CN104708495B - A kind of two link-type ball bar of space based on spherical hinge - Google Patents

A kind of two link-type ball bar of space based on spherical hinge Download PDF

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CN104708495B
CN104708495B CN201510060537.1A CN201510060537A CN104708495B CN 104708495 B CN104708495 B CN 104708495B CN 201510060537 A CN201510060537 A CN 201510060537A CN 104708495 B CN104708495 B CN 104708495B
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accurate
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connecting rod
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spherical hinge
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CN104708495A (en
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王文
朱晔文
卢科青
范宗尉
张敏
赵鼎成
程林
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Hangzhou Dianzi University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/007Arrangements for observing, indicating or measuring on machine tools for managing machine functions not concerning the tool

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Abstract

The invention discloses a kind of two link-type ball bar of space based on spherical hinge.Bar long excursion very little when existing ball bar is measured, it is impossible to cover all regions in lathe impulse stroke.The accurate bead of the first of the present invention is fixed on the outer end of first connecting rod, and is fixed on the first accurate magnetic force bowl seat in 3 points of machinery positioning modes;Second accurate bead is fixed on the outer end of second connecting rod, and is fixed on the second accurate magnetic force bowl seat in 3 points of machinery positioning modes;The bulb of accurate spherical hinge and support ball-and-socket are separately fixed at the inner of second connecting rod and first connecting rod;First spherical capacitance electrode is located at the bulb bottom of accurate spherical hinge, and the second spherical capacitance electrode is located at the bottom for supporting ball-and-socket.The three-dimensional motion of ball bar realized by present invention spherical hinge, and detects angle between two connecting rod axis with sphere capacitance sensor, and according to angle value and two length of connecting rods, calculating main shaft does Circular test when space circular arc is moved, evaluates the dynamic accuracy of Digit Control Machine Tool.

Description

一种基于球铰链的空间二连杆式球杆仪A Space Two-Link Ballbar Based on Ball Hinge

技术领域technical field

本发明属于数控机床误差检测领域,具体涉及一种基于球铰链的空间二连杆式球杆仪。The invention belongs to the field of error detection of numerical control machine tools, and in particular relates to a space two-link ballbar based on a ball hinge.

背景技术Background technique

机床是机械制造业中的工作母机,其精度直接影响着制造业的水平。随着数控设备的普及应用,各种数控机床的精度提高方法与技术也成为科研工作者们研究的热点。The machine tool is the main machine in the machinery manufacturing industry, and its precision directly affects the level of the manufacturing industry. With the popularization and application of numerical control equipment, the precision improvement methods and technologies of various numerical control machine tools have also become a hot spot for scientific research workers.

目前数控机床误差的检测方式主要有直接测量法、间接测量法和综合误差测量法。基于球杆仪的测量法是一种典型的综合误差测量方法,具有检测快速、操作简单、携带方便等优点,常用于评价和诊断数控机床动态精度。At present, the error detection methods of CNC machine tools mainly include direct measurement method, indirect measurement method and comprehensive error measurement method. The measurement method based on the ballbar is a typical comprehensive error measurement method, which has the advantages of fast detection, simple operation, and convenient portability. It is often used to evaluate and diagnose the dynamic accuracy of CNC machine tools.

球杆仪最初是由美国劳伦斯·利弗莫尔国家实验室(LLNL)的James B.Bryan提出,后来一些企业和学者对此开展了深入的研究,研制出了几种不同类型的球杆仪,如:美国佛罗里达大学机械工程系John C.Ziegert教授发明了激光球杆仪,国内西北工业大学马锡琪提出双球规测量仪等。有的也已形成商业化产品,如:雷尼绍公司的QC10球杆仪等。但是,目前这些球杆仪的杆长虽然可以伸缩,但是变化范围很小。为了满足不同测量空间范围的需求,这些球杆仪通常会同时配备几根长度不一的杆。此外,现有的球杆仪测量空间的圆轨迹半径基本不变(变化量取决定于杆长的1mm左右的伸缩量),无法覆盖(或遍历)机床工作行程范围内的所有空间区域。日本学者发明了二连杆式球杆仪,其中两根连杆是由普通的旋转关节相连并由旋转编码器测量两杆间的夹角,有效地增大球杆仪的测量范围,然而由于结构限制,仪器只能在一个平面内运动,如果需要对机床进行XY,YZ,ZX三个平面的测试时,则需要对球杆仪进行多次安装和测试,因此测量效率较低,难以保证较高的测量精度。The ballbar was originally proposed by James B.Bryan of the Lawrence Livermore National Laboratory (LLNL) in the United States. Later, some companies and scholars conducted in-depth research on it and developed several different types of ballbars. , such as: Professor John C.Ziegert, Department of Mechanical Engineering, University of Florida, USA, invented the laser ballbar, and Ma Xiqi, Northwestern Polytechnical University, proposed a double ball gauge measuring instrument. Some have also formed commercial products, such as: Renishaw's QC10 ballbar and so on. However, although the rod lengths of these current ballbars are scalable, the range of variation is very small. In order to meet the needs of different measurement space ranges, these ballbars are usually equipped with several rods of different lengths at the same time. In addition, the radius of the circular trajectory of the existing ballbar measurement space is basically unchanged (the amount of change is determined by the expansion and contraction of about 1 mm of the rod length), which cannot cover (or traverse) all the spatial areas within the working stroke range of the machine tool. Japanese scholars invented the two-link ballbar, in which the two connecting rods are connected by a common rotary joint and the angle between the two rods is measured by a rotary encoder, which effectively increases the measurement range of the ballbar. However, due to Due to structural limitations, the instrument can only move in one plane. If it is necessary to test the three planes of XY, YZ, and ZX on the machine tool, it is necessary to install and test the ballbar multiple times, so the measurement efficiency is low and it is difficult to guarantee High measurement accuracy.

发明内容Contents of the invention

本发明的目的是针对现有球杆仪的不足,提出一种基于球铰链的空间二连杆式球杆仪,利用球铰链实现球杆仪在空间范围内的三维运动,同时用球面电容传感器的原理检测两连杆轴线间的空间夹角,根据测量的角度值和球铰链相连的两根连杆长度,通过简单的几何方法计算出主轴在做空间圆弧运动时的圆轨迹,得出机床的几何运动精度。The object of the present invention is to address the deficiencies of existing ballbars, and propose a space two-link ballbar based on ball hinges, which uses ball hinges to realize the three-dimensional movement of the ballbar within the spatial range, and uses spherical capacitive sensors to The principle detects the space angle between the axes of the two connecting rods, and according to the measured angle value and the length of the two connecting rods connected by the ball joint, calculates the circular trajectory of the main shaft when it is moving in a spatial arc through a simple geometric method, and obtains The geometric motion accuracy of the machine tool.

本发明所采用的技术方案是:The technical scheme adopted in the present invention is:

本发明主要由第一连杆、第二连杆、精密球铰链、第一精密磁力碗座、第二精密磁力碗座、球面电容传感器、第一精密小球和第二精密小球组成;所述的第一精密小球固定在第一连杆的外端,并以三点机械定位的方式固定在第一精密磁力碗座上;所述的第二精密小球固定在第二连杆的外端,并以三点机械定位的方式固定在第二精密磁力碗座上;所述精密球铰链的球头固定在第二连杆的内端,精密球铰链的支撑球窝固定在第一连杆的内端;所述的球面电容传感器包括第一球冠形电容电极和第二球冠形电容电极;所述的第一球冠形电容电极设置在精密球铰链的球头底部,第二球冠形电容电极设置在支撑球窝的底部。The present invention is mainly composed of a first connecting rod, a second connecting rod, a precision ball hinge, a first precision magnetic bowl, a second precision magnetic bowl, a spherical capacitive sensor, a first precision ball and a second precision ball; The above-mentioned first precision ball is fixed on the outer end of the first connecting rod, and is fixed on the first precision magnetic cup base by three-point mechanical positioning; the second precision ball is fixed on the second connecting rod The outer end is fixed on the second precision magnetic bowl seat by three-point mechanical positioning; the ball head of the precision ball hinge is fixed on the inner end of the second connecting rod, and the supporting ball socket of the precision ball hinge is fixed on the first The inner end of the connecting rod; the spherical capacitance sensor includes a first spherical capacitive electrode and a second spherical capacitive electrode; the first spherical capacitive electrode is arranged at the bottom of the ball joint of the precision ball hinge, and the second Two spherical capacitive electrodes are arranged on the bottom of the supporting ball socket.

所述精密球铰链的球头半径和支撑球窝的内半径均为R2,球头和支撑球窝的球心重合,记为点C。第一精密小球的球心到C的距离记为L1,第二精密小球的球心到C的距离记为L2。将第一精密小球与第二精密小球的球心距离等效为一根连杆,因此等效杆长L可表示为:The radius of the ball head of the precision ball hinge and the inner radius of the supporting ball socket are both R 2 , and the centers of the ball head and the supporting ball socket coincide, which is recorded as point C. The distance from the center of the first precision ball to C is denoted as L 1 , and the distance from the center of the second precision ball to C is denoted as L 2 . The center distance between the first precision ball and the second precision ball is equivalent to a connecting rod, so the equivalent rod length L can be expressed as:

L2=L1 2+L2 2-2L1L2cos(π-θ)L 2 =L 1 2 +L 2 2 -2L 1 L 2 cos(π-θ)

其中,θ为球面电容传感器检测得到的第一连杆与第二连杆轴线间的夹角。当θ=0时,对应的等效杆长L取得最大值Lmax=L1+L2;当θ=θmax时,对应的等效杆长L取得最小值Lmin;θmax=90°-arcsin(h/R2)-arcsin(r/R2)为精密球铰链的极限摆角,其中,r为第二连杆的外圆面半径,h为采用横向剖分式结构的支撑球窝端盖高度。因此,等效杆长的变化范围是Lmax-LminWherein, θ is the angle between the axis of the first connecting rod and the axis of the second connecting rod detected by the spherical capacitive sensor. When θ=0, the corresponding equivalent rod length L obtains the maximum value L max =L 1 +L 2 ; when θ=θ max , the corresponding equivalent rod length L obtains the minimum value L min ; θ max =90° -arcsin(h/R 2 )-arcsin(r/R 2 ) is the limit swing angle of the precision ball hinge, where r is the radius of the outer circle of the second connecting rod, and h is the supporting ball with a transverse split structure Nest end cap height. Therefore, the variation range of the equivalent rod length is L max -L min .

所述第一球冠形电容电极、第二球冠形电容电极的球冠中心与边缘间对应的圆心角相等,均为10~60°。The corresponding central angles between the center of the spherical cap and the edge of the first spherical capacitive electrode and the second spherical capacitive electrode are equal, and both are 10-60°.

所述的第一球冠形电容电极和第二球冠形电容电极构成球面电容传感器的两个检测极板。The first spherical capacitive electrode and the second spherical capacitive electrode constitute two detection plates of the spherical capacitive sensor.

本发明的有益效果是:The beneficial effects of the present invention are:

1、由于球铰链具有结构紧凑和运动灵活等优点,使其用于两连杆的连接,易于实现仪器在全部空间范围内的运动和测量范围的连续性(全覆盖)。1. Because the ball hinge has the advantages of compact structure and flexible movement, it is used for the connection of two connecting rods, and it is easy to realize the movement of the instrument in the entire space and the continuity of the measurement range (full coverage).

2、本发明采用球面电容传感器的原理检测两连杆轴线之间的夹角,可以保证较高的测量精度。2. The present invention uses the principle of a spherical capacitive sensor to detect the angle between the axes of the two connecting rods, which can ensure high measurement accuracy.

3、本发明通过两根连杆和一个球铰链实现球杆仪的测量功能,结构简单,算法简易。3. The present invention realizes the measurement function of the ballbar through two connecting rods and a ball hinge, and has simple structure and simple algorithm.

附图说明Description of drawings

图1为本发明的总体结构图;Fig. 1 is the general structural diagram of the present invention;

图2为本发明中第一连杆与第二连杆的装配示意图;Fig. 2 is the schematic diagram of the assembly of the first connecting rod and the second connecting rod in the present invention;

图3为本发明中两个球冠形电容电极的布置示意图;Fig. 3 is the arrangement schematic diagram of two spherical capacitive electrodes among the present invention;

图4为本发明中第一球冠形电容电极在精密球铰链的球头上的位置示意图;4 is a schematic diagram of the position of the first spherical capacitive electrode on the ball head of the precision ball hinge in the present invention;

图5为本发明中第二球冠形电容电极在精密球铰链的支撑球窝内的位置示意图。Fig. 5 is a schematic diagram of the position of the second spherical capacitive electrode in the supporting ball socket of the precision ball hinge in the present invention.

具体实施方式detailed description

下面结合附图及实施例对本发明作进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

如图1和2所示,一种基于球铰链的空间二连杆式球杆仪,主要由第一连杆1-1、第二连杆2-1、精密球铰链3、第一精密磁力碗座4、第二精密磁力碗座5、球面电容传感器、第一精密小球1-2和第二精密小球2-2组成;球面电容传感器包括第一球冠形电容电极D1和第二球冠形电容电极D2。第一精密小球1-2固定在第一连杆1-1的外端,第二精密小球2-2固定在第二连杆2-1的外端;精密球铰链3的球头3-1固定在第二连杆2-1的内端,精密球铰链3的支撑球窝3-2固定在第一连杆1-1的内端。第一精密小球1-2和第二精密小球2-2的半径均为R1,其球心分别记为点A和点B;精密球铰链3的球头半径和支撑球窝的内半径均为R2,球头和支撑球窝的球心重合,记为点C。AC的长度记为L1,BC的长度记为L2As shown in Figures 1 and 2, a space two-link ballbar based on a ball hinge is mainly composed of a first link 1-1, a second link 2-1, a precision ball hinge 3, a first precision magnetic Bowl 4, the second precision magnetic bowl 5, spherical capacitive sensor, the first precision ball 1-2 and the second precision ball 2-2; the spherical capacitive sensor includes the first spherical capacitive electrode D1 and the second Spherical capacitive electrode D 2 . The first precision ball 1-2 is fixed on the outer end of the first connecting rod 1-1, and the second precision ball 2-2 is fixed on the outer end of the second connecting rod 2-1; the ball head 3 of the precision ball hinge 3 -1 is fixed at the inner end of the second connecting rod 2-1, and the supporting ball socket 3-2 of the precision ball hinge 3 is fixed at the inner end of the first connecting rod 1-1. The radii of the first precision ball 1-2 and the second precision ball 2-2 are both R 1 , and their centers are respectively marked as point A and point B; the ball head radius of the precision ball hinge 3 and the inner diameter of the supporting ball socket The radius is R 2 , and the center of the ball head and the supporting ball socket coincides, which is recorded as point C. The length of AC is denoted as L 1 , and the length of BC is denoted as L 2 .

如图3、4和5所示,精密球铰链3的球头底部设置第一球冠形电容电极D1,支撑球窝的底部设置第二球冠形电容电极D2;第一球冠形电容电极D1、第二球冠形电容电极D2的球冠中心与边缘间对应的圆心角均为α=60°。第一球冠形电容电极D1和第二球冠形电容电极D2构成球面电容传感器的两个检测极板,用于检测第一连杆1-1和第二连杆2-1轴线间的夹角。第一精密磁力碗座4可通过T型槽固定到机床工作台上,第二精密磁力碗座5安装于机床主轴上。第一精密小球1-2和第二精密小球2-2以三点机械定位的方式分别固定在第一精密磁力碗座4和第二精密磁力碗座5上。As shown in Figures 3, 4 and 5, the bottom of the ball head of the precision ball hinge 3 is provided with a first spherical capacitive electrode D1, and the bottom of the supporting ball socket is provided with a second spherical capacitive electrode D2; the first spherical capacitive electrode D2 The corresponding central angles between the center of the spherical cap and the edge of the electrode D1 and the second spherical capacitive electrode D2 are both α=60°. The first spherical capacitive electrode D1 and the second spherical capacitive electrode D2 form two detection pole plates of the spherical capacitive sensor, which are used to detect the distance between the axes of the first connecting rod 1-1 and the second connecting rod 2-1. angle. The first precision magnetic bowl seat 4 can be fixed on the machine tool workbench through the T-shaped slot, and the second precision magnetic bowl seat 5 is installed on the machine tool spindle. The first precision ball 1-2 and the second precision ball 2-2 are respectively fixed on the first precision magnetic bowl seat 4 and the second precision magnetic bowl seat 5 in a three-point mechanical positioning manner.

工作过程中,精密球铰链3的球头3-1相对于支撑球窝3-2发生转动,第一球冠形电容电极D1和第二球冠形电容电极D2间的有效重叠面积改变,导致球面电容传感器的输出电容值变化,根据输出电容值可计算两连杆轴线间的夹角θ。During the working process, the ball head 3-1 of the precision ball hinge 3 rotates relative to the supporting ball socket 3-2, and the effective overlapping area between the first spherical capacitive electrode D1 and the second spherical capacitive electrode D2 changes, The output capacitance value of the spherical capacitive sensor changes, and the angle θ between the axes of the two connecting rods can be calculated according to the output capacitance value.

对于面积相等的两个球冠形电容电极,即两个球冠形电容电极的球冠中心与边缘间对应的圆心角均为α时,两个球冠形电容电极的有效重叠面积S与两连杆轴线间的夹角θ的关系可表示为:For two spherical capacitive electrodes with the same area, that is, when the corresponding central angles between the center of the spherical cap and the edge of the two spherical capacitive electrodes are both α, the effective overlapping area S of the two spherical capacitive electrodes is the same as that of the two spherical capacitive electrodes. The relationship between the angle θ between the connecting rod axes can be expressed as:

式中, In the formula,

η=tan-1[(cosα-cosαcosθ)/(cosαsinθ)],η=tan -1 [(cosα-cosαcosθ)/(cosαsinθ)],

由于球冠中心与边缘间对应的圆心角均为α是已知的,根据公式(1),两个球冠形电容电极的有效重叠面积S与两连杆轴线间的夹角θ有一一对应的数学关系,为了便于表示,可记为:Since the corresponding central angle between the center of the spherical cap and the edge is known as α, according to the formula (1), the effective overlapping area S of the two spherical capacitive electrodes and the angle θ between the axes of the two connecting rods have a value of The corresponding mathematical relationship, for the convenience of expression, can be recorded as:

S=g(θ) (2)S=g(θ) (2)

根据电容值计算公式其中,d表示两极板间隙,ε表示介电常数。球头和支撑球窝表面分布一层环氧树脂作为电介质,且ε和d保持不变,由公式(2),电容值的表达式因此两连杆轴线间的夹角θ与球面电容传感器检测到的电容值C有一一对应的数学关系,为了便于表示,可记为:According to the capacitance value calculation formula Among them, d represents the gap between the two plates, and ε represents the dielectric constant. A layer of epoxy resin is distributed on the surface of the ball head and the supporting ball socket as the dielectric, and ε and d remain unchanged. According to the formula (2), the expression of the capacitance value Therefore, there is a one-to-one mathematical relationship between the angle θ between the axes of the two connecting rods and the capacitance value C detected by the spherical capacitance sensor. For the convenience of expression, it can be recorded as:

θ=f(C) (3)θ=f(C) (3)

第一球冠形电容电极加载电压VINPUT,而第二球冠形电容电极加载电压0。两个球冠形电容电极由电缆连接至电容传感器信号处理电路,计算机内置有数据采集卡和数据处理软件,对来自电容的信号进行分析处理,得到第一连杆1-1与第二连杆2-1轴线之间的角度。The first spherical capacitive electrode is loaded with a voltage V INPUT , while the second spherical capacitive electrode is loaded with a voltage of 0 . The two spherical capacitive electrodes are connected to the signal processing circuit of the capacitive sensor by a cable, and the computer is equipped with a data acquisition card and data processing software to analyze and process the signal from the capacitor to obtain the first connecting rod 1-1 and the second connecting rod The angle between the 2-1 axes.

将第一精密小球1-2与第二精密小球2-2的球心距离AB等效为一根连杆,因此等效杆长L可表示为:The distance AB between the center of the first precision ball 1-2 and the second precision ball 2-2 is equivalent to a connecting rod, so the equivalent rod length L can be expressed as:

L2=L1 2+L2 2-2L1L2cos(π-θ) (4)L 2 =L 1 2 +L 2 2 -2L 1 L 2 cos(π-θ) (4)

当θ=0时,对应的等效杆长L取得最大值Lmax=L1+L2;当θ=θmax时,对应的等效杆长L取得最小值Lmin,其中,θmax=90°-arcsin(h/R2)-arcsin(r/R2)为精密球铰链3的极限摆角,r为第二连杆2-1的外圆面半径,h为采用横向剖分式结构的支撑球窝端盖高度。因此,等效杆长的变化范围是Lmax-LminWhen θ=0, the corresponding equivalent rod length L obtains the maximum value L max =L 1 +L 2 ; when θ=θ max , the corresponding equivalent rod length L obtains the minimum value L min , where θ max = 90°-arcsin(h/R 2 )-arcsin(r/R 2 ) is the limit swing angle of the precision ball hinge 3, r is the radius of the outer circular surface of the second connecting rod 2-1, and h is the transverse split formula The height of the supporting ball-and-socket end cap of the structure. Therefore, the variation range of the equivalent rod length is L max -L min .

第一精密小球1-2的球心A与工作台坐标系的原点O(0,0,0)重合,P(x,y,z)为第二精密小球2-2球心B的名义坐标,当机床运动到目标位置时,设机床的实际位置为P'(x',y',z')。则机床的空间误差可表示为:The center A of the first precision ball 1-2 coincides with the origin O(0,0,0) of the table coordinate system, and P(x,y,z) is the center B of the second precision ball 2-2. Nominal coordinates, when the machine tool moves to the target position, set the actual position of the machine tool as P'(x',y',z'). Then the spatial error of the machine tool can be expressed as:

式中,Δx、Δy、Δz为点P与P'的位移误差。In the formula, Δx, Δy, Δz are the displacement errors between points P and P'.

当存在误差Δx、Δy、Δz时,则下式成立:When there are errors Δx, Δy, Δz, the following formula holds:

L2=x′2+y′2+z′2=(x+Δx)2+(y+Δy)2+(z+Δz)2 (6)L 2 =x' 2 +y' 2 +z' 2 =(x+Δx) 2 +(y+Δy) 2 +(z+Δz) 2 (6)

球杆仪工作时,机床绕着工作台上的中心座按预先设定的半径为R的圆轨迹运行,因此AB的理想距离为R,忽略二阶以上的高次误差项,则R2=x2+y2+z2。根据(4)和(6)式,则可得:When the ballbar is working, the machine tool runs around the center seat on the workbench according to a preset circular trajectory with a radius of R, so the ideal distance of AB is R, ignoring the higher-order error items above the second order, then R 2 = x 2 +y 2 +z 2 . According to formulas (4) and (6), we can get:

公式(7)表示点P处的定位误差和球杆仪中精密球铰链的转角关系,因此该式可用于机床的误差诊断。Formula (7) expresses the relationship between the positioning error at point P and the rotation angle of the precision ball hinge in the ballbar, so this formula can be used for error diagnosis of machine tools.

通过两根连杆和一个球铰链实现球杆仪的测量功能,易于实现仪器在全部空间范围内的运动和测量范围的连续性(全覆盖)。此外,采用球面电容传感器的原理来检测两连杆轴线之间的夹角,可以保证较高的测量精度。总体装置结构简单,算法简易。The measurement function of the ballbar is realized by two connecting rods and a ball hinge, which is easy to realize the movement of the instrument in the entire spatial range and the continuity of the measurement range (full coverage). In addition, using the principle of the spherical capacitance sensor to detect the angle between the axes of the two connecting rods can ensure high measurement accuracy. The overall device structure is simple and the algorithm is simple.

Claims (3)

1. a kind of two link-type ball bar of space based on spherical hinge, mainly by first connecting rod, second connecting rod, accurate spherical hinge, First accurate magnetic force bowl seat, the second accurate magnetic force bowl seat, sphere capacitance sensor, the first accurate bead and the second accurate little set of balls Into, it is characterised in that:
The accurate bead of described first is fixed on the outer end of first connecting rod, and is fixed on the first essence in the way of 3 points of machinery positionings On close magnetic force bowl seat;The accurate bead of described second is fixed on the outer end of second connecting rod, and solid in the way of 3 points of machinery positionings It is scheduled on the second accurate magnetic force bowl seat;The bulb of the accurate spherical hinge is fixed on the inner of second connecting rod, accurate spherical hinge Ball-and-socket is supported to be fixed on the inner of first connecting rod;Described sphere capacitance sensor includes the first spherical capacitance electrode and second Spherical capacitance electrode;The first described spherical capacitance electrode is arranged on the bulb bottom of accurate spherical hinge, and second is spherical Capacitance electrode is arranged on the bottom for supporting ball-and-socket;
The inside radius of the Probe-radius of the accurate spherical hinge and support ball-and-socket is R2, the centre of sphere coincidence of bulb and support ball-and-socket, It is designated as point C;The centre of sphere of the first accurate bead is designated as L to the distance of C1, the centre of sphere of the second accurate bead is designated as L to the distance of C2;Will The centre of sphere distance of the first accurate bead and the second accurate bead is equivalent to a connecting rod, and therefore the long L of equivalent bar is expressed as:
L2=L1 2+L2 2-2L1L2cos(π-θ)
Wherein, θ is the angle between the first connecting rod and second connecting rod axis that the detection of sphere capacitance sensor is obtained;When θ=0, The long L of corresponding equivalent bar obtains maximum Lmax=L1+L2;As θ=θmaxWhen, the long L of corresponding equivalent bar obtains minima Lmin; θmax=90 ° of-arcsin (h/R2)-arcsin(r/R2) be accurate spherical hinge limit pivot angle, wherein, r is outer for second connecting rod Disc radius, h are the support ball-and-socket end cap height using horizontal split type structure;Therefore, the excursion of equivalent bar length is Lmax-Lmin.
2. a kind of two link-type ball bar of space based on spherical hinge according to claim 1, it is characterised in that:Described One spherical capacitance electrode, the spherical crown center of the second spherical capacitance electrode are equal with corresponding central angle between edge, are 10 ~60 °.
3. a kind of two link-type ball bar of space based on spherical hinge according to claim 1, it is characterised in that:Described First spherical capacitance electrode and the second spherical capacitance electrode constitute two Detection electrodes of sphere capacitance sensor.
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