CN102519361B - Special worktable for laser tracker and laser tracking measurement method - Google Patents

Special worktable for laser tracker and laser tracking measurement method Download PDF

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Publication number
CN102519361B
CN102519361B CN201110448178.9A CN201110448178A CN102519361B CN 102519361 B CN102519361 B CN 102519361B CN 201110448178 A CN201110448178 A CN 201110448178A CN 102519361 B CN102519361 B CN 102519361B
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laser tracker
adjusting gear
horizontal
laser
dedicated
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CN201110448178.9A
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Chinese (zh)
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CN102519361A (en
Inventor
段玲
石小兵
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二重集团(德阳)重型装备股份有限公司
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Publication of CN102519361A publication Critical patent/CN102519361A/en
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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

Laser tracker dedicated and laser tracking measurement method

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 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, the uncertainty of measurement also will linearly increase.And the part of certain part to be a length surpass 30 meters and accuracy requirement superelevation, therefore above-mentioned laser tracker cannot meet its measuring accuracy requirement.

Summary of the invention

For overcoming the above-mentioned limitation of laser tracker, first present inventor conducts in-depth research the inner structure of laser tracker and measuring principle.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 horizontal and vertical direction, and distance component is by laser interferometer measurement, and angle component is measured by high-precision angular encoder.Laser tracker mainly consists of with level, two vertical angle code-discs a laser interferometer, its error is mainly comprised 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.Visible, on the laser tracker uncertainty of measurement amount of impact maximum, be the angular errors of instrument.Therefore, if reduce horizontally rotating and vertical rotation of instrument in measuring process as far as possible, only utilize the interferometry function of instrument, so just can reduce the uncertainty of measurement of instrument, meet the precision measurement requirement of ultra-large workpiece.

As follows below in conjunction with 1 pair of laser tracker linear measure longimetry uncertainty mathematical derivation of accompanying drawing: establishing 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 AB is d, in right-angle triangle TPB, d=d 2-d 1.In figure, r 1, r 2respectively that laser tracker is to the distance between A, B point, if establish ∠ TAP=a 1, ∠ TBP=a 2, d 1=r 1cosa 1, d 2=r 2cosa 2, d=r 2cosa 2-r 1cosa 1.To measuring distance d differentiate: Δ d=cosa 2Δ r 2-cosa 1Δ r 1+ r 2sin a 2Δ a 2-r 1sina 1Δ a 1.In above formula, Δ r 1, Δ r 2the precision of laser Interferometer for Length Measuring, 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, due to cos (0 °)=1, sin (0 °)=0, obtains Δ d=Δ r 2-Δ r 1.Visible, when laser tracker is positioned on the extended line of A, 2 lines of B and when its pointing direction is also consistent with A, 2 lines of B, the uncertainty of the distance measure between AB point depends on the uncertainty of laser Interferometer for Length Measuring while measuring two point coordinate.

Based on above-mentioned analysis, the application proposes, it is a kind of in measuring three dimensions during the distance of 2 of A, B that first technical matters to be solved by this invention provides, laser tracker can be moved to as much as possible on the extended line of A, 2 lines of B, and the pointing direction that makes laser tracker and A, the consistent as much as possible laser tracker dedicated of 2 lines of B.

For this reason, laser tracker dedicated of the present invention comprises the mount pad that the base with laser tracker matches, and for adjusting vertical angle adjusting means, regulating device for horizontal angle, horizontal translation adjusting gear and the oscilaltion adjusting gear of this mount pad.Wherein, the laser tracker integral body that vertical angle adjusting means can make to be fixed on mount pad rotatablely moves 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 surface level; The laser tracker integral body that regulating device for horizontal angle can make to be fixed on mount pad rotatablely moves 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 vertical plane; The laser tracker integral body that horizontal translation adjusting gear can make to be fixed on mount pad is done translation motion along a horizontal direction, laser tracker is adjusted on A, the projection line of 2 lines of B on a surface level; The laser tracker integral body that oscilaltion adjusting gear can make to be fixed on mount pad is done translation motion along a vertical direction, laser tracker is adjusted on A, the projection line of 2 lines of B on a vertical plane.Thus, by this dedicated, laser tracker can be moved to as much as possible on the extended line of A, 2 lines of B, and the pointing direction that can also make laser tracker by vertical angle adjustment and level angle adjustment and A, the adjustment of 2 line directions of B are consistent, like this, in measuring process, only utilized 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, described mount pad, vertical angle adjusting means, regulating device for horizontal angle, horizontal translation adjusting gear and oscilaltion adjusting gear from top to bottom arrange; Wherein, oscilaltion adjusting gear is for driving mechanism's integral body of its top to do oscilaltion campaign, horizontal translation adjusting gear is for driving mechanism's integral body of its top to do horizontal translation motion, regulating device for horizontal angle is for driving mechanism's integral body of its top to horizontally rotate motion, and vertical angle adjusting means is used for driving mount pad to do vertical rotary motion.

Concrete structure as vertical angle adjusting means, described vertical angle adjusting means comprises the rotating shaft of along continuous straight runs setting and the lower location-plate connecting by this rotating shaft and upper rotor plate, described rotating shaft arranges near rotor plate right hand edge on this, between lower location-plate and upper rotor plate and near on rotor plate left hand edge place be provided with bearing height adjusting gear.In addition, described oscilaltion adjusting gear can adopt various mechanism to realize oscilaltion and regulate, as worm gear screw elevator, hydraulic hoist or pneulift etc.Regulating device for horizontal angle 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 is to provide a kind of laser tracking measurement method of using this dedicated, and for measuring the distance of 2 of three dimensions A, B, its step comprises:

(1) laser tracker is installed in above-mentioned dedicated, and then this dedicated is moved to and made on the position of laser tracker near the extended line of described A, 2 lines of B;

(2) thus by the coordinate that laser tracker records respectively 2 of A, B, set up the extended line of A, 2 lines of B, then determine the adjustment amount of vertical angle adjusting means, regulating device for horizontal angle, horizontal translation adjusting gear and oscilaltion adjusting gear to dedicated;

(3) according to the above-mentioned adjustment amount calculating, respectively the vertical angle adjusting means of dedicated, regulating device for horizontal angle, horizontal translation adjusting gear and oscilaltion adjusting gear are adjusted;

(4) repeat above-mentioned steps (2) to step (3), until the vertical corner code-disc of laser tracker and the reading of level angle code-disc approach zero while measuring A, B at 2 with laser tracker; Now, then by laser tracker, record the distance value of 2 of A, B.

Using term " to approach " is herein because consider under requisite error effect to be definitely zero by the vertical corner code-disc and the level angle code-disc that are difficult to assurance laser tracker, therefore can only take conservative saying.

Thus, when final measurement, laser tracker does not need to horizontally rotate and vertical rotation substantially, only utilizes the interferometry function of laser tracker, has so just reduced the uncertainty of measurement of instrument, to meet the precision measurement requirement of ultra-large workpiece.Obviously, the distance of 2 of the most applicable A of said method, B is the situation of 20 meters to 60 meters.

Below in conjunction with the drawings and specific embodiments, the present invention is described further.The aspect that the application is additional and advantage in the following description part provide, and part will become obviously from the following description, or recognize by the application's practice.

Accompanying drawing explanation

Fig. 1 is the auxiliary schematic 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 adjustment constitutional diagram when oscilaltion adjusting gear is worked in Fig. 2.

Fig. 4 is adjustment constitutional diagram when horizontal translation adjusting gear is worked in Fig. 2.

Fig. 5 is adjustment constitutional diagram when vertical angle adjusting means is worked in Fig. 2.

Fig. 6 is the schematic diagram on the extended line that the true origin O of laser tracker moved to A, 2 lines of B by the oscilaltion adjusting gear projection line in XZ plane, and in figure, H represents the distance that oscilaltion is adjusted.

Fig. 7 is the schematic diagram on the extended line that the true origin O of laser tracker moved to A, 2 lines of B by the horizontal translation adjusting gear projection line in XY plane, and in figure, W represents the distance that horizontal translation is adjusted.

Fig. 8 is the schematic diagram on the projection line in XY plane by the regulating device for horizontal angle extended line that the pointing direction in XY plane rotates to A, 2 lines of B by laser tracker, and in figure, α represents to horizontally rotate angle.

Fig. 9 is the schematic diagram on the projection line in XZ plane by the vertical angle adjusting means extended line that the pointing direction in XZ plane rotates to A, 2 lines of B by laser tracker, and in figure, β represents vertical rotary angle.

Three-dimensional X-axis, Y-axis and Z-direction in Fig. 6 to Fig. 9, have been marked respectively.

Dotted line in Fig. 6 to Fig. 9 represents respectively the laser tracker 7 after dedicated is carried out attitude adjustment.

In figure, be labeled as: mount pad 1, vertical angle adjusting means 2, rotating shaft 2a, upper rotor plate 2b, bearing height adjusting gear 2c, lower location-plate 2d, regulating device for horizontal angle 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

Laser tracker dedicated as shown in Figures 2 to 5, comprises mount pad 1 and for adjusting vertical angle adjusting means 2, regulating device for horizontal angle 3, horizontal translation adjusting gear 4 and the oscilaltion adjusting gear 5 of this mount pad 1.Wherein, mount pad 1, vertical angle adjusting means 2, regulating device for horizontal angle 3, horizontal translation adjusting gear 4 and oscilaltion adjusting gear 5 from top to bottom arrange, the below of oscilaltion adjusting gear 5 is also provided with support 6, for supporting whole dedicated.Oscilaltion adjusting gear 5 is for driving mechanism's integral body of its top to do oscilaltion campaign, horizontal translation adjusting gear 4 is for driving mechanism's integral body of its top to do horizontal translation motion, regulating device for horizontal angle 3 is for driving mechanism's integral body of its top to horizontally rotate motion, and vertical angle adjusting means 2 is for driving mount pad 1 to do vertical rotary motion.Specifically, as shown in Figure 3, oscilaltion adjusting gear 5 adopts worm gear screw lifting mechanism to realize the function of its oscilaltion, and when operator rotates the handle 5a of oscilaltion adjusting gear 5, the lifting table 5b of oscilaltion adjusting gear 5 moves up and down; As shown in Figure 4, horizontal translation adjusting gear 4 has adopted the sliding shoe 4a matching with the guide rail 4b being fixed on described lifting table 5b, when the handle 4c of the average transposition engagement positions 4 of operator's rotating water, this handle 4c drives sliding shoe 4a to slide along guide rail through a screw body; 3 of regulating device for horizontal angles 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 the rotating shaft 2a that along continuous straight runs arranges and lower location-plate 2d and the upper rotor plate 2b connecting by this rotating shaft 2a, described rotating shaft 2a arranges near rotor plate 2b right hand edge on this, between lower location-plate 2d and upper rotor plate 2b and near on rotor plate 2b left hand edge place be provided with bearing height adjusting gear 2c.So-called " bearing height adjusting gear 2c ", is that upper rotor plate 2b is played a supportive role herein, and its device adjustable to the bearing height of upper rotor plate 2b.Bearing height adjusting gear 2c can be realized by various mechanism, such as worm gear screw lifting mechanism, screw-drive mechanism etc.Concrete a kind of implementation is, in upper rotor plate 2b, pacify into a hold-down nut, a rotary screw coordinating with this hold-down nut is installed on lower location-plate 2d, and then a rotating disk connecting firmly with this screw rod is set on rotary screw, while stirring rotating disk with hand, screw rod synchronously rotates, and causes hold-down nut along the axially-movable of rotary screw, due to hold-down nut and upper rotor plate 2b one, therefore upper 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, for measuring the distance of 2 of three dimensions A, B, its step comprises: install laser tracker 7 in above-mentioned dedicated (1), and then this dedicated is moved to and made on the position of laser tracker 7 near the extended line of described A, 2 lines of B; (2) thus by the coordinate that laser tracker 7 records respectively 2 of A, B, set up the extended line of A, 2 lines of B, then determine need be to the vertical angle adjusting means 2 of dedicated, regulating device for horizontal angle 3, horizontal translation adjusting gear 4 and oscilaltion adjusting gear 5 adjustment amount; (3) according to the above-mentioned adjustment amount calculating, respectively the vertical angle adjusting means 2 of dedicated, regulating device for horizontal angle 3, horizontal translation adjusting gear 4 and oscilaltion adjusting gear 5 are adjusted; (4) repeat above-mentioned steps (2) to step (3), until the vertical corner code-disc of laser tracker 7 and the reading of level angle code-disc approach zero while measuring A, B at 2 with laser tracker 7; Now, then by laser tracker 7, record the distance value of 2 of A, B.

Below in conjunction with accompanying drawing 6 to 9 pairs of above-mentioned steps of accompanying drawing (2) and step (3), be described further.Calculating on the extended line of laser tracker 7 being adjusted to A, 2 lines of B and after need be to the adjustment amount of the vertical angle adjusting means 2 of dedicated, regulating device for horizontal angle 3, horizontal translation adjusting gear 4 and oscilaltion adjusting gear 5, first, as shown in Figure 6, on the projection line of the extended line that the true origin O of laser tracker 7 is moved to A, 2 lines of B by oscilaltion adjusting gear 5 in XZ plane, the distance of the oscilaltion adjustment of true origin O is H; Then, as shown in Figure 7, then on the projection line of the extended line that the true origin O of laser tracker 7 is moved to A, 2 lines of B by horizontal translation adjusting gear 4 in XY plane, it is W that the horizontal translation of true origin O is adjusted distance; Complete after above-mentioned two steps, the true origin O of laser tracker 7 has in fact been positioned on the extended line of A, 2 lines of B, but owing to now also the vertical angle adjusting means 2 of dedicated and regulating device for horizontal angle 3 not being adjusted, therefore while surveying A, B at 2 with laser tracker 7, vertical corner code-disc and level angle code-disc in laser tracker 7 still can rotate, and will have angular errors.Therefore, as shown in Figure 8, again by regulating device for horizontal angle 3 extended line that the pointing direction in XY plane rotates to A, 2 lines of B by laser tracker 7 on the projection line in XY plane, after this, as shown in Figure 9, then by vertical angle adjusting means 2 extended line that the pointing direction in XZ plane rotates to A, 2 lines of B by laser tracker 7 on the projection line in 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 A, B is obtained by laser interferometer measurement completely, has greatly increased thus the accuracy of measuring.

Claims (5)

1. laser tracker dedicated, it is characterized in that: it comprises the mount pad (1) that the base with laser tracker matches, and for adjusting vertical angle adjusting means (2), regulating device for horizontal angle (3), horizontal translation adjusting gear (4) and the oscilaltion adjusting gear (5) of this mount pad (1).
2. laser tracker dedicated as claimed in claim 1, is characterized in that: described mount pad (1), vertical angle adjusting means (2), regulating device for horizontal angle (3), horizontal translation adjusting gear (4) and oscilaltion adjusting gear (5) from top to bottom arrange; Wherein, oscilaltion adjusting gear (5) is for driving mechanism's integral body of its top to do oscilaltion campaign, horizontal translation adjusting gear (4) is for driving mechanism's integral body of its top to do horizontal translation motion, regulating device for horizontal angle (3) is for driving mechanism's integral body of its top to horizontally rotate motion, and vertical angle adjusting means (2) is for driving mount pad (1) to do vertical rotary motion.
3. laser tracker dedicated as claimed in claim 1 or 2, it is characterized in that: described vertical angle adjusting means (2) comprises the rotating shaft (2a) that along continuous straight runs arranges and lower location-plate (2d) and the upper rotor plate (2b) connecting by this rotating shaft (2a), described rotating shaft (2a), near rotor plate (2b) right hand edge setting on this, is provided with bearing height adjusting gear (2c) between lower location-plate (2d) and upper rotor plate (2b) and near upper rotor plate (2b) left hand edge place.
4. laser tracking measurement method, for measuring the distance of 2 of three dimensions A, B, its step comprises:
(1) laser tracker (7) is arranged in claims 1 to 3 in the dedicated described in any one claim, and then this dedicated is moved to and made on the position of laser tracker (7) near the extended line of described A, 2 lines of B;
(2) by laser tracker (7) thus the coordinate that records respectively 2 of A, B is set up the extended line of A, 2 lines of B, then determine the adjustment amount of vertical angle adjusting means (2), regulating device for horizontal angle (3), horizontal translation adjusting gear (4) and oscilaltion adjusting gear (5) to dedicated;
(3) according to the above-mentioned adjustment amount calculating, respectively the vertical angle adjusting means of dedicated (2), regulating device for horizontal angle (3), horizontal translation adjusting gear (4) and oscilaltion adjusting gear (5) are adjusted;
(4) repeat above-mentioned steps (2) to step (3), until the vertical corner code-disc of laser tracker (7) and the reading of level angle code-disc approach zero while measuring A, B at 2 with laser tracker (7); Now, then by laser tracker (7), record the distance value of 2 of A, B.
5. laser tracking measurement method as claimed in claim 4, is characterized in that: the distance that described A, B are 2 is 20 meters to 60 meters.
CN201110448178.9A 2011-12-28 2011-12-28 Special worktable for laser tracker and laser tracking measurement method CN102519361B (en)

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Publication number Priority date Publication date Assignee Title
CN103884279B (en) * 2014-03-07 2019-08-20 中国科学院光电研究院 A kind of laser tracker horizontal axis and vertical pivot measuring for verticality method
CN105737734B (en) * 2016-02-23 2018-08-07 北京工业大学 It is a kind of using standard ball as the laser tracking measurement system of reflection unit
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

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CN101476872A (en) * 2008-11-19 2009-07-08 成都飞机工业(集团)有限责任公司 Target sphere mounting stand suitable for large aperture self-centering
CN101922912A (en) * 2010-07-22 2010-12-22 北京矿冶研究总院 Three-dimensional laser scanning measurement method and device
CN201950452U (en) * 2011-04-19 2011-08-31 江西洪都航空工业集团有限责任公司 Offset staff of laser tracker for installing
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