CN202153128U

CN202153128U - Bumping position detection device based on force sensing

Info

Publication number: CN202153128U
Application number: CN2011202786769U
Authority: CN
Inventors: 赵丁选
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2011-08-03
Filing date: 2011-08-03
Publication date: 2012-02-29
Anticipated expiration: 2021-08-03

Abstract

The present utility model discloses a bumping position detection device based on force sensing, and the device is used for detecting the bumping position when a rigid object is bumped into a probing rod. The detection device is composed of the probing rod, two force sensors hinged to the two ends of the probing rod, and a measuring circuit. When a rigid bumping object (a cylinder or a blade-shaped object) is bumped into a beam, the bumping force is passed to the two force sensors of a simple support, then through detecting bumping forces of the sensors, and according to the lever principle that the bumping forces of the two force sensors are inversely proportional to the distances between the bumping position and two supporting points, the bumping position can be calculated. The bumping position detection device based on force sensing is suitable for detecting bumping positions under severe situations, such as smog, dust or sewage. The detection device is rapid in detection speed; is simple, practical and reliable; has wide application range; and is convenient for maintaining.

Description

A kind of device for detecting position of collision of based on the power sensing

Technical field

The utility model relates to a kind of device for detecting position of collision of based on the power sensing; Can be widely used in position of collision detects; Being particularly useful for rugged surroundings such as smog, dust or sewage, requiring the fast occasion of detection speed, is a kind of simple, practical, reliable device for detecting position of collision of.

Background technology

When using mechanical arm to catch in the rugged surroundings such as smog, dust or sewage target object automatically, need know the position of target object.In order to detect the position of target object, main at present use feeler lever stretches to target object, on feeler lever, installs near switch arrays, Hall switch array or optoelectronic switch array, or detects along modes such as feeler lever axis direction installation magneto strictive sensors.The common issue with that former three exists is that element is many, line is many, and poor reliability, detection time are long.In addition, if use electromagnetic type, then sheet metal need be installed on target object near switch arrays; If use the Hall switch array, then magnetic material need be installed on target object; If use the optoelectronic switch array, then need the light transmission of environment better.If magneto strictive sensor is installed, then needs to install the magnet ring of a special use on the target object, and just can detect the lateral attitude of target object when having only the magnet ring of object partly to touch feeler lever along feeler lever.In a word, aforesaid various touch location detection methods because of receiving various restrictions, use very inconvenience, and the scope of application is extremely limited.

Summary of the invention

The utility model provides a kind of device for detecting position of collision of, carry out the position of collision detection to satisfy bad working environment, the demanding occasions of detection speed such as smog, dust or sewage based on the power sensing.It is a kind of simple, practical, reliable device for detecting position of collision of.

The realization of the above-mentioned target of the utility model combines accompanying

drawing

1,2 to describe as follows:

As shown in Figure 1, connect two pull pressure sensor 5,6 at the two ends of feeler lever 1 through two

hinges

3,4, the pull pressure sensor 5 in left side directly is connected with basis 2, and the pull pressure sensor 6 on right side is connected with basis 2 through a hinge 7.The force signal that sensor 5,6 spreads out of passes to measurement mechanism 9, to measure the position of collision of rigid objects 10 through lead 8.

As shown in Figure 2, establish the distance that rigid objects 10 touches position distance 3, the 4 hinge centers of feeler lever and be respectively l ₃, l ₄, the power that rigid objects 10 touches feeler lever is P, the reverse anchorage force that bears on 3,4 hinges is respectively F ₃, F ₄, then relational expression is arranged according to lever principle:

Under the certain situation of

feeler lever

3,4 hinge centre distance L, can calculate the position that feeler lever is touched according to top formula.

The device for detecting position of collision of based on the power sensing that the utility model is related, applicable to the detection of position of collision under the rugged surroundings such as smog, dust or sewage, its detection speed is fast, simple, practical, reliable, applied range, easy to maintenance.

Description of drawings

Fig. 1 is the structure principle chart of the utility model;

Fig. 2 is the force analysis figure of the utility model;

Fig. 3 is the structural drawing of the utility model specific embodiment;

Fig. 4 is the pasting method that is used for the foil gauge of dynamometry among the embodiment;

Fig. 5 is the embodiment electrical schematic.

Among the figure: 1-feeler lever 1 '-the coboundary 2-of square plate basis 2 '-the upper left bloster hinge 3 of square plate 3-'-the upper right bloster hinge 4 of upper left thin-walled flexible hinge 4-'-force transducer 7-bottom right, force transducer 6-right side, upper right thin-walled flexible support hinge 5-left side bloster hinge 7 '-the bottom right thin-walled flexible support hinge 8-lead 9-measurement mechanism 10-rigid collision thing 11-first foil gauge 12-second foil gauge 13-the 3rd foil gauge 14-the 4th foil gauge 15-the 5th foil gauge 16-the 6th foil gauge 17-the 7th foil gauge 18-the 8th foil gauge 19; 20-first; Two; Three; The differential output line 21 of the resistance bridge that four foil gauges constitute; 22-the 5th; Six; Seven; The differential output line 23 of the resistance bridge that eight foil gauges constitute; 24-differential amplifier circuit 25-A/D converter 26-central processing unit (CPU) 27-display circuit

Embodiment

A kind of device for detecting position of collision of embodiment based on the power sensing.Referring to accompanying drawing 3, target object 10 touching by the leading edge 1 of the pick-up unit of square plate 2 ' make '.The side plate 2 ' on have A, B, C hole, three holes are linked up through the slit of a τ shape.Wherein A, B hole near square plate 2 ' coboundary; Go up about the thin-walled place of the side's of making plate 2 ' coboundary becomes the flexible hinge 3 of thin-walled ', 4 '; Play the effect of flexible hinge, be equivalent among Fig. 1 about go up

bloster hinge

3,4, and square plate 2 ' leading edge be equivalent to feeler lever 1; Hole C near square plate 2 ' lower limb, the thin-walled place at this hole and edge become the flexible hinge 7 of bottom right thin-walled ', play the effect of flexible hinge, be equivalent to the bottom right bloster hinge 7 among Fig. 1.Referring to Fig. 4; Limit is respectively pasted two foil gauges with following limit place on the A hole; I.e. first foil gauge 11, second foil gauge 12 and the 3rd foil gauge 13, the 4th foil gauge 14; The subsides method is consulted Fig. 4, and with the resistance bridge in left side in the pie graph 5, the resistance bridge in left side is equivalent to the left side force transducer 5 among Fig. 1; Limit is respectively pasted two foil gauges with following limit place on the B hole; I.e. the 5th foil gauge 15, the 6th foil gauge 16 and the 7th foil gauge 17, the 8th foil gauge 18; Subsides method and A hole are same, and with the resistance bridge on right side in the pie graph 5, the resistance bridge on right side is equivalent to the right side force transducer 6 among Fig. 1.The output of two electric bridges connects metering circuit 9.Wherein the differential output of the resistance bridge in left side connects the differential amplifier 23 in the measurement mechanism 9 through lead 19,20; The differential output of the resistance bridge on right side connects differential amplifier 24 in the measurement mechanism 9 through lead 19,20; The output of two differential amplifiers connects A/D converter 25, and the data after A/D conversion are imported central processing unit (CPU) 26 into and calculated, and result of calculation outputs to display device 27 and shows.

Introduce the computing method in the central processing unit (CPU) 26 below.Consult Fig. 2, establish rigid objects 10 and touch the distance that goes up

bloster hinge

3,4 centers about the position distance of feeler lever and be respectively l ₃, l ₄, about go up the reverse anchorage force that bears on the

bloster hinge

3,4 and be respectively F ₃, F ₄, then relational expression is arranged according to lever principle

Set up.Under the certain situation of

bloster hinge

3,4 centre distance L, can calculate the position that feeler lever touches the rigidity target object on about feeler lever 1 according to top formula.

Above-described embodiment, just the application's embodiment is a kind of, and common variation that those skilled in the art carries out in present techniques scheme scope and replacement all should be included in the protection domain of the utility model.

Claims

1. device for detecting position of collision of based on the power sensing; It is characterized in that; Comprise about feeler lever (1), its two ends are passed through and go up left and right sides force transducer (5,6) and the measurement mechanism (9) that bloster hinge (3,4) connects; Left side force transducer (5) directly is connected with basis (2), and right side force transducer (6) is connected with basis (2) through bottom right bloster hinge (7), and the force signal that left and right sides force transducer (5,6) spreads out of passes to measurement mechanism (9) through lead (8).

2. a kind of device for detecting position of collision of according to claim 1 based on the power sensing; It is characterized in that; A square plate (2 ') is adopted on said basis (2), has on it through the slit of a τ shape and links up A, B, C hole, and wherein A, B hole are near the coboundary of square plate (2 '); The C hole is near the lower limb of square plate (2 '); Go up the flexible hinge of thin-walled (3 ', 4 ') about the thin-walled place of the coboundary of the side's of making plate (2 ') becomes, the thin-walled place of the lower limb of square plate (2 ') becomes the flexible hinge of bottom right thin-walled (7 '), and the coboundary (1 ') of square plate (2 ') is equivalent to feeler lever (1).

3. a kind of device for detecting position of collision of according to claim 1 and 2 based on the power sensing; It is characterized in that; Said left and right sides force transducer (5,6) is made up of resistance bridge respectively; Resistance bridge respectively pastes two foil gauges by limit on A, B hole with following limit place and constitutes the output termination measurement mechanism (9) of two resistance bridges.