Spatial position measuring device

Abstract

The utility model discloses a spatial position measuring device which comprises a fixed bottom plate, a first angle encoder fixedly connected to the fixed bottom plate, a rotating support movably connected to the angle encoder, a rotating shaft movably connected to the rotating support and a second angle encoder fixedly connected to the rotating shaft. The rotating support is perpendicular to the first angle encoder, and the rotating support is located in the first angle encoder to rotate by 360 degrees. The rotating shaft and the first angle encoder are arranged in parallel, and the rotating shaft rotates and swings around the X axis; the rotating shaft is fixedly connected with a stay wire fixing shaft, and the stay wire fixing shaft is fixedly connected with a stay wire encoder steel wire rope. According to the utility model, the device is simple in structure and convenient to install, and the structures are vertically arranged, so that the rotating bracket and the rotating shaft are not coupled in the moving process.

Description

Technical Field

[0001] The utility model relates to the technical field of space coordinate equipment, in particular to a space position measuring device. Background Art

[0002] In the related art, the measurement of spatial position is mainly based on optical equipment and wireless signal equipment, such as theodolites, laser trackers, indoor GPS (Global Positioning System) positioning systems, etc. These devices need to be installed in specific locations, are inflexible to set up, and are expensive. At present, there are mainly the following methods for measuring the relative position of objects in space: one is laser tracker calibration, which has high accuracy but is affected by the spatial environment and is expensive, making the cost too high; the other is multi-laser displacement measurement method measurement. Chinese patent CN104180756 discloses a method for measuring the relative displacement of docking parts with a laser displacement sensor. By constructing three reflection surfaces in a three-dimensional coordinate system, three laser displacement sensors are fixed on the relative object, and the relative displacement of the relative object is determined by the position of the light beam emitted by the laser displacement sensor on the three reflection planes. This method uses three laser displacement sensors to measure the relative displacements ΔX, ΔY and ΔZ respectively. Its limitation is that the installation of the reflection plane is more complicated in some cases, and it is also subject to space constraints, and its on-site practicability is poor; third, the pull-wire measurement, the existing pull-wire measurement devices are mostly three-wire or four-wire measurement devices, and a single-wire measurement method has not yet appeared. The structural algorithm is relatively complex and it is not easy to operate. Utility Model Content

[0003] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a spatial position measuring device, which has a simple structure, is easy to install, and is vertically arranged between structures, so that there is no coupling relationship between the rotating bracket and the rotating axis during the movement. In order to achieve the above-mentioned purpose and other advantages according to the present invention, a spatial position measuring device is provided, including:

[0004] A fixed base plate, a first angle encoder fixed to the fixed base plate, a rotating bracket movably connected to the angle encoder, a rotating shaft movably connected to the rotating bracket, and a second angle encoder fixed to the rotating shaft;

[0005] The rotating bracket and the first angle encoder are arranged perpendicular to each other, and the rotating bracket is located in the first angle encoder and rotates 360 degrees;

[0006] The rotating shaft is arranged parallel to the first angle encoder, and the rotating shaft rotates and swings around the X-axis;

[0007] A wire-drawing fixed shaft is fixedly connected to the rotating shaft, and a wire-drawing encoder steel wire rope is fixedly arranged on the wire-drawing fixed shaft.

[0008] Preferably, a first making way interval is opened in the middle of the first angle encoder, a first bearing is fixedly connected in the first making way interval, and the first bearing is fixedly connected to the rotating bracket.

[0009] Preferably, the rotating bracket includes a bearing connecting section and a mounting section fixedly connected to the bearing connecting section, wherein one end of the bearing connecting section away from the mounting section is fixedly connected to the first bearing, and a rotating shaft is movably connected to the mounting section.

[0010] Preferably, the mounting section includes a flat plate portion and a first vertical plate and a second vertical plate respectively fixed to both ends of the flat plate portion, wherein the first vertical plate and the second vertical plate are spaced apart and arranged in parallel, and the first vertical plate, the second vertical plate and the flat plate portion form a U-shaped structure, thereby forming an installation interval between the first vertical plate and the second vertical plate.

[0011] Preferably, the first vertical plate and the second vertical plate are respectively provided with mounting holes, in which second bearings are fixedly connected, one end of the rotating shaft is fixedly connected to the second bearing of the first vertical plate, and the other end of the rotating shaft is located in the second bearing fixedly connected to the second vertical plate.

[0012] Preferably, the wire-drawing fixing shaft is perpendicular to the center line of the rotating shaft, and the wire-drawing fixing shaft is located in the installation interval of the installation section. The rotating shaft drives the wire-drawing fixing shaft to swing through the wire rope of the wire-drawing encoder.

[0013] Compared with the prior art, the utility model has the following beneficial effects: by pulling the wire rope of the wire encoder, the wire fixed shaft will lead the rotating shaft to rotate and swing around the X-axis, and the angle encoder connected to the rotating shaft will record its rotation angle, and the wire encoder will record the length change. As the wire encoder is pulled to move left and right, the wire fixed shaft will lead the rotating bracket to rotate around the Z-axis, and the angle encoder installed on the rotating bracket will record its rotation angle, and the wire encoder will record the length change. Through the data collection and calculation of these motion processes by the system, the spatial coordinates of the wire encoder at the exit of the motion process are obtained. This structure adopts a vertical arrangement, and there is no coupling relationship between the rotating bracket and the rotating shaft during the motion process. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the three-dimensional structure of the spatial position measuring device according to the utility model;

[0015] Figure 2 It is a schematic diagram of the three-dimensional structure of the first angle encoder of the spatial position measuring device according to the utility model;

[0016] Figure 3 It is a three-dimensional structural schematic diagram of a rotating bracket of a spatial position measuring device according to the utility model. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0018] Reference Figure 1-3 A spatial position measuring device comprises: a fixed base plate 1, a first angle encoder 2 fixedly connected to the fixed base plate 1, a rotating bracket 3 movably connected to the angle encoder 2, a rotating shaft 4 movably connected to the rotating bracket 3 and a second angle encoder 5 fixedly connected to the rotating shaft 4; the rotating bracket 3 and the first angle encoder 2 are arranged perpendicular to each other, and the rotating bracket 3 is located in the first angle encoder 2 and rotates 360 degrees; the rotating shaft 4 is arranged parallel to the first angle encoder 2, and the rotating shaft 4 rotates and swings around the X-axis; a wire-drawing fixed shaft 7 is fixedly connected to the rotating shaft 4, and a wire-drawing encoder wire rope 8 is fixedly arranged on the wire-drawing fixed shaft 7. The rotating bracket 3 is vertically arranged with the first angle encoder 2, and the rotating shaft 4 is vertically arranged with the rotating bracket 3. When in use, by pulling the wire rope 8 of the wire encoder, the wire fixed shaft 7 is driven to swing, and then the rotating shaft 4 is driven to rotate and swing around the X axis, and the first angle encoder 2 and the second angle encoder 5 record its rotation angle, and the wire encoder 9 records the length change; when the wire rope 8 of the wire encoder is pulled to rotate 360 ​​degrees, the rotating shaft 4 is driven to rotate 360 ​​degrees, and the first angle encoder 2 and the second angle encoder 5 record its rotation angle, and the wire encoder 9 records the length change. The data obtained from each rotation is collected and calculated by the system to obtain the spatial coordinates of the wire encoder at the exit of the motion process. The system here is a common processing system and will not be described in detail here.

[0019] Furthermore, a first yielding interval is provided in the middle of the first angle encoder 2, in which a first bearing is fixedly connected, and the first bearing is fixedly connected to the rotating bracket 3. The rotating bracket 3 includes a bearing connecting section and a mounting section fixedly connected to the bearing connecting section, wherein one end of the bearing connecting section away from the mounting section is fixedly connected to the first bearing, and a rotating shaft 4 is movably connected to the mounting section. The mounting section includes a flat plate portion and a first vertical plate and a second vertical plate respectively fixedly connected to both ends of the flat plate portion, wherein the first vertical plate and the second vertical plate are spaced and arranged in parallel, and the first vertical plate, the second vertical plate and the flat plate portion form a U-shaped structure, thereby forming a mounting interval between the first vertical plate and the second vertical plate. Mounting holes are respectively provided on the first vertical plate and the second vertical plate, and a second bearing is fixedly connected in the mounting hole, one end of the rotating shaft 4 is fixedly connected to the second bearing of the first vertical plate, and the other end of the rotating shaft 4 is located in the second bearing fixedly connected to the second vertical plate. By forming an installation interval between the first vertical plate and the second vertical plate, the rotating shaft 4 can have a movement interval when swinging around the X axis, and there is no limit on the swing of the rotating shaft 4. In addition, the first vertical plate, the second vertical plate and the flat plate are connected in one piece, making the overall device very simple and quick to install.

[0020] Furthermore, the wire-drawing fixed shaft 7 is perpendicular to the center line of the rotating shaft 4, and the wire-drawing fixed shaft 7 is located in the installation interval of the installation section. The rotating shaft 4 drives the wire-drawing fixed shaft 7 to swing through the wire-drawing encoder wire rope 8. The rotating shaft 4 and the rotating bracket 3 are driven to swing and rotate by pulling the wire-drawing encoder wire rope 8 installed on the wire-drawing fixed shaft 7.

[0021] The number of devices and processing scale described here are used to simplify the description of the utility model. The application, modification and variation of the utility model are obvious to those skilled in the art.

[0022] Although the implementation scheme of the utility model has been disclosed as above, it is not limited to the applications listed in the specification and implementation scheme. It can be fully applied to various fields suitable for the utility model. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the utility model is not limited to the specific details and the illustrations shown and described here.

Claims

1. A spatial position measuring device, characterized in that: include: A fixed base plate (1), a first angle encoder (2) fixedly connected to the fixed base plate (1), a rotating bracket (3) movably connected to the angle encoder (2), a rotating shaft (4) movably connected to the rotating bracket (3), and a second angle encoder (5) fixedly connected to the rotating shaft (4); The rotating bracket (3) and the first angle encoder (2) are arranged perpendicular to each other, and the rotating bracket (3) is located in the first angle encoder (2) and rotates 360 degrees; The rotating shaft (4) is arranged in parallel with the first angle encoder (2), and the rotating shaft (4) rotates and swings around the X-axis; A wire-drawing fixed shaft (7) is fixedly connected to the rotating shaft (4), and a wire-drawing encoder steel wire rope (8) is fixedly arranged on the wire-drawing fixed shaft (7).

2. A spatial position measuring device according to claim 1, characterized in that: A first clearance interval is provided in the middle of the first angle encoder (2), a first bearing is fixedly connected in the first clearance interval, and the first bearing is fixedly connected to the rotating bracket (3).

3. A spatial position measuring device as claimed in claim 2, characterized in that: The rotating bracket (3) comprises a bearing connecting section and a mounting section fixedly connected to the bearing connecting section, wherein one end of the bearing connecting section away from the mounting section is fixedly connected to the first bearing, and a rotating shaft (4) is movably connected to the mounting section.

4. A spatial position measuring device as claimed in claim 3, characterized in that: The mounting section includes a flat plate portion and a first vertical plate and a second vertical plate respectively fixed to both ends of the flat plate portion, wherein the first vertical plate and the second vertical plate are spaced apart and arranged in parallel, and the first vertical plate, the second vertical plate and the flat plate portion form a U-shaped structure, thereby forming an installation interval between the first vertical plate and the second vertical plate.

5. A spatial position measuring device as claimed in claim 4, characterized in that: The first vertical plate and the second vertical plate are respectively provided with mounting holes, in which second bearings are fixedly connected, one end of the rotating shaft (4) is fixedly connected to the second bearing of the first vertical plate, and the other end of the rotating shaft (4) is located in the second bearing fixedly connected to the second vertical plate.

6. A spatial position measuring device as claimed in claim 5, characterized in that: A wire-drawing fixed shaft (7) is perpendicular to the center line of the rotating shaft (4), and the wire-drawing fixed shaft (7) is located in the installation interval of the installation section. The rotating shaft (4) drives the wire-drawing fixed shaft (7) to swing through the wire-drawing encoder wire rope (8).

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