An omnidirectional magnetic tactile sensor and robotic system
By designing an omnidirectional magnetic tactile sensor and utilizing a combination of a magnetic sensor and an elastic magnetization layer, the problem of detection and perception of magnetic tactile sensors in multidimensional complex scenarios was solved, realizing force detection and tactile perception under multidimensional force environments and expanding the application scenarios.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- PEKING UNIV
- Filing Date
- 2026-04-10
- Publication Date
- 2026-06-30
Smart Images
Figure CN122306268A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of tactile sensor technology, and in particular to an omnidirectional magnetic tactile sensor and a robotic system. Background Technology
[0002] With the rapid development of human-computer interaction, intelligent robots, and health monitoring, tactile sensors, as key components for sensing physical contact and environmental information, have gained increasingly widespread applications. Tactile sensors primarily detect information such as pressure, deformation, position, and orientation when an object comes into contact with them, converting this information into electrical signals for identification and analysis. Currently, these sensors are deployed in robot end effectors and artificial skin for precise grasping, safe interaction, and environmental adaptation; in the automotive industry, they are used for occupant status monitoring and collision detection; in the medical and health fields, they are used for respiratory monitoring, muscle activity capture, and bed pressure distribution measurement; furthermore, they play an important role in security intrusion detection, automatic door anti-pinch systems, and intelligent input devices.
[0003] Among the many tactile sensing technologies, magnetic tactile sensors have gradually become a research and application hotspot due to their advantages such as high sensitivity, strong environmental adaptability, simple structure, and ease of miniaturization. Magnetic tactile sensors are typically based on the principles of magnetoresistive effect, Hall effect, or magnetic induction, indirectly obtaining information about contact force, pressure, or deformation by detecting changes in the magnetic field distribution.
[0004] Among related technologies, magnetic tactile sensors have relatively limited application scenarios and cannot adapt to force detection and tactile perception in multi-dimensional and complex scenarios. Summary of the Invention
[0005] In view of the above-mentioned technical problems, this application proposes an omnidirectional magnetic tactile sensor and robot system, which can realize force detection and tactile perception in multi-dimensional force environment, expand the application scenarios of magnetic tactile sensor and facilitate the universal promotion of technology.
[0006] In a first aspect, this application proposes an omnidirectional magnetic tactile sensor, which includes a magnetic sensor, a central support, and an elastic magnetization layer; wherein, the magnetic sensor is used to convert magnetic field signals into electrical signals; the central support has an installation area inside, which is used to install the magnetic sensor; the elastic magnetization layer includes an elastic matrix and permanent magnet particles uniformly distributed in the elastic matrix, wherein the elastic magnetization layer surrounds and wraps the central support, and the magnetic field direction of the elastic magnetization layer is centripetal.
[0007] In some embodiments, the omnidirectional magnetic tactile sensor further includes an elastic buffer layer sandwiched between the elastic magnetization layer and the central support.
[0008] In some embodiments, the cross-sectional profile of the elastic magnetization layer is annular, and the magnetic field distribution of the elastic magnetization layer is centrally symmetrical.
[0009] In some implementations, the cross-sectional profile of the elastic magnetization layer is annular.
[0010] In some embodiments, the elastic magnetization layer includes a first magnetization layer and a second magnetization layer disposed sequentially, the first magnetization layer being sleeved outside the second magnetization layer, and the magnetization direction of the first magnetization layer being perpendicular to the magnetization direction of the second magnetization layer.
[0011] In some embodiments, the magnetization direction of the first magnetization layer is along the axial direction of the elastic magnetization layer, and the magnetization direction of the second magnetization layer is along the radial direction of the elastic magnetization layer.
[0012] In some embodiments, the magnetization direction of the first magnetization layer is along the radial direction of the elastic magnetization layer, and the magnetization direction of the second magnetization layer is along the axial direction of the elastic magnetization layer.
[0013] In some implementations, the magnetization component of the first magnetization layer is greater than that of the second magnetization layer.
[0014] In some embodiments, the thickness of the first magnetization layer is the same as the thickness of the second magnetization layer along the radial direction of the elastic magnetization layer.
[0015] In some implementations, the height of the first magnetization layer is the same as the height of the second magnetization layer along the axial direction of the elastic magnetization layer.
[0016] In some implementations, the central support has a regular columnar structure.
[0017] Secondly, this application also proposes a robot system comprising a robot body and an actuator connected to the robot body, the actuator including an omnidirectional magnetic tactile sensor as described in any of the above embodiments.
[0018] According to an embodiment of this application, an omnidirectional magnetic tactile sensor includes a magnetic sensor, a central support, and an elastic magnetization layer. The magnetic sensor converts a magnetic field signal into an electrical signal. The central support has an mounting area for mounting the magnetic sensor. The elastic magnetization layer includes an elastic matrix and permanent magnet particles uniformly distributed within the elastic matrix. The elastic magnetization layer surrounds the central support, and its magnetic field direction is centripetal. Therefore, because the elastic magnetization layer surrounds the central support, the magnetic sensor located inside the central support can sense the centripetal magnetic field distribution from multiple directions around the sensor. Thus, when the magnetic field of the elastic magnetization layer changes due to multi-dimensional forces, the magnetic sensor can sense and detect these changes and convert them into electrical signals for output. This enables force detection and tactile perception under multi-dimensional force conditions, which is beneficial for expanding the application scenarios of the omnidirectional magnetic tactile sensor. Attached Figure Description
[0019] The accompanying drawings are provided to further understand this application and form part of the specification. They are used together with the following detailed description to explain this application, but do not constitute a limitation thereof.
[0020] Figure 1 This is a schematic diagram of the structure of an omnidirectional magnetic tactile sensor according to an embodiment of this application; Figure 2 This is a cross-sectional schematic diagram of an embodiment of an omnidirectional magnetic tactile sensor according to this application; Figure 3 This is a cross-sectional schematic diagram of an omnidirectional magnetic tactile sensor according to another embodiment of this application; Figure 4 This is a magnetic field distribution diagram of an omnidirectional magnetic tactile sensor according to an embodiment of this application; Figure 5 This is a magnetic field distribution diagram of an omnidirectional magnetic tactile sensor according to another embodiment of this application.
[0021] The accompanying drawings may not be drawn to scale.
[0022] Figure label:
[0023] 10. Magnetic sensor; 20. Central support; 30. Elastic magnetization layer; 31. First magnetization layer; 32. Second magnetization layer; 40. Elastic buffer layer; B. Magnetic field direction. Detailed Implementation
[0024] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.
[0025] It should be noted that, unless otherwise stated, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by those skilled in the art to which the embodiments of this application pertain.
[0026] In the description of the embodiments of this application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.
[0027] Furthermore, technical terms such as "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. In the description of the embodiments of this application, "a plurality of" means two or more, unless otherwise explicitly defined.
[0028] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.
[0029] In the description of the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0030] In recent years, magnetic tactile sensors have gradually become a research and application hotspot due to their advantages such as high sensitivity, strong environmental adaptability, simple structure and easy miniaturization.
[0031] The working principle of magnetic tactile sensors is based on the coupling effect of deformation of the magnetized layer and changes in the magnetic field, achieved through a specially designed magnetization. When the magnetized layer is subjected to pressure in a certain direction, a minute compression or bending deformation occurs at that location, causing a change in the spacing or orientation of the magnetic particles. This disturbs the originally relatively stable magnetic field, and the change in the magnetic field vector can be measured by the magnetic field sensor. Based on a specific physical calculation model, the orientation angle of the force can be deduced. Furthermore, the amplitude of the magnetic field change is correlated with the deformation of the magnetized layer, which can be used to calculate the magnitude of the force. However, in related technologies, magnetic tactile sensors struggle to handle multi-dimensional and complex force detection and tactile perception, severely limiting their widespread application across various industries.
[0032] In view of this, this application proposes a magnetic tactile sensing device that can effectively solve this problem. The omnidirectional magnetic tactile sensor provided in the embodiments of this application will be further described below with reference to the accompanying drawings and specific implementation details.
[0033] Please refer to Figures 1 to 3 Some embodiments of this application provide an omnidirectional magnetic tactile sensor, which includes a magnetic sensor 10, a central support 20, and an elastic magnetization layer 30; wherein, the magnetic sensor 10 is used to convert magnetic field signals into electrical signals; the central support 20 has an installation area inside, which is used to install the magnetic sensor 10; the elastic magnetization layer 30 includes an elastic matrix and permanent magnet particles uniformly distributed in the elastic matrix, wherein the elastic magnetization layer 30 surrounds the central support 20, and the magnetic field direction of the elastic magnetization layer 30 is centripetal.
[0034] The magnetic sensor 10 is used to sense changes in the magnetic field distribution and convert the magnetic field signal into an electrical signal output. In this application embodiment, the magnetic sensor 10 may be an anisotropic magnetoresistive (AMR), a giant magnetoresistive (GMR), or a tunnel magnetoresistive (TMR), etc.
[0035] The magnetic sensor 10 can be regular or irregular in shape; the size of the magnetic sensor 10 can be adaptively adjusted according to the type of magnetic sensor 10 selected, for example... Figure 2 and Figure 3 An omnidirectional magnetic tactile sensor is shown, which uses two different shapes and sizes of magnetic sensors 10.
[0036] As a specific example, the magnetic sensor 10 of this application can be an AMR sensor. AMR sensors have high sensitivity and high sensing accuracy, and can respond to tactile signals such as finger pressing in real time, which is beneficial to improving the sensing accuracy and sensitivity of omnidirectional magnetic tactile sensors.
[0037] The central bracket 20 is used to mount the magnetic sensor 10. The mounting method can be snap-fit, adhesive, or threaded connection, etc., and this application does not limit it.
[0038] The central support 20 has a certain rigidity and can withstand the deformation and compression of the elastic magnetization layer 30 without deforming itself, thus facilitating the formation of a support and containment function for the magnetic sensor 10.
[0039] The central support 20 can be formed using various processes, such as machining, mold casting, or 3D printing. For example, the central support 20 in this embodiment can be manufactured using 3D printing.
[0040] The central support 20 can be made of non-magnetic or paramagnetic / diamagnetic materials, such as plastic, rubber or all-ceramic materials, to avoid affecting the magnetic field distribution.
[0041] The central support 20 has an installation area inside, which can be located at the center of the central support 20 or at the side. For example, the installation area can be located at the center of the central support 20. The advantage of this setting is that it can make the distance between the magnetic sensor 10 and the edge of the central support 20 more uniform, thereby making the magnetic field strength distribution around the magnetic sensor 10 more uniform and improving the sensing uniformity of the omnidirectional magnetic tactile sensor in multiple directions.
[0042] In some specific embodiments, the central support 20 can be a regular columnar structure. Columnar structures include, for example, circular, square, or polygonal columns. A regular columnar structure not only facilitates the precise location of the center position but also reduces the difficulty of manufacturing and molding, thus simplifying the design complexity of the device.
[0043] The elastic magnetization layer 30 includes an elastic matrix that can undergo elastic deformation when subjected to external force and return to its original shape when the external force is removed. The elastic matrix can be made of elastic resin, Ecoflex series silicone, or novel organosilicon, etc. For example, the elastic matrix material in this application can be Ecoflex.
[0044] Permanent magnet particles are uniformly distributed within the elastic matrix. These particles are formed by permanent magnetization under the influence of a strong magnetic field. Before magnetization, the permanent magnet particles are magnetic granules, and their materials can be various, such as Fe-containing materials, Co-containing materials, Ni-containing materials, or oxides. For example, the magnetic granules in this application can be neodymium iron boron powder.
[0045] During the preparation of the elastic magnetization layer 30, magnetic particles are first uniformly mixed with an elastic matrix that has been heated to a liquid state, and then poured into a mold to form a solidified mixture. After solidification, the mixture of magnetic particles and elastic matrix is permanently magnetized under the action of a magnetic field with a specific direction and intensity, thereby making the elastic magnetization layer 30 magnetic, that is, the elastic magnetization layer 30 can form a static magnetic field.
[0046] In this application, an elastic magnetization layer 30 surrounds and encloses a central support 20, and the magnetic field direction of the elastic magnetization layer 30 is centripetal. Since the elastic magnetization layer 30 surrounds and encloses the central support 20, the magnetic sensor 10 located inside the central support 20 is also surrounded and enclosed by the elastic magnetization layer 30. Therefore, the magnetic sensor 10 can sense multi-dimensional magnetic field changes around it. Thus, when the elastic magnetization layer 30 is deformed by force, causing a change in the magnetic field, the magnetic sensor 10 can realize force detection and tactile perception in multi-dimensional directions around it, expanding the application possibilities of omnidirectional magnetic tactile sensors in multi-dimensional complex force scenarios.
[0047] It is understood that the centripetal setting described in this application does not mean that the magnetic field direction of the elastic magnetization layer 30 points only to a certain point or a certain line, but rather that the magnetic field direction of the elastic magnetization layer 30 points to the central region of the elastic magnetization layer 30. Therefore, the centripetal setting described in this application should be interpreted broadly.
[0048] Please continue to refer to this. Figures 1 to 3 In some embodiments, the omnidirectional magnetic tactile sensor further includes an elastic buffer layer 40 sandwiched between the elastic magnetization layer 30 and the central support 20.
[0049] The elastic buffer layer 40 provides an elastic buffer space for the elastic magnetization layer 30, thereby providing a larger deformation for the omnidirectional magnetic tactile sensor. This not only improves the omnidirectional magnetic tactile sensor's ability to resist deformation, but also helps to detect larger forces in specific scenarios.
[0050] It is understandable that the elastic buffer layer 40 is sandwiched between the elastic magnetization layer 30 and the central support 20. Therefore, the elastic buffer layer 40 can be subjected to a pre-tightening force, or it can simply be located between the two without being subjected to a pre-tightening force. Various connection methods can be used between the elastic buffer layer 40 and the elastic magnetization layer 30, and between the elastic buffer layer 40 and the central support 20, such as bonding or ultrasonic welding. In this application, the elastic magnetization layer 30, the elastic buffer layer 40, and the central support 20 can be sequentially bonded together. Bonding has the advantages of low cost, high reliability, and low process difficulty.
[0051] The elastic buffer layer 40 can undergo elastic deformation. Similarly, its main material can be elastic resin, Ecoflex series silicone, or novel organosilicon, etc. For example, in this application, the main material of the elastic buffer layer 40 can be silicone, which has the advantages of low cost, easy availability, and good elasticity.
[0052] Figure 4 and Figure 5 A cross-sectional view of the omnidirectional magnetic tactile sensor along its own axis and its magnetic field distribution are shown. It can be understood that the cross-section of the elastic magnetization layer 30 should be... Figure 4 and Figure 5 The radial section shown is not illustrated in the accompanying drawings.
[0053] Please refer to Figure 4 and Figure 5 In some embodiments, the cross-sectional profile of the elastic magnetization layer 30 is annular, and the magnetic field distribution of the elastic magnetization layer 30 is centrally symmetrical.
[0054] The ring shape can be circular, elliptical, or polygonal. Setting the cross-sectional profile of the elastic magnetization layer 30 to be ring-shaped not only facilitates the processing and shaping of the elastic magnetization layer 30 but also allows it to better surround and enclose the central support 20. Furthermore, the ring-shaped cross-section of the elastic magnetization layer 30 makes the omnidirectional magnetic tactile sensor more suitable for high curvature scenarios and torsion detection scenarios, further expanding the application of the omnidirectional magnetic tactile sensor in multidimensional complex force scenarios.
[0055] The magnetic field distribution of the elastic magnetization layer 30 is centrally symmetrical, which is conducive to forming a symmetrical and uniform magnetic field around the magnetic sensor 10. When designing a matching physical calculation model at the position of the magnetic sensor 10, the difficulty of designing the position of the magnetic sensor 10 is reduced, and the difficulty of fitting the physical calculation model is also reduced.
[0056] In some embodiments, the cross-sectional profile of the elastic magnetization layer 30 is annular. This further reduces the difficulty of matching the position of the magnetic sensor 10 with the physical calculation model, and is beneficial for optimizing the uniform distribution of the magnetic field, thereby improving the accuracy and consistency of force detection in multidimensional omnidirectional magnetic tactile sensors.
[0057] Please refer to Figure 4 and Figure 5 In some embodiments, the elastic magnetization layer 30 includes a first magnetization layer 31 and a second magnetization layer 32 disposed sequentially, the first magnetization layer 31 being sleeved outside the second magnetization layer 32, and the magnetization direction of the first magnetization layer 31 being perpendicular to the magnetization direction of the second magnetization layer 32.
[0058] Both the first magnetization layer 31 and the second magnetization layer 32 include an elastic matrix and permanent magnet particles uniformly distributed within the elastic matrix. The materials of the first magnetization layer 31 and the second magnetization layer 32 can be the same or different. For example, they can be filled with different elastic matrices and / or magnetic particles, or the filling density of the magnetic particles can be different. When the materials and filling densities of the first magnetization layer 31 and the second magnetization layer 32 differ, they need to be matched with magnetic fields of different intensities when magnetized separately. In other words, the materials, filling densities, and magnetization processes should have a corresponding relationship. Specific requirements can be determined according to the designer's specific needs, and this application does not impose any limitations in this regard.
[0059] In this embodiment, the inner diameter of the first magnetized layer 31 is greater than or equal to the outer diameter of the second magnetized layer 32, so that the first magnetized layer 31 can be fitted over the second magnetized layer 32. For example, the inner diameter of the first magnetized layer 31 can be equal to the outer diameter of the second magnetized layer 32, which can facilitate a certain pre-tightening effect when the two are joined and molded, reducing the molding difficulty.
[0060] In some embodiments, the thickness of the first magnetization layer 31 is the same as the thickness of the second magnetization layer 32 along the radial direction of the elastic magnetization layer 30. This allows them to have similar elastic deformation capabilities, and reduces variable factors when magnetizing them separately, which is beneficial for calculating their respective magnetization intensities.
[0061] In some embodiments, the height of the first magnetization layer 31 is the same as the height of the second magnetization layer 32 along the axial direction of the elastic magnetization layer 30. This not only allows both layers to have similar elastic deformation capabilities, but also improves the surface flatness and aesthetics of the omnidirectional magnetic tactile sensor.
[0062] The first magnetization layer 31 and the second magnetization layer 32 can be connected by means of bonding, ultrasonic welding, or other methods. For example, in the embodiments of this application, the first magnetization layer 31 and the second magnetization layer 32 can be bonded together, which has the advantages of low cost, high reliability, and easy processing.
[0063] The magnetization direction of the first magnetization layer 31 is perpendicular to the magnetization direction of the second magnetization layer 32, and the magnetic field direction after their superposition is set towards the center of the omnidirectional magnetic tactile sensor.
[0064] Setting the magnetization direction of the first magnetization layer 31 and the magnetization direction of the second magnetization layer 32 to be perpendicular makes it easier to determine the direction of the total magnetic field formed after their superposition when their positional relationship is determined. In the device design, this is beneficial for matching the position of the magnetic sensor 10 with the corresponding physical calculation model.
[0065] Specifically, in some embodiments, such as Figure 4 As shown, the magnetization direction of the first magnetization layer 31 is along the axial direction of the elastic magnetization layer 30, and the magnetization direction of the second magnetization layer 32 is along the radial direction of the elastic magnetization layer 30.
[0066] In other embodiments, such as Figure 5 As shown, the magnetization direction of the first magnetization layer 31 is along the radial direction of the elastic magnetization layer 30, and the magnetization direction of the second magnetization layer 32 is along the axial direction of the elastic magnetization layer 30.
[0067] Furthermore, in some embodiments, the magnetization component of the first magnetization layer 31 is greater than the magnetization component of the second magnetization layer 32.
[0068] With this configuration, when the first magnetization layer 31 is fitted outside the second magnetization layer 32 and has a large radial dimension, it can compensate for the magnetic field attenuation caused by the difference in geometric dimensions, so that the magnetic field generated by the first magnetization layer 31 in the target area is equal in magnitude to the magnetic field generated by the second magnetization layer 32, thereby helping to ensure that the angle between the total magnetic field direction and the horizontal direction is 45 degrees.
[0069] Thus, when the magnetization direction of one of the first magnetization layer 31 and the second magnetization layer 32 is radial and the magnetization direction of the other is axial, the direction of the magnetic field after their superposition can form a 45-degree angle with the horizontal direction. The advantage of this setting is that not only is the centripetal effect of the superimposed magnetic field direction better, which is conducive to the accurate sensing of magnetic field changes by the magnetic sensor 10, but it also results in better matching consistency between the two when matching the position of the magnetic sensor 10 and determining the corresponding physical calculation model, which can significantly reduce the design difficulty of the omnidirectional magnetic tactile sensor.
[0070] This application also proposes a robot system including a robot body and an actuator connected to the robot body. The actuator includes an omnidirectional magnetic tactile sensor as described in any of the above embodiments.
[0071] The robot system of this application embodiment can be applied to fields such as precision manufacturing and industrial assembly, medical and health services, agriculture and food processing, or logistics and warehousing. When applied to the field of precision manufacturing and industrial assembly, it can be used for grasping, inserting, tightening, or inspecting precision parts (such as mobile phone components, engine blades, and optical lenses); when applied to the field of medical and health services, it can be integrated into the end effector of minimally invasive surgical instruments, or used in the robotic arm or exoskeleton of rehabilitation robots; when applied to the field of agriculture and food processing, it can be integrated into the end effector of bionic harvesting for harvesting and packaging fruits and vegetables; when applied to the field of logistics and warehousing, it can be integrated into the suction cups or grippers of logistics robots (such as robotic arms) for automated sorting, palletizing, and disordered grasping.
[0072] The robot subject of this application can be a embodied robot or a non-embodied robot. It can have independent action capabilities or can be installed only at a fixed work position. This application does not impose any restrictions on this.
[0073] The actuator is connected to the robot body. The connection method can be either a movable connection or a fixed connection. The actuator integrates an omnidirectional magnetic tactile sensor of any of the above embodiments for force detection and tactile perception in its working environment.
[0074] As a specific example, the robotic system of this application can be applied to omnidirectional detection within narrow cavities, such as in the medical field, enabling the detection of plaques and masses in human blood vessels, or in pipeline robots, enabling the detection of pipeline walls without complex movements. Compared to traditional magnetic tactile sensors, the omnidirectional magnetic tactile sensor of this application can achieve omnidirectional force detection, thus eliminating the need to arrange multiple sensors around the detection surface, greatly improving the convenience and practicality of detection.
[0075] As another specific example, the robot system of this application can be used in wheeled robots, which can detect the surface texture of the road surface by rolling itself, and realize the rolling mode detection of tactile sensing. Compared with traditional magnetic tactile sensors, it greatly reduces the influence of sliding friction on tactile perception and effectively improves the accuracy and precision of detection.
[0076] Therefore, the robot system of this application embodiment, because it is equipped with an omnidirectional magnetic tactile sensor, is suitable for force detection and tactile perception in multi-dimensional complex force scenarios, especially for high curvature scenarios and scenarios involving torsion detection, which increases the possibility of promoting the application of magnetic tactile sensing devices in multiple fields such as industry, medicine, agriculture, and logistics.
[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the above embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.
Claims
1. An omnidirectional magnetic tactile sensor, characterized in that, include: A magnetic sensor is used to convert magnetic field signals into electrical signals; The central support has an internal mounting area for mounting the magnetic sensor. The elastic magnetization layer includes an elastic matrix and permanent magnet particles uniformly distributed within the elastic matrix. The elastic magnetization layer surrounds and encloses the central support, and the magnetic field direction of the elastic magnetization layer is centripetal.
2. The omnidirectional magnetic tactile sensor according to claim 1, characterized in that, The omnidirectional magnetic tactile sensor also includes an elastic buffer layer sandwiched between the elastic magnetization layer and the central support.
3. The omnidirectional magnetic tactile sensor according to claim 1, characterized in that, The cross-sectional profile of the elastic magnetization layer is annular, and the magnetic field distribution of the elastic magnetization layer is centrally symmetrical.
4. The omnidirectional magnetic tactile sensor according to claim 3, characterized in that, The cross-sectional profile of the elastic magnetization layer is annular.
5. The omnidirectional magnetic tactile sensor according to claim 4, characterized in that, The elastic magnetization layer includes a first magnetization layer and a second magnetization layer arranged sequentially. The first magnetization layer is sleeved outside the second magnetization layer, and the magnetization direction of the first magnetization layer is perpendicular to the magnetization direction of the second magnetization layer.
6. The omnidirectional magnetic tactile sensor according to claim 5, characterized in that, The magnetization direction of the first magnetization layer is along the axial direction of the elastic magnetization layer, and the magnetization direction of the second magnetization layer is along the radial direction of the elastic magnetization layer; or The magnetization direction of the first magnetization layer is along the radial direction of the elastic magnetization layer, and the magnetization direction of the second magnetization layer is along the axial direction of the elastic magnetization layer.
7. The omnidirectional magnetic tactile sensor according to claim 6, characterized in that, The magnetization component of the first magnetization layer is greater than that of the second magnetization layer.
8. The omnidirectional magnetic tactile sensor according to claim 5, characterized in that, Along the radial direction of the elastic magnetization layer, the thickness of the first magnetization layer is the same as the thickness of the second magnetization layer; and / or Along the axial direction of the elastic magnetization layer, the height of the first magnetization layer is the same as the height of the second magnetization layer.
9. The omnidirectional magnetic tactile sensor according to any one of claims 1-8, characterized in that, The central support has a regular columnar structure.
10. A robot system, characterized in that, include: Robot body; as well as An actuator, connected to the robot body, the actuator including an omnidirectional magnetic tactile sensor as described in any one of claims 1-9.