CN116295956A - Touch sense sensing array based on iron-cobalt-vanadium and epoxy resin - Google Patents
Touch sense sensing array based on iron-cobalt-vanadium and epoxy resin Download PDFInfo
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- CN116295956A CN116295956A CN202310309399.0A CN202310309399A CN116295956A CN 116295956 A CN116295956 A CN 116295956A CN 202310309399 A CN202310309399 A CN 202310309399A CN 116295956 A CN116295956 A CN 116295956A
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- 239000000758 substrate Substances 0.000 claims abstract description 8
- 239000011159 matrix material Substances 0.000 claims description 60
- 239000000843 powder Substances 0.000 claims description 14
- QJVKUMXDEUEQLH-UHFFFAOYSA-N [B].[Fe].[Nd] Chemical compound [B].[Fe].[Nd] QJVKUMXDEUEQLH-UHFFFAOYSA-N 0.000 claims description 4
- 229910001172 neodymium magnet Inorganic materials 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 4
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- QVYYOKWPCQYKEY-UHFFFAOYSA-N [Fe].[Co] Chemical compound [Fe].[Co] QVYYOKWPCQYKEY-UHFFFAOYSA-N 0.000 description 3
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- LEONUFNNVUYDNQ-UHFFFAOYSA-N vanadium atom Chemical compound [V] LEONUFNNVUYDNQ-UHFFFAOYSA-N 0.000 description 3
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- 150000001412 amines Chemical class 0.000 description 2
- IISBACLAFKSPIT-UHFFFAOYSA-N bisphenol A Chemical compound C=1C=C(O)C=CC=1C(C)(C)C1=CC=C(O)C=C1 IISBACLAFKSPIT-UHFFFAOYSA-N 0.000 description 2
- 229910017052 cobalt Inorganic materials 0.000 description 2
- 239000010941 cobalt Substances 0.000 description 2
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- 229910000531 Co alloy Inorganic materials 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/12—Measuring force or stress, in general by measuring variations in the magnetic properties of materials resulting from the application of stress
- G01L1/125—Measuring force or stress, in general by measuring variations in the magnetic properties of materials resulting from the application of stress by using magnetostrictive means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/084—Tactile sensors
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Measuring Magnetic Variables (AREA)
Abstract
The invention discloses a touch sensing array based on iron-cobalt-vanadium and epoxy resin. The array comprises 9 sensing units, wherein the sensing units are integrated on a printed circuit board in a 3×3 mode; the base is a cuboid, a first rectangular groove is formed in the center of the upper portion of the base, and side grooves are symmetrically formed in the edges of the two sides of the base; the bottom center is also provided with a second rectangular groove; a composite substrate is embedded in the first rectangular groove in the base, and a permanent magnet is embedded in each of the two side grooves; a TMR element is fixed at the center of the second rectangular groove; the bottom surface of the TMR element is flush with the bottom surface of the base; the invention has the characteristics of large force measuring range, large elastic deformation range and low coupling, can realize accurate detection of force within 50N range, can immediately recover the prototype after deformation and recover the output voltage to the initial value, and shows excellent durability in the recycling process.
Description
Technical Field
The invention designs the magnetostrictive tactile sensor array with high sensitivity and large force measuring range based on the inverse magnetostriction effect of the iron-cobalt-vanadium powder, can rapidly and accurately detect the pressure signal in the force measuring range, and can be arranged on a manipulator to grasp a large-mass object so as to keep certain stability under external interference.
Background
The intelligent manipulator is used as an important feedback link of the robot and plays an important role in man-machine exchange and environment-machine exchange. With the development of technology, higher requirements on the sensitivity, flexibility, accuracy and safety of the manipulator are put forward, so that the deep research and improvement of the touch sensor become particularly important. In recent years, research on magnetostrictive tactile sensors mainly adopts a cantilever structure, and the sensor has the characteristics of high response speed and low cost. But its smaller force-measuring range limits the use of such sensors. As in patent CN113970390a, a high sensitivity flexible magnetostrictive tactile sensor array for a manipulator; the device mainly comprises a cantilever beam structure composed of a filiform iron-gallium alloy and a tunnel magneto-resistance element (TMR), and has high sensitivity, but low force measuring range which is only 0-4N. In the document Directandinversemagnetostrictive propertiesofFe-Co-Valloyparticle-dispersedpolyurethanematrixsoftcomposite sheets, sensorsandActator A, physical, volume337,2022,113427, the device before the structure is mainly a cantilever beam, and a composite material consisting of powdery iron cobalt vanadium and epoxy resin is adopted, so that the device has higher sensitivity and stress range than an iron cobalt alloy under a certain bias magnetic field. However, there is a limitation in that the high frequency response is poor due to the minute amount of pores left during the production process.
Disclosure of Invention
The invention aims to provide a touch sensing array based on iron cobalt vanadium and epoxy resin, aiming at the problems that the current magnetostrictive touch sensor has a smaller force measuring range, a single form, and is easy to generate plastic deformation and the like. The sensor array consists of 9 units, each unit adopts a base with a two-layer structure, and the lower layer is a hollowed cuboid groove for fixing the position of TMR. The upper layer is three cuboid grooves, and an epoxy resin matrix doped with iron, cobalt and vanadium and a permanent magnet are respectively fixed on the upper layer; when the stress in the vertical direction is applied, the iron-cobalt-vanadium particles in the composite matrix are mutually collided and extruded, so that the magnetic conductivity in the matrix is changed, and the magnetic induction intensity is changed. The TMR of the lower layer detects the tiny change of the magnetic field in the Z-axis direction, the internal magnetic resistance changes, and the internal magnetic resistance is converted into a voltage signal through an electric bridge to be output. The invention has the characteristics of large force measuring range, large elastic deformation range and low coupling, can realize accurate detection of force within 50N range, can immediately recover the prototype after deformation and recover the output voltage to the initial value, and shows excellent durability in the recycling process.
The technical scheme of the invention is as follows:
a tactile sensing array based on iron cobalt vanadium and epoxy resin, the array comprising 9 sensing units integrated on a printed circuit board in a 3 x 3 manner to form a 3 x 3 tactile sensing array; each sensing unit is connected in parallel;
the touch sensing unit comprises a composite matrix, a base, a permanent magnet and a TMR element;
the base is a cuboid, a first rectangular groove is formed in the center of the upper portion of the base, and side grooves are symmetrically formed in the edges of the two sides of the base; the bottom center is also provided with a second rectangular groove;
a composite substrate is embedded in the first rectangular groove in the base, a permanent magnet 3 is embedded in the center of the second rectangular groove in each of the two side grooves, and a TMR element is fixed; the bottom surface of the TMR element is flush with the bottom surface of the base;
the length, width and height of the base are 8.5-9.5 mm and 6.3-6.9 mm and 3.2-3.6 mm;
in the base, the interval thickness of the first rectangular groove and the second rectangular groove is 0.8-1.2 mm;
the composite matrix is epoxy resin doped with iron-cobalt-vanadium powder, wherein the mass ratio of the iron-cobalt-vanadium to the epoxy resin is 3:0.9 to 1.1, the iron, cobalt and vanadium are FeCo49V1.8
The length of the first rectangular groove is 50-60% of the length of the base, the width of the first rectangular groove is 70-80% of the width of the base, and the depth of the first rectangular groove is 30-40% of the thickness of the base;
the length of the second rectangular groove is 50-60% of the length of the base, the width of the second rectangular groove is 70-80% of the width of the base, and the depth of the second rectangular groove is 30-40% of the thickness of the base;
the length of the side groove is 50-60% of the width of the base, and the thickness of the side groove is 30-40% of the thickness of the base; the width of the side groove is 1.0-1.5 mm;
the length and width of the composite matrix are matched with the length and width of the base; the thickness of the composite matrix is 4-4.5 times of the depth of the first rectangular groove;
the length of the TMR2503 element is 55 to 65% of the length of the second rectangular groove; the width of the TMR element is 55 to 65% of the width of the second rectangular groove;
the model of the TMR element is TMR2503.
The permanent magnet is made of neodymium iron boron; the iron cobalt vanadium is FeCo49V1.8.
The invention has the substantial characteristics that:
in the prior art, as shown in FIG. 4, 5 is a fixing device in the Fe-Co-V document, 6 is a designed composite board with the size of 10 multiplied by 2mm 3 And 7 is a Hall element, the composite board is horizontally arranged structurally, and the middle part of the board is subjected to inverse magnetostriction effect by extruding one side of the composite board, so that feedback on force is detected. But too low a sheet thickness reduces the magnitude of the output voltage under equal force.
The invention utilizes the double-layer base and vertically places the relative positions of the composite matrix and the TMR element, so that the feedback of the composite matrix can be quickly transmitted to the TMR element, thereby further improving the sensitivity and realizing accurate and quick measurement of force. The 9 sensing units of the tactile sensor are soldered on the printed circuit board at the same pitch to reduce the coupling effect between the units and to give symmetry to the output. The rectangular permanent magnet is used for providing a bias magnetic field, so that magnetic domains in the composite matrix are arranged according to the magnetic field direction. When stress is applied, all particles in the composite matrix collide and squeeze each other, so that the magnetic domains in the matrix change, the magnetic induction intensity changes due to the inverse magnetostriction effect, the magnetic resistance value in the TMR changes due to the change of the magnetic leakage magnetic induction intensity, and the magnetic leakage magnetic induction intensity is converted into an electric signal through a bridge circuit to be output.
The beneficial effects of the invention are as follows:
1. the composite matrix with high tensile strength, compression strength, bending strength, excellent corrosion resistance and heat resistance is formed by taking epoxy resin as a matrix and taking 23 mu m atomized iron-cobalt-vanadium powder as an embedded body, and is environment-friendly and obvious in reverse magnetostriction performance. The high-sensitivity Z-axis TMR is selected as a sensing conversion part, and the bridge circuit is used as a conduction part to realize accurate measurement of a large range of force. Fig. 6 is a relationship between the force applied to the sensor unit and the output voltage. When the square permanent magnet provides a bias magnetic field of 83mT, a force of 0-50N is applied to the square permanent magnet, the peak value of the output voltage of the sensing unit is 534mV, and the sensitivity is 10.68mV/N. Compared with the existing magnetostrictive tactile sensor, the force measuring range is improved by 3.125 times.
2. The invention can measure the shearing force, when force is applied to the shearing direction, the composite matrix deforms in the shearing force direction, the magnetic induction intensity is also caused to change, and the electrical signal is output through the TMR and bridge circuit.
3. The double-layer base is made of resin materials, the positions of the permanent magnet and the composite matrix relative to the TMR are fixed while the lower TMR is protected, and the detection precision is improved.
4. The invention has simple process and does not need an additional circuit;
drawings
FIG. 1 is a front view block diagram of an iron-cobalt-vanadium embedded epoxy flexible tactile sensing unit;
FIG. 2 is a reverse side block diagram of an iron-cobalt-vanadium embedded epoxy flexible tactile sensing unit;
FIG. 3 is a split view of portions of an iron-cobalt-vanadium embedded epoxy flexible tactile sensing unit;
FIG. 4 is a test set of iron cobalt vanadium-epoxy composite board;
FIG. 5 is a schematic circuit diagram of a printed circuit board;
FIG. 6 is a schematic diagram of output voltages at pressures of the iron cobalt vanadium embedded epoxy flexible tactile sensor arrays 25N and 50N;
FIG. 7 is a schematic diagram of output voltages of the iron-cobalt-vanadium embedded epoxy flexible tactile sensing unit at different pressures;
FIG. 8 is a schematic diagram of output voltages of the iron-cobalt-vanadium embedded epoxy flexible tactile sensor array capturing objects of different shapes, respectively;
Detailed Description
The invention designs a touch sensor array with high sensitivity and large elastic range. The invention is described in further detail below. The present embodiment is only a specific description of the invention, and is not to be construed as limiting the scope of protection.
The invention designs a touch sensing array composed of a double-layer hollowed base, an iron-cobalt-vanadium embedded epoxy resin composite matrix, a rectangular permanent magnet and a TMR element based on the inverse magnetostriction effect of iron-cobalt-vanadium powder, has a larger elastic deformation range and higher sensitivity, and can accurately sense and measure dynamic force and static force. The permanent magnets at the two sides of the iron-cobalt-vanadium powder and epoxy resin composite precursor enable the magnetic domains in the matrix to be distributed according to the magnetic field direction before solidification, so that the reverse magnetostriction effect of the solidified composite matrix is more obvious, the magnetostriction is improved, and the rectangular permanent magnet is used for providing a bias magnetic field during working. When pressure or shearing force is applied to the iron-cobalt-vanadium-epoxy resin composite matrix, the matrix is stressed to deform and is deflected or compressed in the stressed direction, so that the distribution of magnetic domains in the matrix is changed, and the magnetic induction intensity is changed under the reverse magnetostriction effect.
The change of leakage magnetic flux is detected by the Z-axis TMR below the substrate, the leakage magnetic flux is output as a voltage signal through the bridge circuit, and the voltage signal is collected through the signal acquisition card to perform data visualization processing.
The flexible touch sensor array based on the iron-cobalt-vanadium embedded epoxy resin of the embodiment consists of 9 sensing units. The sensing part is composed of an iron-cobalt-vanadium embedded Epoxy resin matrix (FeCo49V1.8-Epoxy), the size of the matrix is 5mm multiplied by 3.5mm, and the high sensitivity is ensured while the volume is reduced. The measurement part adopts TMR2503 components, the size is 3mm multiplied by 1mm, and the sensing direction is the Z-axis direction. The composite matrix is placed in the central hollow area of the upper layer of the double-layer base, and the TMR is covered by the hollow area of the lower layer, so that the iron-cobalt-vanadium-epoxy resin matrix and the TMR are in the same vertical direction, and the TMR can accurately detect the magnetic induction intensity change of the matrix. Rectangular permanent magnets with the length of 3.8mm, the width of 0.6mm and the height of 1.2mm are placed in the hollowed-out areas on the two sides of the upper layer of the double-layer base, so that a bias magnetic field is provided.
When pressure or shearing force is applied to the surface of the composite matrix, the matrix is stressed to deform in the direction of force, the magnetic induction intensity is changed due to the change of the magnetic domain arrangement in the composite matrix, the change of the magnetic induction intensity is detected through the Z-axis TMR, a magnetic field signal is converted into the change of magnetic resistance, and then the bridge circuit outputs a voltage signal, so that the force signal is converted into the voltage signal to output and measure, and the force is accurately detected.
Test results show that when the stress of the composite matrix is 50N, the peak value of the output voltage of the sensing unit is 534mV, and the sensitivity is 10.68mV/N. The dynamic sensitivity change is not more than 3.56% in the range of 0-50N, and the performance is excellent.
The sensing units are integrated on a printed circuit board in a 3 multiplied by 3 mode, the long spacing is 1.5-1.7 mm, and the wide spacing is 1.1-1.2 mm, so that the 3 multiplied by 3 tactile sensing array is formed.
The invention is further described in detail below with reference to the drawings. The present embodiment is only a specific description of the invention, and is not to be construed as limiting the scope of protection.
The structure of the touch sensing unit is shown in fig. 1, 2 and 3, and consists of a composite matrix 1, a base 2, a permanent magnet 3 and a TMR element 4;
as shown in fig. 1, the base 2 is a cuboid, a first rectangular groove is formed in the center of the upper part of the base, and side grooves are symmetrically formed in the edges of the two sides of the base; the bottom center is also provided with a second rectangular groove;
a first rectangular groove in the base 2 is embedded with a composite substrate 1, and two side grooves are respectively embedded with a permanent magnet 3; a TMR element 4 is fixed to the center of the second rectangular groove; the bottom surface of TMR element 4 is flush with the bottom surface of base 2;
the model of TMR element 4 is TMR2503.
The length of the first rectangular groove is 50-60% of the length of the double-layer base, the width of the first rectangular groove is 70-80% of the width of the double-layer base, and the depth of the first rectangular groove is 30-40% of the thickness of the double-layer base;
the length of the second rectangular groove is 50-60% of the length of the double-layer base, the width of the second rectangular groove is 70-80% of the width of the double-layer base, and the depth of the second rectangular groove is 30-40% of the thickness of the double-layer base;
the length of the side groove is 50-60% of the width of the double-layer base, and the thickness of the side groove is 30-40% of the thickness of the double-layer base; the width of the side groove is 1.0-1.5 mm;
in the base 2, the interval thickness of the first rectangular groove and the second rectangular groove is 0.8-1.2 mm;
the length and the width of the composite substrate 1 are matched with those of the double-layer base 2; the thickness of the composite substrate 1 is 4-4.5 times of the depth of the first rectangular groove;
the length of the TMR2503 element 4 is 55 to 65% of the length of the second rectangular groove; the width of TMR2503 element 4 is 55 to 65% of the width of the second rectangular groove; the thickness of TMR2503 element 4 is the same as the depth of the second rectangular groove;
the double-layer base with the hollowed-out parts is made of phenolic resin, the projection of the double-layer base with the hollowed-out parts on a plane is rectangular, the projection of the upper and lower center hollowed-out parts on the plane is square, and the projection of the hollowed-out area on the side surface of the upper layer on the plane is rectangular; putting an iron-cobalt-vanadium composite matrix in the upper layer center hollowed-out area, and putting the same rectangular permanent magnets in the side hollowed-out areas respectively; covering TMR elements in the lower hollow area;
the lower 1/3 part of the iron-cobalt-vanadium-epoxy resin composite matrix 1 is inserted into a reserved groove on the upper layer of the double-layer base; the two permanent magnets 3 are embedded into the rectangular hollow areas at the two sides, cling to the inner side and are placed in opposite polarities, so that a bias magnetic field crossing the bottom of the composite matrix is formed; the TMR element 4 covers the central hollow area of the bottom layer and is kept in the same vertical direction as the upper iron-cobalt-vanadium-epoxy composite matrix.
The weight ratio of the iron cobalt vanadium to the epoxy resin in the iron cobalt vanadium-epoxy resin composite matrix 1 is 3:1, wherein the addition of vanadium (V) in the iron cobalt vanadium (feco49v1.8) powder can mitigate the low ductility and low resistivity of iron cobalt vanadium alloys, typically limited to less than 2% by weight, to maintain relatively good soft magnetic properties and improved mechanical properties. The epoxy resin is a composite formed by polymerizing an epoxy resin matrix and a curing agent, has good acid and alkali resistance, damp and heat resistance and atmospheric aging resistance after curing, and has good electrical and physical characteristics such as good insulation, compression resistance, high bonding strength and the like. The method has the advantages that the iron-cobalt-vanadium powder is embedded into the epoxy resin matrix, so that the excellent reverse magnetostriction effect can be realized, when pressure is applied, the iron-cobalt-vanadium powder in the composite matrix collides and extrudes each other, the magnetic induction intensity at two sides changes, and the weak magnetic leakage magnetic field change can be rapidly and accurately detected through the novel high-sensitivity tunnel magnetic resistance sensor (TMR).
The preparation method of the iron-cobalt-vanadium-epoxy resin composite matrix comprises the following steps: after the iron-cobalt-vanadium powder is atomized, the particle size of the powder is about 23um, so that the powder is ensured to have an intact crystal structure and good inverse magnetostriction effect. The epoxy resin is prepared by mixing an epoxy resin matrix (bisphenol A) and a curing agent (polyether amine, modified amine), wherein the weight ratio of the matrix to the curing agent is 1:1, putting the mixture into a stirrer to stir for 60 minutes so as to ensure that the matrix and the curing agent are in complete contact; mixing epoxy resin with iron cobalt vanadium powder according to a ratio of 1:3, mixing for 5 minutes according to the mass ratio, and preparing the composite precursor of the iron-cobalt-vanadium powder embedded into the epoxy resin. And a rectangular neodymium iron boron permanent magnet is respectively arranged at two sides of the precursor and is used for applying a magnetic field which is the same as the working state before the precursor is completely solidified (the magnetic field surrounds the composite precursor for a circle, and a small amount of the middle part of the magnetic field penetrates through the composite precursor), so that the output voltage of the composite precursor is more obvious after stress is applied. The cuboid mould is sprayed with a layer of epoxy resin release agent in advance, and a layer of extremely fine semi-permanent film is formed on the surface of the cuboid mould. And (3) putting the composite precursor into a cuboid mould, curing for 120 minutes at 80 ℃ under nitrogen to form a pre-solid, and then curing for 60 minutes at 120 ℃ to completely remove bubbles in the matrix. Finally cooling for 60 minutes at 25 ℃ to completely solidify the mixture to obtain an iron-cobalt-vanadium-epoxy resin composite matrix;
example 1:
the double-layer base structure of the sensing unit is shown as 2 in fig. 3, the base vertical projection is rectangular, the length is 9mm, the width is 6.6mm, the vertical projection of the two-layer center hollowed-out areas is square, the side length is 5mm, the thickness of the middle separation layer is 1mm, and the thickness of the base is 3.4mm. Two sides of the upper layer of the base are respectively provided with a cuboid groove with the length of 3.8mm, the width of 0.6mm and the height of 1.2mm, and the cuboid grooves are used for embedding permanent magnets. The side length of the upper groove is 5mm, the height is 1.2mm, the upper groove is used for embedding the iron-cobalt-vanadium-epoxy resin composite matrix, the side length of the lower groove is 5mm, the height is 1.2mm, the upper groove is used for covering TMR, and the distance between the TMR and the composite matrix is furthest increased.
The square composite matrix structure is shown as 1 in figure 3, and the material ratio is iron-cobalt-vanadium: epoxy resin = 3:1, the side length of the bottom is 5mm, and the height is 3.5mm.
The test shows that the two sides of the bottom of the square composite matrix are the areas with the most obvious magnetic induction intensity change;
the cuboid permanent magnet is made of neodymium iron boron (model N52), is 3.8mm long, 0.6mm wide and 1.2mm high, and is embedded into the hollow areas on two sides of the upper layer. The N pole direction is the positive X axis direction of the sensing unit (TMR double pins in the unit point to the three-pin direction);
the TMR element is 3mm long, 3mm wide and 1mm high and can be completely covered by the lower hollow area.
The vertical projection area of the sensing unit is 9mm multiplied by 6.6mm, and the height from the top layer to the bottom of the sensing unit is 5.7mm;
the printed circuit board in the touch sense array embedded with the epoxy resin is a copper-clad plate, the size of the printed circuit board is 35mm multiplied by 30mm, and copper wire circuits are not distributed in a crossing manner on the upper layer and the bottom layer of the substrate. The sensing units are welded on the surface of the circuit board in a 3X 3 arrangement mode, the distance between the sensing units in the length direction is 8mm, and the distance between the sensing units in the width direction is 4.775mm. The TMR pin direction is parallel to the width direction, two rows of jacks are reserved in the width direction, the length of the jack part is 30mm, the width is 5.5mm, and 2X 10 jacks are reserved for connecting output signals.
As shown in FIG. 4, U1-U9 on the surface of the printed circuit board represent welding positions of 9 TMRs, H1 represents the position of a reserved welding hole, 8 is a public GND end of U1-U9, 9-17 respectively correspond to V-ends of U1-U9, 18-26 respectively correspond to V+ ends of U1-U9, and 27 is a public VCC end of U1-U9. 28-43 are solder apertures for threading. Taking U3 as an example, 44 is a GND pad of TMR, 45 is a V-pad of TMR, 46 is a v+ pad of TMR, 47 is a dummy pad of TMR, and 48 is a VCC pad of TMR. The individual sensor units are connected in parallel.
The touch sensing unit consists of a square iron-cobalt-vanadium-epoxy resin composite matrix, a square permanent magnet and a TMR element, wherein the square iron-cobalt-vanadium-epoxy resin composite matrix is 5mm long, 5mm wide and 3.5mm high. The iron-cobalt-vanadium-epoxy resin composite matrix is a sensing part, the square permanent magnet provides a bias magnetic field with the size of 83mT, and the TMR is a measuring part and converts a magnetic field signal into an electric signal for output. The main purpose of this embodiment is to study the force-voltage relationship and static force sensitivity of the tactile sensing unit.
Experimental procedure and results: assembling the tactile sensing units into a 3 x 3 array and integrating onto a printed circuit board; the experimental platform is composed of an adjustable press, a push-pull force meter, a 5V stabilized DC power supply, a dynamic data acquisition card and a computer; fixing the assembled touch sensing array on a press base, and rotating a press transmission rod to enable the push-pull force meter to rest right above the touch sensing array; a 5V direct current stabilized voltage supply provides stable input voltage for the sensing array; the output port is connected with each channel of the dynamic acquisition card, and the data is output to the computer screen for visual processing after being processed by the acquisition card.
Rotating the drive rod of the press causes the push-pull meter to apply a force of 0-50N to the sensor array. The iron-cobalt-vanadium-epoxy resin composite matrix is extruded at the bottom of the push-pull force meter, so that the iron-cobalt-vanadium-epoxy resin composite matrix is deformed. Square permanent magnets on both sides provide a bias magnetic field. The arrangement of magnetic domains in the deformed composite matrix changes, so that the distribution of the magnetic field is changed. The TMR detects the change of the magnetic field, converts the changed magnetic field signal into an electric signal, and transmits the electric signal to the acquisition card through the output port. And the data is visualized and displayed on a screen after being processed by a computer terminal. Experiments show that the sensing unit can be restored to the initial state after the pressure is removed within the range of 0-50N, and the sensing unit has good stability and durability. FIGS. 5 and 6 show that the maximum value of the output voltage is 534mV and the sensitivity is 10.68mV/N. The force measuring range is improved by 3.125 times compared with the existing magnetostrictive tactile sensor. The relation between the pressure and the magnetic field intensity variation of the iron-cobalt-vanadium-epoxy resin composite material in different magnetic fields is known, and is shown in the document Directandinversemagnetostrictiveproperties ofFe-Co-Valloypartial-disperseveryurethane, sensorsand ActuatorsA, physical, volume337,2022,113427, the relation between the pressure and the magnetic field intensity variation of the iron-cobalt-vanadium-epoxy resin composite material with different concentrations in different magnetic fields is shown, and the magnetic field variation can be directly output by TMR.
Example 2: the assembled 3 x 3 sensing array was integrated onto a Robotiq three-finger robot, which was connected to a Universal RobotsUR e six-axis robot. A3X 3 sensing array is arranged on the fingertip part of one phalange of the manipulator, so that the array is completely attached to the inner side of the phalange of the manipulator, and the grasping posture of the manipulator is adjusted through the console so as to grasp objects in different shapes. The object grasped in this embodiment is a rectangular parallelepiped with a length and width of 40mm×40mm×52mm, a cylinder with a diameter of 40mm and a height of 52mm, and the materials are all made of wood.
Experimental procedure and results: the three-finger manipulator touch pad is used for adjusting the grasping angle of the manipulator, so that the sensing array can be completely attached to the surface of an object, and each unit is ensured to have output. The mechanical arm respectively grabs objects with a cuboid shape and a cylinder shape, and in fig. 8 a, the output of each unit is equal within the allowable error range when grabbing the cuboid object and is 44.01-46.5 mV; b is the output of each unit when grabbing a cylindrical object, the output of the 1-3TMR element and the output of the 7-9TMR element are both 34.39-36.48 mV, and the output of each unit is equal within the error allowable range; the 4-6TMR element outputs are between 84.58 and 86.03mV, and the cell outputs are equal within the error allowance range. By analyzing the output voltage, it can be judged that the surface of the gripped object is the side of the cylinder, and the cylinder direction is parallel to the directions of 4, 5, 6TMR elements, the greater the difference between the outputs of the 4-6TMR elements and the outputs of the other TMR elements, the higher the degree of curvature of the gripped cylinder surface.
The software or protocols involved in the present invention are all well known.
The invention is not a matter of the known technology.
Claims (5)
1. A touch sensing array based on iron cobalt vanadium and epoxy resin is characterized by comprising 9 sensing units, wherein the sensing units are integrated on a printed circuit board in a 3×3 mode to form a 3×3 touch sensing array; each sensing unit is connected in parallel;
the sensing unit comprises a composite matrix, a base, a permanent magnet and a TMR element;
the base is a cuboid, a first rectangular groove is formed in the center of the upper portion of the base, and side grooves are symmetrically formed in the edges of the two sides of the base; the bottom center is also provided with a second rectangular groove;
a composite substrate is embedded in the first rectangular groove in the base, a permanent magnet 3 is embedded in the center of the second rectangular groove in each of the two side grooves, and a TMR element is fixed; the bottom surface of the TMR element is flush with the bottom surface of the base.
2. The tactile sensor array based on iron cobalt vanadium and epoxy resin according to claim 1, wherein the composite matrix is an epoxy resin doped with iron cobalt vanadium powder, wherein the mass ratio of the iron cobalt vanadium to the epoxy resin is 3:0.9 to 1.1.
3. The tactile sensor array based on iron cobalt vanadium and epoxy resin according to claim 1, wherein the length, width and height of the base are 8.5-9.5 mm by 6.3-6.9 mm by 3.2-3.6 mm;
in the base, the spacing thickness of the first rectangular groove and the second rectangular groove is 0.8-1.2 mm.
4. The tactile sensing array based on iron-cobalt-vanadium and epoxy resin according to claim 1, wherein the length of the first rectangular groove is 50-60% of the length of the base, the width of the first rectangular groove is 70-80% of the width of the base, and the depth of the first rectangular groove is 30-40% of the thickness of the base;
the length of the second rectangular groove is 50-60% of the length of the base, the width of the second rectangular groove is 70-80% of the width of the base, and the depth of the second rectangular groove is 30-40% of the thickness of the base;
the length of the side groove is 50-60% of the width of the base, and the thickness of the side groove is 30-40% of the thickness of the base; the width of the side groove is 1.0-1.5 mm;
the length and width of the composite matrix are matched with the length and width of the base; the thickness of the composite matrix is 4-4.5 times of the depth of the first rectangular groove;
the TMR element has a length of 55 to 65% of the length of the second rectangular groove; the width of the TMR element is 55 to 65% of the width of the second rectangular groove.
5. The tactile sensor array based on iron cobalt vanadium and epoxy resin according to claim 1, wherein the TMR element is of the model TMR2503;
the permanent magnet is made of neodymium iron boron; the iron cobalt vanadium is FeCo49V1.8.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116679846A (en) * | 2023-08-03 | 2023-09-01 | 荣耀终端有限公司 | Touch module, touch display module and electronic equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116679846A (en) * | 2023-08-03 | 2023-09-01 | 荣耀终端有限公司 | Touch module, touch display module and electronic equipment |
| CN116679846B (en) * | 2023-08-03 | 2024-09-06 | 荣耀终端有限公司 | Touch module, touch display module and electronic equipment |
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