German Compact sensor Compact model Compact price

Compact sensor is a device capable of sensing the approach of an object. It utilizes the sensitivity of a displacement sensor to approaching objects to detect proximity and output corresponding switching signals; therefore, proximity sensors are often referred to as proximity switches. It is a general term for sensors designed to replace contact-based detection methods such as switches, with the aim of detecting without contacting the target object. It can detect movement and presence information of the object and convert it into electrical signals.

Compact 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 at 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.

Compact 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. 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. Sliding causes the probe to vibrate, which is converted into corresponding electrical signals by the Rochelle salt. The buffer's role is to reduce noise. 2) Single-directional sensors include drum photoelectric types, where slippage of the gripped object causes the drum to rotate, leading to a photodiode receiving light signals through a code disk (mounted on the drum's circular surface), measuring object 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 slips, 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.

Compact sensor applications

Tactile sensors are used to determine whether a robot (mainly referring to 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 break, thereby detecting contact with the external object. The advantage of this normally closed (always connected when not in contact) micro switch is its ease of use and simple structure; the disadvantage is that it is prone to mechanical oscillation and the contacts are susceptible to oxidation. 2) Conductive rubber type: It uses conductive rubber as the sensing 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 the conductive rubber. The disadvantage of this sensor is that due to variations in the material formulation of the conductive rubber, drift and hysteresis characteristics are inconsistent; 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. By measuring the magnitude of the current flowing through the carbon-impregnated sponge, the degree of compression can be determined. 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 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, and uses compressed air 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 include good flexibility and high reliability, but a compressed air source is required.

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