WO2004063693A1 - Dispositif de detection optique compact de deplacement relatif a l'aide d'une plaque perforee fendue - Google Patents

Dispositif de detection optique compact de deplacement relatif a l'aide d'une plaque perforee fendue Download PDF

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Publication number
WO2004063693A1
WO2004063693A1 PCT/EP2004/000206 EP2004000206W WO2004063693A1 WO 2004063693 A1 WO2004063693 A1 WO 2004063693A1 EP 2004000206 W EP2004000206 W EP 2004000206W WO 2004063693 A1 WO2004063693 A1 WO 2004063693A1
Authority
WO
WIPO (PCT)
Prior art keywords
optoelectronic
light
arrangement according
emitting
detecting
Prior art date
Application number
PCT/EP2004/000206
Other languages
German (de)
English (en)
Inventor
Peter Grambow
Michael Ries
Frank Becker
Erwin Ebner
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 WO2004063693A1 publication Critical patent/WO2004063693A1/fr

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
    • G06F3/042—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by opto-electronic means
    • G06F3/0421—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by opto-electronic means by interrupting or reflecting a light beam, e.g. optical touch-screen
    • 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

Definitions

  • the invention relates to an optoelectronic arrangement for detecting relative movements or relative positions of two objects, the arrangement comprising at least one pair of a light-emitting optoelectronic device and a light-detecting optoelectronic device, and devices having such an arrangement, such as e.g. Force and / or moment sensors and input devices for computer systems.
  • Arrangements with optoelectronic measuring cells are used as arrangements for detecting relative movements or relative positions of two objects in force and / or moment sensors. The reason is the simple structure combined with high precision and reliability.
  • Known examples of such arrangements are e.g. in DE 27 27 704 C3, DE 36 11 336 C2, DE 32 40 241 AI, US-3,921,445 and US-3,628,394, which illustrate the technological background of the present invention.
  • movement and position detection arrangements can be found in force and / or moment sensors for robot control and measurement of forces in the automotive sector. Further applications can be found in devices and devices for electrical and / or electronic devices and in particular computer systems.
  • Such movement and position detection arrangements serve as input and / or pointing devices with up to six degrees of freedom, such as joysticks, computer mice, trackballs, so-called 3D mice, and input and / or pointing devices with up to six degrees of freedom, such as integrated in keyboards input / controls.
  • miniaturization is increasingly taking place in areas where such movement and position detection arrangements are used, which is why such movement and position detection arrangements should also have smaller designs and lower masses.
  • DE 36 11 337 AI discloses an optoelectronic arrangement accommodated in a plastic ball for detecting six degrees of freedom.
  • six light-emitting devices are arranged at equal angular distances from one another in one plane.
  • 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 arranged to be movable relative to the arrangement of light-emitting devices and slit diaphragms, and whose detector axis runs essentially perpendicular to the slit direction.
  • the arrangement requires relatively little design effort, since the light-emitting devices and diaphragms, and possibly other electronic devices for controlling and evaluating, can be arranged on a single circuit board using conventional soldering technology, which can be firmly connected to a first object.
  • the position sensitive detectors are connected to the second object. It is disadvantageous that this known arrangement has a relatively large design and accordingly requires a relatively large amount of space for installation. The reason for this is the relatively large spatial expansion of the diaphragms and detectors, which are arranged in a ring around the light emission devices.
  • the object of the present invention is to provide solutions which provide for miniaturization of the design and mass of motion and position detection arrangements using optoelectronic measuring cells and reduction of components required for the construction of such arrangements.
  • the present invention provides an optoelectronic arrangement according to claim 1 and devices or devices using the same according to the further independent claims.
  • the optoelectronic arrangement according to the invention in order to detect movements and / or positions of two objects relative to one another, has at least one pair of light emitting optoelectronic device and a light detecting optoelectronic device.
  • the number of optoelectronic pairs to be used depends on how many degrees of freedom can be detected with one of these pairs and how many degrees of freedom are to be recorded in total. If, for example, an optoelectronic pair can monitor a degree of freedom, it is necessary to use six such pairs to record relative movements and / or relative positions with respect to six degrees of freedom.
  • an at least partially elastically deformable holder is used for the optoelectronic pair (s).
  • the optoelectronic pair (s) is (are) attached to the holder such that an elastic deformation of the holder brings about a relative movement of the light-emitting optoelectronic device and the light-detecting optoelectronic device with respect to each optoelectronic pair used.
  • the overall shape and mass of the optoelectronic arrangement can be reduced. Furthermore, no further components are required for the relative movements of the light-emitting and detecting optoelectronic devices with respect to one another.
  • the holder is preferably made in one piece, it being further preferred that the holder extends in one plane in the non-deformed state.
  • this can be connected to one of the two objects for which relative movements and / or relative positions are to be recorded relative to another object.
  • the holder comprises a spider or star-shaped structure which extends in one plane in the non-deformed state. It is further preferred that the spider or star-shaped structure has three arms which extend from a central region of the spider or the star-shaped structure.
  • At least partially elastically deformable connections can be provided between the arms of the spider, which lie opposite the central region and are referred to as "free" ends.
  • the optoelectronic devices it is possible to arrange one device of an optoelectronic pair between two arms of the spider.
  • the optoelectronic devices to be arranged there are preferably attached to the central region of the spider.
  • the corresponding other optoelectronic devices of a pair can be attached to the connections between the spider arms of the optoelectronic devices arranged between the arms of the spider or on the central region.
  • the connections between the free arms of the spider can be at least partially slotted.
  • each connection between two adjacent spider arms has first regions, each of which merges directly into the spider arms, and a second region, which lies between the two first regions.
  • a base When using a base for the holder, it can be arranged such that its central region is spaced from the base. Alternatively, provision is made to attach the central region to the base and, if used, to carry out the second regions of the connections at a distance from the base.
  • the light-emitting optoelectronic device to comprise a light emission device and the light-detecting optoelectronic device to comprise a position-sensitive detector. Together they form a measuring cell.
  • an optoelectronic pair can have two light emitting devices which irradiate a common position-sensitive detector.
  • Another possibility of providing two measuring cells is to use an optoelectronic pair with two light emission devices, each of which is assigned a position-sensitive detector.
  • Infrared light-emitting diodes are preferably used for the light-emitting optoelectronic devices.
  • FIG. 1 shows a measuring cell arrangement that can be used in the present invention for monitoring a degree of freedom
  • Fig. 3 shows a preferred embodiment of an optoelectronic arrangement for
  • a measuring cell For the detection of movements and / or positions of two objects relative to one another, a measuring cell is used for each degree of freedom to be detected.
  • a measuring cell comprises a light-emitting optoelectronic device 2, which comprises an infrared light-emitting diode 4, for example.
  • Light 6 emitted by the infrared light-emitting diode spreads out to a slit diaphragm 8, where the beam path of the light 6 is influenced in such a way that a strip-shaped beam path 10 extending perpendicular to the plane of the drawing results.
  • the slot 12 of the slot diaphragm 8 extends essentially perpendicular to the direction of movement which is to be monitored with the measuring cell shown in FIG. 1 and is indicated there by the double arrow.
  • the strip-shaped light beam 10 strikes a light-sensitive surface 14 of a light-detecting optoelectronic device 16, for which a position-sensitive detector is provided in particular.
  • measuring cells are used in accordance with the number of degrees of freedom to be recorded and are arranged spatially oriented depending on the degree of freedom to be recorded with a measuring cell.
  • the arrangement shown in FIG. 2 has a light-emitting optoelectronic device 20.
  • the light-emitting optoelectronic device 20 comprises two light-generating devices 22, 24, advantageously each in the form of an infrared light-emitting diode.
  • a light beam 26 is emitted by the light-emitting diode 22 and is converted into light with a strip-shaped beam path 30 extending perpendicular to the plane of the drawing by means of a slit diaphragm 28.
  • the direction of movement indicated by the double arrow is monitored by means of the light beam 30.
  • the slit 32 of the slit diaphragm 28 likewise extends perpendicular to the plane of the drawing in FIG. 2.
  • the light beam 30 falls on a light-sensitive surface 34 of a detecting optoelectronic device 36, advantageously in the form of a position-sensitive detector.
  • a light beam 38 is emitted by means of the light-emitting diode 24, which is converted into a light beam 40 by means of a slit diaphragm (not shown in FIG. 2), which extends in a strip shape parallel to the plane of the drawing in FIG. 2.
  • the light beam 40 is used to monitor a direction of movement perpendicular to the plane of the drawing in FIG. 2.
  • the light beam 40 falls on the light-sensitive surface 34 of the position-sensitive detector 36. It is possible here for the light-sensitive surface 34 to have separate regions for the light beams 30 and 40 or to use a common surface region for these light beams.
  • Three light-emitting optoelectronic devices 20 are arranged on a central region 50 of a star-shaped structure or spider 52.
  • the central area 50 has areas 54 extending from it.
  • it is provided to fasten the light-emitting optoelectronic devices 20 without using the areas 54 in the area of the spider 52 where their arms 56 meet.
  • the use of the areas 54 has the advantage that in the area between the light-emitting optoelectronic devices 20 a surface area of the spider 52 remains free, which can be used for fastening the spider 52 or for applying force.
  • the arms 56 of the spider 52 which extend outwardly from the central region 50 are evenly spaced apart and merge with their ends 58 opposite the central region 50 into connecting regions 60.
  • the spider 52 and the connection areas 60 surrounding it are integrated in the same construction, i.e. form a one-piece structure.
  • the designation of the ends 58 of the arms 56 as “free” ends should not be understood to mean that they are attached to the connection regions 60 by means of a special connection.
  • connection areas 60 between the free ends 58 of the arms 56 form a structure with a substantially circular outer circumference.
  • these each have a slot 62.
  • the slots 62 have dimensions which depend on the form in which an elastic deformability of the connecting regions 60 is desired and / or specified.
  • Light-detecting optoelectronic devices 36 are arranged opposite the light-emitting optoelectronic devices 20. In the embodiment shown, the detecting optoelectronic devices 36 are arranged in areas 64 of the connections 60 which are not slotted.
  • the light-emitting optoelectronic devices 20 can be moved relative to the respectively associated light-detecting optoelectronic devices 36.
  • arms 56 and / or arm ends 58 and / or transitions between the arm ends 58 and corresponding connections 60 and / or slots 62 and / or transitions to the regions 64 are used, which ensure that these structures have a desired and / or required elastic Have deformability.
  • the components shown in FIG. 3 are referred to as holders. Due to the elastic deformability of the holder, relative movements between the light-emitting optoelectronic devices 20 and corresponding light-detecting optoelectronic devices 36 are made possible.
  • FIG. 4 corresponds to the embodiment of FIG. 3.
  • measuring cell arrangements according to FIG. 1 are used, with slot diaphragms 8 ′ being used in contrast to FIG. 1 that are not integrated with the corresponding infrared LEDs. Rather, in this embodiment the slotted blades are 8 'as separate components which are attached to the central area 50 or, if provided, to the areas 54.
  • FIG. 4 further shows a reference plane or base 66 to which the areas 64 are attached. Accordingly, relative movements between the light-emitting and detecting optoelectronic devices 20, 36 are brought about by the introduction of force into the central region 50. In contrast to FIG. 3, this is perforated in order to reduce the mass of the entire arrangement. Furthermore, the central area 50 has an area 68 which is reinforced for the introduction of force.
  • the areas 64 in the embodiment of FIG. 4 are also perforated to reduce weight. Connections 70 arranged on the areas 64 are used to fasten the areas 64 to the base 66. A further difference from the embodiment of FIG. 3 results from the design of the connections 60. These are not slotted here, but have structures with smaller dimensions, which are dimensioned according to the desired and / or required elastic deformability.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un dispositif optoélectronique permettant de détecter des déplacements relatifs ou des positions relatives de deux objets. Ce dispositif comprend au moins une paire d'éléments, à savoir formée par un dispositif optoélectronique émetteur de lumière (28) et par un dispositif optoélectronique détecteur de lumière. Le dispositif selon l'invention se caractérise en ce qu'il comporte un dispositif de fixation (36) au moins partiellement élastique sur lequel la ou les paire(s) d'éléments optoélectroniques sont montées de telle sorte que, pour ladite ou lesdites paire(s) d'éléments optoélectroniques, une déformation élastique du dispositif de fixation provoque un déplacement relatif entre le dispositif optoélectronique émetteur de lumière et le dispositif optoélectronique détecteur de lumière. Ce dispositif optoélectronique peut être utilisé dans un capteur de force, dans un capteur de couple, dans une commande de robot, dans un joystick, dans une souris ou dans une boule de pointage.
PCT/EP2004/000206 2003-01-14 2004-01-14 Dispositif de detection optique compact de deplacement relatif a l'aide d'une plaque perforee fendue WO2004063693A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10301059.9 2003-01-14
DE2003101059 DE10301059A1 (de) 2003-01-14 2003-01-14 Anordnung zum Erfassen von Bewegungen oder Positionen zweier Objekte relativ zueinander

Publications (1)

Publication Number Publication Date
WO2004063693A1 true WO2004063693A1 (fr) 2004-07-29

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DE (1) DE10301059A1 (fr)
WO (1) WO2004063693A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019100702A (ja) * 2017-11-28 2019-06-24 ファナック株式会社 変位検出方式の６軸力センサ
WO2020009959A1 (fr) 2018-07-02 2020-01-09 Flexiv Ltd. Capteur de force axiale, dispositif de préhension robotique et robot équipé de ceux-ci

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004063975B4 (de) * 2004-10-22 2018-05-30 Société Civile "Galileo 2011" Optoelektronische Anordnung zum Erfassen von Relativbewegungen oder Relativpositionen zweier Objekte
DE102006058805B4 (de) * 2006-12-13 2011-12-22 Spacecontrol Gmbh Vorrichtung zur Eingabe von Bewegungen und/oder Erfassung von Kräften
DE102012217390A1 (de) * 2012-09-26 2014-03-27 Siemens Aktiengesellschaft Wegaufnehmermodul und Kraftmessdose
JP6918647B2 (ja) * 2017-08-30 2021-08-11 キヤノン株式会社 力センサ、トルクセンサ、力覚センサ、指先力センサ、およびその製造方法
DE102021125445B4 (de) 2021-09-30 2023-08-10 Deutsches Zentrum für Luft- und Raumfahrt e.V. Vorrichtung zur Erfassung einer Relativbewegung sowie 3D Eingabegerät

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60177233A (ja) * 1984-02-24 1985-09-11 Nippon Telegr & Teleph Corp <Ntt> 多分力検出器
EP0256393A1 (fr) * 1986-08-12 1988-02-24 Siemens Aktiengesellschaft Dispositif de mesure pour la détection des forces et des moments
EP1195580A2 (fr) * 2000-07-14 2002-04-10 Deutsches Zentrum für Luft- und Raumfahrt e.V. Dispositif pour détecter les mouvements relatifs d'un object

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60177233A (ja) * 1984-02-24 1985-09-11 Nippon Telegr & Teleph Corp <Ntt> 多分力検出器
EP0256393A1 (fr) * 1986-08-12 1988-02-24 Siemens Aktiengesellschaft Dispositif de mesure pour la détection des forces et des moments
EP1195580A2 (fr) * 2000-07-14 2002-04-10 Deutsches Zentrum für Luft- und Raumfahrt e.V. Dispositif pour détecter les mouvements relatifs d'un object

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019100702A (ja) * 2017-11-28 2019-06-24 ファナック株式会社 変位検出方式の６軸力センサ
US10760986B2 (en) 2017-11-28 2020-09-01 Fanuc Corporation Displacement detection type six-axis force sensor
WO2020009959A1 (fr) 2018-07-02 2020-01-09 Flexiv Ltd. Capteur de force axiale, dispositif de préhension robotique et robot équipé de ceux-ci
EP3797268A4 (fr) * 2018-07-02 2021-10-06 Flexiv Ltd. Capteur de force axiale, dispositif de préhension robotique et robot équipé de ceux-ci

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