CN1483555A - flexible contact sensor - Google Patents

Abstract

The present invention relates to a flexible tactile sensor device for sensing body condition, including supporting frame, on the supporting frame a support is set, on said support the plate elastic beam is connected, and at least one support is connected with plate elastic beam by means of screw-rod, screw-wheel and sliding bush, the screw-rod and screw-wheel are screw-connected, and the sliding bush is connected with the screw-wheel, and the sliding bush is slide-connected with plate elastic beam, and the screw-rod also is connected with output shaft of the motor, and on the plate elastic beam a sensing cap is set, so that said invention can easily implement 3-D flexible tactile sensing structure.

Description

Flexible tactile sensor

One, technical field

The invention belongs to virtual reality technology and teleoperation robot technical field, is a kind of man-machine touch interface devices, relates in particular to a kind of flexible tactile sensor.

Two, background technology

Along with virtual reality technology and interactive teleoperation robot broad application, power is felt and the human-computer interface device of tactile feedback effect with a large amount of the having of needs.Tactile sensor is exactly the important human-computer interface device of a class, and in virtual reality system, the operator can touch dummy object in the virtual environment, tactile characteristics such as the flexibility of perception dummy object, rigidity, superficial makings truly by this device; In teleoperation robot system remote operation process, it can be with the end effector of robot effective object (as the muscle in the remote operation, tissue, organ, objects such as tumour) tactile data feeds back to operating personnel, and reproduce the flexibility and the rigidity of object at operator's finger tip, thereby make the operator produce the tactilely-perceptible effect of " on the spot in person ", own seemingly just at the scene with finger exploration effective object, the just physical characteristic of judgment object and classification exactly of operator like this, for example, in the tele-medicine process, just can judge the position and the size of tumour and whether have key character such as coating according to this tactile sensor.

Three, technology contents

Technical problem: the invention provides and a kind ofly can improve the perception sense of reality and perception velocities and flexible tactile sensor simple in structure.

Technical scheme: the present invention is a kind of flexible tactile sensor that is used to feel the object situation, comprise support, on support, be provided with supporting, be connected with tabular spring beam in supporting, and have at least a supporting to be connected with tabular spring beam by leading screw, silk wheel, the sliding sleeve of establishing thereon, leading screw is threaded with the silk wheel, sliding sleeve is connected with the silk wheel, sliding sleeve and tabular spring beam are slidingly connected, and leading screw also links to each other with the output shaft of motor, are provided with the perception cap on tabular spring beam.

Technique effect: 1. the tabular spring beam of the present invention's employing is simple in structure, and size is little, is easy to processing and installation, therefore is easy to realize three-dimension flexible tactilely-perceptible structure.Utilize tabular spring beam to control quantitatively, accurately and apace and will express the rigidity of object, flexibility or rigidity that this flexible tactile sensor based on tabular spring beam allows the people perceive are a kind of continually varying analog quantitys, so the operator can distinguish exactly have identical shaped and big or small, and the different object of surface flexible (virtual objects or far the real object of robot contact); And original tactilely-perceptible technology can only provide the perception of switching value sense of touch, surface configuration and size that people can only perceptive object, true flexibility or rigidity that can't perceptive object.The rigidity of spring beam is inversely proportional to 3 powers with effective flexural deformation length l of spring beam, that is:

$K\∝\frac{1}{l^3}$ And the stiffness variation rate of spring beam

$r_K=\frac{\mathrm{dK}}{\mathrm{dt}}=\frac{\mathrm{dK}}{\mathrm{dl}}\frac{\mathrm{dl}}{\mathrm{dt}}=\frac{\mathrm{dK}}{\mathrm{dl}}v\∝\frac{v}{l^4}$ Not only and effectively 4 powers of flexural deformation length l are inversely proportional to, and and the pace of change v of l be directly proportional.Just because of 4 powers of the rate of change of rigidity and effective flexural deformation length l are inversely proportional to, therefore can realize the quick control of rigidity by control l, promptly can along with end effector of robot far away in the fast moving (or along with virtual finger fast moving) on contact object surface on the virtual objects surface, and the flexibility of the different contacts site of tracing object changes in real time, makes the operator this flexibility of real-time perception change the variation that takes place with contact position.2. the present invention adopted a kind of screw mandrel with dual rotary direction screw thread to drive the transmission mechanism of two silks wheels relative motion and at tabular spring beam two ends the technical measures of the sheathed sliding sleeve that links to each other with two silks wheels respectively, further improved perception velocities and made symmetrical configuration.The stiffness variation rate of tabular spring beam not only and effectively 4 powers of flexural deformation length l is inversely proportional to, and and the pace of change v of l be directly proportional, therefore adopt the transmission mechanism of two silks wheels of screw mandrel drive relative motion and the structure of simply supported beam to compare, can make the pace of change v of l improve 1 times with the transmission mechanism that adopts the single silk of screw mandrel drive to take turns and the structure of cantilever beam.The symmetry of structure can avoid elastic shelf in bending deformation process, and the bigger deflection and the phenomenon of displacement take place the perception cap, and overcomes this deflection and displacement is wanted complicated structure.3. adopting in the time of tabular spring beam structural system and cylinder girder construction system also makes the present invention have the advantage of three-dimensional tactilely-perceptible.Isotropic character of cylinder beam makes itself and object surfaces flexibility have isotropic character in the horizontal direction, and the flexibility of horizontal direction adapts much smaller than the situation of the flexibility of vertical direction.

Four, description of drawings

Fig. 1 is a structural representation of the present invention.

Fig. 2 is a three-dimensional perception example structure schematic diagram of the present invention.

Fig. 3 is a three-dimensional perception example structure schematic diagram of the present invention.

Fig. 4 is the structural representation of one dimension tactilely-perceptible embodiment of the present invention.

Five, specific embodiments

Embodiment 1: present embodiment is a kind of three-dimension flexible tactile sensor that is used to feel the object situation, comprise support 1, on support 1, be provided with supporting 11 and 12, in supporting 11 and 12, be connected with tabular spring beam 2, supporting 11 is by establishing leading screw 4 thereon, silk wheel 51, sliding sleeve 31 is connected with tabular spring beam 2, leading screw 4 is threaded with silk wheel 51, sliding sleeve 31 is connected with silk wheel 51, sliding sleeve 31 is slidingly connected with tabular spring beam 2, leading screw 4 also links to each other with the output shaft of motor 43, on tabular spring beam 2, be provided with perception cap 6, screw thread on the leading screw 4 is made up of plus thread section 41 and left-hand thread section 42, silk wheel 51 is threaded with one section screw thread 41 wherein, another supporting 12 is also by leading screw 4, another silk wheel 52 links to each other with tabular spring beam 2 with another sliding sleeve 32, another wheel 52 is threaded with another section screw thread 42 on the leading screw 4, this another wheel 52 is connected with another sliding sleeve 32, another sliding sleeve 32 is slidingly connected with tabular spring beam 2, between perception cap 6 and tabular spring beam 2, be provided with cylinder beam 71, on support 1, be provided with vertical screw mandrel 72, vertically screw mandrel 72 links to each other with the output shaft of motor 75, vertical wheel 73 has been threaded on vertical screw mandrel 72, be provided with the vertical sliding sleeve 74 that is slidingly connected with it on cylinder beam 71, vertically sliding sleeve 74 links to each other with vertical wheel 73.

Embodiment 2: present embodiment is a kind of three-dimension flexible tactile sensor that is used to feel the object situation, comprise support 1, on support 1, be provided with supporting 11 and 12, in supporting 11 and 12, be connected with tabular spring beam 2, supporting 11 is by establishing leading screw 4 thereon, silk wheel 51, sliding sleeve 31 is connected with tabular spring beam 2, leading screw 4 is threaded with silk wheel 51, sliding sleeve 31 is connected with silk wheel 51, sliding sleeve 31 is slidingly connected with tabular spring beam 2, leading screw 4 also links to each other with the output shaft of motor 43, on tabular spring beam 2, be provided with perception cap 6, between perception cap 6 and tabular spring beam 2, be provided with cylinder beam 71, on support 1, be provided with vertical screw mandrel 72, vertically screw mandrel 72 links to each other with the output shaft of motor 75, and the vertical wheel 73 that be threaded on vertical screw mandrel 72 is provided with the vertical sliding sleeve 74 that is slidingly connected with it on cylinder beam 71, vertically sliding sleeve 74 links to each other with vertical wheel 73, and another supporting 12 is slidingly connected with tabular spring beam 2.

Embodiment 3: the present invention is a kind of flexible tactile sensor that is used to feel the object situation, comprise support 1, on support 1, be provided with supporting 11 and 12, in supporting 11 and 12, be connected with tabular spring beam 2, supporting 11 is by establishing leading screw 4 thereon, silk wheel 51, sliding sleeve 31 is connected with tabular spring beam 2, leading screw 4 is threaded with silk wheel 51, sliding sleeve 31 is connected with silk wheel 51, sliding sleeve 31 is slidingly connected with tabular spring beam 2, leading screw 4 also links to each other with the output shaft of motor 43, on tabular spring beam 2, be provided with perception cap 6, in the present embodiment, between perception cap 6 and tabular spring beam 2, be provided with bar 61, sheathed fixed cover 611 on bar 61, fixed cover 611 is located on the support 1, screw thread on the above-mentioned leading screw 4 is made up of plus thread section 41 and left-hand thread section 42, silk wheel 51 is threaded with one section screw thread 41 wherein, another supporting 12 is also by leading screw 4, another silk wheel 52 links to each other with tabular spring beam 2 with another sliding sleeve 32, another wheel 52 is threaded with another section screw thread 42 on the leading screw 4, this another wheel 52 is connected with another sliding sleeve 32, and another sliding sleeve 32 and tabular spring beam 2 are slidingly connected.

Claims (4)

1, a kind of flexible tactile sensor that is used to feel the object situation, comprise support (1), it is characterized in that on support (1), being provided with supporting (11 and 12), in supporting (11 and 12), be connected with tabular spring beam (2), and has a supporting (11) at least by establishing leading screw (4) thereon, silk wheel (51), sliding sleeve (31) is connected with tabular spring beam (2), leading screw (4) is threaded with silk wheel (51), sliding sleeve (31) is connected with silk wheel (51), sliding sleeve (31) is slidingly connected with tabular spring beam (2), leading screw (4) also links to each other with the output shaft of motor (43), is provided with perception cap (6) on tabular spring beam (2).

2, flexible tactile sensor according to claim 1, it is characterized in that the screw thread on the leading screw (4) is made up of plus thread section (41) and left-hand thread section (42), silk wheel (51) is threaded with one section screw thread (41) wherein, another supporting (12) is also by leading screw (4), another silk wheel (52) links to each other with tabular spring beam (2) with another sliding sleeve (32), another silk wheel (52) is threaded with another section screw thread (42) on the leading screw (4), this another silk wheel (52) is connected with another sliding sleeve (32), and another sliding sleeve (32) is slidingly connected with tabular spring beam (2).

3, flexible tactile sensor according to claim 1 and 2, it is characterized in that between perception cap (6) and tabular spring beam (2), being provided with cylinder beam (71), on support (1), be provided with vertical screw mandrel (72), vertically screw mandrel (72) links to each other with the output shaft of motor (75), vertical wheel (73) has been threaded on vertical screw mandrel (72), be provided with the vertical sliding sleeve (74) that is slidingly connected with it on cylinder beam (71), vertically sliding sleeve (74) links to each other with vertical silk wheel (73).

4, flexible tactile sensor according to claim 1 is characterized in that another supporting (12) and tabular spring beam (2) are slidingly connected.

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