Underwater robot four dimensional fingertip force sensor and information acquisition method

Abstract

The present invention discloses an underwater robot four-dimensional fingertip force sensor and information obtaining method thereof; the sensor comprises mutually connected base, upper cover, sealing ring, fingertip, elastomer, measuring circuit board and digital hardware circuit board. The E-shaped film of the elastomer induces the normal force Fz, tangential force Fx, Fy of contacting face of the paw; the thin rectangle metal sheet induces the torque Mz around the normal; the detecting circuit composed by strain foil stuck on the elastomer converts the change caused by force and moment of the sensor into change of voltage. In the method, the change of the voltage is executed signal conditioning via the measuring circuit board integrated on the sensor, and the four-dimensional force information is sent to the underwater robot body through the analog-to-digital conversion, digital filtering, numerical calculation and decoupling of the digital hardware circuit board via the communication interface. The present invention uses screw fluid sealant to encrypt so as to realize underwater sealing, uses silica gel and round metal soleplate to realize deep underwater automatic pressure compensation; the present invention is able to obtain the four-dimensional force subjected by the intelligent paw of the underwater robot.

Description

technical field [0001] The invention relates to marine measurement and sensing technology and humanoid robot technology, in particular to a four-dimensional fingertip force sensor for an underwater robot and an information acquisition method thereof. Background technique [0002] As we all know, the seabed environment is very harsh. Whether it is shipwreck salvage, sea lifesaving, optical cable laying, or resource exploration and mining, general equipment is difficult to complete. In response to this situation, many kinds of underwater robots have been developed at home and abroad. In order to make the underwater robots more smoothly complete the operations in the special underwater environment, the robot claws should have certain autonomous functions, which requires the robot claws to have perception The function of environmental information such as force sense, touch sense, slip sense, vibration sense, etc. Although various common force-sensing tactile sensors have compl...

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Problems solved by technology

It is easy to process and realize miniaturization, but the structure is complex, the elastic body is not an integrated structure, there is a lot of redundant information, and the deformation of the cross beam when the force is applied affects the measurement of the lower E-shaped circular diaphragm, and the cross beam and the The strength of sintered ceramics is limited, so the range of the sensor is also limited, which limits its application in underwater sensors

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