Sensor device for environmental perception and/or for reliably gripping and manipulating objects
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Solution Overview
Problem
Existing sensor technologies for robot arms in collaborative environments, such as production lines and human-machine interfaces, are limited in their ability to operate at high speeds and reliably detect object approaches and manipulate objects, as they often rely on mechanical or pneumatic methods that are not effective for contactless sensing and gripping.
Innovation Solution
A sensor device combining capacitive and piezoelectric sensors on a flexible substrate, allowing for the detection of object approaches and pressure changes, enabling improved gripping and manipulation by integrating both sensors for comprehensive environmental perception.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If capacitive sensors are used for contactless detection, then object approach detection is improved, but force measurement capability deteriorates
Solution Approach 1:
The patent combines capacitive sensors and piezoelectric sensors into a single integrated sensor device with shared substrate and electrode structures. The capacitive sensors detect object approach contactlessly, while piezoelectric sensors measure contact forces, allowing both functions to coexist and complement each other in robot gripper applications
2Reliability
If piezoelectric sensors are used for force measurement, then force detection reliability is improved, but contactless approach detection deteriorates
Solution Approach 1:
The integrated sensor device merges piezoelectric force sensors with capacitive proximity sensors in a unified structure. The piezoelectric portion reliably measures contact forces through piezoelectric effect, while the capacitive portion provides contactless approach detection, enabling the system to overcome the limitations of using either sensor type alone
3Adaptability or versatility
If elastic materials are used in sensor structure, then flexibility is improved, but dynamic behavior and service life deteriorate
Solution Approach 1:
The patent employs thin film structures for the sensor components that provide necessary flexibility for conforming to gripper surfaces while maintaining structural integrity. The piezoelectric layer and electrode films are deposited as thin coatings that flex with the substrate without exhibiting the degradation characteristics of bulk elastic materials
Solution Approach 2:
The patent replaces traditional mechanical elastic elements with piezoelectric materials that convert mechanical stress directly into electrical signals. This substitution eliminates the need for elastic materials with poor dynamic behavior, achieving both flexibility and reliable long-term performance through the piezoelectric effect
4Measurement precision
If capacitive sensors are used for force measurement, then contactless detection is improved, but material compatibility deteriorates
Solution Approach 1:
The integrated sensor device achieves universality by combining capacitive and piezoelectric sensors. The capacitive sensors provide contactless detection that works with all materials including insulators, while the piezoelectric sensors provide contact-based force measurement with broad material compatibility, making the overall system adaptable to diverse gripping scenarios
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The integrated sensor device enhances the robot's ability to accurately orient and grip objects by detecting approaches and forces, improving gripping quality and reliability while avoiding the limitations of standalone capacitive or piezoelectric sensors, such as poor dynamic behavior and material incompatibility.
Implementation Method 1
The C-sensor detects movements, in particular the approach of objects in a region prior to contact, by a change in the capacitance between two electrodes
Implementation Method 2
The P-sensor detects forces through the generation of a surface charge proportional to the pressure (polarisation)
Data Source
AI summary
A sensor device comprising at least a first substrate, a capacitive sensor for recording the approach of an object, a piezoelectric sensor for recording a pressure, wherein the capacitive sensor is arranged on a first side of the first substrate and the piezoelectric sensor is arranged on a second side of the first substrate, wherein the second side is opposite the first side, or wherein the capacitive sensor and the piezoelectric sensor are arranged on the same side of the substrate.