CN109405762B - Anti-collision monitoring device based on fiber bragg grating - Google Patents
Anti-collision monitoring device based on fiber bragg grating Download PDFInfo
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- CN109405762B CN109405762B CN201811360302.4A CN201811360302A CN109405762B CN 109405762 B CN109405762 B CN 109405762B CN 201811360302 A CN201811360302 A CN 201811360302A CN 109405762 B CN109405762 B CN 109405762B
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- 239000000835 fiber Substances 0.000 title claims abstract description 49
- 238000012806 monitoring device Methods 0.000 title claims abstract description 23
- 238000012544 monitoring process Methods 0.000 claims abstract description 19
- 229910001220 stainless steel Inorganic materials 0.000 claims description 57
- 239000010935 stainless steel Substances 0.000 claims description 57
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 35
- 239000004917 carbon fiber Substances 0.000 claims description 35
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 35
- 239000013307 optical fiber Substances 0.000 claims description 30
- 239000003822 epoxy resin Substances 0.000 claims description 4
- 229920000647 polyepoxide Polymers 0.000 claims description 4
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 abstract description 6
- 230000004888 barrier function Effects 0.000 abstract description 3
- 230000003287 optical effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 241001247986 Calotropis procera Species 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 108010036922 cytoplasmic linker protein 115 Proteins 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004801 process automation Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
- G01B11/165—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge by means of a grating deformed by the object
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention belongs to the technical field of industrial robots, and particularly provides an anti-collision monitoring device based on a fiber bragg grating. The strain is used as a monitoring variable, the fiber bragg grating is used as a collision monitoring sensor, the monitoring is sensitive, the signal transmission is fast, the along-path loss is small, the electromagnetic interference is avoided, and the robot can receive a braking signal at the moment of collision; multiple collision buffer measures such as rubber sleeve and spring can effectively reduce the impact force that the collision caused to barrier and robot body, low cost is fit for using widely on a large scale, and the sensing and the transmission of signal all adopt optical signal, and not the signal of telecommunication, and stability is higher, and can avoid the harm of electric leakage to the robot host computer.
Description
Technical Field
The invention belongs to the technical field of industrial robots, and particularly relates to an anti-collision monitoring device based on a fiber grating.
Background
With the development of computer and robot technologies, robots are becoming more and more popular in various industries, and industrial robots represented by mechanical arms are being replaced by workers to perform full-process automation operations. In general, obstacles influencing the operation of the robot are not arranged in the working radius of the robot, but sometimes due to the limitation of working environment, when the robot is required to work in a certain narrow space or a space provided with the obstacles (such as an automatic oiling robot), corresponding collision monitoring and protection measures are necessary, while most of the existing robots emphasize that the collision is avoided in terms of algorithm angle or early track planning, the collision avoiding method has poor effect on some irregularly moving obstacles, and the other method is to arrange various sensors on the surface of the robot, such as an infrared distance sensor, a CCD industrial camera and the like, so that the sensors have high price on one hand, and on the other hand, even if the sensors monitor the existence of the obstacles, the collision still occurs due to the fact that the collision avoidance speed of the mechanical arm is smaller than the movement speed of the obstacles, and the collision has great damage on the mechanical arm and the obstacles due to the fact that the mechanical arm surface is usually made of rigid materials.
Disclosure of Invention
The invention aims to solve the problem that the passive collision monitoring and protecting technology of robots in the prior art is insufficient.
The invention provides an anti-collision monitoring device based on fiber bragg gratings, which comprises a monitoring unit, a first connecting rod group and a stainless steel ring, wherein the monitoring unit comprises a fiber bragg grating sensor and an optical fiber, the first connecting rod group comprises at least two first connecting rods, two adjacent first connecting rods are fixedly connected through the stainless steel ring, the optical fiber is fixedly arranged on the outer surface of the stainless steel ring, and the optical fiber is connected with the grating fiber bragg grating sensor.
Preferably, the device further comprises a carbon fiber protection ring, a spring, a second connecting rod group and a base, wherein the second connecting rod group comprises at least two second connecting rods, the second connecting rod group corresponds to the first connecting rod group one by one, one end of each first connecting rod is connected with the inner wall of the carbon fiber protection ring, the other end of each first connecting rod is connected with one end of the spring, the middle of each first connecting rod is fixedly connected with the stainless steel ring, the other end of each spring is connected with one end of each second connecting rod, and the other end of each second connecting rod is connected with the base.
Preferably, the outer surface of the carbon fiber protection ring is sleeved with a rubber sleeve.
Preferably, the inner surface of the base is adhered with a rubber gasket.
Preferably, the optical fiber is bonded with the outer surface of the stainless steel ring through epoxy resin.
Preferably, the middle position of the first carbon fiber rod is clamped and connected through a first clamping piece and a second clamping piece, and the other ends of the first clamping piece and the second clamping piece are both in fastening connection with the stainless steel ring.
Preferably, the fiber bragg grating sensors are at least two, and the plurality of fiber bragg grating sensors are respectively close to the first carbon fiber rod in a one-to-one correspondence manner.
Preferably, the stainless steel rings comprise a plurality of stainless steel rings, optical fibers are adhered to each stainless steel ring, protrusions and grooves are formed in two ends of each stainless steel ring, and two adjacent stainless steel rings are in insertion fit through the protrusions and the grooves.
Preferably, each stainless steel ring is sleeved with a rubber sleeve.
Preferably, the length of the optical fiber between two adjacent stainless steel rings is reserved.
The invention has the beneficial effects that: according to the anti-collision monitoring device based on the fiber bragg grating, the fiber and the fiber bragg grating sensor are paved on the stainless steel ring, when an obstacle collides with the device, the stainless steel ring is deformed, and the deformation can be monitored by the fiber bragg grating sensor. The strain is used as a monitoring variable, the fiber bragg grating is used as a collision monitoring sensor, the monitoring is sensitive, the signal transmission is fast, the along-path loss is small, the electromagnetic interference is avoided, and the robot can receive a braking signal at the moment of collision; multiple collision buffer measures such as rubber sleeve and spring can effectively reduce the impact force that the collision caused to barrier and robot body, low cost is fit for using widely on a large scale, and the sensing and the transmission of signal all adopt optical signal, and not the signal of telecommunication, and stability is higher, and can avoid the harm of electric leakage to the robot host computer.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic diagram of an embodiment of an anti-collision monitoring device based on fiber gratings according to the present invention;
FIG. 2 is a schematic structural diagram of a second embodiment of an anti-collision monitoring device based on fiber gratings according to the present invention;
FIG. 3 is a schematic diagram of a second embodiment of an anti-collision device based on fiber gratings according to the present invention;
FIG. 4 is a schematic diagram of the structure of a carbon fiber guard ring of the fiber grating-based anti-collision monitoring device of the present invention;
FIG. 5 is a schematic view of a first carbon fiber rod fixed connection of an anti-collision monitoring device based on fiber gratings according to the present invention;
FIG. 6 is a schematic diagram of an anti-collision monitoring device based on fiber gratings for a cantilever robot according to the present invention;
FIG. 7 is an enlarged schematic view of a monitoring unit of the fiber grating-based anti-collision monitoring device of the present invention;
fig. 8 is a schematic structural diagram of a third embodiment of an anti-collision monitoring device based on fiber gratings according to the present invention.
Reference numerals illustrate: the optical fiber cable comprises a carbon fiber protection ring 1, an optical fiber 2, a stainless steel ring 3, a base 4, a rubber pad 5, a first carbon fiber rod 6, a spring sheath 7, a spring 8, a second carbon fiber rod 9, a third bolt 10, a fixing device 11, a grating 12, a protrusion 13, a groove 14, a rubber sleeve 15, an adhesive point 16, a first bolt 111, a second bolt 112, a first nut 113, a second nut 114, a first clamping piece 115 and a second clamping piece 116.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second" may include one or more such features, either explicitly or implicitly; in the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
Embodiment one:
the embodiment of the invention provides an anti-collision monitoring device based on fiber bragg gratings, which comprises a monitoring unit, a first connecting rod group and a stainless steel ring 3, wherein the monitoring unit comprises a fiber bragg grating sensor 12 and an optical fiber 2, the first connecting rod group comprises at least two first connecting rods 6, two adjacent first connecting rods 6 are fixedly connected through the stainless steel ring 3, the optical fiber 2 is fixedly arranged on the outer surface of the stainless steel ring 3, and the optical fiber 2 is connected with the grating fiber bragg grating sensor 12.
As shown in fig. 1 to 3, the fiber grating sensor 12 is connected to the optical fiber 2, the optical fiber 2 is laid and fastened on the stainless steel ring 3, and the first connecting rods 6 are connected to two ends of the stainless steel ring 3, and in this embodiment, the first connecting rods 6 are made of carbon fiber, that is, the first carbon fiber rods 6 are light and durable, and other materials can be used. When external force acts on the first carbon fiber rod 6, the stainless steel ring 3 is caused to deform, the deformation is far greater than that of the stainless steel ring caused by normal swing of the robot, the deformation can be monitored by the fiber bragg grating sensor 12, then signals are transmitted to fiber demodulation equipment through the fiber 2, the corresponding strain signals are amplified and extracted and then arrive at a control computer of a central control room, and the computer can know that the device is impacted according to the signals. In a specific implementation scenario, as shown in fig. 1 and 6, the device is annular, the device is sleeved on the robot arm, and the robot arm encounters an obstacle in the working process, so that the device can monitor, and the safety work of the robot arm can be controlled according to the monitoring signal.
The preferred scheme, the device still includes carbon fiber protection ring 1, spring 8, second connecting rod group and base 4, second connecting rod group includes two at least second connecting rods 9, second connecting rod group with first connecting rod group one-to-one, first connecting rod 6 one end with carbon fiber protection ring 1 inner wall is connected, the other end with spring 8 one end is connected, in the middle of the first connecting rod 6 with stainless steel ring 3 fixed connection, the spring 8 other end with second connecting rod 9 one end is connected, the second connecting rod 9 other end with base 4 is connected.
From this, as shown in fig. 7, the second connecting rod 9 is a second carbon fiber rod 9, one end of the first carbon fiber rod 6 is connected with the inner wall of the carbon fiber protection ring 1, the other end is connected with one end of the spring 8, the middle of the first carbon fiber rod 6 is fixedly connected with the stainless steel ring 3, the other end of the spring 8 is connected with one end of the second carbon fiber rod 9, the other end of the second carbon fiber rod 9 is connected with the base 4 through a third bolt 10, and a spring sheath 7 is sleeved outside the spring 8 to ensure that the spring 8 linearly stretches out and draws back in the spring sheath 7. The base 4 is sleeved on the robot arm, an external obstacle collides with the carbon fiber protection ring 1, so that the first carbon fiber rod 6 presses the spring 8 inwards, and the stainless steel ring 3 is driven to deform, the deformation can be monitored by the fiber bragg grating sensor 12, and the device is informed of the collision. The spring 8 plays a role in collision buffering, and damage to an obstacle or a main body structure of the robot arm due to collision is avoided.
In a preferred scheme, the outer surface of the carbon fiber protection ring 1 is sleeved with a rubber sleeve 15. As shown in fig. 1, the rubber sleeve 15 serves as a buffer to protect the carbon fiber guard ring 1.
Preferably, a rubber gasket 5 is adhered to the inner surface of the base 4. From this, it is clear that the rubber gasket 5 plays a role of cushioning and anti-slip.
Preferably, the optical fiber 2 is bonded with the outer surface of the stainless steel ring 3 through epoxy resin. Therefore, the epoxy resin has strong adhesion, the optical fiber 2 is ensured not to fall off, and the adhesion process is simpler.
In a preferred scheme, the middle position of the first carbon fiber rod 6 is clamped and connected through a first clamping piece 115 and a second clamping piece 116, and the other ends of the first clamping piece 115 and the second clamping piece 116 are both fastened and connected with the stainless steel ring 3. As shown in fig. 5, the first carbon fiber rod 6 is connected to the stainless steel ring 3 by the fixing device 11, which includes a first clip 115 and a second clip 116 that clamp and fix the first carbon fiber rod 6, and then the first and second clips are fixedly connected by the first and second bolts 111 and 112, and the first and second nuts 113 and 114, or may be welded.
In a preferred embodiment, at least two fiber bragg grating sensors 12 and a plurality of fiber bragg grating sensors 12 are respectively close to the first carbon fiber rod 6 in a one-to-one correspondence manner. It is known that the place where the deformation is the fastest and the deformation is the vicinity of the first carbon fiber rod 6, so that the fiber bragg grating sensor 12 can monitor the deformation better.
Embodiment two:
the structure of this embodiment is substantially the same as that of the embodiment, except that the stainless steel rings 3 include a plurality of stainless steel rings, each stainless steel ring 3 is bonded with an optical fiber 2, two ends of the stainless steel ring 3 are provided with a protrusion 13 and a groove 14, and two adjacent stainless steel rings 3 are in insertion fit through the protrusion 13 and the groove 14. It can be seen from fig. 2 to 4 that the device comprises three stainless steel rings 3, wherein two adjacent stainless steel rings 3 are inserted and matched through a protrusion 13 and a groove 14, and can be fixedly connected with each other by bolts at the matched position through drilling holes.
In a preferred scheme, a rubber sleeve 15 is sleeved outside each stainless steel ring 3. From this, it is known that the obstacle directly collides with the rubber bush 15, and the rubber bush 15 plays a role of cushioning protection.
Preferably, the length of the optical fiber 2 between two adjacent stainless steel rings 3 is reserved. As shown in fig. 1 and 2, the optical fiber 2 between the two stainless steel rings 3 is laid overhead due to the absence of the stainless steel rings, and is kept at a certain length (i.e. the optical fiber is not stretched) to prevent breakage during a collision.
Embodiment III:
the structure of this embodiment is substantially the same as that of the first embodiment, except that as shown in fig. 8, an optical fiber 2 is sleeved outside a stainless steel ring 3, and then a carbon fiber protection ring 1 is sleeved outside the optical fiber 2. The fiber grating sensor 12 can also be directly arranged on the carbon fiber protecting ring 1 without the stainless steel ring 3.
The invention has the beneficial effects that: according to the anti-collision monitoring device based on the fiber bragg grating, the fiber and the fiber bragg grating sensor are paved on the stainless steel ring, when an obstacle collides with the device, the stainless steel ring is deformed, and the deformation can be monitored by the fiber bragg grating sensor. The strain is used as a monitoring variable, the fiber bragg grating is used as a collision monitoring sensor, the monitoring is sensitive, the signal transmission is fast, the along-path loss is small, the electromagnetic interference is avoided, and the robot can receive a braking signal at the moment of collision; multiple collision buffer measures such as rubber sleeve and spring can effectively reduce the impact force that the collision caused to barrier and robot body, low cost is fit for using widely on a large scale, and the sensing and the transmission of signal all adopt optical signal, and not the signal of telecommunication, and stability is higher, and can avoid the harm of electric leakage to the robot host computer.
The foregoing examples are merely illustrative of the present invention and are not intended to limit the scope of the present invention, and all designs that are the same or similar to the present invention are within the scope of the present invention.
Claims (7)
1. An anti-collision monitoring device based on fiber bragg grating, its characterized in that: the optical fiber monitoring device comprises a monitoring unit, a first connecting rod group and a stainless steel ring (3), wherein the monitoring unit comprises an optical fiber grating sensor (12) and an optical fiber (2), the first connecting rod group comprises at least two first connecting rods (6), two adjacent first connecting rods (6) are fixedly connected through the stainless steel ring (3), the optical fiber (2) is fixedly arranged on the outer surface of the stainless steel ring (3), and the optical fiber (2) is connected with the optical fiber grating sensor (12);
the device further comprises a carbon fiber protection ring (1), a spring (8), a second connecting rod group and a base (4), wherein the second connecting rod group comprises at least two second connecting rods (9), the second connecting rod group corresponds to the first connecting rod group one by one, one end of each first connecting rod (6) is connected with the inner wall of the carbon fiber protection ring (1), the other end of each first connecting rod is connected with one end of the corresponding spring (8), the middle of each first connecting rod (6) is fixedly connected with the stainless steel ring (3), the other end of each spring (8) is connected with one end of each second connecting rod (9), and the other end of each second connecting rod (9) is connected with the base (4);
the stainless steel rings (3) comprise a plurality of stainless steel rings, optical fibers (2) are adhered to each stainless steel ring (3), protrusions (13) and grooves (14) are formed in two ends of each stainless steel ring (3), and two adjacent stainless steel rings (3) are in insertion fit through the protrusions (13) and the grooves (14); the length of the optical fiber (2) between two adjacent stainless steel rings (3) is reserved.
2. The fiber grating-based anti-collision monitoring device of claim 1, wherein: the outer surface of the carbon fiber protection ring (1) is sleeved with a rubber sleeve (15).
3. The fiber grating-based anti-collision monitoring device of claim 1, wherein: the inner surface of the base (4) is adhered with a rubber gasket (5).
4. The fiber grating-based anti-collision monitoring device of claim 1, wherein: the optical fiber (2) is bonded with the outer surface of the stainless steel ring (3) through epoxy resin.
5. The fiber grating-based anti-collision monitoring device of claim 1, wherein: the middle position of the first connecting rod (6) is in clamping connection through a first clamping piece (115) and a second clamping piece (116), and the other ends of the first clamping piece (115) and the second clamping piece (116) are fixedly connected with the stainless steel ring (3).
6. The fiber grating-based anti-collision monitoring device of claim 1, wherein: at least two fiber bragg grating sensors (12), and a plurality of fiber bragg grating sensors (12) are respectively close to the first connecting rod (6) in a one-to-one correspondence mode.
7. The fiber grating-based anti-collision monitoring device of claim 1, wherein: a rubber sleeve (15) is sleeved outside each stainless steel ring (3).
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| CN201811360302.4A CN109405762B (en) | 2018-11-15 | 2018-11-15 | Anti-collision monitoring device based on fiber bragg grating |
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| CN201811360302.4A CN109405762B (en) | 2018-11-15 | 2018-11-15 | Anti-collision monitoring device based on fiber bragg grating |
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| CN111941445B (en) * | 2020-08-13 | 2022-09-16 | 燕山大学 | Multi-branch deformable robot protection device |
| CN114407017B (en) * | 2022-01-28 | 2024-04-26 | 广东弘讯智能科技有限公司 | Industrial robot and automatic adjustment method |
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| CN109405762A (en) | 2019-03-01 |
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