CN104374359A - Sling dip angle measuring device and method based on encoder feedback - Google Patents
Sling dip angle measuring device and method based on encoder feedback Download PDFInfo
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- CN104374359A CN104374359A CN201410643977.5A CN201410643977A CN104374359A CN 104374359 A CN104374359 A CN 104374359A CN 201410643977 A CN201410643977 A CN 201410643977A CN 104374359 A CN104374359 A CN 104374359A
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- fork
- hoist cable
- scrambler
- shell
- oscillating rod
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- General Physics & Mathematics (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention discloses a sling dip angle measuring device based on encoder feedback. The device comprises a shell, a first oscillating rod, a second oscillating rod, a first encoder and a second encoder, wherein the shell is of a cuboid structure and is provided with an installing plane and four side faces, lengthwise openings parallel to slings are formed in the side faces, transverse reinforcing ribs are arranged in the lengthwise openings, oscillating rod shaft holes are formed in the reinforcing ribs, the oscillating rod shaft holes in the every two opposite side faces form two axes respectively, are parallel to the installing plane on the top of the shell, are perpendicular to each other and do not cross, sling passing holes are formed in the top of the first oscillating rod and the top of the second oscillating rod, the first oscillating rod and the second oscillating rod are located in the sling passing holes in a crossed mode, n-shaped portions of the two oscillating rods are each of an inverted mode and are installed in the oscillating rod shaft holes through rotating shafts respectively so that the slings can penetrate through the oscillating rods, the shells of the two encoders are correspondingly arranged outside the transverse reinforcing ribs respectively, and the rotating shafts of the encoders are fixedly installed on the rotating shafts of the two oscillating rods respectively. When the two oscillating rods oscillate, the two encoders rotate synchronous with the rotating shafts respectively, and the dip angles of the slings in the horizontal direction and the vertical direction are calculated according to the rotating angles of the two encoders.
Description
Technical field
The invention belongs to spacecraft ground experimental technique field, be specifically related to use hoist cable hang to meet hoist cable dip measuring device in the test of spacecraft ground microgravity environment, also relate to the method using this device to carry out hoist cable measurement of dip angle simultaneously.
Background technology
Domestic and international hoist cable inclination angle detection method is mainly divided into: 3-axis acceleration sensor mensuration, three-axis gyroscope mensuration, Videogrammetry, iGPS mensuration, laser tracker mensuration etc.
3-axis acceleration sensor and hoist cable are installed together by acceleration transducer mensuration, and the acceleration magnitude in three directions utilizing three axis accelerometer measurement to obtain calculates the deflection of gravity direction relative to hoist cable direction, i.e. inclination angle.The deficiency of the method is easily to be subject to the impact of hoist cable motion, because 3-axis acceleration sensor actual measurement obtains is the resultant acceleration of acceleration of gravity and acceleration of motion.Therefore, 3-axis acceleration sensor mensuration is applicable to the measurement of static tilt angles more.
Three-axis gyroscope and hoist cable are installed together by three-axis gyroscope mensuration, and gyroscope can measure the inclination angle acceleration of hoist cable, calculated the variable quantity at inclination angle, finally count initial tilt again, can obtain current tilt values by twice integrating meter.Gyroscope survey be angular acceleration, not by the impact of linear acceleration, therefore measuring accuracy is higher than acceleration transducer.But gyroscope survey inclination angle obtains indirectly by integral and calculating, easily there is drift in long-time use, causes the method not to be suitable for long hoist cable measurement of dip angle.
Videogrammetry is divided into two kinds: look squarely vision measurement and position founding measurement.Looking squarely vision measurement is arrange fixed camera in the side of hoist cable, obtains hoist cable inclination angle in the picture by image procossing, if need measurement two vertical direction, then needs two cameras to work simultaneously; Position founding measurement arranges and the geostationary camera of hoisting point position on hoist cable at the top of hoist cable, meanwhile, arrange at lower suspension centre place with lower suspension centre apart from geostationary target point, by measurement target drone point position in the picture, add sling length, calculate the inclination angle of hoist cable.If target point can keep translation, then target point is set to an independent point, if also there is rotation, then target point needs to be set to the multi-point combination that a group has space characteristics.Look squarely vision measurement or position founding and measure the impact being all easily subject to surround lighting, easily occur insecure situation, and the output frequency of vision measurement is subject to the impact of industrial camera frame per second and image processing speed, generally only has about 25Hz.
IGPS mensuration is the method directly measuring hang oneself space of points coordinate and lower suspension centre volume coordinate, and the volume coordinate obtaining two points just directly can calculate the inclination angle of hoist cable.The shortcoming of these two kinds of methods is that output frequency is lower, and cost is high, and the output frequency of iGPS generally only has 20 ~ 50Hz.
Laser tracker mensuration is also the method directly measuring hang oneself space of points coordinate and lower suspension centre volume coordinate, there is speed fast, the feature that precision is high, but laser tracker can only measure the coordinate of a point in every, a hoist cable just needs two laser trackers, when there being many hoist cables to need measurement of dip angle simultaneously, between each laser tracker, easily occur interference, and cost is difficult to control.
Whether at present, have a kind of space manipulator, this space manipulator is formed by connecting by cradle head by multiple armed lever, after whole arm general assembly completes, carries out ground spreading and exercise test test as requested, normal with the motor function of proof machine mechanical arm.For this reason, need to set up a set of ground microgravity test backup system, offset gravity to the impact of joint of mechanical arm, specifically then adopt many hoist cable suspension type schemes.
The core link of hoist cable suspension type scheme is the pitch angle control of hoist cable, is then further the measurement at hoist cable inclination angle.The measuring method of mechanical arm hoist cable suspension type microgravity backup system to hoist cable inclination angle has following major requirement:
1) the horizontal X Y inclination angle of two vertical direction can be provided so that directly control XY to pursuit movement;
2) acceleration of motion (the maximum 100mm/s of hoist cable is adapted to
2), in manipulator motion process, require that hoist cable still can keep vertically not by motion effects;
3) reliability is high, must not be subject to the impact of ambient light, temperature variation;
4) good stability, there is not drift in long-time use;
5) output frequency is not less than 100Hz;
6) be independent of each other between the measuring process at each hoist cable inclination angle.
In existing hoist cable measurement of dip angle method, 3-axis acceleration sensor mensuration is easily subject to the impact of acceleration of motion, three-axis gyroscope mensuration uses for a long time and can produce drift, Videogrammetry is easily subject to the impact of ambient light, and output frequency is usually lower, iGPS mensuration output frequency is low, and laser tracker mensuration can not measure many hoist cable inclination angles simultaneously, does not all meet the demands.
Summary of the invention
The object of the invention is to provide a kind of hoist cable dip measuring device based on encoder feedback, and this device is simple to operate, and precision is higher, the requirement of meeting spatial mechanical arm ground microgravity or low gravitation test.
To achieve these goals, present invention employs following technical scheme:
Based on the hoist cable dip measuring device of encoder feedback, comprise shell, fork one, fork two, scrambler one, scrambler two, shell is rectangular structure, the top of rectangular parallelepiped has outwardly directed flange and forms mounting plane, coordinate for being formed with level reference, ensure the attitude of whole shell, four side openings of rectangular structure are provided with the lengthwise opening parallel with hoist cable, lengthwise opening is provided with corresponding transverse direction of installing fork one and fork two close to the position bottom rectangular structure and strengthens rib, the reinforcement rib equal altitudes of opposite flank is arranged, the transverse direction of shell side is strengthened rib is provided with fork axis hole, fork axis hole on opposite flank forms two axis respectively, two axis are parallel with the mounting plane of cover top portion and orthogonally do not intersect, fork one and fork two are respectively door type framework, the both sides of door type framework are symmetrical arranged rotating shaft, top arranged rope hole, fork one and fork two " cross " are in crossing rope hole, and the door type of two forks is arranged in fork axis hole in handstand structure by the rotating shaft at two ends respectively, for the excessively rope hole of hoist cable through two forks, the shell of scrambler one and scrambler two is corresponding is respectively arranged on the outside laterally strengthening rib, together with the rotating shaft of two scramblers is fixed on the rotating shaft of two forks respectively, when fork one and fork two swing, scrambler one and scrambler two respectively with corresponding rotating shaft synchronous axial system, by the corner of scrambler one with scrambler two, calculate the inclination angle of hoist cable in horizontal both direction.
Wherein, crossing rope hole is an elongated hole, and length designs according to the maximum pendulum angle of hoist cable, ensures that, in hoist cable tilting procedure, hoist cable does not contact with two minor faces crossing rope hole, and width passes through to be advisable just can allow hoist cable.
Wherein, the inside surface crossing rope hole uses hardened artiwear process.
Wherein, the cross sectional shape of hoist cable is circular or square.
Compared with prior art, the present invention can be applicable to exercise test is launched in space manipulator cabin, core cabin, space station, and this hoist cable inclination angle measurement method directly can export the inclination angle of XY both direction, not by the impact of hoist cable acceleration of motion.The present invention has reliable and stable, the feature that output frequency is high.
Accompanying drawing explanation
Fig. 1 is the structural representation of the hoist cable dip measuring device based on encoder feedback of the present invention;
Wherein: 1 is tested hoist cable; 2 is shell; 3 is fork one; 4 is scrambler one; 5 is fork two; 6 is scrambler two.
Fig. 2 is the intersection schematic diagram based on two forks in the hoist cable dip measuring device of encoder feedback of the present invention;
Wherein, 1 is tested hoist cable; 3 is fork one; 5 is fork two.
Fig. 3 is the shell mechanism schematic diagram of hoist cable dip measuring device one embodiment based on encoder feedback of the present invention;
Wherein: 21 is mounting plane, 22 is the installation axle hole of fork one, and 23 is the installation axle hole of fork two.
Fig. 4 is the schematic diagram that the hoist cable dip measuring device based on encoder feedback of the present invention measures hoist cable inclination angle.
Embodiment
What below introduce is embodiment as content of the present invention, further illustrates described content of the present invention below by embodiment.Certainly, describe the content that following detailed description is only example different aspect of the present invention, and should not be construed as the restriction scope of the invention.
The structural representation of the hoist cable dip measuring device based on encoder feedback of the present invention is given with reference to Fig. 1, Fig. 1.Fig. 2 is the intersection schematic diagram based on two forks in the hoist cable dip measuring device of encoder feedback of the present invention, wherein, hoist cable dip measuring device based on encoder feedback of the present invention is based on the hoist cable dip measuring device of encoder feedback, comprise shell 2, fork 1, fork 25, scrambler 1, scrambler 26, shell 2 is rectangular structure, the top of rectangular parallelepiped has outwardly directed flange and forms mounting plane 21 (see Fig. 2), coordinate for being formed with level reference, ensure the attitude of whole shell, four side openings of rectangular structure are provided with the lengthwise opening parallel with tested hoist cable 1, lengthwise opening is provided with corresponding transverse direction of installing fork 1 and fork 25 close to the position bottom rectangular structure and strengthens rib, the reinforcement rib equal altitudes of opposite flank is arranged, transverse direction on the side of shell 2 is strengthened rib and is provided with fork axis hole 22, 23 (see Fig. 2), fork axis hole 22 on opposite flank, 23 form two axis respectively, two axis are parallel with the mounting plane 21 at shell 2 top and orthogonally do not intersect, fork 1 and fork 25 are respectively door type framework, the both sides of door type framework are symmetrical arranged rotating shaft, top arranged rope hole, fork 1 and fork 25 " cross " are in crossing rope hole (sign), and the door type of two forks is arranged on fork axis hole 22 in handstand structure by the rotating shaft at two ends respectively, in 23, for the excessively rope hole of tested hoist cable 1 through two forks, the shell of scrambler 1 and scrambler 26 is corresponding is respectively arranged on the outside laterally strengthening rib, together with the rotating shaft of two scramblers is fixed on the rotating shaft of two forks respectively, when fork 1 and fork 25 swing, scrambler 1 and scrambler 26 respectively with corresponding rotating shaft synchronous axial system, by the corner of scrambler 1 with scrambler 26, calculate tested hoist cable 1 at the inclination angle of horizontal both direction.
Preferably, swing rod structure, the size of both direction are identical, and fork is provided with rotating shaft and crosses rope hole; Rotating shaft is installed and is used for coordinating with the fork installation axle hole of shell 2, forms revolute pair; Crossing rope hole is an elongated hole, and length designs according to the maximum pendulum angle of hoist cable, ensures in hoist cable tilting procedure, hoist cable does not contact with two minor faces crossing rope hole, width passes through to be advisable just can allow hoist cable, and cross rope internal surface of hole and use hardened artiwear process, Long-Time Service still can keep dimensional accuracy.
The shell mechanism schematic diagram of hoist cable dip measuring device one embodiment based on encoder feedback of the present invention is shown see Fig. 3, Fig. 3; Wherein, shell 2 is provided with mounting plane 21 and fork installation axle hole 22,23, mounting plane 21 has certain flatness, for whole device is fixed on horizontal reference installed surface, to ensure measuring accuracy, fork installation axle hole 22,23 is respectively used to install fork 1 and fork 25, and installation axle hole 22,23 is all parallel with mounting plane 21, and mutually vertical, the shape of shell 2 can adjust as required.
Fig. 4 is the schematic diagram utilizing the hoist cable dip measuring device based on encoder feedback of the present invention to measure hoist cable inclination angle; The cross sectional shape of the hoist cable that the present invention is suitable for can be circular or square, requires in the course of the work, and hoist cable can contact with two the long limits crossing rope hole all the time.
The Computing Principle at hoist cable inclination angle as shown in Figure 4.There is inclination alpha in hoist cable
1time, the deflection angle of fork is α
2.If fork is long is l, on balance staff to hoist cable, the distance of suspension centre is h
1, so can obtain:
x＝l·sinα
2
h
2＝l·cosα
2
Thus can calculate:
Although be described in detail the specific embodiment of the present invention above and illustrate, but what should indicate is, we can make various changes and modifications above-mentioned embodiment, but these do not depart from spirit of the present invention and the scope described in appended claim.
Claims (4)
1. based on the hoist cable dip measuring device of encoder feedback, comprise shell, fork one, fork two, scrambler one, scrambler two, shell is rectangular structure, the top of rectangular parallelepiped has outwardly directed flange and forms mounting plane, coordinate for being formed with level reference, ensure the attitude of whole shell, four side openings of rectangular structure are provided with the lengthwise opening parallel with hoist cable, lengthwise opening is provided with corresponding transverse direction of installing fork one and fork two close to the position bottom rectangular structure and strengthens rib, the reinforcement rib equal altitudes of opposite flank is arranged, the transverse direction of shell side is strengthened rib is provided with fork axis hole, fork axis hole on opposite flank forms two axis respectively, two axis are parallel with the mounting plane of cover top portion and orthogonally do not intersect, fork one and fork two are respectively door type framework, the both sides of door type framework are symmetrical arranged rotating shaft, top arranged rope hole, fork one and fork two " cross " are in crossing rope hole, and the door type of two forks is arranged in fork axis hole in handstand structure by the rotating shaft at two ends respectively, for the excessively rope hole of hoist cable through two forks, the shell of scrambler one and scrambler two is corresponding is respectively arranged on the outside laterally strengthening rib, together with the rotating shaft of two scramblers is fixed on the rotating shaft of two forks respectively, when fork one and fork two swing, scrambler one and scrambler two respectively with corresponding rotating shaft synchronous axial system, by the corner of scrambler one with scrambler two, calculate the inclination angle of hoist cable in horizontal both direction.
2. measurement mechanism as claimed in claim 1, wherein, crossing rope hole is an elongated hole, and length designs according to the maximum pendulum angle of hoist cable, ensures that, in hoist cable tilting procedure, hoist cable does not contact with two minor faces crossing rope hole, and width passes through to be advisable just can allow hoist cable.
3. measurement mechanism as claimed in claim 1, wherein, the inside surface crossing rope hole uses hardened artiwear process.
4. measurement mechanism as claimed in claim 1, wherein, the cross sectional shape of hoist cable is circular or square.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410643977.5A CN104374359A (en) | 2014-11-07 | 2014-11-07 | Sling dip angle measuring device and method based on encoder feedback |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410643977.5A CN104374359A (en) | 2014-11-07 | 2014-11-07 | Sling dip angle measuring device and method based on encoder feedback |
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| Publication Number | Publication Date |
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| CN104374359A true CN104374359A (en) | 2015-02-25 |
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| CN201410643977.5A Pending CN104374359A (en) | 2014-11-07 | 2014-11-07 | Sling dip angle measuring device and method based on encoder feedback |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111664996A (en) * | 2020-07-08 | 2020-09-15 | 福州大学 | Three-dimensional rotation quantity testing device convenient to install and testing method |
| CN113566760A (en) * | 2021-06-16 | 2021-10-29 | 嘉兴市恒光电力建设有限责任公司 | Near charged body rope early warning device and monitoring early warning method |
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| JPS62159001A (en) * | 1985-12-31 | 1987-07-15 | Furuno Electric Co Ltd | Angle measuring instrument |
| CN1436715A (en) * | 2002-02-08 | 2003-08-20 | 中国科学院自动化研究所 | Lifting rope angle measurer for crane |
| CN202041336U (en) * | 2011-04-18 | 2011-11-16 | 常柴股份有限公司 | Dip angle and tension measuring device for flexible cable |
| CN102976207A (en) * | 2012-11-28 | 2013-03-20 | 北京卫星环境工程研究所 | Suspension centre automatic adjusting method of leveling spreader for spacecraft |
| CN103090836A (en) * | 2011-11-01 | 2013-05-08 | 中国科学院沈阳自动化研究所 | Soft rope inclination angle measuring device |
| CN103601091A (en) * | 2013-11-25 | 2014-02-26 | 江苏科技大学 | Cable diameter speed measuring and guide device for flexible cable arranging mechanism |
| CN103837115A (en) * | 2014-03-04 | 2014-06-04 | 徐工集团工程机械股份有限公司 | Three-dimensional attitude measurement method and device |
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- 2014-11-07 CN CN201410643977.5A patent/CN104374359A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5655830A (en) * | 1979-10-15 | 1981-05-16 | Kandenkou:Kk | Measuring device for tensile force of power-transmission line |
| JPS62159001A (en) * | 1985-12-31 | 1987-07-15 | Furuno Electric Co Ltd | Angle measuring instrument |
| CN1436715A (en) * | 2002-02-08 | 2003-08-20 | 中国科学院自动化研究所 | Lifting rope angle measurer for crane |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111664996A (en) * | 2020-07-08 | 2020-09-15 | 福州大学 | Three-dimensional rotation quantity testing device convenient to install and testing method |
| CN111664996B (en) * | 2020-07-08 | 2021-11-30 | 福州大学 | Three-dimensional rotation quantity testing device convenient to install and testing method |
| CN113566760A (en) * | 2021-06-16 | 2021-10-29 | 嘉兴市恒光电力建设有限责任公司 | Near charged body rope early warning device and monitoring early warning method |
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Application publication date: 20150225 |