JPS63222201A - Method and apparatus for detecting displacement of cylindrical body - Google Patents
Method and apparatus for detecting displacement of cylindrical bodyInfo
- Publication number
- JPS63222201A JPS63222201A JP5637787A JP5637787A JPS63222201A JP S63222201 A JPS63222201 A JP S63222201A JP 5637787 A JP5637787 A JP 5637787A JP 5637787 A JP5637787 A JP 5637787A JP S63222201 A JPS63222201 A JP S63222201A
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- Prior art keywords
- displacement
- light
- cylindrical body
- cylinder
- light receiving
- 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 90
- 238000000034 method Methods 0.000 title claims abstract description 8
- 238000001514 detection method Methods 0.000 claims abstract description 53
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 238000005259 measurement Methods 0.000 claims description 18
- 150000001875 compounds Chemical class 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 description 8
- 230000008901 benefit Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004397 blinking Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Optical Transform (AREA)
Abstract
Description
【発明の詳細な説明】
〈産業上の利用分野〉
本発明は筒体の変位検出法およびその装置に関し、浮動
可能な状態にある筒体の軸方向、軸に直角方向、および
軸周方向の複合微小変位を光学的に検出するものである
。DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a method and device for detecting the displacement of a cylindrical body, and the present invention relates to a method for detecting the displacement of a cylindrical body and an apparatus therefor. It optically detects complex minute displacements.
〈従来の技術）
弾性材などで吊持されて浮動状態にある剛体の変位検出
は、変位方向が特定される場合を除き一般に困難である
。しかし、外力に感応して任意方向に変位する浮動体を
支持し、かつ変位量を検出できれば、変位そのものを数
量化できるだけでなく、弾性体の性質から変位量をもと
にして浮動体に作用する外力の大きさや方向を計算でき
る。この点に着目して触覚センサを構成する例が本発明
者によってすでに出願されている（特願昭６ｌ−００４
８７２）、上記発明は、本体となるロボットの指や腕の
外側にこれと相似で−回り大きなサヤ（莢）をかぶせ、
この浮動サヤを感触体とするもので、浮動サヤの本体に
対する相対的変位を入力して不感帯のない触覚センサの
実現を可能にした。そこでは、外力の大きさ、方向、作
用点位置の計算に必要な浮動体の変位に関するデータな
歪ケージによって入力していたが、歪ゲージによらない
光学的な手段ももちろん考えられ、針穴を用いた光学的
検出手段は、変位の検出精度を高めるという利点を有し
ていた。(Prior Art) It is generally difficult to detect displacement of a rigid body suspended by an elastic member or the like in a floating state unless the direction of displacement is specified. However, if we can support a floating body that displaces in any direction in response to an external force and detect the amount of displacement, we can not only quantify the displacement itself, but also act on the floating body based on the amount of displacement due to the nature of elastic bodies. Can calculate the magnitude and direction of external force. An example of constructing a tactile sensor focusing on this point has already been filed by the present inventor (Patent Application No. 6l-004
872), the above invention covers the outside of the fingers and arms of the robot, which is the main body, with a similar large pod,
This floating pod is used as a tactile object, and by inputting the relative displacement of the floating pod with respect to the main body, it is possible to realize a tactile sensor without a dead zone. In this method, the data regarding the displacement of the floating body necessary for calculating the magnitude, direction, and position of the point of action of external force was input using a strain cage, but optical means other than strain gauges could of course be considered. Optical detection means using this had the advantage of increasing displacement detection accuracy.
〈発明が解決しようとする問題点〉
しかし、前記既出願発明は、触覚センサの構成を内容と
したもので、光学的手段による浮動体の位置や回転に関
する変位の検出は、非常に簡単な場合に限られていた。<Problems to be Solved by the Invention> However, the previously filed invention is concerned with the configuration of a tactile sensor, and detection of displacement related to the position and rotation of a floating body by optical means is extremely simple. was limited to.
このため、感触体としての浮動体が半径方向のみならず
、本体の軸方向、あるいは本体の軸周りに回転する場合
、これらすべての変位を光学的手段で検出することは困
難でありた。For this reason, when the floating body serving as the touch body rotates not only in the radial direction but also in the axial direction of the main body or around the main body axis, it is difficult to detect all of these displacements by optical means.
〈問題点を解決するための手段）
本発明の、筒体の変位検出法は、変位を検出すべき筒体
内に、その軸方向に離れた二計測位置を設定し、上記各
計測位置に、筒体軸線にはｔ直交する姿勢の薄板で、投
光用針穴または鏡面をもつ検出板を筒体と一体に固定し
、上記検出板針穴または鏡面を照射する発光素子と通過
光あるいは反射光を受ける受光素子とを、検出板の動き
と無関係になるよう定置し、上記発光素子の光が上記針
穴または鏡面を経て受光素子受光面に達した光点の位置
をそれぞれ検出し、これら光点の位置情報にもとづき、
上記筒体計測位置の変位、または筒体全体の変位を算出
することを特徴とする。<Means for Solving the Problems> In the method for detecting displacement of a cylinder according to the present invention, two measurement positions separated in the axial direction are set within the cylinder whose displacement is to be detected, and at each measurement position, A detection plate with a needle hole for light projection or a mirror surface is fixed integrally with the cylinder body with a thin plate t perpendicular to the axis of the cylinder, and a light emitting element that irradiates the needle hole or mirror surface of the detection plate and passing light or reflected light. A light-receiving element that receives light is placed so that it is independent of the movement of the detection plate, and the positions of the light spots where the light from the light-emitting element reaches the light-receiving surface of the light-receiving element through the needle hole or mirror surface are detected. Based on the position information of the light spot,
The present invention is characterized in that the displacement of the cylindrical body measurement position or the displacement of the entire cylindrical body is calculated.
まりくの発明の口筒体の変位検出装置は、変位を検出す
べき筒体を、その軸方向、軸に直角方向、および軸周方
向の複合変位可能に支持する支持機構、上記筒体内の軸
方向に離れた二計測位置に、夫々筒体軸線とほゞ直交す
る姿勢で筒体に固定され、上記軸線との交点付近に一つ
又は二つの針穴をもつ検出板、上記支持機構に付設され
、上記各検出板の針穴のそれぞれの両側に対向する発光
素子と受光素子、および上記各受光素子から得られる光
点位置情報出力を用いて、上記筒体計測位置の変位また
は筒体全体の変位を算出する＠算装近を備え、上記発光
素子は、一つの上記針穴に対して二つ以上並設すること
を特徴とする。The displacement detecting device for a mouth cylinder according to Mariku's invention includes a support mechanism that supports a cylinder whose displacement is to be detected so as to be capable of compound displacement in the axial direction, a direction perpendicular to the axis, and an axial circumferential direction; A detection plate fixed to the cylinder at two measurement positions separated in the axial direction, each in a posture substantially orthogonal to the axis of the cylinder, and having one or two needle holes near the intersection with the axis; The displacement of the cylinder body measurement position or the cylinder body is measured using a light emitting element and a light receiving element attached and facing each other on both sides of the needle hole of each of the detection plates, and the light spot position information output obtained from each of the light receiving elements. The present invention is characterized in that it is equipped with a @calculation device that calculates the overall displacement, and that two or more of the light emitting elements are arranged in parallel with respect to one needle hole.
いま一つのこの発明の、筒体の変位検出装置は変位を検
出すべき筒体を、その軸方向、軸に直角方向、および軸
周方向の複合変位可能に支持する支持機構、上記筒体内
の軸方向に離れた二計測位置に、夫々筒体軸線とほゞ直
交する姿勢で筒体に固定され、上記軸線との交点付近に
鏡面をもつ検出板、上記支持機構に付設され、上記各検
出板の鏡面側に配置した発光素子と受光素子、および上
記各受光素子から得られる光点位置情報出力を用いて、
上記筒体計測位置の変位または筒体全体の変位を算出す
る演算装置を備え、を記発光素子は少なくとも３つ以上
具なる位置に配置することを特徴とする。Another cylindrical displacement detection device of the present invention includes a support mechanism that supports the cylindrical body whose displacement is to be detected so as to be capable of compound displacement in the axial direction, the direction perpendicular to the axis, and the axial circumferential direction; A detection plate is attached to the support mechanism, and is attached to the support mechanism, and is fixed to the cylinder in a posture substantially orthogonal to the axis of the cylinder at two measurement positions separated in the axial direction, and has a mirror surface near the intersection with the axis. Using the light emitting element and light receiving element placed on the mirror side of the plate, and the light spot position information output obtained from each of the above light receiving elements,
The apparatus is characterized in that it includes an arithmetic device that calculates the displacement of the cylindrical body measurement position or the displacement of the entire cylindrical body, and that the recording and light emitting elements are arranged at at least three or more specific positions.
〈作 用〉
本発明の変位検出法は変位を検出すべき筒体内に、その
軸方向に離れた二計測位置をまず決める。そしてこれら
二計測位置に、針穴または鏡面つき検出板を軸線に直交
する姿勢で固定し、定置した発光素子と受光素子を用い
て針穴または鏡面へ光を送り、そこからの光を受け、針
穴、鏡面の変位を受光素子上の光点の移動として検出す
る。<Operation> The displacement detection method of the present invention first determines two measurement positions spaced apart in the axial direction within the cylinder whose displacement is to be detected. Then, a detection plate with a needle hole or a mirror surface is fixed at these two measurement positions in a posture perpendicular to the axis, and the fixed light emitting element and light receiving element are used to send light to the needle hole or mirror surface, and receive light from there. The displacement of the needle hole and mirror surface is detected as the movement of the light spot on the light receiving element.
こうして検出した変位前後の光点位置情報を演算装置に
かける事により各計測位置の変位または筒体全体変位を
算出する。By applying the light spot position information before and after the displacement thus detected to a calculation device, the displacement at each measurement position or the entire displacement of the cylinder is calculated.
また本発明の検出装置は、一つの針穴または鏡面へ光を
送る発光素子の数を二つ以上とする事により、受光素子
が検出する二つ以上の光点の、微動の前後の関係を示す
情報から筒体の三次元変位、回転位置の演算も可能にし
た。In addition, the detection device of the present invention has two or more light emitting elements that send light to one needle hole or mirror surface, so that the relationship between the front and back of the slight movement of two or more light spots detected by the light receiving element can be determined. From the information shown, it is also possible to calculate the three-dimensional displacement and rotational position of the cylinder.
〈実 施 例〉
第１．２図は本発明の変位検出装置を前出願の触覚セン
サに適用した実施例を示す、ｌは本発明の変位を検出す
べき筒体２の支持機構ホでセン九本体側にある。筒体２
の内部には軸方向に離れル゛−内支持棒３を介して固定
する。筒内支持棒３はこの場合三木で、筒内壁に一端を
固定され、求心状に筒内へ伸び、内端を検出板４の外周
に固定して、筒体２と検出板４とを一体に固定している
。<Embodiment> Fig. 1.2 shows an embodiment in which the displacement detection device of the present invention is applied to the tactile sensor of the previous application. It is on the side of the main unit. Cylindrical body 2
It is fixed to the inside of the ring via support rods 3 spaced apart in the axial direction. The cylinder support rod 3 is made of Miki in this case, and has one end fixed to the cylinder inner wall, extends centripetally into the cylinder, and has an inner end fixed to the outer periphery of the detection plate 4, so that the cylinder body 2 and the detection plate 4 are integrated. It is fixed at
検出板４は筒体軸線Ｃとの交点付近に針穴７を有する。The detection plate 4 has a needle hole 7 near the intersection with the cylinder axis C.
針穴７の両側に発光素子５．受光素子６を対向配置して
いるが、これらは支持機構１の内壁から中央へ平行に伸
び出た保持板１２．１２の先端に固定され、支持機構１
と一体に定置されるので、筒体２か動いても動かず、光
の授受により針穴７の動きを受光素子６上の光点移動で
もって示す。Light emitting elements 5 on both sides of the needle hole 7. The light receiving elements 6 are arranged to face each other, and these are fixed to the tips of retaining plates 12 and 12 extending parallel to the center from the inner wall of the support mechanism 1.
Since it is fixed integrally with the needle hole 7, it does not move even if the cylinder 2 moves, and the movement of the needle hole 7 is indicated by the movement of the light spot on the light receiving element 6 due to the exchange of light.
上記筒体２の変位の前および後の時点で、受光素子６が
検出した光点位置情報の出力は図示しない演算装置へ送
られ、一定の計算により筒体計測位ｆｆ１Ａ、Ｂの変位
、あるいは筒体の局部又は全体の変位を算出する。The output of the light spot position information detected by the light receiving element 6 before and after the displacement of the cylinder 2 is sent to an arithmetic unit (not shown), and the displacement of the cylinder measurement position ff1A, B is determined by a certain calculation. Calculate the local or total displacement of the cylinder.
筒体２を全方向の微小浮動可能に支持する支持機構１は
、この例では直接的支持でなく、筒体２と一体で、検出
板４を三方から支えた支持棒３を弾力的に保持する構造
である。すなわちこの実施例の支持機構１は管が主体で
、筒体２の計測位ａＡ、Ｂ各三本の支持棒３を各管壁穴
ｌＯから内方へ受入れ、各支持棒３の途中にっけたばね
座８と、各穴ｌＯ円内縁ばね座９との間にコイルばね１
１を入れることにより、間接的に筒体２を浮動可能に保
持している。In this example, the support mechanism 1 that supports the cylindrical body 2 so as to be able to float slightly in all directions does not directly support the cylindrical body 2, but is integral with the cylindrical body 2 and elastically holds a support rod 3 that supports the detection plate 4 from three sides. It has a structure that allows That is, the support mechanism 1 of this embodiment is mainly composed of a pipe, and receives three support rods 3 each at measurement positions aA and B of the cylindrical body 2 inward from each tube wall hole lO, and inserts a tube in the middle of each support rod 3. A coil spring 1 is installed between the girder spring seat 8 and the inner edge spring seat 9 of each hole lO.
1 indirectly holds the cylinder 2 so that it can float.
もっとも筒体２と検出板４とを一体化するための支持棒
３を、この実施例のように支持機構ｌに利用しなくとも
、例えば支持機構ｌの管外面と筒体２内面との間に、ば
ね、柔軟ゴム、空気ばね等の弾性材を適宜介入させ、直
接的な浮動保持機構にしてもよい。However, even if the support rod 3 for integrating the cylinder 2 and the detection plate 4 is not used in the support mechanism l as in this embodiment, it is possible to Alternatively, an elastic material such as a spring, flexible rubber, or air spring may be appropriately used to form a direct floating holding mechanism.
なお受光素子６は平らな受光面を有し、そのどの位置に
針穴７からの光が到達したかをデータとして出力できる
もので、二次元のＰＳＤ、フォトダイオードアレイ、Ｃ
ＣＤセンサ等がこれに該当する。The light-receiving element 6 has a flat light-receiving surface, and can output data indicating which position of the light-receiving surface the light from the needle hole 7 has reached.
This includes CD sensors and the like.
次にその作用を説明する。Next, its effect will be explained.
受光素子６で捕える光の到達位置は、筒体２と一体とな
って変位する針穴７の位置に依存して定まる。筒体２の
変位が支持機構ｌの半径方向に限定される場合、光点位
置が半径方向変位の関数として表わされるので、受光素
子６の出力を図示しない演算装置に導いて変位が計算さ
れる。The arrival position of the light captured by the light-receiving element 6 is determined depending on the position of the needle hole 7, which is displaced integrally with the cylindrical body 2. When the displacement of the cylinder 2 is limited to the radial direction of the support mechanism l, the light spot position is expressed as a function of the radial displacement, so the output of the light receiving element 6 is guided to an arithmetic unit (not shown) to calculate the displacement. .
筒体２が剛体で軸方向に長い場合、その計測位置Ａ、Ｈ
に針穴７を穿設した薄板検出板４を設け、それぞれの受
光素子６の出力を演算装置に導いて筒体２の支持機構ｌ
に対する傾き角が計算できる。筒体２かどの方向ても一
様な変位特性をもつ場合には、針穴７とこれを挟む発光
素子５および受光素子６を支持機構１の中央部に位置ず
けることで受光素子６の受光面を有効に利用できる。If the cylinder 2 is rigid and long in the axial direction, its measurement positions A and H
A thin plate detection plate 4 with a needle hole 7 bored therein is provided, and the output of each light-receiving element 6 is guided to an arithmetic unit to connect the support mechanism l of the cylinder 2.
The inclination angle can be calculated. If the cylindrical body 2 has a uniform displacement characteristic in any direction, the needle hole 7 and the light emitting element 5 and the light receiving element 6 sandwiched therebetween may be positioned in the center of the support mechanism 1, so that the light receiving element 6 can be easily moved. The light receiving surface can be used effectively.
また、そうすることにより、筒体２か無変位のとき光点
は受光面上の中心位置に存在するので変位の発生を敏感
に検知し、かつ受光素子出力の処理を簡単化できる。Moreover, by doing so, when the cylinder 2 is not displaced, the light spot exists at the center position on the light-receiving surface, so that the occurrence of displacement can be sensitively detected, and the processing of the light-receiving element output can be simplified.
上記実施例は、支持機構ｌの半径方向に限られたいわば
二次元の変位検出であった。本発明は回転変位も含めた
三次元変位を検出するため、第３図に示す別の実施例要
部説明図の様に、発光素子を５．５ａと２個に増やし、
また、筒体２と一体化された２枚の検出板４．４のいず
れか一方に穿設する針穴数を二個に増やす、第３図の針
穴７ｂ、７ｃがそれである。In the above embodiment, so-called two-dimensional displacement detection was performed only in the radial direction of the support mechanism I. In order to detect three-dimensional displacement including rotational displacement, the present invention increases the number of light-emitting elements to two, 5.5a, as shown in FIG.
Further, the number of needle holes formed in either one of the two detection plates 4.4 integrated with the cylinder body 2 is increased to two by the needle holes 7b and 7c in FIG. 3.
二つの発光素子５．５ａは、支持機構ｌに一体化された
保持板１２上に互いに離して取付けられるため、針穴を
穿設した検出板４を挟んで反対側に設置される受光素子
６の受光面上に二つの光点ができる。この光点位置は、
受光素子６の出力として得られる。したがって、発光素
子５．５ａからの光が受光素子６に入る二つの光路が図
示しない演算装置によって計算され、針穴位置が２つの
光路の交点として計算される。この位置は、三次元空間
の一点として計算されるので針穴７ａ、７ｂか支持機構
軸線Ｃ方向や軸周りに回転する場合でも定まる。すなわ
ち、第４図に示す様に、筒体２か任意方向に変位しても
針穴７ａ、７ｂ位置か計算されるので、半径方向および
軸方向の変位位置か定まる。Since the two light-emitting elements 5.5a are mounted apart from each other on the holding plate 12 integrated with the support mechanism 1, the light-receiving element 6 is installed on the opposite side of the detection plate 4 having a needle hole therebetween. Two light spots are formed on the light-receiving surface. This light spot position is
It is obtained as the output of the light receiving element 6. Therefore, the two optical paths through which the light from the light emitting element 5.5a enters the light receiving element 6 are calculated by an arithmetic unit (not shown), and the needle hole position is calculated as the intersection of the two optical paths. Since this position is calculated as one point in the three-dimensional space, it is determined even when the needle holes 7a, 7b rotate in the direction of the support mechanism axis C or around the axis. That is, as shown in FIG. 4, even if the cylinder 2 is displaced in any direction, the positions of the needle holes 7a and 7b are calculated, so the displacement positions in the radial and axial directions are determined.
さらに、筒体２の輌周りの回転変位の検出を可能にする
ため、いずれか一方の側（第３．４図中の右側）の検出
板４の偏心した位置に針穴７ｃを穿設し、この穴に光を
照射する発光素子５ｂを新たに設け、前記受光素子６か
ら得られる光点位置を用いて回転変位を計算する。Furthermore, in order to enable detection of the rotational displacement of the cylinder body 2 around the vehicle, a needle hole 7c is bored at an eccentric position of the detection plate 4 on either side (the right side in Fig. 3.4). A light emitting element 5b is newly installed to irradiate light into this hole, and the rotational displacement is calculated using the light spot position obtained from the light receiving element 6.
回転変位検出の原理は次の通りである。すなわち、これ
までに得られた針穴７ａ、７ｂの位置と、筒体２に一体
化された検出板４の取付は状況に関する物理的パラメー
タとから針穴７ｃの存在平面が三次元空間で定まる。一
方、針穴７ｃを通って受光面に到達する光点位置が受光
素子６から出力されるので光路を表わす直線で定まる。The principle of rotational displacement detection is as follows. That is, the plane in which the needle hole 7c exists is determined in three-dimensional space from the positions of the needle holes 7a and 7b obtained so far and the physical parameters related to the mounting situation of the detection plate 4 integrated into the cylinder body 2. . On the other hand, since the light spot position reaching the light receiving surface through the needle hole 7c is output from the light receiving element 6, it is determined by a straight line representing the optical path.
上記平面と直線との交点は図示しない演算装置によって
計算され、針穴７ｃの位置が定まる。さらに第３図の如
き無変位状況下における針穴７ｃの存在方向角を基準と
し、第４図の如き変位状況下における針穴７ｃの存在方
向角か演算装置によって計算され、その結果として支持
機構ｌの軸線０周りの筒体２の回転量、すなわち回転変
位が定まるのである。The intersection of the plane and the straight line is calculated by an arithmetic device (not shown), and the position of the needle hole 7c is determined. Further, based on the directional angle of the needle hole 7c under the non-displacement situation as shown in FIG. 3, the directional angle of the needle hole 7c under the displacement situation as shown in FIG. 4 is calculated by the calculation device, and as a result, the support mechanism The amount of rotation of the cylinder 2 around the axis 0 of l, that is, the rotational displacement is determined.
筒体２自身が剛体で捩れない限り、回転変位を検出する
ための針穴７ｃと発光素子５ｂは筒体２のいずれか一方
の側に設ければ十分である。剛体てない場合には、両方
の側の偏心した位置に針穴と発光素子を設置すればよい
、この場合、演算装置によって筒体２の捩れ量も計算す
ることか可能である。As long as the cylinder 2 itself is rigid and does not twist, it is sufficient to provide the needle hole 7c and the light emitting element 5b on either side of the cylinder 2 for detecting rotational displacement. If the body is not rigid, the needle hole and the light emitting element may be installed at eccentric positions on both sides. In this case, it is possible to calculate the amount of twist of the cylinder 2 using a calculation device.
なお、光路を定めるには受光面に到達する光がどの発光
素子から出たかを知る必要がある。筒体２の変位幅が小
さい場合、受光面上の光の到達領域は、発光素子５．５
ａ、５ｂに対応ずけて重ならない様にすることもできる
が、一般には重なるものと考えねばならず、同時に検出
される２つの光点を発光源の発光素子と対応づけること
はできない、この場合には、発光素子を一つずつ点滅さ
せて光点位置と発光素子とを対応づけることができる。Note that in order to determine the optical path, it is necessary to know from which light emitting element the light that reaches the light receiving surface is emitted. When the displacement width of the cylinder 2 is small, the light reaching area on the light receiving surface is the light emitting element 5.5.
Although it is possible to avoid overlapping by corresponding to a and 5b, in general, it must be considered that they overlap, and two light points detected at the same time cannot be associated with the light emitting element of the light source. In this case, the light spot position and the light emitting element can be associated with each other by blinking the light emitting elements one by one.
受光素子６がＰＳＤのように二つの光点位置を弁別でき
ない場合には、そうせざるを得ないことは言うまでもな
い。Needless to say, this is necessary when the light receiving element 6 cannot discriminate between two light spot positions like a PSD.
針穴を２つ穿設した検出板４側では一般に発光素子を１
個点灯しただけで２つの光点か現われる。すなわち、発
光素子からの光が本来照射すべきでない針穴にまわりこ
むことが起り得る。このため、光点と発光素子の他に針
穴の対応ずけち必要になる。第４図中の１３は、この対
応ずけを誤りなく行うために必要な遮光板を示し、回転
変位の検出に関係しない針穴７ｂに向う光を断つ役割を
果す。遮光板１３は検出板４上に設けることも可能であ
る。同様にして、針穴７ｂを照射すべき光が針穴７Ｃに
回りこむことも避けねばならないか、回転変位検出用の
発光素子５ｂと針穴７Ｃは検出精度を向上させる観点か
ら針穴７ｂとは離して外周に近い部分に設置される。こ
のため針穴７ｃに光か回わることは少なく、回ったとし
ても受光面上に到達することはない。したがって、この
ため遮光板は一般に必要ない。Generally, one light emitting element is mounted on the detection plate 4 side, which has two needle holes.
Just by turning on one light, two spots of light appear. In other words, light from the light emitting element may enter a needle hole where it should not be irradiated. For this reason, in addition to the light spot and the light emitting element, it is necessary to take care in matching the needle hole. Reference numeral 13 in FIG. 4 indicates a light shielding plate necessary to perform this correspondence without error, and serves to cut off light directed toward the needle hole 7b that is not related to the detection of rotational displacement. The light shielding plate 13 can also be provided on the detection plate 4. Similarly, it is also necessary to prevent the light that should illuminate the needle hole 7b from going around to the needle hole 7C, or the light emitting element 5b for rotational displacement detection and the needle hole 7C are connected to the needle hole 7b from the viewpoint of improving detection accuracy. are placed close to the outer periphery. Therefore, the light rarely travels around the needle hole 7c, and even if it does, it does not reach the light-receiving surface. Therefore, a light shielding plate is generally not required for this purpose.
第５．６図は、鏡面を用いる場合の実施例である。発光
素子５は鏡面１４と同一側に、しかも受し受光素子６に
入り、光点位置の情報を使って鏡面の変位、すなわち筒
体２の変位か検出される。FIG. 5.6 shows an example in which a mirror surface is used. The light emitting element 5 enters the light receiving element 6 on the same side as the mirror surface 14, and the displacement of the mirror surface, that is, the displacement of the cylindrical body 2, is detected using information on the position of the light spot.
しかし、針穴の場合と異なり、筒体２の半径方向および
軸周りの回転変位を検出することはできない。また、発
光素子から出る光はビーム状である必要かあり、反射光
を受光素子て捕え易くする設計上の工夫が必要である。However, unlike the case of a needle hole, rotational displacement of the cylinder 2 in the radial direction and around the axis cannot be detected. Furthermore, the light emitted from the light emitting element needs to be in the form of a beam, and it is necessary to devise a design that makes it easier for the light receiving element to capture the reflected light.
第５図の実施例で、わずかな角度をもたせて発光素子を
取付け、反射光を受光面の外縁に到達させているのはそ
うした配慮の結果である。In the embodiment shown in FIG. 5, the light emitting element is mounted at a slight angle, allowing the reflected light to reach the outer edge of the light receiving surface, as a result of such considerations.
受光面の中心を起点として逆方向に２つの発光素子を設
置するのは少なくとも、いずれか一方の発光素子からの
発射光が受光面に入るようにした＼めで、受光素子の周
りに６０度の間隔で発光素子を取付けることによって任
意方向の変位検出が可能となる。２つの検出板のうちの
一方に鏡面を、他方に針穴を配置する図示しない実施例
においては両者の利点を効かして検出精度を高めること
か可能になることは言うまでもない。The purpose of installing two light emitting elements in opposite directions with the center of the light receiving surface as a starting point is to at least allow the emitted light from one of the light emitting elements to enter the light receiving surface, and to set up a 60 degree angle around the light receiving element. By attaching the light emitting elements at intervals, displacement detection in any direction becomes possible. It goes without saying that in an embodiment (not shown) in which a mirror surface is arranged on one of the two detection plates and a needle hole is arranged on the other, detection accuracy can be improved by taking advantage of the advantages of both.
以上、本発明装置について説明したが１本発明の検出法
は対象とする筒体の内部に検出板を固定し、その微動を
光学的に検出するものであり、その光学的検出手段とし
て、検出板に針穴を聞けても鏡面を設けてもよい。鏡面
の場合、受光素子を発光素子と同一側に設ける事はいう
までもない。The apparatus of the present invention has been explained above, but the detection method of the present invention is to fix the detection plate inside the target cylinder and optically detect the slight movement. The plate may have needle holes or a mirror surface. In the case of a mirror surface, it goes without saying that the light receiving element is provided on the same side as the light emitting element.
その他、本発明は実施に当たる技術者の周知技術により
多様に変化、応用し得るものである。In addition, the present invention can be varied and applied in various ways depending on the well-known techniques of the engineer who implements it.
〈発明の効果〉
本発明は従来、変位計測か難しいとされた筒体の局部、
全体の微小変位を簡単明確に数量化する道を開いた。<Effects of the Invention> The present invention can measure the local part of a cylindrical body, which was conventionally considered difficult to measure displacement.
This opens the way to easily and clearly quantifying the entire minute displacement.
すなわち、対象とする筒体に二計測位置を設定し、各位
置の筒内に独特の検出板を固定し、これに投光用針穴ま
たは鏡面を設けたから、筒体の微小変位が上記針穴、鏡
面の変位から読みとれるようになり１周知の発光素子、
受光素子と演算装置により、筒体の微小変位が明確に算
出できるようになった。In other words, two measurement positions were set on the target cylinder, a unique detection plate was fixed inside the cylinder at each position, and a needle hole or mirror surface for light emission was provided on this plate, so that minute displacements of the cylinder were detected by the needle. A well-known light-emitting element that can be read from the displacement of holes and mirror surfaces,
Using a light-receiving element and a calculation device, it has become possible to clearly calculate minute displacements of the cylindrical body.
また一つの針穴、鏡面へ二つの発光素子から異る角度で
光を送るので、受光素子受光面の光点が二個になる結果
、本発明は筒体の三次元、回転変位も検出可能になった
。In addition, since light is sent from two light emitting elements to one needle hole and mirror surface at different angles, there are two light spots on the light receiving surface of the light receiving element, and as a result, the present invention can also detect three-dimensional and rotational displacement of the cylinder. Became.
なお設備面では、発光素子がふえても受光素子は共通さ
せられるため簡素化しやすく、演算装置は外部に設ける
ので検出部が軽量である。In terms of equipment, even if the number of light-emitting elements increases, the light-receiving element can be shared, making it easier to simplify the equipment, and since the arithmetic unit is provided externally, the detection unit is lightweight.
本発明の筒体な触覚センサとして用いれば、その微小変
位、変位を起こさせた外圧の大きさ、方向等を連続量と
して入力てき、人間の皮膚感覚にも似た触覚衡力をロボ
ットの手や指の部分に与えられる。本発明により従来困
難てあった多関節指用アナログセンサの実現も困難でな
くなった。When used as the cylindrical tactile sensor of the present invention, the minute displacement, the magnitude and direction of the external pressure that caused the displacement, etc. can be input as continuous quantities, and the tactile force similar to the human skin sensation can be applied to the robot's hand. and fingers. According to the present invention, it is no longer difficult to realize an analog sensor for multi-jointed fingers, which has been difficult in the past.
第１図は本発明一実施例の断面説明図、第２図はその側
面説明図、第３．４．５．６図は他の実施例の変位前後
の状態を示す要部断面説明図で、図中、１は支持機構、
２は筒体、４は検出板、５は発光素子、６は受光素子、
７は針穴、１４は鏡面である。
第１図
第２図
第３図
第４図Fig. 1 is an explanatory cross-sectional view of one embodiment of the present invention, Fig. 2 is an explanatory side view thereof, and Figs. , in the figure, 1 is a support mechanism;
2 is a cylinder, 4 is a detection plate, 5 is a light emitting element, 6 is a light receiving element,
7 is a needle hole, and 14 is a mirror surface. Figure 1 Figure 2 Figure 3 Figure 4
Claims (5)
二計測位置を設定し、 上記各計測位置に、筒体軸線にほゞ直交する姿勢の薄板
で、投光用針穴または鏡面をもつ検出板を筒体と一体に
固定し、 上記検出板針穴または鏡面を照射する発光素子と通過光
あるいは反射光を受ける受光素子とを、検出板の動きと
無関係になるよう定置し、上記発光素子の光が上記針穴
または鏡面を経て受光素子受光面に達した光点の位置を
それぞれ検出し、 これら光点の位置情報にもとづき、上記筒体計測位置の
変位、または筒体全体の変位を算出することを特徴とす
る筒体の変位検出法。(1) Set two measurement positions separated in the axial direction inside the cylinder whose displacement is to be detected, and place a light emitting needle hole or A detection plate with a mirror surface is fixed integrally with the cylindrical body, and a light-emitting element that illuminates the needle hole or mirror surface of the detection plate and a light-receiving element that receives passing light or reflected light are placed so that they are independent of the movement of the detection plate. , the positions of the light spots where the light from the light emitting element reaches the light receiving surface of the light receiving element through the needle hole or the mirror surface are detected, and based on the positional information of these light spots, the displacement of the cylinder measurement position or the cylinder body is detected. A method for detecting displacement of a cylindrical body, characterized by calculating the entire displacement.
方向、および軸周方向の複合変位可能に支持する支持機
構、 上記筒体内の軸方向に離れた二計測位置に、夫々筒体軸
線とほゞ直交する姿勢で筒体に固定され、上記軸線との
交点付近に一つ又は二つの針穴をもつ検出板、 上記支持機構に付設され、上記各検出板の針穴のそれぞ
れの両側に対向する発光素子と受光素子、および 上記各受光素子から得られる光点位置情報出力を用いて
、上記筒体計測位置の変位または筒体全体の変位を算出
する演算装置を備え、 上記発光素子は、一つの上記針穴に対して二つ以上並設
することを特徴とする筒体の変位検出装置。(2) A support mechanism that supports the cylindrical body whose displacement is to be detected so as to be capable of compound displacement in its axial direction, in a direction perpendicular to the axis, and in a circumferential direction; A detection plate fixed to the cylinder in a position substantially perpendicular to the axis of the cylinder and having one or two needle holes near the intersection with the axis; comprising a light emitting element and a light receiving element facing each other on both sides, and an arithmetic device that calculates the displacement of the cylindrical body measurement position or the displacement of the entire cylindrical body using the light spot position information output obtained from each of the light receiving elements, A cylindrical body displacement detecting device characterized in that two or more of the light emitting elements are arranged in parallel for one needle hole.
の検出板の一枚には一つの針穴、他の一枚には二つの針
穴を有するところの筒体の変位検出装置。(3) The device according to claim (2), wherein one of the detection plates has one needle hole and the other one has two needle holes.
方向、および軸周方向の複合変位可能に支持する支持機
構、 上記筒体内の軸方向に離れた二計測位置に、夫々筒体軸
線とほゞ直交する姿勢で筒体に固定され、上記軸線との
交点付近に鏡面をもつ検出板、 上記支持機構に付設され、上記各検出板の鏡面側に配置
した発光素子と受光素子、および、上記各受光素子から
得られる光点位置情報出力を用いて、上記筒体計測位置
の変位または筒体全体の変位を算出する演算装置を備え
、 上記発光素子は少なくとも３つ以上異なる位置に配置す
ることを特徴とする筒体の変位検出装置。(4) A support mechanism that supports the cylindrical body whose displacement is to be detected so as to be capable of compound displacement in its axial direction, in the direction perpendicular to the axis, and in the circumferential direction; A detection plate fixed to the cylinder in a posture substantially perpendicular to the axis of the cylinder and having a mirror surface near the intersection with the axis, and a light emitting element and light receiving element attached to the support mechanism and arranged on the mirror side of each detection plate. and an arithmetic unit that calculates the displacement of the cylindrical body measurement position or the displacement of the entire cylindrical body using the light spot position information output obtained from each of the light receiving elements, and the light emitting elements are at least three different from each other. A displacement detection device for a cylindrical body, characterized in that the device is arranged at a position.
を混用したことを特徴とする筒体の変位検出装置。(5) A displacement detection device for a cylindrical body, characterized in that the devices described in claims (2) and (4) are used in combination.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5637787A JPS63222201A (en) | 1987-03-11 | 1987-03-11 | Method and apparatus for detecting displacement of cylindrical body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5637787A JPS63222201A (en) | 1987-03-11 | 1987-03-11 | Method and apparatus for detecting displacement of cylindrical body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS63222201A true JPS63222201A (en) | 1988-09-16 |
| JPH052241B2 JPH052241B2 (en) | 1993-01-12 |
Family
ID=13025570
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5637787A Granted JPS63222201A (en) | 1987-03-11 | 1987-03-11 | Method and apparatus for detecting displacement of cylindrical body |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63222201A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0540937U (en) * | 1991-10-31 | 1993-06-01 | ミツミ電機株式会社 | Coordinate information input device |
-
1987
- 1987-03-11 JP JP5637787A patent/JPS63222201A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPH052241B2 (en) | 1993-01-12 |
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