CN101387889A - Three freedom degree position and pose regulating and error compensating apparatus - Google Patents
Three freedom degree position and pose regulating and error compensating apparatus Download PDFInfo
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- CN101387889A CN101387889A CNA200810201246XA CN200810201246A CN101387889A CN 101387889 A CN101387889 A CN 101387889A CN A200810201246X A CNA200810201246X A CN A200810201246XA CN 200810201246 A CN200810201246 A CN 200810201246A CN 101387889 A CN101387889 A CN 101387889A
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Abstract
Disclosed is a three-degree-of-freedom posture adjusting and error compensating device, which belongs to the mechanical technique field. In the invention, two threaded holes are arranged on a base plate, two through holes are arranged on the outer side of two ends of a first adjusting plate, a first and a second adjusting screw bolts are fixed in the two threaded holes on the base plate via the through holes of the first adjusting plate, two threaded holes are arranged at symmetrical positions on the inner side of two ends of the first adjusting plate and are used to fix a third and fourth screw bolts, further, a boss with a through hole is arranged in the middle of a second adjusting plate, two through holes are arranged at two ends of the second adjusting plate, and shapes of the through holes are equal to shapes of two adjusting plugs which are equipped with through holes at the center, the third and fourth adjusting screw blots are fixed in the threaded holes of the first adjusting plate via the through holes of the adjusting plugs and the through holes of the second adjusting plate, and additionally, a pad is arranged between the first adjusting plate and the second adjusting plate. The invention has simple structure and convenient operation, which can realize the three-degree-of-freedom posture adjustment and realize error compensation only by simple mechanical operations, wherein adjusting processes of the three-degree-of-freedom are relatively independent.
Description
Technical field
What the present invention relates to is a kind of device of field of mechanical technique, specifically, is a kind of three freedom degree position and pose regulating and error compensating apparatus.
Background technology
In existing position and pose regulating and error compensating apparatus, the mode that adopts software and hardware to combine is mostly promptly obtaining under the situation of position and attitude error, and the motion by preset program control physical construction realizes the pose adjustment.Physical construction adopts array modes such as motor gear, motor slide rails slide block, motor leading screw mostly, and by the driving force that motor provides, driven gear, drive mechanisms such as leading screw are realized the adjustment of terminal pose at last.These device popular feature are programmed algorithm and complicated in mechanical structure, and control procedure is higher to the dependence of software, realize that cost is higher; In addition, mostly be the adjustment of single-degree-of-freedom pose, promptly can only realize the error compensation of single degree of freedom.
Find through literature search prior art, " the spatial pose adjustment research of multiple step format impression " that Miao Rongxia etc. deliver on " playing arrow and guidance journal " (2005), propose a cover and aim at positioning system by the superhigh precision that spring guide rail wafer-supporting platform structure, driver and laser interferometer constitute, and for eliminating the variation that causes the wafer-supporting platform spatial pose owing to force of impression, system adopts the imprint process of grand little two-stage drive and optimization to realize the superhigh precision location of wafer-supporting platform and the adjustment of spatial pose.Be specially: the Three Degree Of Freedom active adjustment of spatial pose adopts three PZT drivers, realizes the spatial pose recovery of wafer-supporting platform by the motion of the PZT in the impression mechanism.System adopts the structure of RBF neural network fuzzy controller to realize the control of grand driving, and little driving realizes position control by the superhigh precision capacitive transducer.Adopt grand little two-stage location,, realize the superhigh precision location by grand little two-stage superhigh precision motion.The pose method of adjustment that this system adopted is the method that generally adopts in present most of pose adjusting gear, and promptly by sensor, controller, driver are realized high-precision pose adjustment.Its deficiency is: as most of pose adjusting gears, the control procedure complexity is operated constantly, and cost is higher, and under the situation that some accuracy requirements are not wanted relatively, realization pose that can not be simple and efficient is adjusted.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, provide a kind of three freedom degree position and pose regulating and error compensating apparatus, the problem of make it solve most of now position and pose regulating and error compensating apparatus hardware configuration complexity, to depend on software unduly, simple inadequately, the adjustable degree of freedom of operation being limited to relatively.It is simple that the present invention has physical construction, and operating process does not need software to participate in, and only needs simple mechanically actuated and operating process simple and convenient, can realize the characteristics that the Three Degree Of Freedom pose is adjusted in addition.
The present invention is achieved through the following technical solutions, the present invention includes: the first adjustment plate, second is adjusted plate, two adjustment plugs, the first adjustment bolts, the second adjustment bolts, the 3rd are adjusted bolt, the 4th adjustment bolt, pad, substrate.Wherein: two threaded holes are arranged on the substrate, and first symmetric position of adjusting the outside, plate two ends has two through holes along the plate length direction, and first adjusts bolt and second adjusts bolt and be 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, is used for fixing the 3rd and adjusts 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 adjustment bolt are fixed in first by this through hole and second through hole of adjusting the plate two ends to be adjusted in the threaded hole of plate.Pad is located at first and is adjusted between the plate and the second adjustment plate.
Described first adjusts two through holes on the plate, is shaped as the two ends semicircle, intermediate rectangular.
Described second adjusts plate, and its boss is half-cylindrical, and the through hole at the boss center is cylindrical.
Described second adjusts the through hole at plate two ends, is shaped as the one side taper, three rectangles.
Described pad is the annulus of breach, and breach is less than the quadrant ring.
Described two adjustment plugs are shaped as the one side taper, and three rectangles, the through hole at center are cylindrical.
Second cylindrical hole of adjusting the plate middle part is used for fixing parts to be adjusted, and final objective of the present invention is by the adjustment of three degree of freedom pose, realizes the attained pose of parts and the error compensation of object pose.
The first adjustment bolt, second is adjusted bolt and is fixed in the threaded hole of substrate by first through hole of adjusting the plate two ends, because first adjusts the shape of plate two ends through hole, determined under the situation of bolt, first adjustment plate substrate is relatively finely tuned the i.e. pose adjustment of first degree of freedom of implement device along about the plate length direction.
The 3rd adjusts bolt, the 4th adjusts bolt is fixed in the threaded hole at the first adjustment plate two ends by the through hole of adjusting the plug and the second adjustment plate two ends, when the screw-in depth of two bolts is identical, the pose that different screw-in depths is corresponding different, screw-in depth by the control bolt, adjust the compression distance of plug along the bolt axis direction, under the situation of bolt, adjust plug and promote second adjustment plate edge moving in board plane perpendicular to the plate length direction, realization second is adjusted plate and is finely tuned the i.e. pose adjustment of second degree of freedom along the pose perpendicular to the plate length direction with respect to the first adjustment plate in board plane.
Be fixed on first the 3rd adjustment bolt of adjusting on the plate, the 4th and adjust the relative second adjustment plate center left-right symmetric of bolt, adjust screw-in depth that bolt, the 4th adjusts bolt not simultaneously when the 3rd, poor by the screw-in depth of controlling two bolts, can realize that second adjusts plate with respect to the anglec of rotation fine setting of the first adjustment plate around its center cylindrical hole axis, promptly realize the pose adjustment of three degree of freedom.
Second, in the Three Degree Of Freedom pose adjustment process, because the 3rd adjusts the different pose of the corresponding second adjustment plate of different screw-in depths that bolt, the 4th is adjusted bolt, for making second to adjust plate and adjust plate with respect to first when arbitrary pose and fix, and bolt is in tight condition, need adjust between the plate and the second adjustment plate first to add pad.The adding operating process of pad is as follows:
When the 3rd screw-in depth of adjusting bolt, the 4th adjustment bolt equals the degree of depth of threaded hole in the first adjustment plate simultaneously, adjusting plate and second this moment first adjusts between the plate very close to each other, the pose adjustment is in extreme position, bolt has been in tight condition, so do not need to add pad, and the second adjustment plate is fixed with respect to the first adjustment plate.
When the 3rd screw-in depth of adjusting bolt, the 4th adjustment bolt does not equal the degree of depth of threaded hole in the first adjustment plate simultaneously, corresponding different poses, first adjusts plate and second adjusts the different gap of generation between the plate, need determine to add the number of pad according to the size in gap, fill up the gap with pad, make two bolts all be in tight condition, second adjusts plate fixes with respect to the first adjustment plate.
Another one characteristics of the present invention are inboards that the threaded hole on the first adjustment plate is positioned at through hole on the first adjustment plate, can realize the independence that the Three Degree Of Freedom pose is adjusted like this, as do not need to dismantle second when utilizing first pose of adjusting firm and hard existing first degree of freedom to adjust and adjust plate, when utilizing second pose of adjusting firm and hard existing second degree of freedom to adjust, do not influence first and adjust plate, thereby guarantee the relative independentability that the Three Degree Of Freedom pose is adjusted.
Three freedom degree position and pose regulating and error compensating apparatus of the present invention is simple in structure, and is easy to operate.Only need to rely on simple mechanically actuated can realize the adjustment of Three Degree Of Freedom pose, realize error compensation, and the adjustment process of three degree of freedom is relatively independent.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Among the figure: first adjusts plate 1, second adjusts plate 2, two and adjusts plug 3,4, first and adjust bolt 5, second and adjust bolt the 6, the 3rd and adjust bolt the 7, the 4th and adjust bolt 8, pad 9, substrate 10.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is to be to implement under the prerequisite with the technical solution of the present invention; provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, present embodiment comprises: first adjusts plate 1, second adjusts plate 2, two and adjusts plug 3,4, first and adjust bolt 5, second and adjust bolt the 6, the 3rd and adjust bolt the 7, the 4th and adjust bolt 8, pad 9, substrate 10.
Two threaded holes are arranged on the substrate 10, be used for fixing first and adjust the bolt 5 and the second adjustment bolt 6.
First symmetric position of adjusting the outside, plate 1 two ends has two through holes along the plate length direction, is shaped as the two ends semicircle, intermediate rectangular.
First adjusts bolt 5 and second adjusts bolt 6 and is fixed in two threaded holes on the substrate 10 by first through hole of adjusting plate 1 two ends.
First symmetric position of adjusting inboard, plate 1 two ends has two threaded holes, is used for fixing the 3rd and adjusts bolt 7 and the 4th adjustment bolt 8.
Second adjusts plate 2 interpositions is equipped with half cylindrical boss, perpendicular to the plate length direction, at the boss center cylindrical hole is arranged.
Second symmetric position of adjusting plate 2 two ends has two through holes perpendicular to the plate length direction, is shaped as the one side taper, three rectangles.
Two shapes of adjusting plug 3,4 and the second adjustment plate, 2 two ends through holes are identical, be the one side taper, three rectangles, at two centers of adjusting plug 3,4 cylindrical hole is arranged, the 3rd adjustment bolt 7 and the 4th adjustment bolt 8 are fixed in first by this through hole and second through hole of adjusting plate 2 two ends to be adjusted in the threaded hole of plate 1.
Pad 9 is the annulus of breach, and breach is less than the quadrant ring.Pad 9 is located at first and is adjusted between the plate 1 and the second adjustment plate 2.
The described first adjustment plate 1 is parallel with substrate 10.First adjusts bolt 5 and second adjusts bolt 6 and is fixed in two threaded holes on the substrate 10 by first through hole of adjusting plate 1 two ends.Under the constraint of bolt, first adjusts the through hole that plate 1 can rely on its two ends, along plate length direction move left and right.
Two threaded holes on the described first adjustment plate 1 must be positioned at the inboard of two through holes.
Described two simultaneously tapers that are shaped as of adjusting plug 3,4, three rectangles move at the 3rd extruding lower edge bolt axis direction of adjusting bolt 7, the 4th adjustment bolt 8.
The described second adjustment plate 2 is adjusted bolt the 7, the 4th the 3rd and is adjusted under the constraint of bolt 8 and two adjustment plugs 3,4, can rely on the through hole at its two ends, and move perpendicular to the plate length direction on the edge in board plane.
The shape of through holes that the shape of described two adjustment plugs 3,4 and second is adjusted plate 2 is identical, and the vertex of a cone all down.
A kind of shape that described first adjusts plate 1, second when adjusting being shaped as present embodiment and realizing of plate 2 two ends through holes, but described shape is not an essential feature of the present invention, can select other shape as required when reality realizes.
A kind of version of fixing device to be adjusted when the described second half-cylindrical boss of adjusting plate 2 centre positions is the present embodiment realization, but described version is not essential feature of the present invention, can select other fixed form when specific implementation as required, the final realization is fixed on device to be adjusted on the second adjustment plate 2.
During present embodiment work, the process that the three degree of freedom pose is adjusted is as follows:
One, degree of freedom 1 pose adjustment
The first adjustment bolt 5, second is adjusted bolt 6 and is fixed in the threaded hole of substrate 10 by first through hole of adjusting plate 1 two ends, because first adjusts the shape of plate 1 two ends through hole, determined under the situation that the first adjustment bolt 5, the second adjustment bolt 6 are fixed, the first adjustment plate 1 substrate 10 is relatively finely tuned the pose adjustment of first degree of freedom of implement device along about the plate length direction.
Two, degree of freedom 2 pose adjustment
The 3rd adjusts bolt 7, the 4th adjusts bolt 8 adjusts plug 3 by two respectively, the through hole of adjusting the plug 4 and second adjustment plate 2 two ends is fixed on first and adjusts in the threaded hole at plate 1 two ends, when the 3rd adjustment bolt 7, when the screw-in depth of the 4th adjustment bolt 8 is identical, the pose that different screw-in depths is corresponding different, by controlling the screw-in depth of two bolts, adjust two and adjust plug 3,4 compression distances along the bolt axis direction, adjust bolt 7 the 3rd, under the situation that the 4th adjustment bolt 8 is fixed, adjust plug 3 for two, adjust plug 4 and promote the second adjustment plate 2 edge moving in board plane perpendicular to the plate length direction, realization second is adjusted plate 2 and is finely tuned the i.e. pose adjustment of second degree of freedom along the pose perpendicular to the plate length direction with respect to the first adjustment plate 1 in board plane.
Three, degree of freedom 3 pose adjustment
Be fixed on first the 3rd adjustment bolt of adjusting on the plate 1 the 7, the 4th and adjust the bolt 8 relative second adjustment plate center left-right symmetric, adjust screw-in depth that bolt the 7, the 4th adjusts bolt 8 not simultaneously when the 3rd, poor by the screw-in depth of controlling two bolts, can realize that second adjusts plate 2 with respect to the anglec of rotation fine setting of the first adjustment plate 1 around its center cylindrical hole axis, promptly realize the pose adjustment of three degree of freedom.
Above-mentioned second, in the Three Degree Of Freedom pose adjustment process, adjust the different screw-in depths corresponding second of bolt 8 and adjust the different pose of plate 2 because the 3rd adjusts bolt the 7, the 4th, for making second to adjust plate 2 to adjust plate 1 with respect to first when arbitrary pose fixing, and bolt is in tight condition, need adjust plate 1 and second first and adjust adding pad 9 between the plate 2.The adding operating process of pad 9 is as follows:
When the 3rd screw-in depth of adjusting bolt 7, the 4th adjustment bolt 8 equals the degree of depth of threaded hole in the first adjustment plate 1 simultaneously, adjusting plate 1 and second this moment first adjusts between the plate 2 very close to each other, the pose adjustment is in extreme position, bolt has been in tight condition, so do not need to add pad 9, and the second adjustment plate 2 is fixing with respect to the first adjustment plate 1.
When the 3rd screw-in depth of adjusting bolt 7, the 4th adjustment bolt 8 does not equal the degree of depth of threaded hole in the first adjustment plate 1 simultaneously, corresponding different poses, first adjusts plate 1 and second adjusts the different gap of generation between the plate 2, need determine to add the number of pad 9 according to the size in gap, fill up the gap with pad 9, make two bolts all be in tight condition, second adjusts plate 2 fixes with respect 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810201246A CN100587642C (en) | 2008-10-16 | 2008-10-16 | Three freedom degree position and pose regulating and error compensating apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810201246A CN100587642C (en) | 2008-10-16 | 2008-10-16 | Three freedom degree position and pose regulating and error compensating apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101387889A true CN101387889A (en) | 2009-03-18 |
| CN100587642C CN100587642C (en) | 2010-02-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200810201246A Expired - Fee Related CN100587642C (en) | 2008-10-16 | 2008-10-16 | Three freedom degree position and pose regulating and error compensating apparatus |
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| CN (1) | CN100587642C (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105953666A (en) * | 2016-01-08 | 2016-09-21 | 璧电函 | Space docking error compensation mechanism |
| CN107255462A (en) * | 2011-07-08 | 2017-10-17 | 卡尔蔡司工业测量技术有限公司 | Measure workpiece coordinate when error correction and/or avoid |
| CN108100276A (en) * | 2017-12-03 | 2018-06-01 | 中国直升机设计研究所 | A kind of multiple degrees of freedom error-compensating apparatus |
-
2008
- 2008-10-16 CN CN200810201246A patent/CN100587642C/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107255462A (en) * | 2011-07-08 | 2017-10-17 | 卡尔蔡司工业测量技术有限公司 | Measure workpiece coordinate when error correction and/or avoid |
| CN107255462B (en) * | 2011-07-08 | 2019-07-23 | 卡尔蔡司工业测量技术有限公司 | Measure workpiece coordinate when error correction and/or avoid |
| US10429178B2 (en) | 2011-07-08 | 2019-10-01 | Carl Zeiss Industrielle Messtechnik Gmbh | Correcting and/or preventing errors during the measurement of coordinates of a work piece |
| CN105953666A (en) * | 2016-01-08 | 2016-09-21 | 璧电函 | Space docking error compensation mechanism |
| CN108100276A (en) * | 2017-12-03 | 2018-06-01 | 中国直升机设计研究所 | A kind of multiple degrees of freedom error-compensating apparatus |
| CN108100276B (en) * | 2017-12-03 | 2021-07-23 | 中国直升机设计研究所 | Multi freedom error compensation device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100587642C (en) | 2010-02-03 |
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Granted publication date: 20100203 Termination date: 20121016 |