Miniaturized and anti-corrosion end effector touch sensing system

Abstract

The utility model discloses a miniaturized and anti-corrosion end effector tactile sensing system which comprises a base, an array type piezoresistive sensor, a piezoelectric sensor and a 3D Hall sensor are sequentially arranged on the base and are arranged in a layered mode by imitating finger neuron distribution, a protective cover is arranged outside the base, and the protective cover is provided with an anti-corrosion layer. According to the intelligent touch sensing flexible grasping system, various high-performance sensors are combined, and comprehensive sensing of the mechanical gripper on the clamping process can be achieved. According to the device, a layered bionic framework is adopted, an array type piezoresistive sensor, a piezoelectric sensor and a 3D Hall sensor are integrated in a micro space, and the multi-layer tactile perception characteristic of'epidermis-dermis-subcutaneous tissue 'of human fingers is perfectly reproduced. Moreover, through a compact structural design and a high-precision anti-corrosion design, miniaturization and corrosion prevention of the touch sensing system are successfully realized, and the application range and the use performance of the product are improved.

Description

Technical Field

[0001] This utility model relates to the field of robot tactile sensing technology, specifically to a miniaturized, corrosion-resistant end effector tactile sensing system. Background Technology

[0002] Human hands are capable of dexterously grasping and manipulating various objects, primarily relying on the coordinated action of tactile sensation, muscle feedback, and the nervous system. This multimodal sensory ability allows humans to adapt to different shapes, materials (such as soft and brittle objects), and dynamic environments. In contrast, traditional robotic hands, lacking high-precision tactile feedback, are limited in their performance in complex tasks (such as grasping easily deformable objects).

[0003] As a core component of human-computer interaction, tactile sensors can detect multi-dimensional information such as force, vibration, sliding, and texture. Although microelectronics technology has driven the development of sensors such as capacitive, piezoresistive, and piezoelectric sensors, existing robotic arms are still far inferior to human hands in terms of dexterity and sensory sensitivity.

[0004] While existing tactile sensors have made progress in their principles (capacitive / piezoresistive / piezoelectric), they still have key shortcomings: tactile sensors are too large; the core three-dimensional force sensor product measures 40×40×20mm, making it difficult to install on robotic grippers and unsuitable for use in highly corrosive fields such as chemical, pharmaceutical, and plastic industries. In view of this, this utility model was developed. Utility Model Content

[0005] This invention provides a miniaturized and corrosion-resistant end effector tactile sensing system, which achieves miniaturization and corrosion resistance through a compact structural design and a high-precision corrosion-resistant design.

[0006] To achieve the above objectives, this utility model adopts the following technical solution: a miniaturized, corrosion-resistant end effector tactile sensing system, comprising a base, on which an array of piezoresistive sensors, piezoelectric sensors, and 3D Hall sensors are sequentially arranged in a layered manner mimicking the distribution of neurons in a finger. A protective cover is provided outside the base, and the protective cover is provided with an anti-corrosion layer. This utility model combines multiple high-performance sensors, enabling comprehensive sensing of the gripping process by the robotic gripper, with a compact overall structure; simultaneously, the external protective cover is treated with anti-corrosion materials, improving the device's corrosion resistance.

[0007] Furthermore, the anti-corrosion layer employs a nanocomposite coating. When sensors operate in harsh environments such as humidity, high salt spray, and acid / alkali corrosion, traditional protection methods cannot meet long-term stability requirements. The nanocomposite coating, due to its high density, strong adhesion, and self-healing capabilities, enhances the sensor's corrosion resistance without affecting its sensing accuracy.

[0008] Furthermore, the nanocomposite coating uses 20nm thick graphene + DLC to achieve corrosion resistance and wear resistance at a thickness of 1μm.

[0009] Furthermore, the protective cover is made of metal 3D printed. It can be made of 316L stainless steel to improve corrosion resistance (acid and alkali resistance, salt spray resistance), making it suitable for marine and chemical environments; or it can be made of titanium alloy to achieve lightweight, biocompatibility, and corrosion resistance.

[0010] Furthermore, the base has two recesses, in which the array-type piezoresistive sensor, piezoelectric sensor, and 3D Hall sensor are all embedded. The base also has two recesses on the left and right sides, where the 3D Hall sensor is retractably mounted on the outside for easy disassembly. The piezoelectric sensor, the piezoresistive array sensor, and the rubber plate are all mounted in another recess. The piezoelectric sensor, the piezoresistive array sensor, and the rubber plate are all integrally embedded within the recesses, achieving a compact design.

[0011] Furthermore, both the piezoelectric sensor and the piezoresistive array sensor have rubber plates on their outer sides. The rubber plates serve two purposes: firstly, they disperse pressure, as the elastic modulus of rubber buffers localized stress concentration, allowing the contact force to be transmitted more evenly to the sensing unit below, preventing overload of individual sensing elements; secondly, they adapt the contact interface, conforming to the surface contour of the object through deformation, improving the accuracy of contact area detection for irregular objects (such as when grasping uneven objects). Simultaneously, the rubber layer acts as a flexible barrier, preventing sharp objects from directly damaging the brittle sensing elements, and also provides environmental isolation, resisting external contaminants such as dust and liquids, extending the sensor's lifespan (especially suitable for industrial or outdoor scenarios).

[0012] In summary, this novel intelligent tactile sensing and compliant gripping system combines multiple high-performance sensors to achieve comprehensive sensing of the gripping process by the robotic hand. Through in-depth analysis of the human finger's tactile mechanism using biomimetic principles, an innovative optimized distribution scheme for multimodal sensors at the fingertip was designed. The device employs a layered biomimetic architecture, integrating an array of piezoresistive sensors, piezoelectric sensors, and a 3D Hall sensor within a miniature space of 8×6×2mm, perfectly replicating the multi-layered tactile sensing characteristics of the human finger's "epidermis-dermis-subcutaneous tissue." Furthermore, through a compact structural design and high-precision corrosion-resistant design, the tactile sensing system has been successfully miniaturized and corrosion-resistant, improving the product's applicability and performance. Attached Figure Description

[0013] Figure 1 , Figure 2 This is a cross-sectional view of the structure of this utility model;

[0014] Figure 3 This is a schematic diagram of the overall structure of this utility model.

[0015] Reference numerals: 1. Base; 2. 3D Hall sensor; 3. Rubber plate; 4. Groove; 5. Arrayed piezoresistive sensor; 6. Piezoelectric sensor. Detailed Implementation

[0016] The following is in conjunction with the appendix Figures 1 to 3 The present invention provides a more detailed description of the specific implementation of a miniaturized and corrosion-resistant end effector tactile sensing system.

[0017] A miniaturized, corrosion-resistant end effector tactile sensing system includes a base 1. An array of piezoresistive sensors 5, a piezoelectric sensor 6, and a 3D Hall sensor 2 are sequentially arranged on the base 1, mimicking the distribution of neurons in a finger. A protective cover with an anti-corrosion layer is provided outside the base 1. This invention combines multiple high-performance sensors, enabling comprehensive sensing of the gripping process by the robotic gripper, while maintaining a compact overall structure. Furthermore, the external protective cover is treated with anti-corrosion materials, improving the device's corrosion resistance.

[0018] In this preferred embodiment, the anti-corrosion layer is a nanocomposite coating. When the sensor operates in harsh environments such as humidity, high salt spray, and acid / alkali corrosion, traditional protection methods cannot meet the long-term stability requirements. Due to its high density, strong adhesion, and self-healing capabilities, the nanocomposite coating improves the sensor's corrosion resistance without affecting its sensing accuracy.

[0019] In this preferred embodiment, the nanocomposite coating uses 20nm thick graphene + DLC to achieve corrosion resistance and wear resistance at a thickness of 1μm.

[0020] In this preferred embodiment, the protective cover is made of metal 3D printing. It can be made of 316L stainless steel to improve corrosion resistance (acid and alkali resistance, salt spray resistance), making it suitable for marine and chemical environments; or it can be made of titanium alloy to achieve lightweight, biocompatibility, and corrosion resistance.

[0021] In this preferred embodiment, the base 1 has two recesses 4, in which the array-type piezoresistive sensor 5, the piezoelectric sensor 6, and the 3D Hall sensor 2 are all embedded. The base 1 has two recesses 4 on the left and right sides, and the 3D Hall sensor 2 is removably mounted on the outside of the recess 4 for easy disassembly. The piezoelectric sensor 6, the piezoresistive array sensor, and the rubber plate 3 are all mounted in the other recess 4. The piezoelectric sensor 6, the piezoresistive array sensor, and the rubber plate 3 are all integrally embedded in the recess 4, achieving a compact design.

[0022] In this preferred embodiment, both the piezoelectric sensor 6 and the piezoresistive array sensor are provided with rubber plates 3 on their outer sides. The rubber plates 3 serve two purposes: firstly, they disperse pressure, as the elastic modulus of rubber buffers localized stress concentration, allowing the contact force to be transmitted more evenly to the sensing unit below, preventing overload of individual sensing elements; secondly, they adapt the contact interface, conforming to the surface contour of the object through deformation, improving the accuracy of contact area detection for irregular objects (such as when grasping uneven objects). Simultaneously, the rubber layer acts as a flexible barrier, preventing sharp objects from directly damaging the brittle sensing elements, and also provides environmental isolation, resisting external contaminants such as dust and liquids, extending the sensor's lifespan (especially suitable for industrial or outdoor scenarios).

[0023] The various high-performance sensors selected in this utility model specifically include:

[0024] Array-type piezoresistive sensor: The M0404S distributed piezoresistive sensor is used to detect the pressure distribution on the contact surface between the object and the gripper during the grasping process, thereby achieving accurate identification of the grasping position. By arranging multiple piezoresistive sensor units on the gripper contact surface, the system can perceive the shape and positional deviations of the object in real time, providing a basis for the adaptive adjustment of the mechanical grasping system.

[0025] Piezoelectric sensor: An LDT0-028K piezoelectric sensor is selected to detect vibration signals generated during the gripping process. Vibration information is crucial for determining whether the object is stably gripped and whether there is a risk of slippage. By analyzing the vibration frequency and amplitude, the system can adjust the gripping force in a timely manner to prevent the object from slipping.

[0026] 3D Hall Sensor: Utilizing a composite structure of magnet, MLX90393 Hall sensor, and silicone, this sensor accurately detects the three-dimensional force direction applied to the hand during grasping. Through MEMS technology, it integrates triaxial force sensing and temperature sensing, enabling real-time monitoring of forces in the x, y, and z directions while simultaneously transmitting temperature information to the sensing system, providing multi-dimensional and precise feedback data for force control algorithms.

[0027] This multi-functional sensor module integrates a piezoresistive sensor, a piezoelectric sensor, and a 3D Hall sensor, and connects to a computer via a unified interface to identify tactile sensor parameters. The module uses an Arduino nano microcontroller to perform basic signal processing.

[0028] The above description is merely a preferred embodiment of this utility model. The protection scope of this utility model is not limited to the above embodiments. All technical solutions falling within the scope of this utility model's concept are protected. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of this utility model should also be considered within the protection scope of this utility model.

Claims

1. A miniaturized, corrosion-resistant end effector tactile sensing system, characterized in that: The device includes a base on which an array of piezoresistive sensors, a piezoelectric sensor, and a 3D Hall sensor are sequentially arranged in layers, mimicking the distribution of neurons in a finger. A protective cover is provided outside the base, and the protective cover is provided with an anti-corrosion layer.

2. The miniaturized, corrosion-resistant end effector tactile sensing system according to claim 1, characterized in that: The anti-corrosion layer is a nano-composite coating.

3. The miniaturized, corrosion-resistant end effector tactile sensing system according to claim 2, characterized in that: The nanocomposite coating uses 20nm thick graphene + DLC to achieve corrosion resistance and wear resistance at a thickness of 1μm.

4. The miniaturized, corrosion-resistant end effector tactile sensing system according to claim 1, characterized in that: The protective cover is made of metal 3D printing.

5. The miniaturized, corrosion-resistant end effector tactile sensing system according to claim 1, characterized in that: The base has two grooves, in which an array-type piezoresistive sensor, a piezoelectric sensor, and a 3D Hall sensor are all embedded.

6. The miniaturized, corrosion-resistant end effector tactile sensing system according to claim 5, characterized in that: Both the piezoelectric sensor and the piezoresistive array sensor have rubber plates on their outer sides.

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