CN101387889A - Three-degree-of-freedom pose adjustment error compensation device - Google Patents

Abstract

A three-degree-of-freedom position and posture adjustment error compensation device belongs to the field of mechanical technology. In the present invention, there are two threaded holes on the base plate, and there are two through holes outside the two ends of the first adjusting plate, and the first and second adjusting bolts are fixed to the two threaded holes on the base plate through the through holes of the first adjusting plate. Among them, there are two threaded holes at the inner symmetrical positions of the two ends of the first adjusting plate to fix the third and fourth adjusting bolts; The shape of the through hole is the same as that of the two adjustment plugs. There is a through hole in the center of the two adjustment plugs. The third and fourth adjustment bolts are fixed to the threads of the first adjustment plate through the through hole and the through hole of the second adjustment plate. In the hole, the spacer is arranged between the first and the second adjusting plate. The invention has simple structure and convenient operation. The three-degree-of-freedom pose adjustment and error compensation can be realized only by simple mechanical operation, and the adjustment process of the three-degree-of-freedom is relatively independent.

Description

Three-degree-of-freedom pose adjustment error compensation device

technical field

The invention relates to a device in the field of mechanical technology, specifically, a three-degree-of-freedom pose adjustment error compensation device.

Background technique

Most of the existing pose adjustment error compensation devices use a combination of software and hardware, that is, when the pose error is obtained, the movement of the mechanical structure is controlled through a predetermined program to achieve pose adjustment. Most of the mechanical structure adopts the combination of motor gear, motor guide rail slider, motor lead screw, etc., through the driving force provided by the motor, it drives the gear, lead screw and other transmission structures, and finally realizes the adjustment of the end pose. The general characteristics of these devices are that the program algorithm and mechanical structure are complex, the control process is highly dependent on software, and the implementation cost is high; in addition, most of them are single-degree-of-freedom pose adjustments, that is, only single-degree-of-freedom error compensation can be realized.

After searching the literature of the prior art, it was found that Miao Rongxia et al. published "Research on Spatial Pose Adjustment of Step-by-Step Imprinting" in "Journal of Missiles and Guidance" (2005), and proposed a set of spring guide rail bearings. Ultra-high-precision alignment and positioning system composed of film stage structure, driver and laser interferometer, and in order to eliminate the change of space pose of the film stage caused by imprinting force, the system adopts macro-micro two-stage drive and optimized imprinting process to realize Ultra-high-precision positioning of the film holder and adjustment of spatial posture. Specifically, the three-degree-of-freedom active adjustment of the space pose adopts three PZT drivers, and the space pose recovery of the film carrier is realized by means of the movement of the PZT in the imprinting mechanism. The system adopts the structure of RBF neural network fuzzy PID controller to realize the control of the macro drive, and the micro drive realizes the position control through the ultra-high precision capacitive sensor. It adopts macro-micro two-level positioning, and realizes ultra-high-precision positioning through macro-micro two-level ultra-high-precision movement. The pose adjustment method adopted by the system is a method commonly used in most pose adjustment devices at present, that is, high-precision pose adjustment is realized through sensors, controllers, and drivers. Its disadvantages are: just like most pose adjustment devices, the control process is complicated, the operation remains unchanged, and the cost is high. In some cases where the accuracy requirements are relatively unnecessary, the pose adjustment cannot be realized simply and quickly.

Contents of the invention

Aiming at the deficiencies of the prior art, the present invention provides a three-degree-of-freedom pose adjustment error compensation device, which solves the complex hardware structure, excessive reliance on software, unsimple operation, and adjustable degrees of freedom of most pose adjustment error compensation devices today. relatively limited problem. The invention has the characteristics of simple mechanical structure, no need for software participation in the operation process, only simple mechanical operation and simple and convenient operation process, and can realize three-degree-of-freedom pose adjustment.

The present invention is achieved through the following technical solutions, the present invention includes: a first adjustment plate, a second adjustment plate, two adjustment plugs, a first adjustment bolt, a second adjustment bolt, a third adjustment bolt, a fourth adjustment bolt, Spacers, substrates. Among them: there are two threaded holes on the base plate, and there are two through holes at the symmetrical position outside the two ends of the first adjustment plate along the length direction of the plate, and the first adjustment bolt and the second adjustment bolt are fixed on the two tapped holes on the base plate. There are two threaded holes at the symmetrical positions inside the two ends of the first adjusting plate for fixing the third adjusting bolt and the fourth adjusting bolt. There is a boss in the middle of the second adjustment plate, which is perpendicular to the length direction of the plate. There is a through hole in the center of the boss. There are two through holes at the symmetrical positions of the two ends of the second adjustment plate perpendicular to the length direction of the plate. The two adjustment plugs are connected with the first adjustment plate. The through holes at both ends of the second adjustment plate have the same shape, and there is a through hole in the center of the two adjustment plugs. The third adjustment bolt and the fourth adjustment bolt are fixed to the first adjustment plate through the through hole and the through holes at both ends of the second adjustment plate. in the threaded hole. The spacer is arranged between the first adjusting plate and the second adjusting plate.

The two through holes on the first adjustment plate are in the shape of semicircles at both ends and a rectangle in the middle.

The boss of the second adjustment plate is semi-cylindrical, and the through hole in the center of the boss is cylindrical.

The through holes at both ends of the second adjusting plate are in the shape of a cone on one side and a rectangle on three sides.

The spacer is a ring with a gap, and the gap is smaller than a quarter of the ring.

The shape of the two adjustment plugs is conical on one side, rectangular on three sides, and the through hole in the center is cylindrical.

The cylindrical through hole in the middle of the second adjustment plate is used to fix the component to be adjusted, and the ultimate goal of the present invention is to realize the error compensation between the actual pose and the target pose of the component through three-degree-of-freedom pose adjustment.

The first adjustment bolt and the second adjustment bolt are fixed in the threaded holes of the base plate through the through holes at both ends of the first adjustment plate. Due to the shape of the through holes at both ends of the first adjustment plate, it is determined that when the bolts are fixed, the first adjustment The plate can be fine-tuned left and right along the length direction of the plate relative to the base plate, that is, the pose adjustment of the first degree of freedom of the device can be realized.

The third adjustment bolt and the fourth adjustment bolt are fixed in the threaded holes at both ends of the first adjustment plate through the adjustment plug and the through holes at both ends of the second adjustment plate. When the screw-in depths of the two bolts are the same, different screw-in depths correspond to For different postures, by controlling the screw-in depth of the bolt, adjust the press-in depth of the adjustment plug along the direction of the bolt axis. When the bolt is fixed, the adjustment plug pushes the second adjustment plate in the plane of the plate along the direction perpendicular to the length of the plate. Move to realize fine-tuning of the pose of the second adjustment board relative to the first adjustment board in the plane of the board along the direction perpendicular to the length of the board, that is, the pose adjustment of the second degree of freedom.

The third adjusting bolt and the fourth adjusting bolt fixed on the first adjusting plate are left-right symmetrical with respect to the center position of the second adjusting plate. The difference in penetration depth can realize fine-tuning of the rotation angle of the second adjustment plate relative to the first adjustment plate around the axis of the central cylindrical through hole, that is, the adjustment of the pose of the third degree of freedom.

During the adjustment process of the second and third degree of freedom poses, since the different screw-in depths of the third adjusting bolt and the fourth adjusting bolt correspond to different poses of the second adjusting plate, in order to make the second adjusting plate in any pose It is fixed relative to the first adjustment plate, and the bolts are in a tightened state, and a gasket needs to be added between the first adjustment plate and the second adjustment plate. The process of adding gaskets is as follows:

When the screw-in depths of the third adjusting bolt and the fourth adjusting bolt are equal to the depth of the threaded hole in the first adjusting plate, there is no gap between the first adjusting plate and the second adjusting plate, and the pose adjustment is at the limit position. The bolts are already in a tightened state, so there is no need to add gaskets, and the second adjusting plate is fixed relative to the first adjusting plate.

When the screw-in depths of the third adjusting bolt and the fourth adjusting bolt are different and equal to the depth of the threaded hole in the first adjusting plate, corresponding to different postures, different gaps are generated between the first adjusting plate and the second adjusting plate, It is necessary to determine the number of gaskets to be added according to the size of the gap, and fill the gap with gaskets so that both bolts are in a tightened state, and the second adjustment plate is fixed relative to the first adjustment plate.

Another feature of the present invention is that the threaded hole on the first adjustment plate is located inside the through hole on the first adjustment plate, so that the independence of the three-degree-of-freedom pose adjustment can be realized, such as using the first adjustment plate to realize the first freedom There is no need to disassemble the second adjustment plate when adjusting the pose of the first degree of freedom, and the first adjustment plate is not affected when the second adjustment plate is used to adjust the pose of the second degree of freedom, thereby ensuring the relative independence of the three-degree-of-freedom pose adjustment .

The three-degree-of-freedom position and posture adjustment error compensation device of the present invention has simple structure and convenient operation. It only needs to rely on simple mechanical operation to realize the three-degree-of-freedom pose adjustment and realize error compensation, and the adjustment process of the three-degree-of-freedom is relatively independent.

Description of drawings

Fig. 1 is a structural representation of the present invention;

In the figure: first adjustment plate 1, second adjustment plate 2, two adjustment plugs 3, 4, first adjustment bolt 5, second adjustment bolt 6, third adjustment bolt 7, fourth adjustment bolt 8, gasket 9 , Substrate 10 .

Detailed ways

Embodiments of the present invention are described in detail below in conjunction with accompanying drawings: the present embodiment is implemented under the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the scope of protection of the present invention is not limited to Examples described below.

As shown in Figure 1, this embodiment includes: a first adjustment plate 1, a second adjustment plate 2, two adjustment plugs 3, 4, a first adjustment bolt 5, a second adjustment bolt 6, a third adjustment bolt 7, a first adjustment bolt Four adjustment bolts 8, gaskets 9, base plate 10.

There are two threaded holes on the base plate 10 for fixing the first adjusting bolt 5 and the second adjusting bolt 6 .

There are two through holes along the length direction of the plate at the symmetrical positions outside the two ends of the first adjustment plate 1, and the shape is semicircular at both ends and rectangular in the middle.

The first adjusting bolt 5 and the second adjusting bolt 6 are fixed in two threaded holes on the base plate 10 through through holes at both ends of the first adjusting plate 1 .

There are two threaded holes at symmetrical positions inside both ends of the first adjusting plate 1 for fixing the third adjusting bolt 7 and the fourth adjusting bolt 8 .

The middle position of the second adjustment plate 2 has a half-cylindrical boss, perpendicular to the plate length direction, and a cylindrical through hole in the center of the boss.

The two ends of the second adjustment plate 2 have two through holes perpendicular to the length direction of the plate at symmetrical positions, and the shape is conical on one side and rectangular on three sides.

The two adjustment plugs 3, 4 have the same shape as the through holes at both ends of the second adjustment plate 2, which is conical on one side and rectangular on three sides. There is a cylindrical through hole in the center of the two adjustment plugs 3, 4, and the third adjustment bolt 7 And the fourth adjusting bolt 8 is fixed in the threaded hole of the first adjusting plate 1 through the through hole and the through holes at the two ends of the second adjusting plate 2 .

Gasket 9 is a circular ring with a gap, and the gap is less than a quarter of the circular ring. The gasket 9 is arranged between the first adjusting plate 1 and the second adjusting plate 2 .

The first adjustment plate 1 is parallel to the base plate 10 . The first adjusting bolt 5 and the second adjusting bolt 6 are fixed in two threaded holes on the base plate 10 through through holes at both ends of the first adjusting plate 1 . Under the constraint of the bolts, the first adjusting plate 1 can move left and right along the length direction of the plate by relying on the through holes at its two ends.

The two threaded holes on the first adjusting plate 1 must be located inside the two through holes.

The two adjusting plugs 3 and 4 are in the shape of a cone on one side and a rectangle on three sides, and they move along the direction of the bolt axis under the extrusion of the third adjusting bolt 7 and the fourth adjusting bolt 8 .

Under the constraints of the third adjusting bolt 7, the fourth adjusting bolt 8 and the two adjusting plugs 3, 4, the second adjusting plate 2 can move in the plane of the plate along the direction perpendicular to the length of the plate by means of the through holes at both ends. .

The shape of the two adjustment plugs 3, 4 is the same as the shape of the through hole of the second adjustment plate 2, and the cone tops are all facing downward.

The shape of the through holes at both ends of the first adjustment plate 1 and the second adjustment plate 2 is a shape when this embodiment is realized, but the shape is not an essential feature of the present invention, and other shapes can be selected according to needs during actual implementation. shape.

The semi-cylindrical boss at the middle position of the second adjustment plate 2 is a structural form for fixing the device to be adjusted when this embodiment is realized, but the structural form is not an essential feature of the present invention, and it can be realized according to the actual needs Other fixing forms are selected to finally fix the device to be adjusted on the second adjusting plate 2 .

When the present embodiment is working, the process of three degrees of freedom pose adjustment is as follows:

1. Degree of freedom 1 pose adjustment

The first adjustment bolt 5 and the second adjustment bolt 6 are fixed in the threaded holes of the base plate 10 through the through holes at the two ends of the first adjustment plate 1. Due to the shape of the through holes at the two ends of the first adjustment plate 1, it is determined that the first adjustment bolt 5. When the second adjustment bolt 6 is fixed, the first adjustment plate 1 can be finely adjusted left and right relative to the base plate 10 along the length direction of the plate, so as to realize the pose adjustment of the first degree of freedom of the device.

2. Degree of freedom 2 pose adjustment

The third adjustment bolt 7 and the fourth adjustment bolt 8 are respectively fixed in the threaded holes at the two ends of the first adjustment plate 1 through the two adjustment plugs 3, the adjustment plug 4 and the through holes at the two ends of the second adjustment plate 2. When the third adjustment bolt 7. When the screw-in depth of the fourth adjusting bolt 8 is the same, different screw-in depths correspond to different postures. By controlling the screw-in depth of the two bolts, adjust the press-in of the two adjusting plugs 3 and 4 along the axis of the bolts. depth, when the third adjusting bolt 7 and the fourth adjusting bolt 8 are fixed, the two adjusting plugs 3 and 4 push the second adjusting plate 2 to move in the plate plane along the direction perpendicular to the length of the plate to realize the second The fine adjustment of the pose of the adjustment board 2 relative to the first adjustment board 1 in the board plane along the direction perpendicular to the length of the board, that is, the pose adjustment of the second degree of freedom.

3. 3 degrees of freedom pose adjustment

The third adjusting bolt 7 and the fourth adjusting bolt 8 fixed on the first adjusting plate 1 are left-right symmetrical with respect to the center position of the second adjusting plate. When the third adjusting bolt 7 and the fourth adjusting bolt 8 have different screw-in depths, by By controlling the screw-in depth difference of the two bolts, fine-tuning of the rotation angle of the second adjustment plate 2 relative to the first adjustment plate 1 around the axis of the central cylindrical through hole can be realized, that is, the pose adjustment of the third degree of freedom can be realized.

In the above-mentioned second and third degrees of freedom posture adjustment process, because the different screw-in depths of the third adjustment bolt 7 and the fourth adjustment bolt 8 correspond to different postures of the second adjustment plate 2, in order to make the second adjustment plate 2 When it is fixed relative to the first adjusting plate 1 in any posture, and the bolts are in a tightened state, a gasket 9 needs to be added between the first adjusting plate 1 and the second adjusting plate 2 . The process of adding gasket 9 is as follows:

When the screw-in depths of the third adjusting bolt 7 and the fourth adjusting bolt 8 are equal to the depth of the threaded hole in the first adjusting plate 1 at the same time, there is no gap between the first adjusting plate 1 and the second adjusting plate 2. The adjustment is at the extreme position, and the bolts are already in the tightened state, so the gasket 9 does not need to be added, and the second adjustment plate 2 is fixed relative to the first adjustment plate 1 .

When the screw-in depths of the third adjusting bolt 7 and the fourth adjusting bolt 8 are different and equal to the depth of the threaded hole in the first adjusting plate 1, corresponding to different poses, the gap between the first adjusting plate 1 and the second adjusting plate 2 To generate different gaps, it is necessary to determine the number of gaskets 9 to be added according to the size of the gap, and fill the gap with gaskets 9 so that both bolts are in a tightened state, and the second adjustment plate 2 is fixed relative to the first adjustment plate 1 .

Claims (10)

1, a kind of three freedom degree position and pose regulating and error compensating apparatus, it is characterized in that, comprise: first adjusts plate, second adjusts plate, adjust plug for two, first adjusts bolt, second adjusts bolt, the 3rd adjusts bolt, the 4th adjusts bolt, pad, substrate, wherein: two threaded holes are arranged on the substrate, first symmetric position of adjusting the outside, plate two ends has two through holes along the plate length direction, first adjusts bolt and second adjusts bolt and is fixed in two threaded holes on the substrate by first through hole of adjusting the plate two ends, first symmetric position of adjusting inboard, plate two ends has two threaded holes, be used for fixing the 3rd and adjust bolt and the 4th adjustment bolt, second adjusts the plate interposition is equipped with a boss, perpendicular to the plate length direction, at the boss center through hole is arranged, perpendicular to the plate length direction two through holes are arranged in second symmetric position of adjusting the plate two ends, two shapes of adjusting the plug and the second adjustment plate two ends through hole are identical, at two centers of adjusting plug through hole is arranged, the 3rd adjustment bolt and the 4th is adjusted bolt and is fixed in the threaded hole of the first adjustment plate by this through hole and second through hole of adjusting the plate two ends, and pad is located at first and is adjusted between the plate and the second adjustment plate.

2, three freedom degree position and pose regulating and error compensating apparatus according to claim 1 is characterized in that, described first adjusts two through holes on the plate, is shaped as the two ends semicircle, intermediate rectangular.

3, three freedom degree position and pose regulating and error compensating apparatus according to claim 1 is characterized in that, described first adjusts the through hole that plate relies on its two ends, adjusts the constraint lower edge plate length direction move left and right that bolt, second is adjusted bolt first.

4, three freedom degree position and pose regulating and error compensating apparatus according to claim 1 is characterized in that, described second adjusts plate, and its boss is half-cylindrical, and the through hole at the boss center is cylindrical.

5, three freedom degree position and pose regulating and error compensating apparatus according to claim 1 is characterized in that, described second adjusts the through hole at plate two ends, is shaped as the one side taper, three rectangles.

6, three freedom degree position and pose regulating and error compensating apparatus according to claim 1 is characterized in that, described two adjustment plugs are adjusted bolt the 3rd, the 4th extruding lower edge bolt axis direction of adjusting bolt moves.

7, three freedom degree position and pose regulating and error compensating apparatus according to claim 1, it is characterized in that, the described second adjustment plate is adjusted bolt, the 4th the 3rd and is adjusted under the constraint of bolt and two adjustment plugs, relies on the through hole at its two ends, and move perpendicular to the plate length direction on the edge in board plane.

According to claim 1 or 6 or 7 described three freedom degree position and pose regulating and error compensating apparatus, it is characterized in that 8, described two adjustment plugs are shaped as the one side taper, three rectangles, the through hole at center are cylindrical.

According to claim 1 or 6 or 7 described three freedom degree position and pose regulating and error compensating apparatus, it is characterized in that 9, the shape of through holes that the shape of described two adjustment plugs and second is adjusted plate is identical, the vertex of a cone all down.

10, three freedom degree position and pose regulating and error compensating apparatus according to claim 1 is characterized in that, described pad is the annulus of breach, and breach is less than the quadrant ring.