JP3218327B2 - Angle detection sensor - Google Patents
Angle detection sensorInfo
- Publication number
- JP3218327B2 JP3218327B2 JP25579499A JP25579499A JP3218327B2 JP 3218327 B2 JP3218327 B2 JP 3218327B2 JP 25579499 A JP25579499 A JP 25579499A JP 25579499 A JP25579499 A JP 25579499A JP 3218327 B2 JP3218327 B2 JP 3218327B2
- Authority
- JP
- Japan
- Prior art keywords
- angle
- coil
- coils
- detection sensor
- angle detection
- 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 - Lifetime
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- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Description
【０００１】[0001]
【発明の属する技術分野】この発明は角度検出センサに
関し、特に、球ジョイントの３軸周りの回転角度を検出
するための角度検出センサに関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an angle detection sensor, and more particularly to an angle detection sensor for detecting a rotation angle of a ball joint about three axes.
【０００２】[0002]
【従来の技術】近年、ロボットの関節、ジョイスチック
等の操作レバーの軸受に、３軸自由度を持った球ジョイ
ントを用いたものが提供されている。例えば、ロボット
の分野においては、軽量化と動作の多自由度化を実現す
るため、股関節や足首関節のような３自由度を持つ関節
を、球ジョイントを用いて構成している。そして、この
ような球ジョイントは、機構部分が軽量かつ単純な構成
にできる利点を有している。2. Description of the Related Art In recent years, there has been provided a robot using a ball joint having three degrees of freedom as a bearing for an operating lever such as a joint or a joystick of a robot. For example, in the field of robots, joints having three degrees of freedom, such as hip joints and ankle joints, are configured using ball joints in order to achieve weight reduction and multi-degree of freedom of motion. Such a ball joint has the advantage that the mechanism can be made lightweight and simple.
【０００３】球ジョイントを用いた場合、ワイヤ等で牽
引して関節の角度を制御するためには、球ジョイントの
３軸の回転角度を測定することが必要となる。一般に、
３次元角度測定には、ホール素子を用いた測定素子や、
交代磁場を用いたＶＲ用途の３次元位置測定装置などを
用いることが知られている。When a ball joint is used, it is necessary to measure the rotation angles of three axes of the ball joint in order to control the joint angle by pulling with a wire or the like. In general,
For three-dimensional angle measurement, a measuring element using a Hall element,
It is known to use a three-dimensional position measuring device for VR use using an alternating magnetic field.
【０００４】[0004]
【発明が解決しようとする課題】しかしながら、上記の
ようなホール素子を用いた測定素子や、３次元位置測定
装置は、その構造上、球ジョイントに組込むことが困難
であり、球ジョイントの回転角度検出には適していな
い。そこで、この発明の目的は、球ジョイントに容易に
組込むことができ球ジョインの３軸回転角度を測定可能
な角度検出センサを提供することにある。However, the measuring element and the three-dimensional position measuring apparatus using the Hall element as described above are difficult to incorporate into a ball joint due to their structures, and the rotation angle of the ball joint is difficult. Not suitable for detection. Therefore, an object of the present invention is to provide an angle detection sensor which can be easily incorporated into a ball joint and can measure a three-axis rotation angle of a ball joint.
【０００５】[0005]
【課題を解決するための手段】上記目的を達成するた
め、本発明に係る角度検出センサは、球ジョイントの球
体部と、この球体部を摺動自在に受けた受部材とにそれ
ぞれコイルを組み込み、これらのコイルの磁気結合の強
度から球ジョイントに設けられたジョイント軸の角度を
測定することを特徴としている。In order to achieve the above-mentioned object, an angle detection sensor according to the present invention has coils incorporated in a spherical portion of a ball joint and a receiving member slidably receiving the spherical portion. The angle of the joint axis provided in the ball joint is measured from the strength of the magnetic coupling of these coils.
【０００６】上記角度検出センサの基本原理は、例え
ば、受部材に設けられた外側送信コイルに磁場を発生さ
せ、球体部に設けられ外側送信用コイルのループ内に位
置した受信コイルに誘導される起電力を測定すること
で、２つのコイルのなす角度を検出するものである。誘
導起電力の大きさは、送信コイル面と受信コイル面との
なす角度、つまり、ジョイント軸の角度のみによって決
定され、方向には依存しない。The basic principle of the above angle detection sensor is that, for example, a magnetic field is generated in an outer transmitting coil provided on a receiving member and guided to a receiving coil provided in a sphere and located in a loop of the outer transmitting coil. The angle between the two coils is detected by measuring the electromotive force. The magnitude of the induced electromotive force is determined only by the angle between the transmitting coil surface and the receiving coil surface, that is, the angle of the joint axis, and does not depend on the direction.
【０００７】球ジョイントの自由度として、３軸周りの
全ての回転角度を測定するためには、少なくとも送信コ
イルが２つ、受信コイルが２つ必要となる。送信、受信
コイルの組合わせはコイル４つとなるが、送信コイルへ
供給する電圧の周波数をコイル毎に変更し、各受信コイ
ルで受信した周波数成分をバンドパスフィルタ等の分離
部によって分解することで、送信側の２つのコイルと各
受信側のコイルとのなす角度をそれぞれ独立に求めるこ
とができ、３軸全ての回転角度を検出することが可能と
なる。To measure all the rotation angles around three axes as the degrees of freedom of the ball joint, at least two transmitting coils and two receiving coils are required. The combination of the transmitting and receiving coils is four coils, but the frequency of the voltage supplied to the transmitting coil is changed for each coil, and the frequency component received by each receiving coil is decomposed by a separating unit such as a band-pass filter. The angle between the two coils on the transmitting side and each coil on the receiving side can be obtained independently, and the rotation angles of all three axes can be detected.
【０００８】上記の基本原理に基づき、この発明に係る
角度検出センサは、球状の外面を持った球体部と、上記
球体部から延出じたジョイント軸と、ほぼ球状の内面を
有しているとともに上記球体部が回転自在に係合した凹
所を有した受部材と、を備えた球ジョイントにおける上
記ジョイント軸の３軸回転角度を検出する角度検出セン
サにおいて、上記球体部の外面に巻回されているととも
に、上記球体部の中心と一致した中心をそれぞれ有した
２つの第１コイルと、上記凹所を囲んで上記受部材に設
けられているとともに、上記球体部の中心と一致した中
心をそれぞれ有した２つの第２コイルと、上記第１およ
び第２コイルのいずれか一方の２つのコイルに互いに周
波数の異なる電圧を供給し交代磁場を発生させる電圧供
給部と、上記交代磁場により上記第１および第２コイル
の他方の２つのコイルに発生する誘導起電力を上記周波
数毎に検出し、検出された誘導起電力から上記ジョイン
ト軸の３軸周りでの回転角度をそれぞれ算出する算出部
と、を備えていることを特徴としている。Based on the above basic principle, the angle detection sensor according to the present invention has a spherical portion having a spherical outer surface, a joint shaft extending from the spherical portion, and a substantially spherical inner surface. And a receiving member having a recess in which the spherical portion is rotatably engaged. The angle detecting sensor detects the three-axis rotation angle of the joint shaft in the ball joint, and is wound around the outer surface of the spherical portion. And two first coils each having a center coinciding with the center of the spherical portion, and a center provided on the receiving member surrounding the recess and coincident with the center of the spherical portion. A voltage supply unit for supplying voltages having different frequencies to one of the first and second coils to generate an alternating magnetic field; and The induced electromotive force generated in the other two coils of the first and second coils according to the field is detected for each of the frequencies, and the rotational angles around the three axes of the joint shaft are calculated from the detected induced electromotive force. And a calculation unit that performs the calculation.
【０００９】また、この発明に係る角度検出センサは、
各コイルに発生した誘導起電力を周波数毎の出力電圧に
分離する分離部を備え、更に、上記第１コイルと第２コ
イルとのなす角度と出力電圧との関係を規定する関数デ
ータを格納した記憶部を備え、上記算出部は、上記検出
された周波数毎の出力電圧と上記記憶部に格納された関
数データとに基いて上記ジョイント軸の回転角度を算出
することを特徴としている。[0009] Further, the angle detection sensor according to the present invention comprises:
A separation unit is provided for separating the induced electromotive force generated in each coil into output voltages for each frequency, and further stores function data for defining the relationship between the angle between the first coil and the second coil and the output voltage. A storage unit is provided, wherein the calculation unit calculates the rotation angle of the joint shaft based on the detected output voltage for each frequency and the function data stored in the storage unit.
【００１０】上記一方の第１コイルと一方の第２コイル
とのなす角度をθ１ａ、上記一方の第１コイルと他方の
第２コイルとのなす角度をθ２ａ、他方の第１コイルと
上記一方の第２コイルとのなす角度をθ１ｂ、上記他方
の第１コイルと上記他方の第２コイルとのなす角度をθ
２ｂ、上記２つの第２コイルのコイル面同士がなす角度
を２ωとし、上記球体部の中心を通るｘ、ｙ、ｚ軸に対
する上記ジョイント軸のなす角度をそれぞれロール角
γ、ピッチ角β、ヨー角αとした場合、上記算出部は、
上記検出された周波数毎の出力電圧と上記記憶部に格納
された関数データとに基いて上記θ１ａ、θ２ａ、θ１
ｂ、θ２ｂをそれぞれ算出するとともに、以下の式に基
いて上記ロール角γ、ピッチ角β、ヨー角αを算出す
る。The angle between the one first coil and the one second coil is θ1a, the angle between the one first coil and the other second coil is θ2a, and the other first coil and the one second coil are θ2a. The angle between the second coil and the second coil is θ1b, and the angle between the other first coil and the other second coil is θ1b.
2b, the angle formed by the coil surfaces of the two second coils is 2ω, and the angles formed by the joint axis with respect to the x, y, and z axes passing through the center of the sphere are roll angle γ, pitch angle β, and yaw, respectively. When the angle is α, the calculation unit calculates
The θ1a, θ2a, θ1 based on the detected output voltage for each frequency and the function data stored in the storage unit.
b and θ2b are calculated, and the roll angle γ, pitch angle β, and yaw angle α are calculated based on the following equations.
【００１１】[0011]
【数２】 (Equation 2)
【００１２】[0012]
【発明の実施の形態】以下図面を参照しながら、この発
明の実施の形態に係る角度検出センサを備えた球ジョイ
ントについて詳細に説明する。図１に示すように、球ジ
ョイントは、球状の外面を有しジョイント軸１０に固定
された球体部１２と、この球体部１２を回転自在に受け
た受部材１４と、を備えている。球体部１２および受部
材１４は、例えば合成樹脂により形成されている。ま
た、ジョイント軸１０は、例えば真鍮によって形成され
ているとともに、球体部１２の中心ｃを通る方向に沿っ
て、球体部１２の外面から延出している。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a ball joint provided with an angle detecting sensor according to an embodiment of the present invention will be described in detail with reference to the drawings. As shown in FIG. 1, the ball joint includes a spherical portion 12 having a spherical outer surface and fixed to a joint shaft 10, and a receiving member 14 rotatably receiving the spherical portion 12. The spherical portion 12 and the receiving member 14 are formed of, for example, a synthetic resin. The joint shaft 10 is formed of, for example, brass, and extends from the outer surface of the spherical body 12 along a direction passing through the center c of the spherical body 12.
【００１３】受部材１４は円柱形状に形成されていると
ともに、その一端面に開口したほぼ球状の凹所１６を有
している。そして、球体部１２の大部分は凹所１６内に
摺動自在かつ回転自在に装着され、ジョイント軸１０は
凹所１６の開口を通って延びている。これにより、ジョ
イント軸１０は、球体部１２の中心ｃを通る３軸ｘ、
ｙ、ｚの周りでそれぞれ回転自在となっている。なお、
受部材１４は、凹所１６に対して球体部１２を脱着でき
るように、二つの部分に分離可能に形成されている。The receiving member 14 is formed in a cylindrical shape, and has a substantially spherical recess 16 opened at one end surface thereof. Most of the spherical portion 12 is slidably and rotatably mounted in the recess 16, and the joint shaft 10 extends through the opening of the recess 16. As a result, the joint shaft 10 has three axes x passing through the center c of the spherical body portion 12,
Each is freely rotatable around y and z. In addition,
The receiving member 14 is formed to be separable into two parts so that the spherical body part 12 can be attached to and detached from the recess 16.
【００１４】一方、上記のように構成された球ジョイン
トには、ジョイント軸１０の回転角度を検出する角度検
出センサ２０が設けられている。図２に示すように、こ
の角度検出センサ２０は、球体部１２の外面に設けられ
た２つの第１コイル２２ａ、２２ｂと、凹所１６を囲む
ように受部材１４の外周面に設けられた２つの第２コイ
ル２４ａ、２４ｂと、を備えている。On the other hand, an angle detection sensor 20 for detecting the rotation angle of the joint shaft 10 is provided in the ball joint configured as described above. As shown in FIG. 2, the angle detection sensor 20 is provided on the outer peripheral surface of the receiving member 14 so as to surround the two first coils 22 a and 22 b provided on the outer surface of the spherical body portion 12 and the recess 16. And two second coils 24a and 24b.
【００１５】第２コイル２４ａ、２４ｂは送信用コイル
として機能し、電圧が供給されることによりそれぞれ交
代磁場を発生する。また、第１コイル２２ａ、２２ｂは
受信用コイルとして機能し、第２コイル２４ａ、２４ｂ
により形成された交代磁場に応じて誘導された起電力を
発生する。そして、各第１コイル２２ａ、２２ｂに発生
した誘導起電力は、角度検出センサ２０の検出出力とな
る。The second coils 24a and 24b function as transmitting coils, and generate alternating magnetic fields when supplied with a voltage. The first coils 22a and 22b function as receiving coils, and the second coils 24a and 24b
Generates an induced electromotive force in accordance with the alternating magnetic field formed by. Then, the induced electromotive force generated in each of the first coils 22 a and 22 b becomes a detection output of the angle detection sensor 20.
【００１６】第１コイル２２ａ、２２ｂは、それぞれ被
覆された銅線を、球体部１２の外面に切られた２つの溝
に巻き付けることによって構成されている。そして、２
つの第１コイル２２ａ、２２ｂは、それぞれその中心が
球体部１２の中心ｃと一致するように巻かれている。ま
た、第１コイル２２ａ、２２ｂは、ジョイント軸１０の
軸方向と直交した法線ベクトルを持つ円周上に巻回さ
れ、かつ互いに９０度の角度をなして設けられている。
すなわち、本実施の形態においては、２つの第１コイル
２２ａ、２２ｂは、ジョイント軸１０と交差する円周上
の溝に沿って、かつ、コイル面が互いに直交するように
巻回されている。The first coils 22a and 22b are formed by winding the coated copper wires around two grooves cut on the outer surface of the spherical body 12. And 2
The first coils 22a and 22b are wound so that their centers coincide with the center c of the spherical body portion 12, respectively. The first coils 22a and 22b are wound on a circle having a normal vector perpendicular to the axial direction of the joint shaft 10, and are provided at an angle of 90 degrees with each other.
That is, in the present embodiment, the two first coils 22a and 22b are wound along a circumferential groove intersecting with the joint shaft 10 and the coil surfaces are orthogonal to each other.
【００１７】なお、第１コイル２２ａ、２２ｂ間の角度
は、３０°〜９０°の範囲、より好ましくは６０°ない
し９０°の範囲に設定されている。また、第１コイル２
２ａ、２２ｂは、凹所１６内における球体部１２の移動
を妨げないように、球体部１２の外周面から突出するこ
となくほぼ面一に設けられている。The angle between the first coils 22a and 22b is set in the range of 30 ° to 90 °, more preferably in the range of 60 ° to 90 °. Also, the first coil 2
2a and 22b are provided substantially flush without protruding from the outer peripheral surface of the spherical body portion 12 so as not to hinder the movement of the spherical body portion 12 in the concave portion 16.
【００１８】一方、２つの第２コイル２４ａ、２４ｂ
は、それぞれ円環状に巻回され、その中心が球体部１２
の中心ｃと一致した状態で受部材１４の外周面に固定さ
れている。各第２コイル２４ａ、２４ｂは、受部材１４
の中心軸と直交する平面に対して角度ωだけ傾斜して設
けられている。そして、第２コイル２４ａ、２４ｂは、
送信用コイルとして機能し、正弦波形の電圧を流すこと
で交代磁場を発生させる。On the other hand, two second coils 24a, 24b
Are respectively wound in an annular shape, and the center thereof is
Is fixed to the outer peripheral surface of the receiving member 14 in a state of being coincident with the center c. Each of the second coils 24a and 24b is
Are inclined at an angle ω with respect to a plane orthogonal to the central axis of And the second coils 24a, 24b are:
It functions as a transmitting coil and generates an alternating magnetic field by passing a sinusoidal waveform voltage.
【００１９】なお、２つの第２コイル２４ａ、２４ｂ同
士がなす角度２ωは、３０°ないし９０°の範囲に、よ
り好ましくは６０°〜９０°の範囲に設定されている。The angle 2ω formed between the two second coils 24a and 24b is set in the range of 30 ° to 90 °, and more preferably in the range of 60 ° to 90 °.
【００２０】本実施の形態において、第１コイル２２
ａ、２２ｂは、巻数５、直径２４ｍｍ、第２コイル２４
ａ、２４ｂは、巻数１０、直径３５ｍｍ、角度ω＝１５
°に形成されている。この場合、第１コイルおよび第２
コイルのインダクタンスは、それぞれ１．９μＨ、９．
４μＨとなる。In this embodiment, the first coil 22
a and 22b have 5 turns, a diameter of 24 mm, and a second coil 24.
a and 24b are 10 turns, 35 mm in diameter, and angle ω = 15.
° formed. In this case, the first coil and the second coil
The inductances of the coils are 1.9 μH and 9.
It becomes 4 μH.
【００２１】また、図３に示すように、角度検出センサ
２０は、送信用の第２コイル２４ａ、２４ｂに互いに異
なる周波数の電圧を供給し交代磁場を発生させるファン
クションジェネレータ等の電圧供給部３０と、送信用の
第２コイル２２ａ、２２ｂに誘導された起電力を測定す
るスペクトラムアナライザ等の測定部３２と、を備えて
いる。測定部３２によって測定された起電力は、バンド
パスフィルタ等の分離部３４によって周波数毎に分離さ
れた後、すなわち、４つの出力に分離された後、制御部
および算出部として機能するＣＰＵ３６に入力される。As shown in FIG. 3, the angle detection sensor 20 includes a voltage supply unit 30 such as a function generator for supplying voltages of different frequencies to the transmission second coils 24a and 24b to generate an alternating magnetic field. And a measuring unit 32 such as a spectrum analyzer for measuring the electromotive force induced in the second coils 22a and 22b for transmission. After the electromotive force measured by the measurement unit 32 is separated for each frequency by a separation unit 34 such as a band-pass filter, that is, after being separated into four outputs, the electromotive force is input to a CPU 36 functioning as a control unit and a calculation unit. Is done.
【００２２】更に、記憶部としてのメモリ４０には、後
述するように、実験等により予め求められた、出力電圧
と角度との関係を規定する関数データが格納されてい
る。そして、ＣＰＵ３６は、この関数データ、および分
離部３４を通って得られた各周波数の検出電圧に基いて
ジョイント軸１０の３軸回転角度、つまり、ロール角、
ピッチ角およびヨー角を算出する。Further, as will be described later, the memory 40 serving as a storage unit stores function data which is obtained in advance through experiments or the like and defines the relationship between the output voltage and the angle. Then, the CPU 36 determines the three-axis rotation angle of the joint shaft 10, that is, the roll angle, based on the function data and the detection voltage of each frequency obtained through the separation unit 34.
Calculate the pitch angle and yaw angle.
【００２３】ここで、ジョイント軸１０がｘ、ｙ、ｚ軸
となす角度を、それぞれロール角γ、ピッチ角β、ヨー
角αとしている。そして、第１コイル２２ａと第２コイ
ル２４ａとのなす角度をθ１ａ、第１コイル２２ａと第
２コイル２４ｂとのなす角度をθ２ａ、第１コイル２２
ｂと第２コイル２４ａとのなす角度をθ１ｂ、第１コイ
ル２２ｂと第２コイル２４ｂとのなす角度をθ２ｂとす
ると、ロール角γ、ピッチ角β、ヨー角αは以下の式で
表される。Here, angles formed by the joint axis 10 with the x, y, and z axes are a roll angle γ, a pitch angle β, and a yaw angle α, respectively. The angle between the first coil 22a and the second coil 24a is θ1a, the angle between the first coil 22a and the second coil 24b is θ2a, and the first coil 22
Assuming that the angle between b and the second coil 24a is θ1b and the angle between the first coil 22b and the second coil 24b is θ2b, the roll angle γ, the pitch angle β, and the yaw angle α are expressed by the following equations. .
【００２４】[0024]
【数３】 (Equation 3)
【００２５】前述した出力電圧と角度との関数は以下の
手法により求める。すなわち、送信側の１つの第２コイ
ルと、受信側の１つの第１コイルとを用い、これら２つ
のコイルのなす角度と出力電圧の振幅との関係を測定す
る。例えば、電圧供給部３０から第２コイル２４ａに振
幅Ｖｃｃ＝５（Ｖ）、発振周波数ｆ＝１（ＭＨｚ）の正
弦波を供給して交代磁場を発生させ、第１コイル２２ａ
に誘導される起電力の周波数ｆの成分Ｖｏｕｔ（Ｖ）を
測定部３２、分離部３４を介して測定する。The function between the output voltage and the angle described above is obtained by the following method. That is, using one second coil on the transmitting side and one first coil on the receiving side, the relationship between the angle formed by these two coils and the amplitude of the output voltage is measured. For example, a sine wave having an amplitude Vcc = 5 (V) and an oscillation frequency f = 1 (MHz) is supplied from the voltage supply unit 30 to the second coil 24a to generate an alternating magnetic field, and the first coil 22a
The component Vout (V) of the frequency f of the electromotive force induced by the measurement unit 32 is measured via the measurement unit 32 and the separation unit 34.
【００２６】図４は、上記の測定結果を示したもので、
図中、×は実際の測定値であり、これらの測定値を直線
で近似している。そして、得られた近似直線から、第２
コイル２４ａに対する第１コイル２２ａの角度θ１ａと
出力電圧との関係を示す関数を求める。FIG. 4 shows the results of the above measurement.
In the figure, x represents actual measured values, and these measured values are approximated by straight lines. Then, from the obtained approximate straight line, the second
A function indicating the relationship between the angle θ1a of the first coil 22a with respect to the coil 24a and the output voltage is obtained.
【００２７】また、上記と同様の手法により、他の角度
θ１ｂ、θ２ａ、θ２ｂと出力電圧との関係を示す関数
を、それぞれ求める。このようにして求めた４つの関数
は、データとしてメモリ４０に格納しておく。In the same manner as above, a function indicating the relationship between the other angles θ1b, θ2a, θ2b and the output voltage is obtained. The four functions thus obtained are stored in the memory 40 as data.
【００２８】一方、受信側の第１コイル２２ａに誘導し
た起電力を２つの周波数毎に分離することにより、角度
θ１ａ、θ２ａに対応した出力電圧が得られ、また、受
信側の第１コイル２２ｂに誘導した起電力を２つの周波
数毎に分離することにより、角度θ１ｂ、θ２ｂに対応
した検出電圧が得られる。On the other hand, by separating the electromotive force induced in the first coil 22a on the receiving side for each of two frequencies, output voltages corresponding to the angles θ1a and θ2a are obtained, and the first coil 22b on the receiving side is obtained. The detection voltage corresponding to the angles θ1b and θ2b can be obtained by separating the electromotive force induced in the above for every two frequencies.
【００２９】例えば、一方の第２コイル２４ａに振幅５
Ｖ、発振周波数１ＭＨｚの電圧、他方の第２コイル２４
ｂに振幅５Ｖ、発振周波数１．５ＭＨｚの電圧、をそれ
ぞれ供給した場合、一方の第１コイル２２ａに生じる誘
導起電力は図５（ａ）に示すようになり、この誘導起電
力を分離部３４により周波数毎に分離すると、図５
（ｂ）に示すように、第１コイル２２ａと第２コイル２
４ａとの間の角度θ１ａに対応する出力電圧、および図
５（ｃ）に示すように、第１コイル２２ａと第２コイル
２４ｂとの間の角度θ２ａに対応する出力電圧とが得ら
れる。For example, one of the second coils 24a has an amplitude of 5
V, a voltage having an oscillation frequency of 1 MHz, and the other second coil 24
When a voltage of 5 V and a voltage of an oscillation frequency of 1.5 MHz are supplied to b, the induced electromotive force generated in one first coil 22a is as shown in FIG. Fig. 5
As shown in (b), the first coil 22a and the second coil 2
4a, and an output voltage corresponding to an angle θ2a between the first coil 22a and the second coil 24b as shown in FIG. 5C.
【００３０】また、他方の第１コイル２２ｂに生じる誘
導起電力は図６（ａ）に示すようになり、この誘導起電
力を分離部３４により周波数毎に分離すると、図６
（ｂ）に示すように、第１コイル２２ｂと第２コイル２
４ａとの間の角度θ１ｂに対応する出力電圧、および図
６（ｃ）に示すように、第１コイル２２ｂと第２コイル
２４ｂとの間の角度θ２ｂに対応する出力電圧が得られ
る。The induced electromotive force generated in the other first coil 22b is as shown in FIG. 6A. When the induced electromotive force is separated for each frequency by the separation unit 34, FIG.
As shown in (b), the first coil 22b and the second coil 2
4a, and an output voltage corresponding to an angle θ2b between the first coil 22b and the second coil 24b as shown in FIG. 6C.
【００３１】そして、得られた４つの検出電圧と上述し
た関数とから、角度θ１ａ、θ２ａ、θ１ｂ、θ２ｂを
求め、更に、これらから上記式に基いてロール角γ、ピ
ッチ角β、ヨー角αを算出する。Then, the angles θ1a, θ2a, θ1b, θ2b are obtained from the obtained four detected voltages and the above-mentioned functions, and the roll angle γ, pitch angle β, yaw angle α Is calculated.
【００３２】本発明者等は、上記のように構成された角
度検出センサ２０による検出精度を調べるため、以下の
実験を行った。図７に示すように、球ジョイントのジョ
イント軸１０のピッチ角γを５０．８°、ロール角βを
０°にそれぞれ固定し、ヨー角αを１５°置きに０°か
ら３６０°まで変化させたときの出力電圧を測定した。
周波数による送信の多重化は行わず、送信用の第２コイ
ルには、振幅５（Ｖ）、発振周波数１（ＭＨｚ）の正弦
波電圧を独立に印加した。The present inventors conducted the following experiment in order to check the detection accuracy of the angle detection sensor 20 configured as described above. As shown in FIG. 7, the pitch angle γ of the joint axis 10 of the ball joint is fixed at 50.8 ° and the roll angle β is fixed at 0 °, and the yaw angle α is changed from 0 ° to 360 ° every 15 °. The output voltage at the time was measured.
Multiplexing of transmission by frequency was not performed, and a sinusoidal voltage having an amplitude of 5 (V) and an oscillation frequency of 1 (MHz) was independently applied to the second coil for transmission.
【００３３】図８は、得られた出力電圧から算出したロ
ール角γ、ピッチ角β、ヨー角αを示している。ただ
し、ピッチ角βの出力は、１８０°で折返している。こ
の図から分かるように、ピッチ角βの平均値は４４．９
°、ロール角γの平均値は−２．９°であり、実際のピ
ッチ角γ＝５０．８°、ロール角β＝０°とほぼ近似し
た値を得ることができた。同時に、ヨー角αについて
も、実際の値に対して平均で５°程度のずれであった。FIG. 8 shows a roll angle γ, a pitch angle β, and a yaw angle α calculated from the obtained output voltages. However, the output of the pitch angle β is turned back at 180 °. As can be seen from this figure, the average value of the pitch angle β is 44.9.
And the average value of the roll angle γ was −2.9 °, and values substantially similar to the actual pitch angle γ = 50.8 ° and the roll angle β = 0 ° could be obtained. At the same time, the yaw angle α was shifted by about 5 ° on average from the actual value.
【００３４】上記のような値のずれは、ある方向へのド
リフトであり、ノイズ等に起因す誤差は少ない。そのた
め、前述した角度−出力電圧を示す関数を求めるための
近似直線をより正確に定めるとともに、各コイルをより
高い精度で巻くことにより、上述した誤差を低減し精度
の高い検出が可能となる。The value shift as described above is a drift in a certain direction, and an error caused by noise or the like is small. For this reason, the approximation straight line for obtaining the function indicating the angle-output voltage described above is more accurately determined, and by winding each coil with higher accuracy, the above-described error is reduced and highly accurate detection becomes possible.
【００３５】以上のように、上記構成の角度検出センサ
２０によれば、球ジョイントを構成する球体部１２の外
面に第１コイル２２ａ、２２ｂを設け、受部材１４に凹
所１６を囲む第２コイル２４ａ、２４ｂを設けることに
より、容易に球ジョイントに組込むことができる。同時
に、第２コイル２４ａ、２４ｂに電圧を供給して交代磁
界を発生させ、第１コイル２２ａ、２２ｂに誘導した起
電力を検出することにより、救ジョイントに設けられた
ジョイント軸１０の３軸周りでの回転角度を精度良く検
出することができる。As described above, according to the angle detection sensor 20 having the above-described configuration, the first coils 22a and 22b are provided on the outer surface of the spherical body 12 forming the ball joint, and the second member surrounding the recess 16 is formed in the receiving member 14. By providing the coils 24a and 24b, it is possible to easily incorporate the coils into the ball joint. At the same time, a voltage is supplied to the second coils 24a and 24b to generate an alternating magnetic field, and the electromotive force induced in the first coils 22a and 22b is detected. Can be accurately detected.
【００３６】なお、この発明は上述した実施の形態に限
定されることなく、この発明の範囲内で種々変形可能で
ある。例えば、上述した実施の形態では、第１コイルを
受信側、第２コイルを送信側としたが、逆に、第１コイ
ルに電圧を供給して送信側とし、第２コイルを受信側と
して用いてもよい。The present invention is not limited to the above-described embodiment, but can be variously modified within the scope of the present invention. For example, in the above-described embodiment, the first coil is the receiving side, and the second coil is the transmitting side. Conversely, the voltage is supplied to the first coil to be the transmitting side, and the second coil is used as the receiving side. You may.
【００３７】また、第１コイルおよび第２コイルの数は
それぞれ２個としたが、３個以上としてもよく、数を増
やすことにより検出精度を上げることができる。更に、
球体部、受部材、ジョイント軸の材質は必要に応じて変
更可能である。The number of the first coil and the number of the second coil are each two, but may be three or more, and the detection accuracy can be improved by increasing the number. Furthermore,
The materials of the spherical body, the receiving member, and the joint shaft can be changed as necessary.
【００３８】[0038]
【発明の効果】以上詳述したように、この発明によれ
ば、球ジョイントに容易に組込むことができ、球ジョイ
ンの３軸回転角度を精度良く測定可能な角度検出センサ
を提供することができる。As described in detail above, according to the present invention, it is possible to provide an angle detection sensor which can be easily incorporated into a ball joint and can accurately measure the three-axis rotation angle of the ball joint. .
【図１】この発明の実施の形態に係る球ジョイントを示
す平面図および断面図。FIG. 1 is a plan view and a sectional view showing a ball joint according to an embodiment of the present invention.
【図２】上記球ジョイントに設けられた角度検出センサ
の第１および第２コイルを示す図。FIG. 2 is a diagram showing first and second coils of an angle detection sensor provided on the ball joint.
【図３】上記角度検出センサの構成を概略的に示すブロ
ック図。FIG. 3 is a block diagram schematically showing a configuration of the angle detection sensor.
【図４】コイルの角度と出力電圧との関係を測定した結
果を示すグラフ。FIG. 4 is a graph showing a result of measuring a relationship between a coil angle and an output voltage.
【図５】上記角度検出センサの一方の第２コイルに生じ
た誘導起電力、および周波数毎に分離した誘導起電力を
示すグラフ。FIG. 5 is a graph showing an induced electromotive force generated in one second coil of the angle detection sensor and an induced electromotive force separated for each frequency.
【図６】上記角度検出センサの他方の第２コイルに生じ
た誘導起電力、および周波数毎に分離した誘導起電力を
示すグラフ。FIG. 6 is a graph showing the induced electromotive force generated in the other second coil of the angle detection sensor and the induced electromotive force separated for each frequency.
【図７】上記球ジョイントの３軸回転角度を測定する実
験方法を示す図。FIG. 7 is a view showing an experimental method for measuring a three-axis rotation angle of the ball joint.
【図８】上記実験によるロール角、ピッチ角、ヨー角の
測定結果を示すグラフ。FIG. 8 is a graph showing measurement results of a roll angle, a pitch angle, and a yaw angle in the above experiment.
１０…ジョイント軸 １２…球体部 １４…受部材 １６…凹所 ２０…角度検出センサ ２２ａ、２２ｂ…第１コイル ２４ａ、２４ｂ…第２コイル DESCRIPTION OF SYMBOLS 10 ... Joint shaft 12 ... Spherical part 14 ... Receiving member 16 ... Concave part 20 ... Angle detection sensor 22a, 22b ... 1st coil 24a, 24b ... 2nd coil
Claims (6)
から延出じたジョイント軸と、ほぼ球状の内面を有して
いるとともに上記球体部が回転自在に係合した凹所を有
した受部材と、を備えた球ジョイントにおける上記ジョ
イント軸の３軸回転角度を検出する角度検出センサにお
いて、 上記球体部の外面に巻回されているとともに、上記球体
部の中心と一致した中心をそれぞれ有した２つの第１コ
イルと、 上記凹所を囲んで上記受部材に設けられているととも
に、上記球体部の中心と一致した中心をそれぞれ有した
２つの第２コイルと、 上記第１および第２コイルのいずれか一方の２つのコイ
ルに互いに周波数の異なる電圧を供給し交代磁場を発生
させる電圧供給部と、 上記交代磁場により上記第１および第２コイルの他方の
２つのコイルに発生する誘導起電力を上記周波数毎に検
出し、検出された誘導起電力から上記ジョイント軸の３
軸周りでの回転角度をそれぞれ算出する算出部と、 を備えていることを特徴とする角度検出センサ。1. A sphere having a spherical outer surface, a joint shaft extending from the sphere, and a recess having a substantially spherical inner surface and rotatably engaged with the sphere. An angle detection sensor for detecting a three-axis rotation angle of the joint shaft in a ball joint having a receiving member, the center being wound on the outer surface of the spherical portion and coinciding with the center of the spherical portion. Two first coils respectively provided with the receiving member surrounding the recess, and two second coils each having a center coinciding with the center of the spherical portion; A voltage supply unit for supplying voltages having different frequencies to one of the two coils and the second coil to generate an alternating magnetic field, and the other two coils of the first and second coils by the alternating magnetic field The induced electromotive force generated at the joint axis is detected for each frequency, and the detected induced electromotive force
An angle detection sensor, comprising: a calculation unit that calculates each of the rotation angles about the axis.
数毎の出力電圧に分離する分離部を備えていることを特
徴とする請求項１に記載に角度検出センサ。2. The angle detection sensor according to claim 1, further comprising a separation unit for separating an induced electromotive force generated in each of the coils into an output voltage for each frequency.
と出力電圧との関係を規定する関数データを格納した記
憶部を備え、上記算出部は、上記検出された周波数毎の
出力電圧と上記記憶部に格納された関数データとに基い
て上記ジョイント軸の回転角度を算出することを特徴と
する請求項２に記載の角度検出センサ。3. A storage unit for storing function data defining a relationship between an angle between the first coil and the second coil and an output voltage, wherein the calculation unit is configured to output the output voltage for each of the detected frequencies. The angle detection sensor according to claim 2, wherein the rotation angle of the joint shaft is calculated based on the function data stored in the storage unit.
とのなす角度をθ１ａ、上記一方の第１コイルと他方の
第２コイルとのなす角度をθ２ａ、他方の第１コイルと
上記一方の第２コイルとのなす角度をθ１ｂ、上記他方
の第１コイルと上記他方の第２コイルとのなす角度をθ
２ｂ、上記２つの第２コイルのコイル面同士がなす角度
を２ωとし、 上記球体部の中心を通るｘ、ｙ、ｚ軸に対する上記ジョ
イント軸のなす角度をそれぞれロール角γ、ピッチ角
β、ヨー角αとした場合、 上記算出部は、上記検出された周波数毎の出力電圧と上
記記憶部に格納された関数データとに基いて上記θ１
ａ、θ２ａ、θ１ｂ、θ２ｂをそれぞれ算出するととも
に、以下の式に基いて上記ロール角γ、ピッチ角β、ヨ
ー角αを算出することを特徴とする請求項３に記載の角
度検出センサ。 【数１】 4. An angle between the one first coil and the one second coil is θ1a, an angle between the one first coil and the other second coil is θ2a, and the other first coil and the second coil are the same. The angle between one of the second coils is θ1b, and the angle between the other first coil and the other second coil is θ1b.
2b, the angle formed by the coil surfaces of the two second coils is 2ω, and the angles formed by the joint axis with respect to the x, y, and z axes passing through the center of the spherical portion are a roll angle γ, a pitch angle β, and a yaw, respectively. When the angle is α, the calculation unit calculates the θ1 based on the detected output voltage for each frequency and the function data stored in the storage unit.
The angle detection sensor according to claim 3, wherein a, θ2a, θ1b, and θ2b are respectively calculated, and the roll angle γ, the pitch angle β, and the yaw angle α are calculated based on the following equations. (Equation 1)
す角度は３０°〜９０°に設定され、上記２つの第２コ
イルのコイル面同士がなす角度は３０°〜９０°に設定
されていることを特徴とする請求項１ないし４のいずれ
か１項に記載の角度検出センサ。5. The angle between the coil surfaces of the two first coils is set to 30 ° to 90 °, and the angle between the coil surfaces of the two second coils is set to 30 ° to 90 °. The angle detection sensor according to any one of claims 1 to 4, wherein:
す角度は５０〜６０°に設定されていることを特徴とす
る請求項５に記載の角度検出センサ。6. The angle detection sensor according to claim 5, wherein the angle formed between the coil surfaces of the two second coils is set to 50 to 60 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25579499A JP3218327B2 (en) | 1999-09-09 | 1999-09-09 | Angle detection sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25579499A JP3218327B2 (en) | 1999-09-09 | 1999-09-09 | Angle detection sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2001082913A JP2001082913A (en) | 2001-03-30 |
| JP3218327B2 true JP3218327B2 (en) | 2001-10-15 |
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|---|---|---|---|
| JP25579499A Expired - Lifetime JP3218327B2 (en) | 1999-09-09 | 1999-09-09 | Angle detection sensor |
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| JP2002307339A (en) * | 2001-04-11 | 2002-10-23 | Sony Corp | Leg type mobile robot and control method thereof, and ankle structure for the same |
| JP2003164187A (en) * | 2001-11-22 | 2003-06-06 | Tamagawa Seiki Co Ltd | Sensor system in motor control |
| TW200404130A (en) * | 2002-07-25 | 2004-03-16 | Ecchandes Inc | Rotation system with three degree of freedom and application of the same |
| GB201114264D0 (en) | 2011-08-18 | 2011-10-05 | Touch Emas Ltd | Improvements in or relating to prosthetics and orthotics |
| GB201302025D0 (en) | 2013-02-05 | 2013-03-20 | Touch Emas Ltd | Improvements in or relating to prosthetics |
| US9839534B2 (en) | 2014-02-04 | 2017-12-12 | Rehabilitation Institute Of Chicago | Modular and lightweight myoelectric prosthesis components and related methods |
| GB201403265D0 (en) | 2014-02-25 | 2014-04-09 | Touch Emas Ltd | Prosthetic digit for use with touchscreen devices |
| GB201408253D0 (en) | 2014-05-09 | 2014-06-25 | Touch Emas Ltd | Systems and methods for controlling a prosthetic hand |
| GB201417541D0 (en) | 2014-10-03 | 2014-11-19 | Touch Bionics Ltd | Wrist device for a prosthetic limb |
| US11185426B2 (en) | 2016-09-02 | 2021-11-30 | Touch Bionics Limited | Systems and methods for prosthetic wrist rotation |
| EP3506857A1 (en) | 2016-09-02 | 2019-07-10 | Touch Bionics Limited | Systems and methods for prosthetic wrist rotation |
| US10973660B2 (en) | 2017-12-15 | 2021-04-13 | Touch Bionics Limited | Powered prosthetic thumb |
| US11547581B2 (en) | 2018-12-20 | 2023-01-10 | Touch Bionics Limited | Energy conservation of a motor-driven digit |
| US11931270B2 (en) | 2019-11-15 | 2024-03-19 | Touch Bionics Limited | Prosthetic digit actuator |
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