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SCHUNK switch is a switch used to measure the robot's own position. Position switches can be divided into two types: contact switches and proximity switches. It is a switch that can sense the position of the measured object and convert it into a usable output signal. It is a switch that can sense the position of the measured object and convert it into a usable output signal. Position switches can be used to detect position and reflect a certain state. Unlike displacement switches, position switches come in contact and proximity types.

SCHUNK switch introduction

Switches used in robots to mimic tactile functions. Tactile sense is an important sensory function for direct contact between humans and the external environment. Developing tactile switches that meet requirements is one of the technical keys in robot development. With the development of microelectronics and the emergence of various organic materials, a variety of development plans for tactile switches have been proposed, but most are currently at the laboratory stage, with few reaching productization. Tactile switches can be roughly divided into contact switches, force-torque switches, pressure switches, and slip switches based on their functions.

SCHUNK switch classification

Slip switches are used to judge and measure the slippage of objects when a robot grips or handles them. They are essentially displacement switches. 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 switches 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 switches 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 surface). The object's slippage is measured via the drum's rotation angle signal. 3) Omni-directional switches use metal balls coated with insulating material and configured with latitudinal and longitudinal distributions of conductive and non-conductive areas. When the switch 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 switch requires high manufacturing precision.

SCHUNK switch applications

Tactile switches 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 switches include microswitches, conductive rubber, carbon-impregnated sponge, carbon fiber, and pneumatic reset devices. 1）Microswitch: Composed of a spring and contacts. When the contacts touch an external object, they move away from the substrate, breaking the signal circuit and thereby detecting contact with the external object. The advantage of this normally closed (continuously connected when not in contact) microswitch 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 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 it. The disadvantage of this switch is that variations in the material formulation of the conductive rubber lead to inconsistent drift and hysteresis characteristics; 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 switch can also be used as a pressure sensor. Its advantages are simple structure, good elasticity, and ease of use. The disadvantages are that the uniformity of carbon distribution directly affects measurement results, and recovery capability after compression is poor. 4）Carbon fiber type: It has a top layer of carbon fiber, a bottom layer of substrate, and polyurethane with 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, using compressed air as the resetting force when contact is released. When in contact with an external object, the internal elastic dome (beryllium copper foil) contacts the lower contacts to conduct electricity. The advantages are good flexibility and high reliability, but a compressed air source is required.

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