CN110487218A - A kind of angle-measuring method of the novel ball hinge based on space indexing positioning - Google Patents
A kind of angle-measuring method of the novel ball hinge based on space indexing positioning Download PDFInfo
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- CN110487218A CN110487218A CN201910796702.8A CN201910796702A CN110487218A CN 110487218 A CN110487218 A CN 110487218A CN 201910796702 A CN201910796702 A CN 201910796702A CN 110487218 A CN110487218 A CN 110487218A
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- ball
- bulb
- blind hole
- photoelectric sensor
- socket
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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
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
Abstract
The invention discloses a kind of angle-measuring methods of novel ball hinge based on space indexing positioning.The spherical hinge general structure of existing position and posture detection method building is more complicated.The present invention opens up blind hole group on bulb, arranges spring and ball in blind hole；Ball-and-socket opens up spherical pore group；Ball-and-socket top surface is fixed with a laser emitter；Hemispherical shell is fixed on the bulb output rod of bulb；The Internal Spherical Surface of hemispherical shell is equipped with photoelectric sensor group；(i is used to each photoelectric sensor, j) form is numbered, and the angle of spherical pore is demarcated in advance, it is (i that the laser for then turning to laser emitter sending in ball-and-socket when bulb, which is beaten in number, when on photoelectric sensor j), azimuth and the deflection angle of bulb can be obtained.The present invention can obtain high-precision flexural pivot three dimensional angle using the photoelectric sensor of low precision and low cost.
Description
Technical field
The invention belongs to Design of Mechanical Structure and field of measuring technique, and in particular to a kind of to index positioning based on space
The angle-measuring method of novel ball hinge.
Background technique
With the fast development of modern industry, Spherical hinge have rotation flexibly, be able to achieve space mechanism's movement and power
The features such as transmitting, is widely used in the neck such as robot, parallel machine, electro mechanical devices, medical instruments and equipment, auto parts and components
Domain.Spherical hinge is conducive to the accurate of drive system as the critical component in drive system, the measurement of space angle
The working performance of feedback control and compensation, transmission accuracy and complete machine to the system of raising has great importance.
Flexural pivot chain movement is a kind of typical multifreedom motion.Compared to single-degree-of-freedom displacement measurement, multiple degrees of freedom displacement
Measurement difficulty is larger, and technology is also immature, and some scholars both domestic and external have carried out relevant research.Foreign countries, georgia ,U.S.A reason
Engineering college Kok-Meng Lee etc., which is successively proposed, obtains variable reluctance type globular motor rotor motion position with optical rotary coder
The contact measurement method set and spherical turn is obtained using contactless measurements such as visual sensor, double optics sensors
Sub- position.The rotation for measuring a ball-and-socket joint and the device for angle of tumbling are proposed in patent CN1643343A, are based on magnetic
Luminous effect, the device is by the arrangement of magnets in hinged ball, and with the variation of bulb position in ball-and-socket, its magnetic field strength is also sent out
Changing, reflection on the display apparatus, are received by optical detection apparatus, carry out corresponding image procossing, obtain ball-and-socket joint
It rotates and angle of tumbling.The country, bandit Golden Bridge, BJ University of Aeronautics & Astronautics etc. have carried out the measurement of three degree of freedom spherical motor position and have ground
Study carefully, using the measuring principle of two degrees of freedom optical sensor measurement ball motor Three Degree Of Freedom displacement, proposes the installation of sensor
With displacement calculation method.HeFei University of Technology Hu Penghao, Li Jiangjiang etc. have carried out about the permanent magnetism spherical electricity based on machine vision
The correlative study of motivation method for detecting position.
However the spherical hinge based on the building of above-mentioned position and posture detection method generally has a more complicated structure, at measurement data
It manages cumbersome, it is difficult to guarantee higher measurement accuracy, economic cost is higher, while in practical applications by installation space and work
Make the limitation of environment, research approach has limitation.
Summary of the invention
The purpose of the present invention is in view of the deficiencies of the prior art, propose a kind of novel ball hinge based on space indexing positioning
Angle-measuring method.
The present invention is specific as follows:
Step 1: building the novel ball hinge based on space indexing positioning.Novel ball hinge based on space indexing positioning
Including hemispherical shell, bulb, laser emitter, ball-and-socket, photoelectric sensor, spring and ball；The bulb offers edge
The m blind hole group that warp direction is equidistantly arranged, m >=5；One of blind hole group is arranged in 0 ° of weft position, remaining blind hole group pair
Claim to be arranged 0 ° of weft two sides；The blind hole group includes the n blind hole uniformly distributed along weft direction；The number of blind hole in each blind hole group
It measures equal；Each blind hole is connect with a ball by spring；Ball diameter is equal with blind hole internal diameter, and ball has half insertion
In blind hole.The ball-and-socket offers arrangement rule and the m consistent m spherical pore group of blind hole group arrangement rule；The ball
Shape hole group includes the k spherical pore uniformly distributed along weft direction, k >=8, n=2k or n=3k；The radius and ball diameter of spherical pore
It is equal.Ball-and-socket top surface is fixed with a laser emitter；Each spherical pore of ball-and-socket ball corresponding with bulb position
It is chimeric.The hemispherical shell is fixed on the bulb output rod of bulb, and hemispherical shell and bulb are concentric.The hemisphere
The Internal Spherical Surface of shape shell is equipped with the m photoelectric sensor group equidistantly arranged along warp direction；The photoelectric sensor group includes
The k photoelectric sensor uniformly distributed along weft direction；Under bulb output rod and ball-and-socket plane perpendicular state, laser emitter alignment from
Under weft where supreme (m-1)/2 photoelectric sensor group.
Step 2: each photoelectric sensor is numbered using (i, j) form, i be photoelectric sensor group from bottom to up
Number, j be photoelectric sensor group in each photoelectric sensor along the same serial number around direction；When j >=2, θ is definedi,jFor
The angle that bulb is turned over along weft direction when the photoelectric sensor number of laser emitter alignment becomes (i, j) by (i, j-1)；i
When >=2, definitionBulb is along warp side when becoming (i, j) by (i-1, j) for the photoelectric sensor number of laser emitter alignment
To the angle turned over；In addition, enabling θ1,1=0,Except θ1,1WithIn addition, remaining θi,jDemarcated in advance.
Step 3: when the laser that bulb turns to laser emitter sending in ball-and-socket is beaten in the photoelectricity that number is (i, j)
When on sensor, the azimuth of bulb and deflection angle are respectively as follows:
Further, the blind hole of adjacent blind hole group is along weft direction interlaced arrangement.
Further, ball-and-socket includes the upper ball-and-socket being bolted and lower ball-and-socket.
Further, θ is demarcatedi,jUsing three coordinate measuring machine.
The invention has the advantages that:
1, the present invention in advance demarcates the angle of spherical pore, photoelectric sensing when bulb rotates inside hemispherical shell
Device only play the role of obtain position, really positioning rely on ball and spherical pore cooperation, i.e., using low precision and it is low at
This photoelectric sensor can obtain high-precision flexural pivot three dimensional angle.
2, cost is relatively low by the present invention, and not high to equipment requirement, practicability is big.
3, external working environment is smaller to implementation interference of the invention, and exploitativeness is high.
Detailed description of the invention
Fig. 1 is the explosive view of spherical hinge of the present invention；
Fig. 2 is the schematic diagram of hemispherical shell in the present invention；
Fig. 3 is the cross-sectional view of bulb in the present invention；
Fig. 4 is the cross-sectional view of ball-and-socket in the present invention；
Fig. 5 is the arrangement rule plane outspread drawing of ball or spherical pore in the present invention；
Fig. 6 is the sectional arrangement drawing of bulb and ball-and-socket in the present invention；
Appended drawing reference: 1- hemispherical shell, 2- bulb, 3- laser emitter, 4- ball-and-socket, 5- bulb output rod, 6- photoelectricity
Sensor, 7- blind hole, 8- spring, 9- ball, 10- spherical pore.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
As shown in figs. 1 to 6, a kind of angle-measuring method of the novel ball hinge based on space indexing positioning, specific as follows:
Step 1: building the novel ball hinge based on space indexing positioning.Novel ball hinge based on space indexing positioning
Including hemispherical shell 1, bulb 2, laser emitter 3, ball-and-socket 4, photoelectric sensor 6, spring 8 and ball 9；Bulb 2 offers
The m blind hole group equidistantly arranged along warp direction, m >=5；One of blind hole group is arranged in 0 ° of weft position, remaining blind hole group
It is symmetricly set on 0 ° of weft two sides；Blind hole group includes the n blind hole 7 uniformly distributed along weft direction；The quantity of blind hole in each blind hole group
It is equal；Each blind hole 7 is connect with a ball 9 by spring 8；9 diameter of ball is equal with 7 internal diameter of blind hole, and ball 9 has half
It is embedded in blind hole 7.Ball-and-socket 4 offers arrangement rule and the m consistent m spherical pore group of blind hole group arrangement rule；Spherical pore group
Including the k spherical pore 10 uniformly distributed along weft direction, k >=8, n=2k or n=3k；The radius of spherical pore 10 and 9 diameter phase of ball
Deng.4 top surface of ball-and-socket is fixed with a laser emitter 3；Each spherical pore 10 of ball-and-socket 4 is one corresponding with 2 position of bulb
Ball 9 is chimeric.Hemispherical shell 1 is fixed on the bulb output rod 5 of bulb 2, and hemispherical shell 1 and bulb 2 are concentric.Hemisphere
1 Internal Spherical Surface of shape shell is equipped with the m photoelectric sensor group equidistantly arranged along warp direction；Photoelectric sensor group includes along weft side
To uniformly distributed k photoelectric sensor 6；Under bulb output rod 5 and 4 plane perpendicular state of ball-and-socket, the alignment of laser emitter 3 from down toward
On (m-1)/2 photoelectric sensor group where weft.
Wherein, the blind hole of adjacent blind hole group is along weft direction interlaced arrangement.As shown in figure 4, ball-and-socket 4 uses dissection type, packet
Include the upper ball-and-socket being bolted and lower ball-and-socket.
Step 2: each photoelectric sensor 6 is numbered using (i, j) form, i be photoelectric sensor group from bottom to up
Number, j be photoelectric sensor group in each photoelectric sensor along the same serial number around direction；When j >=2, θ is definedi,jFor
The angle that bulb 2 is turned over along weft direction when the photoelectric sensor number that laser emitter 3 is aligned becomes (i, j) by (i, j-1)；
When i >=2, definitionBulb 2 is along warp when becoming (i, j) by (i-1, j) for the photoelectric sensor number that laser emitter 3 is aligned
The angle that line direction turns over；In addition, enabling θ1,1=0,Except θ1,1WithIn addition, remaining θijHigh-precision is first passed through in advance
Instrument is demarcated.
Step 3: when the laser that bulb 2 turns to the sending of laser emitter 3 in ball-and-socket 4 is beaten in the light that number is (i, j)
When on electric transducer 6, the azimuth of bulb 2 and deflection angle are respectively as follows:
As it can be seen that bulb 2 of the present invention, during rotation, the three dimensional angle of bulb 2 can be by reading photoelectric sensor 6
Number learn.Also, bulb 2 rotates θ in ball-and-socket 4i,jWithWhen, can all there be the insertion rolling of Part-spherical hole 10 in ball-and-socket 4
Pearl 9, to guarantee accurate positioning of the bulb 2 in ball-and-socket 4.In order to become apparent from the movement for illustrating bulb 2, by ball 9 and spherical shape
The arrangement regulation in hole 10 is launched into plane, as shown in figure 5, X-direction indicates level (along weft direction) the circumference fortune of bulb 2
Dynamic, Y direction indicates vertical (along the warp direction) circular motion of bulb 2, and Z-direction indicates the coupling of 2 both direction of bulb
Movement.
Claims (4)
1. a kind of angle-measuring method of the novel ball hinge based on space indexing positioning, it is characterised in that: this method is specific as follows:
Step 1: building the novel ball hinge based on space indexing positioning；Indexing the novel ball hinge positioned based on space includes
Hemispherical shell, bulb, laser emitter, ball-and-socket, photoelectric sensor, spring and ball；The bulb is offered along warp
The m blind hole group that direction is equidistantly arranged, m >=5；One of blind hole group is arranged 0 ° of weft position, remaining blind hole group is symmetrically set
It sets 0 ° of weft two sides；The blind hole group includes the n blind hole uniformly distributed along weft direction；The quantity phase of blind hole in each blind hole group
Deng；Each blind hole is connect with a ball by spring；Ball diameter is equal with blind hole internal diameter, and ball has half to be embedded in blind hole
It is interior；The ball-and-socket offers arrangement rule and the m consistent m spherical pore group of blind hole group arrangement rule；The spherical pore
Group includes the k spherical pore uniformly distributed along weft direction, k >=8, n=2k or n=3k；The radius of spherical pore is equal with ball diameter；
Ball-and-socket top surface is fixed with a laser emitter；Each spherical pore of ball-and-socket ball corresponding with bulb position is chimeric；
The hemispherical shell is fixed on the bulb output rod of bulb, and hemispherical shell and bulb are concentric；The hemispherical shell
The Internal Spherical Surface of body is equipped with the m photoelectric sensor group equidistantly arranged along warp direction；The photoelectric sensor group includes along latitude
K uniformly distributed photoelectric sensor of line direction；Under bulb output rod and ball-and-socket plane perpendicular state, laser emitter alignment from down toward
On (m-1)/2 photoelectric sensor group where weft；
Step 2: each photoelectric sensor is numbered using (i, j) form, i is the volume of photoelectric sensor group from bottom to up
Number, j is each photoelectric sensor in photoelectric sensor group along the same serial number around direction；When j >=2, θ is definedi,jFor laser
The angle that bulb is turned over along weft direction when the photoelectric sensor number of transmitter alignment becomes (i, j) by (i, j-1)；i≥2
When, definitionBulb is along warp direction when becoming (i, j) by (i-1, j) for the photoelectric sensor number of laser emitter alignment
The angle turned over；In addition, enabling θ1,1=0,Except θ1,1WithIn addition, remaining θi,jDemarcated in advance；
Step 3: when the laser that bulb turns to laser emitter sending in ball-and-socket is beaten in the photoelectric sensing that number is (i, j)
When on device, the azimuth of bulb and deflection angle are respectively as follows:
2. a kind of angle-measuring method of the novel ball hinge based on space indexing positioning according to claim 1, it is characterised in that:
The blind hole of adjacent blind hole group is along weft direction interlaced arrangement.
3. a kind of angle-measuring method of the novel ball hinge based on space indexing positioning according to claim 1, it is characterised in that:
Ball-and-socket includes the upper ball-and-socket being bolted and lower ball-and-socket.
4. a kind of angle-measuring method of the novel ball hinge based on space indexing positioning according to claim 1, it is characterised in that:
Demarcate θi,jUsing three coordinate measuring machine.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910796702.8A CN110487218B (en) | 2019-08-27 | 2019-08-27 | Novel angle measuring method of ball hinge based on space indexing positioning |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910796702.8A CN110487218B (en) | 2019-08-27 | 2019-08-27 | Novel angle measuring method of ball hinge based on space indexing positioning |
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| CN110487218A true CN110487218A (en) | 2019-11-22 |
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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 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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