Self-power-generation sensing sensor, mechanical claw and mechanical claw clamping force sensing method

Abstract

The invention relates to the technical field of sensor sensing, in particular to a self-power-generation sensing sensor, a mechanical claw and a mechanical claw clamping force sensing method.The self-power-generation sensing sensor comprises an elastic body, a first friction electrode, a second friction electrode and a multi-channel data acquisition board, and an inner mounting cavity is formed in the elastic body; the first friction electrode and the second friction electrode are oppositely arranged and located in the internal mounting cavity, a negative electrode welding point is formed on the first friction electrode, and a positive electrode welding point is formed on the second friction electrode; and the multi-channel data acquisition board is respectively connected with the cathode welding point and the anode welding point through wires. The flexible triboelectric sensor is formed by the elastic body, the first friction electrode, the second friction electrode and the multi-channel data acquisition board, is not limited by own stretchability, is simple in structure, does not need an external power supply, realizes pressure monitoring of self-power generation, and expands the use scene of the sensor.

Description

Technical Field

[0001] The present invention relates to the field of sensor sensing technology, and in particular to a self-generating sensing sensor, a mechanical claw, and a mechanical claw clamping force sensing method. Background Art

[0002] With the continuous development of robotics technology and the increase in task complexity, automation application scenarios are constantly expanding. As a key component for robots to interact with the external environment, mechanical grippers play an increasingly important role in automation tasks in the fields of manufacturing, medicine, and agriculture. However, in the process of handling soft and easily damaged objects (such as fruits and vegetables, medical biomaterials, or precision machinery), traditional rigid sensors have obvious limitations in sensing accuracy and adaptability. They cannot achieve high-sensitivity and non-destructive normal and tangential force sensing, which can easily cause damage to objects during the clamping process.

[0003] The combination of flexible force sensing technology and mechanical claws can improve the applicability and intelligence of mechanical claws. At present, flexible force sensing sensors mainly include capacitive, resistive and piezoelectric types. Among them, capacitive sensors are suitable for measuring pressure changes in a smaller range, resistive sensors are simple, durable and low-cost, and piezoelectric sensors are suitable for high-precision pressure measurement. However, these flexible force sensing sensors have limited stretchability, complex structures and require continuous power supply, which increases the overall system complexity and seriously affects the flexibility and portability of the sensor. In addition, the battery life of the power supply limits the working time of the equipment, increases maintenance and use costs, and limits the use scenarios. Summary of the invention

[0004] The present invention provides a self-generating sensing sensor, a mechanical claw and a mechanical claw clamping force sensing method, which are used to solve the defects of the flexible force sensing sensor in the prior art, such as limited stretchability, complex structure and the need for continuous power supply.

[0005] The present invention provides a self-generating sensing sensor, comprising an elastic body, a first friction electrode, a second friction electrode and a multi-channel data acquisition board, wherein the elastic body is formed with an internal mounting cavity, the elastic body is suitable for elastic deformation under the action of an external force and restoration of the original shape after the external force disappears; the first friction electrode comprises a first insulating layer and a first electric layer, an insulating material is mounted on an inner wall of one side of the internal mounting cavity to form the first insulating layer, a conductive material is adhered on the first insulating layer to form the first electric layer, and a negative electrode welding point is formed on the first electric layer; the second friction electrode comprises a second insulating layer, a second electric layer and a dielectric layer, an insulating material is mounted on an inner wall of the internal mounting cavity opposite to the first friction electrode to form the second insulating layer, a conductive material is adhered on the second insulating layer to form the second electric layer, a negatively charged film is adhered on the second electric layer to form the dielectric layer, and a positive electrode welding point is formed on the second electric layer; the multi-channel data acquisition board is connected to the negative electrode welding point and the positive electrode welding point respectively through wires.

[0006] According to a self-generating sensing sensor provided by the present invention, the elastic body includes a planar portion, a group of relative edges of the planar portion are folded and bent toward one side of the planar portion to form a bending portion, and the internal installation cavity is formed between the planar portion and the bending portions on both sides.

[0007] The first friction electrode is mounted on the planar portion, and one second friction electrode is mounted respectively at a position where the two bent portions are opposite to the planar portion.

[0008] According to a self-generating sensing sensor provided by the present invention, two negative electrode welding points are formed on the first friction electrode, and two second friction electrodes each form a positive electrode welding point. The positive electrode welding points of the two second friction electrodes are respectively connected to the multi-channel data acquisition board via wires corresponding to one of the negative electrode welding points on the first friction electrode.

[0009] The present invention also provides a mechanical claw, comprising a plurality of mechanical fingers that are movably arranged and can be relatively close to or far away from each other, and the above-mentioned self-powered sensing sensors are distributed on the end surfaces of the plurality of mechanical fingers that are relatively close to or far away from each other.

[0010] According to a mechanical claw provided by the present invention, the planar portion of the self-power generation sensing sensor is fixed to the mechanical finger, and an elastic suction cup is installed on a side of the bent portion of the self-power generation sensing sensor away from the planar portion.

[0011] According to a mechanical claw provided by the present invention, an elastic pad is connected to one side of the two bent portions of the self-generating sensing sensor away from the planar portion, and the elastic suction cup is fixedly mounted on the elastic pad.

[0012] According to a mechanical claw provided by the present invention, the elastic suction cup and the elastic pad are correspondingly provided with ventilation holes.

[0013] The present invention also provides a method for sensing the clamping force of a mechanical claw, which is applicable to any of the mechanical claws described above, and the method for sensing the clamping force of the mechanical claw comprises: clamping an object by bringing the mechanical fingers of the mechanical claw closer to each other, and elastically deforming the self-powered sensing sensor on the mechanical claw due to the compression of the object; based on the elastic deformation of the self-powered sensing sensor, a first friction electrode and two second friction electrodes are brought relatively close to each other until they contact, and charge transfer occurs between the first friction electrode and the two second friction electrodes; a multi-channel data acquisition board based on the self-powered sensing sensor respectively collects voltage signals between the first friction electrode and the two second friction electrodes; and calculates the normal clamping force and tangential clamping force exerted on the self-powered sensing sensor.

[0014] According to a mechanical claw clamping force sensing method provided by the present invention, the calculation of the normal clamping force and the tangential clamping force received by the self-powered sensing sensor includes the following steps: recording the voltage signal between the first friction electrode and the two second friction electrodes as the first voltage signal and the second voltage signal respectively; obtaining the normal force voltage signal and the tangential force voltage signal based on the first voltage signal and the second voltage signal; and respectively calculating the normal clamping force and the tangential clamping force received by the self-powered sensing sensor based on the normal force voltage signal and the tangential force voltage signal.

[0015] According to a mechanical gripper clamping force sensing method provided by the present invention, the normal force voltage signal is the sum of the first voltage signal and the second voltage signal, and the tangential force voltage signal is the difference between the first voltage signal and the second voltage signal.

[0016] The normal clamping force and the tangential clamping force are calculated by the following formula: , where Represents the clamping force, represents Young's modulus, Represents the applied voltage of the test resistor in the multi-channel data acquisition board, Indicates the current passing through the test resistor in the multi-channel data acquisition board. Indicates the original resistance value of the test resistor in the multi-channel data acquisition board. Represents the gauge factor.

[0017] The self-generated sensing sensor, mechanical claw and mechanical claw clamping force sensing method provided by the present invention form a flexible friction electric sensing sensor through an elastic body, a first friction electrode, a second friction electrode and a multi-channel data acquisition board. Based on the vertical contact separation principle of the friction nanogenerator, when the elastic body is deformed by an external force, the first friction electrode and the second friction electrode move relatively close to each other, and the electrons on the second electrical layer in the second friction electrode are transferred to the first electrical layer of the first friction electrode through a wire. The voltage signal generated during the electron transfer process is collected by the multi-channel data acquisition board, and then the pressure value of the elastic body can be calculated. The self-generated sensing sensor of the present invention is not limited by its own stretchability, has a simple structure, and does not require an external power supply. It realizes self-generated pressure monitoring and expands the use scenarios of the sensing sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a structural schematic diagram of the self-powered sensing sensor provided by the present invention.

[0020] Figure 2 It is a structural schematic diagram of the elastic body provided by the present invention.

[0021] Figure 3 It is a front view of the first friction electrode provided by the present invention.

[0022] Figure 4 It is a side view of the first friction electrode provided by the present invention.

[0023] Figure 5 It is a front view of the second friction electrode provided by the present invention.

[0024] Figure 6 It is a side view of the second friction electrode provided by the present invention.

[0025] Figure 7 It is a structural schematic diagram of the manipulator provided by the present invention.

[0026] Figure 8 It is a structural schematic diagram of the mechanical finger provided by the present invention.

[0027] Fig. 9 It is a schematic diagram of the structure of the self-generating sensing sensor on the mechanical finger provided by the present invention.

[0028] Fig.10 It is a schematic diagram of assembling the elastic suction cup and the elastic pad provided by the present invention.

[0029] Figure numerals: 1. elastic body; 11. plane portion; 12. bending portion; 2. first friction electrode; 21. first insulating layer; 22. first electrical layer; 23. negative electrode welding point; 3. second friction electrode; 31. second insulating layer; 32. second electrical layer; 33. dielectric layer; 34. positive electrode welding point; 4. mechanical finger; 5. elastic suction cup; 6. elastic pad; 7. vent. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0032] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0033] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0034] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0035] Combine the following Figures 1 to 10 The self-generated sensing sensor, mechanical claw and mechanical claw gripping force sensing method of the present invention are described.

[0036] One embodiment of the present invention provides a self-generating sensing sensor, see Figure 1 As shown, the self-generating sensing sensor includes an elastic body 1, a first friction electrode 2, a second friction electrode 3 and a multi-channel data acquisition board, wherein the elastic body 1 is formed with an internal mounting cavity, and the elastic body 1 is suitable for elastic deformation under the action of an external force and restoring the original shape after the external force disappears; Figure 3 Heat Exchange Figure 4 As shown, the first friction electrode 2 includes a first insulating layer 21 and a first electrical layer 22. An insulating material is installed on the inner wall of one side of the internal installation cavity to form the first insulating layer 21. A conductive material is adhered on the first insulating layer 21 to form the first electrical layer 22. A negative electrode welding point 23 is formed on the first electrical layer 22. Figure 5 and Figure 6As shown, the second friction electrode 3 includes a second insulating layer 31, a second electric layer 32 and a dielectric layer 33. An insulating material is installed on the inner wall of the internal mounting cavity opposite to the first friction electrode 2 to form the second insulating layer 31. A conductive material is adhered to the second insulating layer 31 to form the second electric layer 32. A negatively charged film (for example, a microporous film produced by special processes such as premixing, extrusion, calendering, and biaxial stretching of polytetrafluoroethylene dispersed resin) is adhered to the second electric layer 32 to form the dielectric layer 33. A positive electrode welding point 34 is formed on the second electric layer 32; the multi-channel data acquisition board is connected to the negative electrode welding point 23 and the positive electrode welding point 34 through wires.

[0037] It can be understood that the self-generating sensing sensor in this embodiment forms a flexible friction electric sensing sensor through the elastic body 1, the first friction electrode 2, the second friction electrode 3 and the multi-channel data acquisition board. Based on the vertical contact separation principle of the friction nanogenerator, when the elastic body 1 is deformed by an external force, the first friction electrode 2 and the second friction electrode 3 move relatively close to each other, and the electrons on the second electric layer 32 in the second friction electrode 3 are transferred to the first electric layer 22 of the first friction electrode 2 through the wire. The voltage signal generated during the electron transfer process is collected by the multi-channel data acquisition board, and then the pressure value of the elastic body 1 can be calculated. The self-generating sensing sensor of this embodiment is not limited by its own stretchability, has a simple structure, and does not require an external power supply. It realizes self-generated pressure monitoring and expands the use scenario of the sensing sensor.

[0038] In some embodiments of the self-generating sensor of the present invention, see Figure 2 As shown, the elastic body 1 includes a plane portion 11, a group of opposite edges of the plane portion 11 are folded and bent toward one side of the plane portion 11 to form a bending portion 12, and an internal installation cavity is formed between the plane portion 11 and the bending portions 12 on both sides. The first friction electrode 2 is installed on the plane portion 11, and a second friction electrode 3 is installed at the position opposite to the two bending portions 12 and the plane portion 11. It can be understood that the self-generating sensing sensor of this embodiment provides a synchronous sensing sensor that can realize the normal force and tangential force of the sensor. The sensor can respond to the pressure applied from the outside, and by cleverly utilizing the elastic deformation characteristics of the material, the synchronous detection of the normal force and the tangential force is realized.

[0039] Specifically, two negative electrode welding points 23 are formed on the first friction electrode 2, and two positive electrode welding points 34 are formed on the two second friction electrodes 3, respectively. The positive electrode welding points 34 of the two second friction electrodes 3 are respectively connected to one of the negative electrode welding points 23 on the first friction electrode 2 through wires to the multi-channel data acquisition board. A 2mm gap is left between the first friction electrode 2 and the second friction electrode 3, with air as the medium. The two sides of the elastic body 1 are not closed, the purpose of which is to facilitate the in and out of the gas and the connection of the wire. According to the vertical contact separation principle of the friction nanogenerator combined with the horizontal sliding principle, the synchronous perception of the normal force and the tangential force can be realized.

[0040] It can be understood that the elastic body 1 is elastically deformed by external force, the first friction electrode 2 of the sensor and the two second friction electrodes 3 approach each other until they come into contact and rub, the elastic body 1 is deformed by force, and the electrons of the two second friction electrodes 3 are transferred to the first friction electrode 2 through the wire. Because there are two second friction electrodes 3, when subjected to normal force (the first friction electrode 2 and the second friction electrode 3 approach each other), according to the vertical contact separation principle of the friction nanogenerator, the electrons of the two second friction electrodes 3 begin to transfer to the first friction electrode 2, and when the elastic body 1 is not subjected to force, the electrodes return to their original positions. When subjected to tangential force (the first friction electrode 2 moves from one second friction electrode 3 to another second friction electrode 3), according to the horizontal sliding principle of the friction nanogenerator, the number of electrons on one side of the two second electrical layers 32 of the two second friction electrodes 3 increases, and the number of electrons on the other side decreases. This is the key design for detecting tangential force. Therefore, when detecting signals, when subjected to normal force, the electrical signals of four wires (respectively connected to two negative electrode welding points 23 and two positive electrode welding points 34) are detected by a multi-channel data acquisition board, and the normal force signal is added together. When subjected to tangential force, the electrical signal is collected by a multi-channel data acquisition board. In order to prevent interference from the normal force, the signals of two of the wires are subtracted to obtain the tangential force signal, and four sets of independent AC voltage signals can be output when there is an external load. When the first friction electrode 2 and the second friction electrode 3 are in contact and friction, the normal force is different from the tangential force, and the magnitude of the output signal is different. The larger the normal force and the tangential force, the larger the electrical signal. When the normal force and the tangential force are constant, the generated electrical signal will maintain a stable output.

[0041] In this embodiment, a first friction electrode 2 and two second friction electrodes 3 are connected by wires. When the sensor is subjected to normal force, according to the vertical contact separation principle of the friction nanogenerator, the electrons of the two second friction electrodes 3 will be transferred to the first friction electrode 2 at the same time. When the sensor is subjected to tangential force, the electrons in the two second friction electrodes 3 will have opposite signals. The electrode structure layout design of this embodiment enables the sensor to detect both normal force and tangential force.

[0042] The two electrical signals of the second friction electrodes 3 received by the multi-channel data acquisition board are recorded as signal one and signal two, and the two electrical signals of the first friction electrode 2 received by the multi-channel data acquisition board are recorded as signal three and signal four.

[0043] When the elastic body 1 is subjected to a normal force, the first friction electrode 2 and the second friction electrode 3 are in contact, and the friction charges of opposite polarity on the first friction electrode 2 are respectively compensated by the electrons in the second electrical layer 32 of the second friction electrode 3, resulting in the simultaneous change of the signal 1 and the signal 2 of the two second friction electrodes 3. Afterwards, when the first friction electrode 2 returns to its original position, the charge on the electrode returns to its original state. When the elastic body 1 is subjected to a normal force, the electrons are transferred according to the electron cloud barrier model between the first friction electrode 2 and the second friction electrode 3, and then the four groups of signals obtained are added to obtain the signal diagram of the required normal force voltage. After data processing, the value of the normal force applied to the sensor can be obtained.

[0044] When the elastic body 1 is subjected to a tangential force, the dielectric layer 33 on the first friction electrode 2 induces negative charges, and the corresponding positive charges accumulate on the surface of the second electrical layer 32. When subjected to a tangential force, the number of positive charges in the second electrical layer 32 connected to the signal 1 of one second friction electrode 3 increases, and the number of positive charges in the second electrical layer 32 connected to the signal 2 of another second friction electrode 3 decreases, resulting in opposite changes in the potential of the two signals. As a result, signal 1 increases and signal 2 decreases. Afterwards, when the first friction electrode 2 returns to its starting position, the charge on the electrode will also return to its starting state. When the elastic body 1 is subjected to a tangential force, the four groups of signals obtained are subtracted to obtain the signal diagram of the required tangential force voltage. After data processing, the value of the tangential force applied to the sensor can be obtained.

[0045] Another aspect of the present invention provides a mechanical claw. In some specific embodiments, see Figure 7 As shown, the mechanical claw includes a plurality of mechanical fingers 4 that are movably arranged and can be relatively close to or far away from each other, and the self-powered sensing sensors are distributed on the end faces of the plurality of mechanical fingers 4 that are relatively close to or far away from each other. It can be understood that the mechanical claw in this embodiment is provided with the self-powered sensing sensor in the above embodiment, so when the mechanical claw clamps an object, it can sense the magnitude of the normal holding force and the tangential clamping force at the same time, and based on the magnitude of the sensed normal holding force and the tangential clamping force, the clamping force of the mechanical claw can be adaptively adjusted to avoid damage to the clamped object, thereby realizing the self-driven flexible force sensing of the mechanical claw and improving the applicability and intelligence of the mechanical claw.

[0046] In some embodiments of the mechanical gripper of the present invention, see Figure 8As shown, the plane portion 11 of the self-power sensing sensor is fixed to the mechanical finger 4 , and an elastic suction cup 5 is installed on the side of the bending portion 12 of the self-power sensing sensor away from the plane portion 11 .

[0047] It is understandable that the plane portion 11 of the self-generated sensing sensor is directly fixed on the mechanical finger 4 of the mechanical claw. This design ensures that the sensor can move synchronously with the movement of the mechanical finger, and when the mechanical finger clamps an object, the sensor can accurately sense the force applied to the object. The two bending portions 12 of the self-generated sensing sensor are located on both sides of the plane portion 11, and the two bending portions 12 are installed with elastic suction cups 5 on the side away from the plane portion 11. When the mechanical claw clamps an object, the elastic suction cup 5 can help the sensor fit more closely on the surface of the clamped object to prevent relative sliding between the sensor and the object, thereby ensuring the stability and accuracy of the signal output. Since the elastic suction cup 5 has certain flexibility and deformability, it can adapt to the surfaces of objects of different shapes and sizes, thereby improving the mechanical claw's ability to clamp various types of objects. The mechanical claw of this embodiment introduces the self-generated sensing sensor and its matching elastic suction cup 5 in the design, which not only improves the operating accuracy and intelligence level of the mechanical claw, but also enhances its adaptability to different task environments. It is particularly suitable for application scenarios that require high sensitivity and non-destructive operation, such as fruit and vegetable picking in the agricultural field.

[0048] Furthermore, combined with Fig. 9 and Fig.10 As shown, in some specific examples, the two bending parts 12 of the self-powered sensing sensor are connected to an elastic pad 6 on one side away from the plane part 11, and the elastic suction cup 5 is fixedly mounted on the elastic pad 6. The elastic suction cup 5 and the elastic pad 6 are provided with ventilation holes 7 correspondingly.

[0049] In this example, the side of the two bent portions 12 of the self-generating sensing sensor away from the plane portion 11 is not directly mounted with the elastic suction cup 5, but is first connected to an elastic pad 6. The elastic pad 6 can effectively disperse the pressure transmitted from the mechanical finger to prevent the elastic suction cup 5 from being damaged by excessive local pressure. By using the elastic pad 6 as an intermediate layer, the stability and reliability of the entire sensor system are enhanced, so that the sensor can still maintain good performance under stress. As an integrated component, the elastic pad 6 facilitates the installation and subsequent maintenance or replacement of the elastic suction cup 5.

[0050] Vents 7 are provided at the corresponding positions of the elastic suction cup 5 and the elastic pad 6. The vents 7 allow air to freely flow in and out during the clamping and releasing process of the mechanical claw, preventing the problem of separation difficulty caused by too tight adsorption, and helping to adjust the pressure inside the elastic suction cup 5 to ensure that it can work normally during the clamping and releasing process, and will not affect the performance due to the internal and external pressure difference. This example introduces the design of the elastic pad 6 and the vent 7, which not only improves the working efficiency and reliability of the self-generating sensing sensor, but also enhances the operational flexibility and scope of application of the mechanical claw, which is particularly suitable for application scenarios that require high sensitivity and non-destructive operation, such as fruit and vegetable picking in the agricultural field. This design optimizes the interaction between the sensor and the mechanical claw, and provides solid technical support for realizing more intelligent and efficient automated operations.

[0051] On the other hand, the present invention further provides a method for sensing the gripping force of a mechanical claw, which is applicable to the mechanical claw in any one of the above embodiments or examples. In some specific embodiments, the method for sensing the gripping force of the mechanical claw includes the following steps S1 to S4.

[0052] S1. The mechanical fingers 4 of the mechanical claw approach each other to clamp an object, and the self-generating sensing sensor on the mechanical claw is squeezed by the object to undergo elastic deformation.

[0053] When the mechanical fingers grip an object, the self-generating sensing sensor on the mechanical claw is squeezed by the object and undergoes elastic deformation. This deformation is the sensor's response to external force and provides a basis for subsequent charge transfer and signal acquisition.

[0054] S2. Based on the elastic deformation of the self-powered sensing sensor, the first friction electrode 2 and the two second friction electrodes 3 are brought relatively close to each other until they are in contact, and charge transfer occurs between the first friction electrode 2 and the two second friction electrodes 3.

[0055] When the first friction electrode 2 and the two second friction electrodes 3 are in contact, according to the working principle of the friction nanogenerator, the electrons in the two second friction electrodes 3 will transfer to the first friction electrode 2 through the wire, resulting in charge transfer. This process is the core mechanism for achieving self-generation and can convert mechanical energy into electrical signals.

[0056] S3. A multi-channel data acquisition board based on a self-generated sensing sensor collects voltage signals between the first friction electrode 2 and the two second friction electrodes 3 respectively.

[0057] The voltage signals between the first friction electrode 2 and the two second friction electrodes 3 are collected respectively. These voltage signals reflect the potential difference between different electrodes due to charge transfer and are the key data source for calculating the clamping force.

[0058] S4. Calculate the normal clamping force and tangential clamping force on the self-generated sensing sensor.

[0059] The voltage signals between the first friction electrode 2 and the two second friction electrodes 3 are recorded as the first voltage signal and the second voltage signal respectively; based on the first voltage signal and the second voltage signal, the normal force voltage signal and the tangential force voltage signal are obtained; based on the normal force voltage signal and the tangential force voltage signal, the normal clamping force and the tangential clamping force of the self-generated sensing sensor are calculated respectively. The normal force voltage signal is the sum of the first voltage signal and the second voltage signal, and the tangential force voltage signal is the difference between the first voltage signal and the second voltage signal.

[0060] Based on the obtained normal force voltage signal and tangential force voltage signal, the normal clamping force and the tangential clamping force can be calculated. The normal clamping force and the tangential clamping force are calculated by the following formula: , where Represents the clamping force, represents Young's modulus, Represents the applied voltage of the test resistor in the multi-channel data acquisition board, Indicates the current passing through the test resistor in the multi-channel data acquisition board. Indicates the original resistance value of the test resistor in the multi-channel data acquisition board. Represents the gauge factor.

[0061] Specifically, the output voltage of the circuit in the multi-channel data acquisition board can be expressed as Formula 1: And formula 2: , where Indicates the output voltage, Indicates the change value of the test resistance in the multi-channel data acquisition board, Indicates the original resistance value of the test resistor in the multi-channel data acquisition board. Represents the applied voltage of the test resistor in the multi-channel data acquisition board, represents the dependent variable, Represents the gauge factor. According to Formula 1 and Formula 2, we can get Since the voltage measured in the multi-channel data acquisition board is large, while the current is very small (approximately understood as no change), and the voltage signal changes from nothing to something, the voltage change is the external voltage of the test resistor in the multi-channel data acquisition board. ,therefore It can be expressed as .

[0062] The stress can be calculated by formula 3: Calculate, where Represents the clamping force, represents Young's modulus, represents the dependent variable, then the dependent variable obtained above is Substituting the expression formula into formula 3, we can know that The corresponding stress value can be calculated based on the pressure signal and current signal measured by the multi-channel data acquisition board, that is, the normal clamping force can be calculated using the normal force voltage signal, and the tangential clamping force can be calculated using the tangential force voltage signal.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A self-generating sensing sensor, characterized in that: include: An elastic body (1), the elastic body (1) being formed with an internal mounting cavity, the elastic body (1) being adapted to undergo elastic deformation under the action of an external force and to restore its original shape after the external force disappears; A first friction electrode (2), comprising a first insulating layer (21) and a first electrical layer (22), wherein an insulating material is installed on an inner wall of one side of the internal installation cavity to form the first insulating layer (21), a conductive material is adhered on the first insulating layer (21) to form the first electrical layer (22), and a negative electrode welding point (23) is formed on the first electrical layer (22); The second friction electrode (3) comprises a second insulating layer (31), a second electrical layer (32) and a dielectric layer (33); an insulating material is installed on the inner wall of the internal installation cavity opposite to the first friction electrode (2) to form the second insulating layer (31); a conductive material is adhered to the second insulating layer (31) to form the second electrical layer (32); a negatively charged film is adhered to the second electrical layer (32) to form the dielectric layer (33); and a positive electrode welding point (34) is formed on the second electrical layer (32); A multi-channel data acquisition board, wherein the multi-channel data acquisition board is connected to the negative electrode welding point (23) and the positive electrode welding point (34) via wires.

2. The self-generating sensing sensor according to claim 1, characterized in that: The elastic body (1) comprises a plane portion (11), a group of opposite edges of the plane portion (11) are folded and bent towards one side of the plane portion (11) to form a bent portion (12), and the internal installation cavity is formed between the plane portion (11) and the bent portions (12) on both sides; The first friction electrode (2) is mounted on the plane portion (11), and one second friction electrode (3) is mounted on each of the two bent portions (12) facing the plane portion (11).

3. The self-generating sensing sensor according to claim 2, characterized in that: Two negative electrode welding points (23) are formed on the first friction electrode (2), and two second friction electrodes (3) each form a positive electrode welding point (34). The positive electrode welding points (34) of the two second friction electrodes (3) are respectively connected to one of the negative electrode welding points (23) on the first friction electrode (2) via a wire to the multi-channel data acquisition board.

4. A mechanical claw, characterized in that: It comprises a plurality of mechanical fingers (4) which are movably arranged and can be relatively close to or far away from each other, and the self-powered sensing sensors according to claim 2 or 3 are distributed on the relatively close to or far away end surfaces of the plurality of mechanical fingers (4).

5. The mechanical gripper according to claim 4, characterized in that: The plane portion (11) of the self-powered sensing sensor is fixed to the mechanical finger (4), and an elastic suction cup (5) is installed on a side of the bent portion (12) of the self-powered sensing sensor away from the plane portion (11).

6. The mechanical gripper according to claim 5, characterized in that: The two bent portions (12) of the self-generating sensing sensor are connected to an elastic pad (6) on one side away from the planar portion (11), and the elastic suction cup (5) is fixedly mounted on the elastic pad (6).

7. The mechanical gripper according to claim 6, characterized in that: The elastic suction cup (5) and the elastic pad (6) are provided with ventilation holes (7) correspondingly.

8. A method for sensing the gripping force of a mechanical claw, characterized in that: The mechanical gripper according to any one of claims 4 to 7, wherein the method for sensing the gripping force of the mechanical gripper comprises: The mechanical fingers (4) of the mechanical claw are brought closer together to clamp the object, and the self-generated sensing sensor on the mechanical claw is elastically deformed by the compression of the object; Based on the elastic deformation of the self-powered sensing sensor, the first friction electrode (2) and the two second friction electrodes (3) are brought relatively close to each other until they come into contact, and charge transfer occurs between the first friction electrode (2) and the two second friction electrodes (3); A multi-channel data acquisition board based on the self-powered sensing sensor respectively acquires voltage signals between the first friction electrode (2) and the two second friction electrodes (3); The normal clamping force and the tangential clamping force on the self-generating sensing sensor are calculated.

9. The method for sensing the gripping force of a mechanical claw according to claim 8, characterized in that: The calculating of the normal clamping force and the tangential clamping force on the self-generated sensing sensor comprises the following steps: The voltage signals between the first friction electrode (2) and the two second friction electrodes (3) are recorded as a first voltage signal and a second voltage signal respectively; Based on the first voltage signal and the second voltage signal, obtaining a normal force voltage signal and a tangential force voltage signal; The normal clamping force and the tangential clamping force applied to the self-generating sensing sensor are calculated based on the normal force voltage signal and the tangential force voltage signal.

10. The method for sensing the gripping force of a mechanical claw according to claim 9, characterized in that: The normal force voltage signal is the sum of the first voltage signal and the second voltage signal, and the tangential force voltage signal is the difference between the first voltage signal and the second voltage signal; The normal clamping force and the tangential clamping force are calculated by the following formula: , where represents the clamping force, represents Young's modulus, Represents the applied voltage of the test resistor in the multi-channel data acquisition board, Indicates the current passing through the test resistor in the multi-channel data acquisition board. Indicates the original resistance value of the test resistor in the multi-channel data acquisition board. Represents the gauge factor.

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