CN106871940B - Sensor, intelligent robot, automatic production line, industrial robot - Google Patents
Sensor, intelligent robot, automatic production line, industrial robot Download PDFInfo
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- CN106871940B CN106871940B CN201611218842.XA CN201611218842A CN106871940B CN 106871940 B CN106871940 B CN 106871940B CN 201611218842 A CN201611218842 A CN 201611218842A CN 106871940 B CN106871940 B CN 106871940B
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- resistance
- sensor
- photo resistance
- circuit
- spring
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- 238000004519 manufacturing process Methods 0.000 title abstract description 6
- 230000005611 electricity Effects 0.000 claims description 6
- 230000003321 amplification Effects 0.000 claims description 4
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 210000001699 lower leg Anatomy 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 2
- 239000010453 quartz Substances 0.000 claims description 2
- 230000035939 shock Effects 0.000 claims description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 2
- 238000005303 weighing Methods 0.000 claims description 2
- 238000013459 approach Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000002596 correlated effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G21/00—Details of weighing apparatus
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H9/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by using radiation-sensitive means, e.g. optical means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L11/00—Measuring steady or quasi-steady pressure of a fluid or a fluent solid material by means not provided for in group G01L7/00 or G01L9/00
- G01L11/02—Measuring steady or quasi-steady pressure of a fluid or a fluent solid material by means not provided for in group G01L7/00 or G01L9/00 by optical means
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The present invention relates to sensor, intelligent robot, automatic production line, industrial robots.Sensor, including encapsulating housing (S1), spring (S7), circuit, the first photo resistance (R1), the second photo resistance (R2), laser (S9), reflective mirror (S8)；First photo resistance (R1), the second photo resistance (R2) entity be set side by side；The entity of laser (S9) is fixedly linked with encapsulating housing (S1)；The laser of laser (S9) transmitting is radiated at the first photo resistance (R1), in the second photo resistance (R2) simultaneously via same hot spot after reflective mirror (S8) reflection.Smart machine, robot, industrial robot have the sensor.The configuration of the present invention is simple, low in cost, susceptibility is high, be easily worked, provides a sensor design new approaches.
Description
Technical field
It is related to sensor field, and in particular to sensor, intelligent robot, automatic production line, industrial robot.
Technical background
Existing sensor, it is with high costs, it is very high to requirement on machining accuracy, cost is very high, structure is complicated, more sensitive biography
Sensor, the small environmental change of easier induction, the detection system the sensitive more is conducive to the reaction of the high speed of equipment, existing Gao Min
The sensor price of sensitivity is very expensive.
Summary of the invention
The present invention relates to sensor, intelligent robot, automatic production line, industrial robots, are capable of providing a kind of sensing
Device new design philosophy.
1, sensor, it is characterised in that: including encapsulating housing (S1), spring (S7), circuit, the first photo resistance (R1),
Second photo resistance (R2), laser (S9), reflective mirror (S8)；
Circuit (S3) is mounted in encapsulating housing (S1)；
Transparent window (S2) is mounted on encapsulating housing (S1) as optical transmission window；
When hot spot is mobile, light increment suffered by the first photo resistance (R1), the second photo resistance (R2) is on the contrary, one
It is positive one and is negative, play the function of amplification hot spot mobile message；
It is backward resistance that one, which is forward resistance one, in first photo resistance (R1), the second photo resistance (R2)；
In the case that the change in resistance of backward resistance and the output variation of circuit are on the contrary, other conditions are constant, backward resistance
Resistance value when increasing, the output of circuit becomes smaller, and when the resistance value of backward resistance reduces, the output of circuit increases；
The variation of the resistance value of forward resistance is identical as the output variation of circuit, when the resistance value of forward resistance reduces, circuit
Output reduces, and when the resistance value of forward resistance increases, the output of circuit increases；
Reflective mirror (S8) is limited by encapsulating housing (S1) and can only be moved perpendicular to transparent window (S2)；
One end of spring (S7) is contacted with reflective mirror (S8), and the other end of spring (S7) is contacted with encapsulating housing (S1)；When
The elastic force that will receive spring (S7) when reflective mirror (S8) is close to transparent window (S2) contradicts；
First photo resistance (R1), the second photo resistance (R2) entity be set side by side；
The entity of laser (S9) is fixedly linked with encapsulating housing (S1)；
The laser of laser (S9) transmitting is radiated at the first photosensitive electricity via same hot spot after reflective mirror (S8) reflection simultaneously
In resistance (R1), the second photo resistance (R2)；
When reflective mirror (S8) is overcome the elastic force of spring (S7) close to transparent window (S2) by the effect of external force (M), hot spot is moved
Dynamic, circuit output signal changes.
Further, it is used for pressure detecting.
Further, it is used for weight weighing.
Further, it is used for shock detection.
Further, encapsulating housing (S1) is plastic material.
Further, transparent window (S2) is quartz material.
Further, spring (S7) is gas spring.
Further, spring (S7) is helical plastic spring.
Smart machine, robot, industrial robot have sensor above-mentioned.
Technology contents explanation and its advantages.
Since the first photo resistance (R1), the second photo resistance (R2) receive same hot spot, when hot spot is mobile, so first
Photo resistance (R1), the second photo resistance (R2) change in the opposite direction, in addition the first photo resistance (R1), the second photo resistance
(R2) different reference modes in circuit；So that the first photo resistance (R1) change in resistance trend and output variation tendency
Association, the second photo resistance (R2) change in resistance trend are associated with output variation tendency, and the two is on the contrary, one is positively correlated one
It is negatively correlated；The present invention can play the role of sharply amplifying, the movement for measuring hot spot that can be apparent, can detecte influence
The mobile physical quantity of hot spot, such as the movement of refractive index, reflecting mirror, the movement of light source.
The present invention can pass through the mobile biggish electricity difference in change of generation in position of laser (S9) hot spot issued, this hair
Bright design architecture allows the invention to amplification difference in change, improves photosensitive susceptibility, reduces manufacturing cost, can be also used for examining
Survey vibration.
The configuration of the present invention is simple, low in cost, susceptibility is high, be easily worked, provides a sensor design new approaches.
Detailed description of the invention
Fig. 1 is a schematic structural view of Embodiment 1 of the present invention.
Fig. 2 is the circuit of the embodiment of the present invention 1 using PROTUES software emulation schematic diagram.Voltmeter is for showing in figure
Show intensity value-voltage value of circuit output.
Fig. 3 is the circuit of the embodiment of the present invention 1 using PROTUES software emulation schematic diagram.Voltmeter is for showing in figure
Show intensity value-voltage value of circuit output.
Fig. 4 is the circuit of the embodiment of the present invention 1 using PROTUES software emulation schematic diagram.Voltmeter is for showing in figure
Show intensity value-voltage value of circuit output.
Hot spot movement is described in Fig. 2-4 causes the first photo resistance, the variation of the second photo resistance light conditions to lead to electricity
The case where variation of the value of road output.
Drawing reference numeral explanation: drawing reference numeral explanation: the first photo resistance (R1)；Second photo resistance (R2)；Number one fortune
It calculates amplifier (U1:A).
Specific embodiment
Embodiment 1, such as Fig. 1-3 sensor, sensor, it is characterised in that: including encapsulating housing (S1), spring (S7), electricity
Road, the first photo resistance (R1), the second photo resistance (R2), laser (S9), reflective mirror (S8)；
Circuit (S3) is mounted in encapsulating housing (S1)；
Transparent window (S2) is mounted on encapsulating housing (S1) as optical transmission window；
When hot spot is mobile, light increment suffered by the first photo resistance (R1), the second photo resistance (R2) is on the contrary, one
It is positive one and is negative, play the function of amplification hot spot mobile message；
Reflective mirror (S8) is limited by encapsulating housing (S1) and can only be moved perpendicular to transparent window (S2)；
One end of spring (S7) is contacted with reflective mirror (S8), and the other end of spring (S7) is contacted with encapsulating housing (S1)；When
The elastic force that will receive spring (S7) when reflective mirror (S8) is close to transparent window (S2) contradicts；
First photo resistance (R1), the second photo resistance (R2) entity be set side by side；
The entity of laser (S9) is fixedly linked with encapsulating housing (S1)；
Laser (S9) transmitting laser via reflective mirror (S8) reflection after same hot spot simultaneously
It is radiated at the first photo resistance (R1), in the second photo resistance (R2)；
When reflective mirror (S8) is overcome the elastic force of spring (S7) close to transparent window (S2) by external force, hot spot is mobile, electricity
Road output signal changes.
It further include third resistance, No. four resistance, operational amplifier, number one triode；
The model LM358 of operational amplifier；
The OP foot of operational amplifier is connected with the base stage of number one triode, the collector of number one triode and electrical section
Point OUT1 is connected, and the crus secunda of the second photo resistance is connected with electrical node OUT1, electrical node OUT1 and electrical node OUT1
It is connected, the first foot of No. four resistance is connected with electrical node VREF, crus secunda and the electrical node VREF phase of third resistance
Even ,+IP the foot of operational amplifier is connected with electrical node VREF, and the first foot of the second photo resistance is connected with electrical node VCC,
The V+ foot of operational amplifier is connected with electrical node VCC, and the first foot of third resistance is connected with electrical node VCC,
R1, R2, operational amplifier U1A, triode Q1 constitute a current source circuit, and resistance R5, R6 are current source circuit
Reference voltage is provided, the electric current on R1, R2 is equal (to neglect the base current of triode Q1, then the circuit can amplify variable
The difference of resistance.R5, R6 provide reference voltage, reference voltage Vref=(VCC-VEE) * R6/ (R5+R6)-VEE=- for current source
2.5v.The electric current of current source is Iref=(Vref-VEE)/R1=2.5/R1.Then transistor base voltage is Vc=VCC-
Iref*R2=VCC-R2* (Vref-VEE)/R1=5-2.5*R2/R1.
Unknown place is the prior art, therefore is not repeated.
Claims (9)
1. sensor, it is characterised in that: including encapsulating housing (S1), spring (S7), circuit, the first photo resistance (R1), second
Photo resistance (R2), laser (S9), reflective mirror (S8)；
Circuit (S3) is mounted in encapsulating housing (S1)；
Transparent window (S2) is mounted on encapsulating housing (S1) as optical transmission window, and transparent window (S2) is quartz material；
When hot spot is mobile, light increment suffered by the first photo resistance (R1), the second photo resistance (R2) is on the contrary, one is positive
One is negative, and plays the function of amplification hot spot mobile message；
It is backward resistance that one, which is forward resistance one, in first photo resistance (R1), the second photo resistance (R2)；
In the case that the change in resistance of backward resistance and the output variation of circuit are on the contrary, other conditions are constant, the resistance of backward resistance
When value increases, the output of circuit becomes smaller, and when the resistance value of backward resistance reduces, the output of circuit increases；
The variation of the resistance value of forward resistance is identical as the output variation of circuit, when the resistance value of forward resistance reduces, the output of circuit
Reduce, when the resistance value of forward resistance increases, the output of circuit increases；
Reflective mirror (S8) is limited by encapsulating housing (S1) and can only be moved perpendicular to transparent window (S2)；
One end of spring (S7) is contacted with reflective mirror (S8), and the other end of spring (S7) is contacted with encapsulating housing (S1)；When reflective
The elastic force that will receive spring (S7) when mirror (S8) is close to transparent window (S2) contradicts；
First photo resistance (R1), the second photo resistance (R2) entity be set side by side；
The entity of laser (S9) is fixedly linked with encapsulating housing (S1)；
The laser of laser (S9) transmitting is radiated at the first photo resistance via same hot spot after reflective mirror (S8) reflection simultaneously
(R1), in the second photo resistance (R2)；
When reflective mirror (S8) is overcome the elastic force of spring (S7) close to transparent window (S2) by the effect of external force (M), hot spot is mobile,
Circuit output signal changes；
It further include third resistance, No. four resistance, operational amplifier, number one triode；The OP foot of operational amplifier and
The base stage of No.1 triode is connected, and the collector of number one triode is connected with electrical node OUT1, and the of the second photo resistance
Two feet are connected with electrical node OUT1, and electrical node OUT1 is connected with electrical node OUT1, the first foot and electricity of No. four resistance
Moral point VREF is connected, and the crus secunda of third resistance is connected with electrical node VREF ,+IP the foot of operational amplifier and electrical section
Point VREF is connected, and the first foot of third resistance is connected with electrical node VCC.
2. sensor as described in claim 1, it is characterised in that: be used for pressure detecting.
3. sensor as described in claim 1, it is characterised in that: be used for weight weighing.
4. sensor as described in claim 1, it is characterised in that: be used for shock detection.
5. sensor as described in claim 1, it is characterised in that: spring (S7) is gas spring.
6. sensor as described in claim 1, it is characterised in that: spring (S7) is helical plastic spring.
7. smart machine, it is characterised in that: have sensor described in claim 1.
8. robot, it is characterised in that: have sensor described in claim 1.
9. industrial robot, it is characterised in that: have sensor described in claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611218842.XA CN106871940B (en) | 2016-12-26 | 2016-12-26 | Sensor, intelligent robot, automatic production line, industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611218842.XA CN106871940B (en) | 2016-12-26 | 2016-12-26 | Sensor, intelligent robot, automatic production line, industrial robot |
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| Publication Number | Publication Date |
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| CN106871940A CN106871940A (en) | 2017-06-20 |
| CN106871940B true CN106871940B (en) | 2019-06-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611218842.XA Active CN106871940B (en) | 2016-12-26 | 2016-12-26 | Sensor, intelligent robot, automatic production line, industrial robot |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2065792U (en) * | 1989-09-20 | 1990-11-14 | 秦卫民 | Contactless potentiometer |
| CN1395677A (en) * | 2000-01-19 | 2003-02-05 | 海德堡显微技术仪器股份有限公司 | Method and arrangement for optically detecting position of moveable mirror |
| CN101405565A (en) * | 2006-03-23 | 2009-04-08 | 罗伯特·博世有限公司 | Device for optically measuring distance and method for operating said type of device |
| CN102165398A (en) * | 2008-09-26 | 2011-08-24 | Nxp股份有限公司 | System and method for detecting movement of an object and integrated circuit implementation thereof |
| CN102374844A (en) * | 2010-08-20 | 2012-03-14 | 上海微电子装备有限公司 | Device for measuring vertical position of workpiece bench |
| CN103927884A (en) * | 2014-04-21 | 2014-07-16 | 哈尔滨工业大学 | Vehicle detection device based on acceleration sensor and light sensor |
| CN205484803U (en) * | 2016-03-28 | 2016-08-17 | 安徽理工大学 | Ranging system based on photoelectric sensor |
-
2016
- 2016-12-26 CN CN201611218842.XA patent/CN106871940B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2065792U (en) * | 1989-09-20 | 1990-11-14 | 秦卫民 | Contactless potentiometer |
| CN1395677A (en) * | 2000-01-19 | 2003-02-05 | 海德堡显微技术仪器股份有限公司 | Method and arrangement for optically detecting position of moveable mirror |
| CN101405565A (en) * | 2006-03-23 | 2009-04-08 | 罗伯特·博世有限公司 | Device for optically measuring distance and method for operating said type of device |
| CN102165398A (en) * | 2008-09-26 | 2011-08-24 | Nxp股份有限公司 | System and method for detecting movement of an object and integrated circuit implementation thereof |
| CN102374844A (en) * | 2010-08-20 | 2012-03-14 | 上海微电子装备有限公司 | Device for measuring vertical position of workpiece bench |
| CN103927884A (en) * | 2014-04-21 | 2014-07-16 | 哈尔滨工业大学 | Vehicle detection device based on acceleration sensor and light sensor |
| CN205484803U (en) * | 2016-03-28 | 2016-08-17 | 安徽理工大学 | Ranging system based on photoelectric sensor |
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| Publication number | Publication date |
|---|---|
| CN106871940A (en) | 2017-06-20 |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20180507 Address after: 310051 Room 202, 3 building, 487 Jianghui Road, Binjiang District, Hangzhou, Zhejiang. Applicant after: Hangzhou Ke Cong Automation Co., Ltd. Address before: 310018 Hangzhou economic and Technological Development Zone, Hangzhou, Zhejiang, 1501 building, 1 International Business Center, East Hangzhou. Applicant before: Zhejiang wisdom Intelligent Technology Co., Ltd. |
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