CN114279598A - Touch sensor based on Fe-Ga silk - Google Patents
Touch sensor based on Fe-Ga silk Download PDFInfo
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- CN114279598A CN114279598A CN202111596942.7A CN202111596942A CN114279598A CN 114279598 A CN114279598 A CN 114279598A CN 202111596942 A CN202111596942 A CN 202111596942A CN 114279598 A CN114279598 A CN 114279598A
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Abstract
The invention discloses a touch sensor based on Fe-Ga wires, which comprises a cylindrical shell, a Hall element, Fe-Ga wires, permanent magnet columns, a protection spring and a contact, wherein the Hall element is arranged on the cylindrical shell; the sensor combines the principle of animal tentacles, the Fe-Ga alloy has good magnetostriction effect and magnetostriction reverse effect, the response speed is high, the sensor has excellent mechanical performance and small brittleness, the magnetostriction reverse effect is utilized, the Fe-Ga wire is taken as a sensitive element, the Fe-Ga wire is arranged in the center of a permanent magnetic column at the center of the bottom end in the sensor shell, a protection spring is sleeved outside the permanent magnetic column, the protection spring can effectively protect the Fe-Ga wire and help the Fe-Ga wire to return to the right after being stressed, and the direction and the force of external force can be identified like the animal tentacles when the external force is applied. The invention has simple structure, and the sensitive element is based on magnetostrictive material, and has the advantages of high response speed, high sensitivity and the like.
Description
Technical Field
The invention belongs to the field of sensors, and particularly relates to a tactile sensor based on Fe-Ga wires, which has sensing force including magnitude and direction. The touch sensing device can be applied to object contact sensing, obstacle sensing, robot touch and the like, and is characterized by simple structure, small volume, high response speed and convenient installation.
Background
A tactile sensor is a sensor used in a robot to simulate a tactile function. The touch sense is an important sensory function when a person directly contacts with the external environment, and the development of a touch sensor meeting the requirement is one of the technical keys in the development of robots.
With the development of microelectronic technology and the emergence of various organic materials, various touch sensors have been developed, but at present, most of the touch sensors belong to the laboratory stage and are not commercialized much.
The application numbers are: 201911202031.4, the name is: the touch sensor comprises a bottom shell and a top cover which are rigidly connected, wherein a cavity is formed between the bottom shell and the top cover, and the top cover is provided with a first through hole; the cavity is internally provided with a light source, an elastic and light-transmitting elastic component and a photosensitive sensor; the light source and the photosensitive sensor are respectively positioned on two opposite sides of the elastic component; the photosensitive area of the photosensitive sensor receives the light transmitted through the elastic component; a rigid and lightproof touch part is arranged on one side, away from the bottom shell, of the elastic part, the touch part abuts against the bottom shell and the top cover, and the touch part extends out of the first through hole; when the touch part extrudes the elastic part, the touch part partially shields a photosensitive area of the photosensitive sensor, the touch sensor realizes the detection of touch pressure and sliding tangential force by utilizing the photoelectric effect, and the anti-interference capability to the environment is strong. However, since such a sensor senses the tactile force by the change of the light intensity, the manufacturing accuracy requirement is high, the sealing performance requirement is strict, the processing is difficult, and the commercialization is difficult to achieve.
The invention provides a bionic touch sensor based on a magnetostrictive material Fe-Ga wire by combining an animal tentacle, and the bionic touch sensor has the function of identifying the magnitude and the direction of the contact force.
Disclosure of Invention
The invention aims to provide a touch sensor which has a simple structure, high response speed and high sensitivity.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
a touch sensor based on a Fe-Ga wire comprises a sensor shell which is cylindrical and is provided with an upper opening, a permanent magnet column, the Fe-Ga wire, a protection spring, a contact and Hall elements, wherein the permanent magnet column is fixed in the middle of the inner bottom wall of the sensor shell, the lower end of the Fe-Ga wire is fixed in an inner hole of the permanent magnet column, the upper end of the Fe-Ga wire is provided with the contact, the protection spring is sleeved on the Fe-Ga wire, the upper end of the protection spring is fixedly connected with the contact, the lower end of the protection spring penetrates through the permanent magnet column and is fixed on the sensor shell, and the Hall elements are distributed on the inner wall of the sensor shell in an annular mode.
Preferably, six Hall elements are annularly distributed on the inner wall of the sensor shell.
Preferably, the Fe-Ga filaments have a diameter of 0.8mm and a length of 45 mm.
Preferably, the outer diameter of the permanent magnet column is 5mm, the height of the permanent magnet column is 10mm, and the diameter of an inner hole of the permanent magnet column is 1 mm.
Preferably, the contact is a sphere with the diameter of 1.5mm, and the Fe-Ga wires and the contact are bonded by epoxy resin.
The touch sensor based on the Fe-Ga wires has the beneficial effects that:
1. the touch induction device can be applied to object contact induction, robot touch and the like, and has the characteristics of simple structure, small volume, high response speed and convenience in installation;
2. the sensor combines the principle of animal tentacles, the Fe-Ga alloy has good magnetostriction effect and magnetostriction reverse effect, the response speed is high, the sensor has excellent mechanical performance and small brittleness, the magnetostriction reverse effect is utilized, the Fe-Ga wire is taken as a sensitive element, the Fe-Ga wire is arranged in the center of a permanent magnetic column at the center of the bottom end in the sensor shell, a protection spring is sleeved outside the permanent magnetic column, the protection spring can effectively protect the Fe-Ga wire and help the Fe-Ga wire to return to the right after being stressed, and the direction and the force of external force can be identified like the animal tentacles when the external force is applied.
Drawings
FIG. 1 is a three-dimensional structural view of a Fe-Ga wire based touch sensor of the present invention;
FIG. 2 is a top view of a Fe-Ga wire based touch sensor of the present invention;
fig. 3 is a front view of a Fe-Ga wire based touch sensor of the present invention.
Detailed Description
In order that those skilled in the art can better understand the present invention, the following technical solutions are further described with reference to the accompanying drawings and examples.
Referring to fig. 1 to 3, a touch sensor based on Fe-Ga wires includes a sensor housing 1, a permanent magnetic pillar 2, Fe-Ga wires 3, a protection spring 4, a contact 5, and a hall element 6; the permanent magnet column is fixed at the center of the bottom wall inside the sensor shell 1, the Fe-Ga wire 3 is vertically fixed in an inner hole of the permanent magnet column 2, the top of the Fe-Ga wire 3 is connected with a contact 5, the Fe-Ga wire 3 is sleeved with a protection spring 4, the upper end of the protection spring 4 is fixedly connected with the contact 5, the lower end of the protection spring 4 penetrates through the permanent magnet column 2 and is fixed on the sensor shell 1, and the six Hall elements 6 are uniformly distributed on the inner side of the sensor shell 1. Wherein the diameter of the Fe-Ga wire 3 is 0.8mm, and the length is 45 mm; the outer diameter of the permanent magnet column 2 is 5mm, the height is 10mm, and the diameter of the annular hole is 1 mm; the contact 5 is a sphere with the diameter of 1.5mm, and the Fe-Ga wire 3 and the contact 5 are bonded by epoxy resin.
Furthermore, after the sensor is installed, the Fe-Ga wire deforms after being subjected to an external force, the surrounding magnetic field changes, the six Hall elements in the shell can sense the change of the magnetic field, when the Fe-Ga wire receives forces in different directions and magnitudes, different electric signals can appear in the six Hall elements in the shell, and the direction and magnitude of the external force can be judged according to the six different electric signals.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (5)
1. A Fe-Ga-filament-based tactile sensor, characterized in that: the sensor comprises a sensor shell (1) which is cylindrical and is provided with an upper opening, a permanent magnet column (2), a Fe-Ga wire (3), a protection spring (4), a contact (5) and Hall elements (6), wherein the permanent magnet column (2) is fixed in the middle of the inner bottom wall of the sensor shell (1), the lower end of the Fe-Ga wire (3) is fixed in an inner hole of the permanent magnet column (2), the upper end of the Fe-Ga wire (3) is provided with the contact (5), the protection spring (4) is sleeved on the Fe-Ga wire (3), the upper end of the protection spring (4) is fixedly connected with the contact (5), the lower end of the protection spring penetrates through the permanent magnet column (2) and is fixed on the sensor shell (1), and the inner wall of the sensor shell (1) is annularly distributed with a plurality of Hall elements (6).
2. A Fe-Ga-filament-based tactile sensor according to claim 1, characterized in that: six Hall elements (6) are distributed on the inner wall of the sensor shell (1) in an annular shape.
3. A Fe-Ga-filament-based tactile sensor according to claim 1, characterized in that: the diameter of the Fe-Ga wire (3) is 0.8mm, and the length of the Fe-Ga wire is 45 mm.
4. A Fe-Ga-filament-based tactile sensor according to claim 1, characterized in that: the outer diameter of the permanent magnet column (2) is 5mm, the height is 10mm, and the diameter of an inner hole is 1 mm.
5. A Fe-Ga-filament-based tactile sensor according to claim 1, characterized in that: the contact (5) is a sphere with the diameter of 1.5mm, and the Fe-Ga wires (3) and the contact (5) are bonded by epoxy resin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111596942.7A CN114279598A (en) | 2021-12-24 | 2021-12-24 | Touch sensor based on Fe-Ga silk |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111596942.7A CN114279598A (en) | 2021-12-24 | 2021-12-24 | Touch sensor based on Fe-Ga silk |
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| Publication Number | Publication Date |
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| CN114279598A true CN114279598A (en) | 2022-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111596942.7A Pending CN114279598A (en) | 2021-12-24 | 2021-12-24 | Touch sensor based on Fe-Ga silk |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117147040A (en) * | 2023-11-01 | 2023-12-01 | 中北大学 | Flexible conformal bionic whisker sensor |
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|---|---|---|---|---|
| CN105841856A (en) * | 2016-05-10 | 2016-08-10 | 东南大学 | Whisker sensor for perceiving three-dimensional force displacement and three-dimensional force of contact point |
| CN107655392A (en) * | 2017-07-31 | 2018-02-02 | 东南大学 | A kind of three-dimensional Whisker Sensor for being accurately positioned terminal position |
| US10024713B1 (en) * | 2016-09-30 | 2018-07-17 | The United States Of America As Represented By The Secretary Of The Navy | Vibrissa sensor |
| CN109443606A (en) * | 2018-12-17 | 2019-03-08 | 河北工业大学 | A kind of magnetostriction tactile sensor array for puma manipulator |
| CN111830570A (en) * | 2020-07-15 | 2020-10-27 | 大连海事大学 | Bionic mouse whisker sensor |
| KR20210017709A (en) * | 2019-08-09 | 2021-02-17 | 한국기계연구원 | Tactile sensor |
-
2021
- 2021-12-24 CN CN202111596942.7A patent/CN114279598A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105841856A (en) * | 2016-05-10 | 2016-08-10 | 东南大学 | Whisker sensor for perceiving three-dimensional force displacement and three-dimensional force of contact point |
| US10024713B1 (en) * | 2016-09-30 | 2018-07-17 | The United States Of America As Represented By The Secretary Of The Navy | Vibrissa sensor |
| CN107655392A (en) * | 2017-07-31 | 2018-02-02 | 东南大学 | A kind of three-dimensional Whisker Sensor for being accurately positioned terminal position |
| CN109443606A (en) * | 2018-12-17 | 2019-03-08 | 河北工业大学 | A kind of magnetostriction tactile sensor array for puma manipulator |
| KR20210017709A (en) * | 2019-08-09 | 2021-02-17 | 한국기계연구원 | Tactile sensor |
| CN111830570A (en) * | 2020-07-15 | 2020-10-27 | 大连海事大学 | Bionic mouse whisker sensor |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117147040A (en) * | 2023-11-01 | 2023-12-01 | 中北大学 | Flexible conformal bionic whisker sensor |
| CN117147040B (en) * | 2023-11-01 | 2024-01-26 | 中北大学 | Flexible conformal bionic whisker sensor |
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