CN110954030A - Ball bearing angle measuring device and measuring method - Google Patents
Ball bearing angle measuring device and measuring method Download PDFInfo
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
本发明提供了球轴承测角装置及测量方法，应用于空间飞行器模拟仿真、精密测量和精密控制领域，包括凸球、凹球和CCD相机，凸球和凹球接触设置且作用面为球面结构，CCD相机设在凸球或凹球上；CCD相机设在凸球上时，凹球上设有多个CCD相机感应的识别标记；CCD相机设在凹球上时，凸球上设有多个CCD相机感应的识别标记；在CCD相机的可测范围内，识别标记的数量不少于4个。本发明给出一种测量同时测量三轴角位移的方法，测量方便、精度高；通过对凸球和凹球之间三轴角位移实时测量，实时监测执行结构的到位情况；也可以将实时三轴角位移测量数据，作为信号反馈使用，作为控制系统的一部分，实现角位移动态或静态控制目标。
The invention provides a ball bearing angle measuring device and a measuring method, which are applied to the fields of simulation, precision measurement and precision control of space vehicles, including a convex ball, a concave ball and a CCD camera. The convex ball and the concave ball are arranged in contact, and the action surface is a spherical structure , the CCD camera is set on the convex or concave sphere; when the CCD camera is set on the convex sphere, the concave sphere is provided with a plurality of identification marks sensed by the CCD camera; when the CCD camera is set on the concave sphere, there are many identification marks sensed by the CCD camera; within the measurable range of the CCD camera, the number of identification marks shall not be less than 4. The invention provides a method for simultaneously measuring three-axis angular displacement, which is convenient for measurement and high in precision; the real-time measurement of the three-axis angular displacement between the convex ball and the concave ball can monitor the in-position situation of the execution structure in real time; Triaxial angular displacement measurement data is used as signal feedback as part of the control system to achieve dynamic or static control objectives of angular displacement.
Description
Technical Field
The invention belongs to the field of space simulation precision measurement, is applied to space vehicle simulation, precision measurement and precision control, and relates to a ball bearing angle measuring device and a measuring method.
Background
With the development of aerospace technology, people can get on the outer space, in the field of outer space, equipment and machinery are in a weightless state, and the weightless state is greatly different from the environment with earth gravitation, but the transportation cost and the operation cost of the aerospace equipment are high, the success rate is strictly controlled, the high success rate is required, and otherwise, the loss is huge. Therefore, the space flight and aviation equipment needs to be tested and tested in a weightless simulation state to ensure the stability and reliability of the subsequent actual operation in the space field, and attitude control is one of the most important control targets in the flight process of the spacecraft, so that attitude non-contact measurement, namely the non-contact measurement of three-axis angles, needs to be carried out in real time in ground simulation and simulation tests. Various inertial navigation systems can carry out non-contact real-time measurement on three-axis angles, but have various defects of zero drift and the like due to indirect measurement, and have poor precision, stability and bandwidth ratio.
Disclosure of Invention
The invention aims to solve the problems that a ball bearing angle measuring device and a measuring method are provided, the position angle measurement is more convenient, the measuring precision is high, the attitude of a simulated spacecraft can be fed back in time, data can be fed back, the simulated spacecraft can be controlled to reach a specified position in time, the device can simulate the space field, the control precision is higher, and meanwhile, the method and the device for precisely measuring the three-axis angle in real time are provided and are applied to various precise measurement and control occasions.
In order to solve the technical problems, the invention adopts the technical scheme that: the ball bearing angle measuring device comprises a convex ball, a concave ball and a CCD camera, wherein the convex ball and the concave ball are arranged in a contact manner, the contact surface is of a spherical surface structure, and the CCD camera is arranged on the convex ball or the concave ball;
when the CCD cameras are arranged on the convex balls, a plurality of identification marks sensed by the CCD cameras are arranged on the concave balls;
when the CCD camera is arranged on the concave ball, a plurality of identification marks sensed by the CCD camera are arranged on the convex ball;
the number of the identification marks is not less than 4 within the measurable range of the CCD camera.
Furthermore, the convex ball and the concave ball are all universal ball bearing structures.
Further, the concave ball is fixedly arranged and is a cylinder, an inward-protruding positioning plate is arranged inside the concave ball, the CCD camera is fixedly arranged on the positioning plate and corresponds to the convex ball, and a position avoiding hole is formed in the position of the concave ball corresponding to the CCD camera.
Furthermore, keep away the position hole and be square structure and four corners and be equipped with the fillet.
Further, the number of the identification marks is multiple, and within the measurable range of the CCD camera, the angles a1, a2, A3.
Furthermore, the identification mark is arranged in the recessed blind hole and is flush with the outer surface of the carrier where the identification mark is located.
The measuring method using the ball bearing angle measuring device is carried out according to the following steps,
firstly, calibration is carried out, the reference of a CCD camera is the reference of the whole device, after the convex ball and the concave ball are installed, the mutual position of the axis of the CCD camera and the axis of a carrier on which the CCD camera is installed is determined, namely if the CCD camera is installed on the concave ball, the mutual position of the axis of the CCD camera and the axis of the concave ball is determined, and if the CCD camera is installed on the convex ball, the mutual position of the axis of the CCD camera and the axis of the convex ball is determined;
secondly, setting identification marks, setting equipment marks corresponding to the CCD camera on the floating carrier, setting the identification marks on the convex balls if the concave balls are fixed, setting the identification marks on the concave balls if the convex balls are fixed, and setting the number of the identification marks to be not less than 4 within the identification range of the CCD camera;
thirdly, forming an identification area by four identification marks, wherein the angles A1, A2, A3., A, B1, B2 and B3, B of the four identification marks in two directions are different, the deflection angle relative to the Z axis is determined by B1 and B2, and the combined deflection angle and angle of the X, Y direction are determined by a1, a2 and α;
fourthly, determining the rotation angle of the floating carrier relative to the fixed carrier, namely theta in an arc length formula below, and determining the rotation angle of the convex ball relative to the concave ball, namely the rotation angle relative to the CCD camera under the condition that the concave ball is fixed; determining the arc length S of the identification region and the radius R' corresponding to the arc length through the relationship between the rotation angle and the arc length, wherein the distance between the identification marks is the chord length L,
S＝Lθ/π(sinθ/2)；
the arc length is equal to 180 DEG divided by n (central angle) multiplied by pi multiplied by R (radius); in the present application, i.e., S ═ θ pi R '/180, where θ is the central angle number, R ' is the radius, and S is the central angle arc length, R ' is calculated;
the fifth step: and (3) comparing the data, namely comparing R 'in the fourth step with the radius of the floating carrier, and in the embodiment of the application, comparing R' with the radius of the convex ball to determine the moving angle and deviation condition of the convex ball.
Further, the coordinate is defined, the X axis is the left-right direction of the horizontal plane, the Y axis is the direction of the horizontal plane perpendicular to the X axis, the Z axis is the vertical direction perpendicular to the plane formed by the X axis and the Y axis, and the convex ball and the concave ball can generate relative rotation in three directions, namely, relative rotation among the X axis, the Y axis and the Z axis.
Compared with the prior art, the invention has the following advantages and positive effects.
1. The invention is provided with the convex ball, the concave ball and the CCD camera, and in a measurable range, the number of the identification marks of the mark points falling into the visual field is not less than 4, so that the extraction and calculation of coordinate parameters are convenient, and the detection precision is improved; namely the in-place situation of the convex ball, and the in-place situation is used as signal feedback to ensure that the executed piece, namely the convex ball, is in place to walk; measuring the existing position and angle, monitoring in real time, and determining the angular displacement is correct;
2. the CCD camera is adopted, so that the device has the characteristics of small volume, light weight, no influence of a magnetic field, strong vibration resistance and impact resistance, and is favorable for improving the detection effect;
3. the quantity of identification mark is a plurality of, and the axis circumference equipartition setting of the relative convex ball of a plurality of identification mark or concave ball just distributes for many rings from inside to outside equidistance and sets up, enlarges the test range, increases identification mark's test quantity, is favorable to the further promotion of test result.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a cross-sectional view of a ball bearing angle measuring device and measuring method of the present invention;
FIG. 2 is a schematic bottom view of the concave ball of the present invention;
FIG. 3 is a schematic top view of a concave ball according to the present invention;
FIG. 4 is a bottom view of the stud ball of the present invention;
FIG. 5 is a K-K rotational cross-sectional view of FIG. 4 in accordance with the present invention;
FIG. 6 is a front view of a stud ball according to the present invention;
FIG. 7 is a schematic diagram of the measurement of the identification mark of the present invention.
Reference numerals:
1. a convex ball; 2. a concave ball; 21. positioning a plate; 22. avoiding holes; 23. round corners; 3. a CCD camera; 4. the mark is identified.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The following detailed description of specific embodiments of the invention refers to the accompanying drawings.
The CCD camera is mainly used in a security system, and the image generation is mainly from the CCD camera, and the CCD is a charge coupled device (charge coupled device) for short, which can change light into electric charge and store and transfer the electric charge, and can also take out the stored electric charge to change the voltage, so it is an ideal CCD camera element.
As shown in fig. 1 to 7, the invention relates to a ball bearing angle measuring device and a measuring method, comprising a convex ball 1, a concave ball 2 and a CCD camera 3, wherein the convex ball 1 and the concave ball 2 are arranged in contact with each other, the contact surface or the action surface is a spherical surface structure, the CCD camera 3 is arranged on the convex ball 1 or the concave ball 2, and the ball bearing comprises a sliding ball bearing, a rolling ball bearing, a hydrostatic ball bearing and an air-float ball bearing;
when the CCD camera 3 is arranged on the convex ball 1, the concave ball 2 is provided with a plurality of identification marks 4 which are sensed by the CCD camera 3;
when the CCD camera 3 is arranged on the concave ball 2, a plurality of identification marks 4 which are sensed by the CCD camera 3 are arranged on the convex ball 1;
in the measurable range of the CCD camera 3, the number of the identification marks 4 is not less than 4, so that the accuracy and the reliability of the test structure are ensured.
Preferably, convex ball 1 and concave ball 2 are universal ball bearing structure, realize the sphere detection of ball bearing, reduce the degree of difficulty that the sphere detected.
Preferably, the concave ball 2 is fixedly arranged, the concave ball 2 is a cylinder, the inward-convex positioning plate 21 is arranged inside the concave ball 2, the CCD camera 3 is fixedly arranged on the positioning plate 21 and corresponds to the convex ball 1, the position where the concave ball 2 corresponds to the CCD camera 3 is provided with the avoidance hole 22, and after the avoidance hole 22 is arranged, the preparation of the CCD camera 3 is ensured to correspond to the identification mark 4, so that the whole structure is simple, the processing is convenient, and the processing cost is low.
Preferably, keep away position hole 22 and be square structure and four corners are equipped with fillet 23, avoid bumping the operator in the in-process of operation, promote the security of structure.
Preferably, the number of the identification marks 4 is plural, and the angles a1, a2, A3.. multidot.b 1, B2, and B3.. multidot.b of the four identification marks in two directions are different within the measurable range of the CCD camera 3.
Preferably, the identification mark is arranged in the recessed blind hole and is arranged parallel and level with the outer surface of the carrier where the identification mark is arranged, the numerical control machine tool is adopted for machining, the structure is simple, the machining is convenient, the machining cost is low, and the identification mark is arranged more quickly and conveniently.
In the actual working process, an identification mark 4 which can be sensed by a CCD camera 3 is made on the surface of a convex ball 1 of a ball bearing, the CCD camera 3 is installed on a concave ball 2 of a matching piece, the identification mark 4 is photographed in real time, the identification mark 4 can also be made on the concave ball 2, the CCD camera 3 is installed on the convex ball 1, the rotation of the convex ball 1 or the concave ball 2 can be realized by manual operation, air flotation or other external force, the CCD camera 3 photographs timely, an image signal is transmitted into a computer or a special processor, the processor adopts an industrial processor, preferably a PLC control center, the program debugging is simple, the mutual positions and specific angles of the convex ball 1 and the concave ball 2 are calculated, the angles A1, A2, A3., A3, B1, B2 and B3, B., and then promote the precision that detects, this simple structure, convenient operation is swift, and the angular surveying is simplified.
In this application, CCD camera 3 and identification mark 4 also can replace with equivalent structure, for example inductive switch and the protruding structure of response, infrared inductor or laser technique such as shoot can all realize the technical scheme of this application.
In the actual test process, the measurement method using the ball bearing angle measuring device is carried out according to the following steps.
Firstly, coordinates are defined, wherein the X axis is the left-right direction of a horizontal plane, the Y axis is the direction of the horizontal plane vertical to the X axis, the Z axis is the vertical direction of a plane formed by the X axis and the Y axis, and the convex ball and the concave ball can generate relative rotation in three directions, namely the relative rotation among the X axis, the Y axis and the Z axis.
Firstly, calibration is carried out, the reference of a CCD camera 3 is the reference of the whole device, after the convex ball 1 and the concave ball 2 are installed, the mutual position of the axis of the CCD camera 3 and the axis of a carrier on which the convex ball is installed is determined, namely if the CCD camera 3 is installed on the concave ball 2, the mutual position of the axis of the CCD camera 3 and the axis of the concave ball 2 is determined, if the CCD camera 3 is installed on the convex ball 1, the mutual position of the axis of the CCD camera 3 and the axis of the convex ball 1 is determined, the relative position relation in the initial state is determined, and the reference is provided for subsequent relative position comparison;
secondly, setting identification marks 4, setting equipment marks corresponding to the CCD camera 3 on a floating carrier, setting the identification marks 4 on the convex balls 1 if the concave balls 2 are fixed, setting the identification marks 4 on the concave balls 2 if the convex balls 1 are fixed, and setting the number of the identification marks 4 to be not less than 4 within the identification range of the CCD camera 3;
thirdly, forming an identification area by four identification marks 4, wherein the angles A1, A2, A3., A, B1, B2 and B3, B of the four identification marks 4 in two directions are different, the deflection angle relative to the Z axis is determined by B1 and B2, and the resultant deflection angle and angle of the X, Y direction are determined by a1, a2 and α;
fourthly, determining the rotation angle of the floating carrier relative to the fixed carrier, namely theta in the following arc length formula, according to the distance and the position in the third step, and determining the rotation angle of the convex ball 1 relative to the concave ball 2, namely the rotation angle relative to the CCD camera 3 under the condition that the concave ball 2 is fixed; determining the arc length S of the identification region and the radius R' corresponding to the arc length through the relationship between the rotation angle and the arc length, wherein the distance between the identification marks 4 is the chord length L,
S＝Lθ/π(sinθ/2)；
the arc length is equal to 180 DEG divided by n (central angle) multiplied by pi multiplied by R (radius); in the present application, i.e., S ═ θ pi R '/180, where θ is the central angle number, R ' is the radius, and S is the central angle arc length, R ' is calculated;
the fifth step: comparing the data, namely comparing R 'in the fourth step with the radius of the floating carrier, in the embodiment of the application, comparing the R' with the radius of the convex ball 1 to determine the moving angle and deviation condition of the convex ball 1, mainly measuring angular displacement in the application, and monitoring the in-place condition of the executing structure by judging the structure; namely the in-place situation of the convex ball 1, and the in-place situation is used as signal feedback to ensure that the executed piece, namely the convex ball 1, is in place to walk; and measuring the existing position and angle, monitoring in real time and determining the correct angular displacement.
The invention relates to an optical three-axis measuring method and device, which can accurately measure in real time at high frequency, namely, in a high-bandwidth mode in a non-contact mode.
While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (8)
1. Ball bearing angle measuring device, its characterized in that: the device comprises a convex ball, a concave ball and a CCD camera, wherein the convex ball and the concave ball are arranged in a contact manner, the acting surface is of a spherical surface structure, and the CCD camera is arranged on the convex ball or the concave ball;
when the CCD cameras are arranged on the convex balls, a plurality of identification marks sensed by the CCD cameras are arranged on the concave balls;
when the CCD camera is arranged on the concave ball, a plurality of identification marks sensed by the CCD camera are arranged on the convex ball;
the number of the identification marks is not less than 4 within the measurable range of the CCD camera.
2. A ball bearing goniometer assembly according to claim 1, characterized in that: the convex balls and the concave balls are all universal ball bearing structures.
3. A ball bearing goniometer assembly according to claim 1, characterized in that: the concave ball is fixedly arranged and is a cylinder, an inward convex positioning plate is arranged inside the concave ball, the CCD camera is fixedly arranged on the positioning plate and corresponds to the convex ball, and a position avoiding hole is formed in the position of the concave ball corresponding to the CCD camera.
4. A ball bearing goniometer assembly according to claim 3, characterized in that: keep away the position hole and be square structure and four corners and be equipped with the fillet.
5. A ball bearing goniometer assembly according to claim 1, characterized in that: the number of the identification marks is multiple, and angles A1, A2, A3., an, B1, B2 and B3.
6. A ball bearing goniometer assembly according to claim 1, characterized in that: the identification mark is arranged in the concave blind hole and is flush with the outer surface of the carrier where the identification mark is located.
7. A measuring method using the ball bearing angle measuring device according to any one of claims 1 to 6, characterized in that: the method comprises the following steps of (1),
firstly, calibration is carried out, the reference of a CCD camera is the reference of the whole device, after the convex ball and the concave ball are installed, the mutual position of the axis of the CCD camera and the axis of a carrier on which the CCD camera is installed is determined, namely if the CCD camera is installed on the concave ball, the mutual position of the axis of the CCD camera and the axis of the concave ball is determined, and if the CCD camera is installed on the convex ball 1, the mutual position of the axis of the CCD camera and the axis of the convex ball is determined;
secondly, setting identification marks, setting equipment marks corresponding to the CCD camera on the floating carrier, setting the identification marks on the convex balls if the concave balls are fixed, setting the identification marks on the concave balls if the convex balls are fixed, and setting the number of the identification marks to be not less than 4 within the identification range of the CCD camera;
thirdly, forming an identification area by four identification marks, wherein the angles A1, A2, A3., A, B1, B2 and B3, B of the four identification marks in two directions are different, the deflection angle relative to the Z axis is determined by B1 and B2, and the combined deflection angle and angle of the X, Y direction are determined by a1, a2 and α;
fourthly, determining the rotation angle of the floating carrier relative to the fixed carrier, namely theta in an arc length formula below, and determining the rotation angle of the convex ball relative to the concave ball, namely the rotation angle relative to the CCD camera under the condition that the concave ball is fixed; determining the arc length S of the identification region and the radius R' corresponding to the arc length through the relationship between the rotation angle and the arc length, wherein the distance between the identification marks is the chord length L,
S＝Lθ/π(sinθ/2)；
the arc length is equal to 180 DEG divided by n (central angle) multiplied by pi multiplied by R (radius); in the present application, i.e., S ═ θ pi R '/180, where θ is the central angle number, R ' is the radius, and S is the central angle arc length, R ' is calculated;
the fifth step: and (3) comparing the data, namely comparing R 'in the fourth step with the radius of the floating carrier, and in the embodiment of the application, comparing R' with the radius of the convex ball to determine the moving angle and deviation condition of the convex ball.
8. The measuring method of a ball bearing angle measuring device according to claim 7, characterized in that: the coordinates are defined, the X axis is the left-right direction of a horizontal plane, the Y axis is the direction of the horizontal plane vertical to the X axis, the Z axis is the vertical direction of a plane formed by the X axis and the Y axis, and the convex ball and the concave ball can generate relative rotation in three directions, namely the relative rotation among the X axis, the Y axis and the Z axis.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112519423A (en) * | 2020-12-02 | 2021-03-19 | 温州卓申自动化设备有限公司 | Automatic positioning device and positioning method for tennis ball center |
| CN119197239A (en) * | 2024-09-20 | 2024-12-27 | 济宁市海富电子科技有限公司 | A batch detection device for mobile phone shells |
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| CN103527620A (en) * | 2013-10-23 | 2014-01-22 | 合肥工业大学 | Spherical hinge capable of realizing rotation angle measurement and measurement method of rotation angle |
| CN110487218A (en) * | 2019-08-27 | 2019-11-22 | 杭州电子科技大学 | A kind of angle-measuring method of the novel ball hinge based on space indexing positioning |
| CN211012877U (en) * | 2019-12-26 | 2020-07-14 | 天津中精微仪器设备有限公司 | Ball bearing angle measuring device |
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2019
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| US6043873A (en) * | 1997-01-10 | 2000-03-28 | Advanced Optical Technologies, Llc | Position tracking system |
| CN103527620A (en) * | 2013-10-23 | 2014-01-22 | 合肥工业大学 | Spherical hinge capable of realizing rotation angle measurement and measurement method of rotation angle |
| CN110487218A (en) * | 2019-08-27 | 2019-11-22 | 杭州电子科技大学 | A kind of angle-measuring method of the novel ball hinge based on space indexing positioning |
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| CN112519423A (en) * | 2020-12-02 | 2021-03-19 | 温州卓申自动化设备有限公司 | Automatic positioning device and positioning method for tennis ball center |
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| CN119197239A (en) * | 2024-09-20 | 2024-12-27 | 济宁市海富电子科技有限公司 | A batch detection device for mobile phone shells |
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