Fiber Bragg grating force sense sensor, robot and sensing measurement method of robot

Abstract

The invention relates to a fiber Bragg grating force sense sensor, a robot and a sensing measurement method of the robot. The fiber Bragg grating force sense sensor comprises a body; at least one inscription groove and optical fibers arranged in the inscription grooves are arranged on the surface of the body; inscription is performed on the optical fibers according to preset fiber Bragg grating parameters, so that at least one fiber Bragg grating can be formed; when the body is deformed under the action of an external force, the change amount of the preset fiber Bragg grating parameters and the change of the center wavelength of the fiber Bragg gratings are obtained; and the change amount of a preset measurement coefficient can be obtained according to the obtained change amount of the preset fiber Bragg grating parameters and change of the center wavelength of the fiber Bragg gratings. Since the fiber Bragg grating force sense sensor of the invention is based on optical fiber sensing, the defect of high possibility of being subjected to electric interference and electromagnetic interference of a traditional sensor can be eliminated. The fiber Bragg grating force sense sensor has the advantages of heat resistance, corrosion resistance and radiation resistance of an optical fiber sensor, small size, high precision and wide measurement range, and can meet the requirements of the static and dynamic characteristics of the feet, fingers and the like of the robot and bear large enough impact load.

Description

technical field [0001] The invention relates to the field of sensors, and more particularly, to a fiber grating force sensor, a robot and a sensing measurement method thereof. Background technique [0002] The structure of nuclear power equipment is complex, the equipment itself or its operating environment is radioactive, and it also has the characteristics of underwater, high temperature, high pressure, etc. The use of robots for equipment maintenance, spent fuel transfer, radioactive waste disposal, and nuclear accident emergency treatment can greatly reduce the cost of nuclear power. Improve the maintenance level or accident handling efficiency of nuclear power plants, reduce the exposure dose and labor intensity of staff, and devote to developing products that are suitable for the nuclear radiation environment. Advanced and reliable nuclear power plant robots have always been the goal pursued by the nuclear industry. [0003] However, through the research on the develo...

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Problems solved by technology

[0003] However, through research on the development status of sensors at home and abroad and the particularity of the nuclear power environment, it is found that the sensors of nuclear power robots have the following disadvantages: the sensitive components use electrical signal output, which is easy to cause electrical and electromagnetic interference; there are many sensing units, electrodes, The lead wires are complex, which makes the sensor relatively bulky; the reliability and life of sensitive components, electrode circuits, and elastomer materials are greatly reduced in the special and complex environment of high temperature, high pressure, high corrosion, and high radiation nuclear power, and the particularity of the nuclear power working environment has led to the sensor It cannot be replaced in time after failure; and its structure cannot meet the requirements of small size, light weight and impact resistance of nuclear power robots

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