CN109931864A - Spherical hinge space three-dimensional angle of revolution measurement method based on eddy current effect - Google Patents
Spherical hinge space three-dimensional angle of revolution measurement method based on eddy current effect Download PDFInfo
- Publication number
- CN109931864A CN109931864A CN201910209229.9A CN201910209229A CN109931864A CN 109931864 A CN109931864 A CN 109931864A CN 201910209229 A CN201910209229 A CN 201910209229A CN 109931864 A CN109931864 A CN 109931864A
- Authority
- CN
- China
- Prior art keywords
- bulb
- angle
- spherical hinge
- current vortex
- revolution
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The spherical hinge space three-dimensional angle of revolution measurement method based on eddy current effect that the invention discloses a kind of, its spherical hinge is that the internal ball seat with ball-and-socket is made of pedestal and end cap, bulb is embedded in concentric ball-and-socket and can be rotated, the connected ball toggle at the top of the spherical crown of bulb；It is distributed by the rule of setting that each diameter is identical, the different blind hole cylindrical of depth on the surface of bulb；Several current vortex sensors are set in the base, and the axis of current vortex sensor and the axis of blind hole are ball-and-socket radial direction；Combination using the output signal of all current vortex sensors judges the relative angular position between bulb and ball-and-socket and the direction of relative motion.The present invention is trained according to artificial neural network theories, establishes the relationship of the output signal of current vortex sensor and the space angle of revolution angle value of bulb, obtains measurement model, and the real-time measurement of spherical hinge space three-dimensional angle of revolution is realized using measurement model.
Description
Technical field
The present invention relates to spherical hinge space three-dimensional angle of revolution measurement methods, more specifically a kind of to be passed based on current vortex
The spherical hinge space three-dimensional angle of revolution measurement method of sensor displacement measurement.
Background technique
Traditional angular transducer is only used for the measurement of one-dimensional angle of revolution, can not achieve hyperspace angle of revolution
Measurement；
The applicant in Publication No. CN103527620A, application No. is the applications for a patent for invention of ZL201310502930.2
The spherical hinge and measurement method of a kind of achievable angle of revolution measurement are disclosed in file, are established and are understood with Method of Equivalent Magnetic Charge
The mathematical model of analysis, the magnetic induction intensity value for having obtained flexural pivot chain space angle of revolution value and Hall sensor used measurement change
Relationship between amount, the relevant technologies are successfully realized；But the mathematical model method is there are multiple integral, when resolve angles value, changes
Generation number is more, takes a long time, and easily by periphery magnetic interference, is unfavorable for flexural pivot chain space angle of revolution real-time detection, and survey
Accuracy of measurement is to be improved.
Summary of the invention
The present invention is to provide that a kind of measurement accuracy is high, environment resistant to avoid above-mentioned existing deficiencies in the technology
The strong spherical hinge space three-dimensional angle of revolution measurement method based on eddy current sensor displacement measurement of interference performance, it is fast to realize
Speed real-time measurement.
The present invention adopts the following technical scheme that in order to solve the technical problem
The present invention is based on the spherical hinge space three-dimensional angle of revolution measurement methods of eddy current effect, and the spherical hinge is the bottom of by
Seat and end cap constitute the internal ball seat with ball-and-socket, and bulb is embedded in the ball-and-socket, and expose spherical crown in the opening of end cap,
The connected ball toggle at the top of the spherical crown of bulb, the bulb with ball-and-socket be it is concentric, bulb can rotate with one heart relative to ball-and-socket；
The present invention is based on the characteristics of spherical hinge space three-dimensional angle of revolution measurement method of eddy current effect to be: in the ball
The surface of head is distributed that each diameter is identical, the different blind hole cylindrical of depth by the rule of setting；It is in the pedestal
Current vortex sensor is arranged in array, and the axis of the current vortex sensor and the axis of blind hole are ball-and-socket radial direction；Using institute
The combination for stating the output signal of all current vortex sensors judges relative angular position between the bulb and ball-and-socket and opposite
The direction of movement.
The present invention is based on the characteristics of spherical hinge space three-dimensional angle of revolution measurement method of eddy current effect to lie also in:
For the output signal of the current vortex sensor, it is defined as follows different three kinds of forms:
If the current vortex sensor and tested blind hole are on just opposite position, then the output of current vortex sensor
The hole bottom distance S of its gauge head of characterization and tested blind hole；
If the current vortex sensor and tested blind hole are on the position being staggered completely, then current vortex sensor is defeated
The gap d on the surface of its gauge head of characterization and bulb out；
If the current vortex sensor and tested blind hole forming portion split-phase are wrong, then the output signal of current vortex sensor with
Measured hole and the current vortex sensor degree that is staggered are related.
The present invention is based on the characteristics of spherical hinge space three-dimensional angle of revolution measurement method of eddy current effect to lie also in: by institute
It states spherical hinge to be placed in caliberating device, be trained according to artificial neural network theories, establish the output of current vortex sensor
The relationship of the space angle of revolution angle value of signal and bulb obtains measurement model, realizes flexural pivot chain space using the measurement model
The real-time measurement of three-dimensional angle of revolution.
The present invention is based on the characteristics of spherical hinge space three-dimensional angle of revolution measurement method of eddy current effect to lie also in: described
It is trained and is referred to according to artificial neural network theories: for the spherical hinge being placed in caliberating device, by direction initialization and step pitch
It drives bulb to turn round in space, is bulb installation space angle of revolution calibration value, the reality of each current vortex sensor of respective record
Measured value；The calibration value and measured value are corresponded as array, array progress people's neural net model establishing is utilized.
The present invention is based on the characteristics of spherical hinge space three-dimensional angle of revolution measurement method of eddy current effect to lie also in: adjustment
The step pitch to obtain different array amounts, and obtains different measurement accuracy.
The present invention is based on the characteristics of spherical hinge space three-dimensional angle of revolution measurement method of eddy current effect to lie also in: by such as
Lower step obtains calibration value and the one-to-one array of measured value:
The support that vertical outer gimbal support in step 1, definition caliberating device is directed to rectangular outer frame is X axis support, rectangle
Outline border is Y-axis support for the support of inside casing inverted " u "-shaped, is Z-direction in the axial direction of upright sleeve, spherical hinge is placed on mark
Determine in device, flexural pivot rod set makes the centre of sphere of bulb and the intersection point of X-axis and Y-axis coincide, be with the centre of sphere of bulb in sleeve
Three-dimensional cartesian coordinate system O-XYZ is arranged in origin；
Step 2, rotation rectangular outer frame make to be in rectangular outer frame angle detection Circular gratings on the vertical outer gimbal support in left side
Reading is θx1, i.e., it is θ that bulb, which rotates angle around X-axis,x1；It is rotated further by inside casing inverted " u "-shaped, makes to be arranged on rectangular outer frame bracket
The reading of Inner Gimbal Angle detection Circular gratings inverted " u "-shaped is followed successively by θy1, θy2…θyn, i.e., the bulb of spherical hinge is around Y direction rotation angle
Degree is θy1, θy2…θyn, record the array U of current vortex sensor array readings11, U12…U1n, with angle value (θx1,θy1) and electricity
The reading group U of Eddy current sensor array11, U12…U1nArray (the U of composition11,θx1,θy1), (U12,θx1,θy2)…(U1n,θx1,
θyn) indicate current vortex sensor output valve and bulb space angle of revolution corresponding relationship；
Step 3, rotation rectangular outer frame make to be in the rectangular outer frame angle detection Circular gratings on the vertical outer gimbal support in left side
Reading be followed successively by θx2…θxn, array is obtained according to mode identical with step 2:
(U21,θx2,θy1)、(U22,θx2,θy2)…(U2n,θx2,θyn)；
(U31,θx3,θy1)、(U32,θx3,θy2)…(U3n,θx3,θyn)；
(Un1,θxn,θy1)、(Un2,θxn,θy2)…(Unn,θxn,θyn)；
Step 4, the training and modeling that artificial neural network is carried out using step 2 and step 3 array obtained；
Wherein, θx1-θxnFor the rotatable range of rectangular outer frame, i.e. the bulb of spherical hinge model that angle is rotated around X-direction
It encloses；θy1-θynFor the rotatable range of inside casing inverted " u "-shaped, i.e. the bulb of spherical hinge range that angle is rotated around Y direction.
Compared with the prior art, the invention has the advantages that:
1, the present invention is in bulb turning course, since the depth of each blind hole is different, all current vortex sensors
There are corresponding relationships in the direction of relative angular position and relative motion between the combination and bulb and ball-and-socket of output signal, use
Artificial neural network technology establishes measurement model by training；Spherical hinge space three-dimensional angle of revolution is realized using measurement model
Real-time measurement.
2, method choice current vortex sensor in the present invention, measurement accuracy is high, environment resistant interference performance is strong, for filling
Lubricating grease between bulb and ball-and-socket is insensitive, it is ensured that measurement accuracy.
3, Principle and method of measurement of the present invention relative to traditional angular transducer, with artificial neural network technology into
Row training, to construct the mapping relations between bulb space angle of revolution angle value and electric vortex sensor measuring value.Traditional position
It moves or angle measuring sensor all relies on certain physical effect or principle, and have mathematics measurement model, and its measurement is differentiated
Rate and precision depend on measurement model, and the various structural parameters errors in model will affect measurement result.The method of the present invention does not have
Sensor measurement model on ordinary meaning, therefore spherical hinge various mismachining tolerances in the fabrication process and rigging error are to measurement
As a result influence very little.
4, the configuration of the present invention is simple, algorithm are easy to accomplish, do not have for the material of spherical hinge, electromagnetism, mechanical characteristic
Particular/special requirement, in robot, parallel institution, the fields such as parallel machine have great application prospect and application value.
Detailed description of the invention
Fig. 1 is schematic diagram of the three-dimensional structure；
Fig. 2 is that current vortex sensor of the present invention and ball head structure cooperate schematic diagram；
Fig. 3 is single hole of the present invention and current vortex sensor relative position schematic diagram；
Fig. 4 is the caliberating device of neural metwork training of the present invention.
Figure label: 1 end cap；2 flexural pivot bars；3 bulbs；4 pedestals；5 current vortex sensors；6 blind holes；7 base platforms；8 cards
Plate clamp；9 vertical outer gimbal supports；10 rectangular outer frame angles detect Circular gratings；11 rectangular outer frames；12 inside casings inverted " u "-shaped；13 sets
Cylinder；14 spherical hinges.
Specific embodiment
Spherical hinge space three-dimensional angle of revolution measurement method in the present embodiment based on eddy current effect,
Referring to Fig. 1, spherical hinge is that the internal ball seat with ball-and-socket, bulb 3 are made of pedestal 4 and end cap 1 in the present embodiment
It is embedded in ball-and-socket, and exposes spherical crown, the connected ball toggle 2 at the top of the spherical crown of bulb 3, bulb 3 and ball in the opening of end cap 1
Nest be it is concentric, bulb 3 can rotate with one heart relative to ball-and-socket.
Referring to fig. 2, each diameter of rule distribution for pressing setting on the surface of bulb 3 in the present embodiment is identical, depth is not identical
Blind hole 6 cylindrical；Current vortex sensor 5, the axis of current vortex sensor 5 and blind are set in array in pedestal 4
The axis in hole 6 is ball-and-socket radial direction；The bulb 3 and ball are judged using the combination of the output signal of all current vortex sensors 5
The direction of relative angular position and relative motion between nest.
For the output signal of current vortex sensor 5, it is defined as follows different three kinds of forms:
If current vortex sensor 5 and tested blind hole 6 are on just opposite position, then the output of current vortex sensor 5 is believed
Number characterize the hole bottom distance S of the tested blind hole 6 on its gauge head and corresponding position；
If current vortex sensor 5 and tested blind hole 6 are on the position being staggered completely, then the output of current vortex sensor 5
The gap d on the surface of its gauge head of characterization and bulb 3；
If current vortex sensor 5 and 6 forming portion split-phase of tested blind hole are wrong, then the output signal and quilt of current vortex sensor 5
Gaging hole and the current vortex sensor degree that is staggered are related.
Position A shown in Fig. 3 indicates that current vortex sensor and tested blind hole are on just opposite position, position B table
Show that current vortex sensor and tested blind hole are on the position being staggered completely, position C indicates current vortex sensor and tested blind hole
It is on the position that part is staggered.
In the present embodiment, needs for spherical hinge to be placed in caliberating device, be trained according to artificial neural network theories,
The relationship of the output signal of current vortex sensor 5 and the space angle of revolution angle value of bulb 3 is established, measurement model is obtained, utilizes survey
Measure the real-time measurement of model realization spherical hinge space three-dimensional angle of revolution；It is trained and is referred to according to artificial neural network theories:
For the spherical hinge being placed in caliberating device, drives bulb 3 to turn round in space by direction initialization and step pitch, be arranged for bulb 3
Space angle of revolution calibration value, the measured value of each current vortex sensor 5 of respective record；It is by calibration value and measured value one-to-one correspondence
Array carries out people's neural net model establishing using array；Step pitch is adjusted, to obtain different array amounts, and obtains different surveys
Accuracy of measurement.
Fig. 4 show the caliberating device of neural metwork training applied in the present embodiment comprising: base platform 7, Gu
Chuck clamps 8 on base platform 7 are set calmly, vertical outer gimbal support 9 are set in the two sides of base platform 7, with vertical outline border
Bracket 9 supports rectangular outer frame 11, and rectangular outer frame angle is arranged for rectangular outer frame 11 on vertical outer gimbal support 9 and detects circle light
Grid 10；Inside casing 12 inverted " u "-shaped is set on another pair side frame of rectangular outer frame 11, and for inverted " u "-shaped in rectangular outer frame 11
Inner Gimbal Angle detection Circular gratings inverted " u "-shaped are arranged in inside casing 12, in upright setting sleeve on the center of inside casing 12 inverted " u "-shaped
13, flexural pivot bar 2 is sleeved in sleeve 13.
In specific implementation, current vortex sensor is established by learning and training for the spherical hinge being placed in caliberating device
Output valve and bulb space angle of revolution angle value relationship, specifically as follows obtain calibration value and measured value it is one-to-one
Array:
The support that vertical outer gimbal support 9 in step 1, definition caliberating device is directed to rectangular outer frame 11 is X axis support, square
Shape outline border 11 is Y-axis support for the support of inside casing 12 inverted " u "-shaped, is Z-direction in the axial direction of upright sleeve 13, by spherical hinge
It being placed in caliberating device, flexural pivot bar 2 is sleeved in sleeve 13, and so that the centre of sphere of bulb 3 and the intersection point of X-axis and Y-axis is coincided, with
The centre of sphere of bulb 3 is origin, and three-dimensional cartesian coordinate system O-XYZ is arranged.
Step 2, rotation rectangular outer frame 11 make to be in rectangular outer frame angle detection Circular gratings on the vertical outer gimbal support 9 in left side
10 reading is θx1, i.e., it is θ that bulb 3, which rotates angle around X-axis,x1；It is rotated further by inside casing 12 inverted " u "-shaped, makes to be arranged in rectangular outer frame branch
The reading of Inner Gimbal Angle inverted " u "-shaped detection Circular gratings on frame is followed successively by θy1, θy2…θyn, i.e., the bulb of spherical hinge is around Y direction
Rotation angle is θy1, θy2…θyn, record the array U of current vortex sensor array readings11, U12…U1n, with angle value (θx1,
θy1) with the reading group U of current vortex sensor array11, U12…U1nArray (the U of composition11,θx1,θy1), (U12,θx1,θy2)…
(U1n,θx1,θyn) indicate current vortex sensor output valve and bulb space angle of revolution corresponding relationship.
Step 3, rotation rectangular outer frame 11 make the rectangular outer frame angle being on the vertical outer gimbal support 9 in left side detect circle light
The reading of grid 10 is followed successively by θx2…θxn, array is obtained according to mode identical with step 2:
(U21,θx2,θy1)、(U22,θx2,θy2)…(U2n,θx2,θyn)；
(U31,θx3,θy1)、(U32,θx3,θy2)…(U3n,θx3,θyn)；
(Un1,θxn,θy1)、(Un2,θxn,θy2)…(Unn,θxn,θyn)。
Step 4, the training and modeling that artificial neural network is carried out using step 2 and step 3 array obtained；Wherein,
θx1-θxnFor the rotatable range of rectangular outer frame, i.e. the bulb of spherical hinge range that angle is rotated around X-direction；θy1-θynTo fall
The range that the rotatable range of " u "-shaped inside casing, the i.e. bulb of the spherical hinge rotate angle around Y direction.
According to the difference that measurement accuracy requires, the size of step pitch is rationally determined and for trained data volume.And then it uses
Artificial neural network establishes the relationship between bulb space angle of revolution angle value and current vortex sensor inductive output signal, completes to survey
Measure the foundation of model.
After calibration training, which has been provided with the function of realizing gyrobearing identification and angle measurement: working as spherical hinge
In actual operation, when bulb turns round along arbitrary orientation and turns over certain angle, current vortex sensor array can detect one group
Data；With the measurement model established, space gyrobearing and the angle of revolution of bulb can be calculated.
Present inventor has found under study for action: accurate spherical hinge is widely used, and obtains spherical hinge three dimensional angle letter in real time
The pose of breath and spherical hinge has great significance and value.The present invention is to realize the further intelligence of spherical hinge, structure
Simply, algorithm is easy to accomplish, and robustness is good, can realize the real-time measurement of its space angle in robot, the fields such as parallel institution.
Claims (6)
1. a kind of spherical hinge space three-dimensional angle of revolution measurement method based on eddy current effect, the spherical hinge is by pedestal
(4) and end cap (1) constitutes the internal ball seat with ball-and-socket, and bulb (3) is embedded in the ball-and-socket, and the opening in end cap (1)
Spherical crown is exposed at place, the connected ball toggle (2) at the top of the spherical crown of bulb (3), the bulb (3) with ball-and-socket be it is concentric, bulb (3) can
It is rotated with one heart relative to ball-and-socket；It is characterized in that: identical, deep by each diameter of rule distribution of setting on the surface of the bulb (3)
Spend different blind hole cylindrical (6)；In array setting current vortex sensor (5), the electricity whirlpool in the pedestal (4)
The axis of flow sensor (5) and the axis of blind hole (6) are ball-and-socket radial direction；Utilize all current vortex sensors (5)
The combination of output signal judges the relative angular position between the bulb (3) and ball-and-socket and the direction of relative motion.
2. the spherical hinge space three-dimensional angle of revolution measurement method according to claim 1 based on eddy current effect, special
Sign is:
For the output signal of the current vortex sensor (5), it is defined as follows different three kinds of forms:
If the current vortex sensor (5) and tested blind hole (6) are on just opposite position, then current vortex sensor (5)
Output signal characterizes the hole bottom distance S of its gauge head Yu tested blind hole (6)；
If the current vortex sensor (5) and tested blind hole (6) are on the position being staggered completely, then current vortex sensor (5)
Output signal characterize its gauge head and bulb (3) surface gap d；
If the current vortex sensor (5) and tested blind hole (6) forming portion split-phase are wrong, then the output of current vortex sensor (5) is believed
It is number related to measured hole and the current vortex sensor degree that is staggered.
3. the spherical hinge space three-dimensional angle of revolution measurement method according to claim 1 based on eddy current effect, special
Sign is: the spherical hinge being placed in caliberating device, is trained according to artificial neural network theories, current vortex sensing is established
The relationship of the space angle of revolution angle value of the output signal and bulb (3) of device (5) obtains measurement model, utilizes the measurement model
Realize the real-time measurement of spherical hinge space three-dimensional angle of revolution.
4. the spherical hinge space three-dimensional angle of revolution measurement method according to claim 3 based on eddy current effect, special
Sign is: described be trained according to artificial neural network theories refers to: for the spherical hinge being placed in caliberating device, pressing setting side
It drives bulb (3) to turn round in space to step pitch, is bulb (3) installation space angle of revolution calibration value, each electricity of respective record
The measured value of eddy current sensor (5)；The calibration value and measured value are corresponded as array, utilize array progress people refreshing
Through network modelling.
5. the spherical hinge space three-dimensional angle of revolution measurement method according to claim 4 based on eddy current effect, special
Sign is: adjusting the step pitch, to obtain different array amounts, and obtains different measurement accuracy.
6. the spherical hinge space three-dimensional angle of revolution measurement method according to claim 4 based on eddy current effect, special
Sign is: calibration value and the one-to-one array of measured value are obtained as follows:
The support that vertical outer gimbal support (9) in step 1, definition caliberating device is directed to rectangular outer frame (11) is X axis support, square
Shape outline border (11) is Y-axis support for the support of inside casing inverted " u "-shaped (12), and the axial direction in upright sleeve (13) is Z-direction, will
Spherical hinge is placed in caliberating device, and flexural pivot bar (2) is sleeved in sleeve (13), makes the centre of sphere and X-axis and Y-axis of bulb (3)
Intersection point coincides, and using the centre of sphere of bulb (3) as origin, three-dimensional cartesian coordinate system O-XYZ is arranged；
Step 2, rotation rectangular outer frame (11) make to be in rectangular outer frame angle detection Circular gratings on the vertical outer gimbal support (9) in left side
(10) reading is θx1, i.e., it is θ that bulb (3), which rotates angle around X-axis,x1；Inside casing inverted " u "-shaped (12) are rotated further by, make to be arranged in rectangle
The reading of Inner Gimbal Angle inverted " u "-shaped detection Circular gratings on outer gimbal support is followed successively by θy1, θy2...θyn, i.e., the bulb of spherical hinge around
It is θ that Y direction, which rotates angle,y1, θy2...θyn, record the array U of current vortex sensor array readings11, U12...U1n, with angle
It is worth (θx1,θy1) with the reading group U of current vortex sensor array11, U12...U1nArray (the U of composition11,θx1,θy1), (U12,θx1,
θy2)...(U1n,θx1,θyn) indicate current vortex sensor output valve and bulb space angle of revolution corresponding relationship；
Step 3, rotation rectangular outer frame (11) make the rectangular outer frame angle being on the vertical outer gimbal support (9) in left side detect circle light
The reading of grid (10) is followed successively by θx2...θxn；Array is obtained according to mode identical with step 2:
(U21,θx2,θy1)、(U22,θx2,θy2)...(U2n,θx2,θyn)；
(U31,θx3,θy1)、(U32,θx3,θy2)...(U3n,θx3,θyn)；
(Un1,θxn,θy1)、(Un2,θxn,θy2)...(Unn,θxn,θyn)；
Step 4, the training and modeling that artificial neural network is carried out using step 2 and step 3 array obtained；
Wherein, θx1-θxnFor the rotatable range of rectangular outer frame, i.e. the bulb of spherical hinge range that angle is rotated around X-direction；
θy1-θynFor the rotatable range of inside casing inverted " u "-shaped, i.e. the bulb of spherical hinge range that angle is rotated around Y direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910209229.9A CN109931864B (en) | 2019-03-19 | 2019-03-19 | Ball hinge space three-dimensional rotation angle measuring method based on eddy current effect |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910209229.9A CN109931864B (en) | 2019-03-19 | 2019-03-19 | Ball hinge space three-dimensional rotation angle measuring method based on eddy current effect |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109931864A true CN109931864A (en) | 2019-06-25 |
| CN109931864B CN109931864B (en) | 2020-08-07 |
Family
ID=66987693
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910209229.9A Active CN109931864B (en) | 2019-03-19 | 2019-03-19 | Ball hinge space three-dimensional rotation angle measuring method based on eddy current effect |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109931864B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113295087A (en) * | 2021-05-26 | 2021-08-24 | 合肥工业大学 | Spherical hinge three-axis rotation angle measuring method based on spherical three-dimensional coding |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU838541A1 (en) * | 1978-07-20 | 1981-06-15 | Предприятие П/Я А-1857 | Eddy-current transducer on aerostatic bearing |
| CN102607400A (en) * | 2012-03-23 | 2012-07-25 | 合肥工业大学 | Precision spherical hinge clearance-measuring instrument and measurement method |
| CN103047352A (en) * | 2012-12-19 | 2013-04-17 | 哈尔滨工业大学 | Two-dimensional flexible hinge angle decoupling eddy current damping zero-rigidity vibration isolator |
| CN103047353A (en) * | 2012-12-19 | 2013-04-17 | 哈尔滨工业大学 | Eddy-current damping zero-stiffness vibration isolator with angular decoupling function by aid of rolling joint bearing |
| CN103527620A (en) * | 2013-10-23 | 2014-01-22 | 合肥工业大学 | Spherical hinge capable of realizing rotation angle measurement and measurement method of rotation angle |
| CN203785622U (en) * | 2014-03-25 | 2014-08-20 | 西安理工大学 | Angle sensor based on eddy current effect |
| CN104454962A (en) * | 2014-12-01 | 2015-03-25 | 杭州电子科技大学 | Ball hinge capable of detecting spatial revolution angle |
| CN104567653A (en) * | 2014-12-26 | 2015-04-29 | 北京航天控制仪器研究所 | Method for measuring angle of inner frame of multi-frame pod by electric eddy-current transducer |
| CN106643693A (en) * | 2016-10-14 | 2017-05-10 | 哈尔滨工业大学 | Air floating ball bearing three-dimensional attitude measurement device |
| CN107054690A (en) * | 2016-12-12 | 2017-08-18 | 惠阳航空螺旋桨有限责任公司 | The constantly measurement apparatus of propeller blade angle |
| WO2017143147A1 (en) * | 2016-02-19 | 2017-08-24 | Zetec, Inc. | Eddy current inspection probe |
| CN107121055A (en) * | 2017-06-05 | 2017-09-01 | 大连理工大学 | A kind of three-dimensional scaling method of eddy current displacement sensor array |
| CN207570808U (en) * | 2017-11-16 | 2018-07-03 | 吉林大学 | A kind of automotive electric controlled steering system property test platform |
| CN208112413U (en) * | 2018-02-06 | 2018-11-16 | 杨斌堂 | Multiple degrees of freedom function manoeuvring platform and function steerable system |
| CN109282774A (en) * | 2018-08-31 | 2019-01-29 | 华中科技大学 | A kind of device and method solving ball-joint Three Degree Of Freedom posture based on range measurement |
-
2019
- 2019-03-19 CN CN201910209229.9A patent/CN109931864B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU838541A1 (en) * | 1978-07-20 | 1981-06-15 | Предприятие П/Я А-1857 | Eddy-current transducer on aerostatic bearing |
| CN102607400A (en) * | 2012-03-23 | 2012-07-25 | 合肥工业大学 | Precision spherical hinge clearance-measuring instrument and measurement method |
| CN103047352A (en) * | 2012-12-19 | 2013-04-17 | 哈尔滨工业大学 | Two-dimensional flexible hinge angle decoupling eddy current damping zero-rigidity vibration isolator |
| CN103047353A (en) * | 2012-12-19 | 2013-04-17 | 哈尔滨工业大学 | Eddy-current damping zero-stiffness vibration isolator with angular decoupling function by aid of rolling joint bearing |
| CN103527620A (en) * | 2013-10-23 | 2014-01-22 | 合肥工业大学 | Spherical hinge capable of realizing rotation angle measurement and measurement method of rotation angle |
| CN203785622U (en) * | 2014-03-25 | 2014-08-20 | 西安理工大学 | Angle sensor based on eddy current effect |
| CN104454962B (en) * | 2014-12-01 | 2016-11-30 | 杭州电子科技大学 | A kind of spherical hinge detecting angle of revolution, space |
| CN104454962A (en) * | 2014-12-01 | 2015-03-25 | 杭州电子科技大学 | Ball hinge capable of detecting spatial revolution angle |
| CN104567653A (en) * | 2014-12-26 | 2015-04-29 | 北京航天控制仪器研究所 | Method for measuring angle of inner frame of multi-frame pod by electric eddy-current transducer |
| WO2017143147A1 (en) * | 2016-02-19 | 2017-08-24 | Zetec, Inc. | Eddy current inspection probe |
| CN106643693A (en) * | 2016-10-14 | 2017-05-10 | 哈尔滨工业大学 | Air floating ball bearing three-dimensional attitude measurement device |
| CN107054690A (en) * | 2016-12-12 | 2017-08-18 | 惠阳航空螺旋桨有限责任公司 | The constantly measurement apparatus of propeller blade angle |
| CN107121055A (en) * | 2017-06-05 | 2017-09-01 | 大连理工大学 | A kind of three-dimensional scaling method of eddy current displacement sensor array |
| CN207570808U (en) * | 2017-11-16 | 2018-07-03 | 吉林大学 | A kind of automotive electric controlled steering system property test platform |
| CN208112413U (en) * | 2018-02-06 | 2018-11-16 | 杨斌堂 | Multiple degrees of freedom function manoeuvring platform and function steerable system |
| CN109282774A (en) * | 2018-08-31 | 2019-01-29 | 华中科技大学 | A kind of device and method solving ball-joint Three Degree Of Freedom posture based on range measurement |
Non-Patent Citations (4)
| Title |
|---|
| RUI LIU等: "Laser and vision-based measurements of helicopter blade angles", 《MEASUREMENT》 * |
| 朱良: "基于磁效应的嵌入式精密球铰链空间回转角度测量技术研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
| 路翼畅: "智能球铰链间隙测量及标定技术提升", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
| 陈时毅: "基于人工神经网络建模的球铰链回转角度测量新技术", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113295087A (en) * | 2021-05-26 | 2021-08-24 | 合肥工业大学 | Spherical hinge three-axis rotation angle measuring method based on spherical three-dimensional coding |
| CN113295087B (en) * | 2021-05-26 | 2024-04-30 | 合肥工业大学 | Ball hinge triaxial rotation angle measurement method based on spherical three-dimensional coding |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109931864B (en) | 2020-08-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| RU2431804C2 (en) | Positioning pattern | |
| CN104655063B (en) | The high-precision calibrating method of articulated coordinate machine | |
| CN104655167B (en) | Calibration method of angle encoder eccentricity and structure parameters of joint coordinate measuring machine | |
| CN109186858B (en) | Gravity center measuring device and method | |
| CN109032070A (en) | A kind of contactless R-test measuring instrument scaling method using eddy current displacement sensor | |
| CN103527620A (en) | Spherical hinge capable of realizing rotation angle measurement and measurement method of rotation angle | |
| CN108780112A (en) | The field calibration of 3 D non-contacting type scanning system | |
| CN109341601A (en) | A kind of Space locality establishment method of revolving platform central axis in vision measurement device | |
| CN106839968B (en) | Rotor space axis of bending test macro and its test method | |
| CN104197834A (en) | Non-contact complex surface cone volume measurement system and method | |
| CN109032069A (en) | A kind of contactless R-test measuring instrument sphere centre coordinate calculation method using eddy current displacement sensor | |
| CN101403606A (en) | Large visual field dual-shaft measuring apparatus based on line-structured light | |
| CN106568365B (en) | A kind of detection of sphere hole system complex position degree error and assessment method | |
| CN104634248A (en) | Revolving shaft calibration method under binocular vision | |
| CN106247914A (en) | A kind of coordinate measuring machine touch trigger probe scaling method | |
| CN205785144U (en) | Articulated flexible COMERO | |
| CN103278116A (en) | Six-freedom joint type coordinate measurement machine calibration method | |
| CN109931864A (en) | Spherical hinge space three-dimensional angle of revolution measurement method based on eddy current effect | |
| CN107255453A (en) | A kind of industrial robot joint decelerator eccentric shaft diameter measurement device and method | |
| Hu et al. | Research on measurement method of spherical joint rotation angle based on ELM artificial neural network and eddy current sensor | |
| CN204064241U (en) | A kind of contactless complex surface cone information collecting device | |
| CN112362238B (en) | Gravity center measuring method | |
| CN208435805U (en) | Space positioning apparatus and rectifier | |
| CN110929742B (en) | Large-scale high-speed rotation equipment functional filtering method based on particle swarm optimization | |
| CN109696146A (en) | A kind of coaxiality detecting method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |