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Large-force-measuring-range flexible tactile sensing array based on L-shaped iron gallium wire

A tactile sensing and iron gallium technology, applied in the field of sensors, can solve the problems of small force measurement range, inability to grasp objects with large mass, poor contact between the tactile sensing unit and the object, etc., so as to improve the force measurement sensitivity and improve detection. Accuracy, the effect of reducing interference between output signals

Pending Publication Date: 2022-05-10
HEBEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problems that the existing tactile sensor array has a small range of force measurement, the contact between the tactile sensing unit and the object is poor, and the object with large mass cannot be grasped when installed on the manipulator. The flexible tactile sensing array with a large measuring force range of silk, the array is composed of 9 tactile sensing units, and the sensing part of the tactile sensing unit is L-shaped gallium iron alloy wire ( Fe 83 Ga 17 ), the TMR element is used as the measurement part to convert between magnetic and electrical signals; cylindrical permanent magnets are respectively placed in the second accommodation groove of the central hollow base to provide a bias magnetic field for the L-shaped gallium iron wire

Method used

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  • Large-force-measuring-range flexible tactile sensing array based on L-shaped iron gallium wire
  • Large-force-measuring-range flexible tactile sensing array based on L-shaped iron gallium wire
  • Large-force-measuring-range flexible tactile sensing array based on L-shaped iron gallium wire

Examples

Experimental program
Comparison scheme
Effect test

experiment example 1

[0069] refer to Figure 7 , the main purpose of this experiment is to study the input-output correspondence of the tactile sensing unit and the static force sensitivity. The tactile sensing unit uses an L-shaped gallium iron wire 2 with a beam length of 4 mm, a vertical beam length of 3 mm, and a diameter of 0.5 mm as the sensing part, the TMR element as the measuring part, and the cylindrical permanent magnet 5 to provide a bias magnetic field. The relationship between the applied pressure inside and outside the range of -16N and the output voltage. After the tactile sensing unit is assembled according to the design structure, a 3×3 tactile sensing array is formed; this experimental platform is composed of an adjustable press, a 2V regulated DC power supply, a DH-8303 dynamic data acquisition card, and a computer; the designed The tactile sensing array is fixed on the base of the adjustable press, adjust the position of the aluminum transmission rod of the press so that it f...

experiment example 2

[0072] refer to Figure 8, the main purpose of this experimental example is to study the dynamic characteristics of the tactile sensing unit under a sinusoidal force with a frequency of 10Hz. The tactile sensing unit uses the L-shaped gallium iron wire 2 with a beam length of 4 mm, a vertical beam length of 3 mm, and a diameter of 0.5 mm as the sensing part, the TMR element as the measuring part, and the cylindrical permanent magnet 5 to provide a bias magnetic field, and the tactile sensor After the units are assembled according to the design structure, a 3×3 tactile sensing array is formed; this experimental platform is composed of a power amplifier, a signal generator, an exciter, a 2V regulated DC power supply, a DH-8303 dynamic data acquisition card, and a computer; the designed A good tactile sensing array is fixed on a stable table, the output waveform of the signal generator is set to 10Hz sine wave, and the amplification factor of the power amplifier is adjusted so th...

experiment example 3

[0075] refer to Figure 9-10 , the purpose of this experimental example is mainly to highlight the advantages of the tactile sensing array in the present invention and the common cantilever magnetostrictive tactile sensing array when grasping the larger objects of mass, and the tactile sensing array in the present invention ( Figure 10 The middle number is the sensor array 1) installed on the inside of the joint of the manipulator (Righthand: ReFlex2), so that the sensor array can be in good contact with the object when the manipulator grabs the object. The captured sample is a solid copper cylinder with a diameter of 40mm and a height of 60mm. The sample is placed on a cuboid hollow aluminum frame. The size of the aluminum frame is 90mm in length, 60mm in width and 70mm in height. The tactile sensing array is powered by a 2V regulated DC power supply, the output terminal is connected with the data acquisition card, and the output voltage is displayed on the computer. Adjust...

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Abstract

The invention discloses a large-force-measuring-range flexible tactile sensing array based on L-shaped iron gallium wires, which comprises an integrated board and a tactile sensing array, and is characterized in that the tactile sensing array comprises a plurality of tactile sensing units which are uniformly distributed; the touch sensing unit comprises a base, the bottom end of the base is fixedly connected with the top end of the integrated board, a sensing element is fixedly arranged in the center of the top end of the base, an L-shaped iron gallium wire and a permanent magnet are fixedly arranged at the top end of the base, one end of the iron gallium wire is fixedly connected with the top end of the base, and the other end of the iron gallium wire is fixedly connected with a contact. The contact and the sensing element are correspondingly arranged up and down; the top end of the integrated board is fixedly connected with the bottom end of the base, and the bottom end of the integrated board is provided with an output end flat cable, thereby improving the detection range and detection precision of the tactile sensing array.

Description

technical field [0001] The invention belongs to the technical field of sensors, and in particular relates to a flexible tactile sensing array with a large measuring force range based on an L-shaped gallium iron wire. Background technique [0002] The application of intelligent manipulators in the field of industrial production and assembly is becoming more and more extensive. In order to better improve the efficiency of production and assembly, endowing manipulators with a sense of touch similar to that of humans has become a current research hotspot. Most of the existing magnetostrictive tactile sensing arrays use cantilever-type gallium iron wire as the sensing part. When the head end of the iron gallium wire is under pressure, a change in the magnetic induction intensity will occur inside it, and the Hall element is used to detect the tail end of the iron gallium wire. The generated magnetic field changes can realize the conversion between force-magnetism-electricity sign...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L1/12
CPCG01L1/125
Inventor 翁玲杨惠文王博文胡博洋罗旭
Owner HEBEI UNIV OF TECH