CN110487218B - Novel angle measuring method of ball hinge based on space indexing positioning - Google Patents
Novel angle measuring method of ball hinge based on space indexing positioning Download PDFInfo
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- CN110487218B CN110487218B CN201910796702.8A CN201910796702A CN110487218B CN 110487218 B CN110487218 B CN 110487218B CN 201910796702 A CN201910796702 A CN 201910796702A CN 110487218 B CN110487218 B CN 110487218B
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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Abstract
The invention discloses a novel angle measuring method of a ball hinge based on space indexing positioning. The ball hinge constructed by the existing pose detection method is generally complex in structure. The ball head is provided with a blind hole group, and a spring and a ball are arranged in the blind hole; the ball socket is provided with a spherical hole group; a laser emitter is fixedly arranged on the top surface of the ball socket; the hemispherical shell is fixed on a ball head output rod of the ball head; the inner spherical surface of the hemispherical shell is provided with a photoelectric sensor group; numbering each photoelectric sensor in an (i, j) form, and calibrating the angle of the spherical hole in advance, so that when the ball head rotates in the ball socket until laser emitted by the laser emitter is applied to the photoelectric sensor numbered in the (i, j), the azimuth angle and the yaw angle of the ball head can be obtained. The invention can obtain the spherical hinge space rotation angle with high precision by using the photoelectric sensor with low precision and low cost.
Description
Technical Field
The invention belongs to the technical field of mechanical structure design and measurement, and particularly relates to a novel angle measuring method of a ball hinge based on space indexing positioning.
Background
With the rapid development of modern industry, the spherical hinge has the characteristics of flexible rotation, capability of realizing the transmission of space mechanism motion and force and the like, and is widely applied to the fields of robots, parallel machine tools, electronic mechanical equipment, medical instrument equipment, automobile parts and the like. The spherical hinge is used as a key component in system transmission, and the measurement of the motion space angle of the spherical hinge is beneficial to the accurate feedback control and compensation of the system transmission, and has important significance for improving the transmission precision of the system and the working performance of the whole machine.
The ball-and-socket joint motion is a typical multiple degree of freedom motion. Compared with single-degree-of-freedom displacement measurement, the multi-degree-of-freedom displacement measurement is difficult, the technology is not mature, and related researches are carried out by partial scholars at home and abroad. Abroad, the American society of Georgia and technology, Kok-Meng Lee and the like successively propose a contact type measuring method for obtaining the movement position of a variable reluctance spherical motor rotor by using an optical rotary encoder and a non-contact type measuring method for obtaining the position of the spherical rotor by using a vision sensor, a double optical sensor and the like. Patent CN1643343A proposes a device for measuring the rotation and tilt angle of a ball joint, based on the magneto-optical effect, which obtains the rotation and tilt angle of the ball joint by arranging a magnet in an articulated ball, and the magnetic field intensity of the articulated ball changes with the position of the ball head in the ball socket, and is reflected on a display device, received by an optical detection device, and processed by corresponding images. In China, the Beijing aerospace university Myriko bridge and the like develop the position measurement research of the three-freedom-degree spherical motor, and the method for installing the sensor and calculating the displacement is provided by utilizing the measurement principle that the two-freedom-degree optical sensor measures the three-freedom-degree displacement of the spherical motor. Relative researches on a permanent magnet spherical motor position detection method based on machine vision are conducted by the university of combined fertilizer industry, such as the Hupenhao, the Li Jiang and the like.
However, the ball hinge constructed based on the pose detection method generally has a complex structure, measurement data processing is complex, high measurement precision is difficult to guarantee, economic cost is high, and meanwhile, in practical application, the ball hinge is limited by installation space and working environment, and research schemes are limited.
Disclosure of Invention
The invention aims to provide a novel angle measuring method of a ball hinge based on space indexing positioning, aiming at the defects of the prior art.
The invention specifically comprises the following steps:
step one, a novel ball hinge based on space indexing positioning is built. The novel ball hinge based on space indexing positioning comprises a hemispherical shell, a ball head, a laser emitter, a ball socket, a photoelectric sensor, a spring and a ball; the ball head is provided with m blind hole groups which are equidistantly distributed along the warp direction, and m is more than or equal to 5; one of the blind hole groups is arranged at the position of the 0-degree weft, and the other blind hole groups are symmetrically arranged at two sides of the 0-degree weft; the blind hole group comprises n blind holes which are uniformly distributed along the weft direction; the number of blind holes in each blind hole group is equal; each blind hole is connected with one ball through a spring; the diameter of the ball is equal to the inner diameter of the blind hole, and half of the ball is embedded into the blind hole. The ball socket is provided with m spherical hole groups with the arrangement rule consistent with the arrangement rule of the m blind hole groups; the spherical hole group comprises k spherical holes which are uniformly distributed along the weft direction, wherein k is more than or equal to 8, and n is 2k or 3 k; the spherical hole has a radius equal to the diameter of the ball. A laser emitter is fixedly arranged on the top surface of the ball socket; each spherical hole of the ball socket is embedded with one corresponding ball at the position of the ball head. The hemispherical shell is fixed on a ball head output rod of the ball head and is concentric with the ball head. The inner spherical surface of the hemispherical shell is provided with m photoelectric sensor groups which are equidistantly arranged along the meridian direction; the photoelectric sensor group comprises k photoelectric sensors which are uniformly distributed along the weft direction; and under the state that the ball head output rod is vertical to the bottom surface of the ball socket, the laser emitter is aligned with the weft where the (m-1)/2 photoelectric sensor group is positioned from bottom to top.
Numbering each photoelectric sensor in an (i, j) form, wherein i is the number of the photoelectric sensor group from bottom to top, and j is the sequential number of each photoelectric sensor in the photoelectric sensor group along the same surrounding direction; when j is greater than or equal to 2, define thetai,jChanging the number of the photoelectric sensor aligned with the laser emitter from (i, j-1) to (i, j) to the angle of the ball head rotating along the weft direction; when i is greater than or equal to 2, define
Changing the number of the photoelectric sensor aligned with the laser emitter from (i-1, j) to (i, j) to the angle of the ball head rotated along the longitude direction; in addition, let θ1,1＝0，
Except for theta1,1And
other than θi,jAre calibrated in advance.
Step three, when the ball head rotates in the ball socket until laser emitted by the laser emitter is applied to the photoelectric sensor numbered (i, j), the azimuth angle and the yaw angle of the ball head are respectively as follows:
further, the blind holes of the adjacent blind hole groups are arranged in a staggered mode along the weft direction.
Further, the ball socket includes an upper ball socket and a lower ball socket which are connected by a bolt.
Further, θ is calibratedi,jA three-coordinate measuring machine is used.
The invention has the beneficial effects that:
1. the invention calibrates the angle of the spherical hole in advance, the photoelectric sensor in the hemispherical shell only plays a role of acquiring the position when the ball head rotates, the real positioning depends on the matching of the ball and the spherical hole, namely, the photoelectric sensor with low precision and low cost can be used for acquiring the spherical hinge space rotation angle with high precision.
2. The invention has the advantages of low cost, low requirement on equipment and high practicability.
3. The external working environment has small interference to the implementation of the invention and high implementability.
Drawings
FIG. 1 is an exploded view of the ball hinge of the present invention;
FIG. 2 is a schematic view of a hemispherical shell in accordance with the present invention;
FIG. 3 is a cross-sectional view of the ball head of the present invention;
FIG. 4 is a cross-sectional view of the socket of the present invention;
FIG. 5 is a plan development view showing the arrangement rule of the balls or spherical holes in the present invention;
FIG. 6 is an assembled cross-sectional view of the ball and socket of the present invention;
reference numerals: the device comprises a hemispherical shell 1, a ball head 2, a laser emitter 3, a ball socket 4, a ball head output rod 5, a photoelectric sensor 6, a blind hole 7, a spring 8, a ball 9 and a spherical hole 10.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1 to 6, a method for measuring an angle of a novel ball hinge based on spatial indexing positioning specifically includes:
step one, a novel ball hinge based on space indexing positioning is built. The novel ball hinge based on space indexing positioning comprises a hemispherical shell 1, a ball head 2, a laser emitter 3, a ball socket 4, a photoelectric sensor 6, a spring 8 and a ball 9; the ball head 2 is provided with m blind hole groups which are equidistantly distributed along the warp direction, and m is more than or equal to 5; one of the blind hole groups is arranged at the position of the 0-degree weft, and the other blind hole groups are symmetrically arranged at two sides of the 0-degree weft; the blind hole group comprises n blind holes 7 uniformly distributed along the weft direction; the number of blind holes in each blind hole group is equal; each blind hole 7 is connected with a ball 9 through a spring 8; the diameter of the ball 9 is equal to the inner diameter of the blind hole 7, and half of the ball 9 is embedded in the blind hole 7. The ball socket 4 is provided with m spherical hole groups with the arrangement rule consistent with the arrangement rule of the m blind hole groups; the spherical hole group comprises k spherical holes 10 uniformly distributed along the weft direction, wherein k is more than or equal to 8, and n is 2k or 3 k; the spherical hole 10 has a radius equal to the diameter of the ball 9. The top surface of the ball socket 4 is fixedly provided with a laser emitter 3; each spherical hole 10 of the ball socket 4 is embedded with one ball 9 corresponding to the position of the ball head 2. The hemispherical shell 1 is fixed on a ball head output rod 5 of the ball head 2, and the hemispherical shell 1 and the ball head 2 are concentric. M photoelectric sensor groups are arranged on the inner spherical surface of the hemispherical shell 1 at equal intervals along the meridian direction; the photoelectric sensor group comprises k photoelectric sensors 6 uniformly distributed along the weft direction; under the state that the ball head output rod 5 is vertical to the bottom surface of the ball socket 4, the laser emitter 3 is aligned with the weft where the (m-1)/2 photoelectric sensor group is located from bottom to top.
And the blind holes of the adjacent blind hole groups are arranged in a staggered manner along the weft direction. As shown in fig. 4, the ball socket 4 is of a split type, and includes an upper ball socket and a lower ball socket which are connected by a bolt.
Step two, numbering each photoelectric sensor 6 in a form of (i, j), wherein i is the number of the photoelectric sensor group from bottom to top, and j is the sequential number of each photoelectric sensor in the photoelectric sensor group along the same surrounding direction; when j is greater than or equal to 2, define thetai,jThe number of the photoelectric sensor aligned with the laser emitter 3 is changed from (i, j-1) to (i, j), and the ball head 2 rotates by an angle in the weft direction; when i is greater than or equal to 2, define
The number of the photoelectric sensor aligned with the laser emitter 3 is changed from (i-1, j) to (i, j), and the ball head 2 rotates by an angle in the direction of the longitude line; in addition, let θ1,1＝0，
Except for theta1,1And
other than θijAre calibrated in advance by a high-precision instrument.
Step three, when the ball head 2 rotates in the ball socket 4 until the laser emitted by the laser emitter 3 strikes the photoelectric sensor 6 with the number (i, j), the azimuth angle and the yaw angle of the ball head 2 are respectively as follows:
therefore, in the process of rotating the ball head 2, the spatial rotation angle of the ball head 2 can be known by reading the number of the photoelectric sensor 6. And the ball 2 rotates in the ball socket 4 by thetai,jAnd
at the same time, a partial spherical hole 10 is embedded in the ball 9 in the ball socket 4, so that the accurate positioning of the ball head 2 in the ball socket 4 is ensured. For more clearly explaining the movement of the ball head 2, the arrangement rule of the balls 9 and the spherical holes 10 is developed into a plane, as shown in fig. 5, the X-axis direction represents the horizontal (along the weft direction) circular movement of the ball head 2, the Y-axis direction represents the vertical (along the warp direction) circular movement of the ball head 2, and the Z-axis direction represents the movement of the ball head 2 coupled in two directions.
Claims (4)
1. A novel angle measurement method of a spherical hinge based on space indexing positioning is characterized in that: the method comprises the following specific steps:
step one, building a novel ball hinge based on space indexing positioning; the novel ball hinge based on space indexing positioning comprises a hemispherical shell, a ball head, a laser emitter, a ball socket, a photoelectric sensor, a spring and a ball; the ball head is provided with m blind hole groups which are equidistantly distributed along the warp direction, and m is more than or equal to 5; one of the blind hole groups is arranged at the position of the 0-degree weft, and the other blind hole groups are symmetrically arranged at two sides of the 0-degree weft; the blind hole group comprises n blind holes which are uniformly distributed along the weft direction; the number of blind holes in each blind hole group is equal; each blind hole is connected with one ball through a spring; the diameter of the ball is equal to the inner diameter of the blind hole, and half of the ball is embedded into the blind hole; the ball socket is provided with m spherical hole groups with the arrangement rule consistent with the arrangement rule of the m blind hole groups; the spherical hole group comprises k spherical holes which are uniformly distributed along the weft direction, wherein k is more than or equal to 8, and n is 2k or 3 k; the diameter of the spherical hole is equal to that of the ball; a laser emitter is fixedly arranged on the top surface of the ball socket; each spherical hole of the ball socket is embedded with a ball corresponding to the position of the ball head; the hemispherical shell is fixed on a ball head output rod of the ball head and is concentric with the ball head; the inner spherical surface of the hemispherical shell is provided with m photoelectric sensor groups which are equidistantly arranged along the meridian direction; the photoelectric sensor group comprises k photoelectric sensors which are uniformly distributed along the weft direction; under the state that the ball head output rod is vertical to the bottom surface of the ball socket, the laser emitter is aligned with a weft line where the (m-1)/2 photoelectric sensor group is located from bottom to top;
numbering each photoelectric sensor in an (i, j) form, wherein i is the number of the photoelectric sensor group from bottom to top, and j is the sequential number of each photoelectric sensor in the photoelectric sensor group along the same surrounding direction; when j is greater than or equal to 2, define thetai,jChanging the number of the photoelectric sensor aligned with the laser emitter from (i, j-1) to (i, j) to the angle of the ball head rotating along the weft direction; when i is greater than or equal to 2, define
Changing the number of the photoelectric sensor aligned with the laser emitter from (i-1, j) to (i, j) to the angle of the ball head rotated along the longitude direction; in addition, let θ1,1＝0，
Except for theta1,1And
other than θi,jCalibrating in advance;
step three, when the ball head rotates in the ball socket until laser emitted by the laser emitter is applied to the photoelectric sensor numbered (i, j), the azimuth angle and the yaw angle of the ball head are respectively as follows:
2. the angle measurement method of the novel ball hinge based on the spatial indexing positioning as claimed in claim 1, wherein: the blind holes of adjacent blind hole groups are arranged in a staggered mode along the weft direction.
3. The angle measurement method of the novel ball hinge based on the spatial indexing positioning as claimed in claim 1, wherein: the ball socket includes an upper ball socket and a lower ball socket connected by a bolt.
4. The angle measurement method of the novel ball hinge based on the spatial indexing positioning as claimed in claim 1, wherein: calibrating thetai,jA three-coordinate measuring machine is used.
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| JP2015227816A (en) * | 2014-05-30 | 2015-12-17 | 株式会社ミツトヨ | Multi-joint arm shape measuring instrument |
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| CN103527620A (en) * | 2013-10-23 | 2014-01-22 | 合肥工业大学 | Spherical hinge capable of realizing rotation angle measurement and measurement method of rotation angle |
| CN104132675A (en) * | 2014-07-14 | 2014-11-05 | 杭州电子科技大学 | Spherical hinge movement direction measuring method based on spherical capacitor |
| CN104454962A (en) * | 2014-12-01 | 2015-03-25 | 杭州电子科技大学 | Ball hinge capable of detecting spatial revolution angle |
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