CN209910609U - Angle detection device - Google Patents
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- CN209910609U CN209910609U CN201920585494.2U CN201920585494U CN209910609U CN 209910609 U CN209910609 U CN 209910609U CN 201920585494 U CN201920585494 U CN 201920585494U CN 209910609 U CN209910609 U CN 209910609U
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- 238000001514 detection method Methods 0.000 title claims abstract description 99
- 238000010586 diagram Methods 0.000 description 6
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- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical compound C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model provides an angle detection device, include: the device comprises a first distance detection device, a first reflecting plate, a first connecting piece corresponding to one side edge in a parallelogram system and a third connecting piece corresponding to the other side edge parallel to the side edge in the parallelogram system, wherein one of two adjacent side edges in the parallelogram system can rotate relative to the other side edge; the first distance detection device is connected with the first connecting piece, the first reflecting plate is connected with the third connecting piece, and the first distance detection device is used for detecting the distance between the first distance detection device and the first reflecting plate. Compared with the detection of the rotation angle of the detected device through the light spot formed by the laser emitted by the laser generator, the rotation angle of the detected device can be continuously detected.
Description
Technical Field
The utility model relates to an angle detection technical field especially relates to an angle detection device.
Background
In a device which works by rotating a rotating device, the rotating angle of the rotating device is often used as an important parameter for controlling the operation of the device, so how to detect the rotating angle of the rotating device becomes a hot point of research.
In the prior art, the rotation angle of the rotating equipment is usually detected by an angle detection device, wherein the angle detection device comprises a laser generator, a receiving device and a disc which rotates synchronously with the rotating equipment; the laser generator and the receiving device are positioned on two sides of the disc, a plurality of holes are arranged on the disc at intervals around a rotating shaft of the rotating equipment, the holes are positioned on the same arc with the circle center on the rotating shaft of the rotating equipment, and the shapes of the holes are different. When the laser disc works, the disc rotates a certain angle from the initial position, laser emitted by the laser generator is emitted to the receiving device through the hole, and the receiving device receives light spots with the same shape as the hole; and the central angle between the hole corresponding to the light spot and the initial position is the rotating angle of the rotating device.
However, the holes on the disk are arranged at intervals, and when the turntable rotates to a position between the laser generator and the two holes, the rotation angle of the rotating device is difficult to detect, and the detection is discontinuous.
SUMMERY OF THE UTILITY MODEL
In view of this, the embodiment of the present invention provides an angle detection apparatus to solve the hole interval setting on the disc, when the turntable rotates to the position between the laser generator and two holes, it is difficult to detect the rotation angle of the rotation apparatus, and detect the discontinuous technical problem.
An embodiment of the utility model provides an angle detection device, include: the device comprises a first distance detection device, a first reflecting plate, a first connecting piece corresponding to one side edge in a parallelogram system and a third connecting piece corresponding to the other side edge parallel to the side edge in the parallelogram system, wherein one of two adjacent side edges in the parallelogram system can rotate relative to the other side edge; the first distance detection device is connected with the first connecting piece, the first reflecting plate is connected with the third connecting piece, and the first distance detection device is used for detecting the distance between the first distance detection device and the first reflecting plate.
The angle detection device as described above, preferably, the angle detection device further includes: and the second connecting piece corresponds to the side edge of the parallelogram between the side edge of the parallelogram system corresponding to the first connecting piece and the side edge of the parallelogram system corresponding to the third connecting piece, and the second connecting piece synchronously rotates along with the tested device.
In the angle detection apparatus as described above, preferably, the first reflection plate is connected to the third connection member through a first bracket, and a distance between a side of the parallelogram system corresponding to the first reflection plate and the third connection member is greater than a length of a side of the parallelogram system corresponding to the second connection member.
In the angle detection apparatus as described above, preferably, the first distance detection apparatus is connected to the first connecting member through a second bracket, and a distance between the first distance detection apparatus and a side of the parallelogram system corresponding to the first connecting member is greater than a length of the side of the parallelogram system corresponding to the second connecting member.
The angle detection device as described above, preferably, the angle detection device further includes a second reflection plate, a second distance detection device, and a fourth connection member corresponding to the parallelogram system side parallel to the parallelogram system side corresponding to the second connection member, the second reflection plate is connected to one of the first, second, third, and fourth connection members, and a preset included angle is formed between the second reflection plate and the first reflection plate; the second distance detection device is arranged on a connecting piece corresponding to the parallelogram side parallel to the parallelogram system side corresponding to the connecting piece where the second reflection plate is located, and is used for detecting the distance between the second distance detection device and the second reflection plate.
In the angle detection device, preferably, the second distance detection device is connected to the first connector, and the second reflection plate is connected to the third connector.
The angle detection device as described above, preferably, the angle detection device further includes: and the second connecting piece is arranged between the side edge of the parallelogram system corresponding to the first connecting piece and the side edge of the parallelogram system corresponding to the third connecting piece, and the first connecting piece or the third connecting piece synchronously rotates along with the tested device.
The angle detection device as described above, preferably, the angle detection device further includes a second reflection plate, a second distance detection device, and a fourth connection member corresponding to the parallelogram system side parallel to the parallelogram system side corresponding to the second connection member; the second reflecting plate is connected with one of the first, second, third and fourth connecting pieces, and a preset included angle is formed between the second reflecting plate and the first reflecting plate; the second distance detection device is arranged on a connecting piece corresponding to the parallelogram side parallel to the parallelogram system side corresponding to the connecting piece where the second reflection plate is located, and is used for detecting the distance between the second distance detection device and the second reflection plate.
In the angle detection device, preferably, the second distance detection device is connected to the first connector, and the second reflection plate is connected to the third connector.
As described above, the angle detection device preferably includes a laser sensor, an ultrasonic sensor, an infrared sensor, or a microwave distance measurement sensor.
The embodiment of the utility model provides an angle detection device, first connecting piece corresponds with a side in the parallelogram system, the third is connected the connecting piece and is corresponded with the parallel opposite side of this side of parallelogram system, first distance detection device is connected with first connecting piece, first reflecting plate is connected with the third connecting piece, first reflecting plate is used for reflecting the signal of first distance detection device, in order to detect the distance between first connecting piece and the third connecting piece, according to the distance between first connecting piece and the third connecting piece, utilize the anti-trigonometric function can calculate the rotation contained angle between the adjacent both sides limit in the parallelogram system, rethread rotation contained angle and the initial contained angle difference before the rotation, obtain the turned angle of arbitrary side, and then realize the detection to surveyed device turned angle; compared with the detection of the rotation angle of the detected device through the light spot formed by the laser emitted by the laser generator, the rotation angle of the detected device can be continuously detected.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an angle detection apparatus according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an angle detection apparatus according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram three of the angle detection apparatus provided in the embodiment of the present invention;
fig. 4 is a schematic view of the angle detecting device provided by the embodiment of the present invention when detecting the turntable.
Description of reference numerals:
1: a turntable;
2: a housing;
10: a first connecting member;
20: a second connecting member;
30: a third connecting member;
40: a fourth connecting member;
50: a first distance detection device;
60: a first reflection plate;
70: a second distance detection means;
80: a second reflection plate;
101: a second bracket;
301: a first support.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of an angle detection apparatus according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of an angle detection apparatus according to an embodiment of the present invention; fig. 3 is a schematic structural diagram three of the angle detection apparatus provided in the embodiment of the present invention; fig. 4 is a schematic view of the angle detecting device provided by the embodiment of the present invention when detecting the turntable.
Please refer to fig. 1-4. The present embodiment provides an angle detection apparatus, including: a first distance detecting device 50, a first reflecting plate 60, a first connecting member 10 corresponding to one side of the parallelogram system, and a third connecting member 30 corresponding to the other side of the parallelogram system parallel to the one side, one of the two adjacent sides of the parallelogram system being capable of rotating relative to the other; the first distance detecting device 50 is connected to the first connector 10, the first reflective plate 60 is connected to the third connector 30, and the first distance detecting device 50 is configured to detect a distance between the first distance detecting device 50 and the first reflective plate 60.
The parallelogram system in the embodiment is a parallelogram system formed by equivalent straight rods of all connecting pieces forming the system; two adjacent connecting pieces of the system are hinged, when one connecting piece rotates, the connecting piece opposite to the connecting piece synchronously rotates, and the connecting piece adjacent to the connecting piece translates. Therefore, the angle between any adjacent sides of the parallelogram system can be obtained according to the distance between the sides of the parallelogram system corresponding to the two translational connecting pieces, the distance between the sides of the parallelogram system corresponding to the two rotational connecting pieces and the length of the side of the parallelogram system corresponding to each connecting piece.
For convenience of description, each connecting piece is taken as a straight rod as an example for description, and the shape of each connecting piece is not limited in this embodiment; in addition, the connection part in the angle detection device may be a virtual connection part which is omitted or replaced by other devices without affecting the motion principle.
Continuing to refer to fig. 1, illustratively, the first connector 10, the second connector 20, the third connector 30, and the fourth connector 40 are all straight rod-shaped, and these four connectors are four sides in the parallelogram system; the first connecting piece 10 and the third connecting piece 30 are arranged in parallel, the second connecting piece 20 and the fourth connecting piece 40 are arranged in parallel, and adjacent connecting pieces are hinged; the first distance detection device 50 is connected with the first connecting member 10, the first reflection plate 60 is connected with the third connecting member 30, and the first reflection plate 60 is used for reflecting a signal sent by the first distance detection device 50 so as to determine the distance between the first connecting member 10 and the third connecting member 30 and determine the angle between two adjacent connecting rods. The angle between the second connector 20 and the first connector 10 can be calculated by using an inverse trigonometric function according to the distance between the first connector 10 and the third connector 30 and the length of the second connector 20 or the fourth connector 40.
In this embodiment, the second connecting member 20 is described as rotating synchronously with the device to be tested, but of course, other connecting members may also rotate synchronously with the device to be tested in this embodiment. When the device is used, the second connecting piece 20 rotates synchronously with the detected device, so that the first connecting piece 10 or the third connecting piece 30 is driven to translate, the distance between the first connecting piece 10 and the third connecting piece 30 is detected through the first distance detection device 50, the angle between the second connecting piece 20 and the first connecting piece 10 is calculated by using an inverse trigonometric function according to the distance between the first connecting piece 10 and the third connecting piece 30 and the length of the second connecting piece 20, and the angle between each two adjacent connecting pieces is further obtained. The rotation angle of the second connecting member 20 can be determined according to the angle difference before and after rotation. It should be noted that, by properly positioning the first distance detecting means 50 and the first reflection plate 60, the first reflection plate 60 can always reflect the signal from the first distance detecting means 50 to the first distance detecting means 50 during the rotation of the second link 20.
In this embodiment, the first connecting member 10, the second connecting member 20, the third connecting member 30, and the fourth connecting member 40 are all rigid members, so that when the device under test drives the second connecting member 20 to rotate, the connecting members are stressed and then bent, which results in inaccurate detection results.
The first distance detecting device 50 in this embodiment may be in various forms, as long as it can send a signal to the first reflection plate 60, and further calculate the distance between the first connecting member 10 and the third connecting member 30 according to the signal reflected by the first reflection plate 60. The exemplary first distance detecting device 50 may be a laser sensor, the laser sensor includes a laser generator and a laser receiver disposed on the first connecting member 10, the laser generator emits laser to the first reflective plate 60 during operation, the laser is reflected on the first reflective plate 60, the reflected laser is received by the laser receiver, a time interval from the laser generator emitting the laser to the laser receiver receiving the laser is obtained, and a half of a product of the time interval and a speed of light is a distance between the first distance detecting device 50 and the first reflective plate 60; if the first distance detecting device 50 is disposed on the first connecting member 10 and the first reflection plate 60 is disposed on the third connecting member 30, the distance is the distance between the first connecting member 10 and the third connecting member 30; if the first distance detection device 50 has a first interval with the first connection member 10, the first interval needs to be subtracted from the distance, that is, the distance between the first connection member 10 and the third connection member 30; if there is a second interval between the first reflective plate 60 and the third connecting member 30, the second interval needs to be subtracted from the distance, that is, the distance between the first connecting member 10 and the third connecting member 30.
Alternatively, the first distance detection device 50 includes an ultrasonic sensor having an ultrasonic generator and an ultrasonic receiver; during detection, the ultrasonic generator emits ultrasonic waves, and then the ultrasonic waves are reflected on the first reflecting plate 60, the reflected ultrasonic waves are received by the ultrasonic receiver, the time from the emission of the ultrasonic waves to the reception of the ultrasonic waves by the ultrasonic receiver is obtained, and half of the product of the time interval and the propagation speed of the ultrasonic waves is the distance between the first distance detection device 50 and the first reflecting plate 60; if the first distance detecting device 50 is disposed on the first connecting member 10 and the first reflection plate 60 is disposed on the third connecting member 30, the distance is the distance between the first connecting member 10 and the third connecting member 30; if the first distance detection device 50 has a first interval with the first connection member 10, the first interval needs to be subtracted from the distance, that is, the distance between the first connection member 10 and the third connection member 30; if there is a second interval between the first reflective plate 60 and the third connecting member 30, the second interval needs to be subtracted from the distance, that is, the distance between the first connecting member 10 and the third connecting member 30. Of course, the first distance detecting device 50 in this embodiment is an infrared sensor, which includes an infrared transmitting tube and an infrared receiving tube, the infrared transmitting tube emits infrared rays, and the infrared rays are reflected on the first reflecting plate 60 and then received by the infrared receiving tube; the time interval between the infrared ray emitted from the infrared ray emitting tube and the infrared ray received by the infrared ray receiving tube is obtained, and half of the product of the time interval and the propagation speed of the infrared ray is the distance between the first reflection plate 60 and the first distance detection device 50.
Continuing to refer to fig. 1, the first connecting element 10, the second connecting element 20, the third connecting element 30 and the fourth connecting element 40 form a parallelogram ABCD, the lengths of the first connecting element 10 and the second connecting element 20 are known, at this time, the distance between the first connecting element 10 and the third connecting element 30 detected by the first distance detecting device 50 is the length of DE, in the triangle ADE, the length of AD is the length of the first connecting element 10, at this time, according to ═ BAD ═ arcsinBE/AB, where sin ═ BAD ═ BE/AB, the lengths of BE and AB are substituted into the above formula, and the rotation included angle between the first connecting element 10 and the second connecting element 20 can BE calculated, and the difference between the included angle and the initial included angle between the first connecting element 10 and the second connecting element 20 before rotation is the rotation angle of the second connecting element 20.
The use process of the angle detection device provided by the embodiment is as follows: before the second connecting part 20 rotates along with the device to be measured, the distance between the first connecting part 10 and the third connecting part 30 is detected by the first distance detecting device 50, and the initial included angle between the first connecting part 10 and the second connecting part 20 at the moment is calculated by an inverse trigonometric function. After the second connecting piece 20 rotates along with the device to be tested, the distance between the first connecting piece 10 and the third connecting piece 30 is detected again through the first distance detecting device 50, the rotating included angle between the first connecting piece 10 and the second connecting piece 20 at the moment is calculated through an inverse trigonometric function, and the difference value between the rotating included angle and the initial included angle is the rotating angle of the second connecting piece 20.
In the detection device provided by this embodiment, the first connection element 10 corresponds to one side of the parallelogram system, the third connection element 30 corresponds to the other side of the parallelogram system parallel to the side, the first distance detection device 50 is connected to the first connection element 10, the first reflection plate 60 is connected to the third connection element 30, the first reflection plate 60 is used to reflect the signal of the first distance detection device 50 to detect the distance between the first connection element 10 and the third connection element 30, the rotation included angle between two adjacent sides in the parallelogram system can be calculated by using an inverse trigonometric function according to the distance between the first connection element 10 and the third connection element 30, and then the rotation angle of any side can be obtained by the difference between the rotation included angle and the initial included angle before rotation, thereby realizing the detection of the rotation angle of the device to be detected; compared with the detection of the rotation angle of the detected device through the light spot formed by the laser emitted by the laser generator, the rotation angle of the detected device can be continuously detected.
With continued reference to fig. 2 and 3, in one realisable form, a second link 20 corresponding to a side of the parallelogram between a side of the parallelogram system corresponding to the first link 10 and a side of the parallelogram system corresponding to the third link 30, the second link 20 being articulated with the first link 10 and the third link 30; the third link 30 remains stationary with respect to the predetermined reference frame and the axis of rotation of the device under test is arranged co-linearly with the axis of the hinge axis between the second link 20 and the third link 30. When the second connecting piece 20 rotates, the first connecting piece 10 translates relative to the third connecting piece 30, and then a rotation included angle between the second connecting piece 20 and the third connecting piece 30 is calculated according to the distance between the first connecting piece 10 and the third connecting piece 30 and the length of the second connecting piece 20, and then a rotation angle of the second connecting piece 20 is obtained according to a difference value between the rotation included angle and an initial included angle between the second connecting piece 20 and the third connecting piece 30 before rotation.
The predetermined reference frame may be various, for example, the predetermined reference frame may be the earth or other device moving relative to the earth.
Specifically, the first reflection plate 60 is connected to the third connection member 30 through the first bracket 301, and a distance between the first reflection plate 60 and a side of the parallelogram system corresponding to the third connection member 30 is greater than a length of a side of the parallelogram system corresponding to the second connection member 20. The distance between the first reflection plate 60 and the third connection member 30 is greater than the length of the second connection member 20, and on the premise that the third connection member 30 is still, no matter how the second connection member 20 rotates, the first connection member 10, the second connection member 20, the third connection member 30 and the fourth connection member 40 can be ensured to be positioned on one side of the first reflection plate 60, so that when the second connection member 20 rotates, collision between other connection rods and the first reflection plate 60 is avoided, and meanwhile, the first connection member 10, the second connection member 20, the third connection member 30 and the fourth connection member 40 are prevented from rotating on two sides of the first reflection plate 60, and the detection result is inaccurate.
In this embodiment, the angle detecting device further includes a second reflective plate 80, a second distance detecting device 70, and a fourth connecting member 40 corresponding to a parallelogram system side parallel to the parallelogram system side corresponding to the second connecting member 20, the second reflective plate 80 is connected to one of the first, second, third, and fourth connecting members, and a preset included angle is formed between the second reflective plate 80 and the first reflective plate 60; the second distance detecting means 70 is provided on a connecting member corresponding to a parallelogram side parallel to a parallelogram system side corresponding to the connecting member where the second reflection plate 80 is located, for detecting a distance between the second distance detecting means 70 and the second reflection plate 80.
Since the same sine function value corresponds to two calculated angles, only one of the two calculated angles is the rotation angle of the second connecting member 20. At this time, the rotation angle may be determined from two calculation angles according to the distance between the second distance detecting device 70 and the second reflection plate 80. The accuracy of the angle detection device is improved.
It should be noted that, the preset included angle is not limited in this embodiment, as long as the first reflective plate 60 is not parallel to the second reflective plate 80. The second distance detection device 70 has substantially the same structure as the first distance detection device 50.
For convenience of description, in the present embodiment, the second reflection plate 80 is connected to the third connection member 30, and the second distance detection device 70 is connected to the first connection member 10. Of course, the second distance detecting device 70 may be disposed on other connecting members in this embodiment.
Specifically, the distance between the second connecting member 20 and the third connecting member 30 can be obtained by the first distance detecting device 50, and two calculated angles between the second connecting member 20 and the third connecting member 30 can be calculated according to the distance and the length of the second connecting member 20, wherein only one calculated angle is equal to the rotation included angle of the second connecting member 20. At this time, the distance between the second distance detecting device 70 and the second reflection plate 80 can be obtained by the second distance detecting device 70, at this time, the sine value of the difference between the calculated included angle between the second connecting member 20 and the third connecting member 30 and the preset included angle is the ratio of the distance between the second distance detecting device 70 and the second reflection plate 80 to the length of the second connecting member 20, and then two calculated included angles can be calculated, only one of the two calculated included angles calculated by the second distance detecting device 70 is consistent with the calculated included angle calculated by the first distance detecting device 50, and the calculated included angle is the rotation included angle of the second connecting member 20.
With continued reference to FIG. 3, the first distance detection device 50 is shown disposed at point E on the first connector 101Above, the second distance detecting means 70 is provided at the first distancePoint E on the connecting part 102The above step (1); wherein F1The point is the position where the first distance detection means 50 emits a signal, F2The position at which the signal is emitted for the second distance detection means 70; the second reflection plate 80 and the first reflection plate 60 are both disposed on the third connection member 30, and a preset included angle between the second reflection plate 80 and the first reflection plate 60 is γ.
Illustratively, the angle between the second connecting member 20 and the third connecting member 30 is θ, and the distance L between the first reflective plate 60 and the third connecting member 3011.5m, y pi/6, and the distance L between the second reflection plate 80 and the point I21.6m for second connecting element 20AB, 1m for first connecting element 10AD, 1.2m for first connecting element E1F1＝E2F20.05 m. The distance detected by the first distance detecting means 50 is h1The method comprises the following steps: h is1＝(L1-E1F1) + AB sin θ ═ 1.45+ sin θ (1); the distance detected by the second distance detecting means 70 is h2At right triangle E2Sin E in IJ2IJ＝E2J/E2I＝E2J/AB＝[(h2+E2F2)-L2]b,/AB, and θ ═ E2IJ + γ, therefore: h is2＝(L2-E2F2)+E2Isin(θ-γ)＝1.55+sin[θ-(π/6)](2)。
In FIG. 3, the detection results
h21.65, θ ═ pi/3 or θ ═ 2 pi/3 can be calculated according to formula (1); from equation (2), θ ═ pi/3 or θ ═ pi can be calculated. Therefore, θ ═ pi/3 is the angle of rotation of the second link 20.
With continued reference to fig. 1-3, in other implementations, the first linkage 10 remains stationary relative to a predetermined reference frame, and the axis of rotation of the device under test is co-linear with the axis of the hinge axis between the second linkage 20 and the first linkage 10. At this time, the first reflection plate 60 and the third connection member 30 are translated with the rotation of the second connection member 20.
The predetermined reference frame may be various, for example, the predetermined reference frame may be the earth or other device moving relative to the earth.
Specifically, the first distance detection device 50 is connected to the first connecting member 10 through the second bracket 101, and a distance between the first distance detection device 50 and a side of the parallelogram system corresponding to the first connecting member 10 is greater than a length of a side of the parallelogram system corresponding to the second connecting member 20. When each connecting member is a straight rod, the distance between the first distance detecting device 50 and the first connecting member 10 is greater than the length of the second connecting member 20. On the premise that the first connecting piece 10 is still, no matter how the second connecting piece 20 rotates, the first connecting piece 10, the second connecting piece 20, the third connecting piece 30 and the fourth connecting piece 40 can be ensured to be positioned on one side of the first distance detection device 50, so that collision between other connecting rods and the first distance detection device 50 when the second connecting piece 20 rotates is avoided; in addition, the first connector 10, the second connector 20, the third connector 30 and the fourth connector 40 can be prevented from being positioned at two sides of the first distance detection device 50, so that the detection is not accurate.
Further, the angle detecting means further includes a second reflection plate 80, a second distance detecting means 70, and a fourth link 40 corresponding to a parallelogram system side parallel to the parallelogram system side corresponding to the second link 20; the second reflecting plate 80 is connected with one of the first, second, third and fourth connecting pieces, and a preset included angle is formed between the second reflecting plate 80 and the first reflecting plate 60; the second distance detecting means 70 is provided on a connecting member corresponding to a parallelogram side parallel to a parallelogram system side corresponding to the connecting member where the second reflection plate 80 is located, for detecting a distance between the second distance detecting means 70 and the second reflection plate 80.
Since the same sine function value corresponds to two calculated angles, only one of the two calculated angles is the rotation angle of the second connecting member 20. At this time, the rotation angle may be determined from two calculation angles according to the distance between the second distance detecting device 70 and the second reflection plate 80.
Specifically, the second distance detection device 70 is provided on the second carriage 101.
The calculation process of this implementation is substantially the same as that of the above implementation, and is not described herein again.
In the above implementation, only the second connection element 20 is taken as an example for description, in this embodiment, the first connection element 10, the third connection element 30, and the fourth connection element 40 can all rotate, and the rotation process and the calculation process are similar.
For example: the first connecting member 10 or the third connecting member 30 rotates synchronously with the device to be detected, and at this time, the first connecting member 10 and the third connecting member 30 rotate synchronously, so that the first distance detecting device 50 can always receive the signal reflected from the first reflection plate 60, and further detect the distance between the first reflection plate 60 and the first distance detecting device 50. And then calculating the included angle between two adjacent sides in the parallelogram system sides corresponding to each connecting piece.
Further, the angle detecting means further includes a second reflection plate 80, a second distance detecting means 70, and a fourth link 40 corresponding to a parallelogram system side parallel to the parallelogram system side corresponding to the second link 20; the second reflecting plate 80 is connected with one of the first, second, third and fourth connecting pieces, and a preset included angle is formed between the second reflecting plate 80 and the first reflecting plate 60; the second distance detecting means 70 is provided on a connecting member corresponding to a parallelogram side parallel to a parallelogram system side corresponding to the connecting member where the second reflection plate 80 is located, for detecting a distance between the second distance detecting means 70 and the second reflection plate 80.
Since the same sine function value corresponds to two calculated angles, only one of the two calculated angles is the rotation angle of the first connecting member 10 and the third connecting member 30. At this time, the rotation angle may be determined from two calculation angles according to the distance between the second distance detecting device 70 and the second reflection plate 80.
Specifically, the second distance detecting device 70 is connected to the first connector 10, and the second reflection plate 80 is connected to the third connector 30.
In this embodiment, the first connecting member 10, the second connecting member 20, the third connecting member 30, and the fourth connecting member 40 may be real rigid rods, and certainly, in practical applications, the connecting rods may be appropriately replaced by other devices without changing the movement principle, so as to simplify the structure of the angle detecting apparatus; illustratively, referring to fig. 4, during the detection of the turntable 1, one end of the third connecting member 30 is hinged to the turntable 1, the first reflection plate 60 is connected to the third connecting member 30, the other end of the third connecting member 30 is hinged to one end of the fourth connecting member 40, the other end of the fourth connecting member 40 is hinged to the housing 2, the first distance detection device 50 is fixed to the housing 2, part of the turntable 1 replaces the second connecting member 20, the housing 2 replaces the first connecting member 10, and the first connecting member 10 is kept stationary with a preset reference system (the housing 2); the third connecting piece 30 and the fourth connecting piece 40 are driven to move while the turntable 1 rotates; at this time, the included angle between the third connecting member 30 and the fourth connecting member 40 can be calculated, and the variation of the included angle is the rotation angle of the turntable 1. It should be noted that the third connecting member 30 and the fourth connecting member 40 may be disposed in different planes to prevent the third connecting member 30 and the fourth connecting member 40 from colliding with each other.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
It should be noted that, in the description of the present invention, the terms "first" and "second" are only used for convenience in describing different components, and are not to be construed as indicating or implying a sequential relationship, relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
In the present invention, unless explicitly stated otherwise, the terms "mounting," "connecting," "fixing," and the like are to be understood in a broad sense, and for example, may be fixedly connected, detachably connected, or integrally formed, mechanically connected, electrically connected, or communicable with each other; they may be directly connected or indirectly connected through an intermediate medium, or they may be connected internally or in any other manner known to those skilled in the art, unless otherwise specifically limited. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. An angle detecting device, characterized by comprising: the device comprises a first distance detection device, a first reflecting plate, a first connecting piece corresponding to one side edge in a parallelogram system and a third connecting piece corresponding to the other side edge parallel to the side edge in the parallelogram system, wherein one of two adjacent side edges in the parallelogram system can rotate relative to the other side edge; the first distance detection device is connected with the first connecting piece, the first reflecting plate is connected with the third connecting piece, and the first distance detection device is used for detecting the distance between the first distance detection device and the first reflecting plate.
2. The angle detecting device according to claim 1, characterized by further comprising: and the second connecting piece corresponds to the side edge of the parallelogram between the side edge of the parallelogram system corresponding to the first connecting piece and the side edge of the parallelogram system corresponding to the third connecting piece, and the second connecting piece synchronously rotates along with the tested device.
3. The angle detecting apparatus according to claim 2, wherein the first reflecting plate is connected to the third connecting member via a first bracket, and a distance between the first reflecting plate and a side of the parallelogram system corresponding to the third connecting member is longer than a length of a side of the parallelogram system corresponding to the second connecting member.
4. The angle detecting device according to claim 2, wherein the first distance detecting device is connected to the first connecting member via a second bracket, and a distance between the first distance detecting device and a side of the parallelogram system corresponding to the first connecting member is longer than a length of the side of the parallelogram system corresponding to the second connecting member.
5. The angle detecting apparatus according to claim 2, further comprising a second reflecting plate, a second distance detecting device, and a fourth connecting member corresponding to the parallelogram system side parallel to the parallelogram system side corresponding to the second connecting member, wherein the second reflecting plate is connected to one of the first, second, third, and fourth connecting members, and a predetermined included angle is formed between the second reflecting plate and the first reflecting plate; the second distance detection device is arranged on a connecting piece corresponding to the parallelogram side parallel to the parallelogram system side corresponding to the connecting piece where the second reflection plate is located, and is used for detecting the distance between the second distance detection device and the second reflection plate.
6. The angle detecting device according to claim 5, wherein the second distance detecting device is connected to the first connecting member, and the second reflecting plate is connected to the third connecting member.
7. The angle detecting device according to claim 1, characterized by further comprising: and the second connecting piece is arranged between the side edge of the parallelogram system corresponding to the first connecting piece and the side edge of the parallelogram system corresponding to the third connecting piece, and the first connecting piece or the third connecting piece synchronously rotates along with the tested device.
8. The angle detecting device according to claim 7, characterized in that the angle detecting device further comprises a second reflection plate, a second distance detecting device, and a fourth connecting member corresponding to the parallelogram system side parallel to the parallelogram system side corresponding to the second connecting member; the second reflecting plate is connected with one of the first, second, third and fourth connecting pieces, and a preset included angle is formed between the second reflecting plate and the first reflecting plate; the second distance detection device is arranged on a connecting piece corresponding to the parallelogram side parallel to the parallelogram system side corresponding to the connecting piece where the second reflection plate is located, and is used for detecting the distance between the second distance detection device and the second reflection plate.
9. The angle detecting device according to claim 8, wherein the second distance detecting device is connected to the first connecting member, and the second reflecting plate is connected to the third connecting member.
10. The angle detecting device according to claim 1, wherein the first distance detecting means includes a laser sensor or an ultrasonic sensor or an infrared sensor or a microwave distance measuring sensor.
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| CN201920585494.2U CN209910609U (en) | 2019-04-26 | 2019-04-26 | Angle detection device |
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| CN201920585494.2U CN209910609U (en) | 2019-04-26 | 2019-04-26 | Angle detection device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109974630A (en) * | 2019-04-26 | 2019-07-05 | 北京南狮科技有限公司 | Angle detection device |
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| CN109974630A (en) * | 2019-04-26 | 2019-07-05 | 北京南狮科技有限公司 | Angle detection device |
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