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SIEMENS sensors are sensors used to measure the robot's own position. Position sensors can be divided into two types: contact sensors and proximity sensors. Sensors that can sense the position of the measured object and convert it into a usable output signal. It is a sensor that can sense the position of the measured object and convert it into a usable output signal. Position sensors can be used to detect position, reflect switches in certain states. Unlike displacement sensors, position sensors come in two types: contact and proximity.

SIEMENS sensor introduction

Sensors used in robots to mimic tactile functions. Tactile sense is an important sensory function when humans directly contact the external environment. Developing tactile sensors that meet requirements is one of the key technologies in robot development. With the development of microelectronics and the emergence of various organic materials, a variety of development schemes for tactile sensors have been proposed, but most are currently at the laboratory stage, with few reaching productization. Tactile sensors can be roughly divided by function into contact sensors, force-torque sensors, pressure sensors, and slip sensors.

SIEMENS sensor classification

Slip sensors are used to judge and measure the slippage generated by objects when robots grasp or handle them. They are essentially a type of displacement sensor. Based on whether they have sliding direction detection functionality, they can be divided into three categories: non-directional, single-directional, and omni-directional. 1) Non-directional sensors include probe-earphone types, which consist of sapphire probes, metal buffers, piezoelectric Rochelle salt crystals, and rubber buffers. During sliding, the probe vibrates, and the Rochelle salt converts this into corresponding electrical signals. The buffer's role is to reduce noise. 2) Single-directional sensors include drum photoelectric types; slippage of the grasped object causes the drum to rotate, causing photodiodes to receive light signals passing through the code disk (mounted on the drum's circular surface), measuring the object's slippage through the drum's rotation angle signal. 3) Omni-directional sensors use metal balls coated with insulating material and composed of latitudinal and longitudinal distributions of conductive and non-conductive areas. When the sensor contacts an object and slides, the ball rotates, causing the conductive and non-conductive areas on the ball's surface to alternately contact electrodes, thereby generating on/off signals. By counting and judging these on/off signals, the magnitude and direction of slippage can be measured. This type of sensor requires high manufacturing process standards.

SIEMENS sensor applications

Contact sensors are used to judge whether a robot (mainly referring to limbs) has contacted an external object or to measure the characteristics of the contacted object. Types of contact sensors include micro switches, conductive rubber, carbon-containing sponge, carbon fiber, and pneumatic reset devices. 1) Micro switch: Composed of a spring and a contact point. When the contact point touches an external object, it leaves the base plate, causing the signal path to disconnect, thereby detecting contact with the external object. The advantage of this normally closed (always connected when not touching) micro switch is ease of use and simple structure; the disadvantage is susceptibility to mechanical oscillation and contact oxidation. 2) Conductive rubber type: Uses conductive rubber as the sensitive element. When the contact point touches an external object and is pressed, it compresses the conductive rubber, changing its resistance, thereby changing the current flowing through the conductive rubber. The disadvantage of this sensor is that due to differences in conductive rubber material formulations, drift and hysteresis characteristics are inconsistent; the advantage is flexibility. 3) Carbon-containing sponge type: It has an elastic body made of sponge mounted on a substrate, with carbon-containing sponge arranged in an array within the sponge. When contacting an object under pressure, the resistance of the carbon-containing sponge decreases; measuring the current flowing through the carbon-containing sponge determines the pressure level. This sensor can also be used as a pressure sensor. Advantages are simple structure, good elasticity, and ease of use. Disadvantages are that the uniformity of carbon distribution directly affects measurement results, and recovery ability after pressure is poor. 4) Carbon fiber type: Uses carbon fiber as the upper layer, a substrate as the lower layer, with urethane and metal electrodes installed in between. When contacting an external object, the carbon fiber is pressed against the electrode to conduct electricity. The advantage is good flexibility, allowing installation on curved surfaces of mechanical arms, but hysteresis is significant. 5) Pneumatic reset type: It has a flexible insulating surface that deforms under pressure; when contact is lost, compressed air serves as the reset power. When contacting an external object, its internal elastic bubble (beryllium copper foil) contacts the lower touch point to conduct electricity. Advantages are good flexibility and high reliability, but it requires a compressed air source.

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