CN201269884Y - Space state, space acceleration measurement instrument - Google Patents

Abstract

The utility model discloses an instrument for measuring spatial state and steric acceleration; the instrument is characterized in that a shell is fixed on a base; a cubic block is arranged in the shell; six feeler levers which are in contact with six surfaces of the cubic block are respectively arranged on the six surfaces; each feeler lever is fixed by sliding holes arranged on the six surfaces of the shell; the end of each feeler lever in contact with the cubic block is hemispheric; springs sheathed on the feeler levers are arranged between the hemispheric end of the each feeler lever and the interior wall of the shell; and scales are arranged on each feeler lever. By the arrangement, the instrument can conveniently measure the spatial state of an object to be tested or the acceleration direction and quantity of the object to be tested.

Description

Spatiality, steric acceleration measuring instrument

Technical field

The utility model relates to a kind of spatiality, steric acceleration measuring instrument.

Background technology

At present object space state (vergence direction, angle of inclination, even rollover states etc.), steric acceleration are measured often more complicated, do not have a kind of easy, be easy to carry about with one and install and the higher surveying instrument of precision.The Robotics development is rapid, but current robot system lacks the easy sensor of robot ego state perception generally with the coordinate conversion location of complexity.

Summary of the invention

The purpose of this utility model provides a kind of spatiality, steric acceleration measuring instrument, and the principle of utilizing the terrestrial gravitation acceleration to point to the earth's core (perpendicular to surface level) is carried out the spatiality measurement, utilizes acceleration mechanics characteristic to carry out steric acceleration and measures.

To achieve these goals, the technical solution of the utility model is: be fixed with shell on base, in shell, be provided with a cubic block, on six faces of cubic block, be respectively equipped with six roots of sensation feeler lever contacted with it, each feeler lever is fixed by the sliding eye that is located on six faces of shell, each feeler lever contacts an end with cubic block be semisphere, is provided with the spring that is enclosed within on the feeler lever between the hemispherical end of each feeler lever and the inwall of shell, all indicates scale on each feeler lever.

By above setting, during measurement, measuring instrument is fixed on the measured object or with the measured object keeping parallelism and there is not relative motion, when measuring instrument is in different conditions, because of there being the effect of power between cubic block and 6 feeler levers, cubic block produces displacement, and 6 feeler levers produce unidirectional slips separately, read the scale numerical value of three coordinate directions of XYZ respectively, can calculate the acceleration direction and the size of measured object spatiality or measured object.Can increase related circuit in addition, measure calculating automatically, and with the result directly with LED or screen display, or with after the measuring-signal collection input computing machine calculate demonstration.Can be widely used in the spatiality of common objects, buildings, main equipment is measured; Also can be used as sensor, be installed on equipment and instrument inside, be used for self-perception of robotary and mutual, the also automatic location etc. of adjusting of various device spatiality measurement.Also can be used as the steric acceleration surveying instrument in addition, be used for the acceleration analysis under ground or the weightlessness of space condition.

Description of drawings

Now in conjunction with the accompanying drawings the utility model is further described

Fig. 1 is the utility model master cut-open view

Fig. 2 is the utility model A-A cut-open view

Fig. 3 is a B part enlarged drawing

Fig. 4 is the utility model overview

Fig. 5 calculates synoptic diagram for the utility model

Among the figure 1, cubic block 2, shell (3-1,3-2,3-3,3-4,3-5,3-6) feeler lever 4, spring 5, base

Embodiment

Shown in Fig. 1-4, mainly by base 5, shell 2, cubic block 1 is formed, on base 5, be fixed with shell 2, in shell 2, be provided with a cubic block 1, on six faces of cubic block 1, be respectively equipped with six roots of sensation feeler lever (3-1 contacted with it, 3-2,3-3,3-4,3-5,3-6), each feeler lever is fixed by the sliding eye that is located on 1 six faces of shell, each feeler lever contacts an end with cubic block 1 be semisphere, be provided with the spring 4 that is enclosed within on the feeler lever between the inwall of the hemispherical end of each feeler lever and shell 2, on each feeler lever, all indicate scale, two feeler lever scale values of symmetric position are demarcated oppositely, make read value identical.During measurement, measuring instrument is fixed on the measured object or with the measured object keeping parallelism and there is not relative motion.When spatiality is measured, cubic block is subjected to gravity, gravity direction points to the earth's core, perpendicular to surface level, when measuring instrument is in different spatialities with measured object, cubic block produces corresponding pressure or pulling force to the feeler lever and the spring of 6 directions, and 6 feeler levers produce and slide, and exposes scale change (two scale values of symmetric position are identical), read the scale value of three directions of XYZ, calculate the spatiality of measured object.During acceleration analysis, the base of measuring instrument and shell are with the stressed generation acceleration of measured object, shell passes to feeler lever with power by spring, the feeler lever of 6 directions produces corresponding pressure or pulling force to cubic block, feeler lever produces and slides simultaneously, read scale numerical value x, y, the z of three coordinate directions, can calculate the measured object spatiality: the angle of inclination of measured object and surface level is $\mathrm{\&alpha;}=\mathrm{<figure-callout\; id="2"\; label="arctan\; z\; x"\; filenames="Y200820172027E00062.png,Y200820172027E00063.png"\; state="\{\{state\}\}">arctan</figure-callout>}\frac{z}{\sqrt{x^{}}}\frac{\sqrt{{}^2+{\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="Y200820172027E00062.png,Y200820172027E00063.png"\; state="\{\{state\}\}">y</figure-callout>}}^2}}{};$ The measured object vergence direction is: with the X-axis angle $\mathrm{\&beta;}=\arctan \frac{y}{x},$ With the Y-axis angle

Acceleration analysis: the acceleration direction is consistent with " spatiality measurement " computing method, and the angle [alpha] of measurement, β, γ are the direction of acceleration, and its size is $a=\sqrt{x^2+{\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="Y200820172027E00062.png,Y200820172027E00063.png"\; state="\{\{state\}\}">y</figure-callout>}}^2+{\mathrm{<figure-callout\; id="2"\; label="z"\; filenames="Y200820172027E00062.png,Y200820172027E00063.png"\; state="\{\{state\}\}">z</figure-callout>}}^2}.$ Can increase related circuit, measure calculating automatically, and with the result directly with LED or screen display, or with after the measuring-signal collection input computing machine calculate demonstration.

Claims (1)

1, spatiality, steric acceleration measuring instrument, mainly form by base, shell, cubic block, it is characterized in that: on base, be fixed with shell, in shell, be provided with a cubic block, on six faces of cubic block, be respectively equipped with six roots of sensation feeler lever contacted with it, each feeler lever is fixed by the sliding eye that is located on six faces of shell, each feeler lever contacts an end with cubic block be semisphere, be provided with the spring that is enclosed within on the feeler lever between the hemispherical end of each feeler lever and the inwall of shell, on each feeler lever, all indicate scale.

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