CN200972387Y - Position posture measuring panel sensor - Google Patents
Position posture measuring panel sensor Download PDFInfo
- Publication number
- CN200972387Y CN200972387Y CNU2006200912376U CN200620091237U CN200972387Y CN 200972387 Y CN200972387 Y CN 200972387Y CN U2006200912376 U CNU2006200912376 U CN U2006200912376U CN 200620091237 U CN200620091237 U CN 200620091237U CN 200972387 Y CN200972387 Y CN 200972387Y
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- mount pad
- scrambler
- axle
- pose
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
A novel plane sensor for measuring pose includes an installation base, a connecting rod and a coder for measuring angles; wherein, a left installation base is arranged on a fixed place, a right installation base is arranged on an object being detected, the left and right installation base are provided with a serial component in between consisting of a left connecting rod, a right connecting rod and three rotating pairs; each rotating pair is arranged with a coder. The utility model can detect the three-dimension pose of the object in the plane precisely, promptly and quickly.
Description
Technical field
The utility model relates to the pose measurement tracking technique, specifically a kind of new structure flat surface sensor of following the tracks of based on the Three Degree Of Freedom series connection pose of three revolute series connection.It is fit to the pose measurement of flat-type object in the X-Z plane and follows the tracks of.
Background technology
In the existing pose measurement follow-up machinery formula sensor technology,, but all be only applicable to specific environment because that condition, the environment difference used cause having the kind and the form of sensor special of specific precision is more.Still not having in similar machines formula sensor can high precision, detect the planar sensor device of Three Degree Of Freedom pose of object in real time, fast.
The utility model content
In order to satisfy the measurement requirement of testee, the purpose of this utility model provide a kind of have can calculate the novel attitude appearance measurement plane sensor device that real time parsing is separated, tracking velocity is fast, measuring accuracy is high.
To achieve these goals, the technical solution of the utility model is: comprise mount pad, connecting rod and the scrambler that is used to take measurement of an angle, wherein left mount pad is installed on the fixed position, right mount pad is installed on the testee, is the cascaded structure of left connecting rod, right connecting rod and three revolutes between left mount pad and the right mount pad; On each revolute scrambler is installed;
Concrete structure is: be made up of left mount pad, left side axle, left connecting rod, middle mount pad, axis, right connecting rod, right axle, right mount pad, right scrambler, middle scrambler, left scrambler, left side connecting rod one end is by rotary being installed on the left mount pad of left side axle, the left side connecting rod other end links to each other with middle mount pad, on the mount pad, the other end of right connecting rod was by rotary being installed on the right mount pad of right axle during right connecting rod one end was installed on by axis is rotary; Left side scrambler, middle scrambler, right scrambler are located at respectively on left mount pad, middle mount pad, the right mount pad; Described right mount pad links to each other with testee, and left mount pad is installed on the fixed position; Described left connecting rod and right connecting rod equal in length; Be provided with bearing between described left side axle, axis, right axle and left connecting rod, the right connecting rod.
The utility model principle of work is as follows:
The utility model is installed on the fixed position when working by left mount pad, and right mount pad 8 is installed on the testee, and the centre is realized cascaded structures by left connecting rod, right connecting rod by three revolutes.On each revolute angular encoder is installed, when the testee pose changed, three angular encoders can be measured the rotation angle of left connecting rod relative fixed position, the rotation angle of the left relatively connecting rod of right connecting rod, three angles of rotation angle of the relative right connecting rod of testee.Utilize the pose computing formula just can calculate the pose situation of change of testee.
The utlity model has following advantage:
1. measuring accuracy height.Because the utility model utilizes the constant connecting rod of length (left connecting rod and right connecting rod), three same model angular encoders are realized pose in the plane of flat-type object is detected.This version is simple, and error source is few, so the measuring accuracy height is specially adapted to that pose detects in the plane of flat-type object.
2. can measure testee pose planar in real time, accurately.Because it is few, simple in structure, compact to the utlity model has functional element, the characteristics that computing formula is simple and direct can realize that real-time follow-up detects.Has measurement result advantage fast and accurately.
Description of drawings
Accompanying drawing 1 is the utility model structural design wiring layout.
Embodiment
Be described in further detail below in conjunction with 1 pair of the utility model of accompanying drawing.
As shown in Figure 1, the utility model is made up of left mount pad 1, left side axle 2, left connecting rod 3, middle mount pad 4, axis 5, right connecting rod 6, right axle 7, right mount pad 8, right scrambler 9, middle scrambler 10, left scrambler 11, left side connecting rod 3 one ends are installed on the left mount pad 1 by left side axle 2, left side connecting rod 3 can rotate relative to left mount pad 1, and the left scrambler 11 that is installed on the left mount pad 1 can be measured this rotational angle.On the mount pad 4, on the mount pad 4, right connecting rod 6 can rotate relative to left connecting rod 3 during right connecting rod 6 one ends were installed on by axis 5 during left side connecting rod 3 other ends were installed in, and the middle scrambler 10 in being installed on the mount pad 4 can be measured this rotational angle.The other end of right connecting rod 6 is installed on the right mount pad 8 by right axle 7, and right mount pad 8 can rotate relative to right connecting rod 6, and the right scrambler 9 that is installed on the right mount pad 8 can be measured this rotational angle.The angle of utilizing three scramblers to measure changes the pose situation of change that just can calculate testee.
Wherein: between described left side axle 2, axis 5, right axle 7 and left connecting rod 3, the right connecting rod 6 bearing is installed.
The utility model course of work is as follows: when the pose variation takes place in the utility model measurement range testee, the right mount pad 8 that is installed on the testee is also ensued corresponding pose variation, and right mount pad 8 drives right connecting rods 6 and then drives left connecting rod 3 corresponding the rotation taken place.Left side scrambler 11 is measured the rotation angle θ of left connecting rod relative fixed position
1, middle scrambler 10 is measured the rotation angle θ of the left relatively connecting rod of right connecting rod
2, right scrambler 9 is measured the rotation angle θ of the relative right connecting rod of testee
3, left connecting rod 3 and right connecting rod 6 length are constant and known, utilize the pose computing formula to calculate the change in location situation (this coordinate system with left side axle 2 axle center of left mount pad 1 head bearing mounting hole be initial point) of testee in the coordinate system that left mount pad 1 is set up.Can realize the pose fast and accurately of testee is detected.
The pose computing formula:
Wherein: l
1The air line distance in axle 2 axle center, a left side and axis 5 axle center, l
2The air line distance in right axle 7 axle center and axis 5 axle center, the air line distance at c right axle 7 axle center and testee center, θ
1The angle (being the rotation angle of relative fixed position) that connecting rod 3 left relatively mount pad in a left side turns over, θ
2The rotation angle of the left relatively connecting rod of right connecting rod, θ
3The rotation angle of the relative right connecting rod of measured object.
The measurement range of utility model such as following table:
Claims (4)
1. novel attitude appearance measurement plane sensor, it is characterized in that: comprise mount pad, connecting rod and the scrambler that is used to take measurement of an angle, wherein left mount pad is installed on the fixed position, right mount pad is installed on the testee, is the cascaded structure of left connecting rod, right connecting rod and three revolutes between left mount pad and the right mount pad; On each revolute scrambler is installed.
2. according to the described novel attitude appearance measurement plane sensor of claim 1, it is characterized in that: concrete structure is: by left mount pad (1), left side axle (2), left side connecting rod (3), middle mount pad (4), axis (5), right connecting rod (6), right axle (7), right mount pad (8), right scrambler (9), middle scrambler (10), left side scrambler (11) is formed, left side connecting rod (3) one ends are installed on the left mount pad (1) by spool (2) are rotary on a left side, left side connecting rod (3) other end links to each other with middle mount pad (4), right connecting rod (6) one ends are installed on the middle mount pad (4) by axis (5) is rotary, and (7) are rotary is installed on the right mount pad (8) by right axle for the other end of right connecting rod (6); Left side scrambler (11), middle scrambler (10), right scrambler (9) are located at respectively on left mount pad (1), the right mount pad of middle mount pad (4) (8).
3. according to the described novel attitude appearance measurement plane sensor of claim 2, it is characterized in that: described left connecting rod (3) and right connecting rod (6) equal in length.
4. according to the described novel attitude appearance measurement plane sensor of claim 2, it is characterized in that: wherein: described left axle (2), axis (5), right axle (7) and left connecting rod (3), right connecting rod are provided with bearing between (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2006200912376U CN200972387Y (en) | 2006-05-31 | 2006-05-31 | Position posture measuring panel sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2006200912376U CN200972387Y (en) | 2006-05-31 | 2006-05-31 | Position posture measuring panel sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN200972387Y true CN200972387Y (en) | 2007-11-07 |
Family
ID=38883641
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2006200912376U Expired - Fee Related CN200972387Y (en) | 2006-05-31 | 2006-05-31 | Position posture measuring panel sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN200972387Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100447528C (en) * | 2006-05-31 | 2008-12-31 | 中国科学院沈阳自动化研究所 | Attitude appearance measurement plane sensor |
| CN103090852A (en) * | 2011-11-01 | 2013-05-08 | 中国科学院沈阳自动化研究所 | Angle measuring device |
| CN105423910A (en) * | 2015-12-28 | 2016-03-23 | 中国航天空气动力技术研究院 | Airplane steering surface deflection angle measurement device and method |
-
2006
- 2006-05-31 CN CNU2006200912376U patent/CN200972387Y/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100447528C (en) * | 2006-05-31 | 2008-12-31 | 中国科学院沈阳自动化研究所 | Attitude appearance measurement plane sensor |
| CN103090852A (en) * | 2011-11-01 | 2013-05-08 | 中国科学院沈阳自动化研究所 | Angle measuring device |
| CN103090852B (en) * | 2011-11-01 | 2014-11-19 | 中国科学院沈阳自动化研究所 | Angle measuring device |
| CN105423910A (en) * | 2015-12-28 | 2016-03-23 | 中国航天空气动力技术研究院 | Airplane steering surface deflection angle measurement device and method |
| CN105423910B (en) * | 2015-12-28 | 2019-03-15 | 中国航天空气动力技术研究院 | Deflection angle of airplane control surface degree measuring device and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20071107 |