CN110774316B - FBG-based large-size heavy-load mechanical arm joint rotation angle measuring device - Google Patents
FBG-based large-size heavy-load mechanical arm joint rotation angle measuring device Download PDFInfo
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- CN110774316B CN110774316B CN201911129751.2A CN201911129751A CN110774316B CN 110774316 B CN110774316 B CN 110774316B CN 201911129751 A CN201911129751 A CN 201911129751A CN 110774316 B CN110774316 B CN 110774316B
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- mechanical arm
- fbg
- spring
- guide pipe
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- 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
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/025—Optical sensing devices including optical fibres
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- 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
-
- 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
- B25J19/02—Sensing devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The invention discloses a large-size large and heavy-load mechanical arm joint angle measuring device based on FBGs (fiber Bragg Grating), which comprises a first measuring mechanism and a second measuring mechanism, wherein the first measuring mechanism and the second measuring mechanism respectively comprise an ejector rod, a guide pipe, a spring, an FBG sensor and the like; the spring is in contact with the FBG sensor, the FBG sensor is connected with the optical fiber, the optical fiber is connected with the demodulator, the spring and the FBG sensor are arranged in the guide pipe, and the guide pipe is fixed on the second mechanical arm and does not move; one end of the ejector rod extends into the guide pipe and is connected with the spring, and the other end of the ejector rod extends out of the guide pipe; when the axes of the first mechanical arm and the second mechanical arm are on the same straight line, the two ejector rods are just in contact with the connecting rod at the tail end of the first mechanical arm, and the connecting rod is fixedly connected with the first mechanical arm; when the first mechanical arm rotates clockwise relative to the second mechanical arm, the first ejector rod is pushed into the guide pipe; when the first mechanical arm rotates anticlockwise relative to the second mechanical arm, the second ejector rod is pushed into the guide tube, and the spring is compressed and contracted.
Description
Technical Field
The invention discloses a FBG-based large-size heavy-load mechanical arm joint rotation angle measuring device.
Background
The heavy-duty mechanical arm is a highly complex system with multiple inputs, multiple outputs, strong coupling and strong nonlinearity, and how to ensure the stability, reliability and safety of the heavy-duty mechanical arm in the operation process is a hot spot of current research. The measurement and control of the joint angle are particularly important, and are related to the accuracy, stability, reliability and safety of the operation of the mechanical arm.
In the working condition of the mechanical arm, electromagnetic interference often exists or the working environment is extremely severe, which greatly interferes with the traditional method for measuring the joint angle of the mechanical arm.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention discloses a device for measuring the rotation angle of a joint of a large-size heavy-load mechanical arm based on FBG. The fiber grating sensor has the advantages of electromagnetic interference resistance, electrical insulation, corrosion resistance and the like, and can work normally in complex working conditions and ensure high sensitivity, which is not possessed by the traditional joint angle measuring method.
In order to solve the problems, the technical scheme adopted by the invention is as follows:
the FBG-based large-size large-heavy-load mechanical arm joint angle measuring device comprises a first measuring mechanism and a second measuring mechanism which are identical in structure, wherein the first measuring mechanism and the second measuring mechanism respectively comprise an ejector rod, a guide pipe, a spring, an FBG sensor, an optical fiber and a demodulator; the spring is in contact with the FBG sensor, the FBG sensor is connected with the optical fiber, the optical fiber is connected with the demodulator, the spring and the FBG sensor are arranged in the guide pipe, and the guide pipe is fixed on the second mechanical arm and does not move; one end of the ejector rod extends into the guide pipe and is connected with the spring, and the other end of the ejector rod extends out of the guide pipe; when the axes of the first mechanical arm and the second mechanical arm are on the same straight line, the two ejector rods are just in contact with the connecting rod at the tail end of the first mechanical arm, and the connecting rod is fixedly connected with the first mechanical arm; when the first mechanical arm rotates clockwise relative to the second mechanical arm, the first ejector rod is pushed into the guide pipe under the action of the connecting rod; when the first mechanical arm rotates anticlockwise relative to the second mechanical arm, the second ejector rod is pushed into the guide tube under the action of the connecting rod, and the spring is further caused to be compressed and contracted, so that a certain pressure is applied to the FBG sensor, the fiber core generates strain in the axial direction, and the wavelength drift of the FBG is caused; the change can be obtained by a demodulator, and the one-to-one corresponding relation between the angle change and the wavelength change can be established by further calculation, so that the measurement of the angle is completed.
As a further technical scheme, the ejector rod and the guide tube are limited by a limiting bulge arranged at the end part of the guide tube.
As a further technical scheme, the spring can not be connected with the ejector rod, and the spring can be contacted with the end part of the ejector rod only by ensuring the free state.
The beneficial effects of the invention are: compared with the traditional mechanical arm joint angle measuring mode, the method has the following advantages:
1. the whole device has high sensitivity, and the FBG sensor is sensitive to tiny pressure, so the measured angle precision is higher.
2. The linearity is good, and because the spring deformation and the pressure, and the pressure borne by the FBG and the wavelength change are linear relations, the relation between the angle and the wavelength change is easy to establish, and the error is small.
3. Because the optical fiber measurement is adopted, the device has the advantages of electromagnetic interference resistance, electric insulation, corrosion resistance and suitability for complex working conditions.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic view of the apparatus with the upper and lower arms in line;
FIG. 2 is a schematic view of the apparatus with the upper robot arm counterclockwise relative to the lower robot arm;
FIG. 3 is a schematic view of the apparatus in a clockwise and counterclockwise position of the upper robot arm relative to the lower robot arm;
the spacing or dimensions between each other are exaggerated to show the location of the various parts, and the illustration is for illustrative purposes only. In the figure: 1 last arm, 2 connecting rods, 3 lower arms, 4 ejector pins, 5 spacing bumps, 6 springs, 7FBG sensors, 8 fixed terminal surfaces, 9 optic fibres, 10 stand pipes.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
For convenience of description, the words "up", "down", "first", "second", and the like, if any, in the present invention merely indicate correspondence with the upper, lower, and direction of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention.
As introduced in the background art, the existing heavy-duty mechanical arm in the prior art is a highly complex system with multiple inputs, multiple outputs, strong coupling and strong nonlinearity, and how to ensure the stability, reliability and safety of the heavy-duty mechanical arm in the operation process is a hot spot of current research. Wherein, joint angle's measurement and control are especially important, are concerned with the accuracy, stability, reliability and the security of arm operation, in order to solve above technical problem, this application provides a big heavy load arm joint rotation angle measuring device of jumbo size based on FBG.
In a typical embodiment of the application, the invention structure is as shown in fig. 1, and the large-size heavy-load mechanical arm joint angle measuring device based on FBG comprises a first measuring mechanism and a second measuring mechanism which have the same structure, wherein fig. 1 corresponds to an upper measuring mechanism and a lower measuring mechanism, and the upper measuring mechanism and the lower measuring mechanism respectively comprise a top rod 4, a guide pipe 10, a spring 6, an FBG sensor 7, an optical fiber 9 and a demodulator; the spring 6 is in contact with the FBG sensor 7 (the right end of the spring is not directly connected with the FBG in the figure, but the right end of the spring can be ensured to be in natural contact with the end face of the FBG in a free state, while the left end of the spring is directly connected with the tail end of the mandril in the figure), the spring 6 and the FBG sensor 7 are arranged in guide pipes, the two guide pipes 10 are parallel to each other, the two guide pipes 10 are fixed on the lower mechanical arm and are not moved, particularly, the fixed end face 8 is shown in the figure 1, and the fixed end face 8 is fixed with the lower mechanical arm together; one end of the push rod 4 extends into the guide tube 10 and is connected with the spring 6, and the other end of the push rod 4 extends out of the guide tube 10. The connecting rod 2 rotates along with the upper mechanical arm to push the ejector rod 4 and compress the spring mechanism 6, so that certain pressure is applied to the FBG sensor 7, the pressure signal is converted into an optical signal, the optical signal is sent to the demodulator to be further processed, and the rotation angle of the mechanical arm joint is obtained. The grating of the FBG sensor 7 is stressed, and the specific structure thereof is the same as that of the existing FBG sensor, which is not described herein again.
As shown in fig. 1, in the present embodiment, the robot comprises an upper robot arm 1 and a lower robot arm 3, wherein the upper robot arm 1 is connected to a link 2, and the link 2 can rotate with the upper robot arm 1; the lower mechanical arm 3 is fixed; the two guide pipes 10 are parallel to each other, and the two ejector rods 4 are parallel to each other; in fig. 1, the lower mechanical arm is horizontally arranged, so that the two guide pipes 10 and the two ejector rods 4 are also horizontally arranged; when the axes of the upper mechanical arm and the lower mechanical arm are on the same straight line, the two ejector rods are just in contact with the connecting rod at the tail end of the upper mechanical arm; when the upper mechanical arm rotates clockwise relative to the lower mechanical arm, the upper ejector rod is pushed into the guide pipe under the action of the connecting rod; when the upper mechanical arm rotates anticlockwise relative to the lower mechanical arm, the lower ejector rod is pushed into the guide tube under the action of the connecting rod, and the spring is further compressed and contracted, so that a certain pressure is applied to the FBG sensor, the fiber core generates strain in the axial direction, and the wavelength drift of the FBG is caused; the change can be obtained by a demodulator, and the one-to-one corresponding relation between the angle change and the wavelength change can be established by further calculation, so that the measurement of the angle is completed.
Furthermore, the ejector rod and the guide tube are limited by a limiting bulge 5 arranged at the end part of the guide tube, so that the ejector rod is limited to move only inside and outside the guide rod;
As a further technical solution, it is understood that the spring in the present application may not be connected to the push rod, as long as it is ensured that the spring can contact with the end of the push rod in a free state.
As a further technical solution, as shown in the figure, the optical fibers of the upper and lower measuring mechanisms are connected to the same demodulator.
The specific principle of the joint rotation angle measuring device is as follows:
(1) when the upper robot arm is in the position of fig. 1, it is in the home position. At the moment, the connecting rod has no thrust on the upper ejector rod and the lower ejector rod, the upper spring mechanism and the lower spring mechanism are both in an original long state, and the FBG sensor is not stressed.
(2) When the upper mechanical arm rotates counterclockwise through a certain angle, as shown in fig. 2. At the moment, the connecting rod pushes the lower ejector rod, and the spring mechanism contracts, so that certain pressure is applied to the FBG sensor, the fiber core generates strain in the axial direction, and the wavelength drift of the FBG is caused. The change can be obtained by a demodulator, and the one-to-one corresponding relation between the angle change and the wavelength change can be established by further calculation, so that the measurement of the angle is completed. Due to the limiting effect of the limiting salient points, the upper ejector rod keeps the original position unchanged, and the FBG above the upper ejector rod cannot have the wavelength change.
(3) When the upper arm is rotated clockwise through a certain angle, as shown in fig. 3. The measurement principle is the same as that in (2), the FBG above generates the change of the wavelength, and therefore the rotation angle of the mechanical arm is obtained. The clockwise and anticlockwise rotation angles can be distinguished through the cooperation of the two sets of ejector rod devices and the two sets of FBG sensors.
Compared with the traditional mechanical arm joint angle measuring mode, the method has high sensitivity, and the FBG is sensitive to tiny pressure, so the measured angle precision is higher.
1. The linearity is good, and because the spring deformation and the pressure, and the pressure borne by the FBG and the wavelength change are linear relations, the relation between the angle and the wavelength change is easy to establish, and the error is small.
2. Electromagnetic interference resistance, electric insulation, corrosion resistance and suitability for complex working conditions.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (5)
1. The FBG-based large-size large-heavy-load mechanical arm joint angle measuring device is characterized by comprising a first measuring mechanism and a second measuring mechanism which are identical in structure, wherein the first measuring mechanism and the second measuring mechanism respectively comprise a mandril, a guide pipe, a spring, an FBG sensor, an optical fiber and a demodulator; the spring is in contact with the FBG sensor, the FBG sensor is connected with the optical fiber, the optical fiber is connected with the demodulator, the spring and the FBG sensor are arranged in the guide pipe, and the guide pipe is fixed on the second mechanical arm and does not move; one end of the ejector rod extends into the guide pipe and is connected with the spring, and the other end of the ejector rod extends out of the guide pipe; when the axes of the first mechanical arm and the second mechanical arm are on the same straight line, the two ejector rods are just in contact with the connecting rod at the tail end of the first mechanical arm, and the connecting rod is fixedly connected with the first mechanical arm; when the first mechanical arm rotates clockwise relative to the second mechanical arm, the first ejector rod is pushed into the guide pipe under the action of the connecting rod; when the first mechanical arm rotates anticlockwise relative to the second mechanical arm, the second ejector rod is pushed into the guide tube under the action of the connecting rod, and the spring is further compressed and contracted.
2. A large-size large and heavy-duty mechanical arm joint angle measuring device based on FBG as claimed in claim 1, wherein the ejector rod and the guide tube are limited by a limiting bulge arranged at the end of the guide tube.
3. The FBG-based large-size heavy-duty mechanical arm joint angle measuring device of claim 1, wherein the guide pipes of the first measuring mechanism and the second measuring mechanism are parallel to each other.
4. The FBG-based large-size heavy-duty mechanical arm joint angle measuring device according to claim 1, wherein the spring is in contact with the end of the push rod in a free state.
5. The FBG-based large-size heavy-duty mechanical arm joint angle measuring device as claimed in claim 1, wherein the optical fibers of the first measuring mechanism and the second measuring mechanism are connected to a same demodulator.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911129751.2A CN110774316B (en) | 2019-11-18 | 2019-11-18 | FBG-based large-size heavy-load mechanical arm joint rotation angle measuring device |
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| CN201911129751.2A CN110774316B (en) | 2019-11-18 | 2019-11-18 | FBG-based large-size heavy-load mechanical arm joint rotation angle measuring device |
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| CN110774316A CN110774316A (en) | 2020-02-11 |
| CN110774316B true CN110774316B (en) | 2022-08-12 |
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| CN110450161A (en) * | 2019-08-15 | 2019-11-15 | 四川大学 | A kind of flexible mechanical arm assembly that can actively and passively adjust rigidity |
Family Cites Families (1)
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| CN103453872A (en) * | 2013-08-02 | 2013-12-18 | 上海交通大学 | Multi-shaft vacuum manipulator shafting precision testing device |
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Patent Citations (4)
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| CN107443355A (en) * | 2017-08-04 | 2017-12-08 | 国网山东省电力公司电力科学研究院 | A kind of mechanical arm and control method for partial discharge of switchgear detection |
| CN108436912A (en) * | 2018-03-27 | 2018-08-24 | 山东大学 | A kind of control system and its control method of reconstruction robot docking mechanism |
| CN110450161A (en) * | 2019-08-15 | 2019-11-15 | 四川大学 | A kind of flexible mechanical arm assembly that can actively and passively adjust rigidity |
| CN110450147A (en) * | 2019-08-19 | 2019-11-15 | 北京墨狄科技有限公司 | A kind of rear-mounted crank slide bar mechanical arm of spring balance center of gravity and its motor rotational angle algorithm |
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