CN208653408U - A kind of position measuring system based on Plane Rotation laser - Google Patents
A kind of position measuring system based on Plane Rotation laser Download PDFInfo
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- CN208653408U CN208653408U CN201821291376.2U CN201821291376U CN208653408U CN 208653408 U CN208653408 U CN 208653408U CN 201821291376 U CN201821291376 U CN 201821291376U CN 208653408 U CN208653408 U CN 208653408U
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- laser
- encoder motor
- terminal
- encoder
- data acquisition
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Abstract
A kind of position measuring system based on Plane Rotation laser, belongs to field of measuring technique.It is made of data acquisition device, photosensitive sensor, numerical control device and terminal.The measuring device drives two planar lasers to continually scan for two encoder motors, the optical signal of laser is received by photosensitive sensor, when receiving optical signal, data acquisition instructions are sent to terminal by photosensitive sensor, the information that the data acquisition device of terminal acquisition at this time is sent, further calculate its specific location, realize real time position measurement when numerical control device moves in fixed pan, the laser scanning of high speed is carried out in measurement process always, so that the location information real-time measured is preferable, and when using, measurement process is easy to operate, using high-precision encoder motor as measurement device, the data precision of measurement is higher.
Description
Technical field
The utility model relates to a kind of position measuring system based on Plane Rotation laser, specifically a kind of machine
The mechanized equipments terminal position real-time measurement system such as people, lathe and measurement method, belong to field of measuring technique.
Background technique
With the development of science and technology, having strictly to the size of mechanical equipment accurate positionin during exercise, velocity and acceleration
Requirement, in practical projects, it is often necessary to which real-time measurement equips position, the velocity and acceleration of end or actuating station, to mention
The movement and machining accuracy of high equipment.Current main measurement method includes: laser tracker, more laser displacement measurement methods and takes the photograph
As the methods of tracking.Laser tracker it is at high cost, ease for use is poor, and the other methods including more laser displacement measurement methods
There is limiting vulnerable to space, practical is poor, realizes the problems such as difficulty is big.
Summary of the invention
In view of the above-mentioned deficiencies, the utility model provides a kind of position measuring system based on Plane Rotation laser, is
A kind of real-time measurement system and measurement method based on biplane rotary laser has the features such as at low cost, easy to use.
The utility model is achieved through the following technical solutions:
A kind of position measuring system based on Plane Rotation laser is by data acquisition device, photosensitive sensor, numerical control dress
It sets and is fixed to the appropriate position of the end effector of the numerical control device with terminal composition, the photosensitive sensor
It sets, and is connect by data line with terminal, the data acquisition device provides electric power, the number by supply lines
It is connect by data line with terminal according to acquisition device.
The data acquisition device is by device pedestal, encoder motor fixed rack, planar laser, encoder electricity
What machine and data collecting card formed, the lower end of the encoder motor fixed rack is fixed on the device pedestal, institute
The encoder motor stated is fixed on the encoder motor fixed rack, the planar laser and the encoder
The motor axis connection of motor, so that the encoder motor is able to drive the planar laser rotation, the coding
There are two device motor fixed rack, encoder motor and planar lasers, and the device is symmetrically distributed in certain spacing
On pedestal, the data line of the encoder motor is connected on the data collecting card, the encoder motor peace
Planar laser provides electric power by supply lines, and the data collecting card is fixed to the appropriate location of the device pedestal, institute
The output signal line for the data collecting card stated is connect with terminal.
The planar laser is made of laser bodies, laser emission port and mounting hole, and the plane swashs
Light device be it is discoid, the plane laser along its disk axis direction can be emitted, pass through the encoder motor and drive institute
The planar laser rotation stated, may be implemented the laser scanning in three-dimensional space.
A kind of location measurement method based on Plane Rotation laser, the specific steps are as follows:
A. data acquisition device is placed on around numerical control device at the rational position for not influencing its work, passes through supply lines
It powers to planar laser and encoder motor, and detects planar laser and whether encoder motor is normal；
B. photosensitive sensor is fixed at the rational position on the end effector of numerical control device, and ensures light sensor
Device is mounted within the scanning range of planar laser, and the data line of the photosensitive sensor is connect with terminal,
Data acquisition device is connect with terminal by data line；
C. manipulation numerical control device moves to two determining positions in same plane, is measured respectively in numerical control device base
The coordinate value of the two lower fixation positions of mark system, encoder motor drive planar laser rotation, carry out the laser in vertical plane
Scanning sends information collection instruction to terminal by data line, at this time when photosensitive sensor receives laser signal
Terminal records the data information of the encoder motor at two positions that data acquisition device is sent；
D. the distance between two planar laser central axises have been measured in assembly, pass through terminal processing two
The available corresponding rotation angle of the data of a encoder motor, i.e., by the central point and light sensor of two planar lasers
Two angles of triangle composed by device center and the contained side of two corners have determined；
E. above-mentioned two fixed position is calculated under the coordinate system that data acquisition device determines by triangle theorem
Coordinate value；
F. the base coordinate system and data acquisition device by the available two fixing points of step a-e in numerical control device determine
Coordinate system under coordinate value, then calculate data acquisition device determine coordinate system and numerical control device basis coordinates system between
Transformation matrix；
G. for manipulation numerical control device in above-mentioned flat in-plane moving, encoder motor drives planar laser rotation, constantly carries out
Scanning, just sends terminal for data acquisition instructions when photosensitive sensor receives optical signal, terminal receives
After data acquisition instructions, the data information for the encoder motor that data acquisition device at this time is sent is recorded, and passes through computer
Terminal calculates coordinate value of the numerical control device end effector under the coordinate system that data acquisition device determines；
H. the transformation matrix obtained using step f acquires numerical control device end effector in numerical control by terminal
Coordinate value under device base coordinate system.
The foundation for the coordinate system that the data acquisition device determines should follow following principle:
Using one of planar laser center as coordinate origin, the line with two planar laser centers is XjAxis,
It is X with the direction mobile from the planar laser center from origin to another planar laser centerjThe positive direction of axis.
The usefulness of the utility model is that the measuring device drives two planar lasers not with two encoder motors
Disconnected scanning, the optical signal of laser is received by photosensitive sensor, when receiving optical signal, photosensitive sensor acquires data
Instruction is sent to terminal, and the information that the data acquisition device of terminal acquisition at this time is sent further calculates
Its specific location is realized real time position measurement when numerical control device moves in fixed pan, is carried out always in measurement process high
The laser scanning of speed, so that the location information real-time measured is preferable, and in use, measurement process is easy to operate, use is high-precision
For the encoder motor of degree as measurement device, the data precision of measurement is higher.
Detailed description of the invention
Attached drawing 1 is the instrumentation plan of the utility model, and attached drawing 2 is the structural schematic diagram of data acquisition device, and attached drawing 3 is
The structural schematic diagram of planar laser, attached drawing 4 are to establish coordinate system to calculate end effector position view.
In figure, 1, data acquisition device, 1.1, device pedestal, 1.2, encoder motor fixed rack, 1.3, planar laser
Device, 1.4, encoder motor, 1.5, data collecting card, 2, photosensitive sensor, 3, numerical control device, 4, terminal.
Specific embodiment
A kind of position measuring system based on Plane Rotation laser is by data acquisition device 1, photosensitive sensor 2, numerical control
What device 3 and terminal 4 formed, the photosensitive sensor 2 is fixed to the end effector of the numerical control device 3
Appropriate location, and connect by data line with terminal 4, the data acquisition device 1 provides electric power by supply lines,
The data acquisition device 1 is connect by data line with terminal 4.
The data acquisition device 1 is by device pedestal 1.1, encoder motor fixed rack 1.2, planar laser
1.3, encoder motor 1.4 and data collecting card 1.5 form, and the lower end of the encoder motor fixed rack 1.2 is fixed
On the device pedestal 1.1, the encoder motor 1.4 is fixed on the encoder motor fixed rack 1.2,
The motor axis connection of the planar laser 1.3 and the encoder motor 1.4, so that the encoder motor 1.4
It is able to drive the planar laser 1.3 to rotate, the encoder motor fixed rack 1.2,1.4 peace of encoder motor
There are two planar lasers 1.3, is symmetrically distributed on the device pedestal 1.1 with certain spacing, the encoder motor
1.4 data line is connected on the data collecting card 1.5, and the encoder motor 1.4 and planar laser 1.3 pass through
Supply lines provides electric power, and the data collecting card 1.5 is fixed to the appropriate location of the device pedestal 1.1, the number
It is connect according to the output signal line of capture card 1.5 with terminal 4.
The planar laser 1.3 is by laser bodies 1.3.1, laser emission port 1.3.2 and mounting hole 1.3.3
Composition, the planar laser 1.3 be it is discoid, the plane laser along its disk axis direction can be emitted.
A kind of location measurement method based on Plane Rotation laser, the specific steps are as follows:
A. data acquisition device 1 is placed on around numerical control device 3 at the rational position for not influencing its work, passes through power supply
Line is powered to planar laser 1.3 and encoder motor 1.4, and whether just to detect planar laser 1.3 and encoder motor 1.4
Often；
B. photosensitive sensor 2 is fixed at the rational position on the end effector of numerical control device 3, and ensures photosensitive biography
Sensor 2 is mounted within the scanning range of planar laser 1.3, and the data line of the photosensitive sensor 2 and computer is whole
Data acquisition device 1, is connect by 4 connection of end by data line with terminal 4；
C. manipulation numerical control device 3 moves to two determining positions in same plane, is measured respectively in 3 base of numerical control device
The coordinate value that the two fix position under coordinate system XOY, encoder motor 1.4 drive planar laser 1.3 to rotate, and it is vertical to carry out
Laser scanning in face sends information to terminal 4 by data line when photosensitive sensor 2 receives laser signal
Acquisition instructions, terminal 4 records the encoder motor 1.4 at two positions that data acquisition device 1 is sent at this time
Data information；
D. the distance between two 1.3 central axises of planar laser have been measured in assembly, at terminal 4
The available corresponding rotation angle of data for managing two encoder motors 1.4, i.e., by the central point of two planar lasers 1.3
It is had determined with two angles of triangle composed by 2 center of photosensitive sensor and the contained side of two corners；
E. the coordinate system that above-mentioned two fixed position is determined in data acquisition device 1 is calculated by triangle theorem
XjOjYjUnder coordinate value；
F. pass through the available two fixing points of step a-e in the base coordinate system XOY and data acquisition device of numerical control device 3
The 1 coordinate system X determinedjOjYjUnder coordinate value, then calculate data acquisition device 1 determine coordinate system XjOjYjIt is filled with numerical control
Set the transformation matrix between 3 basis coordinates system XOY；
G. manipulation numerical control device 3 drives planar laser 1.3 to rotate in above-mentioned flat in-plane moving, encoder motor 1.4,
It is constantly scanned, just sends terminal 4 for data acquisition instructions when photosensitive sensor 2 receives optical signal, calculate
After machine terminal 4 receives data acquisition instructions, the data letter for the encoder motor 1.4 that data acquisition device 1 at this time is sent is recorded
Breath, and the coordinate system X that 3 end effector of numerical control device is determined in data acquisition device 1 is calculated by terminal 4jOjYj
Under coordinate value；
H. the transformation matrix obtained using step f acquires 3 end effector of numerical control device in number by terminal 4
Control the coordinate value under 3 base coordinate system XOY of device.
The foundation for the coordinate system that the data acquisition device determines should follow following principle:
Using one of 1.3 center of planar laser as coordinate origin, the line with two 1.3 centers of planar laser is
XjAxis is X with the direction mobile from 1.3 center of planar laser from origin to another 1.3 center of planar laserjAxis
Positive direction.
In actual measurement, AO has been determined according to step a-djAfter two angles of B and the contained side of two corners, triangle is utilized
Theorem can obtain:
The then coordinate system X that 3 end effector of numerical control device is determined in data acquisition device 1jOjYjUnder abscissa value X1
Are as follows:
θ in formula (2)1、θ2For the rotation angle of two encoder motors 1.4, can be found out by terminal 4, L
For the centre distance between two planar lasers 1.3, the value is during installation it has been determined that i.e. θ1、θ2It is all known quantity with L, institute
X can be found out by formula (2)1Value, Y can be obtained by tangent formula1Value, then 3 end effector of numerical control device is in number
The coordinate system X determined according to acquisition device 1jOjYjUnder coordinate value found out, then between the Two coordinate system obtained by step f
Transformation matrix, coordinate value of 3 end effector of numerical control device at 3 base coordinate system XOY of numerical control device can be found out, i.e., it is complete
At the real-time measurement to numerical control device terminal position.
For the ordinary skill in the art, introduction according to the present utility model is not departing from the utility model
Principle and spirit in the case where, the changes, modifications that are carried out to embodiment, replacement and variant still fall within the utility model
Within protection scope.
Claims (2)
1. a kind of position measuring system based on Plane Rotation laser is by data acquisition device, photosensitive sensor, numerical control device
With terminal composition, the photosensitive sensor is fixed to the appropriate position of the end effector of the numerical control device
It sets, and is connect by data line with terminal, the data acquisition device provides electric power, the number by supply lines
It is connect by data line with terminal according to acquisition device,
The data acquisition device be by device pedestal, encoder motor fixed rack, planar laser, encoder motor and
Data collecting card composition, the lower end of the encoder motor fixed rack is fixed on the device pedestal, described
Encoder motor is fixed on the encoder motor fixed rack, the planar laser and the encoder motor
Motor axis connection so that the encoder motor is able to drive the planar laser rotation, the encoder electricity
Machine is fixed there are two bracket, encoder motor and planar lasers, and the device pedestal is symmetrically distributed in certain spacing
On, the data line of the encoder motor is connected on the data collecting card, and the encoder motor and plane swash
Light device provides electric power by supply lines, and the data collecting card is fixed to the appropriate location of the device pedestal, described
The output signal line of data collecting card is connect with terminal.
2. a kind of position measuring system based on Plane Rotation laser as described in claim 1, it is characterised in that: described is flat
Planar laser is made of laser bodies, laser emission port and mounting hole, the planar laser be it is discoid, can
Emit the plane laser along its disk axis direction, drives the planar laser to revolve by the encoder motor
Turn, the laser scanning in three-dimensional space may be implemented.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821291376.2U CN208653408U (en) | 2018-08-11 | 2018-08-11 | A kind of position measuring system based on Plane Rotation laser |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821291376.2U CN208653408U (en) | 2018-08-11 | 2018-08-11 | A kind of position measuring system based on Plane Rotation laser |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208653408U true CN208653408U (en) | 2019-03-26 |
Family
ID=65789472
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821291376.2U Expired - Fee Related CN208653408U (en) | 2018-08-11 | 2018-08-11 | A kind of position measuring system based on Plane Rotation laser |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208653408U (en) |
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2018
- 2018-08-11 CN CN201821291376.2U patent/CN208653408U/en not_active Expired - Fee Related
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190326 Termination date: 20190811 |