CN1214447A - 'Position number sum' dividing-positioning method and mechanism - Google Patents

Abstract

The dividing and positioning detection mechanism for moving body in any enclosed path consists of sensor system containing n receptors and sensed targets as well as accessory equipment.To the measurement range of the receptors in the path and the setting of the sensed targets in the path, there is no strict requirement of evenly distributed position. By means of the "position number" before and after motion of the sensed targets measured by the receptors and through summing and comparison, is realized the n dividing positioning of any enclosed path without error theoretically. The present invention also provides the condition and method of continuous dividing and positioning.

Description

" positional number and " dividing-positioning method and device

The present invention relates to a kind of object five equilibrium positioned detection device and method on any enclosed distance of motion.

The five equilibrium of indication of the present invention is to the free from error in theory five equilibrium of any enclosed distance; And initial Along ent can be any point on the sealing distance, any enclosed distance is plane both, also space; Both can be circle, oval, polygon, the also closed figure that can form by straight line, para-curve or other curve.In the middle of engineering reality, common sealing distance has the chain type of various sealings, belt production line, the distance of motion such as the travelling belt of Tool Magazine in Machining Centers and rotating circular disk.

Location of the present invention is meant object free from error in theory location on this distance of moving on the distance in sealing, and its position is by to the measurement of the location point of experiencing target that is mounted thereon and definite.The location point of experiencing target is meant to be experienced on the target and is representing the point of its position, and this point can be selected as required, as can be the edge end points of experiencing target, geometric center etc.Each experiences determining of target location, and just the object space that moves on the sealing distance determines.

Usually to the method for branch location such as sealing distance, be after know for sure distance total length or sealing angle divided by isodisperse, remove the Along ent of definite distance with the length or the angle of each equal segments again; This kind method has two aspect problems to solve: the one, and when not knowing distance total length exact value, accurate five equilibrium; The 2nd, in known distance total length, but be divided by with isodisperse, in the time of can not just dividing exactly, there is theoretic error.In addition, dividing positioner of the prior art all is to adopt a receptor to remove a plurality of location points of experiencing target of sensing respectively singly, and only determines the position of Along ent with a receptor output valve of experiencing the target correspondence; Device waits the raising of branch bearing accuracy, depend primarily on the uniform positional precision of respectively experiencing target location point, when the five equilibrium bearing accuracy has higher requirements, experience target and certainly will higher uniform positional precision will be arranged, and realize that high uniform positional precision difficulty is very big, often cost is very high, and is also harsh to environmental requirement.

The purpose of this invention is to provide a kind of can realization theory on the object that on this sealing distance, moves of free from error any five equilibrium sealing distance and the guaranteeing method and the device of error free location in theory, fundamentally solve the aforesaid two aspect problems of prior art; This kind method realizes that easily high precision and apparatus structure are simple, and environment is not had harsh requirement yet, has broad application prospects.

The present invention realizes above-mentioned functions with specific apparatus and method.

Device of the present invention is made of sensing system and affiliated facility.Sensing system is made up of two parts: first comprises n and experiences target G ₁..., G _n(n is the limited nature number greater than 1), they are arranged at can be on the object that moves on the sealing distance, and require respectively to experience target and be distributed in (location point of experiencing target is distributed on the sealing distance by each) on the sealing distance when measuring, experiencing target can be with the moving object back and forth movement.Second portion comprises n receptor F ₁, F ₂..., F _n, they all are arranged near the sealing distance, and the range of each receptor on the sealing distance is respectively R ₁, R ₂..., R _n(receptor is meant the distance scope of experiencing target location point position on the sealing distance that receptor institute can perception at the range of sealing on the distance) also requires R when measurement ₁, R ₂..., R _nBe distributed on the sealing distance and (promptly press R ₁, R ₂..., R _nLocation point be distributed in the sealing distance on); Receptor is meant on R and represents the point of its position that this point can be selected as required at the location point of the range R of sealing on the distance, as can be the end points, central point etc. of R.Range R ₁, R ₂..., R _nPreferably equate.

The present invention can comprise that repeatedly receptor to experiencing the measurement of target, when measuring, all requires respectively to experience between the point of target location and R at every turn in finishing required five equilibrium position fixing process ₁, R ₂..., R _nBetween the location point put in order and spacing distance do not change.Each is experienced target is fixedly arranged on the all-in-one-piece object, it is the preferred approach that satisfies above-mentioned requirements, be installed on one all the time on the driving-chain that sealing is moved on the distance as each being experienced target by its location point is uniform, each receptor is installed near the driving-chain the support, makes its R ₁, R ₂..., R _n, location point also be distributed in the sealing distance on, then no matter when measure, all can guarantee aforementioned requirement.But to some special circumstances, each is experienced target call and is arranged at respectively on a plurality of separate objects, that youngest also needs only when guaranteeing each the measurement in finishing required five equilibrium position fixing process, satisfies above-mentioned requirements, still can realize locating sealing the free from error in theory five equilibrium of distance; During as for non-measurement, each experiences between the point of target location and R ₁, R ₂..., R _nMutual alignment between the location point, and whether they are synchronized with the movement etc. and do not do requirement.

Each experiences the R that reaches each receptor between target ₁, R ₂..., R _nBetween uniform, do not have high uniform position accuracy demand, with | Δ f _Max|+| Δ g _Max|≤R _MinBe principle, wherein Δ g _MaxExperience any 2 largest interval errors of experiencing distance between the point of target location in the target for n is individual; Δ f _MaxBe the largest interval error of the distance between the range location point on the sealing distance of any 2 receptors in n the receptor, Δ f _Max, Δ g _MaxExplicit value needn't necessarily know, as long as make Δ f _Max, Δ g _MaxIn the big and scope that easily realize of a certain setting, get final product; R _MinBe R ₁..., R _nIn minimum range.The installation site of each receptor and experience the installation position of target in moving object and do not have specific (special) requirements can measure accurately with receptor that to experience the position (" positional number " output promptly arranged) of target on the sealing distance be principle.

The direct output valve of receptor (or experiencing target) or the indirect output valve after suitably handling, its increments of change and institute survey to be experienced before and after target moves, and the corresponding distance between the present position grows up to linear relationship on the distance sealing for its amount.The direct output valve and the indirect output valve of above-mentioned receptor (or experiencing target) are referred to as " positional number ".In a dividing positioner, each experience target pairing " positional number " increments of change should with linear relationships such as corresponding distance grows up to.Sensing system of the present invention can be various forms of sensing systems, no matter directly the accurate position of target on the sealing distance experienced in reaction, still change as calculated indirect reaction experience target on the sealing distance accurately the sensor of position all can be sensing system of the present invention.When the distance in the receptor range is straight-line segment, then various displacement sensors all can be used as the sensing system of this device easily, when the funtcional relationship between distance length and angular displacement was linearity, available various angular displacement sensors were as the sensing system of this device.Institute it should be noted its receptor of some sensing system and experiences the mutual sensing of target, and they are receptor and experience target each other, at this moment, can be as required with one of them as receptor, another is for experiencing target.

, then can replace a plurality of receptors with a receptor if but above-mentioned receptor also has a receptor sensing and exports a plurality of functions of experiencing " positional number " of target under the same state; Its essence still is equivalent to n receptor and experiences target to n.

Affiliated facility of the present invention mainly comprises receptor, experiences the supporting part of target, and the power source of whole device and running part and " positional number " summation relatively reach control section.

The method of branches such as realization of the present invention location is: in certain reference position, a bit as initial Along ent, experience target for n that n receptor sensing is distributed on the sealing distance accordingly on the optional sealing distance, obtain n " positional number " A ₁, A ₂..., A _n, summation $M_{}$ ${}_0=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{A}_i,$ The long L of a certain five equilibrium distance in experiencing target moves to sealing distance total length L by initial position n five equilibrium _j=(L/n) behind the * j position, n receptor carries out sensing again, obtains n new " positional number " A ₁', A ₂' ..., A _n', summation $M_j=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{A}_i,$ As long as M _j=M ₀(be M _j-M ₀=0), the position of then experiencing target and being moved to is from the long L of distance of initial position _j=(L/n) * j is just error free in theory.It is also definite thereupon to seal on the distance j Along ent this moment.If M ₀≠ M _j, then experiencing the position that target moves to must not be L from the distance length of initial position _j=(L/n) * j, at this moment, experiencing the actual present position of target is Δ L=(M from the long difference with desirable distance (L/n) * of five equilibrium j of distance of initial position _j-M ₀)/(k*n), k is the increments of change and the long linear formula of corresponding distance of " positional number ": the slope of Δ A=k* Δ L; Then adjust Δ L again, can realize M _j=M ₀

During practical application, in finishing required five equilibrium position fixing process, each receptor is to experiencing the measurement of target, and all requiring has the corresponding target of experiencing in the range of each receptor on the sealing distance, so, when beginning to measure, should make and respectively experience target immigration R ₁, R ₂..., R _nPublic range w in, this public range also is the adjustable range of aforementioned Δ L.

If being divided into two classes on the distance a little, a class is that the initial Along ent distance of distance is L after a sealing distance total length L being carried out branch such as n _j=(L/n) each Along ent of * j (n is the limited nature number greater than 1), this is some limited points.Another kind of is continuity point between adjacent Along ent, if the continuous each point between these Along ents also can error free in theory location, but then system-wide journey L goes up all error free location on the realization theory of each point.

Implement continuous five equilibrium location, require in n the receptor, the range mutual essence of every adjacent two receptors on the sealing distance connects or is overlapping, thus make seal have a few on the distance L and initial Along ent between distance L _jAll available L _j=(L/n) * j+ (M _j-M ₀)/(k*n) represented, can realize sealing the error free in theory continuous five equilibrium of distance whole process location.Because point on arbitrary sealing distance and the point on its similar figures distance are one-to-one relationship,, just the five equilibrium of its similar figures distance is located so the five equilibrium of this distance is located.

Because receptor is sealing the range on the distance and is experiencing the target existence of uniform error separately, and each receptor R ₁, R ₂..., R _nDifference, following situation can appear:

Experience target for j-1 and entered the range R of every j receptor on the sealing distance _jIn, and j experiences target and does not also break away from R _jEnter the R of j+1 receptor _J+1Within, but experiencing target, j+1 entered R _J+2, at this moment, R _jIn have two to experience target, and R _J+1Interior nothing is experienced target; This just need experience target at R with j _jInterior " positional number " is converted to R _J+1In, make each receptor can both corresponding one experience target, the formula L so that use in " positional number and " dividing-positioning method _j=(L/n) * j+ (M _j-M ₀)/(k*n) realizes sealing the error free in theory continuous five equilibrium of distance whole process location.

Advantage of the present invention is as follows

The first, the R of each receptor in apparatus of the present invention ₁, R ₂..., R _nAnd respectively experience target and do not have high uniform position accuracy demand, its separately uniform positional precision and the R of receptor ₁, R ₂..., R _nRelevant (| Δ f _Max|+| Δ g _Max|≤R _Min), and the range of general sensor is a lot of greatly than uniform requirement, so, Δ f _Max, Δ g _MaxPermissible value can be bigger, and do not influence the five equilibrium bearing accuracy of device; Receptor does not have harsh requirement with mounting means, the orientation of experiencing target yet, so compare with the method that improves branch bearing accuracies such as the uniform positional precision of respectively experiencing target improves with prior art, great advantage is arranged.

The second, five equilibrium of the present invention location is free from error in theory five equilibrium location.

The 3rd, initial Along ent is optional as required, so the problem of no initial point involution.

The 4th, it is shorter that the present invention carries out the five equilibrium position fixing process time, and during this period, environmental factors such as temperature are less to the influence of sensor, and five equilibrium bearing accuracy of the present invention only short therewith in the output valve of sensor relevant, so environmental factors such as temperature are less to influence of the present invention.

The 5th, but branch such as free from error prime number location on the present invention's realization theory.

The 6th, of the present inventionly can carry out continuous five equilibrium location on the free from error in theory real mathematical meaning to any enclosed distance whole process subject to the foregoing, rather than prior art is the sort of, and what realized with divided method is that " continuously " five equilibriums of a series of discontinuous points is located in fact.

The 7th, the present invention can carry out dynamically as required, static measurement.

The 8th, in the prior art, the sensor that can be used as apparatus of the present invention sensing system is varied, thereby the range of choice of broad is provided.

The tenth, constitute about X for planar surface encloses distance and this distance, the figure of Y-axis symmetry, then this distance minute movement does not planar have influence in theory to measuring accuracy.

Below in conjunction with accompanying drawing with by means of related example, the present invention is described in further detail:

Fig. 1 is the present invention's " positional number and " dividing positioner carries out the initial position of five equilibrium location to any enclosed distance a schematic diagram.

Fig. 2 is the present invention's " positional number and " dividing positioner when any enclosed distance is carried out the five equilibrium location, experiences target and moves to apart from the schematic diagram at initial position (L/n) * j place with moving object.

Fig. 3 is a kind of vertical view of belt bisection locating device.

Fig. 4 is a kind of front elevation of belt bisection locating device.

Fig. 5 is the synoptic diagram of slip displacement sensor system.

Fig. 6 is the synoptic diagram of WW POT formula displacement transducer system.

Fig. 7 is the synoptic diagram of difference induction formula displacement transducer system.

Fig. 8 is the synoptic diagram of mistor formula displacement transducer system.

Fig. 9 is the synoptic diagram of capacitive displacement transducer system.

Figure 10 is the synoptic diagram of laser-ccd sensor system.

Figure 11 is the synoptic diagram of laser interferometer sensing system.

Figure 12 is the synoptic diagram of generator-type displacement transducer system.

Figure 13 is the synoptic diagram of grating displacement transducer system.

Figure 14 is the synoptic diagram of hall effect type displacement transducer system.

Figure 15 is the synoptic diagram of inductosyn formula displacement transducer system.

Figure 16 is the synoptic diagram of sonde-type displacement transducer system.

Figure 17 is the front elevation of the continuous dividing positioner of a kind of slip formula layering.

Figure 18 is the vertical view of the continuous dividing positioner of a kind of slip formula layering.

Figure 19 is the front elevation of the continuous dividing positioner of a kind of magnetic-grid-type.

Figure 20 is the A-A cut-open view of the continuous dividing positioner of a kind of magnetic-grid-type.

Figure 21 is the range conversion synoptic diagram of the continuous dividing positioner of a kind of magnetic-grid-type.

Among Fig. 1, above the movable body that on any enclosed distance, moves (as chain, string, cingulum, belt etc.), be installed with n and experience target G ₁, G ₂..., G _n, their location point n five equilibrium is distributed on the sealing distance; Near movable body, be installed with n receptor F ₁, F ₂..., F _n, they are at the range R that seals on the distance ₁, R ₂..., R _nLocation point also be distributed in the sealing distance on; Each experiences between target and the location point between each receptor R is uniform does not all have a high position accuracy requirement, as long as guarantee | and Δ f _Max|+| Δ g _Max|≤R _MinGet final product.Experience target and obtain A for n receptor sensing n ₁, A ₂..., A _n, n " positional number " altogether, and summation $M_{}$ ${}_0=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{A}_i$ 。

The target of respectively experiencing that Fig. 2 represents to be arranged on the movable body is being sealed the distance (L is sealing distance total length, and j is the arbitrary natural number between 1 to n) that all moves (L/n) * j on the distance.Each experiences target along with movable body moves together, and each receptor relative closure distance maintains static.Under this state, n receptor experienced target to n again and carried out sensing, gets n new " positional number " A ₁', A ₂' ..., A _n', summation $M_j=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{A}_i^{\′}$ 。As long as they with move forward and backward the same, i.e. M _j=M ₀, then experiencing target, to move to (L/n) * j place with movable body error free in theory, promptly realized free from error in theory five equilibrium location.If M _j≠ M ₀The time, then must be or not the true value place of distance (L/n) * j, at this moment available formula Δ L=(M _j-M ₀)/(k*n) carried out the fine motion adjustment, thereby makes movable body reach distance true value place; As for j specifically is several, and it determines that method can be by counting the existing and M of taking-up ₀The M that equates _jThe number of times of value is realized.This example is the j time, promptly at (L/n) * j place; If the range of receptor on the sealing distance joins or overlap, then can implement continuous five equilibrium location.

Fig. 3, among Fig. 4, motor 5 rotates through axle 6 driving pulleys 3, makes belt 2 drive lower edges sealing distances motion (both can forward also can oppositely) at belt wheel 3 and engaged wheel 4, experiences target G for 2 ₁With G ₂Uniform being fixed on the belt, receptor F ₁With F ₂Be installed with on support 1 F ₁With F ₂Range R on the sealing distance ₁, R ₂Be distributed on the sealing distance total length, but G ₁With G ₂Location point between and R ₁, R ₂Between uniform positional precision all less demanding, as long as satisfy condition | Δ f _Max|+| Δ g _Max|≤R _MinGet final product.Δ g in the formula _MaxBe two to experience target G ₁With G ₂The largest interval error of distance between the location point.Δ f _MaxBe two receptors in the largest interval error of distance between the range location point on the sealing distance.Experience target G ₁, G ₂With receptor F ₁, F ₂The sensing system of forming can be selected all kinds of displacement transducers for use.The program of this device bisection location is: select a start bit, and set an initial Along ent, F arbitrarily ₁Sensing G ₁" positional number " be A ₁, F ₂Sensing G ₂" positional number " be A ₂, summation $\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{A}_i,$ Start motor, belt moves to L/2 place (L is a belt length), F ₁Sensing G ₂" positional number " A ₁', F ₂Sensing G ₁" positional number " A ₂', summation $M_{}$ ${}_1=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{A}_i^{\′},$ As long as M ₁=M ₀, the promptly error free in theory location of halving of having carried out.If M ₁≠ M ₀Then available Δ L=(M ₁-M ₀The formula of)/(k*2) is adjusted, until M ₁=M ₀Also can utilize various angular displacement sensors to carry out measurement, only need F to distance ₁, F ₂Position change is set, as be located at belt wheel outer or its on.

Fig. 5 is to Figure 16, these 12 figure are (also just like photoelectric displacement sensor and various angular displacement sensors etc., here no longer exemplify), they all are the specific sensor types of experiencing target G and receptor F among Fig. 3, are the sensor that detects distance long (directly or indirectly).Though various Fundamentals of Sensors difference, in each sensing system, the output valve of each receptor (or experiencing target) all should be experienced the position of target on the sealing distance by accurate response, and corresponding " positional number " A of output.1 is resistance wire among Fig. 5, is chosen as and experiences target; 2 is brush, is chosen as receptor; 3 is movable body.1 is potentiometer among Fig. 6, is chosen as receptor; 2 is brush, is chosen as and experiences target; 3 is movable body.

1 is armature among Fig. 7, is chosen as and experiences target; 2 is inductance displacement sensor, is chosen as receptor; 3 is movable body.

1 is the mistor element among Fig. 8, is chosen as and experiences target; 2 is magnet, is chosen as receptor; 3 is movable body; 4 for experiencing the fulcrum arrangement of target; 5 is the fulcrum arrangement of receptor.

1 is the movable plate electrode of capacitive transducer among Fig. 9, is chosen as and experiences target; 2 is static plate electrode, is chosen as receptor; Electricity is a movable body, and 4 is the fulcrum arrangement of static plate electrode.

1 is linear array (or face battle array) CCD among Figure 10, is chosen as and experiences target; 2 is laser instrument, is chosen as receptor; 3 is movable body.

1 is catoptron among Figure 11, is chosen as and experiences target; 2 is laser interferometer, is chosen as receptor; 3 is movable body.

1 for experiencing target and movable body among Figure 12, can be along the diagram arrow direction; 2 is magnet, makes receptor, utilizes generator principle to measure.

1 is indication grating among Figure 13, is chosen as and experiences target; 2 is the key light grid, is chosen as receptor; 3 is movable body, can be along the diagram arrow direction;

1 for experiencing target and movable body among Figure 14, can be along the diagram arrow direction; 2 is magnet, is chosen as receptor, utilizes the Hall effect principle to measure.

1 is the inductosyn slide rule among Figure 15, is chosen as and experiences target; 2 is the inductosyn scale, is chosen as receptor; 3 is movable body, can be along the diagram arrow direction.

1 for experiencing target among Figure 16; 2 is the sonde-type displacement transducer, is chosen as receptor; 3 is support; Wherein the sonde-type displacement transducer can be mechanical type, raster pattern, electric vortex type, string shake formula, optical fiber type, Li Minshi, inductance solenoid type, pneumatic type, fluid pressure type, Mageneto-sensitive type, various probe sensors such as potentiometer formula, inductance type.

Figure 17, Figure 18 are the continuous dividing positioner of sealing driving-belt of electing sensing system with upper and lower two-layer each 5 slide-wire potentiometer formula sensor as.

The driving-belt 1 of sealing be placed in above the support 2 can be around the rotating I of axle separately, II, III, on the IV belt wheel, wherein the IV wheel is coaxial as main driving wheel with motor 3, other each wheels are engaged wheel.Upper and lower two-layer each 5 constant resistance lead that brush slides thereon are loaded on the driving-belt by the conducting line segment mid point is uniform respectively, as experiencing target; 10 brushes divide 5 groups, and per 2 one components are upper and lower to be installed on the vertical curve, contact with the different layers lead respectively, also require between each group to be distributed on the driving-belt.The distance of voltage U s correspondence is long to be the range of receptor on the sealing distance, and adjacent with it two leads are at Figure 17 in 5 leads in each root two ends and lower floor in 5 leads in upper strata, and the direction of z shown in 18 all has segment overlapping.Because range is very big, so the uniform installation requirement of conducting line segment and brush is very low, each brush contacts with the respective wire section when needing only the assurance measurement.During branches such as enforcement location, can be the upper strata as main stor(e)y, lower floor is as auxiliary layer.When carrying out location such as driving-belt total length 5 branches such as grade, at first, the selected a certain appropriate location of driving-belt, as initial position, F ₁..., F ₅At G ₁..., G ₅Corresponding " positional number " A of last sensing ₁..., A ₅, summation $M_0=\underset{i=1}{\overset{5}{\mathrm{\Σ}}}{A}_i,$ Then make G ₁..., G ₅When moving to the next position with driving-belt, F ₁..., F ₅Read corresponding " positional number " A again ₁..., A ₅Summation $M_j=\underset{i=1}{\overset{5}{\mathrm{\Σ}}}{A}_i^{\′}$ 。If M _j≠ M ₀, then use formula Δ L=(M _j-M ₀)/(5*k) adjusted, and is adjusted to M _j=M ₀After, then the distance that moves of driving-belt must be (L/n) * j.As for j is several, then gets and M by the counter meter ₀The M that equates _jThe number of times of value and deciding, if occurred 3 times, j=3 then.Be the distance that driving-belt has moved (L/5) * 3, error free in theory.

When not knowing the explicit value of L, lead, brush roughly are distributed on the driving-belt.Because lead is longer, guarantee easily | Δ f _Max|+| Δ g _Max| less than lead segment length R _Min, when promptly measuring, brush is all arranged on lead at every turn, then still can free from error in theory this distance of 5 five equilibriums.

For the location of that part of continuous distance each point within the public range w in upper strata when contacting with topping wire all the time (be upper strata brush pairing distance scope), still use the 5 lead G in upper strata ₁..., G ₅And corresponding brush F ₁..., F ₅, and use formula L _j=(L/n) * j+ (M _j-M ₀)/(5*k) realized.For the five equilibrium location of each point outside the public range in upper strata, use 5 leads of lower floor and corresponding brush thereof.

Because adjacent two conducting line segments with lower floor of the arbitrary conducting line segment in upper strata all have Z overlapping to the marginal portion of projection.So, in 5 brushes in upper strata, any brush F _iWhen being about to slip away corresponding topping wire section, F _i' slipped into corresponding lower floor conducting line segment.In like manner, F _i' when being about to slip away corresponding lower floor conducting line segment, F _iSlipped into next corresponding topping wire section.So if " positional number " of the each point outside the edge of topping wire section and the conducting line segment can be converted to by the sensing value of lower floor's brush to lower floor's conducting line segment, this just can try to achieve corresponding M _jValue.Still use L _j=(L/n) * j+ (M _j-M ₀)/(5*k) realized the error free in theory location of whole process.

The method that realizes the conversion of above-mentioned upper and lower layer respective value is a lot, and this example adopts following method:

Upper strata F1 output valve Y and distance X are the Y=k*X+b linear relationship, the F of lower floor _i' output valve Y ' and distance X be Y '=k ' * X+b ' linear relationship (b, b ' are initial position Y, the value of Y '), after lead moves past identical distance, relational expression Δ Y=Δ Y ' * (k/k ') is arranged then, brush at Z to the projection lap, appoint and get a position, at this moment F as dislocation _iOutput valve is F _Jm, F _i' output valve is F _As', after this, on the topping wire and " positional number " of the outer each point of lead by Y=(k/k ') * (Y '-F _As')+F _JsExpression.If upper and lower two-layer receptor all is identical linear relationship with distance, i.e. k=k ', then following formula becomes Y=Y '+(F _Js-F _Es'), conversion slips into F until the another conducting line segment in upper strata _i, F _iBeginning again has till the new output valve.(as main stor(e)y, the upper strata is as auxilliary layer, with in like manner last lower floor); Certainly also can adopt and survey the preceding respective value realization conversion of demarcating.

Figure 19, Figure 20 among Figure 21, is distributed on the small column lateral surface of turntable 2 in magnetic grid full circle week, totally 16 NS magnetic grids, magnetic head F ₁..., F ₈Be distributed on the support 4; Motor 7 driven gears 5 rotate, and gear 5 passes motion to gear shaft 3, and gear shaft 3 lower ends are installed on the supporting base 6 by bearing 9, and the turntable 2 that is fixed on the gear shaft upper end rotates with gear shaft 3.

16 NS magnetic grids are divided into 8 groups, one group of per 2 NS magnetic grid, every group of magnetic pole is the S-N-N-S shape, and as 8 receptors, range is 8 S-N-N-S region R ₁..., R ₈, location point is range mid point S-S magnetic pole joint, and magnetic head is as experiencing target, and at this moment, the sealing distance is together rotated with magnetic grid, and in this example, " positional number " is by experiencing target output.

A certain position is as reference position near choosing the range mid point, and magnetic head records 8 output valves, i.e. " positional number " A on the relative circumference distance of magnetic head ₁..., A ₈, summation $M_{}$ ${}_0=\underset{i=1}{\overset{8}{\mathrm{\Σ}}}{A}_i;$ Rotating table, during to the next position, magnetic head records 8 output valve A again ₁' ..., A ₈', sue for peace again M _j, if M _j=M ₀The time, then the relative turntable of magnetic head forwards (L/8) * j place (j is the natural number smaller or equal to 8) to, and j is by M _j=M ₀Number of times and decide, as M has appearred 4 times _j=M ₀Situation, j=4 then, promptly the relative turntable of magnetic head has forwarded (L/8) * 4 places to.If M _j≠ M ₀, available Δ L=(M _j-M ₀)/(k*8) adjusted until M _j=M ₀

In common range W, utilize formula Δ L=(M _j-M ₀)/(k*8), the continuous five equilibrium location that can realize each point in the W scope.The outer each point of W scope also can if can be realized continuous five equilibrium location, then can be carried out continuous five equilibrium location distance whole process.8 ranges of this example are end to end, and range is covered with distance whole process, can realize omnidistance continuous division location.

When magnetic head is in magnetic grid range edge, because Δ f _Max, Δ g _MaxExistence, situation described in the instructions can appear, two magnetic heads are arranged in the magnetic grid range that promptly has, and do not have magnetic head in the magnetic grid range that has.This example adopts following method to change.

If magnetic head G _I-1At i-1 magnetic grid range R _I-1In, magnetic head G ₁Ying Zaidi i magnetic grid range R ₁In, but entered i+1 magnetic grid range R _I+1, i+1 magnetic head is at i+1 magnetic grid range R ₁₊₁In, this moment R ₁₊₁In 2 magnetic heads are arranged, and R ₁In do not have magnetic head.Change as shown in figure 21, figure (a) is the synoptic diagram of magnetic head position in the magnetic grid range; It is the relation of trigonometric function shown in Figure 21 (b) that the inductance value of magnetic head output and distance are closed, and can be exchanged into the linear relationship shown in Figure 21 (c).Magnetic head G ₁At R _I+1Interior location point is a, and at this moment, the value that a should be ordered is transformed into F _iRange R _iIn, utilize formula Y _a=Y _Max+ k*[(Y _a'-Y _Min')/k '] Y _MinCan try to achieve, Y wherein _aFor magnetic head after changing at R ₁Interior " positional number ", Y _MaxBe R ₁The right dividing value; K, k ' is respectively R _i, R _I+1The slope of linear relationship formula between interior magnetic head output " positional number " and distance, Y _Min, Y _Min' be that magnetic head is at R _iAnd R _I+1The positional number of range left margin output.Because aforementioned requirement of the present invention, k will equal k '; Like this, with regard to available general formula L _j=(L/n) * j+ (M _j-M ₀)/(8*k) realized the continuous five equilibrium of circumference location.This device can be used for dynamically, static measurement.

Claims (10)

1. device of the present invention is made of sensing system and affiliated facility, and it is characterized in that: sensing system is made up of two parts, and first comprises n and experiences target G ₁, G ₂..., G _n(n is the limited nature number greater than 1), they are arranged at can be on the object that moves on any enclosed distance, and require when measuring, respectively to experience target and be distributed in that (location point of experiencing target is distributed on the sealing distance by each on the sealing distance, the location point of experiencing target is meant to be experienced on the target and is representing the point of its position, this point can be selected as required), experiencing target can be with the moving object back and forth movement; Second portion comprises n receptor F ₁, F ₂..., F _n, they all are arranged near the sealing distance, and the range of each receptor on the sealing distance is respectively R ₁, R ₂..., R _n(receptor is meant the distance scope of experiencing target location point position on the sealing distance that receptor institute can perception at the range R of sealing on the distance) requires R when measurement ₁, R ₂..., R _nAlso be distributed on the sealing distance and (promptly press R ₁, R ₂..., R _nLocation point be distributed in the sealing distance on; The location point of the range R of receptor on the sealing distance is meant on R and represents the point of its position that this point can be selected as required); The present invention can comprise that repeatedly receptor to experiencing the measurement of target, when measuring, all requires respectively to experience between the point of target location and R at every turn in finishing required five equilibrium position fixing process ₁, R ₂..., R _nBetween the location point put in order and spacing distance do not change; Each is experienced target and can be fixedly arranged on the all-in-one-piece object, also can be arranged at respectively on a plurality of separate objects; The installation site of each receptor and experience the installation position of target in moving object and do not have specific (special) requirements can measure accurately with receptor that to experience the position (" positional number " output promptly arranged) of target on the sealing distance be principle; The direct output valve of receptor (or experiencing target) or the indirect output valve after suitably handling, its increments of change with the institute survey experience target move front and back, its location point corresponding distance between the present position on the sealing distance grows up to linear relationship, and the direct output valve and the indirect output valve of above-mentioned receptor (or experiencing target) is referred to as " positional number "; In a dividing positioner, each experience target pairing " positional number " increments of change should with linear relationships such as corresponding distance grows up to; Sensing system of the present invention can be various forms of sensing systems, and though directly reaction experience target in the accurate position on the sealing distance or change as calculated indirect reaction experience target on the sealing distance accurately the sensor of position all can be sensing system of the present invention; In addition, to its receptor of some sensing system with experience the mutual sensing of target, they are receptor and experience target each other, at this moment, can be according to the need peace with one of them as receptor, another is for experiencing target.Affiliated facility of the present invention mainly comprises receptor, experiences the supporting part of target, and the power source of whole device and running part and " positional number " summation relatively reach control section.

2. the method for branch such as realization of the present invention location, it is characterized in that: in certain reference position, any is as initial Along ent on the optional sealing distance, range on each comfortable sealing distance require n uniform receptor respectively n of being distributed on accordingly on the sealing distance of sensing experience target, obtain individual " positional number " A of n ₁, A ₂..., A _n, summation $M_0=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{A}_i;$ Experience target and move to the long L of a certain five equilibrium distance in the n five equilibrium that seals distance total length L by initial position _j=(L/n) behind the * j position, n receptor carries out sensing again, obtains n new " positional number " A ₁', A ₂' ..., A _n', ask itself and $M_j=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{A}_i^{\′},$ As long as M ₀=M _j(be M _j-M ₀=0), the position of then experiencing target and being moved to is from the long L of distance of initial position _j=(L/n) * j just error free in theory (j is the natural number that is less than or equal to n), it is also definite thereupon to seal on the distance j Along ent this moment; If M ₀≠ M _j, then experiencing the position that target moves to must not be L from the distance length of initial position _j=(L/n) * j, at this moment, experiencing the actual present position of target is Δ L=(M from the long difference with desirable distance (L/n) * of five equilibrium j of distance of initial position _j-M ₀)/(n*k) can be realized M if adjust Δ L again _j=M ₀

3. claim 1, the sealing distance of 2 indications is characterized in that: both planes, also space; Both can be circumference, ellipse, polygon, the also closed figure that can form by straight line, para-curve or other curve.

4. the receptor in the claim 1 and experience target, but if having a receptor sensing exports a plurality of functions of experiencing " positional number " of target under the same state, then can replace a plurality of receptors with a receptor.Can be if experience target for one by a plurality of receptor sensings under the same state, and output " positional number " separately, then can experience target and replace a plurality of targets of experiencing with one.

5. by claim 1, when the distance in each receptor range is straight-line segment, then various displacement sensors all can be used as the sensing system of this device, and when the funtcional relationship between distance length and angular displacement was linearity, available various angular displacement sensors were as the sensing system of this device.

6. claim 1, the regulation receptor can be static measurement and also can be kinetic measurement experiencing the measurement of target in 2.

7. the five equilibrium location to the sealing distance of regulation in the claim 1,2 also is the five equilibrium location to its similar distance.

8. claim 1, the target of respectively experiencing of regulation does not require necessarily and is synchronized with the movement in 2, only requires when target is experienced in receptor measurements, and receptor is between the location point that seals the range on the distance, each experiences the mutual order between the point of target location, and spacing distance length remains unchanged.

9. by claim 1,2, implement continuous five equilibrium location, require in n the receptor, the range of every adjacent two receptors on the sealing distance is connected mutually or is overlapping, make seal have a few on the distance L and initial Along ent between all available L of distance _j=(L/n) * j+ (M _j-M ₀)/(k*n) represented, can realize sealing the error free in theory continuous five equilibrium of distance whole process location; Entered j receptor and sealing range R on the distance when j-1 experiences target _jIn, and j experiences target and does not also break away from R _jEnter the R of j+1 receptor _J+1Within, but experiencing target, j+1 entered R _J+2At this moment, R _jIn have two to experience target, and R _J+1Interior nothing is experienced target; This just need experience target at R with j _jInterior " positional number " is converted to R _J+1In, make each receptor can both corresponding one experience target, the formula L so that use in " positional number and " dividing-positioning method _j=(L/n) * j+ (M _j-M ₀)/(k*n) realizes sealing the error free in theory continuous five equilibrium of distance whole process location.

10. claim 1, regulation respectively experiences target and R in 2 ₁, R ₂..., R _nSealing uniform on the distance, it is characterized in that: its uniform no high uniform position accuracy demand, with | Δ f _Max|+| Δ g _Max|≤R _MinBe principle, wherein Δ g _MaxExperience any 2 largest interval errors of experiencing distance between the point of target location in the target for n is individual; Δ f _MaxLargest interval error for the distance between the range location point on the sealing distance of wantonly 2 receptors in n the receptor; Δ f _Max, Δ g _MaxExplicit value needn't necessarily know, as long as make Δ f _Max, Δ g _MaxIn the scope of the bigger easy realization of a certain setting, get final product.R _MinBe R ₁, R ₂..., R _nIn minimum range.

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