CN117490744A - Fixed-reference two-degree-of-freedom rotation system and method for multi-sensing head collaborative three-dimensional measurement - Google Patents
Fixed-reference two-degree-of-freedom rotation system and method for multi-sensing head collaborative three-dimensional measurement Download PDFInfo
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Abstract
The invention provides a fixed-reference two-degree-of-freedom rotation system and method for multi-sensing head collaborative three-dimensional measurement, comprising the following steps: instrument clamping structure: fixing the space position of the detecting instrument and arranging a shaft hole for adjusting the pitch angle; pitching direction rotation adjusting structure: the pitching direction of the instrument is regulated, so that the support of each component is realized; horizontal rotation adjusting structure: the horizontal orientation of the instrument is regulated, and a revolute pair connected with the pitching direction rotation regulating structure is linked. The invention provides a two-degree-of-freedom angle rotation system with multiple sensing heads for collaborative three-dimensional measurement and fixed reference position, which keeps the degree of freedom of angle adjustment during instrument test and solves the problems of larger three-dimensional calculation error and even failure caused by the fact that the distance between the sensing heads is changed and the three-dimensional calculation error is not coplanar due to the fact that the rotation center is arranged at the bottom during adjustment.
Description
Technical Field
The invention relates to the technical field of vibration measurement, instrument installation and debugging, in particular to a fixed-reference two-degree-of-freedom rotation system and method for multi-sensing head collaborative three-dimensional measurement.
Background
In engineering, various detection instruments are often required to complete the detection of a target. The detection category includes radar electromagnetic wave detection, camera vision analysis, laser detection, and the like. The non-contact detection of the instrument is a key step in the technical fields of mechanical strength checking and vibration information acquisition of the target object. Before practical application, the detection instrument is required to remotely emit and sense signals to the target due to objective factors such as huge volume of the target. If the instrument and the target are not in the same horizontal line, the pitching angle of the instrument should be adjusted and fixed. In the experimental preparation stage, a plurality of instruments are arranged at certain intervals and angles to realize three-dimensional detection, which is an effective scheme for collecting the spatial information change of a target. For example, three-dimensional vibration measurement is a common means of achieving accurate vibration detection of a target. During experiments, each instrument enables the transmitted signal beam to be more focused through angle adjustment; which cooperate with each other to simultaneously acquire time domain signals. When the scene changes, the system view field and the region to be measured are adjusted by changing the instrument angle. Because the position and angle of the instrument relative to the target are different, the acquired signals correspondingly have frequency, phase and other differences. Through extracting the data and combining with combined analysis such as sensing head position information, relevant parameters can be calculated from the data, and remote detection of the target object can be completed. Hereinafter, the sensing head is referred to as an in-instrument signal sensing module. During experiments, the sensing heads of all instruments should be combined on the same plane to face the target. Typically, the sensing head within the instrument is located at a specific location within the instrument near the center. The instrument orientation angle is changed and the sensing heads should still remain on the plane to ensure accuracy. The core of the three-dimensional measurement is that the detectors detect targets by taking the determined distance and angle as the standard, so that the testing precision is obviously influenced by the coplanar positioning precision of the sensing head. The method comprises the steps of constructing a detector array, firstly splicing a framework of the array, wherein the framework can be formed by assembling connecting rods, and installing instruments at the tail ends of the connecting rods to form a detection system. For example, equilateral triangle frameworks are often built to form equidistant detection combinations. When the skeleton is shaped, the detection orientation of each instrument should be adjusted before use, so that each instrument can be ensured to completely receive the acquisition signals. Therefore, the angular orientation of each detector in the system often needs to be adjusted to accommodate different conditions. Because the skeleton structure determines the detection characteristics of the instrument, such as equidistant arrangement, the instrument should avoid excessive position variation during adjustment so as to keep the coordinates of each sensing head stable.
Before detection, each instrument needs to be installed and fixed at a wide attitude angle of a collection surface. At present, the scheme of angle adjustment is realized by installing a spherical hinge type rotating base on the bottom surface of the instrument shell. One side of the spherical hinge is fixed, and the other side is connected with the shell; the orientation of the instrument is regulated and fixed by rotating the spherical hinge.
There are certain limitations to the current angle adjustment schemes. Firstly, an outer frame and a spherical hinge base with matched connectors are needed to be selected, and the flow is complicated. Secondly, because the rotation center is positioned at the bottom of the shell, the multi-sensing head center is not coplanar due to the position adjustment. Therefore, a new angle adjusting device capable of reducing three-dimensional resolving errors caused by non-coplanarity of multiple sensing heads due to pose adjustment of the sensing heads needs to be designed.
The prior art has the following disadvantages:
1. the aim is to provide a rotary system which is assembled on the bottom surface of an instrument. In the instrument adjusting process, the spherical hinge at the bottom surface is a fixed point; the instrument therefore comprises an internal sensor module (or sensor head) to be turned around the spherical hinge; therefore, the distance between the sensing module groups is deviated, and the center of the multi-sensing head can generate a problem of non-coplanarity due to the fact that the sensing head has a certain structural width, and furthermore, the fixed reference and the coordinate system measurement of the target object can not be maintained, so that a large error of three-dimensional measurement calculation is caused.
2. Aiming at the integral spherical hinge type rotary system, as the surface of the shell has the conditions of no holes, different aperture sizes and the like, the base and the fastener are required to be selected according to different models; the method has the problems of high cost, poor universality and the like. In addition, the rotation system assembled on the bottom surface is required to bear all the gravity of the instrument, and is fixed by virtue of the static friction force of the bolts through a single fastening point and bears the tilting moment, so that the angle of the instrument is difficult to stably maintain. Therefore, the design has the defects of bearing stress concentration, bearing excessive bending moment and the like.
Patent document CN113670190a discloses an angle sensor based on giant magnetoresistance chip, its structure includes pivot, synchronizing wheel, operation box, is equipped with the synchronizing wheel in the pivot, and the synchronizing wheel is connected with the pivot, is equipped with the pivot on the operation box, pivot and operation box clearance fit, and the operation box is equipped with box, swivel shaft, back lid, chip, magnet, stabilizer, and the box is inside to be equipped with the swivel shaft, and the swivel shaft gomphosis with the box, installs magnet on the swivel shaft, and magnet is connected with the swivel shaft, and the stabilizer is installed on the box. However, the invention does not solve the problem of data error caused by coordinate shift of the sensing head due to the fact that the rotation center is at the bottom during adjustment.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a fixed-reference two-degree-of-freedom rotation system and method for multi-sensing head collaborative three-dimensional measurement.
The invention provides a fixed reference two-degree-of-freedom rotation system for multi-sensing head collaborative three-dimensional measurement, which comprises:
instrument clamping structure: the device is used for clamping the detection instrument or the sensing head, fixing the spatial position of the detection instrument or the sensing head and is provided with a shaft hole for adjusting a pitch angle; the axis of the shaft hole is collinear with the horizontal branching of the instrument sensing head;
pitching direction rotation adjusting structure: the pitching sensing direction used for adjusting the instrument or the sensing head consists of a supporting part and a rotating shaft.
Horizontal rotation adjusting structure: the horizontal sensing direction and the pitching direction rotation adjusting structure are used for adjusting the horizontal sensing direction of the instrument or the sensing head to form a revolute pair.
Preferably, in the instrument holding structure:
the instrument clamping structure reserves a hollowed-out part according to each functional area of the instrument surface, and the instrument keeps communication with the outside and supplies power when the angle is adjusted; the clamping structure can contain and support the instrument according to its profile features; the clamping structure is provided with one or more hollowed-out surfaces for loading instruments and realizing the functions of electrifying and communicating; the clamping structure is provided with an instrument positioning mechanism. A pitching rotation shaft fixing hole is formed in the horizontal direction of the side surface of the clamping structure;
preferably, in the pitch rotation adjustment structure:
the pitching direction rotation adjusting structure is connected with the instrument clamping structure and realizes a supporting function; a support arm of the pitching rotation adjusting structure is provided with a rotating shaft hole which is collinear with the shaft hole of the instrument clamping structure during assembly; a rotating shaft positioning mechanism is arranged on the supporting arm; according to the characteristics of the horizontal rotation adjusting structure, a plurality of connecting holes are formed in the pitching rotation adjusting structure; the connecting center of the mechanism and the horizontal rotating structure should be in line with the central axis of horizontal rotation.
Preferably, in the horizontal rotation adjustment structure:
the horizontal rotation adjusting structure comprises a rotation structure, a bottom connecting structure and the like.
The rotating structure refers to a revolute pair which realizes the relative rotation of the pitching direction rotating adjusting structure and the bottom connecting structure; keeping the center position of the sensing head concentric with the rotation axis of the horizontal rotation adjusting structure; one end of the bottom connecting structure is connected with the revolute pair component and the space position of the bottom connecting structure is fixed; the connecting structure of each detecting instrument is connected in parallel to the integral framework.
According to the method for rotating the fixed reference two degrees of freedom of the multi-sensing head collaborative three-dimensional measurement, which is provided by the invention, the system for rotating the fixed reference two degrees of freedom of the multi-sensing head collaborative three-dimensional measurement is adopted, and the execution comprises the following steps:
step S1: clamping the sensing heads based on a two-degree-of-freedom rotating system for installation and fixation, so that the structural center of each sensing head is positioned on the same plane;
step S2: according to the requirement, performing two-degree-of-freedom angle adjustment, and using components taking an instrument clamping structure, a pitching direction rotation adjustment structure and a horizontal direction rotation adjustment structure as main bodies to complete necessary angle adjustment and fixation;
step S3: and acquiring and detecting multi-sensing head data, and reconstructing three-dimensional motion information of the target through three-dimensional calculation.
Preferably, in said step S2:
the assembling method of the instrument in the clamping structure comprises the following steps:
step S2.1.1: before use, confirming the space position of each instrument detection unit, completing the configuration of the bottom connection structure, loading the instrument into the clamping structure along the edge line, and enabling the signal emission or collection surface to face the target;
step S2.1.2: after the instrument is assembled into position, the sensing instrument is secured in this relative position using means including jackscrew compression fixation and circumferential friction fixation.
Preferably, in said step S2:
the connection and fixation methods of the instrument clamping structure and the pitching direction rotation adjusting structure are as follows:
step S2.2.1: aligning the assembly holes on two sides of the instrument clamping structure with the central line of the shaft hole of the pitching rotation adjusting structure, and respectively enabling the rotating shaft to pass through the shaft hole of the pitching rotation adjusting structure and the assembly holes of the instrument clamping structure;
step S2.2.2: connecting the rotating shaft to the instrument clamping structure, and connecting and fastening the rotating shaft and the instrument clamping structure by using a workpiece; the rotating shaft can be fixedly connected with the instrument clamping structure by means of a screw hole, a bulge and the like;
step S2.2.3: adjusting the relative pitching angles of the clamping structure and the pitching direction rotation adjusting structure, and fastening the rotating shaft on the shaft hole in a mode of pressing and fixing the jackscrew, screwing the screw, fixing the gap and the like after the adjustment is finished;
step S2.2.4: a revolute pair which realizes the relative rotation of the pitching direction rotation adjusting structure and the bottom connecting structure is installed; the revolute pair can be realized by a rotary slipway and the like; keeping the axes of the revolute pairs concentric with the sensing head during assembly; the revolute pair can be screwed after the angle adjustment is completed;
preferably, in said step S3:
transmitting and collecting signals to the target simultaneously by using an instrument with the fixed installation; extracting the respective target sight distance and displacement information of each instrument from the acquired signals, and setting a undistorted target multidimensional deformation and displacement reference coordinate system according to the instrument spacing and coordinates; reconstructing a multi-dimensional motion profile of the object.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention provides a two-degree-of-freedom rotation system device with a fixed reference position, which is cooperatively measured by a plurality of sensing heads, keeps the necessary degree of freedom of the spatial angle adjustment of the sensing heads during testing, simultaneously realizes the unchanged distance between the centers of the multi-sensing head structures, ensures the same plane, ensures the stability of a resolving coordinate system of three-dimensional measurement, and solves the problems of large three-dimensional resolving measurement error and even failure caused by the coordinate deviation of the sensing heads and the noncoplanar of the multi-sensing heads due to the fact that the rotation center is at the bottom during adjustment;
2. the invention provides a support type rotating system with low manufacturing cost and good stability, which solves the defects that the existing spherical hinge type bottom surface rotating system bears stress concentration and large bending moment;
3. the invention provides an instrument attitude angle regulator for fixing a reference (center), which can solve the problem that a plurality of sensing heads generate coordinate deviation due to the fact that the rotation center is at the bottom during experimental regulation, and solve the problem that the durability and stability are affected by the adoption of a bottom surface spherical hinge type regulator for stress concentration, overlarge moment bearing and the like;
4. the invention designs a rotating system capable of keeping the space position of the measuring element unchanged under the adjustment of double degrees of freedom, and realizes the design of a uniform bearing support arm of an instrument.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of a fixed reference two-degree-of-freedom rotation system for collaborative three-dimensional measurement with multiple sensing heads according to the present invention;
FIG. 2 is a front view of a two-degree-of-freedom rotation system with a fixed reference position according to an embodiment of the present invention;
FIG. 3 is an instrument holding structural component of an embodiment of the present invention;
FIG. 4 is a pitch rotation adjustment structure of an embodiment of the present invention;
FIG. 5 is a front view of a spindle positioning device according to an embodiment of the present invention;
FIG. 6 is a side view of a spindle orientation according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
Example 1:
according to the method for rotating the fixed reference two degrees of freedom of the multi-sensing head collaborative three-dimensional measurement provided by the invention, as shown in fig. 1-6, the execution comprises the following steps:
step S1: the two-degree-of-freedom rotary system is based on the fact that the sensing heads are clamped and fixed, and the structural center of each sensing head is located on the same plane.
Specifically, in the step S1:
step S1.1: determining the position of a circuit board in the shell and the coordinates of the sensing head, and calculating the distance D1, D1 between the sensing head and the bottom of the shell, which is equal to the distance between the rotating shaft and the bottom of the shell;
step S1.2: calculating the coordinates of the sensing head in the instrument, and determining the distance between the vertical bisector of the sensing head and the side of the shell so as to position the horizontal revolute pair axis of the bracket;
step S1.3: the height of the sensing head on the side view angle is adjusted to finish assembly; the sensing head is horizontally collinear with the rotating shaft.
Step S2: according to the requirement, performing two-degree-of-freedom angle adjustment, and using components taking an instrument clamping structure, a pitching direction rotation adjustment structure and a horizontal direction rotation adjustment structure as main bodies to complete necessary angle adjustment and fixation;
specifically, in the step S2:
the assembling method of the instrument in the clamping structure comprises the following steps:
step S2.1.1: before use, confirming the space position of each instrument detection unit, completing the configuration of the bottom connecting mechanism, loading the instrument into the clamping structure along the edge line, and loading the signal emission or collection surface inwards;
step S2.1.2: after the instrument is mounted in the locked position, the jackscrew is used to screw into the assembled position securing the current instrument.
Specifically, in the step S2:
the connection and fixation methods of the instrument, the clamping structure and the pitching direction rotation adjusting structure are as follows:
step S2.2.1: respectively aligning counter sunk holes on two sides of the instrument clamping structure with the central line of the shaft hole of the side arm of the adjusting bracket, and respectively penetrating the rotating shaft through the shaft hole of the side arm of the bracket;
step S2.2.2: pushing the rotating shaft to the clamping structure of the instrument, and connecting and fastening the rotating shaft and the clamping structure by using a screw;
step S2.2.3: adjusting the relative pitching angle of the clamping structure and the supporting arm, and fastening the rotating shaft on the shaft hole of the bracket by using jackscrews after the adjustment is completed;
step S2.2.4: and (3) aligning the countersunk head hole at the bottom of the bracket with a corresponding hole position on the top surface of the rotary sliding table, fastening by using a screw, and rotating the sliding table to adjust the horizontal corner of the instrument to a preset position.
Step S3: and acquiring and detecting multi-sensing head data, and reconstructing three-dimensional motion information of the target through three-dimensional calculation.
Specifically, in the step S3:
transmitting frequency modulation continuous wave microwave signals to a target simultaneously by using an instrument which is installed and fixed, and collecting echoes; extracting respective target sight distance and vibration information of each instrument from the processed baseband signals, and setting a undistorted target multidimensional deformation and vibration reference coordinate system according to instrument spacing and coordinates; reconstructing the multidimensional deformation and vibration conditions of the target.
Example 2:
example 2 is a preferable example of example 1 to more specifically explain the present invention.
The invention also provides a fixed reference two-degree-of-freedom rotation system for the multi-sensing head collaborative three-dimensional measurement, which can be realized by executing the flow steps of the fixed reference two-degree-of-freedom rotation method for the multi-sensing head collaborative three-dimensional measurement, namely, a person skilled in the art can understand the fixed reference two-degree-of-freedom rotation method for the multi-sensing head collaborative three-dimensional measurement as a preferred implementation mode of the fixed reference two-degree-of-freedom rotation system for the multi-sensing head collaborative three-dimensional measurement.
The invention provides a fixed-reference two-degree-of-freedom rotation system for collaborative three-dimensional measurement of a plurality of sensing heads, which is characterized by comprising the following components:
instrument clamping structure: fixing the space position of the detecting instrument and arranging a shaft hole for adjusting the pitch angle;
specifically, in the instrument holding structure:
the instrument clamping structure reserves a hollowed-out part according to each functional area of the surface of the instrument, and the instrument keeps communication with the outside and supplies power in the process of adjusting the angle; the clamping structure can contain and support the instrument according to the appearance characteristics of the instrument; the clamping structure is provided with one or more hollowed-out surfaces for loading instruments and realizing the functions of electrifying and communicating; the clamping structure is provided with an assembling locking mechanism for fixing the detection instrument and the clamping structure, and a rotating shaft hole is formed in the horizontal direction of the side surface of the clamping structure; the axis of the bore is collinear with the horizontal parting line of the instrument sensing head.
Pitching direction rotation adjusting structure: the horizontal orientation of the instrument is regulated, so that the support of each component is realized;
specifically, in the pitch-direction rotation adjustment structure:
the pitching direction rotation adjusting structure is a U-shaped structure; the top of the side arm of the pitching rotation adjusting structure is provided with a rotating shaft hole which is consistent with the aperture of the rotating shaft of the instrument clamping structure and is collinear with the rotating shaft; the aperture of the rotating shaft of the side arm of the pitching direction rotation adjusting structure is larger than the actual size of the rotating shaft; according to the characteristics of the selected rotary sliding table, one or more connecting holes are formed in the bottom of the bracket; the rotary sliding table is a manual angle adjusting workbench, and one or more wire jacking holes are formed in the top of the side arm of the bracket and are dug to the central shaft hole; the symmetry point of the connecting hole at the bottom of the bracket is positioned on the extension line of the perpendicular bisector of the sensing head and is positioned on the rotation center axis of the rotary sliding table.
A central rotating shaft: adjusting the pitch angle of the instrument clamping structure and the instrument;
specifically, the central rotating shaft is of a cylindrical structure, and a screw hole with a preset depth is formed in the bottom surface of the central rotating shaft;
bottom coupling mechanism: and a rotary sliding table connected with the bottom of the pitching direction rotary adjusting structure.
The bottom connecting mechanism is characterized in that the rotary sliding table is a revolute pair, and the lower side of the rotary sliding table is connected and fixed with the connecting mechanism; the connecting mechanisms of the detectors are connected in parallel to the integral framework.
Example 3:
example 3 is a preferable example of example 1 to more specifically explain the present invention.
The key point of the invention is a two-degree-of-freedom rotation system for fixing a rotation reference: a novel two-degree-of-freedom angle adjusting instrument capable of fixing the reference position of a sensing head; the invention provides a fixed-reference two-degree-of-freedom rotation system and method for multi-sensing head collaborative three-dimensional measurement. The sensing head is used for referring to an instrument signal sensing module, such as an antenna; the reference finger sensing heads will move about a fixed center of rotation in the same plane as each other.
The device aims at changing the rotation center of the instrument during adjustment and ensuring that the sensing head is always in the center position. The two-degree-of-freedom rotation design scheme specifically comprises: an instrument clamping structure provided with a hole slot, a pitching direction rotation adjusting structure provided with a shaft hole, a central rotating shaft and a bottom connecting mechanism.
The multi-sensing head cooperates with the fixed reference two-degree-of-freedom rotary system for three-dimensional measurement. Comprises an instrument, a two-degree-of-freedom rotary system with a fixed reference, a back plate (skeleton) and the like. On the system back plate, each instrument unit is installed and fixed according to known coordinates. The combination of the sensing heads of the instruments is equivalent to a plane. A schematic diagram of the system assembly is shown in fig. 1.
Instrument clamping structure: the clamping structure is used for fixing the space position of the detecting instrument and is provided with a shaft hole for adjusting the pitch angle. The instrument clamping structure reserves proper digging parts according to each functional area of the instrument surface, so that the instrument can keep the functions of communication, power supply and the like with the outside in the process of adjusting the angle. According to the appearance characteristics of the instrument, the clamping structure is a structure which can more completely contain and support the instrument; the clamping structure can be provided with a plurality of hollowed-out surfaces for loading instruments, realizing functions of electrifying, communicating and the like. The clamping structure should be provided with an assembly locking mechanism to fix the detection instrument and the clamping structure. A rotating shaft hole is formed in the horizontal direction of the side surface of the clamping structure; the axis of the hole should be collinear with the horizontal parting line of the instrument sensing head.
Pitching direction rotation adjusting structure: for adjusting the horizontal orientation of the instrument and for achieving support of the various components. The bracket is of a U-shaped structure; the top of the side arm is provided with a rotating shaft hole which is consistent with the aperture of the rotating shaft of the clamping structure and the rotating shaft is collinear. The aperture of the rotating shaft of the side arm is larger than the actual size of the rotating shaft. According to the characteristics of the selected rotary sliding table, a plurality of connecting holes are formed in the bottom of the bracket. The rotary sliding table is a high-precision manual angle adjusting workbench. The top of the side arm of the bracket is provided with a plurality of top thread holes and is dug to the central shaft hole. The symmetry point of the connecting hole at the bottom of the bracket is positioned on the extension line of the vertical bisector of the sensing head and is positioned on the rotation center axis of the rotary sliding table.
A central rotating shaft: used for adjusting the pitch angle of the clamping structure and the instrument. The device is of a cylindrical structure; meanwhile, the bottom surface of the box body is provided with a screw hole with a certain depth.
Bottom coupling mechanism: and the rotary sliding table is used for connecting the pitching direction rotary adjusting structure bottom. The rotary sliding table is a revolute pair, and the lower side of the rotary sliding table is connected with and fixed to the connecting mechanism. The connecting mechanisms of the detectors are connected in parallel to the integral framework.
Based on the system components, the invention provides a fixed-reference two-degree-of-freedom rotation method for multi-sensing head collaborative three-dimensional measurement. The device aims at changing the rotation center of the instrument during adjustment and ensuring that the sensing head always moves around the reference position.
Step 1: the position of the surface rotating shaft 6 of the instrument clamping structure 1 is calculated.
As shown in fig. 5, the outer rectangle represents the instrument housing 3, and the inner rectangle represents the circuit board 31 containing the core element. The three rectangles in the center represent the sense heads 32. The outer shape and position of the left rotary shaft 61, the right rotary shaft 62 and the bottom rotary shaft 7:
in step 1.1, the position of the circuit board 31 and the coordinates of the sensing head 32 in the housing are determined. The distance D1 of the sensing head 32 from the bottom of the housing is calculated, which is equivalent to the distance from the rotation shaft 6 to the bottom surface of the housing.
Step 1.2, the distance between the vertical bisector of the sensing head 32 and the side of the casing 3 is defined by the position of the circuit board 31 and the coordinates of the sensing head 32 on the board so as to position the axis of the horizontal revolute pair 7 of the bracket 2.
Step 1.3, as shown in fig. 6, the height of the sensing head 32 in the side view is adjusted to be horizontally collinear with the axis of rotation 6.
Step 2: according to the test target and the requirement, performing two-degree-of-freedom angle adjustment; the required angle adjustment and fixation is accomplished using the parts mainly comprising the instrument holding structure 1 and the pitching rotational adjustment structure 2.
The method of assembling the instrument 3 in the clamping structure 1 is:
step 2.1.1, before use, confirming the space position of each instrument detection unit, and completing the configuration of the bottom connecting mechanism 5. The instrument 3 is loaded into the holding structure 1 along a side line with the signal emitting or collecting surface facing inwards.
Step 2.1.2, after the instrument 3 is mounted to the locking position 15, the assembly position of the current instrument is screwed in using the jackscrew.
The instrument 3, the clamping structure 1 and the pitching rotation adjusting structure 2 are connected and fixed by the following methods:
step 2.2.1, aligning the counter sunk holes 14 on two sides of the instrument clamping structure with the central lines of the side arm shaft holes 21 of the adjusting bracket respectively, and enabling the rotating shaft 6 to pass through the side arm shaft holes 21 of the bracket respectively.
Step 2.2.2, pushing the rotating shaft to the instrument clamping structure 14, and connecting and fastening the rotating shaft and the instrument clamping structure by using screws.
And 2.2.3, adjusting the relative angle between the clamping structure and the bracket, namely the pitch angle. After the adjustment is completed, the rotating shaft is fastened on the shaft hole of the bracket by using jackscrews.
And 2.2.4, aligning the countersunk holes 24 at the bottom of the bracket with corresponding hole sites on the top surface of the rotary sliding table 4, and fastening by using screws. The slide table 4 is rotated to adjust the horizontal rotation angle of the instrument to a specific position.
Step 3: vibration displacement data of each detection instrument are collected, and three-dimensional vibration displacement of the target is summarized and reconstructed.
Transmitting frequency modulation continuous wave microwave signals to a target simultaneously by using a plurality of instruments which are installed and fixed, and collecting echoes of the frequency modulation continuous wave microwave signals; and extracting the respective target sight distance and vibration information of each instrument from the processed baseband signals. Setting a distortion-free target multidimensional deformation and vibration reference coordinate system according to the instrument spacing and the coordinates; the multi-dimensional deformation and vibration conditions of the target are further reconstructed.
For the pitching direction rotation adjusting structure, the currently adopted jackscrew fixed type rotating shaft fastening scheme can be replaced by a scheme of expanding the aperture, radially outwards digging out a through groove and arranging a through hole and a threaded hole on an arm. In this scheme, a shaft hole larger than the size of the rotation shaft is first provided. Then, a through groove with a certain width is formed from top to bottom to the shaft hole. Through holes and threaded holes are respectively formed in two sides of the through groove. Next, using a screw to penetrate through the through hole and screw into the threaded hole at the other side; because the through groove exists in the center, the clearance of the through groove can be reduced by screwing the screw, and the aperture of the shaft is further reduced. When the screw is gradually screwed in, the reduced shaft hole diameter generates larger static friction force to fix the sliding of the rotating shaft.
For horizontal angle adjustment of the device, a scheme of fixedly connecting a rotary sliding table and operating the sliding table to rotate is adopted at present. An alternative is to use a horizontal rotation adjustment structure comprising a revolute pair. At present, a bracket and a rotary platform are respectively processed by arranging connecting holes with matched sizes; the alternative is to integrate the revolute pair of the rotary platform into a horizontal bracket. In the alternative, a locking mechanism is required for adjusting the horizontal angle of the bracket. The locking mechanism can be formed by a scheme that a screw is screwed into the pressing main shaft.
For the connection mode of the rotating shaft and the clamping structure, the scheme of screwing and fixing the independent parts is adopted at present, and the alternative scheme is 1, integrally processing the clamping structure and the rotating shaft
2. Clamping structure and rotating shaft for mounting independent revolute pair connecting instrument
3. The rotating shaft is provided with a double screw hole type limiter, and the instrument clamping structure is provided with a connecting hole. The screw passes through the instrument clamping structure connecting port and the limiter screw hole to fix the limiter without sliding, and simultaneously, the limiter is screwed to generate larger static friction force to fix the rotating shaft.
Example 4:
example 4 is a preferable example of example 1 to more specifically explain the present invention.
The invention provides a fixed-reference two-degree-of-freedom rotation system for multi-sensing head collaborative three-dimensional measurement, which comprises:
instrument, fixed reference two-degree-of-freedom rotation system, back plate (skeleton), etc. And installing and fixing each instrument unit on a system backboard according to known coordinates. The combination of the sensing heads of the instruments is equivalent to a plane. A schematic diagram of the system assembly is shown in fig. 1.
A two degree of freedom rotation system of fixed reference is shown in figure 2. The design scheme comprises: an instrument clamping structure provided with a hole slot, a pitching direction rotation adjusting structure provided with a shaft hole, a central rotating shaft, a bottom connecting mechanism and the like.
Instrument holding structure 1: for fixing the spatial position of the tester while adjusting its pitch angle, as shown in fig. 2. The instrument clamping structure reserves proper hollows 12 according to the function areas on the surface of the instrument 3, so that the functions of communication, power supply and the like with the outside are kept in the process of adjusting the angle of the instrument. The rest part of the clamping structure is a space structure capable of being filled and fixing the instrument, so that the instrument can be freely filled and taken out. Therefore, the cavity type cuboid shell structure 11 is designed by combining the characteristics of the instrument, and the cavity type cuboid shell structure is in a shape of a Chinese character 'kou' when seen in front view; the clamping structure is internally provided with locking positions 15, and four sides are provided with thread jacking holes 13. In order to realize adjustment of pitch angle, rotating shaft holes 14 are formed in the horizontal direction of the two side surfaces of the clamping structure; the axis of the hole should be collinear with the horizontal parting line of the sensing head within the instrument. The rotating shaft and the clamping structure are fixedly connected; the hole position of the clamping structure is provided with a structure which can form a fixed connection with the rotating shaft, such as a countersunk hole. Screw holes are formed in the bottom surface of the rotating shaft 6, and the fixing is completed by connecting the components in series through bolts. For setting the locking position inside the clamping structure, the factors such as instrument construction and sensor position are combined. For example, the locking position is a rectangular groove 15 of equal width protruding in the cover to limit the instrument placement position. The distance between the contact surface of the instrument and the center lines of the rotating shafts on the two sides is equal to the distance from the front end surface of the instrument to the surface where the sensing head is positioned; to ensure that the module rotates linearly about its face during pitch angle adjustment.
Pitch direction rotation adjustment structure 2: for adjusting the horizontal orientation of the instrument, effecting support of the instrument 3, as shown in fig. 4. The bracket may be a U-shaped structure 23 to bear the weight of the instrument; the two side arms of the bracket are provided with rotating shaft holes 21 which are consistent with the aperture of the rotating shaft of the clamping structure and are collinear with the rotating shaft of the clamping structure. The bottom of the bracket is provided with a plurality of connecting holes, such as two symmetrical counter sunk holes 24, for realizing the connection with the rotary sliding table. The rotary sliding table 4 is a high-precision manual angle adjusting workbench. The pitching direction rotation adjusting structure and the rotating sliding table are fixed, and then the horizontal direction angle adjustment of the instrument is realized through manually adjusting the sliding table. In order to keep the pitch angle of the instrument unchanged in the horizontal angle adjusting process, the rotating shaft of the side arm is required to be screwed. The aperture of the rotating shaft of the side arm is larger than the actual size of the rotating shaft, so that the rotating shaft can flexibly rotate for adjusting the angle. A plurality of top thread holes 22 are formed in the top of the side arm of the bracket and are dug into the central shaft hole, so that the top thread is used for screwing in and fixing the rotating shaft after the rotation angle is adjusted, and the pitch angle is adjusted. The center point of the countersunk hole at the bottom of the bracket is positioned on the extension line of the vertical bisector of the sensing head and is positioned on the rotation center axis of the rotary sliding table.
Bottom coupling mechanism 5: and a rotary sliding table 4 used for connecting the pitching direction rotary adjusting structure bottom. The rotary sliding table is a revolute pair, and the lower side of the rotary sliding table is connected with and fixed to the connecting mechanism. The connecting mechanisms of the detectors are connected in parallel to the integral framework.
Center rotation shaft 6: used for adjusting the pitch angle of the clamping structure and the instrument. Is in the shape of a cylinder; meanwhile, a screw hole with a certain depth is formed in the bottom surface of the clamping structure so as to be fixed with the clamping structure.
Based on the system components, the invention provides a fixed-reference two-degree-of-freedom rotation method for multi-sensing head collaborative three-dimensional measurement. The device aims at changing the rotation center of the instrument during adjustment and ensuring that the sensing head always moves around the reference position.
Step 1: the position of the surface rotating shaft 6 of the instrument clamping structure 1 is calculated.
As shown in fig. 5, the outer rectangle represents the instrument housing 3, and the inner rectangle represents the circuit board 31 containing the core element. The three rectangles in the center represent the sense heads 32. The outer shape and position of the left rotary shaft 61, the right rotary shaft 62 and the bottom rotary shaft 7:
in step 1.1, the position of the circuit board 31 and the coordinates of the sensing head 32 in the housing are determined. The distance D1 of the sensing head 32 from the bottom of the housing is calculated, which is equivalent to the distance from the rotation shaft 6 to the bottom surface of the housing.
Step 1.2, the distance between the vertical bisector of the sensing head 32 and the side of the casing 3 is defined by the position of the circuit board 31 and the coordinates of the sensing head 32 on the board so as to position the axis of the horizontal revolute pair 7 of the bracket 2.
Step 1.3, as shown in fig. 6, the sensing head 32 needs to be horizontally collinear with the rotation shaft 6 in a side view, otherwise, the module will be pulled out from the home position when the rotation shaft changes the pitch angle.
Step 2: according to the test target and the requirement, performing two-degree-of-freedom angle adjustment; the required angle adjustment and fixation is accomplished using the parts mainly comprising the instrument holding structure 1 and the pitching rotational adjustment structure 2.
The method of assembling the instrument 3 in the clamping structure 1 is:
step 2.1.1, before use, confirming the space position of each instrument detection unit, and completing the configuration of the bottom connecting mechanism 5. The instrument 3 is loaded into the holding structure 1 along a side line with the signal emitting or collecting surface facing inwards.
Step 2.1.2, after the instrument 3 is mounted to the locking position 15, the assembly position of the current instrument is screwed in using the jackscrew.
The instrument 3, the clamping structure 1 and the pitching rotation adjusting structure 2 are connected and fixed by the following methods:
step 2.2.1, aligning the counter sunk holes 14 on two sides of the instrument clamping structure with the central lines of the side arm shaft holes 21 of the adjusting bracket respectively, and enabling the rotating shaft 6 to pass through the side arm shaft holes 21 of the bracket respectively.
Step 2.2.2, pushing the rotating shaft to the counter bore 14 of the instrument clamping structure, and connecting and fastening the rotating shaft and the counter bore by using screws.
And 2.2.3, adjusting the relative angle between the clamping structure and the bracket, namely the pitch angle. After the adjustment is completed, the rotating shaft is fastened on the shaft hole of the bracket by using jackscrews. And finishing the angle setting.
And 2.2.4, aligning the countersunk holes 24 at the bottom of the bracket with corresponding hole sites on the top surface of the rotary sliding table 4, and fastening by using screws. The slide table 4 is rotated to adjust the horizontal rotation angle of the instrument to a specific position.
Step 3: vibration displacement data of each detection instrument are collected, and three-dimensional vibration displacement of the target is summarized and reconstructed.
Transmitting frequency modulation continuous wave microwave signals to a target simultaneously by using a plurality of instruments which are installed and fixed, and collecting echoes of the frequency modulation continuous wave microwave signals; and extracting the respective target sight distance and vibration information of each instrument from the processed baseband signals. Setting a distortion-free target multidimensional deformation and vibration reference coordinate system according to the instrument spacing and the coordinates; the multi-dimensional deformation and vibration conditions of the target are further reconstructed.
Those skilled in the art will appreciate that the invention provides a system and its individual devices, modules, units, etc. that can be implemented entirely by logic programming of method steps, in addition to being implemented as pure computer readable program code, in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units for realizing various functions included in the system can also be regarded as structures in the hardware component; means, modules, and units for implementing the various functions may also be considered as either software modules for implementing the methods or structures within hardware components.
In the description of the present application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and are not to be construed as limiting the present application.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.
Claims (9)
1. A fixed reference two-degree-of-freedom rotary system for multi-sensing head cooperative three-dimensional measurement, comprising:
instrument clamping structure: the device is used for clamping the detection instrument or the sensing head, fixing the space position of the detection instrument or the sensing head, and is provided with a shaft hole for adjusting a pitch angle, and the axis of the shaft hole is collinear with the horizontal branching of the sensing head of the instrument;
pitching direction rotation adjusting structure: the pitching sensing direction used for adjusting the instrument or the sensing head consists of a supporting part and a rotating shaft.
Horizontal rotation adjusting structure: and the support component is used for adjusting the horizontal rotation freedom degree and forms a revolute pair with the pitching rotation adjusting structure. The center position of the sensing head is kept concentric with the rotation axis of the horizontal rotation adjusting structure.
2. The multi-sensing head coordinated three-dimensional measurement fixed reference two-degree-of-freedom rotation system of claim 1, wherein in the instrument holding structure:
the instrument clamping structure reserves a hollowed-out part according to each functional area of the instrument surface, and the instrument keeps communication with the outside and supplies power when the angle is adjusted; the clamping structure can contain and support the instrument according to its profile features; the clamping structure is provided with one or more hollowed-out surfaces for loading instruments and realizing the functions of electrifying and communicating; the clamping structure is provided with an instrument positioning mechanism. A pitching rotation shaft fixing hole is formed in the horizontal direction of the side surface of the clamping structure; the axis of the bore is collinear with the horizontal parting line of the instrument sensing head.
3. The multi-sensing head co-three dimensional measurement fixed reference two degree of freedom rotation system of claim 1 wherein in the pitch-to-rotation adjustment configuration:
the pitching direction rotation adjusting structure is connected with the instrument clamping structure and realizes a supporting function; a support arm of the pitching rotation adjusting structure is provided with a rotating shaft hole which is collinear with the shaft hole of the instrument clamping structure during assembly; a rotating shaft positioning mechanism is arranged on the supporting arm; according to the characteristics of the horizontal rotation adjusting structure, a plurality of connecting holes are formed in the pitching rotation adjusting structure; the connecting center of the mechanism and the horizontal rotating structure should be in line with the central axis of horizontal rotation.
4. The multi-sensing head collaborative three-dimensional measurement fixed reference two-degree-of-freedom rotation system according to claim 1, wherein:
the horizontal rotation adjusting structure comprises a rotation structure, a bottom connecting structure and the like.
The rotating structure refers to a revolute pair which realizes the relative rotation of the pitching direction rotating adjusting structure and the bottom connecting structure; keeping the center position of the sensing head concentric with the rotation axis of the horizontal rotation adjusting structure; one end of the bottom connecting structure is connected with the revolute pair component and the space position of the bottom connecting structure is fixed; the connecting structure of each detecting instrument is connected in parallel to the integral framework.
5. A method for rotating a plurality of sensing heads in coordination with a three-dimensional measurement in a fixed reference two-degree-of-freedom, characterized in that the method for rotating the plurality of sensing heads in coordination with the three-dimensional measurement in the fixed reference two-degree-of-freedom is adopted, and the method comprises the following steps:
step S1: clamping the sensing heads based on a two-degree-of-freedom rotating system for installation and fixation, so that the structural center of each sensing head is positioned on the same plane;
step S2: according to the requirement, performing two-degree-of-freedom angle adjustment, and using components taking an instrument clamping structure, a pitching direction rotation adjustment structure and a horizontal direction rotation adjustment structure as main bodies to complete necessary angle adjustment and fixation;
step S3: and acquiring and detecting multi-sensing head data, and reconstructing three-dimensional motion information of the target through three-dimensional calculation.
6. The method of rotation of a plurality of sensing heads in cooperation with three-dimensional measurement according to claim 5, wherein in step S1:
step S1.1: determining the coordinates of a sensing head of the instrument, and calculating the distance D1, D1 from the sensing head to the bottom of the shell to be equal to the distance from the rotating shaft to the bottom of the shell of the instrument;
step S1.2: the instrument senses the space position coordinates of the head, and the distance between the vertical bisector of the head and the side of the shell is definitely sensed to position the axis of the horizontal revolute pair.
7. The method of rotation of a plurality of sensing heads in cooperation with three-dimensional measurement according to claim 5, wherein in step S2:
the assembling method of the instrument in the clamping structure comprises the following steps:
step S2.1.1: before use, confirming the space position of each instrument detection unit, completing the configuration of the bottom connection structure, loading the instrument into the clamping structure along the edge line, and enabling the signal emission or collection surface to face the target;
step S2.1.2: after the instrument is assembled in position, the detection instrument is fixed in the relative position by using modes including jackscrew compression fixation, circumferential friction fixation and the like.
8. The method of rotation of a plurality of sensing heads in cooperation with three-dimensional measurement according to claim 5, wherein in step S2:
the connection and fixation methods of the instrument clamping structure and the pitching direction rotation adjusting structure are as follows:
step S2.2.1: aligning the assembly holes on two sides of the instrument clamping structure with the central line of the shaft hole of the pitching rotation adjusting structure, and respectively enabling the rotating shaft to pass through the shaft hole of the pitching rotation adjusting structure and the assembly holes of the instrument clamping structure;
step S2.2.2: connecting the rotating shaft to the instrument clamping structure, and connecting and fastening the rotating shaft and the instrument clamping structure by using a workpiece; the rotating shaft can be fixedly connected with the instrument clamping structure by means of a screw hole, a bulge and the like;
step S2.2.3: adjusting the relative pitching angles of the clamping structure and the pitching direction rotation adjusting structure, and fastening the rotating shaft on the shaft hole in a mode of pressing and fixing the jackscrew, screwing the screw, fixing the gap and the like after the adjustment is finished;
step S2.2.4: a revolute pair which realizes the relative rotation of the pitching direction rotation adjusting structure and the bottom connecting structure is installed; the revolute pair can be realized by a rotary slipway and the like; keeping the axes of the revolute pairs concentric with the sensing head during assembly; the revolute pair can be screwed after the angle adjustment is completed.
9. The method of rotation of two degrees of freedom for three-dimensional measurement in coordination with a plurality of sensing heads according to claim 5, wherein in step S3:
transmitting and collecting signals to the target simultaneously by using an instrument with the fixed installation; extracting respective target sight distance and displacement information of each instrument from the processed baseband signals, and setting a undistorted target multidimensional deformation and displacement reference coordinate system according to instrument spacing and coordinates; reconstructing a multi-dimensional motion profile of the object.
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| CN202311309435.XA CN117490744A (en) | 2023-10-10 | 2023-10-10 | Fixed-reference two-degree-of-freedom rotation system and method for multi-sensing head collaborative three-dimensional measurement |
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