CN113340259A - Joint angle measuring device and measuring method - Google Patents
Joint angle measuring device and measuring method Download PDFInfo
- Publication number
- CN113340259A CN113340259A CN202110638263.5A CN202110638263A CN113340259A CN 113340259 A CN113340259 A CN 113340259A CN 202110638263 A CN202110638263 A CN 202110638263A CN 113340259 A CN113340259 A CN 113340259A
- Authority
- CN
- China
- Prior art keywords
- joint angle
- compression spring
- measuring device
- linear compression
- pressure sensor
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims description 7
- 230000006835 compression Effects 0.000 claims abstract description 42
- 238000007906 compression Methods 0.000 claims abstract description 42
- 238000005259 measurement Methods 0.000 claims abstract description 12
- 239000010408 film Substances 0.000 description 13
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 239000010409 thin film Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
The invention discloses a joint angle measuring device, which comprises an upper sleeve, a lower sleeve, a film pressure sensor, a pushing plate, a linear compression spring, a pressing plate and a sliding rod, wherein the upper sleeve is fixedly connected with the lower sleeve; one end of the inner part of the upper sleeve is fixedly connected with the film pressure sensor, and the other end of the inner part of the upper sleeve is fixedly connected with one end of the lower sleeve; the linear compression spring is arranged in the upper sleeve and the lower sleeve, and one end of the linear compression spring is fixedly provided with the pressing plate and is contacted with the film pressure sensor; one end of the sliding rod can freely and slidably extend into the lower sleeve and is fixedly connected with the other end of the linear compression spring through the pushing plate. According to the invention, the elastic force applied by the compression spring is measured by the film pressure sensor, so that the length of the compression spring is obtained, the length of the joint angle measuring device is obtained, the joint angle measurement is further realized by the cosine law, the structure is simple, and the advance planning is not needed.
Description
Technical Field
The invention belongs to the field of measurement, and particularly relates to joint angle measurement.
Background
The joint angle is an important parameter of the robot and provides a basis for controlling the robot. Therefore, joint angle measurement plays an important role in the field of robotics. The existing joint angle measurement mainly uses an encoder, and the technology is mature at present, but needs to be taken into consideration when designing a robot. The use of encoders increases the size of the joints, making the robot look uncoordinated. Meanwhile, the encoder can only measure the joint angle.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provide a measuring device which is not required to be planned in advance and can be installed at any time when a joint angle needs to be measured.
In order to achieve the aim, the invention provides a joint angle measuring device which comprises an upper sleeve, a lower sleeve, a film pressure sensor, a pushing plate, a linear compression spring, a pressing plate and a sliding rod, wherein the upper sleeve is connected with the lower sleeve through a connecting rod; one end of the inner part of the upper sleeve is fixedly connected with the film pressure sensor, and the other end of the inner part of the upper sleeve is fixedly connected with one end of the lower sleeve; the linear compression spring is arranged in the upper sleeve and the lower sleeve, and one end of the linear compression spring is fixedly provided with the pressing plate and is contacted with the film pressure sensor; one end of the sliding rod can freely and slidably extend into the lower sleeve and is fixedly connected with the other end of the linear compression spring through the pushing plate.
Further, one end of the upper sleeve, which is far away from the lower sleeve, is provided with a mounting hole; and one end of the sliding rod extending out of the lower sleeve is provided with a mounting hole.
Further, the sliding rod and the lower sleeve are assembled through a linear bearing; the film pressure sensor is fixed inside the upper sleeve in a sticky mode.
Furthermore, two ends of the linear compression spring are fixedly installed with the pushing plate and the pressing plate through buckles respectively.
Further, the upper sleeve and the lower sleeve are connected through threads; the sliding rod and the pushing plate are assembled through threads.
The invention also provides a method for measuring the joint angle by adopting the joint angle measuring device, wherein two ends of the joint angle measuring device are respectively and rotatably arranged on two connecting rods of the joint angle, the length of the current linear compression spring is calculated by the pressure measured by the film pressure sensor, the length of the joint angle measuring device is further calculated, and the joint angle is calculated by utilizing the cosine law according to the lengths from the two mounting points to the joint shaft.
Furthermore, when joint angle measurement is carried out, mounting holes are formed in the two connecting rods of the joint angle, bearings are respectively assembled in the mounting holes at the two ends of the joint angle measurement device, and the bearings and the nuts are fixed after penetrating through the mounting holes in the bearings and the corresponding connecting rods through screws.
Specifically, the joint angle can be calculated by the following formula:
in the formula I1、l2The distances from the mounting holes on the two connecting rods of the joint angle to the joint axis are respectively l3Is the distance between the mounting holes at the two ends of the joint angle measuring device4The distance between the mounting hole of the upper sleeve and the contact surface of the pressure plate and the linear compression spring is l5Is the length of the current linear compression spring,/6The distance between the mounting hole of the sliding rod and the contact surface of the pushing plate and the linear compression spring, l50Is the length of the linear compression spring in a natural extension state, F is the pressure measured by the film pressure sensor, and k is the elastic coefficient of the linear compression spring.
Compared with the prior art, the invention has the following advantages:
according to the invention, the elastic force applied by the compression spring is measured by the film pressure sensor, so that the length of the compression spring is obtained, the length of the joint angle measuring device is obtained, the joint angle measurement is further realized by the cosine law, the structure is simple, and the advance planning is not needed.
Meanwhile, the linear compression spring is used, and the effects of storing energy and improving the smoothness of the joint can be achieved.
The invention detects the driving force of the spring in real time and provides a basis for constructing a joint dynamic model.
Drawings
FIG. 1 is a perspective view of a joint angle measuring device of the present invention mounted on a joint;
FIG. 2 is a front view of FIG. 1;
FIG. 3 is a right side view of FIG. 1;
FIG. 4 is a top view of FIG. 1;
FIG. 5 is a schematic view showing a disassembled internal structure of the joint angle measuring device of the present invention;
FIG. 6 is a schematic view of the installation of the joint angle measuring device of the present invention;
fig. 7 is a schematic view of the measurement principle of the joint angle measurement method of the present invention.
In the figure, 1-upper sleeve, 2-lower sleeve, 3-sliding rod, 4-film pressure sensor, 5-linear bearing, 6-pushing plate, 7-pressing plate, 8-upper sleeve mounting hole, 9-sliding rod mounting hole, 10-bearing, 11-screw, 12-nut, 13-connecting rod I, 14-connecting rod II and 15-linear compression spring.
Detailed Description
Fig. 1 to 6 are a perspective view, a front view, a right side view, a plan view, an internal structure diagram and an installation diagram of the joint angle measuring device of the present invention installed on a joint, respectively. The joint angle measuring device comprises an upper sleeve 1, a lower sleeve 2, a sliding rod 3, a film pressure sensor 4, a linear bearing 5, a pushing plate 6, a linear compression spring 15, a pressure applying plate 7, a bearing 10, a screw 11 and a nut 12. One end of the upper sleeve 1 is provided with a mounting hole 8, and the upper sleeve 1 and the connecting rod one 13 can rotate relatively through a bearing 10, a screw 11 and a nut 12 which are mounted on the connecting rod one 13. A film pressure sensor 4 is fixed at the bottom inside the upper casing 1 in a sticky way. The other end of the upper sleeve 1 and one end of the lower sleeve 2 are installed together through thread fit, the other end of the lower sleeve 2 and the sliding rod 3 are assembled together through a linear bearing 5, and the sliding rod 3 and the lower sleeve 2 can move relatively. One end of the sliding rod 3 is a mounting hole 9, and is mounted on the second connecting rod 14 through a bearing 10, a screw 11 and a nut 12, so that the sliding rod 3 and the second connecting rod 14 can rotate relatively. The other end of the slide rod 3 and the push plate 6 are fitted together by screw-fitting. One end of the linear compression spring 15 is fixedly installed through the buckle and the pushing plate 6, and the other end of the linear compression spring 15 is fixedly installed through the buckle and the pressing plate 7.
The joint angle measuring device of the present invention is installed such that the pressure plate 7 and the thin film pressure sensor 4 are in contact, but no force is generated, when the joint is at the maximum reachable position. When the joint moves, the linear spring 15 is compressed, the pressure applying plate 7 applies force to the film pressure sensor 4, the elastic force measured by the film pressure sensor 4 is related to the length of the compression spring 15, so that the length of the joint angle measuring device can be obtained, and further joint angle measurement is realized through the cosine law.
Fig. 7 is a schematic view showing the measurement principle of the joint angle measuring apparatus of the present invention. l1The distance between the mounting hole (namely the upper pipe sleeve mounting hole 8) on the connecting rod I13 and the joint shaft is l2The distance between the mounting hole (namely the sliding rod mounting hole 9) on the second connecting rod 14 and the joint shaft, |3For the distance, l, from the upper pipe sleeve mounting hole 8 to the slide bar mounting hole 9 of the current joint angle measuring device4The distance from the upper pipe sleeve mounting hole 8 to the contact surface of the pressing plate 7 and the linear compression spring 15,/5Is the length of the present linear compression spring 15,/6The joint angle theta can be obtained from the following equation in order to obtain the distance from the slide rod mounting hole 9 to the contact surface of the push plate 6 and the linear compression spring 15
In the formula I50Is the length of the linear compression spring 15 at which no force is applied, F is the force measured by the film pressure sensor 4, and k is the spring constant of the linear compression spring 15.
Claims (9)
1. A joint angle measuring device is characterized by comprising an upper sleeve, a lower sleeve, a film pressure sensor, a pushing plate, a linear compression spring, a pressing plate and a sliding rod; one end of the interior of the upper sleeve is fixedly connected with the film pressure sensor, and the other end of the interior of the upper sleeve is fixedly connected with one end of the lower sleeve; the linear compression spring is arranged in the upper sleeve and the lower sleeve, and one end of the linear compression spring is fixedly provided with the pressing plate and is in contact with the film pressure sensor; one end of the sliding rod can freely and slidably extend into the lower sleeve and is fixedly connected with the other end of the linear compression spring through the pushing plate.
2. The joint angle measuring device of claim 1, wherein an end of the upper casing away from the lower casing is provided with a mounting hole; and one end of the sliding rod extending out of the lower sleeve is provided with a mounting hole.
3. The joint angle measuring device according to claim 2, wherein the slide bar is assembled with the lower sleeve by a linear bearing; the film pressure sensor is fixed inside the upper sleeve in a sticky mode.
4. The joint angle measuring device of claim 3, wherein both ends of the linear compression spring are fixedly mounted with the pushing plate and the pressing plate by means of a snap, respectively.
5. The joint angle measuring device of claim 4, wherein the upper and lower sleeves are connected by threads; the sliding rod and the pushing plate are assembled through threads.
6. The method for measuring a joint angle using the joint angle measuring device according to any one of claims 2 to 5, wherein both ends of the joint angle measuring device are rotatably mounted on two links of a joint angle, respectively, the length of the linear compression spring is calculated by the pressure measured by the film pressure sensor, the length of the joint angle measuring device is further calculated, and the joint angle is calculated by using the cosine law based on the lengths of the two mounting points to the joint axis.
7. The method according to claim 6, wherein when the joint angle is measured, mounting holes are formed in two connecting rods of the joint angle, and bearings are respectively assembled in the mounting holes at two ends of the joint angle measuring device and are fixed with nuts after passing through the mounting holes in the bearings and the corresponding connecting rods respectively through screws.
8. The method of joint angle measurement of claim 7, wherein the joint angle is calculated by the following formula:
in the formula I1、l2The distances from the mounting holes on the two connecting rods of the joint angle to the joint axis are respectively l3Is the distance between the mounting holes at the two ends of the joint angle measuring device4The distance between the mounting hole of the upper sleeve and the contact surface of the pressure plate and the linear compression spring is l5Is the length of the current linear compression spring,/6The distance between the mounting hole of the sliding rod and the contact surface of the pushing plate and the linear compression spring, l50Is the length of the linear compression spring in a natural extension state, F is the pressure measured by the film pressure sensor, and k is the elastic coefficient of the linear compression spring.
9. The method of claim 8, wherein the mounting holes of the two links of the joint angle are arranged to satisfy the following condition: when the joint is at the maximum reachable position, a linear compression spring of the joint angle measuring device is in a natural extension state; when the joint is at the maximum reachable position, the joint angle measuring device is arranged at the corresponding positions of the two connecting rods of the joint angle, the pressing plate is in contact with the film pressure sensor, and the force measured by the film pressure sensor is zero.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110638263.5A CN113340259B (en) | 2021-06-08 | 2021-06-08 | Joint angle measuring device and measuring method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110638263.5A CN113340259B (en) | 2021-06-08 | 2021-06-08 | Joint angle measuring device and measuring method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113340259A true CN113340259A (en) | 2021-09-03 |
| CN113340259B CN113340259B (en) | 2022-12-20 |
Family
ID=77475387
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110638263.5A Active CN113340259B (en) | 2021-06-08 | 2021-06-08 | Joint angle measuring device and measuring method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113340259B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201945307U (en) * | 2010-12-23 | 2011-08-24 | 肖利 | Gradiometer |
| CN104028563A (en) * | 2014-06-03 | 2014-09-10 | 杭州电子科技大学 | Device and method for measuring thickness of lubricating oil film on high-speed rolling interface |
| CN104084947A (en) * | 2014-06-27 | 2014-10-08 | 哈尔滨工程大学 | Seven-functional underwater mechanical arm system |
| JP2017198621A (en) * | 2016-04-28 | 2017-11-02 | バンドー化学株式会社 | Rotation angle measurement device and capacitance type sensor sheet |
| 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 |
| CN110833507A (en) * | 2019-11-15 | 2020-02-25 | 南京中医药大学 | Adjustable rat click device |
| CN112180761A (en) * | 2020-09-29 | 2021-01-05 | 燕山大学 | Impedance control simulation platform for leg of foot robot based on position and construction method |
-
2021
- 2021-06-08 CN CN202110638263.5A patent/CN113340259B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201945307U (en) * | 2010-12-23 | 2011-08-24 | 肖利 | Gradiometer |
| CN104028563A (en) * | 2014-06-03 | 2014-09-10 | 杭州电子科技大学 | Device and method for measuring thickness of lubricating oil film on high-speed rolling interface |
| CN104084947A (en) * | 2014-06-27 | 2014-10-08 | 哈尔滨工程大学 | Seven-functional underwater mechanical arm system |
| JP2017198621A (en) * | 2016-04-28 | 2017-11-02 | バンドー化学株式会社 | Rotation angle measurement device and capacitance type sensor sheet |
| 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 |
| CN110833507A (en) * | 2019-11-15 | 2020-02-25 | 南京中医药大学 | Adjustable rat click device |
| CN112180761A (en) * | 2020-09-29 | 2021-01-05 | 燕山大学 | Impedance control simulation platform for leg of foot robot based on position and construction method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113340259B (en) | 2022-12-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106863348B (en) | Variable-stiffness joint for robot and stiffness adjusting method thereof | |
| CN206479410U (en) | A kind of pressure bringing device | |
| US7201064B2 (en) | Panel bending machine | |
| CN101915700B (en) | Non-outflow type gas pressure/volume control device | |
| CN111188942B (en) | Piezoelectric valve capable of sensing force and displacement automatically and displacement control method | |
| CN113340259B (en) | Joint angle measuring device and measuring method | |
| CN102135454B (en) | Device for measuring temperature signal and vibration signal of bearing | |
| CN203572643U (en) | Electromechanical servo mechanism rigidity testing device | |
| CN109507057B (en) | Wear experiment device of carbon brush for subway | |
| CN2411464Y (en) | Micro-displacement measuring device | |
| CN105651527B (en) | Portable rigid testboard bay | |
| CN204470935U (en) | Long pipe fittings suit jack unit | |
| CN207730183U (en) | Pivoting support measuring rod | |
| CN203908892U (en) | Mechanical stress-corrosion coupling fatigue test device | |
| CN210208414U (en) | Steel bar bending device for building engineering | |
| CN2682088Y (en) | Anode carbon block height measuring device | |
| CN205404019U (en) | Electromechanical torgue measurement mechanism of electrical operated valve sensor | |
| CN203146729U (en) | Transformation device for transforming linear displacement into angular displacement | |
| CN212007063U (en) | Piezoelectric type vibration displacement measuring sensor | |
| CN204011248U (en) | The mechanical property adjusting device of outdoor vacuum circuit breaker | |
| CN208845448U (en) | The Synchronous motion control device of double cylinder drivings | |
| CN207730184U (en) | Pivoting support measuring rod | |
| CN108981535B (en) | Contact displacement measuring method and measuring device thereof | |
| CN207263697U (en) | Flaw detection crawl frame | |
| CN111197955A (en) | Inductance sensor calibration device and inductance sensor calibration method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240429 Address after: 239300 Yuxing street, Tianchang City, Chuzhou City, Anhui Province Patentee after: ANHUI ZHONGXIN S&T CO.,LTD. Country or region after: China Address before: 210044 No. 219 Ning six road, Jiangbei new district, Nanjing, Jiangsu Patentee before: Nanjing University of Information Science and Technology Country or region before: China |