CN103411529A - Measuring device - Google Patents

Measuring device Download PDF

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Publication number
CN103411529A
CN103411529A CN2013103817556A CN201310381755A CN103411529A CN 103411529 A CN103411529 A CN 103411529A CN 2013103817556 A CN2013103817556 A CN 2013103817556A CN 201310381755 A CN201310381755 A CN 201310381755A CN 103411529 A CN103411529 A CN 103411529A
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CN
China
Prior art keywords
drag
line
range finding
measurement
distance measuring
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CN2013103817556A
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Chinese (zh)
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CN103411529B (en
Inventor
齐荣怀
林天麟
钟翔宇
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安科智慧城市技术(中国)有限公司
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Priority to CN201310381755.6A priority Critical patent/CN103411529B/en
Publication of CN103411529A publication Critical patent/CN103411529A/en
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Publication of CN103411529B publication Critical patent/CN103411529B/en

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Abstract

The invention discloses a measuring device used for measuring the deformation of a flexible arm. The flexible arm comprises at least one knuckle and at least one arm rod. The arm rod rotates around the knuckle. The measuring device comprises an inhaul cable guide device, a support, an inhaul cable, a distance measuring piece and a distance measuring device, wherein the inhaul cable guide device is connected to the arm rod; a steering piece is connected to the top portion of the support; the inhaul cable comprises a first end connected with the knuckle and a second end connected with the distance measuring piece, and after the inhaul cable is connected with the knuckle, the inhaul cable penetrates through the inhaul cable guide device, extends vertically downwards after steered by the steering piece and is connected with the distance measuring piece; the distance measuring device is used for detecting the height change values of the distance measuring piece before the flexible arm deforms and after the flexible arm deforms so as to obtain the deformation of the flexible arm. The measuring device can measure the deformation of the flexible arm more accurately.

Description

Measurement mechanism

Technical field

The present invention relates to the Robotics field, especially relate to a kind of measurement mechanism of flexible arm deflection of robot measurement.

Background technology

The flexible arm of robot is a new direction of studying in the world at present, be mainly come from flexible arm have cost low, can not injure human body, do not rely on the advantages such as any external force or torque sensor, therefore in man-machine interaction, side, have broad application prospects aspect always helping the disabled.

Current flexible arm, generally all be arranged on drive unit in the joint of flexible arm and drive arm bending, and then realize the motion of arm.But the joint of flexible arm and armed lever are one, when arm bending, joint and armed lever can be out of shape, and this distortion is nonlinear.If can't accurately measure this deflection of flexible arm, revise, just can't accurately control the motion of flexible arm, and also there is no so far a kind of measurement mechanism that can measure more accurately the deflection of flexible arm.

Summary of the invention

Fundamental purpose of the present invention is to provide a kind of measurement mechanism, is intended to realize measuring more accurately the deflection of flexible arm.

To achieve these objectives, the present invention proposes a kind of measurement mechanism, described measurement mechanism is for measuring the deflection of flexible arm, described flexible arm comprises at least one joint and at least one armed lever, described armed lever rotates around described joint, described measurement mechanism comprises drag-line guide piece, support, drag-line, range finding part and distance measuring equipment, wherein:

Described drag-line guide piece is connected in described armed lever;

Described top of the trellis connects a tumbler;

Described drag-line comprises the first end that connects described joint and the second end that is connected described range finding part, and described drag-line connects behind described joint and passes described drag-line guide piece and after described tumbler turns to, extend straight down and connect described range finding part;

Described distance measuring equipment, before and after described flexible arm distortion, detects the height change value of described range finding part, and then obtains the deflection of described flexible arm.

Preferably, described support comprises a crossbeam, and described tumbler is connected in described crossbeam middle part, and described crossbeam is provided with a guide ring that supplies described drag-line to pass near described drag-line first end.

Preferably, described tumbler is fixed pulley.

Preferably, described drag-line guide piece comprises the garter spring that is socketed on described armed lever and the guide pipe that is connected in this garter spring, and this guide pipe extends axially along described armed lever, and described drag-line passes described guide pipe.

Preferably, described guide pipe is bourdon tube.

Preferably, described garter spring is formed around described armed lever snap close by locking belt.

Preferably, described distance measuring equipment comprises that one is positioned at the distance measuring sensor of described range finding part below, and described distance measuring equipment obtains the height change value of described range finding part by detecting change of distance value between described range finding part and described distance measuring sensor.

Preferably, described distance measuring equipment also comprises microcontroller and host computer, described distance measuring sensor sends to described microcontroller by the corresponding analog quantity voltage signal of distance value between itself and described range finding part, described microcontroller is converted into described analog quantity voltage signal actual distance value and sends to described host computer, and described host computer obtains the change of distance value by the difference of calculating two distance values.

Preferably, described range finding part has a lead hole that supplies described drag-line to pass, and after an adjustment screw laterally penetrates described lead hole, described drag-line is fixed in to described range finding part.

Preferably, described drag-line first end passes through a ring lock padlock admittedly after being wound in described joint.

A kind of measurement mechanism provided by the present invention, by drag-line and range finding part, the deflection of flexible arm is converted into to the height change value of range finding part, and detect via distance measuring equipment the height change value of part of finding range, and then measure more accurately the deflection of flexible arm.For the flexible arm of robot provides a kind of general solution of measuring deflection.

The accompanying drawing explanation

Fig. 1 is the structural representation of measurement mechanism one embodiment of the present invention;

Fig. 2 is the structural representation of the drag-line guide piece in Fig. 1;

Fig. 3 is the partial schematic diagram that the drag-line of the measurement mechanism in Fig. 1 is connected with flexible arm;

Fig. 4 is the structural representation of the holder part of the measurement mechanism in Fig. 1;

Fig. 5 is the partial schematic diagram of the guy cable rounds tumbler of the measurement mechanism in Fig. 1;

Fig. 6 is the partial schematic diagram that the drag-line of the measurement mechanism in Fig. 1 is connected with the range finding part.

The realization of the object of the invention, functional characteristics and advantage, in connection with embodiment, are described further with reference to accompanying drawing.

Embodiment

Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.

Referring to Fig. 1-Fig. 6, measurement mechanism one embodiment of the present invention is proposed, described measurement mechanism is used for the deflection of flexible arm of robot measurement, and described flexible arm comprises at least one armed lever 10 and at least one joint 20, and armed lever 10 is connected with joint 20 also and can be around joint 20 rotates.The present embodiment be take N joint 20 of flexible arm with a plurality of joints 20 and is measuring object, the angle that these 20 both sides, N joint are respectively between N+1 armed lever 13 and N armed lever 12, a N+1 armed lever 13 axial line and N armed lever 12 axial line can be considered N joint 20 anglecs of rotation.Flexible arm is 20 whens rotation around N joint, N+1 armed lever 13 and N armed lever 12 mutually push and cause the armed lever length of this N+1 armed lever 13 and N armed lever 12 to change, experiment shows that this variation is nonlinear, and the numerical value of this variation is the deflection of flexible arm.

Described measurement mechanism comprises drag-line 100, drag-line guide piece 200, support 300, range finding part 500 and distance measuring equipment, and support 300 tops connect a tumbler 400, and drag-line guide piece 200 is connected in N armed lever 12; Distance measuring equipment is before and after the flexible arm distortion, detect the changing value of range finding part 500 height, and then obtain the deflection of flexible arm, as preferably, the distance measuring equipment of the present embodiment comprises that one is positioned at the distance measuring sensor 610 of range finding part 500 belows, and distance measuring equipment obtains the height change value of the part 500 of finding range by find range change of distance value between part 500 and distance measuring sensor 610 of detections.Drag-line 100 comprises first end 110 and the second end 120, its first end 110 is wound in after joint 20 1 circle or multi-turn by after annular snap close 111 lockings, being connected in joint 20, the second end 120 is connected in range finding part 500, and drag-line 100 connects behind joints 20 and passes drag-line guide piece 200 and after the tumbler 400 at support 300 tops turns to, extend straight down and connect the part 500 of finding range.When N armed lever 12 of flexible arm around joint 20 while rotating up and down, drag-line 100 will pull range finding part 500 move up and down and make the height of range finding part 500 change, thereby the distance that causes finding range between part 500 and distance measuring sensor 610 changes, distance measuring equipment detects the height change value that this change of distance value has also just obtained range finding part 500, and then obtains the deflection of flexible arm.When measuring N joint 20, N-1 armed lever 11 keeps static, avoids N joint 20 produced and disturb, and affects measurement result.

Concrete, drag-line guide piece 200 comprises the garter spring 210 that is socketed on N armed lever 12 and is connected in this garter spring 210 and along N the axially extended guide pipe 220 of armed lever 12,100 of drag-lines pass this guide pipe 220.For flexible arm, particularly inflate the arm smooth surface, the problem such as be not easy to fix, garter spring 210 is preferably formed around N armed lever 12 snap closes by locking belt, pull locking belt end 211 can regulate easily the elasticity that locking belt is surrounded on armed lever, the fixing elasticity limited of tight locking button 212 by locking belt end 211, can realize drag-line guide piece 200 is fixed on the armed lever 10 of arbitrary shape.The preferred bourdon tube of guide pipe 220, can realize the transmission of the force and motion of drag-line 100 any directions easily.

Support 300 comprises a base 310, two support bars 320 and connects a crossbeam 330 of two support 320 masthead sections, tumbler 400 is connected in crossbeam 330 middle parts, crossbeam 330 is provided with a guide ring 331 that supplies drag-line 100 to pass near drag-line first end 110, and this guide ring 331 is connected by screw on crossbeam 330.Tumbler 400 is provided with the wire casing of accommodating drag-line 100, drag-line 100 is walked around tumbler 400 after passing guide ring 331 again, the drag-line 100 that can guarantee any direction introducing can be walked around tumbler 400, and can prevent that drag-line 100 is from dropping out the wire casing of tumbler 400.Tumbler 400 is preferably fixed pulley, this fixed pulley comprises fixed pulley body, fixed pulley axis, pad and nut, the fixed pulley body is enclosed within on fixed pulley axis, by pad and nut, fixed pulley is fixed on crossbeam, wherein nut is for locking fixed pulley, and pad is for reducing the friction force of fixed pulley body rotation.During installation, guaranteeing has certain gap between pad and fixed pulley body, and that avoids pressing is too tight, and the fixed pulley body can't rotate.The height of support bar 320 is adjustable, to regulate easily the height of guide ring 331 and tumbler 400.

Range finding part 500 has constant weight, which is provided with a lead hole, the entrance 511 of lead hole is located at the end of range finding part 500, the side that range finding part 500 is located in outlet 512, drag-line the second end 120 enters lead hole, from range finding part 500 sides, is wound in range finding part 500 outer walls after drawing from range finding part 500 ends, range finding part 500 sides are provided with a threaded hole, and adjustment screw 700 screw-in threaded holes laterally penetrate in lead hole drag-line 100 wherein is fixed in to range finding part 500.Can also be from threaded hole, screwing out and unclamp drag-line 100 owing to adjusting screw 700, therefore adjust screw 700 and can also regulate the distance between range finding part 500 and distance measuring sensor 610, this distance adjustment is arrived to distance measuring sensor 610 preferably in range ability.In certain embodiments, range finding part 500 comprises the first half and Lower Half, drag-line the second end 120 is connected in the first half, Lower Half is threaded connection in the first half, thereby by screw thread rotation, regulate the distance between Lower Half and distance measuring sensor 610, the distance adjustment that can realize finding range equally between part 500 and distance measuring sensor 610 arrives in the range ability that distance measuring sensor 610 is suitable.

Distance measuring equipment is except comprising distance measuring sensor 610, also comprise microcontroller 620 and host computer 630, distance measuring sensor 610 is positioned under range finding part 500, by a holder 611, is fixed on the base 310 of support 300, and microcontroller 620 is directly fixed on the base 310 of support 300.Distance measuring sensor 610, by itself and the distance value corresponding analog quantity voltage signal of range finding between part 500 bottom surfaces, sends to microcontroller 620 by data acquisition module 621; Microcontroller 620 is converted into actual distance value by the analog quantity voltage signal, and sends to host computer 630 by serial port module 622 and data line 623; Host computer 630 obtains the change of distance value by the difference of calculating two distance values, and then calculates needed flexible arm deflection.Described distance measuring sensor 610 can be infrared ray sensor, ultrasonic sensor, laser sensor etc.

The measurement procedure of measurement mechanism of the present invention is specific as follows:

Adjust the attitude of flexible arm armed lever 10, install measurement mechanism, making to find range keeps certain distance between part 500 and distance measuring sensor 610, and the system of initialization microcontroller 620 is also opened the serial port data acquisition software of host computer 630 ends.

Unclamp the adjustment screw 700 of range finding on part 500, pull up and down around drag-line the second end 120 on range finding part 500, to adjust the distance between range finding part 500 and distance measuring sensor 610.In the time of in described distance adjustment arrives the suitable range of distance measuring sensor 610, by adjusting screw 700 stay ropies 100 to fix the height of range finding part 500.

The corresponding analog quantity voltage signal of the initial distance S that distance measuring sensor 610 gathers between range finding part 500 and distance measuring sensor 610 0, as initial value.Upwards rotate N armed lever 12 to be measured, drag-line 100 rotates along with N armed lever 12 and pulls range finding part 500 to move up, the corresponding analog quantity voltage signal of the current distance S between distance measuring sensor 610 Real-time Collection range finding parts 500 and distance measuring sensor 610 i.

Microcontroller 620 receives above-mentioned analog quantity voltage signal S 0And S iAfter, by formula (1) and (2), the analog quantity voltage signal is converted to distance value D actual between range finding part 500 and distance measuring sensor 610 0And D i.

Host computer 630 receives above-mentioned distance value D 0And D iAfter, by formula (3), calculate the difference △ D of two distance values i, this difference △ D iBeing the height change value of range finding part 500 before and after the flexible arm distortion, is also the deflection of flexible arm, and this measures end.Next host computer 630 can also be done follow-up signal and process, such as the deflection to obtaining, carry out the processing such as filtering, level and smooth and curve, in order to obtain more accurately the equation that other needs, and this deflection be applied in the compensation of armed lever 10 motion controls.

D 0 = 10 × ( 2914 2 ( 8 - n ) × S 0 × V f 5 + 5 - 1 ) - - - ( 1 )

D i = 10 × ( 2914 2 ( 8 - n ) × S i × V f 5 + 5 - 1 ) - - - ( 2 )

ΔD i=D i-D 0?????????????(3)

In above-mentioned formula (1)-(3), D 0The initial distance value between range finding part 500 and distance measuring sensor 610, S 0Above-mentioned initial distance value D 0Corresponding analog quantity voltage signal; D iThe current distance value between flexible arm distortion rear range finding part 500 and distance measuring sensor 610, S iAbove-mentioned current distance value D iCorresponding analog quantity voltage signal; N is analog to digital conversion (ADC) figure place of the data acquisition module 621 of microcontroller 620, and for example the analog to digital conversion figure place is 8, and n equals 8; V fFor the reference voltage of microcontroller 620, if adopt arm processor V fBe generally 3.3V, if adopt other single-chip microcomputers V fBe generally 5V.△ D iBeing the height change value of range finding part 500 before and after the flexible arm distortion, is also the deflection of flexible arm.

Formula (1) and formula (2) are to take the infrared ray sensor of GP2D120 model to be example, according to its corresponding databook, revise its corresponding constant term if adopt the infrared ray sensor of other models need.If adopt other distance measuring sensors 610 the similar algorithm of employing and this method.

Accordingly, measurement mechanism of the present invention, by drag-line 100 and range finding part 500, the deflection of flexible arm is converted into to the height change value of range finding part 500, and via distance measuring equipment, detects the height change value of range finding part 500, and then measure more accurately the deflection of flexible arm.For the flexible arm of robot provides a kind of general solution of measuring deflection.

Drag-line first end 110 is locked on joint 20 by annular snap close 111 after being wound in joint 20 again, is connected firmly, and very light in weight, can not affect the motion in joint 20.

The problem of particularly inflating the arm smooth surface, being not easy to fix for flexible arm, the garter spring 210 of drag-line guide piece 200 is formed around armed lever 10 snap closes by locking belt, pull locking belt end 211 just can regulate easily the elasticity that locking belt is surrounded on armed lever, by the fixing elasticity limited of tight locking button 212 of locking belt end 211, thereby can realize drag-line guide piece 200 is fixed on the armed lever 10 of arbitrary shape.

The guide pipe 220 of drag-line guide piece 200 is bourdon tube, can realize easily that drag-line 100 is toward any direction transfer function force and motion.

Guide ring 331 is set on support 300, walks around again tumbler 400 after making drag-line 100 pass guide ring 331, thereby can guarantee that the drag-line 100 that any direction is introduced can walk around tumbler 400, and can prevent that drag-line 100 is from deviating from the wire casing of tumbler 400.

Tumbler 400 be can flexible rotating fixed pulley, make the deformation of the transmission flexible arm that drag-line 100 can be sensitiveer, increased the measuring accuracy of measurement mechanism.

Drag-line 100 is adjusted screw 700 by one and is fixed in range finding part 500, this adjustment screw 700 can also be regulated the distance between range finding part 500 and distance measuring sensor 610, easily this distance adjustment is arrived in the better range ability of distance measuring sensor 610, improved the reliability of measurement mechanism.

Should be understood that; these are only the preferred embodiments of the present invention; can not therefore limit the scope of the claims of the present invention; every equivalent structure or equivalent flow process conversion that utilizes instructions of the present invention and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in scope of patent protection of the present invention.

Claims (10)

1. measurement mechanism, it is be used to measuring the deflection of flexible arm, described flexible arm comprises at least one joint and at least one armed lever, described armed lever rotates around described joint, it is characterized in that, described measurement mechanism comprises drag-line guide piece, support, drag-line, range finding part and distance measuring equipment, wherein:
Described drag-line guide piece is connected in described armed lever;
Described top of the trellis connects a tumbler;
Described drag-line comprises the first end that connects described joint and the second end that is connected described range finding part, and described drag-line connects behind described joint and passes described drag-line guide piece and after described tumbler turns to, extend straight down and connect described range finding part;
Described distance measuring equipment, before and after described flexible arm distortion, detects the height change value of described range finding part, and then obtains the deflection of described flexible arm.
2. measurement mechanism according to claim 1, is characterized in that, described support comprises a crossbeam, and described tumbler is connected in described crossbeam middle part, and described crossbeam is provided with a guide ring that supplies described drag-line to pass near described drag-line first end.
3. measurement mechanism according to claim 1, is characterized in that, described tumbler is fixed pulley.
4. measurement mechanism according to claim 1, is characterized in that, described drag-line guide piece comprises the garter spring that is socketed on described armed lever and the guide pipe that is connected in this garter spring, and this guide pipe extends axially along described armed lever, and described drag-line passes described guide pipe.
5. measurement mechanism according to claim 4, is characterized in that, described guide pipe is bourdon tube.
6. measurement mechanism according to claim 4, is characterized in that, described garter spring is formed around described armed lever snap close by locking belt.
7. measurement mechanism according to claim 1, it is characterized in that, described distance measuring equipment comprises that one is positioned at the distance measuring sensor of described range finding part below, and described distance measuring equipment obtains the height change value of described range finding part by detecting change of distance value between described range finding part and described distance measuring sensor.
8. measurement mechanism according to claim 7, it is characterized in that, described distance measuring equipment also comprises microcontroller and host computer, described distance measuring sensor sends to described microcontroller by the corresponding analog quantity voltage signal of distance value between itself and described range finding part, described microcontroller is converted into described analog quantity voltage signal actual distance value and sends to described host computer, and described host computer obtains the change of distance value by the difference of calculating two distance values.
9. according to the described measurement mechanism of claim 1-8 any one, it is characterized in that, described range finding part has a lead hole that supplies described drag-line to pass, and after an adjustment screw laterally penetrates described lead hole, described drag-line is fixed in to described range finding part.
10. according to the described measurement mechanism of claim 1-8 any one, it is characterized in that, described drag-line first end passes through a ring lock padlock admittedly after being wound in described joint.
CN201310381755.6A 2013-08-28 2013-08-28 Measuring device CN103411529B (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2078433U (en) * 1989-05-05 1991-06-05 王启远 Pull type displacement digital indicator
CN1244252A (en) * 1997-11-20 2000-02-09 雷尼肖上市股份有限公司 Counterbalanced coordinate positioning machine
US20090261609A1 (en) * 2008-04-22 2009-10-22 Harmonic Drive System Inc. Robot hand and finger mechanism
CN201438141U (en) * 2009-05-18 2010-04-14 北京中土赛科科技开发有限公司 Bridge dynamic deflection test device
CN202002786U (en) * 2011-03-21 2011-10-05 长安大学 Instrument for testing deflection of bridge

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2078433U (en) * 1989-05-05 1991-06-05 王启远 Pull type displacement digital indicator
CN1244252A (en) * 1997-11-20 2000-02-09 雷尼肖上市股份有限公司 Counterbalanced coordinate positioning machine
US20090261609A1 (en) * 2008-04-22 2009-10-22 Harmonic Drive System Inc. Robot hand and finger mechanism
CN201438141U (en) * 2009-05-18 2010-04-14 北京中土赛科科技开发有限公司 Bridge dynamic deflection test device
CN202002786U (en) * 2011-03-21 2011-10-05 长安大学 Instrument for testing deflection of bridge

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