Metering calibration device of attitude measuring instrument

Abstract

The utility model provides a measuring and calibrating device of a posture measuring instrument, relates to the technical field of measuring and calibrating, solves the problems that automatic leveling and perpendicularity cannot be automatically adjusted, and comprises a heaving mechanism, a supporting mechanism, a control mechanism and an automatic leveling mechanism, the heaving mechanism is fixed through the supporting mechanism and simulates heaving motion, and the automatic leveling mechanism is fixed through the control mechanism. And the control mechanism is connected with the automatic leveling mechanism and the heaving mechanism. According to the utility model, the attitude measuring instrument is driven to move periodically through the heaving mechanism, so that sine wave, triangular wave and other motions can be simulated; the automatic leveling mechanism can realize leveling between the attitude measuring instrument metering device and the ground, ensures that the movement direction of the heaving system is kept vertical to the ground, and greatly improves the adaptive capacity of a simulation environment; the control mechanism realizes motion control on the heaving system and the automatic leveling system; and the heaving mechanism adopts a gear and rack transmission mode, so that the simulation precision is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of metrology and calibration, in particular to a metrology and calibration device for a posture measuring instrument. Background Art

[0002] The periodic motion of a vehicle (such as a ship, offshore platform, etc.) along the celestial axis in the geographic coordinate system is called heave motion. This motion is mainly caused by ocean waves and is therefore random and complex. A heave motion measuring instrument is used to detect heave motion.

[0003] Currently, such measuring devices and simulation devices are manufactured using high-cost manufacturing methods and do not have an automatic leveling function, and are unable to ensure the verticality between the measuring devices and simulation devices and the ground. Utility Model Content

[0004] To this end, the utility model provides a metrological calibration device for an attitude measuring instrument, which is used to solve the problem that the automatic leveling and vertical adjustment cannot be performed.

[0005] In order to achieve the above-mentioned purpose, the utility model provides the following technical solutions: a posture measuring instrument measurement and calibration device, comprising: a supporting mechanism, a lifting and sinking mechanism and an automatic leveling mechanism, the supporting mechanism comprises pillars and baffles, the pillars are not less than four, the baffles are arranged between the pillars, and the pillars and the baffles form a semi-enclosed structure; the lifting and sinking mechanism comprises a slide rail, a servo motor, a reducer, a gear, a rack and a posture measuring instrument installation device, the slide rail is arranged close to the baffle, the slide rail is provided with the rack, the output end of the servo motor is connected to the gear, the outer edge of the gear is meshed with the rack, the posture measuring instrument installation device is arranged on the outside of the servo motor and the reducer, and the servo motor, the reducer and the posture measuring instrument installation device are bolted; the automatic leveling mechanism comprises a control box, a leveling motor, a linear actuator, an inclination sensor and a base plate, the leveling motor, the linear actuator and the inclination sensor are all arranged on the top surface of the base plate, and the leveling mechanism, the linear actuator and the inclination sensor are arranged in the control box.

[0006] Preferably, at least four leveling motors are provided, the linear actuator and the leveling motor are connected as a group, the number of the linear actuator and the leveling motor is the same, and the leveling motor, the linear actuator and the inclination sensor are electrically signal connected.

[0007] Preferably, a leveling foot is provided at the bottom of the base plate, and the leveling foot and the linear actuator are connected via a connecting rod.

[0008] Preferably, the base plate is arranged in a rectangular shape, and the leveling motors are arranged symmetrically in pairs.

[0009] Preferably, the pillars are vertically arranged at the four corners of the base plate, and the pillars are connected to the base plate by bolts.

[0010] Preferably, the control box is configured to be U-shaped, and the groove of the control box is used to place the track.

[0011] Preferably, the posture measuring instrument mounting device comprises a mounting plate and a traction shell, the mounting plate and the bottom plate are arranged in parallel, the side of the traction shell is slidably connected to the slide rail, and the top of the traction shell is bolted to the mounting plate.

[0012] Preferably, the lifting and lowering mechanism, the automatic leveling mechanism and the control mechanism are connected, the control mechanism is provided with a host computer and a transmission device, and the host computer and the transmission device are connected.

[0013] Preferably, the control mechanism further comprises a motor driver, and at least five of the motor drivers are provided, arranged on the top of the base plate, and are respectively connected to the leveling motor and the servo motor.

[0014] Preferably, the control mechanism further comprises a motion control card, which is arranged on the top of the base plate and is connected to the transmission device and the motor driver respectively.

[0015] This application adopts the above technical solution, which has at least the following beneficial effects:

[0016] The heave mechanism drives the attitude measuring instrument to perform periodic movements, and can simulate sine wave, triangular wave and other movements; the automatic leveling mechanism can achieve leveling between the attitude measuring instrument metering device and the ground, ensuring that the movement direction of the heave system remains perpendicular to the ground, greatly improving the adaptability to the simulation environment; the control mechanism realizes the motion control of the heave system and the automatic leveling system; and the heave mechanism adopts a gear rack transmission method, which greatly improves the simulation accuracy.

[0017] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a schematic diagram of the overall structure provided by an embodiment of the utility model;

[0020] Figure 2 It is an overall cross-sectional view provided by an embodiment of the utility model;

[0021] Figure 3 It is a schematic diagram of the structure of point A provided by an embodiment of the utility model;

[0022] Figure 4 It is a schematic diagram of the structure of the servo motor provided by the embodiment of the utility model;

[0023] Figure 5 It is a side view of the automatic leveling mechanism structure provided by an embodiment of the utility model;

[0024] Figure 6 It is a schematic diagram of the bottom structure of the base plate provided by an embodiment of the utility model;

[0025] Figure 7 It is a schematic diagram of the structure of the automatic leveling mechanism provided by the embodiment of the utility model;

[0026] Figure 8 It is a top view of the automatic leveling mechanism provided by an embodiment of the utility model;

[0027] In the figure: 1. support; 2. baffle; 3. slide rail; 4. servo motor; 5. reducer; 6. gear; 7. rack; 8. control box; 9. leveling motor; 10. linear actuator; 11. inclination sensor; 12. base plate; 13. leveling foot; 14. mounting plate; 15. traction shell; 16. motor driver; 17. motion control card. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other implementation methods obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0029] The specific embodiment of the utility model provides a posture measuring instrument measurement and calibration device, combined with the attached Figure 1-8As shown, it mainly includes a supporting mechanism, a lifting and sinking mechanism and an automatic leveling mechanism. The supporting mechanism includes a pillar 1 and a baffle 2. The pillars 1 are not less than four. The baffle 2 is arranged between the pillars 1. The pillars 1 and the baffle 2 form a semi-enclosed structure; the lifting and sinking mechanism includes a slide rail 3, a servo motor 4, a reducer 5, a gear 6, a rack 7 and a posture measuring instrument installation device. The slide rail 3 is arranged close to the baffle 2. The slide rail 3 is provided with a rack 7. The output end of the servo motor 4 is connected to the gear 6. The outer edge of the gear 6 is meshed with the rack 7. The posture measuring instrument installation device is arranged on the outside of the servo motor 4 and the reducer 5, and the servo motor 4, the reducer 5 and the posture measuring instrument installation device are bolted; the automatic leveling mechanism includes a control box 8, a leveling motor 9, a linear actuator 10, an inclination sensor 11 and a base plate 12. The leveling motor 9, the linear actuator 10 and the inclination sensor 11 are all arranged on the top surface of the base plate 12, and the leveling motor 9, the linear actuator 10 and the inclination sensor 11 are arranged in the control box 8.

[0030] Specifically, Figure 1 As shown, in this embodiment, four pillars 1 are provided, and the pillars 1 are provided perpendicular to the base plate 12, located at the four corners on the inner side of the top surface of the base plate, and the bottom of the pillars 1 and the top surface of the base plate 12 are bolted and fixed; the control box 8 is provided in a U shape, and the groove position of the control box 8 is used for placing the slide rail 3, and the control box 8 does not affect the movement of the posture measuring instrument installation equipment.

[0031] Specifically, Figure 2-4 As shown, the servo motor 4 and the reducer 5 are integrally formed, and the posture measuring instrument installation device includes a mounting plate 14 and a traction shell 15, wherein the mounting plate 14 and the base plate 12 are arranged in parallel, the side of the traction shell 15 is slidably connected to the slide rail 3, the top of the traction shell 15 and the bottom of the mounting plate 14 are bolted and fixed, the output end of the servo motor 4 is connected to the gear 6, the outer edge of the gear 6 is meshed with the rack 7, the servo motor 4 drives the gear 6 to rotate, so that the posture measuring instrument installation device moves along the slide rail 3 and the rack 7.

[0032] Specifically, Figure 5-8 As shown, a leveling foot 13 is provided at the bottom of the base plate 12, and the number of the leveling foot 13, the leveling motor 9 and the linear actuator 10 is consistent. The leveling motor 9 and the linear actuator 10 are connected and arranged as a group. In this embodiment, four groups are arranged, and two are symmetrically arranged on the top surface of the base plate 12. The leveling foot 13 and the linear actuator 10 are connected and fixed by a connecting rod. When the leveling motor 9 is energized, it drives the linear actuator 10. The inclination sensor 11 is connected with the leveling motor 9 and the linear actuator 10 in electrical signals. The linear actuator 10 adjusts the flatness of the base plate 12 by driving the connecting rod to rise and fall.

[0033] Specifically, the device is also provided with a control mechanism, including a host computer, a sensor device, a motor driver 16 and a motion control card 17. The electrical signals of the sensor device and the motor driver 16 and the motion control card 17 are connected through the host computer and the built-in host system. The motor driver 16 is connected to the servo motor 4 and the leveling motor 9, and the direction and speed of the servo motor 4 and the leveling motor 9 are controlled in combination with the host system.

[0034] The working principle of this embodiment:

[0035] First, the attitude measuring instrument is mounted on the attitude measuring instrument mounting plate 14, and the device of this embodiment is powered on;

[0036] Turn on the host computer and the host system, which are provided with an operation interface. Press the "Start Leveling" button in the operation interface. The inclination sensor 11 measures the inclination of the device of this embodiment relative to the horizontal position, and outputs the angle information to the host computer and the host system. After the host computer and the host system calculate through the leveling algorithm, the calculated leveling data is output to the motor driver 16 through the motion control card 17. The motor driver 16 controls the direction and speed of the leveling motor 9, so that the linear actuator 10 contracts or extends the connecting rod, adjusts the length of the connecting rod, completes the balance adjustment of the base plate 12, and realizes automatic leveling;

[0037] At the same time, the servo motor 4 and the reducer 5 are controlled to cooperate, and a transmission method of connecting the gear 6 and the rack is adopted to realize the heave mechanism to simulate sine wave, triangle wave and other motion modes to measure the attitude measuring instrument.

[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the utility model.

Claims

1. A metrological calibration device for an attitude measuring instrument, comprising a supporting mechanism, a lifting mechanism and an automatic leveling mechanism, characterized in that: The support mechanism comprises pillars (1) and baffles (2), wherein at least four pillars (1) are provided, and the baffles (2) are provided between the pillars (1), and the pillars (1) and the baffles (2) form a semi-enclosed structure; The lifting and lowering mechanism comprises a slide rail (3), a servo motor (4), a reducer (5), a gear (6), a rack (7) and a posture measuring instrument installation device, wherein the slide rail (3) is arranged close to the baffle (2), the rack (7) is arranged on the slide rail (3), the output end of the servo motor (4) is connected to the gear (6), the outer edge of the gear (6) and the rack (7) are meshingly connected, the posture measuring instrument installation device is arranged on the outside of the servo motor (4) and the reducer (5), and the servo motor (4), the reducer (5) and the posture measuring instrument installation device are bolted; The automatic leveling mechanism comprises a control box (8), a leveling motor (9), a linear actuator (10), an inclination sensor (11) and a base plate (12); the leveling motor (9), the linear actuator (10) and the inclination sensor (11) are all arranged on the top surface of the base plate (12), and the leveling motor (9), the linear actuator (10) and the inclination sensor (11) are arranged in the control box (8).

2. The attitude measuring instrument measurement and calibration device according to claim 1, characterized in that: At least four leveling motors (9) are provided, the linear actuator (10) and the leveling motor (9) are connected as a group, the number of the linear actuator (10) and the leveling motor (9) is the same, and the leveling motor (9), the linear actuator (10) and the inclination sensor (11) are connected in electrical signals.

3. The attitude measuring instrument measurement and calibration device according to claim 2, characterized in that: A leveling foot (13) is provided at the bottom of the base plate (12), and the leveling foot (13) and the linear actuator (10) are connected via a connecting rod.

4. The attitude measuring instrument measurement and calibration device according to claim 3, characterized in that: The bottom plate (12) is arranged in a rectangular shape, and the leveling motors (9) are arranged symmetrically in pairs on the top surface of the bottom plate (12).

5. The attitude measuring instrument measurement and calibration device according to claim 4, characterized in that: The support pillars (1) are vertically arranged at the four corners of the top surface of the base plate (12), and the support pillars (1) and the base plate (12) are connected by bolts.

6. The attitude measuring instrument measurement and calibration device according to claim 5, characterized in that: The control box (8) is configured to be U-shaped, and the groove of the control box (8) is used to place the slide rail (3).

7. The attitude measuring instrument measurement and calibration device according to claim 6, characterized in that: The posture measuring instrument installation device comprises a mounting plate (14) and a traction shell (15); the mounting plate (14) and the base plate (12) are arranged in parallel; the side of the traction shell (15) is slidably connected to the slide rail (3); and the top of the traction shell (15) is bolted to the mounting plate (14).

8. The attitude measuring instrument measurement and calibration device according to claim 1, characterized in that: The lifting and lowering mechanism, the automatic leveling mechanism and the control mechanism are connected. The control mechanism is provided with a host computer and a transmission device. The host computer and the transmission device are connected.

9. The attitude measuring instrument measurement and calibration device according to claim 8, characterized in that: The control mechanism also includes a motor driver (16). At least five motor drivers (16) are provided, which are arranged on the top surface of the base plate (12) and are respectively connected to the leveling motor (9) and the servo motor (4).

10. The attitude measuring instrument measurement and calibration device according to claim 9, characterized in that: The control mechanism also includes a motion control card (17), which is arranged on the top surface of the base plate (12) and is connected to the transmission device and the motor driver (16) respectively.

Images