CN1898541B - Device and method for sensing and displaying convexo concave - Google Patents
Device and method for sensing and displaying convexo concave Download PDFInfo
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Abstract
A convexo concave amplifying device for exhibiting a convexo concave by amplifying a sense of a convexo concave of an object, comprising a sensing member and an exhibiting member. The sensing member (101) comprises a flexible sheet able to contact with the surface of the object and to deform along the surface of the object. The exhibiting member that is formed on a surface of the flexible sheet and has a deformation resistance smaller than that of the flexible sheet in at least one of directions orthogonal to a direction of thickness of the flexible sheet. With such construction, the object convexo concave can be amplified and exhibited. A deformation sensing device for sensing a deformation thereof comprising a capsule deformable by stress, a viscous fluid contained in the capsule, and a relative movement sensing member that is disposed inside of the capsule and senses a relative movement against the viscous fluid. With such construction, property of the object such as the convexo concave or the stress can be detected.
Description
Technical field
The present invention relates to the convex-concave amplifier and survey the method for convexo concave with it, this amplifier is used to survey the convexo concave such as the such object of surface of steel plate.And, the invention still further relates to deformation detecting device and survey the method for convexo concave with its, this deformation detecting device is used to survey the characteristic of object as sensor, as convexo concave and the stress that is applied to it.
And, the present invention relates to be used to show the convex-concave position display device and the convexo concave position display method of the convexo concave position of detecting.
Background technology
To survey the method, deformation detecting device of convexo concave and survey the method for convexo concave and the background technology of convexo concave position indicator and convexo concave position display method is illustrated to the convex-concave amplifier and with it below with it.
1, convex-concave amplifier and survey the method for convexo concave with it
In sense of touch substitute and artificial field in kind, a lot of researchs have been done in people's artificial sense of touch.For example, developed the sense of touch display device, be provided with test section and display part in its both sides.A kind of optical sensor that can read printed matter and touch sensor are as the test section.For the display part, adopted the method that shows artificial sense of touch by electro photoluminescence sense of touch acceptor.Therefore, this sense of touch display device can show the sensation of the imperceptible contact thing of user.
But the resolving power of test section and display part and sensitivity are not enough.And the sense of touch display device of using complicated electromechanical integration technology might cause fault because of complex structure, thereby need spend a lot of times and manpower to go maintenance.In addition, test section and display part are difficult to minification.
U.S. Patent No. 4657021 and 4793354 discloses and has been easy to detect or the device of the convexo concave of object sensing.This pick-up unit is-sense of touch enhancing pad that it is made up of two flexible sheets, has less amount of lubrication oil to be sealed in wherein in the middle of two diaphragms.When using sense of touch to strengthen pad, a diaphragm contact also is shelved on receptor surface, and another piece diaphragm contacts with finger, with the finger motion.
As a result, the motion of lubricating oil has reduced the influence that rubs between acceptor and finger tip, thereby the convexo concave of object can clearly be detected by the finger tip smooth motion.This sense of touch strengthens pad puts on market, and its title is " BSE (mammary gland self check) pad ", and it is by the self check aid of FDA (FDA (Food and Drug Adminstration)) approval as breast cancer.
In general, when inserting certain intermediate materials between body surface and the finger tip, the sense of touch of finger may dull.This sense of touch strengthens the convexo concave that pad need not complicated mechanical ﹠ electrical technology just can clearly detect object.But it is difficult to survey tiny convexo concave, thereby is unpractical as the instrument of extensively surveying the object convexo concave.In addition, though it is simple in structure, seal oil worries that lubricating oil leaks because of diaphragm breakage between two diaphragms.
In a lot of fields, the technology of surveying the object convexo concave all needs.In the convexo concave detection method, acceptor (body surface) is for example replied formula sensor (contact) with one of contact or is detected with image processing (contactless) method.But, preceding a kind of large tracts of land inspection that is not suitable for object.The back is a kind of to make the result of detection data discrete because of body surface has glazing agent and stain.In addition, these two kinds all need expensive equipment and debug time longer.
Therefore, in the strain of the steel plate manufacture process of reality was checked, during the strain in for example automobile making process was checked, the tradesman detected convexo concave with hand.But the industrial grade difference can draw different testing results.In addition, the workpeople needs just can acquire for a long time the skill that detects convexo concave.For this reason, need a kind of detection convexo concave method cheaply and easily.
2, deformation detecting device and survey the method for convexo concave with it
Many social concerns are arranged at present, as extremely low birth rate, aging and medical insurance problem.The following number of welfare relief service and infrastructure construction of supporting may become short.For this reason, the motion humanoid robot (humanoid) the same with the people with reaction needs in society.For harm people not, the humanoid robot need cover with the leatheret that soft material is made.In addition, leatheret need have the feeling function the same with people's skin, for example the sensory function that contacts with the characteristic of object and object.
In order to realize this function, developed artificial skin, will embed such as in the such flexible material of rubber such as strainometer or the such straining and sensing element of PVDF (Kynoar) sensor, and obtain to use.But, place this straining and sensing element of flexible material stress to concentrate and fragmentation because its elasticity and compliance are relatively poor.Straining and sensing element and flexible material may peel off, or the flexible material cracking.In addition, strainometer or PVDF sensor have its sensing range, are difficult to it is used in combination with flexible material.
As everyone knows, the tactile sensing diaphragm has been used a kind of pressure sensitive elastomer, its can feel the effect normal stress.But it can not sense and act on tangential stress (shear stress).
For example, Japanese unexamined patent bulletin H05-5397 discloses a kind of outer force measuring device of shield excavation machine, and it comprises load test section and pressure receiver sheet.One end of load test section is fixed on the base plate of convex portions, sticks strainometer on the load test section.The pressure receiver sheet is installed in the other end place of load test section.
Outside this in force measuring device, the external force that the pressure receiver sheet is accepted is delivered on the strainometer of load test section for measuring.But,, then might greatly strainometer be broken because of the distortion of load test section if the two ends of load test section all are fixed.For this reason, the structure applications of H05-5397 can not be overcome the fracture of strainometer in flexible material.The bigger distortion in load test section may exceed the sensing range of strainometer.
3, convexo concave position indicator and convexo concave position display method
As mentioned above, in actual manufacture process, when the tradesman detects lip-deep convexo concave, need a kind of short-cut method that detects convexo concave and find the convexo concave position.
Just show the surface information of inspected object by means of several sensors, as cannot see the result of convexo concave on the surface of steel plate, that show usually is result (referring to Japanese unexamined patent bulletin 2001-153811) by the image processing of the detected surface information of detecting element.
But in order to show that the position that this detecting element records need be waited and measure by means of magnetic sensor, passive type connected system, CCD gamma camera by the locating of the measured surface information place of detecting element.Therefore, it is bigger that pick-up unit becomes, and needs big installing space, and be difficult to transportation.
As without development, can adopt sounding to show the information that the predetermined condition lower sensor records, but when object surfaces is done extensively to survey as time passes, the position of the detection when being difficult to find out sounding.
Summary of the invention
1, convex-concave amplifier and survey the method for convexo concave with its
Consider above-mentioned situation, the present invention aims to provide the convex-concave amplifier, and it is simple in structure, and can show convexo concave by the sense of object convexo concave is amplified.It also provides the convexo concave detection method of the convexo concave that uses this convex-concave amplifier inspected object.
Convex-concave amplifier of the present invention shows convexo concave by the sense of object convexo concave is amplified. the convex-concave amplifier comprises: sensing element and display element, sensing element is a flexible membrane, it can contact and paste the body surface distortion with body surface, and display element is formed on the surface of this flexible membrane, and at least one direction vertical with the thickness of flexible membrane, its resistance to deformation power is less than the resistance to deformation power of flexible membrane.
According to this configuration, this convex-concave amplifier shows convexo concave by its display element with correct amplification of the situation of the object convexo concave of diaphragm sensing.Because do not adopt complicated mechanical ﹠ electrical technology, thereby this convex-concave amplifier architecture is simple, it includes only sensing element and display element, thereby is difficult to take place fracture or damaged, cost is also low.
Display element preferably includes a plurality of apart from one another by opening and be formed on the lip-deep projection of flexible membrane.According to this configuration, display element shows convexo concave by the sense data of amplifying convexo concave effectively.The tablet that projection is preferably parallel, or press the right cylinder that predetermined space is arranged.Projection along with the resistance to deformation power of the direction of flexible membrane thickness direction quadrature preferably less than the resistance to deformation power of this flexible membrane.
The convexo concave detection method of the present invention that is used for the convexo concave of inspected object, comprise the technology of using the convex-concave amplifier, this convex-concave amplifier comprises: sensing element and display element, sensing element is a flexible membrane, and display element is formed on the surface of this flexible membrane, and its along with at least one direction of this flexible membrane thickness direction quadrature on resistance to deformation power less than the resistance to deformation power of flexible membrane.
This technology comprises contact procedure and detects step, in contact procedure, sensing element contacts with body surface, and the flexible membrane of sensing element deforms along body surface, and in detecting step, detect by the deformation that display element is produced in contact procedure, and can detect convexo concave.
According to this convexo concave detection method, in contact procedure and detection steps, by to convexo concave sense amplify and can detect convexo concave easily.Because the deformation of display element is along detecting under the situation of body surface generation deformation, so can correctly show the amplification message of convexo concave at detecting element.
In the technology of convexo concave detection method, contact procedure is by being pressed on the body surface with flexible membrane, and the process that flexible membrane deforms along body surface, wherein body surface comprises having flexible surface portion and by this surface portion convexconcave part that cover, that have convexo concave.And detection steps is to survey the convexo concave of convexconcave part.Comprise have convexconcave part that flexible surface portion and having comprised by surface portion with convexo concave with and the surface on the object of convexo concave is arranged, be to be close to flexible membrane on the body surface and this flexible membrane is deformed along body surface in contact procedure to their detection.
The convex-concave amplifier that contacts with body surface is preferably in the contact procedure and slides, thereby draws the deformation values of time dependent display element, and the variation of time dependent display element deformation values is preferably experienced by sense of touch in detection steps.According to above-mentioned technology, owing to the deformation of display element can be awared by sense of touch, so the reviewer can discern convexo concave observantly.
2, deformation detecting device and use the method that its surveys convexo concave
Consider the situation of above-mentioned background technology, the present invention aims to provide such deformation detecting device, and its simple in structure and deformation also can prevent fracture when big.The present invention also provides a kind of convexo concave detection method, and it uses the convexo concave that deformation detecting device is surveyed object.
The deformation detecting device that the present invention detects distortion comprises: flexible bellows when stressed; Be contained in the viscous fluid in this bellows; With place this bellows inboard, can detect the relative motion detecting element of viscous fluid relative motion.
The relative motion detecting element preferably protrudes to the inside from the bellows inside surface.Because the relative motion detecting element detects relative motion between bellows and the viscous fluid according to the distortion of the bellows that is taken place, so the distortion of bellows is not directly passed to the relative motion detecting element.Even if because bigger distortion takes place bellows, the relative motion detecting element also is difficult to distortion, so the relative motion detecting element is not easy to break.
Deformation detecting device of the present invention can also be measured tangential force except measuring the normal force.Feature such as convexo concave and texture etc. all can sense.The relative motion detecting element preferably includes the deformation detecting element, and deformation detecting element preferably strainometer or PCDF sensor.The relative motion detecting element preferably includes the plate object that is produced distortion by the motion of viscous fluid, and the deformation detecting element preferably is placed on this plate object.
Because the relative motion detecting element is difficult to have than large deformation, so, also can prevent to destroy and take place even shape becomes detecting element to be arranged on the plate object.
The convexo concave detection method of detection object convexo concave of the present invention comprises the method for using deformation detecting device, and this deformation detecting device comprises: in viscous fluid and bellows that can stress deformation are housed; Be arranged in this bellows and can detect the detecting element of viscous fluid relative motion, this method is included in when deformation detecting device contacts with body surface and makes this deformation detecting device and object make the step of relative motion.
According to the convexo concave detection method of using deformation detecting device, deformation detecting device has the place of convexo concave to be out of shape at body surface, and deformation detecting device generation slip that contacts with body surface simultaneously and deformation detecting device and object are done relative motion.Like this, deformation detecting device is just measured the distortion and the convexo concave of bellows.
3, convex-concave position indicator and convex-concave position display method
Consider the above-mentioned background technical situation, the present invention's plan provides the convex-concave position indicator, and this display device structure is simple and can demonstrate the position that measures convex-concave, and the convex-concave position display method of using this display is provided.
Convex-concave position indicator of the present invention comprises surveys display element and control element.Survey display element and comprise hand probe portion and display part, probe portion has many deformation detecting devices, but inspected object convex-concave and the distortion that causes, and the display part is positioned at the probe portion opposite and many optical transmitting sets are arranged.The control element of control optical transmitting set is luminous according to the deformation detecting device testing result.
According to convex-concave position indicator of the present invention, the invisible convexo concave of naked eyes can be identified on body surface by the light of optical transmitting set emission.Its simple structure comprises surveys display element and control element.Because the display part is positioned at the probe portion opposite, therefore do not need to measure the position of deformation detecting device.
Surveying display element is the bag shape that can be worn on hand, and its probe portion can be in the operation of palm of the hand side, and operate in dorsal side the display part, and bag shape is surveyed display element and is fit to be worn on hand, and processing ease is easy to carry.
Convex-concave position display method of the present invention can be used for showing the position of object convex-concave, and this method comprises: the relative motion step, and promptly under deformation detecting device and situation that body surface contacts, this deformation detecting device and object are done relative motion; Detect step, promptly convexo concave is surveyed in its caused distortion by this deformation detecting device inspected object convexo concave; And step display, promptly according to the luminous time dependent convex-concave position of detecting in the step that shows of measurement result.
According to convex-concave position display method of the present invention, launch the position of the convex-concave that is invisible to the naked eye on the easy recognition object surface by the light of optical transmitting set.Because the convex-concave position is that to measure the result in the step luminous and change in time and show according to detecting, therefore the relative motion between deformation detecting device and the object can be done the large tracts of land inspection to object in the relative motion step.
The deformation detecting device that contacts with body surface preferably slides in the relative motion step.Even convex-concave position display device on body surface with high-speed slide, described a plurality of optical transmitting sets also can be one by one measure on the deformation position luminous.Owing to the residual reflection of the convex-concave position of measuring as light is retained on the retina, so this position can be identified on body surface exactly.
Step display is preferably and has the luminous step that shows body surface convex-concave position on the position of convex-concave.The convex-concave position by have on the position of convex-concave luminous and can be correctly validated.
Description of drawings
The retractility that Fig. 1 (a) occurs when traditional diaphragm contactant body convex surface is shown (expand and shrink), the retractility that 1 (b) occurs when traditional diaphragm contactant body concave surface is shown;
Fig. 2 illustrates the deformation of convex-concave amplifier contact plane of the present invention (dotting) and inclined-plane detecting element and display element when (representing with solid line);
Fig. 3 (I) be among Fig. 3 (II) along the amplification view of V-V` line, and Fig. 3 (II) is along the amplification view of W-W` line among Fig. 3 (I);
Fig. 4 is a skeleton view, and an example of deformation detecting device of the present invention is shown;
Fig. 5 (A)-(D) is a skeleton view, and the concrete relative motion detecting element of deformation detecting device is shown;
Fig. 6 (I)-(III) illustrates deformation detecting device and is subjected to Wb and does its deformation of time spent over time to shearing force;
Fig. 7 (I)-(III) illustrates deformation detecting device and is subjected to We and does its deformation of time spent over time to shearing force;
Fig. 8 illustrates the shear stress that acts on deformation detecting device and time relation curve map (last figure) and shear stress viscosity resistance and time relation curve map (figure below) on deformation detecting device the time;
When the deformation detecting device that Fig. 9 illustrates Fig. 4 is crossed the object detection convex-concave, deformation and time relation curve map (upper, middle and lower figure);
Figure 10 is a planimetric map, illustrates from dorsal side (left figure) and an example of convex-concave position indicator of the present invention during from palm of the hand side (right figure);
Figure 11 is a key diagram, and convex-concave position display method when using the convex-concave position indicator is shown;
Figure 12 is a schematic diagram, and the whole convex-concave amplifier of first embodiment is shown;
Figure 13 is the plane enlarged drawing of the convex-concave amplifier of Figure 12;
Figure 14 is the cross-sectional view along the X-X` line of Figure 13;
Figure 15 partly illustrates the mode that the convex-concave amplifier of using first embodiment is surveyed the object convexo concave;
Figure 16 is the skeleton view of the deformation detecting device of second embodiment;
Figure 17 (last figure) is the viewgraph of cross-section along the Z-Z` line of Figure 16, and figure below is the viewgraph of cross-section along the Y-Y` line of Figure 16;
Figure 18 is a key diagram, and the used control system of deformation detecting device of second embodiment is described;
Figure 19 is a key diagram, and first and second detection modes that detect test are shown;
Figure 20 is strain and the time relation curve map in the strainometer during with first detection mode, and
Figure 21 is strain and the time relation curve map in the strainometer during with second detection mode.
Embodiment
Below the preferred forms of convex-concave amplifier of the present invention and convexo concave display packing will be described with Fig. 1-3.Equally, detect the preferred forms of the method for convexo concave with Fig. 4-9 explanation deformation detecting device of the present invention and this deformation detecting device of use.
The preferred forms of convex-concave position indicators of the present invention and convex-concave position display method is described with Figure 10 and 11 in addition.
1. convex-concave amplifier and use the method that its surveys convexo concave
Convex-concave amplifier of the present invention comes the convexo concave of inspected object by means of amplifying explicit representation, when the diaphragm with constant composition and thickness during with one surface (as lower surface) contactant surface, just diaphragm is along the convex-concave distortion or the deflection of object.During deflection, stretching and shrinking appears in the diaphragm upper and lower surface.Specifically, as shown in Figure 1, when diaphragm 110 mechanically adapted to the convex surface of (contact) object, its upper surface 110u stretched and lower surface 110d contraction (referring to Fig. 1 (a)).When diaphragm 110 mechanically contacts concave surface, situation opposite (referring to Fig. 1 (b)).
In two kinds of situations, centre in the diaphragm 110 or neutral surface M do not stretch yet and do not shrink.When the upper surface of diaphragm away from mid-plane M, promptly during the diaphragm thickness thickening, the extend/retract amount of diaphragm upper surface also becomes big.Therefore, in order to be presented at the convexo concave of measuring on the upper surface with amplification method, diaphragm thickness is wished thickening, and the diaphragm upper surface deflection is strengthened.
But in the constant common diaphragm of isotropy and thickness, during the diaphragm thickening, flexible decline (bending stiffness and thickness cube be directly proportional).For this reason, its lower surface be difficult to the body surface Mechanical Contact than the thick film sheet convexo concave of inspected object accurately.If adopt the diaphragm of low elastic modulus, then it just can be compressed on thickness direction by adding extruding force.Like this, lower surface measures convexo concave and is difficult to pass to upper surface.
In view of the foregoing, convex-concave amplifier of the present invention comprises sensing element and display element.Sensing element comprises and can contact with body surface and along the flexible membrane of body surface distortion.Display element is formed on the flexible membrane surface.Display element is along the resistance to deformation power of at least one direction of flexible membrane and thickness orthogonal directions (direction of extension) the resistance to deformation power less than this flexible membrane.
When the sensing element that constitutes the convex-concave amplifier during with one surface (hereinafter to be referred as " lower surface of sensing element ") Mechanical Contact object, because its compliance, thereby it can be close to body surface and produce distortion.Display element on another surface of sensing element (hereinafter to be referred as " upper surface of sensing element ") also is out of shape.
On at least one direction of direction of extension, the resistance to deformation power of display element is less than the resistance to deformation power of detecting element on equidirectional.Therefore, even when the thickness of convex-concave amplifier is generally speaking very big, the flexible of pick-up unit can not reduce.Therefore, display element can show the detected object convexo concave by amplification effectively.Below specify its principle.
In Fig. 2, the convex-concave amplifier of two-dimensional space is shown.It comprises sensing element 111; And be formed on display element 121 on the sensing element 111.Display element 121 is less along the resistance to deformation power of the expansion direction of sensing element 111.Display element 121 comprises a plurality of needle-like projectioies 126, and these projectioies 126 are stretched out and equidistantly distributed along expansion direction (among Fig. 2 laterally) along thickness direction (above-below direction of Fig. 2).In other words, display element 121 along horizontal resistance to deformation power less than sensing element 111 along equidirectional resistance to deformation power.
Among Fig. 2, be placed on flat (standard) lip-deep convex-concave amplifier and dot, and represent with solid line when being placed on inclined-plane (inclination angle [theta]).When the convex-concave amplifier is placed on the inclined-plane, the projection 126 of display element 121 along the normal direction of standard flat with tangentially deform or tilt.
Suppose that sensing element 111 has the thickness of neutral surface M and sensing element 111 minimum, then projection 126 tangentially distortion or the product of the thickness T of the inclination angle [theta] of inclination and inclined-plane Ob and convex-concave amplifier be directly proportional.At this, thickness T is the length sum of sensing element 111 thickness and projection 126.Projection 126 inclinations along normal direction equal the height H of inclined-plane Ob.
In a word, because convex-concave amplifier of the present invention comprises sensing element and display element, thereby thicker or long display element can accurately amplify the detected object convexo concave of sensing element and show.
In convex-concave amplifier of the present invention, display element along the resistance to deformation power at least one direction of expansion direction less than sensing element along equidirectional resistance to deformation power, do not have to take place the position of flexible median surface M away from the display element surface.For this reason, the detected object convexo concave of sensing element can be amplified effectively by its surperficial display element.
In addition, because said structure, so even if thickness from median surface M to the display element surface or length are chosen higher value, the flexible of sensing element can not reduce yet, and the amplification effect of display element is better.
Because sensing element thickness is selected smaller value for use, and display element length is selected higher value for use, so the convex-concave amplifier that obtains is suitable for inspected object convexo concave effectively, amplification also shows the convexo concave that is measured.For example, the ratio of sensing element thickness and display element can the scope between from 1: 10 to 1: 100 in.
(i) sensing element
In convex-concave amplifier of the present invention, sensing element has flexible, thereby pasting (along with) the body surface distortion, this is because the following and body surface of sensing element contacts, or is pressed against on the body surface.The preferred elastic modulus of sensing element is 500-3000MPa, and 1500-2500MPa more preferably.In order to realize this elastic modulus, the sensing element usable resins, make as polyethylene terephthalate (PET), polyacetal or polycarbonate.The preferred thickness of sensing element is 0.05-0.5mm according to its elastic modulus.
The convex-concave amplifier that the elastic modulus of sensing element and thickness are chosen by above-mentioned scope can touch body surface easily at the one surface place and deform.Therefore, this convex-concave amplifier can be effectively applied to the convexo concave of inspected object.Because sensing element is in the stretching, extension of thickness direction and shrink lessly, so sensing element can be with the three-dimensional information of object convexo concave as the information transmission at thickness direction.
When selecting the material of sensing element, the friction between its lower surface and the body surface should consider that rubbing little is favourable (explaining later on) to convex-concave amplifier level and smooth moving on body surface.If the friction of sensing element material increases.Then can increase an antifriction but do not reduce the flexible other element of sensing element at the sensing element lower surface.For the element that adds like this, can adopt material film different or strip with sensing element.
(ii) display element
The display element formation sensing element of convex-concave amplifier of the present invention and relative another surface (as upper surface), a surface (as lower surface) of object contact, it can form one with sensing element.
Display element along with the resistance to deformation power of at least one direction of flexible membrane thickness direction quadrature resistance to deformation power less than flexible membrane.Preferably, the material selected for use of display element and the shape resistance to deformation power that do not reduce sensing element.When the surface of display element when convex-concave amplifier thickness direction compresses, display element should not have can produce flexible rigidity.
Preferably, adopt resistance to deformation power because of the material of the different anisotropic material of deformation direction as display element.Reinforced fiber plastics and high functional resin are examples.Except single layer structure (the convex-concave amplifier is the double structure of sensing element and display element), display element can have sandwich construction.In such display element, can adopt resistance to deformation power sandwich construction different on direction and size with sensing element.Simultaneously, the direction of resistance to deformation power and big I gradually change to another surface from a surface.In such cases, preferably select the positive less display element of resistance to deformation power for use.
Display element can be made with expanded material, and the tablet for having porous.In convex-concave amplifier shown in Figure 3, display element is by having the diaphragm of porous to constitute along its thickness direction.The convex-concave amplifier comprises sensing element 113 and the display element that is made of diaphragm.They are made of one with resin material.A plurality of vertical blind holes 103 are arranged on the display element 130, and these blind holes 103 Surface Vertical are from it extended.
Upright opening 103 make display element 130 along the resistance to deformation power of sensing element expansion direction less than sensing element 113 along equidirectional resistance to deformation power.Sensing element of making respectively 113 and display element 130 can be formed one each other.The direction in hole can be made with the sensing element thickness direction angled.
Display element preferably includes a plurality of projectioies, they are apart from one another by opening, and being formed on the surface of flexible membrane. display element preferably has rigidity, in protruding end during (surface of display element) pressurized, can not stretch along its length direction, and can keep the projection and the angle of sensing element constant. under projection tilts the situation of a predetermined angular, the end of the projection scheduled volume that moves or drift about, thus the object convex-concave degree that sensing element is measured is exaggerated and shows.
The preferred elastic modulus of projection is 1500-5000MPa, and 2000-4000MPa more preferably.In order to realize the elastic modulus of such numerical value, projection is available such as the such resin of polyethylene terephthalate, polyacetal, polycarbonate and propylene and such as the metal manufacturing of aluminium etc.There is the projection of this elastic modulus can not reduce the resistance to deformation power of sensing element.
The shape of projection without limits.Taper shape and pyramid, cylindrical and column shape, plate shaped and plucking shape (napping shape) all can show the amplification effect of convex-concave.The end of projection can be a pointed shape, flat-top shape and shaped form.When projection was taper or column shape, its end is semisphere preferably.
The arrangement of projection is also unrestricted.Projection can random alignment, arranges but preferably press preset space length in 2 dimensional region.Because the shape and size of projection are, spacing is preferably 0.5-2.0mm.Projection can locating the place, point of crossing, and can be parallel to each other or cross one another.For example, in the projection that constitutes by a plurality of plate objects parallel to each other, along the sensing element expansion direction and can make very little with the resistance to deformation power of the direction of bump array direction quadrature.
Constitute the projection of arrangement by a plurality of columns by preset space length, this resistance to deformation power along the sensing element expansion direction is diminished.
A plurality of projectioies preferably are arranged in and make that the sensing of its end is parallel.In this arrangement, all projectioies are identical with respect to the displacement of object convexo concave, thereby convexo concave is amplified.For example, when a plurality of projectioies were made of the column that extends along the sensing element thickness direction, even if its end capacity compression also is difficult to take place flexible, so display element surface (ends of many projectioies) can accurately amplify, and show the convexo concave of object.
When the thickness of convex-concave amplifier became big, promptly when protruding when elongated, amplification effect strengthened.For this reason, the length of projection is preferably selected longly, does not occur flexible when needing only use.Because material and shape relation, projection length preferably is not less than 2.5mm, and 3-6mm more preferably.Column shape and conical projection be at the diameter of it and sensing element connecting portion office 1-1.5mm preferably, has the projection of this diameter can not reduce the resistance to deformation power of sensing element.
Select the material and the thickness of sensing element and display element, select the shape of display element, can both change the resistance to deformation power of display element.Material, thickness and shape are chosen according to quality (sharpness of convexo concave) and purposes.And, various compaction materials are filled in the hollow space (as the upright opening 103 of Fig. 3) and the space between the display element adjacent protrusion in hole the resistance to deformation power of scalable display element.
Sensing element and the display element of making can couple together separately, or with a same material sensing element and display element is made of one.Under latter event, elastic modulus is preferably 1500-3000MPa, and 2400-2500MPa more preferably.In order to make sensing element and display element, can adopt the various manufacturing process of using mould and stereolithography art.
Display element preferably has the strain-Sensing device of the distortion can surveyed.For example, strainometer is an example, and electric resistance wire strain gauge can convert the physical deformation of display element to electric signal.The strain-Sensing device that detects the display element surface deformation can amplify because the convexo concave of object is shown element surface with the convexo concave of degree of precision inspected object, and strain-Sensing device can be placed in and can detect the display element distortion Anywhere.
(iii) convexo concave detection method
Secondly, the method for being surveyed convexo concave by convex-concave amplifier of the present invention is described.
Convexo concave detection method of the present invention comprises contact procedure and detects step.In contact procedure, sensing element contacts with body surface, and the flexible membrane of sensing element is out of shape along body surface.In detecting step, measure the deformation of the display element that obtains in the contact procedure, thereby detect convexo concave.
Partly make an explanation above, being formed on display element on the sensing element touch the object convexo concave that sensing element detects and is out of shape. and the distortion of display element and object surface shape are (flat or oblique, referring to Fig. 2) unanimity. under sensing element and situation that the object convexo concave contacts, the deformation that detects display element can be measured the convexo concave of object.
Convexo concave detection method of the present invention also can be measured the convexo concave and its surface portion of covering of the interior of articles of convexconcave part.In contact procedure, the sensing element of convex-concave amplifier is attached on the object, and is out of shape along body surface.In detecting step, the convex-concave amplifier can be measured the convexo concave of convexconcave part.Therefore, this convex-concave detection method can measure flexible material, as entering tiny foreign object below the diaphragm and the lump in the skin.
To the measurement of display element distortion without limits.But in contact procedure, the convex-concave amplifier that contacts with body surface slides, thereby obtains the deformation values of display element as time passes.In detecting step, the display element distortion is detected by sense of touch over time.Hereinafter explanation is by the detection method of sense of touch.
Tactile human body skin comprises three layers of different pliabilitys, and their orderings from outside to inside are: epidermis, corium and hypodermis.Do not become mildewed in human body skin inside and to send out, four sensory receptor officials (corpusculum tactus (Meissner ' s corpuscle), the little receptor body of Mei Keer are arranged, corpuscula lamellosa and Lu Feini tip).They convert the deformation information of skin to electric pulse, then electric pulse are passed to central nervous system, produce dermal sensation.
These sensory receptors official is positioned at different depth place under the epidermis, it is characterized in that the size and the speed-adaptive in impression (the exteroceptive zone of receptor).In four sensory receptor officials, being positioned at the borderline corpusculum tactus of epidermis and corium has higher three-dimensional resolving power, because the impression field is narrower, thereby can fast adaptation.When the palm of the hand or finger touched the body surface that pastes mutually, it helped to distinguish the caused sensory stimuli of object convexo concave.Therefore, can detect the position and the shape of convex-concave.When convex-concave amplifier of the present invention was used for the convexo concave of inspected object, the stimulation amplification that will reach corpusculum tactus was effective.
When the convexo concave of recognition object, as time passes corpusculum tactus produce corresponding with the variation of distortion rather than with the corresponding electric pulse of distortion absolute value.As everyone knows, by the structure analysis to corpusculum tactus, the variable of the shear strain of Gai Bianing is the suitable stimulation of corpusculum tactus in time.
In contact procedure, by means of tactile to Mechanical Contact, as the skin of the palm of the hand, the convex-concave amplifier is pressed on the body surface.The convex-concave amplifier slides on body surface with hand, so the tangential and normal direction displacement on display element surface changes.In this contact procedure, the corpusculum tactus of skin is passed in the variation that acts on the tangential displacement on the skin, as the shear strain variable of corpusculum tactus stimulation.
As the top explanation, because the tangential displacement or the inclination on display element surface are directly proportional with body surface inclination angle and convex-concave amplifier thickness, therefore, it has passed to corpusculum tactus after being shown the leement duration amplification.For this reason, when by sense of touch inspected object convexo concave, the convex-concave amplifier slip that will contact with the object convexo concave with hand is desirable.
When the display element of convex-concave amplifier has projection, be easy to produce time dependent shear strain variable in the skin.This strain variable is caused by protruding end tangential displacement variable.This is because the tangential displacement of peptizaiton in each protruding end is easy to generate shear strain.The tangential displacement of measuring is consistent with object convex-concave height.The time dependent information of displacement is converted into the variation of corpusculum tactus shear strain.
For above-mentioned reasons, according to convexo concave detection method of the present invention, the shape of object (gradient with height) can be amplified, and is converted to the variation of the shear strain at corpusculum tactus place by the variation of the display element surface location of convex-concave amplifier.
In addition, according to this convexo concave detection method, the palms of the hand etc. slide at body surface by the convexo concave amplifier, this amplifier sensing element lower surface friction is little. therefore, friction between sensing element and the body surface reduces, thereby prevented generation stick-slip vibration, the stick-slip vibration may make feels insensitive. that reduces the friction that becomes noise and reduce that the contact stimulus that is caused by vibration can make convexo concave feels more clear. and there is the end of the display element of a plurality of projectioies to help to prevent between convex-concave amplifier and skin, slippage phenomenon to take place.
Can be applicable to the surface check that damages on automobile and the shipbuilding light plate surface by the convexo concave detection method of sense of touch.Traditionally, move its palm of the hand by the tradesman along surface of steel plate and carry out the surface check.Be used for the convex-concave amplifier of the convexo concave method of inspection because it is simple in structure, thereby it is of portable form.On-site, work gloves is a necessity, and the convex-concave amplifier can be embedded in the work gloves.Therefore, enlarged the purposes of convex-concave amplifier.
Convex-concave amplifier of the present invention and convexo concave detection method can be used for training the beginner in surface check post work.In traditional training, the beginner should constantly explore body surface, till their table of discovery facial disfigurement, even look like smooth.Convex-concave amplifier of the present invention and convexo concave detection method can detect minimum surperficial convex-concave, thereby can acquire the convex-concave position on relevant surface, the experience of size and shape (sharp sensation).
The experience that application is acquired is done the surface check, just can the less convexo concave of inspected object by the convex-concave amplifier.Therefore, the result of training of training workman's sense of touch ability is improved.Thereby improve surface detection technique by convex-concave amplifier of the present invention and succeed.
As what partly be described, convex-concave amplifier of the present invention is by changing the Adjustable structure joint convex-concave magnification of material thickness and display element.The beginner can enhancement training efficient by selecting different types of convex-concave amplifier for use according to the training grade.In the check of the surface of automobile making, variety classes has the convex-concave amplifier of different magnifications to can be applicable to every kind of automobile, and therefore, test stone can be transferred to the kind of automobile and be consistent.
2, deformation detecting device and use the method that its surveys convexo concave
Deformation detecting device of the present invention comprises bellows, viscous fluid and relative motion sensing element.Bellows is out of shape under stress, and viscous fluid is installed in the bellows.The relative motion sensing element places bellows inside, and can detect the relative motion of viscous fluid.Fig. 4 is a skeleton view, and deformation detecting device one example is shown.The bellows 1 and the relative motion sensing element 2 that is positioned at bellows 1 of viscous fluid F in having, deformation detecting device are housed.
This bellows is made by flexible various materials when the stress application, will illustrate later on.Bellows 1 shown in Figure 4 is a cube, but also can adopt can in the dress viscous fluid other different shape, for example polyhedron and spheroid are exactly example.In addition, bellows is porose at its part place.
Be positioned at relative motion sensing element on the bellows inside surface can detect the viscous fluid that occurs when bellows is out of shape motion.The relative motion sensing element can be measured with bellows and be out of shape corresponding viscous fluid flow.Therefore, the distortion of bellows is surveyed the sensing unit detection by relative motion.Even the relative motion sensing element has the motion corresponding to the bellows distortion, it also can detect the distortion of bellows, as long as between relative motion sensing element and the viscous fluid relative motion is arranged.
The relative motion sensing element has the multiple structure of energy sensing motion of viscous.The relative motion sensing element preferably protrudes inwards from the bellows inside surface, and has the straining and sensing device, as strainometer or PVDF sensor.Have the relative motion sensing element because of the crooked tabular body of motion of viscous, its application can detect the motion of viscous fluid effectively.At this, when bellows was out of shape, plate object produced the viscosity resistance bending because of the motion of viscous fluid.Even if plate object moves because of the bellows distortion, it still is subjected to the viscosity resistance from viscous fluid.
The straining and sensing device preferably is attached on the plate object, preferably be attached to the position that this plate object deforms easily. specifically, as shown in Figure 4, the plate object 22 of bar shaped is fixed to a wall of bellows at one end place. and the straining and sensing device is attached to the root of this plate object 22, Fig. 5 A-5D illustrates other deformation detecting devices. at Fig. 5 A, among 5B and the 5D, round bar 23a, 23b, 23d gathers on capsule wall and it has bigger rigidity, not crooked because of the motion of viscous fluid, and plate object 22a, 22b, 22d is fixed on the round bar and interosculates. in Fig. 5 C and 5D, plate object gathers on capsule wall and the zone of the viscosity resistance accepted is arranged. particularly two plate object 22b and 22b ' right-angled intersection mutually among Fig. 5, thereby can detect the distortion of all directions.
Plate object can be made of flexible member, and its elastic modulus is 1000-4000Mpa, according to deflection to be measured and different.The flexible of plate object can be by elastic modulus, sectional area, length adjustment.Therefore, can select the sensitivity of deformation detecting device suitably.Choose suitable with straining and sensing device sensing range the most appropriate flexiblely, make the straining and sensing device can show the highest resolving power.
In embodiment shown in Figure 4, have only a relative motion sensing element 2 to be fixed on the wall of bellows 1.But can there be a plurality of relative motion sensing elements to be fixed on one or more walls.A plurality of relative motion sensing elements can be fixed on the wall, make the tabular object can be along equidirectional or different directions is crooked.Under latter event, can detect multidirectional wall distortion.
Viscous fluid flows with the bellows distortion, and its motion is detected by the relative motion sensing element.Therefore, it is just much of that the viscous fluid maintenance is contacted with at least a portion bellows or a part of deformation detecting device, even bubble or hole are arranged in the bellows, serious problems can not appear, viscous fluid is high viscosity fluid preferably, and as silicone oil, its viscosity with temperature changes little.The kinematic viscosity of viscous fluid is 1 * 10
4-1 * 10
7Mm
2/ second, and can change deformation extent to be measured.
Bellows is by having various made flexible and/or retractility (elasticity).The elasticity of bellows preferably when the variation of the shear stress that detects on deformation detecting device, produces distortion under shear stress.When detecting normal force, bellows has flexiblely preferably is out of shape along normal direction.When the inspected object convexo concave, bellows has flexiblely preferably is attached on the body surface.
Below referring to Fig. 6 and 7 their operations of explanation.Fig. 6 (I) and 7 (I) illustrate the xsect of deformation detecting device shown in Figure 4.Relative motion sensing element 2 detects moving along the mobile viscous fluid of left and right directions.The last figure of Fig. 8 is when acting on shearing stress on the deformation detecting device, distortion of bellows 1 (shear strain) and time relation curve map.Figure below is when acting on shearing stress on the deformation detecting device, viscosity resistance and time relation curve map that relative motion sensing element 2 is suffered.(I) of two figure, (II), (III) three parts correspond respectively to Fig. 6 (I), 6 (II) and 6 (III) and Fig. 7 (I), 7 (II) and 7 (III).Do the time spent when bellows 1 is subjected to shear stress, deformation detecting device at first is deformed to state shown in Fig. 6 (II) and 7 (II), is deformed to state shown in Fig. 6 (III) and 7 (III) then.
Shown in Fig. 6 (I), the effect of deformation detecting device upper and lower surface along the shear stress of direction of arrow Wb, makes bellows 1 be deformed to state shown in Fig. 6 (II).The viscous fluid F that flows with bellows 1 distortion applies viscosity resistance in relative motion sensing element 2 along arrow R1 direction.Relative motion sensing element 2 is crooked under the viscosity resistance effect, shown in Fig. 6 (II) dotted line, thereby detects the motion of viscous fluid F.The value of viscosity resistance decay as time passes and gradually (referring to Fig. 6 (III)).
Shown in Fig. 7 (I), acting on the two sides of deformation detecting device along arrow We to shear stress, make bellows 1 be deformed to state shown in Fig. 7 (II).At this moment viscous fluid F will along arrow R2 to viscosity resistance affact with the distortion of bellows 1 at the relative motion sensing element 2 of bellows medium dip.Therefore, after the viscosity resistance effect that is subjected to being caused by the viscous fluid relative motion, relative motion sensing element 2 bends, shown in dotted line among Fig. 7 (II).The viscosity resistance size is passed and decay (referring to Fig. 7 (III)) gradually in time.
In the deformation detecting device that detects shear stress, bellows is preferably used rubber-like made at least.Its elastic modulus is 0.02-2000Mpa, according to purposes and deformation extent to be measured and different.When bellows was used as the skin of robot, elastic modulus is 0.02-0.3Mpa preferably.
Fig. 9 is an explanatory, the xsect of the relative motion sensing element of Fig. 4 is shown. in Fig. 9, it detects the motion of the mobile viscous fluid of left and right directions. in deformation detecting device contactant surface, this deformation detecting device and object are done relative motion. As time goes on, the shape of bellows 1 constantly adapts to body surface. especially, the sort of deformation detecting device that bellows 1 wherein has flexible membrane is to be fit to needs. by the slip of deformation detecting device, flexible membrane 11 is affixed on the body surface that comprises projection Oc, thus but the convexo concave of inspected object O.
In the original state shown in the last figure of Fig. 9, deformation detecting device is placed on the plane.Then, deformation detecting device is pasting the surface of object O at a predetermined velocity and is sliding to the right towards convex portion Oc, and shown in middle figure, 2 run-off the straights of relative motion sensing element are with the tangent line quadrature of projection Oc, shown in middle figure and figure below.Viscous fluid F applies viscosity resistance in relative motion sensing element 2, and the direction of power is shown in arrow R3, R4.After being subjected to the viscosity resistance effect, the relative motion sensing element is by bending shown in the dotted line in middle figure and figure below, thereby detects the motion of viscous fluid.
The flexible membrane that contacts with body surface during use preferably has flexible (flexibility), can paste the bending of object table shape, and the elastic modulus of this flexible membrane is preferably 1000-3000Mpa, and becomes with its thickness.In order to obtain the elastic modulus of this scope, can adopt resin material, as polyethylene terephthalate, polyacetal, propylene.
The thickness of flexible membrane is preferably 0.1-2mm, changes with elastic modulus.Flexible membrane with above-mentioned elastic modulus and thickness can easy deformation, touch body surface, is convenient to the detection of object convexo concave like this.
This material of making flexible membrane makes the friction of itself and object less.Friction hour, deformation detecting device just can slide on body surface smoothly, thereby detects convexo concave easily.When even if the material of flexible membrane makes friction big, also can reduce other element that rubs but do not reduce the resistance to deformation power of flexible membrane and be arranged in the middle of flexible membrane and the object.As other such element, the lower surface place that the film that the material different with flexible membrane can be made or band are attached to this flexible membrane.
Application has elasticity and flexible material can be realized the deformation detecting device that its pliability is suitable with human body skin.Like this, enlarged the scope of object under test.
The a plurality of deformation detecting devices that are provided with can constitute deformation detecting device of the present invention continuously.In the case, first bellows wall can be used as a wall of second bellows usually.Specifically, the flexible body of being made by silicon rubber etc. has a plurality of cavitys, is used for accommodating therein viscous fluid and relative motion sensing element.A plurality of relative motion sensing elements (plate object) are put into a plurality of bellows with some different detection directions can be along multi-direction detection distortion.
The relative motion sensing element preferably has display device, and it works to detect the viscous fluid relative motion.According to the testing result of relative motion sensing element and luminous optical transmitting set is an example.By measuring of showing of the light of emission or detected information can or identify with visualization.The color of the light of emission or intensity can change corresponding to the grade of surveying.
Based on testing result, can calculate the absolute value of acting force and convexo concave.Owing in advance many testing results are stored in the storer as template, therefore can specify the parameter of other object.
By the structure analysis to corpusculum tactus, the inventor visualizes deformation detecting device of the present invention.Therefore, expect that deformation detecting device of the present invention can detect this big stress when the people feels bigger stress.The workman might quantize the standard of the convexo concave inspection of steel plate.
3, convex-concave position display device
Convex-concave of the present invention position display device comprises detection-display element and control element.
Check-display element comprises sensing part and display part.The detecting part branch comprises a plurality of deformation detecting devices, and they detect by the caused distortion of object convexo concave.The display part comprises a plurality of optical transmitting sets, and it is positioned at the opposite, test section.Control element control optical transmitting set is so that the result who measures according to deformation detecting device and luminous.
In detecting display element, the position of sensing part and display part is a context. therefore, the light that the workman sends by means of the display part branch and the lip-deep detection position of recognition object with the naked eye. any position transducer that is used to survey the convex-concave position need be provided. when convex-concave position display device on body surface, to slide at a high speed, when making the test section detect convexo concave, the display part is sent the light corresponding with examined convexo concave continuously. and the light of optical transmitting set is as the residual scene of light and be retained in workman's retina, but the convex-concave position of workman's visual identification body surface thus.
Test section to deformation detecting device is unrestricted, as long as it can detect the convexo concave of object by means of the relative motion between test section and the body surface.Except traditional sensor, take into account outside the PVDF sensor example that also has above-mentioned convex-concave amplifier and deformation detecting device to can be used as deformation detecting device as strain.Described a plurality of deformation detecting device is arranged in the form of sheets, thereby has formed the test section.
The display part is unrestricted, as long as it can be luminous, preferably use and can launch the enough visible optical transmitting set of luminosity, as light emitting diode.
Make the luminous control element of optical transmitting set preferably shift to an earlier date setting threshold.According to this threshold value and convex-concave degree to be measured are made comparisons, it can judge and have or not convex-concave, thus the connection of control optical transmitting set/close.Change threshold value and can regulate the sensitivity of convex-concave position display device arbitrarily.The glow color of optical transmitting set and intensity can change by detection quality.
The material and the shape of sensing part and display part are unrestricted.They preferably are sheet shape.Its pliability of the test section that contacts with body surface preferably meets body surface.Specifically, resin sheet, as the resin of nylon and vinyl, and fibre plate, can be used as example as fabric and felted terxture.
The shape of detection-display element preferably makes the operator use it by enough hands.It can be a bag shape, and wherein the test section is positioned at palm of the hand side, and the display part is positioned at dorsal side.For example, deformation detecting device and optical transmitting set are arranged in satchel, the palm of the hand as work gloves, dorsal side, and the gloves of vinyl can be realized portable detection display element.
The layout of deformation detecting device without limits, as long as it is fixed on the surface of test section.A plurality of deformation detecting devices can cover whole surface by the preset pattern random alignment on the test section, perhaps press preset space length and arrange.A plurality of deformation detecting devices are preferably to arrange with the same pattern of above-mentioned optical transmitting set.Control element preferably has a control section, and this control section can make in the optical transmitting set with the same patterned arrangement of a plurality of deformation detecting devices certain several luminous.Therefore, the optical transmitting set corresponding with the deformation detecting device that detects convexo concave is luminous, thereby accurately shows the convex-concave position.
4, convex-concave position display method
In the relative motion step, deformation detecting device and object contact with each other and do relative motion.Detect step and detect the distortion that causes by the object convexo concave, thereby detect convexo concave by deformation detecting device.Doing relative motion, to do that the convex-concave position is detected as in can making on a large scale be possible.
Deformation detecting device is restriction not, as long as it can detect the convexo concave on the object.Except take into account the such traditional sensors of PVDF sensor such as strain, also can adopt above-mentioned convex-concave amplifier.Detect step in order to finish convexo concave, can use above-mentioned deformation detecting device and convex-concave position indicator.The deformation detecting device that contacts with body surface is preferably done to slide or move.Deformation detecting device can lean on mechanical means and do relative slip with object, but preferably by artificial slip.
In step display, according to the relative motion step with detect testing result in the step, show the time dependent position of convex-concave on the body surface by luminous.Because the light emission changes in time, therefore can accurately judge the position of convex-concave.
Convex-concave position display method of the present invention also can comprise a determining step in addition. according to the convexo concave of in relative motion step and detection step, measuring, have or not demonstration in this determining step judgement step display. when the surface that convex-concave position display method of the present invention is applied to steel plate was checked, determining step helped to find out inferior or coarse surface by predetermined surface accuracy.
In step display, the optimum seeking site ground of convex-concave is shown on the body surface by luminous existing on the position of convex-concave on the body surface.Preferably position demonstration (luminous) directly over the object convex-concave of step display.Optical transmitting set is arranged in the position identical with deformation detecting device, makes the operator can with the naked eye identify the accurate position of convex-concave.
In order to implement the convex-concave position display method, can adopt with optical transmitting set as the deformation detecting device of display device and above-mentioned convex-concave position display device.When convex-concave position display device slided on body surface, a plurality of optical transmitting sets were luminous continuously, thereby the operator can with the naked eye discern the position of convex-concave.
One example of convex-concave display packing of the present invention can be illustrated referring to Figure 10,11.The left part of Figure 10 illustrates the dorsal side of this convex-concave position display device, and right part illustrates its palm of the hand side.Figure 11 illustrates the method that convex-concave position display device shows convexo concave of using.
Detection-display element 50 is bag shape preferably, and it comprises two, and every shape all is a staff shape.The operator can wear this detection-display element 50 on hand.Be positioned to have a plurality of sensor S ' on that sheet 51 (test section) of palm of the hand side, as being positioned at the deformation detecting device that its outside surface constant space distributes.When surveyed area when direction is extended, detect equidirectional these a plurality of rows of sensors and be listed on this line.When sensor S ' was made up of above-mentioned deformation detecting device, they preferably were disposed on the direction of extending from the wrist joint to the finger tip.To detect display element 50 and move, can detect convexo concave (following explanation) along the transducer arrangements direction.
On that sheet 52 (display part) of dorsal side location, preferably have a plurality of optical transmitting set L ' on its outer surface.These optical transmitting sets L ' that preferably forms the display part arranges by the mode identical with sensor S '.
The optical transmitting set L ' corresponding with sensor S ' just lighted when detecting convex-concave.In Figure 10, some sensor and some optical transmitting set have been coupled with Reference numeral, S
1'-S
15' and L
1'-L
15'.Ln ' on Sn ' on the palm of the hand side (sheet 51) and the dorsal side (sheet 52) in correspondence with each other.For example, when sensor S1 ' detected convex-concave, optical transmitting set L1 ' just lighted.Sensor S1 ', S2 ' and optical transmitting set L1 ' L2 ' operation class are seemingly.
When the inspected object convexo concave, the operator for example puts on detection-display element 50 on the right hand.Detect display element 50 sheet 51 with move to carpal direction along finger tip when body surface contacts, shown in Figure 11 arrow.A plurality of optical transmitting set L ' are ON/OFF continuously.Here, luminous during convex-concave that optical transmitting set L ' is inswept (referring to mark E) makes the operator can with the naked eye discern the position of convex-concave.
When promptly box lunch detection-display element 50 slided fast, the residual light image that rests on operator's retina also can carry out location recognition.
Preferred embodiment
1, first embodiment
An embodiment of convex-concave amplifier of the present invention will explain referring to Figure 12-15.Figure 12 illustrates the whole convex-concave amplifier of this embodiment, and Figure 13 is its partial enlarged drawing, and Figure 14 is the xsect along X-X ' line of Figure 13, and Figure 15 is an explanatory, illustrates that making convexo concave with the convex-concave amplifier detects.
This convex-concave amplifier comprises: the sheet bottom 101 that can be used as detecting element work; With form one with this bottom 101 and as a plurality of protruding 102 of display element 120 work.
The thickness of bottom 101 is 0.3mm, and width is 60.0mm, and length is 133.5mm (maximum).There are two parallel grooves 115 to extend longitudinally (referring to Figure 12) from an end.Thereby, bottom 101 is divided into first, second portion and third part, put forefinger, middle finger and the third finger above respectively into.During operation, by the front portion and the palm of the hand central authorities promotion convex-concave amplifier of three fingers.
Described a plurality of protruding 102 whole formation (referring to Figure 14) on upper surface.They are positioned the place, point of crossing of the triangular mesh of the about 1.7mm of every length of side.Each projection 102 all is a post body, and its diameter is 1mm, and height is 3.2mm, and stands upright on 101 thickness directions of bottom.The top of projection is a semisphere, its diameter 1mm.
Convex-concave amplifier with bottom 101 and a plurality of protruding 102 is made by light-cured resin, and the elastic modulus of this material is 2400Mpa, and makes with the stereolithography device, and 101 lower surface posts a band (not shown) in the bottom, in order to reduce friction.
Secondly, referring to Figure 15 the method for surveying the surperficial Os of object O with above-mentioned convex-concave amplifier is described, Figure 15 only illustrates the napex of convex-concave amplifier.Similarly, detect convexo concave at the remainder and the palm of the hand place of finger.
In detection, bottom 101 is pressed on the surperficial Os of object O, point anterior P and be pressed on the projection 102.Finger moves (direction of arrow of Figure 15) along any direction, and the convex-concave amplifier is slided on surperficial Os.After pressing with normal force, bottom 101 just bends by the shape of surperficial Os.Therefore, occur and the corresponding deformation of surperficial Os change of shape at 122 places, end of projection 102.
For for finger and palm of the hand detection convexo concave, the pressure that the convex-concave amplifier is pressed into body surface is 0.01-0.02Mpa, and the speed that reciprocatingly slides is 100mm/sec.
Assessment
Many people (A-G) did to detect with above-mentioned convex-concave amplifier.Upper surface place at test specimen forms high 0.04mm, the convex surface of diameter 10mm.Sample in contrast, the film of making of the tygon of thickness 0.013mm detects test similarly.In test findings shown in the table 1, mark ◎ refers to clear measure convex surface, and mark zero refers to measure reluctantly convex surface.Mark * refer to fail to measure convex surface.
[table 1]
A B C D E F G
Control sample * 00 * * * *
Embodiment ◎ ◎ ◎ ◎ ◎ ◎ ◎
As at table 1 as seen, the convex-concave amplifier of present embodiment can make things convenient for clearly measures the convex surface that film that tygon does is difficult to detect.According to the simulation of adopting Finite Element Method (FEM) to be done, to compare with the situation of hand with light, the variable that passes to the time dependent shear strain of corpusculum tactus is amplified 20 times by the convex-concave amplifier.
Tradesman with good sense of touch does the surface check with convex-concave amplifier of the present invention to steel plate.Their suggestion is: " sensitivity seems to strengthen significantly ", " uncared-for traditionally small strain can detect ", " work gloves needs repeatedly scanning to follow the trail of; but bring unsharp sensation; and the convex-concave amplifier just scans several times and can clearly detect with minority ", and " pressure of convex-concave amplifier is little, can reduce fatigue ".
2, second embodiment
Secondly, second embodiment of deformation detecting device is described referring to Figure 16-18.Figure 16 is the skeleton view of deformation detecting device, and the last figure of Figure 17 and figure below are respectively along the Z-Z ' of Figure 16 and the xsect of Y-Y '.Figure 18 illustrates the control system of control deformation detecting device.
Deformation detecting device comprises bellows 10 and the relative motion sensing element 20 that includes viscous fluid.Bellows 10 is hexahedron structures, and its length is respectively 62mm, 37mm, 37mm.It comprises with tygon (elastic modulus: the box-shaped casing of 1600Mpa) doing 12, thick 1.5mm; Plate shaped bottom 13, it is by propylene (elastic modulus: 2500Mpa) make thick 0.5mm.Silicone oil F (the kinematic viscosity: 1 * 10 of packing in the bellows 10
5Mm
2/ second).Shell 12 seals with the lip ring 14 that the butted part of bottom 13 is done by rubberite.
Relative motion sensing element 20 comprises a plurality of fins 25 and strainometer G1 and G2.Each fin 25 is made (elastic modulus: 2500Mpa) and be tabular, length and width, the thick 23mm that is respectively, 9mm, 0.5mm by propylene.Four fins 25 are fixed to bottom 13 by traditional bonding agent.Their equidistant being arranged in parallel, along Z-Z ' to bending.Be positioned on two fins 25 of mesozone, its root has been fixed described strainometer G1 and G2.
Two optical transmitting set (light emitting diode) L1 and L2 have fixed in the upper surface place at the top of shell 12.The ON/OFF of optical transmitting set L1, L2 is controlled according to the testing result of strainometer G1, G2 by control system shown in Figure 180 30.Control system 30 comprises calculating section, and it comprises electronic calculator, and Control Software and input and output substrate have been installed on this electronic calculator.The strainometer G1 that the strainometer amplifier is obtained, the resistance of G2 are imported calculating section as magnitude of voltage.By A/D converter this magnitude of voltage being transformed into digital signal then handles at calculating section.The digital input/output signal that is equivalent to result is changed, and optical transmitting set L1, L2 just connect/close by the 5V current amplification circuit of direct supply.
When detecting convexo concave, deformation detecting device S slides.Owing to can produce acceleration like this, thereby the inertia of silicone oil Fo just has influence on fin 25.Control system 30 is by calculating and handling the Signal Separation of relevant distortion is come out.That is to say that the caused signal of acceleration passes to optical transmitting set L1, L2 simultaneously, and the strainometer G1 of detection convexo concave and the signal of G2 pass to optical transmitting set L1 and L2, and poor if having time.When with strainometer G2 and strainometer G1 order received signal, optical transmitting set L1 is transferred on position, and when with the order received signal of strainometer G1 and strainometer G2, optical transmitting set L2 is transferred on position.
(detecting pattern 1)
Carry out the check of object convexo concave with the deformation detecting device S of above-mentioned second embodiment.The details of test describes referring to Figure 19.
Check part 40 is by following preparation.With diameter 4mm, the disk 42 of thickness 0.09mm is put on the acrylic panel 41, and the sheet rubber 43 that disk 42 is done by chlorbutadiene is covered.
Like this, prepared detection surface with medium convex surface.In addition, on this sheet rubber 43, coat the thick diaphragm of 0.06mm that tygon is done again, to reduce the friction between deformation detecting device S and the detection surface.
In check test, the shell 12 of deformation detecting device S abuts against its bottom 13 and is detected on the surface by operator's maintenance.Deformation detecting device S moves right on convex surface, and as shown by arrows, its speed is the 25mm that walks for 3 seconds.When deformation detecting device S passed through the detection faces of projection, optical transmitting set L1 connected, and disconnect then, but optical transmitting set L2 disconnected.On the contrary, as deformation detecting device S during with the detection surface by projection in the other direction, optical transmitting set L2 connects then and disconnects, but optical transmitting set L1 and disconnecting.
Like this, the operator has with the naked eye discerned the position of detecting the surface.In addition, even if deformation detecting device S rapid movement, but owing to rest on the afterimage of the light on the retina, the operator still can discern the convex surface position.
(detecting pattern 2)
After taking disk 42 away, implement detecting pattern 2 in the same way as described above from the check part 40 of the detection of detection mode 1.Therefore, optical transmitting set L1, L2 are not luminous.Figure 21 illustrates deformation and time relation curve map.Obviously, big strain variation can not appear in any one in strainometer G1, G2.It is contemplated that, owing to taken off disk 42, thereby can not produce significant deformation.
Claims (12)
1. a convex-concave amplifier is used for showing convexo concave by the convex-concave sense of amplifying object, and this convex-concave amplifier comprises:
Sensing element, this sensing element comprise and can contact with body surface and can be along the flexible strip of this body surface distortion; And
Display element, this display element is formed on the surface of this flexible strip, and along with at least one direction of the thickness direction quadrature of this flexible strip on, the resistance of deformation of this display element is less than the resistance of deformation of this flexible strip; Wherein
When making described sensing element contact described body surface, described flexible strip is pressed against on this body surface and along this body surface and deforms, and this convex-concave amplifier that contacts with described body surface is slided, thereby the deflection of the display element of generation and time correlation; And
When the deformation by this display element of sensing detects described convexo concave, by the variation of the deflection of the display element of tactile sensing and time correlation.
2. convex-concave amplifier according to claim 1, wherein, display element comprises and is formed on the described flexible strip surface and apart from one another by a plurality of projectioies of opening.
3. convex-concave amplifier according to claim 2, wherein, described a plurality of projectioies are plate objects parallel to each other.
4. convex-concave amplifier according to claim 2, wherein, described a plurality of projectioies are pillars.
5. convex-concave amplifier according to claim 1, wherein, display element is to be made by expanded material.
6. convex-concave amplifier according to claim 1, wherein, display element is the tablet with a plurality of holes, these holes distribute along the thickness direction of this tablet.
7. convex-concave amplifier according to claim 1, wherein, sensing element or display element are formed from a resin.
8. convex-concave amplifier according to claim 1, wherein, display element also comprises strain transducer, is used to detect the strain of this display element.
9. convex-concave amplifier according to claim 8, wherein, strain transducer is a strainometer.
10. convex-concave detection method that is used for the convexo concave of inspected object comprises:
Use the technology of convex-concave amplifier, this convex-concave amplifier comprises: sensing element, and this sensing element has flexible strip; And display element, this display element is formed on the surface of this flexible strip, and at least one direction vertical with the thickness of this flexible strip, the resistance of deformation of this display element is less than this flexible strip drag, wherein, this technology may further comprise the steps: contact procedure makes sensing element contact described body surface, and the flexible strip of sensing element is out of shape along this body surface; And detect step, by the deformation that the sensing display element is produced, detect the convexo concave of this object, wherein in contact procedure
In described contact procedure, the convex-concave amplifier that contacts with described body surface is slided, produce the deflection with the display element of time correlation thus, and
In described detection step, by the variation of the deflection of the display element of tactile sensing and time correlation.
11. convex-concave detection method according to claim 10, wherein, described object comprises:
Has flexible surface portion; And
Convexconcave part with the convex-concave that is covered by this surface portion, wherein,
In contact procedure, flexible strip is pressed against on the described body surface and along this body surface and is out of shape, and in detecting step, the convexo concave of convexconcave part is predicted.
12. convex-concave amplifier according to claim 1 wherein, on the surface of the flexible strip that can contact with described body surface, posts the strip or the film that are used to lower friction.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP435068/2003 | 2003-12-26 | ||
| JP2003435068A JP4446734B2 (en) | 2003-12-26 | 2003-12-26 | Convex and concave amplifying member and concave and convex detecting method using concave and convex amplifying member |
| JP2004106923A JP4522130B2 (en) | 2004-03-31 | 2004-03-31 | Deformation detection member |
| JP106923/2004 | 2004-03-31 | ||
| PCT/JP2004/019828 WO2005064299A2 (en) | 2003-12-26 | 2004-12-27 | Device and method for sensing and displaying convexo concave |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1898541A CN1898541A (en) | 2007-01-17 |
| CN1898541B true CN1898541B (en) | 2010-05-12 |
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ID=34815305
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2004800389315A Expired - Fee Related CN1898541B (en) | 2003-12-26 | 2004-12-27 | Device and method for sensing and displaying convexo concave |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP4446734B2 (en) |
| CN (1) | CN1898541B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4522130B2 (en) * | 2004-03-31 | 2010-08-11 | 明人 佐野 | Deformation detection member |
| KR100876635B1 (en) | 2003-12-26 | 2009-01-09 | 도요타 지도샤（주） | Convexo concave amplifying device and convexo concave detecting method by use thereof, deformation sensing device and convexo concave detecting method by use thereof, and convexo concave position exhibiting device and convexo concave position exhibiting method |
| JP2009276087A (en) * | 2008-05-12 | 2009-11-26 | Nec Fielding Ltd | Projection search device and projection search method |
| JP4633851B2 (en) * | 2009-12-07 | 2011-02-16 | 明人 佐野 | Unevenness detection position display device and unevenness detection position display method |
| CN103792594A (en) * | 2014-01-21 | 2014-05-14 | 万世泰金属工业（昆山）有限公司 | Metal plate straightening detecting device |
| US9733062B2 (en) * | 2015-11-20 | 2017-08-15 | General Electric Company | Systems and methods for monitoring component strain |
| US10613020B2 (en) * | 2017-08-10 | 2020-04-07 | The Boeing Company | Burr detection systems and methods |
| JP6352573B1 (en) | 2018-04-20 | 2018-07-04 | 株式会社三重ロボット外装技術研究所 | Contact detection device |
| JP7233649B2 (en) * | 2019-06-03 | 2023-03-07 | 国立大学法人弘前大学 | Concave-convex amplifying member and concavo-convex detection method |
| CN112461416B (en) * | 2020-10-21 | 2022-09-16 | 天津大学 | Light reflection type high-sensitivity smooth touch sensing device and method |
| WO2022230879A1 (en) * | 2021-04-30 | 2022-11-03 | 国立大学法人筑波大学 | Strain sensor for detecting surface strain |
| CN113959327B (en) * | 2021-10-14 | 2022-11-15 | 中国科学院力学研究所 | Multilayer structure strain sensor with high sensitivity |
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| US6445284B1 (en) * | 2000-05-10 | 2002-09-03 | Juan Manuel Cruz-Hernandez | Electro-mechanical transducer suitable for tactile display and article conveyance |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2092742U (en) * | 1991-05-04 | 1992-01-08 | 刘海军 | Measuring instrument for horizontality, verticality, concavity and convexity |
| US6179790B1 (en) * | 1997-10-20 | 2001-01-30 | Assurance Medical, Inc. | Layer of material for use with tissue examination device |
| CN2363316Y (en) * | 1998-12-15 | 2000-02-09 | 刘中华 | Touch force action point coordinate detection sensor |
| US6445284B1 (en) * | 2000-05-10 | 2002-09-03 | Juan Manuel Cruz-Hernandez | Electro-mechanical transducer suitable for tactile display and article conveyance |
Also Published As
| Publication number | Publication date |
|---|---|
| JP4446734B2 (en) | 2010-04-07 |
| CN1898541A (en) | 2007-01-17 |
| JP2005195342A (en) | 2005-07-21 |
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