Position measuring device
By using two wire pull sensors and an angle measuring device in the position measurement device, combined with the design of the rotating base shaft and the through-line hole, the shortcomings of contact and non-contact position measurement in the prior art are solved, and high-precision and wide-range spatial position measurement are achieved.
Patent Information
- Application Number
- CN202421653705.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-12
- Publication Date
- 2025-04-15
- Estimated Expiration
- 2034-07-12
AI Technical Summary
In the prior art, the contact position measurement scheme has problems such as angle measurement hysteresis and inaccurate accuracy, while the non-contact solution has problems such as calibrated points being blocked and costly.
Using two wire pull sensors and an angle measuring device, the measurement of any position in the space is achieved through the design of rotating the base shaft and the through-line hole.
It realizes spatial position measurement with simple structure, wide measurement range and high accuracy, avoiding the lag and cost problems of traditional solutions.
Smart Images
Figure CN222761595U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of spatial position measurement, in particular to a position measurement device. Background Art
[0002] In industrial application scenarios, it is often necessary to measure, locate, or calibrate the position coordinates of a certain point in space. In the prior art, contact methods, such as length and angle measurement sensors, or non-contact methods, such as laser and visual detection, can be used to determine the position information of the calibration point. However, in the prior art, in the scheme of position measurement using a contact method, since the connection mechanism between the measuring sensors usually has gravity, elasticity, friction resistance and inertia, it will cause the angle measurement to be delayed and the accuracy is not completely accurate; while using non-contact methods for measurement, such as laser, 3D vision, etc., there is a possibility that the calibration point is blocked and cannot be accurately located, so it may not be applicable in some occasions. Moreover, the cost of non-contact measurement is relatively high, and the accuracy will be lost when controlling the cost. Utility Model Content
[0003] In view of the above problems in the prior art, the purpose of the utility model is to provide a position measuring device which can realize the measurement of any position in space by using only two wire sensors and an angle measuring device, has a simple structure and a wide measurement range and high precision.
[0004] To achieve the above object, according to one aspect of the present utility model, a position measuring device is provided, the device comprising:
[0005] A rotating base shaft, wherein the rotating base shaft can rotate around its own axis;
[0006] A first wire-drawing sensor, the first wire-drawing sensor comprising a first sensor body and a first wire-drawing, the first wire-drawing extending from the first sensor body and passing through a first wire-passing hole located on the axis of the rotating base shaft, the first wire-drawing connecting the first wire-passing hole and a point to be measured;
[0007] A second wire sensor, the second wire sensor comprising a second sensor body and a second wire, the second wire extending from the second sensor body and passing through a second wire hole on the axis of the rotating base shaft, the second wire connecting the second wire hole and the point to be measured;
[0008] an angle measuring unit, the angle measuring unit being connected to the rotating base shaft and being used to measure the angle of rotation of the rotating base shaft;
[0009] Wherein, the first wire passing hole and the second wire passing hole are separated by a predetermined distance.
[0010] Furthermore, two ends of the rotating base shaft are connected to support bearings, and the support bearings support the rotating base shaft to rotate around its own axis.
[0011] Furthermore, the angle measurement unit includes at least one of a rotary encoder, a tilt sensor, a potentiometer and a rotary transformer.
[0012] Furthermore, a first platform is provided at the location of the first wire passing hole, the first platform passes through the axis of the rotating base shaft and protrudes along the radial direction of the rotating base shaft; a second platform is provided at the location of the second wire passing hole, the second platform passes through the axis of the rotating base shaft and protrudes along the radial direction of the rotating base shaft.
[0013] Furthermore, a through hole connected to the first wire hole is arranged at the center of the first platform, and a through hole connected to the second wire hole is arranged at the center of the second platform; the first pull wire extends from the first sensor body and passes through the first platform; the second pull wire extends from the second sensor body and passes through the second platform.
[0014] Furthermore, a first movable mechanism is arranged at the position of the first wire passing hole, and the first movable mechanism can rotate along the position of the first wire passing hole on the rotating base axis; a second movable mechanism is arranged at the position of the second wire passing hole, and the second movable mechanism can rotate along the position of the second wire passing hole on the rotating base axis.
[0015] Furthermore, a through hole connected to the first wire passing hole is provided at the center of the first movable mechanism, and a through hole connected to the second wire passing hole is provided at the second movable mechanism; the first pull wire extends from the first sensor body and passes through the first movable mechanism; the second pull wire extends from the second sensor body and passes through the second movable mechanism.
[0016] Furthermore, the first sensor body and the second sensor body are located on the same side of the point to be measured, the first pull wire extends from the first sensor body, passes through the wire groove located at the point to be measured (P), and is connected to the first wire hole; the second pull wire extends from the second sensor body, passes through the wire groove located at the point to be measured, and is connected to the second wire hole.
[0017] Furthermore, the first pull wire and the second pull wire are passed through the wire groove after changing directions through pulleys.
[0018] Furthermore, the first sensor body and the second sensor body are fixedly arranged on opposite sides of the point to be measured, the first pull wire passes through the first wire hole to be connected to the point to be measured, and the second pull wire passes through the second wire hole to be connected to the point to be measured.
[0019] In summary, the embodiment of the utility model provides a position measurement device, including: a rotating base shaft, which can rotate around its own axis; a first wire sensor, which includes a first sensor body and a first wire, the first wire extends from the first sensor body, passes through a first wire hole located on the axis of the rotating base shaft, and the first wire connects the first wire hole and the point to be measured; a second wire sensor, which includes a second sensor body and a second wire, the second wire extends from the second sensor body, passes through a second wire hole located on the axis of the rotating base shaft, and the second wire connects the second wire hole and the point to be measured; an angle measurement unit, connected to the rotating base shaft, for measuring the angle of rotation of the rotating base shaft. The technical solution provided by the embodiment of the utility model adopts two wire sensors and an angle measurement device to realize the measurement of any position in space, has a simple structure, a wide range of measurement applications, and high precision. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Figure 1 It is a schematic diagram of the overall structure of a position measuring device provided by an embodiment of the utility model;
[0021] Figure 2 It is a three-dimensional structural schematic diagram of a position measuring device provided by an embodiment of the utility model;
[0022] Figure 3 It is a schematic diagram of the three-dimensional structure of a position measuring device provided by an embodiment of the utility model from another angle;
[0023] Figure 4 It is a three-dimensional structural schematic diagram of a position measuring device provided by another embodiment of the utility model;
[0024] Figure 5 It is a three-dimensional structural schematic diagram of a position measuring device provided by another embodiment of the utility model;
[0025] Reference numerals:
[0026] 101-rotating base axis; 102-first pull-wire sensor; 1021-first sensor body; 1022-first pull-wire; 103-second pull-wire sensor; 1031-second sensor body; 1032-second pull-wire; 104-angle measuring unit; 105-first platform; 106-second platform; 107, 108-support bearing; 109-first movable mechanism; 110-second movable mechanism; 111-wire groove; A-first wire hole; B-second wire hole; C-the through hole of the first platform 105 is away from the end point of the rotating base axis 101; D-the through hole of the second platform 106 is away from the end point of the rotating base axis 101; P-point to be measured. DETAILED DESCRIPTION
[0027] In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model is further described in detail below in combination with specific implementation methods and with reference to the accompanying drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the utility model. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the utility model.
[0028] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in one or more embodiments of the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in one or more embodiments of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.
[0029] The technical solution of the utility model is described in detail below with reference to the accompanying drawings. The embodiment of the utility model provides a position measurement device, Figure 1 The overall structure diagram of the position measuring device provided by the embodiment of the utility model is shown in FIG. Figure 2 and Figure 3 The three-dimensional structural schematic diagrams of the position measuring device provided by the embodiment of the utility model at different angles are shown respectively. Figure 1-3 As shown, the position measuring device comprises:
[0030] The rotating base shaft 101 is, for example, a long columnar body and can rotate around its own axis.
[0031] The first pull-wire sensor 102 includes a first sensor body 1021 and a first pull-wire 1022. The first pull-wire 1022 extends from the first sensor body 1021 and passes through a first wire hole A located on the axis of the rotating base shaft 101. The first pull-wire 1022 connects the first wire hole A and the point P to be measured.
[0032] The second pull-wire sensor 103 includes a second sensor body 1031 and a second pull-wire 1032. The second pull-wire 1032 extends from the second sensor body 1031 and passes through a second wire hole B located on the axis of the rotating base shaft 101. The second pull-wire 1032 connects the second wire hole B and the point P to be measured.
[0033] The angle measuring unit 104 is connected to the rotating base shaft 101 and is used to measure the rotation angle of the rotating base shaft 101 .
[0034] According to some optional embodiments, the first sensor body 1021 and the second sensor body 1031 can be fixedly arranged on the opposite side of the point P to be measured, that is, relative to the opposite side of the rotating base shaft 101, the first pull wire 1022 passes through the first wire hole A to be connected to the point P to be measured, and the second pull wire 1032 passes through the second wire hole B to be connected to the point P to be measured. At this time, the first pull wire 1022 and the second pull wire 1032 start from the first sensor body 1021 and the second sensor body 1031 respectively, pass through the first wire hole A and the second wire hole B on the axis of the rotating base shaft 101 respectively, and intersect at the point P to be measured.
[0035] According to some optional embodiments, the first sensor body 1021 and the second sensor body 1031 may be located on the same side of the point P to be measured. Figure 4 , a schematic diagram of the three-dimensional structure of this embodiment is shown in FIG. 1 , in which the first cable 1022 extends from the first sensor body 1021, passes through the cable groove 111 located at the point to be measured P, and is connected to the first cable hole A; the second cable 1032 extends from the second sensor body 1031, passes through the cable groove 111 located at the point to be measured P, and is connected to the second cable hole B. Pulleys can be provided at the rear side of the cable outlets of the first sensor body 1021 and the second sensor body 1031, and the first cable 1022 and the second cable 1032 change their directions through the pulleys and pass through the cable groove 111, so that the starting points of the first cable 1022 and the second cable 1032 are both the point to be measured P.
[0036] As the spatial position of the point P to be measured is different, the length of the wire pulled out measured by the first wire sensor 102 and the second wire sensor 103 and the rotation angle of the rotating base shaft 101 measured by the angle measurement unit 104 are different. Therefore, the spatial position of a point in space can be measured by the cooperation of the first wire sensor 102 and the second wire sensor 103, an angle measurement unit 104 and a rotating base shaft 101. The first wire sensor 102 and the second wire sensor 103 are, for example, wire sensors with the same model parameters. The specific type can be selected according to actual needs, and the positional relationship between the first wire sensor 102 and the second wire sensor 103 is not limited. The first wire hole A and the second wire hole B are separated by a predetermined distance, and the predetermined distance is set to enable the position measurement of the point P to be measured. The first wire hole A and the second wire hole B are both located on the axis of the rotating base shaft 101, and the rotating base shaft 101 can be a rotating shaft with a certain radius or substantially no radius. When the rotating base shaft 101 is a rotating shaft with a certain radius, grooves can be set at the positions of the first wire passing hole A and the second wire passing hole B on the rotating base shaft 101, so that the angle between the first pull wire 1022 and the second pull wire 1032 and the axis of the rotating base shaft 101 when passing through the first wire passing hole A and the second wire passing hole B is not affected by the radius of the rotating base shaft 101.
[0037] The embodiment provided by the utility model uses only two pull-wire sensors, that is, only two cables are used to achieve spatial position measurement. Compared with the solution of using three or more pull-wire sensors, the problem of cable entanglement is solved to a certain extent.
[0038] According to certain optional embodiments, a first platform 105 is provided at the location of the first wire passing hole A, the first platform 105 passes through the axis of the rotating base shaft 101 and protrudes along the radial direction of the rotating base shaft 101; a second platform 106 is provided at the location of the second wire passing hole B, the second platform 106 passes through the axis of the rotating base shaft 101 and protrudes along the radial direction of the rotating base shaft 101. A through hole connected to the first wire hole A is provided at the center of the first platform 105, and the end point of the through hole away from the rotating base axis 101 is C, so that the first pull wire 1022 can continue to extend through the first platform 105, and a through hole connected to the second wire hole B is provided at the center of the second platform 106, and the end point of the through hole away from the rotating base axis 101 is D, so that the second pull wire 1032 can continue to extend through the second platform 106; the first pull wire 1022 extends from the first sensor body 1021, passes through the first platform 105 and is connected to the point P to be measured; the second pull wire 1032 extends from the second sensor body 1031, passes through the second platform 106 and is connected to the point P to be measured. The first platform 105 and the second platform 106 are, for example, cylindrical platforms, so that the pull wires can extend from them and extend in all directions. Based on this embodiment, the position of the point P to be measured is measured, referring to Figure 1 , for example, a coordinate system is established with the axis of the rotating base shaft 101 as the X-axis, the radial direction perpendicular to the X-axis as the Y-axis, and the middle position of the two points AB as the coordinate origin O. After the first pull wire 1022 and the second pull wire 1032 pass through the first wire hole A and the second wire hole B, they intersect at the point P to be measured. Assuming that the distance between AB is 2d1, the coordinates of the two points AB in the established coordinate system are (-d1, 0) and (d1, 0) respectively; the two points CD are the end points of the through holes of the first platform 105 and the second platform 106 away from the rotating base shaft 101. Assuming that the distance between AC and BD is d2, the coordinates of the two points CD are (-d1, d2) and (d1, d2) respectively. The distance between the two line segments PC and PD can be measured by the first pull wire sensor 102 and the second pull wire sensor 103, assuming that they are l1 and l2 respectively. When the three sides PC, CD, and PD are known, it is easy to obtain the coordinates of the point P to be measured. Meanwhile, when the coordinates of the point P to be measured have been solved, the coordinates of the point P to be measured in space can be obtained according to the rotation angle of the rotation base axis 101 measured by the angle measurement unit 104 .
[0039] According to some optional embodiments, a movable mechanism may be used to replace the platform in the above embodiments. Figure 5The schematic diagram of the three-dimensional structure of this embodiment is shown in FIG. The movable mechanism can rotate around the point where the wire hole is located, so that under the traction of the point to be measured P, the two points C and D can be located on the two line segments PA and PB respectively, which can further improve the measurement accuracy. A first movable mechanism 109 is set at the position where the first wire hole A is located, and the first movable mechanism 109 can rotate along the position on the rotating base shaft 101 where the first wire hole A is located; a second movable mechanism 110 is set at the position where the second wire hole B is located, and the second movable mechanism 110 can rotate along the position on the rotating base shaft 101 where the second wire hole B is located. A through hole connected to the first wire hole A is set at the center of the first movable mechanism 109, and a through hole connected to the second wire hole B is set on the second movable mechanism 110; the first pull wire 1022 extends from the first sensor body 1021, passes through the first movable mechanism 109 and is connected to the point to be measured P; the second pull wire 1032 extends from the second sensor body 1031, passes through the second movable mechanism 110 and is connected to the point to be measured P.
[0040] According to some optional embodiments, support bearings 107 and 108 are connected to both ends of the rotating base shaft 101, and the support bearings 107 and 108 can support the rotating base shaft 101 to rotate around its own axis. The angle measuring unit can be any device capable of measuring the rotation angle of the rotating base shaft 101, such as at least one of a rotary encoder, an inclination sensor, a potentiometer, and a rotary transformer.
[0041] According to some optional embodiments, the first sensor body 1021 and the second sensor body 1031 may be located on the same side of the point P to be measured and move with the point P to be measured; or the first sensor body 1021 and the second sensor body 1031 may be fixedly arranged on opposite sides of the point P to be measured. When the first sensor body 1021 and the second sensor body 1031 are arranged on the same side of the point P to be measured, after the pull wires converge at the point P to be measured, the ends of the pull wires are fixed at two points CD, thereby realizing the position measurement of the point P to be measured.
[0042] In summary, the utility model provides a position measurement device, including: a rotating base shaft, which can rotate around its own axis; a first wire sensor, which includes a first sensor body and a first wire, the first wire extends from the first sensor body, passes through a first wire hole located on the axis of the rotating base shaft, and the first wire connects the first wire hole and the point to be measured; a second wire sensor, which includes a second sensor body and a second wire, the second wire extends from the second sensor body, passes through a second wire hole located on the axis of the rotating base shaft, and the second wire connects the second wire hole and the point to be measured; an angle measurement unit, which is connected to the rotating base shaft and is used to measure the angle of rotation of the rotating base shaft. The technical solution provided by the embodiment of the utility model adopts two wire sensors and an angle measurement device to realize the measurement of any position in space, and can achieve higher measurement accuracy while realizing a large measurement range, a small measurement delay, and a simple measurement structure.
[0043] It should be understood that the above specific embodiments of the present invention are only used to illustrate or explain the principles of the present invention, and do not constitute a limitation on the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. In addition, the claims attached to the present invention are intended to cover all changes and modifications that fall within the scope and boundaries of the attached claims, or the equivalent forms of such scope and boundaries.
Claims
1. A position measuring device, characterized in that: The device comprises: A rotating base shaft (101), wherein the rotating base shaft (101) can rotate around its own axis; A first wire-drawing sensor (102), the first wire-drawing sensor (102) comprising a first sensor body (1021) and a first wire-drawing (1022), the first wire-drawing (1022) extending from the first sensor body (1021) and passing through a first wire-passing hole (A) located on the axis of the rotating base shaft (101), the first wire-drawing (1022) connecting the first wire-passing hole (A) and a point to be measured (P); A second wire-drawing sensor (103), the second wire-drawing sensor (103) comprising a second sensor body (1031) and a second wire-drawing (1032), the second wire-drawing (1032) extending from the second sensor body (1031) and passing through a second wire-passing hole (B) located on the axis of the rotating base shaft (101), the second wire-drawing (1032) connecting the second wire-passing hole (B) and the point to be measured (P); an angle measuring unit (104), the angle measuring unit (104) being connected to the rotating base shaft (101) and being used to measure the angle of rotation of the rotating base shaft (101); Wherein, the first wire passing hole (A) and the second wire passing hole (B) are spaced apart by a predetermined distance.
2. The device according to claim 1, characterized in that Both ends of the rotating base shaft (101) are connected to support bearings (107, 108), and the support bearings (107, 108) support the rotating base shaft (101) to rotate around its own axis.
3. The device according to claim 1, characterized in that The angle measurement unit (104) includes at least one of a rotary encoder, an inclination sensor, a potentiometer and a rotary transformer.
4. The device according to claim 1, characterized in that A first platform (105) is provided at the location of the first wire hole (A), the first platform (105) passes through the axis of the rotating base shaft (101) and protrudes in the radial direction of the rotating base shaft (101); a second platform (106) is provided at the location of the second wire hole (B), the second platform (106) passes through the axis of the rotating base shaft (101) and protrudes in the radial direction of the rotating base shaft (101).
5. The device according to claim 4, characterized in that A through hole connected to the first wire hole (A) is arranged at the center of the first platform (105), and a through hole connected to the second wire hole (B) is arranged at the center of the second platform (106); the first pull wire (1022) extends from the first sensor body (1021) and passes through the first platform (105); the second pull wire (1032) extends from the second sensor body (1031) and passes through the second platform (106).
6. The device according to claim 1, characterized in that A first movable mechanism (109) is arranged at the position where the first wire passing hole (A) is located, and the first movable mechanism (109) can rotate along the position on the rotating base shaft (101) where the first wire passing hole (A) is located; a second movable mechanism (110) is arranged at the position where the second wire passing hole (B) is located, and the second movable mechanism (110) can rotate along the position on the rotating base shaft (101) where the second wire passing hole (B) is located.
7. The device according to claim 6, characterized in that A through hole connected to the first wire hole (A) is provided at the center of the first movable mechanism (109), and a through hole connected to the second wire hole (B) is provided on the second movable mechanism (110); the first pull wire (1022) extends from the first sensor body (1021) and passes through the first movable mechanism (109); the second pull wire (1032) extends from the second sensor body (1031) and passes through the second movable mechanism (110).
8. The device according to any one of claims 1 to 7, characterized in that: The first sensor body (1021) and the second sensor body (1031) are located on the same side of the point to be measured (P); the first pull wire (1022) extends from the first sensor body (1021), passes through the wire groove (111) located at the point to be measured (P), and is connected to the first wire hole (A); the second pull wire (1032) extends from the second sensor body (1031), passes through the wire groove (111) located at the point to be measured (P), and is connected to the second wire hole (B).
9. The device according to claim 8, characterized in that The first pull wire (1022) and the second pull wire (1032) pass through the wire groove (111) after changing directions through the pulley.
10. The device according to any one of claims 1 to 7, characterized in that: The first sensor body (1021) and the second sensor body (1031) are fixedly arranged on opposite sides of the point to be measured (P), the first pull wire (1022) passes through the first wire hole (A) to be connected to the point to be measured (P), and the second pull wire (1032) passes through the second wire hole (B) to be connected to the point to be measured (P).