JPH0453531Y2 - - Google Patents
Info
- Publication number
- JPH0453531Y2 JPH0453531Y2 JP1985105427U JP10542785U JPH0453531Y2 JP H0453531 Y2 JPH0453531 Y2 JP H0453531Y2 JP 1985105427 U JP1985105427 U JP 1985105427U JP 10542785 U JP10542785 U JP 10542785U JP H0453531 Y2 JPH0453531 Y2 JP H0453531Y2
- Authority
- JP
- Japan
- Prior art keywords
- magnetic fluid
- differential transformer
- output
- detection device
- bubble
- 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.)
- Expired
Links
- 238000001514 detection method Methods 0.000 claims description 32
- 239000011553 magnetic fluid Substances 0.000 claims description 16
- 238000004804 winding Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 2
- 238000007788 roughening Methods 0.000 claims 1
- 238000005259 measurement Methods 0.000 description 13
- 230000035945 sensitivity Effects 0.000 description 7
- 238000009499 grossing Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000012937 correction Methods 0.000 description 2
- 238000013019 agitation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
Landscapes
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Description
【考案の詳細な説明】
（産業上の利用分野）
この考案は、産業ロボツトの姿勢制御、クレー
ンのブーム制御やブーム角表示等のための傾斜角
検出装置に係り、特に、一般工事用測量等におけ
る傾斜自動測定のための磁性流体を用いた傾斜角
検出装置に関する。[Detailed description of the invention] (Industrial application field) This invention relates to an inclination angle detection device for attitude control of industrial robots, boom control of cranes, boom angle display, etc., and is particularly applicable to general construction surveying, etc. This invention relates to an inclination angle detection device using a magnetic fluid for automatic inclination measurement.
（従来技術）
この種の磁性流体利用傾斜角検出方式に属する
ものは、自動的に傾斜角を出力できる簡易装置の
実現が容易であるため、種々の形式のものが提案
されており、典型的なものとして、傾斜角検出用
電磁コイルを巻回した円筒容器に常に水平表面を
なす如く磁性流体を封入したセンサが知られてい
る。(Prior art) Since it is easy to realize a simple device that can automatically output the tilt angle in this type of tilt angle detection method using magnetic fluid, various types have been proposed, and typical As a known sensor, a magnetic fluid is sealed in a cylindrical container around which an electromagnetic coil for detecting an inclination angle is wound so as to always form a horizontal surface.
これら従来方式のものでは、構造上から測定範
囲を広くなし得ないうえ、求める傾斜角に対して
検出出力は直接性を示さないため、出力利用上そ
の処理に負担がかかつた。また、傾斜が更に増す
に従つてその傾向が著しくなつて、測定結果は不
安定となり、遂には傾斜が増しても出力が変化し
ない測定不可能領域が現われる。この状態を第２
図のグラフａで示す。要するに、検出精度を向上
することが困難であり、広範囲の測定をすること
が出来ないという欠点があつた。また、検出装置
を使用中にこれに外部から衝撃が与えられたり、
振動が加わると、水平表面が動揺して測定が困難
になり、これが落ち着くまでに長時間を要し、測
定能率を向上することが出来なかつた。 With these conventional methods, the measurement range cannot be widened due to their structure, and the detection output does not show directness with respect to the desired inclination angle, so the processing is burdensome in terms of output utilization. Furthermore, as the slope further increases, this tendency becomes more pronounced, and the measurement results become unstable, until a measurable region appears where the output does not change even if the slope increases. This state is the second
This is shown in graph a of the figure. In short, it is difficult to improve detection accuracy, and it is difficult to measure over a wide range. Also, if the detection device is subjected to external impact while in use,
When vibrations are applied, the horizontal surface moves, making measurement difficult, and it takes a long time for this to settle down, making it impossible to improve measurement efficiency.
（考案が解決しようとする問題点）
この考案は、このような従来技術の問題点を解
決し、測定範囲を任意に設定し得る構造を有する
と共に、検出精度を向上することが容易で、しか
も、迅速な検出が出来る磁性流体利用傾斜角検出
装置を提供することを目的とする。(Problems to be solved by the invention) This invention solves the problems of the prior art, has a structure that allows the measurement range to be arbitrarily set, and can easily improve detection accuracy. An object of the present invention is to provide a tilt angle detection device using magnetic fluid that can perform rapid detection.
（問題点を解決するための手段）
上記のような問題点を解決するために、本考案
では、円筒状容器に代えて気泡管状の容器とした
うえ、この中に磁性流体を封入し、気泡管の容器
中の気泡接触内壁面に適当な曲率を与え、この容
器に差動トランスを巻回し、この曲率を所望の測
定範囲および精度に応じるように選択したもので
ある。また、組立の容易性、観測性の向上、検出
の迅速化、検出誤差の補正等を考慮して、以下に
説明するような特別の工夫を加える。(Means for Solving the Problems) In order to solve the above problems, in the present invention, instead of a cylindrical container, a bubble tube-shaped container is used, and a magnetic fluid is sealed in the container to create bubbles. A suitable curvature is given to the bubble contacting inner wall surface in the tube container, a differential transformer is wound around this container, and this curvature is selected according to the desired measurement range and accuracy. Further, in consideration of ease of assembly, improvement of observability, speeding up of detection, correction of detection errors, etc., special measures as described below are added.
（実施例）
次に、添付の図面に従つて、本考案の実施例を
説明する。(Example) Next, an example of the present invention will be described according to the attached drawings.
第１図において、ガラスやプラスチツク製の容
器１に気泡３を残して磁性流体２を満たし、これ
を端部で密封することによつて、傾斜検出用の気
泡管を形成する。容器１中の気泡３が接触してい
る側の内壁面には曲率半径Ｒの曲率を与えてあ
る。そして、気泡３の位置（求める傾斜角に相当
する）検出手段として、例えば図示の差動トラン
スを用いる。この差動トランスは、気泡管１をそ
の中心に収容する筒状でかつ周囲に３つのボビン
を有する巻線枠４を備え、巻線枠４の中央のボビ
ンに１次コイル５を巻回し、また両端のボビンに
２次コイル６，６′を巻回することによつて構成
されている。かくして、この差動トランスの中央
の１次コイル５を交流で励磁すれば、２次コイル
６，６′には、気泡管１の水平からの傾斜角に応
じて、求める出力としての電圧が生じる。その出
力特性は第２図のグラフｂの如き直線性を示すの
で、２次コイル６，６′からの出力の利用や処理
に便利である。 In FIG. 1, a vial for tilt detection is formed by filling a glass or plastic container 1 with a magnetic fluid 2, leaving an air bubble 3, and sealing it at the end. The inner wall surface of the container 1 on the side that is in contact with the bubbles 3 is given a curvature with a radius of curvature R. As a means for detecting the position of the bubble 3 (corresponding to the desired angle of inclination), for example, the differential transformer shown in the figure is used. This differential transformer includes a winding frame 4 having a cylindrical shape that houses a bubble tube 1 in the center and having three bobbins around the winding frame 4. A primary coil 5 is wound around the bobbin at the center of the winding frame 4. Further, it is constructed by winding secondary coils 6, 6' around bobbins at both ends. Thus, when the primary coil 5 at the center of this differential transformer is excited with alternating current, a voltage is generated in the secondary coils 6, 6' as the desired output depending on the angle of inclination of the vial 1 from the horizontal. . Since its output characteristic exhibits linearity as shown in graph b in FIG. 2, it is convenient for use and processing of the output from the secondary coils 6, 6'.
このとき、容器１の内壁面の曲率半径Ｒを大に
する程、２次コイル６，６′からの出力の感度は
大になり、逆に、このＲを小にすると検出範囲は
広くなるから、用途に応じてこのＲを適当に選べ
ばよい。もし、水平近くの微小傾斜については検
出感度と精度を高くし、ある傾斜角以上では測定
範囲を広げたい場合には、容器の内壁面の曲率に
変化を与えればよく、中央に対して対称に３種の
Ｒを持たして３種の感度特性C1，C2，C3を有す
るようにした場合の出力特性は第２図のグラフＣ
のようになる。すなわち、C1領域では感度した
がつて精度も高く、それに続くC2領域ではそれ
より感度は低いが測定範囲が広がり、C3領域で
は更に広い測定範囲を持つ検出方式が得られる。
このときの曲率変化は非段階的であつてもよいの
は勿論である。 At this time, the greater the radius of curvature R of the inner wall surface of the container 1, the greater the sensitivity of the output from the secondary coils 6, 6', and conversely, the smaller this R, the wider the detection range. , this R may be appropriately selected depending on the application. If you want to increase the detection sensitivity and accuracy for small inclinations near the horizontal, and widen the measurement range above a certain inclination angle, you can change the curvature of the inner wall of the container, making it symmetrical about the center. The output characteristics when three types of R are provided and three types of sensitivity characteristics C 1 , C 2 , and C 3 are provided are shown in graph C in Figure 2.
become that way. That is, in the C1 region, the sensitivity is high and therefore the accuracy is high, in the subsequent C2 region, the sensitivity is lower but the measurement range is widened, and in the C3 region, a detection method with an even wider measurement range is obtained.
Of course, the curvature change at this time may be non-stepwise.
検出手段には、これ以外に、各種の電磁的方法
のほか、発光源と受光部を対設した光学的方法を
採つてもよく、この時には磁性流体２に代えて不
透明液体を用いる。 In addition to various electromagnetic methods, the detection means may also be an optical method in which a light emitting source and a light receiving section are disposed opposite each other, and in this case, an opaque liquid is used in place of the magnetic fluid 2.
検出装置を使用中、これに外部から衝撃が与え
られたり振動が加わると、気泡３が動揺して観測
性が害されるが、気泡管１内壁の気泡接触面に機
械的ないし化学的な表面あらし加工を施すことに
よつて、このような気泡の動揺を制動することが
できるので、観測は容易にかつ迅速に行うことが
出来るようになり、測定能率が上がる。また、検
出精度維持のためには、差動トランスの各コイル
の配置位置には正確さと安定さが要求されるの
で、容器１と巻線枠４とをプラスチツク成形品の
ような一体構造のものとすれば、この要求を満足
するうえ、装置組立工数は減少し、製品価格を低
減することができる。なお、第１図の１４は、検
出誤差の原因となるコイル５，６，６′の漏洩磁
束発生を防止するシールドである。 When the detection device is in use, if an external shock or vibration is applied to it, the bubbles 3 will be shaken and observability will be impaired, but there will be no mechanical or chemical surface roughness on the bubble contact surface of the inner wall of the bubble tube 1. By applying processing, it is possible to dampen the agitation of such bubbles, making it possible to perform observations easily and quickly, increasing measurement efficiency. In addition, in order to maintain detection accuracy, accuracy and stability are required in the arrangement position of each coil of the differential transformer, so the container 1 and the winding frame 4 should be made of an integral structure such as a plastic molded product. If so, this requirement can be satisfied, and the number of man-hours for assembling the device can be reduced, thereby reducing the product price. Note that 14 in FIG. 1 is a shield that prevents leakage magnetic flux from occurring in the coils 5, 6, and 6', which causes detection errors.
また、検出精度を更に向上するため、温度変化
に伴う磁性流体の特性変化、気泡の大きさの変動
差動トランスの特性変化、容器やコイルの製作、
組立上の誤差等に起因する検出誤差を自動補正す
るように、差動トランスの２次コイルの両出力の
加算電圧を予め設定された参照電圧と比較し、こ
の出力を差動トランスの１次コイル入力に負帰還
させるようにする回路を設ける。このような回路
を第１図に例示する。２次コイル６，６′からの
それぞれの出力を、高インピーダンスバツフアア
ンプ７a，７bおよび整流平滑回路８a，８bを経て
処理し、整流平滑回路８a，８bの両出力を差動ア
ンプ９に導き、その出力を接続回路１３を経て出
力する。一方、整流平滑回路８a，８bの両出力の
加算電圧と参照電圧発生器１２からの参照電圧と
を差動アンプ１０において比較処理し、その出力
を発振器１１に入力して、発振器１１の出力を差
動アンプ１０の出力によつて制御しつつ１次コイ
ル５を励磁する如く構成したものである。このよ
うに構成することにより、上記したような原因の
検出誤差を自動補正することができる。なお、参
照電圧発生器１２からの別の参照電圧が接続回路
１３にも結ばれており、接続回路１３で加算処理
される。これは、図示のポテンシヨメータからの
参照電圧が検出感度と零点を設定する如く作用す
るものである。 In addition, in order to further improve detection accuracy, changes in magnetic fluid characteristics due to temperature changes, changes in bubble size characteristics, changes in differential transformer characteristics, manufacturing of containers and coils, etc.
In order to automatically correct detection errors caused by assembly errors, etc., the summed voltage of both outputs of the secondary coils of the differential transformer is compared with a preset reference voltage, and this output is applied to the primary coil of the differential transformer. A circuit is provided to provide negative feedback to the coil input. Such a circuit is illustrated in FIG. The respective outputs from the secondary coils 6, 6' are processed through high impedance buffer amplifiers 7a , 7b and rectifier and smoothing circuits 8a , 8b , and both outputs of the rectifier and smoothing circuits 8a , 8b are processed. The signal is guided to a differential amplifier 9, and its output is outputted via a connection circuit 13. On the other hand, the summed voltage of both outputs of the rectifying and smoothing circuits 8 a and 8 b and the reference voltage from the reference voltage generator 12 are compared in the differential amplifier 10 , and the output thereof is input to the oscillator 11 . The configuration is such that the primary coil 5 is excited while the output is controlled by the output of the differential amplifier 10. With this configuration, detection errors due to the causes described above can be automatically corrected. Note that another reference voltage from the reference voltage generator 12 is also connected to the connection circuit 13, and is subjected to addition processing in the connection circuit 13. This is so that the reference voltage from the illustrated potentiometer sets the detection sensitivity and zero point.
（考案の効果）
本願考案の磁性流体利用傾斜角検出装置を以上
のように構成すると、検出精度が高く、感度と測
定範囲を任意に選択できるうえ、能率的な測定が
可能になり、また、製品価格が安価で、出力信号
が利用し易い傾斜角検出装置を提供することがで
きる。(Effects of the invention) When the inclination angle detection device using magnetic fluid according to the present invention is configured as described above, detection accuracy is high, sensitivity and measurement range can be arbitrarily selected, and efficient measurement is possible. It is possible to provide a tilt angle detection device whose product price is low and whose output signal is easy to use.
第１図は本考案の磁性流体利用傾斜角検出装置
の１例の断面図と誤動作自動補正回路の回路図と
を組み合わせた図面、第２図はこの種の検出方式
における出力特性を対比したグラフである。
１……容器、２……磁性流体、３……気泡、４
……巻線枠、５……１次コイル、６，６′……２
次コイル、７a，７b……高インピーダンスバツフ
アアンプ、８a，８b……整流平滑回路、９，１０
……差動アンプ、１１……発振器、１２……参照
電圧発生器、１３……接続回路、１４……シール
ド。
FIG. 1 is a combination of a cross-sectional view of an example of a magnetic fluid-based tilt angle detection device of the present invention and a circuit diagram of an automatic malfunction correction circuit, and FIG. 2 is a graph comparing output characteristics in this type of detection method. 1...container, 2...magnetic fluid, 3...air bubbles, 4
......winding frame, 5...primary coil, 6, 6'...2
Primary coil, 7 a , 7 b ...... High impedance buffer amplifier, 8 a , 8 b ...... Rectification smoothing circuit, 9, 10
......Differential amplifier, 11...Oscillator, 12...Reference voltage generator, 13...Connection circuit, 14...Shield.
Claims (1)
の内壁面に曲率を与えると共に、その周囲に差
動トランスを巻回し、その出力によつて傾斜角
を検出するようにした気泡管において、上記気
泡が接触する側の内壁面に表面あらし加工を施
すと共に、上記内壁面に少なくとも２種類の曲
率を与えたことを特徴とする磁性流体利用傾斜
角検出装置。 (2) 実用新案登録請求の範囲第１項において、上
記気泡管の容器と差動トランスの巻線枠とを一
体構造のものとしたことを特徴とする磁性流体
利用傾斜角検出装置。 (3) 実用新案登録請求の範囲第１項あるいは第２
項のいずれかにおいて、上記差動トランスの２
次コイルの両出力を加算処理したものと予め設
定された参照電圧とを比較処理し、この出力を
該差動トランスの１次コイルの入力に負帰還さ
せて、検出誤差を自動補正するようにしたこと
を特徴とする磁性流体利用傾斜角検出装置。[Claims for Utility Model Registration] (1) Magnetic fluid is used as an encapsulated liquid, and the inner wall surface on the side in contact with the bubbles is given a curvature, and a differential transformer is wound around it, and the inclination angle is determined by the output of the magnetic fluid. An inclination angle detection device using a magnetic fluid, characterized in that in a bubble tube configured to detect a bubble, the inner wall surface on the side in contact with the bubble is subjected to a surface roughening process, and the inner wall surface is provided with at least two types of curvature. . (2) The inclination angle detection device using a magnetic fluid according to claim 1 of the utility model registration claim, characterized in that the container of the vial and the winding frame of a differential transformer have an integral structure. (3) Scope of Utility Model Registration Claims Paragraph 1 or 2
In either of the terms, 2 of the differential transformer
The sum of both outputs of the secondary coil is compared with a preset reference voltage, and this output is negatively fed back to the input of the primary coil of the differential transformer to automatically correct detection errors. A tilt angle detection device using magnetic fluid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1985105427U JPH0453531Y2 (en) | 1985-07-12 | 1985-07-12 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1985105427U JPH0453531Y2 (en) | 1985-07-12 | 1985-07-12 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6214315U JPS6214315U (en) | 1987-01-28 |
| JPH0453531Y2 true JPH0453531Y2 (en) | 1992-12-16 |
Family
ID=30979848
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1985105427U Expired JPH0453531Y2 (en) | 1985-07-12 | 1985-07-12 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0453531Y2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9535147B2 (en) | 2008-07-24 | 2017-01-03 | Toshiba Medical Systems Corporation | Magnetic resonance imaging apparatus |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0619032Y2 (en) * | 1988-04-20 | 1994-05-18 | 不二サッシ株式会社 | Shutter retaining structure |
| DE102009047760A1 (en) * | 2009-11-12 | 2011-06-09 | Areva Np Gmbh | Method and device for determining the deformation of a fuel element of a pressurized water reactor |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5029228U (en) * | 1973-07-11 | 1975-04-03 | ||
| JPS5353355A (en) * | 1976-10-22 | 1978-05-15 | Singer Co | Inclination detector |
| JPS6053007B2 (en) * | 1975-07-18 | 1985-11-22 | チバ・ガイキー、アクチエンゲゼルシヤフト | deworming preparation |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6053007U (en) * | 1983-09-20 | 1985-04-13 | 株式会社 測機舎 | Tilt sensor |
-
1985
- 1985-07-12 JP JP1985105427U patent/JPH0453531Y2/ja not_active Expired
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5029228U (en) * | 1973-07-11 | 1975-04-03 | ||
| JPS6053007B2 (en) * | 1975-07-18 | 1985-11-22 | チバ・ガイキー、アクチエンゲゼルシヤフト | deworming preparation |
| JPS5353355A (en) * | 1976-10-22 | 1978-05-15 | Singer Co | Inclination detector |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9535147B2 (en) | 2008-07-24 | 2017-01-03 | Toshiba Medical Systems Corporation | Magnetic resonance imaging apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6214315U (en) | 1987-01-28 |
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