. The resistance-type sensor acquires curvature information of an object, outputs voltage signals, measures the size of the object, and combines the two sensors to accurately identify the surface information of the object.
4. The permanent magnet adopts embedded structure to be convenient for sensor's installation, and the permanent magnet is placed in the upside of cantilever beam stiff end, provides even bias magnetic field in TMR detection area, has improved the detection precision.
5. A plurality of sensing units are integrated on the printed circuit board, so that the outgoing line number of signal lines is reduced, the reliability of the sensor is improved, and the service life of the sensor is prolonged.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 illustrates a perspective view of an array based on a magnetostrictive-resistive composite sensor in accordance with an embodiment of the invention;
FIG. 2 illustrates a perspective view of a sensing unit based on a magnetostrictive-resistive composite sensor in accordance with an embodiment of the invention;
FIG. 3 illustrates a perspective view of a contact of a sensing unit based on a magnetostrictive-resistive composite sensor according to an embodiment of the invention;
FIG. 4 illustrates a perspective view of a base of a magnetostrictive-resistive composite sensor-based sensing unit in accordance with an embodiment of the invention;
FIG. 5 illustrates a top view of a circuit board of a magnetostrictive-resistive composite sensor-based sensing unit according to an embodiment of the invention;
FIG. 6 illustrates a block diagram of a resistive sensor based on a magnetostrictive-resistive composite sensor in accordance with an embodiment of the invention;
FIG. 7 is a graph showing the output voltage versus pressure for a 10mm effective length, 0.5mm diameter Fe-Ga filament in the range of 0-4N in accordance with an embodiment of the present invention;
FIG. 8 is a graph showing the dynamic behavior of an FeGa wire having an effective length of 10mm and a diameter of 0.5mm, wherein (a) shows the output voltage versus time after applying different pressures to the sensor sequentially by a digital display push-pull dynamometer for 2 seconds and removing, (b) shows the output voltage versus time after applying a 1N periodic load to the touch sensor, according to an embodiment of the present invention;
FIG. 9 shows a graph of resistance, voltage, and angle according to an embodiment of the invention;
fig. 10 is a diagram showing the change with time of the output voltage of the magnetostrictive-resistive composite sensor when the robot arm grasps six kinds of objects according to the embodiment of the invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples.
The embodiment of the invention provides a magnetostrictive-resistance-based composite sensor, which is formed by integrating a magnetostrictive touch sensor and a resistance-type sensor, wherein the magnetostrictive touch sensor is used for identifying the hardness and the shape of an object, and the resistance-type sensor is used for measuring the size of the object.
Referring to fig. 1, the magnetostrictive tactile sensor is formed by 3 sensing units in a 1 × 3 array. Identified as element 1, element 2 and element 3, respectively, in fig. 1. It should be noted that, the embodiment of the present invention is only used as an example here, and the number of the sensing units may be reasonably selected to be multiple according to actual needs, including but not limited to three as exemplified by the embodiment of the present invention. E.g., two, four, six, twelve, etc. The embodiment of the present invention does not specifically limit the specific number of the sensing units.
As shown in fig. 2, each sensing unit is mainly composed of five parts, namely a permanent magnet 1, an iron gallium wire 2, a contact 3, a base 4 and a TMR sensor 5.
Specifically, the permanent magnet 1 is rectangular, has a length of 4mm, a width of 1.1mm and a thickness of 0.6mm, and is made of rubidium, iron and boron (NdFeB). The iron gallium wire 2 is placed on the upper side of the base 4, the magnetizing directions are all X-axis directions, and a uniform bias magnetic field is provided for the iron gallium wire 2.
The length of the iron gallium wire 2 is 10mm, the diameter is 0.5mm, one end of the iron gallium wire is fixed in the through hole of the base and is connected with the TMR sensor 5, and the other end of the iron gallium wire is connected with the contact 3.
As shown in fig. 3, the contact 3 is provided with two circular through holes at a position 0.6mm away from the bottom, and the iron gallium filament 2 penetrates through the through holes and transmits pressure to the iron gallium filament 2 through the contact 3.
The base 4 is in an L-shaped structure as shown in FIG. 4, and two through holes with the diameter of 0.5mm and the depth of 1mm are drilled on the side wall. The top end and the left lower end of the side wall are both provided with grooves for placing the permanent magnet 1 and the TMR sensor 5.
A plurality of sensing units can be integrated on the printed circuit board, so that the outgoing line number of signal lines is reduced, the reliability of the sensor is improved, and the service life of the sensor is prolonged. Referring to fig. 5, the printed circuit board 9 is a double-layer circuit board having 3 connecting units and 8 output terminals. The 3 connection units are labeled U1, U2, and U3, respectively, in fig. 5, and the 8 outputs are labeled 10-17 in left-to-right order. Wherein, each connection unit is composed of 5 pads: VCC pad, NA pad, SIG1 pad, GND pad, SIG2 pad. And 5 pins of the TMR sensor are respectively welded with 5 bonding pads in the connecting unit. After the VCC bonding pads of the 3 connecting units are connected, the VCC bonding pads are connected with a first output end; the GND bonding pads of the 3 connecting units are connected and then connected with the second output end; the 6 SIG pads are sequentially connected with the 2 nd to 8 th output ends.
Referring to fig. 6, the resistive sensor includes a sensing area 6, a sensing module 7, and a microcontroller 8.
The sensing area 6 is 77mm long and 6.35mm wide, is composed of resistance strips, and is used for identifying curvature.
The sensing module 7 is 43.5mm long and 12.5mm wide, and comprises a regulating circuit and an amplifying circuit, wherein the regulating circuit converts the resistance into an analog signal, and the amplifying circuit amplifies the analog signal.
The microcontroller 8 processes the data signal.
According to the magnetostrictive-resistance-based composite sensor set forth above, a relevant experimental platform is set up for experimental research, so as to fully illustrate the feasibility and the progress of the invention. Specific test experimental studies are shown in examples 1-4 below. It should be noted that the software and protocols involved in embodiments 1 to 4 are well known in the art.
Example 1: the relation between the output voltage and the pressure of the iron gallium filament with the effective length of 10mm and the diameter of 0.5mm in the range of 0-4N
The main purpose of the embodiment is to study the input-output relationship of the sensing unit.
Building an experiment platform: the installed sensor is fixed on an experiment table, a direct current stabilized voltage power supply is used as a power supply, a digital display push-pull dynamometer applies static force to a sensing unit, and voltage signals output by the magnetostrictive touch sensor are collected through a data acquisition device, transmitted to a computer and drawn into a corresponding curve.
Experimental procedures and results: and connecting the output ports S1-S6 of the sensor circuit board to a data acquisition card, connecting the acquisition card with a computer, and reading data by the computer. The VCC and GND ports of the sensor circuit board are connected with a DC stabilized voltage power supply, the VCC port is connected with 1V DC voltage, and the GND port is grounded. The digital display push-pull dynamometer applies 0-4N static force to the sensing unit to cause the deformation of the iron-gallium wire. The permanent magnet provides a bias magnetic field H, and under the bias magnetic field intensity of 830Gs, for a sensing unit made of an iron gallium wire with the effective length of 10mm and the diameter of 0.5mm, a relation curve between the output voltage and the pressure is shown in figure 7, and figure 7 shows that an experimental value is basically consistent with a theoretical value. The result shows that the output voltage of the sensing unit increases along with the increase of the pressure, within 0-3N, the output voltage of the sensor and the pressure are in a linear relation, the maximum sensitivity is 248.8mV/N, and when the pressure is larger than 3N, the output voltage changes smoothly.
Example 2: dynamic characteristics of iron gallium wire with effective length of 10mm and diameter of 0.5mm
The main purpose of this embodiment is to study the dynamic behavior of the sensing unit.
Building an experiment platform: the installed sensor is fixed on an experiment table, a direct current stabilized voltage power supply is used as a power supply, different forces are applied to the sensing unit by the digital display push-pull dynamometer, and voltage signals output by the magnetostrictive touch sensor are collected by the data acquisition device, transmitted to a computer and drawn into a corresponding curve.
Experimental procedures and results: the sensors were sequentially applied with different amounts of pressure by a digital display push-pull dynamometer for 2 seconds and removed, as shown in fig. 8 (a), with a minimum perceivable static force of 0.1N and an output voltage of 24.8mV by the sensing unit.
As shown in (b) of fig. 8, a periodic load of 1N was applied to the tactile sensor, and the sensor output voltage showed good uniformity in a repetitive cycle experiment. Through the experiment, the magnetostrictive touch sensor is verified to have high sensitivity, good real-time performance and excellent dynamic performance.
Example 3: relationship between resistance, voltage and bending of resistive sensor
Establishing an experiment platform: the installed sensor is fixed on a manipulator, a direct current stabilized voltage power supply is used as a power supply, the manipulator is controlled to bend within the range of 0-100 degrees, voltage signals output by the resistance type sensor are collected through a data acquisition device, transmitted to a computer and a corresponding curve is drawn.
Experimental procedures and results: the manipulator performs repeated bending experiments on the sensor within the range of 0-100 degrees (step length 10 degrees), and acquires data, and the relationship among the resistance, the voltage and the angle is shown in fig. 9. In the grabbing process, the bending degree, the resistance and the voltage of the sensor are linearly changed.
Example 4:
the manipulator integrated with the control surface provided by the invention respectively presses 6 objects, so that the objects can be accurately identified and classified. The experimental platform consists of a three-finger manipulator (Righthand Robotics), a direct-current stabilized power supply, a data acquisition card and a PC computer. In the experimental process, the output ends of the two sensors are connected to a data acquisition card, the acquisition card inputs acquired voltage signals into a computer, and a corresponding curve is drawn through the computer.
The output voltages of the magnetostrictive-resistive composite sensor when the robot grips six kinds of objects are shown in fig. 10. The output voltage of the magnetostrictive touch sensor is U 1 The hardness of the object can be reflected; the sensing units 1, 2 and 3 are in different contact with the object, and the output voltages are different to reflect the shape of the object; output voltage U of resistance type sensor 2 The size of the object can be reflected. Through 3 object information of hardness, shape and size, to plastic block, soft gluey piece, big tangerine, little tangerine, wood stick, this 6 kinds of objects of wood piece, accurately discern and classify.
The above embodiments are only for illustrating the invention and are not to be construed as limiting the invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention, therefore, all equivalent technical solutions also belong to the scope of the invention, and the scope of the invention is defined by the claims.
Claims (10)
1. A composite sensor based on magnetostriction-resistance is characterized in that: the composite sensor based on magnetostriction and resistance is formed by integrating a magnetostriction touch sensor and a resistance sensor, wherein the magnetostriction touch sensor is used for identifying the hardness and the shape of an object, and the resistance sensor is used for measuring the size of the object;
the magnetostrictive touch sensor comprises an array consisting of a plurality of sensing units, wherein each sensing unit comprises an iron gallium wire, a permanent magnet, a TMR sensor, a contact and a base, the iron gallium wire is fixed on the base, the permanent magnet is placed on the upper side of the base, the TMR sensor is used as a signal acquisition unit and is arranged on the base to sense the change of a surrounding magnetic field and generate output voltage, the contact is used as a force transmission element and is fixed at the top end of the iron gallium wire, one end of the iron gallium wire is connected with the TMR sensor, the other end of the iron gallium wire is connected with the contact, the iron gallium wire is stressed and deformed by applying force in one vertical direction to the contact, the permanent magnet provides a bias magnetic field for the sensing units, the magnetic domain in the iron gallium wire deflects according to the inverse magnetostrictive effect to cause the change of magnetic induction intensity, and the TMR sensor detects the change of the magnetic induction intensity in the iron gallium wire, and outputs in the form of voltage signals;
the resistance-type sensor includes induction zone, sensing module and microcontroller, the induction zone comprises the resistance strip for discern the camber, sensing module includes regulating circuit and amplifier circuit, regulating circuit turns into analog signal with resistance, amplifier circuit is right analog signal enlargies, and the analog signal after the amplification passes through microcontroller handles.
2. A magnetostrictive-resistance composite sensor as claimed in claim 1, characterized in that: the TMR sensor is embedded in a groove at the lower left of the side wall of the base.
3. A magnetostrictive-resistance composite sensor as claimed in claim 1, characterized in that: the three sensing units are arranged to form a 1 x 3 array, so that the touch information of three different contact points can be tested simultaneously, the hardness of the object can be identified according to different output voltages, and the shape of the object can be identified according to the change of the output voltages respectively corresponding to the three sensing units.
4. A magnetostrictive-resistance composite sensor as claimed in claim 1, characterized in that: the base is L type structure, the lateral wall of base is equipped with two through-holes, the recess is all seted up with left lower extreme on the lateral wall top of base to place the permanent magnet with the TMR sensor.
5. A magnetostrictive-resistance composite sensor as claimed in claim 4, wherein: one end of the iron gallium wire is connected with the TMR sensor through a through hole formed in the side wall of the base.
6. The magnetostrictive-resistance composite sensor according to claim 1, wherein: the magnetostrictive touch sensor further comprises a printed circuit board, wherein the printed circuit board comprises three connecting units and eight output ends, the connecting units comprise five bonding pads, namely a VCC bonding pad, an NA bonding pad, a GND bonding pad, a SIG1 bonding pad and a SIG2 bonding pad, five pins of the TMR sensor are respectively welded with the five bonding pads, and the VCC bonding pads of the three connecting units are connected and then connected with a first output end; GND bonding pads of the three connecting units are connected and then connected with a second output end; the SIG1 pad and the SIG2 pad of the three connection units are connected to the second to eighth output terminals in turn.
7. A magnetostrictive-resistance composite sensor as claimed in claim 1, characterized in that: the microcontroller receives and processes the amplified analog signal through the I/O port.
8. The magnetostrictive-resistance composite sensor according to claim 1, wherein: the length of the induction area is 70-80mm, and the width of the induction area is 6-6.5 mm.
9. The magnetostrictive-resistance composite sensor according to claim 1, wherein: the sensing module is 40-45mm long and 10-15mm wide.
10. The magnetostrictive-resistance composite sensor according to claim 1, wherein: the permanent magnet is rectangular, 2-5mm long, 1-1.2mm wide and 0.3-0.9mm thick, and is made of rubidium, iron and boron.
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| CN116026417A (en) * | 2023-03-08 | 2023-04-28 | 河北工业大学 | Multimode touch sensor based on magnetostriction inverse effect |
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