CN102607538B - Automatic leveling device and method of quick automatic leveling laser swinger - Google Patents
Automatic leveling device and method of quick automatic leveling laser swinger Download PDFInfo
- Publication number
- CN102607538B CN102607538B CN 201210046962 CN201210046962A CN102607538B CN 102607538 B CN102607538 B CN 102607538B CN 201210046962 CN201210046962 CN 201210046962 CN 201210046962 A CN201210046962 A CN 201210046962A CN 102607538 B CN102607538 B CN 102607538B
- Authority
- CN
- China
- Prior art keywords
- fixed
- main shaft
- geoplane
- self leveling
- anping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
The invention relates to an automatic leveling device of a quick automatic leveling laser swinger and an automatic leveling method of the quick automatic leveling laser swinger. The automatic leveling device comprises a base, a workbench (1), a two-shaft balancer (2), a tangent mechanism (3), a main shaft (4), a horizontal sensing mechanism and a laser plane transmitting device, wherein the workbench (1) is fixed on the base, the two-shaft balancer (2) is arranged on the workbench, the tangent mechanism (3) is arranged above the two-shaft balancer (2), the main shaft (4) passes through the workbench (1) and fixedly connected with the two-shaft balancer (2) and the tangent mechanism (3) respectively, the horizontal sensing mechanism is fixed at the bottom end of the main shaft (4), and the laser plane transmitting device is fixed at the top of the main shaft (4), moreover, the workbench (1) is provided with a servo system used for driving the tangent mechanism (3), and the tangent mechanism (3) is provided with a laser plane driving system used for driving the laser plane transmitting device. The automatic leveling device has the following advantages that the quick automatic leveling laser swinger has the leveling accuracy being 10 arc seconds within an error angle ranging from -10 degrees to 10 degrees, and the automatic leveling time is less than 15s, and therefore, the design requirements on high efficiency and high accuracy are achieved.
Description
Technical field
The present invention relates to a kind of self leveling devices and methods therefor, especially relate to a kind of fast automatic Anping Geoplane self leveling devices and methods therefor.
Background technology
Fast automatic Anping Geoplane is a kind of laser beam that utilizes motion, and the instrument of level or vertical reference is provided, and now is widely used in geodetic surveying, engineering survey and aspects such as large-scale installation and excavation.The setting accuracy of self leveling mechanism and Anping scope are two very important index, and these two indexs are mutual restriction, in a lot of designs, can not take into account this two aspects.The present self leveling mechanism that adopts of this quasi-instrument is generally the self leveling mechanism of gravity pendulum, and this mechanism's setting accuracy can only reach classification, and Anping is limited in scope.Other has a class, adopt optics self compensation mode, this kind self leveling mechanism, can reach a second class precision, but this self leveling mechanism Anping scope is very limited, before the use, needs artificially instrument to be transferred to the approximate horizontal state, can't realize the robotization in Anping, this has brought certain inconvenience to use.
Allow self leveling mechanism reach the setting accuracy height simultaneously, Anping scope is greatly core and difficult point in such mechanism design, and present traditional self leveling mechanism and homemade self leveling scanner are difficult to reach simultaneously above-mentioned requirements.
Summary of the invention
The present invention solves the existing in prior technology technical matters; Provide a kind of Geoplane of realizing in big dynamic range, the function in fast automatic Anping, instrument is in-10 ° ~+10 ° error angular range, have 10 " put down precision; and the self leveling time less than 15s, reached a kind of fast automatic Anping Geoplane self leveling devices and methods therefor of high-level efficiency, high-precision designing requirement.
Above-mentioned technical matters of the present invention is mainly solved by following technical proposals:
A kind of fast automatic Anping Geoplane self leveling device, it is characterized in that, comprise pedestal, be fixed on worktable on the pedestal, be arranged on double-shaft balance device on the worktable, be arranged on double-shaft balance device top tangent mechanism, pass main shaft that worktable fixedlys connected with tangent mechanism with described double-shaft balance device respectively, be fixed on the horizontal sensing mechanism of main shaft bottom and be fixed on the laser plane emitter on main shaft top; Also be provided with on the described worktable for the servo-drive system that drives tangent mechanism; Also be provided with the laser plane drive system for driving laser planar transmit device on the described tangent mechanism.
At above-mentioned a kind of fast automatic Anping Geoplane self leveling device, described double-shaft balance device comprises that one is fixed on the outer rectangle rack on the worktable by trip bolt and is arranged on interior ring in the outer rectangle rack; Described outer rectangle rack outer wall is provided with two coaxial apertures along surface level, one end of two copper rods is in the mode of interference fit, be separately fixed on the hole at two ends, described interior ring is by a pair of deep groove ball bearing, and the other end that is fixed on the copper rod that stretches out also can rotate around two copper rods axis of living in; Described interior ring inwall is provided with two coaxial apertures with described outer rectangle rack outer wall coaxial aperture quadrature, one end of two copper rods is in the mode of interference fit, on the coaxial aperture of ring inwall, an end that encircles in described main shaft stretches out is placed in the other end of two copper rods that stretch out on the ring inwall in described being fixed on by a pair of deep groove ball bearing and can rotates around outer rectangle rack outer wall two copper rods axis of living in and interior ring inwall two copper rods axis of living in respectively in being separately fixed at.
At above-mentioned a kind of fast automatic Anping Geoplane self leveling device, described tangent mechanism comprises that a set collar and two quadrature settings and an end are separately fixed at the L type actuating arm of set collar outer wall, described two L type actuating arm other ends fixedly have a power transmission pole respectively, and described set collar is fixed with the end that main shaft stretches out interior ring by the screw 24 of four symmetries.
At above-mentioned a kind of fast automatic Anping Geoplane self leveling device, described horizontal sensing mechanism comprises a shell and is arranged on the shell at least three resettlement grooves that are used for the horizontal sensing unit of placement, is respectively first resettlement groove, second resettlement groove and the 3rd resettlement groove; The vertical setting with second resettlement groove of described first resettlement groove and mutually orthogonal; Described the 3rd resettlement groove is horizontally disposed with and is mutually orthogonal with first resettlement groove and second resettlement groove respectively; Above-mentioned main shaft passes the mounting hole and the shell that are arranged on the described shell and fixes; This mounting hole and the coaxial setting of main shaft.
At above-mentioned a kind of fast automatic Anping Geoplane self leveling device, described horizontal sensing unit comprises one for the infrared LED pipe that sends infrared signal, for two infrared photodiodes that be arranged in parallel of reception infrared signal, the data acquisition module that is arranged on the glass bubble between infrared LED pipe and the infrared photodiode, the back level amplifying circuit that is connected with infrared photodiode and is connected with back grade amplifying circuit; Be fixed on the resettlement groove after the described infrared photodiode parallel connected in reverse phase, described infrared LED pipe is fixed on the resettlement groove.
At above-mentioned a kind of fast automatic Anping Geoplane self leveling device, described servo-drive system comprises a spindle gear and drives the stepper motor of spindle gear and the control gear of control step motor, described spindle gear is fixed in the pillar buoy, and described pillar buoy can be done vertical movement up and down by spindle gear under the driving of stepper motor; Both sides, described pillar buoy top vertically are provided with fixed mount, and two round bar two ends that be arranged in parallel up and down are connected with fixed mount respectively, and above-mentioned power transmission pole one end is arranged between two round bars and stretches out.
At above-mentioned a kind of fast automatic Anping Geoplane self leveling device, one circular arc fastener is still arranged on the described set collar, described laser plane emitter comprises a prism and is arranged on direct current generator on the circular arc fastener, described prism bottom is provided with a driven wheel, described direct current generator output shaft has connected a transmission gear, drives the prism rotation thereby described transmission gear and driven wheel engagement also can drive driven wheel.
At above-mentioned a kind of fast automatic Anping Geoplane self leveling device, the shell mounting hole is fixed on the main shaft by interference fit, the bottom of shell is provided with an end cap, be four screws around the described end cap, shell is fixed on the main shaft tommy that also is provided with a keyway and cooperates with keyway on the described shell by trip bolt; Also be provided with to link two latch closures of spring on this shell, spring one end is connected on the latch closure, and other end bolt is being fixed on the fixed bar 7 that worktable stretches out.
The described fast automatic Anping of a kind of claim 1 Geoplane self leveling method is characterized in that, may further comprise the steps:
In above-mentioned fast automatic Anping Geoplane self leveling method, in the described step 2, Anping that the leveling algorithm adopts segmentation P adjusting method to realize system, in this control system, feedback quantity is signal of sensor, controlled quentity controlled variable is the motion step number of stepper motor, and the segmentation P that system adopts regulates, and computing formula is as follows.
Wherein:
Represent the amount of feeding,
Be the output voltage values of sensor,
It is the target voltage values of regulating.
With
Be the calculating parameter of i section during segmentation P regulates, in order to incite somebody to action
With
Be quantized into concrete digital quantity, need with
With
Carry out normalization, the input signal of controller is the output voltage values of sensor, and after normalization, magnitude of voltage is 0 ~ 1024, when the voltage signal of sensor output is near 512, thinks that self leveling mechanism finishes Anping,
What the amount of feeding of representative represented is the step number that stepper motor is passed by, because the angle that the distance that the tangent mechanism tache motorice moves and mechanism turn over is non-linear, so work as
The time, also need to adopt sectional-regulated.
Therefore, the present invention has following advantage: realize that Geoplane is in big dynamic range, the function in fast automatic Anping, instrument is in-10 ° ~+10 ° error angular range, have 10 " put down precision; and the self leveling time less than 15s, reached high-level efficiency, high-precision designing requirement.
Description of drawings
Fig. 1 is a kind of perspective view of the present invention.
Fig. 2 is main TV structure synoptic diagram of the present invention.
Fig. 3 is the structural representation of horizontal sensing mechanism among the present invention.
Fig. 4 is the positional structure synoptic diagram of parts in the horizontal sensing unit.
Fig. 5 is that assembly structure synoptic diagram of the present invention does not contain laser plane emitter and laser plane drive system
Fig. 6 is the circuit conditioning part of horizontal sensing unit output signal in the embodiment of the invention.Wherein Fig. 6 a is for generation of the reference voltage of modulate circuit, and Fig. 6 b, 6c, 6d are for being used for the I/V change-over circuit of output transducer voltage signal, and Fig. 6 e is the infrared LED control circuit, and Fig. 6 f is the modulate circuit Wiring port.
Fig. 7 be in the embodiment of the invention control gear main control chip to the control block diagram of servo control mechanism.
Fig. 8 is used for segmentation P to regulate input and output control curve in the embodiment of the invention.
Fig. 9 is in the self leveling process of the embodiment of the invention, and horizontal sensing unit output voltage is curve over time.
Embodiment
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail, among the figure, worktable 1, double-shaft balance device 2, tangent mechanism 3, main shaft 4, outer rectangle rack 5, interior ring 6, set collar 7, L type actuating arm 8, power transmission pole 9, shell 10, first resettlement groove 11, second resettlement groove 12, the 3rd resettlement groove 13, infrared photodiode 14, infrared LED pipe 15, glass bubble 16, spindle gear 17, pillar buoy 18, round bar 19, screw 20, keyway 21, fixed bar 23, screw 24, module 27, amplifier 271, resistance 272, resistance 273, electric capacity 274, electric capacity 275, module 28, amplifier 281, infrared photodiode 14, resistance 284, resistance 285, resistance 286, module 29, module 30, module 31, resistance 311, resistance 312, resistance 313, slide rheostat 314, slide rheostat 315, slide rheostat 316, triode 317, infrared LED pipe 318 is infrared, LED pipe 319, infrared LED pipe 320, Wiring port 321, Wiring port 322, Wiring port 323, Wiring port 324.
Embodiment:
A kind of fast automatic Anping of the present invention Geoplane self leveling device, comprise pedestal, be fixed on worktable 1 on the pedestal, be arranged on double-shaft balance device 2 on the worktable 1, be arranged on double-shaft balance device 2 tops tangent mechanism 3, pass main shaft 4 that worktable 1 fixedlys connected with tangent mechanism 3 with described double-shaft balance device 2 respectively, be fixed on the horizontal sensing mechanism of main shaft 4 bottoms and be fixed on the laser plane emitter on main shaft 4 tops; Also be provided with on the worktable 1 for the servo-drive system that drives tangent mechanism 3; Also be provided with the laser plane drive system for driving laser planar transmit device on the tangent mechanism 3.
The structure of 1 horizontal sensing mechanism is formed:
This part specific design is referring to Fig. 1, and described horizontal sensing mechanism comprises a shell 10 and is arranged on three resettlement grooves that are used for the horizontal sensing unit of placement on the shell 10, is respectively first resettlement groove 11, second resettlement groove 12 and the 3rd resettlement groove 13; Shell 10 forms by die casting, and the material of employing is cast iron, first resettlement groove 11 and the 12 vertical settings and mutually orthogonal of second resettlement groove; The 3rd resettlement groove 13 is horizontally disposed with and is mutually orthogonal with first resettlement groove 11 and second resettlement groove 12 respectively; It is fixing that above-mentioned main shaft 4 passes the mounting hole and the shell 10 that are arranged on the shell 10; This mounting hole and main shaft 4 coaxial settings, horizontal sensing unit comprise one for the infrared LED pipe 15 that sends infrared signal, for two infrared photodiodes 14 that be arranged in parallel of reception infrared signal, the data acquisition module that is arranged on the glass bubble 16 between infrared LED pipe 15 and the infrared photodiode 14, the back level amplifying circuit that is connected with infrared photodiode 14 and is connected with back grade amplifying circuit; Be fixed on the resettlement groove after described infrared photodiode 14 parallel connected in reverse phase, the resettlement groove bottom all has aperture and is used for laying infrared LED pipe 15, and the circuit board of infrared photodiode 14 is installed, and is bonded at the groove top, is used for receiving signal.When the instrument horizontal positioned, the bubble of two horizontal directions can reflect the angle of instrument horizontal positioned.During concrete operations, infrared LED pipe 15 sends infrared signal, through after being placed in the glass bubble 16 of infrared LED pipe 15 tops, is received by the infrared photodiode 14 at top.Because the output signal type of infrared photodiode 14 is electric current, so two pieces of anti-phase infrared photodiodes 14 constitute current source, the output current size is determined by the difference of two photodiode output currents.When instrument was in horizontality, the bubble in the glass bubble 16 was positioned at the centre position, the equal infrared signals of intensity of two of receiving end infrared photodiodes 14 receptions at this moment, and the current signal of current source output is zero.When the instrument secundly, bubble moves to another direction.Because air and filling liquid are inconsistent to the absorption of infrared signal, cause two infrared photodiode 14 output currents unequal, the current source output current is non-vanishing.The size of current source output current can reflect the inclination angle size of instrument.A glass bubble 16 is not enough to reflect the angle of instrument and surface level, so design has two grooves in the horizontal direction, is used for placing two glass bubbles 16.The bubble motion direction is vertical mutually in two glass bubbles 16.The glass bubble principle of work of vertical direction is consistent with horizontal direction, when vertically placing for instrument, regulates the verticality of exit plane and surface level.
Horizon sensor is installed in main shaft 4 bottoms, and when main shaft 4 rotated, sensor can together move with main shaft.Electronic bubble is placed in three grooves of sensor outer housing, and as shown in Figure 1, the mutually orthogonal groove of the both direction of top, the bubble of placement correspond respectively to two orthogonal directionss of surface level.The moving direction of bubble in two glass bubbles, correspond respectively to above-mentioned two pairs of bearings on surface level radially.So during horizontal positioned, the bubble on this both direction is in the equilibrium position, can think that instrument realized leveling.When instrument was vertically placed, the Electronic bubble that the view front recess is placed can be used for judging whether instrument is vertical with surface level.Two latch closures on the sensor outer housing are used for linking spring 22.Spring is connected on the latch closure for 22 1 sections, and other end bolt is on the fixed bar 23 that fixing worktable stretches out.The pulling force of spring 22 can guarantee that main shaft remains static, and when the wheel train structure on the main shaft moves, reduces the vibrations of main shaft, and the error of backlash of introducing when eliminating servo control mechanism by screw mandrel transmission campaign.Shell 10 is fixed on the main shaft by interference fit.An end cap is arranged at the bottom of shell 10, is the screw 20 of four M2 around the end cap, by trip bolt sensor outer housing is fixed on the main shaft.The position of sensor outer housing on main shaft 4 determined that by one piece of tommy the keyway 21 that designs on the shell is seen the structure 5 among Fig. 1.When this pin has guaranteed that the Electronic bubble on two horizontal directions corresponds respectively to the instrument horizontal positioned, main shaft two rotation directions.
Back level amplifying circuit is used for the current signal of the output signal of amplification receiving element referring to Fig. 6, in the level modulate circuit of back, has used the I-V change-over circuit of tape base standard.Module 27 its functions for producing magnitude of voltage are
Reference voltage.Amplifier 11 is a road built-in amplifier of TLC2274, and it is connected into the form of voltage follower, and resistance 272 and resistance 273 resistances equate that the output of amplifier equals to be the positive input magnitude of voltage, so reference voltage equals
Electric capacity 274 and electric capacity 275 have played filter action, have reduced the noise on the output reference voltage.In the description of Electronic bubble, an Electronic bubble sensor comprises the angle signal output of three directions before, and module 28, module 29, module 30 are the photodiode output signal conditioning circuit, three module connection unanimities.In module 28, two infrared photodiode 14 reverse parallel connections, output current signal, amplifier 281 is designed to the I-V change-over circuit, is used for current signal is converted to voltage signal output.When the current source output current of two infrared photodiodes 14 compositions was zero, the voltage of amplifier 281 outputs was
When instrument was not in the equilibrium position, the current source output current of two infrared photodiode 14 compositions was non-vanishing, and output voltage is:
The zeroing end of the electric current that resistance 284, slide rheostat 285, resistance 286 constitute.When instrument was in the equilibrium position, if the current source output current of two infrared photodiode 14 formations is non-vanishing, then circuit output voltage this moment was not
, need to regulate slide rheostat 285, change output voltage, output voltage is become
Module 31 is the power pack of infrared LED, and an Electronic bubble needs three infrared LEDs.Each LED just is being connected to VCC, and negative terminal is connected to resistance 311, resistance 312, resistance 313 respectively.Whether triode 317 is used for control LED works, and slide rheostat 314, slide rheostat 315, slide rheostat 316, the luminous intensity that can regulate infrared LED pipe 318, infrared LED pipe 319, infrared LED pipe 320.The sensitivity of infrared LED luminous intensity and Electronic bubble has direct contact.
The structure of 2 tangent mechanisms 3, double-shaft balance device 2 and servo-drive system is formed:
The purpose of above-mentioned three parts is that the axis direction with main shaft 1 is adjusted to vertical with surface level.Illustrated worktable 2 is fixed on the instrument base, and its degree of freedom is zero.
Double-shaft balance device 2 comprises that one is fixed on the outer rectangle rack 5 on the worktable 1 by trip bolt and is arranged on interior ring 6 in the outer rectangle rack 5; Outer rectangle rack 5 outer walls are provided with two coaxial apertures along surface level, one end of two copper rods is in the mode of interference fit, be separately fixed on the hole at two ends, interior ring 6 is by a pair of deep groove ball bearing, the other end that is fixed on the copper rod that stretches out also can rotate around two copper rods axis of living in, so the degree of freedom of interior ring is 1; Interior ring 6 inwalls are provided with two coaxial apertures with described outer rectangle rack 5 outer wall coaxial aperture quadratures, one end of two copper rods is in the mode of interference fit, encircle on the coaxial aperture of 6 inwalls in being separately fixed at, an end of ring 6 also can rotate around outer rectangle rack 5 outer walls, two copper rods axis of living in and interior ring 6 inwalls two copper rods axis of living in respectively by the other end that a pair of deep groove ball bearing is placed in two copper rods that stretch out on ring 6 inwalls in described being fixed in described main shaft 4 stretched out, and the degree of freedom that possesses is 2.
Servo-drive system comprises a spindle gear 17 and drives the stepper motor of spindle gear 17 and the control gear of control step motor, spindle gear 17 is fixed in the pillar buoy 18, and pillar buoy 18 can be done vertical movement up and down by spindle gear 17 under the driving of stepper motor; Both sides, pillar buoy 18 top vertically are provided with fixed mount, and two round bar that be arranged in parallel up and down 19 two ends are connected with fixed mount respectively, and power transmission pole 9 one ends are arranged between two round bars and stretch out.
The servo-drive system of instrument is used for providing the power resources in self leveling mechanism Anping.Stepper motor moves in a circle under the control of the single-chip microcomputer of control gear, is converted into rectilinear motion by spindle gear 17.Steadily select triangle thread for use for what guarantee to move.The pitch of screw thread and the length of screw thread affect the precision of instrument leveling and the scope of instrument leveling respectively.Instrument main shaft 4 and a tangent mechanism 3 are fixing by the screw 25 of four symmetries, and both fit systems are clearance fit.Two L type actuating arm 8 places of tangent mechanism are equipped with power transmission pole 9, and the rectilinear motion of screw mandrel is passed to tangent mechanism by this power transmission pole.Because tangent mechanism 3 and main shaft 4 relative fixed, so main shaft 4 can rotate around mutually orthogonal both direction on the surface level.Circular arc fastener 26 on the tangent mechanism 3 is used for direct current generator is installed, and the rotation of direct current generator is passed to circular motion on the top prism illustrated in figures 1 and 2 by gear drive, forms laser plane.
3 leveling algorithm design: the following leveling algorithm of using in the present embodiment of introducing.
Scanner has two kinds of modes of emplacements: level is judged the modes of emplacement of instrument by an optocoupler in the design with vertical.Optocoupler is placed on the circuit board, and circuit board and instrument base are relatively-stationary.When level during with vertical placement, optocoupler output high level or low level are for the single-chip microcomputer inquiry.The levelling gear of instrument has comprised two stepper motors, and when the instrument horizontal positioned, what use is two sensors in top, and the corresponding Electronic bubble of the motion of each stepper motor is inconsistent, so two Stepping Motor Control are independently.When two Electronic bubble sensor output signals on the horizontal direction reach in certain scope, think that instrument finishes leveling.Two Stepping Motor Control methods are consistent, employing all be to adopt segmentation P to regulate method.
The control block diagram of control method is seen Fig. 7, and the computing formula of the segmentation P adjusting method of employing is formula as follows:
Segmentation P regulates the input-output function relation of method and sees Fig. 8.Wherein:
Represent the amount of feeding,
Output voltage values for sensor.
It is the target voltage values of regulating.
With
Calculating parameter for i section in the segmentation P adjusting.In order to incite somebody to action
With
Be quantized into concrete digital quantity, need with
With
Carry out normalization.The input signal of controller is the output voltage values of sensor, and after normalization, magnitude of voltage is 0 ~ 1024, when the voltage signal of sensor output 512 near the time, think that self leveling mechanism finishes Anping.
What the amount of feeding of representative represented is the step number that stepper motor is passed by.Because the angle that the distance that moves of tangent mechanism tache motorice and mechanism turn over is non-linear, so during program design, when
The time, also need to adopt sectional-regulated.
This experimental example Electronic bubble voltage output and time relationship as shown in Figure 9, curve 1 and the 2 initial moment of expression of curve, instrument horizon sensor output error voltage value has exceeded the range of adjustment of segmentation P adjusting.In the 3 initial moment of expression of curve, instrument horizon sensor output error voltage value is within segmentation P range of adjustment.As can be seen from the figure, in the time of outside the instrument horizontal level is in segmentation P adjusting, through 26 regulating cycles, instrument has been realized self leveling, and the time in Anping is 13s.Afterwards, by the accuracy test of scanner, find that Anping error of instrument is less than 10 ".
Specific embodiment described herein only is that the present invention's spirit is illustrated.Those skilled in the art can make various modifications or replenish or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount the defined scope of appended claims.
Although this paper has used worktable 1 morely, double-shaft balance device 2, tangent mechanism 3, main shaft 4, outer rectangle rack 5, interior ring 6, set collar 7, L type actuating arm 8, power transmission pole 9, shell 10, first resettlement groove 11, second resettlement groove 12, the 3rd resettlement groove 13, infrared photodiode 14, infrared LED pipe 15, glass bubble 16, spindle gear 17, pillar buoy 18, round bar 19, screw 20, keyway 21, fixed bar 23, screw 24, screw 25, circular arc fastener 26, module 27, amplifier 271, resistance 272, resistance 273, electric capacity 274, electric capacity 275, module 28, amplifier 281, infrared photodiode 14, resistance 284, resistance 285, resistance 286, module 29, module 30, module 31, resistance 311, resistance 312, resistance 313, slide rheostat 314, slide rheostat 315, slide rheostat 316, triode 317 terms such as grade, but do not get rid of the possibility of using other term.Using these terms only is in order to describe and explain essence of the present invention more easily; They are construed to any additional restriction all is contrary with spirit of the present invention.
Claims (10)
1. fast automatic Anping Geoplane self leveling device, it is characterized in that, comprise pedestal, be fixed on worktable (1) on the pedestal, be arranged on double-shaft balance device (2) on the worktable (1), be arranged on double-shaft balance device (2) top tangent mechanism (3), pass main shaft (4), the horizontal sensing mechanism that is fixed on main shaft (4) bottom that worktable (1) fixedlys connected with tangent mechanism (3) with described double-shaft balance device (2) respectively and the laser plane emitter that is fixed on main shaft (4) top; Also be provided with on the described worktable (1) for the servo-drive system that drives tangent mechanism (3); Also be provided with the laser plane drive system for driving laser planar transmit device on the described tangent mechanism (3).
2. a kind of fast automatic Anping according to claim 1 Geoplane self leveling device, it is characterized in that described double-shaft balance device (2) comprises that one is fixed on the outer rectangle rack (5) on the worktable (1) by trip bolt and is arranged on interior ring (6) in the outer rectangle rack (5); Described outer rectangle rack (5) outer wall is provided with two coaxial apertures along surface level, one end of two copper rods is in the mode of interference fit, be separately fixed on the hole at two ends, described interior ring (6) is by a pair of deep groove ball bearing, and the other end that is fixed on the copper rod that stretches out also can rotate around two copper rods axis of living in; Described interior ring (6) inwall is provided with two coaxial apertures with described outer rectangle rack (5) outer wall coaxial aperture quadrature, one end of two copper rods is in the mode of interference fit, be separately fixed on the coaxial aperture of interior ring (6) inwall, the end that described main shaft (4) stretches out interior ring (6) is placed in by a pair of deep groove ball bearing and describedly is fixed on the other end of two copper rods that stretch out on interior ring (6) inwall and can rotates around outer rectangle rack (5) outer wall two copper rods axis of living in and interior ring (6) inwall two copper rods axis of living in respectively.
3. a kind of fast automatic Anping according to claim 2 Geoplane self leveling device, it is characterized in that, described tangent mechanism (3) comprises that a set collar (7) and two quadrature settings and an end are separately fixed at the L type actuating arm (8) of set collar (7) outer wall, described two L type actuating arms (8) other end fixedly has a power transmission pole (9) respectively, and described set collar (7) is fixed with the end that main shaft (4) stretches out interior ring (6) by the screw (24) of four symmetries.
4. a kind of fast automatic Anping according to claim 1 Geoplane self leveling device, it is characterized in that, described horizontal sensing mechanism comprises a shell (10) and is arranged on the shell (10) at least three resettlement grooves that are used for placing horizontal sensing unit, is respectively first resettlement groove (11), second resettlement groove (12) and the 3rd resettlement groove (13); Described first resettlement groove (11) and the vertical setting of second resettlement groove (12) and mutually orthogonal; Described the 3rd resettlement groove (13) is horizontally disposed with and is mutually orthogonal with first resettlement groove (11) and second resettlement groove (12) respectively; It is fixing that above-mentioned main shaft (4) passes the mounting hole and the shell (10) that are arranged on the described shell (10); This mounting hole and the coaxial setting of main shaft (4).
5. a kind of fast automatic Anping according to claim 4 Geoplane self leveling device, it is characterized in that described horizontal sensing unit comprises one for the infrared LED pipe (15) that sends infrared signal, for two infrared photodiodes (14) that be arranged in parallel of reception infrared signal, the data acquisition module that is arranged on the glass bubble (16) between infrared LED pipe (15) and the infrared photodiode (14), the back level amplifying circuit that is connected with infrared photodiode (14) and is connected with back grade amplifying circuit; Be fixed on the resettlement groove after described infrared photodiode (14) parallel connected in reverse phase, described infrared LED pipe (15) is fixed on the resettlement groove.
6. a kind of fast automatic Anping according to claim 3 Geoplane self leveling device, it is characterized in that, described servo-drive system comprises a spindle gear (17) and drives the stepper motor of spindle gear (17) and the control gear of control step motor, described spindle gear (17) is fixed in the pillar buoy (18), and described pillar buoy (18) can be done vertical movement up and down by spindle gear (17) under the driving of stepper motor; Described pillar buoy (18) both sides, top vertically are provided with fixed mount, and two round bars that be arranged in parallel up and down (19) two ends are connected with fixed mount respectively, and above-mentioned power transmission pole (9) one ends are arranged between two round bars and stretch out.
7. a kind of fast automatic Anping according to claim 3 Geoplane self leveling device, it is characterized in that, one circular arc fastener is still arranged on the described set collar (7), described laser plane emitter comprises a prism and is arranged on direct current generator on the circular arc fastener, described prism bottom is provided with a driven wheel, described direct current generator output shaft has connected a transmission gear, drives the prism rotation thereby described transmission gear and driven wheel engagement also can drive driven wheel.
8. a kind of fast automatic Anping according to claim 4 Geoplane self leveling device, it is characterized in that, shell (10) mounting hole is fixed on the main shaft (4) by interference fit, the bottom of shell is provided with an end cap, be four screws (20) around the described end cap, shell (10) is fixed on the main shaft tommy that also is provided with a keyway (21) on the described shell (10) and cooperates with keyway (21) by trip bolt; Also be provided with to link two latch closures of spring (24) on this shell (10), spring (24) one ends are connected on the latch closure, and other end bolt is being fixed on the fixed bar (23) that worktable (1) stretches out.
9. use a kind of self leveling method of fast automatic Anping as claimed in claim 1 Geoplane self leveling device, it is characterized in that, may further comprise the steps:
Step 1, infrared LED pipe (2) sends infrared signal, and behind glass bubble (3), photodiode receives, described photodiode feeds back to Stepping Motor Control mechanism with data after the electric signal that receives is passed through back level amplifying circuit and data acquisition module;
Step 2 after Stepping Motor Control mechanism receives feedback data in the step 1, is judged whether level of main shaft, if do not have, then by the leveling of carrying out of two stepper motors of leveling algorithm drives, finishes after level.
10. a kind of self leveling method of the fast automatic Anping of use according to claim 9 Geoplane self leveling device, it is characterized in that, in the described step 2, Anping that the leveling algorithm adopts segmentation P adjusting method to realize system, in this control system, feedback quantity is signal of sensor, and controlled quentity controlled variable is the motion step number of stepper motor, the segmentation P that system adopts regulates, and computing formula is as follows.
Wherein: T
nRepresent the amount of feeding, V
nBe the output voltage values of sensor, V
0It is the target voltage values of regulating.P
iAnd K
iBe segmentation P regulate in the calculating parameter of i section, for V
nAnd T
nBe quantized into concrete digital quantity, need be with V
nAnd T
nCarry out normalization, the input signal of controller is the output voltage values of sensor, and after normalization, magnitude of voltage is 0～1024, when the voltage signal of sensor output is near 512, thinks that self leveling mechanism finishes Anping, T
nWhat the amount of feeding of representative represented is the step number that stepper motor is passed by, because the angle that the distance that the tangent mechanism tache motorice moves and mechanism turn over is non-linear, so as ADmin＜V
nDuring＜ADmax, also need to adopt sectional-regulated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210046962 CN102607538B (en) | 2012-02-28 | 2012-02-28 | Automatic leveling device and method of quick automatic leveling laser swinger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210046962 CN102607538B (en) | 2012-02-28 | 2012-02-28 | Automatic leveling device and method of quick automatic leveling laser swinger |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102607538A CN102607538A (en) | 2012-07-25 |
| CN102607538B true CN102607538B (en) | 2013-08-21 |
Family
ID=46525141
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201210046962 Expired - Fee Related CN102607538B (en) | 2012-02-28 | 2012-02-28 | Automatic leveling device and method of quick automatic leveling laser swinger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102607538B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103913152A (en) * | 2014-04-09 | 2014-07-09 | 上海诺司纬光电仪器有限公司 | Leveling control method for swinger |
| CN107543534A (en) * | 2016-06-24 | 2018-01-05 | 苏州汉旺激光仪器有限公司 | A kind of opto-electronic compensation formula electronic laser scanner |
| CN106767728A (en) * | 2016-11-09 | 2017-05-31 | 陆建红 | A kind of twin shaft gradient Geoplane, Geoplane component and its method of work |
| CN106654990B (en) * | 2016-11-23 | 2018-04-27 | 国网山东省电力公司成武县供电公司 | Livewire work device and its control method |
| CN108020218A (en) * | 2018-01-19 | 2018-05-11 | 苏州汉旺激光仪器有限公司 | A kind of opto-electronic compensation formula apparatus for leveling |
| CN108955583A (en) * | 2018-09-10 | 2018-12-07 | 华东交通大学 | A kind of tunnel tunnel face cross-sectional area measuring instrument and measurement method |
| CN109029586A (en) * | 2018-09-10 | 2018-12-18 | 华东交通大学 | A kind of synthesis analyzer of localized tunnel face geometry and Geo-informatic Tupu |
| CN109211137A (en) * | 2018-09-11 | 2019-01-15 | 华东交通大学 | A kind of device and method of quick identification tunnel tunnel face lithology |
| CN110542411A (en) * | 2019-09-29 | 2019-12-06 | 莱赛激光科技股份有限公司 | Novel sensor and application thereof on laser level meter |
| CN111024118B (en) * | 2019-11-24 | 2021-10-29 | 浙江大学 | Automatic horizontal error calibration device and method for high-precision laser swinger |
| CN112649033B (en) * | 2021-01-08 | 2023-04-11 | 上海艾默优科技有限公司 | Automatic leveling base |
| CN112649032B (en) * | 2021-01-08 | 2022-08-23 | 上海艾默优科技有限公司 | Automatic leveling base |
| CN113776509B (en) * | 2021-11-11 | 2022-02-22 | 临沂朝日电子有限公司 | Level bubble debugging device of laser collimation equipment |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6043879A (en) * | 1998-06-01 | 2000-03-28 | Dong; Dawei | Automatic laser level |
| CN2884146Y (en) * | 2006-01-08 | 2007-03-28 | 周培银 | Automatically levelling type laser crushing instrument |
| CN201897476U (en) * | 2010-12-09 | 2011-07-13 | 西安华科光电有限公司 | Automatic horizontal external leveling regulator |
| CN202024762U (en) * | 2011-03-08 | 2011-11-02 | 南京德朔实业有限公司 | Laser leveling device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004053249B4 (en) * | 2004-11-04 | 2006-08-17 | Hilti Ag | Construction laser with tilting deflection |
-
2012
- 2012-02-28 CN CN 201210046962 patent/CN102607538B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6043879A (en) * | 1998-06-01 | 2000-03-28 | Dong; Dawei | Automatic laser level |
| CN2884146Y (en) * | 2006-01-08 | 2007-03-28 | 周培银 | Automatically levelling type laser crushing instrument |
| CN201897476U (en) * | 2010-12-09 | 2011-07-13 | 西安华科光电有限公司 | Automatic horizontal external leveling regulator |
| CN202024762U (en) * | 2011-03-08 | 2011-11-02 | 南京德朔实业有限公司 | Laser leveling device |
Non-Patent Citations (1)
| Title |
|---|
| JP特开2006-133229A 2006.05.25 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102607538A (en) | 2012-07-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102607538B (en) | Automatic leveling device and method of quick automatic leveling laser swinger | |
| CN101825461B (en) | Platform leveling device based on cylindrical model | |
| CN109143916B (en) | Self-adaptive horizontal adjusting device | |
| CN205336202U (en) | All -weather solar position tracking means | |
| CN102207381B (en) | Equatorial telescope theodolite composite bracket | |
| US20150136944A1 (en) | Sunlight tracking sensor and system | |
| CN102278989A (en) | Multifunctional aerial remote sensing triaxial inertially stabilized platform system | |
| CN206223174U (en) | A kind of simple unmanned plane magnetic compass calibrating installation | |
| CN101958154A (en) | Platform automatic leveling device based on machine vision | |
| CN110762361A (en) | Automatic change monitoring total powerstation | |
| CN106843291A (en) | Full-automatic sun tracks of device | |
| CN206724956U (en) | A kind of mapping instrument of surveying and mapping of fine-tuning height | |
| CN104833348A (en) | Static torque mode gyroscopic total station-based successive multi-position north seeking measurement method | |
| CN102052913A (en) | Small hole imaging principle-based projector for measuring sun position information | |
| CN103712633A (en) | Automatic light ray adjusting method of laser demarcation device | |
| CN211791401U (en) | Double-shaft solar cell panel sun tracking system | |
| CN103134483A (en) | Geography true north direction gauge | |
| CN104020787A (en) | Optical energy tracking device | |
| CN208270833U (en) | A kind of moving-target face focus adjusting mechanism | |
| CN107783178B (en) | Seismometer pendulum body without adjusting level | |
| CN204008077U (en) | A kind of multiple degrees of freedom test specimen attitude regulation focusing mechanism of optical detecting platform | |
| CN206192355U (en) | Laser level tester | |
| CN202109930U (en) | Composite bracket of equatorial instrument and transit instrument | |
| CN109916520B (en) | Infrared search component structure with gesture stabilization function and gesture compensation method | |
| CN102087163A (en) | Method and device for leading out direction of turning spindle axis of high-precision swing bench |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130821 Termination date: 20140228 |