CN103234442A - Device for measuring six degrees of freedom of platform - Google Patents
Device for measuring six degrees of freedom of platform Download PDFInfo
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- CN103234442A CN103234442A CN2013101316670A CN201310131667A CN103234442A CN 103234442 A CN103234442 A CN 103234442A CN 2013101316670 A CN2013101316670 A CN 2013101316670A CN 201310131667 A CN201310131667 A CN 201310131667A CN 103234442 A CN103234442 A CN 103234442A
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Abstract
The invention discloses a device for measuring changes of six degrees of freedom of a platform space. The measuring device mainly comprises an intersection angle measurement assembly, a transverse displacement measurement assembly, a longitudinal displacement measurement triangle frame assembly and a vertical displacement measuring column assembly. By the arrangement, the problems that a conventional measuring device for the six degrees of freedom is complicated in structure and measurement process, motion precision is poor, manufacturing costs are high, and is not applicable to mass popularization are solved. The measuring method has the advantages of easiness in measuring method, simplicity in installation, wide application, and measuring results can be read directly and the like.
Description
Technical field
The present invention relates to a kind of novel device that is used for the six degree of freedom variation of measuring table space, particularly relate to the device that a kind of six degree of freedom that can measure and read institute's lining platform in real time changes, it contrasts the structure of six degree of freedom measurement mechanism in the past, has that measuring method is easy, measurement result can directly read, is easy to install and characteristics that applicability is wide.
Background technology
Six degree of freedom coordinate gusset adopts the upper and lower platform of each six universal coupling point and six hydraulic cylinders to form usually, usually lower platform is fixed, as silent flatform, then by the stretching motion of six hydraulic cylinders, upper mounting plate will be realized the space six-freedom motion of upper mounting plate in the space.At present many to the research of six degree of freedom measurement mechanism, for example: six freedom degree platform precision measurement device (Chinese patent: CN101216291), a kind of special-purpose six degree of freedom platform mechanism (Chinese patent: CN102476288A), as the six-degree-of-freedom parallel connection mechanism (Chinese patent: CN201073733) of mechanical measuring machine and virtual-axis nc machine tool.The foreign scholar is also relevant for the research of six degree of freedom measuring table, they are based on the six degree of freedom measurement mechanism of Stewart structure more, but these six degree of freedom proving installations exist complex structure, be not easy to the pose normal solution and calculate, installation is inconvenient, measurement result need be programmed and be read and the more high defective of manufacturing cost.
Summary of the invention
The invention provides a kind of novel, be used for measuring table at the device that the space six degree of freedom changes, be a kind ofly to measure assemblies by three that measure horizontal, vertical and vertical three direction displacements respectively and form around the assembly of three directions rotations with a measurement.
A kind of device for the measurement of platform six degree of freedom is mainly measured triangle-frame assembly 3 by outer corner measurement assembly 1, lateral displacement measurement assembly 2, length travel and vertical deviation measurement column assembly 4 is formed;
Described outer corner measurement assembly 1 by lateral shaft and longitudinal axis pot corner assembly 7, be fixed on the vertical shaft potential meter corner assembly 6 on lateral shaft and the longitudinal axis pot corner assembly 7 and be separately fixed at load guide rail slide blocks 5 such as horizontal electronic ruler contact pulling frame assembly 8 on the vertical shaft potential meter corner assembly 6, two be horizontal and form;
Described lateral displacement measurement assembly 2 mainly by cross slide way fixed cross framework 12, be installed in load guide rail slide blocks 16 such as transverse slider formula linear displacement transducer 9 on the cross slide way fixed cross framework 12, lateral slide rail bar 18 and two are vertical and form, load guide rail slide block 16 such as vertical and cross slide way fixed cross framework 12 are arranged vertically;
Described length travel measure triangle-frame assembly 3 mainly by longitudinal rail fixed triangle framework 28, be contained in load guide rail slide blocks 29 such as longitudinal sliding motion guide rail bar 24 on the longitudinal rail fixed triangle framework 28, longitudinal sliding block formula linear displacement transducer 26 and two are vertical and form;
Described vertical deviation is measured column assembly 4 by vertical guide rail vertical columns framework 20 and is installed in the vertical rail plate bar 19 on the vertical guide rail vertical columns framework 20, vertical slider type linear displacement transducer 22, vertical Steel Ruler 21 and forms;
Described outer corner measurement assembly 1 is contained on the lateral displacement measurement assembly 2, described lateral displacement measurement assembly 2 is contained in length travel and measures on the triangle-frame assembly 3, described length travel is measured triangle-frame assembly 3 and is contained in vertical deviation and measures on the column assembly 4, between outer corner measurement assembly 1 and the lateral displacement measurement assembly 2, lateral displacement measurement assembly 2 measures between the triangle-frame assembly 3 with length travel, triangle-frame assembly 3 is measured in length travel and vertical deviation measurement column assembly 4 between all employing be slidingly matched.
The load guide rail slide block such as horizontal 5 of described outer corner measurement assembly 1 and lateral slide rail bar 18 sliding connections of described lateral displacement measurement assembly 2, the horizontal electronic ruler contact of described outer corner measurement assembly 1 move angle steel 71 fixedlys connected with the slide block 35 of the transverse slider formula linear displacement transducer of described lateral displacement measurement assembly 2;
Longitudinal sliding motion guide rail bar 24 sliding connections that triangle-frame assembly 3 is measured in the load guide rail slide block such as vertical 16 of described lateral displacement measurement assembly 2 and described length travel, vertical electronic ruler contact of described lateral displacement measurement assembly 2 are moved arm-tie 11 and are fixedlyed connected with the slide block of longitudinal sliding block formula linear displacement transducer 26;
Vertical electronic ruler contact that triangle-frame assembly 3 is measured in vertical rail plate bar 19 sliding connections that the load guide rail slide block 29 such as vertical that triangle-frame assembly 3 is measured in described length travel and described vertical deviation are measured column assembly 4, described length travel is moved arm-tie 11 and is fixedlyed connected with the slide block of the vertical slider type linear displacement transducer 22 of vertical deviation measurement column assembly 4.
Described vertical shaft potential meter corner assembly 6 is pitched 53 by Z-axis tubular shaft flange 47 with the joint spider upper end base in lateral shaft and the longitudinal axis pot corner assembly 7 and is fastenedly connected, be connected the intermediate groove part of face by Z-axis cross yoke locating ring 46 location at Z-axis tubular shaft flange 47 and joint spider upper end base fork 53, on load guide rail slide block 5 is fastened in the vertical shaft potential meter corner assembly 6 the vertical tube rotor supporting base 48 such as laterally electronic ruler contact pulling frame assembly 8 and two are horizontal.
Described transverse slider formula linear displacement transducer 9 is fixed on cross slide way fixed cross framework 12 end faces, two load guide rail slide blocks 16 such as vertical and load guide rail slide block positioning strip 17 such as vertical are fixed on the bottom surface of cross slide way fixed cross framework 12, vertical scale bending pointer 15 is installed in vertical electronic ruler contact and moves on the arm-tie 11, lateral slide rail bar 18 is by lateral slide rail location-plate 13, lateral slide rail ladder location-plate 14 and a side that is bolted to cross slide way fixed cross framework 12, laterally the opposite side that arm-tie 11 is fixed on cross slide way fixed cross framework 12 is moved in Steel Ruler 10 and vertical electronic ruler contact.
The longitudinal sliding motion guide rail bar 24 in the triangle-frame assembly 3 is measured in described length travel, longitudinal sliding block formula linear displacement transducer 26 and two are vertical etc., and load guide rail slide block 29 also comprises vertical Steel Ruler 25, longitudinal sliding motion guide rail location-plate 27, load guide rail slide block positioning strip 30 such as vertical and vertical electronic ruler contact are moved arm-tie 31 and all are fixed on the longitudinal rail fixed triangle framework 28, vertical scale bending pointer 32 is installed in vertical electronic ruler contact and moves on the arm-tie 31, longitudinal sliding motion guide rail bar 24 is fixed on length travel and measures the one side that triangle-frame assembly 3 is connected with lateral displacement measurement assembly 2, longitudinal sliding block formula linear displacement transducer 26 and vertical Steel Ruler 25 are installed in the side of longitudinal rail fixed triangle framework 28, two load guide rail slide blocks 29 such as vertical are installed in vertical deviation measures the side that column assembly 4 is connected, 27 pairs of longitudinal sliding motion guide rails of longitudinal sliding motion guide rail location-plate bar 24 plays the role of fastening, and 30 pairs of load guide rail slide block positioning strips are vertical etc., and load guide rail slide block 29 plays the positioning and fixing effect.
Vertical rail plate bar 19, vertical slider type linear displacement transducer 22 and vertical Steel Ruler 21 that described vertical deviation is measured in the column assembly 4 all are fixed on the vertical guide rail vertical columns framework 20, vertical rail plate bar 19 is installed in vertical deviation and measures the side that column assembly 4 is connected with length travel measurement triangle-frame assembly 3, and vertical slider type linear displacement transducer 22 and vertical Steel Ruler 21 are installed on the vertical guide rail vertical columns framework 20 of a side of horizontal forward.
Vertical shaft potential meter corner assembly 6 in the described outer corner measurement assembly 1 is by vertical tube rotor supporting base 48, the vertical shaft potential meter axle fixed cap 40 of vertical tube rotor supporting base 48 upper ends, be sleeved on the middle Z-axis tubular shaft flange 47 of vertical tube rotor supporting base 48 cylinder holes successively, vertical corner displacement sensor 39, Z-axis run-in index spring coupling 41, vertical shaft bearings pressure ring 42, Z-axis upper ball bearing 43, Z-axis lower ball bearing 44, dust ring 45 and Z-axis cross yoke locating ring 46 are formed; The sensor compressing tablet of described vertical corner displacement sensor 39 is fixedlyed connected with vertical shaft potential meter axle fixed cap 40, the core body of vertical corner displacement sensor 39 is connected with the upper end of Z-axis run-in index spring coupling 41, Z-axis run-in index spring coupling 41 is by in the fixedly connected hole that is installed in the middle of the vertical shaft bearings pressure ring 42 of joint spider unitor pot bearing pin 50, Z-axis bearing ring O type circle 49 is installed in the outer ring recess of vertical shaft bearings pressure ring 42, and vertical shaft bearings pressure ring 42 is fixed on the Z-axis tubular shaft flange 47.
Described lateral shaft and longitudinal axis pot corner assembly 7 are made up of joint spider upper end base fork 53, joint spider upper shaft fork lid 61, vertical corner displacement sensor 51, parallel longitudinal formula spring coupling 76, longitudinal axis pot axle fixed cap 52, Hooke's joint fork assembly 54 and joint spider bottom seat fork assembly 77;
Two holes that described joint spider upper end base is pitched 53 vertical two walls are connected with vertical negative sense axle coaxial cooperation with vertical forward axle of Hooke's joint fork assembly 54, joint spider upper shaft fork lid 61 is fixedlyed connected with the vertical walls of joint spider upper end base fork 53, vertically the core body of corner displacement sensor 51 inserts the endoporus of parallel longitudinal formula spring coupling 76 and fixes, vertical forward spindle nose of Hooke's joint fork assembly 54 inserts the endoporus of parallel longitudinal formula spring coupling 76 and fixes, longitudinal axis pot axle fixed cap 52 is sleeved on parallel longitudinal formula spring coupling 76 outer ends and fixedlys connected with the vertical walls of joint spider upper end base fork 53, the horizontal forward axle of Hooke's joint fork assembly 54 and two holes coaxial be connected of horizontal negative sense axle with vertical two walls of joint spider bottom seat fork assembly 77.
Described horizontal electronic ruler get an electric shock pulling frame assembly 8 by two horizontal electronic rulers move horizontal steel tank 72 in the middle of the steel tank 70 that hangs down, two horizontal electronic rulers move horizontal steel tank 69, laterally angle steel 71 is moved in the electronic ruler contact, laterally move the electronic ruler contact, hang down in the middle of laterally move the electronic ruler contact steel tank 73 and laterally scale pointer 74 form;
The end that described two horizontal electronic rulers move horizontal steel tank 69 moves angle steel 71 vertical installations and fixing with horizontal electronic ruler contact, the other end that two horizontal electronic rulers move horizontal steel tank 69 is fixedlyed connected respectively with the end that two horizontal electronic rulers move the steel tank 70 that hangs down, an end of horizontal steel tank 72 and horizontal electronic ruler contact moved that the centre position of angle steel 71 is vertical also to be fixed in the middle of laterally moved the electronic ruler contact, it is vertical also fixing that the middle steel tank 73 that hangs down was moved in the other end of horizontal steel tank 72 and horizontal electronic ruler contact in the middle of moved horizontal electronic ruler contact, and horizontal scale pointer 74 is fixed on horizontal electronic ruler contact and moves on the middle steel tank 73 that hangs down.
Described vertical shaft potential meter corner assembly 6 is pitched 53 by Z-axis tubular shaft flange 47 and described lateral shaft with the joint spider upper end base in the longitudinal axis pot corner assembly 7 and is fixedlyed connected, be connected the intermediate groove part of face by Z-axis cross yoke locating ring 46 location at Z-axis tubular shaft flange 47 and joint spider upper end base fork 53, described horizontal electronic ruler gets an electric shock on the vertical tube rotor supporting base 48 that pulling frame assembly 8 is fixed in the described vertical shaft potential meter corner assembly 6.
Described Hooke's joint fork assembly 54 is by Hooke's joint 62, the horizontal forward position of joint spider is adjusted pad, the horizontal forward ball bearing of joint spider, the horizontal forward bearing cap of joint spider, pad 63 is adjusted in the horizontal negative sense of joint spider position, the horizontal negative sense ball bearing 65 of joint spider, the horizontal negative sense bearing cap 64 of joint spider, the vertical forward position of joint spider is adjusted pad, the vertical forward ball bearing of joint spider, the vertical forward bearing cap of joint spider, pad 66 is adjusted in the vertical negative sense of joint spider position, the vertical negative sense bearing cap 68 of the vertical negative sense ball bearing 67 of joint spider and joint spider is formed; The vertical negative sense bearing cap 68 of described joint spider, the vertical negative sense ball bearing 67 of joint spider and the vertical negative sense of joint spider position are adjusted pad 66 and are sleeved on successively from outside to inside on vertical negative sense axle of Hooke's joint 62; The vertical forward position of the vertical forward bearing cap of joint spider, the vertical forward ball bearing of joint spider and joint spider is adjusted pad and is sleeved on successively from outside to inside on vertical forward axle of Hooke's joint 62; The horizontal negative sense bearing cap 64 of joint spider, the horizontal negative sense ball bearing 65 of joint spider and the horizontal negative sense of joint spider position are adjusted pad 63 and are sleeved on successively from outside to inside on the horizontal negative sense axle of Hooke's joint 62; The horizontal forward position of the horizontal forward bearing cap of joint spider, the horizontal forward ball bearing of joint spider and joint spider is adjusted pad and is sleeved on successively from outside to inside on the horizontal forward axle of Hooke's joint 62.
Horizontal forward axle is connected with horizontal negative sense axle and described joint spider lower end base fork 57 in the described Hooke's joint 62, and described Hooke's joint 62 vertical forward axles are connected with described joint spider upper end base fork 53 with forward negative sense axle;
Described joint spider bottom seat fork assembly 77 is made up of joint spider lower end base fork 57, joint spider lower end yoke end cap 60, horizontal corner displacement sensor 55, horizontal run-in index spring coupling 75, lateral shaft pot axle fixed cap 56, joint spider lower end base fork gusset 58 and joint spider base fork centralized positioning pin 59;
Described horizontal corner displacement sensor 55 is connected on the horizontal negative sense axle of described Hooke's joint 62 by described horizontal run-in index spring coupling 75, described vertical corner displacement sensor 51 is connected on vertical negative sense axle of Hooke's joint 62 by described parallel longitudinal formula spring coupling 76, described joint spider lower end base fork 57 is fixedlyed connected with described joint spider lower end base fork gusset 58, and intermediate throughholes is by described joint spider base fork centralized positioning pin 59 location.
Described transverse slider formula linear displacement transducer 9 is made up of slider type linear displacement transducer end cap 33, slider type linear displacement transducer shell 34, slide block 35, slider type linear displacement transducer outlet plug 36, slider type linear displacement transducer briquetting 37 and slider type linear displacement transducer slide rail lid 38; Longitudinal sliding block formula linear displacement transducer 26, vertical slider type linear displacement transducer 22 are identical with transverse slider formula linear displacement transducer 9 structures.
They all are standard components, and ultimate principle is slide rheostat, utilize the change in displacement of slide block on line slideway to measure different resistances, measure the change of slider displacement amount by the variation of resistance.Slider type linear displacement transducer commonly used has the slider type linear displacement transducer of KTF series, slider type linear displacement transducer, MTF series of blocks formula linear displacement transducer and the STF series of blocks formula linear displacement transducer etc. of TLH series.
Described horizontal corner displacement sensor 55 is with vertically corner displacement sensor 51 structures are identical, and described horizontal corner displacement sensor 55 is identical with vertical corner displacement sensor 39 structures.They all are standard components, and this sensor adopts rotor and the wound coil of special shape, the generation linear output signal that rotatablely moves of armature spindle, around the zero-bit that presets of dispatching from the factory move ± 60 altogether 120) degree.The sense of displacement of zero-bit is left in the phase place indication of this output signal.Corner level sensor commonly used has RVDT series corner level sensor, ACS series corner level sensor, AGS series corner level sensor and Technic series corner level sensor.
Technique effect of the present invention:
1, the present invention relates to a kind of device of being formed by lateral displacement measurement assembly, length travel measurement triangle-frame assembly, outer corner measurement assembly and vertical deviation measurement column assembly that is used for the six degree of freedom variation of measuring table space.The platform that reads that can direct convenience freely changes in six of space.
2, the installation method of this measurement mechanism is also very easy, the joint spider bottom seat fork gusset of outer corner measurement assembly is connected with the platform that will measure, the fixing vertical column frame of the vertical guide rail bottom gusset of again vertical deviation being measured the column assembly is fixed on the surface level, be accompanied by the variation that the space six degree of freedom takes place measured platform, the variation of position has also taken place in each measure portion of measurement mechanism accordingly, we are by the reading of displacement pointer on Steel Ruler and the reading of corner displacement sensor, just can measure the six degree of freedom that platform spatially takes place like a cork and change.
3, the outer corner measurement assembly is responsible for the angle variation around lateral shaft, longitudinal axis and vertical axle that measuring table takes place in the space.And the outer corner measurement assembly only produces horizontal displacement and changes on the lateral slide rail bar of lateral displacement measurement assembly, and the horizontal scale pointer by the outer corner measurement assembly reads the transversal displacement that platform takes place in the space in the horizontal Steel Ruler of lateral displacement measurement assembly to be changed.The longitudinal sliding motion guide rail bar slip of measuring the triangle-frame assembly in length travel owing to the lateral displacement measurement assembly only produces displacement variation longitudinally, and vertical Steel Ruler of measuring the triangle-frame assembly in length travel by vertical scale bending pointer of lateral displacement measurement assembly reads the length travel variation that platform takes place in the space.Because length travel measurement triangle-frame assembly only produces vertical displacement variation in the vertical rail plate bar slip of vertical deviation measurement column assembly, the vertical scale bending pointer of measuring the triangle-frame assembly by length travel reads the vertical deviation variation that platform takes place in the space in the vertical Steel Ruler of vertical deviation measurement column assembly.
Description of drawings
Fig. 1 six degree of freedom measurement mechanism outward appearance axonometric drawing;
Fig. 2 outer corner measurement assembly outward appearance axonometric drawing;
Fig. 3 lateral displacement measurement assembly outward appearance axonometric drawing;
Fig. 4 lateral displacement measurement assembly outside drawing;
Triangle-frame assembly outside drawing is measured in Fig. 5 length travel;
Triangle frame left view is measured in Fig. 6 length travel;
Fig. 7 vertical deviation is measured column assembly outward appearance axonometric drawing;
Fig. 8 transverse slider formula linear displacement transducer outside drawing;
The vertical shaft potential of Fig. 9 moves meter corner assembly explosive decomposition figure;
Figure 10 vertical shaft bearings pressure ring, cross-pin coupling pot bearing pin and Z-axis run-in index spring coupling assembling synoptic diagram;
Figure 11 vertical shaft bearings pressure ring, cross-pin coupling pot bearing pin and Z-axis run-in index spring coupling assembling section figure;
Figure 12 lateral shaft and longitudinal axis pot corner assembly explosive decomposition figure;
Figure 13 Hooke's joint fork assembly explosive decomposition figure;
The horizontal electronic ruler of Figure 14 contact pulling frame assembly outside drawing;
Figure 15 joint spider bottom seat fork assembly explosive view;
The horizontal corner displacement sensor of Figure 16 and horizontal run-in index spring coupling assembling synoptic diagram;
Figure 17 lateral slide rail bar outside drawing;
Figure 18 six degree of freedom measurement mechanism front elevation;
Figure 19 is A place partial enlarged drawing among Figure 18, i.e. outer corner measurement assembly cross slide way slide block and lateral displacement measurement assembly cross slide way bar connection place partial enlarged drawing;
Figure 20 be among Figure 18 the partial enlarged drawing ， of B place Ji Transverse to the slide block of displacement measurement assembly transverse slider formula linear displacement transducer, vertically electronic ruler get an electric shock mobile arm-tie and vertically scale bending pointer connect and schematic appearance;
Figure 21 is C place partial enlarged drawing among Figure 18, i.e. get an electric shock mobile arm-tie and vertical scale bending pointer of slide block, the vertical electronic ruler that triangle-frame assembly longitudinal sliding block formula linear displacement transducer is measured in length travel connects and schematic appearance;
Among the figure:
1-outer corner measurement assembly; 2-lateral displacement measurement assembly; The triangle-frame assembly is measured in the 3-length travel; The 4-vertical deviation is measured the column assembly; Load guide rail slide blocks such as 5-is horizontal; The vertical shaft potential meter of 6-corner assembly; 7-lateral shaft and longitudinal axis pot corner assembly; The horizontal electronic ruler of 8-contact pulling frame assembly; 9-transverse slider formula linear displacement transducer; The horizontal Steel Ruler of 10-; Arm-tie is moved in the vertical electronic ruler of 11-contact; 12-cross slide way fixed cross framework; 13-lateral slide rail location-plate; 14-lateral slide rail ladder location-plate; The vertical scale bending of 15-pointer; Load guide rail slide blocks such as 16-is vertical; Load guide rail slide block positioning strips such as 17-is vertical; 18-lateral slide rail bar; The vertical rail plate bar of 19-; The vertical guide rail vertical columns of 20-framework; The vertical Steel Ruler of 21-; The vertical slider type linear displacement transducer of 22-; The vertical column frame of 23-bottom gusset; 24-longitudinal sliding motion guide rail bar; The vertical Steel Ruler of 25-; 26-longitudinal sliding block formula linear displacement transducer; 27-longitudinal sliding motion guide rail location-plate; 28-longitudinal rail fixed triangle framework; Load guide rail slide blocks such as 29-is vertical; Load guide rail slide block positioning strips such as 30-is vertical; Arm-tie is moved in the vertical electronic ruler of 31-contact; 32 vertical scale bending pointers; 33-slider type linear displacement transducer end cap; 34-slider type linear displacement transducer shell; The 35-slide block; 36-slider type linear displacement transducer outlet plug; 37-slider type linear displacement transducer briquetting; 38-slider type linear displacement transducer slide rail lid; The vertical corner displacement sensor of 39-; The vertical shaft potential meter of 40-axle fixed cap; 41-Z-axis run-in index spring coupling; 42-vertical shaft bearings pressure ring; 43-Z-axis upper ball bearing; 44-Z-axis lower ball bearing; The 45-dust ring; 46-Z-axis cross yoke locating ring; 47-Z-axis tubular shaft flange; 48-vertical tube rotor supporting base; 49-Z-axis bearing ring O type circle; 50-cross-pin coupling pot bearing pin; The vertical corner displacement sensor of 51-; 52-longitudinal axis pot axle fixed cap; 53-joint spider upper end base fork; 54-Hooke's joint fork assembly; The horizontal corner displacement sensor of 55-; 56-lateral shaft pot axle fixed cap; 57-joint spider lower end base fork; 58-joint spider lower end base fork gusset; 59-joint spider base fork centralized positioning pin; 60-joint spider lower end yoke end cap; 61-joint spider upper shaft fork lid; The 62-Hooke's joint; Pad is adjusted in the horizontal negative sense of 63-joint spider position; The horizontal negative sense bearing cap of 64-joint spider; The horizontal negative sense ball bearing of 65-joint spider; Pad is adjusted in the vertical negative sense of 66-joint spider position; The vertical negative sense ball bearing of 67-joint spider; The vertical negative sense bearing cap of 68-joint spider; The horizontal electronic ruler of 69-moves horizontal steel tank; The horizontal electronic ruler of 70-moves vertical steel tank; Angle steel is moved in the horizontal electronic ruler of 71-contact; Horizontal steel tank in the middle of move the horizontal electronic ruler of 72-contact; Steel tank hangs down in the middle of move the horizontal electronic ruler of 73-contact; The horizontal scale pointer of 74-; The horizontal run-in index spring coupling of 75-; 76-parallel longitudinal formula spring coupling; 77-joint spider bottom seat fork assembly.
Embodiment
Be described in further detail below in conjunction with the structure of the present invention of the described embodiment of accompanying drawing.
At first set up coordinate system O-XYZ between the space shown in Figure 1, the forward of definition X-axis is horizontal forward, and the forward of definition Y-axis is vertical forward, and the forward of definition Z axle is vertical forward.
With reference to Fig. 1 and Figure 18, a kind of novel device that is used for the six degree of freedom variation of measuring table space is mainly measured triangle-frame assembly 3, outer corner measurement assembly 1 and vertical deviation measurement column assembly 4 by lateral displacement measurement assembly 2, length travel and is formed.
Outer corner measurement assembly 1 is connected by the lateral slide rail bar 18 of load guide rail slide block 5 such as horizontal and lateral displacement measurement assembly 2, and in the outer corner measurement assembly 1 laterally the horizontal electronic ruler contact of electronic ruler contact pulling frame assembly 8 slide block 35 that moves transverse slider formula linear displacement transducer in angle steel 71 and the lateral displacement measurement assembly 2 be connected fastening by screw bolt and nut.The longitudinal sliding motion guide rail bar 24 that lateral displacement measurement assembly 2 is measured triangle-frame assembly 3 by load guide rail slide block 16 such as vertical and length travel is connected, and the vertical electronic ruler contact in the lateral displacement measurement assembly 2 is moved the slide block of longitudinal sliding block formula linear displacement transducer 26 in arm-tie 11 and the length travel measurement assembly 3 and is connected fastening by screw bolt and nut.Length travel is measured the vertical rail plate bar 19 that triangle-frame assembly 3 measures column assembly 4 by load guide rail slide block 29 such as vertical and vertical deviation and is connected, and the vertical electronic ruler contact in the length travel measurement triangle-frame assembly 3 is moved the slide block of vertical slider type linear displacement transducer 22 in arm-tie 31 and the vertical deviation measurement column assembly 4 and is connected fastening by screw bolt and nut.
With reference to Fig. 2,9,10,11,12,13 and 14, outer corner measurement assembly 1 mainly by vertical shaft potential meter corner assembly 6, lateral shaft and longitudinal axis pot corner assembly 7, laterally electronic ruler contact pulling frame assembly 8 and two are horizontal etc., and load guide rail slide block 5 is formed.
Described vertical shaft potential meter corner assembly 6 connects fastening by screw bolt and nut by Z-axis tubular shaft flange 47 and joint spider upper end base fork 53 in lateral shaft and the longitudinal axis pot corner assembly 7, and pitch 53 intermediate groove that are connected face at Z-axis tubular shaft flange 47 and joint spider upper end base and partly located by Z-axis cross yoke locating ring 46.Laterally electronic ruler contact pulling frame assembly 8 is by on the vertical tube rotor supporting base 48 of bolted in vertical shaft potential meter corner assembly 6.Two load guide rail slide blocks 5 such as horizontal also are to be fastened on the vertical tube rotor supporting base 48 in the vertical shaft potential meter corner assembly 6 by screw bolt and nut.
Wherein vertical shaft potential meter corner assembly 6 is made up of vertical tube rotor supporting base 48, vertical corner displacement sensor 39, vertical shaft potential meter axle fixed cap 40, Z-axis run-in index spring coupling 41, vertical shaft bearings pressure ring 42, Z-axis bearing ring O type circle 49, cross-pin coupling pot bearing pin 50, Z-axis upper ball bearing 43, Z-axis lower ball bearing 44, dust ring 45, Z-axis cross yoke locating ring 46 and Z-axis tubular shaft flange 47.Described lateral shaft and longitudinal axis pot corner assembly 7 are made up of joint spider upper end base fork 53, joint spider upper shaft fork lid 61, vertical corner displacement sensor 51, parallel longitudinal formula spring coupling 76, longitudinal axis pot axle fixed cap 52, Hooke's joint fork assembly 54, joint spider bottom seat fork assembly 77.Described horizontal electronic ruler contact pulling frame assembly 8 by two horizontal electronic rulers move horizontal steel tank 72 in the middle of the steel tank 70 that hangs down, two horizontal electronic rulers move horizontal steel tank 69, laterally angle steel 71 is moved in the electronic ruler contact, laterally move the electronic ruler contact, hang down in the middle of laterally move the electronic ruler contact steel tank 73 and laterally scale pointer 74 form.
The vertical tube rotor supporting base 48 of vertical electric displacement meter corner assembly 6 is thick cyclinders, the outside is welded with a flat board, dull and stereotyped have the groove of lateral direction penetrating back to a side of cylinder, and two load guide rail slide blocks 5 such as horizontal are fixed therein, and the thick middle both sides of its cylinder hole are equally thin.The centre of cylinder hole is with Z-axis tubular shaft flange 47, between the both sides that cylinder hole is thinner and the Z-axis tubular shaft flange 47 Z-axis upper ball bearing 43 and Z-axis lower ball bearing 44 is housed.Between vertical tube rotor supporting base 48 and Z-axis tubular shaft flange 47 dust ring 45 is housed also equally, its position is below Z-axis lower ball bearing 44.In the upper end of Z-axis upper ball bearing 43 vertical shaft bearings pressure ring 42 is installed, vertical shaft bearings pressure ring 42 and Z-axis run-in index spring coupling 41 are equally between vertical tube rotor supporting base 48 and Z-axis tubular shaft flange 47.The core body of vertical corner displacement sensor 39 is connected with the upper end of Z-axis run-in index spring coupling 41, Z-axis run-in index spring coupling 41 is mounted in the hole of vertical shaft bearings pressure ring 42 centres by joint spider unitor pot bearing pin 50 by bolt, Z-axis bearing ring O type circle 49 is installed in the outer ring recess of vertical shaft bearings pressure ring 42, vertical shaft bearings pressure ring 42 is by being bolted on the Z-axis tubular shaft flange 47, there is vertical shaft potential meter axle fixed cap 40 upper end of vertical tube rotor supporting base 48, and the sensor compressing tablet of vertical corner displacement sensor 39 is connected fastening by bolt with vertical shaft potential meter axle fixed cap 40.
The end that described two horizontal electronic rulers move horizontal steel tank (69) and horizontal electronic ruler contact are moved angle steel (71) and are installed perpendicularly and be connected by bolted, the other end that two horizontal electronic rulers move horizontal steel tank (69) is connected respectively with the end that two horizontal electronic rulers move vertical steel tank (70), fastening by nut, the centre position that angle steel (71) was moved in an end of horizontal steel tank (72) and horizontal electronic ruler contact in the middle of laterally moved the electronic ruler contact is vertical, and pass through bolted, the other end of horizontal steel tank (72) was vertical with the steel tank (73) that hangs down in the middle of laterally move the electronic ruler contact and is connected by bolted in the middle of laterally moved the electronic ruler contact, and laterally scale pointer (74) is fastened on horizontal electronic ruler contact by the bolt connection and moves on the middle vertical steel tank (73).
Described Hooke's joint fork assembly 54 is by Hooke's joint 62, the horizontal forward position of joint spider is adjusted pad, the horizontal forward ball bearing of joint spider, the horizontal forward bearing cap of joint spider, pad 63 is adjusted in the horizontal negative sense of joint spider position, the horizontal negative sense ball bearing 65 of joint spider, the horizontal negative sense bearing cap 64 of joint spider, the vertical forward position of joint spider is adjusted pad, the vertical forward ball bearing of joint spider, the vertical forward bearing cap of joint spider, pad 66 is adjusted in the vertical negative sense of joint spider position, the vertical negative sense bearing cap 68 of the vertical negative sense ball bearing 67 of joint spider and joint spider is formed.Described joint spider bottom seat fork assembly 77 is made up of joint spider lower end base fork 57, joint spider lower end yoke end cap 60, horizontal corner displacement sensor 55, horizontal run-in index spring coupling 75, lateral shaft pot axle fixed cap 56, joint spider lower end base fork gusset 58 and joint spider base fork centralized positioning pin 59.
The vertical negative sense bearing cap of described joint spider (68), the vertical negative sense ball bearing of joint spider (67) and the vertical negative sense of joint spider position are adjusted pad (66) and are sleeved on successively from outside to inside on vertical negative sense axle of Hooke's joint (62); The pad of the vertical forward position adjustment of the vertical forward bearing cap of joint spider, the vertical forward ball bearing of joint spider and joint spider in like manner is sleeved on vertical forward axle of Hooke's joint (62) from outside to inside successively; The horizontal negative sense bearing cap of joint spider (64), the horizontal negative sense ball bearing of joint spider (65) and the horizontal negative sense of joint spider position are adjusted pad (63) and are sleeved on successively from outside to inside on the horizontal negative sense axle of Hooke's joint (62); The horizontal forward position of the horizontal forward bearing cap of joint spider, the horizontal forward ball bearing of joint spider and joint spider is adjusted pad and is sleeved on successively from outside to inside on the horizontal forward axle of Hooke's joint (62).
Two holes of described joint spider upper end base fork (53) vertical two walls are connected with vertical negative sense axle coaxial cooperation with vertical forward axle of Hooke's joint fork assembly (54), joint spider upper shaft fork lid (61) is connected fastening with the vertical walls of joint spider upper end base fork (53) by bolt, vertically the core body of corner displacement sensor (51) inserts the endoporus of parallel longitudinal formula spring coupling (76) and passes through bolted, vertical forward spindle nose of Hooke's joint fork assembly (54) also inserts the endoporus of parallel longitudinal formula spring coupling (76), by bolted, longitudinal axis pot axle fixed cap (52) is enclosed within parallel longitudinal formula spring coupling (76) outer end and is connected fastening by bolt with the vertical walls of joint spider upper end base fork (53).The horizontal forward axle of Hooke's joint fork assembly (54) and two vertical walls two holes coaxial be connected of horizontal negative sense axle with joint spider bottom seat fork assembly (77).
With reference to Fig. 3,4,8 and 15, lateral displacement measurement assembly 2 by cross slide way fixed cross framework 12, transverse slider formula linear displacement transducer 9, lateral slide rail bar 18, laterally Steel Ruler 10, vertically get an electric shock load guide rail slide blocks 16 such as mobile arm-tie 11, vertically scale bending pointer 15, two be vertical, lateral slide rail location-plate 13, lateral slide rail ladder location-plate 14 and load guide rail slide block positioning strip 17 such as vertical of electronic ruler formed.
The cross slide way fixed cross framework 12 of lateral displacement measurement assembly 2 is rectangular parallelepiped housings, the one face down bonding is connected to flat board, a dull and stereotyped side of cross slide way fixed cross framework dorsad has the groove of vertical perforation, two load guide rail slide blocks 16 such as vertical are installed, cross slide way fixed cross framework 12 is welded with on the opposite of a dull and stereotyped side transverse slider formula linear displacement transducer 9 is installed, and the briquetting of transverse slider formula linear displacement transducer 9 is connected with cross slide way fixed cross framework 12 by bolt and is fastening.The side that cross slide way fixed cross framework 12 is measured column assembly 4 towards vertical deviation is equipped with lateral slide rail bar 18, in the middle of the lateral slide rail bar 18 threaded hole is arranged and by bolted on cross slide way fixed cross framework 12, lateral slide rail location-plate 13 and lateral slide rail ladder location-plate 14 are also fixed lateral slide rail bar 18, and all by being bolted on the cross slide way fixed cross framework 12.Opposite one side that cross slide way fixed cross framework 12 is equipped with lateral slide rail bar 18 be equipped with horizontal Steel Ruler 10 and vertically the electronic ruler contact move arm-tie 11, laterally Steel Ruler 10 and vertically the electronic ruler contact move arm-tie 11 respectively by being bolted on the cross slide way fixed cross framework 12.Vertically scale bending pointer 15 is connected vertical electronic ruler by screw bolt and nut and gets an electric shock on the mobile arm-tie 11.
With reference to Fig. 5 and 6, vertical deviation is measured column assembly 4 and is made up of vertical guide rail vertical columns framework 20, vertical slider type linear displacement transducer 22, vertical rail plate bar 19, vertical Steel Ruler 21.
Vertical deviation is measured on column assembly 4 and the side that length travel measurement triangle-frame assembly 3 is connected vertical rail plate bar 19 is installed, by bolted on vertical guide rail vertical columns framework 20.On a side of horizontal forward, vertical slider type linear displacement transducer 22 and vertical Steel Ruler 21 are installed, vertical Steel Ruler 21 by bolted on vertical guide rail vertical columns framework 20, vertical slider type linear displacement transducer 22 briquettings also by bolted on vertical guide rail vertical columns framework 20.
With reference to Fig. 7, length travel is measured triangle-frame assembly 3 by longitudinal rail fixed triangle framework 28, longitudinal sliding block formula linear displacement transducer 26, longitudinal sliding motion guide rail bar 24, vertically Steel Ruler 25, longitudinal sliding motion guide rail location-plate 27, load guide rail slide block positioning strip 30, vertical electronic ruler contact such as vertical are moved load guide rail slide blocks 29 such as arm-tie 31, vertical scale bending pointer 32 and two are vertical and formed.
The one side that length travel measurement triangle-frame assembly 3 is connected with lateral displacement measurement assembly 2 is equipped with longitudinal sliding motion guide rail bar 24, by bolted on longitudinal rail fixed triangle framework 28, longitudinal sliding motion guide rail location-plate 27 also plays the role of fastening to longitudinal sliding motion guide rail bar 24, and by bolted on longitudinal rail fixed triangle framework 28, longitudinal rail fixed triangle framework 28 is equipped with longitudinal sliding block formula linear displacement transducer 26 and vertical Steel Ruler 25 on a side of horizontal forward, vertically Steel Ruler 25 by bolted on longitudinal rail fixed triangle framework 28, longitudinal sliding block formula linear displacement transducer 26 briquettings also by bolted on longitudinal rail fixed triangle framework 28.Measure a side that column assembly 4 is connected with vertical deviation two load guide rail slide blocks 29 such as vertical are installed, two load guide rail slide blocks 29 such as vertical by bolted on longitudinal rail fixed triangle framework 28, the load guide rail slide block positioning strip 30 such as vertical of both sides also be by bolted on longitudinal rail fixed triangle framework 28, and also to the fixation of 29 positions of load guide rail slide block such as vertical.
Owing to adopted above-mentioned connection, outer corner measurement assembly 1 can only produce horizontal displacement on the lateral slide rail bar 18 of lateral displacement measurement assembly 2 changes, and the horizontal scale pointer 74 by outer corner measurement assembly 1 reads the transversal displacement that platform takes place in the space in the horizontal Steel Ruler 10 of lateral displacement measurement assembly 2 to be changed.Longitudinal sliding motion guide rail bar 24 slips of measuring triangle-frame assembly 3 in length travel owing to lateral displacement measurement assembly 2 only produce displacement variation longitudinally, and vertical Steel Ruler 25 of measuring triangle-frame assembly 3 in length travel by vertical scale bending pointer 15 of lateral displacement measurement assembly 2 reads the length travel variation that platform takes place in the space.Because length travel measurement triangle-frame assembly 3 only produces vertical displacement variation in vertical rail plate bar 19 slips of vertical deviation measurement column assembly 4, the vertical scale bending pointer 32 of measuring triangle-frame assembly 3 by length travel reads the vertical deviation variation that platform takes place in the space in the vertical Steel Ruler 21 of vertical deviation measurement column assembly 4.And outer corner measurement assembly 1 is responsible for the angle variation around lateral shaft, longitudinal axis and vertical axle that measuring table takes place in the space.So just can read the six degree of freedom variation that platform takes place in the space easily and effectively.
Claims (10)
1. one kind is used for the device that the platform six degree of freedom is measured, mainly measure column assembly (4) by outer corner measurement assembly (1), lateral displacement measurement assembly (2), length travel measurement triangle-frame assembly (3) and vertical deviation and form, it is characterized in that:
Described outer corner measurement assembly (1) by lateral shaft and longitudinal axis pot corner assembly (7), be fixed on the vertical shaft potential meter corner assembly (6) on lateral shaft and the longitudinal axis pot corner assembly (7) and be separately fixed at load guide rail slide blocks (5) such as horizontal electronic ruler contact pulling frame assembly (8) on the vertical shaft potential meter corner assembly (6), two be horizontal and form;
Described lateral displacement measurement assembly (2) mainly by cross slide way fixed cross framework (12), be installed in load guide rail slide blocks (16) such as transverse slider formula linear displacement transducer (9) on the cross slide way fixed cross framework (12), lateral slide rail bar (18) and two are vertical and form, load guide rail slide block (16) such as vertical is arranged vertically with cross slide way fixed cross framework (12);
Described length travel measure triangle-frame assembly (3) mainly by longitudinal rail fixed triangle framework (28), be contained in load guide rail slide blocks (29) such as longitudinal sliding motion guide rail bar (24) on the longitudinal rail fixed triangle framework (28), longitudinal sliding block formula linear displacement transducer (26) and two are vertical and form;
Described vertical deviation is measured column assembly (4) and is made up of vertical guide rail vertical columns framework (20) and the vertical rail plate bar (19), vertical slider type linear displacement transducer (22), the vertical Steel Ruler (21) that are installed on the vertical guide rail vertical columns framework (20);
Described outer corner measurement assembly (1) is contained on the lateral displacement measurement assembly (2), described lateral displacement measurement assembly (2) is contained in length travel and measures on the triangle-frame assembly (3), described length travel is measured triangle-frame assembly (3) and is contained on the vertical deviation measurement column assembly (4), between outer corner measurement assembly (1) and the lateral displacement measurement assembly (2), lateral displacement measurement assembly (2) and length travel are measured between the triangle-frame assembly (3), length travel is measured all to adopt between triangle-frame assembly (3) and the vertical deviation measurement column assembly (4) and is slidingly matched.
2. a kind of device of measuring for the platform six degree of freedom according to claim 1 is characterized in that:
The load guide rail slide block (5) such as horizontal of described outer corner measurement assembly (1) and lateral slide rail bar (18) sliding connection of described lateral displacement measurement assembly (2), the horizontal electronic ruler contact of described outer corner measurement assembly (1) move angle steel (71) fixedlys connected with the slide block (35) of the transverse slider formula linear displacement transducer of described lateral displacement measurement assembly (2);
Longitudinal sliding motion guide rail bar (24) sliding connection that triangle-frame assembly (3) is measured in the load guide rail slide block (16) such as vertical of described lateral displacement measurement assembly (2) and described length travel, vertical electronic ruler contact of described lateral displacement measurement assembly (2) are moved arm-tie (11) and are fixedlyed connected with the slide block of longitudinal sliding block formula linear displacement transducer (26);
Vertical electronic ruler contact that triangle-frame assembly (3) is measured in vertical rail plate bar (19) sliding connection that the load guide rail slide block (29) such as vertical that triangle-frame assembly (3) is measured in described length travel and described vertical deviation are measured column assembly (4), described length travel is moved arm-tie (11) and is fixedlyed connected with the slide block of the vertical slider type linear displacement transducer (22) of vertical deviation measurement column assembly (4).
3. a kind of device of measuring for the platform six degree of freedom according to claim 1 is characterized in that:
Described vertical shaft potential meter corner assembly (6) is pitched (53) by Z-axis tubular shaft flange (47) with the joint spider upper end base in lateral shaft and the longitudinal axis pot corner assembly (7) and is fastenedly connected, be connected the intermediate groove part of face by Z-axis cross yoke locating ring (46) location at Z-axis tubular shaft flange (47) and joint spider upper end base fork (53), on load guide rail slide block (5) is fastened in the vertical shaft potential meter corner assembly (6) the vertical tube rotor supporting base (48) such as laterally electronic ruler contact pulling frame assembly (8) and two are horizontal.
4. a kind of device of measuring for the platform six degree of freedom according to claim 1 is characterized in that:
Described transverse slider formula linear displacement transducer (9) is fixed on cross slide way fixed cross framework (12) end face, two load guide rail slide blocks (16) such as vertical and load guide rail slide block positioning strip (17) such as vertical are fixed on the bottom surface of cross slide way fixed cross framework (12), vertical scale bending pointer (15) is installed in vertical electronic ruler contact and moves on the arm-tie (11), lateral slide rail bar (18) is by lateral slide rail location-plate (13), lateral slide rail ladder location-plate (14) and be bolted to a side of cross slide way fixed cross framework (12), laterally the opposite side that arm-tie (11) is fixed on cross slide way fixed cross framework (12) is moved in Steel Ruler (10) and vertical electronic ruler contact.
5. a kind of device of measuring for the platform six degree of freedom according to claim 1 is characterized in that:
The longitudinal sliding motion guide rail bar (24) in the triangle-frame assembly (3) is measured in described length travel, longitudinal sliding block formula linear displacement transducer (26) and two are vertical etc., and load guide rail slide block (29) also comprises vertical Steel Ruler (25), longitudinal sliding motion guide rail location-plate (27), load guide rail slide block positioning strip (30) such as vertical and vertical electronic ruler contact are moved arm-tie (31) and all are fixed on the longitudinal rail fixed triangle framework (28), vertical scale bending pointer (32) is installed in vertical electronic ruler contact and moves on the arm-tie (31), longitudinal sliding motion guide rail bar (24) is fixed on length travel and measures the one side that triangle-frame assembly (3) is connected with lateral displacement measurement assembly (2), longitudinal sliding block formula linear displacement transducer (26) and vertical Steel Ruler (25) are installed in the side of longitudinal rail fixed triangle framework (28), two load guide rail slide blocks (29) such as vertical are installed in vertical deviation measures the side that column assembly (4) is connected, longitudinal sliding motion guide rail location-plate (27) plays the role of fastening to longitudinal sliding motion guide rail bar (24), and load guide rail slide block positioning strip (30) plays the positioning and fixing effect to load guide rail slide block (29) such as vertical.
6. according to claim 1 or 3 described a kind of devices for the measurement of platform six degree of freedom, it is characterized in that:
Vertical rail plate bar (19), vertical slider type linear displacement transducer (22) and vertical Steel Ruler (21) that described vertical deviation is measured in the column assembly (4) all are fixed on the vertical guide rail vertical columns framework (20), vertical rail plate bar (19) is installed in vertical deviation and measures the side that column assembly (4) is connected with length travel measurement triangle-frame assembly (3), and vertical slider type linear displacement transducer (22) and vertical Steel Ruler (21) are installed on the vertical guide rail vertical columns framework (20) of a side of horizontal forward.
7. according to claim 1 or 3 described a kind of devices for the measurement of platform six degree of freedom, it is characterized in that:
Vertical shaft potential meter corner assembly (6) in the described outer corner measurement assembly (1) is by vertical tube rotor supporting base (48), the vertical shaft potential meter axle fixed cap (40) of vertical tube rotor supporting base (48) upper end, be sleeved on the middle Z-axis tubular shaft flange (47) of vertical tube rotor supporting base (48) cylinder hole successively, vertical corner displacement sensor (39), Z-axis run-in index spring coupling (41), vertical shaft bearings pressure ring (42), Z-axis upper ball bearing (43), Z-axis lower ball bearing (44), dust ring (45) and Z-axis cross yoke locating ring (46) are formed; The sensor compressing tablet of described vertical corner displacement sensor (39) is fixedlyed connected with vertical shaft potential meter axle fixed cap (40), the core body of vertical corner displacement sensor (39) is connected with the upper end of Z-axis run-in index spring coupling (41), Z-axis run-in index spring coupling (41) is installed in the middle hole of vertical shaft bearings pressure ring (42) by joint spider unitor pot bearing pin (50) is fixedly connected, Z-axis bearing ring O type circle (49) is installed in the outer ring recess of vertical shaft bearings pressure ring (42), and vertical shaft bearings pressure ring (42) is fixed on the Z-axis tubular shaft flange (47).
8. according to claim 1 or 3 described a kind of devices for the measurement of platform six degree of freedom, it is characterized in that:
Described lateral shaft and longitudinal axis pot corner assembly (7) are made up of joint spider upper end base fork (53), joint spider upper shaft fork lid (61), vertical corner displacement sensor (51), parallel longitudinal formula spring coupling (76), longitudinal axis pot axle fixed cap (52), Hooke's joint fork assembly (54) and joint spider bottom seat fork assembly (77);
Two holes of described joint spider upper end base fork (53) vertical two walls are connected with vertical negative sense axle coaxial cooperation with vertical forward axle of Hooke's joint fork assembly (54), joint spider upper shaft fork lid (61) is fixedlyed connected with the vertical walls of joint spider upper end base fork (53), vertically the core body of corner displacement sensor (51) inserts the endoporus of parallel longitudinal formula spring coupling (76) and fixes, vertical forward spindle nose of Hooke's joint fork assembly (54) inserts the endoporus of parallel longitudinal formula spring coupling (76) and fixes, longitudinal axis pot axle fixed cap (52) is sleeved on parallel longitudinal formula spring coupling (76) outer end and fixedlys connected with the vertical walls of joint spider upper end base fork (53), the horizontal forward axle of Hooke's joint fork assembly (54) and two holes coaxial be connected of horizontal negative sense axle with vertical two walls of joint spider bottom seat fork assembly (77).
9. according to claim 1 or 3 described a kind of devices for the measurement of platform six degree of freedom, it is characterized in that:
Described horizontal electronic ruler get an electric shock pulling frame assembly (8) by two horizontal electronic rulers move horizontal steel tank (72) in the middle of vertical steel tank (70), two horizontal electronic rulers move horizontal steel tank (69), laterally angle steel (71) is moved in the electronic ruler contact, laterally move the electronic ruler contact, hang down in the middle of laterally move the electronic ruler contact steel tank (73) and horizontal scale pointer (74) form;
The end that described two horizontal electronic rulers move horizontal steel tank (69) and horizontal electronic ruler contact move that angle steel (71) is vertical to be installed and fixing, the other end that two horizontal electronic rulers move horizontal steel tank (69) is fixedlyed connected respectively with the end that two horizontal electronic rulers move vertical steel tank (70), an end of horizontal steel tank (72) and horizontal electronic ruler contact moved that the centre position of angle steel (71) is vertical also to be fixed in the middle of laterally moved the electronic ruler contact, the other end of horizontal steel tank (72) was vertical and fixing with the steel tank (73) that hangs down in the middle of laterally move the electronic ruler contact in the middle of laterally moved the electronic ruler contact, and laterally scale pointer (74) is fixed on horizontal electronic ruler contact and moves on the middle vertical steel tank (73).
Described vertical shaft potential meter corner assembly (6) is fixedlyed connected with the joint spider upper end base fork (53) in the longitudinal axis pot corner assembly (7) with described lateral shaft by Z-axis tubular shaft flange (47), be connected the intermediate groove part of face by Z-axis cross yoke locating ring (46) location at Z-axis tubular shaft flange (47) and joint spider upper end base fork (53), the described horizontal electronic ruler pulling frame assembly (8) that gets an electric shock is fixed on the vertical tube rotor supporting base (48) in the described vertical shaft potential meter corner assembly (6).
10. a kind of device of measuring for the platform six degree of freedom according to claim 8 is characterized in that:
Described Hooke's joint fork assembly (54) is by Hooke's joint (62), the horizontal forward position of joint spider is adjusted pad, the horizontal forward ball bearing of joint spider, the horizontal forward bearing cap of joint spider, pad (63) is adjusted in the horizontal negative sense of joint spider position, the horizontal negative sense ball bearing of joint spider (65), the horizontal negative sense bearing cap of joint spider (64), the vertical forward position of joint spider is adjusted pad, the vertical forward ball bearing of joint spider, the vertical forward bearing cap of joint spider, pad (66) is adjusted in the vertical negative sense of joint spider position, the vertical negative sense bearing cap of the vertical negative sense ball bearing of joint spider (67) and joint spider (68) is formed; The vertical negative sense bearing cap of described joint spider (68), the vertical negative sense ball bearing of joint spider (67) and the vertical negative sense of joint spider position are adjusted pad (66) and are sleeved on successively from outside to inside on vertical negative sense axle of Hooke's joint (62); The vertical forward position of the vertical forward bearing cap of joint spider, the vertical forward ball bearing of joint spider and joint spider is adjusted pad and is sleeved on successively from outside to inside on vertical forward axle of Hooke's joint (62); The horizontal negative sense bearing cap of joint spider (64), the horizontal negative sense ball bearing of joint spider (65) and the horizontal negative sense of joint spider position are adjusted pad (63) and are sleeved on successively from outside to inside on the horizontal negative sense axle of Hooke's joint (62); The horizontal forward position of the horizontal forward bearing cap of joint spider, the horizontal forward ball bearing of joint spider and joint spider is adjusted pad and is sleeved on successively from outside to inside on the horizontal forward axle of Hooke's joint (62).
Horizontal forward axle is connected with horizontal negative sense axle and described joint spider lower end base fork (57) in the described Hooke's joint (62), and the vertical forward axle of described Hooke's joint (62) is pitched (53) with forward negative sense axle with described joint spider upper end base and is connected;
Described joint spider bottom seat fork assembly (77) is made up of joint spider lower end base fork (57), joint spider lower end yoke end cap (60), horizontal corner displacement sensor (55), horizontal run-in index spring coupling (75), lateral shaft pot axle fixed cap (56), joint spider lower end base fork gusset (58) and joint spider base fork centralized positioning pin (59);
Described horizontal corner displacement sensor (55) is connected on the horizontal negative sense axle of described Hooke's joint (62) by described horizontal run-in index spring coupling (75), described vertical corner displacement sensor (51) is connected on vertical negative sense axle of Hooke's joint (62) by described parallel longitudinal formula spring coupling (76), described joint spider lower end base fork (57) is fixedlyed connected with described joint spider lower end base fork gusset (58), and intermediate throughholes is by described joint spider base fork centralized positioning pin (59) location.
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