CN113566757B - Pull wire type three-dimensional space positioning device - Google Patents
Pull wire type three-dimensional space positioning device Download PDFInfo
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- CN113566757B CN113566757B CN202110957365.3A CN202110957365A CN113566757B CN 113566757 B CN113566757 B CN 113566757B CN 202110957365 A CN202110957365 A CN 202110957365A CN 113566757 B CN113566757 B CN 113566757B
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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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
Abstract
The invention relates to a stay-supported three-dimensional space positioning device, comprising: the mounting seat is provided with stay wire sensors, each stay wire sensor is provided with a stay wire, and the free end of each stay wire is provided with a pull head for being fixed at different known coordinate point positions; centralized reversing pulleys are respectively arranged on the mounting seat corresponding to the stay wire sensors, and the pull heads of the stay wires are led in through the wire inlet side of the corresponding centralized reversing pulley and led out from the corresponding wire outlet side after bypassing the corresponding centralized reversing pulley; the installation seat is provided with a set center point, the centralized reversing pulleys are distributed around the set center point and are arranged close to the set center point, and the outgoing line side of each centralized reversing pulley is positioned on one side of the centralized reversing pulley facing the set center point. When the object to be measured moves and needs to slide the connecting position of the pull head, the pull head of the pull wire is directly detached and connected to the position of the redetermined known coordinate point, and only the pull head of the pull wire is operated during operation, so that the integrated degree is high, and the use is convenient.
Description
Technical Field
The invention relates to a stay wire type three-dimensional space positioning device.
Background
The three-dimensional space dynamic displacement measurement plays an extremely critical role in various fields such as aerospace, industrial production (underground space excavation and the like) and the like.
In the prior art, the principles of a laser tracker, an infrared camera, a high-speed camera, a 3D image and the like are commonly adopted for space positioning, but a large amount of dust is generated when excavating equipment such as a cantilever heading machine and the like works, and the positioning method is easy to seriously suffer from dust interference.
Recently, a method for converting dynamic position variation in space into relative displacement variation of three-dimensional coordinates based on a stay wire displacement sensor is also adopted, the stay wire displacement sensor is also called a stay wire sensor, a stay wire electronic ruler, a stay wire encoder and a stay wire displacement sensor, the stay wire displacement sensor is formed by a linear displacement sensor in a exquisite structure, the advantages of an angle sensor and the linear displacement sensor are fully combined, when the sensor is used, the stay wire displacement sensor is placed in four directions, a stay wire pull head is converged at the same space point to perform space positioning, the measurement principle can be seen in a dynamic space position measurement method based on the stay wire displacement sensor disclosed in a 3 rd volume of 3 months of 2014, namely Cheng, chen Wenliang and a stretching gift, related structures such as a Chinese patent with an authorization bulletin number of CN103486989B are adopted, the stay wire space position measurement mechanism comprises a measurement frame and a space centripetal positioning mechanism, the space centripetal positioning mechanism consists of a positioning shaft and four mutually independent legs, the four stay wire encoders are mutually wound around the four positioning shafts, the four positioning shafts are correspondingly positioned in the four space position measurement shafts, and are correspondingly positioned in the four coordinate systems, and the four-dimensional position measurement coordinate system can be measured, and the coordinate system is correspondingly positioned when the four-coordinate system is measured, and the dynamic position is measured, and the coordinate system is correspondingly positioned. In fact, the device for capturing the three-dimensional motion trajectory of an object disclosed in the chinese patent application of application publication No. CN106945029a is also measured in a similar manner.
When the measuring mechanism is used for measuring, the stay wire encoder is fixed, and the wire end of the stay wire is connected to the object to be measured. When the measuring mechanism is applied to tunnel construction to detect the position of a vehicle, the measuring frame where the stay wire encoder is located needs to be fixedly arranged on the tunnel wall, the wire end of the stay wire is connected to the vehicle, after the vehicle moves forwards for a certain distance, the position of the measuring frame needs to be changed again, the known point calibration is carried out again, the measuring frame is relatively complicated to assemble and disassemble and is relatively inconvenient to adjust.
Disclosure of Invention
The invention aims to provide a stay wire type three-dimensional space positioning device, which solves the technical problem that in the prior art, when the moving track of an object needs to be continuously measured, a measuring frame where a stay wire encoder is required to be repeatedly disassembled and assembled causes inconvenient adjustment.
In order to achieve the above purpose, the technical scheme of the guyed three-dimensional space positioning device provided by the invention is as follows: a guyed three-dimensional spatial positioning device, comprising:
the mounting seat is used for being fixedly mounted on the object to be detected;
more than three stay wire sensors are arranged on the mounting seat, each stay wire sensor is provided with a stay wire for measurement, and the free end of each stay wire is provided with a pull head for fixing at different known coordinate point positions;
centralized reversing pulleys are respectively arranged on the mounting seat corresponding to the stay wire sensors, each centralized reversing pulley is provided with a wire inlet side and a wire outlet side, and the pull heads of the stay wires are led in through the wire inlet side of the corresponding centralized reversing pulley and led out from the corresponding wire outlet side after bypassing the corresponding centralized reversing pulley;
the installation seat is provided with a set center point, all the centralized reversing pulleys are distributed around the set center point and are arranged close to the set center point, and the outgoing line side of each centralized reversing pulley is positioned on one side of the centralized reversing pulley facing the set center point.
The beneficial effects are that: in the three-dimensional space positioning device provided by the invention, the stay wire sensor and the centralized reversing pulleys are correspondingly arranged on the mounting seat, the mounting seat is used for being arranged on an object to be detected, all the centralized reversing pulleys are distributed around the set center point, meanwhile, the pull heads of the stay wire are fixed at different known coordinate point positions, the coordinate position of the set center point can be determined through corresponding mathematical principles, when the object to be detected moves and needs to slide the connecting position of the pull heads, the pull heads of the stay wire are directly disassembled and connected at the redetermined known coordinate point positions, the parts related to the positioning device are all positioned on the mounting seat, only the pull heads of the stay wire are operated during operation, the integration degree is high, and the use is more convenient.
As a further improvement, all the centralized reversing pulleys are circumferentially distributed around the set center point, the diameters of all the centralized reversing pulleys are the same, and the distances between the centralized reversing pulleys and the set center point are equal.
The beneficial effects are that: all centralized reversing pulleys are circumferentially distributed, so that the centralized reversing pulley is convenient to install and arrange, and the measurement accuracy is also convenient to improve.
As a further improvement, each concentrated reversing pulley comprises a wheel frame and a pulley body, the wheel frame of each concentrated reversing pulley is rotatably assembled on the mounting seat through a bearing, and the rotation central axis of each bearing extends along the radial direction of the circumference formed by the distribution of all the concentrated reversing pulleys, so that the outlet side of the concentrated reversing pulley always faces the set central point in the rotation process of the corresponding concentrated reversing pulley around the rotation central axis of the corresponding bearing;
in the extending direction of the rotation central axis of each bearing, each bearing and the set center point are positioned at two sides of the corresponding concentrated reversing pulley.
The beneficial effects are that: the centralized reversing pulleys are rotatably mounted on the corresponding mounting seats through bearings, so that the outgoing line sides of the centralized reversing pulleys face the corresponding set center points all the time, and therefore large-range deflection swing of the stay wire can be effectively met, interference caused by the swing of the centralized reversing pulleys is reduced, and measurement accuracy is improved.
As a further improvement, the rotational center axes of the bearings lie in a set plane.
The beneficial effects are that: the rotation central axis of each bearing is positioned in a set plane, so that the design and the installation are convenient, and the balance stress can be optimized.
As a further improvement, the incoming line side and the outgoing line side of each concentrated diverting pulley are adjacently arranged in the circumferential direction of the corresponding concentrated diverting pulley so that the wire that bypasses the concentrated diverting pulley takes an angular structure.
As a further improvement, each bearing is opposite to the line-in side of the corresponding concentrated reversing pulley in the extending direction of the rotation central axis, a guide perforation is arranged at the position of the rotation central axis of each bearing, so that the corresponding stay wire can be guided to pass through to be led into the line-in side of the corresponding concentrated reversing pulley, and the rotation central axis of each bearing is the tangent line of the line-in side of the corresponding concentrated reversing pulley.
The beneficial effects are that: the wire perforation is arranged at the center of the bearing, so that the corresponding stay wire can conveniently pass through the wire perforation in a guiding way, and the torsion interference on the stay wire caused by the rotation of the centralized reversing pulley around the rotation central axis of the bearing can be effectively reduced.
As a further improvement, an outgoing line reversing pulley is arranged between each stay wire sensor and the corresponding concentrated reversing pulley on the mounting seat, all outgoing line reversing pulleys are positioned on the outer side of the circumference formed by the distribution of all concentrated reversing pulleys, each outgoing line reversing pulley is provided with an outgoing line side, and the stay wire of each stay wire sensor is led out from the outgoing line side of the outgoing line reversing pulley after bypassing the corresponding outgoing line reversing pulley and bypasses the corresponding concentrated reversing pulley after being guided through the guiding perforation of the corresponding bearing.
The beneficial effects are that: the outgoing line reversing pulleys are arranged corresponding to the stay wire sensors, so that the stay wire extending direction of the stay wire sensors can be conveniently adjusted, the standard arrangement is convenient for displaying trend, and meanwhile, the stay wire stress is optimized.
As a further improvement, the four stay wire sensors are arranged, two groups of four stay wire sensors form two sensor groups, the two stay wire sensors of the same sensor group are vertically stacked and mounted on the mounting seat, a fixed vertical plate is arranged on the mounting seat, bearing mounting seats are respectively arranged on one side face of the fixed vertical plate, corresponding bearings are used for mounting the corresponding bearings so as to rotate and assemble corresponding concentrated reversing pulleys, a fixing support is further arranged on the mounting seat, all outgoing line reversing pulleys are fixedly mounted on the fixing support, and the four stay wire sensors and the concentrated reversing pulleys are positioned on two opposite sides of the fixed vertical plate.
As a further improvement, all the concentrated diverting pulleys are equispaced about the set center point.
The beneficial effects are that: all centralized reversing pulleys are uniformly distributed, so that the measurement accuracy is conveniently improved, and error interference is reduced.
As a further improvement, the mount pad is the box structure, and the box structure includes bottom of the case, case lid and week side case wall, the bottom of the case is used for fixed mounting on the target object that awaits measuring, and all stay wire sensors and concentrated switching-over pulley all are located in the box structure, one side of week side case wall is opened in order to form and is acted as go-between and stretch out the passageway or set up on one side case wall of week side case wall and act as go-between stretch out the hole in order to form and act as go-between stretch out the passageway for the pull head that supplies all to act as go-between wears out, the case lid can open and shut the top of installing week side case wall.
The beneficial effects are that: the box body structure is used for installing the stay wire sensor and the centralized reversing pulley, so that effective protection is formed, and meanwhile, the integrated installation on a target object to be detected is convenient.
Drawings
FIG. 1 is a schematic diagram of a guyed three-dimensional space positioning device (not shown on a side wall) according to an embodiment of the present invention;
FIG. 2 is a rear view of FIG. 1;
FIG. 3 is a schematic diagram of the arrangement of the pull line sensor, the outgoing line diverting pulleys and the centralized diverting pulleys of FIG. 1;
FIG. 4 is a schematic view of a concentrated diverting pulley arrangement on the fixed riser of FIG. 3;
FIG. 5 is a schematic view of the single centralized diverting pulley and pull wire assembly of FIG. 4;
fig. 6 is a schematic diagram of the guyed three-dimensional space positioning device provided by the invention when applied to measuring the movement track of a trolley in a tunnel.
Reference numerals illustrate:
1. a mounting base; 11. a door lock; 12. a case cover; 13. a box bottom; 14. a peripheral side tank wall; 15. a signal socket; 16. a power socket; 2. a pull wire sensor; 3. centralized reversing pulleys; 31. a pulley body; 32. a baffle; 33. a wheel carrier; 4. a bearing mounting seat; 41. a bearing; 5. an outgoing line reversing pulley; 6. fixing the vertical plate; 7. a fixed bracket; 8. a pull wire; 81. a pull head; 9. a reinforcing plate; 10. setting a center point; 20. a guyed three-dimensional space positioning device; 100. a trolley; 200. a tunnel wall.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the particular embodiments described herein are illustrative only and are not intended to limit the invention, i.e., the embodiments described are merely some, but not all, of the embodiments of the invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
It is noted that relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" is not intended to exclude processes, methods comprising such element.
In the description of the present invention, the terms "mounted," "connected," "coupled," and "connected," as may be used broadly, and may be connected, for example, fixedly, detachably, or integrally, unless otherwise specifically defined and limited; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art in specific cases.
In the description of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the term "provided" may be interpreted broadly, and for example, an object "provided" may be a part of a body, may be separately disposed from the body, and may be connected to the body, where the connection may be a detachable connection or an undetachable connection. The specific meaning of the above terms in the present invention can be understood by those skilled in the art in specific cases.
The present invention is described in further detail below with reference to examples.
The specific embodiment 1 of the stay wire type three-dimensional space positioning device provided by the invention comprises the following components:
compared with the existing stay wire type space positioning structure, the stay wire type three-dimensional space positioning device has the advantages that four stay wire sensors are fixedly arranged on a target object to be measured so as to move along with the target object, the pull head of each stay wire sensor is fixedly connected to a known coordinate point, the moving track of the target object to be measured can be calculated according to the known coordinate point and by combining a corresponding mathematical principle, when the moving amplitude is too large and the next-stage measurement is needed, only the fixed position of the pull head is replaced, the space position is convenient to change, and the integration degree of the whole device is higher.
Specifically, as shown in fig. 1 to 5, the structure of the guy-type three-dimensional space positioning device 20 in this embodiment is shown, the guy-type three-dimensional space positioning device 20 includes a mounting base 1, on which four guy sensors 2, four outgoing line reversing pulleys 5 and four concentrated reversing pulleys 3 are mounted, and the mounting base 1 is used for being fixedly mounted on a target object to be measured, so that the guy sensors 2, the outgoing line reversing pulleys 5 and the concentrated reversing pulleys 3 are all integrated with the target object to be measured.
As shown in fig. 1 and 2, the mounting seat 1 is integrally a box structure, the box structure comprises a box bottom 13, a box cover 12 and a peripheral side box wall 14, the box structure is a cuboid, the peripheral side box wall 14 comprises four side walls, namely a front side wall, a rear side wall and a left side wall, a right side wall, bolt mounting holes are fixedly formed in the box bottom 13, and during use, the mounting seat can be fixedly mounted on a target object to be tested through bolts. All parts such as the stay wire sensor 2, the centralized reversing pulley 3, the outgoing line reversing pulley 5 and the like are arranged in the box body structure to form protection, and stay wire extending holes are formed in the front side box wall of the peripheral side box wall 14 to form stay wire extending channels for the pull heads 81 of the stay wires 8 to penetrate. The cover 12 is openably and closably mounted on the top of the peripheral side wall 14, and a door lock 11 is provided on the cover 12, and the cover 12 is opened to allow for a mounting/dismounting operation to satisfy a normal mounting and maintenance operation, and the door lock 11 can be used to lock the cover 12. As shown in fig. 2, in order to realize the normal operation of the pull wire sensor 2, a signal socket 15 and a power socket 16 are further disposed on the rear side wall of the peripheral side wall 14, and are used for connecting corresponding cables, so as to satisfy the normal operation of the three-dimensional space positioning device, and the signal socket 15 transmits the detection information of the corresponding pull wire sensor 2 to the corresponding control unit through the cables.
Generally, the wire extending hole is usually a circular hole, which is convenient for the wire 8 to pass out and reduces the interference to the wire 8. Of course, in other embodiments, the wire extending hole may be designed as a polygonal hole according to the actual application scenario.
In this embodiment, as shown in fig. 1 and 3, four pull wire sensors 2 are assembled one by one to form two sensor groups, two pull wire sensors 2 of the same sensor group are mounted on the box bottom 13 one above the other, each pull wire sensor 2 is provided with a pull wire 8 for measurement, each pull wire 8 is provided with a pull head 81, and the pull head 81 of each pull wire 8 is used for fixing at a known coordinate point after bypassing the corresponding wire outgoing diverting pulley 5, the bearing 41 and the concentrated diverting pulley 3 and passing out of the box structure.
The bottom 13 is provided with a fixed vertical plate 6 and a fixed bracket 7, wherein the fixed vertical plate 6 and the fixed bracket 7 are arranged in a split way, but are fixed on the bottom 13, and the fixed vertical plate 6 and the fixed bracket 7 are positioned at the front sides of the two sensor groups.
Four outgoing line reversing pulleys 5 are correspondingly arranged on the fixing brackets 7 on the two sides one by one corresponding to the four stay wire sensors 2, and each outgoing line reversing pulley 5 is used for winding and reversing stay wires 8 of the corresponding stay wire sensor 2, so that convergence to a set center point 10 is facilitated.
Four bearing mounting seats 4 are mounted on the front side surface of the fixed vertical plate 6 in a one-to-one correspondence manner corresponding to the four outgoing line reversing pulleys 5, the four bearing mounting seats 4 are circumferentially and uniformly distributed around the set center point 10, bearings 41 are respectively arranged on each bearing mounting seat 4, and concentrated reversing pulleys 3 are rotatably assembled through the bearings 41, each concentrated reversing pulley 3 respectively comprises a wheel frame 33 and a pulley body 31, the wheel frame 33 can be rotatably assembled on the fixed isolation plate through the corresponding bearings 41, and the pulley body 31 is used for guiding the corresponding stay wire 8 to reverse.
In the present embodiment, four concentrated diverting pulleys 3 are circumferentially distributed around the set center point 10 and are each arranged near the set center point 10, the rotation center axes of the four bearings 41 are each extended along the radial direction of the circumference formed by the distribution of all the concentrated diverting pulleys 3, and each bearing 41 and the set center point 10 are located on both sides of the corresponding concentrated diverting pulley 3 in the direction in which the rotation center axis of each bearing 41 extends. In the present embodiment, the rotation center axes of the four bearings 41 are located in one set plane.
For each centralized diverting pulley 3, the centralized diverting pulley 3 has an incoming line side and an outgoing line side, the outgoing line side of the centralized diverting pulley 3 is located on the side of the centralized diverting pulley 3 facing the set center point 10, and it should be explained that, when the centralized diverting pulley 3 is disposed around the set center point 10, in the direction of the interval between the two sides, one side of the centralized diverting pulley 3 will necessarily face the set center point 10, and in combination with the radial extension of the rotation central axis of each bearing 41 along the circumference formed by the distribution of all centralized diverting pulleys 3, the outgoing line side of the centralized diverting pulley 3 always faces the set center point 10 during the rotation of the corresponding centralized diverting pulley 3 around the rotation central axis of the corresponding bearing 41.
In practice, the wire inlet side and the wire outlet side of each concentrated diverting pulley 3 are adjacently arranged in the circumferential direction of the corresponding concentrated diverting pulley 3 so that the wire 8 bypassing the concentrated diverting pulley 3 is of an angular structure, in practice, each bearing 41 is arranged in the direction in which its rotational center axis extends over the wire inlet side of the corresponding concentrated diverting pulley 3, the rotational center axis position of each bearing 41 is provided with a guide perforation through which the corresponding wire 8 is guided to pass to be led into the wire inlet side of the corresponding concentrated diverting pulley 3, and the rotational center axis of each bearing 41 is a tangent line to the wire inlet side of the corresponding concentrated diverting pulley 3.
As shown in fig. 3, all of the outgoing line diverting pulleys 5 are located outside the circumference formed by all of the concentrated diverting pulleys 3, and in fact, four outgoing line diverting pulleys 5, four linear bearings 41 and four concentrated diverting pulleys 3 form four sets of wire 8 guide structures in exactly one-to-one correspondence, each set of wire 8 guide structures corresponding to one wire sensor 2 including one outgoing line diverting pulley 5, one bearing 41 and one concentrated diverting pulley 3, so that for the corresponding outgoing line diverting pulley 5, bearing 41 and concentrated diverting pulley 3, each outgoing line diverting pulley 5 has an outgoing line side, and the wire 8 of each wire sensor 2 is led out from the outgoing line side of the outgoing line diverting pulley 5 after bypassing the corresponding outgoing line diverting pulley 5 and is led out from the outgoing line side of the corresponding concentrated diverting pulley 3 after bypassing the corresponding concentrated diverting pulley 3 after being led through the guide perforations of the corresponding bearing 41.
Because each centralized reversing pulley 3 is rotatably assembled on the bearing mounting seat 4 through the bearing 41, the angle of the centralized reversing pulley 3 is convenient to adjust when the box body structure moves so as to adapt to the extending angle of the stay wire 8 which changes at any time.
In this embodiment, the diameters of the four centralized diverting pulleys 3 are equal, and the distances from the set center point 10 are equal, so that the installation is convenient, and the subsequent calculation is convenient.
It should be noted that, in fig. 3, two fixing brackets 7 are correspondingly arranged, and one wire-outgoing reversing pulley 5 is fixedly installed at the top and bottom of each fixing bracket 7 to correspond to two wire-outgoing sensors 2 of one wire-outgoing sensor 2 group.
In addition, as shown in fig. 5, for each centralized diverting pulley 3, a baffle 32 is provided on the wheel frame 33 of the centralized diverting pulley 3 corresponding to the corresponding pulley body 31, for preventing the pull wire 8 from falling off and sliding out of the corresponding centralized diverting pulley 3, resulting in accidents when the connection point of the pull head 81 is replaced.
Further, as shown in fig. 4 and 5, in order to enhance the supporting strength, reinforcing plates 9 are fixedly disposed at the respective both sides of the fixed riser 6, respectively, to enhance the overall strength of the entire fixed riser 6.
When in use, as shown in fig. 6, the whole guy wire three-dimensional space positioning device 20 is fixedly arranged on the trolley 100 to be detected, at this time, the guy wires 8 of each guy wire sensor 2 pass through and pass through the corresponding guy wire reversing pulley 5, the bearing 41 and the centralized reversing pulley 3 in sequence and then pass through the box structure, the guys 81 of the four guys 8 can be correspondingly fixed at four preset known coordinate positions on the tunnel wall 200 one by one, the trolley 100 drives the whole guy wire 8 three-dimensional space to move, the four guys 8 continuously pass through the guy wire sensors 2, and if the displacement values measured by the four guy wire sensors 2 at this moment are L respectively 1 、L 2 、L 3 、L 4 While the four pull wire sensors 2 exit to four setsThe length of the wire 8 on the wire outgoing side of the middle reversing pulley 3 is delta L 1 、ΔL 2 、ΔL 3 、ΔL 4 Then for four wires 8, the relative distance of the four known points from the set center point 10 may be approximately equal to (L 1 -ΔL 1 ）、（L 2 -ΔL 2 ）、（L 3 -ΔL 3 ）、（L 4 -ΔL 4 ) The process is a calibration process, at this time, according to the related principle of the four-station method in the dynamic space position measuring method based on a stay wire 8 displacement sensor disclosed in mechanical design and manufacturing engineering of 3 rd phase of 3 rd volume of 3 rd month of 2014 by an author of Cheng, the position coordinates of the set center point 10 can be calculated by a control unit, a series of position coordinates of the set center point 10 can be obtained according to the corresponding displacement data measured within a period of time, and the position coordinates are connected to obtain the movement track of the set center point.
After the trolley moves forwards for a certain distance (generally within 2 meters), the fixed connection positions of the pull heads of the four pull wires are changed again, so that the trolley position detection of the next stage is facilitated.
It should be noted that, the measurement scheme is performed based on that a plurality of length quantities are converged at one point, and in practice, the length quantities are not fully converged at one point, and an error of less than 1 cm is generally generated, but the effect on the final measurement result is not great.
For the trolley 100, two sets of three-dimensional space positioning devices can be arranged, two set center points are selected, the two set center points can be arranged in a front-back mode, a left-right mode or an oblique diagonal mode, the two set center points can be used for matching to complete the movement track and the gesture positioning of the trolley, and then the space position of the trolley 100 can be accurately measured.
It should be noted that, can be at the fixed mounting universal hasp structure of the known coordinate point position department of selecting on the tunnel cave wall, connect hasp connection structure in the pull head department of acting as go-between, during the use, hasp connection structure is connected with universal hasp structure, can hang the acting as go-between on the tunnel cave wall. Of course, in other embodiments, a hook may be provided on the slider to be hooked with a lock ring fixed at a known coordinate point, and the slider may be hooked on the tunnel wall.
Compared with other similar products, the three-dimensional space positioning device provided by the embodiment is characterized in that the box body structure is directly arranged on an object to be measured, the pull heads of the corresponding pull wires are led out and connected to the known coordinate points, the three-dimensional space positioning device is simple in integral structure and convenient to operate, all parts are placed in the box body structure, the integration degree is high, a pull wire sensor is specifically adopted as a measuring device, the cost is relatively low, and the three-dimensional space positioning device is convenient to be applied to different occasions.
the differences from example 1 are mainly that: in embodiment 1, a pull wire extending hole is provided in one side wall of the peripheral side wall of the case structure to form a pull wire extending passage for the pull head to pass through. In this embodiment, one side of the peripheral wall may be directly configured to be an open structure, so as to form a wire extending channel for allowing the pull heads of all the wires to pass through.
the differences from example 1 are mainly that: in embodiment 1, four stay wire sensors are arranged in the box body structure, and the measurement is performed by using the measurement principle of a four-station method. In this embodiment, three pull-wire sensors may be correspondingly disposed in the box structure, and accordingly, measurement may be performed with reference to the related principle of the three-station method in the "dynamic spatial position measurement method based on pull-wire displacement sensor".
Of course, in other embodiments, more than five pull-wire sensors may be provided, and the position coordinates of the set center point may be determined according to corresponding mathematical principles.
the differences from example 1 are mainly that: in embodiment 1, all the centralized reversing pulleys are circumferentially and uniformly distributed around a set center point, and the distances between the centralized reversing pulleys and the set center point are equal. In this embodiment, all the centralized diverting pulleys may be distributed only around a set center point, may not be in the same plane, and may be distributed in spherical space.
the differences from example 1 are mainly that: in the embodiment 1, the centralized reversing pulleys are respectively and rotatably assembled on the corresponding mounting seats through bearings, so that the stay wire can deflect more conveniently. In the embodiment, each centralized reversing pulley can be directly and fixedly arranged on the mounting seat, and the stay wire can only deflect in a small range at the moment, so that the centralized reversing pulley is suitable for measuring occasions with smaller distances.
the differences from example 1 are mainly that: in embodiment 1, the rotation center axes of the bearings are located in one set plane. In this embodiment, the rotation central axes of the bearings may also be located in different planes, and the rotation central axes may be located in the same conical surface, which has a larger taper.
the differences from example 1 are mainly that: in embodiment 1, one outgoing line reversing pulley is arranged between each stay wire sensor and the centralized reversing pulley. In this embodiment, the wire-outgoing reversing pulley is omitted, and at this time, the wire-outgoing of the wire-outgoing sensor can be directly led into the wire-incoming side of the corresponding concentrated reversing pulley, and at this time, the position of the wire-outgoing sensor can be designed, so that the wire-outgoing abrasion to the wire-outgoing can be avoided or reduced as much as possible.
the differences from example 1 are mainly that: in embodiment 1, the mounting seat is of a box structure, so that effective protection of parts such as an internal stay wire sensor, a centralized reversing pulley and the like can be formed. In this embodiment, the mounting seat is only a bottom seat structure, and an external housing or a box structure is omitted, so that the mounting seat is suitable for being applied to occasions with good external environments.
It should be noted that the above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, but may be modified without inventive effort or equivalent substitution of some technical features thereof by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. Guy type three-dimensional space positioner, its characterized in that includes:
the mounting seat (1) is used for being fixedly mounted on a target object to be tested;
more than three stay wire sensors (2) are arranged on the mounting seat (1), each stay wire sensor (2) is provided with a stay wire (8) for measurement, and the free end of each stay wire (8) is provided with a pull head (81) for fixing at different known coordinate point positions;
the centralized reversing pulleys (3) are respectively arranged on the mounting seat (1) corresponding to the pull wire sensors (2), each centralized reversing pulley (3) is provided with a wire inlet side and a wire outlet side, and the pull heads (81) of the pull wires (8) are led in through the wire inlet sides of the corresponding centralized reversing pulleys (3) and led out from the corresponding wire outlet sides after bypassing the corresponding centralized reversing pulleys (3);
the installation seat (1) is provided with a set center point (10), all the centralized reversing pulleys (3) are distributed around the set center point (10) and are arranged close to the set center point (10), and the outgoing line side of each centralized reversing pulley (3) is located at one side of the centralized reversing pulley (3) facing the set center point (10).
2. The guy type three-dimensional space positioning device according to claim 1, wherein all the centralized diverting pulleys (3) are circumferentially distributed around the set center point (10), the diameters of all the centralized diverting pulleys are the same, and the distances between the centralized diverting pulleys (3) and the set center point (10) are equal.
3. The guyed three-dimensional space positioning device according to claim 2, wherein each concentrated diverting pulley (3) comprises a wheel frame (33) and a pulley body (31), respectively, the wheel frame (33) of each concentrated diverting pulley (3) is rotatably assembled on the mounting base (1) through a bearing (41), respectively, the rotation central axis of each bearing (41) extends along the radial direction of the circumference formed by the distribution of all concentrated diverting pulleys (3), so that the outgoing line side of the concentrated diverting pulley (3) always faces the set central point (10) during the rotation of the corresponding concentrated diverting pulley (3) around the rotation central axis of the corresponding bearing (41);
in the extending direction of the rotation central axis of each bearing (41), each bearing (41) and the set central point (10) are positioned at two sides of the corresponding concentrated reversing pulley (3).
4. A guyed three-dimensional space positioning device according to claim 3, wherein the central axis of rotation of each bearing (41) lies in a set plane.
5. A guy wire three-dimensional space positioning device according to claim 3, characterized in that the incoming and outgoing sides of each centralized diverting pulley (3) are arranged adjacent to each other in the circumferential direction of the respective centralized diverting pulley (3) such that the guy wire (8) bypassing the centralized diverting pulley (3) takes an angular configuration.
6. The guy type three-dimensional space positioning device according to claim 5, wherein each bearing (41) is opposite to the incoming line side of the corresponding concentrated diverting pulley (3) in the extending direction of the rotation central axis, a guiding perforation is arranged at the position of the rotation central axis of each bearing (41) for guiding the corresponding guy wire (8) to pass through for introducing the incoming line side of the corresponding concentrated diverting pulley (3), and the rotation central axis of each bearing (41) is the tangent line of the incoming line side of the corresponding concentrated diverting pulley (3).
7. The guy type three-dimensional space positioning device according to claim 6, wherein one wire outgoing diverting pulley (5) is arranged between each guy wire sensor (2) and the corresponding concentrated diverting pulley (3) on the mounting base (1), all the wire outgoing diverting pulleys (5) are located outside a circumference formed by the distribution of all the concentrated diverting pulleys (3), each wire outgoing diverting pulley (5) is provided with a wire outgoing side, and the guy wire (8) of each guy wire sensor (2) is led out from the wire outgoing side of the wire outgoing diverting pulley (5) after bypassing the corresponding wire outgoing diverting pulley (5) and bypasses the corresponding concentrated diverting pulley (3) after being led through a guiding perforation of the corresponding bearing (41).
8. The guy type three-dimensional space positioning device according to claim 7, wherein four guy type sensors (2) are arranged, two sensor groups are formed by two groups of four guy type sensors (2), two guy type sensors (2) of the same sensor group are installed on the installation seat (1) in a vertically stacked mode, a fixed vertical plate (6) is arranged on the installation seat (1), bearing installation seats (4) are respectively arranged on one side face of the fixed vertical plate (6) corresponding to each bearing (41) and used for installing corresponding bearings (41) to further rotate and assemble corresponding concentrated reversing pulleys (3), a fixed support (7) is further arranged on the installation seat (1), all the guy type sensors (2) and the concentrated reversing pulleys (3) are fixedly installed on the fixed support (7), and the four guy type sensors (2) and the concentrated reversing pulleys (3) are located on two opposite sides of the fixed vertical plate (6).
9. Guy-wire three-dimensional space positioning device according to any one of claims 2 to 8, characterized in that all centralized diverting pulleys (3) are equispaced around the set centre point (10).
10. The guy wire three-dimensional space positioning device according to any one of claims 1 to 8, wherein the mounting base (1) is a box structure, the box structure comprises a box bottom (13), a box cover (12) and a peripheral side box wall (14), the box bottom (13) is used for being fixedly mounted on a target object to be measured, all guy wire sensors (2) and concentrated reversing pulleys (3) are all located in the box structure, one side of the peripheral side box wall (14) is opened to form a guy wire extending channel or a guy wire extending hole is formed in one side box wall of the peripheral side box wall (14) to form a guy wire extending channel, so that pull heads (81) of all guy wires (8) can be penetrated out, and the box cover (12) is mounted on the top of the peripheral side box wall (14) in an openable manner.
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| CN114485513A (en) * | 2021-12-30 | 2022-05-13 | 南京理工大学 | Be applied to displacement sensor that acts as go-between to act as go-between fixer |
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| WO2017025012A1 (en) * | 2015-08-08 | 2017-02-16 | 曲言明 | Rope-controlled hydraulic cylinder wave power generator |
| CN106092009A (en) * | 2016-06-29 | 2016-11-09 | 南京航空航天大学 | A kind of initial position calibration steps of the movable measuring mechanism of website based on draw wire encoder |
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