CN107655412A - A kind of ballbar length caliberating device and application method with self calibrating function - Google Patents
A kind of ballbar length caliberating device and application method with self calibrating function Download PDFInfo
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Abstract
本发明公开了一种具有自标定功能的球杆长度标定装置及使用方法，解决了现有标定装置装配调整困难，或者无法标定长球杆的问题。本发明包括位于气浮导轨上的移动平台、位于气浮导轨一端的固定平台、位于另一端的激光干涉仪、位于气浮导轨一侧的固定平台四部分组成，位于气浮导轨一侧的固定平台在测量过程是固定的，根据被标定球杆的长度，在测量前调整其位置并固定，移动平台及两个固定平台上分别安装有三球运动支座，三球运动支座用于支撑待标定球杆，位于气浮导轨一端固定平台上的三球运动支座与移动平台上的三球运动支座用于实现装置的自标定，位于气浮导轨一侧固定平台上的三球运动支座与移动平台上的三球运动支座用于标定球杆。
The invention discloses a club length calibration device with a self-calibration function and a use method, which solves the problem that the existing calibration device is difficult to assemble and adjust, or cannot calibrate long clubs. The invention consists of four parts: a mobile platform located on the air-floating guide rail, a fixed platform located at one end of the air-floating guide rail, a laser interferometer located at the other end, and a fixed platform located on one side of the air-floating guide rail. The platform is fixed during the measurement process. According to the length of the club to be calibrated, its position is adjusted and fixed before measurement. Three-ball motion supports are respectively installed on the mobile platform and the two fixed platforms. The three-ball motion supports are used to support the Calibrate the club, the three-ball motion support on the fixed platform at one end of the air flotation guide rail and the three-ball motion support on the mobile platform are used to realize the self-calibration of the device, the three-ball motion support on the fixed platform at one side of the air flotation guide rail The three-ball motion support on the seat and the mobile platform is used for calibrating the club.
Description
技术领域technical field
本发明涉及几何测量技术领域，具体是一种具有自标定功能的球杆长度标定装置及使用方法。The invention relates to the technical field of geometric measurement, in particular to a club length calibration device with a self-calibration function and a use method.
背景技术Background technique
球杆由两个高精度的球体和连接两个球的球杆组成，两球间的球心距（以下简称球杆长度）是其提供的标准距离，目前球杆长度精度最高能达到0.1微米。在工业标准中，球杆两端端部球体直径通常为25.4毫米，球体直径为38.1毫米和50.8毫米的球杆也有应用。常见球杆的长度范围在100毫米至3000毫米，也可定制加工更长长度。The club is composed of two high-precision spheres and a club connecting the two balls. The center-to-center distance between the two balls (hereinafter referred to as the length of the club) is the standard distance provided by it. At present, the highest accuracy of the length of the club can reach 0.1 microns . In the industry standard, the diameter of the ball at both ends of the club is usually 25.4 mm, and the ball diameter of 38.1 mm and 50.8 mm are also used. Common cue lengths range from 100 mm to 3000 mm, and longer lengths can also be customized.
球杆是校准坐标测量机长度测量误差的一种常用一维标准件，在校准激光跟踪仪、激光扫描仪以及工业摄影测量仪器等方面也有应用。在利用球杆校准坐标测量机长度测量误差前，必须对球杆长度进行高精度标定，以保证坐标测量机的校准精度。The ball rod is a commonly used one-dimensional standard part for calibrating the length measurement error of the coordinate measuring machine. It is also used in calibrating laser trackers, laser scanners, and industrial photogrammetry instruments. Before using the club to calibrate the length measurement error of the coordinate measuring machine, the length of the club must be calibrated with high precision to ensure the calibration accuracy of the coordinate measuring machine.
球杆长度标定可以采用高精度坐标测量机或者专用标定装置。目前最高精度的坐标测量机的测量精度为(0.3+L/1000)微米，且其测量范围较小，无法满足高精度长球杆的标定要求；在专用仪器研制方面，从公开发表的文献看，主要有中国计量科学研究院研制的专用两坐标测量机、美国国家标准与技术研究院分别与佛罗里达大学和克莱姆森大学合作研究的两种专用测长机。现有技术存在的不足之处在于：The club length calibration can use a high-precision coordinate measuring machine or a special calibration device. At present, the measurement accuracy of the highest-precision coordinate measuring machine is (0.3+L/1000) microns, and its measurement range is small, which cannot meet the calibration requirements of high-precision long clubs; in the development of special instruments, it can be seen from the published literature , mainly including the special two-coordinate measuring machine developed by the China Institute of Metrology, and the two special length measuring machines jointly researched by the National Institute of Standards and Technology and the University of Florida and Clemson University respectively. The weak point that prior art exists is:
中国计量科学研究院研制的专用两坐标测量机需要人工瞄准，测量精度依赖于操作人员的技能；美国国家标准与技术研究院与佛罗里达大学合作研制的专用测长机只能用于标定长度在1米之内的球杆；美国国家标准与技术研究院与和克莱姆森大学的专用测长机可以用于标定长度在3米之内的球杆，但是这种仪器的安装调整非常困难，并且存在阿贝误差，目前未见美国国家标准与技术研究院实际使用。The special two-coordinate measuring machine developed by the China Institute of Metrology requires manual aiming, and the measurement accuracy depends on the skills of the operator; the special length measuring machine developed by the National Institute of Standards and Technology and the University of Florida can only be used to calibrate the length within 1 The clubs within 3 meters; the special length measuring machine of the National Institute of Standards and Technology and Clemson University can be used to calibrate the clubs with a length of less than 3 meters, but the installation and adjustment of this instrument is very difficult. And there is Abbe error, which has not been actually used by the National Institute of Standards and Technology.
发明内容 本发明的目的是提供一种具有自标定功能的球杆长度标定装置及使用方法，以解决现有技术球杆标定装置装配调整困难，或者无法标定长球杆的问题。SUMMARY OF THE INVENTION The purpose of the present invention is to provide a club length calibration device with self-calibration function and its usage method, so as to solve the problem of difficult assembly and adjustment of club calibration devices in the prior art, or the inability to calibrate long clubs.
为了达到上述目的，本发明所采用的技术方案为：In order to achieve the above object, the technical scheme adopted in the present invention is:
一种具有自标定功能的球杆长度标定装置，其特征在于：包括长边沿左右方向的气浮导轨，气浮导轨上左端位置固定有激光干涉仪调整云台，激光干涉仪调整云台上安装有激光干涉仪，气浮导轨上右端位置固定有第一y-z两自由度微调平台，第一y-z两自由度微调平台上安装有第一三球运动支座，气浮导轨上靠近激光干涉仪调整云台位置通过镜组安装架安装有分光镜及反射镜组，气浮导轨上位于镜组安装架和第一y-z两自由度微调平台之间还滑动安装有气浮滑架，气浮滑架上右侧固定有第二y-z两自由度微调平台，气浮滑架上左侧固定有第三y-z两自由度微调平台，其中第三y-z两自由度微调平台上安装有反射镜，且反射镜朝向镜组安装架上的分光镜及反射镜组，第二y-z两自由度微调平台上安装有第二三球运动支座，第二三球运动支座与第一三球运动支座相对设置，气浮导轨前方还设有在同一平面内垂直于气浮导轨的支撑座，支撑座后端向气浮导轨延伸，支撑座上固定有第三三球运动支座，第一、第二三球运动支座处于同一高度。A club length calibration device with self-calibration function, which is characterized in that it includes an air-floating guide rail along the left and right directions of the long side, and a laser interferometer is fixed on the left end of the air-floating guide rail to adjust the pan-tilt, and the laser interferometer is installed on the pan-tilt There is a laser interferometer, the first y-z two-degree-of-freedom fine-tuning platform is fixed on the right end of the air-floating guide rail, and the first three-ball motion support is installed on the first y-z two-degree-of-freedom fine-tuning platform, which is adjusted close to the laser interferometer on the air-floating guide rail The position of the pan/tilt is equipped with a spectroscopic mirror and a mirror group through the mirror group mounting frame. An air-floating carriage is also slidably installed between the mirror group mounting frame and the first y-z two-degree-of-freedom fine-tuning platform on the air-floating rail. The second y-z two-degree-of-freedom fine-tuning platform is fixed on the side, and the third y-z two-degree-of-freedom fine-tuning platform is fixed on the left side of the air-floating carriage, where a mirror is installed on the third y-z two-degree-of-freedom fine-tuning platform, and the mirror faces the mirror group The beam splitter and mirror group on the mounting frame, the second y-z two-degree-of-freedom fine-tuning platform is equipped with a second three-ball motion support, the second three-ball motion support is set opposite to the first three-ball motion support, and the air float The front of the guide rail is also provided with a support seat perpendicular to the air-floating guide rail in the same plane. The rear end of the support seat extends to the air-floating guide rail. Seats are at the same height.
所述的一种具有自标定功能的球杆长度标定装置，其特征在于：所述支撑座为固定平台，固定平台上安装有位置可调的第三三球运动支座；The described club length calibration device with self-calibration function is characterized in that: the support seat is a fixed platform, and a third three-ball motion support with adjustable position is installed on the fixed platform;
或者支撑座由滑架和滑动导轨构成，其中滑动导轨设置在气浮导轨前方，滑架滑动安装在滑动导轨上，第三三球运动支座通过固定平台固定在滑架上；Or the support base is composed of a slide frame and a sliding guide rail, wherein the slide guide rail is arranged in front of the air bearing guide rail, the slide frame is slidably installed on the slide guide rail, and the third three-ball motion support is fixed on the slide frame through a fixed platform;
通过位置可调的第三三球运动支座，或者随滑架运动的第三三球运动支座，可根据待标定球杆长度调整第三三球运动支座的位置，从而标定现有各种长度球杆的长度。Through the position-adjustable third and third ball motion bearings, or the third and third ball motion bearings moving with the carriage, the position of the third and third ball motion bearings can be adjusted according to the length of the club to be calibrated, thereby calibrating the existing The length of the length of the club.
所述的一种具有自标定功能的球杆长度标定装置，其特征在于：所述气浮导轨、支撑座整体分别通过隔振支撑安装在不同支架上。The self-calibrating club length calibrating device is characterized in that: the air-floating guide rail and the supporting seat are respectively mounted on different brackets through vibration-isolation supports.
所述的一种具有自标定功能的球杆长度标定装置，其特征在于： 第一三球运动支座由第一y-z两自由度微调平台沿y、z方向进行微调，保证激光束所在直线通过放置在第一三球运动支座上的待测球杆端部球体的球心；The described club length calibration device with self-calibration function is characterized in that: the first three-ball motion support is fine-tuned along the y and z directions by the first y-z two-degree-of-freedom fine-tuning platform to ensure that the straight line where the laser beam is located passes through The ball center of the sphere at the end of the club to be tested placed on the first three-ball kinematic support;
第二三球运动支座由位置由第二y-z两自由度微调平台沿y、z方向进行微调，保证激光束所在直线通过放置在第二三球运动支座上的待测球杆端部球体的球心。The position of the second three-ball motion support is fine-tuned along the y and z directions by the second y-z two-degree-of-freedom fine-tuning platform to ensure that the straight line where the laser beam is located passes through the ball at the end of the club to be measured placed on the second three-ball motion support center of the ball.
所述的一种具有自标定功能的球杆长度标定装置，其特征在于：所述的分光镜及干涉镜组由镜组安装架调整可沿z方向的位置及绕z方向的角度可调，第三y-z两自由度微调平台上的反射镜沿y、z方向的位置可进行微调，使得激光干涉仪发出的激光束经分光镜分光并且一路激光经反射镜反射后与另一路激光干涉。The described club length calibration device with self-calibration function is characterized in that: the beam splitter and the interference mirror group can be adjusted by the mirror group mounting bracket to adjust the position along the z direction and the angle around the z direction, The position of the mirror on the third y-z two-degree-of-freedom fine-tuning platform can be fine-tuned along the y and z directions, so that the laser beam emitted by the laser interferometer is split by the beam splitter and one laser beam is reflected by the mirror and then interferes with the other laser beam.
所述的一种具有自标定功能的球杆长度标定装置，其特征在于：阿贝误差理论值为零。The said club length calibrating device with self-calibrating function is characterized in that: the theoretical value of Abbe error is zero.
一种具有自标定功能的球杆长度标定装置的使用方法，其特征在于：包括以下步骤：A method for using a club length calibration device with a self-calibration function, characterized in that it includes the following steps:
（1）、选择两根未知长度的球杆进行自标定，将第一根未知长度的球杆的一端球体放置在第一三球运动支座上，移动气浮滑架至合适位置并将第一根未知长度的球杆的另一端球体放置在第二三球运动支座上，将激光干涉仪示值置零；(1) Select two clubs of unknown length for self-calibration, place the ball at one end of the first club of unknown length on the first three-ball motion support, move the air-floating carriage to a suitable position and place the first The ball at the other end of the club with an unknown length is placed on the second and third ball movement supports, and the laser interferometer indication value is set to zero;
（2）、取下第一根球杆，并将第二根未知长度的球杆的一端球体放置在第一三球运动支座上，移动气浮滑架至合适位置并将第二根未知长度的球杆的另一端球体放置在第二三球运动支座上，激光干涉仪示值为两根未知长度的球杆长度之差∆l；(2) Take down the first club, and place the ball at one end of the second club with unknown length on the first three-ball motion support, move the air bearing carriage to a suitable position and place the second club with unknown length The ball at the other end of the club is placed on the second and third ball movement supports, and the laser interferometer shows that the difference between the lengths of two clubs of unknown length is ∆l;
（3）、将第三三球运动支座调整至合适位置并固定，重新将第一根未知长度的球杆的一端球体放置在第三三球运动支座上，移动气浮滑架至靠近激光干涉仪的合适位置并将第一根未知长度的球杆的另一端球体放置在第二三球运动支座上，记录激光干涉仪示值a；(3) Adjust the third three-ball motion support to a suitable position and fix it, re-place the ball at one end of the first club with an unknown length on the third three-ball motion support, and move the air-floating carriage to be close to the laser The appropriate position of the interferometer and the other end ball of the first club of unknown length is placed on the second three-ball motion support, and the laser interferometer indication value a is recorded;
取下第一根未知长度的球杆放置在第二三球运动支座上的一端，移动气浮滑架至远离激光干涉仪的合适位置并将第一根球杆的另一端球体放置在第二三球运动支座，记录激光干涉仪示值d；Take one end of the first club of unknown length and place it on the second three-ball motion support, move the air bearing carriage to a suitable position away from the laser interferometer and place the ball at the other end of the first club on the second The three-ball motion support records the value d of the laser interferometer;
取下第一根未知长度的球杆，将第二根球杆的一端球体放置在第三三球运动支座上，移动气浮滑架至靠近激光干涉仪的合适位置并将第二根球杆的另一端球体放置在第二三球运动支座上，记录激光干涉仪示值b；Take off the first club of unknown length, place the ball at one end of the second club on the third three-ball motion support, move the air bearing carriage to a suitable position close to the laser interferometer and place the second club The other end of the sphere is placed on the second and third ball motion bearings, and the laser interferometer indication value b is recorded;
然后取下第二根球杆放置在第二三球运动支座上的一端，移动气浮滑架至远离激光干涉仪的合适位置并将第二根球杆的另一端球体放置在第二三球运动支座，记录激光干涉仪示值c；Then take off one end of the second cue stick placed on the second three-ball kinematic support, move the air-floating carriage to a suitable position away from the laser interferometer and place the ball at the other end of the second cue stick on the second three-ball The moving support records the indication value c of the laser interferometer;
根据三角关系、激光干涉仪示值a、b、c、d及两根未知长度的球杆长度之差∆l，计算放置在第三三球运动支座上的任意球杆端部球体的球心至激光干涉仪发出的激光束所在直线距离y；According to the triangular relationship, the laser interferometer indications a, b, c, d and the difference ∆l between the lengths of two clubs of unknown length, calculate the ball of any ball at the end of the club placed on the third three-ball motion support The linear distance y from the center to the laser beam emitted by the laser interferometer;
（4）、将待标定球杆的一端球体放置在第三三球运动支座上，移动气浮滑架至靠近激光干涉仪的合适位置并将待标定球杆的另一端球体放置在第二三球运动支座上，记录激光干涉仪示值，然后取下待标定球杆放置在第二三球运动支座上的一端，移动气浮滑架至远离激光干涉仪的合适位置并将待标定球杆的另一端球体放置在第二三球运动支座，记录激光干涉仪示值，上述过程不分先后，根据步骤（3）中计算得到的直线距离y以及三角关系计算待标定球杆长度，为减少误差，可重复该步骤，取待标定球杆长度多次测量结果平均值作为待标定球杆长度标称值。(4) Place the ball at one end of the club to be calibrated on the third three-ball motion support, move the air-floating carriage to a suitable position close to the laser interferometer and place the ball at the other end of the club to be calibrated on the second-three On the ball motion support, record the indication value of the laser interferometer, then take off the end of the ball rod to be calibrated and place it on the second and third ball motion support, move the air bearing carriage to a suitable position away from the laser interferometer and place the ball to be calibrated The ball at the other end of the rod is placed on the second and third ball motion bearings, and the laser interferometer indication value is recorded. The above process is not in any order, and the length of the rod to be calibrated is calculated according to the linear distance y calculated in step (3) and the triangular relationship. In order to reduce the error, this step can be repeated, and the average value of the multiple measurement results of the length of the club to be calibrated is taken as the nominal value of the length of the club to be calibrated.
所述的具有自标定功能的球杆长度标定装置的使用方法，其特征在于：用于自标定的两根未知长度的球杆，为保证标定精度，其中一根长度大于待标定球杆长度，另一根长度小于或等于待标定球杆长度。The method for using the club length calibration device with self-calibration function is characterized in that two clubs of unknown length are used for self-calibration, and in order to ensure the calibration accuracy, one of them is longer than the length of the club to be calibrated. The other length is less than or equal to the length of the club to be calibrated.
所述的具有自标定功能的球杆长度标定装置的使用方法，其特征在于：在自标定过程中和标定待标定球杆过程中，放置在第一、第二、第三三球运动支座上的球杆端部球体应分别使用相同球体或者标称值相同的球体。The method of using the club length calibration device with self-calibration function is characterized in that: during the self-calibration process and the process of calibrating the club to be calibrated, the first, second, and third three-ball motion bearings are placed The club-end balls on , respectively, shall use the same ball or balls of the same nominal value.
与现有技术相比，本发明具有以下有益效果：Compared with the prior art, the present invention has the following beneficial effects:
本发明只需在将激光干涉仪发出的激光束调整至与气浮导轨平行，并且激光干涉仪发出的激光束经分光镜分光后一路激光束被分光镜直接反射，另一路激光束透射过分光镜再经反射镜反射后与另一路激光干涉的基础上，将气浮滑架上的第二三球运动支座及气浮导轨一段固定的第一三球运动支座的位置进行微调，使得激光束所在直线通过放置在两个三球运动支座上的球杆两端球体的球心即可，放置在气浮导轨前方的第三三球运动支座的相对位置可以通过自标定得到，其位置不影响球杆标定精度。本发明装置安装调整简单，容易实现，没有阿贝误差，使用方便，并且理论上可以标定任意长度的球杆。The invention only needs to adjust the laser beam emitted by the laser interferometer to be parallel to the air-floating guide rail, and after the laser beam emitted by the laser interferometer is split by the beam splitter, one laser beam is directly reflected by the beam splitter, and the other laser beam is transmitted through the beam splitter. After being reflected by the mirror and interfering with another laser, the position of the second three-ball motion support on the air-floating carriage and the fixed first three-ball motion support on the air-floation guide rail are fine-tuned, so that the laser The straight line where the beam is located can pass through the center of the spheres at both ends of the club placed on the two three-ball motion bearings, and the relative position of the third three-ball motion bearing placed in front of the air bearing guide rail can be obtained through self-calibration. Position does not affect club calibration accuracy. The device of the invention is simple to install and adjust, easy to implement, has no Abbe error, is convenient to use, and can calibrate clubs of any length theoretically.
附图说明Description of drawings
图1是本发明结构示意图；Fig. 1 is a structural representation of the present invention;
图2是本发明的另一种结构示意图；Fig. 2 is another kind of structural representation of the present invention;
图3是本发明测量两未知长度球杆的长度差的原理示意图；Fig. 3 is a schematic diagram of the principle of measuring the length difference of two clubs of unknown length according to the present invention;
图4是本发明利用两球杆长度差实现自标定的原理示意图；Fig. 4 is a schematic diagram of the principle of realizing self-calibration by utilizing the length difference of two clubs in the present invention;
图5是本发明标定球杆长度的原理示意图。Fig. 5 is a schematic diagram of the principle of calibrating the length of the club according to the present invention.
图中标号：1、激光干涉仪，2、激光干涉仪调整云台，3、分光镜及干涉镜组，4、镜组安装架，5、气浮导轨，6、气浮滑架，7、第三y-z两自由度微调平台，8、反射镜，9、第二三球运动支座，10、第二y-z两自由度微调平台，11、第一y-z两自由度微调平台，12、第一三球运动支座，13、第三三球运动支座，14、固定平台，15、支架，16、滑架，17、滑动导轨，18、支架。Symbols in the figure: 1. Laser interferometer, 2. Laser interferometer adjusting pan/tilt, 3. Spectroscope and interference mirror group, 4. Mirror group mounting frame, 5. Air-floating guide rail, 6. Air-floating carriage, 7. Three y-z two-degree-of-freedom fine-tuning platform, 8, mirror, 9, the second three-ball motion support, 10, the second y-z two-degree-of-freedom fine-tuning platform, 11, the first y-z two-degree-of-freedom fine-tuning platform, 12, the first three Ball motion bearing, 13, the third three ball motion bearing, 14, fixed platform, 15, support, 16, slide frame, 17, sliding guide rail, 18, support.
具体实施方式Detailed ways
具体实施方式一：参见附图1，图1是本发明结构示意图，仅以示意方式说明本发明的基本结构，因此其仅显示与本发明有关的构成及设计示意图。Specific Embodiment 1: Referring to accompanying drawing 1, Fig. 1 is a schematic structural diagram of the present invention, only schematically illustrates the basic structure of the present invention, so it only shows the composition and design schematic diagrams relevant to the present invention.
本实施方式所述的一种具有自标定功能的球杆长度标定装置包括激光干涉仪1、激光干涉仪调整云台2、分光镜及干涉镜组3、气浮导轨5、气浮滑架6、第三y-z两自由度微调平台7、反射镜8、第二三球运动支座9、第二y-z两自由度微调平台10、第一y-z两自由度微调平台11、第一三球运动支座12、第三三球运动支座13、固定平台14、支架15，激光干涉仪调整云台2固定在气浮导轨5上，分光镜及反射镜组3通过镜组安装架4安装在气浮导轨5上，反射镜8通过第三y-z两自由度微调平台7安装在气浮滑架6上，第二三球运动支座9通过第二y-z两自由度微调平台10安装在气浮滑架6上，第一三球运动支座12通过第一y-z两自由度微调平台11安装在气浮导轨5上，固定平台14上有规则分布的螺纹孔，第三三球运动支座13利用螺纹孔固定在固定平台14上，固定平台14通过隔振支撑安装在支架15上，气浮导轨5通过隔振支撑安装在支架15上。A club length calibration device with self-calibration function described in this embodiment includes a laser interferometer 1, a laser interferometer adjustment platform 2, a beam splitter and an interference mirror group 3, an air-floating guide rail 5, an air-floating carriage 6, The third y-z two-degree-of-freedom fine-tuning platform 7, the mirror 8, the second three-ball motion support 9, the second y-z two-degree-of-freedom fine-tuning platform 10, the first y-z two-degree-of-freedom fine-tuning platform 11, the first three-ball motion support 12. The third three-ball motion support 13, the fixed platform 14, the bracket 15, the laser interferometer adjustment platform 2 is fixed on the air flotation guide rail 5, the beam splitter and the mirror group 3 are installed on the air flotation through the mirror group mounting frame 4 On the guide rail 5, the reflector 8 is installed on the air-floating carriage 6 through the third y-z two-degree-of-freedom fine-tuning platform 7, and the second three-ball motion support 9 is installed on the air-floating carriage 6 through the second y-z two-degree-of-freedom fine-tuning platform 10 , the first three-ball motion support 12 is installed on the air-floating guide rail 5 through the first y-z two-degree-of-freedom fine-tuning platform 11, there are regularly distributed threaded holes on the fixed platform 14, and the third three-ball motion support 13 is fixed by the threaded holes On the fixed platform 14, the fixed platform 14 is installed on the support 15 through the vibration isolation support, and the air-floating guide rail 5 is installed on the support 15 through the vibration isolation support.
本实施方式的技术效果是：根据待标定球杆长度，可以调整第三三球运动支座13在固定平台14的固定螺纹孔位置，从而调整三球运动支座的位置，实现现有各种长度球杆的标定。The technical effect of this embodiment is: according to the length of the cue to be calibrated, the position of the fixed threaded hole of the third three-ball motion support 13 on the fixed platform 14 can be adjusted, thereby adjusting the position of the three-ball motion support, realizing various existing Calibration of length clubs.
具体实施方式二：参见附图2，图2是本发明的另一种结构示意图，仅以示意方式说明本发明的基本结构，因此其仅显示与本发明有关的构成及设计示意图。Specific embodiment two: referring to accompanying drawing 2, Fig. 2 is another kind of structural diagram of the present invention, only illustrates the basic structure of the present invention in a schematic manner, so it only shows the composition and design schematic diagram relevant to the present invention.
本实施方式所述的一种具有自标定功能的球杆长度标定装置及使用方法包括激光干涉仪1、激光干涉仪调整云台2、分光镜及干涉镜组3、气浮导轨5、气浮滑架6、第三y-z两自由度微调平台7、反射镜8、第二三球运动支座9、第二y-z两自由度微调平台10、第一y-z两自由度微调平台11、第一三球运动支座12、第三三球运动支座13、固定平台14、支架15、滑架16、滑动导轨17、支架18，激光干涉仪调整云台2固定在气浮导轨5上，分光镜及反射镜组3通过镜组安装架4安装在气浮导轨5上，反射镜8通过第三y-z两自由度微调平台7安装在气浮滑架6上，第二三球运动支座9通过第二y-z两自由度微调平台10安装在气浮滑架6上，第一三球运动支座12通过第一y-z两自由度微调平台11安装在气浮导轨5上，第三三球运动支座13固定在固定平台14上，固定平台14通过隔振支撑安装在滑架16上，滑动导轨17安装在支架15上，气浮导轨5通过隔振支撑安装在支架18上。A club length calibration device with self-calibration function described in this embodiment and its use method include a laser interferometer 1, a laser interferometer adjustment platform 2, a beam splitter and an interference mirror group 3, an air-floating guide rail 5, an air-floating slide Frame 6, third y-z two-degree-of-freedom fine-tuning platform 7, reflector 8, second three-ball motion support 9, second y-z two-degree-of-freedom fine-tuning platform 10, first y-z two-degree-of-freedom fine-tuning platform 11, first three-ball Motion bearing 12, the third three-ball motion bearing 13, fixed platform 14, support 15, slide frame 16, sliding guide rail 17, support 18, laser interferometer adjustment cloud platform 2 is fixed on the air bearing guide rail 5, spectroscope and The mirror group 3 is installed on the air-floating guide rail 5 through the mirror group mounting bracket 4, the mirror 8 is installed on the air-floating carriage 6 through the third y-z two-degree-of-freedom fine-tuning platform 7, and the second three-ball motion support 9 passes through the second The y-z two-degree-of-freedom fine-tuning platform 10 is installed on the air-floating carriage 6, the first three-ball motion support 12 is installed on the air-floating guide rail 5 through the first y-z two-degree-of-freedom fine-tuning platform 11, and the third three-ball motion support 13 is fixed On the fixed platform 14, the fixed platform 14 is installed on the carriage 16 through the vibration isolation support, the sliding guide rail 17 is installed on the support 15, and the air bearing guide rail 5 is installed on the support 18 through the vibration isolation support.
本实施方式的技术效果是：根据待标定球杆长度，可以调整滑架16在滑动导轨17的位置并进行固定，从而调整辅平台及安装在其上的三球运动支座的位置，实现现有各种长度球杆的标定。The technical effect of this embodiment is: according to the length of the club to be calibrated, the position of the slide frame 16 on the slide guide rail 17 can be adjusted and fixed, thereby adjusting the position of the auxiliary platform and the three-ball motion support installed thereon, realizing the present invention. There are calibrations for various lengths of clubs.
工作原理：working principle:
本发明进行球杆长度标定的具体步骤如下：The concrete steps that the present invention carries out club length calibration are as follows:
步骤一、参见附图3，图3是本发明测量两未知长度球杆的长度差的原理示意图，根据待标定球杆的大致长度选择两根未知长度球杆，为保证标定精度，其中一根长度大于待标定球杆长度，另一根长度小于或等于待标定球杆长度，将第一根未知长度球杆的一端球体放置在第一三球运动支座12上，移动气浮滑架6至合适位置并将第一根未知长度球杆的另一端球体放置在第二三球运动支座9上，将激光干涉仪1示值置零，然后取下第一根球杆，并将第二根根未知长度球杆的一端球体放置在第一三球运动支座12上，移动气浮滑架6至合适位置并将第二根未知长度球杆的另一端球体放置在第二三球运动支座9上，激光干涉仪1示值为两根球杆长度之差∆l；Step 1, see accompanying drawing 3, Fig. 3 is the schematic diagram of the principle of measuring the length difference of two clubs of unknown length according to the present invention, select two clubs of unknown length according to the approximate length of the club to be calibrated, in order to ensure the calibration accuracy, one of them The length is greater than the length of the club to be calibrated, and the length of the other is less than or equal to the length of the club to be calibrated. Place one end sphere of the first unknown length club on the first three-ball motion support 12, and move the air-floating carriage 6 to Place the ball at the other end of the first club with an unknown length on the second three-ball kinematic support 9 at a suitable position, set the indication value of the laser interferometer 1 to zero, then take off the first club, and place the second One end spheres of clubs of unknown length are placed on the first three-ball movement support 12, the air-floating carriage 6 is moved to a suitable position and the other end spheres of the second clubs of unknown length are placed on the second three-ball movement support. On the seat 9, the laser interferometer 1 shows the difference ∆l between the lengths of the two clubs;
步骤二、参见附图4，图4是本发明利用两球杆长度差实现自标定的原理示意图。将第三三球运动支座13调整至合适位置并固定，将步骤一中的第一根球杆的一端球体放置在第三三球运动支座13上，移动气浮滑架6至靠近激光干涉仪1的合适位置并将第一根球杆的另一端球体放置在第二三球运动支座9上，记录激光干涉仪1示值a，然后取下第一根球杆放置在第二三球运动支座9上的一端，移动气浮滑架6至远离激光干涉仪1的合适位置并将第一根球杆的另一端球体放置在第二三球运动支座9，记录激光干涉仪1示值d，将步骤一中的第二根球杆的一端球体放置在第三三球运动支座13上，移动气浮滑架6至靠近激光干涉仪1的合适位置并将第二球杆的另一端球体放置在第二三球运动支座9上，记录激光干涉仪1示值b，然后第二根球杆放置在第二三球运动支座9上的一端，移动气浮滑架6至远离激光干涉仪1的合适位置并将第二根球杆的另一端球体放置在第二三球运动支座9，记录激光干涉仪1示值c，上述过程不分先后，根据三角关系、激光干涉仪1示值a、b、c、d及两根球杆长度之差∆l计算任意球杆端部球体球心的x、y值；Step 2, see accompanying drawing 4, which is a schematic diagram of the principle of realizing self-calibration by using the length difference of two clubs in the present invention. Adjust the third three-ball motion support 13 to an appropriate position and fix it, place the ball at one end of the first cue in step 1 on the third three-ball motion support 13, and move the air bearing carriage 6 to a position close to the laser interference Appropriate position of the instrument 1 and place the ball at the other end of the first club on the second three-ball motion support 9, record the indication value a of the laser interferometer 1, and then take off the first club and place it on the second three balls One end on the ball motion support 9, move the air bearing carriage 6 to a suitable position away from the laser interferometer 1 and place the other end ball of the first club on the second three-ball motion support 9, record the laser interferometer 1 Indicate the value d, place the ball at one end of the second club in step one on the third three-ball motion support 13, move the air bearing carriage 6 to a suitable position close to the laser interferometer 1 and place the ball of the second club The ball at the other end is placed on the second three-ball motion support 9, and the indication value b of the laser interferometer 1 is recorded, and then the second club is placed on one end of the second three-ball motion support 9, and the air bearing carriage 6 is moved to Keep away from the appropriate position of the laser interferometer 1 and place the ball at the other end of the second club on the second three-ball motion support 9, and record the indication value c of the laser interferometer 1. The above-mentioned processes are in no particular order. Calculate the x, y values of the sphere center of the sphere at the end of any club from the indicated values a, b, c, d of the interferometer 1 and the difference ∆l of the lengths of the two clubs;
步骤三、参见附图5，图5是本发明标定球杆长度的原理示意图。将待标定球杆的一端球体放置在第三三球运动支座13上，移动气浮滑架6至靠近激光干涉仪1的合适位置并将该球杆的另一端球体放置在第二三球运动支座9上，记录激光干涉仪1示值l 1 ，然后取下该球杆放置在第二三球运动支座9上的一端，移动气浮滑架6至远离激光干涉仪1的合适位置并将该球杆的另一端球体放置在第二三球运动支座9，记录激光干涉仪1示值l 2 ,上述过程不分先后，根据步骤二中计算得到的y值及三角关系计算待标定球杆长度，为减少误差，可重复该步骤，取待标定球杆长度多次测量结果平均值作为待标定球杆长度标称值。Step 3, see accompanying drawing 5, which is a schematic diagram of the principle of calibrating the length of the club according to the present invention. Place the sphere at one end of the cue to be calibrated on the third three-ball motion support 13, move the air bearing carriage 6 to a suitable position close to the laser interferometer 1 and place the other end of the cue on the second three-ball motion On the bearing 9, record the indication value l 1 of the laser interferometer 1, then take off the end of the club placed on the second three-ball motion bearing 9, move the air bearing carriage 6 to a suitable position away from the laser interferometer 1 and Place the ball at the other end of the cue on the second three-ball motion support 9, and record the indication value l 2 of the laser interferometer 1. The above process is in no particular order. Calculate the value to be calibrated according to the y value calculated in step 2 and the triangular relationship. For the length of the club, in order to reduce the error, this step can be repeated, and the average value of the multiple measurement results of the length of the club to be calibrated is taken as the nominal value of the length of the club to be calibrated.
以上实施方式仅用于说明本发明，而非对本发明的限制，有关技术领域的普通技术人员，在不脱离本发明的精神和范围的情况下，还可以做出各种变化和变型，因此所有等同的技术方案也属于本发明的保护范畴。The above embodiments are only used to illustrate the present invention, rather than to limit the present invention. Those of ordinary skill in the relevant technical field can also make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, all Equivalent technical solutions also belong to the protection category of the present invention.
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| CN111256597A (en) * | 2020-02-28 | 2020-06-09 | 陕西科技大学 | A Mechanical Laser Tracking Double Ballbar |
| CN111649853A (en) * | 2020-06-22 | 2020-09-11 | 天津大学 | A micro-torque measurement device based on torque sensor |
| CN112053405A (en) * | 2020-08-21 | 2020-12-08 | 合肥工业大学 | Deviation calibration and external reference correction method for optical axis and rotating shaft of follow-up vision system |
| CN112053405B (en) * | 2020-08-21 | 2022-09-13 | 合肥工业大学 | Deviation calibration and external parameter correction method for optical axis and rotating shaft of follow-up vision system |
| CN114858063A (en) * | 2022-06-15 | 2022-08-05 | 合肥工业大学 | Ball and baseball heart distance measuring device with self-initialization function and its use method |
| CN114858063B (en) * | 2022-06-15 | 2024-02-13 | 合肥工业大学 | Ball center distance measuring device with self-initializing function and using method thereof |
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