技术领域technical field
本实用新型涉及测量技术中的一种靶球辅助自适应响应装置，特别的涉及一种面向激光追踪测量仪的靶球辅助自适应响应装置。The utility model relates to a target ball auxiliary adaptive response device in the measurement technology, in particular to a target ball auxiliary adaptive response device facing a laser tracking measuring instrument.
背景技术Background technique
随着数字化测量技术的发展，在机械工程、桥梁建筑、地址勘探等越来越多的领域开始采用数字化技术确保测量过程的高效、高可靠性。对于小尺寸的目标对象而言，现有的测量技术已经可以很好的获得设计要求下测量结果，但对于大尺寸、高精度、远距离等要求下的测量过程必须借助特殊的技术设备，激光追踪测量技术是典型的应用范例。由于其较强的抗干扰能力、较低的误差累计以及良好的可靠性已逐渐被广泛用于工程实际。With the development of digital measurement technology, more and more fields such as mechanical engineering, bridge construction, and site exploration have begun to adopt digital technology to ensure the high efficiency and high reliability of the measurement process. For small-sized target objects, the existing measurement technology can already obtain the measurement results under the design requirements, but for the measurement process under the requirements of large size, high precision, long distance, etc., special technical equipment must be used, such as laser Tracking measurement technology is a typical application example. Because of its strong anti-interference ability, low error accumulation and good reliability, it has been widely used in engineering practice.
然而，激光跟踪测量是由激光发射器(Tracker)发生激光束到目标反射靶球(Spherically Mounted Retroreflector(SMR))，而后通过发射路径返回后重新进入发射器并转为电讯号，通过计算机计算得到目标的空间数据，因此，激光发射反馈路径不能存在遮挡，这在一定程度上限制了技术的应用环境。虽然现有的仪器厂家都利用断光续接技术来确保短暂遮挡后的连续测量能力，但一方面续接技术需要反射靶球和激光要处于一个特别狭窄的角度区域，在距离增加情况下，角度区域很难对准；另一方面对于大型目标物测量时，人为挪动靶球位置很容易发生激光和靶球脱联，或者靶球和目标点贴合不紧而导致测量结果无效的问题。However, the laser tracking measurement is made by the laser transmitter (Tracker) generating a laser beam to the target reflection target ball (Spherically Mounted Retroreflector (SMR)), and then returning through the launch path and re-entering the transmitter and converting it into an electrical signal, which is calculated by a computer Therefore, the laser emission feedback path cannot be blocked, which limits the application environment of the technology to a certain extent. Although the existing instrument manufacturers all use the interrupted light connection technology to ensure the continuous measurement capability after short-term occlusion, on the one hand, the connection technology requires the reflective target ball and the laser to be in a particularly narrow angle area. When the distance increases, It is difficult to align the angle area; on the other hand, when measuring a large target, it is easy to cause the laser and the target ball to be disconnected, or the target ball and the target point are not tightly fitted, resulting in invalid measurement results.
实用新型内容Utility model content
为了解决上述缺陷，本实用新型提供一种面向激光追踪测量仪的靶球辅助自适应响应装置，主要目的在于准确测量目标对象基础上可以让靶球在主动响应激光的变向。In order to solve the above defects, the utility model provides a target ball auxiliary adaptive response device for laser tracking measuring instruments. The main purpose is to allow the target ball to actively respond to the direction change of the laser on the basis of accurately measuring the target object.
本实用新型通过以下技术方案实现：一种面向激光追踪测量仪的靶球辅助自适应响应装置，其包括抵撑机构、转向机构、靶球包络、底座；其中，The utility model is realized through the following technical solutions: a target ball auxiliary self-adaptive response device for a laser tracking measuring instrument, which includes a supporting mechanism, a steering mechanism, a target ball envelope, and a base; wherein,
所述底座开设有通孔；The base is provided with a through hole;
所述抵撑机构包括支撑架和安装在所述支撑架底部的抵撑探针，所述支撑架用若干弹性件支撑在所述通孔的边缘；所述抵撑探针呈球冠形的一侧经由所述通孔穿透所述底座以与被测对象表面接触；The support mechanism includes a support frame and a support probe installed at the bottom of the support frame, and the support frame is supported on the edge of the through hole by several elastic pieces; the support probe is in the shape of a spherical crown One side penetrates the base through the through hole to contact the surface of the measured object;
所述靶球包络安装在所述支撑架上并位于所述抵撑探针的上方，用于安放一个靶球，并保证所述靶球的球心与所述抵撑探针同心；The target ball envelope is installed on the support frame and located above the supporting probe, for placing a target ball, and ensuring that the center of the target ball is concentric with the supporting probe;
所述转向机构安装在所述支撑架上，用于在Y轴方向、Z轴方向上分别旋转调节所述靶球包络的方位，使所述靶球包络上的靶球的反射面与激光接触、反射；定义X轴方向为垂直于所述靶球包络的圆形截面的方向，Y轴方向为平移于所述靶球包络的圆形截面的方向，Z轴方向为垂直于X轴方向、Y轴方向，三轴方向建立直角坐标系。The steering mechanism is installed on the support frame, and is used to rotate and adjust the orientation of the target ball envelope in the Y-axis direction and the Z-axis direction, so that the reflective surface of the target ball on the target ball envelope and the Laser contact and reflection; define the X-axis direction as the direction perpendicular to the circular section of the target ball envelope, the Y-axis direction as the direction of the circular section of the target ball envelope in translation, and the Z-axis direction as the direction perpendicular to the circular section of the target ball envelope The X-axis direction, the Y-axis direction, and the three-axis direction establish a rectangular coordinate system.
作为上述方案的进一步改进，所述弹性件为弹簧。As a further improvement of the above solution, the elastic member is a spring.
进一步地，所述底座上设置有与若干弹簧相对的若干导引柱，每个导引柱上套一个弹簧。Further, the base is provided with several guide columns opposite to the several springs, and each guide column covers a spring.
作为上述方案的进一步改进，所述底座还开设若干导引槽，每个导引槽与所述通孔相通，所述支撑架设置有收容在所述若干导引槽内且由相应若干导引槽导引的若干滑条。As a further improvement of the above solution, the base is also provided with a number of guide slots, each guide slot communicates with the through hole, and the support frame is provided with a Several sliders guided by slots.
作为上述方案的进一步改进，所述转向机构包括安装座，所述靶球包络的两端分别采用一个定位柱一通过插接的方式安装在所述安装座上。As a further improvement of the above-mentioned solution, the steering mechanism includes a mounting seat, and the two ends of the target ball envelope are respectively installed on the mounting seat by a positioning column through a plug-in method.
进一步地，所述转向机构还包括驱动所述定位柱一转动的转动电机一。Further, the steering mechanism further includes a rotating motor driving the positioning column to rotate.
再进一步地，所述安装座的顶部采用一个定位柱二通过插接的方式安装在所述支撑架上。Still further, the top of the installation seat is installed on the support frame by a positioning column 2 through plugging.
优选地，所述转向机构还包括驱动所述定位柱二转动的转动电机二。Preferably, the steering mechanism further includes a rotating motor 2 driving the positioning column 2 to rotate.
再优选地，两个转动电机分别通过六角凸台结构连接相应的定位柱。Still preferably, the two rotating motors are respectively connected to corresponding positioning posts through a hexagonal boss structure.
作为上述方案的进一步改进，所述靶球辅助自适应响应装置还包括控制模块，所述控制模块通过无线网络或者蓝牙模块接收控制信息并反馈所述靶球包络的角度位置信息。As a further improvement of the above solution, the target ball auxiliary adaptive response device further includes a control module, the control module receives control information through a wireless network or a Bluetooth module and feeds back the angular position information of the target ball envelope.
上述技术方案具有如下优点：通过采用本装置可以大幅度提高激光追踪技术测量大型对象时的效率及精度，减少人工干预；因为大型被测对象靶球的放置，测量点的变换以及连续测量的难度都限制了高精度激光追踪技术的工程实际应用，利用本装置可以在摆脱人工干预的情况下自适应贴合被测对象表面，并根据激光的光路调节靶球反射面，有效解决激光脱靶问题；同时，通过辅助移动机构，本装置可以进一步实现大型被测对象上的连续测量效果。The above technical solution has the following advantages: the efficiency and accuracy of laser tracking technology for measuring large objects can be greatly improved by using this device, and manual intervention can be reduced; because the placement of the target ball of the large object to be measured, the transformation of the measurement point and the difficulty of continuous measurement Both limit the practical engineering application of high-precision laser tracking technology. Using this device can adaptively fit the surface of the measured object without manual intervention, and adjust the reflective surface of the target ball according to the optical path of the laser, effectively solving the problem of laser off-target; At the same time, through the auxiliary moving mechanism, the device can further realize the effect of continuous measurement on large-scale measured objects.
附图说明Description of drawings
图1是本实用新型面向激光追踪测量仪的靶球辅助自适应响应装置的整体结构示意图。Fig. 1 is a schematic diagram of the overall structure of the target ball-assisted adaptive response device for laser tracking measuring instruments of the present invention.
图2是图1中装置各部分机构标注及相关尺寸的局部示意图。Fig. 2 is a partial schematic diagram of the mechanical labeling and related dimensions of each part of the device in Fig. 1 .
图3是图1中装置的支架及底座的作用原理的局部示意。Fig. 3 is a partial schematic diagram of the working principle of the bracket and the base of the device in Fig. 1 .
图4是图1中装置的应用范围及相关尺寸的局部示意图。Fig. 4 is a partial schematic diagram of the application range and relative dimensions of the device in Fig. 1 .
具体实施方式detailed description
以下结合实施例，对本实用新型进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本实用新型，并不限定本实用新型。Below in conjunction with embodiment, the utility model is described in further detail. It should be understood that the specific embodiments described here are only used to explain the utility model, not to limit the utility model.
请一并参阅图1、图2、图3及图4，本实用新型的面向激光追踪测量仪的靶球辅助自适应响应装置主要目的在于：准确测量目标对象基础上可以让靶球在主动响应激光的变向，由于靶球反射面为圆形，因此转动变相体现在围绕Y及Z方向的转动。靶球辅助自适应响应装置主要包括：抵撑机构1、转向机构2、靶球包络3、底座4、控制模块5。Please refer to Fig. 1, Fig. 2, Fig. 3 and Fig. 4 together. The main purpose of the target ball auxiliary adaptive response device for the laser tracking measuring instrument of the present invention is to allow the target ball to respond actively on the basis of accurate measurement of the target object. For the direction change of the laser, since the reflective surface of the target ball is circular, the rotation is reflected in the rotation around the Y and Z directions. The target ball auxiliary adaptive response device mainly includes: a support mechanism 1 , a steering mechanism 2 , a target ball envelope 3 , a base 4 , and a control module 5 .
抵撑机构1包括支撑架11和安装在支撑架11底部的抵撑探针12。底座4开设有通孔41，且还可以开设若干导引槽42，每个导引槽42与通孔41相通。底座4与支撑架11刚性连接，用作前三项机构的刚性约束支撑；四角有可调节穿孔槽，用于柔性连接其他装置机构，如辅助运动机构等。The support mechanism 1 includes a support frame 11 and a support probe 12 installed at the bottom of the support frame 11 . The base 4 is provided with a through hole 41 , and a plurality of guide grooves 42 may also be provided, and each guide groove 42 communicates with the through hole 41 . The base 4 is rigidly connected with the support frame 11, and is used as the rigid restraint support of the first three mechanisms; the four corners have adjustable perforated grooves, which are used for flexible connection with other device mechanisms, such as auxiliary movement mechanisms.
支撑架11支撑在通孔41的边缘，支撑的方式可以采用若干弹性件支撑在所述通孔的边缘，整个支撑架11实现弹性调节，弹性件可为弹簧14。底座4上可设置有与若干弹簧14相对的若干导引柱15，每个导引柱15上套一个弹簧14。利用若干弹簧14的拉力将支撑架11及放置在所述支撑架11上的靶球包络3向Z轴方向移动。在本实施例中，每个弹簧14内可以设置一个导引柱15，支撑架11内部用弹簧14与底座4连接，实现利用弹簧14的拉力将支撑架11及放置在支撑架11上的靶球包络3向Z轴方向移动，同时利用导引槽42的设计解决Z向移动过程中的晃动问题。故，弹簧14用于固定支撑架11的X、Y方向移动及转动自由度，并利用弹簧动态调节Z方向移动自由度，确保在测量过程中抵撑座底面时刻与待测对象保持接触。支架的形状如附图3所示。The support frame 11 is supported on the edge of the through hole 41 , and the support method can be supported by several elastic members on the edge of the through hole. The entire support frame 11 can be elastically adjusted, and the elastic member can be a spring 14 . The base 4 may be provided with several guide posts 15 opposite to the several springs 14 , and each guide post 15 is covered with a spring 14 . The support frame 11 and the target ball envelope 3 placed on the support frame 11 are moved to the Z-axis direction by the pulling force of several springs 14 . In this embodiment, a guide column 15 can be arranged in each spring 14, and the inside of the support frame 11 is connected to the base 4 with the spring 14, so that the support frame 11 and the target placed on the support frame 11 can be realized by the pulling force of the spring 14. The ball envelope 3 moves in the direction of the Z axis, and at the same time, the design of the guide groove 42 is used to solve the shaking problem during the movement in the Z direction. Therefore, the spring 14 is used to fix the freedom of movement and rotation in the X and Y directions of the support frame 11, and uses the spring to dynamically adjust the degree of freedom of movement in the Z direction to ensure that the bottom surface of the support seat is always in contact with the object to be measured during the measurement process. The shape of the bracket is shown in Figure 3.
抵撑探针12呈球冠形的一侧经由通孔41穿透底座4以与被测对象表面接触，抵撑探针12用于接触待测量区域。本实用新型采用抵撑机构1确保装置自适应实时与被测对象表面的接触，并利用同心、圆弧形的抵撑探针12确保底部任意点与被测表面接触均不影响测量结果。支撑架11设置有收容在若干导引槽42内且由相应若干导引槽42导引的若干滑条110。One side of the support probe 12 in the shape of a spherical crown penetrates the base 4 through the through hole 41 to contact the surface of the object to be measured, and the support probe 12 is used to contact the area to be measured. The utility model adopts the support mechanism 1 to ensure that the device is adaptive to contact with the surface of the measured object in real time, and uses the concentric and arc-shaped support probe 12 to ensure that any point on the bottom is in contact with the measured surface without affecting the measurement results. The supporting frame 11 is provided with a plurality of sliding bars 110 accommodated in the plurality of guiding grooves 42 and guided by the corresponding plurality of guiding grooves 42 .
靶球包络3安装在支撑架11上并位于抵撑探针12的上方，用于安放一个靶球，并保证所述靶球的球心与抵撑探针12同心。抵撑探针12的圆心与靶球的球心重合的目的是确保弧形面任何点接触对象均保证接触位置和靶球心得距离一致。抵撑探针12的弧形直径为60mm，如附图4所示。The target ball envelope 3 is installed on the support frame 11 and is located above the support probe 12 for placing a target ball and ensuring that the center of the target ball is concentric with the support probe 12 . The purpose of the coincidence of the center of circle of the support probe 12 with the center of the target ball is to ensure that any point on the arc surface touches the object to ensure that the contact position is consistent with the distance from the target ball. The arc diameter of the supporting probe 12 is 60 mm, as shown in FIG. 4 .
转向机构2安装在支撑架11上，用于在Y轴方向、Z轴方向上分别旋转调节靶球包络3的方位，使靶球包络3上的靶球的反射面与激光接触、反射。定义X轴方向为垂直于靶球包络3的圆形截面的方向，Y轴方向为平移于靶球包络3的圆形截面的方向，Z轴方向为垂直于X轴方向、Y轴方向，三轴方向建立直角坐标系。The steering mechanism 2 is installed on the support frame 11, and is used to rotate and adjust the orientation of the target ball envelope 3 in the Y-axis direction and the Z-axis direction respectively, so that the reflective surface of the target ball on the target ball envelope 3 contacts and reflects the laser light. . Define the X-axis direction as the direction perpendicular to the circular section of the target ball envelope 3, the Y-axis direction as the direction of the circular section of the target ball envelope 3, and the Z-axis direction as the direction perpendicular to the X-axis direction and the Y-axis direction , the three-axis direction establishes a Cartesian coordinate system.
转向机构2可包括安装座21、转动电机一22、转动电机一23。靶球包络3的两端可分别采用一个定位柱一24通过插接的方式安装在安装座21上。安装座21的顶部可采用一个定位柱二25通过插接的方式安装在支撑架11上。转动电机一22驱动定位柱一24转动，转动电机二23驱动定位柱二25转动。两个转动电机可分别通过六角凸台结构连接相应的定位柱。例如，与转动电机连接的定位柱的外形为外六角形状；所述六角凸台结构与相应的转动电机共轴连接，并开设有能收容外形为外六角形状的定位柱的内六角凹槽，一个内六角凹槽收容相应的一个定位柱。故，定位柱一24和定位柱二25的均可为六角结构，使得转向机构2实现内六角设计，在保证靶球包络3可以快速更换规格的情况下，不会引起经常更换导致的球心偏移问题，这一点非常实用，而且效果非常突出。The steering mechanism 2 may include a mounting base 21 , a rotating motor 1 22 , and a rotating motor 1 23 . The two ends of the target ball envelope 3 can respectively adopt a positioning column-24 to be installed on the mounting seat 21 by plugging in. The top of the mounting seat 21 can be installed on the support frame 11 by using a positioning column 25 in a plug-in manner. Rotating motor one 22 drives positioning column one 24 to rotate, and rotating motor two 23 drives positioning column two 25 to rotate. The two rotating motors can be respectively connected to the corresponding positioning posts through the hexagonal boss structure. For example, the shape of the positioning column connected to the rotating motor is an outer hexagonal shape; the hexagonal boss structure is coaxially connected with the corresponding rotating motor, and an inner hexagonal groove capable of accommodating the positioning column with an outer hexagonal shape is provided. An inner hexagon groove accommodates a corresponding positioning post. Therefore, both the positioning column 1 24 and the positioning column 2 25 can be hexagonal structures, so that the steering mechanism 2 realizes the inner hexagonal design, and under the condition that the specification of the target ball envelope 3 can be quickly changed, it will not cause ball damage caused by frequent replacement. The problem of heart offset is very practical and the effect is very prominent.
控制模块5通过无线网络或者蓝牙模块反馈当前角度信息，在控制计算机软件中实时计算预判光路信息，同时，利用无线技术接收控制信息来调节电机转动从而确定靶球反射面应面向的方位。靶球包络3设计的工作角度为，Y轴绕向-30°～60°、Z轴绕向45°～315°，可以确保装置在绝大多数的放置位置不会发生激光无法发射到反射球上的情况。转动电机有两个，放置位置分别为支撑架11的顶端和侧面，用于控制靶球包络3的Y、Z方向转动，如图所示。无线控制模5块放置于支撑架11的顶端，通过无线网络或蓝牙连接计算机，利用线缆可以控制转动电机的转动角度及转动方向。如附图4所示，工作角度为，Y轴绕向-30°～60°、Z轴绕向45°～315°。The control module 5 feeds back the current angle information through the wireless network or the Bluetooth module, calculates the predicted light path information in real time in the control computer software, and at the same time, uses the wireless technology to receive the control information to adjust the motor rotation so as to determine the orientation that the target ball reflecting surface should face. The target ball envelope 3 is designed to work at an angle of -30° to 60° around the Y axis and 45° to 315° around the Z axis, which can ensure that the device will not fail to emit laser light to reflectors in most placement positions. situation on the ball. There are two rotating motors, placed at the top and the side of the support frame 11 respectively, for controlling the Y and Z direction rotation of the target ball envelope 3, as shown in the figure. 5 wireless control modules are placed on the top of the support frame 11, connected to the computer through a wireless network or bluetooth, and the rotation angle and direction of rotation of the rotating motor can be controlled by cables. As shown in Figure 4, the working angle is -30°～60° around the Y axis, and 45°～315° around the Z axis.
靶球包络是用于放置靶球的空心容器，具有以下特点：可更换，由于靶球大小规格的不同需要更换包络结构，本装置中的包络结构可利用凸台结合螺钉确保其可更换；高可靠，需确保靶球不会随着机构运动调节而产生摆动、摇晃等现象，从而影响测量精度，因此，靶球包络外形近似为镂空圆柱，在侧面中心及顶面中心有六角凸台连接转向机构，保证更换包络机构不会导致偏心情况出现，如附图2所示。The target ball envelope is a hollow container for placing the target ball. It has the following characteristics: it can be replaced. Due to the different size and specifications of the target ball, the envelope structure needs to be replaced. The envelope structure in this device can use the boss combined with the screw to ensure that it can Replacement; high reliability, it is necessary to ensure that the target ball will not swing or shake with the adjustment of the mechanism movement, thereby affecting the measurement accuracy. Therefore, the envelope shape of the target ball is approximately a hollow cylinder, with hexagons in the center of the side and the center of the top surface The boss is connected to the steering mechanism to ensure that the replacement of the envelope mechanism will not cause eccentricity, as shown in Figure 2.
本实用新型的面向激光追踪测量仪的靶球辅助自适应响应装置，利用抵撑机构1实现抵撑探针12与被测对象表面的接触；利用转向机构2调节Y、Z轴的旋转调节，保证靶球的反射面与激光接触、反射；靶球包络3是用于安放靶球，并保证靶球的球心与抵撑探针12同心；底座4主要用于安放整个装置，并通过导引槽42及导引柱15的引导抵撑机构1运动。The target ball auxiliary self-adaptive response device for the laser tracking measuring instrument of the utility model uses the supporting mechanism 1 to realize the contact between the supporting probe 12 and the surface of the measured object; uses the steering mechanism 2 to adjust the rotation adjustment of the Y and Z axes, Ensure that the reflective surface of the target ball contacts and reflects the laser; the target ball envelope 3 is used to place the target ball, and ensure that the center of the target ball is concentric with the support probe 12; the base 4 is mainly used to place the entire device, and through The guide groove 42 and the guide column 15 guide the movement of the supporting mechanism 1 .
通过采用本装置可以大幅度提高激光追踪技术测量大型对象时的效率及精度，减少人工干预，实现在摆脱人工干预的情况下装置自适应贴合被测对象表面，并根据激光的光路调节靶球反射面，有效解决激光脱靶问题。因为利用控制盒搜集、反馈数据，并采用伺服电机控制Y、Z轴的转动，保证靶球反射面可以实时在激光发射的线路上，不会产生光路脱靶问题。By adopting this device, the efficiency and accuracy of laser tracking technology for measuring large objects can be greatly improved, human intervention can be reduced, and the device can be adaptively fitted to the surface of the measured object without manual intervention, and the target ball can be adjusted according to the optical path of the laser. The reflective surface effectively solves the problem of laser off-target. Because the control box is used to collect and feed back data, and the servo motor is used to control the rotation of the Y and Z axes, it is ensured that the reflective surface of the target ball can be on the laser emission line in real time, and there will be no problem of optical path off-target.
综上所述，本装置以靶球的球心为原点，以垂直于靶球包络3前方正面为X方向，以平行于靶球包络3的圆形截面为Y方向，以垂直于X、Y方向为Z向建立直角坐标系，如附图1所示。本装置通过放置底板即底座4固定于待测对象或其他装置机构之上，通过抵撑机构1中的弹簧14的拉伸之力将支撑架11向Z向拉升，确保支撑架11底部的抵撑探针12与待测面接触。抵撑探针12的弧形待测面圆心与靶球球心重合，半径为60mm，即所测得点与靶心距离为固定值：60mm；在弹簧14作用过程中，支撑架11背部和底座4中的导引槽42形成导引装置，保证装置X、Y方向移动及转动自由度的限制，如附图4所示。由于激光追踪技术的使用需要确保光路传递方向上无遮挡物，因此装置在支架的设计中开放了靶球包络3的前方区域，以靶球中心为原点，以Z方向为轴的左右270度范围，和以Y方向为轴的上下90度是无遮挡的光路入射及反射区域。To sum up, the device takes the center of the target ball as the origin, the X direction perpendicular to the front of the target ball envelope 3, the Y direction parallel to the circular section of the target ball envelope 3, and the X direction perpendicular to the X direction. , The Y direction establishes a Cartesian coordinate system for the Z direction, as shown in Figure 1. The device is fixed on the object to be measured or other device mechanisms by placing the bottom plate, that is, the base 4, and the support frame 11 is pulled up in the Z direction by the stretching force of the spring 14 in the support mechanism 1 to ensure that the bottom of the support frame 11 The supporting probe 12 is in contact with the surface to be tested. The center of the arc-shaped surface to be measured that supports the probe 12 coincides with the center of the target ball, and the radius is 60mm, that is, the distance between the measured point and the target is a fixed value: 60mm; during the action of the spring 14, the back of the support frame 11 and the base 4 The guide groove 42 in the guide device forms a guide device, which ensures that the movement of the device in the X and Y directions and the limitation of the degree of freedom of rotation are shown in Figure 4. Since the use of laser tracking technology needs to ensure that there is no obstruction in the transmission direction of the optical path, the front area of the target ball envelope 3 is opened in the design of the device, with the center of the target ball as the origin and the Z direction as the axis at 270 degrees left and right The range, and the upper and lower 90 degrees with the Y direction as the axis are unobstructed light path incidence and reflection areas.
为确保可以实现对于激光的主动相应，本装置在抵撑机构1的支撑架11的顶端和侧面分别安装了转动电机，可以控制Y、Z方向的转动自由度。转动电机通过线路和安装于支撑架11上的控制模块5连接，控制模块5通过无线网路或者蓝牙模块接收控制信息并反馈角度位置信息，达到远程控制的目的。In order to ensure the active response to the laser, the device is equipped with rotating motors on the top and side of the support frame 11 of the supporting mechanism 1, which can control the rotational freedom in the Y and Z directions. The rotating motor is connected with the control module 5 installed on the support frame 11 through a line, and the control module 5 receives control information and feeds back angle position information through a wireless network or a Bluetooth module, so as to achieve the purpose of remote control.
转动电机连接转动平台即定位柱，转动平台上有深度为6mm的内六角凹腔，内六角凹腔的间隔面上分布三个螺钉孔。靶球包络3的侧面及安装座21的顶端同样有六角凸柱及螺钉孔，装配过程中，由于内六角的贴合效应及螺钉孔的固定可以确保靶球包络的球心位置不会因为震动、更换等因素发生偏离进而影响测量精度，如附图2所示。考虑到应用场景的不同，靶球大小存在有多种规格，因此靶球包络3的型号也存在多种，便于随时进行替换操作。The rotating motor is connected to the rotating platform, that is, the positioning column. There is an inner hexagonal cavity with a depth of 6mm on the rotating platform, and three screw holes are distributed on the interval surface of the inner hexagonal cavity. The side of the target ball envelope 3 and the top of the mounting seat 21 also have hexagonal bosses and screw holes. Deviations due to factors such as vibration and replacement will affect the measurement accuracy, as shown in Figure 2. Considering the different application scenarios, there are various specifications of the size of the target ball, so there are also various models of the target ball envelope 3, which is convenient for replacement at any time.
本装置的底座4与抵撑机构1有两个联络位置：一个是通过弹簧14拉力连接，确保Z向移动的自由度；第二个是支撑架11与底座4上的导引槽42的契合，通过凹凸衔接(如附图2显示)，形成导引效果同时固定支撑架11的X、Y移动自由度和X、Y、Z转动自由度。底座4的四角有长条圆角穿孔槽410，用于固定或柔性连接其他装置机构，如辅助运动机构等。The base 4 of the device has two contact positions with the supporting mechanism 1: one is connected by the tension of the spring 14 to ensure the freedom of movement in the Z direction; the second is the fit between the support frame 11 and the guide groove 42 on the base 4 , through the concavo-convex connection (as shown in Figure 2), a guiding effect is formed and the X, Y degrees of freedom of movement and the X, Y, Z rotation degrees of freedom of the support frame 11 are fixed at the same time. The four corners of the base 4 have long rounded perforated grooves 410 for fixing or flexibly connecting other device mechanisms, such as auxiliary movement mechanisms.
在实际测量过程中，计算机可以根据激光当前的发射角度以及本装着相对于激光发射器的位置计算出靶球包络3的合适方位可以有效反射激光，同时，通过无线网络或蓝牙连接获取当前靶球包络3的方位，计算Y、Z转动调节角度进而发送调节信息给控制模块5以驱动转动电机进行相应调节。In the actual measurement process, the computer can calculate the appropriate orientation of the target ball envelope 3 according to the current laser emission angle and the position of the device relative to the laser transmitter, which can effectively reflect the laser light. The azimuth of the ball envelope 3, calculate the Y, Z rotation adjustment angle and then send the adjustment information to the control module 5 to drive the rotation motor for corresponding adjustment.
综上所述，本实用新型的优势如下：In summary, the utility model has the following advantages:
1.采用抵撑机构(即具有弹性件的支撑座)确保装置自适应实时与被测对象表面的接触，并利用同心、圆弧形的抵撑探针确保底部任意点与被测表面接触均不影响测量结果；1. Use the support mechanism (that is, the support seat with elastic parts) to ensure that the device is adaptive and in real-time contact with the surface of the measured object, and use concentric and arc-shaped support probes to ensure that any point on the bottom is evenly in contact with the measured surface Does not affect the measurement results;
2.利用控制盒搜集、反馈数据，并采用伺服电机控制Y、Z轴的转动，保证靶球反射面可以实时在激光发射的线路上，不会产生光路脱靶问题；2. Use the control box to collect and feed back data, and use the servo motor to control the rotation of the Y and Z axes to ensure that the reflective surface of the target ball can be on the laser emission line in real time, and there will be no off-target problems in the optical path;
3.转动机构采用内六角设计，在保证靶球包络机构可以快速更换规格的情况下，不会引起经常更换导致的球心偏移问题；3. The rotating mechanism adopts an inner hexagonal design, which will not cause the problem of ball center offset caused by frequent replacement while ensuring that the target ball envelope mechanism can quickly change specifications;
4.支撑座内部用弹簧与放置底板连接，利用弹簧的拉力将支架及放置在支架上的靶球机构向Z轴法向移动，同时利用导引槽设计解决Z向移动过程中的晃动问题；4. The inside of the support seat is connected with the bottom plate by a spring, and the bracket and the target ball mechanism placed on the bracket are moved to the normal direction of the Z-axis by the tension of the spring, and the design of the guide groove is used to solve the shaking problem during the Z-direction movement;
5.靶球包络设计的工作角度为，Y轴绕向-30○～60○、Z轴绕向45○～315○，可以确保装置在绝大多数的放置位置不会发生激光无法发射到反射球上的情况；5. The working angle of the target ball envelope design is that the Y axis is around -30○～60○, and the Z axis is around 45○～315○, which can ensure that the device will not fail to emit laser light in most of the placement positions. The situation on the reflective ball;
6.利用无线控制(wifi或者蓝牙技术)，在控制盒内接受光路信号，并通过实时计算可以提前预判并控制伺服电机的转动，从而确定靶球反射面应面向的方位。6. Using wireless control (wifi or bluetooth technology), the optical path signal is received in the control box, and through real-time calculation, the rotation of the servo motor can be predicted and controlled in advance, so as to determine the orientation that the target ball reflective surface should face.
以上所述仅为本实用新型的较佳实施例而已，并不用以限制本实用新型，凡在本实用新型的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本实用新型的保护范围之内。The above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present utility model shall be included in this utility model. within the scope of protection of utility models.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620795389.8UCN205809300U (en) | 2016-07-27 | 2016-07-27 | A kind of target ball towards laser traces measuring instrument assists automated response device |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620795389.8UCN205809300U (en) | 2016-07-27 | 2016-07-27 | A kind of target ball towards laser traces measuring instrument assists automated response device |
| Publication Number | Publication Date |
|---|---|
| CN205809300Utrue CN205809300U (en) | 2016-12-14 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620795389.8UActiveCN205809300U (en) | 2016-07-27 | 2016-07-27 | A kind of target ball towards laser traces measuring instrument assists automated response device |
| Country | Link |
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| CN (1) | CN205809300U (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106094889A (en)* | 2016-07-27 | 2016-11-09 | 中国电子科技集团公司第三十八研究所 | A kind of laser-bounce target ball actively self-adaptive regulating |
| CN107065123A (en)* | 2017-06-09 | 2017-08-18 | 中国科学院长春光学精密机械与物理研究所 | The side support pad fine adjustment positioner of large caliber reflecting mirror |
| CN110058405A (en)* | 2019-04-04 | 2019-07-26 | 中国电子科技集团公司第三十八研究所 | A kind of high speed rotation bias light wave reflection mechanism |
| CN111879281A (en)* | 2020-07-30 | 2020-11-03 | 成都经纬时空科技有限公司 | Long-range corner precise distance measuring device and measuring method |
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106094889A (en)* | 2016-07-27 | 2016-11-09 | 中国电子科技集团公司第三十八研究所 | A kind of laser-bounce target ball actively self-adaptive regulating |
| CN106094889B (en)* | 2016-07-27 | 2023-07-14 | 中国电子科技集团公司第三十八研究所 | Active self-adaptive adjustment device for laser reflective target ball |
| CN107065123A (en)* | 2017-06-09 | 2017-08-18 | 中国科学院长春光学精密机械与物理研究所 | The side support pad fine adjustment positioner of large caliber reflecting mirror |
| CN107065123B (en)* | 2017-06-09 | 2019-04-16 | 中国科学院长春光学精密机械与物理研究所 | The side support pad fine adjustment positioning device of large caliber reflecting mirror |
| CN110058405A (en)* | 2019-04-04 | 2019-07-26 | 中国电子科技集团公司第三十八研究所 | A kind of high speed rotation bias light wave reflection mechanism |
| CN111879281A (en)* | 2020-07-30 | 2020-11-03 | 成都经纬时空科技有限公司 | Long-range corner precise distance measuring device and measuring method |
| CN111879281B (en)* | 2020-07-30 | 2021-02-26 | 成都经纬时空科技有限公司 | Long-range corner precise distance measuring device and measuring method |
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| GR01 | Patent grant |