CN102519361A - Special worktable for laser tracker and laser tracking measurement method - Google Patents
Special worktable for laser tracker and laser tracking measurement method Download PDFInfo
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- CN102519361A CN102519361A CN2011104481789A CN201110448178A CN102519361A CN 102519361 A CN102519361 A CN 102519361A CN 2011104481789 A CN2011104481789 A CN 2011104481789A CN 201110448178 A CN201110448178 A CN 201110448178A CN 102519361 A CN102519361 A CN 102519361A
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Abstract
The invention discloses a special worktable for a laser tracker, which is capable of moving the laser tracker to an extension line of the link between the point A and the point B to the utmost extent and keeping the pointing direction of the laser track consistent with the link between the point A and the point B to the utmost extent when in measurement of the distance between the point A and the point B in the three-dimensional space. The special worktable for the laser tracker comprises a mount, a vertical angle regulator, a horizontal angle regulator, a horizontal translation regulator and a lifting regulator, wherein the mount is matched with a base of the laser tracker, the vertical angle regulator, the horizontal angle regulator, the horizontal translation regulator and the lifting regulator are used for regulating the mount. The interferometry function of the laser tracker can be utilized by the worktable during measurement, horizontal rotation and vertical rotation of the laser tracker are avoided, and accordingly uncertainty in measurement of the laser tracker is reduced, and measurement precision of the point A and the point B is guaranteed. In addition, the invention further discloses a laser tracking measurement method.
Description
Technical field
The present invention relates to a kind of laser tracker dedicated and laser tracking measurement method.
Background technology
In existing portable, large scale space measurement equipment, laser tracker is that precision is the highest.Such as, the uncertainty of measurement of certain model laser tracker that U.S. API company produces reaches 0.005 millimeter/meter, and its measurement range is a 0-60 rice.But when its measurement range surpasses 20 meters, its uncertainty of measurement will reach 0.1 millimeter, and along with the increase of this measurement range, Measurement Uncertainty also will linearly increase.And the part of certain part to be a length surpass 30 meters and accuracy requirement superelevation, so above-mentioned laser tracker can't satisfy its measuring accuracy requirement.
Summary of the invention
For overcoming the above-mentioned limitation of laser tracker, the present inventor has at first carried out deep research to the inner structure and the measuring principle of laser tracker.The essence of laser tracker is a kind of spherical coordinates measuring system, and its ultimate principle is the distance of measuring target point and the deflection angle of level and vertical direction, and distance component is by laser interferometer measurement, and angle component is measured by high-precision angular encoder.Laser tracker mainly is made up of with level, two vertical angle code-discs a laser interferometer; Its error mainly is made up of two parts: a part is the error of laser interferometer; This error is 0.001 millimeter/meter; Another part error is the angular errors of angle code-disc, and this error is greater than 1 rad.Thus it is clear that, be the angular errors of instrument to the laser tracker uncertainty of measurement amount of influence maximum.Therefore,, only utilize the interferometry function of instrument, so just can reduce the uncertainty of measurement of instrument, satisfy the precision measurement requirement of ultra-large workpiece if in measuring process, reduce horizontally rotating and vertical rotation of instrument as far as possible.
Following below in conjunction with 1 pair of laser tracker linear measure longimetry of accompanying drawing uncertainty mathematical derivation: establishing the laser tracker position is T, and two measured points are A and B, and T intersects at P to vertical line and the AB of AB, and the distance between the AB is d, in right-angle triangle TPB, and d=d
2-d
1Among the figure, r
1, r
2Be respectively that laser tracker is to the distance between A, the B point, if establish ∠ TAP=a
1, ∠ TBP=a
2, d then
1=r
1Cosa
1, d
2=r
2Cosa
2, d=r
2Cosa
2-r
1Cosa
1To measuring distance d differentiate: Δ d=cosa
2Δ r
2-cosa
1Δ r
1+ r
2Sin a
2Δ a
2-r
1Sina
1Δ a
1In the following formula, Δ r
1, Δ r
2Be the precision of laser interferometer measurement length, Δ a
1, Δ a
2It is the precision that laser tracker takes measurement of an angle.When laser tracker is placed on a some P place, a
1=a
2=0 °.In this case, because cos (0 °)=1, sin (0 °)=0 promptly gets Δ d=Δ r
2-Δ r
1It is thus clear that; When laser tracker be positioned on the extended line of A, 2 lines of B and its pointing direction also with A, when 2 lines of B are consistent, the uncertainty of the distance measure between the AB point depends on the uncertainty of laser interferometer measurement length when measuring two point coordinate.
Based on above-mentioned analysis; The application proposes; First technical matters to be solved by this invention promptly provide a kind of in measuring three dimensions 2 of A, B apart from the time; Can laser tracker be moved on the extended line of A, 2 lines of B as much as possible, and make the pointing direction and A, the consistent as much as possible laser tracker dedicated of 2 lines of B of laser tracker.
For this reason; Laser tracker dedicated of the present invention comprises the mount pad that the base with laser tracker is complementary, and the vertical angle adjusting means, level angle adjusting gear, horizontal translation adjusting gear and the oscilaltion adjusting gear that are used to adjust this mount pad.Wherein, Vertical angle adjusting means can make the laser tracker integral body that is fixed on the mount pad rotatablely move around a horizontal axis pitch orientation, so that the luffing angle of laser tracker pointing direction is consistent with the angle adjustment between A, 2 lines of B and the surface level; The level angle adjusting gear can make the laser tracker integral body that is fixed on the mount pad rotatablely move around a vertical axis horizontal direction, so that the level angle of laser tracker pointing direction is consistent with the angle adjustment between A, 2 lines of B and the vertical plane; The horizontal translation adjusting gear can make the whole edge of laser tracker one horizontal direction that is fixed on the mount pad do translation motion, laser tracker is adjusted to A, 2 lines of B on the projection line on the surface level; The oscilaltion adjusting gear can make the whole edge of laser tracker one vertical direction that is fixed on the mount pad do translation motion, laser tracker is adjusted to A, 2 lines of B on the projection line on the vertical plane.Thus; Can laser tracker be moved on the extended line of A, 2 lines of B as much as possible through this dedicated; And adjustment can also make the pointing direction of laser tracker adjust consistent with A, 2 line directions of B with level angle through the vertical angle adjustment; Like this, in measuring process, only utilize the interferometry function of laser tracker, avoided horizontally rotating and vertical rotation of laser tracker; Thereby reduce the uncertainty of measurement of laser tracker, guarantee the length measurement precision of 2 of A, B.
Further, said mount pad, vertical angle adjusting means, level angle adjusting gear, horizontal translation adjusting gear and oscilaltion adjusting gear from top to bottom are provided with; Wherein, The oscilaltion adjusting gear is used to drive mechanism's integral body of its top and does the oscilaltion campaign; The horizontal translation adjusting gear is used to drive mechanism's integral body of its top and does the horizontal translation motion; Mechanism's integral body that the level angle adjusting gear is used to drive its top is done and is horizontally rotated motion, and vertical angle adjusting means is used to drive mount pad and does vertically and rotatablely move.
Concrete structure as vertical angle adjusting means; Said vertical angle adjusting means comprises rotating shaft that along continuous straight runs is provided with and following location-plate and the last rotor plate that connects through this rotating shaft; Said rotating shaft is provided with near rotor plate right hand edge on this, down between location-plate and the last rotor plate and near on rotor plate left hand edge place be provided with the bearing height adjusting gear.In addition, said oscilaltion adjusting gear can adopt various mechanism to realize the oscilaltion adjusting, like worm gear screw elevator, hydraulic hoist or pneulift etc.Level angle adjusting gear and horizontal translation adjusting gear can also be realized by multiple existing mode, such as rotating disk mechanism and screw body etc.
On the basis of above-mentioned laser tracker dedicated, second technical matters to be solved by this invention provides a kind of laser tracking measurement method of using this dedicated, is used for measuring the distance of 2 of three dimensions A, B, and its step comprises:
(1) laser tracker is installed on the above-mentioned dedicated, and then this dedicated moved to make on the position of laser tracker near the extended line of said A, 2 lines of B;
(2) thus set up the extended line of A, 2 lines of B through the coordinate that laser tracker records 2 of A, B respectively, determine the adjustment amount of vertical angle adjusting means, level angle adjusting gear, horizontal translation adjusting gear and oscilaltion adjusting gear then to dedicated;
(3) adjustment amount that obtains according to aforementioned calculation is adjusted vertical angle adjusting means, level angle adjusting gear, horizontal translation adjusting gear and the oscilaltion adjusting gear of dedicated respectively;
(4) repeat above-mentioned steps (2) to step (3), the reading of the vertical corner code-disc of laser tracker and level angle code-disc is near zero when measuring A, B at 2 with laser tracker; At this moment, record the distance value of 2 of A, B again through laser tracker.
Use a technical term here " approaching " be because consider that the vertical corner code-disc and the level angle code-disc that under requisite error effect, will be difficult to guarantee laser tracker definitely are zero, so can only take the saying guarded.
Thus, when final the measurement, laser tracker need not horizontally rotate and vertical rotation basically, only utilizes the interferometry function of laser tracker, has so just reduced the uncertainty of measurement of instrument, to satisfy the precision measurement requirement of ultra-large workpiece.Obviously, the distance of 2 of the most suitable A of said method, B is 20 meters to 60 meters a situation.
Below in conjunction with accompanying drawing and embodiment the present invention is done further explanation.Aspect that the application adds and advantage part in the following description provide, and part will become obviously from the following description, or recognize through the application's practice.
Description of drawings
Fig. 1 is the auxiliary synoptic diagram to laser tracker linear measure longimetry uncertainty mathematical derivation.
Fig. 2 is the structural representation of laser tracker dedicated of the present invention.
Fig. 3 is the adjustment constitutional diagram when the oscilaltion adjusting gear is worked among Fig. 2.
Fig. 4 is the adjustment constitutional diagram when the horizontal translation adjusting gear is worked among Fig. 2.
Fig. 5 is the adjustment constitutional diagram when vertical angle adjusting means is worked among Fig. 2.
Fig. 6 is for moving to the synoptic diagram of extended line on the projection line on the XZ plane of A, 2 lines of B through the oscilaltion adjusting gear with the true origin O of laser tracker, and H representes the distance of oscilaltion adjustment among the figure.
Fig. 7 is for moving to the synoptic diagram of extended line on the projection line on the XY plane of A, 2 lines of B through the horizontal translation adjusting gear with the true origin O of laser tracker, and W representes the distance of horizontal translation adjustment among the figure.
Fig. 8 is for rotating to extended line the synoptic diagram on projection line XY plane on of A, B two lines with laser tracker at the pointing direction on the XY plane through the level angle adjusting gear, and α representes to horizontally rotate angle among the figure.
Fig. 9 is for rotating to extended line the synoptic diagram on projection line XZ plane on of A, B two lines with laser tracker at the pointing direction on the XZ plane through vertical angle adjusting means, and β representes the vertical anglec of rotation among the figure.
Three-dimensional X axle, Y axle and Z-direction have been marked among Fig. 6 to Fig. 9 respectively.
Dotted line among Fig. 6 to Fig. 9 is represented respectively to carry out the adjusted laser tracker 7 of attitude through dedicated.
Be labeled as among the figure: mount pad 1, vertical angle adjusting means 2, rotating shaft 2a, last rotor plate 2b, bearing height adjusting gear 2c, following location-plate 2d, level angle adjusting gear 3, horizontal translation adjusting gear 4, sliding shoe 4a, guide rail 4b, handle 4c, oscilaltion adjusting gear 5, handle 5a, lifting table 5b, support 6, laser tracker 7.
Embodiment
Like Fig. 2 to laser tracker dedicated shown in Figure 5, the vertical angle adjusting means 2, level angle adjusting gear 3, horizontal translation adjusting gear 4 and the oscilaltion adjusting gear 5 that comprise mount pad 1 and be used to adjust this mount pad 1.Wherein, Mount pad 1, vertical angle adjusting means 2, level angle adjusting gear 3, horizontal translation adjusting gear 4 and oscilaltion adjusting gear 5 from top to bottom are provided with; The below of oscilaltion adjusting gear 5 also is equipped with support 6, is used to support whole dedicated.Oscilaltion adjusting gear 5 is used to drive mechanism's integral body of its top and does the oscilaltion campaign; Horizontal translation adjusting gear 4 is used to drive mechanism's integral body of its top and does the horizontal translation motion; Mechanism's integral body that level angle adjusting gear 3 is used to drive its top is done and is horizontally rotated motion, and vertical angle adjusting means 2 is used to drive mount pad 1 and does vertically and rotatablely move.Specifically, as shown in Figure 3, oscilaltion adjusting gear 5 adopts the worm gear screw lifting mechanism to realize the function of its oscilaltion, and when the operator rotated the handle 5a of oscilaltion adjusting gear 5, the lifting table 5b of oscilaltion adjusting gear 5 promptly moved up and down; As shown in Figure 4; Horizontal translation adjusting gear 4 adopted be fixed on said lifting table 5b on the sliding shoe 4a that matches of guide rail 4b; When the operator rotated the handle 4c of horizontal translation adjusting gear 4, this handle 4c drove sliding shoe 4a through a screw body and slides along guide rail; 3 of level angle adjusting gears have adopted a rotating disk mechanism, and vertical angle adjusting means 2 is installed on the top rotary table of this rotating disk mechanism; As shown in Figure 5; Vertical angle adjusting means 2 comprises rotating shaft 2a that along continuous straight runs is provided with and following location-plate 2d and the last rotor plate 2b that connects through this rotating shaft 2a; Said rotating shaft 2a is provided with near rotor plate 2b right hand edge on this, down between location-plate 2d and the last rotor plate 2b and near on rotor plate 2b left hand edge place be provided with bearing height adjusting gear 2c.So-called here " bearing height adjusting gear 2c " is that last rotor plate 2b is played a supportive role, and its device adjustable to the bearing height of last rotor plate 2b.Bearing height adjusting gear 2c can be realized by various mechanism, such as worm gear screw lifting mechanism, screw-drive mechanism or the like.Concrete a kind of implementation is that peace is gone into a hold-down nut in last rotor plate 2b, on the location-plate 2d rotary screw that cooperates with this hold-down nut is being installed down; And then a rotating disk that connects firmly with this screw rod is set on rotary screw; When stirring rotating disk with hand, screw rod rotates synchronously, causes the axially-movable of hold-down nut along rotary screw; Because therefore hold-down nut and last rotor plate 2b one go up rotor plate 2b 2a rotation around the shaft.
On the basis of above-mentioned laser tracker dedicated; The present invention also provides a kind of laser tracking measurement method of using this dedicated; Be used for measuring the distance of 2 of three dimensions A, B; Its step comprises: install laser tracker 7 on the above-mentioned dedicated (1), and then this dedicated moved to make on the position of laser tracker 7 near the extended line of said A, 2 lines of B; (2) thus set up the extended line of A, 2 lines of B through the coordinate that laser tracker 7 records 2 of A, B respectively, determine the adjustment amount that needs vertical angle adjusting means 2, level angle adjusting gear 3, horizontal translation adjusting gear 4 and the oscilaltion adjusting gear 5 of dedicated then; (3) adjustment amount that obtains according to aforementioned calculation is adjusted vertical angle adjusting means 2, level angle adjusting gear 3, horizontal translation adjusting gear 4 and the oscilaltion adjusting gear 5 of dedicated respectively; (4) repeat above-mentioned steps (2) to step (3), the reading of the vertical corner code-disc of laser tracker 7 and level angle code-disc is near zero when measuring A, B at 2 with laser tracker 7; At this moment, record the distance value of 2 of A, B again through laser tracker 7.
Further specify below in conjunction with 9 pairs of above-mentioned steps of accompanying drawing 6 to accompanying drawing (2) and step (3).Need adjustment amount calculating on the extended line of laser tracker 7 being adjusted to A, 2 lines of B after to vertical angle adjusting means 2, level angle adjusting gear 3, horizontal translation adjusting gear 4 and the oscilaltion adjusting gear 5 of dedicated; At first; As shown in Figure 6; The extended line that the true origin O of laser tracker 7 is moved to A, 2 lines of B through oscilaltion adjusting gear 5 is on the projection line on the XZ plane, and the distance of the oscilaltion of true origin O adjustment is H; Then, as shown in Figure 7, the extended line that the true origin O of laser tracker 7 is moved to A, 2 lines of B through horizontal translation adjusting gear 4 again is on the projection line on the XY plane, and the horizontal translation of true origin O adjustment distance is W; After accomplishing above-mentioned two steps; The true origin O of laser tracker 7 in fact has been positioned on the extended line of A, 2 lines of B; But owing to also the vertical angle adjusting means 2 of dedicated is not adjusted with level angle adjusting gear 3 this moment; Therefore during with 2 of laser tracker 7 survey A, B, vertical corner code-disc and level angle code-disc in the laser tracker 7 still can rotate, and will have angular errors.Therefore; As shown in Figure 8; The extended line that laser tracker 7 is rotated to A, 2 lines of B at the pointing direction on the XY plane through level angle adjusting gear 3 again is on the projection line on the XY plane; After this, as shown in Figure 9, the extended line that laser tracker 7 is rotated to A, 2 lines of B at the pointing direction on the XZ plane through vertical angle adjusting means 2 again is on the projection line on the XZ plane.So far; This laser tracker 7 had both moved on the extended line of A, B 2 lines; And the pointing direction of laser tracker 7 is also consistent with A, 2 lines of B, when with laser tracker 7 when this surveys A, B at 2, the vertical corner code-disc of laser tracker 7 and the reading of level angle code-disc are zero; Distance between 2 of the A, B is obtained by laser interferometer measurement fully, has increased the accuracy of measuring thus greatly.
Claims (5)
1. laser tracker dedicated; It is characterized in that: it comprises the mount pad (1) that the base with laser tracker is complementary, and the vertical angle adjusting means (2), level angle adjusting gear (3), horizontal translation adjusting gear (4) and the oscilaltion adjusting gear (5) that are used to adjust this mount pad (1).
2. laser tracker dedicated as claimed in claim 1 is characterized in that: said mount pad (1), vertical angle adjusting means (2), level angle adjusting gear (3), horizontal translation adjusting gear (4) and oscilaltion adjusting gear (5) from top to bottom are provided with; Wherein, Oscilaltion adjusting gear (5) is used to drive mechanism's integral body of its top and does the oscilaltion campaign; Horizontal translation adjusting gear (4) is used to drive mechanism's integral body of its top and does the horizontal translation motion; Mechanism's integral body that level angle adjusting gear (3) is used to drive its top is done and is horizontally rotated motion, and vertical angle adjusting means (2) is used to drive mount pad (1) and does vertically and rotatablely move.
3. according to claim 1 or claim 2 laser tracker dedicated; It is characterized in that: said vertical angle adjusting means (2) comprises rotating shaft (2a) that along continuous straight runs is provided with and following location-plate (2d) and the last rotor plate (2b) that connects through this rotating shaft (2a); Said rotating shaft (2a) is being provided with bearing height adjusting gear (2c) between location-plate (2d) and the last rotor plate (2b) and near last rotor plate (2b) left hand edge place down near the setting of rotor plate on this (2b) right hand edge.
4. laser tracking measurement method is used for measuring the distance of 2 of three dimensions A, B, and its step comprises:
(1) laser tracker (7) is installed in the claim 1 to 3 on any described dedicated of claim, and then this dedicated moved to makes on the position of laser tracker (7) near the extended line of said A, 2 lines of B;
(2) through laser tracker (7) thus the coordinate that records 2 of A, B is respectively set up the extended line of A, 2 lines of B, determine the adjustment amount of vertical angle adjusting means (2), level angle adjusting gear (3), horizontal translation adjusting gear (4) and oscilaltion adjusting gear (5) then to dedicated;
(3) adjustment amount that obtains according to aforementioned calculation is adjusted vertical angle adjusting means (2), level angle adjusting gear (3), horizontal translation adjusting gear (4) and the oscilaltion adjusting gear (5) of dedicated respectively;
(4) repeat above-mentioned steps (2) to step (3), the reading of the vertical corner code-disc of laser tracker (7) and level angle code-disc is approaching zero when measuring A, B at 2 with laser tracker (7); At this moment, record the distance value of 2 of A, B again through laser tracker (7).
5. laser tracking measurement method as claimed in claim 5 is characterized in that: the distance that said A, B are 2 is 20 meters to 60 meters.
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|---|---|---|---|
| CN201110448178.9A CN102519361B (en) | 2011-12-28 | 2011-12-28 | Special worktable for laser tracker and laser tracking measurement method |
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|---|---|---|---|
| CN201110448178.9A CN102519361B (en) | 2011-12-28 | 2011-12-28 | Special worktable for laser tracker and laser tracking measurement method |
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Cited By (8)
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| CN103884279A (en) * | 2014-03-07 | 2014-06-25 | 中国科学院光电研究院 | Method for detecting perpendicularity of cross shaft and vertical shaft of laser tracker |
| CN105737734A (en) * | 2016-02-23 | 2016-07-06 | 北京工业大学 | Laser tacking measurement system taking standard ball as reflecting device |
| CN107246857A (en) * | 2017-08-10 | 2017-10-13 | 江西理工大学 | A kind of Multifunctional range finder |
| CN108522343A (en) * | 2018-04-18 | 2018-09-14 | 北京小米移动软件有限公司 | Remote interaction method, apparatus and storage medium |
| CN110601068A (en) * | 2019-08-08 | 2019-12-20 | 国家电网有限公司 | Full-automatic dynamic laser aiming device and method |
| CN111596273A (en) * | 2020-06-08 | 2020-08-28 | 中国电子科技集团公司第十四研究所 | Device and method for detecting precision of pitch angle of large antenna pedestal |
| CN112282417A (en) * | 2020-10-28 | 2021-01-29 | 中国矿业大学(北京) | Intelligent guide rail type supporting structure capable of resisting three-dimensional mining deformation |
| CN115235368A (en) * | 2022-07-27 | 2022-10-25 | 天津市特种设备监督检验技术研究院(天津市特种设备事故应急调查处理中心) | Method and device for measuring downward deflection of main beam of crane |
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| CN110601068A (en) * | 2019-08-08 | 2019-12-20 | 国家电网有限公司 | Full-automatic dynamic laser aiming device and method |
| CN111596273A (en) * | 2020-06-08 | 2020-08-28 | 中国电子科技集团公司第十四研究所 | Device and method for detecting precision of pitch angle of large antenna pedestal |
| CN112282417A (en) * | 2020-10-28 | 2021-01-29 | 中国矿业大学(北京) | Intelligent guide rail type supporting structure capable of resisting three-dimensional mining deformation |
| CN115235368A (en) * | 2022-07-27 | 2022-10-25 | 天津市特种设备监督检验技术研究院(天津市特种设备事故应急调查处理中心) | Method and device for measuring downward deflection of main beam of crane |
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