German APRAGAZ sensors, APRAGAZ models, APRAGAZ prices

APRAGAZ sensors generally consist of 2 parts: the processing channel and the processing element. Their basic principle is based on the photoelectric effect, converting changes in the measured variable into changes in optical signals, and then using photoelectric components to further convert non-electrical signals into electrical signals. The photoelectric effect refers to illuminating an object with light, which can be viewed as a stream of photons with specific energy bombarding the object. At this time, the photon energy is transferred to electrons, and the entire energy of one photon is absorbed by one electron at once. After receiving the energy transferred by the photon, the state of the electron changes, thereby causing the illuminated object to produce corresponding electrical effects. The photoelectric effect is usually divided into 3 categories: (1) The phenomenon where electrons escape from the surface of an object under the action of light is called the external photoelectric effect, such as in phototubes and photomultiplier tubes; (2) The phenomenon where the resistivity of an object changes under the action of light is called the internal photoelectric effect, such as in photoresistors and phototransistors; (3) The phenomenon where an object generates an electromotive force in a specific direction under the action of light is called the photovoltaic effect, such as in photocells.

APRAGAZ 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 technology and the emergence of various organic materials, a variety of development schemes for tactile sensors have been proposed, but most are currently in the laboratory stage, with few reaching productization. Tactile sensors can be roughly classified by function into contact sensors, force-torque sensors, pressure sensors, and slip sensors.

APRAGAZ sensor classification

Slip sensors are used to judge and measure the slippage of objects when a robot grips or handles them. They are essentially displacement sensors. Depending on whether they have sliding direction detection functionality, they can be divided into three types: 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. 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 gripped object causes the drum to rotate, leading the photodiode to receive light signals passing through the code disk (mounted on the drum's circular face). The object's slippage is measured via 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 precision.

APRAGAZ sensor applications

Contact sensors are used to determine whether a robot (mainly limbs) has contacted an external object or to measure the characteristics of the contacted object. Types of contact sensors include microswitches, conductive rubber, carbon-impregnated sponge, carbon fiber, and pneumatic reset devices. 1) Microswitch: Composed of a spring and a contact. When the contact touches an external object, it moves away from the base, breaking the signal circuit, thereby detecting contact with the external object. The advantage of this normally closed (always connected when not contacted) microswitch 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 touches an external object and is pressed, it compresses the conductive rubber, changing its resistance and thus altering the current flowing through it. The disadvantage of this sensor is that due to differences in conductive rubber material formulations, drift and hysteresis characteristics vary; the advantage is flexibility. 3) Carbon-impregnated sponge type: Features an elastic body made of sponge mounted on a substrate, with carbon-impregnated sponge arranged in an array within the sponge. When contacting an object under pressure, the resistance of the carbon-impregnated sponge decreases. Measuring the current flowing through the carbon-impregnated sponge determines the pressure level. 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 after pressure is poor. 4) Carbon fiber type: Uses carbon fiber as the upper layer, a substrate as the lower layer, and urethane with metal electrodes in between. When contacting an external object, the carbon fiber is compressed and contacts the electrode to conduct electricity. The advantage is good flexibility, allowing installation on curved surfaces of robotic arms, but hysteresis is significant. 5) Pneumatic reset type: Features a flexible insulating surface that deforms under pressure and uses compressed air as the resetting force upon losing contact. When contacting an external object, the internal elastic bubble (beryllium copper foil) contacts the lower touch point to conduct electricity. Advantages include good flexibility and high reliability, but a compressed air source is required.

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