CN101216291A - Six freedom degree platform precision measurement device - Google Patents
Six freedom degree platform precision measurement device Download PDFInfo
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- CN101216291A CN101216291A CNA2008100502657A CN200810050265A CN101216291A CN 101216291 A CN101216291 A CN 101216291A CN A2008100502657 A CNA2008100502657 A CN A2008100502657A CN 200810050265 A CN200810050265 A CN 200810050265A CN 101216291 A CN101216291 A CN 101216291A
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Abstract
The invention relates to a six-DOF platform precision measurement mechanism mainly used for automobile wheel alignment and motion state parameters measurement. The technical proposal includes that the platform precision measurement mechanism mainly comprises a fixed disk, a following disk and a measurement device. The invention is characterized in that the fixed disk (1) is connected with a following disk (9) via a link mechanism, the fixed disk (1) is kept immobilized during measurement, and the following disk is connected with a measured object; the link mechanism comprises a swing cylinder (3) and a guide rod assembly (8), one end of the swing cylinder (3) is connected with the fixed disk (1) via an universal coupling (2), the other end of the swing cylinder (3) is connected with the guide rod assembly (8) which is capable of freely expanding and sliding in the swing cylinder (3), the other end of the guide rod assembly (8) is connected with the following disk (9) via the universal coupling (2); and the measurement device is a grating scale sensor. The invention solves the problem of accurate and real-time measurement of automobile wheel state.
Description
Technical field
The present invention relates to a kind of six freedom degree platform precision measurement device, be mainly used in the measuring mechanism of automotive wheel location and motion state parameters.
Background technology
The six degree of freedom platform is used widely at present, is commonly referred to as 6-dof motion platform, and its structure is to adopt six hydraulic cylinders, and upper and lower each six universal coupling and upper and lower two platforms are formed.Lower platform is fixed on the basis, by the stretching motion of six hydraulic cylinders, finishes the motion of upper mounting plate at space six-freedom degree (X, Y, Z, α, beta, gamma), thereby can simulate various spatial movement attitudes.On upper mounting plate, be fixed with driving cabin or seat etc., can be widely applied to various training simulators as fields such as flight simulator, ship simulator, tank simulator, automobile driving simulator and simulation film amusements.Six-axis linkage lathe in this external processing industry, robot, joystick etc. also all have the six degree of freedom of employing platform technology.But it is still relatively more rare at present the six degree of freedom platform to be used for measuring mechanism, and particularly adopting grating chi sensor to form six degree of freedom platform measuring mechanism does not also have at present.
Summary of the invention
The object of the present invention is to provide a kind of six freedom degree platform precision measurement device of precision real time measuring automotive wheel state.
Above-mentioned purpose of the present invention is achieved in that accompanying drawings is as follows:
A kind of six degree of freedom precision measurement mechanism, it is mainly by shaft collar, follower disk and measurement mechanism are formed, said shaft collar 1 is connected with follower disk 9 by bindiny mechanism, shaft collar 1 is maintained fixed motionless when measuring, follower disk 9 is connected with testee, said bindiny mechanism comprises oscillating cylinder 3, guide rod assembly 8, oscillating cylinder 3 one ends wherein are connected with shaft collar 1 by universal coupling 2, the other end and be connected with guide rod assembly 8, guide rod assembly 8 can be in oscillating cylinder 3 free telescopic slide, the other end of guide rod assembly 8 is connected with follower disk 9 by universal coupling 2, and said measurement mechanism adopts grating chi sensor.
Said grating chi sensor comprises firm banking 4 and measuring head 5 two parts, the firm banking 4 of grating chi sensor is fixed on the oscillating cylinder 3 by line slideway 11, and the measuring head 5 of grating chi sensor is fixed to stirring on the arm assembly 7 on the guide rod assembly 8 by web member 6.
The port of total oscillating cylinder 3 that is connected with guide rod assembly 8 of this mechanism goes out to be provided with to prevent that guide rod assembly 8 from skidding off the stop means of oscillating cylinder 3.
Technique effect of the present invention
The measurement of wheel alignment parameter at present, mainly adopt two kinds of methods in the world: promptly the six degree of freedom mechanical arm is measured (being similar to space three-coordinates measuring machine mechanism) and according to the principle of " determining a plane at 3 ", install on three high-precision micro displacement sensors and the hub for vehicle wheel, the numerical value by three displacement transducers resolves angular displacement and the displacement of the lines of calculating wheel to be changed.Second sets of plan can only be measured three degree of freedom, and still needs to add in addition measuring mechanism when measuring other degree of freedom.Similar and first sets of plan of measuring principle of the present invention, but the six degree of freedom mechanical arm takies bigger space when measuring, the moment of inertia that produces when mechanical arm moves is to precision also influence to some extent, and can effectively address the above problem when adopting six degree of freedom measuring mechanism provided by the invention to measure, can realize the technique effect of precision real time measuring automotive wheel state.
Description of drawings
Fig. 1: six degree of freedom measuring mechanism overall pattern;
Fig. 2: six degree of freedom measuring mechanism each several part work block diagram.
Fig. 3: shaft collar, follower disk, oscillating cylinder, guide rod assembly in the six degree of freedom measuring mechanism, pull out the arrangement relation figure of arm assembly, grating chi sensor etc.
Among the figure: 1. shaft collar 2. universal couplings 3. oscillating cylinders 4. firm bankings 5. measuring heads 6. web members 7. are stirred arm assembly 8. guide rod assemblies 9. follower disks 10. nuts 11. line slideways 12. key seats 13. nuts 14. packing rings 15. packing rings 16. straight pins 17. fixed heads 18. towbars
Embodiment
Further specify the particular content of the present invention and the course of work thereof below in conjunction with accompanying drawing.
Six freedom degree platform precision measurement device mainly by measuring head 5, the web member 6 of the firm banking 4 of shaft collar 1, universal coupling 2, oscillating cylinder 3, grating chi sensor, grating chi sensor, stir arm assembly 7, guide rod assembly 8, follower disk 9, nut 10 and line slideway 11 etc. and form.Wherein an end of oscillating cylinder 3 is connected with shaft collar 1 by universal coupling 2, and the position of shaft collar 1 is to remain to maintain static when carrying out systematic survey.The port design of the other end of oscillating cylinder 3 has stop means, makes guide rod assembly 8 can not skid off oscillating cylinder 3.Guide rod assembly 8 one ends can be free to slide in swing, and the other end is connected with follower disk 9 by universal coupling.Guide rod assembly 8 all belongs to Precision Machining with the cylinder interior surface of oscillating cylinder 3, and guide rod assembly 8 can the almost friction free slip in oscillating cylinder 3 inside.Rail assembly 8 can freely stretch in oscillating cylinder 3, and its composition and principle of work are similar to hydraulic cylinder and the piston rod in the hydraulic cylinder.Grating chi sensor comprises firm banking 4 and measuring head 5 two parts, wherein firm banking 4 is mainly used in fixed grating chi sensor when measuring, and measuring head 5 is measurement mechanisms of grating chi sensor, measuring head 5 can be on firm banking 4 linear slide, on the measuring head 5 electrical signal output interface is arranged, output signal is exactly the slide displacement variable quantity of measuring head 5 on the firm banking 4 of grating chi sensor.Measuring head 5 links to each other with testee during measurement, and is subjected to displacement variation along with the change in displacement of testee.In this measurement mechanism, grating chi sensor is fixed on the oscillating cylinder 3 by firm banking 4.Because this measuring mechanism requires high precision, and if grating chi sensor runs into external interference when measuring, except slip longitudinally, also may produce the slight change in displacement of side direction between measuring head 5 and the firm banking 4.In order when measuring, to avoid this situation, by of the lateral shift of a line slideway 11 restriction measuring heads 5 with respect to firm banking 4, the slip that makes measuring head 5 when measuring keep straight lines with firm banking 4 all the time.Line slideway 11 also is by being bolted on the oscillating cylinder 3.
Because the measuring head 5 of grating chi sensor is shorter, in the time of therefore will being connected web member 6 must be installed with guide rod assembly 8.On guide rod assembly 8, install and stir arm assembly 7, stir arm assembly 7 and be subjected to displacement variation simultaneously, do not relatively move between the two with moving of guide rod assembly 8.Web member 6, one ends are installed are installed on the measuring head 5 of grating chi sensor, the other end is fixed to be stirred on the arm assembly 7, will guarantee that simultaneously the web member 6 and the relative position of guide rod assembly 8 remain level.When guide rod assembly 8 stretched, the arm assembly 7 of stirring on the guide rod assembly 8 also moved thereupon like this, stirred arm assembly 7 drive web members 6 simultaneously and was subjected to displacement variation.The web member 6 final measuring heads 5 that drive produce change in displacement.The change in displacement of measuring head 5 can record by measuring head 5, when stir arm assembly 7, when web member 6 has enough precision and rigidity, the displacement that measuring head 5 records is exactly the displacement telescopic variation amount of guide rod assembly 8 in oscillating cylinder 3.
Therefore when measuring, shaft collar 1 is maintained fixed, and follower disk 9 is subjected to displacement when changing, and also produces the relative displacement variation with the guide rod assembly 8 that follower disk 9 is connected by universal coupling.And by web member 6, the measuring head 5 of stirring the grating chi sensor that arm assembly 7 is connected with guide rod assembly 8 also can be moved under the effect of pulling force or pressure.Be maintained fixed because of shaft collar 1 simultaneously, also be maintained fixed by the oscillating cylinder 3 that universal coupling 2 is connected with shaft collar 1, the displacement that is fixed on the line slideway 11 on the oscillating cylinder 3 also is constant, cause that rail assembly 8 and measuring head 5 are to be subjected to displacement variation simultaneously when measuring, and variable quantity equates.Can go out the displacement variable of guide rod assembly 8 with grating chi sensor measurement by this principle.
Testee can change arbitrarily in the displacement in space, also the have living space change in displacement of six-freedom degree of the follower disk 9 that is connected with testee.And according to six degree of freedom platform motion kinetic theory, with six covers by grating chi sensor, web member 6, stir device such as arm assembly 7, guide rod assembly 8, oscillating cylinder 3 and arrange by universal coupling fixing with shaft collar 1 and follower disk 9 respectively according to certain space displacement.When follower disk 9 occurred in the space displacement variation, six guide rod assemblies 8 were understood the change in displacement that takes place in various degree like this, and six grating chi sensors are according to the different change in displacement signal of this change in displacement output.Resolve algorithm according to the six degree of freedom in the six-freedom motion kinetic theory, just can calculate the space displacement variation of follower disk 9 in the change in displacement of known six guide rod assemblies 8.If when follower disk 9 and automotive wheel are fixed together, when wheel is subjected to displacement when changing at the space six degree of freedom, relative displacement also can take place follower disk 9 changes, and when fixed random Moving plate 9 and automotive wheel between the two distance relation be known, if therefore can measure the space six-degree of freedom displacement of follower disk 9 changes, the space six-degree of freedom displacement that also just can calculate automotive wheel changes, and the measurement that the wheel space six-degree of freedom displacement is changed has important effect to the exploitation automobile chassis.
Mainly be divided into two steps when using six freedom degree platform precision measurement device to measure: the first step is the initial installing and locating (this installing and locating only need be located once and be got final product) of six degree of freedom platform self, promptly after each assembly of six degree of freedom platform is processed, the location that needs when building six degree of freedom measuring table itself.Because in the six degree of freedom platform technology, want to calculate the space displacement variation of follower disk 9 by the change in displacement of six guide rods, except using six displacement variable, the deployment scenarios that also needs the universal coupling 2 that is connected on angle (according to the restriction of mechanical mechanism aspect, this angle is can not change) between known each guide rod and follower disk 9 and the shaft collar 1 and shaft collar 1 and the follower disk 9 when measuring.Also will guarantee corresponding installation accuracy simultaneously when various piece is installed, therefore the accuracy to guarantee to measure when six freedom degree platform precision measurement device is installed, at first is fixed to the firm banking 4 of grating chi sensor on the oscillating cylinder 3 by line slideway 11.Simultaneously, measuring head 5 according to grating chi sensor is fixed to stirring on the arm assembly 7 on the guide rod assembly 8 by web member 6, then with guide rod assembly 8, is installed in the oscillating cylinder 3, guarantee guide rod assembly 8 and oscillating cylinder 3 coaxial installations, promptly guide rod assembly 8 slides in oscillating cylinder 3 and does not interfere.After installing guide rod assembly 8, add stop means,, at last parts such as six cover guide rod assemblies 8, oscillating cylinder 3 are fixed on shaft collar 1 and the follower disk 9 with universal coupling 2 respectively in order to avoid guide rod assembly 8 skids off oscillating cylinder 3 at oscillating cylinder 3 cylinder mouths.Will notice during installation on shaft collar 1 and the follower disk 9 that the eccentric distance of six universal couplings 2 distances is identical, and the angle at two universal couplings 2 that close on and center is 60 °.To guarantee also that simultaneously each oscillating cylinder 3 is all identical with the angle of follower disk 9 and shaft collar 1 with guide rod assembly 8 devices, and guarantee the centre dot that the vertical line of follower disk 9 and shaft collar 1 passes follower disk 9 and shaft collar 1 simultaneously.After installing, the sensor of six degree of freedom measuring table and physical construction needs to demarcate with certain TT﹠C system, just draw the relation between grating chi sensor head 5 moving displacements and the output signal, make the change in displacement situation that when measuring, can just measure measuring head 5 according to the electric signal of sensor output.To this position six freedom degree platform precision measurement device installation.
Second step was exactly to use six freedom degree platform precision measurement device testee is measured.Positional parameter with the measuring vehicle tire is an example: 1, finish six degree of freedom measuring table initial alignment; 2, tested vehicle is installed on the stand; 3, at first fixing shaft collar 1, then follower disk 9 is fixedlyed connected with wheel, guarantee shaft collar 1, follower disk 9 and wheel center conllinear; 4, begin to measure, when wheel tyre is subjected to displacement in the space when changing, wheel drives follower disk 9 and is subjected to displacement variation, along with guide rod assembly 8, stir arm assembly 7, web member 6 is subjected to displacement variation up to the measuring head 5 of grating chi scrambler thereupon.Grating chi sensor can accurately measure the change in displacement of guide rod assembly 8, to output signal to the control acquisition system then, gather displacement signal by the control acquisition system again, and by the six degree of freedom that inside writes in advance resolve algorithm calculate wheel space displacement change attitude.By measuring the change in displacement of wheel, just can calculate the performance quality of vehicle according to relevant automobile knowledge, still be that the research and development of vehicle all have important meaning no matter for vehicle detection.
Claims (3)
1. six degree of freedom precision measurement mechanism, it is mainly by shaft collar, follower disk and measurement mechanism are formed, it is characterized in that said shaft collar (1) is connected with follower disk (9) by bindiny mechanism, shaft collar (1) is maintained fixed motionless when measuring, follower disk (9) is connected with testee, said bindiny mechanism comprises oscillating cylinder (3), guide rod assembly (8), oscillating cylinder (3) one ends wherein are connected with shaft collar (1) by universal coupling (2), the other end is connected with guide rod assembly (8), guide rod assembly (8) can be in oscillating cylinder (3) free telescopic slide, the other end of guide rod assembly (8) is connected with follower disk (9) by universal coupling (2), and said measurement mechanism adopts grating chi sensor.
2. six degree of freedom precision measurement according to claim 1 mechanism, it is characterized in that said grating chi sensor comprises firm banking (4) and measuring head (5) two parts, the firm banking (4) of grating chi sensor is fixed on the oscillating cylinder (3) by line slideway (11), and the measuring head (5) of grating chi sensor is fixed to stirring on the arm assembly (7) on the guide rod assembly (8) by web member (6).
3. six degree of freedom precision measurement according to claim 1 and 2 mechanism, the port that it is characterized in that the oscillating cylinder (3) that is connected with guide rod assembly (8) is provided with and prevents that guide rod assembly (8) from skidding off the stop means of oscillating cylinder (3).
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| CNA2008100502657A CN101216291A (en) | 2008-01-17 | 2008-01-17 | Six freedom degree platform precision measurement device |
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| CNA2008100502657A CN101216291A (en) | 2008-01-17 | 2008-01-17 | Six freedom degree platform precision measurement device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102636140A (en) * | 2012-04-12 | 2012-08-15 | 重庆大学 | Telescopic parallel pull rod type device used for measuring spatial six-degree-of-freedom motion |
| CN103234442A (en) * | 2013-04-17 | 2013-08-07 | 吉林大学 | Device for measuring six degrees of freedom of platform |
| CN102080967B (en) * | 2009-11-30 | 2014-11-05 | 中国船舶重工集团公司第七0七研究所 | Method and device for measuring ascending and descending speeds of inertial navigation system |
| CN105798879A (en) * | 2016-04-26 | 2016-07-27 | 北京印刷学院 | Intelligent micro-motion robot of printer sleeve |
| CN105806180A (en) * | 2016-05-24 | 2016-07-27 | 吉林大学 | Orthogonal six-freedom-degree measuring device |
| CN109556517A (en) * | 2018-12-28 | 2019-04-02 | 中国科学院长春光学精密机械与物理研究所 | The sufficient locating platform of one kind six end pose real-time measurement system |
| CN113276766A (en) * | 2021-07-22 | 2021-08-20 | 江苏国行重工科技有限公司 | Automatic electronic early warning and temporary reinforcing device for automobile wheel swing |
-
2008
- 2008-01-17 CN CNA2008100502657A patent/CN101216291A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102080967B (en) * | 2009-11-30 | 2014-11-05 | 中国船舶重工集团公司第七0七研究所 | Method and device for measuring ascending and descending speeds of inertial navigation system |
| CN102636140A (en) * | 2012-04-12 | 2012-08-15 | 重庆大学 | Telescopic parallel pull rod type device used for measuring spatial six-degree-of-freedom motion |
| CN102636140B (en) * | 2012-04-12 | 2014-07-30 | 重庆大学 | Telescopic parallel pull rod type device used for measuring spatial six-degree-of-freedom motion |
| CN103234442A (en) * | 2013-04-17 | 2013-08-07 | 吉林大学 | Device for measuring six degrees of freedom of platform |
| CN103234442B (en) * | 2013-04-17 | 2015-05-27 | 吉林大学 | Device for measuring six degrees of freedom of platform |
| CN105798879A (en) * | 2016-04-26 | 2016-07-27 | 北京印刷学院 | Intelligent micro-motion robot of printer sleeve |
| CN105798879B (en) * | 2016-04-26 | 2017-11-28 | 北京印刷学院 | A kind of printing machine sleeve intelligence jiggle robot |
| CN105806180A (en) * | 2016-05-24 | 2016-07-27 | 吉林大学 | Orthogonal six-freedom-degree measuring device |
| CN105806180B (en) * | 2016-05-24 | 2018-04-27 | 吉林大学 | Orthogonal formula six degree of freedom measuring device |
| CN109556517A (en) * | 2018-12-28 | 2019-04-02 | 中国科学院长春光学精密机械与物理研究所 | The sufficient locating platform of one kind six end pose real-time measurement system |
| CN113276766A (en) * | 2021-07-22 | 2021-08-20 | 江苏国行重工科技有限公司 | Automatic electronic early warning and temporary reinforcing device for automobile wheel swing |
| CN113276766B (en) * | 2021-07-22 | 2021-11-09 | 江苏国行重工科技有限公司 | Automatic electronic early warning and temporary reinforcing device for automobile wheel swing |
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Open date: 20080709 |