JPS6157813A - Detecting device for angle of relative displacement between rotating shafts by moire fringe - Google Patents
Detecting device for angle of relative displacement between rotating shafts by moire fringeInfo
- Publication number
- JPS6157813A JPS6157813A JP17849584A JP17849584A JPS6157813A JP S6157813 A JPS6157813 A JP S6157813A JP 17849584 A JP17849584 A JP 17849584A JP 17849584 A JP17849584 A JP 17849584A JP S6157813 A JPS6157813 A JP S6157813A
- Authority
- JP
- Japan
- Prior art keywords
- moire fringe
- relative displacement
- moire
- angle
- signal
- 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.)
- Granted
Links
- 238000006073 displacement reaction Methods 0.000 title claims abstract description 19
- 239000000758 substrate Substances 0.000 abstract description 9
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000011295 pitch Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000004381 surface treatment Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/36—Forming the light into pulses
- G01D5/38—Forming the light into pulses by diffraction gratings
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optical Transform (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は回転中における２軸の相対変位角をモアレ縞の
縞模様の移動及びその移動回数より回転軸間に生ずる相
対変位角を検出する装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device for detecting a relative displacement angle between two axes during rotation based on the movement of a striped moiré pattern and the number of movements thereof.
従来、２個の物体の直線、又は角度の相対変位の検出は
、機械的、電磁気的或は光学的の種々な方法によって行
われているが、これが運転状態にある相互の相対的変位
を検出する場合に、一般的には刷子と滑動環のような機
械的接触機構が介在することＫなる。長期的には精度、
保守等の面よりは好ましくなく、このために非接触構造
のものに、互いに僅かの角度で斜交した傾斜綱帯を設け
、光源によシ前記傾斜縞がその相対変位で連続して配列
されて生ずる明又は暗の縞模様の移動及び移動回数を計
数することによる２軸の相対変位角の検出装置が開発さ
れたが、更に一層の高精度の分解能を有するディジタル
的出力信号を得ることの必要も生ずるものである。Conventionally, the relative linear or angular displacement of two objects has been detected using various mechanical, electromagnetic, or optical methods. In this case, a mechanical contact mechanism such as a brush and a sliding ring is generally involved. Accuracy in the long run,
This is not preferable in terms of maintenance, etc., and for this reason, a non-contact structure is provided with inclined stripes that intersect obliquely at a slight angle to each other, so that the inclined stripes are continuously arranged by their relative displacement when the light source is used. A device for detecting the relative displacement angle of two axes by counting the movement and number of movements of the bright or dark striped pattern produced by the process has been developed, but it is still difficult to obtain a digital output signal with even higher resolution. Necessity also arises.
周知のように静止状態にらる２枚の基板に設けられた回
折格子線を１〜２ピッチ程度の僅かの角度で斜交させれ
ば光の干渉によって縞模様が現れるが、これがいわゆる
Ｍｏ１ｒｅ縞といわれるものでおる。この縞模様は回折
格子線帯即ちモアレ縞帯の格子線にそって左右に移動し
、更に移動の繰シ返しが行われるので、その繰り返し回
数を計数することでモアレ縞の刻まれた基板相互の相対
的変位を４１１１ Ｉノｌ することが出来るものであ
る。このような回折格子ｔま１ ｙｎｒｎ巾内に数十〜
数百本の格子線を引き干渉縞を作らせるものであるから
、ミクロン程度の分解能を容易に得られるものである。As is well known, if the diffraction grating lines provided on two stationary substrates are diagonally crossed at a slight angle of 1 to 2 pitches, a striped pattern will appear due to light interference, and this is the so-called Mo1re fringe. There is something called. This striped pattern moves left and right along the grating lines of the diffraction grating line band, that is, the moire fringe band, and the movement is repeated, so by counting the number of repetitions, it is possible to The relative displacement of 4111 l is possible. Several tens of such diffraction gratings are formed within a width of t~1ynrn.
Since several hundred grid lines are drawn to create interference fringes, resolution on the order of microns can be easily obtained.
格子線は以上の様に極めて狭い間隔の線引きを行うため
に、でも困難で、これが回転状態に置かれた場合は基板
の温度特性、嵌合せ、振動尋の機構的の点及び検出上の
点より大きなモアレ縞帯の製作は一層困難となるもので
必る。Grid lines are difficult to draw at extremely narrow intervals as described above, and if they are placed in a rotating state, there are problems with the temperature characteristics of the board, fitting, mechanical points of vibration width, and detection points. It becomes even more difficult to produce larger moiré stripes.
本発明はこの点に鑑み行われたもので、回転軸に装架し
た２個の円盤、若しくは円筒面上の一部に僅かの角度で
斜交した線引によるモアレ縞帯を設け、この綿帯な除い
た他の残りの部分を光の投射に対して縞模様と同一効果
を及ぼすような表面処理を行うか、或は検出回路中に回
転軸の回転数ザ に対しての同期化回路を設けてモ
アレ縞部分のみを検出し、他の残部を除去することによ
りモアレ縞による回転軸間の相対変位角を検出すること
ができるようにしたものである。The present invention has been made in view of this point, and a moiré stripe is provided on two discs mounted on a rotating shaft or on a part of the cylindrical surface by diagonally intersecting lines at a slight angle. After removing the band, the rest of the area should be treated with a surface treatment that has the same effect as a striped pattern on light projection, or a detection circuit should be provided with a synchronization circuit for the rotation speed of the rotating shaft. By providing a moire stripe to detect only the moire stripe portion and removing the remaining portion, it is possible to detect the relative displacement angle between the rotation axes due to the moire stripe.
これを図について説明する。第１図は２軸に装架された
円盤、又は円筒面上に取りつけられるモアレ縞基板の展
開図である。Ａを駆動軸側基板とすれば、Ｂは従動側基
板で、（１）はＡ基板上に刻まれたモアレ縞線、（２）
はＢ基板上のモアレＭＩＩＡとし、相互は１〜２ピッチ
程度傾斜し、１朋内に数十〜の部分（６）は光の透過に
対してモアレ縞模様と同一効果をもたらすような表面処
理を行って置けば宣しい。即ちモアレ縞模様が光の透過
を許さないものとすれば、前記残部（３）の部分は不透
明材とすればよい。基板Ａ、Ｈの長さ方向の基線をｒ１
１ｒ２１ｒ３・・・・・・とすればこの位置に受光素子
Ｒ１，Ｒ，、Ｒ３等が配置され、それらの点の光の入射
に対する信号が出力される。This will be explained with reference to the diagram. FIG. 1 is a developed view of a disk mounted on two axes or a moiré striped substrate mounted on a cylindrical surface. If A is the driving shaft side board, B is the driven side board, (1) is the moire striped line carved on the A board, (2)
is the moire MIIA on the B substrate, which is inclined by about 1 to 2 pitches, and the several tens of parts (6) in one area are surface treated to have the same effect as the moire striped pattern on light transmission. If you go and leave it there, it will be a proclamation. That is, if the moire striped pattern does not allow light to pass through, the remaining portion (3) may be made of an opaque material. The baseline in the length direction of substrates A and H is r1
1r21r3..., the light receiving elements R1, R,, R3, etc. are arranged at these positions, and signals corresponding to the incidence of light at these points are output.
また、受光素子（Ｒ，、Ｒ，、Ｒ３・・・・・・）の出
力に対し、同期化機能を設けてモアレ縞部分のみを許容
し、モアレ縞のない残部（Ｌ −１）部分（３）を削除
すれば残部（Ｌ−６）はモアレ縞模様には無関係となる
０
第２図げ）Ｆｉ基線ｒＩ上の受光素子Ｒ１の出力特性で
、その出力信号はモアレ縞帯の範囲だけパルス列となり
、その否定回路を通過させればｉ のようなパルス列と
なる。次に←）図はモアレ縞模様が連続した暗を示すも
のとすればＲ２受光素子には−ｍな暗信号となシ、前記
モアレ縞帯を除いた他の部分（５）からの信号も暗とな
りこれを否定回路を通過させればその出力はｉの様な連
続した一様の信号が出力される。この連続した一様の信
号の発生位置はモアレ縞帯の移動、即ち回転速度には全
く無関係で、基板Ａ、Ｈの相対変位のみに関係するもの
でおるから、回転中における相対変位を受光素子の位置
で検出することができるものである。In addition, a synchronization function is provided for the output of the light-receiving elements (R, , R, , R3...) to allow only the moire fringe part, and the remaining part (L - 1) without moire fringe ( If 3) is deleted, the remaining part (L-6) becomes irrelevant to the moire fringe pattern.0 Figure 2) Output characteristics of the light-receiving element R1 on the Fi baseline rI, and its output signal is limited to the range of the moire fringe band. This becomes a pulse train, and if it passes through the negative circuit, it becomes a pulse train like i. Next ←) The figure shows that if the moire striped pattern shows continuous darkness, the R2 light receiving element will receive a -m dark signal, and the signal from the other part (5) excluding the moire striped band will also be detected. When the light becomes dark and is passed through a negative circuit, a continuous uniform signal such as i is outputted. The generation position of this continuous uniform signal is completely unrelated to the movement of the moiré stripe, that is, the rotation speed, and is related only to the relative displacement of the substrates A and H. Therefore, the relative displacement during rotation can be detected by the light receiving element. It can be detected at the position of
（ハ）図は（イ）図と同様にモアレ縞帯の部分のみにパ
ルス列が発生する受光素子の位置である。Figure (c) shows the position of the light-receiving element where a pulse train is generated only in the moiré stripe area, similar to figure (a).
第３図は用例の一つで２軸の相対変位角を検出するため
のもので、駆動軸（４）と従動軸（５）とは捩れ棒（６
）を介して結合され、更に両軸（４） 、 （５）には
モアレ縞の基板に相当する円筒（７） 、 （８）が取
〕っけられ、これらの表面の一部に前述のようなモアレ
縞帯に）。Figure 3 is an example of how to detect the relative displacement angle of two axes, where the drive shaft (4) and driven shaft (5) are connected to a torsion rod (6
), and cylinders (7) and (8) corresponding to the moiré striped substrates are attached to both shafts (4) and (5), and part of their surfaces are coated with the aforementioned (like moiré stripes).
ω）が刻まれ、 ｒ１〜ｒｎ は軸心方向に配置され
た受光素子である。θ）は演算指示装置で連続した縞模
様の発生する受光素子をｒ１〜ｒｎの中から選出し、そ
の繰返しを計数指示し、或は前述の同期化回路なども収
納される。駆動軸（４）からの動力は捩れ棒（６）を介
して従動輪（９に伝達される。捩れの定数をに１軸の回
転数をＮ１その変位角をθとすれば、軸伝達動力ＰけＰ
＝ＫＮθとなり、動力計として使用されるものである。ω) is carved, and r1 to rn are light receiving elements arranged in the axial direction. θ) is used by an arithmetic instruction device to select a light-receiving element from among r1 to rn that generates a continuous striped pattern, and instructs to count its repetition, and also houses the above-mentioned synchronization circuit. The power from the drive shaft (4) is transmitted to the driven wheels (9) via the torsion rod (6).If the torsion constant is the rotation speed of one shaft is N1, and its displacement angle is θ, then the shaft transmitted power is PkeP
=KNθ, and is used as a dynamometer.
変位検出部が相対する円板である場合にけモア本発明は
以上のように相対的に変位する２つの円筒、又は円盤上
の一部にモアレ縞帯を設けるようにしたため、モアレ縞
帯の構成は容易となり、しかもモアレ縞の特性を活用し
、回転中における２軸の相対変位角を、高精度の分解能
で検出することができるものである。In the case where the displacement detection unit is a disc facing each other, the present invention provides a moire stripe on a part of two cylinders or a disc that are displaced relative to each other as described above. The configuration is easy, and the relative displacement angle of two axes during rotation can be detected with high resolution by utilizing the characteristics of moiré fringes.
第１図はモアレ縞を一部に設けた基板の展開略図第２図
は受光素子の出方特性曲線
ｔＲ３図は用例としての動カ岨
Ａ、Ｂ：＆板、 ｌ：モアレ縞帯、Ｒ，、Ｒ２−Ｒ
ｎ：受光素子、 ｒ１〜ｒｎ：基線１．２：モアレ縞
線Figure 1 is a schematic diagram of the development of a substrate with moire stripes on a part of it. Figure 2 is a light-receiving element output characteristic curve tR3. ,,R2-R
n: light receiving element, r1 to rn: baseline 1.2: moiré stripe line
Claims (1)
縞帯を設け、前記縞模様の移動及びその移動回数より回
転軸間に生ずる相対変位角を検出する装置において、前
記円盤、若しくは円筒の一部分にのみモアレ縞帯を設け
、且つ前記モアレ縞帯に生ずる連続縞のみを検出するこ
とを特徴としたモアレ縞による回転軸間の相対変位角検
出装置。In an apparatus for detecting a relative displacement angle between the rotating shafts by providing moire striped bands on the surfaces of two disks or cylinders mounted on a rotating shaft and detecting the relative displacement angle generated between the rotating shafts from the movement of the striped pattern and the number of times the striped pattern moves, 1. An apparatus for detecting a relative displacement angle between rotating shafts using moire fringes, characterized in that a moire fringe band is provided only in a portion of the moire fringe band, and only continuous fringes occurring in the moire fringe band are detected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP17849584A JPH0765908B2 (en) | 1984-08-29 | 1984-08-29 | Relative displacement angle detection device between rotating shafts with diagonal stripes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP17849584A JPH0765908B2 (en) | 1984-08-29 | 1984-08-29 | Relative displacement angle detection device between rotating shafts with diagonal stripes |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6157813A true JPS6157813A (en) | 1986-03-24 |
| JPH0765908B2 JPH0765908B2 (en) | 1995-07-19 |
Family
ID=16049449
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP17849584A Expired - Lifetime JPH0765908B2 (en) | 1984-08-29 | 1984-08-29 | Relative displacement angle detection device between rotating shafts with diagonal stripes |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0765908B2 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8915692B2 (en) | 2008-02-21 | 2014-12-23 | Harvest Automation, Inc. | Adaptable container handling system |
| US9147173B2 (en) | 2011-10-31 | 2015-09-29 | Harvest Automation, Inc. | Methods and systems for automated transportation of items between variable endpoints |
| US8937410B2 (en) | 2012-01-17 | 2015-01-20 | Harvest Automation, Inc. | Emergency stop method and system for autonomous mobile robots |
-
1984
- 1984-08-29 JP JP17849584A patent/JPH0765908B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0765908B2 (en) | 1995-07-19 |
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