CN207280366U - A kind of locus detection device based on magnetic effect - Google Patents
A kind of locus detection device based on magnetic effect Download PDFInfo
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- CN207280366U CN207280366U CN201721416001.XU CN201721416001U CN207280366U CN 207280366 U CN207280366 U CN 207280366U CN 201721416001 U CN201721416001 U CN 201721416001U CN 207280366 U CN207280366 U CN 207280366U
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Abstract
The utility model discloses a kind of locus detection device based on magnetic effect, tested part is placed in horizontal operation platform top surface, each magnetic effect sensor is arranged in workbench two sides using horizontal stand, measurement probe pen is that in the permanent magnet of ball-type, the front end of probe is probe for fixed setting between penholder and probe；Measured position Dian Chu of the probe touching in tested part of probe pen will be measured, the magnetic induction intensity for obtaining the magnetic field that permanent magnet is formed in space is detected by magnetic effect sensor, the magnetic induction intensity detected value exported by multiple magnetic effect sensors being arranged on diverse location calculates the angles and positions relation obtained between permanent magnet and each magnetic effect sensor, so as to the position relationship popped one's head between each magnetic effect sensor, realize that locus is detected.The utility model can realize no guide rail, without tape measure, measuring environment is required it is low, it is easy to operate.
Description
Technical field
It the utility model is related to a kind of magnetic effect device, more specifically a kind of achievable space bit based on magnetic effect
Put the measuring method of detection.Size and Form and position error detection suitable for non-magnetic component of machine.
Background technology
Three-dimensional coordinate measurement be to the surface basic size of part and the measurement of Form and position error, be widely used in automobile,
The fields such as machinery, aerospace, military project, medicine.Existing method for three-dimensional measurement is summarized as three classes, first, tested part is placed
In 3 d space coordinate system, if doing on detection piece surface, obtains its coordinate value, traditional right angle three coordinate measuring machine
And the flexible joint coordinate measuring machine to reach its maturity at present is based on this method, its measuring speed is slow, measuring environment is required high；
Two are built upon the laser scanner technique in indoor GPS technical foundation, its high efficiency, high accuracy, but hardware cost requires height；Three
It is the detection method based on machine vision, same point is detected from different angles, determines each point data on part, it is identical
The stereo matching problem of point is the key technology in stereoscopic vision, and this method is low to hardware requirement, but operating personnel's technology is contained
Measure more demanding.
The light pen measuring instrument based on laser scanner technique that Mai Zhuonuo companies propose accurately is inlayed on hand-held light pen
Relative position between several LED, each LED is it is known that determining light pen according to change in location of the LED on camera sensor
Pose, so as to accurately calculate the coordinate of light pen bottom measured point.Its a whole set of measuring device is light and handy, in being suitable for, large scale
The accurate measurement of part, measurement accuracy is medium, but in actual use, if the light that LED is sent on light pen by barrier or by
Survey part to block in itself, can not realize complete measurement, while cost is higher.
The iGPS e measurement technologies of Boeing manufacturing company of U.S. research are applied to the measurement problem of aircraft large-size components.
Four infrared transmitters are fixed on each angle of measured zone in the measuring system, and receiver is placed on part, and receiver calculates
The vertically and horizontally angle for going out relative transmission device can determine that the position coordinates of measured point.The device is parallel measurement, can be at the same time
Multiple targets are detected, each receiver can independently read vertically and horizontally angle, but its measurement point is influenced be subject to receiver, it is impossible to
Detect at part defect, can not realize the measurement of deep hole, groove class part.
The research team of Hebei University of Science and Technology proposes the method for being combined traditional three coordinate measuring machine with machine vision
To detect the size of part and Form and position error, the X of three coordinate measuring machine, Y-axis drive video camera movement, distinguish at diverse location
Tested part is shot, each characteristic point is obtained on tested part in camera coordinate system using corresponding image points matching method
Three-dimensional coordinate, and then by the scale data of traditional three coordinates, carries out surveyed part three-dimensional appearance and rebuilds simultaneously evaluating parts
Pattern error.Since traditional three coordinate measuring machine has the guide rail and scale structure of complexity, a whole set of measuring device volume is big, causes
Measurement period is grown, and is unfavorable for assembling measurement in real time.
Utility model content
The utility model is to avoid the shortcoming present in the above-mentioned prior art, there is provided a kind of intelligence based on magnetic effect
Can in measurement of coordinates three-dimensional measurement detection device, it can be achieved that without guide rail, without tape measure, it is easy to operate, to measuring environment requirement
It is low.
The utility model adopts the following technical scheme that to solve technical problem：
Locus detection device of the utility model based on magnetic effect is structurally characterized in that：
It is in horizontal workbench to set for place tested part, using horizontal stand in the two sides of workbench
Arrange each magnetic effect sensor；
Set measurement probe pen, be between penholder and probe fixed setting in ball-type permanent magnet, the front end of the probe
For probe；
Tested part is placed on the top surface of the workbench, measures measured position of the probe touching in tested part of probe pen
At putting, the magnetic induction intensity detected value work in the magnetic field that the permanent magnet that is obtained with magnetic effect sensor detection is formed in space
Signal is exported for the detection of detection device.
The design feature of locus detection device of the utility model based on magnetic effect is lain also in：The permanent magnet is in axis
Line uniformly magnetizes on direction, and magnetizing direction is along the axis direction of the penholder, and the penholder is coaxial with probe, and probe is in
In the axial location of probe.
The design feature of locus detection device of the utility model based on magnetic effect is lain also in：The magnetic effect sensing
Device shares six, symmetrical and be distributed on the two sides of workbench.
The measurement side detected the locus based on magnetic effect is realized using the utility model spatial location detection device
The characteristics of method is：The magnetic induction intensity detected value exported using the multiple magnetic effect sensors being arranged on diverse location is calculated and obtained
The angles and positions relation between the permanent magnet and each magnetic effect sensor is obtained, so as to obtain probe and each magnetic effect sensor
Between position relationship, realize measured position point locus detection.
Compared with the prior art, the utility model has the beneficial effect that：
1st, the utility model realizes no guide rail, the locus three without scale compared to traditional three coordinate measuring machine
Dimension detection, the hand-holdable probe pen of survey crew cause probe to be measured with tested point contact in any way, and operation requires low, survey
Amount is convenient；
2nd, the utility model is sensed using magnetic effect, compared to optical means, effectively overcomes that part is actual to be made
Interference and influence of the used time outside environmental elements on measurement accuracy, and avoid caused by barrier and part blocking in itself not
Just；
3rd, due to using multiple magnetic effect sensors measurement in a closed series obtain redundancy technical characteristic, measurement accuracy and
Resolution ratio has been lifted, while can be according to the size and remanent magnetism parameter for being actually needed configuration permanent magnet with range extension；
4th, due to probe pen probe can design length and shape according to the actual requirements, therefore can realize zanjon, hole slot
The measurement of class part；
5th, the utility model is simple in structure, and cost is low, it can be achieved that measurement in real time, is adapted to the ruler of non-magnetic component of machine
The detection of very little and Form and position error, such as detection of automobile industry mould, has certain promotional value.
Brief description of the drawings
Fig. 1 is the utility model dimensional structure diagram；
Fig. 2 is coordinate transition diagram；
Fig. 3 is sensing station relation schematic diagram；
Figure label：1 horizontal stand；2 magnetic effect sensors；3 workbenches；4 penholders；5 permanent magnets；6 probes；7 probes；
8 tested parts.
Embodiment
Referring to Fig. 1 and Fig. 3, the structure type of the locus detection device based on magnetic effect is in the present embodiment：
It is in horizontal workbench 3 to set for place tested part 8, using horizontal stand 1 the two of workbench 3
Each magnetic effect sensor 2 is arranged in side；Measurement probe pen is set, is the permanent magnetism that fixed setting is in ball-type between penholder 4 and probe 6
Body 5, the front end of probe 6 is probe 7；Tested part 8 is placed on the top surface of workbench 3, and the probe 7 for measuring probe pen is touched in quilt
The measured position Dian Chu of part 8 is surveyed, the magnetic strength in the magnetic field that the permanent magnet 5 obtained with the detection of magnetic effect sensor 2 is formed in space
Intensity detection value is answered to export signal as the detection of detection device.
In specific implementation, permanent magnet 5 uniformly magnetizes in the axial direction, and magnetizing direction is along the axis direction of penholder 4, pen
Bar 4 is coaxial with probe 6, and probe 7 is in the axial location of probe 6；Magnetic effect sensor 2 shares six, symmetrical and uniformly distributed
In the two sides of workbench 3.
The measuring method of locus detection is realized using the locus detection device based on magnetic effect in the present embodiment
It is：The magnetic induction intensity detected value exported using the multiple magnetic effect sensors 2 being arranged on diverse location, which is calculated, obtains permanent magnetism
Angles and positions relation between body 5 and each magnetic effect sensor 2, so as to obtain between probe 7 and each magnetic effect sensor 2
Position relationship, realizes the locus detection of measured position point.
The measuring method of the locus detection device based on magnetic effect is to carry out as follows in the present embodiment：
The centre of sphere of permanent magnet 5 and the axial distance of probe 7 are known；It is and known：Adjacent two magnetic effects in same side pass
The spacing of sensor 2 is a, and the spacing of two magnetic effect sensors 2 on the correspondence position of two sides is b；
To be in the magnetic effect sensor S at the endpoint location of a horizontal stand1Inspection center be origin, with parallel
In horizontal stand direction be XωAxis, using the in-plane perpendicular to workbench 3 as ZωAxis, Y is determined by the right-hand ruleωAxis, builds
Vertical fixed coordinate system Oω-XωYωZω。
As shown in Fig. 2, work as plane of the axis perpendicular to workbench 3 of the probe 6 in measurement probe pen, with permanent magnet 5
The centre of sphere establishes basis coordinates system O-XYZ for origin, and the magnetizing direction of permanent magnet 5 is basis coordinates Z axis, and basis coordinates X-axis is parallel to fixation
The X of coordinate systemωAxis, basis coordinates Y-axis is determined by the right-hand rule；Keep the sphere center position of permanent magnet 5 constant, change the sky of probe 6
Between posture make the angle that the plane of the axis of probe 6 and workbench 3 is in a setting, be considered as permanent magnet 5 under basis coordinates system first
α angles are turned about the X axis, β angles are rotated further around Y-axis；With the change of the spatial attitude of probe 6, corresponding rotation occurs for basis coordinates system
Coordinate system after turning is rotating coordinate system O-X ' Y ' Z '.
Detection method carries out as follows：
Step 1：Set magnetic effect sensor S1Coordinate under basis coordinates system is S1(x0,y0,z0), under rotating coordinate system
Coordinate be S1(u, v, w), coordinate transformation relation such as formula (1)：
Step 2：Establish Equivalent Magnetic Charge model
Permanent magnet 5 was utilized the horizontal plane of the centre of sphere of permanent magnet 5 be divided into episphere and lower semisphere, place is in the horizontal plane
The permanent magnet portion of side is episphere, and it is lower semisphere to be in the permanent magnet portion below horizontal plane.
Permanent magnet 5 upper half ball surface optional position set P points, under rotating coordinate system the coordinate of P points for P (x ',
y′,z+'), the table of mistake P points and work one straight line PQ, straight line PQ parallel with the magnetizing direction of permanent magnet 5 and the lower semisphere of permanent magnet 5
Face intersects at Q points, then coordinate of the Q points under rotating coordinate system is Q (x ', y ', z-'), magnetic effect sensor S1Position
Magnetic induction density B ' expression formula such as formula (2)：
In formula (2), ds is area element, S+And S-It is respectively the source area of the positive and negative magnetic charge of permanent magnet to be accumulated curved surface,
It is respectively the episphere of permanent magnet (5) and the surface area of lower semisphere；
μrFor the relative permeability of the Magnetized Material of permanent magnet 5；BrFor the remanent magnetism parameter of permanent magnet 5；
Correspond as along X ' axis, Y ' axis, the unit vector of Z ' axis.
Step 3：Obtained using formula (2) under rotating coordinate system, magnetic effect sensor S1Position is along X ' axis, Y ' axis
With one-to-one magnetic induction intensity component B in Z ' axis all directionsx', By' and Bz' expression formula be respectively：
R is permanent magnet radius；By product curved surface S+And S-The expression formula of projection in X ' OY ' planes is identical, is denoted as integration
Region Dx’y’, its expression formula is (x')2+(y')2=r2。
Magnetic induction intensity component Bx', By' and Bz' by magnetic induction density B ' to the calculation of curved surface integral of area, calculate
Method is as follows：
The sphere of permanent magnet is smooth surface, its expression formula is：(x')2+(y')2+(z')2=r2
By product curved surface S+It is expressed as：
It is expressed as by product curved surface S-：
z’+And z '-The respectively ball surface coordinate expressions of ball-type permanent magnet episphere and lower semisphere；
By product curved surface S+And S-Expression formula, that is, integral domain of projection in X ' OY ' planes is identical, is denoted as Dx’y’,
Dx’y’Expression formula be：(x')2+(y')2=r2；Therefore area element ds is expressed as：
z’+And z '-Derivation to x ' square expression formula it is identical, be [(z 'x’)’]2；
z’+And z '-Derivation to y ' square expression formula it is identical, be [(z 'y’)’]2；
Area element ds is substituted into formula (2) and obtains Bx', By' and Bz' expression formula.
Step 4：Obtained using formula (1) under basis coordinates system along the magnetic induction intensity component B of each reference axis of X, Y, Zx、By、BzPoint
It is not：
Step 5：Because magnetic effect sensor can only detect the magnetic induction intensity in a direction, and with the sensing element of sensor
Placement it is related, magnetic effect sensor S is set in the present embodiment1Detection direction be vertical direction, then magnetic effect sensor S1Inspection
Survey the magnetic induction intensity obtainedAs：Thus magnetic effect sensor S is obtained1Detect the magnetic induction intensity obtained
On u, v, w, the expression formula of α, β under rotating coordinate system；
Magnetic effect sensor S is obtained by formula (1)1On x under basis coordinates system0、y0、z0, α and β expression formula such as formula (3)：
Step 6：By step 1- steps 5, each expression formula of magnetic effect sensor under basis coordinates system is obtained, and establish
Equation group as shown in formula (4)：
In formula (4),Correspond defeated for the magnetic induction of each magnetic effect sensor
Go out signal, the equation group for solving formula (4) obtains x0、y0、z0, α and β value, with the x0、y0、z0, α and β value characterization obtain magnetic
Effect sensor S1Relative to the relative position and relative angle of permanent magnet.
Only five sensors are needed to obtain five unknown quantity x in the utility model0、y0、z0, α and β value, and actually put
Sensor is put as six, the number placed more than theoretical needs, reading existence information redundancy, the number of equation is more than unknown quantity
Number, can reduce error, improve precision.
Step 7：Probe 7 and the distance at the center of permanent magnet 5 be L, 7 coordinate under rotating coordinate system of probe be (0,0 ,-
L), it is (- L sin β, L sin α sin β ,-Lcos α cos β) to obtain 7 coordinate value under basis coordinates system of probe according to formula (3), then
Probe 7 is in fixed coordinate system Oω-XωYωZωUnder coordinate value be (- Lsin β-x0,Lsinαsinβ-y0,-Lcosαcos-z0), it is complete
Into detection.
Claims (3)
1. a kind of locus detection device based on magnetic effect, it is characterized in that：
It is in horizontal workbench (3) to set for place tested part (8), using horizontal stand (1) in workbench (3)
Two sides arrange each magnetic effect sensor (2)；
Set measurement probe pen, be between penholder (4) and probe (6) fixed setting be in ball-type permanent magnet (5), the probe
(6) front end is probe (7)；
Tested part (8) is placed on the top surface of the workbench (3), and the probe (7) for measuring probe pen is touched in tested part (8)
Measured position Dian Chu, the magnetic strength in magnetic field that the permanent magnet (5) obtained with the magnetic effect sensor (2) detection is formed in space
Intensity detection value is answered to export signal as the detection of detection device.
2. the locus detection device according to claim 1 based on magnetic effect, it is characterized in that：The permanent magnet (5)
Uniformly magnetize in the axial direction, magnetizing direction is to be with probe (6) along the axis direction of the penholder (4), the penholder (4)
Coaxial, probe (7) is in the axial location of probe (6).
3. the locus detection device according to claim 1 or 2 based on magnetic effect, it is characterized in that：The magnetic effect
Sensor (2) shares six, symmetrical and be distributed on the two sides of workbench (3).
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| CN107588715A (en) * | 2017-10-30 | 2018-01-16 | 合肥工业大学 | A kind of locus detection means and measuring method based on magnetic effect |
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| CN107588715A (en) * | 2017-10-30 | 2018-01-16 | 合肥工业大学 | A kind of locus detection means and measuring method based on magnetic effect |
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