CN110108184A - A kind of linear displacement measurement device - Google Patents
A kind of linear displacement measurement device Download PDFInfo
- Publication number
- CN110108184A CN110108184A CN201910526957.2A CN201910526957A CN110108184A CN 110108184 A CN110108184 A CN 110108184A CN 201910526957 A CN201910526957 A CN 201910526957A CN 110108184 A CN110108184 A CN 110108184A
- Authority
- CN
- China
- Prior art keywords
- supporting leg
- supporting legs
- contact
- position sensor
- displacement measurement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/02—Measuring arrangements characterised by the use of mechanical techniques for measuring length, width or thickness
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
A kind of linear displacement measurement device, it is related to a kind of measuring device, it includes rotational position sensor, fixing piece, spring and two supporting legs；Two supporting legs are connected by rotational position sensor, the end axis connection of the centre bore of rotational position sensor and a supporting leg one end, the shell of rotational position sensor is connect with one end of another supporting leg, fixing piece is mounted on one end of two supporting legs, and two supporting leg energy opposed fixed member rotations, the spring connecting with the two is provided between two supporting legs, two supporting leg other ends are respectively equipped with the contact surface with existing soft robot for face contact.The present invention is by being converted into angle measurement for straight-line displacement measurement, and measurement is reliable, quick and precisely.
Description
Technical field
The present invention relates to a kind of measuring devices, and in particular to a kind of straight-line displacement for measuring soft robot soft body deformation amount
Measuring device.
Background technique
For soft robot, the measurement of soft body deformation amount is most important.Current existing measurement method mainly has
Two kinds, respectively contact type measurement and non-contact measurement.
Non-contact measurement is mostly based on visual manner.This measurement method usually utilizes industrial camera to cooperate visual processes
The problems such as algorithm measures, and has distortion performance and lower frame per second due to industrial camera, along with vision processing algorithm has
Regular hour complexity, vision measurement usually have that precision is poor, the defect of rapidity difference.
Contact type measurement mainly uses straight line rod-pulling type resistance scale position sensor, due to the intrinsic resistance of rod-pulling type resistance scale
Power will affect the deformation of soft robot, and then influence the accuracy and reliability of measurement.
Summary of the invention
The present invention is in order to overcome the deficiencies of the prior art, to provide a kind of measure reliably, fast and accurately based on rotation position
Set the linear displacement measurement device of sensor.
The technical scheme is that
A kind of linear displacement measurement device, it includes rotational position sensor, fixing piece, spring and two supporting legs；
Two supporting legs are connected by rotational position sensor, the centre bore of rotational position sensor and supporting leg one end
Axis connection is held, the shell of rotational position sensor is connect with one end of another supporting leg, and fixing piece is mounted on the one of two supporting legs
End, and two supporting leg energy opposed fixed members rotate, and the spring connecting with the two is provided between two supporting legs, two supporting legs are another
End is respectively equipped with the contact surface with existing soft robot for face contact.
Further, multipair pillar is provided on the opposite face of two supporting legs, the axis of multipair pillar is located at same flat
On face, each pair of pillar is in mirror-image arrangement, is equipped with spring between each pair of pillar.
Further, the other end of each supporting leg is also equipped with contact, is machined on contact and existing software machine
The contact surface of artificial face contact.
The present invention has the effect that compared with prior art
1, the measuring device measures straight-line displacement, the sampling frequency of rotational position sensor using rotational position sensor indirectly
Rate is usually in 100Hz or more, more quick and precisely compared to vision measurement.
2, by the way that straight-line displacement measurement is converted into angle measurement, it can reduce survey compared to other contact measurement methods
The resistance that device introduces is measured, measurement result is more accurate.
3, the linear position with space limitation can be measured, element is will test and is placed in other than straight-line displacement track, sufficiently
Utilize straight-line displacement trajectory range.
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
Detailed description of the invention
Fig. 1 is a kind of perspective view of linear displacement measurement device of the present invention；
Fig. 2 is a kind of exploded view of linear displacement measurement device of the present invention；
Fig. 3 is anchor structure figure of the present invention.
Specific embodiment
Illustrate referring to figures 1-3, a kind of linear displacement measurement device, it includes rotational position sensor 1, fixing piece 2, bullet
Spring 4 and two supporting legs 3；
Two supporting legs 3 are connected by rotational position sensor 1, the centre bore of rotational position sensor 1 and a supporting leg 3 one
The end axis connection at end, the shell of rotational position sensor 1 are connect with one end of another supporting leg 3, and fixing piece 2 is mounted on two branch
One end of leg 3, and two 3 energy opposed fixed members 2 of supporting leg rotate, and the spring 4 connecting with the two is provided between two supporting legs 3,
Two 3 other ends of supporting leg are respectively equipped with the contact surface with existing soft robot for face contact.1 centre bore of rotational position sensor
It is fixed with two supporting legs 3 respectively with shell, in this way, the measured value of rotational position sensor 1 will be pressed from both sides between two supporting legs 3
The variation at angle and change.The shape of contact surface can be designed according to the shape of soft robot, make displacement measuring device with
Soft robot keeps face contact.
In order to guarantee to be better achieved the contact measurement with soft robot, the other end of each supporting leg 3, which is also equipped with, to be connect
Contact 32, be machined on contact 32 be with existing soft robot face contact contact surface.As shown in Figure 1, contact 32 can
It is releasably mounted on supporting leg 3.
In an embodiment, as depicted in figs. 1 and 2, two supporting legs 3 are provided with multipair pillar on opposite face
31, the axis of multipair pillar 31 is located in approximately the same plane, and each pair of pillar 31 is in mirror-image arrangement, is equipped between each pair of pillar 31
Spring 4.The central axes of pillar are in the same plane, it is ensured that spring 4 and supporting leg 3 are in the same plane, can pass through
The rigidity and installation site of spring 4 are adjusted, to adjust the range of resistance in measurement process.
In another embodiment, as shown in Figures 2 and 3, fixing piece 2 is column, and the cylinder of column is in diameter
To through slot is offered, through slot is plugged on one end of two supporting legs 3 of oblique, and two supporting legs 3 are rotated relative to the column respectively.Circle
Column is used for fixed supporting leg 3 and rotational position sensor 1, meanwhile, branch moves back between 3 and rotational position sensor 1 that there are certain
Gap, it is ensured that supporting leg 3 can carry out back rotation with soft robot deformation.
Preferably, as shown in Fig. 2, the contact 32 includes panel 321 and two connecting ribs 322；The one of panel 321
Face is contact surface, is fixed with spaced apart two connecting ribs 322 on the another side of panel 321, on each connecting rib 322
A through-hole is opened up, the other end of supporting leg 3 offers mounting hole, and 3 other end of supporting leg is inserted in two 322 gaps of connecting rib,
Supporting leg 3 is linked together by being arranged in the bolt of through-hole and mounting hole with two connecting ribs 322.So set, structure is simple
Single, connection is easy to use, is dismounted easily.The shape of contact surface can be designed according to the shape of soft robot, make to be displaced
Measuring device and soft robot keep face contact.As an embodiment, the contact surface is arc surface, and the arc surface
The central angle at place is 58 °.
Working principle
Displacement measurement is converted to angle measurement by the measuring device, and main measurement sensor uses rps
Device, rotational position sensor are linear transducers.It needs to demarcate position sensor by experiment before use.Different
The measured value of angle acquisition position sensor, the linear relationship by linear fit, between available angle and measured value.
Relationship between the angle and measured value of measuring device can be expressed as θ=kU+b, and wherein θ is between two branch are moved back
Angle, unit is rad, and U indicates rotational position sensor output valve, and k and b are coefficients.The distance between two contact surfaces can table
It is shown as；
Wherein D indicates that the distance between two contact surfaces, L indicate leg length, L0Constant value, indicate contact surface and bracket it
Between distance, can pass through experiment obtain.
The present invention is disclosed as above with preferable case study on implementation, and however, it is not intended to limit the invention, any to be familiar with this profession
Technical staff, without departing from the scope of the present invention, according to the technical essence of the invention to the above case study on implementation institute
Any simple modification, equivalent change and modification done still belong to technical solution of the present invention range.
Claims (7)
1. a kind of linear displacement measurement device, it is characterised in that: it includes rotational position sensor (1), fixing piece (2), spring
(4) and two supporting legs (3)；
Two supporting legs (3) are connected by rotational position sensor (1), the centre bore of rotational position sensor (1) and a supporting leg
(3) the end axis connection of one end, the shell of rotational position sensor (1) are connect with one end of another supporting leg (3), fixing piece (2)
It is mounted on one end of two supporting legs (3), and two supporting leg (3) energy opposed fixed members (2) rotate, and are arranged between two supporting legs (3)
There is the spring (4) connecting with the two, two supporting leg (3) other ends are respectively equipped with the contact with existing soft robot for face contact
Face.
2. a kind of linear displacement measurement device according to claim 1, it is characterised in that: on the opposite face of two supporting legs (3)
It being provided with multipair pillar (31), the axis of multipair pillar (31) is located in approximately the same plane, and each pair of pillar (31) is in mirror-image arrangement,
Spring (4) are installed between each pair of pillar (31).
3. a kind of linear displacement measurement device according to claim 1 or claim 2, it is characterised in that: fixing piece (2) is column,
The cylinder of column offers through slot in radial direction, and through slot is plugged on one end of two supporting legs (3) of oblique, two supporting legs (3) point
It is not rotated relative to the column.
4. a kind of linear displacement measurement device according to claim 3, it is characterised in that: the other end of each supporting leg (3) is also
It is equipped with contact (32), the contact surface with existing soft robot for face contact is machined on contact (32).
5. a kind of linear displacement measurement device according to claim 4, it is characterised in that: the contact (32) includes panel
(321) and two connecting ribs (322)；The one side of panel (321) is contact surface, between being fixed on the another side of panel (321)
Every opening up a through-hole on two connecting ribs (322) of arrangement, each connecting rib (322), the other end of supporting leg (3) is opened up
There is mounting hole, supporting leg (3) other end is inserted in two connecting rib (322) gaps, and supporting leg (3) is by being arranged in through-hole and installation
The bolt in hole links together with two connecting ribs (322).
6. a kind of linear displacement measurement device according to claim 5, it is characterised in that: the contact surface is arc surface.
7. a kind of linear displacement measurement device according to claim 6, it is characterised in that: the central angle where the arc surface
It is 58 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910526957.2A CN110108184A (en) | 2019-06-18 | 2019-06-18 | A kind of linear displacement measurement device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910526957.2A CN110108184A (en) | 2019-06-18 | 2019-06-18 | A kind of linear displacement measurement device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110108184A true CN110108184A (en) | 2019-08-09 |
Family
ID=67495372
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910526957.2A Pending CN110108184A (en) | 2019-06-18 | 2019-06-18 | A kind of linear displacement measurement device |
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| Country | Link |
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| CN (1) | CN110108184A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1998055829A1 (en) * | 1997-06-05 | 1998-12-10 | Erasmus Universiteit Rotterdam Instituut Revalidatiegeneeskunde Van De Faculteit Geneeskunde- En Gezondheids Wetenschappen | Electronic angle-measuring device |
| CN201000322Y (en) * | 2006-11-13 | 2008-01-02 | 王洪中 | Diameter detection device of flexible material |
| CN102878879A (en) * | 2012-09-28 | 2013-01-16 | 际华三五一五皮革皮鞋有限公司 | Ranging rod utilizing angle for length and distance measurement |
| CN203785659U (en) * | 2014-03-21 | 2014-08-20 | 国家电网公司 | Caliper used for measuring pipeline ovality |
| CN206450195U (en) * | 2017-02-16 | 2017-08-29 | 郑州新交通汽车板簧有限公司 | The measuring instrument of the chord length of leaf springs of car half |
| CN208383019U (en) * | 2018-06-25 | 2019-01-15 | 中国测试技术研究院机械研究所 | Dimension measuring device |
| CN109579762A (en) * | 2018-11-28 | 2019-04-05 | 浙江农林大学 | A kind of measuring device and measuring method of tree breast-height diameter |
-
2019
- 2019-06-18 CN CN201910526957.2A patent/CN110108184A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1998055829A1 (en) * | 1997-06-05 | 1998-12-10 | Erasmus Universiteit Rotterdam Instituut Revalidatiegeneeskunde Van De Faculteit Geneeskunde- En Gezondheids Wetenschappen | Electronic angle-measuring device |
| CN201000322Y (en) * | 2006-11-13 | 2008-01-02 | 王洪中 | Diameter detection device of flexible material |
| CN102878879A (en) * | 2012-09-28 | 2013-01-16 | 际华三五一五皮革皮鞋有限公司 | Ranging rod utilizing angle for length and distance measurement |
| CN203785659U (en) * | 2014-03-21 | 2014-08-20 | 国家电网公司 | Caliper used for measuring pipeline ovality |
| CN206450195U (en) * | 2017-02-16 | 2017-08-29 | 郑州新交通汽车板簧有限公司 | The measuring instrument of the chord length of leaf springs of car half |
| CN208383019U (en) * | 2018-06-25 | 2019-01-15 | 中国测试技术研究院机械研究所 | Dimension measuring device |
| CN109579762A (en) * | 2018-11-28 | 2019-04-05 | 浙江农林大学 | A kind of measuring device and measuring method of tree breast-height diameter |
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Application publication date: 20190809 |
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