A tactile sensor used for a robot

Abstract

The invention relates to a tactile sensor for a robot. The main part of the sensor comprises a sensor shell, a rubber contact, a fixing device, a transmission rod, a testing coil, FeGa materials, a spring, a left permanent magnet, a right permanent magnet and a magnetizer, wherein the rubber contact is semispherical and is fixed on the right side of the upper surface of the sensor shell; the upper end of the transmission rod is embedded in the rubber contact; the lower end of the transmission rod vertically goes through the fixing device and the sensor shell to be connected with the FeGa materials. The left end of the FeGa materials is fixed on the inner wall of the left end of the sensor shell. The upper surface of the right end of the FeGa materials is connected to the upper end of the spring. The testing coil sleeves the middle portion of the FeGa materials. A magnetizer is laid on the internal bottom of the sensor shell. The left end and the right end of the magnetizer are respectively fixed with a left permanent magnet and a right permanent magnet. Pole heads of the two permanent magnets are disposed in a staggered mode. The tactile sensor of the invention can satisfy the requirement of the precision of tactile measurement by robot fingers.

Description

Technical field [0001] The present invention applies the magnetostrictive FeGa material to the field of tactile sensors, and designs a new type of magnetostrictive tactile sensor based on the FeGa material, which can be applied to a robot finger to realize accurate perception of tactile force. The core part of the tactile sensor is a pressure transmission device, a magnetic field adjustment device, FeGa material and a signal measurement device. Its characteristics are simple structure, high precision, strong adaptability and long life. technical background [0002] With the development of modern information technology, the application range of tactile sensors has become increasingly widespread. Especially the rapid development of intelligent robots requires accurate perception of tactile force. In terms of tactile force measurement, there are many types of pressure sensors implemented by different principles, such as resistance strain pressure sensors, piezoresistive pressure s...

AI Technical Summary

Problems solved by technology

Although some of these pressure sensors have been applied to robot tactile force measurement, their shortcomings are also quite obvious.

Among them, although the resistance strain type pressure sensor is cheap, because its accuracy does not meet the requirements, it cannot meet the precise perception of the tactile force by the robot; the piezoresistive pressure sensor has the characteristics of simple structure and miniaturization, but it is greatly affected by the external environment. , poor linearity and complicated manufacturing process; piezoelectric pressure sensor is the most widely used type of sensor, which can adapt to harsh environments and has high precision, but it is sensitive to temperature, and it is difficult to repair once damaged; although inductive pressure sensor Higher accuracy, but requires additional conversion circuitry

It can be seen that there are certain deficiencies in the above sensors, and there are many problems in the process of measuring the tactile force of the robot finger.

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