Space coordinate acquisition device

Abstract

The utility model discloses a space coordinate acquisition device, comprising a chassis, a first angle encoder fixedly connected to the chassis, and a wire wheel connecting shaft movably connected to the first angle encoder; the second angle encoder is fixedly connected to the upper surface of the chassis, and a support is movably connected to the second angle encoder; the pull wire shaft is rotationally connected to the support, a connecting rod is fixedly connected to the pull wire shaft, a pull wire encoder steel wire rope is fixedly connected to the connecting rod, and a pull wire encoder is fixedly connected to the pull 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 bracket and the stay wire shaft are not coupled in the moving process.

Description

Technical Field

[0001] The utility model relates to the technical field of spatial coordinate devices, and particularly relates to a spatial coordinate acquisition device. Background Art

[0002] In the related art, the measurement of spatial positions is mainly based on optical devices and wireless signal devices, such as theodolites, laser trackers, indoor GPS (Global Positioning System) positioning systems, etc. These devices need to be installed at specific positions, with inflexible erection and high prices. Currently, the main methods for measuring the relative spatial positions of objects are as follows: One is laser tracker calibration, which has high accuracy but is affected by the spatial environment and high cost due to its high price; the second is multi-laser displacement measurement. Chinese Patent CN104180756 discloses a method for measuring the relative displacement of docking parts by a laser displacement sensor. By constructing three reflecting 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 beam positions emitted by the laser displacement sensors on the three reflecting 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 reflecting planes is relatively complex in some cases and is also restricted by space, with poor on-site practicability; the third is wire-pulling measurement. Existing wire-pulling measurement devices are mostly three-wire or four-wire measurement devices, and there is no single-wire-pulling measurement method yet. The structural algorithm is relatively complex and not easy to operate. Summary of the Utility Model

[0003] Aiming at the deficiencies existing in the prior art, the purpose of the utility model is to provide a spatial coordinate acquisition device, which has a simple structure, is convenient to install, and the structures are vertically arranged, and there is no coupling relationship between the bracket and the wire-pulling shaft during the movement process. To achieve the above-mentioned purpose and other advantages according to the utility model, a spatial coordinate acquisition device is provided, including:

[0004] A chassis, on which a first angle encoder is fixedly connected, and a wire wheel connecting shaft is movably connected to the first angle encoder;

[0005] A second angle encoder fixedly connected to the upper surface of the chassis, and a bracket is movably connected to the second angle encoder;

[0006] A wire-pulling shaft rotatably connected to the bracket, on which a connecting rod is fixedly connected, a wire-pulling encoder steel wire rope is fixedly connected to the connecting rod, and a wire-pulling encoder is fixedly connected to the wire-pulling encoder steel wire rope.

[0007] Preferably, the bracket includes a first mounting plate, a first bearing seat fixedly connected to the first mounting plate, a roller mounting bracket fixedly connected to the first mounting plate, and a second bearing seat fixedly connected to the roller mounting bracket. Both ends of the wire drawing shaft are rotatably mounted on the first bearing seat and the second bearing seat through bearings.

[0008] Preferably, a mounting hole is formed in the first mounting plate, the wire wheel connecting shaft extends out of the mounting hole, and the surface of the wire wheel connecting shaft extends out of the surface of the roller mounting bracket.

[0009] Preferably, a plurality of roller mounting holes are respectively formed on opposite side surfaces of the roller mounting bracket, a roller is rotatably connected in each roller mounting hole, and a wire groove is formed in each roller.

[0010] Preferably, a wire rope is located in the bracket, one end of the wire rope is sleeved on the wire wheel connecting shaft, and the other end of the wire rope is sleeved on the end of the wire drawing shaft far from the wire wheel connecting shaft.

[0011] Preferably, the middle part of the wire rope passes over a plurality of rollers, and a part of the middle of the wire rope is located on the lower end surface of the roller.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: A wire rope of a wire drawing encoder is fixedly connected to the connecting rod. When the wire drawing encoder moves up and down, the wire drawing shaft drives the wire wheel connecting shaft to rotate. The rotation of the wire wheel connecting shaft drives the first angle encoder to rotate, so that the first angle encoder rotates to record its rotation angle swing, and the wire drawing encoder records the length change. As the wire drawing encoder is pulled left and right, the wire drawing shaft will drive the bracket to rotate around the Z axis. The rotation angle is recorded by an angle encoder installed on the bracket, and the wire drawing encoder records the length change. By collecting and calculating the data of these movement processes by the system, the spatial coordinates of the outlet of the wire drawing encoder during the movement process are obtained. During the movement process, there is a 1:1 coupling relationship between the bracket and the wire drawing shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a three-dimensional structure diagram of the spatial coordinate acquisition device according to the present invention;

[0014] Figure 2 is a three-dimensional structure diagram of the bracket of the spatial coordinate acquisition device according to the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0015] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0016] Referring to Figure 1-2 , a spatial coordinate acquisition device, comprising: a chassis 2, on which a first angle encoder 1 is fixedly connected, and a wire wheel connecting shaft 4 is movably connected to the first angle encoder 1;

[0017] A second angle encoder 3 fixedly connected to the upper surface of the chassis 2, and a bracket 5 is movably connected to the second angle encoder 3;

[0018] A wire drawing shaft 6 rotatably connected to the bracket 5, a connecting rod 7 is fixedly connected to the wire drawing shaft 6, a wire encoder steel wire rope is fixedly connected to the connecting rod 7, and a wire encoder 9 is fixedly connected to the wire encoder steel wire rope. The wire encoder steel wire rope swings up and down, thereby driving the rotation of the wire drawing shaft 6. Through the rotation of the wire drawing shaft 6, the wire rope 8 rotates, further driving the rotation of the wire wheel connecting shaft 4, and further driving the rotation of the first angle encoder 1.

[0019] Furthermore, the bracket 5 includes a first mounting plate 51, a first bearing seat 52 fixedly connected to the first mounting plate 51, a roller mounting frame 54 fixedly connected to the first mounting plate 51, and a second bearing seat 53 fixedly connected to the roller mounting frame 54. Both ends of the wire drawing shaft 6 are respectively rotatably mounted on the first bearing seat 52 and the second bearing seat 53 through bearings. An installation hole is provided in the first mounting plate 51, and the wire wheel connecting shaft 4 extends out of the installation hole, and the surface of the wire wheel connecting shaft 4 extends out of the surface of the roller mounting frame 54. A plurality of roller mounting holes are respectively provided on a pair of opposite side surfaces of the roller mounting frame 54, and a roller 55 is rotatably connected to each roller mounting hole, and a wire groove is provided in each roller 55. An adjustment gap is reserved between the roller 55 and the roller mounting hole, so that there is a tensioning interval for the wire rope 8. Driven by the wire encoder steel wire rope, the wire drawing shaft 6 rotates, thereby driving the wire rope 8 to drive the roller 55 to rotate, and then sequentially driving the wheel connecting shaft 4 to rotate.

[0020] Furthermore, for the wire rope 8, the wire rope 8 is located in the bracket 5, and one end of the wire rope 8 is sleeved on the wire wheel connecting shaft 4, and the other end of the wire rope 8 is sleeved on the end of the wire drawing shaft 6 away from the wire wheel connecting shaft 4. The middle part of the wire rope 8 passes through a plurality of rollers 55, and a part of the middle of the wire rope 8 is located on the lower end surface of the roller 55. The wire rope 8 is a steel wire belt, and the rotation of the wire wheel connecting shaft 4 is driven by the wire rope 8, and the rotation of the wire wheel connecting shaft 4 further drives the rotation of the first angle encoder 1.

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

[0022] Although the embodiments of the present utility model have been disclosed as above, they are not limited to the applications listed in the specification and the embodiments. It can be fully applied to various fields suitable for the present utility model. For those familiar with the field, additional modifications can be easily made. Therefore, without departing from the general concept defined by the claims and the equivalent scope, the present utility model is not limited to the specific details and the illustrated examples described herein.

Claims

1. A spatial coordinate acquisition device, characterized in that, Comprising: A chassis (2), a first angle encoder (1) fixedly connected to the chassis (2), and a wire wheel connecting shaft (4) movably connected to the first angle encoder (1); A second angle encoder (3) fixedly connected to the upper surface of the chassis (2), and a bracket (5) movably connected to the second angle encoder (3); A wire pulling shaft (6) rotatably connected to the bracket (5), a connecting rod (7) fixedly connected to the wire pulling shaft (6), a wire pulling encoder steel wire rope fixedly connected to the connecting rod (7), and a wire pulling encoder (9) fixedly connected to the wire pulling encoder steel wire rope.

2. The spatial coordinate acquisition device according to claim 1, characterized in that, The bracket (5) includes a first mounting plate (51), a first bearing seat (52) fixedly connected to the first mounting plate (51), a roller mounting frame (54) fixedly connected to the first mounting plate (51), and a second bearing seat (53) fixedly connected to the roller mounting frame (54). Two ends of the wire pulling shaft (6) are respectively rotatably mounted on the first bearing seat (52) and the second bearing seat (53) through bearings.

3. A spatial coordinate acquisition device according to claim 2, characterized in that, An installation hole is formed in the first mounting plate (51), the wire wheel connecting shaft (4) extends out of the installation hole, and the surface of the wire wheel connecting shaft (4) extends out of the surface of the roller mounting frame (54).

4. The spatial coordinate acquisition device according to claim 3, wherein A plurality of roller mounting holes are respectively formed in a pair of opposite side surfaces of the roller mounting frame (54), a roller (55) is rotatably connected in each roller mounting hole, and a wire groove is formed in each roller (55).

5. The spatial coordinate acquisition device according to claim 4, characterized in that, A wire rope (8), the wire rope (8) is located in the bracket (5), one end of the wire rope (8) is sleeved on the wire wheel connecting shaft (4), and the other end of the wire rope (8) is sleeved on one end of the wire pulling shaft (6) far from the wire wheel connecting shaft (4).

6. The spatial coordinate acquisition device according to claim 5, wherein The middle part of the wire rope (8) passes through a plurality of rollers (55), and a part of the middle of the wire rope (8) is located on the lower end surface of the roller (55).

Images