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Fluid filled tactile sensor

A tactile sensor and asana technology, applied in instruments, measuring devices, etc., can solve problems such as noise, temperature change sensitivity, and inability to detect slippery feeling, etc., to achieve increased accuracy and stability, stable performance, and strong environmental robustness Effect

Pending Publication Date: 2019-05-07
慧伯特(上海)智能科技有限责任公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, these sensors have some shortcomings, such as sensors based on a single voltage or capacitance change are sensitive to noise and temperature changes, and can only detect vertical force, not slippery.

Method used

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  • Fluid filled tactile sensor
  • Fluid filled tactile sensor

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Embodiment Construction

[0015] Embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0016] The present invention will be further described through specific examples below, but it is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the implementation methods and principles of the present invention should be included in the protection scope of the present invention. Inside.

[0017] See figure 1 and figure 2 As shown, a fluid-filled tactile sensor includes a camera 1, an elastic rubber 2, a glass sheet 3, a circuit board 5 provided with a light source, and a housing 6; the elastic rubber 2 and the glass sheet 3 are connected by a sealing ring 4 , forming a sealed cavity between the elastic rubber 2 and the glass sheet, the cavity is filled with fluid, which can increase the recovery ability of the elastic rubber 2, the fluid is liquid or gas, gas is preferred, and t...

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PUM

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Abstract

The invention discloses a fluid filled tactile sensor, comprising cameras, elastic rubber, a glass sheet, a circuit board with light sources and a shell. The elastic rubber and the glass sheet are connected through utilization of a seal ring. A seal cavity is formed between the elastic rubber and the glass sheet. The cavity is filled with fluid. Lines are set on a side of the elastic rubber facingthe glass sheet. The cameras and the circuit board with the light sources are set on a first side of the shell. The first side of the shell faces the glass sheet. Light emitted by the light sources is transmitted by the glass sheet and the cavity in sequence, reaches the elastic rubber and is reflected. Reflected light carries line information. The reflected light passes the cavity and the glasssheet in sequence and then is detected by the cameras. The sensor has the built-in light sources, is not influenced by external disturbance and has relatively high environmental adaptability and stable performance. Functions such as three-dimensional shape measurement, pressure sensing, slide detection, slide direction and object surface roughness detection can be carried out on a contact part.

Description

technical field [0001] The invention relates to the technical field of robot sensors, in particular to a fluid-filled tactile sensor. Background technique [0002] With the development of robots, the manipulator needs to be able to perform various operations such as grasping and touching. During the operation, the tactile feedback of the manipulator must be used to achieve precise control of the operating force and avoid damage to the manipulated object. On the other hand, in order to increase the stability and reliability of the manipulator grasping process, the tactile sensor is required to provide tactile feedback information. There are many kinds of conventional tactile sensors, including piezoresistive, capacitive, photoelectric, etc., that is, the strength of the sensor can be judged by the change of resistance, capacitance, and light intensity under the applied force. However, these sensors have some shortcomings. For example, sensors based on single voltage or capac...

Claims

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Application Information

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IPC IPC(8): G01D21/02
Inventor 李建华
Owner 慧伯特(上海)智能科技有限责任公司
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