CN102749094A - System and method for extra large gear at-position posture adjustment - Google Patents
System and method for extra large gear at-position posture adjustment Download PDFInfo
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- CN102749094A CN102749094A CN2012101186812A CN201210118681A CN102749094A CN 102749094 A CN102749094 A CN 102749094A CN 2012101186812 A CN2012101186812 A CN 2012101186812A CN 201210118681 A CN201210118681 A CN 201210118681A CN 102749094 A CN102749094 A CN 102749094A
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Abstract
The invention relates to a system and a method for extra large gear at-position posture adjustment. The system comprises a laser tracker, a three-dimensional measurement platform, a posture adjustment platform, a control device and a driving device, wherein the laser tracker is used for acquiring first spatial coordinate data of a measurement head of the three-dimensional measurement platform and second spatial coordinate data of the posture adjustment platform; the control device calculates direction vectors of the measurement head of the three-dimensional measurement platform in accordance with the first spatial coordinate data of the measurement head and controls the rotating angle of a rotating shaft of the three-dimensional measurement platform in accordance with direction vectors of the measurement head; after the three-dimensional measurement platform is rotated by the rotating angle, the control device calculates the spatial position of the posture adjustment platform which is already rotated in accordance with the second spatial coordinate data and the rotating angle; and the control device controls the driving device to adjust the spatial position of the posture adjustment platform in accordance with the spatial position of the posture adjustment platform which is already rotated and the rotating angle. Accordingly, small-angle and rapid measurement can be achieved in accordance with the extra large gear position.
Description
Technical field
The present invention relates to the three-dimensional measurement technical field, particularly a kind of especially big gear form regulation system on the throne and method.
Background technology
Each technical fields such as manufacturing in modern times, high-acruracy survey, military and civilian production manufacturing; All need carry out the attitude adjustment to surveying instrument; Thereby surveying instrument is adjusted to the angle and the position of appointment; To improve the stability and the precision characteristic of whole measuring system, satisfy specific test index.
In the super-huge gear on-position measure system in the prior art; Three-dimensional measurement platform through using is measured super-huge gear; Because the weight of super-huge gear will reach two tons, do not suit frequently to move or adjust the three-dimensional measurement platform, therefore in industry spot by modes such as pad pin; To the very big influence of measuring accuracy row of the environmental factor at the measurement means of super-huge gear and super-huge gear place, therefore be difficult to guarantee the measuring accuracy of super-huge gear to super-huge gear.
Summary of the invention
The object of the present invention is to provide a kind of especially big gear attitude adjusting method on the throne and system, through control attitude adjustment platform control three-dimensional measurement platform, thereby improve super-huge gear measuring accuracy,
The embodiment of the invention provides a kind of especially big gear form regulation system on the throne, comprising: laser tracker, three-dimensional measurement platform, attitude adjustment platform, opertaing device, driving arrangement; Wherein,
Said laser tracker obtains second spatial data of first spatial data and said attitude adjustment platform of the gauge head of said three-dimensional measurement platform;
Said opertaing device calculates the direction vector of the gauge head of said three-dimensional measurement platform according to first spatial data of said gauge head, and controls the anglec of rotation of the turning axle of said three-dimensional measurement platform according to the direction vector of said gauge head;
After the said anglec of rotation of said three-dimensional measurement distal ends, said opertaing device calculates the locus after said attitude is adjusted distal ends according to said second spatial data and the said anglec of rotation;
Locus and the said anglec of rotation of said opertaing device after according to said attitude adjustment distal ends controlled the locus that said driving arrangement is adjusted said attitude adjustment platform, makes said attitude adjustment the platform further gage beam and the gauge head of the said three-dimensional measurement platform of adjustment.
The embodiment of the invention also provides a kind of especially big gear attitude adjusting method on the throne, comprising:
Obtain second spatial data of first spatial data and attitude adjustment platform of the gauge head of three-dimensional measurement platform through laser tracker;
Calculate the direction vector of the gauge head of said three-dimensional measurement platform by opertaing device according to first spatial data of said gauge head, and control the anglec of rotation of the turning axle of said three-dimensional measurement platform according to the direction vector of said gauge head;
After the said anglec of rotation of said three-dimensional measurement distal ends, calculate the postrotational locus of said attitude adjustment platform axle according to said second spatial data and the said anglec of rotation by said opertaing device;
The locus that locus and the said anglec of rotation controlling and driving equipment of said opertaing device after according to said attitude adjustment distal ends is adjusted said attitude adjustment platform makes said attitude adjustment the platform further gage beam and the gauge head of the said three-dimensional measurement platform of adjustment.
Especially big gear provided by the invention form regulation system on the throne and method; Second spatial data of first spatial data of the gauge head of the three-dimensional measurement platform that obtains through opertaing device and attitude adjustment platform; Thereby make driving arrangement control attitude adjustment platform with further adjustment three-dimensional measurement platform; Even therefore low-angle variation has taken place in especially big gear; This change in location also can obtain the locus after gauge head and gage beam change through laser tracker, thereby realizes low-angle, measures fast according to the position of especially big gear, has improved the measuring accuracy and the efficiency of measurement of especially big gear.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art; To do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below; Obviously; Accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the structural representation of an embodiment of the especially big gear of the present invention form regulation system on the throne;
Fig. 2 is the structural representation of the especially big gear of the present invention another embodiment of form regulation system on the throne;
Fig. 3 is that the position of attitude adjustment platform embodiment illustrated in fig. 2 and three-dimensional measurement platform concerns synoptic diagram;
Fig. 4 is the schematic flow sheet of an embodiment of the especially big gear of the present invention attitude adjusting method on the throne.
Embodiment
To combine the accompanying drawing in the embodiment of the invention below, the technical scheme in the embodiment of the invention is carried out clear, intactly description, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills are not making the every other embodiment that is obtained under the creative work prerequisite, all belong to the scope of the present invention's protection.
Super-huge gear in the embodiment of the invention is meant that some parameters, size, weight exceed the gear under the regular situation, mainly is the diameter that depends on gear, and wherein, diameter is commonly referred to super-huge gear greater than the gear of 3000 millimeters (mm).
In addition, what need statement is, the embodiment of the invention is not described the concrete structure of attitude adjustment platform and three-dimensional measurement platform, and this is because the embodiment of the invention attitude is adjusted platform and the three-dimensional measurement platform does not carry out the restriction of concrete structure.In addition; Opertaing device in the embodiment of the invention can get access to the spatial data (for example: first spatial data, second spatial data) of attitude adjustment platform and three-dimensional measurement platform through laser tracker; Because prior art is described in detail the spatial data coordinate how laser tracker gets access to object, so the embodiment of the invention repeats no more.Further; Driving arrangement in the embodiment of the invention can specifically comprise a plurality of stepper motors; The bolster that the concrete number of these a plurality of stepper motors and concrete attitude adjustment platform need be adjusted and the number of turning axle are confirmed; Preferably, the number of stepper motor is total identical with bolster and turning axle, thereby makes stepper motor to adjust bolster and turning axle that attitude is adjusted platform.
First spatial data in the embodiment of the invention specifically can be the 3 d space coordinate of a plurality of measurement points on the gauge head of three-dimensional measurement platform, and second spatial data specifically can be the 3 d space coordinate of point of fixity of the bolster of attitude adjustment platform.
Fig. 1 is the structural representation of an embodiment of the especially big gear of the present invention form regulation system on the throne; As shown in Figure 1, the embodiment of the invention specifically comprises: laser tracker 10, three-dimensional measurement platform 11, attitude adjustment platform 12, opertaing device 13, driving arrangement 14.
Wherein, laser tracker 10 obtains second spatial data of first spatial data and attitude adjustment platform 12 of the gauge head of three-dimensional measurement platform 11; Opertaing device 13 is according to the direction vector of the gauge head of the first spatial data Calculation of Three Dimensional measuring table 11 of the gauge head of three-dimensional measurement platform 11, and according to the anglec of rotation of the turning axle of the direction vector control three-dimensional measurement platform 11 of gauge head;
After three-dimensional measurement platform 11 had rotated this anglec of rotation, opertaing device 13 calculated attitude adjustment platform 12 postrotational locus according to second spatial data and this anglec of rotation;
Opertaing device 13 makes attitude adjust the platform 12 further last gage beam and the gauge head of adjustment three-dimensional measurement platforms 11 according to the locus of attitude adjustment platform 12 postrotational locus and anglec of rotation controlling and driving equipment 14 adjustment attitude adjustment platforms 12.
The especially big gear form regulation system on the throne that the embodiment of the invention provides; Second spatial data of first spatial data of the gauge head of the three-dimensional measurement platform 11 that obtains through opertaing device 13 and attitude adjustment platform 12; Thereby make driving arrangement 14 control attitude adjustment platforms 12 with further adjustment three-dimensional measurement platform 11; Even therefore low-angle variation has taken place in especially big gear; This change in location also can obtain the locus after gauge head and gage beam change through laser tracker, thereby realizes low-angle, measures fast according to the position of especially big gear, has improved the measuring accuracy and the efficiency of measurement of especially big gear attitude adjustment on the throne.
Fig. 2 is the structural representation of the especially big gear of the present invention another embodiment of form regulation system on the throne; As shown in Figure 2, the embodiment of the invention comprises: laser tracker 20, three-dimensional measurement platform 21, attitude adjustment platform 22, opertaing device 23, driving arrangement 24.
Wherein, laser tracker 20 obtains second spatial data of first spatial data and attitude adjustment platform 22 of the gauge head of three-dimensional measurement platform 21; Opertaing device 23 is according to the direction vector of the gauge head of the first spatial data Calculation of Three Dimensional measuring table 21 of the gauge head of three-dimensional measurement platform 21, and according to the anglec of rotation of the turning axle of the direction vector control three-dimensional measurement platform 21 of gauge head;
After three-dimensional measurement platform 21 had rotated this anglec of rotation, opertaing device 23 calculated attitude adjustment platform 22 postrotational locus according to second spatial data and this anglec of rotation;
Further, opertaing device 23 can also comprise: first acquisition module 231, first modular converter 232, second acquisition module 233, second modular converter 234; First acquisition module 231 obtains the angle of first angle that the direction vector of said gauge head become with the reference measure direction; First modular converter 232 is the pulse step number of controlling and driving equipment 23 with the angular transition of said first angle, rotates the swing pinion of the turning axle of three-dimensional measurement platform 21 with control; Second acquisition module 233 obtains the rising distance of the back shaft of attitude adjustment platform 22 according to attitude adjustment platform 22 postrotational locus; Second modular converter 234 converts said lifting distance the pulse step number of driving arrangement 24 correspondences into, thereby makes attitude adjustment platform 22 that same level is adjusted in the upper surface of three-dimensional measurement platform 21 and the upper surface of especially big gear 25.
Further, opertaing device 23 can also comprise: the 3rd acquisition module 235, judge module 236, adjusting module 237; The 3rd acquisition module 235 obtains the angle of second angle that the direction vector of first coordinate axis of three-dimensional measurement platform 21 become with especially big gear upper surface; Judge module 236 judges that the angle of said second angle is whether in preset accuracy rating; If the angle of said second angle is in said preset accuracy rating, then adjusting module 237 is according to the bolster of the angular setting attitude adjustment platform 22 of said second angle, until the angle of said second angle in said preset accuracy rating.
The especially big gear form regulation system on the throne that the embodiment of the invention provides; Second spatial data of first spatial data of the gauge head of the three-dimensional measurement platform 21 that obtains through opertaing device 23 and attitude adjustment platform 22; Thereby make driving arrangement 24 control attitude adjustment platforms 22 with further adjustment three-dimensional measurement platform 21; Even therefore low-angle variation has taken place in especially big gear; This change in location also can obtain the locus after gauge head and gage beam change through laser tracker; Thereby make whole especially big gear form regulation system on the throne realize low-angle, measure fast, improved the measuring accuracy and the efficiency of measurement of super-huge gear attitude adjustment on the throne according to the position of especially big gear.
For clearer understanding technical scheme embodiment illustrated in fig. 2, specifically describe embodiment illustrated in fig. 2 through Fig. 3 below.
Fig. 3 is that the position of attitude adjustment platform 22 embodiment illustrated in fig. 2 and three-dimensional measurement platform 21 concerns synoptic diagram; As shown in Figure 3; In the embodiment of the invention; Three-dimensional measurement platform 21 is arranged at the top of attitude adjustment platform 22, and the positioning reference plane of three-dimensional measurement platform 21 overlaps with the upper surface of attitude adjustment platform 22, thereby makes do not have relative displacement between three-dimensional measurement platform 21 and the attitude adjustment platform 22.In addition, as shown in Figure 3, the direction vector of first coordinate axis of three-dimensional measurement platform 21 is specially identical with the direction of gage beam and gauge head, and first coordinate axis is vertical with second coordinate axis; Attitude adjustment platform 22 has three bolsters (only illustrating two bolsters among Fig. 3).
Reference measure direction in the embodiment of the invention specifically can be adjusted first subpoint of platform upper surface and the measurement point on the especially big gear is adjusted the formed vector of second subpoint of platform upper surface in attitude direction in attitude for the center of especially big gear upper surface; Because those of ordinary skills can get access to first subpoint and second subpoint easily according to the description of the embodiment of the invention, so the embodiment of the invention does not adopt diagramatic way to illustrate.
Fig. 4 is the schematic flow sheet of an embodiment of the especially big gear of the present invention attitude adjusting method on the throne, and the especially big gear form regulation system on the throne of embodiment illustrated in figures 1 and 2 can be realized the method flow of the embodiment of the invention; As shown in Figure 4, the embodiment of the invention comprises the steps:
The especially big gear attitude adjusting method on the throne that the embodiment of the invention provides; Second spatial data of first spatial data of the gauge head of the three-dimensional measurement platform that obtains through opertaing device and attitude adjustment platform; Thereby make driving arrangement control attitude adjustment platform with further adjustment three-dimensional measurement platform; Even therefore low-angle variation has taken place in especially big gear; This change in location also can obtain the locus after gauge head and gage beam change through laser tracker, thereby realizes low-angle, measures fast according to the position of especially big gear, has improved the measuring accuracy and the efficiency of measurement of super-huge gear.
Further, above-mentioned embodiment illustrated in fig. 4 in, step 402 can also comprise:
Opertaing device obtains the angle of first angle that the direction vector of gauge head become with the reference measure direction;
Opertaing device is the pulse step number of controlling and driving equipment with the angular transition of first angle, rotates the swing pinion of the turning axle of three-dimensional measurement platform with control.
Further, above-mentioned embodiment illustrated in fig. 4 in, step 404 can also comprise:
The locus of opertaing device after according to attitude adjustment distal ends obtains the rising distance of the back shaft of attitude adjustment platform;
Opertaing device converts lifting distance into a plurality of stepper motors corresponding pulse step number, thereby makes attitude adjustment platform that same level is adjusted in the upper surface of three-dimensional measurement platform and the upper surface of especially big gear.
Further, above-mentioned embodiment illustrated in fig. 4 in, this especially big gear attitude adjusting method on the throne can further include:
Opertaing device obtains the angle of second angle that the direction vector of first coordinate axis of three-dimensional measurement platform become with especially big gear upper surface;
Said opertaing device judges that the angle of second angle is whether in preset accuracy rating;
If the angle of second angle is not in preset accuracy rating, opertaing device is being preset in the accuracy rating until the angle of second angle according to the bolster of the angular setting attitude adjustment platform of second angle
Further; Above-mentioned embodiment illustrated in fig. 4 in, the reference measure direction is the formed vector of second subpoint of platform upper surface is adjusted at the center of especially big gear upper surface in attitude at first subpoint of attitude adjustment platform upper surface and the measurement point on the especially big gear a direction.
One of ordinary skill in the art will appreciate that: all or part of step that realizes the foregoing description can be accomplished through the relevant hardware of programmed instruction; Aforesaid program can be stored in the computer read/write memory medium; This program the step that comprises said method embodiment when carrying out; And aforesaid storage medium comprises: various media that can be program code stored such as ROM, RAM, magnetic disc or CD
What should explain at last is: above embodiment is only in order to explaining technical scheme of the present invention, but not to its restriction; Although with reference to previous embodiment the present invention has been carried out detailed explanation, those of ordinary skill in the art is to be understood that: it still can be made amendment to the technical scheme that aforementioned each embodiment put down in writing, and perhaps part technical characterictic wherein is equal to replacement; And these are revised or replacement, do not make the spirit and the scope of the essence disengaging various embodiments of the present invention technical scheme of relevant art scheme.
Claims (10)
1. the form regulation system of an especially big gear is characterized in that, comprising: laser tracker, three-dimensional measurement platform, attitude adjustment platform, opertaing device, driving arrangement; Wherein,
Said laser tracker obtains second spatial data of first spatial data and said attitude adjustment platform of the gauge head of said three-dimensional measurement platform;
Said opertaing device calculates the direction vector of the gauge head of said three-dimensional measurement platform according to first spatial data of said gauge head, and controls the anglec of rotation of the turning axle of said three-dimensional measurement platform according to the direction vector of said gauge head;
After the said anglec of rotation of said three-dimensional measurement distal ends, said opertaing device calculates the locus after said attitude is adjusted distal ends according to said second spatial data and the said anglec of rotation;
Locus and the said anglec of rotation of said opertaing device after according to said attitude adjustment distal ends controlled the locus that said driving arrangement is adjusted said attitude adjustment platform, makes said attitude adjustment the platform further gage beam and the gauge head of the said three-dimensional measurement platform of adjustment.
2. system according to claim 1 is characterized in that, said opertaing device comprises:
First acquisition module is used to obtain the angle of first angle that the direction vector of said gauge head become with the reference measure direction;
First modular converter, the angular transition that is used for said first angle is the pulse step number of the said driving arrangement of control, rotates the swing pinion of the turning axle of said three-dimensional measurement platform with control;
Second acquisition module is used for obtaining the rising distance that said attitude is adjusted the back shaft of platform according to the locus after the said attitude adjustment distal ends;
Second modular converter is used for converting said lifting distance into said driving arrangement corresponding pulse step number, thereby makes said attitude adjustment platform that same level is adjusted in the upper surface of said three-dimensional measurement platform and the upper surface of said especially big gear.
3. system according to claim 2 is characterized in that, said opertaing device also comprises:
The 3rd acquisition module is used to obtain the angle of second angle that the direction vector of first coordinate axis of said three-dimensional measurement platform become with said especially big gear upper surface;
Judge module, whether the angle that is used to judge said second angle is in preset accuracy rating;
Adjusting module, be used for if the angle of said second angle not in said preset accuracy rating, then according to the bolster of the said attitude adjustment of the angular setting of said second angle platform, until the angle of said second angle in said preset accuracy rating.
4. system according to claim 2; It is characterized in that said reference measure direction is the formed vector of second subpoint of platform upper surface is adjusted at first subpoint and the measurement point on the said especially big gear of said attitude adjustment platform upper surface in the center of said especially big gear upper surface in said attitude a direction.
5. according to the arbitrary described system of claim 1～4; It is characterized in that; Said three-dimensional measurement platform is arranged at the top of said attitude adjustment platform; The positioning reference plane of said three-dimensional measurement platform overlaps with the upper surface of said attitude adjustment platform, thereby makes do not have relative displacement between said three-dimensional measurement platform and the said attitude adjustment platform.
6. an especially big gear attitude adjusting method on the throne is characterized in that, comprising:
Obtain second spatial data of first spatial data and attitude adjustment platform of the gauge head of three-dimensional measurement platform through laser tracker;
Calculate the direction vector of the gauge head of said three-dimensional measurement platform by opertaing device according to first spatial data of said gauge head, and control the anglec of rotation of the turning axle of said three-dimensional measurement platform according to the direction vector of said gauge head;
After the said anglec of rotation of said three-dimensional measurement distal ends, calculate the postrotational locus of said attitude adjustment platform axle according to said second spatial data and the said anglec of rotation by said opertaing device;
The locus that locus and the said anglec of rotation controlling and driving equipment of said opertaing device after according to said attitude adjustment distal ends is adjusted said attitude adjustment platform makes said attitude adjustment the platform further gage beam and the gauge head of the said three-dimensional measurement platform of adjustment.
7. method according to claim 6; It is characterized in that; Saidly calculate the direction vector of the gauge head of said three-dimensional measurement platform according to first spatial data of said gauge head, and the step of the anglec of rotation of controlling the turning axle of said three-dimensional measurement platform according to the direction vector of said gauge head comprises by opertaing device:
Said opertaing device obtains the angle of first angle that the direction vector of said gauge head become with the reference measure direction;
Said opertaing device is the pulse step number of the said driving arrangement of control with the angular transition of said first angle, rotates the swing pinion of the turning axle of said three-dimensional measurement platform with control.
8. method according to claim 7 is characterized in that, locus and the said anglec of rotation of said opertaing device after according to said attitude adjustment distal ends controlled said driving arrangement and adjusted the locus of said attitude adjustment platform and comprise:
The locus of said opertaing device after according to said attitude adjustment distal ends obtains the rising distance of the back shaft of said attitude adjustment platform;
Said opertaing device converts said lifting distance into said a plurality of stepper motor corresponding pulse step number, thereby makes said attitude adjustment platform that same level is adjusted in the upper surface of said three-dimensional measurement platform and the upper surface of said especially big gear.
9. method according to claim 7 is characterized in that, said method also comprises:
Said opertaing device obtains the angle of second angle that the direction vector of first coordinate axis of said three-dimensional measurement platform become with said especially big gear upper surface;
Said opertaing device judges that the angle of said second angle is whether in preset accuracy rating;
If the angle of said second angle is in said preset accuracy rating, said opertaing device is according to the bolster of the said attitude adjustment of the angular setting of said second angle platform, until the angle of said second angle in said preset accuracy rating.
10. according to the arbitrary described method of claim 6～9; It is characterized in that said reference measure direction is the formed vector of second subpoint of platform upper surface is adjusted at first subpoint and the measurement point on the said especially big gear of said attitude adjustment platform upper surface in the center of said especially big gear upper surface in said attitude a direction.
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| CN201210118681.2A CN102749094B (en) | 2012-04-23 | 2012-04-23 | System and method for extra large gear at-position posture adjustment |
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| CN201210118681.2A CN102749094B (en) | 2012-04-23 | 2012-04-23 | System and method for extra large gear at-position posture adjustment |
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| CN105640648B (en) * | 2016-03-16 | 2018-06-29 | 北京理工大学 | A kind of pose mechanical conditioning type moveable platform |
| CN111886481A (en) * | 2018-05-30 | 2020-11-03 | 松下知识产权经营株式会社 | Position adjusting device and projection system provided with same |
| CN111238368A (en) * | 2020-01-15 | 2020-06-05 | 中山大学 | Three-dimensional scanning method and device |
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| Publication number | Publication date |
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| CN102749094B (en) | 2014-08-13 |
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