CN113295201A - Array type magnetic liquid touch sensor - Google Patents
Array type magnetic liquid touch sensor Download PDFInfo
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- CN113295201A CN113295201A CN202110411203.XA CN202110411203A CN113295201A CN 113295201 A CN113295201 A CN 113295201A CN 202110411203 A CN202110411203 A CN 202110411203A CN 113295201 A CN113295201 A CN 113295201A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
An array type magnetic liquid touch sensor is suitable for multiple measurements of positive pressure, surface sliding and concave-convex surface profiles. The sensor includes: nine tactile sensor units having the same structure, such as a first tactile sensor unit (1) and a second tactile sensor unit (2), a resin pressure-resistant film (10), a polylactic acid fixing base (11), and the like, exemplified by the first tactile sensor unit (1), are provided with: the device comprises a first suspension force permanent magnet (1-1), a first non-magnetic shell (1-2), first magnetic liquid (1-3), a first non-magnetic metal block (1-4), a first tactile connecting rod (1-5), a first pair of Hall elements (1-6), a first non-magnetic contact (1-7), a first excitation permanent magnet (1-8) and a first end cover (1-9), wherein when external excitation acts on a resin pressure-resistant film (10), nine tactile sensor units output different voltage signals, and real-time measurement of multiple signals is realized through an external circuit.
Description
Technical Field
The invention belongs to the field of detecting instruments, and is suitable for multiple measurements of positive pressure, surface sliding and concave-convex surface profiles.
Background
At present, with the wide application of the touch sensor, higher requirements are provided for the flexibility, the precision, the functionalization and the omnidirectionality of the measuring device. The tactile sensor is a sensor that can realize simultaneous measurement of multiple physical quantities like human skin. Common tactile sensors include primarily capacitive and piezoresistive types: for example, patent "tactile sensor and tactile sensor unit constituting the tactile sensor" (patent application No. 201880018515.0), patent "double-layer tactile sensor based on bionic mechanism" (patent application No. 202010559568.2), and the like, all propose detecting external excitation by applying a shearing force to a dielectric substance to cause a change in electrostatic capacitance; for example, patent active tactile sensor (patent application No. 201610894052.7), multilayer tactile sensor (patent application No. 201810400690.8), etc., all utilize the piezoelectric effect, and the change of external pressure causes the resistance value of the inner flexible resistance layer to change, thereby detecting external excitation, but the above type of tactile sensor uses the sensing material in solid form, has the structural problems of low flexibility and high loss, and the type of the measured physical quantity is limited, and lacks the functional comprehensiveness, so it is necessary to introduce a new type of sensing element to the sensing system to enhance robustness, and realize the function of synchronous measurement of multiple physical signals.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the existing touch sensor has the problems of weak robustness and single measured physical quantity.
The technical scheme adopted by the invention for solving the technical problems is as follows:
an array magnetic liquid tactile sensor, the sensor comprising: the first tactile sensor unit, the second tactile sensor unit, the third tactile sensor unit, the fourth tactile sensor unit, the fifth tactile sensor unit, the sixth tactile sensor unit, the seventh tactile sensor unit, the eighth tactile sensor unit, the ninth tactile sensor unit, the resin pressure-resistant film, the polylactic acid fixing base, the first support link, the second support link, the third support link, the fourth support link, taking the first tactile sensor unit as an example, includes: the device comprises a first suspension force permanent magnet, a first non-magnetic shell, first magnetic liquid, a first non-magnetic metal block, a first tactile connecting rod, a first excitation permanent magnet, a first non-magnetic contact, a first pair of Hall elements and a first end cover.
The connection between each part of the sensor is as follows:
fixing the center of the upper end of a first non-magnetic-conductive metal block and the lower end of a first touch connecting rod, penetrating the first touch connecting rod through a central circular hole of a first end cover, fixing a first excitation permanent magnet on the first end cover, fixing a first pair of Hall elements below a first non-magnetic-conductive contact, fixing the first non-magnetic-conductive contact and the upper end of the first touch connecting rod, injecting a first magnetic liquid into a cavity of a first non-magnetic-conductive shell, fixing the first end cover on the upper part of the first non-magnetic-conductive shell to realize sealing, connecting the first pair of Hall elements with an external circuit, and because the density of the first non-magnetic-conductive metal block is far greater than that of the first magnetic liquid, the first non-magnetic-conductive metal block is immersed at the bottom of the first magnetic liquid in an initial state, at the moment, fixing a first suspension force permanent magnet at the bottom of the first non-magnetic-conductive shell, and generating a vertically-uniform magnetic field in the first magnetic liquid, the direction of the magnetic field gradient is vertically downward, and according to the ferrofluid Bernoulli equation and the first-order buoyancy principle of the magnetic liquid, the first non-magnetic-conductive metal block and the first tactile connecting rod are suspended in the first magnetic liquid until the shaft shoulder of the first tactile connecting rod is contacted with the first end cover to reach balance, so that a first tactile sensor unit is formed; mounting a second tactile sensor unit, a third tactile sensor unit, a fourth tactile sensor unit, a fifth tactile sensor unit, a sixth tactile sensor unit, a seventh tactile sensor unit, an eighth tactile sensor unit and a ninth tactile sensor unit according to the same connection mode, sequentially fixing the nine tactile sensor units in nine grooves of a polylactic acid fixing base, respectively mounting a first support connecting rod, a second support connecting rod, a third support connecting rod and a fourth support connecting rod in four slotted holes at the top of the polylactic acid fixing base, connecting four corners of a resin pressure-resistant film with the ends of the first support connecting rod, the second support connecting rod, the third support connecting rod and the fourth support connecting rod, adjusting the height of the resin pressure-resistant film to ensure that nine non-magnetic-conductive contacts can be completely contacted with the resin pressure-resistant film, and leading nine pairs of Hall elements to pass through an average value calculation circuit, and the amplifying circuit and the data acquisition card are connected with the LabVIEW, and the initial state of the magnetic liquid touch sensor is at the moment.
The nine non-magnetic-conductive metal blocks are dumbbell-shaped, the weight of the metal blocks can be reduced, the paired Hall elements can avoid the error of the magnetic field intensity measured by a single Hall element, Hall element signals among all the touch sensing units are not mutually influenced, when positive pressure acts on the resin pressure-resistant film, the non-magnetic-conductive contact points of the nine touch sensing units generate different vertical displacements along with the deformation of the resin pressure-resistant film, and simultaneously drive the Hall element and the non-magnetic-conductive metal blocks to move downwards, so that the magnetic field of the exciting permanent magnet at the Hall element is changed and voltage signals are output, when the nine touch sensing units reach a stable state, the nine pairs of Hall elements output stable voltage signals, and the larger the positive pressure at the non-magnetic-conductive contact points is, the stronger the magnetic field at the pair of Hall elements is, and the larger the output voltage signals are; when the positive pressure point moves along the surface of the resin pressure-resistant film, the non-magnetic-conductive contact points on the nine touch sensor units are subjected to alternate vertical displacement along with the deformation of the resin pressure-resistant film, so that alternate voltage signals are generated, the magnitude, direction and displacement of the moving speed can be really recorded by measuring the numerical change and variation trend of the output voltage signals of the nine pairs of Hall elements, and after signal processing of an average value calculation circuit and an amplification circuit and signal acquisition of a data acquisition card, the sliding speed and acceleration of the positive pressure point along the surface of the resin pressure-resistant film can be obtained through real-time display and operation of LabVIEW; when the resin pressure-resistant film is in contact with the contour of the concave-convex surface to be measured, the higher the surface bulge is, the larger the downward displacement of the non-magnetic-conductive contact point which is closer to the point along the vertical direction is, the stronger the magnetic field at the Hall element is, and the contour of the concave-convex surface to be measured can be indirectly reflected by measuring the output voltage of the nine pairs of Hall elements. The invention takes nine contacts as an example, and the actual number of the contacts can be increased or decreased according to the situation.
The invention has the beneficial effects that:
the non-magnetic metal block is connected with the touch connecting rod and suspended in the magnetic liquid, so that the impact vibration applied to nine non-magnetic contacts from the outside can be absorbed by the magnetic liquid, the touch connecting rod is not damaged, and the sensor has stronger impact resistance.
Drawings
Fig. 1 a first tactile sensor unit.
In the figure: the device comprises a first suspension force permanent magnet 1-1, a first non-magnetic shell 1-2, a first magnetic liquid 1-3, a first non-magnetic metal block 1-4, a first tactile connecting rod 1-5, a first pair of Hall elements 1-6, a first non-magnetic contact 1-7, a first excitation permanent magnet 1-8 and a first end cover 1-9.
Fig. 2 is a front view of an array type magnetic liquid tactile sensor.
In the figure: a resin pressure-resistant film 10 and a polylactic acid fixing base 11.
Fig. 3 is a top view of an array type magnetic liquid tactile sensor.
The first tactile sensor unit 1, the second tactile sensor unit 2, the third tactile sensor unit 3, the fourth tactile sensor unit 4, the fifth tactile sensor unit 5, the sixth tactile sensor unit 6, the seventh tactile sensor unit 7, the eighth tactile sensor unit 8, the ninth tactile sensor unit 9, the first support link 12-1, the second support link 12-2, the third support link 12-3, the fourth support link 12-4.
Detailed Description
The invention is further illustrated in the detailed description of the invention with reference to fig. 1:
a first tactile sensor unit, the sensor unit comprising: the device comprises a first suspension force permanent magnet 1-1, a first non-magnetic shell 1-2, a first magnetic liquid 1-3, a first non-magnetic metal block 1-4, a first tactile connecting rod 1-5, a first pair of Hall elements 1-6, a first non-magnetic contact 1-7, a first excitation permanent magnet 1-8 and a first end cover 1-9.
Connections between the parts of the tactile sensor unit:
fixing the center of the upper end of a first non-magnetic-conductive metal block 1-4 and the lower end of a first touch sense connecting rod 1-5, then enabling the first touch sense connecting rod 1-5 to pass through a central circular hole of a first end cover 1-9, fixing a first excitation permanent magnet 1-8 on the first end cover 1-9, fixing a first pair of Hall elements 1-6 below a first non-magnetic-conductive contact 1-7, fixing the first non-magnetic-conductive contact 1-7 and the upper end of the first touch sense connecting rod 1-5, injecting a first magnetic liquid 1-3 into a cavity of a first non-magnetic-conductive shell 1-2, fixing the first end cover 1-9 on the upper part of the first non-magnetic-conductive shell 1-2 to realize sealing, connecting the first pair of Hall elements 1-6 with an external circuit, because the density of the first non-magnetic-conductive metal block 1-4 is far greater than that of the first magnetic liquid 1-3, therefore, in the initial state, the first non-magnetic conductive metal block 1-4 will be immersed at the bottom of the first magnetic liquid 1-3, and at this time, the first levitation force permanent magnet 1-1 is fixed at the bottom of the first non-magnetic conductive housing 1-2, the first levitation force permanent magnet 1-1 generates a vertically-oriented non-uniform magnetic field inside the first magnetic liquid 1-3, the gradient direction of the magnetic field is vertically downward, and the first non-magnetic conductive metal block 1-4 will be suspended in the first magnetic liquid 1-3 together with the first tactile connecting rod 1-5 until the shaft shoulder of the first tactile connecting rod 1-5 is in contact with the first end cap 1-9 to reach equilibrium, as can be known from the bernoulli equation of ferrofluid and the principle of first-order buoyancy of the magnetic liquids.
The invention is further illustrated by the following specific embodiments in the attached figures 2 and 3:
an array magnetic liquid tactile sensor, the sensor comprising: the first tactile sensor unit 1, the second tactile sensor unit 2, the third tactile sensor unit 3, the fourth tactile sensor unit 4, the fifth tactile sensor unit 5, the sixth tactile sensor unit 6, the seventh tactile sensor unit 7, the eighth tactile sensor unit 8, the ninth tactile sensor unit 9, the resin pressure-resistant film 10, the polylactic acid fixing base 11, the first support link 12-1, the second support link 12-2, the third support link 12-3, the fourth support link 12-4.
The connection between each part of the array type magnetic liquid tactile sensor is as follows:
a first tactile sensor unit 1, a second tactile sensor unit 2, a third tactile sensor unit 3, a fourth tactile sensor unit 4, a fifth tactile sensor unit 5, a sixth tactile sensor unit 6, a seventh tactile sensor unit 7, an eighth tactile sensor unit 8 and a ninth tactile sensor unit 9 are installed according to the same connection mode, then the nine tactile sensor units are sequentially fixed in nine grooves of a polylactic acid fixing base 11, a first support connecting rod 12-1, a second support connecting rod 12-2, a third support connecting rod 12-3 and a fourth support connecting rod 12-4 are respectively installed in four slotted holes at the top of the polylactic acid fixing base 11, and four corners of a resin pressure-resistant film 10 are connected with the end parts of the first support connecting rod 12-1, the second support connecting rod 12-2, the third support connecting rod 12-3 and the fourth support connecting rod 12-4, the height of the resin pressure-resistant film 10 is adjusted, so that nine non-magnetic-conductive contacts can be completely contacted with the resin pressure-resistant film 10, and nine pairs of Hall elements are connected with LabVIEW through an average value calculation circuit, an amplification circuit and a data acquisition card, and the state is the initial state of the magnetic liquid touch sensor.
The nine non-magnetic-conductive metal blocks are dumbbell-shaped, the weight of the metal blocks can be reduced, the paired hall elements can avoid the error of the magnetic field intensity measured by a single hall element, the hall element signals between the touch sensing units are not mutually influenced, when positive pressure acts on the resin pressure-resistant film 10, the non-magnetic-conductive contact points of the nine touch sensing units generate different vertical displacements along with the deformation of the resin pressure-resistant film 10, and simultaneously drive the hall elements and the non-magnetic-conductive metal blocks to move downwards, so that the magnetic field of the exciting permanent magnet at the hall elements is changed and voltage signals are output, when the nine touch sensing units reach a stable state, the nine pairs of hall elements output stable voltage signals, and the larger the positive pressure at the non-magnetic-conductive contact points is, the stronger the magnetic field at the pair of hall elements is, and the larger the output voltage signals are; when the positive pressure point moves along the surface of the resin pressure-resistant film 10, the non-magnetic-conductive contact points on the nine tactile sensor units alternately vertically displace along with the deformation of the resin pressure-resistant film 10, so as to generate alternate voltage signals, the magnitude, direction and displacement of the moving speed can be really recorded by measuring the numerical value change and variation trend of the output voltage signals of the nine pairs of Hall elements, and after signal processing of an average value calculation circuit and an amplification circuit and signal acquisition of a data acquisition card, the sliding speed and acceleration of the positive pressure point along the surface of the resin pressure-resistant film 10 can be obtained through real-time display and operation of LabVIEW; when the resin pressure-resistant film 10 is in contact with the contour of the concave-convex surface to be measured, the higher the surface bulge is, the larger the downward displacement of the non-magnetic-conductive contact point which is closer to the point along the vertical direction is, the stronger the magnetic field at the hall element is, and the contour of the concave-convex surface to be measured can be indirectly reflected by measuring the output voltage of the nine pairs of hall elements. The invention takes nine contacts as an example, and the actual number of the contacts can be increased or decreased according to the situation.
The non-magnetic metal block is connected with the touch connecting rod and suspended in the magnetic liquid, so that the impact vibration applied to nine non-magnetic contacts from the outside can be absorbed by the magnetic liquid, the touch connecting rod is not damaged, and the sensor has stronger impact resistance.
Claims (1)
1. An array magnetic liquid tactile sensor, comprising:
the tactile sensor includes: the touch sensor comprises a first touch sensor unit (1), a second touch sensor unit (2), a third touch sensor unit (3), a fourth touch sensor unit (4), a fifth touch sensor unit (5), a sixth touch sensor unit (6), a seventh touch sensor unit (7), an eighth touch sensor unit (8), a ninth touch sensor unit (9), a resin pressure-resistant film (10), a polylactic acid fixing base (11), a first support link (12-1), a second support link (12-2), a third support link (12-3), and a fourth support link (12-4), wherein the nine touch sensor units have the same structure, and take the first touch sensor unit (1) as an example, and the touch sensor comprises: the device comprises a first suspension force permanent magnet (1-1), a first non-magnetic shell (1-2), first magnetic liquid (1-3), a first non-magnetic metal block (1-4), a first tactile connecting rod (1-5), a first pair of Hall elements (1-6), a first non-magnetic contact (1-7), a first excitation permanent magnet (1-8) and a first end cover (1-9);
fixing the center of the upper end of a first non-magnetic-conductive metal block (1-4) and the lower end of a first tactile connecting rod (1-5), then enabling the first tactile connecting rod (1-5) to pass through a central circular hole of a first end cover (1-9), fixing a first excitation permanent magnet (1-8) on the first end cover (1-9), fixing a first pair of Hall elements (1-6) below a first non-magnetic-conductive contact (1-7), fixing the first non-magnetic-conductive contact (1-7) and the upper end of the first tactile connecting rod (1-5), injecting a first magnetic liquid (1-3) into a cavity of a first non-magnetic-conductive shell (1-2), fixing the first end cover (1-9) on the upper part of the first non-magnetic-conductive shell (1-2) to realize sealing, and connecting the first pair of Hall elements (1-6) with an external circuit, then fixing a first suspension force permanent magnet (1-1) at the bottom of a first non-magnetic-conductive shell (1-2), and suspending a first non-magnetic-conductive metal block (1-4) and a first tactile connecting rod (1-5) in first magnetic liquid (1-3) until a shaft shoulder of the first tactile connecting rod 1-5 is contacted with a first end cover 1-9 to reach balance, so as to form a first tactile sensor unit (1);
a second tactile sensor unit (2), a third tactile sensor unit (3), a fourth tactile sensor unit (4), a fifth tactile sensor unit (5), a sixth tactile sensor unit (6), a seventh tactile sensor unit (7), an eighth tactile sensor unit (8) and a ninth tactile sensor unit (9) are installed according to the same connection mode, then the nine tactile sensor units are sequentially fixed in nine grooves of a polylactic acid fixing base (11), then a first support connecting rod (12-1), a second support connecting rod (12-2), a third support connecting rod (12-3) and a fourth support connecting rod (12-4) are respectively installed in four slotted holes at the top of the polylactic acid fixing base (11), and four corners of a resin pressure-resistant film (10) are connected with the first support connecting rod (12-1), The ends of the second support connecting rod (12-2), the third support connecting rod (12-3) and the fourth support connecting rod (12-4) are connected, and the height of the resin pressure-resistant film (10) is adjusted, so that nine non-magnetic-conductive contacts can be completely contacted with the resin pressure-resistant film (10).
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| CN202110411203.XA CN113295201A (en) | 2021-04-16 | 2021-04-16 | Array type magnetic liquid touch sensor |
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| CN202110411203.XA CN113295201A (en) | 2021-04-16 | 2021-04-16 | Array type magnetic liquid touch sensor |
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Citations (6)
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|---|---|---|---|---|
| CN103411710A (en) * | 2013-08-12 | 2013-11-27 | 国家纳米科学中心 | Pressure sensor, electronic skin and touch screen equipment |
| CN105527459A (en) * | 2016-02-04 | 2016-04-27 | 河北工业大学 | Hall type magnetic fluid acceleration sensor |
| CN207487695U (en) * | 2017-11-15 | 2018-06-12 | 上海源本磁电技术有限公司 | Sliding sense touch sensor |
| WO2019049888A1 (en) * | 2017-09-05 | 2019-03-14 | 国立大学法人大阪大学 | Tactile sensor |
| CN111412831A (en) * | 2020-03-27 | 2020-07-14 | 北京交通大学 | Impact-resistant magnetic liquid touch sensor |
| CN111993446A (en) * | 2020-07-03 | 2020-11-27 | 北京大学 | Magnetic field based flexible tactile sensor |
-
2021
- 2021-04-16 CN CN202110411203.XA patent/CN113295201A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103411710A (en) * | 2013-08-12 | 2013-11-27 | 国家纳米科学中心 | Pressure sensor, electronic skin and touch screen equipment |
| CN105527459A (en) * | 2016-02-04 | 2016-04-27 | 河北工业大学 | Hall type magnetic fluid acceleration sensor |
| WO2019049888A1 (en) * | 2017-09-05 | 2019-03-14 | 国立大学法人大阪大学 | Tactile sensor |
| CN207487695U (en) * | 2017-11-15 | 2018-06-12 | 上海源本磁电技术有限公司 | Sliding sense touch sensor |
| CN111412831A (en) * | 2020-03-27 | 2020-07-14 | 北京交通大学 | Impact-resistant magnetic liquid touch sensor |
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| 谢君 等: "磁性液体触觉传感器的设计及特性研究", 《仪器仪表学报》 * |
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