阅读说明：本技术 一种弯曲角度的测量装置和测量方法 (Measuring device and measuring method for bending angle ) 是由 牟洋 李�浩 赵小龙 于 2021-07-21 设计创作，主要内容包括：本发明公开了一种弯曲角度的测量装置和测量方法,其中,测量方法包括：提供弹簧套管和测量丝,所述弹簧套管的相邻单圈之间紧密相接,所述测量丝伸入所述弹簧套管中,所述测量丝的一端固定在所述弹簧套管的一个端部；弯曲所述弹簧套管使其表面贴合于待测量面,所述测量丝的另一端产生位移量；通过所述位移量计算得出所述待测量面的弯曲角度。本发明结构简单,测量方法也简单。由于弯曲角度与测量丝位移量呈线性关系,该测量方法无需复杂的信号处理,计算方便,该结构设计和制作的过程都十分简单,成本低廉,且能够应用于无测量基准面的,大范围的弯曲角度和累积角度。(The invention discloses a device and a method for measuring a bending angle, wherein the method comprises the following steps: providing a spring sleeve and a measuring wire, wherein adjacent single coils of the spring sleeve are tightly connected, the measuring wire extends into the spring sleeve, and one end of the measuring wire is fixed at one end of the spring sleeve; bending the spring sleeve to enable the surface of the spring sleeve to be attached to a surface to be measured, wherein the other end of the measuring wire generates displacement; and calculating the bending angle of the surface to be measured according to the displacement. The invention has simple structure and simple measuring method. Because the bending angle and the displacement of the measuring wire are in a linear relation, the measuring method does not need complex signal processing, is convenient to calculate, has very simple structural design and manufacturing processes and low cost, and can be applied to large-scale bending angles and accumulated angles without measuring reference surfaces.)

1. A method of measuring a bend angle, comprising:

providing a spring sleeve and a measuring wire, wherein adjacent single coils of the spring sleeve are tightly connected, the measuring wire extends into the spring sleeve, and one end of the measuring wire is fixed at one end of the spring sleeve;

bending the spring sleeve to enable the surface of the spring sleeve to be attached to a surface to be measured, wherein the other end of the measuring wire generates displacement;

and calculating the bending angle of the surface to be measured according to the displacement.

2. The method for measuring a bending angle according to claim 1, wherein the relational expression between the displacement amount and the bending angle is;

wherein d is the diameter of the spring sleeve, L is the length of the spring sleeve, W is the width of a single turn of the spring sleeve, and x is the distance between adjacent single turns of the measuring wire in the spring sleeve.

3. The method for measuring the bending angle according to claim 1, wherein a teflon protection tube is further arranged between the measuring wire and the spring sleeve, and the relational expression between the displacement and the bending angle is as follows;

wherein L is the length of the spring sleeve, x is the distance between adjacent single turns of the measuring wire, b_cIs the wall thickness of the coil of the spring sleeve, b_tIs the wall thickness of the protective tube, d_sTo measure the thickness of the filament.

4. A device for measuring a bend angle, comprising:

the spring sleeve comprises a first end and a second end which are opposite, and adjacent single coils of the spring sleeve are tightly connected;

one end of the measuring wire extends into the spring sleeve and is fixed with the first end part;

a bend angle acquisition mechanism connected with the second end of the spring sleeve;

the bending angle acquisition mechanism comprises a displacement acquisition component, a tensioning component and a processing unit; the tensioning assembly is used for connecting the other end of the measuring wire to enable the measuring wire to be in a tensioning state; the displacement acquisition component is used for acquiring the displacement generated by the other end of the measuring wire when the spring sleeve is bent and attached to the surface to be measured; and the processing unit is used for calculating the bending angle of the surface to be measured according to the displacement.

5. The bending angle measuring apparatus according to claim 4, wherein the bending angle acquiring mechanism has a housing, the displacement amount acquiring member, the tensioning member and the processing unit are located in the housing, and the second end portion of the spring sleeve is connected to an outer wall of the housing.

6. The bending angle measuring device according to claim 5, wherein the tensioning assembly comprises a roller and a tension spring, the roller is rotatably mounted on the bottom wall of the housing, and the other end of the tension spring is fixedly connected with the outer wall of the roller and wound on the periphery of the roller; the roller is provided with a first bulge, and the bottom wall of the shell is provided with a second bulge;

one end of the tension spring is connected to the first protrusion, and the other end of the tension spring is connected to the second protrusion.

7. The apparatus for measuring a bending angle according to claim 6, wherein the displacement amount acquiring unit includes:

the magnetic steel is fixedly arranged at the top end of the roller and is cylindrical, and the axis of the magnetic steel is superposed with the axis of the roller;

and the Hall sensor is arranged on the lower surface of the top wall of the shell, and the Hall sensor acquires the rotating angle of the roller through the magnetic steel.

8. The bending angle measuring apparatus according to claim 7, wherein the processing unit obtains the displacement amount of the measuring wire by the following formula:

Δl＝β×r

wherein, beta is the rotation angle of the roller, and r is the radius of the roller.

9. The device for measuring bending angle according to claim 4, wherein a Teflon protective tube is further disposed between the measuring wire and the spring sleeve.

10. The device for measuring the bending angle according to claim 4, wherein a display screen is arranged on the bending angle obtaining mechanism, the display screen is connected with the processing unit, and the display screen is used for displaying the bending angle.

Technical Field

The invention belongs to the field of physical measurement, and particularly relates to a device and a method for measuring a bending angle.

Background

At present, there are three main types of methods for physically measuring the angle of an object: firstly, the measurement is directly carried out through an angle measuring ruler, the measurement mode cannot measure large-angle objects, and the measurement operation is difficult to complete when the objects do not have a measuring reference surface; secondly, the measurement is carried out in an image acquisition mode, the object to be measured is firstly subjected to image acquisition, and then the image processing is carried out to obtain a measurement result, the measurement mode is very troublesome to operate, and the operation is limited by space; and thirdly, a flexible sensor is adopted, which is generally a film printed by conductive ink, the resistance of the flexible sensor changes along with the bending angle, the bending angle is indirectly obtained by measuring the voltage value of the flexible sensor, and the relationship between the resistance and the bending angle is nonlinear, so that a large bending angle cannot be measured.

Therefore, a device and a method for measuring a bending angle are desired, which can measure the bending angle of an object conveniently.

Disclosure of Invention

The invention aims to provide a device and a method for measuring a bending angle, which can conveniently measure the bending angle of an object.

In order to achieve the above object, the present invention provides a method for measuring a bending angle, comprising:

providing a spring sleeve and a measuring wire, wherein adjacent single coils of the spring sleeve are tightly connected, the measuring wire extends into the spring sleeve, and one end of the measuring wire is fixed at one end of the spring sleeve;

bending the spring sleeve to enable the surface of the spring sleeve to be attached to a surface to be measured, wherein the other end of the measuring wire generates displacement;

and calculating the bending angle of the surface to be measured according to the displacement.

In an alternative, the relation between the displacement and the bending angle is as follows;

wherein d is the diameter of the spring sleeve, L is the length of the spring sleeve, W is the width of a single turn of the spring sleeve, and x is the distance between adjacent single turns of the measuring wire in the spring sleeve.

In an alternative scheme, a Teflon protection tube is further arranged between the measuring wire and the spring sleeve, and the relational expression between the displacement and the bending angle is shown as follows;

wherein L is the length of the spring sleeve, x is the distance between adjacent single turns of the measuring wire, b_cIs the wall thickness of the coil of the spring sleeve, b_tIs the wall thickness of the protective tube, d_sTo measure the thickness of the filament.

The invention also provides a device for measuring the bending angle, which comprises:

the spring sleeve comprises a first end and a second end which are opposite, and adjacent single coils of the spring sleeve are tightly connected;

one end of the measuring wire extends into the spring sleeve and is fixed with the first end part;

a bend angle acquisition mechanism connected with the second end of the spring sleeve; the bending angle acquisition mechanism comprises a displacement acquisition component, a tensioning component and a processing unit; the tensioning assembly is used for connecting the other end of the measuring wire to enable the measuring wire to be in a tensioning state; the displacement acquisition component is used for acquiring the displacement generated by the other end of the measuring wire when the spring sleeve is bent and attached to the surface to be measured; and the processing unit is used for calculating the bending angle of the surface to be measured according to the displacement.

In an alternative, the bending angle acquiring mechanism has a housing, the displacement amount acquiring member, the tensioning member and the processing unit are all located in the housing, and the second end portion of the spring sleeve is connected with an outer wall of the housing.

In an alternative scheme, the tensioning assembly comprises a roller and a tension spring, the roller is rotatably mounted on the bottom wall of the shell, and the other end of the measuring wire is fixedly connected with the outer wall of the roller and wound on the periphery of the roller; the roller is provided with a first bulge, and the bottom wall of the shell is provided with a second bulge;

one end of the tension spring is connected to the first protrusion, and the other end of the tension spring is connected to the second protrusion.

In an alternative aspect, the displacement amount acquiring unit includes:

the magnetic steel is fixedly arranged at the top end of the roller and is cylindrical, and the axis of the magnetic steel is superposed with the axis of the roller;

and the Hall sensor is arranged on the lower surface of the top wall of the shell, and the Hall sensor acquires the rotating angle of the roller through the magnetic steel.

In an alternative, the processing unit obtains the displacement of the measuring wire by the following formula:

Δl＝β×r

wherein, beta is the rotation angle of the roller, and r is the radius of the roller.

In an alternative scheme, a Teflon protection tube is further arranged between the measuring wire and the spring sleeve.

In an alternative scheme, a display screen is arranged on the bending angle obtaining mechanism and connected with the processing unit, and the display screen is used for displaying the bending angle.

The invention has the beneficial effects that:

the measuring device for the bending angle can be formed by the spring sleeve and the measuring wire, and is simple in structure and measuring mode. Because the bending angle and the displacement of the measuring wire are in a linear relation, the measuring method does not need complex signal processing, is convenient to calculate, has very simple structural design and manufacturing processes and low cost, and can be applied to large-range bending angles and accumulated angles without measuring reference surfaces, such as joint angles, pipeline bending degrees and the like.

The method of the present invention has other features and advantages which will be apparent from or are set forth in detail in the accompanying drawings and the following detailed description, which are incorporated herein, and which together serve to explain certain principles of the invention.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings.

Fig. 1 shows a schematic diagram of an angle measurement method of a bending angle according to the present invention.

FIG. 2 shows a schematic view of a spring sleeve according to an embodiment of the invention in a bent state.

Fig. 3 shows a schematic structural diagram of a spring sleeve, a teflon protective tube and a measuring wire according to an embodiment of the invention.

FIG. 4 shows a schematic diagram of measuring the linear relationship between wire displacement and bend angle, according to an embodiment of the invention.

FIG. 5 shows a schematic structural view of a measuring wire coupled to a tensioning assembly according to an embodiment of the present invention.

Fig. 6 is a schematic structural diagram illustrating a bending angle measuring apparatus according to an embodiment of the present invention.

Reference numerals:

1-a spring sleeve; 2-measuring the filaments; 3-Teflon protective tube; 4-1-upper part of roller; 4-2-lower part of roller; 5-a tension spring; 6-bottom wall of the housing; 7-the top wall of the housing; 8-magnetic steel; 9-Hall sensor.

Detailed Description

The present invention will be described in more detail below. While the present invention provides preferred embodiments, it should be understood that the present invention may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically coupled, may be directly coupled, or may be indirectly coupled through an intermediary. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

An embodiment of the present invention provides a method for measuring a bending angle, including:

providing a spring sleeve and a measuring wire, wherein adjacent single circles of the spring sleeve are tightly connected, the measuring wire extends into the spring sleeve, and one end of the measuring wire is fixed at one end part of the spring sleeve;

bending the spring sleeve to make the surface of the spring sleeve attached to the surface to be measured, and generating displacement at the other end of the measuring wire;

and calculating the bending angle of the surface to be measured through the displacement.

Fig. 1 shows a schematic diagram of the measuring method of the present invention for measuring a bending angle (or arc). Referring to fig. 1, fig. (a) on the left side of fig. 1 is a schematic view showing a state where the spring bushing 1 is free when the angle is not measured, and fig. (b) on the right side of fig. 1 is a schematic view showing a state where the spring bushing 1 is bent when the angle is measured. As can be seen from FIG. (b), when the bending angle isThen, the displacement amount of the other end of the measuring wire 2 is Δ l.

In one embodiment, the displacement of the measuring wire 2 is related to the bending angle as;

wherein d is the diameter of the spring sleeve 1, L is the length of the spring sleeve 1, W is the width of a single turn of the spring sleeve 1, and x is the distance between adjacent single turns of the measuring wire 2 in the spring sleeve 1.

Specifically, referring to fig. 2, a small section of the spring sleeve 1 in a bent state is taken for analysis, L is the total length of the spring sleeve, the measuring wire 2 is located on the central axis of the spring sleeve 1, and the displacement x between two sections of the spring sleeve 1 and a single turn can be calculated according to the cosine law to obtain:

the displacement Δ l of the measuring wire can thus be found to be:

referring to fig. 3, in one embodiment, a teflon protection tube 3 is further provided between the measuring wire 2 and the spring sleeve 1. The teflon protective tube 3 is intended to reduce wear between the measuring wire 2 and the spring sleeve 1. When the spring sleeve 1 is bent, the measuring wire 2 is tightly attached to the inner surface of the Teflon protective tube 3, so that the displacement delta l and the bending angleThe formula after the relational expression is corrected is as follows;

wherein L is the length of the spring sleeve 1, W is the width of a single turn of the spring sleeve, x is the distance between adjacent single turns of the measuring wire 2 in the spring sleeve 1, b_cWall thickness of the coil of the spring sleeve, b_tTo protect the wall thickness of the tube, d_sTo measure the thickness of the filament. For a spring sleeve, the wall thickness b of the coil_cEqual to the width w of a single turn. Therefore, there are:

although from the above formula, the amount of displacement Δ l and the bending angle of the wire were measuredA non-linear relationship. But measured actually, when b_c＝0.5mm，b_t＝0.5mm，d_sWhen the length L of the spring sleeve is 500mm, 1000mm and 2000mm, respectively, the displacement Δ L and the bending angle of the measuring wire are obtainedThe curve relationship of (A) is shown in FIG. 4. From simulation results, in a large angle range of 0-3000 degrees (cumulative angle, cumulative radian of the arc surface), the two have a high linear relationship:

where k is the scaling factor obtained by linear fitting.

The bending angle can be measured through the spring sleeve and the measuring wire, the structure is simple, and the measuring mode is simple. Because the bending angle and the measuring wire are in a linear relation, the measuring method does not need complex signal processing, is convenient to calculate, has very simple structural design and manufacturing processes and low cost, and can be applied to large-range bending angles and accumulated angles without measuring reference surfaces, such as joint angles, pipeline bending degrees, bending radians of flexible robot arms and the like.

An embodiment of the present invention provides a device for measuring a bending angle, including:

the spring sleeve comprises a first end and a second end which are opposite, and adjacent single circles of the spring sleeve are tightly connected;

one end of the measuring wire extends into the spring sleeve and is fixed with the first end part;

the bending angle acquisition mechanism is connected with the second end part of the spring sleeve; the bending angle acquisition mechanism comprises a displacement acquisition component, a tensioning component and a processing unit; the tensioning assembly is used for connecting the other end of the measuring wire to enable the measuring wire to be in a tensioning state; the displacement acquisition component is used for acquiring the displacement generated by the other end of the measuring wire when the spring sleeve is bent and attached to the surface to be measured; and the processing unit is used for calculating the bending angle of the surface to be measured according to the displacement.

Specifically, the bending angle measuring device mainly comprises a spring sleeve, a measuring wire and a bending angle acquiring mechanism, wherein one end of the measuring wire extends into the spring sleeve and is fixed with a first end part of the spring sleeve, and the other end of the measuring wire extends out of a second end part of the spring sleeve. The measuring wire is flexible and can be bent, but has no elasticity and cannot stretch, and when the spring sleeve is bent, one end of the measuring wire, which is not fixed with the spring sleeve, moves towards the spring sleeve to generate a certain displacement. The measuring wire can be steel wire, nylon wire and the like. In order to prevent the measuring wire 2 from slackening during bending, which affects the measuring result, the measuring device needs to use a tensioning assembly to maintain the tension of the measuring wire. As shown in fig. 5, the other end of the measuring wire may be fixedly connected to the tension spring or the pulley with the torsion spring by using the tension spring or the torsion spring, and the measuring wire is required to maintain a certain tension when being installed. The displacement acquisition component is used for acquiring the displacement of the other end of the measuring wire, and can adopt a displacement sensor, a laser ranging device and the like. If one end of the measuring wire close to the tensioning assembly is provided with the baffle, when the bending angle is measured, the baffle moves towards the direction of the spring sleeve, and the displacement of the other end of the measuring wire can be obtained by measuring the distance difference between the two times of the baffle and the laser ranging device.

Referring to fig. 3, in one embodiment, a teflon protection tube 3 is further provided between the measuring wire 2 and the spring sleeve 1. The teflon protective tube 3 is intended to reduce wear between the measuring wire 2 and the spring sleeve 1. When the spring sleeve 1 is bent, the measuring wire 2 is tightly attached to the inner surface of the Teflon protective tube 3,

repeated tests of the inventor show that the displacement has a highly linear relationship with the bending angle to be measured. The relational expression of the two is as follows:

wherein, Delta l is the displacement amount,k is a proportionality coefficient for the bend angle. The principle of the device is described in the previous embodiment of the method, and the relation between the displacement of the measuring wire 2 and the bending angle is described in the previous paragraph, which is not described herein again.

In one embodiment, the bending angle acquiring mechanism has a housing, the displacement amount acquiring assembly, the tensioning assembly and the processing unit are all located in the housing, and the second end of the spring sleeve is connected with the outer wall of the housing. Referring to fig. 6, the tensioning assembly comprises rollers (including an upper roller 4-1 and a lower roller 4-2, the upper roller 4-1 and the lower roller 4-2 are an integral structure) and a tension spring 5, the rollers are rotatably mounted on a bottom wall 6 of the housing, and the other end of the measuring wire 2 is fixedly connected with the outer wall of the upper roller 4-1 and is wound on the periphery of the upper roller 4-1; the lower roller 4-2 is provided with a first bulge, and the bottom wall 6 of the shell is provided with a second bulge; one end of the tension spring 5 is connected with the first bulge, and the other end of the tension spring is connected with the second bulge.

With continued reference to fig. 6, the displacement amount acquiring unit includes: the magnetic steel 8 is fixedly arranged at the top end of the roller, the magnetic steel 8 is cylindrical, and the axis of the magnetic steel 8 is superposed with the axis of the roller; hall sensor 9 sets up the rotation angle that obtains the gyro wheel through magnet steel 8 at the 7 lower surfaces of roof of casing. The processing unit obtains the displacement of the measuring wire through the following formula:

Δl＝β×r

wherein, beta is the rotation angle of the roller, and r is the radius of the roller.

And then according to the linear relation, the bending angle value of the object is obtained.

In one embodiment, the bending angle acquiring mechanism is provided with a display screen, the display screen is connected with the processing unit, and the display screen is used for displaying the bending angle.

The device has simple structure and simple measuring mode. Because the bending angle and the displacement of the measuring wire are in a linear relation, the measuring device does not need complex signal processing, is convenient to calculate, has very simple structural design and manufacturing process and low cost, and can be applied to large-range bending angles and accumulated angles without measuring reference surfaces, such as joint angles, pipeline bending degrees and the like.

The device can measure radian and the accumulated angle of the cambered surface with irregular curvature change, for example, the bending degree of the soft robot can be measured.

Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.