CN206756137U - Rotate robot scaling equipment - Google Patents
Rotate robot scaling equipment Download PDFInfo
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- CN206756137U CN206756137U CN201720515053.6U CN201720515053U CN206756137U CN 206756137 U CN206756137 U CN 206756137U CN 201720515053 U CN201720515053 U CN 201720515053U CN 206756137 U CN206756137 U CN 206756137U
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- polarised light
- orientation
- fixed mechanism
- directed element
- scaling equipment
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Abstract
The utility model belongs to precision measurement field of measuring techniques, and in particular to one kind rotation robot scaling equipment.The rotation robot scaling equipment includes the polarised light azimuthal measurement unit contour with measured target azimuth prism and the orientation below polarised light azimuthal measurement unit receives directed element；Polarised light azimuthal measurement unit includes Autocollimation measuring instrument and polarization optical generator；Autocollimation measuring instrument is used to carry out measured target azimuth prism alignment measurement, and polarization optical generator is used to receive directed element polarized light-emitting to orientation；Orientation receives the pole device that directed element is used to aim at a distant place.The azimuth information of antarafacial target or height target is converted into the optical information of polarised light by polarised light azimuthal measurement unit by the utility model, and directed element is received by orientation and recorded, then directed element is received by gyrobearing and tracks polarised light, so as to calculate the azimuth of target to be measured, testing result is accurate and easy to operate.
Description
Technical field
The utility model belongs to precision measurement field of measuring techniques, and in particular to one kind rotation robot scaling equipment.
Background technology
In the field such as Aeronautics and Astronautics and industrial precision measurement, it is often necessary to which azimuthal measures, accurate orientation
Angle Measurements calculate for follow-up instrument adjustment and data and all play vital effect, current azimuth determination side
Method requires that target to be measured is in same level with pole device.For the target to be measured with pole device not in the same plane
(i.e. antarafacial target) or the target to be measured (i.e. height target) apart from ground certain altitude, because luffing angle and target are high
The presence of degree, cause the erection of measuring instrument and human users all very difficult, therefore between target to be measured and geographical north orientation
Orientation angle is just difficult to measure.
Utility model content
The purpose of this utility model is to provide a kind of rotation robot scaling equipment, and solving existing measurement apparatus and method can not
The technical problem of azimuth determination is carried out to antarafacial target or height target.
Technical solution of the present utility model is：One kind rotation robot scaling equipment, it is characterized in that：Including with being tested
It is fixed that the contour polarised light azimuthal measurement unit of target bearing prism and the orientation below polarised light azimuthal measurement unit receive
To unit；
The polarised light azimuthal measurement unit includes Autocollimation measuring instrument and polarization optical generator；The Autocollimation measuring instrument
For carrying out alignment measurement to measured target azimuth prism, the polarization optical generator is used to receive directed element transmitting to orientation
Polarised light；
The orientation, which receives directed element, to be included the fixed mechanism of levelling and can be rotated horizontally on fixed mechanism
Rotating mechanism；
Polarization optical receiver, sight and optical plummet, the polarization optical receiver are provided with the rotating mechanism
The polarised light sent for receiving polarization optical generator, the sight are used for the pole device for aiming at distant place, and the optics is to point
Device is used for the north orientation landmark point for being directed at lower section；
Servo tracking device and photoelectric encoder are provided with the fixed mechanism, the servo tracking device, which is used to track, to be polarized
The polarised light that optical receiver receives, the photoelectric encoder are used to the optical information of polarised light being converted into angular values letter
Breath.
Further, above-mentioned rotating mechanism is connected by the dense ball bearing shafting being vertically arranged with fixed mechanism, on rotating mechanism
The locking fine motion device being adapted with the dense ball bearing shafting is additionally provided with, locking can be first carried out after completing to adjust and fix, then
Detection numerical value is read again, prevents from changing during reading and measuring and calculating.
Further, the display for angles of display numerical information is additionally provided with above-mentioned fixed mechanism.
Further, the setting levelling foot spiral shell of above-mentioned fixed mechanism bottom, leveling instruction water is additionally provided with fixed mechanism
Bubble.
The utility model also provides a kind of calibrating method based on above-mentioned rotation robot scaling equipment, and it is characterized in that, bag
Include following steps：
1) Autocollimation measuring instrument carries out alignment measurement to measured target azimuth prism, obtains angle of collimation S；
2) fixed mechanism is adjusted, polarization optical receiver is received the polarised light that polarization optical generator is sent, and make optics pair
The north orientation landmark point of point device alignment lower section, then carries out leveling to fixed mechanism；
3) rotating mechanism is adjusted, makes the pole device of sight alignment distant place；
4) the detection numerical value zero setting to photoelectric encoder；
5) rotating mechanism is adjusted, makes the polarised light tracking that servo tracking device receives to polarization optical receiver in place, now
Photoelectric encoder output polarised light trail angle M；
6) north orientation landmark point and the geodetic azimuth NA of pole device line are inputted；
7) it is NL=NA+M+S+ that the normal of measured target azimuth prism, which is calculated, relative to the azimuth of geographical north orientation
Δ, wherein Δ are orientation angle and polarization optical receiver and the aiming of Autocollimation measuring instrument optical axis and polarization optical generator optical axis
The orientation angle sum of device optical axis.
Further, after in completion step 3) to the adjustment of rotating mechanism, rotating mechanism is carried out using locking fine motion device
It is fixed.
The beneficial effects of the utility model are：The utility model by polarised light azimuthal measurement unit by antarafacial target or
The azimuth information of person's height target is converted into the optical information of polarised light, and receives directed element by orientation and recorded, so
Directed element is received by gyrobearing afterwards and tracks polarised light, so as to calculate the azimuth of target to be measured, testing result is accurate
It is and easy to operate.
Brief description of the drawings
Fig. 1 is the working state schematic representation that the utility model rotates robot scaling equipment.
Fig. 2 is the polarised light azimuthal measurement cellular construction schematic diagram of the utility model preferred embodiment.
Fig. 3 is that the orientation of the utility model preferred embodiment receives directed element structural representation.
Wherein, reference is as follows：1- measured target azimuth prisms, 2- polarised light azimuthal measurement units, 3- orientation receive
Directed element, 4- pole devices, 5- mounting brackets, 6- casings, 7- Autocollimation measuring instruments, 8- polarization optical generators, 9- polarization light-receivings
Device, 10- locking fine motion devices, 11- photoelectric encoders, 12- leveling instruction bubble, 13- displays, 14- fixed mechanisms, 15- are aimed at
Device, 16- rotating mechanisms, 17- optical plummets, 18- servo tracking devices, 19- dense ball bearing shaftings, 20- levelling foot spiral shells.
Embodiment
Referring to Fig. 1, the utility model provides a kind of rotation robot scaling equipment, including contour with measured target azimuth prism 1
Polarised light azimuthal measurement unit 2 and receive directed element 3 positioned at the orientation of the lower section of polarised light azimuthal measurement unit 2；Orientation connects
The pole device 4 in a distant place can be aimed at by receiving directed element 3.
As shown in Fig. 2 in the preferred embodiment of the utility model rotation robot scaling equipment, polarised light azimuthal measurement unit 2
Mounting bracket including casing 6 and the top of casing 6, casing 6 are internally provided with Autocollimation measuring instrument 7 and polarization optical generator 8.Autocollimatic
Straight measuring instrument 7 is used to carry out measured target azimuth prism 1 alignment measurement, and polarization optical generator 8, which is used to receive to orientation, to be oriented
The polarized light-emitting of unit 3.
As shown in figure 3, in the preferred embodiment of the utility model rotation robot scaling equipment, orientation receives directed element 3 and wrapped
The rotating mechanism 16 that includes the fixed mechanism 14 of levelling and can be rotated horizontally on fixed mechanism 14.Rotating mechanism 16 passes through perpendicular
The dense ball bearing shafting 19 directly set is connected with fixed mechanism 14, and the lock being adapted with dense ball bearing shafting 19 is additionally provided with rotating mechanism 16
Tight fine motion device 10.Fixed mechanism 14 carries out leveling by the levelling foot spiral shell 20 of bottom, and being additionally provided with leveling on fixed mechanism 14 refers to
Show bubble 12.
Polarization optical receiver 9, sight 15 and optical plummet 17 are provided with rotating mechanism 16, polarizes optical receiver 9
The polarised light sent for receiving polarization optical generator 8, sight 15 are used for the pole device 4 for aiming at distant place, optical plummet 17
For being directed at the north orientation landmark point of lower section.
Servo tracking device 18 and photoelectric encoder 11 are provided with fixed mechanism 14, servo tracking device 18, which is used to track, to be polarized
The polarised light that optical receiver 9 receives, photoelectric encoder 11 are used to the optical information of polarised light being converted into angular values information,
And it is shown on display 13.
Based on the calibrating method of the utility model rotation robot scaling equipment, comprise the following steps：
1) Autocollimation measuring instrument 7 carries out alignment measurement to measured target azimuth prism 1, obtains angle of collimation S；
2) fixed mechanism 14 is adjusted, polarization optical receiver 9 is received the polarised light that polarization optical generator 8 is sent, and make light
The north orientation landmark point of the alignment of counter point device 17 lower section is learned, leveling then is carried out to fixed mechanism 14；
3) rotating mechanism 16 is adjusted, sight 15 is directed at the pole device 4 of distant place；Using locking fine motion device 10 to rotating machine
Structure 16 is fixed；
4) by the detection numerical value zero setting of photoelectric encoder 11；
5) locking fine motion device 10 is unclamped, adjusts rotating mechanism 16, servo tracking device 18 is received polarization optical receiver 9
Polarised light tracking in place, now photoelectric encoder 11 exports polarised light trail angle M；
6) north orientation landmark point and the geodetic azimuth NA of pole device line are inputted；
7) it is NL=NA+M+S+ that the normal of measured target azimuth prism 1, which is calculated, relative to the azimuth of geographical north orientation
Δ, wherein Δ are orientation angle and polarization optical receiver and the aiming of Autocollimation measuring instrument optical axis and polarization optical generator optical axis
The orientation angle sum of device optical axis.
Claims (4)
1. one kind rotation robot scaling equipment, it is characterised in that：Including the polarised light azimuthal measurement contour with measured target azimuth prism
Unit and the orientation below polarised light azimuthal measurement unit receive directed element；
The polarised light azimuthal measurement unit includes Autocollimation measuring instrument and polarization optical generator；The Autocollimation measuring instrument is used for
Alignment measurement is carried out to measured target azimuth prism, the polarization optical generator is used to receive directed element transmitting polarization to orientation
Light；
The orientation receives the rotation that directed element includes the fixed mechanism of levelling and can rotated horizontally on fixed mechanism
Mechanism；
Polarization optical receiver, sight and optical plummet are provided with the rotating mechanism, the polarization optical receiver is used for
The polarised light that polarization optical generator is sent is received, the sight is used for the pole device for aiming at distant place, and the optical plummet is used
North orientation landmark point in alignment lower section；
Servo tracking device and photoelectric encoder are provided with the fixed mechanism, the servo tracking device connects for tracking polarised light
The polarised light that device receives is received, the photoelectric encoder is used to the optical information of polarised light being converted into angular values information.
2. rotation robot scaling equipment according to claim 1, it is characterised in that：The rotating mechanism is close by what is be vertically arranged
Pearl shafting is connected with fixed mechanism, and the locking fine motion device being adapted with the dense ball bearing shafting is additionally provided with rotating mechanism.
3. rotation robot scaling equipment according to claim 1 or 2, it is characterised in that：Use is additionally provided with the fixed mechanism
In the display of angles of display numerical information.
4. rotation robot scaling equipment according to claim 3, it is characterised in that：The fixed mechanism bottom sets levelling foot
Spiral shell, leveling instruction bubble is additionally provided with fixed mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720515053.6U CN206756137U (en) | 2017-05-10 | 2017-05-10 | Rotate robot scaling equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720515053.6U CN206756137U (en) | 2017-05-10 | 2017-05-10 | Rotate robot scaling equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206756137U true CN206756137U (en) | 2017-12-15 |
Family
ID=60617614
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720515053.6U Active CN206756137U (en) | 2017-05-10 | 2017-05-10 | Rotate robot scaling equipment |
Country Status (1)
| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107179066A (en) * | 2017-05-10 | 2017-09-19 | 中国科学院西安光学精密机械研究所 | Rotate robot scaling equipment and its calibrating method |
-
2017
- 2017-05-10 CN CN201720515053.6U patent/CN206756137U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107179066A (en) * | 2017-05-10 | 2017-09-19 | 中国科学院西安光学精密机械研究所 | Rotate robot scaling equipment and its calibrating method |
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