CN109406018A - A kind of sliding feeling sensor and the clamping device including the sliding feeling sensor - Google Patents
A kind of sliding feeling sensor and the clamping device including the sliding feeling sensor Download PDFInfo
- Publication number
- CN109406018A CN109406018A CN201811302243.5A CN201811302243A CN109406018A CN 109406018 A CN109406018 A CN 109406018A CN 201811302243 A CN201811302243 A CN 201811302243A CN 109406018 A CN109406018 A CN 109406018A
- Authority
- CN
- China
- Prior art keywords
- idler wheel
- feeling sensor
- sliding feeling
- fiber grating
- sliding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000835 fiber Substances 0.000 claims abstract description 56
- 230000002093 peripheral effect Effects 0.000 claims abstract description 38
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 230000035945 sensitivity Effects 0.000 abstract description 17
- 238000009434 installation Methods 0.000 abstract description 4
- 238000005096 rolling process Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 229910052573 porcelain Inorganic materials 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000013307 optical fiber Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000009795 derivation Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
- G01L1/242—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre
- G01L1/246—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre using integrated gratings, e.g. Bragg gratings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/025—Optical sensing devices including optical fibres
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a kind of sliding feeling sensor and including the clamping device of the sliding feeling sensor, the sliding feeling sensor includes idler wheel, outer peripheral surface with object for being in contact, and the idler wheel can be rolled with respect to sliding around the central axis of the idler wheel with object with the outer peripheral surface, the outer peripheral surface is equipped with bulge-structure；Elastic parts, one end act on the outer peripheral surface；It is capable of the fiber grating of inducedstress variation, the other end of the elastic parts acts on the fiber grating, and the distance between the central axis of the idler wheel and the fiber grating are fixed, the fiber grating is slided according to the pressure change detection object for the elastic parts being subject to.It is arranged such, since fiber grating anti-interference ability is stronger, sensitivity is higher, and pliability is preferable, application scenarios practicability lesser for installation space is preferable, solve that sliding feeling sensor anti-electromagnetic interference capability in the prior art is weaker, sensitivity is lower, and flexible bad problem.
Description
Technical field
The present invention relates to sensor technical fields, feel biography more specifically to a kind of sliding feeling sensor and including the cunning
The clamping device of sensor.
Background technique
Sliding to feel that detection is the key link that robot or mechanical clamp realize soft grasping, the sliding reliable perception for feeling information is machine
Device people or mechanical clamp complete the reliable guarantee of predetermined crawl function under complicated pluralism environment.Sliding feeling sensor is for detecting intelligence
Whether relative displacement can be generated between robot or mechanical clamp and the object of clamping.Common sliding feeling sensor presses its detection machine
Reason difference specifically includes that pressure resistance type, condenser type and porcelain sensitive sliding feeling sensor etc..But pressure resistance type, condenser type and porcelain sensitive are sliding
Feel that the anti-electromagnetic interference capability of sensor is weaker, sensitivity is lower and flexible bad.
Therefore, how to solve that sliding feeling sensor anti-electromagnetic interference capability in the prior art is weaker, sensitivity is lower, and
Flexible bad problem, becomes those skilled in the art's important technological problems to be solved.
Summary of the invention
The purpose of the present invention is to provide a kind of sliding feeling sensors, and it is dry to solve the anti-electromagnetism of sliding feeling sensor in the prior art
Disturb that ability is weaker, sensitivity is lower, and flexible bad problem.Preferred skill in many technical solutions provided by the invention
Many technical effects elaboration as detailed below that art scheme can be generated.
The present invention provides a kind of sliding feeling sensors, comprising:
Idler wheel, outer peripheral surface with object for being in contact, and the idler wheel can be with the relatively sliding of object and the outer peripheral surface
It moves and is rolled around the central axis of the idler wheel, the outer peripheral surface is equipped with bulge-structure；
Elastic parts, one end act on the outer peripheral surface；
It is capable of the fiber grating of inducedstress variation, the other end of the elastic parts acts on the fiber grating, and
The distance between the central axis of the idler wheel and the fiber grating are fixed, and the fiber grating is according to the elastic group being subject to
The pressure change detection object of part is slided.
Preferably, the elastic parts includes elastic component and the thimble that is arranged between the idler wheel and the elastic component,
The elastic component is connected with one end of the thimble, and the other end of the thimble and the outer peripheral surface of the idler wheel offset.
Preferably, the outer peripheral surface of the idler wheel is equipped with multiple bulge-structures, and multiple bulge-structures are described in
The circumferential direction of idler wheel is uniformly distributed.
Preferably, the cross section of the idler wheel is regular hexagon, so that the seamed edge of the idler wheel forms multiple protrusions
Structure.
Preferably, one end that the thimble is in contact with the outer peripheral surface is spherical surface.
It preferably, further include shell, the idler wheel, the thimble, the elastic component, the fiber grating are installed in institute
It states in shell, the shell is equipped with aperture close to one end of the idler wheel, so that the roller portion is leant out.
Preferably, the inner wall of the shell is equipped with the annular stop structure to the cavity internal projection of the shell, the top
Needle is passed through from the center of the annular stop structure.
Preferably, the shell is equipped with the cable-through hole for the fiber grating wiring.
Preferably, the elastic component is spring.
The present invention also provides a kind of clamping device, including sliding feeling sensor, the sliding feeling sensor is above-mentioned sliding feel
Sensor.
Preferably, the quantity of the sliding feeling sensor is at least two, and at least there are two the rollings of the sliding feeling sensor
The direction that with object opposite sliding occurs for wheel is orthogonal direction.
In technical solution provided by the invention, sliding feeling sensor includes idler wheel, fiber grating and elastic parts, wherein idler wheel
Outer peripheral surface be used to be in contact with object and can be with object and outer peripheral surface with respect to sliding and using the central axis of idler wheel as axis
It rolling, the outer peripheral surface that idler wheel is in contact with object is equipped with bulge-structure, and fiber grating can incude the stress for being applied to itself,
One end of elastic parts acts on idler wheel, and the other end acts on fiber grating, between the central axis and fiber grating of idler wheel away from
From fixation.When opposite sliding occurs for the outer peripheral surface of object and idler wheel, idler wheel is rolled with the sliding of object, outer due to idler wheel
Circumferential surface is equipped with bulge-structure, and bulge-structure is applied to optical fiber optical grating stress by elastic component, due to the rolling of idler wheel, fiber grating
By periodically variable stress, fiber grating is according between the variation detection object and idler wheel of the pressure for the elastic component being subject to
Opposite sliding.So set, sensitivity is higher since fiber grating electromagnetism interference is stronger, it is flexible preferably, for installation
The lesser application scenarios practicability in space is preferable, the sliding feeling sensor equipped with fiber grating compared to the prior art in pressure drag
Formula, condenser type and porcelain sensitive sliding feeling sensor electromagnetism interference are stronger, and sensitivity is higher, flexible more preferable.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the exploded view of sliding feeling sensor in the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of sliding feeling sensor in the embodiment of the present invention；
Fig. 3 is the sectional view of sliding feeling sensor in the embodiment of the present invention.
In Fig. 1-Fig. 3:
1- idler wheel, 11- central axis, 2- elastic component, 3- thimble, 4- fiber grating, 5- shell, 6- annular stop structure, 7-
Cable-through hole, 8- closeouts.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, technical solution of the present invention will be carried out below
Detailed description.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art are obtained all without making creative work
Other embodiment belongs to the range that the present invention is protected.
Present embodiment is designed to provide a kind of sliding feeling sensor, solves sliding feeling sensor in the prior art
Anti-electromagnetic interference capability is weaker, sensitivity is lower, and flexible bad problem.
Hereinafter, being illustrated referring to attached drawing to embodiment.In addition, embodiments illustrated below is not to recorded in claim
Summary of the invention rise any restriction effect.In addition, the full content of composition represented by following example is not limited to as right
Necessary to the solution invented documented by it is required that.
Fig. 1-Fig. 3 is please referred to, in the present embodiment, sliding feeling sensor includes idler wheel 1, fiber grating 4 and elastic parts,
The outer peripheral surface of middle idler wheel 1 is used to be in contact with object and can be with object and with respect to sliding and in idler wheel 1 of outer peripheral surface
Mandrel 11 is axis rolling, and the outer peripheral surface that idler wheel 1 is in contact with object is equipped with bulge-structure, and fiber grating 4, which can incude, to be applied to
The stress of itself, one end of elastic parts act on idler wheel 1, and the other end acts on fiber grating 4, the central axis 11 of idler wheel 1
The distance between fiber grating 4 is fixed.
When opposite sliding occurs for the outer peripheral surface of object and idler wheel 1, idler wheel 1 is rolled with the sliding of object, due to idler wheel 1
Outer peripheral surface be equipped with bulge-structure, bulge-structure is applied to 4 stress of fiber grating by elastic component 2, due to the rolling of idler wheel 1,
Fiber grating 4 is by periodically variable stress, and fiber grating 4 is according to the variation detection object of the pressure for the elastic component 2 being subject to
Opposite sliding between idler wheel 1.
So set, sensitivity is higher since 4 electromagnetism interference of fiber grating is stronger, it is flexible preferably, for installation
The lesser application scenarios practicability in space is preferable, the sliding feeling sensor equipped with fiber grating 4 compared to the prior art in pressure drag
Formula, condenser type and porcelain sensitive sliding feeling sensor electromagnetism interference are stronger, and sensitivity is higher, flexible more preferable.
In the preferred embodiment of the present embodiment, elastic parts includes elastic component 2 and thimble 3, and thimble 3 is arranged in 1 He of idler wheel
Between elastic component 2, one end of thimble 3 is connected with elastic component 2, and the outer peripheral surface of the other end and idler wheel 1 of thimble 3 offsets.So
Setting, idler wheel 1 can be avoided elastic component 2 and shake etc., the stabilization of structure occur by effect of the thimble 3 to 2 applied force of elastic component
Property is more preferable, and the sensitivity of sliding feeling sensor is higher.
In the present embodiment, the outer peripheral surface of idler wheel 1 is equipped with multiple bulge-structures, circumferential direction of multiple bulge-structures along idler wheel 1
Uniformly arrangement.So set, idler wheel 1 is that axis rotates one week with central axis 11, elastic parts, which can repeatedly apply fiber grating 4, is pressed
Power, when the sliding distance very little occurred between object and the outer peripheral surface of idler wheel 1, pressure change can also be incuded by fiber grating 4
It arrives, so that the sensitivity of sliding feeling sensor is more preferable, the precision of detection object sliding is higher.
In the preferred embodiment of the present embodiment, the cross section of idler wheel 1 is regular hexagon, and the seamed edge of idler wheel 1 forms multiple convex
Structure is played, that is, idler wheel 1 is regular hexagonal prism, six seamed edges of regular hexagonal prism form six bulge-structures.Certainly, in other realities
It applies in example, the cross section of idler wheel 1 may be regular pentagon, regular heptagon etc..So set, the structure of idler wheel 1 is simple, it is easy to
Processing, and the sensitivity of sliding feeling sensor is preferable.
Preferably, in the present embodiment, one end that thimble 3 is in contact with the outer peripheral surface of idler wheel 1 is spherical surface.Due to idler wheel 1
When opposite sliding occurs with object, idler wheel 1 is axis rotation with central axis 11, and one end that thimble 3 is contacted with idler wheel 1 is in idler wheel 1
It is slided on outer peripheral surface, in order to reduce the frictional force between thimble 3 and the outer peripheral surface of idler wheel 1, and prevents thimble 3 by idler wheel 1
Outer peripheral surface scratches and causes the accuracy decline of sliding feeling sensor, sets spherical surface for one end that thimble 3 is in contact with outer peripheral surface.
In the present embodiment, sliding feeling sensor further includes shell 5, and idler wheel 1, thimble 3, elastic component 2 and fiber grating 4 are pacified
In shell 5, shell 5 is equipped with aperture close to one end of idler wheel 1, and idler wheel 1 is partly leant out by aperture.So set, shell 5
It plays a protective role, in case fiber grating 4 or elastic component 2 etc. lead to sliding feeling sensor sense under the influence of the factors such as external environment
It answers sensitivity to decline, in addition, can prevent the components such as elastic component 2 from shaking, makes the accuracy decline of sliding feeling sensor.
Preferably, shell 5 is equipped with closeouts 8 far from one end of idler wheel 1, by idler wheel 1, thimble 3, elastic component 2 and optical fiber light
Grid 4 block in shell 5.The lid that closeouts 8 can be, but not limited to be connected with shell 5 by helicitic texture.
In the preferred embodiment of the present embodiment, referring to FIG. 3, the inner wall of shell 5 is equipped with to the cavity internal projection of shell 5
Annular stop structure 6, thimble 3 are passed through from the center of annular stop structure 6.So set, annular stop structure 6 plays thimble 3
To the effect of limit, it can prevent thimble 3 from shaking in the cavity along the radial direction of cavity, in order to avoid influence the induction spirit of sliding feeling sensor
Sensitivity.
In the present embodiment, shell 5 is additionally provided with the cable-through hole 7 for 4 wiring of fiber grating.Cable-through hole 7 includes fiber grating 4
Wiring hole and fiber grating 4 signal wire cable-through hole 7, what the signal wire of fiber grating 4 was sensed for output optical fibre grating 4
Stress signal.Wherein, the cable-through hole 7 of fiber grating 4 also can be set in closeouts 8.In some embodiments, elastic component 2
It can be, but not limited to as spring.
It should be noted that the sliding feeling sensor in the present embodiment, it can be by fiber grating 4 according to the period experienced
Property the variation of stress carry out between judgment object and idler wheel 1 whether to occur opposite slide.Moreover, it is also possible to according to fiber grating 4
The relationship of the stress and time that sense determines sliding speed of the object relative to idler wheel 1.
Content combines above-mentioned each embodiment that this sliding feeling sensor is specifically described below, in the present embodiment, sliding
Feel that sensor includes idler wheel 1, fiber grating 4 and elastic parts, wherein the outer peripheral surface of idler wheel 1 for being in contact with object and
Can with object and outer peripheral surface with respect to sliding and with the central axis of idler wheel 1 11 for axis rolling, idler wheel 1 be in contact with object outside
Circumferential surface is equipped with bulge-structure, and fiber grating 4 can incude the stress for being applied to itself, and one end of elastic parts acts on idler wheel
1, the other end acts on fiber grating 4, and the distance between central axis 11 and fiber grating 4 of idler wheel 1 are fixed.Elastic parts includes
Elastic component 2 and the thimble 3 being arranged between idler wheel 1 and elastic component 2, one end that thimble 3 is in contact with outer peripheral surface are spherical surface, thimble
3 other end is connected with elastic component 2.Sliding feeling sensor further includes shell 5, idler wheel 1, thimble 3, elastic component 2, fiber grating 4
It is installed in shell 5, shell 5 is equipped with close to one end of idler wheel 1 and leans out aperture for 1 part of idler wheel.The inner wall of shell 5 be equipped with to
The annular stop structure 6 of the cavity internal projection of shell 5, thimble 3 are passed through from the center of annular stop structure 6.
So set, the variation for the stress that sliding feeling sensor is sensed by fiber grating 4 is come the sliding of detection object, it is interior
The anti-electromagnetic interference capability of sliding feeling sensor equipped with fiber grating 4 is strong, sensitivity is higher, and the pliability of fiber grating 4
It is good, keep the applicable scene of sliding feeling sensor wider.
The present invention also provides a kind of clamping device, including sliding feeling sensor, which is in above-described embodiment
Sliding feeling sensor.The clamping device can be the handgrip of robot or mechanical clamp etc..So set, clamping device is clamping
When object, when opposite slide occurs for the idler wheel 1 of object and the sliding feeling sensor of clamping device, fiber grating 4 is according to being subject to
The pressure change of elastic parts just can sense the sliding of object, moreover, the electromagnetism interference of fiber grating 4 is stronger, it is sensitive
Degree is higher, and pliability is preferable, application scenarios practicability lesser for installation space is preferable, keeps clamping device dry in electromagnetism
It disturbs and is used under slightly strong environment, and high sensitivity.The derivation process of the beneficial effect has with brought by above-mentioned sliding feeling sensor
The derivation process of beneficial effect is substantially similar, and therefore, this article will not repeat them here.
In the preferred embodiment of the present embodiment, clamping device include at least two sliding feeling sensors, and at least there are two
The direction of opposite sliding between the idler wheel 1 and object of sliding feeling sensor is orthogonal direction.So set, sliding feeling sensor incudes
To sliding of the object in two mutually orthogonal directions, any side of the object relative to the surface of clamping device just can be sensed
To sliding, and sliding speed of the object relative to the surface of clamping device just can be obtained by Vector modulation.
It is understood that same or similar part can mutually refer in the various embodiments described above, in some embodiments
Unspecified content may refer to the same or similar content in other embodiments.Multiple schemes provided by the invention include
The basic scheme of itself does not condition each other independently of each other, but it can also be combined with each other in the absence of conflict, reach
It is realized jointly to multiple effects.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (11)
1. a kind of sliding feeling sensor characterized by comprising
Idler wheel (1), outer peripheral surface with object for being in contact, and the idler wheel (1) can be opposite with the outer peripheral surface with object
It slides and is rolled around the central axis of the idler wheel (1) (11), the outer peripheral surface is equipped with bulge-structure；
Elastic parts, one end act on the outer peripheral surface；
It is capable of the fiber grating (4) of inducedstress variation, the other end of the elastic parts acts on the fiber grating (4),
And the distance between the central axis (11) of the idler wheel (1) and the fiber grating (4) are fixed, fiber grating (4) basis
The pressure change detection object for the elastic parts being subject to is slided.
2. sliding feeling sensor as described in claim 1, which is characterized in that the elastic parts includes elastic component (2) and setting
Thimble (3) between the idler wheel (1) and the elastic component (2), one end phase of the elastic component (2) and the thimble (3)
Connection, the outer peripheral surface of the other end and the idler wheel (1) of the thimble (3) offset.
3. sliding feeling sensor as described in claim 1, which is characterized in that the outer peripheral surface of the idler wheel (1) is equipped with multiple described
Bulge-structure, and multiple bulge-structures are uniformly distributed along the circumferential direction of the idler wheel (1).
4. sliding feeling sensor as claimed in claim 3, which is characterized in that the cross section of the idler wheel (1) is regular hexagon, with
The seamed edge of the idler wheel (1) is set to form multiple bulge-structures.
5. sliding feeling sensor as claimed in claim 2, which is characterized in that the thimble (3) was in contact with the outer peripheral surface
One end is spherical surface.
6. sliding feeling sensor as claimed in claim 2, which is characterized in that it further include shell (5), the idler wheel (1), the top
Needle (3), the elastic component (2), the fiber grating (4) are installed in the shell (5), and the shell (5) is close to described
One end of idler wheel (1) is equipped with aperture, so that the idler wheel (1) is partially leant out.
7. sliding feeling sensor as claimed in claim 6, which is characterized in that the inner wall of the shell (5) is equipped with to the shell
(5) the annular stop structure (6) of cavity internal projection, the thimble (3) pass through from the center of the annular stop structure (6).
8. sliding feeling sensor as claimed in claim 6, which is characterized in that the shell (5), which is equipped with, supplies the fiber grating (4)
The cable-through hole (7) of wiring.
9. sliding feeling sensor as described in claim 1, which is characterized in that the elastic component (2) is spring.
10. a kind of clamping device, which is characterized in that including sliding feeling sensor, the sliding feeling sensor is that claim 1-9 such as appoints
Sliding feeling sensor described in one.
11. clamping device as claimed in claim 10, which is characterized in that the quantity of the sliding feeling sensor is at least two,
And it is orthogonal direction that the opposite direction slided at least, which occurs, there are two the idler wheel (1) of the sliding feeling sensor and object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811302243.5A CN109406018A (en) | 2018-11-02 | 2018-11-02 | A kind of sliding feeling sensor and the clamping device including the sliding feeling sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811302243.5A CN109406018A (en) | 2018-11-02 | 2018-11-02 | A kind of sliding feeling sensor and the clamping device including the sliding feeling sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109406018A true CN109406018A (en) | 2019-03-01 |
Family
ID=65471305
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811302243.5A Pending CN109406018A (en) | 2018-11-02 | 2018-11-02 | A kind of sliding feeling sensor and the clamping device including the sliding feeling sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109406018A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110672240A (en) * | 2019-10-23 | 2020-01-10 | 云南师范大学 | Static friction force measuring device based on optical fiber |
| CN111015740A (en) * | 2019-12-12 | 2020-04-17 | 中国科学院重庆绿色智能技术研究院 | Tactile and slippery sensation sensor, flexible finger grabbing system and grabbing method thereof |
| CN111982199A (en) * | 2020-08-21 | 2020-11-24 | 燕山大学 | High-precision cold rolling roller type pressure and temperature sensor device |
| CN113465798A (en) * | 2021-06-04 | 2021-10-01 | 燕山大学 | DUS-FBG-based large-area flexible electronic skin smooth sensation sensor |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19548467A1 (en) * | 1995-12-22 | 1997-06-26 | Abb Research Ltd | Mechanical oscillation damper for e.g. maintaining accuracy of optical fibre sensors |
| JP2000121460A (en) * | 1998-10-20 | 2000-04-28 | Mitsubishi Cable Ind Ltd | Tactile sensor |
| CN2811964Y (en) * | 2005-03-04 | 2006-08-30 | 南开大学 | Readable force application member for stressed long-period optical fiber grating |
| CN104236764A (en) * | 2014-09-29 | 2014-12-24 | 合肥工业大学 | Capacitive slide tactile sensor |
| CN209148186U (en) * | 2018-11-02 | 2019-07-23 | 格力电器（武汉）有限公司 | A kind of sliding feeling sensor and the clamping device including the sliding feeling sensor |
-
2018
- 2018-11-02 CN CN201811302243.5A patent/CN109406018A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19548467A1 (en) * | 1995-12-22 | 1997-06-26 | Abb Research Ltd | Mechanical oscillation damper for e.g. maintaining accuracy of optical fibre sensors |
| JP2000121460A (en) * | 1998-10-20 | 2000-04-28 | Mitsubishi Cable Ind Ltd | Tactile sensor |
| CN2811964Y (en) * | 2005-03-04 | 2006-08-30 | 南开大学 | Readable force application member for stressed long-period optical fiber grating |
| CN104236764A (en) * | 2014-09-29 | 2014-12-24 | 合肥工业大学 | Capacitive slide tactile sensor |
| CN209148186U (en) * | 2018-11-02 | 2019-07-23 | 格力电器（武汉）有限公司 | A kind of sliding feeling sensor and the clamping device including the sliding feeling sensor |
Non-Patent Citations (1)
| Title |
|---|
| 谭定忠等: "一种光纤式水下机器人滑觉传感器的研究", 半导体光电, vol. 21, no. 5, pages 2 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110672240A (en) * | 2019-10-23 | 2020-01-10 | 云南师范大学 | Static friction force measuring device based on optical fiber |
| CN111015740A (en) * | 2019-12-12 | 2020-04-17 | 中国科学院重庆绿色智能技术研究院 | Tactile and slippery sensation sensor, flexible finger grabbing system and grabbing method thereof |
| CN111982199A (en) * | 2020-08-21 | 2020-11-24 | 燕山大学 | High-precision cold rolling roller type pressure and temperature sensor device |
| CN113465798A (en) * | 2021-06-04 | 2021-10-01 | 燕山大学 | DUS-FBG-based large-area flexible electronic skin smooth sensation sensor |
| CN113465798B (en) * | 2021-06-04 | 2022-03-11 | 燕山大学 | DUS-FBG-based large-area flexible electronic skin smooth sensation sensor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109406018A (en) | A kind of sliding feeling sensor and the clamping device including the sliding feeling sensor | |
| US10302465B2 (en) | Dynamic adjustment of a sampling rate for an optical encoder | |
| CN209148186U (en) | A kind of sliding feeling sensor and the clamping device including the sliding feeling sensor | |
| US9254088B2 (en) | Headset device and method measuring a biosignal | |
| JP7344679B2 (en) | Optical unit with shake correction function | |
| US20190363498A1 (en) | Electrical connector system | |
| US20200050000A1 (en) | Hinge mechanism and head-mounted display including this hinge mechanism | |
| JP7270473B2 (en) | Optical unit with anti-shake function | |
| TW200506749A (en) | External memory device | |
| JP6786840B2 (en) | Process cartridge | |
| US20210089136A1 (en) | Crown input and feedback for head-mountable devices | |
| JP2014052664A (en) | Operator and operation device | |
| KR20150144992A (en) | Portable display device and controlling method thereof | |
| US20160323430A1 (en) | Mounting Device | |
| JP4986501B2 (en) | Optical option mounting ring | |
| TW201447219A (en) | Sight and dust cap thereof | |
| CN107732539A (en) | A kind of computer and its protection type USB interface structure | |
| KR20200122896A (en) | Electronic apparatus and method for controlling flexible display | |
| JP2019095524A5 (en) | ||
| US20140254010A1 (en) | Protective shell capable of providing naked-eye 3d imaging effect | |
| US5926167A (en) | Coordinate input device | |
| CN106030268A (en) | Six-dimensional sensor protection device and six-dimensional sensor having protection device | |
| US9719769B2 (en) | Bidirectional displacement detector | |
| JP7163493B2 (en) | video endoscope and braking element | |
| KR20220119998A (en) | Cable holder |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |