CN208653419U - A kind of pair of magnetic suspension spherical joint carries out the detection device of optoelectronic angle numerical value - Google Patents
A kind of pair of magnetic suspension spherical joint carries out the detection device of optoelectronic angle numerical value Download PDFInfo
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- CN208653419U CN208653419U CN201821467301.5U CN201821467301U CN208653419U CN 208653419 U CN208653419 U CN 208653419U CN 201821467301 U CN201821467301 U CN 201821467301U CN 208653419 U CN208653419 U CN 208653419U
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- annular
- ring support
- longitudinal direction
- annular groove
- spherical
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Abstract
A kind of pair of magnetic suspension spherical joint carries out the detection device of optoelectronic angle numerical value, belong to contactless pose detection technique field, device is by pedestal, rack and spherical spinner are constituted, spherical spinner is equipped with broadwise annular groove and through to annular groove, the annular light source being made of LED lamp bead is equipped in groove, frame inner wall is equipped with silicon photocell array, the short circuit current of silicon photocell generation, which is irradiated to, by annular light source and irradiates formed facula area meets certain functional relation, and thus establish the functional relation between short circuit current and rotor deflection angle, by using contactless detection method, detection accuracy is high, detection algorithm is accurate, it may be not only suitable for spherical joint rotor, could be applicable to other in a certain range free movement rigid body rotation angle detection, place mat has been played for research spherical spinner detection.
Description
Technical field
The utility model belongs to contactless pose detection technique field, is related to a kind of angular values detection device, tool
Saying for body is the detection device for being related to a kind of pair of magnetic suspension spherical joint and carrying out optoelectronic angle numerical value.
Background technique
With in the high-technology fields such as industrial control field and robot to can be positioned, be held in arbitrary direction in space
The element demand of row servo function is growing day by day, and spherical multi-freedom motor is got the attention.Magnetic suspension spherical actively closes
The pose detection of rotor is saved as indispensable feedback element in magnetic suspension spherical active joint control process, detection accuracy
Directly influence the control precision of system.Therefore, the pose detection of magnetic suspension spherical active joint rotor is also magnetic suspension spherical
The emphasis of active joint research and key content.
There are many kinds for method based on the detection of photoelectric detecting technology angle, in the prior art, in addition to the most common optics
Outside dividing head method and polygon method, there are also photoelectric encoder method, autocollimation method, Moire fringe technique, parallel interferogram technique, circle light
Grid method, laser interferance method, optical internal-reflection method and loop laser method etc..But due to magnetic suspension spherical active joint rotor
It is spherical structure and its working condition is suspended state.The above method is caused usually to be not appropriate for for carrying out spherical master
The rotation attitude angle measurement of movable joint rotor.
Utility model content
The purpose of this utility model be in view of the above technology present in deficiency, propose a kind of pair of magnetic suspension spherical joint into
The detection device of row optoelectronic angle numerical value, this detection device may be not only suitable for spherical joint rotor, could be applicable to other
The rotation angle detection of free movement rigid body in a certain range proposes a kind of new side in spherical spinner pose detection field
Method detects the theoretical basis provided for research spherical spinner.
The technical solution of the utility model is: a kind of pair of magnetic suspension spherical joint carries out the detection dress of optoelectronic angle numerical value
It sets, including pedestal；It is characterized by: the pedestal is equipped with by first longitudinal direction ring support, second longitudinal direction ring support and water
The rack that flat ring support is constituted, the first longitudinal direction ring support and second longitudinal direction ring support are mutually perpendicular to staggeredly fix and set
It sets on pedestal, the horizontal annular bracket is fixedly connected on the one of first longitudinal direction ring support and second longitudinal direction ring support
End, the rack is interior to be equipped with spherical spinner, and the top of the spherical spinner is equipped with rotor of output shaft axle, the latitude of the spherical spinner
360 ° of broadwise annular grooves are offered on middle line, 240 ° are offered on the longitude middle line of the spherical spinner through to annular groove,
The groove bottom of the broadwise annular groove is equipped with the broadwise annular light source being made of LED lamp bead, described through into annular groove
Groove bottom be equipped with from LED lamp bead constitute through to annular light source, the broadwise annular groove and through being all provided with into annular groove
There are lens, the lens and spherical spinner surface form the spherical to smoothly transit, the interior table of the first longitudinal direction ring support
The first annular silicon photocell array being made of several silicon photocells is laid on face, the second longitudinal direction ring support
The annular silicon photocell array of second be made of several silicon photocells is laid on inner surface, the horizontal annular bracket
The third annular silicon photocell array of several silicon photocells composition, the spherical spinner surface and the are laid on inner surface
There is gap between third annular silicon photocell array in one annular silicon photocell array, the second annular silicon photocell array.
The first longitudinal direction ring support, second longitudinal direction ring support and horizontal annular bracket are that central angle is 180 °
Ring support, each ring support it is of same size.
The broadwise annular groove, through to annular groove groove width and ring support it is of same size.
The spherical spinner surface and first annular silicon photocell array, the second annular silicon photocell array, third annular
There is gap between silicon photocell array, clearance distance is 0.5~1mm.
The lens with broadwise annular groove, through being that engaging connects to annular groove.
The LED lamp bead is evenly distributed on broadwise annular groove and through in the groove bottom to annular groove, each LED lamp bead
Mutually in 15 ° of settings.
The silicon photocell is evenly distributed on first longitudinal direction ring support, second longitudinal direction ring support and horizontal annular bracket
Inner surface, each silicon photocell be mutually in 15 ° setting.
The utility model has the following beneficial effects: a kind of pair of magnetic suspension spherical joint provided by the utility model carries out Photoelectric angular
The detection device of degree value, device are made of pedestal, rack and spherical spinner, and spherical spinner is equipped with broadwise annular groove and warp
To annular groove, the annular light source being made of LED lamp bead is equipped in groove, frame inner wall is equipped with silicon photocell array, passes through
Light source, which is irradiated to the short circuit current of silicon photocell generation and irradiates formed facula area, meets certain functional relation, and use is non-
The detection method of contact avoids frictional resistance, and detection accuracy is high, and for approximate error less than 0.19%, detection algorithm is accurate,
May be not only suitable for spherical joint rotor, could be applicable to other in a certain range free movement rigid body rotation angle inspection
It surveys, is created condition for research spherical spinner detection.
Detailed description of the invention
Fig. 1 is utility model device overall structure diagram.
Fig. 2 is rack construction schematic diagram in utility model device.
Fig. 3 is utility model device side structure schematic view.
Fig. 4 is utility model device overlooking structure diagram.
In figure: spherical spinner 1, rack 2, first longitudinal direction ring support 2-1, second longitudinal direction ring support 2-2, horizontal annular
Bracket 2-3, through to annular light source 3, broadwise annular light source 4, the annular silicon photocell battle array of first annular silicon photocell array 5, second
Column 6, third annular silicon photocell array 7, pedestal 8, broadwise annular groove 9, through to annular groove 10, rotor of output shaft axle 11, thoroughly
Mirror 12.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing:
As shown in Figs 1-4, a kind of pair of magnetic suspension spherical joint carries out the detection device of optoelectronic angle numerical value, including pedestal 8；
Pedestal 8 is equipped with the machine being made of first longitudinal direction ring support 2-1, second longitudinal direction ring support 2-2 and horizontal annular bracket 2-3
Frame 2, first longitudinal direction ring support 2-1 and second longitudinal direction ring support 2-2 are mutually perpendicular to staggeredly be fixed on pedestal 8, water
Flat ring support 2-3 is fixedly connected on one end of first longitudinal direction ring support 2-1 and second longitudinal direction ring support 2-2, in rack 2
Equipped with spherical spinner 1, the top of spherical spinner 1 is equipped with rotor of output shaft axle 11, offers 360 ° on the latitude middle line of spherical spinner 1
Broadwise annular groove 9 offers 240 ° on the longitude middle line of spherical spinner 1 through to annular groove 10, the slot of broadwise annular groove 9
Bottom surface is equipped with the broadwise annular light source 4 being made of LED lamp bead, through being equipped with to 10 inside groove bottom surface of annular groove by LED lamp bead
What is constituted is equipped with to annular light source 3, broadwise annular groove 6 and into annular groove 10 lens 12, lens 12 and spherical
1 surface of rotor forms the spherical to smoothly transit, is laid on the inner surface of first longitudinal direction ring support 2-1 by several silicon
The first annular silicon photocell array 5 that photocell is constituted is laid with by several on the inner surface of second longitudinal direction ring support 2-2
The second annular silicon photocell array 6 that a silicon photocell is constituted is laid with several on the inner surface of horizontal annular bracket 2-3
The third annular silicon photocell array 7 that silicon photocell is constituted, 1 surface of spherical spinner and first annular silicon photocell array 5, second
There is gap between annular silicon photocell array 6, third annular silicon photocell array 7.
As shown in Figs 1-4, a kind of pair of magnetic suspension spherical joint carries out the detection device of optoelectronic angle numerical value, first longitudinal direction ring
Shape bracket 2-1, second longitudinal direction ring support 2-2 and horizontal annular bracket 2-3 are the ring support that central angle is 180 °, each
Ring support it is of same size；Broadwise annular groove 9, through to annular groove 10 groove width and ring support it is of same size；Ball
1 surface of shape rotor and the annular silicon photocell array 6 of first annular silicon photocell array 5, second, third annular silicon photocell array
There is gap between 7, clearance distance is 0.5~1mm；Lens 12 and broadwise annular groove 9, through being card to annular groove 10
Conjunction connects；LED lamp bead is evenly distributed on broadwise annular groove 9 and through in the groove bottom to annular groove 10, each LED lamp bead is mutual
It is arranged in 15 °；Silicon photocell is evenly distributed on first longitudinal direction ring support 2-1, second longitudinal direction ring support 2-2 and horizontal annular
The inner surface of bracket 2-3, each silicon photocell are mutually in 15 ° of settings.
The utility model structure novel is irradiated to the short circuit current of silicon photocell generation by light source and irradiates formed light
Spot area meets certain functional relation, using contactless detection, avoids frictional resistance, and detection accuracy is high, approximate
For error less than 0.19%, detection algorithm is accurate, may be not only suitable for spherical joint rotor, could be applicable to other in a certain range
The rotation angle of interior free movement rigid body detects, and a kind of new method is proposed in spherical spinner pose detection field, for research
Spherical spinner detection creates condition.
Claims (7)
1. a kind of pair of magnetic suspension spherical joint carries out the detection device of optoelectronic angle numerical value, including pedestal (8)；It is characterized by:
The pedestal (8) is equipped with by first longitudinal direction ring support (2-1), second longitudinal direction ring support (2-2) and horizontal annular bracket
The rack (2) that (2-3) is constituted, the first longitudinal direction ring support (2-1) and second longitudinal direction ring support (2-2) are mutually perpendicular to hand over
Mistake is fixed on pedestal (8), the horizontal annular bracket (2-3) be fixedly connected on first longitudinal direction ring support (2-1) and
One end of second longitudinal direction ring support (2-2), the rack (2) is interior to be equipped with spherical spinner (1), the top of the spherical spinner (1)
Portion is equipped with rotor of output shaft axle (11), offers 360 ° of broadwise annular grooves (9), institute on the latitude middle line of the spherical spinner (1)
It states and offers 240 ° on the longitude middle line of spherical spinner (1) through to annular groove (10), the slot bottom of the broadwise annular groove (9)
Face is equipped with the broadwise annular light source (4) that is made of LED lamp bead, it is described through to annular groove (10) inside groove bottom surface be equipped with by
LED lamp bead constitute through being equipped in broadwise annular groove (9) the He Jingxiang annular groove (10) to annular light source (3)
Mirror (12), the lens (12) and spherical spinner (1) surface form the spherical to smoothly transit, the first longitudinal direction ring support
It is laid with the first annular silicon photocell array (5) being made of several silicon photocells on the inner surface of (2-1), described second
The annular silicon photocell array of second be made of several silicon photocells is laid on the inner surface of longitudinal ring support (2-2)
(6), the third annular silicon photoelectricity of several silicon photocells composition is laid on the inner surface of the horizontal annular bracket (2-3)
Pond array (7), spherical spinner (1) surface and first annular silicon photocell array (5), the second annular silicon photocell array
(6), there is gap between third annular silicon photocell array (7).
2. a kind of pair of magnetic suspension spherical joint according to claim 1 carries out the detection device of optoelectronic angle numerical value, special
Sign is: the first longitudinal direction ring support (2-1), second longitudinal direction ring support (2-2) and horizontal annular bracket (2-3) are
Central angle is 180 ° of ring support, each ring support it is of same size.
3. a kind of pair of magnetic suspension spherical joint according to claim 1 carries out the detection device of optoelectronic angle numerical value, special
Sign is: the broadwise annular groove (9), through to annular groove (10) groove width and ring support it is of same size.
4. a kind of pair of magnetic suspension spherical joint according to claim 1 carries out the detection device of optoelectronic angle numerical value, special
Sign is: spherical spinner (1) surface and first annular silicon photocell array (5), the second annular silicon photocell array (6),
There is gap between third annular silicon photocell array (7), clearance distance is 0.5~1mm.
5. a kind of pair of magnetic suspension spherical joint according to claim 1 carries out the detection device of optoelectronic angle numerical value, special
Sign is: the lens (12) with broadwise annular groove (9), through being that engaging connects to annular groove (10).
6. a kind of pair of magnetic suspension spherical joint according to claim 1 carries out the detection device of optoelectronic angle numerical value, special
Sign is: the LED lamp bead is evenly distributed in the groove bottom of broadwise annular groove (9) He Jingxiang annular groove (10), each
LED lamp bead is mutually in 15 ° of settings.
7. a kind of pair of magnetic suspension spherical joint according to claim 1 carries out the detection device of optoelectronic angle numerical value, special
Sign is: the silicon photocell is evenly distributed on first longitudinal direction ring support (2-1), second longitudinal direction ring support (2-2) and water
The inner surface of flat ring support (2-3), each silicon photocell are mutually in 15 ° of settings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821467301.5U CN208653419U (en) | 2018-09-09 | 2018-09-09 | A kind of pair of magnetic suspension spherical joint carries out the detection device of optoelectronic angle numerical value |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821467301.5U CN208653419U (en) | 2018-09-09 | 2018-09-09 | A kind of pair of magnetic suspension spherical joint carries out the detection device of optoelectronic angle numerical value |
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| Publication Number | Publication Date |
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| CN208653419U true CN208653419U (en) | 2019-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821467301.5U Withdrawn - After Issue CN208653419U (en) | 2018-09-09 | 2018-09-09 | A kind of pair of magnetic suspension spherical joint carries out the detection device of optoelectronic angle numerical value |
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| CN (1) | CN208653419U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109029298A (en) * | 2018-09-09 | 2018-12-18 | 扬州大学 | A kind of pair of magnetic suspension spherical joint carries out the detection device and its detection method of optoelectronic angle numerical value |
| CN110487217A (en) * | 2019-08-09 | 2019-11-22 | 杭州电子科技大学 | A kind of spherical hinge three dimensional angle detection method |
| CN112428697A (en) * | 2020-11-13 | 2021-03-02 | 武汉先同科技有限公司 | Portable color printer |
-
2018
- 2018-09-09 CN CN201821467301.5U patent/CN208653419U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109029298A (en) * | 2018-09-09 | 2018-12-18 | 扬州大学 | A kind of pair of magnetic suspension spherical joint carries out the detection device and its detection method of optoelectronic angle numerical value |
| CN110487217A (en) * | 2019-08-09 | 2019-11-22 | 杭州电子科技大学 | A kind of spherical hinge three dimensional angle detection method |
| CN112428697A (en) * | 2020-11-13 | 2021-03-02 | 武汉先同科技有限公司 | Portable color printer |
| CN112428697B (en) * | 2020-11-13 | 2021-06-08 | 武汉先同科技有限公司 | Portable color printer |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190326 Effective date of abandoning: 20230602 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20190326 Effective date of abandoning: 20230602 |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |