CN111707290A - Automatic calibration turntable of three-degree-of-freedom sensor - Google Patents
Automatic calibration turntable of three-degree-of-freedom sensor Download PDFInfo
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- CN111707290A CN111707290A CN202010532282.5A CN202010532282A CN111707290A CN 111707290 A CN111707290 A CN 111707290A CN 202010532282 A CN202010532282 A CN 202010532282A CN 111707290 A CN111707290 A CN 111707290A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a three-freedom-degree sensor automatic calibration turntable, which comprises: fixed frame, first actuating mechanism, first frame, first encoder, second actuating mechanism, the frame is rotated to the second, the second encoder, the third actuating mechanism, sensor place the platform, third encoder and the control unit, first frame of rotating rotationally sets up in the frame of the cyclic annular structure that fixed frame constitutes, the frame is rotated rotationally to the second sets up in the frame of the cyclic annular structure that first frame of rotating constitutes, first actuating mechanism and first encoder all install on fixed frame and are in the contralateral position on the fixed frame, second actuating mechanism and second encoder all install on first frame of rotating and are in the contralateral position on first frame of rotating, third actuating mechanism and third encoder all install on the second rotates the frame and are in the contralateral position on the frame of second. The automatic calibration turntable of the three-degree-of-freedom sensor disclosed by the invention is compact and ingenious in structure, and convenient and efficient to calibrate.
Description
Technical Field
The invention relates to the technical field of measuring instruments, in particular to an automatic calibration rotary table of a three-degree-of-freedom sensor.
Background
For products with accelerometers and gyroscopes, each individual product has a different zero offset and equivalent weight. Therefore, it is necessary to calibrate the device before it is put into practical use. The traditional calibration mode generally adopts a hexahedron calibration mode. The hexahedron calibration mode is that the product is calibrated on a horizontal table board by manually rotating the hexahedron and matching with a calibration instruction. Its advantages are simple structure and low cost. However, the traditional method for rotating the hexahedron has the defects of complex and tedious operation, low calibration efficiency and the like.
Disclosure of Invention
The invention aims to provide a three-degree-of-freedom automatic calibration turntable for a sensor, which is ingenious and simple in structure, and convenient and efficient to calibrate.
In order to solve the technical problem, the invention adopts the following specific technical scheme:
a three-degree-of-freedom sensor automatic calibration turntable comprises: the sensor placing platform comprises a fixed frame, a first driving mechanism, a first rotating frame, a first encoder, a second driving mechanism, a second rotating frame, a second encoder, a third driving mechanism, a sensor placing platform, a third encoder and a control unit, wherein the fixed frame, the first rotating frame and the second rotating frame are all frames with annular structures, the first rotating frame is rotatably arranged in the frame with the annular structure formed by the fixed frame, the second rotating frame is rotatably arranged in the frame with the annular structure formed by the first rotating frame, the first driving mechanism and the first encoder are both arranged on the fixed frame and are positioned at opposite side positions on the fixed frame, rotating shafts of the first driving mechanism and the first encoder are concentrically arranged and are both connected with the first rotating frame, the second driving mechanism and the second encoder are both arranged on the first rotating frame and are positioned at opposite side positions on the first rotating frame, rotating shafts of the second driving mechanism and the second encoder are concentrically arranged and are both connected with the second rotating frame, the third driving mechanism and the third encoder are arranged on the second rotating frame and located at opposite side positions on the second rotating frame, the rotating shafts of the third driving mechanism and the third encoder are concentrically arranged and are connected with the sensor placing platform, the axis of the rotating shaft of the first driving mechanism is perpendicular to the axis of the rotating shaft of the second driving mechanism, the axis of the rotating shaft of the second driving mechanism is perpendicular to the axis of the rotating shaft of the third driving mechanism, and the first driving mechanism, the first encoder, the second driving mechanism, the second encoder, the third driving mechanism and the third encoder are electrically connected to the control unit.
Through adopting above-mentioned technical scheme, first rotation frame has a rotational degree of freedom, and the second rotates the frame and has a rotational degree of freedom, and sensor place the platform has a rotational degree of freedom for the sensor that rotates on the sensor platform wholly has three rotational degree of freedom, utilizes each actuating mechanism automatic drive to rotate frame or sensor place the platform and rotate, utilizes each encoder to gather the rotation data, in order to send for the control unit, the demarcation of being convenient for, high-efficient accurate, swift convenient.
As a further improvement of the invention, the fixed frame, the first rotating frame and the second rotating frame are all rectangular annular frames, the first driving mechanism is arranged on the upper beam of the fixed frame, the rotating shaft of the first driving mechanism is directly or indirectly connected with the upper beam of the first rotating frame, the first encoder is arranged on the lower beam of the fixed frame, the rotating shaft of the first encoder is directly or indirectly connected with the lower beam of the first rotating frame, the second driving mechanism is arranged on the right beam of the first rotating frame, the rotating shaft of the second driving mechanism is directly or indirectly connected with the right beam of the second rotating frame, the second encoder is arranged on the left beam of the first rotating frame, the rotating shaft of the second encoder is directly or indirectly connected with the left beam of the second rotating frame, the third driving mechanism is arranged on the lower beam of the second rotating frame, the rotating shaft of the third driving mechanism is directly or indirectly connected with the lower part of the sensor placing platform, the third encoder is installed on the upper beam of the second rotating frame, the rotating shaft of the third encoder is directly or indirectly connected to the upper part of the sensor placing platform, and the control unit is installed on the fixed frame. Through adopting above-mentioned technical scheme, the annular structure frame of rectangle, the installation of each part of being convenient for on the one hand, the accurate positioning of each part when also being convenient for install, on the other hand also makes overall structure compact.
As a further improvement of the present invention, the first driving mechanism includes a first motor and a first conductive slip ring, the second driving mechanism includes a second motor and a second conductive slip ring, the third driving mechanism includes a third motor and a third conductive slip ring, a rotating shaft of the first motor passes through the first conductive slip ring and is directly or indirectly connected to the first rotating frame, a rotating shaft of the second motor passes through the second conductive slip ring and is directly or indirectly connected to the second rotating frame, and a rotating shaft of the third motor passes through the third conductive slip ring and is directly or indirectly connected to the sensor placement platform. Through adopting above-mentioned technical scheme, the setting of each slip ring that leads and the connection with corresponding motor can prevent the winding of wire, the power supply of being convenient for and signal transmission.
As a further improvement of the invention, each conductive slip ring comprises a slip ring stator and a slip ring rotor, the slip ring rotor is rotatably arranged in the slip ring stator, the slip ring rotor is provided with a rotating central hole for a corresponding rotating shaft to pass through, the slip ring rotor of each conductive slip ring is tightly connected to the rotating shaft of a corresponding motor through a fastening piece, and the slip ring stator of each conductive slip ring is connected to a corresponding rotating frame or a fixed frame through a rotation stopping device. Through adopting above-mentioned technical scheme, the winding of wire can be prevented to the concrete structure setting of each slip ring that leads electricity, is convenient for supply power and signal's transmission.
As a further improvement of the invention, the fixed frame comprises a first frame and a second frame which have the same structure, the planes of the first frame and the second frame are parallel to each other, the upper beam of the first frame is connected with the upper beam of the second frame through a first connecting member, and the lower beam of the first frame is connected with the lower beam of the second frame through a first connecting member. Through adopting above-mentioned technical scheme, first frame and the second frame that parallel are favorable to the steady installation of first motor and first encoder, make overall structure compact reasonable, also strengthen overall structure intensity.
As a further improvement of the invention, the lower beams of the first frame and the second frame are respectively provided with a second connecting member extending upwards, a bottom plate is arranged on the second connecting member, the first encoder is arranged and connected on the bottom plate, and the first encoder on the bottom plate is positioned in the middle of the lower beam of the fixed frame. Through adopting above-mentioned technical scheme, connecting elements two can promote certain space with the bottom plate, give the sufficient installation space of first encoder, can make overall structure symmetrical reasonable and compact.
As a further improvement of the invention, a top plate is arranged in the middle of the upper beam of the first frame and the second frame, the first motor is mounted on the upper surface of the top plate, and the first conductive slip ring is positioned below the top plate. Through adopting above-mentioned technical scheme, the setting of roof is favorable to the installation and the dismantlement of first motor, and can make the structure after the installation more stable, is convenient for improve the rotational stability of motor axis of rotation.
As a further improvement of the invention, the second motor is arranged on the right side surface of the right beam of the first rotating frame, the second conductive slip ring is positioned on the left side of the right beam of the first rotating frame, and the second encoder is arranged on the left side surface of the left beam of the first rotating frame; the sensor placing platform is a flat open type placing platform or a box type temperature-controllable type placing platform. By adopting the technical scheme, the second motor and the second conductive slip ring are arranged, so that the structural characteristics of the first rotating frame are skillfully utilized, and the overall structure is compact and skillful. The second encoder is arranged at the position opposite to the second motor, so that the signals can be accurately collected. The temperature-controllable placing platform can be closed in a box type, and a sensor at a set temperature can be calibrated.
As a further improvement of the invention, a third motor is arranged on the lower side surface of the lower beam of the second rotating frame, a third conductive slip ring is arranged on the upper side of the lower beam of the second rotating frame, and a third encoder is arranged on the upper side surface of the upper beam of the second rotating frame. By adopting the technical scheme, the third motor and the third conductive slip ring are arranged, so that the structural characteristics of the second rotating frame are skillfully utilized, and the overall structure is compact and skillful. The third encoder is arranged at the position opposite to the third motor, so that the signals can be accurately acquired.
As a further improvement of the invention, the fixed frame comprises a first frame and a second frame which have the same structure, the planes of the first frame and the second frame are vertical to each other, a rectangular frame is arranged at the upper part where the first frame and the second frame are connected, a top plate is arranged on the rectangular frame, the first motor is arranged on the upper surface of the top plate, a three-dimensional frame is arranged at the lower part where the first frame and the second frame are connected, a bottom plate is arranged on the three-dimensional frame, and the first encoder is arranged on the lower surface of the bottom plate. Through adopting above-mentioned technical scheme, first frame and the mutually vertically setting of second frame among the fixed frame for overall structure is more stable, also is favorable to the installation of each part, and the fixed frame of this structural shape can prevent the interference of outside article, plays the guard action.
Compared with the prior art, the invention has the following beneficial effects: the sensor calibration device has the advantages of ingenious and compact structure, low cost and three rotational degrees of freedom, and is beneficial to calibration of the sensor by means of ingenious matching of each driving mechanism and each encoder.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
Fig. 1 is a schematic view of an overall structure of an automatic calibration turntable of a three-degree-of-freedom sensor according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram illustrating a first motor and a first encoder mounted on a fixed frame of an automatic calibration turntable of a three-degree-of-freedom sensor according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a fixing frame of an automatic calibration turntable of a three-degree-of-freedom sensor according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a first rotating frame and a second rotating frame of an automatic calibration turntable of a three-degree-of-freedom sensor according to an embodiment of the present invention, in which a second driving mechanism and a third driving mechanism are installed;
fig. 5 is a schematic view illustrating that a third driving mechanism is installed on a second rotating frame of a three-degree-of-freedom sensor automatic calibration turntable according to an embodiment of the present invention;
fig. 6 is an exploded schematic view of a third driving mechanism and a sensor placement platform of a three-degree-of-freedom sensor automatic calibration turntable according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a fixing frame of an automatic calibration turntable of a three-degree-of-freedom sensor according to another embodiment of the present invention.
In the figure: the sensor positioning device comprises a fixed frame 1, a first rotating frame 2, a second rotating frame 3, a control unit 10, a first motor 11, a first conductive slip ring 12, a first encoder 13, a first shaft seat 14, a top plate 15, a bottom plate 16, a first frame 17, a second frame 18, a second motor 21, a second conductive slip ring 22, a second encoder 23, a second shaft seat 24, a first cross beam 25, a first longitudinal beam 26, a third motor 31, a third conductive slip ring 32, a third encoder 33, a third shaft seat 34, a sensor placing platform 35, a second cross beam 36, a second longitudinal beam 37, a rotating shaft 131, a first connecting member 173, a second connecting member 174 and a fixed fork 321.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the preferred embodiments, structures, features and effects according to the present invention will be provided in the accompanying drawings.
In the description of the present application, it is to be understood that the terms "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the indicated orientations and positional relationships based on the orientation shown in the drawings for convenience in describing the application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and are not to be considered limiting of the application.
In the present application, the upper, lower, left and right are referred to the upper, lower, left and right shown in fig. 1, 4 or 5, and when the rotation or position change occurs to each rotating frame, the protection scope of the present patent is not affected.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral connections; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Example 1
Referring to fig. 1 to 7, a three-degree-of-freedom sensor automatic calibration turntable includes: the sensor comprises a fixed frame 1, a first driving mechanism, a first rotating frame 2, a first encoder 13, a second driving mechanism, a second rotating frame 3, a second encoder 23, a third driving mechanism, a sensor placing platform 35, a third encoder 33 and a control unit 10, wherein the fixed frame 1, the first rotating frame 2 and the second rotating frame 3 are all frames with annular structures, the first rotating frame 2 is rotatably arranged in the frame with the annular structure formed by the fixed frame 1, the second rotating frame 3 is rotatably arranged in the frame with the annular structure formed by the first rotating frame 2, the first driving mechanism and the first encoder 13 are both arranged on the fixed frame 1 and are positioned at opposite sides on the fixed frame 1, rotating shafts of the first driving mechanism and the first encoder are concentrically arranged and are both connected with the first rotating frame 2, the second driving mechanism and the second encoder 23 are both arranged on the first rotating frame 2 and are positioned at opposite sides on the first rotating frame 2, the rotating shafts of the second driving mechanism and the second encoder are concentrically arranged and are connected with the second rotating frame 3, the third driving mechanism and the third encoder 33 are arranged on the second rotating frame 3 and are positioned at opposite side positions on the second rotating frame 3, the rotating shafts of the third driving mechanism and the third encoder are concentrically arranged and are connected with the sensor placing platform 35, the axial lead of the rotating shaft of the first driving mechanism is vertical to the axial lead of the rotating shaft of the second driving mechanism, the axial lead of the rotating shaft of the second driving mechanism is vertical to the axial lead of the rotating shaft of the third driving mechanism, and the first driving mechanism, the first encoder 13, the second driving mechanism, the second encoder 23, the third driving mechanism and the third encoder 33 are electrically connected with the control unit 10.
Referring to fig. 1, 4 and 5, the fixed frame 1, the first rotating frame 2 and the second rotating frame 3 are rectangular frames with a ring structure, the material of the frames may be aluminum, the first driving mechanism is mounted on the upper beam of the fixed frame 1, the rotating shaft of the first driving mechanism is directly or indirectly connected to the upper beam of the first rotating frame 2, the first encoder 13 is mounted on the lower beam of the fixed frame 1, the rotating shaft 131 of the first encoder 13 is directly or indirectly connected to the lower beam of the first rotating frame 2, the second driving mechanism is mounted on the right beam of the first rotating frame 2, the rotating shaft of the second driving mechanism is directly or indirectly connected to the right beam of the second rotating frame 3, the second encoder 23 is mounted on the left beam of the first rotating frame 2, the rotating shaft of the second encoder 23 is directly or indirectly connected to the left beam of the second rotating frame 3, the third driving mechanism is mounted on the lower beam of the second rotating frame 3, the rotating shaft of the third driving mechanism is directly or indirectly connected to the lower portion of the sensor placing platform 35, the third encoder 33 is installed on the upper beam of the second rotating frame 3, the rotating shaft of the third encoder 33 is directly or indirectly connected to the upper portion of the sensor placing platform 35, and the control unit 10 is installed on the fixed frame 1.
The first driving mechanism includes a first motor 11 and a first conductive slip ring 12, the second driving mechanism includes a second motor 21 and a second conductive slip ring 22, the third driving mechanism includes a third motor 31 and a third conductive slip ring 32, a rotating shaft of the first motor 11 passes through the first conductive slip ring 12 and is directly or indirectly connected to the first rotating frame 2, a rotating shaft of the second motor 21 passes through the second conductive slip ring 22 and is directly or indirectly connected to the second rotating frame 3, and a rotating shaft of the third motor 31 passes through the third conductive slip ring 32 and is directly or indirectly connected to the sensor placement platform 35. Specifically, after passing through the first conductive slip ring 12, the rotating shaft of the first motor 11 is fixed on the first shaft seat 14, the first shaft seat 14 is fixed on the first rotating frame 2 through a fastener, and the rotating shaft of the first encoder is also fixed on the first rotating frame through the first shaft seat and the fastener. The rotating shaft of the second motor 21 passes through the second conductive slip ring 22 and then is fixed on the second shaft seat, the first shaft seat is fixed on the second rotating frame 3 through a fastener, the rotating shaft of the second encoder 23 is also fixed on the second rotating frame through the second shaft seat 24 and the fastener, the first shaft seat 14 and the second shaft seat 24 are both horizontal shaft seats, and the hole direction of the central hole of each horizontal shaft seat is perpendicular to the mounting surface of the corresponding rotating frame. After the rotating shaft of the third motor 31 passes through the third conductive slip ring 32, the rotating shaft is fixed on a third shaft seat, the third shaft seat is fixed on the sensor placing platform 35 through a fastener, the rotating shaft of the third encoder 33 is fixed on the sensor placing platform 35 through another third shaft seat 34, the third shaft seat 34 is a vertical shaft seat, and the hole direction of the center hole of the vertical shaft seat is parallel to the mounting surface of the sensor placing platform.
Each conductive slip ring comprises a slip ring stator and a slip ring rotor, the slip ring rotor is rotatably arranged in the slip ring stator, a rotating central hole is formed in the slip ring rotor to allow a corresponding rotating shaft to pass through, the slip ring rotor of each conductive slip ring is fixedly connected to the rotating shaft of a corresponding motor through a fastening piece, and the slip ring stator of each conductive slip ring is connected to a corresponding rotating frame or a corresponding fixed frame through a rotation stopping device. As shown in fig. 6, the rotation stopping device includes a fixing fork 321 fixedly disposed on the slip ring stator and a fastener fastened to the fixing fork, and the fastener is screwed to the corresponding rotating frame or the corresponding fixing frame, so that the slip ring stator is fixed relative to the corresponding rotating frame or the corresponding fixing frame.
Each conductive slip ring is responsible for leading out the lead of the conductive slip ring, and simultaneously leads out the lead of the conductive slip ring at the inner layer. Specifically, the slip ring rotor of the first conductive slip ring 12 simultaneously leads out the wires of the slip ring stator of the second motor 21, the second encoder 23 and the second conductive slip ring 22 on the first rotating frame 2; the slip ring rotor of the second conductive slip ring 22 simultaneously leads out the slip ring stator of the third motor 31, the slip ring stator of the third conductive slip ring 32 and the lead of the third encoder 33 on the second rotating frame 3; the slip ring rotor of the third conductive slip ring 32 leads out of the sensor rotary platform 35. The conductive slip rings are arranged to prevent the wires from being twisted. The slip ring stator of the first conductive slip ring 12 is connected to the wires of the first motor 11 and the first encoder 13, and the wires connected to the slip ring stator of the first conductive slip ring 12 by the control unit and the power supply include wires (signal wires) required for supplying to the inner layer of the conductive slip ring.
Referring to fig. 2 and 3, the fixed frame 1 includes a first frame 17 and a second frame 18 having the same structure, the planes of the first frame 17 and the second frame 18 are parallel to each other, the upper beam of the first frame 17 is connected to the upper beam of the second frame 18 through a first connecting member 173, and the lower beam of the first frame 17 is connected to the lower beam of the second frame 18 through a first connecting member 173.
Referring to fig. 2, the lower beams of the first frame 17 and the second frame 18 are provided with a second connecting member 174 extending upwards, the second connecting member 174 is provided with a bottom plate 16, the first encoder 13 is installed and connected to the bottom plate 16, and the first encoder 13 on the bottom plate is located at the middle position of the lower beam of the fixed frame.
The middle parts of the upper beams of the first frame and the second frame are provided with a top plate 15, the first motor 11 is installed on the upper surface of the top plate 15, and the first conductive slip ring 12 is located below the top plate 15.
The first rotating frame 2 is formed by connecting two first cross beams 25 and two first longitudinal beams 26 at intervals to form a rectangular frame, the first cross beam 25 at the upper part is an upper beam, the first cross beam at the lower part is a lower beam, the first longitudinal beam 26 at the left side is a left beam, the first longitudinal beam at the right side is a right beam, the second motor 21 is installed on the right side surface of the right beam of the first rotating frame 2, the second conductive slip ring 22 is located on the left side of the right beam of the first rotating frame 2, and the second encoder 23 is installed on the left side surface of the left beam of the first rotating frame 2; the sensor placement platform 35 is a flat open type placement platform or a box type temperature-controllable type placement platform. The sensor placement platform can be used for carrying one or more sensors (such as an MPU6050 sensor) and can be calibrated in batches; and a box-type closed temperature-controllable placing platform can be provided, and the sensor at the set temperature can be calibrated.
The second rotating frame 3 is formed by connecting two second cross beams 36 and two second longitudinal beams 37 at intervals to form a rectangular frame, the upper second cross beam 36 is an upper beam, the lower second cross beam is a lower beam, the left second longitudinal beam 37 is a left beam, the right second longitudinal beam is a right beam, the third motor 31 is mounted on the lower side surface of the lower beam of the second rotating frame 3, the third conductive slip ring 32 is located on the upper side of the lower beam of the second rotating frame 3, and the third encoder 33 is mounted on the upper side surface of the upper beam of the second rotating frame 3.
In another embodiment, referring to fig. 7, the fixed frame 1 includes a first frame 17 and a second frame 18 having the same structure, the planes of the first frame 17 and the second frame 18 are perpendicular to each other, a rectangular frame is disposed at an upper position where the first frame 17 and the second frame 18 are connected, a top plate 15 is mounted on the rectangular frame, the first motor 11 is mounted on an upper surface of the top plate 15, a solid frame is disposed at a lower position where the first frame 17 and the second frame 18 are connected, a bottom plate 16 is mounted on the solid frame, and the first encoder 13 is mounted on a lower surface of the bottom plate 16.
When the three-degree-of-freedom sensor disclosed by the invention is used for automatically calibrating the turntable to calibrate the sensor, the calibration steps are approximately as follows:
(1) fixing a sensor to be calibrated on a sensor placing platform, and connecting a lead of the sensor with a lead of a slip ring rotor at the inner side of a third conductive slip ring 32;
(2) starting a control unit, controlling the first motor 11, the second motor 21 and the third motor 31 by the control unit, moving according to a programmed program, enabling the motors to move independently without sequential limitation, enabling the sensor to rotate to different directions in space, and enabling the first encoder 13, the second encoder 23 and the third encoder 33 to obtain corresponding rotation data (including information such as rotation angles);
(3) the control unit receives the data of the first encoder 13, the second encoder 23, the third encoder 33 and the sensor and then calculates the data to obtain a correction coefficient, so that calibration is completed.
Although the present invention has been described with reference to the preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but is intended to cover various modifications, equivalents and alternatives falling within the spirit and scope of the invention.
Claims (10)
1. The utility model provides a sensor automatic calibration revolving stage of three degrees of freedom which characterized in that includes: the device comprises a fixed frame (1), a first driving mechanism, a first rotating frame (2), a first encoder (13), a second driving mechanism, a second rotating frame (3), a second encoder (23), a third driving mechanism, a sensor placing platform (35), a third encoder (33) and a control unit (10), wherein the fixed frame (1), the first rotating frame (2) and the second rotating frame (3) are frames with annular structures, the first rotating frame (2) is rotatably arranged in the frame with the annular structure formed by the fixed frame (1), the second rotating frame (3) is rotatably arranged in the frame with the annular structure formed by the first rotating frame (2), the first driving mechanism and the first encoder (13) are both arranged on the fixed frame (1) and positioned at opposite side positions on the fixed frame (1), rotating shafts of the first driving mechanism and the first encoder are concentrically arranged and are both connected with the first rotating frame (2), the second driving mechanism and the second encoder (23) are arranged on the first rotating frame (2) and located at opposite side positions on the first rotating frame (2), rotating shafts of the second driving mechanism and the second encoder are concentrically arranged and are connected with the second rotating frame (3), the third driving mechanism and the third encoder (33) are arranged on the second rotating frame (3) and are located at opposite side positions on the second rotating frame (3), rotating shafts of the third driving mechanism and the third encoder are concentrically arranged and are connected with the sensor placing platform (35), the axis of the rotating shaft of the first driving mechanism is perpendicular to the axis of the rotating shaft of the second driving mechanism, the axis of the rotating shaft of the second driving mechanism is perpendicular to the axis of the rotating shaft of the third driving mechanism, the first encoder (13), the second driving mechanism, the second encoder (23) and the second encoder, The third drive mechanism and the third encoder (33) are both electrically connected to the control unit (10).
2. The automatic calibration rotary table of three-degree-of-freedom sensor according to claim 1, wherein the fixed frame (1), the first rotating frame (2) and the second rotating frame (3) are rectangular annular frames, the first driving mechanism is mounted on the upper beam of the fixed frame (1), the rotating shaft of the first driving mechanism is directly or indirectly connected to the upper beam of the first rotating frame (2), the first encoder (13) is mounted on the lower beam of the fixed frame (1), the rotating shaft of the first encoder (13) is directly or indirectly connected to the lower beam of the first rotating frame (2), the second driving mechanism is mounted on the right beam of the first rotating frame (2), the rotating shaft of the second driving mechanism is directly or indirectly connected to the right beam of the second rotating frame (3), the second encoder (23) is mounted on the left beam of the first rotating frame (2), the rotating shaft of the second encoder (23) is directly or indirectly connected to the left beam of the second rotating frame (3), the third driving mechanism is installed on a lower beam of the second rotating frame (3), a rotating shaft of the third driving mechanism is directly or indirectly connected to the lower portion of the sensor placing platform (35), the third encoder (33) is installed on an upper beam of the second rotating frame (3), the rotating shaft of the third encoder (33) is directly or indirectly connected to the upper portion of the sensor placing platform (35), and the control unit (10) is installed on the fixed frame (1).
3. The automatic calibration rotary table with three degrees of freedom sensor according to claim 2, wherein the first driving mechanism comprises a first motor (11) and a first conductive slip ring (12), the second driving mechanism comprises a second motor (21) and a second conductive slip ring (22), the third driving mechanism comprises a third motor (31) and a third conductive slip ring (32), the rotating shaft of the first motor (11) passes through the first conductive slip ring (12) and is directly or indirectly connected to the first rotating frame (2), the rotating shaft of the second motor (21) passes through the second conductive slip ring (22) and is directly or indirectly connected to the second rotating frame (3), and the rotating shaft of the third motor (31) passes through the third conductive slip ring (32) and is directly or indirectly connected to the sensor placing platform (35).
4. The three-degree-of-freedom sensor automatic calibration turntable according to claim 3, wherein each conductive slip ring comprises a slip ring stator and a slip ring rotor, the slip ring rotor is rotatably disposed in the slip ring stator, the slip ring rotor has a rotating center hole for a corresponding rotating shaft to pass through, the slip ring rotor of each conductive slip ring is tightly connected to the rotating shaft of a corresponding motor through a fastener, and the slip ring stator of each conductive slip ring is connected to a corresponding rotating frame or a fixed frame through a rotation stopping device.
5. The automatic calibration rotary table of three-degree-of-freedom sensor according to claim 3, wherein the fixed frame (1) comprises a first frame (17) and a second frame (18) which have the same structure, the planes of the first frame (17) and the second frame (18) are parallel to each other, the upper beam of the first frame (17) is connected with the upper beam of the second frame (18) through a first connecting member (173), and the lower beam of the first frame (17) is connected with the lower beam of the second frame (18) through a first connecting member (173).
6. The automatic calibration rotary table of three-degree-of-freedom sensor according to claim 5, wherein the lower beams of the first frame (17) and the second frame (18) are provided with a second connecting member (174) extending upwards, a bottom plate (16) is mounted on the second connecting member (174), the first encoder (13) is mounted and connected to the bottom plate (16), and the first encoder (13) on the bottom plate is located at the middle position of the lower beam of the fixed frame.
7. The automatic calibration rotary table of three-degree-of-freedom sensor according to claim 6, wherein a top plate (15) is arranged in the middle of the upper beam of the first frame (17) and the second frame (18), the first motor (11) is mounted on the upper surface of the top plate (15), and the first conductive slip ring (12) is located below the top plate (15).
8. The automatic calibration rotary table of three-degree-of-freedom sensor according to any one of claims 3-7, wherein the second motor (21) is installed on the right side surface of the right beam of the first rotating frame (2), the second conductive slip ring (22) is located on the left side of the right beam of the first rotating frame (2), and the second encoder (23) is installed on the left side surface of the left beam of the first rotating frame (2); the sensor placing platform (35) is a flat open type placing platform or a box type temperature-controllable type placing platform.
9. The automatic calibration rotary table of three-degree-of-freedom sensor according to any one of claims 3-7, wherein the third motor (31) is mounted on the lower side of the lower beam of the second rotating frame (3), the third conductive slip ring (32) is located on the upper side of the lower beam of the second rotating frame (3), and the third encoder (33) is mounted on the upper side of the upper beam of the second rotating frame (3).
10. The automatic calibration turntable for the three-degree-of-freedom sensor is characterized in that the fixed frame (1) comprises a first frame (17) and a second frame (18) which are identical in structure, planes of the first frame (17) and the second frame (18) are perpendicular to each other, a rectangular frame is arranged at the upper position where the first frame (17) and the second frame (18) are connected, a top plate (15) is installed on the rectangular frame, the first motor (11) is installed on the upper surface of the top plate (15), a three-dimensional frame is arranged at the lower position where the first frame (17) and the second frame (18) are connected, a bottom plate (16) is installed on the three-dimensional frame, and the first encoder (13) is installed on the lower surface of the bottom plate (16).
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