CN108759764A - Rail linearity degree determining device - Google Patents
Rail linearity degree determining device Download PDFInfo
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- CN108759764A CN108759764A CN201811014958.0A CN201811014958A CN108759764A CN 108759764 A CN108759764 A CN 108759764A CN 201811014958 A CN201811014958 A CN 201811014958A CN 108759764 A CN108759764 A CN 108759764A
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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
- G01B21/24—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 for testing alignment of axes
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Abstract
The present invention relates to a kind of rail linearity degree determining devices, belong to logistics transportation field.Rail linearity degree determining device includes：Two motions, each motion are configured as being connected on the first track；Connecting rod, described two motions are flexibly connected with the both ends of the connecting rod respectively；Angle detection components, the angle detection components are fixed on the connecting rod, and positioned at one end that the connecting rod is connect with a motion, the angle detection components are configured as during described two motions are moved along first track, the angle of the connecting rod is detected, the angle for the connecting rod that the angle detection components detect is used to determine the straightness of first track.Since motion is in the moving process of the first track, angle detection components detect the angle of connecting rod automatically, so as to according to angle-determining the first rail linearity degree of connecting rod, reduce operation complexity, improve measurement efficiency.
Description
Technical field
The present invention relates to logistics transportation field, more particularly to a kind of rail linearity degree determining device.
Background technology
During the production and transport of the panels manufacturing field such as display panel, piler (English：Stocker it is) most common
One of logistics transportation equipment.The piler includes：Manipulator, moving cell and two tracks arranged parallel.Moving cell
On that track, manipulator captures object to be handled, and is connect with the moving cell, is moved in orbit by moving cell for setting
Dynamic, to realize the transport to object, therefore, track is the basic of piler operation, and the straightness of track is whether to reflect track
Straight important indicator.
In order to allow piler to work normally, need to ensure the operation demand that the straightness of track meets piler.Cause
This, usually requires to measure its straightness before track comes into operation.Currently, the mode for measuring rail linearity degree is：Staff
A fishing line is pulled in track side to be measured, the distance of both ends to the track side surfaces of the fishing line is equal, then chooses the fish
Equidistant multiple measurement points on line, using ranging tool, for example, ruler or tape measure etc., measure multiple measurement point and arrive one by one
The distance of track side surfaces.If the distance of arbitrary two measurement point to the track side surfaces is different, there are straightness errors for the track.
But this artificial mode for pulling fishing line measurement, when measured track is longer, required measurement point quantity
It is more, thus the respective distances of required measurement are more, complicated for operation, measurement efficiency is relatively low.
Invention content
An embodiment of the present invention provides a kind of rail linearity degree determining devices, to solve manually to pull the side of fishing line measurement
Formula, when measured track is longer, required measurement point quantity is more, thus the respective distances of required measurement are more, operation
Complexity, the relatively low problem of measurement efficiency, the technical solution is as follows：
On the one hand, a kind of rail linearity degree determining device is provided, including：
Two motions, each motion are configured as being connected on the first track；
Connecting rod, described two motions are flexibly connected with the both ends of the connecting rod respectively；
Angle detection components, the angle detection components are fixed on the connecting rod, and are located at the connecting rod and one
One end of a motion connection, the angle detection components are configured as in described two motions along described the
During one track moves, the angle of the connecting rod, the angle for the connecting rod that the angle detection components detect are detected
Straightness for determining first track.
Optionally, the rail linearity degree determining device further includes：
It is described to be arranged in the side of a motion, the distance inspection apart from detection components apart from detection components
It surveys component to be configured as during described two motions are moved along first track, detects first track
At a distance from the second track, second track is arranged parallel with first track, and towards described apart from detection components, institute
State the depth of parallelism that the distance detected apart from detection components is used to determine first track and second track.
Optionally, each motion includes：
Pedestal, the pedestal are flexibly connected with the connecting rod；
Component out of shape, the component out of shape are fixedly connected with the pedestal, and the component out of shape is configured as described in drive
Pedestal moves on first track；
Two guide wheel groups of the pedestal both sides are symmetricly set on, each guide wheel group includes at least one directive wheel,
The pedestal is connected to by described two guide wheel groups on first track.
Optionally, each motion further includes：
At least one range adjuster, each range adjuster a pair opposite with described two guide wheel groups are led
It is separately connected to wheel, each range adjuster is configured as adjusting connected the distance between directive wheel.
Optionally, each range adjuster is a tubular structure, and internal thread is provided in the tubular structure, each described
Directive wheel is fixedly connected with a threaded screw rod, and each range adjuster is configured as by adjusting and corresponding threaded screw rod
Threaded connection degree, to adjust connected the distance between directive wheel.
Optionally, the rail linearity degree determining device further includes：
Processing component, the processing component are configured as：
When described two motions often move distance to a declared goal, the angle detected by the angle detection components is obtained
Degree, the angle based on acquisition and the distance to a declared goal, determine that described two motions are moved along first track
During, the change in displacement data of the change in displacement data of the connecting rod, the connecting rod are included in each measurement point, and connecting rod exists
Relative to the displacement with reference to straight line on the preset direction with reference to straight line, the measurement point is to obtain the angle detection
When angle detected by component, the position of the rail linearity degree determining device；
And/or
When described two motions often move distance to a declared goal, obtain it is described detected by the detection components away from
From, the distance based on acquisition determines described two motions during being moved along first track, described first
The distance change data of track and second track,
Wherein, the distance to a declared goal is the length between the both ends that the connecting rod and described two motions connect.
Optionally, the rail linearity degree determining device further includes：
Display module, the display module are connect with the processing component, and the processing component is additionally configured to based on true
Fixed data formation curve figure, wherein when determining data are the change in displacement data of the connecting rod, the curve graph includes
Displacement changing curve figure, it is described when determining data are the distance change data of first track and second track
Curve graph includes distance change curve graph；
The display module is configured as showing the curve graph.
Optionally, the component out of shape includes：Wheel out of shape,
The rail linearity degree determining device further includes：Encoder, the encoder are fixed on any wheel out of shape,
After the number of turns is specified in any wheel rotation out of shape, indication signal is sent to the processing component, the indication signal is for referring to
Show that described two motions move the distance to a declared goal.
Optionally, the rail linearity degree determining device further includes：
Component is pulled, the towing component is connect with a motion in described two motions, the towing
Component is configured as pulling connected motion, so that described two motions are moved along first track.
Optionally, the towing component includes：
Y type connecting rods, the Y types connecting rod includes head rod, and is connect with one end of the head rod,
And connect relative to symmetrical second connecting rod of the head rod and third connecting rod, second connecting rod and the third
Extension bar is connect with a motion in described two motions, the axis of the head rod and one movement
The axis collinear of mechanism；
Catching plate, the catching plate are connect with the other end of the head rod.
Technical solution provided in an embodiment of the present invention can include the following benefits：
Rail linearity degree determining device provided in an embodiment of the present invention, due to the motion being respectively connected with connecting rod two end
In the moving process of the first track, angle detection components detect the angle of connecting rod automatically, so as to according to the angle of connecting rod
It determines the straightness of the first track, it is therefore not necessary to which manually pulling fishing line measures straightness, reduces operation complexity, improve
Measurement efficiency.
It should be understood that above general description and following detailed description is merely exemplary, this can not be limited
Invention.
Description of the drawings
In order to illustrate more clearly of the embodiment of the present invention, attached drawing needed in embodiment description will be made below
Simply introduce, it should be apparent that, drawings in the following description are only some embodiments of the invention, common for this field
For technical staff, without creative efforts, other drawings may also be obtained based on these drawings.
Fig. 1 be the present embodiments relate to implementation environment schematic diagram.
Fig. 2 is a kind of structural schematic diagram of rail linearity degree determining device provided in an embodiment of the present invention.
Fig. 3 is a kind of structural schematic diagram of motion provided in an embodiment of the present invention.
Fig. 4 is a kind of partial sectional schematic view of rail linearity degree determining device provided in an embodiment of the present invention.
Fig. 5 is a kind of structural schematic diagram of motion provided in an embodiment of the present invention.
Fig. 6 is a kind of left view of rail linearity degree determining device provided in an embodiment of the present invention.
Fig. 7 is a kind of structural schematic diagram of rail linearity degree determining device provided in an embodiment of the present invention.
Fig. 8 is a kind of acquisition principle schematic of the change in displacement data of connecting rod provided in an embodiment of the present invention.
Fig. 9 is a kind of structural schematic diagram of rail linearity degree determining device provided in an embodiment of the present invention.
Figure 10 is a kind of displacement changing curve figure provided in an embodiment of the present invention.
Figure 11 is a kind of distance change curve graph provided in an embodiment of the present invention.
Figure 12 is a kind of left view of rail linearity degree determining device provided in an embodiment of the present invention.
Figure 13 is a kind of structural schematic diagram of rail linearity degree determining device provided in an embodiment of the present invention.
Figure 14 is a kind of structural schematic diagram of rail linearity degree determining device provided in an embodiment of the present invention.
Figure 15 is a kind of structural schematic diagram of rail linearity degree determining device provided in an embodiment of the present invention.
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the present invention
Example, and be used to explain the principle of the present invention together with specification.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that the described embodiments are only some of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
Referring to FIG. 1, Fig. 1 be the present embodiments relate to implementation environment schematic diagram, which includes：Track is straight
Dimension determining device 1 and two tracks, two tracks include：First track 2 and the second track 3.First track 2 and second
Track 3 arranges that rail linearity degree determining device 1 is connected on any track of two tracks, for measuring two rails parallel
The straightness and the depth of parallelism in road, Fig. 1 are illustrated so that rail linearity degree determining device 1 is connected on the first track 2 as an example, practical
In use, rail linearity degree determining device 1 can also be connected on the second track 3.
As shown in Fig. 2, an embodiment of the present invention provides a kind of rail linearity degree determining device 1, which determines
Device 1 includes：
Two motions 11, each motion 11 are configured as being connected on the first track, which is heap
On any track in two tracks of stack machine.
Connecting rod 12, two motions 11 are flexibly connected with the both ends of connecting rod 12 respectively.Illustratively, the length of the connecting rod 12
It can be 500 millimeters.
Angle detection components 13, angle detection components 13 are fixed on connecting rod 12, and positioned at connecting rod 12 and a fortune
One end that motivation structure 11 connects, what angle detection components 13 were configured as moving along the first track in two motions 11
In the process, the angle of connecting rod 12 is detected, the angle for the connecting rod 12 that angle detection components 13 detect is for determining the first track
Straightness.
When using the rail linearity degree determining device, first two motions can be connected on the first track, so
It drives two motions to be moved on the first track afterwards, the angle of connecting rod is detected by angle detection components, according to the angle,
The straightness of the first track is determined, to realize the straight line degree measurement of the first track by the measurement of the angle of connecting rod.If should
The numerical value change of angle is smaller (such as within the scope of specified angle), then first track is in straightened condition, and there is no straight
Dimension error, if the numerical value change of the angle is larger (such as beyond within the scope of specified angle), which is in non-flat
Straight state, there are straightness errors.
In conclusion rail linearity degree determining device provided in an embodiment of the present invention, due to being respectively connected with connecting rod two end
Motion in the moving process of the first track, angle detection components detect the angle of connecting rod automatically, so as to basis
The straightness of the first track of angle-determining of connecting rod reduces complicated for operation it is therefore not necessary to which manually pulling fishing line measures straightness
Degree, improves measurement efficiency.
Optionally, as shown in figure 3, Fig. 3 is a kind of structural schematic diagram of motion provided in an embodiment of the present invention, each
Motion 11 includes：
Pedestal 111, component 112 out of shape, and it is symmetricly set on two guide wheel groups 113 of 111 both sides of pedestal.
Pedestal 111 is flexibly connected with connecting rod 12.It is exemplary, as shown in figure 4, pedestal 111 is lived with connecting rod 12 by bearing M
Dynamic connection, the inner ring of bearing M are fixedly connected with pedestal 111, and outer ring is fixedly connected with connecting rod 12.It, can by the way that the bearing is arranged
The frictional force generated is relatively rotated to reduce pedestal and connecting rod, ensures connecting rod stable motion on pedestal.
As shown in figure 3, component 112 out of shape is fixedly connected with pedestal 111, such as it is fixedly connected with screw or bolt, or
It is fixedly connected by welding, component 112 out of shape is configured as band moving base 111 and is moved on the first track 2.Out of shape group
Part 112 with support base and can undertake the traveling task of motion, generally by taking turns to (wheel out of shape occurred in pairs), axis
The compositions such as case, resilient suspension component and foundation brake component.
Optionally, component 112 out of shape includes：Wheel 112a out of shape.Exemplary, there are two walk for setting in each motion 11
The diameter of shape wheel 112a, each travelling wheel 112a are 50 millimeters.This two wheel 112a out of shape respectively with each motion 11
The rear and front end of pedestal 111 is (as shown in figure 3, the rear and front end refers to pedestal 111 in figure 3 on parallel orbit extending direction
Both ends) connection, two wheel 112a out of shape be symmetricly set on 111 rear and front end of pedestal can ensure motion stablize shifting
It is dynamic.
Optionally, each guide wheel group 113 includes at least one directive wheel 113a, and pedestal 111 passes through two guide wheel groups
113 are connected on the first track 2.When motion 11 moves on the first track 2, directive wheel 113a can be to motion
11 realize effectively guiding, and it is even closer that two guide wheel groups 113 can be such that pedestal 111 is clamped with the first track 2, to protect
Motion 11 is demonstrate,proved without departing from the first track 2.
Exemplary, in Fig. 3, there are two directive wheel 113a for a guide wheel group 113, then have in each motion 11
A diameter of 60 millimeters of four directive wheels 113a, each directive wheel 113a.Four directive wheel 113a pass through with pedestal 111 respectively
Bearing connects, and at stringent symmetrical in each motion 11, for example, said base is axially symmetric structure, tool
There are orthogonal two symmetry axis, such as two symmetry axis are the horizontal axis x and longitudinal axis y, four directive wheel 113a in Fig. 4
Also there is orthogonal two symmetry axis, and distinguish coaxial line with two symmetry axis of pedestal.Point of this directive wheel 113a
Mode for cloth ensure that connecting rod 12 on the first track centerline, that is, ensure that 12 endpoint of connecting rod with the center of circle of 111 junction of pedestal
Relative orbit centering.
Optionally, angle detection components 13 can be angular displacement sensor, can also be angel measuring instrument.The angle detects
Component can carry display unit, to show its angle measured, for example, when the angle detection components 13 are angel measuring instrument
When, which may include display compass, which being capable of the angle of current connecting rods that detects of real-time display.
It should be noted that the accuracy of the angle in order to ensure the connecting rod detected, needs to ensure angle detection components with higher
Measurement accuracy, in embodiments of the present invention, when the angle detection components be angular displacement sensor when, which can
Think that high-precision angular displacement sensor, precision can reach 1 point.Angle is carried out using the angle detection components of high measurement accuracy
Detection, can obtain high-precision straightness, compared to the mode of traditional manual measurement straightness, can greatly improve final
The measurement accuracy of straightness.
In the embodiment of the present invention, angle detection components 13 may include the angle detection body and connector of interconnection,
Angle detection body is used to detect the angle of connecting rod, and connector with connecting rod for connecting.The shape of angle detection components 13 can be with
There are many.Fig. 4 is a kind of partial sectional schematic view of rail linearity degree determining device provided in an embodiment of the present invention, please refers to figure
4, which includes angle detection body 131 and connector 132, and angle detection body 131 can be discoid
Structure or round-like structure or cube structure, the connector 132 are cylindrical-shaped structure.The connector 132 is logical with connecting rod 12
Cross the connection of shaft coupling 14 so that the angle detection components 13 are rotated with connecting rod 12 around same rotary shaft L.It is exemplary, shaft coupling 14
One end is fixedly connected with connecting rod 12, the other end of connector 132 one end far from angle detection body 131 and the shaft coupling 14
It is fixedly connected with (such as being connected by way of interference fit), in this way, angle detection components 13 and connecting rod 12 can by shaft coupling
It is rotated synchronously with realizing, the angle rotated both to make is consistent.
Since connecting rod needs to be flexibly connected with a motion there are one end, connect again with angle detection components activity
It connects, in order to ensure that two kinds of connection types are not interfere with each other, referring to FIG. 4, a groove can be set on pedestal 111, the shape of the groove
Shape is matched with the shape of angle detection body 131, and shape needs ensure, when angle detection body rotates, not hindering the angle
Detection body rotates.It is exemplary, the groove be circular groove, have a diameter larger than or equal to angle detection body maximum gauge；
Bottom portion of groove can be provided with the through-hole passed through for connector 132, in this way, the angle detection body of the angle detection components 13
131 can be wholly or partially embedded into the groove, and connector 132 is connect with connecting rod 12 by shaft coupling across through-hole.Certainly, angle
Degree detection components 13 can not also be connect by mode shown in Fig. 4 with connecting rod, for example, pedestal 111 can be provided through base
The cavity of seat, angle detection components 13 are accommodating in the cavity, and are connect with connecting rod.The cavity can be with the side of pedestal 111
Connection.
Optionally, as shown in figure 5, each motion 11 further includes：
At least one range adjuster 114, opposite a pair of each range adjuster 114 and two guide wheel groups 113
Directive wheel 113a is separately connected, and that is to say that the number of range adjuster is equal to the sum of directive wheel in a guide wheel group, each
Range adjuster 114 is configured as adjusting connected the distance between directive wheel 113a, changes two guide wheel groups 113 with this
The distance between, to allow two guide wheel groups 113 to be clamped the track of different in width, so that the rail linearity degree determines dress
The track of 1 adaptation different in width is set, the versatility of rail linearity degree determining device 1 is improved.Exemplary, which determines
Device track width range applicatory is 126 to 220 millimeters.
Exemplary, each range adjuster 114 can be a tubular structure, be provided with internal thread in tubular structure, each
Directive wheel 113a is fixedly connected with a threaded screw rod 115, and each range adjuster 114 is configured as by adjusting and corresponding spiral shell
The threaded connection degree of line lead screw 115, to adjust connected the distance between directive wheel 113a.
It should be noted that it is provided at both ends with the opposite internal thread of hand of spiral inside each range adjuster 114, it should
The threaded screw rod 115 opposite with two hand of spiral is threadedly coupled respectively at the both ends of each range adjuster 114.For each
Range adjuster 114 makes two be connected with the range adjuster 114 by being rotated in a first direction the range adjuster 114
Threaded screw rod 115 generates relative motion with the range adjuster 114 simultaneously, to make the both ends of the range adjuster 114 with it is right
The threaded connection degree for the threaded screw rod 115 answered increases on an equal basis, and then makes the directive wheel 113a being connected with two threaded screw rods 115
Generate equidistant move toward one another；Alternatively, by being rotated in a second direction, the range adjuster 114, make and the range adjuster
114 two connected threaded screw rods 115 generate relative motion with the range adjuster 114 simultaneously, to make the range adjuster
114 both ends are reduced on an equal basis with the threaded connection degree of corresponding threaded screw rod 115, and then are made and two 115 phases of threaded screw rod
Directive wheel 113a even generates equidistant back movement, wherein first direction and second direction are opposite direction.
Exemplary, as shown in figure 5, corresponding with the guide wheel group 113 in Fig. 5, there are two distances for each motion 11
Adjuster 114, each range adjuster 114 are threadedly coupled with two threaded screw rods 115 respectively, which divides
It is not fixedly connected with opposite a pair of of directive wheel 113a of two guide wheel groups 113.
Assuming that above-mentioned first direction is clockwise, second direction is counterclockwise.If between two guide wheel groups
Distance be more than track width, then range adjuster is rotated in the clockwise direction, at this point, two connect with range adjuster
Threaded screw rod generates simultaneously and the range adjuster relative motion, makes the both ends of the range adjuster and corresponding threaded screw rod spiral shell
Line contiguity increases on an equal basis, and then makes a pair of of the directive wheel being connected with two threaded screw rods generation is equidistant to move toward one another,
To reduce the distance between two guide wheel groups, so that two guide wheel groups and track clamping are close.
If the distance between two guide wheel groups are less than the width of track, in the counterclockwise direction rotation distance adjuster, this
When, two threaded screw rods being connect with range adjuster generate relative motion with the range adjuster simultaneously, and the distance is made to adjust
The both ends of device are reduced on an equal basis with the threaded connection degree of corresponding threaded screw rod, and then make a pair being connected with two threaded screw rods
Directive wheel generates equidistant back movement, to increase the distance between two guide wheel groups, so as to two guide wheel groups with
Track is clamped.
Certainly, in the embodiment of the present invention, range adjuster can not also be arranged in each motion, can be directed to different
Different motions is arranged in track width, to generate the rail linearity degree determining device 1 of different model, is needing to measure certain
When the straightness of the track of one width, using the rail linearity degree determining device 1 of corresponding model.
Optionally, as shown in fig. 6, Fig. 6 is a kind of left view of rail linearity degree determining device provided in an embodiment of the present invention
Figure.Rail linearity degree determining device 1 further includes：
Apart from detection components 15, it is arranged in the side of a motion 11, apart from detection components apart from detection components 15
15 are configured as during two motions 11 are moved along the first track 2, detect the first track 2 and the second track 3
Distance, second track 3 and the first track 1 arrangement parallel when installing the rail linearity degree determining device 1, needs to ensure
Second track 3 is towards the distance apart from detection components 15, detected apart from detection components 15 for determining the first track 2 and the
The depth of parallelism of two tracks 3.
Further, the mode that a motion 11 is set to apart from detection components 15 has very much, for example, apart from detection
Component 15 can be fixedly connected on the wheel shaft of a directive wheel 113a of a motion 11, also may be used apart from detection components 15
To be fixedly connected with the pedestal 111 of a motion 11 by holder 151.
It is exemplary, as shown in fig. 6, Fig. 6 is with the pedestal 111 apart from detection components 15 by holder 151 and motion 11
It is illustrated for being fixedly connected.Exemplary, this is a rod-like structure, the length of the rod-like structure apart from detection components holder 151
Spending direction can be perpendicular to the loading end of pedestal 111.Exemplary, this can be range sensor apart from detection components 15, make
When with rail linearity degree determining device 1, the range sensor of different model can be selected as the case may be.
It should be noted that in order to ensure the accurate of the first track detected and the second orbital distance, needing to ensure should
Accuracy apart from detection components, for example, when this apart from detection components be apart from displacement sensor when, this apart from displacement sensor be height
For precision apart from displacement sensor, precision can be 0.002mm.It is detected into row distance apart from detection components using high-precision, it can
To obtain the high-precision depth of parallelism, compared to the mode of traditional manual measurement depth of parallelism, the final depth of parallelism can be greatly improved
Measurement accuracy.
Optionally, there are two types of modes, and rail linearity degree and the depth of parallelism may be implemented for above-mentioned rail linearity degree determining device 1
It determines, respectively hand fit's method of determination and machine automatically determine mode, and the two ways is introduced individually below.
Mode is automatically determined for machine, as shown in fig. 7, rail linearity degree determining device 1 further includes：
Processing component 16, processing component 16 are configured as executing the acquisition process and distance change data of displacement delta data
Acquisition process at least one.Exemplary, which is arranged on the pedestal 111 of a motion 11.At this
It can be microcontroller to manage component, can also be microprocessor etc..
Wherein, the acquisition process of above-mentioned change in displacement data includes：
When two motions often move distance to a declared goal, the angle detected by angle detection components is obtained, based on obtaining
The angle and distance to a declared goal taken determines two motions during being moved along the first track, and the displacement of connecting rod becomes
Change data.The change in displacement data of the connecting rod are included in each measurement point, and connecting rod is opposite on the direction with reference to straight line
In the displacement with reference to straight line, which is when obtaining the angle detected by angle detection components, and rail linearity degree determines dress
The position set.
It is exemplary, it is assumed that angle detection components are arranged on the first motion, which can be above-mentioned
Any of two motions, the then distance that the first motion moves on the first guide rail reflect two motions
The distance moved.One reference system with reference to straight line as angle detection components is set, this can be with certain in track with reference to straight line
One section parallel, or is the straight line in the inside reference system of angle detection components, and distance to a declared goal is often moved in the first motion
When, the angle detected by angle detection components is obtained, when obtaining angle, the position of rail linearity degree determining device can be considered as
(measurement point can specify point identification to one measurement point by rail linearity degree determining device, for example, a certain motion and connecting rod
Tie point), meet perpendicular to reference to the displacement d in straight line direction per the adjacent corresponding connecting rod of two measurement points：
D=sin θ * D；
Wherein, θ be two adjacent measurement points in, from previous measurement point to the latter measurement point, angle detection components
The angle of the connecting rod rotation measured, D are the length between the both ends that connecting rod and two motions connect, and are equal to above-mentioned finger
Set a distance, since the length between the both ends is similar to the length of connecting rod, it has been generally acknowledged that D is the length of connecting rod.Wherein, should
θ has directionality.
By taking rail linearity degree determining device as shown in Figure 8 as an example, it is assumed that for two adjacent measurement points, the right side of connecting rod
End opposing left is rotated clockwise, and θ is positive value；The right end opposing left of connecting rod counterclockwise rotates, and θ is negative value.
As shown in figure 8, Fig. 8 is a kind of acquisition principle signal of change in displacement data of connecting rod provided in an embodiment of the present invention
Figure.Length between the distance to a declared goal that two motions often move is equal to the both ends that connecting rod and two motions connect
When, rail linearity degree determining device can obtain the change in displacement data s of connecting rodn.The change in displacement data s of the connecting rodnMeet：
sn=sum (dn), dn=sin θn* more accurate and continuous change in displacement data can be calculated using the formula in D.Show
Example, it is assumed that be parallel to a certain section of the first track, in Fig. 8 with reference to straight line L, it is assumed that the motion track of two motions is H,
In first motion relative to initial point O (i.e. homeposition, the initial point are located at reference on straight line) mobile first finger
When set a distance reaches first measurement point X1, angle detection components detect the angle, θ of connecting rod1, processing component obtains the angle, θ1,
Connecting rod is calculated perpendicular to reference to the displacement d in straight line L directions1=sin θ1* D, then first measurement point connecting rod
Opposite initial point O is perpendicular to reference to the displacement s in straight line L directions1=d1；Second finger is moved in the first motion
When set a distance reaches second measurement point X2, angle detection components detect the angle, θ of connecting rod2, processing component obtains the angle, θ2,
Connecting rod is calculated perpendicular to reference to the displacement d in straight line L directions2=sin θ2* D, then second measurement point connecting rod
Opposite initial point is perpendicular to reference to the displacement s in straight line direction2=d1+d2... move n-th of finger in the first motion
When set a distance reaches n-th of measurement point, angle detection components detect the angle, θ of connecting rodn, processing component obtains the angle, θn, then connect
Bar is perpendicular to reference to the displacement d in straight line directionn=sin θn* D, then n-th of measurement point connecting rod exist with respect to initial point
Perpendicular to reference to the displacement s in straight line directionn=sum (dn).Wherein, change in displacement data include above-mentioned s1To sn.In reality
When border is realized, the numberical ranges of above-mentioned change in displacement data can be 0 to 254mm, the numberical ranges of the change in displacement data by
It is limited to the size of the mechanical mechanisms such as connecting rod and threaded screw rod.
The acquisition process of above-mentioned distance change data includes：
When two motions often move distance to a declared goal, the distance detected by the detection components is obtained, based on obtaining
The distance taken determines two motions during being moved along the first track, the distance of the first track and the second track
Delta data.
Correspondingly, the mode that machine automatically determines parallel track degree is：
Assuming that being arranged on the first motion apart from detection components, which can be that above-mentioned two moves
Any of mechanism, the then distance that the first motion moves on the first guide rail reflect what two motions were moved
Distance.When the first motion often moves distance to a declared goal, the distance detected by the detection components is obtained, distance is obtained
Position can be considered as a measurement point, can be using the distance obtained in first measurement point measurement as distance is referred to, will be each
The distance that other measurement points measure makes the difference to obtain the range difference of each other measurement points and the reference distance with the reference distance.On
It includes each range difference to state distance change data.For example, in the distance L of i-th of other measurement pointiWith reference distance L1's
Range difference KiMeet：Ki=Li-L1, i is the integer more than 1.
It is exemplary, when the first motion moves first distance to a declared goal and reaches first measurement point, apart from detection group
It is L that part, which detects the first track and the distance of the second track,1；Second distance to a declared goal, which is moved, in the first motion reaches second
When measurement point, the distance that the first track and the second track are detected apart from detection components is L2, processing component obtains distance L2, meter
Calculation obtains corresponding range difference K2=L2-L1... when the first motion moves n-th of distance to a declared goal and reaches n-th of measurement point,
The distance that the first track and the second track are detected apart from detection components is Ln, processing component obtains distance Ln, it is calculated corresponding
Range difference Kn=Ln-L1.The distance change data finally obtained include K1To Kn。
Mode is automatically determined for machine, as shown in figure 9, rail linearity degree determining device 1 further includes：Display module 17,
Display module 17 is connect with processing component 16, and processing component 16 is additionally configured to based on determining data formation curve figure, wherein
When determining data are the change in displacement data of connecting rod 12, curve graph includes displacement changing curve figure, when determining data are
When the distance change data of the first track 2 and the second track 3, curve graph includes distance change curve graph.
Display module 17 is configured as display curve graph.
It is exemplary, it is assumed that length of connecting rod 500mm, i.e. 50cm, displacement changing curve figure can be as shown in Figure 10, the song
X-axis in line chart indicates out of shape distance of the rail linearity degree determining device on direction out of shape, and the unit of the distance out of shape is li
Rice, Y-axis indicate that connecting rod is being millimeter perpendicular to the unit with reference to the displacement in straight line direction, the displacement.It can be with by Figure 10
Find out, during track straightness determining device moves, respectively at 50cm, 100cm, 150cm, 200cm and 250cm into
It has gone angle measurement, that is to say that measurement point is 50cm, 100cm, 150cm, 200cm and 250cm corresponding position, accordingly determine connecting rod
It is respectively 3.51mm, 3.23mm, 3.01mm, 2.64mm and 2.62mm in the displacement in reference straight line direction.Work
The change in displacement data can intuitively be watched by making personnel.Due to the curve graph by the distance out of shape on direction out of shape come anti-
Reflect the position of measurement point, staff can be easily obtained according to the curve graph the larger measurement point of displacement position (namely
It is the lower position of straightness), to be corrected in time to the straightness of the position.
It is exemplary, it is assumed that length of connecting rod 500mm, i.e. 50cm, distance change curve graph can be as shown in Figure 11, the song
X-axis in line chart indicates out of shape distance of the rail linearity degree determining device on direction out of shape, and the unit of the distance out of shape is li
Rice, Y-axis indicate the range difference of the distance and reference distance that are measured in each measurement point, and the unit of the range difference is millimeter.By scheming
11 as can be seen that during track straightness determining device moves, respectively in 50cm, 100cm, 150cm, 200cm and
Range measurement has been carried out at 250cm, that is to say that measurement point is 50cm, 100cm, 150cm, 200cm and 250cm corresponding position, phase
The range difference that should be determined is respectively 10.002mm, 8.02mm, 8.102mm, 7.856mm and 5.368mm.Staff can be intuitive
Watch the distance change data.Due to the curve graph by the distance out of shape on direction out of shape come the position of reflected measurement point
Set, staff can be easily obtained according to the curve graph the larger measurement point of range difference position (that is to say the depth of parallelism compared with
Low position), to be corrected in time to the depth of parallelism of the position.
It should be noted that the display module can show displacement changing curve figure and distance change curve respectively simultaneously
Figure, can also show the two width curve graph simultaneously in the same coordinate system.
Exemplary, display module 17 can be connect with processing component 16 by data line, and display module 17 can be liquid
Crystal display or Organic Light Emitting Diode (Organic Light-Emitting Diode, OLED) display.
Display device shows the curve graph received from processing component, intuitively embodies the change in displacement of connecting rod
The distance change data of data and the first track and the second track, and then intuitively reacted the straightness and first of the first track
The depth of parallelism of track and the second track.
For hand fit's method of determination, if rail linearity degree determining device 1 to determine rail linearity degree, at two
When motion often moves distance to a declared goal, staff can obtain the angle, θ of angle detection components detection, be based on the angle, θ
And the length D of connecting rod, two motions are determined during being moved along the first track, the change in displacement number of connecting rod
According to determine rail linearity degree according to the change in displacement data.Wherein, the principle and machine which determines are automatic
Determine that the principle of rail linearity degree is identical, details are not described herein for the embodiment of the present invention.
If rail linearity degree determining device 1 to determine parallel track degree, two motions it is often mobile it is specified away from
From when, staff can obtain the distance detected apart from detection components and (can be carried for display distance apart from detection components
Display unit, can also by communication component will detection obtain apart from component be transmitted to staff operation control device
On, such as computer), distance value of the staff based on acquisition determines that two motions are being moved along the first track
In the process, the distance change data of the first track and the second track.Wherein, the principle and machine which determines are automatic
Determine that the principle of parallel track degree is identical, details are not described herein for the embodiment of the present invention.
In embodiments of the present invention, in above two method of determination, two motions often move distance to a declared goal, and track is straight
Dimension determining device just executes angle acquisition action and/or executes and once acted apart from acquisition, in order to ensure execution opportunity
Accuracy, need the execution opportunity to every mobile distance to a declared goal to be determined.The embodiment of the present invention is in a manner of following two
Example illustrates.
Wherein, first way can be wheel uniform motion out of shape, and a timer is arranged, and be reached every specified duration each
When, it determines and reaches execution opportunity.
The second way can be supervised using the implementation of the distance out of shape of the travelling wheel of a motion of encoder pair
Control, to determine execution opportunity based on encoder.Figure 12 is illustrated by taking the above-mentioned second way as an example.
As shown in figure 12, Figure 12 is a kind of left view of rail linearity degree determining device provided in an embodiment of the present invention.Rail
Road straightness determining device 1 further includes：Encoder 18, encoder 18 are fixed on any wheel 112a out of shape, it is any walk
After the number of turns is specified in the 112a rotations of shape wheel, indication signal is sent to processing component, indication signal is used to indicate two motions and moves
Dynamic distance to a declared goal.
It should be noted that the encoder 18 is fixed on any wheel 112 out of shape, realized with travelling wheel 112 coaxial
Rotation, the encoder 18 are connect with processing component 16 by data line transfer line.Encoder reflects to walk by the angle of rotation
The number of turns of row wheel rotation, travelling wheel distance out of shape is determined with this.After the number of turns is specified in the travelling wheel rotation for being provided with encoder,
After namely travelling wheel drives two motion movement distance to a declared goal, encoder sends to processing component and specifies signal.
Optionally, as shown in figure 13, rail linearity degree determining device 1 further includes：Power supply module 19.The power supply module 19 with
Processing component 16, display module 17 and encoder 18 connect, which is processing component 16, display module 17 and coding
Device 18 is powered.
Illustratively, which can be to provide the power supply of 24V direct currents.
It should be noted that afore-mentioned code device can be incremental encoder, or absolute value type encoder.According to
The type of encoder is different, and power supply mode can also be to power or carry battery powered to it by microcontroller.At this point, encoder
18 can not connect with power supply module 19.
Optionally, as shown in figure 14, rail linearity degree determining device 1 further includes：Component 20 is pulled, component 20 and two is pulled
A motion 11 connection in a motion 11, towing component 20 are configured as pulling connected motion 11,
So that two motions 11 are moved along the first track.
Further, towing component 20 includes：Y types connecting rod 201, Y type connecting rods include head rod 202, and
It connect with one end of head rod, and connects relative to symmetrical second connecting rod of head rod and third connecting rod, second
Extension bar and third connecting rod are connect with a motion 11 in two motions 11, the axis of head rod 202 with
The axis collinear of one motion 11.Due to the second connecting rod and third connecting rod and head rod of Y types connecting rod 201
The axis of symmetry arrangement, the axis of such head rod and a motion 11 can be conllinear, and therefore, Y type connecting rods make
Haulage rod 20 connect more firm with a motion 11.
Catching plate 203, catching plate 203 are connect with the other end of head rod 202.
It should be noted that Y types connector 201 and a motion 11, haulage rod 202 and Y types connector 201 and
Haulage rod 202 is to be detachably connected with catching plate 203, true convenient for rail linearity degree so as to can be easy to disassemble after the completion of use
Determine device storage, occupies little space.
Optionally, as shown in figure 15, rail linearity degree determining device 1 further includes drive component 21, the drive component 21 with
It pulls component 20 to connect, the power for providing rail linearity degree determining device 1.
Exemplary, which can be handle or draw ring, and staff makes track by pulling the drive component
Straightness determining device can also be the trolley with driving motor in the first moving on rails, the drive component 21, as long as should
The power of drive component can drive the rail linearity degree determining device, make its movement on the first track, the present invention is real
Example is applied not limit this.
Above-mentioned Fig. 1, Fig. 2, Fig. 4, Fig. 6, Fig. 7, Fig. 9 and Figure 12 are please referred to Figure 15, in embodiments of the present invention, with display
Component, angle detection components and apart from detection components be arranged on the first motion, power supply module and processing component setting exist
It is illustrated on second motion, wherein the fortune of the second motion and the first motion along two motions
Dynamic direction is arranged in order, and that is to say, the second motion is connect with towing component, when it is by the pulling force for pulling component, band
Dynamic first motion movement.The embodiment of the present invention in practical applications, examine by above-mentioned display module, angle detection components, distance
Surveying component, power supply module and processing component can be arranged on same motion, can also be distributed in other combinations
On two motions, it is not limited in the embodiment of the present invention.
The embodiment of the present invention explains the application method of the rail linearity degree determining device by taking Figure 15 as an example.It please join
Figure 15 is examined, staff rotates each range adjuster on two motions according to the width of the first track, keeps this each
Two connected threaded screw rods of range adjuster generate relative motion with the range adjuster simultaneously, to change each distance
The threaded connection degree of adjuster and corresponding threaded screw rod, so that the directive wheel generation being connected with the threaded screw rod is equidistant
The distance between movement, and then change the directive wheel, to make two motions securely be connected on first track.It will drag
It drags component with drive component to be connected, drive component drive is made to be transported on the first track by two motions that towing component connects
It is dynamic, after two motions movement distance to a declared goal, i.e., the specified number of turns arrival measurement point of travelling wheel rotation of two motions,
The encoder being fixed on travelling wheel is sent to processing component specifies signal.
Processing component executes the acquisition process and distance change of displacement delta data after receiving the specified signal every time
At least one of the acquisition process of data, and the response curve figure generated, are shown by display module.Assuming that the curve graph includes position
It moves change curve and distance change curve graph, staff is adjusted the straightness of the first track according to curve graph,
The depth of parallelism of first track and the second track is adjusted, so that the straightness and the depth of parallelism of the first track and the second track are equal
It meets the requirements.
It should be noted that the straightness of the second track can individually be detected using rail linearity degree determining device,
Can be parallel with the second track according to the obtained first rail linearity degree of rail linearity degree determining device and the first track
Degree is determined.
It is exemplary, when the second rail linearity degree is parallel with the second track according to the straightness of the first track and the first track
It, can be based on the displacement of the range difference and connecting rod of each measurement point acquisition in the first track, simulation second when degree is determined
The displacement of each measurement point connecting rod of track, the displacement that connecting rod is obtained based on simulation determine the straightness of the second track.
It is exemplary, directly the displacement changing curve figure obtained for the first track and distance change curve graph can also be existed
It is shown under the same coordinate system, if the first track of displacement changing curve figure reflection is straight, and the of distance change curve graph reflection
One track and the second parallel track, then the second track is also straight；If the first track of displacement changing curve figure reflection is straight, and away from
The first track and the second track from change curve reflection is not parallel, then the second track is not straight；If displacement changing curve figure
First track of reflection is not straight, and the first track and the second parallel track of distance change curve graph reflection, then the second track
Also not straight.
In conclusion rail linearity degree determining device provided in an embodiment of the present invention, due to being respectively connected with connecting rod two end
Motion in the moving process of the first track, angle detection components detect the angle of connecting rod automatically, so as to basis
The straightness of the first track of angle-determining of connecting rod reduces complicated for operation it is therefore not necessary to which manually pulling fishing line measures straightness
Degree, improves measurement efficiency.
Further, it is provided with apart from detection components on a motion due to the rail linearity degree determining device,
To allow the rail linearity degree determining device according to the first track and the second track detected apart from detection components
Distance, and then determine the first track and the second parallel track degree.
Further, due to curve graph that the display device of the rail linearity degree determining device will be received from processing component
It is shown, intuitively embodies the distance change data of the change in displacement data and the first track and the second track of connecting rod, into
And the depth of parallelism of the straightness and the first track and the second track of the first track is intuitively reacted.
It should be noted that the rail linearity degree determining device can be adapted for the rail linearity degree peace of Stacker Crane
Row degree determine, be readily applicable to other all types of equipment with track, for example, the rail linearity degree of lathe or train etc. and
The depth of parallelism determines.It should be noted that the track described in the embodiment of the present invention can refer to the long straight guide with bearing capacity,
The structure similar with long straight guide shape, such as rod-like structure, such as steel can be referred to, therefore, the rail linearity degree determining device
It is readily applicable to the straight line degree measurement of the rod-like structures such as steel, it is not limited in the embodiment of the present invention.
Term "and/or" in the present invention, only a kind of incidence relation of description affiliated partner, indicates may exist three kinds
Relationship, for example, A and/or B, can indicate：Individualism A exists simultaneously A and B, these three situations of individualism B.In addition, this
Character "/" in text, it is a kind of relationship of "or" to typically represent forward-backward correlation object.
In the present invention, term " first ", " second ", " third " and " the 4th " is used for description purposes only, and cannot be understood
To indicate or implying relative importance.Term " multiple " refers to two or more, unless otherwise restricted clearly.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the present invention
Its embodiment.This application is intended to cover the present invention any variations, uses, or adaptations, these modifications, purposes or
Person's adaptive change follows the general principle of the present invention and includes undocumented common knowledge in the art of the invention
Or conventional techniques.The description and examples are only to be considered as illustrative, and true scope and spirit of the invention are wanted by right
It asks and points out.
It should be understood that the invention is not limited in the precision architectures for being described above and being shown in the accompanying drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is limited only by the attached claims.
Claims (10)
1. a kind of rail linearity degree determining device, which is characterized in that including：
Two motions, each motion are configured as being connected on the first track；
Connecting rod, described two motions are flexibly connected with the both ends of the connecting rod respectively；
Angle detection components, the angle detection components are fixed on the connecting rod, and are located at the connecting rod and an institute
One end of motion connection is stated, the angle detection components are configured as in described two motions along first rail
During road moves, the angle of the connecting rod is detected, the angle for the connecting rod that the angle detection components detect is used for
Determine the straightness of first track.
2. rail linearity degree determining device according to claim 1, which is characterized in that the rail linearity degree determining device
Further include：
It is described to be arranged in the side of a motion apart from detection components apart from detection components, it is described apart from detection group
Part is configured as during described two motions are moved along first track, detects first track and the
The distance of two tracks, second track arrange parallel with first track, and towards described apart from detection components, it is described away from
From detection components detect with a distance from for determining the depth of parallelism of first track and second track.
3. rail linearity degree determining device according to claim 2, which is characterized in that each the motion includes：
Pedestal, the pedestal are flexibly connected with the connecting rod；
Component out of shape, the component out of shape are fixedly connected with the pedestal, and the component out of shape is configured as driving the pedestal
It is moved on first track；
Two guide wheel groups of the pedestal both sides are symmetricly set on, each guide wheel group includes at least one directive wheel, described
Pedestal is connected to by described two guide wheel groups on first track.
4. rail linearity degree determining device according to claim 3, which is characterized in that each motion also wraps
It includes：
At least one range adjuster, opposite a pair of of directive wheel of each range adjuster and described two guide wheel groups
It is separately connected, each range adjuster is configured as adjusting connected the distance between directive wheel.
5. rail linearity degree determining device according to claim 4, which is characterized in that
Each range adjuster is a tubular structure, and internal thread is provided in the tubular structure, each directive wheel and one
Threaded screw rod is fixedly connected, and each range adjuster is configured as by adjusting and the threaded connection of corresponding threaded screw rod
Degree, to adjust connected the distance between directive wheel.
6. rail linearity degree determining device according to claim 3, which is characterized in that the rail linearity degree determining device
Further include：
Processing component, the processing component are configured as：
When described two motions often move distance to a declared goal, the angle detected by the angle detection components, base are obtained
Angle in acquisition and the distance to a declared goal determine described two motions in the process moved along first track
In, the change in displacement data of the connecting rod, the change in displacement data of the connecting rod are included in each measurement point, connecting rod perpendicular to
Relative to the displacement with reference to straight line on the preset direction with reference to straight line, the measurement point is the acquisition angle detection components institute
When the angle detected, the position of the rail linearity degree determining device；
And/or
When described two motions often move distance to a declared goal, the distance detected by the detection components, base are obtained
In the distance of acquisition, described two motions are determined during being moved along first track, first track
With the distance change data of second track；
Wherein, the distance to a declared goal is the length between the both ends that the connecting rod and described two motions connect.
7. rail linearity degree determining device according to claim 6, which is characterized in that the rail linearity degree determining device
Further include：
Display module, the display module are connect with the processing component, and the processing component is additionally configured to based on determining
Data formation curve figure, wherein when determining data are the change in displacement data of the connecting rod, the curve graph includes displacement
Change curve, when determining data are the distance change data of first track and second track, the curve
Figure includes distance change curve graph；
The display module is configured as showing the curve graph.
8. rail linearity degree determining device according to claim 6, which is characterized in that the component out of shape includes：It is out of shape
Wheel,
The rail linearity degree determining device further includes：Encoder, the encoder is fixed on any wheel out of shape, in institute
After stating any specified number of turns of wheel rotation out of shape, indication signal is sent to the processing component, the indication signal is used to indicate institute
It states two motions and moves the distance to a declared goal.
9. rail linearity degree determining device according to any one of claims 1 to 8, which is characterized in that the rail linearity degree
Determining device further includes：
Component is pulled, the towing component is connect with a motion in described two motions, the towing component
It is configured as pulling connected motion, so that described two motions are moved along first track.
10. rail linearity degree determining device according to claim 9, which is characterized in that
The towing component includes：
Y type connecting rods, the Y types connecting rod includes head rod, and is connect with one end of the head rod, and phase
For symmetrical second connecting rod of the head rod and third connecting rod, second connecting rod and the third connecting rod
It is connect with a motion in described two motions, the axis of the head rod and one motion
Axis collinear；
Catching plate, the catching plate are connect with the other end of the head rod.
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