CN110186373B - Laser tracking measurement system with counterweight balance and standard ball as reflection device - Google Patents
Laser tracking measurement system with counterweight balance and standard ball as reflection device Download PDFInfo
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- CN110186373B CN110186373B CN201910459007.2A CN201910459007A CN110186373B CN 110186373 B CN110186373 B CN 110186373B CN 201910459007 A CN201910459007 A CN 201910459007A CN 110186373 B CN110186373 B CN 110186373B
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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
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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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
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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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
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/0002—Arrangements for supporting, fixing or guiding the measuring instrument or the object to be measured
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a laser tracking measurement system with a standard ball as a reflecting device added with a counterweight balance, which overcomes the problems that the measurement precision is influenced by the large mass of a laser head and a connecting plate part, low rotary motion precision, unreasonable light path layout, unreasonable limiting installation position and the like in the first generation of laser tracking measurement system, and provides a new design scheme of the laser tracking measurement system. The second generation laser tracking measurement system comprises a light path carrying platform, a weight balancing device, a pitching motion driving platform, a standard ball fine-tuning device and a rotary motion driving platform. The invention simultaneously reduces the requirement on the shafting precision, and the measurement precision is superior to the traditional laser tracking measurement equipment under the same processing condition and processing cost.
Description
Technical Field
The invention relates to the field of laser measurement, in particular to a laser tracking measurement system taking a standard ball as a reflecting device.
Background
The laser tracking system is used for measuring the large-size geometric dimension and the dynamic track of a space, and is measurement equipment which is urgently needed by large-scale scientific engineering and high-end equipment manufacturing. In order to realize space dynamic target tracking and measurement, a laser tracking system is required to accurately detect the relative change of the position of a dynamic target in real time and perform high-speed servo control through the pitch angle of a tracking control unit. The measuring light beam can always ensure the quick aiming and tracking of the center of the space moving target, thereby realizing the real-time tracking and accurate measurement of the large-range and long-distance moving target. The laser tracking and measuring system mainly comprises a two-dimensional slewing mechanism capable of realizing automatic tracking and an interference length measuring system. The traditional commercial laser tracker uses a plane mirror as a reflecting device in the instrument, and is difficult to avoid measurement errors caused by vibration and movement of a two-axis motor during rotation. These errors are not compensated for, thereby reducing the measurement accuracy of the laser tracker. Meanwhile, due to the problem of installation of internal parts of the interference length measuring system, the gravity center of the interference length measuring system is easy to deviate from the rotation axis of the pitching motor too much, the high-speed servo control difficulty of the pitching motor can be increased, and the motor control parameters are difficult to adjust to a proper value.
Disclosure of Invention
On the basis of the Chinese invention patent [ CN201610099814], the invention overcomes the problems that the measurement precision is influenced by the large mass of a laser head and a connecting plate part, the low precision of rotary motion, the unreasonable light path layout, the unreasonable limit installation position and the like, and provides a novel design scheme of a laser tracking measurement system.
The technical scheme adopted by the invention is a laser tracking measurement system which is added with a balance weight and uses a standard ball as a reflecting device, and the system comprises a light path carrying platform 1, a weight balancing device 2, a pitching motion driving platform 3, a standard ball fine-tuning device 4 and a rotary motion driving platform 5. Pitching motion drive platform 3 installs on slewing motion drive platform 5, and standard ball micromatic setting 4 sets up in pitching motion drive platform 3's inside, and weight balancing unit 2 utilizes bolted connection to link firmly on light path carries on the pitching connecting support 13 of platform 1.
The system is mainly divided into the parts, and the connection relationship of the parts is as follows:
the rotary motion driving platform 5 is composed of a base shell 45, a wiring groove 46, a flange 47, a rotary motor 48, a rotary limit 53, an eccentric limit bracket 49, a rotary platform upper plate 50, a rotary platform support 51 and a rotary platform lower plate 52. The flange plate 47 is fixed on a rotary motor 48 through twelve uniformly distributed nuts, and the rotary motor 48 is fixed on a rotary platform upper plate 50 through eight uniformly distributed nuts; the trigger type limit 22 is fixed on an eccentric limit bracket 49 through two bolts, and the eccentric limit bracket 49 and the wiring groove 46 are fixed on an upper plate 50 of the rotary platform in a screw connection mode; the four rotary platform struts are connected and supported between the rotary platform upper plate 50 and the rotary platform lower plate 52 through nuts; the base housing 45 is fixedly attached to a rotary platform upper plate 50 and a rotary platform lower plate 52.
The standard ball fine-tuning device 4 is composed of a standard ball 36, a T-shaped shaft 37, a lock nut 38, an upper sleeve 39, a compression spring 40, a lower sleeve 41, a standard ball support plate 42 and a two-dimensional fine-tuning platform 43, and the content thereof belongs to another patent and is not described herein. The standard ball fine adjustment device 4 is fixed to the lower rotary table plate 52 by bolts.
The pitching motion driving platform 3 is composed of a bearing cover 19, a bearing support 20, a pitching shaft 21, a triggering limiting plate 22, a motor support 23, a pitching motor 24, a binding belt fixing buckle 25, a pitching platform upper plate 26, a pitching platform lower plate 27, an electric wire guide plate 28, a U-shaped connecting plate 29, a T-shaped connecting plate 30, a fine adjustment nut 31, a limiting support 32, a V-groove connecting rod 33, a special-shaped gasket 34 and a rotation limiting triggering plate 35. The pitching shaft 21 is arranged in a bearing inner ring, the bearing outer ring is fixedly connected with a bearing bracket 20 through a bearing cover 19, and the bearing bracket 20 is fixed on an upper plate 26 of the pitching platform; the pitching motor 24 is fixedly connected with the motor support 23 through a bolt, the motor support 23 is fixed on the pitching platform 26, the shaft of the pitching motor 24 and the pitching shaft 21 are coaxially arranged, the pitching motor 24 and the pitching shaft 21 are connected with the pitching connecting support 13, and the pitching motor 24 drives the pitching motion of the pitching motion driving platform 3; the trigger type limit 22 is fixedly connected with a limit bracket 32, and the limit bracket 32 is fixed on the pitching platform upper plate 26, so that the pitching angle limit control of the optical path carrying platform 1 is realized; the rotation limit trigger plate 35 is fixedly connected with the pitching platform lower plate 27 through a bolt and is used for triggering the rotation limit 53 to realize the rotation limit control of the pitching motion driving platform 3; the fine adjustment nut 31 is screwed on the T-shaped connecting plate 30, the fine adjustment nut 31 is vertically placed in a prefabricated groove on the pitching platform lower plate 27, then the T-shaped connecting plate 30 is fixed on the pitching platform upper plate 26 through bolts, and the fine adjustment nut 31 plays a role in fine adjustment of the front and rear positions of the platform; the special-shaped gasket 34 is fixedly connected with the pitching platform upper plate 26 and the V-groove connecting rod 33 through bolts, the U-shaped connecting plate 29 is connected to the pitching platform upper plate 26 through screws, and the U-shaped connecting plate 29, the V-groove connecting rod 33, the pitching platform upper plate 26 and the pitching platform lower plate 27 form a horizontal posture adjusting platform; the ribbon fixing buckle 25 can be fixedly connected to a preset hole position of the pitching platform upper plate 26 through a bolt, the purpose of fixing the motor wire by the ribbon is achieved, and the wire guide plate 28 is fixed to the pitching platform upper plate 26 through a bolt, so that the purpose of guiding the motor wire to move is achieved. The pitching driving platform 3 and the flange plate 47 are fixed through seven bolts.
The optical path carrying platform 1 is composed of a BS lens and lens frame 6, a PBS lens and lens frame 7, an optical path carrying bottom plate 8, an 1/4 wave plate and wave plate frame 9, a laser frame 10, a PSD circuit board 11, an optical path carrying connecting plate 12, a pitching connecting support 13, a vertical fine adjustment knob 14, a horizontal fine adjustment knob 15, a photoelectric receiver 16, a diaphragm 17, a convex lens and lens frame 18 and a black opaque shell 44. The contents of the BS lens and lens holder 6, the PBS lens and lens holder 7, the optical path mounting base plate 8, the 1/4 wave plate and wave plate holder 9, the laser holder 10, the PSD circuit board 11, the photoelectric receiver 16, the diaphragm 17, the convex lens and lens holder 18 belong to another patent, and are not described herein again. The vertical fine adjustment knob 14 and the horizontal fine adjustment knob 15 are screwed on the pitching connecting support 13, the pitching connecting support 13 and the optical path carrying connection 12 are fixedly connected by bolts after the vertical fine adjustment knob 14 and the horizontal fine adjustment knob 15 are aligned with a preset groove on the optical path carrying connection 12, the vertical fine adjustment knob 14 can be rotated to perform fine adjustment in the vertical direction, and the horizontal fine adjustment knob 15 can be rotated to perform fine adjustment in the horizontal direction; the black opaque housing 44 is bolted to the light path mounting attachment plate 12.
The weight balancing device 2 is composed of a counterweight connecting plate 57, a counterweight block I54, a counterweight supporting plate 55 and a counterweight block II 56. The balancing weight I54 and the balancing weight II56 are respectively fixed on the two balancing weight connecting plates 57 in a bolt connection mode, and the balancing weight supporting plate 55 is connected on the balancing weight connecting plates 57 in a bolt connection mode.
Drawings
FIG. 1 is a schematic diagram of a laser tracking system
FIG. 2 is a schematic diagram of the internal details of a laser tracking system
FIG. 3 is a schematic view of an optical path mounting platform
FIG. 4 is a schematic view of a pitch drive platform
FIG. 5 is a schematic diagram of a standard ball fine-tuning device
FIG. 6 is a schematic view of a rotary motion driving platform
FIG. 7 is a schematic view of a weight balance device
The labels in the figure are: 1-optical path carrying platform, 2-weight balancing device, 3-pitching motion driving platform, 4-standard ball fine adjustment device, 5-rotation motion driving platform, 6-BS lens and lens frame, 7-PBS lens and lens frame, 8-optical path carrying bottom plate, 9-1/4 wave plate and wave plate frame, 10-laser frame, 11-PSD circuit board, 12-optical path carrying connecting plate, 13-pitching connecting bracket, 14-vertical fine adjustment knob, 15-horizontal fine adjustment knob, 16-photoelectric receiver, 17-diaphragm, 18-convex lens and lens frame, 19-bearing cover, 20-bearing bracket, 21-pitching shaft, 22-trigger limit, 23-motor bracket, 24-pitching motor, 25-ribbon fixing buckle, 26-pitching platform upper plate, 27-pitching platform lower plate, 28-electric wire guide plate, 29-U-shaped connecting plate, 30-T-shaped connecting plate, 31-fine adjustment nut, 32-limit bracket, 33-V groove connecting rod, 34-special-shaped gasket, 35-rotary limit trigger plate, 36-standard ball, 37-T-shaped shaft, 38-locking nut, 39-upper sleeve, 40-compression spring, 41-lower sleeve, 42-standard ball supporting plate, 43-two-dimensional fine adjustment platform, 44-black light-tight shell, 45-base shell, 46-wiring groove, 47-flange plate, 48-rotary motor, 49-eccentric limit bracket, 50-rotary platform upper plate, 51-rotary platform support, 52-rotary platform lower plate, 29-U-shaped connecting plate, 30-T-shaped connecting plate, 31-fine adjustment nut, 32-, 53-rotation limit, 54-counterweight block I, 55-counterweight support plate, 56-counterweight block II, 57-connecting plate.
Detailed Description
The invention is described in further detail below with reference to the figures and the detailed description. However, it should not be understood that the scope of the above-described subject matter of the present invention is limited to the following embodiments, and any technique realized based on the present invention is within the scope of the present invention.
As shown in fig. 1 and 2, the present invention is composed of an optical path mounting platform 1, a weight balancing device 2, a pitching motion driving platform 3, a standard ball fine-tuning device 4 and a turning motion driving platform 5.
As shown in fig. 6, the flange 47 is fixed on the rotary motor 48 through twelve nuts, and the rotary motor 48 is fixed on the upper plate 50 of the rotary platform through eight nuts; the trigger type limit 22 is fixed on an eccentric limit bracket 49 through two bolts, and the eccentric limit bracket 49 and the wiring groove 46 are fixed on an upper plate 50 of the rotary platform in a screw connection mode; the four rotary platform struts are connected and supported between the rotary platform upper plate 50 and the rotary platform lower plate 52 through nuts; the base housing 45 is fixedly attached to a rotary platform upper plate 50 and a rotary platform lower plate 52.
As shown in fig. 5, a standard ball 36, a T-shaped shaft 37, a lock nut 38, an upper sleeve 39, a compression spring 40, a lower sleeve 41, a standard ball support plate 42, and a two-dimensional fine adjustment platform 43 are arranged. Standard ball fine adjustment device 4 is fixed to lower swivel plate 52 by bolts.
As shown in fig. 4, the pitching motion driving platform 3 mainly comprises a bearing cover 19, a bearing support 20, a pitching shaft 21, a triggering type limit 22, a motor support 23, a pitching motor 24, a ribbon fixing buckle 25, a pitching platform upper plate 26, a pitching platform lower plate 27, an electric wire guide plate 28, a U-shaped connecting plate 29, a T-shaped connecting plate 30, a fine adjustment nut 31, a limit support 32, a V-groove connecting rod 33, a special-shaped gasket 34, and a rotation limit trigger plate 35. The pitching shaft 21 is fixedly connected through a bearing inner ring, a bearing outer ring is fixedly connected with a bearing support 20 through a bearing cover 19, and the bearing support 20 is fixed on the pitching platform upper plate 26; the pitching motor 24 is fixedly connected with the motor support 23 through a bolt, the motor support 23 is fixed on the pitching platform 26, the shaft of the pitching motor 24 is coaxial with the shaft of the pitching shaft 21, and the pitching motor 24 and the pitching shaft 21 are connected with the pitching connecting support 13; the trigger type limit 22 is fixedly connected with a limit bracket 32, and the limit bracket 32 is fixed on the pitching platform upper plate 26, so that the pitching angle limit control of the optical path carrying platform 1 is realized; the rotation limit trigger plate 35 is fixedly connected with the pitching platform lower plate 27 through a bolt and is used for triggering the rotation limit 53 to realize the rotation limit control of the pitching motion driving platform 3; the fine adjustment nut 31 is screwed on the T-shaped connecting plate 30, the fine adjustment nut 31 is vertically placed in a prefabricated groove on the pitching platform lower plate 27, then the T-shaped connecting plate 30 is fixed on the pitching platform upper plate 26 through bolts, and the fine adjustment nut 31 plays a role in fine adjustment of the front and rear positions of the platform; the special-shaped gasket 34 is fixedly connected with the pitching platform upper plate 26 and the V-groove connecting rod 33 through bolts, the U-shaped connecting plate 29 is connected to the pitching platform upper plate 26 through screws, and the U-shaped connecting plate 29, the V-groove connecting rod 33, the pitching platform upper plate 26 and the pitching platform lower plate 27 form a horizontal posture adjusting platform; the ribbon fixing buckle 25 can be fixedly connected to a preset hole position of the pitching platform upper plate 26 through a bolt, the purpose of fixing the motor wire by the ribbon is achieved, and the wire guide plate 28 is fixed to the pitching platform upper plate 26 through a bolt, so that the purpose of guiding the motor wire to move is achieved. The pitching driving platform 3 and the flange plate 47 are fixed through seven bolts.
As shown in fig. 3, the optical path mounting platform 1 mainly comprises a BS lens and lens holder 6, a PBS lens and lens holder 7, an optical path mounting base plate 8, a 1/4 wave plate and wave plate holder 9, a laser holder 10, a PSD circuit board 11, an optical path mounting connection plate 12, a pitching connection bracket 13, a vertical fine adjustment knob 14, a horizontal fine adjustment knob 15, a photoelectric receiver 16, a diaphragm 17, a convex lens and lens holder 18, and a black opaque housing 44. The black opaque housing 44 is bolted to the light path mounting attachment plate 12.
As shown in fig. 7, the weight balance device 2 is composed of a counterweight connecting plate 57, a counterweight block I54, a counterweight supporting plate 55, and a counterweight block II 56. The balancing weight I54 and the balancing weight II56 are respectively fixed on the two balancing weight connecting plates 57 in a bolt connection mode, and the balancing weight supporting plate 55 is connected on the balancing weight connecting plates 57 in a bolt connection mode. The weight balancing device 2 is fixedly connected to the pitching connecting support 13 by a bolt.
The motion mode of the laser tracking system in the patent is as follows: the pitching motion of the pitching motion driving platform 3 is driven by the pitching motor 24, and the horizontal rotation motion of the optical path carrying platform 1, the weight balancing device 2 and the pitching motion driving platform 3 is driven by the rotation motor 48.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention, and many modifications are possible in the present embodiments, as those skilled in the art will recognize. The general principles defined herein may be embodied in other specific embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (4)
1. A laser tracking measurement system which is added with counterweight balance and takes a standard ball as a reflecting device is characterized in that: the system comprises a light path carrying platform (1), a weight balancing device (2), a pitching motion driving platform (3), a standard ball fine-tuning device (4) and a rotary motion driving platform (5); the pitching motion driving platform (3) is arranged on the rotary motion driving platform (5), the standard ball fine-tuning device (4) is arranged inside the pitching motion driving platform (3), and the weight balancing device (2) is fixedly connected to a pitching connecting support (13) of the light path carrying platform (1) through bolts;
the rotary motion driving platform (5) consists of a base shell (45), a wiring groove (46), a flange plate (47), a rotary motor (48), a rotary limit (53), an eccentric limit bracket (49), a rotary platform upper plate (50), a rotary platform support column (51) and a rotary platform lower plate (52); the flange plate (47) is fixed on a rotary motor (48) through twelve uniformly distributed nuts, and the rotary motor (48) is fixed on an upper plate (50) of the rotary platform through eight uniformly distributed nuts; the trigger type limit (22) is fixed on an eccentric limit bracket (49) through two bolts, and the eccentric limit bracket (49) and the wiring groove (46) are fixed on an upper plate (50) of the rotary platform in a screw connection mode; the four rotary platform supports (51) are connected and supported between the upper rotary platform plate (50) and the lower rotary platform plate (52) through nuts; the base shell (45) is fixedly connected to the upper plate (50) and the lower plate (52) of the rotary platform; the weight balancing device (2) consists of a counterweight connecting plate (57), a counterweight block I (54), a counterweight supporting plate (55) and a counterweight block II (56); the counterweight block I (54) and the counterweight block II (56) are respectively fixed on the two counterweight connecting plates (57) in a bolt connection mode, and the counterweight supporting plate (55) is connected on the counterweight connecting plates (57) in a bolt connection mode; the weight balancing device (2) is fixedly connected to the pitching connecting support (13) through bolts.
2. The laser tracking measurement system with the standard ball as the reflecting device added with the balance weight according to claim 1, characterized in that: the standard ball fine-tuning device (4) is fixed with a lower plate (52) of the rotary platform through bolts.
3. The laser tracking measurement system with the standard ball as the reflecting device added with the balance weight according to claim 1, characterized in that: the pitching motion driving platform (3) consists of a bearing cover (19), a bearing support (20), a pitching shaft (21), a triggering type limit (22), a motor support (23), a pitching motor (24), a binding belt fixing buckle (25), a pitching platform upper plate (26), a pitching platform lower plate (27), an electric wire guide plate (28), a U-shaped connecting plate (29), a T-shaped connecting plate (30), a fine adjustment nut (31), a limit support (32), a V-groove connecting rod (33), a special-shaped gasket (34) and a rotation limit triggering plate (35); the pitching shaft (21) is arranged in the bearing inner ring, the bearing outer ring is fixedly connected with the bearing support (20) through the bearing cover (19), and the bearing support (20) is fixed on the pitching platform upper plate (26); the pitching motor (24) is fixedly connected with the motor support (23) through a bolt, the motor support (23) is fixed on the pitching platform upper plate (26), the shaft of the pitching motor (24) and the pitching shaft (21) are coaxially arranged, the pitching motor (24) and the pitching shaft (21) are connected with the pitching connecting support (13), and the pitching motor (24) drives the pitching motion of the pitching motion driving platform (3); the trigger type limit (22) is fixedly connected with a limit bracket (32), and the limit bracket (32) is fixed on an upper plate (26) of the pitching platform to realize the limit control of the pitching angle of the optical path carrying platform (1); the rotation limit trigger plate (35) is fixedly connected with the pitching platform lower plate (27) through bolts and used for triggering the rotation limit (53) to realize the rotation limit control of the pitching motion driving platform (3); the fine adjustment nut (31) is screwed on the T-shaped connecting plate (30), the fine adjustment nut (31) is vertically placed in a prefabricated groove on the pitching platform lower plate (27), the T-shaped connecting plate (30) is fixed on the pitching platform upper plate (26) through a bolt, and the fine adjustment nut (31) plays a role in fine adjustment of the front and rear positions of the platform; the special-shaped gasket (34) is fixedly connected with the pitching platform upper plate (26) and the V-groove connecting rod (33) through bolts, the U-shaped connecting plate (29) is connected to the pitching platform upper plate (26) through screws, and the U-shaped connecting plate (29), the V-groove connecting rod (33), the pitching platform upper plate (26) and the pitching platform lower plate (27) form a horizontal posture adjusting platform; the ribbon fixing buckle (25) can be fixedly connected to a preset hole position of the pitching platform upper plate (26) through a bolt to achieve the purpose of fixing the motor wire by the ribbon, and the wire guide plate (28) is fixed to the pitching platform upper plate (26) through the bolt to achieve the purpose of guiding the motor wire to move; the pitching motion driving platform (3) and the flange plate (47) are fixed through seven bolts.
4. The laser tracking measurement system with the standard ball as the reflecting device added with the balance weight according to claim 1, characterized in that: the vertical fine-tuning knob (14) and the horizontal fine-tuning knob (15) are screwed on the pitching connecting support (13), the vertical fine-tuning knob (14) and the horizontal fine-tuning knob (15) are aligned and screwed into a preset groove on the light path carrying connecting plate (12), the pitching connecting support (13) and the light path carrying connecting plate (12) are fixedly connected through bolts, the vertical fine-tuning knob (14) can be rotated to perform fine tuning in the vertical direction, and the horizontal fine-tuning knob (15) can be rotated to perform fine tuning in the horizontal direction; the black opaque housing (44) is fixed to the light path mounting connection plate (12) by bolts.
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| CN201910459007.2A CN110186373B (en) | 2019-05-29 | 2019-05-29 | Laser tracking measurement system with counterweight balance and standard ball as reflection device |
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| CN110726997B (en) * | 2019-10-09 | 2023-11-03 | 秦皇岛达则科技有限公司 | Intelligent laser positioning and tracking system |
| CN114459354B (en) * | 2022-02-28 | 2024-05-28 | 北京工业大学 | Laser tracking and measuring mechanical system for folding light path |
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