CN102519672A - Monocular-principle-based six-degree-of-freedom position and attitude measuring device for measuring static balance of gyroscope - Google Patents
Monocular-principle-based six-degree-of-freedom position and attitude measuring device for measuring static balance of gyroscope Download PDFInfo
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- CN102519672A CN102519672A CN2011104409659A CN201110440965A CN102519672A CN 102519672 A CN102519672 A CN 102519672A CN 2011104409659 A CN2011104409659 A CN 2011104409659A CN 201110440965 A CN201110440965 A CN 201110440965A CN 102519672 A CN102519672 A CN 102519672A
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Abstract
The invention discloses a monocular-principle-based six-degree-of-freedom position and attitude measuring device for measuring the static balance of a gyroscope. The measuring device comprises an X-axis image acquisition component (10) for acquiring image information of a test sample (40) in the X-axis direction, a Y-axis image acquisition component (20) for acquiring image information of the test sample (40) in the Y-axis direction, a Z-axis image acquisition component (30) for acquiring image information of the test sample (40) in the Z-axis direction, a support frame (1) and a background plate, wherein the X-axis image acquisition component (10), the Y-axis image acquisition component (20) and the Z-axis image acquisition component (30) are arranged outside the support frame (1); and the background plate is arranged in the support frame (1). The measuring device acquires a front view, a side view and a vertical view of the test sample (40) through three cameras, and is not required to be directly contacted with the test sample, so the attitude change of the test sample cannot be interfered, and the device is extremely favorable for improving measuring accuracy.
Description
Technical field
The present invention relates to a kind of statically balanced measurement mechanism, more particularly say, be meant a kind of based on the measurement mechanism monocular principle, that be used to measure gyroscope static equilibrium six degree of freedom pose.
Background technology
Gyroscope principle of work: when not influenced by external force, can not change with respect to inertial space based on the direction of the kinematic axis indication of high-speed rotation rigid-body.It can utilize the momentum moment of high speed rotary body to measure the special detection device around the angular motion of one or two axle that is orthogonal to the axis of rotation in the housing relative inertness space.Because its testing result does not rely on extraneous reference signal, gyroscope exists on Aeronautics and Astronautics, navigation and land independent navigation extensively and the effect that is difficult to substitute.
Gyrostatic mass unbalance meeting makes its output signal produce the very big error of zero (drift), and the error of zero is one of most important factor that influences the inertia system performance.Therefore, in gyrostatic production run, must carry out the static equilibrium test to it.Traditional static equilibrium test all is that manual work is implemented based on naked eyes or transit, and precision is difficult to be guaranteed, and production efficiency is also very low.
Summary of the invention
The purpose of this invention is to provide a kind of statically balanced six degree of freedom pose measuring apparatus of gyroscope that is used to measure based on the monocular principle; Follow the tracks of and identification by image through in three directions gyrowheel being carried out for this static equilibrium measurement mechanism, thereby realize that contactless, high precision, high-speed real-time to gyrowheel measure.
A kind of statically balanced six degree of freedom pose measuring apparatus of gyroscope that is used to measure of the present invention, this measurement mechanism based on the monocular principle include the X-direction epigraph information that is used to gather tested sample (40) X axle image collection assembly (10), be used to gather the Y direction epigraph information of tested sample (40) Y axle image collection assembly (20), be used to gather Z axle image collection assembly (30) and the bracing frame (1) and the background board of the Z-direction epigraph information of tested sample (40); Wherein, X axle image collection assembly (10), Y axle image collection assembly (20) are identical with the structure of Z axle image collection assembly (30);
Bracing frame (1) is a shaped as frame structure, and the first leading screw frame (11) is installed on the outside of the first plate face (1A) of bracing frame (1); The 3rd leading screw frame (13) is installed on the outside of the second plate face (1B) of bracing frame (1); On the inboard of the 3rd plate face (1C) of bracing frame (1) first background board (2) is installed; On the inboard of the 4th plate face (1D) of bracing frame (1) the 3rd background board (3) is installed; On the base plate face (1E) of bracing frame (1) the 3rd background board (4) is installed; Push up on the bracing frame (1) the 5th leading screw frame (15) is installed;
X axle image collection assembly (10) includes the first leading screw frame (11), first leading screw (11B), first motor (11A), the second leading screw frame (12), second leading screw (12B), second motor (12A), first slide block (21), second slide block (22) and first camera (17); Said first camera (17) is used to gather the front elevation of test specimen (40);
One end of first leading screw (11B) is installed in the A ball bearing (11E) of A side plate (11C) of the first leading screw frame (11), and this A ball bearing (11E) is installed in the A through hole (11F) of A side plate (11C); The other end of first leading screw (11B) is connected with the output shaft of first motor (11A) through shaft coupling; First motor (11A) is installed on the B side plate (11D) of the first leading screw frame (11);
One end of second leading screw (12B) is installed in the B ball bearing (12E) of A side plate (12C) of the second leading screw frame (12); This B ball bearing (12E) is installed in the B through hole (12F) of A side plate (12C), and the other end of second leading screw (12B) is connected with the output shaft of second motor (12A) through shaft coupling; Second motor (12A) is installed on the B side plate (12D) of the second leading screw frame (12);
First slide block (21) is installed in the back of the second leading screw frame (12), and the center lead screw hole on first slide block (21) is used for first leading screw (11B) and passes; First camera (17) is installed on second slide block (22), and the center lead screw hole on second slide block (22) is used for second leading screw (12B) and passes;
Y axle image collection assembly (20) includes the 3rd leading screw frame (13), the 3rd leading screw (13B), the 3rd motor (13A), the 4th leading screw frame (14), the 4th leading screw (14B), the 4th motor (14A), the 3rd slide block (23), Four-slider (24) and the 3rd camera (18); Said the 3rd camera (18) is used to gather the side view of test specimen (40);
One end of the 3rd leading screw (13B) is installed in the C ball bearing (13E) of A side plate (13C) of the 3rd leading screw frame (13); This C ball bearing (13E) is installed in the C through hole (13F) of A side plate (13C), and the other end of the 3rd leading screw (13B) is connected with the output shaft of the 3rd motor (13A) through shaft coupling; The 3rd motor (13A) is installed on the B side plate (13D) of the 3rd leading screw frame (13);
One end of the 4th leading screw (14B) is installed in the D ball bearing (14E) of A side plate (14C) of the 4th leading screw frame (14); This D ball bearing (14E) is installed in the D through hole (14F) of A side plate (14C), and the other end of the 4th leading screw (14B) is connected with the output shaft of the 4th motor (14A) through shaft coupling; The 4th motor (14A) is installed on the B side plate (14D) of the 4th leading screw frame (14);
The 3rd slide block (23) is installed in the back of the 4th leading screw frame (14), and the center lead screw hole on the 3rd slide block (23) is used for the 3rd leading screw (13B) and passes; Second camera (18) is installed on the Four-slider (24), and the center lead screw hole on the Four-slider (24) is used for the 4th leading screw (14B) and passes;
Z axle image collection assembly (30) includes the 5th leading screw frame (15), the 5th leading screw (15B), the 5th motor (15A), the 6th leading screw frame (16), the 6th leading screw (16B), the 6th motor (16A), the 5th slide block (25), the 6th slide block (26) and the 3rd camera (19); Said the 3rd camera (19) is used to gather the vertical view of test specimen (40);
One end of the 5th leading screw (15B) is installed in the E ball bearing (15E) of A side plate (15C) of the 5th leading screw frame (15); This E ball bearing (15E) is installed in the E through hole (15F) of A side plate (15C), and the other end of the 5th leading screw (15B) is connected with the output shaft of the 5th motor (15A) through shaft coupling; The 5th motor (15A) is installed on the B side plate (15D) of the 5th leading screw frame (15);
One end of the 6th leading screw (16B) is installed in the F ball bearing (16E) of A side plate (16C) of the 6th leading screw frame (16); This F ball bearing (16E) is installed in the F through hole (16F) of A side plate (16C), and the other end of the 6th leading screw (16B) is connected with the output shaft of the 6th motor (16A) through shaft coupling; The 6th motor (16A) is installed on the B side plate (16D) of the 6th leading screw frame (16);
The 5th slide block (25) is installed in the back of the 6th leading screw frame (16), and the center lead screw hole on the 5th slide block (25) is used for the 5th leading screw (15B) and passes; The 3rd camera (19) is installed on the 6th slide block (26), and the center lead screw hole on the 6th slide block (26) is used for the 6th leading screw (16B) and passes.
Describedly be used to measure the statically balanced six degree of freedom pose measuring apparatus of gyroscope based on the monocular principle; The mode of motion of its six motors is: control first leading screw (11) and second leading screw (12) respectively through first motor (11A) and second motor (12A) and produce and be synchronized with the movement; Thereby promote first slide block (21) and second slide block (22), make first camera (17) produce the interlock on Y and the Z direction; Control the 3rd leading screw (13) and the 4th leading screw (14) respectively through the 3rd motor (13A) and the 4th motor (14A) and produce and be synchronized with the movement, thereby promote the 3rd slide block (23) and Four-slider (24), make the interlock on second camera (18) generation X and the Y direction; Control the 5th leading screw (15) and the 6th leading screw (16) respectively through the 5th motor (15A) and the 6th motor (16A) and produce and be synchronized with the movement, thereby promote the 5th slide block (25) and the 6th slide block (26), make the interlock on the 3rd camera (19) generation X and the Z direction.
The advantage that the present invention is based on the six degree of freedom pose measuring apparatus of monocular principle is:
(1) because this measurement mechanism based on vision measurement, need not to produce with tested sample (gyroscope) directly contact, therefore can not change the attitude of tested sample to produce and disturb, extremely beneficial for the raising measuring accuracy.
(2) because present vision measurement technology can reach the rank of sub-pix, utilize the precision of the static equilibrium measurement mechanism of this technical design to be higher than present manual measurement method far away.
(3) this measurement mechanism can realize gyrowheel dynamically, at a high speed, measure in real time, detect and production efficiency has huge help for improving.
(4) adopt the bracing frame of cavity hexahedron structure to locate as the locus, and the vertical installation of three leading screw framves and bracing frame, guaranteed to be distributed in of the collection of three cameras on the shaft position to image information (front elevation, side view, vertical view).
(5) two leading screw framves on each adopt in twos and vertically install, and the camera that helps being installed on the leading screw frame is being installed in-plane moving, thereby realizes the IMAQ of different visual angles.
Description of drawings
Fig. 1 is the structural drawing of static equilibrium measurement mechanism of the present invention.
Figure 1A is the structural drawing of the static equilibrium measurement mechanism of the present invention of unassembled bracing frame.
Figure 1B is the structural drawing of bracing frame of the present invention.
Fig. 2 is the structural drawing of X axle image collection assembly of the present invention.
Fig. 3 is the structural drawing of Y axle image collection assembly of the present invention.
Fig. 4 is the structural drawing of Z axle image collection assembly of the present invention.
Fig. 5 A is the synoptic diagram that adopts three camera collection images in the measurement mechanism of the present invention.
Fig. 5 B is that test specimen is the synoptic diagram after cylinder and cylinder launch.
Number among the figure: 1. bracing frame; 1A. the first plate face; 1B. the second plate face; 1C. the 3rd plate face; 1D. the 4th plate face; 1E. base plate face; 2. first background board; 3. second background board; 4. the 3rd background board; 11. the first leading screw frame; 11A. first motor; 11B. first leading screw; 11C.A side plate; 11D.B side plate; 11E.A ball bearing; 11F.A through hole; 12. the second leading screw frame; 12A. second motor; 12B. second leading screw; 12C.A side plate; 12D.B side plate; 12E.B ball bearing; 12F.B through hole; 13. the 3rd leading screw frame; 13A. the 3rd motor; 13B. the 3rd leading screw; 13C.A side plate; 13D.B side plate; 13E.C ball bearing; 13F.C through hole; 14. the 4th leading screw frame; 14A. the 4th motor; 14B. the 4th leading screw; 14C.A side plate; 14D.B side plate; 14E.D ball bearing; 14F.D through hole; 15. the 5th leading screw frame; 15A. the 5th motor; 15B. the 5th leading screw; 15C.A side plate; 15D.B side plate; 15E.E ball bearing; 15F.E through hole; 16. the 6th leading screw frame; 16A. the 6th motor; 16B. the 6th leading screw; 16C.A side plate; 16D.B side plate; 16E.F ball bearing; 16F.F through hole; 17. first camera; 18. second camera; 19. the 3rd camera; 21. first slide block; 22. second slide block; 23. the 3rd slide block; 24. Four-slider; 25. the 5th slide block; 26. the 6th slide block; 10.X axle image collection assembly; 20.Y axle image collection assembly; 30.Z axle image collection assembly; 40. tested sample.
Embodiment
To combine accompanying drawing that the present invention is done further detailed description below.
Shown in Fig. 1, Figure 1A; The present invention is a kind of statically balanced six degree of freedom pose measuring apparatus based on the monocular principle of gyroscope that is used to measure, this measurement mechanism include the X-direction epigraph information that is used to gather tested sample 40 X axle image collection assembly 10, be used to gather the Y direction epigraph information of tested sample 40 Y axle image collection assembly 20, be used to gather Z axle image collection assembly 30 and the bracing frame 1 and the background board of the Z-direction epigraph information of tested sample 40.Wherein, X axle image collection assembly 10, Y axle image collection assembly 20 are identical with the structure of Z axle image collection assembly 30.
(1) bracing frame
Shown in Fig. 1, Figure 1B, bracing frame 1 is a shaped as frame structure, and bracing frame 1 is selected the tempered glass material for use.
On the outside of the first plate face 1A of bracing frame 1 the first leading screw frame 11 is installed;
On the outside of the second plate face 1B of bracing frame 1 the 3rd leading screw frame 13 is installed;
On the inboard of the 3rd plate face 1C of bracing frame 1 first background board 2 is installed;
On the inboard of the 4th plate face 1D of bracing frame 1 the 3rd background board 3 is installed;
On the base plate face 1E of bracing frame 1 the 3rd background board 4 is installed;
Push up on the bracing frame 1 the 5th leading screw frame 15 is installed.
In the present invention, bracing frame 1 is used to support entire measuring device.Bracing frame 1 is designed to hexahedron structure, can make things convenient for camera on three of the X, Y, Z to the collection of test specimen 40 image informations, also is the space orientation parts of spatially realizing test specimen 40 simultaneously.
(2) background board
Shown in Fig. 1, Figure 1A, background board is used to strengthen picture contrast among the present invention, improves the measuring accuracy of measurement mechanism.Background board is selected black aluminium fabrication and processing for use.
The 4th background board 4 is installed on the base plate face 1E of bracing frame 1.
(3) X axle image collection assembly 10
Referring to Fig. 1, Figure 1A, shown in Figure 2, X axle image collection assembly 10 includes the first leading screw frame 11, the first leading screw 11B, the first motor 11A, the second leading screw frame 12, the second leading screw 12B, the second motor 12A, first slide block 21, second slide block 22 and first camera 17.Said first camera 17 is used to gather the front elevation of test specimen 40.
The end of the first leading screw 11B is installed in the A ball bearing 11E (leading screw and ball bearing be connected to routine techniques) of the A side plate 11C of the first leading screw frame 11, and this A ball bearing 11E is installed in the A through hole 11F of A side plate 11C; The other end of the first leading screw 11B is connected with the output shaft of the first motor 11A through shaft coupling (not shown, the routine techniques that is connected to of leading screw, shaft coupling and motor); The first motor 11A is installed on the B side plate 11D of the first leading screw frame 11.
The end of the second leading screw 12B is installed in the B ball bearing 12E (leading screw and ball bearing be connected to routine techniques) of the A side plate 12C of the second leading screw frame 12; This B ball bearing 12E is installed in the B through hole 12F of A side plate 12C; The other end of the second leading screw 12B is connected with the output shaft of the second motor 12A through shaft coupling (not shown, the routine techniques that is connected to of leading screw, shaft coupling and motor); The second motor 12A is installed on the B side plate 12D of the second leading screw frame 12.
Center lead screw hole on first slide block 21 is used for the first leading screw 11B and passes.
Center lead screw hole on second slide block 22 is used for the second leading screw 12B and passes.
In the present invention, the first leading screw frame 11 that X axle image collection assembly 10 utilizes on the first plate face 1A (X installed surface) that is installed in bracing frame 1 realizes that the image information of the test specimen 40 that first camera 17 collects is front elevation.
(4) Y axle image collection assembly 20
Referring to Fig. 1, Figure 1A, shown in Figure 3, Y axle image collection assembly 20 includes the 3rd leading screw frame 13, the 3rd leading screw 13B, the 3rd motor 13A, the 4th leading screw frame 14, the 4th leading screw 14B, the 4th motor 14A, the 3rd slide block 23, Four-slider 24 and the 3rd camera 18.Said the 3rd camera 18 is used to gather the side view of test specimen 40.
The end of the 3rd leading screw 13B is installed in the C ball bearing 13E (leading screw and ball bearing be connected to routine techniques) of the A side plate 13C of the 3rd leading screw frame 13; This C ball bearing 13E is installed in the C through hole 13F of A side plate 13C; The other end of the 3rd leading screw 13B is connected with the output shaft of the 3rd motor 13A through shaft coupling (not shown, the routine techniques that is connected to of leading screw, shaft coupling and motor); The 3rd motor 13A is installed on the B side plate 13D of the 3rd leading screw frame 13.
The end of the 4th leading screw 14B is installed in the D ball bearing 14E (leading screw and ball bearing be connected to routine techniques) of the A side plate 14C of the 4th leading screw frame 14; This D ball bearing 14E is installed in the D through hole 14F of A side plate 14C; The other end of the 4th leading screw 14B is connected with the output shaft of the 4th motor 14A through shaft coupling (not shown, the routine techniques that is connected to of leading screw, shaft coupling and motor); The 4th motor 14A is installed on the B side plate 14D of the 4th leading screw frame 14.
The 3rd slide block 23 is installed in the back of the 4th leading screw frame 14, and second camera 18 is installed on the Four-slider 24.In the present invention, cooperate two rhizoid thick sticks, can realize the image information collection of second camera 18 in the Y axial plane through two slide blocks.
Center lead screw hole on the 3rd slide block 23 is used for the 3rd leading screw 13B and passes.
Center lead screw hole on the Four-slider 24 is used for the 4th leading screw 14B and passes.
In the present invention, the 3rd leading screw frame 13 that Y axle image collection assembly 20 utilizes on the second plate face 1B (Y installed surface) that is installed in bracing frame 1 realizes that the image information of the test specimen 40 that second camera 18 collects is side view.
(5) Z axle image collection assembly 30
Referring to Fig. 1, Figure 1A, shown in Figure 4, Z axle image collection assembly 30 includes the 5th leading screw frame 15, the 5th leading screw 15B, the 5th motor 15A, the 6th leading screw frame 16, the 6th leading screw 16B, the 6th motor 16A, the 5th slide block 25, the 6th slide block 26 and the 3rd camera 19.Said the 3rd camera 19 is used to gather the vertical view of test specimen 40.
The end of the 5th leading screw 15B is installed in the E ball bearing 15E (leading screw and ball bearing be connected to routine techniques) of the A side plate 15C of the 5th leading screw frame 15; This E ball bearing 15E is installed in the E through hole 15F of A side plate 15C; The other end of the 5th leading screw 15B is connected with the output shaft of the 5th motor 15A through shaft coupling (not shown, the routine techniques that is connected to of leading screw, shaft coupling and motor); The 5th motor 15A is installed on the B side plate 15D of the 5th leading screw frame 15.
The end of the 6th leading screw 16B is installed in the F ball bearing 16E (leading screw and ball bearing be connected to routine techniques) of the A side plate 16C of the 6th leading screw frame 16; This F ball bearing 16E is installed in the F through hole 16F of A side plate 16C; The other end of the 6th leading screw 16B is connected with the output shaft of the 6th motor 16A through shaft coupling (not shown, the routine techniques that is connected to of leading screw, shaft coupling and motor); The 6th motor 16A is installed on the B side plate 16D of the 6th leading screw frame 16.
The 5th slide block 25 is installed in the back of the 6th leading screw frame 16, and the 3rd camera 19 is installed on the 6th slide block 26.In the present invention, cooperate two rhizoid thick sticks, can realize the image information collection of the 3rd camera 19 in the Z axial plane through two slide blocks.
Center lead screw hole on the 5th slide block 25 is used for the 5th leading screw 15B and passes.
Center lead screw hole on the 6th slide block 26 is used for the 6th leading screw 16B and passes.
In the present invention; The 5th leading screw frame 15 in the Z axle image collection assembly 30 is installed in bracing frame 1 top; And the 5th leading screw frame 15 is parallel with the base plate face 1E of bracing frame 1, thereby the image information that realizes the test specimen 40 that the 3rd camera 19 collects is vertical view.
In the present invention, first camera 17, second camera 18 and the 3rd camera 19 are selected the camera of identical performance for use.Adopt Gazelle 4.0 industrial cameras of U.S. Point Grey company like camera, image resolution ratio is 2048 * 2048, and frame speed is 170fps; Camera lens adopts the LM8HC mega pixel camera lens of Japanese Kowa, focal length 8.5mm.
Shown in Fig. 5 A, Fig. 5 B, the motion of measurement mechanism of the present invention mainly is that the centroid position according to the rotor of test specimen 40 (gyroscope) carries out the Real-time and Dynamic adjustment, and its step has:
The first step, at helix of side spray printing of test specimen 40 (gyrowheel), this helix is equivalent to the diagonal line (shown in Fig. 5 B) of some expansion rectangles of rotor side surface;
In second step, come images acquired information with first camera 17 (collection front elevation), second camera 18 (collection side view) and the 3rd camera 19 (collection vertical view);
In the 3rd step, image information is transferred in the computing machine, and rim detection and profile recognition processing software are installed in the said computing machine; After rim detection and the processing of profile recognition processing software, can detect the side linear feature that gyrorotor forms on vertical view and front elevation; Through just calculating, the cylinder side straight inclined angle of vertical view, just can converse the pitching of gyrorotor, the angle of going off course;
In the 4th step,, calculate the center-of-mass coordinate of gyrorotor through the detected contour feature of each view to three camera collections;
In the 5th step, detect the characteristics such as circle, rectangle and arrow that gyrorotor forms on side view through rim detection and profile recognition processing software; In conjunction with just, surperficial spray printing line in the vertical view and position of intersecting point and the circle in the side view, rectangle and the arrow locations of side straight line, just can converse the lift-over angle of gyrorotor.
The measurement mechanism of the present invention design, when the gyrowheel position changed, first camera 17, second camera 18 and the 3rd camera 19 all needed the centroid position of dynamic tracing rotor.Tracing process is: at first according to the information of first camera 17 and second camera 18; Judge the up-to-date centroid position of rotor through Flame Image Process, calculate rotor afterwards at X, Y; Displacement on three coordinate axis of Z is then through the interlock on three directions of six Electric Machine Control cameras.Promptly control first leading screw 11 and second leading screw 12 respectively and produce and be synchronized with the movement, thereby promote first slide block 21 and second slide block 22, make the interlock on first camera, 17 generation Y and the Z direction through the first motor 11A and the second motor 12A; Control the 3rd leading screw 13 and the 4th leading screw 14 respectively through the 3rd motor 13A and the 4th motor 14A and produce and be synchronized with the movement, thereby promote the 3rd slide block 23 and Four-slider 24, make the interlock on second camera, 18 generation X and the Y direction; Control the 5th leading screw 15 and the 6th leading screw 16 respectively through the 5th motor 15A and the 6th motor 16A and produce and be synchronized with the movement, thereby promote the 5th slide block 25 and the 6th slide block 26, make the interlock on the 3rd camera 19 generation X and the Z direction.
Claims (5)
1. one kind is used to measure the statically balanced six degree of freedom pose measuring apparatus based on the monocular principle of gyroscope, it is characterized in that: this measurement mechanism include the X-direction epigraph information that is used to gather tested sample (40) X axle image collection assembly (10), be used to gather the Y direction epigraph information of tested sample (40) Y axle image collection assembly (20), be used to gather Z axle image collection assembly (30) and the bracing frame (1) and the background board of the Z-direction epigraph information of tested sample (40); Wherein, X axle image collection assembly (10), Y axle image collection assembly (20) are identical with the structure of Z axle image collection assembly (30);
Bracing frame (1) is a shaped as frame structure, and the first leading screw frame (11) is installed on the outside of the first plate face (1A) of bracing frame (1); The 3rd leading screw frame (13) is installed on the outside of the second plate face (1B) of bracing frame (1); On the inboard of the 3rd plate face (1C) of bracing frame (1) first background board (2) is installed; On the inboard of the 4th plate face (1D) of bracing frame (1) the 3rd background board (3) is installed; On the base plate face (1E) of bracing frame (1) the 3rd background board (4) is installed; Push up on the bracing frame (1) the 5th leading screw frame (15) is installed;
X axle image collection assembly (10) includes the first leading screw frame (11), first leading screw (11B), first motor (11A), the second leading screw frame (12), second leading screw (12B), second motor (12A), first slide block (21), second slide block (22) and first camera (17);
One end of first leading screw (11B) is installed in the A ball bearing (11E) of A side plate (11C) of the first leading screw frame (11), and this A ball bearing (11E) is installed in the A through hole (11F) of A side plate (11C); The other end of first leading screw (11B) is connected with the output shaft of first motor (11A) through shaft coupling; First motor (11A) is installed on the B side plate (11D) of the first leading screw frame (11);
One end of second leading screw (12B) is installed in the B ball bearing (12E) of A side plate (12C) of the second leading screw frame (12); This B ball bearing (12E) is installed in the B through hole (12F) of A side plate (12C), and the other end of second leading screw (12B) is connected with the output shaft of second motor (12A) through shaft coupling; Second motor (12A) is installed on the B side plate (12D) of the second leading screw frame (12);
First slide block (21) is installed in the back of the second leading screw frame (12), and the center lead screw hole on first slide block (21) is used for first leading screw (11B) and passes; First camera (17) is installed on second slide block (22), and the center lead screw hole on second slide block (22) is used for second leading screw (12B) and passes;
Y axle image collection assembly (20) includes the 3rd leading screw frame (13), the 3rd leading screw (13B), the 3rd motor (13A), the 4th leading screw frame (14), the 4th leading screw (14B), the 4th motor (14A), the 3rd slide block (23), Four-slider (24) and the 3rd camera (18);
One end of the 3rd leading screw (13B) is installed in the C ball bearing (13E) of A side plate (13C) of the 3rd leading screw frame (13); This C ball bearing (13E) is installed in the C through hole (13F) of A side plate (13C), and the other end of the 3rd leading screw (13B) is connected with the output shaft of the 3rd motor (13A) through shaft coupling; The 3rd motor (13A) is installed on the B side plate (13D) of the 3rd leading screw frame (13);
One end of the 4th leading screw (14B) is installed in the D ball bearing (14E) of A side plate (14C) of the 4th leading screw frame (14); This D ball bearing (14E) is installed in the D through hole (14F) of A side plate (14C), and the other end of the 4th leading screw (14B) is connected with the output shaft of the 4th motor (14A) through shaft coupling; The 4th motor (14A) is installed on the B side plate (14D) of the 4th leading screw frame (14);
The 3rd slide block (23) is installed in the back of the 4th leading screw frame (14), and the center lead screw hole on the 3rd slide block (23) is used for the 3rd leading screw (13B) and passes; Second camera (18) is installed on the Four-slider (24), and the center lead screw hole on the Four-slider (24) is used for the 4th leading screw (14B) and passes;
Z axle image collection assembly (30) includes the 5th leading screw frame (15), the 5th leading screw (15B), the 5th motor (15A), the 6th leading screw frame (16), the 6th leading screw (16B), the 6th motor (16A), the 5th slide block (25), the 6th slide block (26) and the 3rd camera (19);
One end of the 5th leading screw (15B) is installed in the E ball bearing (15E) of A side plate (15C) of the 5th leading screw frame (15); This E ball bearing (15E) is installed in the E through hole (15F) of A side plate (15C), and the other end of the 5th leading screw (15B) is connected with the output shaft of the 5th motor (15A) through shaft coupling; The 5th motor (15A) is installed on the B side plate (15D) of the 5th leading screw frame (15);
One end of the 6th leading screw (16B) is installed in the F ball bearing (16E) of A side plate (16C) of the 6th leading screw frame (16); This F ball bearing (16E) is installed in the F through hole (16F) of A side plate (16C), and the other end of the 6th leading screw (16B) is connected with the output shaft of the 6th motor (16A) through shaft coupling; The 6th motor (16A) is installed on the B side plate (16D) of the 6th leading screw frame (16);
The 5th slide block (25) is installed in the back of the 6th leading screw frame (16), and the center lead screw hole on the 5th slide block (25) is used for the 5th leading screw (15B) and passes; The 3rd camera (19) is installed on the 6th slide block (26), and the center lead screw hole on the 6th slide block (26) is used for the 6th leading screw (16B) and passes.
2. according to claim 1ly be used to measure the statically balanced six degree of freedom pose measuring apparatus of gyroscope based on the monocular principle; It is characterized in that: control first leading screw (11) and second leading screw (12) respectively through first motor (11A) and second motor (12A) and produce and be synchronized with the movement; Thereby promote first slide block (21) and second slide block (22), make first camera (17) produce the interlock on Y and the Z direction; Control the 3rd leading screw (13) and the 4th leading screw (14) respectively through the 3rd motor (13A) and the 4th motor (14A) and produce and be synchronized with the movement, thereby promote the 3rd slide block (23) and Four-slider (24), make the interlock on second camera (18) generation X and the Y direction; Control the 5th leading screw (15) and the 6th leading screw (16) respectively through the 5th motor (15A) and the 6th motor (16A) and produce and be synchronized with the movement, thereby promote the 5th slide block (25) and the 6th slide block (26), make the interlock on the 3rd camera (19) generation X and the Z direction.
3. according to claim 1ly be used to measure the statically balanced six degree of freedom pose measuring apparatus based on the monocular principle of gyroscope, it is characterized in that: bracing frame (1) is selected the tempered glass material for use.
4. according to claim 1ly be used to measure the statically balanced six degree of freedom pose measuring apparatus based on the monocular principle of gyroscope, it is characterized in that: background board is selected black aluminium fabrication and processing for use.
5. according to claim 1ly be used to measure the statically balanced six degree of freedom pose measuring apparatus of gyroscope based on the monocular principle; It is characterized in that: first camera 17, second camera 18 and the 3rd camera 19 are selected the camera of identical performance for use; Its image resolution ratio is 2048 * 2048; Frame speed is 170fps, focal length 8.5mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104409659A CN102519672B (en) | 2011-12-26 | 2011-12-26 | Monocular-principle-based six-degree-of-freedom position and attitude measuring device for measuring static balance of gyroscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104409659A CN102519672B (en) | 2011-12-26 | 2011-12-26 | Monocular-principle-based six-degree-of-freedom position and attitude measuring device for measuring static balance of gyroscope |
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| Publication Number | Publication Date |
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| CN102519672A true CN102519672A (en) | 2012-06-27 |
| CN102519672B CN102519672B (en) | 2013-11-27 |
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| CN2011104409659A Expired - Fee Related CN102519672B (en) | 2011-12-26 | 2011-12-26 | Monocular-principle-based six-degree-of-freedom position and attitude measuring device for measuring static balance of gyroscope |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016151507A (en) * | 2015-02-18 | 2016-08-22 | 日章電機株式会社 | Measurement method and measuring apparatus for measuring three-dimensional center of gravity and weight of an object to be measured |
| CN107328357A (en) * | 2017-06-22 | 2017-11-07 | 杭州国辰机器人科技有限公司 | Coordinate the spraying teaching apparatus of positioning using machine vision and fibre optic gyroscope |
| CN107941456A (en) * | 2018-01-02 | 2018-04-20 | 中国空气动力研究与发展中心低速空气动力研究所 | A kind of vertical wind tunnel two CCD camera measure system demarcates frame |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB612357A (en) * | 1945-05-23 | 1948-11-11 | British Thomson Houston Co Ltd | Improvements in and relating to apparatus for balancing rotors |
| GB760678A (en) * | 1952-10-30 | 1956-11-07 | Ferranti Ltd | Improvements relating to the balancing of rotating bodies |
| CN1437009A (en) * | 2003-03-04 | 2003-08-20 | 清华大学 | Optical method of dynamic balance test for gyro rotor |
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- 2011-12-26 CN CN2011104409659A patent/CN102519672B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB612357A (en) * | 1945-05-23 | 1948-11-11 | British Thomson Houston Co Ltd | Improvements in and relating to apparatus for balancing rotors |
| GB760678A (en) * | 1952-10-30 | 1956-11-07 | Ferranti Ltd | Improvements relating to the balancing of rotating bodies |
| CN1437009A (en) * | 2003-03-04 | 2003-08-20 | 清华大学 | Optical method of dynamic balance test for gyro rotor |
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| 李丙乐等: "陀螺转子的称重静平衡实验研究", 《工程设计学报》, vol. 13, no. 05, 30 October 2006 (2006-10-30) * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016151507A (en) * | 2015-02-18 | 2016-08-22 | 日章電機株式会社 | Measurement method and measuring apparatus for measuring three-dimensional center of gravity and weight of an object to be measured |
| CN107328357A (en) * | 2017-06-22 | 2017-11-07 | 杭州国辰机器人科技有限公司 | Coordinate the spraying teaching apparatus of positioning using machine vision and fibre optic gyroscope |
| CN107941456A (en) * | 2018-01-02 | 2018-04-20 | 中国空气动力研究与发展中心低速空气动力研究所 | A kind of vertical wind tunnel two CCD camera measure system demarcates frame |
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| Publication number | Publication date |
|---|---|
| CN102519672B (en) | 2013-11-27 |
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