CN106643787A - Accurate displacement measuring device and trolley comprising same - Google Patents
Accurate displacement measuring device and trolley comprising same Download PDFInfo
- Publication number
- CN106643787A CN106643787A CN201710034594.1A CN201710034594A CN106643787A CN 106643787 A CN106643787 A CN 106643787A CN 201710034594 A CN201710034594 A CN 201710034594A CN 106643787 A CN106643787 A CN 106643787A
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- China
- Prior art keywords
- adjustable column
- flexible member
- measurement apparatus
- road wheel
- displacement measurement
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- 238000006073 displacement reaction Methods 0.000 title claims abstract description 68
- 238000005259 measurement Methods 0.000 claims abstract description 39
- 238000003825 pressing Methods 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 abstract description 11
- 238000005096 rolling process Methods 0.000 abstract description 8
- 238000005056 compaction Methods 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 4
- 230000001788 irregular Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000004804 winding Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Distances Traversed On The Ground (AREA)
Abstract
The invention discloses an accurate displacement measuring device and a trolley comprising the same, belonging to the technical field of displacement measurement. The structure comprises a rack, an adjusting column and a walking wheel, wherein the adjusting column is supported by the rack; the walking wheel is mounted below the adjusting column and can move up and down; a pre-compaction elastic component is arranged above the walking wheel; and the elastic component enables the walking wheel to be compacted on the ground while walking. The invention also discloses a trolley comprising the measuring device. According to the invention, the problem of calculation error caused by non-pure rolling can be effectively solved, the displacement can be accurately measured even when the ground is rough, the accuracy is high, and the displacement calculation error is effectively reduced.
Description
Technical field
The present invention relates to displacement measurement technology field, more particularly to a kind of precise displacement measurement apparatus and comprising measurement dress
The dolly put.
Background technology
At present, when calculating the displacement of automobile, the method for adopting is the diameter and revolution number by driving wheel calculating
Forward-reverse displacement, but, the method is not appropriate for for the load-carrying four-wheel drive dolly of zero radius of turn, works as no-radius
During turning, load-carrying four-wheel drive dolly is without steering wheels, and the wheel of the load-carrying four-wheel drive dolly of zero radius of turn is non-pure
Rolling movement, direct calculation error is very big.Additionally, when ground out-of-flatness, driving wheel slippage to cause displacement calculation error to increase
Greatly, so that the accuracy of displacement measurement is very low, reference value is extremely limited.
The content of the invention
In order to solve above-mentioned technical problem, it is an object of the invention to provide a kind of precise displacement measurement apparatus and comprising this
The dolly of measurement apparatus, the displacement computational problem of the device effectively solving load-carrying four-wheel drive dolly, and good essence can be reached
Degree；The displacement measurement accuracy of the dolly is high.
According to an aspect of the invention, there is provided a kind of precise displacement measurement apparatus, including frame, adjustable column and walking
Wheel, adjustable column is supported by frame, and road wheel is provided with below adjustable column, and the road wheel can be moved up and down, the road wheel
Top be provided with the flexible member of pre-pressing, flexible member causes road wheel to compress when walking on the ground.
Further, road wheel is eccentric universal wheel.There is eccentric throw in the wheel of eccentric universal wheel, produce moment of friction,
So that the direction of universal wheel keeps consistent with direction of advance in traveling, the accuracy of measurement is improved.
Further, slip ring is provided between eccentric universal wheel and adjustable column, slip ring includes stationary part and rotating part,
Stationary part is connected with adjustable column, and rotating part is connected with the installing rack of eccentric universal wheel.Slip ring also referred to as rotates electric
Interface, electric rotary joint, slip ring can transmit power supply in unrestricted continuous rotation between fixed structure and rotational structure
And data-signal, the cable of the displacement signal acquisition device on eccentric universal wheel is connected by slip ring with other equipment,
Make displacement signal acquisition device and eccentric universal wheel relative gantry rotation simultaneously, and the winding of cable will not occur, solution around
Line problem.
With regard to the arrangement of flexible member, a kind of selectable technical scheme is：Adjustable column drives and moved down on road wheel
It is dynamic, flexible member stopping means is provided with above road wheel, in frame, the flexible member other end exists flexible member one end top pressure
On the flexible member stopping means so that the road wheel can be compressed when walking on the ground.The two ends of spring respectively by
Frame and spring stopper are limited, and when road wheel contacts ground, spring is in compressive state, in the effect of spring force
Under, road wheel when walking can it is compacted on the ground, make road wheel and ground keep appropriate frictional force, in ground out-of-flatness
In the case of also can accurately measure displacement, while can the non-pure rolling displacement of effectively solving cause the problem of calculation error.
Preferably, the flexible member is to be nested with spring on the outside of the adjustable column, uniformly divide around the adjustable column
The spring of cloth, around the equally distributed cambered plate of the adjustable column or around the equally distributed flexure strip of the adjustable column.
It is with regard to a kind of selectable technical scheme of spring stopper：Spring stopper is installed in adjustable column bottom
The installing plate at end, installing plate is perpendicular with adjustable column, the diameter with diameter greater than adjustable column of installing plate.
It is with regard to another kind of selectable technical scheme of spring stopper：Spring stopper is for prominent in adjustable column
Annular flange flange on the wall of side.
With regard to the arrangement of flexible member, another kind of selectable technical scheme is：Flexible member one end top pressure is being adjusted
On the bottom face of segmented column, flexible member other end top pressure is on the installing rack of road wheel so that road wheel can be compressed when walking
On the ground, flexible member is located at the inside of the slip ring.Flexible member is located between adjustable column and the installing rack of road wheel,
Can play a part of to compress road wheel on the ground.Because the connection of flexible member belongs to flexible connection, flexible member is limited
It is scheduled in slip ring, while the installing rack of road wheel also is located in slip ring, such slip ring is in the horizontal direction to the installing rack of road wheel
Formed spacing, it is to avoid road wheel is rocked in the horizontal direction so that flexible member can only deform in the vertical.
Further, the top of adjustable column passes through frame, and at adjustable column and the cooperation of frame line slideway bearing is provided with.
Line slideway bearing can be moved with guide adjustment post in vertical rectilinear direction, increase the accuracy of measurement, meanwhile, straight line is led
Rail bearing bears load-carrying ability strong compared with line slideway, low cost.
Further, encoder is installed, encoder is 1000 line high-precision encoders on the wheel shaft of road wheel.1000 lines
High-precision encoder, the wheel shaft for referring to road wheel turns around, and encoder exports 1000 pulses, and the speedometer of general automobile only has
The precision of 8 lines, 16 lines, the device adopts the high-precision encoder of 1000 lines, precision to improve 1000/16=62.5 times, effectively subtract
The error of displacement is calculated less.
Further, processor is electrically connected with encoder, processor is used for the storage of encoder data and in real time note
Record.Processor can be additionally used in the analysis of encoder data, arrange processor, is easy to the storage of encoder data, analyzes and real-time
Record, it is convenient during practical application.
According to another aspect of the present invention, there is provided a kind of dolly, above-mentioned accurate position is installed on the chassis of the dolly
Measuring system.
The invention has the beneficial effects as follows：
1st, the precise displacement measurement apparatus of example of the present invention, loading has elastic component, and the flexible member of pre-pressing makes walking
Wheel is always maintained at close proximity to ground, makes road wheel keep appropriate frictional force with ground, also can be accurate in the case of ground is irregular
Really measurement displacement.
2nd, the precise displacement measurement apparatus of example of the present invention, employ eccentric universal wheel, and wheel has eccentric throw, and generation rubs
Torque is wiped, so that the direction of universal wheel keeps consistent with direction of advance in traveling, the accuracy of measurement is improved, while universal wheel
Can 360 degree of rotations, it is to avoid the sliding friction on wheel and ground, can the non-pure rolling displacement of effectively solving cause the meter of calculation error
Calculation problem.
3rd, the precise displacement measurement apparatus of example of the present invention, by slip ring structure, can in unrestricted continuous rotation
Power supply and data-signal are transmitted between fixed structure and rotational structure, displacement signal acquisition device is made with the same phase of eccentric universal wheel
To gantry rotation, and the winding of cable will not occur, solve the problems, such as coiling.
4th, the precise displacement measurement apparatus of example of the present invention, using encoder as displacement signal acquisition device, encoder
Straight-line displacement not only can be gathered, angular displacement can also be gathered, when universal wheel produces relative rolling, the encoder record anglec of rotation
Degree, by slip ring upper level processor is transferred data to, and is returned by known dolly moving direction and encoder feedback
Data, the relative displacement of fusion calculation dolly and angle, real time record displacement data, reference value is high.
5th, the precise displacement measurement apparatus of example of the present invention, using 1000 line high-precision encoders, the wheel of eccentric universal wheel
Axle turns around, and encoder will export 1000 pulses, and the speedometer of general automobile only has 8 lines, the precision of 16 lines, and the device is adopted
With the high-precision encoder of 1000 lines, 1000/16=62.5 times of precision raising, the error for calculating displacement is effectively reduced.
6th, the dolly of example of the present invention, displacement measurement accuracy is high, and displacement measurement the data precision is high.
Description of the drawings
Fig. 1 is the structural representation of the embodiment of the present invention one；
Fig. 2 is the structural representation of the embodiment of the present invention two；
Fig. 3 is the structural representation of the embodiment of the present invention three.
In figure：1 frame, 2 line slideway bearings, 3 adjustable columns, 4 flexible members, 5 slip rings, 6 eccentric universal wheels, 7 encoders,
8 cables, 9 installing plates.
Specific embodiment
In order to be better understood by technical scheme, with reference to Figure of description and specific embodiment to the present invention
It is described further.
Embodiment one：
As shown in figure 1, a kind of precise displacement measurement apparatus, including frame 1, adjustable column 3 and eccentric universal wheel 6, adjustable column 3
Top through frame 1 and moving up and down along frame 1, the bottom of adjustable column 3 is provided with installing plate 9, adjustable column 3 and installing plate 9
It is perpendicular；The lower section of installing plate 9 is provided with eccentric universal wheel 6, and encoder 7 is provided with the wheel shaft of eccentric universal wheel 6；Eccentric ten thousand
The flexible member 4 of pre-pressing is provided with to the top of wheel 6.
In the present embodiment, flexible member 4 to be nested with the spring in the outside of adjustable column 3, spring one end top pressure in frame 1,
Spring other end top pressure on installing plate 9, so as to eccentric universal wheel 6 be compressed on the ground.
The bottom surface of installing plate 9 is provided with slip ring 5, and the phase of slip ring 5 is passed through between the installing rack and installing plate 9 of eccentric universal wheel 6
Connection.Slip ring 5 includes stationary part and rotating part, and stationary part is connected with installing plate 9, rotating part and bias universal wheel
6 installing rack is connected.Slip ring 5 can transmit between fixed structure and rotational structure in unrestricted continuous rotation power supply and
Data-signal, the cable of the encoder 7 on eccentric universal wheel 6 is connected by slip ring 5 with other equipment, makes encoder 7
Rotate relative to frame 1 simultaneously with eccentric universal wheel 6, and the winding of cable will not occur, solve the problems, such as coiling.
Electric connection is realized by cable 8 between encoder 7 and slip ring 5, slip ring 5 is connected on processor by cable 8.
In the present embodiment, processor adopts computer, arranges processor, is easy to storage, analysis and the real time record of encoder data, real
It is convenient when border is applied.
Line slideway bearing 2 is installed at adjustable column 3 and the cooperation of frame 1.Line slideway bearing 2 can be with guide adjustment post
3 move in vertical rectilinear direction, increase the accuracy of measurement, meanwhile, line slideway bearing 2 is compared with line slideway, cost
It is low, bear load-carrying ability strong.
In the present embodiment, encoder 7 is 1000 line high-precision encoders.1000 line high-precision encoders, refer to eccentric ten thousand
Wheel shaft to wheel turns around, and encoder exports 1000 pulses, and the speedometer of general automobile only has 8 lines, the precision of 16 lines, the dress
Put using the high-precision encoder of 1000 lines, precision improves 1000/16=62.5 times, effectively reduces the error for calculating displacement.
In the present embodiment, the two ends of flexible member 4 are limited respectively by frame 1 and installing plate 9, when eccentric universal wheel 6 is contacted
During ground, flexible member 4 is in compressive state, and in the presence of the elastic force of flexible member 4, eccentric universal wheel 6 can be pressed in ground
On face, make universal wheel keep appropriate frictional force with ground, also displacement can be accurately measured in the case of ground is irregular, while
The non-pure rolling displacement of energy effectively solving causes the problem of calculation error.
In the present embodiment, the shape of installing plate 9 is not limited, and installing plate 9 is spacing for the bottom for flexible member 4, its
Could be arranged to any shape of the edge protrusion outside the side wall of adjustable column 3.
The dolly of the present embodiment, is provided with the precise displacement measurement apparatus of the present embodiment on the chassis of the dolly.
Embodiment two：
The present embodiment is repeated no more with the identical feature of embodiment one, and the present embodiment feature different from embodiment one exists
In：As shown in Fig. 2 the flexible member 4 of the present embodiment is around the equally distributed spring of adjustable column 3.In the present embodiment, spring
Quantity is not limited, but uniform for thrust, it is to avoid road wheel deflection, spring at least answers symmetrical setting two, spring
Quantity is more, and thrust is more uniform.
In embodiment one and embodiment two, the version of spring can be more for helical spring, air spring, hydraulic spring grease cup etc.
The form of kind.
Embodiment three：
The present embodiment is repeated no more with the identical feature of embodiment one, and the present embodiment feature different from embodiment one exists
In：As shown in figure 3, the flexible member 4 of the present embodiment is around the equally distributed cambered plate of adjustable column 3.It is obvious, bow herein
Shape plate should select elastic cambered plate, and in the present embodiment, the quantity of cambered plate is not limited, but equal for thrust
Even, it is to avoid road wheel deflection, cambered plate at least answers symmetrical setting two, and cambered plate quantity is more, and thrust is more uniform.
Cambered plate in embodiment three also can use flexure strip to replace.
In above-described embodiment, installing plate 9 can be replaced with the prominent annular flange flange outside the side wall of adjustable column 3, elasticity unit
The bottom top pressure of part 4 is in the annular flange flange.
The slip ring of the present embodiment, its standing part may be mounted in above-mentioned annular flange flange, it is also possible to be directly installed on tune
On the bottom face of segmented column 3.
For ease of the understanding of the present invention, with reference to a course of work, the present invention will be further described：
When using, the precise displacement measurement apparatus of the present invention are arranged under the chassis of load-carrying four-wheel drive dolly, measurement
Device loads flexible member 4, and the flexible member 4 of pre-pressing makes eccentric universal wheel 6 be always maintained at close proximity to ground, makes eccentric universal wheel
6 keep appropriate frictional force with ground, and displacement also can be accurately measured in the case of ground is irregular, while energy effectively solving is non-
Pure rolling displacement causes the computational problem of calculation error.
When dolly is moved, eccentric universal wheel 6 follows the direction movement that dolly is moved, while by the structure of slip ring 5, making
Encoder 7 is rotated relative to frame 1 simultaneously with eccentric universal wheel 6, and solves the problems, such as coiling.
When eccentric universal wheel 6 produces relative rolling, the record anglec of rotation of high-precision encoder 7, by slip ring 5 data
Upper level processor is sent to, the data fed back by known dolly moving direction and encoder 7, fusion calculation dolly
Relative displacement and angle, real time record displacement data.
In above-described embodiment, the collection of displacement signal is carried out by encoder 9, but, the displacement signal of the present invention is adopted
Acquisition means are not limited to use encoder, can also adopt other kinds of angular displacement sensor, or pass while installing angular displacement
The data that sensor and linear displacement transducer, angular displacement sensor and linear displacement transducer are gathered are while upload to process
Device, carries out the calculating of displacement.
The flexible member of the present invention is not limited to the mounting means described in embodiment, may be arranged as：Flexible member one end
On the bottom face of the adjustable column 3, flexible member other end top pressure is on the installing rack of eccentric universal wheel 6 for top pressure so that partially
Heart universal wheel 6 can be compressed when walking on the ground, and the flexible member is located at the inside of the slip ring 5.Slip ring 5 can be to bias
The part that the installing rack of universal wheel 6 is on its interior forms spacing so as to can only vertically move, it is impossible to transverse shifting.Work as elasticity
When element is arranged between adjustable column 3 and the installing rack of road wheel, the deflection of flexible member compensate for road wheel in upper and lower
To displacement, therefore, in this case the position of adjustable column 3 can immobilize.
Line slideway bearing 2 described in above-described embodiment also can use line slideway to replace.
Electric connection alleged by the present invention, refers to there is the transmission of electric current, data or signal between connected part,
Can be realized by cable connection.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art
Member should be appreciated that invention scope involved in the application, however it is not limited to the technology of the particular combination of above-mentioned technical characteristic
Scheme, while also should cover in the case of without departing from the inventive concept, is carried out by above-mentioned technical characteristic or its equivalent feature
Other technical schemes for being combined and being formed.Such as features described above has similar work(with (but not limited to) disclosed herein
The technical scheme that the technical characteristic of energy is replaced mutually and formed.
Claims (12)
1. a kind of precise displacement measurement apparatus, is characterized in that, including frame, adjustable column and road wheel, and the adjustable column is described
Frame support, the road wheel is installed below the adjustable column, the road wheel can be moved up and down, the road wheel it is upper
Side is provided with the flexible member of pre-pressing, and the flexible member causes the road wheel to compress when walking on the ground.
2. precise displacement measurement apparatus according to claim 1, is characterized in that, described road wheel is eccentric universal wheel.
3. precise displacement measurement apparatus according to claim 2, is characterized in that, the eccentric universal wheel and the adjustable column
Between be provided with slip ring, the slip ring includes stationary part and rotating part, and the stationary part is connected with the adjustable column,
The rotating part is connected with the installing rack of the eccentric universal wheel.
4. according to the arbitrary described precise displacement measurement apparatus of claims 1 to 3, it is characterized in that, the adjustable column drives described
Road wheel is moved up and down, and flexible member stopping means is provided with above the road wheel, and described flexible member one end top pressure is in institute
State in frame, the flexible member other end top pressure is on the flexible member stopping means so that the road wheel is in walking
When can compress on the ground.
5. precise displacement measurement apparatus according to claim 4, is characterized in that, the flexible member is to be nested with the tune
Spring on the outside of segmented column, around the equally distributed spring of the adjustable column, around the equally distributed cambered plate of the adjustable column or
Person surrounds the equally distributed flexure strip of the adjustable column.
6. precise displacement measurement apparatus according to claim 4, is characterized in that, described spring stopper be installed in
The installing plate of the adjustable column bottom, the installing plate is perpendicular with the adjustable column, the installing plate with diameter greater than described
The diameter of adjustable column.
7. precise displacement measurement apparatus according to claim 4, is characterized in that, described spring stopper is to project
Annular flange flange on the wall of the adjustable column side.
8. precise displacement measurement apparatus according to claim 3, is characterized in that, described flexible member one end top pressure is described
On the bottom face of adjustable column, the flexible member other end top pressure is on the installing rack of the road wheel so that the road wheel
Can compress when walking on the ground, the flexible member is located at the inside of the slip ring.
9., according to the arbitrary described precise displacement measurement apparatus of claims 1 to 3 or 5～8, it is characterized in that, the adjustable column
Top passes through the frame, and at the adjustable column and the cooperation of the frame line slideway bearing is provided with.
10., according to the arbitrary described precise displacement measurement apparatus of claims 1 to 3 or 5～8, it is characterized in that, the road wheel
Encoder is installed, the encoder is 1000 line high-precision encoders on wheel shaft.
11. precise displacement measurement apparatus according to claim 10, is characterized in that, place is electrically connected with the encoder
Reason device, the processor is used for the storage of encoder data and real time record.
A kind of 12. dollies, is characterized in that, the arbitrary described precise displacement of claim 1～11 is provided with the chassis of the dolly
Measurement apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710034594.1A CN106643787A (en) | 2017-01-17 | 2017-01-17 | Accurate displacement measuring device and trolley comprising same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710034594.1A CN106643787A (en) | 2017-01-17 | 2017-01-17 | Accurate displacement measuring device and trolley comprising same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106643787A true CN106643787A (en) | 2017-05-10 |
Family
ID=58840879
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710034594.1A Pending CN106643787A (en) | 2017-01-17 | 2017-01-17 | Accurate displacement measuring device and trolley comprising same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106643787A (en) |
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Application publication date: 20170510 |