CS256190B1 - Object Slip Sensor - Google Patents

Abstract

The slip sensor is intended primarily for installation in means of transport and automatic manipulation of objects. The purpose of the object slip sensor is to increase reliability and ensure safety when gripping, manipulating and transporting objects. The sensor is used to indicate and measure the slip of objects in gripping devices, work tables or other means of transport. This purpose is achieved by inserting a rolling ball into a cavity formed under the surface of the working surface. At least three rotating bodies, regularly spaced in one plane, are pressed against the ball, which protrudes slightly above the surface through the opening, and whose rotation is sensed by contactless probes of the rotation sensors of the rotating bodies. By evaluating the data from these sensors, the direction, speed and path of movement when objects slide along the working surface are obtained. The object slip sensor is applicable for securing and measuring devices in automatic transport and manipulation of objects in industry.

Description

3 256190

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a slip sensor for indicating and measuring the movement of two objects to each other intended to be re-built into the gripping devices, work tables and other means for transporting and manipulating objects.

Indication and measurement of the relative movement of the slope of one article over the surface of the second article is accomplished by a slip sensor mounted below the surface of one of the articles. Known sensor solutions for this purpose work with spring-loaded links which, due to frictional forces, deflect when the objects move relative to each other, switching electrical contacts. The disadvantage of such a solution is that they induce the movement in the initial phase. For this reason, their use for controlling further movement is possible. Other sensors with built-in retractable roller, which is rotated by optoelectronic method, measure the mutual inclination of objects in one direction only. In the case where the slip is not defined, it is necessary to use two sensors, which is spatially satisfactory. Another known slip-pick-up solution is in the form of a ball with contrasting flats on the surface, the rotation of which is induced by the movement of the object to each other evaluates optoelectronically by means of multiple reflective sensors. The drawback of this solution is that it does not allow to evaluate the direction of the relative movement of the objects. Evaluating the direction of slip in the extended range of motion allows the sensor to be solved in the shape of a spherical surface fixed by a cardan hinge under the surface of the object. The pivots of the two humeral joints are evaluated potentiometrically. The complexity of the solution, the measuring range and the sensor dimensions limit its industrial use.

The above-mentioned drawbacks are solved by the sensor of the invention, the principle of which is that an indentable ball is inserted into the cavity formed under the surface of one article, which overlaps a smaller amount of volume over the opening in the surface above the object surface. At least three rotatably mounted rotary cages mounted on the spring-loaded carriers are pressed to the roll. The rotating bodies are regularly disposed in one plane of the distant opening in the surface of the object at a distance above the radius of the rolling ball. The probes are directed to the rotating bodies for sensing the rotation of the rotating bodies.

The arrangement of the functional parts of the slide sensor allows for free rotation of the rolling tip when the surfaces of the objects relative to each other move relative to each other. The sensed rotational speed of the rotary bodies makes it possible to evaluate the direction and instantaneous velocity of the movement of the objects in the slip. By evaluating the angular rotation of the individual rotating bodies of the suspension of the motion of the objects, the direction and the path of the relative displacements are determined.

In the accompanying drawings, there are shown two examples of the pre-meter slip sensor, where Fig. 1 shows the basic arrangement and incorporation of its main functional parts below the object surface, in Fig. 2 this arrangement is in plan view A-A, Fig. 3 and Fig. 4 shows another example of a four-body rotary slide sensor shown in cross-section in Fig. 3, and Fig. 4 is a sectional view B-B.

The rolling ball 1 inserted into the cavity 2 formed below the object surface 10 extends a smaller volume 3 through the opening 4 in the surface above the object surface 10 as shown in Fig. 1. Three rotating bodies 5 rotatably mounted on the elastic carriers 6 are pressed against the rolling ball. The pressure bodies 5 according to FIG. 2 are spaced regularly in a plane 15 away from the aperture 4 in the surface 10 at a distance greater than the radius of the winding ball 1. The rotary wheels 5 have surface portions formed by the surface segment 7s. the different light contrasts of which the probes 8, 9 of the opto-electronic reflective sensor sensors are directed, the sensing of the rotation of the rotating bodies 5. The body 13 represents the object crossing the surface 10. The modification of the design of the slide sensor according to FIG. 3 and FIG. the bodies 5 rotatably mounted in the carriers 6 are inserted into grooves 11 with limited radial movement. Carriers 6 are interconnected by springs 12 which provide constant pressure of the rotary bodies 5 to the rolling ball 1. The rodless sensing rotation of the rotating bodies 5 utilizes the method of sensing the intermittent luminous flux between the transmitting probe 8 and the receiving probe 9, between which part the rotating body 5 in which the apertures 14 for forming the light beam between the probes 8, 9 are formed. In the released state, the rolling ball 1 is pushed by the spring carriers 6 to the aperture 4 and extends above the surface 10. pushing the rolling ball 1 under the surface 10 into the cavity 2 and partially opening the carriers 6 with the rotating bodies 5. As soon as the body 13 starts to slip from the surface 10, this movement causes the ball 1 to rotate while rotating the rotating bodies 5, the direction and speed of which is determined by probes 8, 9 of the rotation sensor of the rotating bodies. With the optoelectronic method used, the frequency of the output signals will be proportional to the instantaneous rotational speed of the rotating bodies. the path of the chute after the movement of the body 13 over the surface 10 is determined by calculating, respectively. by evaluating the measured instantaneous velocity and rotation angles of the rotary bodies 5 and about their own axis.

Claims (1)

SUBJECT An object slip sensor for indicating and measuring relative movement when one object slips over the surface of another object, characterized in that a rolling ball (1) is inserted into a cavity (2) formed below the surface (10 of the object). aperture (4) above the surface (10J) and at least three ynAlezu rotating bodies (5) are rotatably mounted on the spring supports (6), regularly disposed in a plane (15) remote from the aperture (4) in the surface (10) 10) at a distance greater than the radius of the rolling ball (1), wherein probes (8, 9) are directed toward the rotating bodies (5) to sense the rotation of the rotating bodies (5).