Motion track testing device of lodging mechanism

Abstract

The utility model provides a motion trail testing device of a lodging mechanism. The motion trail testing device comprises an electro-hydraulic oscillating cylinder, a tracker fixing device, a lodging mechanism fixing seat, a target tracker, a laser tracker and upper computer software written by an SA software platform, fixing the tracker fixing device on the electro-hydraulic oscillating cylinder; the lodging mechanism fixing seat is stably fixed; fixing the target tracker on the tracker fixing device; the laser tracker is started, and laser beams emitted by the laser tracker aim at the target tracker; and upper computer software written by the SA software platform is connected with the laser tracker. The utility model has the advantages of simple installation, no influence on the result by the installation position, real-time tracking, real-time measurement, simple measurement and high measurement accuracy.

Description

Technical Field

[0001] The utility model relates to the technical field of sensors, and specifically, to a motion trajectory testing device for a lodging mechanism. Background Art

[0002] The lodging mechanism is a rotating mechanism driven by an electro-hydraulic swing cylinder and is usually used in a direct drive device for the tilting angle of a product. Therefore, the quality of the pose parameters of the lodging mechanism directly affects the final control quality of the product, and reliable and accurate measurement of its pose parameters is required. Its operating range is ±50°, the positioning error is ±0.01°, and the positioning repeatability is ±0.005°.

[0003] When measuring the lodging mechanism conventionally, dial indicators are generally fixed at the starting point and the ending point, and the numerical deviation of the contact of the dial indicators is used to measure the stability of the lodging mechanism at the starting and ending points. This method has the following disadvantages: the installation of the dial indicators requires special space and position; the dial indicators are contact measurement, and there are high requirements for the contact points of the measured object. Summary of the Utility Model

[0004] Aiming at the defects in the prior art, the purpose of the utility model is to provide a motion trajectory testing device and method for a lodging mechanism.

[0005] According to a motion trajectory testing device for a lodging mechanism provided by the invention, it includes: a swing cylinder, a tracker fixing device, a target tracker, a laser tracker and a host computer;

[0006] The tracker fixing device is connected to the output end of the swing cylinder;

[0007] The target tracker is connected to the tracker fixing device;

[0008] The laser tracker has a laser output end, and the laser output end points to the target tracker;

[0009] The laser tracker is electrically connected to the host computer.

[0010] Preferably, it further includes: a fixing seat, and the swing cylinder is fixed on the fixing seat.

[0011] Preferably, the target tracker is rigidly connected to the swing cylinder through the tracker fixing device.

[0012] Preferably, the tracker fixing device has upper and lower working surfaces. The upper working surface is fixedly connected to the target tracker, and the lower working surface is used for fixedly connecting to the swing cylinder;

[0013] The upper working surface is in contact with the tracker. Corresponding to the spherical tracker, the upper working surface is an inner conical shape;

[0014] The lower working surface is in contact with the object to be measured. Corresponding to the object to be measured on the plane, the lower working surface is a plane and is fixed by magnetic adsorption, gluing or screws.

[0015] Preferably, the target tracker selects a 1.5-inch wide-field-of-view target mirror, which can effectively receive the laser emitted by the laser tracker within a ±60° three-dimensional fan-shaped range.

[0016] Preferably, the laser tracker includes a laser tracker with distance measurement and angle measurement functions.

[0017] Preferably, the swing cylinder includes an electro-hydraulic swing cylinder;

[0018] The swing cylinder is 2 to 3 meters away from the laser tracker.

[0019] Compared with the prior art, the utility model has the following beneficial effects:

[0020] The utility model is easy to install. Through the cooperation of the tracker fixing device and the swing cylinder, the installation position has no influence on the result, and it can perform real-time tracking, real-time measurement, simple measurement, and high measurement accuracy. It has the advantages of strong versatility, high measurement accuracy, and reliable operation, meeting the requirements of modularization, generalization, and serialization, and having remarkable practicability and economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] By reading the following detailed description of the non-limiting embodiments with reference to the accompanying drawings, other features, objects, and advantages of the utility model will become more apparent:

[0022] Figure 1 It is a schematic diagram for measuring the lodging mechanism;

[0023] Figure 2 It is a schematic diagram of the laser tracker working;

[0024] Among them, 1 is an electro-hydraulic swing cylinder;

[0025] 2 is a tracker fixing device;

[0026] 3 is a fixed seat;

[0027] 4 is a target tracker;

[0028] 5 is a laser tracker;

[0029] 6 is the upper computer software written by the SA software platform. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] The present utility model will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present utility model, but do not limit the present utility model in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several changes and improvements can still be made. These all belong to the protection scope of the present utility model.

[0031] Embodiment 1:

[0032] A device for testing the motion trajectory of a lodging mechanism according to the present invention includes: a swing cylinder, a tracker fixing device, a target tracker 4, a laser tracker 5, and a host computer 6;

[0033] The tracker fixing device 2 is connected to the output end of the swing cylinder 1;

[0034] The target tracker 4 is connected to the tracker fixing device 2;

[0035] The laser tracker 5 has a laser output end, and the laser output end points to the target tracker 4;

[0036] The laser tracker 5 is electrically connected to the host computer.

[0037] Specifically, it further includes: a fixed seat 3, and the swing cylinder 1 is fixed on the fixed seat 3.

[0038] Specifically, the target tracker 4 is rigidly connected to the swing cylinder 1 through the tracker fixing device 2.

[0039] Specifically, the tracker fixing device 2 has upper and lower working surfaces. The upper working surface is fixedly connected to the target tracker 4, and the lower working surface is used for fixedly connecting to the swing cylinder 1;

[0040] The upper working surface interfaces with the tracker. Corresponding to the spherical tracker, the upper working surface is an inner cone;

[0041] The lower working surface interfaces with the object to be measured. Corresponding to the flat object to be measured, the lower working surface is flat, and is fixed by magnetic adsorption, gluing or screws.

[0042] Specifically, the target tracker 4 selects a 1.5-inch wide-field target reflector, which can effectively receive the laser emitted by the laser tracker within a ±60° three-dimensional fan-shaped range.

[0043] Specifically, the laser tracker 5 includes a laser tracker with distance measurement and angle measurement functions.

[0044] Specifically, the swing cylinder 1 includes an electro-hydraulic swing cylinder;

[0045] The swing cylinder 1 is 2 to 3 meters away from the laser tracker 5.

[0046] Example 2:

[0047] Example 2 is a specific description based on Example 1.

[0048] The host computer software 6 written by Visual Studio displays the results calculated by the SA software, and converts the measurement data into a running trajectory diagram and trajectory data.

[0049] Connect the host computer software 6 written by the SA software platform to the laser tracker 5, so that the host computer software 6 written by the SA software platform can control the laser tracker 5 and obtain data.

[0050] Fix the fixed seat 3 of the lodging mechanism, and control the electro-hydraulic swing cylinder 1 to move. Due to the fixed connection, the tracker fixing device 2 and the target tracker 4 move together. The laser tracker 5 aims at the target tracker 4 to measure the motion parameters in real time;

[0051] Measure the pose changes at the start and end points during the movement of the electro-hydraulic swing cylinder 1, perform motion capture during the whole movement process, and record the speed change during the lodging process.

[0052] The measured motion parameters are calculated by the host computer software 6 written by the SA software platform to obtain the pose motion parameters and the stability parameters of the starting point and the end point, and display or save the data;

[0053] The target tracker 4 is rigidly connected to the electro-hydraulic swing cylinder 1. The moving pose of the measured component is the moving pose of the target tracker 4. As long as the target tracker 4 is tracked and measured, the pose parameters of the measured component are obtained. A polar coordinate measurement system centered on the host of the laser tracker 5 is established. The distance, horizontal angle and vertical angle from the target tracker 4 are measured by the laser tracker 5 to form a spatial rectangular coordinate value (x, y, z).

[0054] Example 3:

[0055] Example 3 is a preferred example of Example 1 to more specifically illustrate the present invention.

[0056] According to a method for testing the motion trajectory of a lodging mechanism provided by the present invention, as Figure 1 - Figure 2 shown, it includes:

[0057] Step S1: Install a tracker fixing device at the measurement position of the lodging mechanism, and install the target tracker on the tracker fixing device so that the target tracker moves synchronously with the lodging mechanism;

[0058] Step S2: Place the laser tracker at a preset distance from the platform of the lodging mechanism, and aim the laser head of the laser tracker at the target tracker;

[0059] Step S3: Utilize the tracking function of the tracker to measure the motion state of the lodging mechanism in real time;

[0060] Step S4: Calculate with the SA software and display the measured pose parameter results through the host computer.

[0061] Specifically, the tracker fixing device has upper and lower working surfaces with flatness requirements. The upper working surface is used to fix the target tracker, and the lower working surface is used to connect and fix with the moving platform;

[0062] The target tracker selects a 1.5-inch wide field-of-view target reflector, which can effectively receive the laser emitted by the laser tracker within the ±60° three-dimensional fan-shaped range;

[0063] The laser tracker selects a laser tracker with distance measurement and angle measurement functions;

[0064] The host computer software written by Visual Studio displays the results calculated by the SA software, and converts the measurement data into a running trajectory diagram and trajectory data.

[0065] Specifically, connect the host computer software written by the SA software platform to the laser tracker, so that the host computer software written by the SA software platform can control the laser tracker and obtain data.

[0066] Specifically, fix the fixing seat of the lodging mechanism, control the electro-hydraulic swing cylinder to move. Due to the fixed connection, the tracker fixing device and the target tracker move together, and the laser tracker aims at the target tracker to measure the motion parameters in real time;

[0067] Measure the pose changes at the start and end points during the movement of the electro-hydraulic swing cylinder, perform motion capture during the whole movement process, and record the speed change during the lodging process.

[0068] Specifically, the measured motion parameters are calculated by the host computer software written by the SA software platform to obtain the pose motion parameters and the stability parameters at the starting point and the ending point, and display the data or save the data;

[0069] The target tracker is rigidly connected to the electro-hydraulic swing cylinder. The moving pose of the measured component is the moving pose of the target tracker. As long as the target tracker is tracked and measured, the pose parameters of the measured component can be obtained. Establish a polar coordinate measurement system centered on the laser tracker host. The distance, horizontal angle, and vertical angle from the target tracker are measured by the laser tracker to form the spatial rectangular coordinate values x, y, z.

[0070] Example 4:

[0071] Example 4 is a preferred example of Example 1, which is used to illustrate the present invention more specifically.

[0072] The present invention also provides a device for testing the movement trajectory of a lodging mechanism. The device for testing the movement trajectory of the lodging mechanism can be realized by executing the process steps of the method for testing the movement trajectory of the lodging mechanism. That is, those skilled in the art can understand the method for testing the movement trajectory of the lodging mechanism as a preferred implementation manner of the device for testing the movement trajectory of the lodging mechanism.

[0073] A device for testing the movement trajectory of a lodging mechanism according to the present invention includes:

[0074] An electro-hydraulic swing cylinder, a tracker fixing device, a lodging mechanism fixing seat, a target tracker, a laser tracker, and a host computer software written by the SA software platform;

[0075] Fix the tracker fixing device on the electro-hydraulic swing cylinder;

[0076] Fix the lodging mechanism fixing seat stably;

[0077] Fix the target tracker on the tracker fixing device;

[0078] Start the laser tracker and aim the laser beam emitted by the laser tracker at the target tracker;

[0079] Connect the host computer software written by the SA software platform to the laser tracker.

[0080] Specifically, the tracker fixing device has upper and lower working surfaces with flatness requirements. The upper working surface is used to fix the target tracker, and the lower working surface is used to be connected and fixed to the moving platform;

[0081] The target tracker selects a 1.5-inch wide-field target reflector, which can effectively receive the laser emitted by the laser tracker within a ±60° three-dimensional fan-shaped range;

[0082] The laser tracker selects a laser tracker with distance measurement and angle measurement functions;

[0083] The host computer software written by the SA software platform displays the results calculated by the SA software through the host computer software written by Visual Studio, and converts the measurement data into a running trajectory diagram and trajectory data.

[0084] Specifically, connect the host computer software written by the SA software platform to the laser tracker, so that the host computer software written by the SA software platform can control the laser tracker and obtain data.

[0085] Specifically, the fixed seat of the lodging fixing mechanism controls the electro-hydraulic swing cylinder to move. Due to the fixed connection, the tracker fixing device and the target tracker move together. The laser tracker aims at the target tracker to measure the motion parameters in real time;

[0086] During the movement of the electro-hydraulic swing cylinder, the pose changes at the start and end points are measured, motion capture is performed throughout the movement process, and the speed change during the lodging process is recorded.

[0087] Specifically, the measured motion parameters are calculated by the upper computer software written by the SA software platform to obtain the pose motion parameters and the stability parameters of the starting point and the end point, and the data is displayed or saved;

[0088] The target tracker is rigidly connected to the electro-hydraulic swing cylinder. The moving pose of the measured component is the moving pose of the target tracker. As long as the target tracker is tracked and measured, the pose parameters of the measured component can be obtained. A polar coordinate measurement system centered on the laser tracker host is established, and the distance, horizontal angle, and vertical angle from the target tracker are measured by the laser tracker to form the spatial rectangular coordinate values x, y, and z.

[0089] Embodiment 5:

[0090] Embodiment 5 is a preferred example of Embodiment 1 to more specifically illustrate the present invention.

[0091] This patent designs a measurement method including a laser tracker, a target tracker, a tracker fixing device, and an SA software platform.

[0092] To achieve the above object, the concept of this patent is as follows: By installing a tracker fixing device at the measurement position of the lodging mechanism and installing the target tracker on the tracker fixing device, the target tracker follows the lodging mechanism to move synchronously. The laser tracker is placed 2-3 meters away from the lodging mechanism platform. The laser head of the laser tracker aims at the target tracker. Using the tracking function of the tracker, the motion state of the lodging mechanism is measured in real time. Finally, it is calculated by the SA software and the pose parameter results measured are displayed by the upper computer.

[0093] The most prominent technical improvement: During the movement of the electro-hydraulic swing cylinder (lodging mechanism), not only the pose changes at the start and end points are measured, but also motion capture is performed throughout the movement process. The speed change during the lodging process is recorded in detail.

[0094] According to the above concept of the utility model, the following technical solutions are adopted by the present invention:

[0095] Tracker fixing device: It has upper and lower working surfaces with flatness requirements. The upper working surface is used to fix the target tracker, and the lower working surface is used to connect and fix to the moving platform. Target tracker: A 1.5-inch wide-field target mirror is selected, which can effectively receive the laser emitted by the laser tracker within a ±60° three-dimensional fan range. Laser tracker: A laser tracker with distance measurement and angle measurement functions is selected. Host computer software: The host computer software written through Visual Studio displays the results calculated by the SA software and converts the measurement data into a running trajectory diagram and trajectory data.

[0096] It includes the electro-hydraulic swing cylinder (lodging mechanism) to be measured, tracker fixing device, lodging mechanism fixing seat, target tracker, laser tracker, and host computer software written on the SA software platform.

[0097] Steps of using this measurement method:

[0098] Fix the fixing seat stably;

[0099] Fix the tracker fixing device on the electro-hydraulic swing cylinder;

[0100] Fix the target tracker on the tracker fixing device;

[0101] Start the laser tracker and aim the laser beam emitted by the laser tracker at the target tracker;

[0102] Connect the host computer software written on the SA software platform to the laser tracker so that the host computer software written on the SA software platform can control the laser tracker and obtain data;

[0103] Fix the lodging mechanism fixing seat, control the electro-hydraulic swing cylinder (lodging mechanism) to move. Due to the fixed connection, the tracker fixing device and the target tracker move together, and the laser tracker aims at the target tracker to measure the motion parameters in real time;

[0104] The motion parameters obtained by measurement are calculated by the host computer software written on the SA software platform to obtain the pose motion parameters and the stability parameters of the starting point and the ending point, and the data can be displayed or saved.

[0105] The target tracker is rigidly connected to the electro-hydraulic swing cylinder (lodging mechanism). Therefore, the moving pose of the measured component is the moving pose of the target tracker. As long as the target tracker is tracked and measured, the pose parameters of the measured component can be obtained. A polar coordinate measurement system centered on the laser tracker host is established, and the distance, horizontal angle, and vertical angle from the target tracker can all be measured by the laser tracker. Thus, the spatial rectangular coordinate values (x, y, z) are formed.

[0106] Those skilled in the art know that, in addition to implementing the system and its various devices, modules, and units provided by the present utility model in the form of pure computer-readable program code, it is entirely possible to achieve the same functions by logically programming the method steps so that the system and its various devices, modules, and units provided by the present utility model are implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Therefore, the system and its various devices, modules, and units provided by the present utility model can be considered as a kind of hardware component, and the devices, modules, and units included therein for implementing various functions can also be regarded as the structures within the hardware component; the devices, modules, and units for implementing various functions can also be regarded as either software modules for implementing the method or structures within the hardware component.

[0107] The specific embodiments of the present utility model have been described above. It should be understood that the present utility model is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present utility model. Without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A motion trajectory testing device for a lodging mechanism, characterized in that: include: Swing cylinder (1), tracker fixing device (2), target tracker (4), laser tracker (5) and host computer (6); The tracker fixing device (2) is connected to the output end of the swing cylinder (1); The target tracker (4) is connected to the tracker fixing device (2); The laser tracker (5) has a laser output end, and the laser output end points to the target tracker (4); The laser tracker (5) is electrically connected to the host computer (6).

2. The motion trajectory testing device of the lodging mechanism according to claim 1, characterized in that: Also includes: A fixed seat (3), on which the swing cylinder (1) is fixed.

3. The motion trajectory testing device of the lodging mechanism according to claim 1, characterized in that: The target tracker (4) is rigidly connected to the swing cylinder (1) via the tracker fixing device (2).

4. The motion trajectory testing device of the lodging mechanism according to claim 1, characterized in that: The tracker fixing device (2) comprises an upper working surface and a lower working surface, wherein the upper working surface is fixedly connected to the target tracker (4), and the lower working surface is used to be fixedly connected to the swing cylinder (1); The upper working surface intersects with the tracker, and corresponding to the spherical tracker, the upper working surface is an inner cone; The lower working surface is connected with the object to be measured. For a planar object to be measured, the lower working surface is a plane and is fixed by magnetic attraction, gluing or screws.

5. The motion trajectory testing device of the lodging mechanism according to claim 1, characterized in that: The target tracker (4) uses a 1.5-inch wide-field target reflector to effectively receive the laser emitted by the laser tracker within a ±60° stereo fan range.

6. The motion trajectory testing device of the lodging mechanism according to claim 1, characterized in that: The laser tracker (5) comprises a laser tracker with distance measurement and angle measurement functions.

7. The motion trajectory testing device of the lodging mechanism according to claim 1, characterized in that: The swing cylinder (1) comprises an electro-hydraulic swing cylinder; The swing cylinder (1) is 2 to 3 meters away from the laser tracker (5).

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