CN112666571A - Laser tracker reflection system and reflection method - Google Patents
Laser tracker reflection system and reflection method Download PDFInfo
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Abstract
The invention relates to a laser tracker reflection system, which comprises a mounting seat, an attitude adjusting device, a target reflection target ball and a control device, wherein the mounting seat is used for connecting external equipment; and when the target reflection target ball is in the second posture, the laser incidence point is positioned on the target reflection target ball, the control device is respectively connected with the light detection device and the posture adjusting device, the light detection device is used for detecting the laser incidence point data of the target reflection target ball in the first posture and sending the laser incidence point data to the control device, and the control device controls the posture adjusting device to act according to the laser incidence point data so that the target reflection target ball is adjusted from the first posture to the second posture. The automatic and rapid laser splicing is realized, the phenomenon of light interruption is avoided, and the effective measurement area of the laser tracker is enlarged. The invention also relates to a reflection method of the laser tracker.
Description
Technical Field
The invention relates to the technical field of precision measurement, in particular to a laser tracker reflection system and a reflection method.
Background
The laser tracking and measuring system is a high-precision measuring instrument and can track and measure a space moving target. The method belongs to non-contact measurement, and has the advantages of full-automatic tracking and no need of aiming by personnel.
The laser tracking and measuring system mainly comprises a laser tracker, a controller, a computer and a target reflection target ball. In the measuring process of the laser tracker, the laser emitted by the laser tracker can be incident into the target reflection target ball, the laser is reflected by the target reflection target ball and then returns to the laser tracker according to the original path, and otherwise, the phenomenon of light interruption can occur. For example, when measuring the positioning accuracy of a robot, a target reflecting target ball is mounted on a robot end effector to follow the robot. During the measurement process, the posture of the target reflecting target ball changes along with the movement of the robot. When the posture change amount exceeds a certain angle range, the incident light of the laser cannot fall on the reflector of the target reflection target ball, and at the moment, if the incident light cannot be quickly adjusted and hit the target reflection target ball again, the light-off phenomenon will occur, so that the measurement is terminated. Therefore, the whole working space of the robot is difficult to measure by building the laser tracker at one time.
Disclosure of Invention
Aiming at the technical problems in the prior art, one of the purposes of the invention is as follows: the laser tracker reflection system can automatically and quickly continue connection when laser deviates from a target reflection target ball in the measurement process, avoids the phenomenon of light interruption, and enlarges the effective measurement area of the laser tracker.
Aiming at the technical problems in the prior art, the second purpose of the invention is as follows: a laser tracker reflection method is provided, which can automatically and rapidly connect when the laser deviates from the target reflection target ball in the measurement process.
In order to achieve the purpose, the invention adopts the following technical scheme:
a laser tracker reflection system comprises a mounting seat for connecting external equipment, an attitude adjusting device, a target reflection target ball and a control device, wherein the attitude adjusting device is fixedly connected to the mounting seat, the attitude adjusting device is arranged on one side of the target reflection target ball, the target reflection target ball is movably connected to the mounting seat, the outer edge of the target reflection target ball is fixedly connected with an annular light detection device, the target reflection target ball at least has a first attitude and a second attitude, and when in the first attitude, a laser incidence point is positioned on the light detection device; and when the target reflection target ball is in the second posture, the laser incidence point is positioned on the target reflection target ball, the control device is respectively connected with the light detection device and the posture adjusting device, the light detection device is used for detecting the laser incidence point data of the target reflection target ball in the first posture and sending the laser incidence point data to the control device, the control device is used for receiving the laser incidence point data and controlling the posture adjusting device to act according to the laser incidence point data, and the posture adjusting device drives the target reflection target ball to be adjusted from the first posture to the second posture.
Further, a rotary table is arranged on the mounting seat, the rotary table is rotatably connected to the mounting seat, the target reflection target ball is hinged to the rotary table, the posture adjusting device comprises a first motor and a second motor, the first motor is fixedly connected to the mounting seat, the first motor drives the rotary table to rotate on the mounting seat, the second motor is fixedly connected to the rotary table, and the second motor drives the target reflection target ball to rotate on the rotary table.
Further, the mounting seat is provided with a first rotating shaft, the rotating platform is connected with the mounting seat through the first rotating shaft, the rotating platform is provided with a second rotating shaft, the target reflection target ball is connected with the rotating platform through the second rotating shaft, the first rotating shaft is perpendicular to the second rotating shaft, and the center of the target reflection target ball is located at the intersection of the extension line of the first rotating shaft and the second rotating shaft.
Furthermore, the turntable is provided with a first support and a second support, the second motor is fixedly connected to the first support, two ends of the second rotating shaft are respectively connected to the first support and the second support, and the target reflection target ball is located between the first support and the second support.
Furthermore, a ball seat is fixedly connected to the second rotating shaft, a groove is formed in the ball seat, the target reflection target ball is arranged in the groove, and the ball seat is fixedly connected with the target reflection target ball.
Furthermore, the light detection device comprises a power supply and a plurality of light-sensitive resistors, the light-sensitive resistors are connected with the power supply in series, the light-sensitive resistors are sequentially and tightly arranged and surround the outer edge of the target reflection target ball, and each light-sensitive resistor is connected with the control device.
Furthermore, the multiple photoresistors are sequentially divided into a first photoresistor group, a second photoresistor group, a third photoresistor group and a fourth photoresistor group, the power supply comprises a first power supply and a second power supply, the first photoresistor group and the third photoresistor group are sequentially connected with the first power supply in series, and the second photoresistor group and the fourth photoresistor group are sequentially connected with the second power supply in series.
A laser tracker reflection method: comprises the following steps of (a) carrying out,
acquiring laser incidence point data of a target reflection target ball in a first posture;
controlling the target reflection target ball to be adjusted from the first posture to the second posture according to the laser incidence point data of the target reflection target ball in the first posture;
the target reflection target ball at least has a first posture and a second posture, and when in the first posture, a laser incidence point is positioned on the light ray detection device; in the second posture, the laser incidence point is positioned on the target reflection target ball.
Further, the method for judging the position of the laser incident point according to the data of the laser incident point comprises the following steps,
a plurality of photoresistors are sequentially and closely arranged to surround the outer edge of the target reflection target ball;
dividing the plurality of photoresistors into a plurality of photoresistor groups, wherein each photoresistor group is respectively connected with a power supply in series;
respectively measuring a voltage interval between the maximum voltage value and the minimum voltage value of each photoresistor group under the irradiation of laser;
detecting an actual voltage value of a laser incident point;
and when the actual voltage value corresponds to a voltage interval between the maximum voltage value and the minimum voltage value under the laser irradiation, judging that the laser incidence point is positioned in the photoresistor group corresponding to the voltage interval.
Further, controlling the target reflecting target ball to adjust from the first posture to the second posture comprises the steps of,
s1, driving the target reflection target ball to rotate around the first rotating shaft by a first step angle by using the first motor, and driving the target reflection target ball to rotate around the second rotating shaft by a second step angle by using the second motor; the first rotating shaft and the second rotating shaft both pass through the sphere center of the target reflection target ball, and the first rotating shaft is vertical to the second rotating shaft;
and S2, judging whether the actual voltage value of the laser incidence point is in a voltage interval between the maximum voltage value and the minimum voltage value under the laser irradiation, if so, repeating S1, and if not, stopping the operation of the first motor and the second motor.
In summary, the present invention has the following advantages:
the control device controls the corresponding action of the attitude adjusting device according to the received laser incidence point data, and the attitude adjusting device drives the target reflection target ball to correspondingly change the attitude of the target reflection target ball so as to enable the laser to be incident on the target reflection target ball again, thereby realizing automatic and rapid splicing when the laser deviates from the target reflection target ball in the measurement process, avoiding the occurrence of light interruption, expanding the effective measurement area of the laser tracker, providing an effective measurement tool for realizing the precision measurement of the working space of the robot, and having important significance for the development of a laser tracking measurement system.
Drawings
Fig. 1 is a schematic perspective view of a reflection system of a laser tracker according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of laser light incident on two mutually perpendicular mirrors.
Fig. 3 is a schematic diagram of the arrangement and area division of the photo resistors.
Fig. 4 is a circuit diagram of the light detecting device.
Fig. 5 is a schematic diagram of a laser tracker reflection system applied to a robotic arm.
Fig. 6 is a partially enlarged schematic view of the target reflection target ball before alignment in the dashed frame of fig. 5.
Fig. 7 is a partially enlarged schematic view of the target reflected target ball in the dashed frame of fig. 5 after adjusting the posture.
Description of reference numerals:
100-laser tracker reflection system; 1-a linkage mechanism; 2, mounting a patch panel; 3-mounting a base; 4-a turntable; 5-a first strut; 6-target reflection target ball; 7-a second pillar; 8-a photoresistor; 9-a ball seat; 10-a computer; 11-a controller; 12-laser tracker; 13-mechanical arm.
Detailed Description
The present invention will be described in further detail below.
As shown in fig. 1, a laser tracker reflection system 100 includes a mounting base 3 for connecting an external device, an attitude adjusting device, a target reflection target ball 6 and a control device, wherein the attitude adjusting device is fixedly connected to the mounting base 3, the attitude adjusting device is arranged on one side of the target reflection target ball 6, the target reflection target ball 6 is movably connected to the mounting base 3, an annular light detection device is fixedly connected to the outer edge of the target reflection target ball 6, the target reflection target ball 6 has at least a first posture and a second posture, and when in the first posture, a laser incidence point is located at the light detection device; when the target reflection target ball 6 is in the second posture, the laser incidence point is located on the target reflection target ball 6, the control device is respectively connected with the light detection device and the posture adjusting device, the light detection device is used for detecting laser incidence point data of the target reflection target ball 6 in the first posture and sending the laser incidence point data to the control device, the control device is used for receiving the laser incidence point data and controlling the posture adjusting device to act according to the laser incidence point data, and the posture adjusting device drives the target reflection target ball 6 to be adjusted from the first posture to the second posture.
Specifically, annular light detection device connects in target reflection target ball 6 outer fringe, no matter which direction is followed to laser on target reflection target ball 6 and is deviated, locates the light detection device of target reflection target ball 6 outer fringe and all can detect laser and be about to deviate from target reflection target ball 6, is favorable to when laser is about to deviate from target reflection target ball 6, adjusts target reflection target ball 6 gestures rapidly in order to realize quick disconnected light continuation and connects.
When the target reflection target ball 6 is in the first posture, namely when the laser irradiates on the light detection device, the light detection device can detect the laser incidence point data and send the laser incidence point data to the control device, the control device controls the corresponding action of the posture adjusting device according to the received laser incidence point data, the posture adjusting device drives the target reflection target ball 6 to correspondingly change the posture of the target reflection target ball 6, the first posture is adjusted to the second posture, so that the laser is incident on the target reflection target ball 6 again, automatic and rapid continuous connection is realized when the laser deviates from the target reflection target ball 6 in the measurement process, the light interruption phenomenon is avoided, the effective measurement area of the laser tracker 12 is enlarged, an effective measurement tool is provided for realizing the precision measurement of the working space of the robot, and meanwhile, the laser tracking measurement system has important significance for the development of the laser tracking measurement system.
The installation base 3 is provided with a rotary table 4, the rotary table 4 is rotatably connected to the installation base 3, the target reflection target ball 6 is hinged to the rotary table 4, the posture adjusting device comprises a first motor and a second motor, the first motor is fixedly connected to the installation base 3, the first motor drives the rotary table 4 to rotate on the installation base 3, the second motor is fixedly connected to the rotary table 4, and the second motor drives the target reflection target ball 6 to rotate on the rotary table 4.
Specifically, the first motor drives the turntable 4 to rotate on the mounting base 3, the angle of the target reflection target ball 6 can be adjusted in the horizontal direction, and the second motor drives the target reflection target ball 6 to rotate on the turntable 4, and the angle of the target reflection target ball 6 can be adjusted in the vertical direction. Through the adjustment, the posture of the target reflection target ball 6 can be adjusted to meet the incidence direction of the laser, so that the laser incidence point returns to the target reflection target ball 6 from the original position on the light detection device.
The mount pad 3 is equipped with first pivot, and revolving stage 4 is connected with mount pad 3 through first pivot, and revolving stage 4 is equipped with the second pivot, and target reflection target ball 6 is connected with revolving stage 4 through the second pivot, and first pivot perpendicular to second pivot, the centre of sphere of target reflection target ball 6 are located the intersection point department of first pivot extension line and second pivot.
After the structure is adopted, the intersection point of the two straight lines of the first rotating shaft and the second rotating shaft is coincided with the sphere center of the target reflection target ball 6, the target reflection target ball 6 does not need to be displaced under the condition that the sphere center position of the target reflection target ball 6 is not changed, the aim that the laser incidence point is changed from the original position of the light ray detection device to the position of the target reflection target ball 6 can be achieved only by changing the posture of the target reflection target ball 6, the movement time of the target reflection target ball 6 is shortened, and the light-break continuous connection process is quicker.
The turntable 4 is provided with a first support column 5 and a second support column 7, the second motor is fixedly connected to the first support column 5, two ends of the second rotating shaft are respectively connected to the first support column 5 and the second support column 7, and the target reflection target ball 6 is positioned between the first support column 5 and the second support column 7.
Locate target reflection target ball 6 between first pillar 5 and second pillar 7, first pillar 5 and second pillar 7 can effectively protect target reflection target ball 6, make target reflection target ball 6 be difficult to impaired.
The second rotating shaft is fixedly connected with a ball seat 9, the ball seat 9 is provided with a groove, the target reflection target ball 6 is arranged in the groove, and the ball seat 9 is fixedly connected with the target reflection target ball 6.
Locate target reflection target ball 6 in the 9 recesses of ball seat, ball seat 9 can provide wider protection for target reflection target ball 6, effectively protects target reflection target ball 6's safety.
In this embodiment, the reflection system is fixedly installed on a measured object, such as a robot end effector, by installing the adapter plate 2.
Two ends of the link mechanism 1 are respectively connected with the mounting base 3 and the mounting adapter plate 2 for adjusting the mounting of the target reflection target ball 6.
The mount 3 is a base of the target reflection target ball 6 and has a first motor built therein.
The turntable 4 is driven by the first motor to rotate around the C axis.
The first support 5 and the second support 7 support a ball seat 9, and a second motor is built in.
The ball seat 9, which is a reflector for protecting the target reflecting target ball 6 by the housing, is rotated around the axis a by the second motor.
And the photoresistors 8 have a light ray detection function and are used for judging the positions of laser incidence points.
The light detection device comprises a power supply and a plurality of light-sensitive resistors 8, the light-sensitive resistors 8 are connected with the power supply in series, the light-sensitive resistors 8 are sequentially and tightly arranged and surround the outer edge of the target reflection target ball 6, and each light-sensitive resistor 8 is connected with the control device.
According to the characteristic that the resistance value of the photosensitive resistor 8 can be changed under the light receiving condition and the stronger the illumination is, the smaller the resistance value is, the photosensitive resistor 8 is connected into a circuit, the resistance value which is inconvenient to measure is converted into a level signal which is easy to measure, and therefore whether laser or natural light is projected on the photosensitive resistor 8 can be distinguished more easily.
The position of the incidence point of the laser can be distinguished by comparing the level value of the photoresistor 8 under the irradiation condition of the natural light and the laser, and the data of the incidence point of the laser is transmitted to the control device, so that the control device instructs the posture adjusting device to correspondingly act.
When arranging the photo resistors 8, it should be noted that the gaps between the photo resistors 8 should be as small as possible to ensure timely response to laser light.
A plurality of photo resistance 8 divide into first photo resistance 8 in proper order and organize, 8 groups of second photo resistance, 8 groups of third photo resistance and 8 groups of fourth photo resistance, and the power includes first power and second power, and 8 groups of first photo resistance and 8 groups of third photo resistance are established ties with first power in proper order, and 8 groups of second photo resistance and 8 groups of fourth photo resistance are established ties with the second power in proper order.
Specifically, as shown in fig. 3, the light detecting device is divided into 4 segments on average, the plurality of photo resistors 8 are divided into 4 groups of photo resistors 8 on average, and the 4 groups of photo resistors 8 are located in the 4 segments on each area.
Each photosensitive resistor 8 group detects the laser which is injected into the area, the area where the incident point of the laser is located can be distinguished by comparing the level value at the connecting point of the two areas under the irradiation condition of the natural light and the laser, and the data of the incident point of the laser is transmitted to the control device, so that the control device controls the corresponding action of the posture adjusting device.
A laser tracker reflection method: comprises the following steps of (a) carrying out,
acquiring laser incidence point data of the target reflection target ball 6 in a first posture;
controlling the target reflection target ball 6 to be adjusted from the first posture to the second posture according to the laser incidence point data of the target reflection target ball 6 in the first posture;
the target reflection target ball 6 at least has a first posture and a second posture, and when in the first posture, a laser incidence point is positioned on the light ray detection device; in the second posture, the laser incidence point is located on the target reflection target ball 6.
After the laser incident point data is obtained, the position of the light detection device where the laser incident point is located can be calculated according to the laser incident point data. And controlling the target reflection target ball 6 to correspondingly change the posture according to the position of the laser incidence point, and adjusting from the first posture to the second posture to enable the laser to be incident on the target reflection target ball 6 again, so that the laser is automatically and quickly spliced when deviating from the target reflection target ball 6 in the measuring process.
Judging the position of the laser incident point according to the laser incident point data, comprising the following steps,
a plurality of photoresistors 8 are sequentially and closely arranged to surround the outer edge of the target reflection target ball 6;
dividing the plurality of photoresistors 8 into a plurality of photoresistor 8 groups, wherein each photoresistor 8 group is respectively connected with a power supply in series;
respectively measuring a voltage interval between the maximum voltage value and the minimum voltage value of each photoresistor 8 group under the laser irradiation;
detecting an actual voltage value of a laser incident point;
when the actual voltage value corresponds to a voltage interval between the maximum voltage value and the minimum voltage value under the irradiation of the laser, it is determined that the laser incidence point is located in the group of photo resistors 8 corresponding to the voltage interval.
Specifically, as shown in fig. 3, the plurality of photoresistors 8 are arranged in a ring shape with the mirror edge of the target ball 6 as the outline, and divided into 4 regions, which are respectively defined as a region a, a region b, a region c, and a region d. When light enters, the direction of the light is judged according to the change of the electric signals in the area, and the change of the electric signals realizes detection by utilizing the characteristic that the resistance of the photoresistor 8 is reduced under the illumination condition. The photoresistors 8 of each area are respectively connected in series with appropriate resistors and connected into a power circuit to complete the conversion of optical signals to electric signals. The photo-resistor 8 groups are numbered from the area a, and the resistance values under the conditions of natural light and laser irradiation are respectively measured.
As shown in fig. 4, after the photo-resistor 8 set is connected to the power supply, the resistance of the photo-resistor 8 set in each area under the natural light irradiation is set as R, that is, the resistance of the area a under the natural light irradiation is set as RaThe resistance of the region c is Rc(ii) a The photoresistors 8 of each region are arranged in groupsThe resistance value under the light irradiation condition is R', that is, the resistance value of the area a under the laser irradiation is Ra', the resistance value of the region c is Rc'. The following formula can be obtained from,
wherein, UacRepresenting the voltage value, U, of the measurement point M under natural light irradiationa′cRepresenting the voltage value, U, of the measurement point M when the laser light is incident on the area aac′The voltage value of the measuring point M when the laser beam is incident on the area c is shown, and U shows the voltage value of the connected power supply.
In the same way, the voltage value at the measurement point N can be obtained, and the theoretical voltage value obtained is shown in table 1.
TABLE 1 theoretical voltage value at measurement point M, N
Wherein, UMRepresenting the voltage value, U, of the measurement point M under natural light irradiationa1Represents the lowest voltage value, U, of the measuring point M when the laser beam is incident on the area aa2Which represents the highest voltage value of the measuring point M when the laser light is incident on the area a. U shapec1Represents the lowest voltage value, U, of the measuring point M when the laser beam is incident on the area cc2Which represents the highest voltage value of the measuring point M when the laser light is incident on the area c.
Voltage at measuring point M is at Ua1To Ua2In between, the laser irradiation is received in the area a, and if in Uc1To Uc2In between, it means that the region c receives laser irradiation, ifIs UMThis indicates that neither of the areas a and c has received the laser irradiation.
In the same way, UNWhich represents the voltage value at the measurement point N under natural light irradiation. U shapeb1Represents the lowest voltage value, U, of the measuring point N when the laser beam is incident on the area bb2Which represents the highest voltage value at the measuring point N when the laser light is incident on the area b. U shaped1Represents the lowest voltage value, U, of the measuring point N when the laser beam is incident on the area dd2Which represents the highest voltage value of the measuring point N when the laser light is incident on the area d.
If the voltage of the measuring point N is UNIf the laser irradiation is not received in the areas b and d, the U is setb1And Ub2If the laser is received in the area b, the laser is received in the Ud1And Ud2In between, region d receives the laser. According to this method, it is determined which region the laser light is incident on.
Controlling the adjustment of the target reflecting target ball 6 from the first posture to the second posture comprises the steps of,
s1, driving the target reflection target ball 6 to rotate by a first step angle around the first rotating shaft by using the first motor, and driving the target reflection target ball 6 to rotate by a second step angle around the second rotating shaft by using the second motor; the first rotating shaft and the second rotating shaft both pass through the sphere center of the target reflection target ball, and the first rotating shaft is vertical to the second rotating shaft;
and S2, judging whether the actual voltage value of the laser incidence point is in a voltage interval between the maximum voltage value and the minimum voltage value under the laser irradiation, if so, repeating S1, and if not, stopping the operation of the first motor and the second motor.
The attitude of the target reflection target ball 6 can be adjusted by a method of the related art according to the received laser incidence point data. The embodiment of the present invention is implemented by the following method.
The target ball 6 is a spherical embedded hollow corner mirror (SMR) composed of three mutually perpendicular planar mirrors. The principle of measurement of SMR is first verified indirectly by figure 2.
As shown in FIG. 2, assume SO1For incident light, O2E is the reflected light ray with an angle of incidence of alphaAnd beta. Let l1＝SO1＝GE＝RH，l2＝O1O2，l3＝O2G，l＝OO1Then there is
The distance that the user needs to measure is l'Measuring：
l′Measuring＝RO＝OH+RH＝OO1·cosβ+RH＝lcosβ+l1； (2)
The formula (1) is obtained by subtracting the formula (2),
i.e. |Measuring＝l′MeasuringThat is, it is possible to measure lMeasuringTo obtain the distance l 'required to be measured by the user'Measuring(ii) a On the other hand, when the position of the O point is not changed, the mirror rotates around the O point, i.e. the angles of incidence α and β change, and the measured value l is not affectedMeasuring。
In a similar way, under the condition that the sphere center of the SMR is not changed, the posture of the SMR is changed, and the measurement result is not influenced. Therefore, the invention is feasible to solve the problem of light interruption caused by the fact that laser does not enter the reflector in the measuring process by adaptively adjusting the posture of the target reflecting target ball 6.
Then, the output signal of the light detection module, i.e. the voltage of the point M, N, is input into the single chip microcomputer through the I/O port, and is digitized and converted into a digital signal which can be recognized by the single chip microcomputer. By comparing the laser irradiation state with the digital signal range output by the light detection module under the irradiation of natural light, a proper intermediate value is selected as a threshold value for distinguishing the two irradiation states. Based on the experimentally measured voltage value at the measurement point M, N when the laser beam is incident on different regions, a threshold value can be set for determining the regions a and c, and the regions b and d.
The motion control principle of the target reflection target ball 6 is as follows: the movement of the speed reducing stepping motor is controlled by the control module. The rotation speed and the rotation angle of the speed reduction stepping motor are precisely controlled through the output frequency and the pulse number of the single chip microcomputer. According to the arrangement of the photoresistor 8, the voltage M, N values of two opposite areas (area a and area c, area b and area d) are connected to the control module; the first motor and the second motor respectively control the rotation of the first rotating shaft C shaft and the second rotating shaft A shaft. When the laser is detected in the area a or c, the first motor is controlled to rotate forwards or backwards for a first step angle delta theta1(ii) a When the laser is detected in the region b or d, the second motor is controlled to rotate forwards or backwards for a second step angle delta theta2. Then, the light detection module feeds back signals in real time, if the feedback signals show that the laser still irradiates a certain area of the photoresistor 8 group, the steps are repeated until the laser enters the target sphere reflecting mirror. Because the intersection point of the first rotating shaft C shaft and the second rotating shaft A shaft is superposed with the sphere center of the target reflection target ball 6, the posture of the target reflection target ball 6 can be changed only under the condition that the sphere center position of the target reflection target ball 6 is not changed, and the precision measurement of a target point is met.
The rotation speed, direction and rotation angle of the speed-reducing stepping motor are realized by a given pulse sequence. For a four-phase stepping motor, the coil needs to be electrified according to a certain period to drive the rotor to rotate continuously when the driving motor rotates normally and stably. Generally, the main modes of driving are four-phase four-beat and four-phase eight-beat. The four-beat finger power-on sequence is A-B-C-D, the eight-beat finger power-on sequence is A-AB-B-BC-C-CD-D-DA, and the difference between the four-beat finger power-on sequence and the eight-beat finger power-on sequence is that the angle rotated by each beat rotor is doubled, so that each beat rotation angle is called a full step when the four-beat finger is operated, each beat rotation angle is called a half step when the eight-beat finger is operated, the angle rotated by each beat rotor is called a step angle, and the calculation formula of the step angle is as follows:
Δθ＝360°/(z×n)；
where Δ θ represents the step angle, z represents the number of rotor teeth, and n represents the number of operational beats.
As shown in fig. 5, the accuracy measurement of the end of the robot arm 13 is taken as an example for explanation, and the controller 11 is connected to the computer 10 and the laser tracker 12, respectively. When measuring the arm 13In the case of the motion accuracy, it is assumed that the position of the end effector of the robot arm 13 is represented by P1Move to P2At this time, the laser light fails to enter the target reflection target ball 6. As can be seen from FIG. 6, at P2In position, the laser cannot enter the mirror of the target reflecting ball 6. In this case, the laser tracker reflection system 100 detects that the laser is about to be cut off through the light detection module, and at this time, the controller 11 controls the posture adjustment device to make corresponding movement, so that the posture of the target reflection target ball 6 moves along the laser incidence direction.
Assuming that the laser is incident on region a, the voltage detected by the system is at Ua1To Ua2After analog-to-digital conversion, the voltage value is compared with a threshold value in a program, corresponding conditions are met, the axis A and the axis C are controlled to move respectively, and as shown in fig. 7, the ball seat 9 rotates along with the voltage value, so that the reflector of the target reflection target ball 6 faces the laser incidence direction, normal incidence of laser is ensured, the phenomenon of light interruption during measurement is avoided, and the effective measurement area of the laser tracker 12 is enlarged.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. A laser tracker reflection system characterized in that: the device comprises a mounting seat for connecting external equipment, an attitude adjusting device, a target reflection target ball and a control device, wherein the attitude adjusting device is fixedly connected to the mounting seat, the attitude adjusting device is arranged on one side of the target reflection target ball, the target reflection target ball is movably connected to the mounting seat, the outer edge of the target reflection target ball is fixedly connected with an annular light ray detection device, the target reflection target ball at least has a first attitude and a second attitude, and a laser incidence point is positioned on the light ray detection device in the first attitude; and when the target reflection target ball is in the second posture, the laser incidence point is positioned on the target reflection target ball, the control device is respectively connected with the light detection device and the posture adjusting device, the light detection device is used for detecting the laser incidence point data of the target reflection target ball in the first posture and sending the laser incidence point data to the control device, the control device is used for receiving the laser incidence point data and controlling the posture adjusting device to act according to the laser incidence point data, and the posture adjusting device drives the target reflection target ball to be adjusted from the first posture to the second posture.
2. A laser tracker reflection system according to claim 1, wherein: the device comprises a mounting seat, a target reflection target ball, a rotating table, a posture adjusting device and a control device, wherein the mounting seat is provided with the rotating table, the rotating table is rotatably connected to the mounting seat, the target reflection target ball is hinged to the rotating table, the posture adjusting device comprises a first motor and a second motor, the first motor is fixedly connected to the mounting seat, the first motor drives the rotating table to rotate on the mounting seat, the second motor is fixedly connected to the rotating table, and the second motor drives the target reflection target ball to.
3. A laser tracker reflection system according to claim 2, wherein: the mount pad is equipped with first pivot, and the revolving stage is connected with the mount pad through first pivot, and the revolving stage is equipped with the second pivot, and target reflection target ball passes through the second pivot to be connected with the revolving stage, and first pivot perpendicular to second pivot, the centre of sphere of target reflection target ball are located the intersection point department of first pivot extension line and second pivot.
4. A laser tracker reflection system according to claim 3, wherein: the turntable is provided with a first support and a second support, the second motor is fixedly connected to the first support, two ends of the second rotating shaft are respectively connected to the first support and the second support, and the target reflection target ball is located between the first support and the second support.
5. A laser tracker reflection system according to claim 4, wherein: the second rotating shaft is fixedly connected with a ball seat, the ball seat is provided with a groove, the target reflection target ball is arranged in the groove, and the ball seat is fixedly connected with the target reflection target ball.
6. A laser tracker reflection system according to claim 1, wherein: the light detection device comprises a power supply and a plurality of light-sensitive resistors, the light-sensitive resistors are connected with the power supply in series, the light-sensitive resistors are sequentially and tightly arranged to surround the outer edge of the target reflection target ball, and each light-sensitive resistor is connected with the control device.
7. A laser tracker reflective system according to claim 6, wherein: the plurality of photoresistors are sequentially divided into a first photoresistor group, a second photoresistor group, a third photoresistor group and a fourth photoresistor group, the power supply comprises a first power supply and a second power supply, the first photoresistor group and the third photoresistor group are sequentially connected with the first power supply in series, and the second photoresistor group and the fourth photoresistor group are sequentially connected with the second power supply in series.
8. A laser tracker reflection method of a laser tracker reflection system according to any one of claims 1 to 7, characterized by: comprises the following steps of (a) carrying out,
acquiring laser incidence point data of a target reflection target ball in a first posture;
controlling the target reflection target ball to be adjusted from the first posture to the second posture according to the laser incidence point data of the target reflection target ball in the first posture;
the target reflection target ball at least has a first posture and a second posture, and when in the first posture, a laser incidence point is positioned on the light ray detection device; in the second posture, the laser incidence point is positioned on the target reflection target ball.
9. A laser tracker reflection method according to claim 8, wherein: judging the position of the laser incident point according to the laser incident point data, comprising the following steps,
a plurality of photoresistors are sequentially and closely arranged to surround the outer edge of the target reflection target ball;
dividing the plurality of photoresistors into a plurality of photoresistor groups, wherein each photoresistor group is respectively connected with a power supply in series;
respectively measuring a voltage interval between the maximum voltage value and the minimum voltage value of each photoresistor group under the irradiation of laser;
detecting an actual voltage value of a laser incident point;
and when the actual voltage value corresponds to a voltage interval between the maximum voltage value and the minimum voltage value under the laser irradiation, judging that the laser incidence point is positioned in the photoresistor group corresponding to the voltage interval.
10. A laser tracker reflection method according to claim 9, wherein: controlling the target reflecting target ball to adjust from the first attitude to the second attitude comprises the steps of,
s1, driving the target reflection target ball to rotate around the first rotating shaft by a first step angle by using the first motor, and driving the target reflection target ball to rotate around the second rotating shaft by a second step angle by using the second motor; the first rotating shaft and the second rotating shaft both pass through the sphere center of the target reflection target ball, and the first rotating shaft is vertical to the second rotating shaft;
and S2, judging whether the actual voltage value of the laser incidence point is in a voltage interval between the maximum voltage value and the minimum voltage value under the laser irradiation, if so, repeating S1, and if not, stopping the operation of the first motor and the second motor.
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