CN2100600U - 光纤面板陈列触觉传感器 - Google Patents

光纤面板陈列触觉传感器 Download PDF

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Publication number
CN2100600U
CN2100600U CN 91208205 CN91208205U CN2100600U CN 2100600 U CN2100600 U CN 2100600U CN 91208205 CN91208205 CN 91208205 CN 91208205 U CN91208205 U CN 91208205U CN 2100600 U CN2100600 U CN 2100600U
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China
Prior art keywords
sensor
optical fiber
layer
tactometer
intelligent robot
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CN 91208205
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刘金刚
李科杰
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No82 Teaching And Research Section No8 Dept Beijing Science And Engineering
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No82 Teaching And Research Section No8 Dept Beijing Science And Engineering
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Priority to CN 91208205 priority Critical patent/CN2100600U/zh
Publication of CN2100600U publication Critical patent/CN2100600U/zh
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Abstract

这种传感器属于智能机器人触觉高技术领域。 新发明的传感器是由两层特殊加工的光纤组成阵列 而制成。它不仅薄，而且具有柔性，在工作时不受周 围环境的影响，特别是能够抗电场和磁场的干扰。这 种传感器是用来触摸物体表面纹理及形状的，它主要 用于智能机器人的抓手。在自动化生产、假肢技术及 遥感技术等领域有重要的用途。
这种传感器具有分辨力高、体积小、成本低的特 点，因此具有很好的实用性。

Description

这种传感器属于智能机器人高技术领域。
从目前的资料看，对智能机器人触觉传感器的研究还没有实质性的突破。触摸物体表面纹理和图象功能的这种传感器做成象人皮肤一样薄是很困难的。日本Tanie、英国mott、美国Begej等人研究这种性能的传感器，难以实现象人皮肤一样薄并具有柔性。最近Del.T.JENSTROM和陈钦林在Sensor and Actua－tors杂志上介绍的光纤阵列触觉传感器，尽管能够做得很薄，并且具有柔性，但是它利用的是光纤微弯效应，因此存在交叉干扰，并且分辨力难以提高。对于这方面的研究现在正处于新原理、新结构的探索阶段。
新发明的这种传感器是智能机器人手指的一个重要组成部分，它在自动化生产、遥感技术、假肢技术等领域有着重要的应用。对于工件的识别起着重要的作用，在某些情况下（如黑暗、狭窄空间、视觉被遮挡等）还能承担起视觉很难完成的物体识别任务。这种新发明的传感器不仅实现了薄和柔的性能，而且还能够具有很高的分辨能力，达到了类似人皮肤的目的。它在操作中具有不受周围环境影响和抗电磁场的干扰的特性。
这种传感器是基于光的全反射原理，由两层特殊加工的光纤正交重叠放置，组成一个光纤阵列实现的。它的内部由四层组成（如图1），第一层的橡胶薄膜不仅起保护作用，而且还起着触摸物体形成图象的隔膜的作用，是破坏全反射的主要部件。第二层光纤面板是获取图象的压光层，它是由多根光纤并列胶粘在一起，经过光学加工，将上、下面研磨光平，形成一个薄板，它是成象的关键部件。第三层也是多根光纤并列粘在一起，并将上面研磨光平，形成一个上面光平和板，然后用一种特殊的胶与第二层光纤正交粘在一起。第四层是一个具有柔性的液压层，上面是液囊，下面是一个金属硬片，当受到压力时液囊将发生形变，类似人手指皮下的肌肉。根据液压原理，通过液囊中的液体可测得传感器所受到压力及压力的振动频率的大小。
当有物质作用在触觉传感器上时，受压部分将破坏光在上层光纤传输的全反射条件，使光透到下层与它正交的光纤中（如图2）。发光管在上层光纤中每照一根光纤，光电管在下层光纤都接收一遍。通过这种扫描，即能得到一幅点阵式图象信息，然后经过计算机处理就能够识别这个图象。图象的分辨力与组成传感器光纤的直径有关，而且还与最上层的橡胶薄膜也有关。
在制作这种传感器时两层光纤的直径要相同，关键之处在于光纤的研磨，在研磨前需要制作一个卡具，并要先将一层光纤粘好。磨好后组装是很简单的按照图1所示，即可得到这种传感器。它可以做成指套状，易于安装和更换。

Claims (3)

1、一种用于智能机器人手指高技术领域的光纤面板触觉传感器，包括：橡胶薄膜1、压光层2、接收层3、液压基座4，其主要特征在于：A、压光层2由光纤研磨制成；B、液压基座4外接测试液压的装置。
2、根据权利要求1.所述的光纤面板阵列触觉传感器，其特征在于：压光层是由并列光纤两面平行研磨制成；接收层是由并列光纤一面研磨制成。
3、根据权利要求1.所述的光纤面板阵列触觉传感器，其特征在于：它具有柔性。
CN 91208205 1991-05-22 1991-05-22 光纤面板陈列触觉传感器 Granted CN2100600U (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 91208205 CN2100600U (zh) 1991-05-22 1991-05-22 光纤面板陈列触觉传感器

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 91208205 CN2100600U (zh) 1991-05-22 1991-05-22 光纤面板陈列触觉传感器

Publications (1)

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CN2100600U true CN2100600U (zh) 1992-04-01

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CN 91208205 Granted CN2100600U (zh) 1991-05-22 1991-05-22 光纤面板陈列触觉传感器

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100378452C (zh) * 1994-08-05 2008-04-02 阿波罗-阿尔杰布拉(直布罗陀)有限公司 检测和/或测量现象或状态的方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100378452C (zh) * 1994-08-05 2008-04-02 阿波罗-阿尔杰布拉(直布罗陀)有限公司 检测和/或测量现象或状态的方法

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Free format text: CORRECT: APPLICANT; FROM: BEIJING INSTITUTE OF TECHNOLOGY DEPARTMENT8 BUILDING82 TO: BEIJING INSTITUTE OF TECHNOLOGY; ADDRESS; FROM: 82 STAFFROOM, DEPARTMENT 8, BEIJING INSTITUTE OF TECHNOLOGY, BEIJING TO: NO. 7, BAISHIQIAO ROAD, HAIDIAN DISTRICT, BEIJING

CU01 Correction of utility model patent

Correction item: Address

Correct: No. 7 Whitehead Road, Beijing, Haidian District

False: Department of -82, eight Department of Beijing Institute of Technology, Beijing

Page: The title page

Correction item: Denomination of Utility Model

Correct: Tactile sensor with optical fiber panel array

False: Tactile sensor with optical fiber panel display

Page: The title page

Correction item: Applicant

Correct: BEIJING INSTITUTE OF TECHNOLOGY

False: BEIJING INSTITUTE OF TECHNOLOGY Eight Department -82 Teaching

Page: The title page

CU03 Correction of utility model patent gazette

Correction item: Denomination of Utility Model

Correct: Tactile sensor with optical fiber panel array

False: Tactile sensor with optical fiber panel display

Number: 14

Page: 310

Volume: 8

Correction item: Applicant address

Correct: No. 7 Whitehead Road, Beijing, Haidian District

False: Department of -82, eight Department of Beijing Institute of Technology, Beijing

Number: 14

Page: 176

Volume: 8

Correction item: Denomination of Utility Model

Correct: Tactile sensor with optical fiber panel array

False: Tactile sensor with optical fiber panel display

Number: 14

Page: 299

Volume: 8

Correction item: Denomination of Utility Model

Correct: Tactile sensor with optical fiber panel array

False: Tactile sensor with optical fiber panel display

Number: 14

Page: 291

Volume: 8

Correction item: Denomination of Utility Model

Correct: Tactile sensor with optical fiber panel array

False: Tactile sensor with optical fiber panel display

Number: 14

Page: 176

Volume: 8

Correction item: Applicant

Correct: BEIJING INSTITUTE OF TECHNOLOGY

False: BEIJING INSTITUTE OF TECHNOLOGY Eight Department -82 Teaching

Number: 14

Page: 291

Volume: 8

Correction item: Applicant

Correct: BEIJING INSTITUTE OF TECHNOLOGY

False: BEIJING INSTITUTE OF TECHNOLOGY Eight Department -82 Teaching

Number: 14

Page: 310

Volume: 8

Correction item: Applicant

Correct: BEIJING INSTITUTE OF TECHNOLOGY

False: BEIJING INSTITUTE OF TECHNOLOGY Eight Department -82 Teaching

Number: 14

Page: 176

Volume: 8

Correction item: Applicant

Correct: BEIJING INSTITUTE OF TECHNOLOGY

False: BEIJING INSTITUTE OF TECHNOLOGY Eight Department -82 Teaching

Number: 14

Page: 299

Volume: 8

ERR Gazette correction

Free format text: CORRECT: APPLICANT; FROM: BEIJING INSTITUTE OF TECHNOLOGY DEPARTMENT8 BUILDING82 TO: BEIJING INSTITUTE OF TECHNOLOGY

Free format text: CORRECT: APPLICANT ADDRESS; FROM: 82 STAFFROOM, DEPARTMENT 8, BEIJING INSTITUTE OF TECHNOLOGY, BEIJING TO: NO. 7, BAISHIQIAO ROAD, HAIDIAN DISTRICT, BEIJING

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