CN108398090A - Parallel mechanism type coordinate measuring instrument - Google Patents
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- CN108398090A CN108398090A CN201810084708.8A CN201810084708A CN108398090A CN 108398090 A CN108398090 A CN 108398090A CN 201810084708 A CN201810084708 A CN 201810084708A CN 108398090 A CN108398090 A CN 108398090A
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- 238000005259 measurement Methods 0.000 claims abstract description 19
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- 238000006243 chemical reaction Methods 0.000 description 2
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- 230000005622 photoelectricity Effects 0.000 description 1
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Abstract
A parallel mechanism type coordinate measuring instrument comprises an upper platform, a lower platform and a plurality of telescopic connecting rods hinged between the upper platform and the lower platform, wherein a main measuring device is fixed on the lower platform, the main measuring device is a laser, a sight axis of the laser is a main measuring line, a positioning shaft capable of rotating around a self axis line is further arranged on the lower platform, an auxiliary observing device is fixed on the positioning shaft, the auxiliary observing device is a built-in CCD digital camera telescope, an optical axis of the auxiliary observing device is a auxiliary observing line, the main measuring device is aligned to a certain point of a measured object until a CCD digital camera built in the auxiliary observing device observes a laser irradiation point irradiated on the object by the main observing device on the auxiliary observing line, and the main measuring line and the auxiliary observing line intersect at the certain point of the measured object A. The invention can meet the requirement of distance measurement precision, does not need to carry out complicated and time-consuming calibration in advance, and has no need of meteorological correction before use and convenient operation because the distance measurement of the invention is unrelated to the light speed.
Description
The present patent application be number of patent application be 201510522902.6, the applying date is August in 2015 24, entitled
The divisional application of the patent of invention of " parallel institution formula coordinate measuring set ".
Technical field
The present invention relates to parallel institution formula coordinate measuring apparatuses.
Background technology
Coordinate measuring set is widely used in research and production.The characteristics of parallel institution formula coordinate measuring set
It is simple in structure, the equal buyable of main parts size, and parallel institution is rigidly good, the parallel institution in coordinate measuring set includes upper
Platform, lower platform and several retractable connecting rods being hinged between upper mounting plate and lower platform.
Currently, non-contact measurement is quickly grown.Trigonometry is common range measurement principle.Trigonometry is beam of laser irradiation
Onto object, diffusing reflection laser in part is imaged by prism on photoelectric detection equipment.Trigonometry above has many positioning in application
Parameter request, it is very cumbersome and time-consuming in measuring apparatus calibration, if a certain parameter can not be obtained accurately in system when actual measurement,
It will be so that measurement data generates error.When measuring apparatus has small variations, each parameter must all re-scale in system.See
The Xu Zhi Sun Changku that admire write,《3D reverse-engineerings》（China Measuring Press April the 1st edition in 2002）p16.
He Baoxi is edited, and the Yellow River water conservancy publishing house in August, 2005 publishes it《Total station survey technology》Chapter 2, the second section,
The range measurement principle of current total powerstation, mainly impulse method, ranging phase method are described, the Department of Electronics of corresponding complexity is required for
System.Impulse method ranging directly measures the time that the pulse that rangefinder is sent out is tested distance back and forth.It is military according to Ye Xiaoming, Ling Mozhu
Chinese university press publishes it in March, 2004《The total powerstation errors of principles》P8, even if the clock frequency for timing have it is atomic small
Error, also result in prodigious measurement error.For example clock frequency is 100MHz, even if having the frequency error of ± 1Hz, ranging
Error is also up to ± 1.5m.So impulse method measurement accuracy is low, it is mainly used for long-range low precision measure.Ranging phase method,
Principle be by measuring the phase change that continuous modulated signal generates back and forth on testing distance come the indirect determination propagation time,
To acquire propagation distance.Ranging phase method is related to complicated control and operation, such as measurement ruler conversion and control, light path converting
Control, dim light automatically control, and survey phase rhythm（Timing control）, the conversion of phase distance, coarse-fine ruler is apart from Linking operation etc.（See leaf
Know bright, Ling Mozhu, publishing house of Wuhan University publishes it in March, 2004《The total powerstation errors of principles》p15）.The electronic system of measurement
More than impulse method complexity.Thus it can lead to many problems.Ye Xiaoming, Ling Mozhu, publishing house of Wuhan University publish it in March, 2004
《The total powerstation errors of principles》The 3rd chapters of p42 are analyzed, for example the same frequency photoelectricity in circuit is harassed the period caused by signal and missed
Difference, inner quartz crystal oscillator are affected by temperature caused error.Li Guangyun, Li Zongchun are edited, Mapping Press 2011 1
Moon publication《Industrial measuring system principle and application》P134, caused by also referring to that practical range frequency and design frequency are inconsistent
Range error problem.
There are one problem is most important to range accuracy, no matter pulse ranging or phase ranging, range accuracy all takes
Certainly in the accurate measurement to the light velocity in air.And in practical measurement process, the light velocity is by feelings such as atmospheric temperature, humidity, air pressures
Condition influences, and needs to measure these meteorologic parameters in advance, and carry out relevant atmospheric correction.It is edited according to Li Zeqiu, Wuhan science and engineering
University press publishes it in July, 2012《Total station survey technology》P22, the atmospheric correction of total powerstation also with used in the total powerstation
The wavelength of ranging light wave is related.
Invention content
It is an object of the invention to propose a kind of parallel institution formula coordinate measuring apparatus that measurement is accurate, easy to operate.
In order to achieve the above objectives, the present invention adopts the following technical scheme that：The parallel institution of the present invention includes upper mounting plate, lower flat
Platform and several retractable connecting rods being hinged between upper mounting plate and lower platform are fixed with subjective survey on lower platform and fill
It sets, main observation device is a laser, and optical axis is known as subjective survey line, and subjective survey line is overlapped with the center line of lower platform, under
The locating shaft of Pivot Point Center line rotation can be surrounded by being additionally provided on platform, and the axial line of locating shaft hangs down with subjective survey line at space
Directly, secondary observation device is fixed on locating shaft, secondary observation device is an in-built CCD digital camera telescope, and collimation axis is known as
The axial line of the secondary line of observation, the secondary line of observation and locating shaft intersects vertically, and subjective survey line and the secondary line of observation are in same plane, lower flat
Platform is equipped with the coding disk for measurement and positioning axis rotation angle, and locating shaft is driven by motor, main observation device is aligned tested
Object point, until the CCD digital cameras built in secondary observation device observe that main observation device is irradiated to object on the secondary line of observation
Illuminated laser spot on body, subjective survey line and the secondary line of observation intersect at testee point at this time.
The advantage of the invention is that：The present invention is used directly for ranging, can meet range accuracy requirement, without in advance into
The cumbersome time-consuming calibration of row since ranging of the present invention is unrelated with the light velocity, therefore before use, is not necessarily into the measurements such as trip temperature, air pressure, nothing
Atmospheric correction is needed, easy to operate, electronic section construction is relatively easy, and production scene is suitble to use.
Description of the drawings
Fig. 1 is the schematic diagram of the present invention.
Specific implementation mode
Embodiment 1
See that Fig. 1, the parallel institution of the present embodiment include upper mounting plate 1, lower platform 3 and be hinged between upper mounting plate 1 and lower platform 3
Several retractable connecting rods 2, be fixed with main observation device 6 on lower platform 3, main observation device 6 is a laser, light
Axis is known as subjective survey line 6a, and subjective survey line 6a is overlapped with the center line 3a of lower platform 3, and being additionally provided on lower platform 3 can surround
The locating shaft 4 of Pivot Point Center line rotation, the axial line 4a and subjectivity survey line 6a of locating shaft 4 are at spatial vertical, fixation on locating shaft 4
It is an in-built CCD digital camera telescope to have secondary observation device 7, secondary observation device 7, and collimation axis is known as secondary line of observation 7a, secondary
Line of observation 7a and the axial line 4a of locating shaft 4 intersect vertically, and subjective survey line 6a and pair line of observation 7a are in same plane lower platform 3
It is equipped with the coding disk 5 for 4 rotation angle of measurement and positioning axis, locating shaft 4 is driven by motor,.
The present embodiment also has power supply, signal processing apparatus etc..
Parallel institution is operated, main observation device 6 is directed at testee A points, then 7 electric drive of secondary observation device,
Until the CCD digital cameras built in secondary observation device 7 observe that main observation device 6 is irradiated on object A on secondary line of observation 6a
Illuminated laser spot, subjectivity survey line 6a and pair line of observation 7a intersect at testee A points at this time.Coding disk 5 provides secondary observation
The value of the angle of rotation α of line 7a, the distance between the axial line 4a of locating shaft 4 and subjective survey line 6a L are known, according to triangle letter
Number relationship, obtains the value of the axial line 4a of locating shaft 4 and the spacing H of the measured point, further according to the axial line 4a distances of locating shaft 4
The distance h of 3 bottom surface of support plate and the posture of parallel institution, determine the coordinate of measured point.
In-built CCD digital camera telescope is arrived involved in above-described embodiment, it is seen that He Baoxi is edited, the Yellow River water conservancy publishing house
In August, 2005 publishes it《Total station survey technology》Chapter 2.See also plum text victory, Yang Hongzhu, publishing house of Wuhan University 2011
November publishes it《Robot measurement is developed and application》2nd chapter.
Claims (1)
1. a kind of parallel institution formula coordinate measuring apparatus, parallel institution include upper mounting plate（1）, lower platform（3）And it is hinged on flat
Platform（1）And lower platform（3）Between several retractable connecting rods（2）, it is characterised in that：In lower platform（3）On be fixed with master
Observation device（6-2）, main observation device（6）For laser, optical axis is known as subjective survey line（6a）, subjective survey line（6a）It is put down with lower
Platform（3）Center line（3a）It overlaps, in lower platform（3）On be additionally provided with can surround Pivot Point Center line rotation locating shaft（4）, fixed
Position axis（4）Axial line（4a）With subjective survey line（6a）At spatial vertical, locating shaft（4）On be fixed with secondary observation device（7）, secondary
Observation device（7）For in-built CCD digital camera telescope, collimation axis is known as the secondary line of observation（7a）, the secondary line of observation（7a）With it is fixed
Position axis（4）Axial line（4a）It intersects vertically, subjective survey line（6a）With the secondary line of observation（7a）In same plane, lower platform（3）
It is equipped with and is used for measurement and positioning axis（4）The coding disk of rotation angle（5）, locating shaft（4）It is driven by motor；By main observation device
（6）It is directed at testee（A）Certain point, when secondary observation device（7）Built-in CCD digital cameras are in the secondary line of observation（6a）On observe
Main observation device（6）The illuminated laser spot being irradiated on object (A), at this time subjective survey line（6a）With the secondary line of observation（7a）It intersects at
Testee A points.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810084708.8A CN108398090A (en) | 2015-08-24 | 2015-08-24 | Parallel mechanism type coordinate measuring instrument |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510522902.6A CN105758297B (en) | 2015-08-24 | 2015-08-24 | Parallel mechanism type coordinate measuring device |
| CN201810084708.8A CN108398090A (en) | 2015-08-24 | 2015-08-24 | Parallel mechanism type coordinate measuring instrument |
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| CN201510522902.6A Division CN105758297B (en) | 2015-08-24 | 2015-08-24 | Parallel mechanism type coordinate measuring device |
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| CN108398090A true CN108398090A (en) | 2018-08-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810084708.8A Pending CN108398090A (en) | 2015-08-24 | 2015-08-24 | Parallel mechanism type coordinate measuring instrument |
| CN201810084120.2A Pending CN108168434A (en) | 2015-08-24 | 2015-08-24 | Parallel mechanism type coordinate measuring instrument |
| CN201510522902.6A Active CN105758297B (en) | 2015-08-24 | 2015-08-24 | Parallel mechanism type coordinate measuring device |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810084120.2A Pending CN108168434A (en) | 2015-08-24 | 2015-08-24 | Parallel mechanism type coordinate measuring instrument |
| CN201510522902.6A Active CN105758297B (en) | 2015-08-24 | 2015-08-24 | Parallel mechanism type coordinate measuring device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106225755B (en) * | 2016-07-29 | 2018-07-17 | 武汉工程大学 | A kind of diamond shape displacement amplifying mechanism and high-temperature flange connector deflection angle monitoring device |
| CN108303042A (en) * | 2017-12-31 | 2018-07-20 | 南京沃宇机电有限公司 | A kind of measurement method at front wheel toe-in of automobile angle |
| CN111220074B (en) * | 2019-12-30 | 2021-06-08 | 南京理工大学 | Laser three-dimensional measurement positioning system and target determination method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2489303Y (en) * | 2001-07-18 | 2002-05-01 | 叶恩华 | Trigonometric function rangefinder |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102010035870B4 (en) * | 2010-08-30 | 2017-06-01 | Bundesrepublik Deutschland, vertr.d.d. Bundesministerium für Wirtschaft und Technologie, d.vertr.d.d. Präsidenten der Physikalisch-Technischen Bundesanstalt | Method for increasing the accuracy of a positioning machine and positioning machine |
| JP5526375B2 (en) * | 2011-07-07 | 2014-06-18 | トヨタ自動車東日本株式会社 | 3D measurement system and 3D measurement method |
| EP2705935A1 (en) * | 2012-09-11 | 2014-03-12 | Hexagon Technology Center GmbH | Coordinate measuring machine |
-
2015
- 2015-08-24 CN CN201810084708.8A patent/CN108398090A/en active Pending
- 2015-08-24 CN CN201810084120.2A patent/CN108168434A/en active Pending
- 2015-08-24 CN CN201510522902.6A patent/CN105758297B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2489303Y (en) * | 2001-07-18 | 2002-05-01 | 叶恩华 | Trigonometric function rangefinder |
Non-Patent Citations (1)
| Title |
|---|
| 李广云 等: "《工业测量***原理与应用》", 31 January 2011, 测绘出版社 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105758297A (en) | 2016-07-13 |
| CN105758297B (en) | 2018-02-02 |
| CN108168434A (en) | 2018-06-15 |
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Application publication date: 20180814 |