Rotary measurement rapid positioning system and method suitable for multi-tonnage electromagnet

Abstract

The invention provides a rotary measurement rapid positioning system and method suitable for a multi-tonnage electromagnet, and relates to the field of particle accelerators. The rotary measurement rapid positioning system suitable for the multi-tonnage electromagnet comprises a photogrammetry device, two adjusting devices and a rotating device, wherein the photogrammetry device is arranged on the periphery of the electromagnet. The spatial position of the magnetic coil adjusting platform is adjusted through the three-dimensional adjusting platform, the magnetic coil adjusting platform is controlled through the adjusting control module to adjust the spatial position of the rotary measuring magnetic coil, and due to the fact that an adjusting object is the rotary measuring magnetic coil with the light weight instead of a magnet, direct adjustment of an electromagnet with the large mass is avoided; therefore, the reliability and the efficiency of rotary measurement positioning are improved. In addition, the rotary measurement rapid positioning system can monitor and adjust the deviation, exceeding the range, of the rotary measurement magnetic coil and the electromagnet in the magnetic field measurement process in real time, and the rotary measurement precision is further ensured.

Description

Technical Field

[0001] The present invention relates to the field of particle accelerators, and particularly to a rapid rotation measurement and positioning system and method suitable for electromagnets of multiple tonnages. Background Art

[0002] During the processing and production of electromagnets for particle accelerators, due to the existence of various errors, there may be a deviation between the actually generated magnetic field and the designed magnetic field. By measuring the magnetic field of the electromagnet, the difference between the actual magnetic field value and the designed magnetic field value can be calculated. Generally, the measurement method of electromagnet magnetic field parameters is realized by using a rotating harmonic coil. During the rotation measurement process, it is crucial to ensure the precise relative position relationship between the rotation axis of the rotating magnetic coil and the geometric central axis of the electromagnet.

[0003] In the prior art, the rotation measurement and positioning of electromagnets are to determine the position deviation between the rotation axis of the rotating magnetic coil and the electromagnet by means of measurement devices such as laser trackers, and then the electromagnet is adjusted manually to eliminate these deviations to ensure the alignment of the electromagnet and the rotating magnetic coil. Usually, the above operations need to be repeated multiple times for the magnetic measurement and positioning of a single electromagnet, which is time-consuming and laborious. Although some researchers have proposed using a multi-camera photogrammetry system to measure the position relationship between the electromagnet and the rotation axis of the rotating magnetic coil, and adjusting the electromagnet through a six-degree-of-freedom platform to achieve alignment with the rotating magnetic coil, with the continuous improvement of the magnetic stiffness of the new generation of particle accelerator devices, the weight of the electromagnet is also increasing continuously. Purchasing a six-degree-of-freedom platform with a large tonnage is not only costly, but also the adjustment accuracy will decrease with the increase of the platform weight, and it cannot meet the positioning accuracy requirements for the rotation measurement of large-tonnage electromagnets. The weights of electromagnets used in particle accelerators with different energies and magnetic stiffnesses vary, ranging from small electromagnets of dozens of kilograms to large electromagnets weighing dozens of tons. Since electromagnets of different weights require rotating magnetic coils of different specifications and sizes, a six-degree-of-freedom platform with a small tonnage cannot adjust a large-tonnage electromagnet, and using a six-degree-of-freedom platform with a large tonnage to adjust a small magnet is very inconvenient. Summary of the Invention

[0004] The present invention provides a rapid rotation measurement and positioning system suitable for electromagnets of multiple tonnages to solve the problems of inconvenient operation, low positioning accuracy and poor reliability existing in the prior art.

[0005] The present invention provides a rapid rotation measurement and positioning system suitable for electromagnets of multiple tonnages, including: A photogrammetry device, which is arranged on the outer periphery of the electromagnet; Two adjusting devices, which are respectively arranged on both sides of the electromagnet, and the adjusting device includes: A three-dimensional adjusting platform; A magnetic coil adjustment platform is disposed on the upper part of the three-dimensional adjustment platform, and the three-dimensional adjustment platform is used to adjust the spatial position of the magnetic coil adjustment platform; An adjustment control module is electrically connected to the magnetic coil adjustment platform, and the adjustment control module is used to control the magnetic coil adjustment platform to adjust the spatial position of the rotation measurement magnetic coil; A rotating device is connected to the magnetic coil adjustment platform and the rotation measurement magnetic coil, and the rotating device is used to drive the rotation measurement magnetic coil to rotate axially.

[0006] According to a rotation measurement rapid positioning system applicable to multi-tonnage electromagnets provided by the present invention, the magnetic coil adjustment platform includes: A Stewart platform, the base of the Stewart platform is connected to the three-dimensional adjustment platform, and the moving platform of the Stewart platform is connected to the rotating device.

[0007] According to a rotation measurement rapid positioning system applicable to multi-tonnage electromagnets provided by the present invention, the three-dimensional adjustment platform is a manual three-dimensional adjustment table, and the base of the Stewart platform is connected to the lifting platform of the manual three-dimensional adjustment table.

[0008] According to a rotation measurement rapid positioning system applicable to multi-tonnage electromagnets provided by the present invention, the rotating device includes: A first rotating component is disposed on the upper part of one of the magnetic coil adjustment platforms, the first rotating component is connected to one end of the rotation measurement magnetic coil, and the first rotating component is used to drive the rotation measurement magnetic coil to rotate axially; A second rotating component is disposed on the upper part of the other magnetic coil adjustment platform, and the second rotating component is connected to the other end of the rotation measurement magnetic coil; A rotation measurement control module is electrically connected to the first rotating component and the first rotating component.

[0009] According to a rotation measurement rapid positioning system applicable to multi-tonnage electromagnets provided by the present invention, the first rotating component includes: A first base is connected to the moving platform of one of the Stewart platforms. A first rotating connection member is rotatably disposed on the side of the first base close to the electromagnet. One end of the first rotating connection member is connected to one end of the rotation measurement magnetic coil, and a first linear driving member is disposed on the side of the first base away from the electromagnet; A driving motor is provided on the first linear driving member. The rotating shaft of the driving motor is connected to the other end of the first rotating connecting member. The driving motor is electrically connected to the rotation measurement control module, and the driving motor is used to drive the rotation measurement magnetic coil to rotate axially.

[0010] According to a rotation measurement and rapid positioning system for multi-tonnage electromagnets provided by the present invention, the second rotating member includes: A second base, which is connected to the moving platform of another Stewart platform. A second rotating connecting member is rotatably provided on one side of the second base close to the electromagnet. One end of the second rotating connecting member is connected to the other end of the rotation measurement magnetic coil. A second linear driving member is provided on the side of the second base away from the electromagnet; A rotating shaft, which is rotatably provided on the second linear driving member. The rotating shaft is connected to the other end of the second rotating connecting member. An encoder is provided on the rotating shaft, and the encoder is electrically connected to the rotation measurement control module.

[0011] According to a rotation measurement and rapid positioning system for multi-tonnage electromagnets provided by the present invention, the photogrammetry device includes: A bracket, which is provided on the outer periphery of the electromagnet; A camera, which is provided on the bracket; A plurality of micro glass bead reflection marking points, which are provided on the rotation measurement magnetic coil; A photogrammetry spherical marking, which is provided on the upper surface of the electromagnet through a collimation reference base; A photogrammetry control module, which is electrically connected to the camera.

[0012] According to a rotation measurement and rapid positioning system for multi-tonnage electromagnets provided by the present invention, the photogrammetry device includes a plurality of the cameras. The bracket includes a plurality of telescopic support rods, and the plurality of telescopic support rods are arranged at intervals on the outer periphery of the electromagnet. A pan-tilt head is provided at the top of the telescopic support rod, and the cameras are correspondingly provided on the pan-tilt head.

[0013] The present invention also provides a rotation measurement and rapid positioning method for multi-tonnage electromagnets. The positioning method is based on the rotation measurement and rapid positioning system for multi-tonnage electromagnets described in any one of the above, and includes: Step S100, according to the specifications of the electromagnet, preliminarily adjust the position of the rotating device through the three-dimensional adjustment platform, and arrange the electromagnet and the mounting bracket between the two adjustment devices; Step S200, adjust the position and angle of the camera so that the intersection field of view of the camera covers the micro glass bead reflection marker and the photogrammetric spherical marker; Step S300, install the rotating magnetic coil in the electromagnet, set two of the micro glass bead reflection markers at each end of the rotating magnetic coil, and install the four photogrammetric spherical markers on the upper surface of the electromagnet through the collimation reference base; Step S400, control the first rotating component to drive the rotating magnetic coil to rotate axially, and obtain the image information of the micro glass bead reflection marker and the photogrammetric spherical marker through the camera; fit a circle through the micro glass bead reflection markers and use the center of the circle to construct the axis of the rotating magnetic coil; based on the image information of the photogrammetric spherical marker and the calibration data of the collimation reference base, use the least squares method to fit the component coordinate system of the electromagnet, and calculate the deviation information between the axis of the rotating magnetic coil and the component coordinate system with the axis of the component coordinate system as the reference; Step S500, send the deviation information to the adjustment control module, and the adjustment control module controls the magnetic coil adjustment platform to adjust the spatial position of the rotating magnetic coil according to the deviation information so that the deviation information is within a predetermined range; Step S600, sequentially repeat Step S400 and Step S500, and determine whether it is necessary to iterate Step S400 and Step S500 again according to the maximum tolerance value, so that the deviation between the longitudinal axis of the component coordinate system of the electromagnet and the axis of the rotating magnetic coil is within the allowable range of the magnetic field measurement tolerance; Step S700, control the drive motor to drive the rotating magnetic coil to rotate axially through the rotating measurement control module, and execute Step S600 again when it is determined that the deviation information is not within the predetermined range.

[0014] According to a rotating measurement rapid positioning method for multi-tonnage electromagnets provided by the present invention, the predetermined range is that the pitch angle is less than 0.005 degrees and the yaw angle is less than 0.005 degrees.

[0015] The rotating measurement rapid positioning system for multi-tonnage electromagnets provided by the present invention adjusts the spatial position of the magnetic coil adjustment platform through a three-dimensional adjustment platform, and controls the magnetic coil adjustment platform to adjust the spatial position of the rotating magnetic coil through an adjustment control module. Since the adjustment object is the relatively light rotating magnetic coil rather than the electromagnet itself, direct adjustment of the large-mass electromagnet is avoided, thereby improving the reliability and efficiency of rotating measurement positioning. In addition, the rotating measurement rapid positioning system of the present invention can monitor and adjust the out-of-range deviation between the rotating magnetic coil and the electromagnet in real time during the magnetic field measurement process, further ensuring the rotating measurement accuracy. Description of the Drawings

[0016] To more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1 It is a schematic three-dimensional structure diagram of the rapid positioning system for rotary measurement of multi-tonnage electromagnets provided by the present invention.

[0018] Figure 2 It is a schematic three-dimensional structure diagram of the adjusting device and the rotating device provided by the present invention.

[0019] Figure 3 It is Figure 2 The partial enlarged structure diagram at position A in

[0020] Figure 4 It is Figure 2 The partial enlarged structure diagram at position B in

[0021] Reference numerals: 100, electromagnet; 200, photogrammetry device; 210, telescopic support rod; 220, camera; 230, micro glass bead reflection marking point; 240, photogrammetry spherical mark; 300, adjusting device; 310, three-dimensional adjusting platform; 320, magnetic coil adjusting platform; 400, rotating device; 410, first rotating component; 411, first base; 412, first rotating connecting piece; 413, first linear driving piece; 414, driving motor; 420, second rotating component; 421, second base; 422, second rotating connecting piece; 423, second linear driving piece; 424, rotating shaft; 425, encoder; 500, rotary measurement magnetic coil. Detailed implementation manners

[0022] To make the purpose, technical solutions and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention in conjunction with the drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0023] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0024] In the description of the embodiments of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0025] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over", and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath", and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0026] In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0027] Such as Figure 1As shown in the figure, the rapid rotation measurement and positioning system applicable to multi-tonnage electromagnets includes a photogrammetry device 200, two adjustment devices 300, and a rotation device 400. The photogrammetry device 200 is arranged on the outer periphery of the electromagnet 100. The two adjustment devices 300 are respectively arranged on both sides of the electromagnet 100. The adjustment device 300 includes a three-dimensional adjustment platform 310, a magnetic coil adjustment platform 320, and an adjustment control module. The magnetic coil adjustment platform 320 is arranged on the upper part of the three-dimensional adjustment platform 310. The three-dimensional adjustment platform 310 is used to adjust the spatial position of the magnetic coil adjustment platform 320. The adjustment control module is electrically connected to the magnetic coil adjustment platform 320 and is used to control the magnetic coil adjustment platform 320 to adjust the spatial position of the rotation measurement magnetic coil 500. The rotation device 400 is connected to the magnetic coil adjustment platform 320 and the rotation measurement magnetic coil 500, and the rotation device 400 is used to drive the rotation measurement magnetic coil 500 to perform axial rotation.

[0028] For the rapid rotation measurement and positioning system applicable to multi-tonnage electromagnets provided by the present invention, the spatial position of the magnetic coil adjustment platform 320 is adjusted by the three-dimensional adjustment platform 310, and the spatial position of the rotation measurement magnetic coil 500 is adjusted by controlling the magnetic coil adjustment platform 320 through the adjustment control module. Since the object to be adjusted is the relatively light rotation measurement magnetic coil 500 instead of the electromagnet itself, direct adjustment of the large-mass electromagnet is avoided, thereby improving the reliability and efficiency of rotation measurement and positioning. In addition, the rapid rotation measurement and positioning system of the present invention can monitor and adjust the deviation beyond the range between the rotation measurement magnetic coil 500 and the electromagnet 100 during the magnetic field measurement process in real time, further ensuring the rotation measurement accuracy.

[0029] In an embodiment of the present invention, as Figure 1 shown, the electromagnet 100 is arranged on the mounting bracket. The mounting bracket provides support for the electromagnet 100, improving the stability of the electromagnet 100. The mounting bracket is located between the two three-dimensional adjustment platforms 310. During the positioning process, there is no need to change the positions of the relatively heavy electromagnet 100 and the mounting bracket. Only the spatial position of the rotation measurement magnetic coil 500 needs to be adjusted by controlling the magnetic coil adjustment platform 320 through the adjustment control module.

[0030] In an embodiment of the present invention, as Figure 2As shown, the magnetic coil adjustment platform 320 includes Stewart platforms. There are two Stewart platforms, which are respectively arranged on both sides of the electromagnet 100. This symmetric distribution method can ensure the stability of the rotating magnetic coil 500 during the adjustment process and can adapt to electromagnets 100 of different specifications. The base of the Stewart platform is connected to the three-dimensional adjustment platform 310, and the three-dimensional adjustment platform 310 provides the ability to make preliminary spatial position adjustments, ensuring that the Stewart platform can adjust its position within a large range. The moving platform of the Stewart platform is connected to the rotating device 400, and the moving platform of the Stewart platform provides stable support and precise six-degree-of-freedom adjustment ability for the rotating device 400. The Stewart platform is a parallel mechanism based on six degrees of freedom (6-DOF), and precise control of the moving platform is achieved through six linear actuators (such as electric cylinders or hydraulic cylinders). This design can achieve a positioning accuracy of the micron level, thus significantly improving the overall accuracy of the rotating and measuring rapid positioning system.

[0031] In an embodiment of the present invention, as Figure 2 shown, the three-dimensional adjustment platform 310 is a manual three-dimensional adjustment table. Since the manual three-dimensional adjustment table is a prior art, the specific structure of the manual three-dimensional adjustment table will not be described in detail here. Of course, the specific type of the three-dimensional adjustment platform 310 is not limited thereto, and it can also be an electric three-dimensional adjustment table or other types of three-dimensional adjustment tables. The base of the Stewart platform is connected to the lifting platform of the manual three-dimensional adjustment table. In this embodiment, the load of the Stewart platform is 100 Kg, and the adjustment accuracy is 0.01 mm. The manual three-dimensional adjustment table can make preliminary adjustments to the position of the Stewart platform in three-dimensional space. The operator can manually adjust the X, Y, and Z axis positions of the three-dimensional adjustment table to roughly move the Stewart platform to a predetermined position. This preliminary positioning provides a basis for subsequent precise positioning. After the preliminary positioning, the position of the rotating magnetic coil 500 can be finely adjusted through the Stewart platform. The rotating and measuring rapid positioning system provided by the present invention can be applied to the rotation measurement of electromagnets 100 of various different tonnages, greatly reducing the purchase cost of the magnetic measurement equipment.

[0032] In an embodiment of the present invention, as Figure 2As shown, the rotating device 400 includes a first rotating member 410, a second rotating member 420, and a rotation measurement control module (not shown). The first rotating member 410 is disposed on the upper part of a magnetic coil adjustment platform 320. The first rotating member 410 is connected to one end of the rotation measurement magnetic coil 500, and the first rotating member 410 is used to drive the rotation measurement magnetic coil 500 to rotate axially. The second rotating member 420 is disposed on the upper part of another magnetic coil adjustment platform 320. The second rotating member 420 is connected to the other end of the rotation measurement magnetic coil 500. The rotation measurement control module is electrically connected to the first rotating member 410 and the first rotating member 410. The first rotating member 410 is the power output unit of the rotating device 400, responsible for driving the rotation measurement magnetic coil 500 to rotate axially. The second rotating member 420 is a driven unit, used to rotate together with the rotation measurement magnetic coil 500, improving the stability of the rotation measurement rapid positioning system. Through the coordinated action of the first rotating member 410 and the second rotating member 420, the rotation measurement magnetic coil 500 can maintain a high degree of stability during rotation, avoiding problems of imbalance or vibration caused by single-point driving.

[0033] In an embodiment of the present invention, as Figure 2 and Figure 4 shown, the first rotating member 410 includes a first base 411 and a driving motor 414. The first base 411 is used to provide an installation basis for the driving motor 414 and the first rotating connecting member 412. The first base 411 is bolted to the moving platform of the Stewart platform on the left side of the mounting bracket. A first rotating connecting member 412 is rotatably disposed on one side of the first base 411 close to the electromagnet 100. One end of the first rotating connecting member 412 is connected to one end of the rotation measurement magnetic coil 500. The first rotating connecting member 412 is used to connect the rotation measurement magnetic coil 500 and the driving motor 414. The setting of the first rotating connecting member 412 ensures the efficient transmission of power and the stable rotation of the rotation measurement magnetic coil 500.

[0034] On the side of the first base 411 away from the electromagnet 100, a first linear driving member 413 is provided. In this embodiment, the first linear driving member 413 is a manual one-dimensional adjustment table. Of course, the specific type of the first linear driving member 413 is not limited thereto, and it can also be an electric one-dimensional adjustment table or other types of one-dimensional adjustment tables. The first linear driving member 413 is arranged along the length direction of the rotation magnetic measurement coil 500. The driving motor 414 is arranged on the first linear driving member 413, and the rotating shaft of the driving motor 414 is coaxially arranged with the first rotating connecting member 412 to ensure the accuracy and efficiency of power transmission. Through the coordinated work of the driving motor 414 and the first rotating connecting member 412, the first rotating connecting member 412 can efficiently transmit power to the rotation magnetic measurement coil 500 to realize the axial rotation of the rotation magnetic measurement coil 500. The first linear driving member 413 is used to drive the driving motor 414 to move along the length direction of the rotation magnetic measurement coil 500, so as to change the position of the driving motor 414 and facilitate the connection between the rotating shaft of the driving motor 414 and the first rotating connecting member 412. The rotating shaft of the driving motor 414 is connected to the other end of the first rotating connecting member 412. Preferably, the rotating shaft of the driving motor 414 is connected to the other end of the first rotating connecting member 412 through a coupling. The driving motor 414 is electrically connected to the rotation measurement control module, and the driving motor 414 is used to drive the rotation magnetic measurement coil 500 to perform axial rotation.

[0035] In one embodiment of the present invention, as Figure 2 and Figure 3 shown, the second rotating member 420 includes a second base 421 and a rotating shaft 424. The second base 421 provides an installation basis for the second linear driving member 423 and the rotating shaft 424. The second base 421 is bolted to the moving platform of the Stewart platform on the right side of the mounting bracket. On the side of the second base 421 close to the electromagnet 100, a second rotating connecting member 422 is rotatably arranged. The second rotating connecting member 422 is rotationally matched with the second base 421. The second rotating connecting member 422 is used to connect the rotation magnetic measurement coil 500 and the rotating shaft 424. One end of the second rotating connecting member 422 is connected to the other end of the rotation magnetic measurement coil 500.

[0036] On the side of the second base 421 away from the electromagnet 100, a second linear driving member 423 is provided. In this embodiment, the second linear driving member 423 is a manual one-dimensional adjustment stage. The second linear driving member 423 is arranged along the length direction of the rotation measurement magnetic coil 500. The second linear driving member 423 is used to drive the rotating shaft 424 to move along the length direction of the rotation measurement magnetic coil 500, so as to change the position of the rotating shaft 424, facilitating the connection between the rotating shaft 424 and the second rotating connecting member 422. The rotating shaft 424 is rotatably arranged on the second linear driving member 423. The rotating shaft 424 is coaxially arranged with the second rotating connecting member 422. The rotating shaft 424 is connected to the other end of the second rotating connecting member 422. Preferably, the rotating shaft 424 is connected to the other end of the second rotating connecting member 422 through a coupling. An encoder 425 is arranged on the rotating shaft 424. The encoder 425 is electrically connected to the rotation measurement control module. The encoder 425 is used to detect the rotation angle and position of the rotation measurement magnetic coil 500 and feed this information back to the rotation measurement control module. The rotation measurement control module makes real-time adjustments according to this feedback information to ensure the rotation accuracy of the magnetic coil.

[0037] In an embodiment of the present invention, as Figure 1 shown, the photogrammetry device 200 includes a bracket, a camera 220, a plurality of micro glass bead reflection marking points 230, a photogrammetry spherical marking 240 and a photogrammetry control module. The bracket is arranged on the outer periphery of the electromagnet 100, and the camera 220 is arranged on the bracket. The micro glass bead reflection marking points 230 are arranged on the rotation measurement magnetic coil 500. There are four micro glass bead reflection marking points 230. Among them, two micro glass bead reflection marking points 230 are respectively arranged at both ends of the rotation measurement magnetic coil 500.

[0038] The photogrammetry spherical marking 240 is arranged on the upper surface of the electromagnet 100 through a collimation reference seat. There are four photogrammetry spherical markings 240. Among them, two photogrammetry spherical markings 240 are arranged on the left side of the electromagnet 100, and two photogrammetry spherical markings 240 are arranged on the right side of the electromagnet 100. The photogrammetry control module is electrically connected to the camera 220. The photogrammetry control module is used to control the camera 220 and receive the image information obtained by the camera 220.

[0039] In an embodiment of the present invention, as Figure 1As shown, the photogrammetry device 200 includes four cameras 220. Of course, the number of cameras 220 is not limited to this, and is specifically determined according to actual needs. The bracket includes a plurality of telescopic support rods 210, and the number of telescopic support rods 210 is the same as the number of cameras 220. The four telescopic support rods 210 are arranged at intervals on the outer periphery of the electromagnet 100. The setting of the telescopic support rods 210 allows for flexible adjustment of the height of the cameras 220 to adapt to electromagnets 100 of different sizes and different measurement requirements. A pan-tilt head is provided at the top of the telescopic support rod 210, and the cameras 220 are correspondingly arranged on the pan-tilt head. The setting of the pan-tilt head can accurately adjust the angle of the cameras 220 to ensure that the field of view of the cameras 220 can cover all the marking points that need to be measured. Preferably, the pan-tilt head is electrically connected to the photogrammetry control module so that the photogrammetry control module can control and automatically adjust the pan-tilt head, improving the operation efficiency of the system.

[0040] The present invention also provides a rapid rotation measurement and positioning method applicable to electromagnets 100 of multiple tonnages. The positioning method is based on the rapid rotation measurement and positioning system for electromagnets of multiple tonnages described in any one of the above embodiments. The rapid rotation measurement and positioning method includes: Step S100, according to the specifications of the electromagnet 100, preliminarily adjust the position of the rotating device 400 through the three-dimensional adjustment platform 310, and arrange the electromagnet 100 and the mounting bracket between the two adjustment devices 300.

[0041] Preliminarily adjust the position of the rotating device 400 through the three-dimensional adjustment platform 310 so that the axial positions and heights of the first rotating connector 412 and the second rotating connector 422 are all at appropriate heights.

[0042] Step S200, adjust the position and angle of the cameras 220 so that the intersection field of view of the cameras 220 covers the micro glass bead reflection marking points 230 and the photogrammetry spherical markings 240.

[0043] The cameras 220 work in cooperation with the micro glass bead reflection marking points 230 and the photogrammetry spherical markings 240, and can quickly and non-contactedly measure the positional relationship between the rotation measurement magnetic coil 500 and the electromagnet 100, and automatically calculate the axis deviation between the rotation measurement magnetic coil 500 and the electromagnet 100, improving the efficiency of magnetic measurement and positioning of the electromagnet 100.

[0044] Step S300, install the rotation measurement magnetic coil 500 inside the electromagnet 100, set two micro glass bead reflection marking points 230 at each end of the rotation measurement magnetic coil 500, and install the four photogrammetry spherical markings 240 on the upper surface of the electromagnet 100 through the collimation reference seat.

[0045] Step S400: Control the first rotating component 410 to drive the rotating magnetic coil 500 to rotate axially, and obtain the image information of the micro glass bead reflection marker point 230 and the photogrammetric spherical marker 240 through the camera 220; fit a circle through the micro glass bead reflection marker point 230 and construct the axis of the rotating magnetic coil 500 using the center of the circle; based on the image information of the photogrammetric spherical marker 240 and the calibration data of the collimation reference seat, use the least squares method to fit the component coordinate system of the electromagnet 100, and calculate the deviation information between the axis of the rotating magnetic coil 500 and the component coordinate system with the axis of the component coordinate system as the reference. Step S500: Send the deviation information to the adjustment control module, and the adjustment control module controls the magnetic coil adjustment platform 320 to adjust the spatial position of the rotating magnetic coil 500 according to the deviation information so that the deviation information is within a predetermined range.

[0046] Step S600: Repeat Step S400 and Step S500 in sequence, and determine whether it is necessary to iterate Step S400 and Step S500 again according to the maximum tolerance value, so that the deviation amount between the longitudinal axis of the component coordinate system of the electromagnet and the axis of the rotating magnetic coil is within the allowable range of the magnetic field measurement tolerance.

[0047] By synchronously feeding back the calculated position deviation to the Stewart platform, and then the Stewart platforms on both sides automatically adjust the position of the rotating magnetic coil 500 according to the fed-back position deviation. Through multiple iterations, the pose between the rotating magnetic coil 500 and the electromagnet 100 is quickly adjusted to within the allowable tolerance range, which further improves the positioning and adjustment efficiency of the electromagnet 100 on the basis of liberating human labor.

[0048] Step S700: Control the drive motor 414 through the rotation measurement control module to drive the rotating magnetic coil 500 to rotate axially, and execute Step S600 again when it is determined that the deviation information is not within the predetermined range.

[0049] In an embodiment of the present invention, the predetermined range is that the pitch angle is less than 0.005 degrees and the yaw angle is less than 0.005 degrees.

[0050] The rapid rotation measurement and positioning method applicable to electromagnets 100 of multiple tonnages provided by the present invention effectively avoids adjusting the electromagnet 100 with a large mass during the rotation measurement and positioning process of the electromagnet 100. By adjusting the rotation measurement magnetic coil 500 with a small mass, the positioning between the rotation measurement magnetic coil 500 and the electromagnet 100 can be achieved, and the rapid positioning of electromagnets 100 of various tonnages can be realized. While improving the efficiency of magnetic measurement and positioning, the cost is also reduced. The rapid rotation measurement and positioning method applicable to electromagnets 100 of multiple tonnages provided by the present invention can monitor and dynamically adjust the position deviation between the rotation measurement magnetic coil 500 and the electromagnet 100 in real time, so that the three processes of measurement, adjustment, and magnetic measurement form a closed-loop control, thereby ensuring the accuracy and reliability of magnetic field measurement.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A rapid positioning system for rotary measurement applicable to electromagnets of multiple tonnages, characterized in that, Comprising: A photogrammetry device, which is arranged on the outer periphery of the electromagnet; Two adjusting devices, which are respectively arranged on both sides of the electromagnet. The adjusting device includes: A three-dimensional adjusting platform; A magnetic coil adjusting platform, which is arranged on the upper part of the three-dimensional adjusting platform. The three-dimensional adjusting platform is used to adjust the spatial position of the magnetic coil adjusting platform; An adjusting control module, which is electrically connected to the magnetic coil adjusting platform. The adjusting control module is used to control the magnetic coil adjusting platform to adjust the spatial position of the rotating magnetic coil; A rotating device, which is connected to the magnetic coil adjusting platform and the rotating magnetic coil. The rotating device is used to drive the rotating magnetic coil to rotate axially.

2. The rapid positioning system for rotary measurement applicable to multi-tonnage electromagnets according to claim 1, characterized in that The magnetic coil adjusting platform includes: A Stewart platform, the base of the Stewart platform is connected to the three-dimensional adjusting platform, and the moving platform of the Stewart platform is connected to the rotating device.

3. The rapid positioning system for rotary measurement applicable to electromagnets of multiple tonnages according to claim 2, wherein The three-dimensional adjusting platform is a manual three-dimensional adjusting table, and the base of the Stewart platform is connected to the lifting platform of the manual three-dimensional adjusting table.

4. The rapid positioning system for rotation measurement applicable to electromagnets of multiple tonnages according to claim 2, characterized in that, The rotating device includes: A first rotating component, which is arranged on the upper part of one of the magnetic coil adjusting platforms. The first rotating component is connected to one end of the rotating magnetic coil. The first rotating component is used to drive the rotating magnetic coil to rotate axially; A second rotating component, which is arranged on the upper part of the other magnetic coil adjusting platform. The second rotating component is connected to the other end of the rotating magnetic coil; A rotating measurement control module, which is electrically connected to the first rotating component and the first rotating component.

5. The rapid positioning system for rotation measurement applicable to multi-tonnage electromagnets according to claim 4, characterized in that, The first rotating component includes: A first base, the first base is connected to the moving platform of one of the Stewart platforms. A first rotating connecting piece is rotatably arranged on the side of the first base close to the electromagnet. One end of the first rotating connecting piece is connected to one end of the rotating magnetic coil. A first linear driving piece is arranged on the side of the first base far from the electromagnet; A driving motor, which is arranged on the first linear driving piece. The rotating shaft of the driving motor is connected to the other end of the first rotating connecting piece. The driving motor is electrically connected to the rotating measurement control module. The driving motor is used to drive the rotating magnetic coil to rotate axially.

6. The rapid positioning system for rotary measurement applicable to multi-tonnage electromagnets according to claim 5, characterized in that, The second rotating component includes: A second base, the second base is connected to the moving platform of the other Stewart platform. A second rotating connecting piece is rotatably arranged on the side of the second base close to the electromagnet. One end of the second rotating connecting piece is connected to the other end of the rotating magnetic coil. A second linear driving piece is arranged on the side of the second base far from the electromagnet; A rotating shaft, which is rotatably arranged on the second linear driving piece. The rotating shaft is connected to the other end of the second rotating connecting piece. An encoder is arranged on the rotating shaft. The encoder is electrically connected to the rotating measurement control module.

7. The rapid positioning system for rotation measurement applicable to multi-tonnage electromagnets according to any one of claims 1 to 6, characterized in that, The photogrammetry device includes: a bracket disposed on the outer periphery of the electromagnet; a camera disposed on the bracket; a plurality of micro glass bead reflection fiducial points disposed on the rotary magnetic coil; a photogrammetry spherical fiducial disposed on the upper surface of the electromagnet through a collimation reference base; a photogrammetry control module electrically connected to the camera.

8. The rapid positioning system for rotation measurement applicable to electromagnets of multiple tonnages according to claim 7, characterized in that, The photogrammetry device includes a plurality of the cameras. The bracket includes a plurality of telescopic support rods spacedly disposed on the outer periphery of the electromagnet. A pan-tilt head is provided at the top of the telescopic support rods, and the cameras are respectively disposed on the pan-tilt heads.

9. A rapid positioning method for rotational measurement applicable to electromagnets of multiple tonnages, the positioning method being based on the rapid positioning system for rotational measurement applicable to electromagnets of multiple tonnages according to any one of claims 1 to 8, characterized in that, It includes: Step S100: According to the specifications of the electromagnet, preliminarily adjust the position of the rotating device through a three-dimensional adjustment platform, and dispose the electromagnet and the mounting bracket between two adjustment devices; Step S200: Adjust the position and angle of the camera so that the intersection field of view of the camera covers the micro glass bead reflection fiducial points and the photogrammetry spherical fiducial; Step S300: Install the rotary magnetic coil in the electromagnet, respectively dispose two of the micro glass bead reflection fiducial points at both ends of the rotary magnetic coil, and install the four photogrammetry spherical fiducials on the upper surface of the electromagnet through the collimation reference base; Step S400: Control the first rotating member to drive the rotary magnetic coil to perform axial rotation, and obtain the image information of the micro glass bead reflection fiducial points and the photogrammetry spherical fiducial through the camera; fit a circle through the micro glass bead reflection fiducial points and use the center of the circle to construct the axis of the rotary magnetic coil; based on the image information of the photogrammetry spherical fiducial and the calibration data of the collimation reference base, use the least squares method to fit the component coordinate system of the electromagnet, and calculate the deviation information between the axis of the rotary magnetic coil and the component coordinate system with the axis of the component coordinate system as the reference; Step S500: Send the deviation information to the adjustment control module, and the adjustment control module controls the magnetic coil adjustment platform to adjust the spatial position of the rotary magnetic coil according to the deviation information so that the deviation information is within a predetermined range; Step S600: Sequentially repeat Step S400 and Step S500, and determine whether it is necessary to iterate Step S400 and Step S500 again according to the maximum tolerance value, so that the deviation amount between the longitudinal axis of the component coordinate system of the electromagnet and the axis of the rotary magnetic coil is within the allowable range of the magnetic field measurement tolerance; Step S700: Control the drive motor to drive the rotary magnetic coil to perform axial rotation through the rotary measurement control module, and execute Step S600 again when it is determined that the deviation information is not within the predetermined range.

10. The rapid positioning method for rotation measurement applicable to multi-tonnage electromagnets according to claim 9, characterized in that, The predetermined range is that the pitch angle is less than 0.005 degrees and the yaw angle is less than 0.005 degrees.

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