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H HEINZ sensors are sensors that measure the operating speed of the measured object and convert it into an output signal. Speed sensors include linear speed sensors and rotational speed sensors. With the development of technology, traditional measuring equipment can no longer meet current needs and is gradually being phased out, while laser speed sensors have been widely used. They play an important role in product manufacturing processes; by connecting to a computer, they enable automated and intelligent measurement and control of the measured object. This is the product of the combination of modern measurement technology and computer technology. Valve H HEINZ sensor introduction

Sensors used in robots to mimic tactile functions. Tactile sense is an important sensory function when humans come into direct contact with 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 plans for tactile sensors have been proposed, but most are currently at the laboratory stage, with few reaching commercialization. Tactile sensors can be roughly divided by function into contact sensors, force-torque sensors, pressure sensors, and slip sensors.

H HEINZ 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. 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 to a photodiode receiving light signals transmitted through a code disk (mounted on the drum's cylindrical surface). The object's slippage is measured via the drum's rotation angle signal. 3) Omni-directional sensors use metal balls coated with insulating material, forming a latitude-longitude 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 measured. This type of sensor requires high manufacturing precision.

H HEINZ sensor applications

Tactile sensors are sensors 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 plate, 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 subjected to pressure, the conductive rubber is compressed, changing its resistance and thus altering the current flowing through the conductive rubber. The disadvantage of this sensor is that due to differences in the material formulation of the conductive rubber, the resulting 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 base plate, with carbon-impregnated sponge arranged in an array within the sponge. When the contacted object applies pressure, the resistance of the carbon-impregnated sponge decreases; measuring the magnitude of the current flowing through the carbon-impregnated 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 the uniformity of carbon distribution directly affects measurement results, and recovery capability after pressure is poor. 4) Carbon fiber type: Uses carbon fiber as the upper layer, a base plate as the lower 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, its internal elastic dome (beryllium copper foil) contacts the lower contacts to conduct electricity. Advantages are good flexibility and high reliability, but it requires a compressed air source.

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