Anti-collision monitoring device based on fiber bragg grating

Abstract

The invention belongs to the technical field of industrial robots, and specifically provides an anti-collision monitoring device based on fiber bragg grating. Through laying an optical fiber and a fiber grating sensor on a stainless steel ring, when an obstacle collides with the device, the stainless steel ring is deformed, and the fiber grating sensor can detect the deformation. With strain as amonitoring variable and a fiber bragg grating as a collision monitoring sensor, the device is sensitive in monitoring, fast in signal transmission, low in on-way loss, and resistant in electromagneticinterference. A robot can receive a braking signal at the moment of collision. Multiple collision buffering measures such as rubber sleeves and springs can effectively reduce impact force caused by the collision on the obstacle and a robot body. The device has low cost, is suitable for large-area promotion and application, and signal sensing and transmission adopt optical signals instead of electrical signals, and stability is higher, and damages to a robot host caused by leakage are prevented.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and in particular relates to an anti-collision monitoring device based on an optical fiber grating. Background technique [0002] With the development of computer and robot technology, the application of robots in all walks of life is becoming more and more common. Industrial robots represented by mechanical arms are replacing workers for full-scale automation. Generally, it is not suitable to set up obstacles that affect its work within the working radius of the robot, but sometimes due to the limitation of the working environment, when the robot must work in a small space or a space with obstacles (such as an automatic refueling robot), the corresponding collision monitoring and Protection measures are very necessary, but most of the existing robots emphasize avoiding collisions from the perspective of algorithms or early trajectory planning. This method of avoiding collisions is less...

AI Technical Summary

Problems solved by technology

Generally, it is not suitable to set up obstacles that affect its work within the working radius of the robot, but sometimes due to the limitation of the working environment, when the robot must work in a small space or a space with obstacles (such as an automatic refueling robot), the corresponding collision monitoring and Protection measures are very necessary, but most of the existing robots emphasize avoiding collisions from the perspective of algorithms or early trajectory planning. This method of avoiding collisions is less effective for some irregularly moving obstacles. Various sensors are arranged on the surface, such as infrared distance sensors, CCD industrial cameras, etc. On the one hand, the above-mentioned sensors are relatively expensive. If the speed is less than the moving speed of the obstacle, a collision will still occur, and since the surface of the manipulator is usually made of rigid material, the collision will cause great damage to the manipulator and the obstacle

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