CN102878963A - Six-degree-of-freedom measuring device with six rods and six hinge points - Google Patents
Six-degree-of-freedom measuring device with six rods and six hinge points Download PDFInfo
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- CN102878963A CN102878963A CN2012103849675A CN201210384967A CN102878963A CN 102878963 A CN102878963 A CN 102878963A CN 2012103849675 A CN2012103849675 A CN 2012103849675A CN 201210384967 A CN201210384967 A CN 201210384967A CN 102878963 A CN102878963 A CN 102878963A
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Abstract
The invention discloses a six-degree-of-freedom measuring device with six rods and six hinge points, and aims to solve problems that in the prior art, the structure is complex, measuring calculation is inconvenient, movement accuracy is poor and manufacturing cost is high are solved. The six-degree-of-freedom measuring device with the six rods and the six hinge points comprises a movable coordinate connecting plate, a fixed coordinate connecting plate, a first draw bar type linear displacement sensor assembly, a second draw bar type linear displacement sensor assembly, a third draw bar type linear displacement sensor assembly, a fourth draw bar type linear displacement sensor assembly, a fifth draw bar type linear displacement sensor assembly and a sixth draw bar type linear displacement sensor assembly. A first supporting shaft, a second supporting shaft and a third supporting shaft are arranged on the periphery of the movable coordinate connecting plate; a fourth supporting shaft, a fifth supporting shaft and a sixth supporting shaft are arranged on the periphery of the fixed coordinate connecting plate; the upper ends of the first draw bar type linear displacement sensor assembly and the second draw bar type linear displacement sensor assembly are rotatably connected with the second supporting shaft and are fastened with the same by nuts; the upper ends of the third draw bar type linear displacement sensor assembly and the fourth draw bar type linear displacement sensor assembly are rotatably connected with the third supporting shaft and are fastened with the same by nuts; the upper ends of the fifth draw bar type linear displacement sensor assembly and the sixth draw bar type linear displacement sensor assembly are rotatably connected with the first supporting shaft and are fastened with the same by nuts; the lower ends of the second draw bar type linear displacement sensor assembly and the third draw bar type linear displacement sensor assembly are rotatably connected with the fifth supporting shaft and are fastened with the same by nuts; the lower ends of the fourth draw bar type linear displacement sensor assembly and the fifth draw bar type linear displacement sensor assembly are rotatably connected with the sixth supporting shaft and are fastened with the same by nuts; and the lower ends of the sixth draw bar type linear displacement sensor assembly and the first draw bar type linear displacement sensor assembly are rotatably connected with the fourth supporting shaft and are fastened with the same by nuts.
Description
Technical field
The present invention relates to a kind of measurement mechanism, or rather, the present invention relates to a kind of six bars, six hinge six degree of freedom measurement mechanisms.
Background technology
The six degree of freedom measuring table respectively adopts the upper coordinate gusset of six universal coupling points, lower coordinate gusset and six hydraulic cylinders to form usually, usually lower coordinate gusset is fixed, as the mark gusset of sitting quietly, then by the stretching motion of six hydraulic cylinders, upper coordinate gusset will be at the six-freedom motion of implementation space, space.At present also fewer to the research of six degree of freedom measurement mechanism, for example: Chinese patent open (announcements) number is 101216291, and open (announcement) day is on July 9th, 2008, and denomination of invention is " six degree of freedom coordinate gusset precision measurement mechanism "; Chinese patent open (announcements) number be 102476288A, and disclosing (announcement) day is on May 30th, 2012, and denomination of invention is " a kind of special six-freedom-degree parallel "; Chinese patent open (announcements) number is 200960608, and open (announcements) day is on October 17th, 2007, and denomination of invention is " six-degree-of-freedom parallel connection mechanism that is used as mechanical measuring machine and virtual-axis nc machine tool "; The foreign scholar is also relevant for the research of the six degree of freedom measurement mechanism of Stewart structure, but these six degree of freedom measurement mechanisms all adopt the six degree of freedom measuring system of 3-6,4-6 or 6-6 hinge, and Main Problems is that the hinge number is many, complex structure, be not easy to that the pose normal solution calculates, kinematic accuracy is on the low side and the more high defective of manufacturing cost.And at present at the six degree of freedom coordinate gusset that uses, its performance is subjected to limitation very much, and is not convenient in actual applications.
Summary of the invention
Technical matters to be solved by this invention is to have overcome prior art to exist count many, complex structure, performance of hinge to be subjected to very much limitation and problem easily not in actual applications, and a kind of six bars, six hinge six degree of freedom measurement mechanisms are provided.
For solving the problems of the technologies described above, the present invention adopts following technical scheme to realize: described six bars, six hinge six degree of freedom measurement mechanisms comprise moving axes gusset, No. 1 rod-pulling type linear displacement transducer assembly, No. 2 rod-pulling type linear displacement transducer assemblies, No. 3 rod-pulling type linear displacement transducer assemblies, sit quietly mark gusset, No. 4 rod-pulling type linear displacement transducers, No. 5 rod-pulling type linear displacement transducer assemblies and No. 6 rod-pulling type linear displacement transducer assemblies.
No. 2 bolsters on the upper end of No. 1 rod-pulling type linear displacement transducer assembly and the moving axes gusset adopt No. 1 upper end ball bearing to be connected, and ball bearing are connected on No. 2, No. 2 bolsters employings on the upper end of No. 2 rod-pulling type linear displacement transducer assemblies and the moving axes gusset.The lower end of No. 2 rod-pulling type linear displacement transducer assemblies adopts No. 2 lower end ball bearing to be connected with No. 5 bolsters of marking on the gusset of sitting quietly, and the lower end of No. 3 rod-pulling type linear displacement transducer assemblies adopts No. 3 lower end ball bearing to be connected with No. 5 bolsters of marking on the gusset of sitting quietly.No. 3 bolsters on the upper end of No. 3 rod-pulling type linear displacement transducer assemblies and the moving axes gusset adopt No. 3 upper end ball bearing to be connected, and ball bearing are connected on No. 4, No. 3 bolsters employings on the upper end of No. 4 rod-pulling type linear displacement transducer assemblies and the moving axes gusset.The lower end of No. 4 rod-pulling type linear displacement transducer assemblies adopts No. 4 lower end ball bearing to be connected with No. 6 bolsters of marking in the gusset of sitting quietly, and the lower end of No. 5 rod-pulling type linear displacement transducer assemblies adopts No. 5 lower end ball bearing to be connected with No. 6 bolsters of marking in the gusset of sitting quietly.No. 1 bolster on the upper end of No. 5 rod-pulling type linear displacement transducer assemblies and the moving axes gusset adopts No. 5 upper end ball bearing to be connected, and ball bearing are connected on No. 6, No. 1 bolster employing on the upper end of No. 6 rod-pulling type linear displacement transducer assemblies and the moving axes gusset.The lower end of No. 6 rod-pulling type linear displacement transducer assemblies adopts No. 6 lower end ball bearing to be connected with No. 4 bolsters of marking in the gusset of sitting quietly, and the lower end of No. 1 rod-pulling type linear displacement transducer assembly adopts No. 1 lower end ball bearing to be connected with No. 4 bolsters of marking in the gusset of sitting quietly.
The upper end of No. 1 rod-pulling type linear displacement transducer assembly described in the technical scheme namely is No. 1 upper end half cross elbow of No. 1 rod-pulling type linear displacement transducer assembly, and the upper end of No. 2 rod-pulling type linear displacement transducer assemblies namely is No. 2 upper ends half cross elbow of No. 2 rod-pulling type linear displacement transducer assemblies.The lower end of described No. 2 rod-pulling type linear displacement transducer assemblies namely is No. 2 lower ends half cross elbow of No. 2 rod-pulling type linear displacement transducer assemblies, and the lower end of No. 3 rod-pulling type linear displacement transducer assemblies namely is No. 3 lower ends half cross elbow of No. 3 rod-pulling type linear displacement transducer assemblies.The upper end of described No. 3 rod-pulling type linear displacement transducer assemblies namely is No. 3 upper ends half cross elbow of No. 3 rod-pulling type linear displacement transducer assemblies, and the upper end of No. 4 rod-pulling type linear displacement transducer assemblies namely is No. 4 upper ends half cross elbow of No. 4 rod-pulling type linear displacement transducer assemblies.The lower end of No. 4 pull-type linear displacement transducer assemblies namely is No. 4 lower ends half cross elbow of No. 4 rod-pulling type linear displacement transducer assemblies, and the lower end of No. 5 rod-pulling type linear displacement transducer assemblies namely is No. 5 lower ends half cross elbow of No. 5 rod-pulling type linear displacement transducer assemblies.The upper end of No. 5 rod-pulling type linear displacement transducer assemblies namely is No. 5 upper ends half cross elbow of No. 5 rod-pulling type linear displacement transducer assemblies, and the upper end of No. 6 rod-pulling type linear displacement transducer assemblies namely is No. 6 upper ends half cross elbow of No. 6 rod-pulling type linear displacement transducer assemblies.No. 6 rod-pulling type linear displacement transducer assemblies) lower end namely is No. 6 lower ends half cross elbow of No. 6 rod-pulling type linear displacement transducer assemblies, and the lower end of No. 1 rod-pulling type linear displacement transducer assembly namely is No. 1 lower end half cross elbow of No. 1 rod-pulling type linear displacement transducer assembly.
The outer end of No. 2 bolsters that No. 1 upper end half cross elbow and No. 2 upper end half cross elbows are installed described in the technical scheme is equipped with hold-down nut No. 2.The outer end that No. 5 bolsters of No. 2 lower end half cross elbows and No. 3 lower end half cross elbows are installed is equipped with hold-down nut No. 5.The outer end that No. 3 bolsters of No. 3 upper end half cross elbows and No. 4 upper end half cross elbows are installed is equipped with hold-down nut No. 3.The outer end that No. 6 bolsters of No. 4 lower end half cross elbows and No. 5 lower end half cross elbows are installed is equipped with hold-down nut No. 6.The outer end that No. 1 bolster of No. 5 upper end half cross elbows and No. 6 upper end half cross elbows is installed is equipped with hold-down nut No. 1.The outer end that No. 4 bolsters of No. 6 lower end half cross elbows and No. 1 lower end half cross elbow are installed is equipped with hold-down nut No. 4.
No. 1 rod-pulling type linear displacement transducer assembly described in the technical scheme comprises No. 1 rod-pulling type linear displacement transducer, half cross joint, No. 1 upper end, No. 1 upper end half cross elbow, half cross joint, No. 1 lower end and No. 1 lower end half cross elbow.The external part of pull bar and No. 1 upper end half cross close and save bolt and fix in the described No. 1 rod-pulling type linear displacement transducer, half cross joint, No. 1 upper end is connected by ball bearing with No. 1 upper end half cross elbow and uses fastening nuts, No. 1 lower end tail-hood in No. 1 rod-pulling type linear displacement transducer is connected with half cross joint of No. 1 lower end by bolt, and half cross joint, No. 1 lower end becomes to be connected by the ball axle with No. 1 lower end half cross elbow and uses fastening nuts.
No. 1 rod-pulling type linear displacement transducer assembly described in the technical scheme, No. 2 rod-pulling type linear displacement transducer assemblies, No. 3 rod-pulling type linear displacement transducer assemblies, No. 4 rod-pulling type linear displacement transducer assemblies, No. 5 rod-pulling type linear displacement transducer assemblies are identical with No. 6 rod-pulling type linear displacement transducer assembly structures.That is: No. 1 rod-pulling type linear displacement transducer, No. 2 rod-pulling type linear displacement transducers, No. 3 rod-pulling type linear displacement transducers, No. 4 rod-pulling type linear displacement transducers, No. 5 rod-pulling type linear displacement transducers are identical with No. 6 rod-pulling type linear displacement transducer structures.Half cross joint, No. 1 upper end, half cross joint, No. 2 upper ends, half cross joint, No. 3 upper ends, half cross joint, No. 4 upper ends, half cross joint, No. 5 upper ends are identical with No. 6 upper end half cross articulation structures.No. 1 upper end half cross elbow, No. 2 upper end half cross elbows, No. 3 upper end half cross elbows, No. 4 upper end half cross elbows, No. 5 upper end half cross elbows, No. 6 upper end half cross elbows, No. 1 lower end half cross elbow, No. 2 lower end half cross elbows, No. 3 lower end half cross elbows, No. 4 lower end half cross elbows, No. 5 lower end half cross elbows are identical with No. 6 lower end half cross elbow structures.Half cross joint, No. 1 lower end, half cross joint, No. 2 lower ends, half cross joint, No. 3 lower ends, half cross joint, No. 4 lower ends, half cross joint, No. 5 lower ends are identical with No. 6 lower end half cross articulation structures.
Moving axes gusset described in the technical scheme is orthohexagonal dish class formation spare, comprises that orthohexagonal center arranges round-meshed top board, cylinder, the supporting walls that six block structures are identical, No. 1 bolster, No. 2 bolsters, No. 3 bolster gussets identical with 12 block structures.The supporting walls that six block structures are identical is vertically fixed on the periphery of orthohexagonal top board, cylinder is fixed on the center of orthohexagonal top board, evenly fix the identical gusset of 12 block structures between the cylinder supporting walls identical with six block structures, be provided with No. 1 bolster, No. 2 bolsters and No. 3 bolsters on the supporting walls of moving axes gusset periphery, the angle of adjacent two bolsters is 120 °.
The described mark gusset of sitting quietly comprises that orthohexagonal center arranges round-meshed base plate, base plate cylinder, the backplanes support wall that six block structures are identical, No. 4 bolsters, No. 5 bolsters, No. 6 bolster base plate gussets identical with 12 block structures.The backplanes support wall that six block structures are identical is vertically fixed on the periphery of orthohexagonal base plate, the base plate cylinder is fixed on the center of orthohexagonal base plate, evenly fix the identical base plate gusset of 12 block structures between the base plate cylinder backplanes support wall identical with six block structures, sitting quietly is provided with No. 4 bolsters, No. 5 bolsters and No. 6 bolsters on the backplanes support wall of mark gusset periphery, and the angle of adjacent two bolsters is 120 °.Wherein: described moving axes gusset is identical with the mark gusset structure of sitting quietly, be that top board is identical with base arrangement, cylinder is identical with the base plate cylindrical structure, the backplanes support wall construction that the supporting walls that six block structures are identical is identical with six block structures is identical, the base plate reinforcing plate structure that the gusset that 12 block structures are identical is identical with 12 block structures is identical, and No. 1 bolster, No. 2 bolsters, No. 3 bolsters, No. 4 bolsters, No. 5 bolsters are identical with No. 6 supporting shaft structures.
Compared with prior art the invention has the beneficial effects as follows:
1. six bars, six hinge six degree of freedom measurement mechanisms of the present invention have related to a kind of moving axes gusset and have sat quietly and mark the six degree of freedom measurement mechanism that gusset has respectively three hinge points, it is a kind of six degree of freedom measurement mechanism of 3-3 hinge, simplify the structure, be convenient to the calculating of the positive and negative solution of moving axes gusset pose in the six free measurement mechanisms.
2. after six bars, six hinge six degree of freedom measurement mechanisms of the present invention only need to be fixed the mark gusset of sitting quietly, determine the quiet coordinate system in space, tested mechanism is fixed on the moving axes gusset, the variation of space six degree of freedom occurs along with tested mechanism, change has also just occured in the spatial pose of moving axes gusset, and the length of six rod-pulling type linear displacement transducers changes.The six degree of freedom that we can calculate by the length variations amount of six rod-pulling type linear displacement transducers the moving axes gusset changes.
3. the same bolster of coordinate gusset is connected with two and half cross elbows by ball bearing successively in six bars, the six hinge six degree of freedom measurement mechanisms of the present invention, two and half cross elbows are interlocked and form the cross elbow and pass through fastening nuts, the half cross joint, upper end of same rod-pulling type linear displacement transducer assembly and half cross joint, lower end cooperate formation cross joint, can guarantee that like this axis of each rod-pulling type linear displacement transducer assembly is at the volley constantly by connect hinge, to obtain higher kinematic accuracy.The example that is connected to No. 5 bolsters 19, coupled is respectively No. 2 in the rod-pulling type linear displacement transducer assembly 3 No. 2 lower ends half cross elbow and No. 3 lower ends half cross elbow in No. 3 rod-pulling type linear displacement transducer assemblies 4, more particularly, the axis L1 of No. 2 lower end half cross elbows 22, the axis L2 of No. 3 lower end half cross elbows 23, the axis L4 of No. 2 rod-pulling type linear displacement transducers 24, the axis L5 of No. 3 rod-pulling type linear displacement transducers 25 and the axis L3 of No. 5 bolsters 19 constantly intersect at same point O1 on the axis L3 of No. 5 bolsters 19 all the time at each, the connection at other bolster places is identical with No. 5 bolster 19 places, therefore can guarantee kinematic accuracy.
Description of drawings
The present invention is further illustrated below in conjunction with accompanying drawing:
Fig. 1 is the axonometric projection graph that six bars, six hinge six degree of freedom measurement mechanism structures of the present invention form;
Fig. 2 is the front view that six bars, six hinge six degree of freedom measurement mechanism structures of the present invention form;
Fig. 3 is the vertical view that six bars, six hinge six degree of freedom measurement mechanism structures of the present invention form;
Fig. 4 is that moving axes gusset hinge place, A place structure forms the local axonometric projection graph that amplifies among Fig. 1;
Fig. 5 is that the B mark gusset hinge place structure of sitting quietly at the place forms the local axonometric projection graph that amplifies among Fig. 1;
Fig. 6 is that moving axes gusset hinge place, C place structure forms the local axonometric projection graph that amplifies among Fig. 3;
Fig. 7 is the cut-open view that amplify resulting part behind the M-M PMPQ among Fig. 2;
Fig. 8 is the cut-open view that amplify resulting part behind the Q-Q PMPQ among Fig. 2;
Fig. 9 is the axonometric projection graph that No. 1 rod-pulling type linear displacement transducer assembly structure adopting in six bars, the six hinge six degree of freedom measurement mechanisms of the present invention forms;
Figure 10 is the axonometric projection graph that the moving axes gusset structure that adopts in six bars, the six hinge six degree of freedom measurement mechanisms of the present invention forms;
Figure 11 is that sitting quietly of adopting in six bars, the six hinge six degree of freedom measurement mechanisms of the present invention marked the axonometric projection graph that the gusset structure forms;
Figure 12 is the axonometric projection graph that the structure of No. 1 back shaft adopting in six bars, the six hinge six degree of freedom measurement mechanisms of the present invention forms;
Figure 13 is the front view of No. 1 lower end tail-hood, half cross joint, No. 1 lower end and No. 1 lower end half cross elbow annexation that adopt in six bars, the six hinge six degree of freedom measurement mechanisms of the present invention;
Figure 14 is No. 1 pull bar adopting in six bars, the six hinge six degree of freedom measurement mechanisms of the present invention and the front view of half cross joint, No. 1 upper end and No. 1 half cross elbow annexation;
Figure 15 is the axonometric projection graph that No. 1 upper end half cross articulation structure that adopts in six bars, the six hinge six degree of freedom measurement mechanisms of the present invention forms;
Figure 16 is the axonometric projection graph that No. 1 lower end half cross articulation structure that adopts in six bars, the six hinge six degree of freedom measurement mechanisms of the present invention forms;
Figure 17 is the axonometric projection graph that No. 1 upper end half cross elbow structure that adopts in six bars, the six hinge six degree of freedom measurement mechanisms of the present invention forms;
Figure 18 is the axonometric projection graph of No. 1 bolster and No. 1 upper end half cross elbow and No. 2 upper end half cross elbow annexations in six bars, the six hinge six degree of freedom measurement mechanisms of the present invention;
Among the figure: 1. moving axes gusset, 2.1 number rod-pulling type linear displacement transducer assembly, 3.2 number rod-pulling type linear displacement transducer assembly, 4.3 number rod-pulling type linear displacement transducer assembly, 5. the mark gusset of sitting quietly, 6.4 number rod-pulling type linear displacement transducer assembly, 7.5 number rod-pulling type linear displacement transducer assembly, 8.6 number rod-pulling type linear displacement transducer assembly, 9.1 half cross joint, number upper end, 10.1 number rod-pulling type linear displacement transducer, 11.1 number lower end half cross elbow, 12.1 half cross joint, number lower end, 13.1 number lower end tail-hood, 14.1 number upper end half cross elbow, 15.1 number bolster, 16.2 number bolster, 17.3 number bolster, 18.4 number bolster, 19.5 number bolster, No. 20.6 bolsters, No. 21.1 pull bars, 22.2 number lower end half cross elbow, 23.3 number lower end half cross elbow, No. 24.2 rod-pulling type linear displacement transducers, No. 25.3 rod-pulling type linear displacement transducers, L1.2 lower end half cross elbow axis, L2.3 lower end half cross elbow axis, L3.5 bolster axis, L4.2 rod-pulling type linear displacement transducer axis, L5.3 rod-pulling type linear displacement transducer axis, O1.2 lower end half cross elbow axis, No. 3 lower end half cross elbow axis, No. 2 rod-pulling type linear displacement transducer axis, the intersection point of No. 3 rod-pulling type linear displacement transducer axis and No. 5 plate axle axis.
Embodiment
Below in conjunction with accompanying drawing the present invention is explained in detail:
Referring to figs. 1 through Fig. 3, six bars, six hinge six degree of freedom measurement mechanisms of the present invention mainly are comprised of moving axes gusset 1,3, No. 3 rod-pulling type linear displacement transducer assemblies 4 of 2, No. 2 rod-pulling type linear displacement transducer assemblies of No. 1 rod-pulling type linear displacement transducer assembly, sit quietly mark gusset 5,6, No. 5 rod-pulling type linear displacement transducer assemblies 7 of No. 4 rod-pulling type linear displacement transducer assemblies and No. 6 rod-pulling type linear displacement transducer assemblies 8.Wherein: the structure of moving axes gusset 1 is identical with the structure of the mark gusset 5 of sitting quietly, and 6, No. 5 rod-pulling type linear displacement transducer assemblies 7 of 4, No. 4 rod-pulling type linear displacement transducer assemblies of 3, No. 3 rod-pulling type linear displacement transducer assemblies of 2, No. 2 rod-pulling type linear displacement transducer assemblies of No. 1 rod-pulling type linear displacement transducer assembly are identical with No. 6 rod-pulling type linear displacement transducer assembly 8 structures.Namely No. 1 rod-pulling type linear displacement transducer 10, No. 2 rod-pulling type linear displacement transducers, No. 3 rod-pulling type linear displacement transducers, No. 4 rod-pulling type linear displacement transducers, No. 5 rod-pulling type linear displacement transducers are identical with No. 6 rod-pulling type linear displacement transducer structures; Half cross joint 9, No. 1 upper end, half cross joint, No. 2 upper ends, half cross joint, No. 3 upper ends, half cross joint, No. 4 upper ends, half cross joint, No. 5 upper ends are identical with No. 6 upper end half cross articulation structures; 14, No. 2 upper ends of half cross elbow, No. 1 upper end, half cross elbow, No. 3 upper end half cross elbows, No. 4 upper end half cross elbows, No. 5 upper end half cross elbows, No. 6 upper end half cross elbows, No. 1 lower end half cross elbow 11, No. 2 lower end half cross elbows, No. 3 lower end half cross elbows, No. 4 lower end half cross elbows, No. 5 lower end half cross elbows are identical with No. 6 lower end half cross elbow structures; Half cross joint 12, No. 1 lower end, half cross joint, No. 2 lower ends, half cross joint, No. 3 lower ends, half cross joint, No. 4 lower ends, half cross joint, No. 5 lower ends are identical with No. 6 lower end half cross articulation structures.
Consult Fig. 9, described No. 1 rod-pulling type linear displacement transducer 10 is standard components, can select according to specifically being used for, can select wherein rod-pulling type magnetostrictive displacement sensor, rod-pulling type resistance displacement sensor, rod-pulling type conductive plastic film displacement transducer etc.Described No. 1 rod-pulling type linear displacement transducer assembly 2 comprises No. 1 rod-pulling type linear displacement transducer 10, half cross joint 9, No. 1 upper end, No. 1 upper end half cross elbow 14, half cross joint 12, No. 1 lower end and No. 1 lower end half cross elbow 11.
The external part of the pull bar 21 in the described No. 1 rod-pulling type linear displacement transducer 10 and half cross joint, No. 1 upper end, 9 usefulness bolts are fixed, and half cross joint 9, No. 1 upper end is connected by ball bearing with No. 1 upper end half cross elbow 14 and uses fastening nuts.No. 1 lower end tail-hood 13 of No. 1 rod-pulling type linear displacement transducer lower end connects with No. 1 rod-pulling type linear displacement transducer 10 shells by bolt, the other end of No. 1 lower end tail-hood 13 then is connected with half cross joint 12 of No. 1 lower end by bolt, and the left end in half cross joint 12, No. 1 lower end is connected by ball bearing with No. 1 lower end half cross elbow 11 and uses fastening nuts.
Tested mechanism is fixed on the moving axes gusset, when the variation of space six degree of freedom occurs in tested mechanism, change has also just occured in the spatial pose of moving axes gusset, then the pull bar of rod-pulling type linear displacement transducer will move up and down, and just can measure exactly displacement by displacement transducer so.
Consult Figure 10 and Figure 11, described moving axes gusset 1 is orthohexagonal dish class formation spare, comprises that orthohexagonal center arranges round-meshed top board, cylinder, the supporting walls that six block structures are identical, No. 1 bolster 15, No. 2 bolsters 16, No. 3 bolster 17 gussets identical with 12 block structures.
The supporting walls that six block structures are identical vertically is weldingly fixed on the periphery of orthohexagonal top board, cylinder is fixed on the center of orthohexagonal top board, the internal diameter of cylinder equates with the internal diameter of top board center circular hole, evenly fix the identical gusset of 12 block structures between the outer wall of the cylinder supporting walls inwall identical with six block structures, be provided with No. 1 bolster 15, No. 2 bolsters 16 and No. 3 bolsters 17 on the moving axes gusset 1 peripheral vertical supporting walls, the angle of adjacent two bolsters is 120 °.
The described mark gusset (5) of sitting quietly comprises that orthohexagonal center arranges round-meshed base plate, base plate cylinder, the backplanes support wall that six block structures are identical, No. 4 bolsters 18, No. 5 bolsters 19, No. 6 bolster 20 base plate gussets identical with 12 block structures.
The backplanes support wall that six block structures are identical vertically is weldingly fixed on the periphery of orthohexagonal base plate, the base plate cylinder is fixed on the center of orthohexagonal base plate, the internal diameter of base plate cylinder equates with the internal diameter of base plate center circular hole, evenly fix the identical base plate gusset of 12 block structures between the outer wall of the base plate cylinder backplanes support wall inwall identical with six block structures, sitting quietly to mark on the vertical backplanes support walls of gusset 5 peripheries is provided with No. 4 bolsters 18, No. 5 bolsters 19 and No. 6 bolsters 20, and the angle of adjacent two bolsters is 120 °.Wherein: described moving axes gusset 1 is identical with mark gusset 5 structures of sitting quietly, be that top board is identical with base arrangement, cylinder is identical with the base plate cylindrical structure, the backplanes support wall construction that the supporting walls that six block structures are identical is identical with six block structures is identical, the base plate reinforcing plate structure that the gusset that 12 block structures are identical is identical with 12 block structures is identical, and No. 1 bolster 15, No. 2 bolsters 16, No. 3 bolsters 17, No. 4 bolsters 18, No. 5 bolsters 19 are identical with No. 6 bolster 20 structures.Described moving axes gusset 1 both can adopt the Plate Welding mode to make with the mark gusset 5 of sitting quietly, and also can adopt forging type to make.
Each rod-pulling type linear displacement transducer assembly is connected with the moving axes gusset and is connected in the following order with mark each back shaft on the gusset 5 of sitting quietly: No. 2 bolsters on No. 1 upper end half cross elbow 14 in No. 1 rod-pulling type linear displacement transducer assembly 2 and the moving axes gusset 1 16 are connected by ball bearing, No. 2 bolsters 16 in No. 2 upper ends half cross elbow in No. 2 rod-pulling type linear displacement transducer assemblies 3 and the moving axes gusset 1 are connected by ball bearing, and No. 1 upper end half cross elbow 14 and No. 2 upper end half cross elbows that will be connected on No. 2 bolsters 16 in the moving axes gusset 1 with nut are fastening again; No. 5 bolsters 19 on No. 2 lower ends half cross elbow in No. 2 rod-pulling type linear displacement transducer assemblies 3 and the mark gusset 5 of sitting quietly are connected by ball bearing, No. 5 bolsters 19 on No. 3 lower ends half cross elbow in No. 3 rod-pulling type linear displacement transducer assemblies 4 and the mark gusset 5 of sitting quietly are connected by ball bearing, will be connected to sit quietly No. 2 lower ends half cross elbow and No. 3 lower end half cross elbows of marking on No. 5 bolsters 19 in the gusset 5 with nut more fastening; No. 3 bolsters 17 on No. 3 upper ends half cross elbow in No. 3 rod-pulling type linear displacement transducer assemblies 4 and the moving axes gusset 1 are connected by ball bearing, No. 3 bolsters 17 on No. 4 upper ends half cross elbow in No. 4 rod-pulling type linear displacement transducer assemblies 6 and the moving axes gusset 1 are connected by ball bearing, and No. 3 upper ends half cross elbow and No. 4 upper end half cross elbows that will be connected on No. 3 bolsters 17 on the moving axes gusset 1 with nut are fastening; No. 6 bolsters 20 in No. 4 lower ends half cross elbow in No. 4 rod-pulling type linear displacement transducer assemblies 6 and the mark gusset 5 of sitting quietly are connected by ball bearing, No. 6 bolsters 20 in No. 5 lower ends half cross elbow in No. 5 rod-pulling type linear displacement transducer assemblies 7 and the mark gusset 5 of sitting quietly are connected by ball bearing, will be connected to sit quietly No. 4 lower ends half cross elbow and No. 5 lower end half cross elbows of marking on No. 6 bolsters 20 in the gusset 5 with nut more fastening; No. 5 upper ends half cross elbow in No. 5 rod-pulling type linear displacement transducer assemblies (7) is connected by ball bearing with No. 1 bolster (15) on the moving axes gusset 1, No. 1 bolster 15 on No. 6 upper ends half cross elbow in No. 6 rod-pulling type linear displacement transducer assemblies 8 and the moving axes gusset 1 is connected by ball bearing, and No. 5 upper ends half cross elbow and No. 6 upper end half cross elbows that will be connected on No. 1 bolster 15 in the moving axes gusset 1 with nut are fastening; No. 4 bolsters 18 in No. 6 lower ends half cross elbow in No. 6 rod-pulling type linear displacement transducer assemblies 8 and the mark gusset 5 of sitting quietly are connected by ball bearing, No. 4 bolsters 18 in No. 1 lower end half cross elbow 11 in No. 1 rod-pulling type linear displacement transducer assembly 2 and the mark gusset 5 of sitting quietly are connected by ball bearing, and it is fastening to be connected to sit quietly No. 6 lower ends half cross elbow and No. 1 lower end half cross elbow 11 of marking on No. 4 bolsters 18 in the gusset 5 with nut.
The principle of work of six bars, six hinge six degree of freedom measurement mechanisms:
Measurement mechanism of the present invention is six bars, the six hinge six degree of freedom measurement mechanisms that a kind of moving axes gusset 1 and the mark gusset 5 of sitting quietly have respectively three hinge points, it is a kind of six degree of freedom measurement mechanism of 3-3 hinge, simplify the structure, be convenient to the calculating of six bars, six hinges, six free measurement mechanism moving axes gusset 1 pose normal solutions.After we only need to fix the mark gusset 5 of sitting quietly, determine the quiet coordinate system in space, be about to sit quietly and mark the center of gusset 5 as the initial point of rectangular coordinate system in space, set up the rectangular coordinate system in space of OXYZ, tested mechanism is fixed on the moving axes gusset 1, the variation of space six degree of freedom occurs when tested mechanism, change has also just occured in the spatial pose of moving axes gusset 1, the length of six rod-pulling type linear displacement transducers changes, and change has also just occured the spatial pose of moving axes gusset 1.The six degree of freedom that we can calculate by the length variations amount of six rod-pulling type linear displacement transducers moving axes gusset 1 changes, just can obtain the space six degree of freedom variation that tested mechanism occurs, namely along the displacement of X, Y, three directions of Z axis, and around three rotational angles of X, Y, Z axis.Two upper ends (or lower end), half cross elbow adopts ball bearing and moving axes gusset 1 or the some bolsters marked on the gusset 5 of sitting quietly are rotationally connected, two upper ends (or lower end), half cross elbow is interlocked and forms a complete cross elbow and pass through fastening nuts, the half cross joint, upper end of same rod-pulling type linear displacement transducer and its half cross joint, lower end cooperate complete cross joint of formation, can guarantee that like this axis of each rod-pulling type linear displacement transducer assembly is at the volley constantly by connect hinge (bolster), to obtain higher kinematic accuracy.
The example that is connected to No. 5 bolsters 19, coupled is respectively No. 2 in the rod-pulling type linear displacement transducer assembly 3 No. 2 lower ends half cross elbow 22 and No. 3 lower ends half cross elbow 23 in No. 3 rod-pulling type linear displacement transducer assemblies 4, more particularly, the axis L1 of No. 2 lower end half cross elbows 22, the axis L2 of No. 3 lower end half cross elbows 23, the axis L4 of No. 2 rod-pulling type linear displacement transducers 24, the axis L5 of No. 3 rod-pulling type linear displacement transducers 25 and the axis L3 of No. 5 bolsters 19 constantly intersect at same point O1 on the axis L3 of No. 5 bolsters 19 all the time at each, the connection at other bolster places is identical with No. 5 bolster places, therefore can guarantee kinematic accuracy.The six degree of freedom that this novel space six free measurement mechanisms are fit to various machineries or vehicle mechanism is measured, and the scope of application is extensive.
Claims (6)
1. bar six hinge six degree of freedom measurement mechanisms, it is characterized in that, described six bars, six hinge six degree of freedom measurement mechanisms comprise moving axes gusset (1), No. 1 rod-pulling type linear displacement transducer assembly (2), No. 2 rod-pulling type linear displacement transducer assemblies (3), No. 3 rod-pulling type linear displacement transducer assemblies (4), sit quietly mark gusset (5), No. 4 rod-pulling type linear displacement transducers (6), No. 5 rod-pulling type linear displacement transducer assemblies (7) and No. 6 rod-pulling type linear displacement transducer assemblies (8);
No. 2 bolsters (16) on the upper end of No. 1 rod-pulling type linear displacement transducer assembly (2) and the moving axes gusset (1) adopt No. 1 upper end ball bearing to be connected, and ball bearing are connected on No. 2, No. 2 bolsters (16) employing on the upper end of No. 2 rod-pulling type linear displacement transducer assemblies (3) and the moving axes gusset (1); The lower end of No. 2 rod-pulling type linear displacement transducer assemblies (3) adopts No. 2 lower end ball bearing to be connected with No. 5 bolsters (19) of marking on the gusset (5) of sitting quietly, and the lower end of No. 3 rod-pulling type linear displacement transducer assemblies (4) adopts No. 3 lower end ball bearing to be connected with No. 5 bolsters (19) of marking on the gusset (5) of sitting quietly; No. 3 bolsters (17) on the upper end of No. 3 rod-pulling type linear displacement transducer assemblies (4) and the moving axes gusset (1) adopt No. 3 upper end ball bearing to be connected, and ball bearing are connected on No. 4, No. 3 bolsters (17) employing on the upper end of No. 4 rod-pulling type linear displacement transducer assemblies (6) and the moving axes gusset (1); The lower end of No. 4 rod-pulling type linear displacement transducer assemblies (6) adopts No. 4 lower end ball bearing to be connected with No. 6 bolsters (20) of marking in the gusset (5) of sitting quietly, and the lower end of No. 5 rod-pulling type linear displacement transducer assemblies (7) adopts No. 5 lower end ball bearing to be connected with No. 6 bolsters (20) of marking in the gusset (5) of sitting quietly; No. 1 bolster (15) on the upper end of No. 5 rod-pulling type linear displacement transducer assemblies (7) and the moving axes gusset (1) adopts No. 5 upper end ball bearing to be connected, and ball bearing are connected on No. 6, No. 1 bolster (15) employing on the upper end of No. 6 rod-pulling type linear displacement transducer assemblies (8) and the moving axes gusset (1); The lower end of No. 6 rod-pulling type linear displacement transducer assemblies (8) adopts No. 6 lower end ball bearing to be connected with No. 4 bolsters (18) of marking in the gusset (5) of sitting quietly, and the lower end of No. 1 rod-pulling type linear displacement transducer assembly (2) adopts No. 1 lower end ball bearing to be connected with No. 4 bolsters (18) of marking in the gusset (5) of sitting quietly.
2. according to six bars, six hinge six degree of freedom measurement mechanisms claimed in claim 1, it is characterized in that, the upper end of described No. 1 rod-pulling type linear displacement transducer assembly (2) namely is No. 1 upper end half cross elbow (14) of No. 1 rod-pulling type linear displacement transducer assembly (2), and the upper end of No. 2 rod-pulling type linear displacement transducer assemblies (3) namely is No. 2 upper ends half cross elbow of No. 2 rod-pulling type linear displacement transducer assemblies (3); The lower end of described No. 2 rod-pulling type linear displacement transducer assemblies (3) namely is No. 2 lower ends half cross elbow of No. 2 rod-pulling type linear displacement transducer assemblies (3), and the lower end of No. 3 rod-pulling type linear displacement transducer assemblies (4) namely is No. 3 lower ends half cross elbow of No. 3 rod-pulling type linear displacement transducer assemblies (4); The upper end of described No. 3 rod-pulling type linear displacement transducer assemblies (4) namely is No. 3 upper ends half cross elbow of No. 3 rod-pulling type linear displacement transducer assemblies (4), and the upper end of No. 4 rod-pulling type linear displacement transducer assemblies (6) namely is No. 4 upper ends half cross elbow of No. 4 rod-pulling type linear displacement transducer assemblies (6); The lower end of No. 4 rod-pulling type linear displacement transducer assemblies (6) namely is No. 4 lower ends half cross elbow of No. 4 rod-pulling type linear displacement transducer assemblies (6), and the lower end of No. 5 rod-pulling type linear displacement transducer assemblies (7) namely is No. 5 lower ends half cross elbow of No. 5 rod-pulling type linear displacement transducer assemblies (7); The upper end of No. 5 rod-pulling type linear displacement transducer assemblies (7) namely is No. 5 upper ends half cross elbow of No. 5 rod-pulling type linear displacement transducer assemblies (7), and the upper end of No. 6 rod-pulling type linear displacement transducer assemblies (8) namely is No. 6 upper ends half cross elbow of No. 6 rod-pulling type linear displacement transducer assemblies (8); The lower end of No. 6 rod-pulling type linear displacement transducer assemblies (8) namely is No. 6 lower ends half cross elbow of No. 6 rod-pulling type linear displacement transducer assemblies (8), and the lower end of No. 1 rod-pulling type linear displacement transducer assembly (2) namely is No. 1 lower end half cross elbow (11) of No. 1 rod-pulling type linear displacement transducer assembly (2).
3. according to six bars, six hinge six degree of freedom measurement mechanisms claimed in claim 2, it is characterized in that, the described outer end that No. 2 bolsters (16) of No. 1 upper end half cross elbow (14) and No. 2 upper end half cross elbows are installed is equipped with hold-down nut No. 2; The outer end that No. 5 bolsters (19) of No. 2 lower end half cross elbows and No. 3 lower end half cross elbows are installed is equipped with hold-down nut No. 5; The outer end that No. 3 bolsters (17) of No. 3 upper end half cross elbows and No. 4 upper end half cross elbows are installed is equipped with hold-down nut No. 3; The outer end that No. 6 bolsters (20) of No. 4 lower end half cross elbows and No. 5 lower end half cross elbows are installed is equipped with hold-down nut No. 6; The outer end that No. 1 bolster (15) of No. 5 upper end half cross elbows and No. 6 upper end half cross elbows is installed is equipped with hold-down nut No. 1; The outer end that No. 4 bolsters (18) of No. 6 lower end half cross elbows and No. 1 lower end half cross elbow (11) are installed is equipped with hold-down nut No. 4.
4. according to six bars, six hinge six degree of freedom measurement mechanisms claimed in claim 1, it is characterized in that, described No. 1 rod-pulling type linear displacement transducer assembly (2) comprises No. 1 rod-pulling type linear displacement transducer (10), half cross joint (9), No. 1 upper end, No. 1 upper end half cross elbow (14), half cross joint (12), No. 1 lower end and No. 1 lower end half cross elbow (11);
External part and the half cross joint (9), No. 1 upper end of pull bar (21) are fixed with bolt in the described No. 1 rod-pulling type linear displacement transducer (10), half cross joint (9), No. 1 upper end is connected by ball bearing with No. 1 upper end half cross elbow (14) and uses fastening nuts, No. 1 lower end tail-hood (13) in No. 1 rod-pulling type linear displacement transducer (10) is connected with half cross joint (12) of No. 1 lower end by bolt, and half cross joint (12), No. 1 lower end becomes to be connected by the ball axle with No. 1 lower end half cross elbow (11) and uses fastening nuts.
5. according to six bars, six hinge six degree of freedom measurement mechanisms claimed in claim 1, it is characterized in that, described No. 1 rod-pulling type linear displacement transducer assembly (2), No. 2 rod-pulling type linear displacement transducer assemblies (3), No. 3 rod-pulling type linear displacement transducer assemblies (4), No. 4 rod-pulling type linear displacement transducer assemblies (6), No. 5 rod-pulling type linear displacement transducer assemblies (7) are identical with No. 6 rod-pulling type linear displacement transducer assemblies (8) structure; That is:
No. 1 rod-pulling type linear displacement transducer (10), No. 2 rod-pulling type linear displacement transducers, No. 3 rod-pulling type linear displacement transducers, No. 4 rod-pulling type linear displacement transducers, No. 5 rod-pulling type linear displacement transducers are identical with No. 6 rod-pulling type linear displacement transducer structures; Half cross joint (9), No. 1 upper end, half cross joint, No. 2 upper ends, half cross joint, No. 3 upper ends, half cross joint, No. 4 upper ends, half cross joint, No. 5 upper ends are identical with No. 6 upper end half cross articulation structures; No. 1 upper end half cross elbow (14), No. 2 upper end half cross elbows, No. 3 upper end half cross elbows, No. 4 upper end half cross elbows, No. 5 upper end half cross elbows, No. 6 upper end half cross elbows, No. 1 lower end half cross elbow (11), No. 2 lower end half cross elbows, No. 3 lower end half cross elbows, No. 4 lower end half cross elbows, No. 5 lower end half cross elbows are identical with No. 6 lower end half cross elbow structures; Half cross joint (12), No. 1 lower end, half cross joint, No. 2 lower ends, half cross joint, No. 3 lower ends, half cross joint, No. 4 lower ends, half cross joint, No. 5 lower ends are identical with No. 6 lower end half cross articulation structures.
6. according to six bars, six hinge six degree of freedom measurement mechanisms claimed in claim 1, it is characterized in that, described moving axes gusset (1) is orthohexagonal dish class formation spare, comprises that orthohexagonal center arranges round-meshed top board, cylinder, supporting walls that six block structures are identical, No. 1 bolster (15), No. 2 bolsters (16), gusset that No. 3 bolsters (17) are identical with 12 block structures;
The supporting walls that six block structures are identical is vertically fixed on the periphery of orthohexagonal top board, cylinder is fixed on the center of orthohexagonal top board, evenly fix the identical gusset of 12 block structures between the cylinder supporting walls identical with six block structures, be provided with No. 1 bolster (15), No. 2 bolsters (16) and No. 3 bolsters (17) on the supporting walls of moving axes gusset (1) periphery, the angle of adjacent two bolsters is 120 °;
The described mark gusset (5) of sitting quietly comprises that orthohexagonal center arranges round-meshed base plate, base plate cylinder, backplanes support wall, No. 4 bolsters (18), No. 5 bolsters (19), No. 6 bolsters (20) the base plate gusset identical with 12 block structures that six block structures are identical;
The backplanes support wall that six block structures are identical is vertically fixed on the periphery of orthohexagonal base plate, the base plate cylinder is fixed on the center of orthohexagonal base plate, evenly fix the identical base plate gusset of 12 block structures between the base plate cylinder backplanes support wall identical with six block structures, sitting quietly to mark on the peripheral backplanes support wall of gusset (5) is provided with No. 4 bolsters (18), No. 5 bolsters (19) and No. 6 bolsters (20), and the angle of adjacent two bolsters is 120 °; Wherein: described moving axes gusset (1) is identical with mark gusset (5) structure of sitting quietly, be that top board is identical with base arrangement, cylinder is identical with the base plate cylindrical structure, the backplanes support wall construction that the supporting walls that six block structures are identical is identical with six block structures is identical, the base plate reinforcing plate structure that the gusset that 12 block structures are identical is identical with 12 block structures is identical, and No. 1 bolster (15), No. 2 bolsters (16), No. 3 bolsters (17), No. 4 bolsters (18), No. 5 bolsters (19) are identical with No. 6 bolsters (20) structure.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012103849675A CN102878963A (en) | 2012-10-11 | 2012-10-11 | Six-degree-of-freedom measuring device with six rods and six hinge points |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012103849675A CN102878963A (en) | 2012-10-11 | 2012-10-11 | Six-degree-of-freedom measuring device with six rods and six hinge points |
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| CN102878963A true CN102878963A (en) | 2013-01-16 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105841648A (en) * | 2016-05-24 | 2016-08-10 | 吉林大学 | Calibration device of six-freedom-degree measurement system |
| CN113028987A (en) * | 2021-03-03 | 2021-06-25 | 中国科学院光电技术研究所 | High-precision six-degree-of-freedom measuring method and device based on laser range finder |
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| US20010042395A1 (en) * | 1994-01-28 | 2001-11-22 | Renishaw Plc | Performing measurement or calibration on positioning machines |
| CN101473190A (en) * | 2006-06-16 | 2009-07-01 | 瑞尼斯豪公司 | Pivot joint assembly |
| CN202836538U (en) * | 2012-10-11 | 2013-03-27 | 吉林大学 | Six-rod six-hinge-point six-freedom-degree measuring equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20010042395A1 (en) * | 1994-01-28 | 2001-11-22 | Renishaw Plc | Performing measurement or calibration on positioning machines |
| CN101473190A (en) * | 2006-06-16 | 2009-07-01 | 瑞尼斯豪公司 | Pivot joint assembly |
| CN202836538U (en) * | 2012-10-11 | 2013-03-27 | 吉林大学 | Six-rod six-hinge-point six-freedom-degree measuring equipment |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105841648A (en) * | 2016-05-24 | 2016-08-10 | 吉林大学 | Calibration device of six-freedom-degree measurement system |
| CN105841648B (en) * | 2016-05-24 | 2018-08-03 | 吉林大学 | The caliberating device of six degree of freedom measuring system |
| CN113028987A (en) * | 2021-03-03 | 2021-06-25 | 中国科学院光电技术研究所 | High-precision six-degree-of-freedom measuring method and device based on laser range finder |
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Application publication date: 20130116 |