CN111023904A - Spherical motion detection active implementation method - Google Patents
Spherical motion detection active implementation method Download PDFInfo
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- CN111023904A CN111023904A CN201911305646.XA CN201911305646A CN111023904A CN 111023904 A CN111023904 A CN 111023904A CN 201911305646 A CN201911305646 A CN 201911305646A CN 111023904 A CN111023904 A CN 111023904A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G3/00—Aiming or laying means
- F41G3/32—Devices for testing or checking
Abstract
The invention discloses an active realization method for spherical motion detection, which is characterized by comprising the following steps: sequentially connecting a first joint, a second joint, a third joint, a fourth joint and a detector and installing the first joint, the second joint, the third joint, the fourth joint and the detector right above the point light source to enable a rotating shaft of the first joint to be overlapped with a vertical optical axis of the point light source; calibrating the distance d from the point light source to the central point A of the second joint; rotating the first joint to enable the detector to rotate in the direction; the second joint and the third joint are rotated to enable the detector to move on an arc with the radius of R and the point light source as the center of a circle, and the fourth joint is rotated to enable the detection surface to face the point light source. The invention has the beneficial effects that: a motion trail equation is established according to the trigonometric function, an accurate spherical motion trail is generated in a three-dimensional space, the spherical diameter of the spherical motion can be changed by adjusting the joint angle, and the application range is wide.
Description
Technical Field
The invention relates to the field of spherical motion methods, in particular to an active implementation method for spherical motion detection.
Background
The spherical motion is an important component of a target optical characteristic measurement system and an optical imaging guidance head performance test system based on semi-physical simulation. In the target optical characteristic measurement system, in order to perform optical characteristic measurement in different illumination directions and observation directions, generally, the light source and the measurement target are not moved, and it is necessary to change the position of the detector or the measurement target or the pitch angle of the detector in the detection direction. In the optical imaging guidance leader performance test system, a semi-physical simulation technology is adopted to simulate the motion characteristics of a target under a laboratory condition, so that the test on the tracking performance of the optical imaging guidance leader is realized.
In 2005, Nordson Dage company disclosed a spherical motion mechanism applied to an X-ray imaging apparatus (US patent: US7497617B2), which is technically characterized in that: the detector moves along an arcuate frame, both ends of which are pivotally mounted by bearings and provided with counterweights.
2017, Harbin Industrial university discloses a spherical motion mechanism applied to an optical target motion simulation system (Chinese invention patent: No. ZL201610847376.5), the optical target motion simulation system comprises an optical target simulator, a spherical motion system and a supporting platform mechanism, the spherical motion system comprises an azimuth arc motion mechanism, a pitching arc motion mechanism and a guide rail connecting piece, the side surface of the optical target simulator is arranged on the pitching arc motion mechanism, the optical axis of the optical target simulator is parallel to the mounting surface, the connecting line of the rotation center of the optical axis and the circle center of the azimuth circular arc motion mechanism is vertical to the guide rail surface of the azimuth circular arc motion when the optical target simulator does the pitching circular arc motion by adjusting the position of the guide rail connecting piece, therefore, the spherical motion track of the optical target simulator is realized, and the optical axis of the optical target simulator always points to the spherical center of the spherical motion system.
In 2019, thirty-eighth institute of the Chinese electronic technology group corporation disclosed a spherical motion mechanism based on horizontal rotation support and arc guide rail motion, which is applied to an X-ray imaging device (Chinese patent: application No. 201910592325.6), and comprises a lead room, a five-axis motion platform, a mounting assembly, an X-ray source assembly, a detector, a motion control room and a ray source control room; the five-axis motion platform is arranged in the lead room and comprises a rigid frame, a three-axis linear motion mechanism, a two-axis rotary motion mechanism and a supporting assembly, wherein the three-axis linear motion mechanism is fixed at the bottom end in the rigid frame through the supporting assembly, and the two-axis rotary motion mechanism is fixed at the top end in the rigid frame; the X-ray source assembly is fixed on the three-axis linear motion mechanism, and the detector is fixed on the two-axis rotary motion mechanism; the motion control room and the ray source control room are respectively arranged at two ends of the bottom surface in the lead room.
In the prior art, the movement track of the spherical surface with a large inclination angle and a large spherical diameter is realized, and the spherical surface movement track depends on a large-size arc guide rail, and once the size of the guide rail is determined, the spherical surface movement track can be changed only by a tool, so that the adaptability is poor.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: how to solve the problem that the adaptability of the existing spherical motion mechanism is poor.
The invention solves the technical problems through the following technical means:
a spherical motion detection active implementation method comprises the following steps:
s1: sequentially connecting a first joint, a second joint, a third joint, a fourth joint and a detector and installing the first joint, the second joint, the third joint, the fourth joint and the detector right above the point light source, so that a rotating shaft of the first joint is superposed with a vertical optical axis of the point light source, and the distance between the second joint and the point light source is smaller than the distance between the first joint and the point light source;
s2: rotating the first joint to enable the detector to rotate in the direction;
s3: rotating the second joint and the third joint to enable the detector to be positioned on an arc with the radius of R and the point light source as the center of a circle;
s4: the fourth joint is rotated to enable the detection surface to face the point light source.
The method realizes azimuth angle rotation through the first joint, realizes large inclination angle motion of the detector along an arc through the second joint and the third joint, realizes that the detection surface of the detector always faces the point-to-point light source through the fourth joint, can change the spherical diameter of spherical motion by adjusting the angle of the joint, and has wide application range.
Preferably, the rotation axes of the second joint, the third joint, and the fourth joint are parallel, and the second joint is perpendicular to the rotation axis of the first joint.
Preferably, after step S1, calibrating a distance d from the point light source to an intersection point of the rotation axis of the second joint and the rotation axis of the first joint; in the step S3, in the step S,
the elevation angle of the detector relative to the point light source and the horizontal x axis is marked as theta;
the angle α between line AB and line AO is:
the angle β between line BA and line BP is:
the central point of the second joint is marked with a point A, the central point of the third joint is marked with a point B, the central point of the fourth joint is marked with a point P, the point light source is located at an original point O, the radius of the motion track of the detector is R, and the distance between the central point A of the second joint and the central point B of the third joint and the distance between the central point B of the third joint and the central point P of the fourth joint are both R.
Preferably, the included angle γ between the straight line PB and the detection surface in step S5 is:
γ＝2π-α-β-θ。
the invention has the advantages that:
(1) the invention realizes the rotation of the azimuth angle through the first joint, realizes the large inclination angle motion of the detector along the circular arc through the second joint and the third joint, realizes the point-to-light source of the detection surface of the detector all the time through the fourth joint, and can change the sphere diameter of the spherical motion by adjusting the joint angle, thereby having wide application range.
(2) The active implementation method for spherical motion detection is suitable for a four-joint mechanical arm structure, a motion trajectory equation is established according to a trigonometric function, and an accurate spherical motion trajectory is generated in a three-dimensional space.
Drawings
FIG. 1 is a schematic diagram of an active implementation method of spherical motion detection according to an embodiment of the present invention;
FIG. 2 is a motion trajectory diagram for large tilt detection for an active implementation of spherical motion detection;
fig. 3 is a schematic diagram of a spherical motion detection mechanism.
Reference numbers in the figures: the robot comprises a first joint 1, a first arm 11, a second joint 2, a second arm 21, a third joint 3, a third arm 31, a fourth joint 4, a detector 5, a central point A of the second joint, a central point B of the third joint, a central point P of the fourth joint, a point light source O and a detector motion track radius R, wherein AB is equal to BP is equal to R.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, an active implementation method for spherical motion detection includes the following steps:
s1: sequentially connecting a first joint 1, a second joint 2, a third joint 3, a fourth joint 4 and a detector 5 and installing the first joint, the second joint, the third joint, the fourth joint and the detector above a point light source to enable a rotating shaft of the first joint 1 to be overlapped with a vertical optical axis of the point light source, and enable the second joint to be located below the first joint;
s2: calibrating the distance d from the point light source to the central point A of the second joint 2;
s3: rotating the first joint 1 to enable the detector to rotate in the azimuth direction;
s4, rotating the second joint 2 and the third joint 3 to enable the detector to be located on an arc with the radius R as the radius and the point light source as the center of a circle, recording the elevation angle of the detector relative to the point light source and the horizontal x axis as theta, and enabling the included angle α between the straight line AB and the straight line AO and the included angle β between the straight line BA and the straight line BP to meet the requirements
S5: the fourth joint 4 is rotated to enable the front surface of the detection surface to be opposite to the point light source, and the included angle gamma between the straight line PB and the detection surface meets the requirement
γ＝2π-α-β-θ
The center point of the second joint 2 is marked with a point A, the center point of the third joint 3 is marked with a point B, the center point of the fourth joint 4 is marked with a point P, the radius of the motion track of the detector with the point light source positioned at the origin O is R, and the distance between the center point A of the second joint and the center point B of the third joint and the distance between the center point B of the third joint and the center point P of the fourth joint are both R.
The rotation axes of the second joint 2, the third joint 3 and the fourth joint 4 are parallel, and the second joint 2 is perpendicular to the rotation axis of the first joint 1;
the first joint 1, the second joint 2, the third joint 3 and the fourth joint 4 are driven to rotate by a motor. If the rotating speed of the motor does not meet the requirement, the rotating speed can be controlled through the encoder, and a speed reducer is added.
As shown in fig. 2, the detection plane of the detector in the present embodiment passes through the center point P of the fourth joint 4. The second joint 2 and the third joint 3 rotate to enable the detector to do spherical motion on an arc with the radius R as the radius and the point light source as the center of a circle, 5 states are shown in the figure, and the fourth joint 4 enables the detection surface of the detector to be tangent with the spherical surface all the time.
Radius of sphere RmaxApproaching d, at this time, the distance between the third joint 3 and the fourth joint 4 will be slightly larger than the distance between the second joint 2 and the third joint 3, in this case, if the detector is to reach the lowest position, 2r approaches 2 d.
As shown in fig. 3, a spherical motion detection mechanism using the method is provided, which includes a first joint 1, a second joint 2, a third joint 3, a fourth joint 4, and a detector 5, wherein the first joint 1, the second joint 2, the third joint 3, the fourth joint 4, and the detector 5 are connected in sequence and installed right above a point light source, the first arm 11 can be driven to rotate by the rotation of the first joint 2, and the first arm 11 drives the lower structure thereof to realize circumferential rotation, and finally, angular rotation of the azimuth is realized; through the rotation of the second joint 2 and the third joint 3, the included angle between the second arm 21 and the third arm 31 can be changed, the height adjustment of the detector 5 is realized, the spherical diameter of the spherical motion can be changed, the change of the inclination angle of the detector is realized, the adaptability is strong, the detection surface of the detector 5 is always in front alignment with the light source O through the fourth joint 4, and finally the spherical motion of the detector 5 along the spherical surface with the light source O as the spherical center and the spherical diameter being variable is realized.
The detector 5 can be any one of the detectors in the prior art, and a person skilled in the art can select the type of the detector and the installation position of the detection surface according to actual needs.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (4)
1. A spherical motion detection active implementation method is characterized by comprising the following steps:
s1: sequentially connecting a first joint, a second joint, a third joint, a fourth joint and a detector and installing the first joint, the second joint, the third joint, the fourth joint and the detector right above the point light source, so that a rotating shaft of the first joint is superposed with a vertical optical axis of the point light source, and the distance between the second joint and the point light source is smaller than the distance between the first joint and the point light source;
s2: rotating the first joint to enable the detector to rotate in the direction;
s3: rotating the second joint and the third joint to enable the detector to be positioned on an arc with the radius of R and the point light source as the center of a circle;
s4: the fourth joint is rotated to enable the detection surface to face the point light source.
2. The active implementation method for spherical motion detection according to claim 1, wherein the rotation axes of the second joint, the third joint and the fourth joint are parallel, and the second joint is perpendicular to the rotation axis of the first joint.
3. The active realization method of spherical motion detection according to claim 1, wherein after step S1, the distance d from the point light source to the intersection point of the rotation axis of the second joint and the rotation axis of the first joint is calibrated; in step S3, the elevation angle of the detector relative to the point light source and the horizontal x-axis is denoted as θ;
the angle α between line AB and line AO is:
the angle β between line BA and line BP is:
the central point of the second joint is marked with a point A, the central point of the third joint is marked with a point B, the central point of the fourth joint is marked with a point P, the point light source is located at an original point O, the radius of the motion track of the detector is R, and the distance between the central point A of the second joint and the central point B of the third joint and the distance between the central point B of the third joint and the central point P of the fourth joint are both R.
4. The active realization method of spherical motion detection according to claim 3, wherein the included angle γ between the line PB of step S5 and the detection surface is:
γ＝2π-α-β-θ。
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| CN201911305646.XA CN111023904A (en) | 2019-12-18 | 2019-12-18 | Spherical motion detection active implementation method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113296256A (en) * | 2021-04-23 | 2021-08-24 | 中国科学院西安光学精密机械研究所 | Semi-physical simulation dynamic tracking system and method |
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| CN106233103A (en) * | 2014-03-24 | 2016-12-14 | Lmt光学测量技术（柏林）有限责任公司 | For measuring at least one photoptometry in optical radiation source or the method for actinometry characteristic quantity and gonioradiometer with depending on direction |
| CN106338222A (en) * | 2016-09-23 | 2017-01-18 | 哈尔滨工业大学 | Optical target motion simulation system with spherical motion trails |
| CN208068308U (en) * | 2018-03-03 | 2018-11-09 | 广东若铂智能机器人有限公司 | A kind of robotic arm |
| CN209264248U (en) * | 2018-12-28 | 2019-08-16 | 深圳市通用核心光电有限公司 | A kind of multi-angle image quality detection device |
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2019
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Patent Citations (5)
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| JP2004294228A (en) * | 2003-03-26 | 2004-10-21 | Fuji Photo Film Co Ltd | Light measuring device |
| CN106233103A (en) * | 2014-03-24 | 2016-12-14 | Lmt光学测量技术（柏林）有限责任公司 | For measuring at least one photoptometry in optical radiation source or the method for actinometry characteristic quantity and gonioradiometer with depending on direction |
| CN106338222A (en) * | 2016-09-23 | 2017-01-18 | 哈尔滨工业大学 | Optical target motion simulation system with spherical motion trails |
| CN208068308U (en) * | 2018-03-03 | 2018-11-09 | 广东若铂智能机器人有限公司 | A kind of robotic arm |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113296256A (en) * | 2021-04-23 | 2021-08-24 | 中国科学院西安光学精密机械研究所 | Semi-physical simulation dynamic tracking system and method |
| CN113296256B (en) * | 2021-04-23 | 2022-05-10 | 中国科学院西安光学精密机械研究所 | Semi-physical simulation dynamic tracking system and method |
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