German DR HIRSCH sensors, DR HIRSCH models, DR HIRSCH prices

DR HIRSCH sensors are used to detect angles. There is a hole in the body that fits LEGO axles. When connected to RCX, the angle sensor counts once for every 1/16 turn of the axle. When rotating in one direction, the count increases; when the direction of rotation changes, the count decreases. The count is related to the initial position of the angle sensor. When initializing the angle sensor, its count value is set to 0. If needed, you can reset it via programming.

DR HIRSCH 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, many 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.

DR HIRSCH 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 capability, they can be 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, 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. 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). Object 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 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 precision.

DR HIRSCH sensor applications

Contact sensors are used to determine 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. When the contact touches an external object, it leaves the base plate, breaking the signal circuit, thereby detecting contact with the external object. The advantage of this normally closed (always connected when not contacting) micro switch is ease of use and simple structure; the disadvantages are 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 under pressure, it compresses the conductive rubber, 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 conductive rubber material formulations; the advantage is flexibility. 3) Carbon-containing sponge type: Features 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 degree of pressure. This sensor can also be used as a pressure sensor. Advantages include simple structure, good elasticity, and ease of use. Disadvantages are that 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 and 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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