German Vahle sensor Vahle model Vahle price

Vahle sensors are devices that convert optical signals into electrical signals. Their operating principle is based on the photoelectric effect. The photoelectric effect refers to the phenomenon where electrons in a material absorb photon energy when light strikes certain substances, resulting in corresponding electrical effects. Based on the different manifestations of the photoelectric effect, it is categorized into three types: external photoelectric effect, internal photoelectric effect, and photovoltaic effect. Photoelectric devices include phototubes, photomultiplier tubes, photoresistors, photodiodes, phototransistors, and photocells. The performance and characteristic curves of photoelectric devices are analyzed.

Vahle sensor introduction

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

Vahle sensor classification

Slip sensors are used to determine and measure the slippage of objects when a robot grips or transports them. They are essentially displacement sensors. Based on the presence or absence of sliding direction detection capability, they are divided into three categories: non-directional, single-directional, and omni-directional. 1) Non-directional sensors include probe-earpiece types, which consist of sapphire probes, metal buffers, piezoelectric Rochelle salt crystals, and rubber buffers. Sliding causes the probe to vibrate, and the Rochelle salt converts this vibration into corresponding electrical signals. The buffer's role is to reduce noise. 2) Single-directional sensors include drum photoelectric types. Slippage of the gripped object causes the drum to rotate, leading a photodiode to receive light signals transmitted through a code disk (mounted on the drum's circular face). Object slippage is measured via the drum's rotation angle signal. 3) Omni-directional sensors use metal balls coated with insulating material, featuring a latitudinal and longitudinal distribution 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 determined. This type of sensor requires high manufacturing precision.

Vahle sensor applications

Tactile sensors are used to determine whether a robot (primarily its limbs) is in contact with external objects or to measure the characteristics of the contacted objects. Types of tactile sensors include micro switches, conductive rubber, carbon-impregnated sponge, carbon fiber, and pneumatic reset devices. 1 Micro switch: Composed of a spring and contacts. When the contacts touch an external object, they move away from the base, causing the signal path to open, thereby detecting contact with the external object. The advantage of this normally closed (continuously connected when not in contact) micro switch is ease of use and simple structure; the disadvantages are susceptibility to mechanical oscillation and contact oxidation. 2 Conductive rubber type: It uses conductive rubber as the sensitive element. When the contacts touch an external object and are compressed, the conductive rubber is pressed, changing its resistance and thus altering the current flowing through it. The disadvantage of this sensor is that drift and hysteresis characteristics vary due to differences in the conductive rubber material formulation; the advantage is its flexibility. 3 Carbon-impregnated sponge type: It features an elastic body made of sponge mounted on a substrate, with carbon-impregnated sponge arranged in an array within the sponge. When the contacted object is compressed, the resistance of the carbon-impregnated sponge decreases; measuring the magnitude of the current flowing through the carbon-impregnated sponge determines the degree of compression. This sensor can also be used as a pressure sensor. Advantages include simple structure, good elasticity, and ease of use. Disadvantages are that the uniformity of carbon distribution directly affects measurement results, and recovery capability after compression is poor. 4 Carbon fiber type: Uses carbon fiber as the top layer, a substrate as the bottom layer, and urethane and metal electrodes installed in between. When contacting an external object, the carbon fiber is compressed and makes contact with the electrodes to conduct electricity. The advantage is good flexibility, allowing installation on curved surfaces of robotic arms, but hysteresis is significant. 5 Pneumatic reset type: It has a flexible insulating surface that deforms under pressure, with compressed air serving as the resetting force when contact is broken. When in contact with an external object, the internal elastic dome (beryllium copper foil) contacts the lower contacts to conduct electricity. Advantages are good flexibility and high reliability, but a compressed air source is required.

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