CN201548192U - Six-degree-of-freedom real-time measuring device of compound motion mechanism - Google Patents
Six-degree-of-freedom real-time measuring device of compound motion mechanism Download PDFInfo
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- CN201548192U CN201548192U CN2009203127333U CN200920312733U CN201548192U CN 201548192 U CN201548192 U CN 201548192U CN 2009203127333 U CN2009203127333 U CN 2009203127333U CN 200920312733 U CN200920312733 U CN 200920312733U CN 201548192 U CN201548192 U CN 201548192U
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Abstract
The utility model relates to a six-degree-of-freedom real-time measuring device of a compound motion mechanism, which belongs to the technical field of automatic measurement. The six-degree-of-freedom real-time measuring device of the compound motion mechanism comprises a controller and a sensor, wherein the sensor is connected with the controller, and the six-degree-of-freedom real-time measuring device is characterized in that the sensor comprises a rotating transformer and a magnetic grid ruler, three angular displacement mechanisms are connected with the rotating transformer, three linear displacement mechanisms are connected with the magnetic grid ruler, the rotating transformer and the magnetic grid ruler are connected with the controller, and the controller is connected with a display. The six-degree-of-freedom real-time measuring device has the advantages of simple structure, convenient use, good real-time property, high measurement precision and abundant data treatment interfaces, and can well measure the six-degree-of-freedom displacement, the speed and the like of the compound motion system relative to a geodetic coordinate system.
Description
Technical field
The utility model belongs to the automatic measurement technology field, particularly relates to a kind of composite-motion mechanism six degree of freedom real-time measurement apparatus.
Background technology
At present, in existing technology, composite-motion mechanism degree of freedom real-time measurement apparatus comprises controller and sensor, sensor connects controller, but the six-degree of freedom position of the compound motion system self of the physical construction of still not connecting and speed high precision real-time measurement system.The prior art situation affects multi-coordinate machining center, industrial robot and has the research and development and the test process of a plurality of freedom of motion equipment.
Summary of the invention
The utility model provides a kind of composite-motion mechanism six degree of freedom real-time measurement apparatus for solving the problem that prior art exists.
The utility model purpose provides a kind ofly to be had simple in structurely, easy to use, and real-time is good, precision is high, can measure the compound motion system composite-motion mechanism six degree of freedom real-time measurement apparatus of characteristics such as coordinate system six-degree of freedom displacement amount and speed relative to the earth.
The utility model composite-motion mechanism six degree of freedom real-time measurement apparatus adopts following technical scheme:
A kind of composite-motion mechanism six degree of freedom real-time measurement apparatus, comprise controller and sensor, sensor connects controller, be characterized in: sensor comprises rotary transformer and magnetic railings ruler, three angular displacement mechanisms connect is equipped with rotary transformer, three displacement of the lines mechanisms connect is equipped with magnetic railings ruler, and rotary transformer is connected controller with magnetic railings ruler, and controller connects adorns display.
The utility model composite-motion mechanism six degree of freedom real-time measurement apparatus can also adopt following technical measures:
Described composite-motion mechanism six degree of freedom real-time measurement apparatus is characterized in: rotary transformer is respectively position angle displacement, angle of oscillation displacement and angle of pitch displacement rotary transformer.
Described composite-motion mechanism six degree of freedom real-time measurement apparatus is characterized in: magnetic railings ruler be respectively the displacement of the lines that seesaws, about change displacement of the lines and the magnetic railings ruler of heave displacement of the lines up and down.
Described composite-motion mechanism six degree of freedom real-time measurement apparatus is characterized in: change depressor and link to each other with the DB plug of computer interface card R/D and A/D respectively with the magnetic railings ruler signal wire.
Described composite-motion mechanism six degree of freedom real-time measurement apparatus is characterized in: controller is provided with data in real time output and 422 mouthfuls, 232 mouthfuls of measuring, CAN mouth, USB mouth and I/O mouth.
Advantage that the utlity model has and good effect:
Composite-motion mechanism six degree of freedom real-time measurement apparatus, owing to adopted the utility model brand-new technology scheme, compared with prior art, have following characteristics: this measuring system can be measured compound motion system coordinate system six-degree of freedom displacement amount relative to the earth; And real-time is good, precision is high, carries out the position quantity differential calculation by data processing software, also can measure the movement velocity of compound motion system six degree of freedom simultaneously; In addition, abundant software function is removed the demonstration of six-degree of freedom displacement data in real time, deposit, curve plotting is provided, and also has functions such as data statistics, curve playback, zero-bit correction.Various communication interface also provides abundant digital fan-out capability.This measuring system all has reference to multi-coordinate machining center, industrial robot and position and velocity survey with a plurality of freedom of motion equipment.
Description of drawings
Fig. 1 is the utility model structural representation;
Fig. 2 is a measurement mechanism theory of constitution structural representation.
Among the figure, 1-moves up and down guide rail and magnetic railings ruler, and 2-moves forward and backward guide rail and magnetic railings ruler, 3-move left and right guide rail and magnetic railings ruler, 4-pitching rotating shaft and rotary transformer, 5-wave rotating shaft and rotary transformer, 6-direction rotating shaft and rotary transformer, 7-is by test equipment, 8-table top center, the 9-centre of gyration.
Embodiment
For further understanding technology contents of the present utility model, characteristics and effect, enumerate following example now, and conjunction with figs. is described in detail as follows:
Embodiment
With reference to accompanying drawing 1 and Fig. 2.
A kind of composite-motion mechanism six degree of freedom real-time measurement apparatus, comprise controller and sensor, sensor comprises rotary transformer and magnetic railings ruler, three angular displacement mechanisms connect is equipped with rotary transformer, three displacement of the lines mechanisms connect is equipped with magnetic railings ruler, rotary transformer is connected controller with magnetic railings ruler, and controller connects adorns display.
Rotary transformer is respectively position angle displacement, angle of oscillation displacement and angle of pitch displacement rotary transformer.Magnetic railings ruler be respectively the displacement of the lines that seesaws, about change displacement of the lines and the magnetic railings ruler of heave displacement of the lines up and down.Changing depressor links to each other with the DB plug of computer interface card R/D and A/D respectively with the magnetic railings ruler signal wire.Controller is provided with data in real time output and 422 mouthfuls, 232 mouthfuls of measuring, CAN mouth, USB mouth and I/O mouth.
The concrete course of work of present embodiment:
When being suitable for the six-degree of freedom position high-precision real of movement mechanism with multiple degrees of freedom self of serial mechanism, measures present embodiment.System comprises: rotary transformer, magnetic railings ruler, computing machine, computer bus interface card (R/D angle analog-to-digital conversion card, A/D transition card, I/O interface card, 422 address cards, CAN address card, USB card, dsp system card) and corresponding software.Have that three shaft angle displacements are measured in real time and the real-time measurement function of displacement of the lines of three directions of coordinate system relative to the earth; Have 422 mouthfuls, 232 mouthfuls, the CAN mouth, USB mouth and digital quantity I/O mouth output function have the data in real time demonstration and measure the real-time Presentation Function of curve.
Hardware is installed: see to move up and down guide rail and magnetic railings ruler 1 among Fig. 1, move forward and backward guide rail and magnetic railings ruler 2, move left and right guide rail and magnetic railings ruler 3 and pitching rotating shaft and rotary transformer 4, wave rotating shaft and rotary transformer 5, direction rotating shaft and rotary transformer 6.Compound moving actuation mechanism has table top center 8 (set compound motion system coordinates initial point), the centre of gyration 9 (set terrestrial coordinate initial point), and the upper end has by test equipment 7.Three transformation depressors are contained in the axle head of three rotating shafts of compound motion system respectively, three magnetic railings rulers are contained in about the compound motion system respectively, on front and back and the move left and right guide rail, changing depressor links to each other with the DB plug of computer interface card R/D and A/D respectively with the magnetic railings ruler signal wire, computer bus interface card R/D card, A/D card, I/O card, 422 address cards, CAN address card, USB card, dsp system card all are inserted on the computer bus groove, the computer peripheral equipment standard connects, and Survey Software is installed in the computing machine.
The work of present embodiment: the compound motion system is the physical simulation system of the six-freedom motion of a cascaded structure.It can simulate the ship motion state, as the ship-borne equipment test.This system mechanics structure is the series connection form, and one deck in one deck holder, and orlop mechanism can do to horizontally rotate, and the second layer can be done to vacillate now to the left, now to the right, and can do the front and back pitching for the 3rd layer, and these three layers are rotated the generation angular displacements; The 4th layer can move up and down, and layer 5 can seesaw, and layer 6 can be done side-to-side movement, and these three layers produce displacement of the lines.Measuring system is exactly accurately to provide coordinate system (the terrestrial coordinate initial point is defined in the compound motion system centre of gyration) six-degree of freedom position true value relative to the earth in real time when this compound motion system makes compound motion.Be the position angle displacement, the angle of oscillation displacement, angle of pitch displacement, the displacement of the lines that moves up and down, the displacement of the lines that seesaws, about change displacement of the lines and each corresponding speed.
Measuring principle is: in azimuth rotation axle, vacillate now to the left, now to the right rotating shaft and front and back pitching rotating shaft 1 rotary transformer is installed respectively, is measured respective angles; At the move left and right guide rail, move forward and backward guide rail and move up and down 1 magnetic railings ruler is installed respectively on the guide rail, measure respective length (length of guide rail relatively).Transfer three angle analog quantitys to digital quantity by three road R/D passages, transfer three length analog quantitys to digital quantity by three road A/D passages.Handle by coordinate transform data by dsp system again, calculate the displacement of all directions of coordinate system relative to the earth (i.e. three angular displacements and three displacements of the lines).Do the position quantity differential by dsp system again and handle, can get the corresponding speed amount.These displacement datas and speed data show by computer real-time, and send during by 422 mouthfuls, 232 mouthfuls, CAN mouth, USB mouth and digital quantity I/O cause for gossip.Measuring system has also designed data deposit, curve plotting, data statistics, curve playback, zero-bit correction supervisor.
Claims (5)
1. composite-motion mechanism six degree of freedom real-time measurement apparatus, comprise controller and sensor, sensor connects controller, it is characterized in that: sensor comprises rotary transformer and magnetic railings ruler, three angular displacement mechanisms connect is equipped with rotary transformer, three displacement of the lines mechanisms connect is equipped with magnetic railings ruler, and rotary transformer is connected controller with magnetic railings ruler, and controller connects adorns display.
2. according to the described composite-motion mechanism six degree of freedom of claim 1 real-time measurement apparatus, it is characterized in that: rotary transformer is respectively position angle displacement, angle of oscillation displacement and angle of pitch displacement rotary transformer.
3. according to the described composite-motion mechanism six degree of freedom of claim 1 real-time measurement apparatus, it is characterized in that: magnetic railings ruler be respectively the displacement of the lines that seesaws, about change displacement of the lines and the magnetic railings ruler of heave displacement of the lines up and down.
4. according to claim 1,2 or 3 described composite-motion mechanism six degree of freedom real-time measurement apparatus, it is characterized in that: change depressor and link to each other with the DB plug of computer interface card R/D and A/D respectively with the magnetic railings ruler signal wire.
5. according to claim 1,2 or 3 described composite-motion mechanism six degree of freedom real-time measurement apparatus, it is characterized in that: controller is provided with data in real time output and 422 mouthfuls, 232 mouthfuls of measuring, CAN mouth, USB mouth and I/O mouth.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009203127333U CN201548192U (en) | 2009-10-19 | 2009-10-19 | Six-degree-of-freedom real-time measuring device of compound motion mechanism |
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| CN2009203127333U CN201548192U (en) | 2009-10-19 | 2009-10-19 | Six-degree-of-freedom real-time measuring device of compound motion mechanism |
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Cited By (18)
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| CN103492870A (en) * | 2011-04-15 | 2014-01-01 | 法罗技术股份有限公司 | Six degree-of-freedom laser tracker that cooperates with a remote projector to convey information |
| US9164173B2 (en) | 2011-04-15 | 2015-10-20 | Faro Technologies, Inc. | Laser tracker that uses a fiber-optic coupler and an achromatic launch to align and collimate two wavelengths of light |
| US9188430B2 (en) | 2013-03-14 | 2015-11-17 | Faro Technologies, Inc. | Compensation of a structured light scanner that is tracked in six degrees-of-freedom |
| CN105334070A (en) * | 2015-11-26 | 2016-02-17 | 上海新跃仪表厂 | Vehicle-mounted six-degree-of-freedom platform |
| US9377885B2 (en) | 2010-04-21 | 2016-06-28 | Faro Technologies, Inc. | Method and apparatus for locking onto a retroreflector with a laser tracker |
| US9395174B2 (en) | 2014-06-27 | 2016-07-19 | Faro Technologies, Inc. | Determining retroreflector orientation by optimizing spatial fit |
| US9400170B2 (en) | 2010-04-21 | 2016-07-26 | Faro Technologies, Inc. | Automatic measurement of dimensional data within an acceptance region by a laser tracker |
| US9448059B2 (en) | 2011-04-15 | 2016-09-20 | Faro Technologies, Inc. | Three-dimensional scanner with external tactical probe and illuminated guidance |
| US9453913B2 (en) | 2008-11-17 | 2016-09-27 | Faro Technologies, Inc. | Target apparatus for three-dimensional measurement system |
| US9482755B2 (en) | 2008-11-17 | 2016-11-01 | Faro Technologies, Inc. | Measurement system having air temperature compensation between a target and a laser tracker |
| US9482529B2 (en) | 2011-04-15 | 2016-11-01 | Faro Technologies, Inc. | Three-dimensional coordinate scanner and method of operation |
| US9638507B2 (en) | 2012-01-27 | 2017-05-02 | Faro Technologies, Inc. | Measurement machine utilizing a barcode to identify an inspection plan for an object |
| US9686532B2 (en) | 2011-04-15 | 2017-06-20 | Faro Technologies, Inc. | System and method of acquiring three-dimensional coordinates using multiple coordinate measurement devices |
| US9772394B2 (en) | 2010-04-21 | 2017-09-26 | Faro Technologies, Inc. | Method and apparatus for following an operator and locking onto a retroreflector with a laser tracker |
| CN107246866A (en) * | 2017-06-24 | 2017-10-13 | 天津大学 | A kind of high-precision six-freedom degree measuring system and method |
| CN107687832A (en) * | 2017-08-12 | 2018-02-13 | 哈尔滨工业大学 | A kind of test system and method that the core barrel surface quality of Wolter I is examined using contact contourgraph |
| CN113884323A (en) * | 2021-09-23 | 2022-01-04 | 武汉船用机械有限责任公司 | Offshore wave compensation crane testing device and testing method |
| CN113899526A (en) * | 2021-10-11 | 2022-01-07 | 中国航空工业集团公司哈尔滨空气动力研究所 | Self-compensating heave control system |
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2009
- 2009-10-19 CN CN2009203127333U patent/CN201548192U/en not_active Expired - Fee Related
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| US9482755B2 (en) | 2008-11-17 | 2016-11-01 | Faro Technologies, Inc. | Measurement system having air temperature compensation between a target and a laser tracker |
| US9453913B2 (en) | 2008-11-17 | 2016-09-27 | Faro Technologies, Inc. | Target apparatus for three-dimensional measurement system |
| US9377885B2 (en) | 2010-04-21 | 2016-06-28 | Faro Technologies, Inc. | Method and apparatus for locking onto a retroreflector with a laser tracker |
| US10209059B2 (en) | 2010-04-21 | 2019-02-19 | Faro Technologies, Inc. | Method and apparatus for following an operator and locking onto a retroreflector with a laser tracker |
| US10480929B2 (en) | 2010-04-21 | 2019-11-19 | Faro Technologies, Inc. | Method and apparatus for following an operator and locking onto a retroreflector with a laser tracker |
| US9772394B2 (en) | 2010-04-21 | 2017-09-26 | Faro Technologies, Inc. | Method and apparatus for following an operator and locking onto a retroreflector with a laser tracker |
| US9400170B2 (en) | 2010-04-21 | 2016-07-26 | Faro Technologies, Inc. | Automatic measurement of dimensional data within an acceptance region by a laser tracker |
| US9207309B2 (en) | 2011-04-15 | 2015-12-08 | Faro Technologies, Inc. | Six degree-of-freedom laser tracker that cooperates with a remote line scanner |
| US9482529B2 (en) | 2011-04-15 | 2016-11-01 | Faro Technologies, Inc. | Three-dimensional coordinate scanner and method of operation |
| US10302413B2 (en) | 2011-04-15 | 2019-05-28 | Faro Technologies, Inc. | Six degree-of-freedom laser tracker that cooperates with a remote sensor |
| US10267619B2 (en) | 2011-04-15 | 2019-04-23 | Faro Technologies, Inc. | Three-dimensional coordinate scanner and method of operation |
| CN103492870B (en) * | 2011-04-15 | 2015-11-25 | 法罗技术股份有限公司 | Cooperate with the long-range projector with the six degree of freedom laser traces device of mail message |
| US9448059B2 (en) | 2011-04-15 | 2016-09-20 | Faro Technologies, Inc. | Three-dimensional scanner with external tactical probe and illuminated guidance |
| US9453717B2 (en) | 2011-04-15 | 2016-09-27 | Faro Technologies, Inc. | Diagnosing multipath interference and eliminating multipath interference in 3D scanners using projection patterns |
| CN103703363A (en) * | 2011-04-15 | 2014-04-02 | 法罗技术股份有限公司 | Six degree-of-freedom laser tracker that cooperates with a remote sensor |
| US9164173B2 (en) | 2011-04-15 | 2015-10-20 | Faro Technologies, Inc. | Laser tracker that uses a fiber-optic coupler and an achromatic launch to align and collimate two wavelengths of light |
| US10119805B2 (en) | 2011-04-15 | 2018-11-06 | Faro Technologies, Inc. | Three-dimensional coordinate scanner and method of operation |
| US9482746B2 (en) | 2011-04-15 | 2016-11-01 | Faro Technologies, Inc. | Six degree-of-freedom laser tracker that cooperates with a remote sensor |
| CN103492870A (en) * | 2011-04-15 | 2014-01-01 | 法罗技术股份有限公司 | Six degree-of-freedom laser tracker that cooperates with a remote projector to convey information |
| US9494412B2 (en) | 2011-04-15 | 2016-11-15 | Faro Technologies, Inc. | Diagnosing multipath interference and eliminating multipath interference in 3D scanners using automated repositioning |
| US9151830B2 (en) | 2011-04-15 | 2015-10-06 | Faro Technologies, Inc. | Six degree-of-freedom laser tracker that cooperates with a remote structured-light scanner |
| US9686532B2 (en) | 2011-04-15 | 2017-06-20 | Faro Technologies, Inc. | System and method of acquiring three-dimensional coordinates using multiple coordinate measurement devices |
| US9157987B2 (en) | 2011-04-15 | 2015-10-13 | Faro Technologies, Inc. | Absolute distance meter based on an undersampling method |
| US10578423B2 (en) | 2011-04-15 | 2020-03-03 | Faro Technologies, Inc. | Diagnosing multipath interference and eliminating multipath interference in 3D scanners using projection patterns |
| US9638507B2 (en) | 2012-01-27 | 2017-05-02 | Faro Technologies, Inc. | Measurement machine utilizing a barcode to identify an inspection plan for an object |
| US9188430B2 (en) | 2013-03-14 | 2015-11-17 | Faro Technologies, Inc. | Compensation of a structured light scanner that is tracked in six degrees-of-freedom |
| US9482514B2 (en) | 2013-03-15 | 2016-11-01 | Faro Technologies, Inc. | Diagnosing multipath interference and eliminating multipath interference in 3D scanners by directed probing |
| US9395174B2 (en) | 2014-06-27 | 2016-07-19 | Faro Technologies, Inc. | Determining retroreflector orientation by optimizing spatial fit |
| CN105334070A (en) * | 2015-11-26 | 2016-02-17 | 上海新跃仪表厂 | Vehicle-mounted six-degree-of-freedom platform |
| CN107246866A (en) * | 2017-06-24 | 2017-10-13 | 天津大学 | A kind of high-precision six-freedom degree measuring system and method |
| CN107687832A (en) * | 2017-08-12 | 2018-02-13 | 哈尔滨工业大学 | A kind of test system and method that the core barrel surface quality of Wolter I is examined using contact contourgraph |
| CN113884323A (en) * | 2021-09-23 | 2022-01-04 | 武汉船用机械有限责任公司 | Offshore wave compensation crane testing device and testing method |
| CN113899526A (en) * | 2021-10-11 | 2022-01-07 | 中国航空工业集团公司哈尔滨空气动力研究所 | Self-compensating heave control system |
| CN113899526B (en) * | 2021-10-11 | 2023-06-20 | 中国航空工业集团公司哈尔滨空气动力研究所 | Self-compensating heave control system |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100811 Termination date: 20141019 |
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| EXPY | Termination of patent right or utility model |