EP1511982A1 - Dispositif de mesure permettant de mesurer des positions ou des mouvements - Google Patents

Dispositif de mesure permettant de mesurer des positions ou des mouvements

Info

Publication number
EP1511982A1
EP1511982A1 EP03735593A EP03735593A EP1511982A1 EP 1511982 A1 EP1511982 A1 EP 1511982A1 EP 03735593 A EP03735593 A EP 03735593A EP 03735593 A EP03735593 A EP 03735593A EP 1511982 A1 EP1511982 A1 EP 1511982A1
Authority
EP
European Patent Office
Prior art keywords
measuring
assembly
measuring device
spring
relative
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.)
Withdrawn
Application number
EP03735593A
Other languages
German (de)
English (en)
Inventor
Bernd Gombert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
3DConnexion GmbH
Original Assignee
3DConnexion GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 3DConnexion GmbH filed Critical 3DConnexion GmbH
Publication of EP1511982A1 publication Critical patent/EP1511982A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G01L5/166—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using photoelectric means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/223—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to joystick controls

Definitions

  • the present invention relates to a measuring device for measuring positions or movements of two objects relative to one another.
  • the invention further relates to a force and / or moment sensor that uses such a measuring device.
  • the invention relates to a joystick which has the measuring device.
  • a force and torque sensor which measures all six possible force and torque components in the Cartesian coordinate system with the aid of strain gauges.
  • the device consists of two superimposed spoke wheels with four spokes each and a total of 20 strain gauges are wired together.
  • DE 36 11 337 AI discloses an optoelectronic arrangement which can also detect six components.
  • six light-emitting devices are arranged at equal angular distances from one another in a common plane inside a plastic ball.
  • Each light-emitting device is preceded by a fixed slit diaphragm.
  • the relative movements or relative positions are recorded by light-sensitive detectors, which are movably arranged relative to the arrangements of light-emitting devices and slit diaphragms.
  • the detector axis of each detector runs perpendicular to the slot direction of the associated slot diaphragm.
  • the known measuring devices have only a limited measuring range. This is essentially determined by the type, length and arrangement of the spokes and strain gauges or by the type and relative arrangement of the light-emitting devices, slit diaphragms and light-sensitive detectors.
  • the present invention has for its object to provide a measuring device for measuring positions or movements of two objects relative to each other, which can be easily adapted to different measuring ranges. Furthermore, the invention is based on the object of creating a force and / or moment sensor, the force-displacement characteristic of which can be adapted to the requirements of different applications. Finally, the invention is based on the object of creating a joystick for the input of up to six force or torque components.
  • the invention teaches a measuring device for measuring positions or movements of two objects relative to one another, which is defined by the features of claim 1. It also teaches a force and / or torque sensor, which is defined by the features of claim 16. Finally, the invention teaches a joystick defined by the features of claim 17.
  • the translation spring device of the measuring device can convert a spring travel or a spring rotation into a force or a moment. This force is measured with the force and / or torque sensor.
  • the measuring range of the measuring device can be adapted to the requirements of the application by appropriate selection of the transmission spring device.
  • a preferred embodiment of the measuring device comprises a measuring spring device and a transmission spring device, which are arranged in series.
  • the spring devices connected in series connect a first assembly to a third assembly.
  • the first assembly is connected to one, the third assembly to the other of the two objects whose relative movements or relative positions are to be measured.
  • the first and / or the third assembly can also be the objects themselves.
  • a second assembly is arranged between the two spring devices connected in series. At least one optoelectronic measuring cell measures the path length of the relative movement sl of the second module relative to the first module, which results approximately from the path length of the relative movement s2 of the third module relative to the first module:
  • Kl is the spring constant of the transmission spring device between the first and the second assembly
  • K2 is the spring constant of the transmission spring device between the second and the third assembly.
  • the range in which path lengths s2 of the relative movements between the first module and the third module can be measured can be increased almost arbitrarily by a suitable choice of K2 to adjust.
  • K2 the measuring cell can measure relative movements along an axis with path lengths in the range from minus 2 mm to plus 2 mm, but the measuring device is to measure relative movements between the first and the third module with path lengths in the range of minus 8 mm and plus 8 mm, This can be achieved by choosing a transmission spring device with a spring constant for which the following applies:
  • the third assembly defines an interior in which the first and the second assembly are arranged.
  • the third assembly can be part of the housing of the measuring device, for example.
  • the interior does not have to be closed.
  • the third assembly is preferably fixed with an object connected, whose position is to be detected relative to another object.
  • the third module itself is particularly preferred, for example the housing of a control stick.
  • the transmission spring device which connects the third and the second assembly to one another, preferably comprises one of the following components or combinations thereof: coil spring (package), elastomer molded part, cast resin molded part.
  • the second assembly is suspended by the transmission spring device in the center of the ring of the third assembly.
  • the transmission spring device preferably comprises three components.
  • the components are preferably arranged rotationally symmetrically. In addition, they preferably have the same spring constant.
  • the components of the transmission spring device are particularly preferably coil springs / In addition, the components of the transmission spring device are preferably preloaded.
  • the measuring spring device which connects the first to the second assembly, preferably comprises one of the following components or combinations thereof: coil spring (package), elastomer molded part, cast resin molded part.
  • the measuring spring device also preferably comprises three components, and the components of the measuring spring device are preferably arranged rotationally symmetrically.
  • the first assembly and the second assembly each comprise a printed circuit board. In this way, the first and the second subassembly can be provided in a simple manner with the elements of the measuring cells, that is to say position-sensitive detectors, diaphragms and light emission devices, as well as, if necessary, control electronics and other components.
  • At least one component of the first spring device comprises at least one helical spring, the ends of which are firmly connected to the first or the second assembly by soldering.
  • the coil springs can thus be loaded in all directions, ie thrust and pressure forces as well as forces acting transversely to the coil spring can act without the coil springs moving in their seat or even jumping out.
  • a component of the first spring device comprises at least one elastomer cylinder, the ends of which are connected to the first or second assembly by gluing.
  • a system comprising the first assembly, the second assembly, the measuring spring device and the optoelectronic measuring cells can be easily produced in series. The measuring device is then adapted to the desired measuring range by selecting a suitable transmission spring device.
  • the measuring device also comprises at least one stop device which limits the movement of the first assembly relative to the second assembly.
  • This is preferably implemented by stop bolts which are firmly connected to the first printed circuit board. In this way, the measuring device is protected against overload.
  • the stop bolts protrude through holes in the second assembly.
  • the measuring device comprises six 'opto-electronic measuring cells.
  • serial movements and relative positions can be measured in six degrees of freedom.
  • Three measuring cells preferably measure movements parallel to the plane of the first printed circuit board, and three measuring cells movements perpendicular to it.
  • the optoelectronic measuring cells are preferably arranged on the circumference of a circle, particularly preferably in pairs and preferably rotationally symmetrically with respect to the center of the circle. Measuring cells that measure movements in the plane preferably alternate with those that measure movements perpendicular to them.
  • Each optoelectronic measuring cell comprises a position-sensitive detector arranged in the beam path of a light-emitting device and a slit diaphragm arranged in the beam path of the light-emitting device between the light-emitting device and the position-sensitive detector.
  • the detector axis of the position-sensitive detector is aligned perpendicular to a slit direction of the slit diaphragm. This means that only a narrow light bar falls on the position-sensitive detector behind the aperture.
  • the slit diaphragms of the measuring cells which measure movements in the plane, run perpendicular to the plane, while the slit diaphragms of the measuring cells, which measure movements perpendicular to the plane, run parallel to the plane.
  • the light emission devices are particularly preferably infrared light-emitting diodes and the position-sensitive detectors and position-sensitive infrared detectors.
  • One element of a system consisting of light emission device, slit diaphragm and detector can be moved relative to the other two elements.
  • the Position of the narrow light bar on the position-sensitive detector depends on the position of the movable element relative to the other two elements, and so it is possible to detect relative positions or relative movements.
  • Each measuring cell is preferably assigned its own light emission device, which radiates radially towards a circumference.
  • the infrared light-emitting diodes face the position-sensitive infrared detectors.
  • the beam path runs in a direction starting from the center. Because each measuring cell is assigned its own light emission device, the output signal of the position-sensitive detectors can be used to regulate the currents of the light emission devices assigned to them in such a way that the same constant amount of light strikes each position-sensitive detector. This has the advantage that all six measuring systems are largely unaffected by temperature and aging influences as well as contamination and component tolerance.
  • one component of the system light emission device, slit diaphragm, detector must be movable relative to the two elements.
  • the slot diaphragm in each measuring cell is arranged either on the first or on the second assembly, and the position-sensitive detectors and the light emission devices are arranged together on the other of the two assemblies. This has the advantage that all electronic components can be accommodated on a single circuit board.
  • the force and / or moment sensor according to the invention makes use of the measuring device according to the present invention. This takes advantage of the fact that the force-displacement characteristic of the force and / or moment sensor can be set within wide ranges by the choice of the spring constant of the transmission spring device.
  • the path length of the relative movement s2 between the first and the third assembly depends on the incremental force applied to it as follows:
  • the measuring device according to the invention and the force and / or moment sensor according to the invention can be used particularly advantageously in control sticks such as are used, for example, in computer games , on PCs or on game consoles, but also, for example, for controlling machines and means of transport. Here it is necessary to adapt the measuring range to the respective environmental conditions of the application. Accordingly, the present invention also includes a control stick which uses the measuring device for measuring positions or movements of two objects relative to one another or a force and / or moment sensor according to one of the preceding claims.
  • FIG. 1 schematically explains the functioning of the measuring device for measuring positions or movements of two objects relative to one another and the force and / or moment sensor.
  • FIG. 2 shows an embodiment of the measuring device and the force and / or moment sensor in a perspective view from above.
  • FIG 3 shows a partial view of the measuring device and the force and / or moment sensor in a perspective view from above.
  • the mode of operation of the measuring device for measuring positions or movements of two objects relative to one another is described below with reference to FIG. 1.
  • the device consists of a first 12, a second 14 and a third assembly 16, which are connected to one another by a measuring device 18 and a transmission spring device 20.
  • the measuring spring device 18 has spring properties with a spring constant Kl in the direction represented by the straight line 22
  • the transmission spring device 20 has spring properties with the spring constant K2 in the same direction.
  • the spring devices should have spring properties in an analogous manner .also in these spatial directions, namely essentially linear spring properties for measuring translations and torsion spring properties for measuring rotary movements.
  • FIG. 1 for the sake of simplicity, it is assumed that only translational movements along the direction indicated by straight line 22 are to be measured. It is also possible to consider non-linear spring characteristics. However, this can require more computing effort for the evaluation.
  • the second 14 and the third assembly 16 are freely movable relative to the first assembly 12. As shown in the lower part of FIG. 1, a displacement of the third assembly 16 relative to the first assembly 12 also leads to a displacement of the second assembly 14 relative to the first assembly 12.
  • the extent of the displacement sl depends, as shown above, on s2 and the spring constants Kl and K2.
  • the shift sl is measured by an optoelectronic measuring device. If Kl and K2 are known, s2 can be determined from this.
  • the measuring device 10 In order to effect the shift, an incremental force F must be applied.
  • the measuring device 10 according to the invention can also be used as a force and / or moment sensor.
  • the relationship between the incremental force F and the path length of the relative movement s2 can, as shown above, be set by the spring constants K2 and Kl.
  • FIG. 2 A perspective view of the measuring device 10 according to the invention is shown in FIG. 2.
  • the third assembly 16 forms a ring, inside which the first 12 and the second assembly 14 are arranged.
  • the second assembly 14 is suspended by the spring device 20 in the middle of the ring 16 and is freely movable.
  • the translation spring device 20 consists of three preloaded coil springs. The coil springs are arranged in a circle around the center of the ring and have an angular distance of 120 ° to each other.
  • the translation spring device 20 thus has spring properties in all three spatial directions and also acts as a torsion spring when rotated around these spatial directions.
  • the third assembly 16 is part of the housing of a control stick for a personal computer or a game console.
  • the second 14 and the first assembly 12 are printed circuit boards.
  • the first assembly 12 is connected to the second assembly 14 by a measuring spring device 18 which consists of three spiral springs, one end of which is soldered to the second assembly 14 and the other end of which is firmly soldered to the first assembly 12.
  • the measuring spring device 18 thus acts both as a linear spring device in all three spatial directions and also as a torsion spring when rotated around these spatial directions.
  • the measuring spring device 18 comprises three helical springs which are arranged rotationally symmetrically with an angle of 120 ° to each other.
  • stop devices 24 in the form of stop bolts are provided.
  • the stop bolts are firmly connected to the first assembly 12 and project through holes in the second assembly 14.
  • the horizontal movement of the second assembly 14 relative to the first assembly 12 is determined by the diameter of the stop device 24.
  • the movement of the two assemblies 12 and 14 relative to one another is limited by thickenings 26 and 28 on the bolt-shaped stop devices 24.
  • the distances of the thickenings 26 and 28 from the second assembly 14 in the direction of the axis of symmetry of the stop pin determine the range in which the first assembly can be moved in this direction relative to the second assembly 14.
  • the measuring device 10 can measure relative movements or relative positions of the first 12 and the second assembly 14 in six degrees of freedom, namely displacements in three linearly independent spatial directions and rotations by likewise three linearly independent spatial directions.
  • six position-sensitive infrared detectors 30 are provided, which together with six infrared light-emitting diodes (ILEDs) 32 and six slit diaphragms form six measuring cells.
  • the position sensitive infrared detectors 30 are each around A cylindrical surface, which is defined by a printed circuit board 34, is rotated 120 ° relative to one another about the axis of symmetry.
  • the ILEDs 32 are each offset by 120 ° to one another about the same axis of symmetry.
  • the axis of symmetry is perpendicular to the printed circuit board 38 of the first assembly 12.
  • the position-sensitive infrared detectors 30 are arranged in pairs of superposed detectors 30.
  • the ILEDs 32 are also arranged in pairs of superimposed ILEDs 32.
  • the ILED pairs 32 each lie between pairs of position-sensitive infrared detectors 30.
  • the pairs of position-sensitive infrared detectors 30 each consist of a position-sensitive infrared detector 30 for detecting a movement perpendicular to the plane defined by the printed circuit board 38 of the first assembly, and a position-sensitive infrared detector 30 for detecting movement in this plane.
  • a slit diaphragm 40 is arranged in the beam path of the ILED in front of the position-sensitive infrared detector.
  • the slit 40 has a narrow slit, so that only a narrow strip of light falls on the positionsem 'p-sensitive detector 30th
  • the slit direction of the slit diaphragm 40 runs perpendicular to the detector axis, that is, perpendicular to the measuring direction of the detector 30. Because one element of the system ILED 32, slit diaphragm 40 and position-sensitive infrared detector 30 is movably arranged relative to the other two elements, the measuring cell can make relative movements and Capture relative positions.
  • the ILEDs 32 and the position-sensitive infrared detectors 30 are firmly connected to the printed circuit board 38 of the first assembly by the vertical printed circuit board 34.
  • the printed circuit board 38 also carries further electronic components for controlling the ILEDs 32 and for evaluating the position information of the position-sensitive detectors 30.
  • the diaphragms 40 are fixedly connected to the second assembly 14 so that they can move.
  • the slit diaphragms 40 which are assigned to a pair of detectors 30 lying one above the other, are combined into a single slit diaphragm with two mutually perpendicular slits
  • the upper thickenings 28 of the stop devices 24 serve at the same time for fastening the control handle of the joystick.
  • the joystick with the first assembly 12 is the Measuring device 10 for measuring positions or movements of two objects connected to each other.
  • the annular third assembly 16 forms part of the housing of the joystick. In this way, movements of the handle relative to the housing can be converted into relative movements of the first assembly 12 to the third assembly 16 and thus into relative movements of the first assembly 12 to the second assembly 14 and measured in the manner described above.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Input By Displaying (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

L'invention concerne un dispositif de mesure permettant de mesurer des positions ou des mouvements de deux objets l'un par rapport à l'autre au moyen d'un capteur de force et/ou de couple et d'un élément ressort de transmission, ledit capteur de force et/ou de couple étant relié élastiquement à un des objets au moins par l'intermédiaire de l'élément ressort de transmission. Ladite invention concerne également un capteur de force et/ou de couple équipé dudit dispositif de mesure et une barre de commande avec ce dispositif de mesure ou le capteur de force et/ou de couple.
EP03735593A 2002-06-07 2003-06-10 Dispositif de mesure permettant de mesurer des positions ou des mouvements Withdrawn EP1511982A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10225418A DE10225418A1 (de) 2002-06-07 2002-06-07 Meßvorrichtung zum Messen von Positionen oder Bewegungen
DE10225418 2002-06-07
PCT/EP2003/006058 WO2004072599A1 (fr) 2002-06-07 2003-06-10 Dispositif de mesure permettant de mesurer des positions ou des mouvements

Publications (1)

Publication Number Publication Date
EP1511982A1 true EP1511982A1 (fr) 2005-03-09

Family

ID=29718895

Family Applications (1)

Application Number Title Priority Date Filing Date
EP03735593A Withdrawn EP1511982A1 (fr) 2002-06-07 2003-06-10 Dispositif de mesure permettant de mesurer des positions ou des mouvements

Country Status (4)

Country Link
US (1) US7296463B2 (fr)
EP (1) EP1511982A1 (fr)
DE (1) DE10225418A1 (fr)
WO (1) WO2004072599A1 (fr)

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DE10158776B4 (de) * 2001-11-30 2004-05-13 3Dconnexion Gmbh Anordnung zum Erfassen von Relativbewegungen oder Relativpositionen zweier Objekte
EP1843243B1 (fr) * 2006-04-05 2012-02-22 Société Civile "GALILEO 2011" Dispositif optoélectronique permettant de déterminer les mouvements relatifs ou les positions relatives de deux objets
DE102006058805B4 (de) * 2006-12-13 2011-12-22 Spacecontrol Gmbh Vorrichtung zur Eingabe von Bewegungen und/oder Erfassung von Kräften
EP1998243A1 (fr) * 2007-05-25 2008-12-03 3Dconnexion Holding SA Dispositif optoélectronique et élément souple correspondant
US8963804B2 (en) * 2008-10-30 2015-02-24 Honeywell International Inc. Method and system for operating a near-to-eye display
DE202011109036U1 (de) 2011-12-13 2012-10-15 Jan Rotard Bedienorgan mit translatorischen und rotatorischen Freiheitsgraden
CA2897852A1 (fr) * 2013-03-12 2014-10-09 Stryker Corporation Ensemble capteur et procede permettant de mesurer des forces et des couples
CN109649654B (zh) * 2018-12-28 2021-09-14 东南大学 一种低空搜索定位方法
CN113494975B (zh) * 2020-04-07 2023-04-11 群光电子股份有限公司 物件按压性能量测系统
JP7441325B2 (ja) 2020-10-13 2024-02-29 任天堂株式会社 情報処理システム、情報処理プログラムおよび情報処理方法
US11073920B1 (en) 2020-10-20 2021-07-27 Cirque Corporation Multi-touch input system
CN112682054B (zh) * 2020-12-03 2022-08-23 重庆文理学院 一种用于tbm施工监测的挖掘设备及其勘测方法

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Also Published As

Publication number Publication date
US20050172711A1 (en) 2005-08-11
DE10225418A1 (de) 2004-01-08
WO2004072599A1 (fr) 2004-08-26
US7296463B2 (en) 2007-11-20

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