JP7167297B2 - Fbg基盤のねじれセンサ装置 - Google Patents
Fbg基盤のねじれセンサ装置 Download PDFInfo
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- JP7167297B2 JP7167297B2 JP2021500835A JP2021500835A JP7167297B2 JP 7167297 B2 JP7167297 B2 JP 7167297B2 JP 2021500835 A JP2021500835 A JP 2021500835A JP 2021500835 A JP2021500835 A JP 2021500835A JP 7167297 B2 JP7167297 B2 JP 7167297B2
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- 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
- G01L5/24—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for determining value of torque or twisting moment for tightening a nut or other member which is similarly stressed
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/02—Rotary-transmission dynamometers
- G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
- G01L3/10—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
- G01L3/12—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving photoelectric means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
- G01L1/242—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre
- G01L1/246—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre using integrated gratings, e.g. Bragg gratings
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L11/00—Measuring steady or quasi-steady pressure of a fluid or a fluent solid material by means not provided for in group G01L7/00 or G01L9/00
- G01L11/02—Measuring steady or quasi-steady pressure of a fluid or a fluent solid material by means not provided for in group G01L7/00 or G01L9/00 by optical means
- G01L11/025—Measuring steady or quasi-steady pressure of a fluid or a fluent solid material by means not provided for in group G01L7/00 or G01L9/00 by optical means using a pressure-sensitive optical fibre
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/02—Rotary-transmission dynamometers
- G01L3/14—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft
- G01L3/1407—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving springs
- G01L3/1421—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving springs using optical transducers
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- 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
- G01L5/0061—Force sensors associated with industrial machines or actuators
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Optical Transform (AREA)
Description
本発明のための研究は、韓国科学技術研究院の主観の下、科学技術情報通信部のグローバルフロンティア研究事業(管理機関:韓国研究財団、課題固有番号:1711073374)の支援によって行われたものである。
全世界的に多様な分野でロボットに対する需要が増加している。特に、関節のないロボット(エコンデ、軟性内視鏡ロボット、snake robotなど)に対する需要があるが、このようなロボットの正確な性能を測定するためには、当該ロボットのねじれを測定することが必要である。
Claims (8)
- FBG(Fiber bragg gratings)センサを利用して測定対象のねじれ度合を測定するねじれセンサ装置であって、
光ファイバの一部の区間に形成されたセンシング部を含むFBGセンサ;及び
前記測定対象の動きに応じて前記FBGセンサの変位を引き起こすように前記FBGセンサを固定支持する固定装置を含み、
前記固定装置は、前記測定対象の動きに応じて前記センシング部が曲げ変位なしにねじれ変位を引き起こすようにする曲げ防止部材を含み、
前記曲げ防止部材は、
前記センシング部のねじれ変位が可能になるように前記FBGセンサを支持する二つの支持体;及び
前記二つの支持体間を連結して各支持体間の相対的な曲げ動きを防止する補強体を含み、
前記固定装置は、
前記FBGセンサが取り付けられ、前記測定対象のねじれ動きに対応してねじれ運動するビームをさらに含み、
前記ビームは、前記二つの支持体を横切って配置されて前記支持体に固定され、
前記ビームは、
前記センシング部が螺旋状に巻き付けられるねじれビームと、
前記ねじれビームの両端から延びて前記FBGセンサを固定する延長ビームを含み、
前記支持体は、ボールベアリングであり、
前記ねじれビームの両端は、前記ボールベアリングの内輪(innerring)に噛み合って固定され、
前記補強体は、前記ボールベアリングの外輪に固定されることを特徴とするねじれセンサ装置。 - 前記補強体は、前記センシング部の周りを囲むチューブであることを特徴とする請求項1に記載のねじれセンサ装置。
- 前記支持体間で、前記ビームの外周に前記センシング部が螺旋状に巻き付けられていることを特徴とする請求項1に記載のねじれセンサ装置。
- 前記ねじれビームは、前記延長ビームよりも大径で形成されることを特徴をする請求項3に記載のねじれセンサ装置。
- 前記固定装置は、前記ビームの両端に位置し、前記測定対象に取り付けられて前記ねじれセンサ装置を前記測定対象に固定する固定部材をさらに含む請求項1に記載のねじれセンサ装置。
- 前記固定部材は、前記測定対象に固定される固定体と、
前記固定体に形成されたスリットに挿入されるキー部材を含む請求項5に記載のねじれセンサ装置。 - 前記キー部材は、前記ビームが固定される胴部、及び前記キー部材が前記固定体に対して回転しないようにする回転防止部を含むことを特徴とする請求項6に記載のねじれセンサ装置。
- 前記ビームの両端に形成された固定部材のうちの、第1固定部材は、前記ビームと固定されており、第2固定部材は、前記ビームと固定されておらず前記ビームが前記第2固定部材に対して摺動することを特徴とする請求項5に記載のねじれセンサ装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2018-0081178 | 2018-07-12 | ||
KR1020180081178A KR102136625B1 (ko) | 2018-07-12 | 2018-07-12 | Fbg 기반 비틀림 센서 장치 |
PCT/KR2019/008493 WO2020013601A1 (ko) | 2018-07-12 | 2019-07-10 | Fbg 기반 비틀림 센서 장치 |
Publications (2)
Publication Number | Publication Date |
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JP2021530692A JP2021530692A (ja) | 2021-11-11 |
JP7167297B2 true JP7167297B2 (ja) | 2022-11-08 |
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Application Number | Title | Priority Date | Filing Date |
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JP2021500835A Active JP7167297B2 (ja) | 2018-07-12 | 2019-07-10 | Fbg基盤のねじれセンサ装置 |
Country Status (6)
Country | Link |
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US (1) | US11486777B2 (ja) |
EP (1) | EP3822606A4 (ja) |
JP (1) | JP7167297B2 (ja) |
KR (1) | KR102136625B1 (ja) |
CN (1) | CN113015892B (ja) |
WO (1) | WO2020013601A1 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN114152374B (zh) * | 2021-11-09 | 2022-10-04 | 天津大学 | 一种基于光纤布拉格光栅的高精度微型扭矩传感器 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20090201503A1 (en) | 2006-07-13 | 2009-08-13 | Aston University | Torsion Sensor |
Family Cites Families (15)
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JPH041543A (ja) * | 1990-04-17 | 1992-01-07 | Shin Caterpillar Mitsubishi Ltd | トルク検出構造 |
JP2002162211A (ja) * | 2000-11-22 | 2002-06-07 | Mitsubishi Heavy Ind Ltd | 歪み計測装置及びその設置方法 |
CN1200302C (zh) | 2003-03-28 | 2005-05-04 | 中国科学院上海光学精密机械研究所 | 圆柱扭转调谐光纤光栅传感解调器 |
KR100495416B1 (ko) | 2003-07-24 | 2005-06-16 | 이금석 | 광섬유격자센서용 고정구 |
KR100845181B1 (ko) | 2004-05-14 | 2008-07-10 | 한국과학기술연구원 | 회전체의 이상감지장치 |
KR101094137B1 (ko) | 2004-12-02 | 2011-12-14 | (주)다림시스템 | 모션캡쳐 장치 |
US8496647B2 (en) * | 2007-12-18 | 2013-07-30 | Intuitive Surgical Operations, Inc. | Ribbed force sensor |
KR100760510B1 (ko) * | 2006-05-26 | 2007-09-20 | 한국과학기술연구원 | 회전체의 이상감지장치 |
CN101210852B (zh) * | 2006-12-31 | 2010-06-23 | 中国科学院半导体研究所 | 一种光纤光栅水听器 |
KR20090087600A (ko) | 2008-02-13 | 2009-08-18 | 이규완 | 벤딩 센서 |
US8780339B2 (en) * | 2009-07-15 | 2014-07-15 | Koninklijke Philips N.V. | Fiber shape sensing systems and methods |
TWI529371B (zh) * | 2011-09-08 | 2016-04-11 | Wen Fung Liu | Fiber grating rotary angle meter |
CN203376089U (zh) * | 2013-06-14 | 2014-01-01 | 西安工程大学 | 光电式力矩传感器 |
KR101481814B1 (ko) | 2013-12-30 | 2015-01-21 | 주식회사 지엔큐 | 변위 측정 광섬유 센서 |
EP3295140A1 (en) | 2015-05-08 | 2018-03-21 | Fugro Technology B.V. | Sensor system and method for monitoring a powertrain |
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2018
- 2018-07-12 KR KR1020180081178A patent/KR102136625B1/ko active IP Right Grant
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2019
- 2019-07-10 CN CN201980056511.6A patent/CN113015892B/zh active Active
- 2019-07-10 WO PCT/KR2019/008493 patent/WO2020013601A1/ko unknown
- 2019-07-10 EP EP19834451.7A patent/EP3822606A4/en active Pending
- 2019-07-10 US US17/259,636 patent/US11486777B2/en active Active
- 2019-07-10 JP JP2021500835A patent/JP7167297B2/ja active Active
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20090201503A1 (en) | 2006-07-13 | 2009-08-13 | Aston University | Torsion Sensor |
Also Published As
Publication number | Publication date |
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US11486777B2 (en) | 2022-11-01 |
WO2020013601A1 (ko) | 2020-01-16 |
EP3822606A1 (en) | 2021-05-19 |
CN113015892A (zh) | 2021-06-22 |
JP2021530692A (ja) | 2021-11-11 |
KR20200007272A (ko) | 2020-01-22 |
CN113015892B (zh) | 2023-04-14 |
KR102136625B1 (ko) | 2020-07-23 |
EP3822606A4 (en) | 2022-03-23 |
US20210293636A1 (en) | 2021-09-23 |
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