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Touch and slip sensor for acquiring resonance signal based on active excitation signal

A technology of excitation signal and resonance signal, applied in the direction of transmitting sensing components by electric/magnetic devices, transmitting sensing components by wave/particle radiation devices, manipulators, etc., can solve problems such as high cost and complex structure, and achieve low cost , the effect of simple structure

Active Publication Date: 2019-09-17
GUIZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a touch-slip sensor that obtains a resonance signal based on an active excitation signal to solve the problems of complex structure and high cost of the existing touch-slip sensor

Method used

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  • Touch and slip sensor for acquiring resonance signal based on active excitation signal
  • Touch and slip sensor for acquiring resonance signal based on active excitation signal
  • Touch and slip sensor for acquiring resonance signal based on active excitation signal

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Embodiment

[0025] According to an embodiment of the present invention, a touch-slip sensor based on an active excitation signal to obtain a resonance signal is applied to a manipulator 1. The manipulator 1 is mainly used for grabbing objects and consists of three parts: an actuator, a drive mechanism and a control system. An automatic operating device that can imitate certain movement functions of the human arm to grasp, carry objects or operate tools according to a fixed program. The manipulator 1 is commonly used at present, and will not be described in detail here.

[0026] The touch-slip sensor includes: a sliding touch panel 2 , an electret microphone 3 , a piezoelectric ceramic sheet 4 , a signal generator 5 , a power amplifier 6 , a signal conditioning circuit 7 and a data acquisition card 8 .

[0027] Sliding touch panel 2, installed on the manipulator 1, is mainly used to feel the contact and sliding of the manipulator 1 during the grasping process. Usually, a thin iron sheet wi...

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Abstract

The invention discloses a touch and slip sensor for acquiring resonance signal based on an active excitation signal. The sensor is applied to a manipulator, the manipulator is used for capturing an object, the touch and slip sensor comprises a slip touch panel arranged on the manipulator; an electret microphone arranged on the slip touch panel; a piezoelectric ceramic piece arranged on the slip touch panel; and a signal generator for acting the produced excitation signal on the piezoelectric ceramic piece, thereby enabling the piezoelectric ceramic piece to produce vibration; the piezoelectric ceramic piece acts the produced vibration on the slip touch panel, and the electret microphone outputs a response signal according to the vibration signal produced when the piezoelectric ceramic piece and the manipulator capture an object. The resonance frequencies of the manipulator under no-load, sliding, clamping and like different states in the capturing process are measured by utilizing an acoustic resonance spectrum method, and the resonance frequency is used as the evidence for judging the accomplishment of the capturing the manipulator, and the sensor has the advantages of being simple in structure and low in cost.

Description

technical field [0001] The invention relates to a touch-slip sensor that acquires a resonance signal based on an active excitation signal, and belongs to the technical field of touch-slip sensors. Background technique [0002] One of the key technologies in the operation of intelligent robots is soft grasping with manipulators, that is, grasping without damage. The application of this technology can make the damage-free grasping of fragile objects a reality, and at the same time improve the working efficiency of the robot. To achieve soft grasping, it is necessary to install corresponding sensors on the manipulator of the robot. The touch-slip sensor plays a vital role in the non-destructive grasping of the manipulator, so its performance directly determines whether the manipulator can successfully complete the soft grasping task. [0003] The slip sensor uses the principle of acoustic electricity to convert the touch-slip signal generated by the manipulator during the gra...

Claims

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Application Information

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IPC IPC(8): G01D5/56G01D5/62B25J19/02
CPCB25J19/02B25J19/028G01D5/56G01D5/62
Inventor 钟方亮陈进军张启龙
Owner GUIZHOU UNIV
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