CN103963032A - Large space optical remote sensor four-dimensional regulating device - Google Patents
Large space optical remote sensor four-dimensional regulating device Download PDFInfo
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- CN103963032A CN103963032A CN201410187098.6A CN201410187098A CN103963032A CN 103963032 A CN103963032 A CN 103963032A CN 201410187098 A CN201410187098 A CN 201410187098A CN 103963032 A CN103963032 A CN 103963032A
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Abstract
The invention provides a large space optical remote sensor four-dimensional regulating device, and belongs to the field of pose regulating devices used for ground installation and calibration of large precise optical equipment. The device comprises a bearing frame, a sliding block rocker type turning mechanism, two multi-foot type air floation supporting mechanisms, a spherical secondary supporting mechanism, a torsional pendulum regulating mechanism, a torsional pendulum keeping mechanism and a heavy load transitional motion assembly. When the device is used, the operation risk of an optical remote sensor in an installation process is low, and a pitching motion range is large when the pose is regulated; the multiple air feet are connected in parallel for use, the creeping phenomenon is effectively eliminated, and torsional pendulum regulating accuracy is improved. A fixed transitional motion supporting point is used in cooperation with an air floatation supporting point to constitute a four-dimensional small-route driving system having the high-resolution fine-tuning function, the device can meet the high-resolution pose regulation requirement for the optical remote sensor of optical detection, the shafting structure is greatly simplified, and installing and regulating difficulty is lowered. The device is small in appearance size, low in rotating center of gravity, short in production phase, capable of being used for the fields of installing, fixing, position pose regulating and the like of large space optical remote sensors.
Description
Technical field
The invention belongs to the dress school, ground of large-scale precision optical device with pose adjusting device field, be specifically related to the four-dimensional adjusting device of a kind of large space optical sensor.
Background technology
Space optical remote sensor belongs to large-scale precision optical device, and it needed to complete on the ground and debug and testing calibration in advance before being admitted to space.Existing method conventionally adopts taking straight line or arc guide rail as the large-scale precision two dimension turntable of main body guiding mechanism and fixes space optical remote sensor, to carried out the pitching of implementation space optical sensor on fixed datum and rocked operation by large-scale precision two dimension turntable.
But, with the raising day by day of landing ground investigation mapping demand, the volume and weight of space optical remote sensor is all increasing, adopt the method in traditional dress school, optical sensor ground, large-scale precision two dimension turntable implementation space to show some shortcomings, such as, when large-scale precision two dimension turntable carries out microspur horizontal movement adjustment under the weight of space optical remote sensor, there will be creeping phenomenon, cause microspur displacement location inaccuracy, resolution ratio is low.Simultaneously, for the weight of bearing space optical sensor, the continuous precision guide rail that large-scale precision two dimension turntable Structure of need intensity is higher, volume is larger, this has not only significantly increased production cost and the production cycle of guide rail, also resetting difficulty and maintainability have been increased, therefore calibration requirements is debug on the ground that, traditional large-scale precision two dimension turntable gradually cannot meeting spatial optical sensor.
In addition, modular air-float supporting device can be realized air supporting under higher bearing load and support, and the bearing capacity of small-sized air supporting piece is limited, although and large-scale air supporting piece bearing capacity is large, but processing difficulties, the production cycle is long, cost is high.
Moreover existing large-scale two-dimentional turntable volume is large, take up room large; Quality weight, transport difficulty; Load rotation axis measurement is high, and security is low; Need to carry out accurate center of gravity coupling for different loads, service load is loaded down with trivial details, expends time in.
Summary of the invention
Large in order to solve existing large-scale two-dimentional turntable volume, quality weight, easily creeps, and precision is low, and the lead time is long, and cost is high; Meanwhile, load rotation axis measurement is high, and security is low, need to carry out accurate center of gravity coupling for different loads, complex operation, and time-consuming technical problem, the invention provides the four-dimensional adjusting device of a kind of large space optical sensor.
The technical scheme that technical solution problem of the present invention is taked is as follows:
The four-dimensional adjusting device of a kind of large space optical sensor comprises load-bearing frame, slide block rocker-type switching mechanism, two polypody air supporting supporting mechanisms, spherical pair supporting mechanisms, rocks governor motion, rocks maintaining body and the straight moving assembly of heavy duty, and load-bearing frame comprises pedestal, two supports, load installing plate and two installing plate axle beds; Described support comprises vertical beam and horizontal gird, and two vertical beam symmetries are fixed on upper end, pedestal both sides, and the epimere of vertical beam is provided with rack shaft hole; Horizontal gird is fixed on the top of vertical beam; Two installing plate axle beds are connected with the two ends of load installing plate respectively, and installing plate axle bed is provided with upset axis hole and tractive axis hole; All by one, the rotating shaft with bearing and a rack shaft hole are rotationally connected each upset axis hole;
Described slide block rocker-type switching mechanism comprises tractive hollow shaft, stayed pole, the little axle of slip threaded block, heavily loaded screw mandrel, screw mandrel front-end bearing pedestal, wind, slip threaded block, the two set of rails of heavily loaded straight line and screw mandrel rear bearing block, the two ends of stayed pole are respectively equipped with axis hole, the axis hole of tractive hollow shaft one end and stayed pole front end is dynamically connected by bearing rotary, and the tractive axis hole on the other end of tractive hollow shaft and load installing plate is connected;
The two set of rails of described heavily loaded straight line are made up of jointly two parallel line slideways, screw mandrel front-end bearing pedestal and screw mandrel rear bearing block lay respectively at the forward and backward two ends of the two set of rails of heavily loaded straight line, and guide rail, screw mandrel front-end bearing pedestal and screw mandrel rear bearing block in the two set of rails of heavily loaded straight line are all connected with the upper surface of horizontal gird; The thread segment two ends at heavy duty screw mandrel middle part are rotationally connected by bearing and screw mandrel front-end bearing pedestal and screw mandrel rear bearing block respectively, and the rocking arm front end of the end of heavily loaded screw mandrel and wind is connected;
The both sides, lower end of described slip threaded block respectively with the two set of rails of heavily loaded straight line in slide block be connected; Slip threaded block middle part is provided with along the screwed hole of guide rail sliding chute direction, and is threaded with the thread segment at the middle part of heavily loaded screw mandrel by its screwed hole; The upper end of slip threaded block is provided with the horizontal shaft hole perpendicular to guide rail sliding chute direction, and this axis hole is rotationally connected by the axis hole of the little axle of slip threaded block and stayed pole rear end;
Described two polypody air supporting supporting mechanism symmetries are positioned over the both sides of pedestal, each polypody air supporting supporting mechanism comprises air supporting load bearing arm, air supporting load bearing arm ball stud, ball-and-socket shaft assembly, primary load bearing plate, three air supporting supporting components and high accuracy platform, ball-and-socket shaft assembly comprises air supporting load bearing arm ball-and-socket axle, the first cap fall prevention and connection bearing, and air supporting supporting component comprises fastening pad, the little axle of bulb, the gentle floating block of the second cap fall prevention; The upper end of described air supporting load bearing arm ball stud is screw rod, lower end is provided with bulb, the upper end screw rod of air supporting load bearing arm ball stud is threaded with the screw of air supporting load bearing arm one end, and the bulb of air supporting load bearing arm ball stud and air supporting load bearing arm ball-and-socket axle form the first spherical pair; The lateral wall of the other end of air supporting load bearing arm and pedestal one side is connected;
Described primary load bearing plate is regular triangular prism structure, the pivot of its upper surface is provided with central recess, each drift angle of its triangular prism upper surface equilateral triangle is respectively equipped with a drift angle through hole, and described air supporting load bearing arm ball-and-socket axle is connected with the central recess of primary load bearing plate by connection bearing; Described the first cap fall prevention is provided with tapped centre bore, and the diameter of this centre bore is less than the bulb diameter of air supporting load bearing arm ball stud, and the upper surface of the first cap fall prevention and primary load bearing plate is connected;
The little axle of bulb of described three air supporting supporting components is respectively through a drift angle through hole of primary load bearing plate, and the upper end of the little axle of bulb is connected by fastening pad and primary load bearing plate, and fastening pad is connected by the upper surface of bolt and primary load bearing plate; The upper surface of air supporting piece is provided with ball-and-socket, and the center-hole diameter of the second cap fall prevention is less than the bulb diameter of the little axle of bulb, and the second cap fall prevention is connected by the upper surface of bolt and air supporting piece, and the lower end bulb of the little axle of bulb and the ball-and-socket of air supporting piece form the second spherical pair; The lower surface of high accuracy platform fixes on the ground, and three air supporting supporting components are placed on the upper end of a high accuracy platform jointly;
Described spherical pair supporting mechanism comprises straight moving load bearing arm and spherical pair bearing, and directly moving one end of load bearing arm and the sidewall of pedestal front end are connected, and the other end and spherical pair bearing rotary are dynamically connected;
The described governor motion that rocks comprises and rocks Connection Block, rocks adjusting screw(rod) and adjusting handle, rock the lower end of Connection Block and the sidewall of a high accuracy platform is connected, the upper end of rocking Connection Block by screw with rock adjusting screw(rod) and be threaded, rock on the lateral wall that adjusting screw(rod) front end withstands on pedestal one side, the other end and the adjusting handle that rock adjusting screw(rod) are coaxially connected;
The described maintaining body that rocks comprises compression Connection Block and air spring, compressing the lower end of Connection Block and the sidewall of a high accuracy platform is connected, compress the upper end of Connection Block and the cylinder barrel of air spring and be connected, the piston rod front end of air spring withstands on the lateral wall of pedestal one side.
Described spherical pair bearing comprises bulb minor axis, ball-and-socket pad and little bearing, ball-and-socket pad is coaxially fixed on the top of the straight moving assembly of heavy duty, the bulb of bulb minor axis lower end and ball-and-socket pad form the 3rd spherical pair, the upper end of bulb minor axis is connected with the inner ring of little bearing, and the outer ring of little bearing is rotationally connected with the axis hole of straight moving load bearing arm front end.
Described heavy duty directly moving assembly comprises straight lever, guide cover, bearing lock jack panel, high accuracy load nut, load shell, harmonic speed reducer, input hollow shaft, torque motor, spacer, force-bearing base, the axis of guide, fairlead, dust cap, clutch shaft bearing, the second bearing, the 3rd bearing, the stage casing of straight lever is provided with external screw thread, and the inside of straight lever is provided with blind hole; The upper surface of described guide cover is provided with the centre bore of perforation, and straight lever is through the centre bore of guide cover, and the two forms moving sets, and the top of guide cover and load shell is connected;
Described high accuracy load nut is threaded with straight lever by internal thread, high accuracy load nut and load shell are secondary drum structure, the first order drum of high accuracy load nut is coaxially nested in the first order drum of load shell, and the stage casing of high accuracy load nut first order drum is rotationally connected by the inwall of clutch shaft bearing and load shell; The epimere of high accuracy load nut is provided with external screw thread, and bearing lock jack panel is threaded with the epimere of high accuracy load nut first order drum, and clutch shaft bearing is fixed; The second level drum of high accuracy load nut is coaxially nested in the second level drum of load shell; The inwall of the second level drum of high accuracy load nut is rotationally connected by the second bearing and the outer wall on input hollow shaft top;
Described harmonic speed reducer comprises output steel wheel, fixing steel wheel, flexbile gear, first harmonic generator and second harmonic generator, and the output top of steel wheel and the bottom of high accuracy load nut are connected, and the output inwall of steel wheel and the epimere outer wall gear of flexbile gear engage; The bottom of fixing steel wheel is flange arrangement, and the fixing flange upper surface of steel wheel and the lower end of load shell are connected, and the flange lower surface of fixing steel wheel and the top of force-bearing base are connected; The hypomere outer wall of flexbile gear engages with the inwall gear of fixing steel wheel, and the inwall of flexbile gear is rotationally connected with the outer wall in input hollow shaft stage casing by first harmonic generator and second harmonic generator respectively; Spacer is enclosed within the stage casing of input hollow shaft, and the upper end of spacer is connected with first harmonic generator, and the lower end of spacer is connected with second harmonic generator;
Described force-bearing base is secondary drum structure, and the first order drum inwall of the outer wall of torque motor stator and force-bearing base is connected; Input hollow shaft sleeve is in the middle hypomere outside of straight lever; The rotor inner wall of input hollow shaft outer wall stage casing and torque motor is connected, and input hollow shaft outer wall hypomere is rotationally connected by the second level drum inwall of the 3rd bearing and force-bearing base;
The bottom of described dust cap and force-bearing base is connected, and the axis of guide and dust cap are coaxially connected; The lateral wall of described fairlead is connected with the hypomere of the blind hole of straight lever, and the madial wall of fairlead coordinates with the outside profile of the axis of guide, its two formation moving sets.
Beneficial effect of the present invention: the designed load installing plate of the present invention is the mechanism of elevating movement on a large scale, optical sensor can be adjusted to detected state by this adjusting device horizontally rotating on the load installing plate that center of gravity is very low after level is installed, and has reduced operational risk.The in parallel use of many gas foots, effectively eliminates creeping phenomenon, has improved and has rocked adjustment precision, has reduced development cost and process-cycle simultaneously.Fixing straight activity supporting point and air supporting fulcrum are used in conjunction with and form the little stroke drive system of the four-dimension with high-resolution fine adjustment function, to meet the high accuracy posture adjustment demand of optical detection to optical sensor, and have greatly simplified shafting structure, have reduced resetting difficulty.In addition, this device appearance and size is little, and rotation center of gravity is low, handling safety, simple, easy to use.The present invention can be applicable to the fields such as large space optical sensor is installed, fixing and position and attitude adjustment.
Brief description of the drawings
Fig. 1 is the stereogram of the four-dimensional adjusting device of a kind of large space optical sensor of the present invention;
Fig. 2 is the front view of Fig. 1;
Fig. 3 is the left view of Fig. 1;
Fig. 4 is the stereogram of slide block rocker-type switching mechanism of the present invention;
Fig. 5 is the stereogram of polypody air supporting supporting mechanism of the present invention;
Fig. 6 is the axial partial sectional view of Fig. 5 side-looking;
Fig. 7 is the stereogram that the present invention rocks governor motion;
Fig. 8 is the stereogram that the present invention rocks maintaining body;
Fig. 9 is the axial section of the straight moving assembly of the present invention's heavy duty;
Figure 10 is the axial section of spherical pair supporting mechanism of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further details.
As shown in Figures 1 to 10, the four-dimensional adjusting device of a kind of large space optical sensor comprises load-bearing frame 1, slide block rocker-type switching mechanism 2, two polypody air supporting supporting mechanisms 3, spherical pair supporting mechanisms 4, rocks governor motion 5, rocks maintaining body 6 and the straight moving assembly 7 of heavy duty, and load-bearing frame 1 comprises pedestal 1-1, two support 1-2, load installing plate 1-3 and two installing plate axle bed 1-4.Two installing plate axle bed 1-4 of load installing plate 1-3 and its both sides are one-body molded, described support 1-2 comprises vertical beam 1-2-1 and horizontal gird 1-2-2, two vertical beam 1-2-1 symmetries are fixed on upper end, pedestal 1-1 both sides, and the epimere of vertical beam 1-2-1 is provided with rack shaft hole 1-2-1-1; Horizontal gird 1-2-2 is fixed on the top of vertical beam 1-2-1; Two installing plate axle bed 1-4 are connected with the two ends of load installing plate 1-3 respectively, and installing plate axle bed 1-4 is provided with upset axis hole 1-4-1 and tractive axis hole 1-4-2; All by one, the rotating shaft with bearing and a rack shaft hole 1-2-1-1 are rotationally connected each upset axis hole 1-4-1.
Described slide block rocker-type switching mechanism 2 comprises tractive hollow shaft 2-1, stayed pole 2-2, the little axle 2-3 of slip threaded block, heavily loaded screw mandrel 2-4, screw mandrel front-end bearing pedestal 2-5, wind 2-6, slip threaded block 2-7, the two set of rails 2-8 of heavily loaded straight line and screw mandrel rear bearing block 2-9, the two ends of stayed pole 2-2 are respectively equipped with axis hole, the axis hole of tractive hollow shaft 2-1 one end and stayed pole 2-2 front end is dynamically connected by bearing rotary, and the tractive axis hole 1-4-2 on the other end and the load installing plate of tractive hollow shaft 2-1 is connected.
The two set of rails 2-8 of described heavily loaded straight line are made up of jointly two parallel line slideways, lay respectively at the forward and backward two ends of the two set of rails 2-8 of heavily loaded straight line at screw mandrel front-end bearing pedestal 2-5 and screw mandrel rear bearing block 2-9, guide rail, screw mandrel front-end bearing pedestal 2-5 and screw mandrel rear bearing block 2-9 in the two set of rails 2-8 of heavily loaded straight line are all connected with the upper surface of horizontal gird 1-2-2; The thread segment two ends at heavy duty screw mandrel 2-4 middle part are rotationally connected by bearing and screw mandrel front-end bearing pedestal 2-5 and screw mandrel rear bearing block 2-9 respectively, and the rocking arm front end of the end of heavily loaded screw mandrel 2-4 and wind 2-6 is connected;
The both sides, lower end of described slip threaded block 2-7 respectively with the two set of rails 2-8 of heavily loaded straight line in slide block be connected, slip threaded block 2-7 middle part is provided with along the screwed hole of guide rail sliding chute direction, and is threaded with the thread segment at the middle part of heavily loaded screw mandrel 2-4 by its screwed hole; The upper end of slip threaded block 2-7 is provided with the horizontal shaft hole perpendicular to guide rail sliding chute direction, and this axis hole is rotationally connected by the axis hole of the little axle 2-3 of slip threaded block and stayed pole 2-2 rear end;
Described two polypody air supporting supporting mechanism 3 symmetries are positioned over the both sides of pedestal 1-1, each polypody air supporting supporting mechanism 3 comprises air supporting load bearing arm 3-1, air supporting load bearing arm ball stud 3-2, ball-and-socket shaft assembly 3-3, primary load bearing plate 3-4, three air supporting supporting component 3-5 and high accuracy platform 3-6, ball-and-socket shaft assembly 3-3 comprises air supporting load bearing arm ball-and-socket axle 3-3-1, the first cap fall prevention 3-3-2 and connection bearing 3-3-3, and air supporting supporting component 3-5 comprises fastening pad 3-5-1, the little axle 3-5-2 of bulb, the gentle floating block 3-5-4 of the second cap fall prevention 3-5-3; The upper end of described air supporting load bearing arm ball stud 3-2 is screw rod, lower end is provided with bulb, the upper end screw rod of air supporting load bearing arm ball stud 3-2 is threaded with the screw of air supporting load bearing arm 3-1 one end, can be realized along the axis of air supporting load bearing arm ball stud 3-2 and being moved up and down by rotating screw bolt, the bulb of air supporting load bearing arm ball stud 3-2 and air supporting load bearing arm ball-and-socket axle 3-3-1 form the first spherical pair; The lateral wall of the other end of air supporting load bearing arm 3-1 and pedestal 1-1 mono-side is connected.The in parallel use of many gas foots, effectively eliminates creeping phenomenon, has improved and has rocked adjustment precision, has reduced development cost and process-cycle simultaneously.
Described primary load bearing plate 3-4 is regular triangular prism structure, the pivot of its upper surface is provided with central recess, each drift angle of its triangular prism upper surface equilateral triangle is respectively equipped with a drift angle through hole, and described air supporting load bearing arm ball-and-socket axle 3-3-1 is connected with the central recess of primary load bearing plate 3-4 by connection bearing 3-3-3; Described the first cap fall prevention 3-3-2 is provided with tapped centre bore, and the diameter of this centre bore is less than the bulb diameter of air supporting load bearing arm ball stud 3-2, and the upper surface of the first cap fall prevention 3-3-2 and primary load bearing plate 3-4 is connected.
The little axle 3-5-2 of bulb of described three air supporting supporting component 3-5 passes respectively a drift angle through hole of primary load bearing plate 3-4, the upper end of the little axle 3-5-2 of bulb is connected by fastening pad 3-5-1 and primary load bearing plate 3-4, and fastening pad 3-5-1 is connected by the upper surface of bolt and primary load bearing plate 3-4; The upper surface of air supporting piece 3-5-4 is provided with ball-and-socket, the center-hole diameter of the second cap fall prevention 3-5-3 is less than the bulb diameter of the little axle 3-5-2 of bulb, the second cap fall prevention 3-5-3 is connected by the upper surface of bolt and air supporting piece 3-5-4, and the ball-and-socket of the lower end bulb of the little axle 3-5-2 of bulb and air supporting piece 3-5-4 forms the second spherical pair; The lower surface of high accuracy platform 3-6 fixes on the ground, and three air supporting supporting component 3-5 are placed on the upper end of a high accuracy platform 3-6 jointly.
Described air supporting supporting component 3-5 can be small-sized air supporting piece, polypody air supporting supporting mechanism 3 has been shared equably by load bearing arm ball stud 3-2 and has been transmitted the load-bearing pressure getting off by three coplanar air supporting supporting component 3-5 in bottom surface, the stress that primary load bearing plate 3-4 is born is able to decentralized equably, therefore give full play to short, the easy production of small-sized air supporting piece process-cycle, advantage that cost is low, and overcome the limited shortcoming of single small-sized air supporting piece bearing capacity.The distribution of three small-sized air supporting pieces takes full advantage of 3 stability actions of determining face, and meanwhile, the use of multiple socket arrangement has also utilized spherical centering principle, makes the mechanics bang path of polypody air supporting supporting mechanism 3 accurate, stablizes.
Described spherical pair supporting mechanism 4 comprises straight moving load bearing arm 4-1 and spherical pair bearing 4-2, and directly moving one end of load bearing arm 4-1 and the sidewall of pedestal 1-1 front end are connected, and the other end and spherical pair bearing 4-2 are rotationally connected;
The described governor motion 5 that rocks comprises and rocks Connection Block 5-1, rocks adjusting screw(rod) 5-2 and adjusting handle 5-3, rock the lower end of Connection Block 5-1 and the sidewall of a high accuracy platform 3-6 is connected, the upper end of rocking Connection Block 5-1 by screw with rock adjusting screw(rod) 5-2 and be threaded, rock adjusting screw(rod) 5-2 front end and withstand on the lateral wall of pedestal 1-1 mono-side, the other end and the adjusting handle 5-3 that rock adjusting screw(rod) 5-2 are coaxially connected.
The described maintaining body 6 that rocks comprises compression Connection Block 6-1 and air spring 6-2, compressing the lower end of Connection Block 6-1 and the sidewall of a high accuracy platform 3-6 is connected, compress the upper end of Connection Block 6-1 and the cylinder barrel of air spring 6-2 and be connected, the piston rod front end of air spring 6-2 withstands on the lateral wall of pedestal 1-1 mono-side.
Described spherical pair bearing 4-2 comprises bulb minor axis 4-2-1, ball-and-socket pad 4-2-2 and little bearing 4-2-3, ball-and-socket pad 4-2-2 is coaxially fixed on the top of the straight moving assembly 7 of heavy duty, the bulb of bulb minor axis 4-2-1 lower end and ball-and-socket pad 4-2-2 form the 3rd spherical pair, the upper end of bulb minor axis 4-2-1 is connected with the inner ring of little bearing 4-2-3, and the outer ring of little bearing 4-2-3 is rotationally connected with the axis hole of straight moving load bearing arm 4-1 front end.
Because two polypody air supporting supporting mechanism 3 symmetries are positioned over the both sides of pedestal 1-1, and spherical pair bearing 4-2 is positioned at the front end of pedestal 1-1, therefore from 3 principles of determining face, two the first spherical pairs and the 3rd spherical pair can be determined the inclination angle relation between pedestal 1-1 bottom surface and ground uniquely.
Described heavy duty directly moving assembly 7 comprises straight lever 7-1, guide cover 7-2, bearing lock jack panel 7-3, high accuracy load nut 7-4, load shell 7-5, harmonic speed reducer 7-6, input hollow shaft 7-7, torque motor 7-8, spacer 7-9, force-bearing base 7-10, axis of guide 7-11, fairlead 7-12, dust cap 7-13, clutch shaft bearing 7-14, the second bearing 7-15, the 3rd bearing 7-16, the stage casing of straight lever 7-1 is provided with external screw thread, and the inside of straight lever 7-1 is provided with blind hole 7-1-1; The upper surface of described guide cover 7-2 is provided with the centre bore of perforation, and straight lever 7-1 is through the centre bore of guide cover 7-2, and the two forms moving sets, and the top of guide cover 7-2 and load shell 7-5 is connected.
Described high accuracy load nut 7-4 is threaded with straight lever 1 by internal thread, high accuracy load nut 7-4 and load shell 7-5 are secondary drum structure, the first order drum of high accuracy load nut 7-4 is coaxially nested in the first order drum of load shell 7-5, and the stage casing of high accuracy load nut 7-4 first order drum is rotationally connected by the inwall of clutch shaft bearing 7-14 and load shell 7-5; The epimere of high accuracy load nut 7-4 is provided with external screw thread, and bearing lock jack panel 7-3 is threaded with the epimere of high accuracy load nut 7-4 first order drum, and clutch shaft bearing 7-14 is fixed; The second level drum of high accuracy load nut 7-4 is coaxially nested in the second level drum of load shell 7-5; The inwall of the second level drum of high accuracy load nut 7-4 is rotationally connected with the outer wall on input hollow shaft 7-7 top by the second bearing 7-15.
Described harmonic speed reducer 7-6 comprises output steel wheel 7-6-1, fixing steel wheel 7-6-2, flexbile gear 7-6-3, first harmonic generator 7-6-4 and second harmonic generator 7-6-5, the top of output steel wheel 7-6-1 and the bottom of high accuracy load nut 7-4 are connected, and the inwall of output steel wheel 7-6-1 engages with the epimere outer wall gear of flexbile gear 7-6-3; The bottom of fixing steel wheel 7-6-2 is flange arrangement, and the fixing flange upper surface of steel wheel 7-6-2 and the lower end of load shell 7-5 are connected, and the fixing flange lower surface of steel wheel 7-6-2 and the top of force-bearing base 7-10 are connected; The hypomere outer wall of flexbile gear 7-6-3 engages with the inwall gear of fixing steel wheel 7-6-2, and the inwall of flexbile gear 7-6-3 is rotationally connected with the outer wall in input hollow shaft 7-7 stage casing by first harmonic generator 7-6-4 and second harmonic generator 7-6-5 respectively; Spacer 7-9 is enclosed within the stage casing of input hollow shaft 7-7, and the upper end of spacer 7-9 is connected with first harmonic generator 7-6-4, and the lower end of spacer 7-9 is connected with second harmonic generator 7-6-5.
Described force-bearing base 7-10 is secondary drum structure, and the first order drum inwall of the outer wall of torque motor 7-8 stator and force-bearing base 7-10 is connected; Input hollow shaft 7-7 is enclosed within the middle hypomere outside of straight lever 7-1; The rotor inner wall of input hollow shaft 7-7 outer wall stage casing and torque motor 7-8 is connected, and input hollow shaft 7-7 outer wall hypomere is rotationally connected by the second level drum inwall of the 3rd bearing 7-16 and force-bearing base 7-10.
The bottom of described dust cap 7-13 and force-bearing base 7-10 is connected, and axis of guide 7-11 and dust cap 7-13 are coaxially connected; The lateral wall of described fairlead 7-12 is connected with the hypomere of the blind hole 7-1-1 of straight lever 7-1, and the madial wall of fairlead 7-12 coordinates with the outside profile of axis of guide 7-11, its two formation moving sets.
This heavy duty directly moving assembly 7 possess compact conformation simultaneously, take up room little, bearing capacity is large, stroke is long, precision advantages of higher, can be widely used in similar large-scale precision optical device and the various application scenarios that displacement accuracy and bearing capacity all proposed to high requirement such as debug.
When the four-dimensional adjusting device of concrete application large space optical sensor of the present invention, first utilize slide block rocker-type switching mechanism 2 to adjust to horizontal attitude by horizontally rotating the load installing plate 1-3 that center of gravity is very low, and space optical remote sensor is arranged on to load installing plate 1-3 upper end, installation accuracy be can improve like this, and fitting operation difficulty and risk reduced.After this, drive slide block rocker-type switching mechanism 2 by rotation wind 2-6 again, heavy duty screw mandrel 2-4 drives slip threaded block 2-7 forwards to move along the two set of rails 2-8 of heavily loaded straight line, in this process, the end of stayed pole 2-2 slided threaded block 2-7 drive and be synchronized with the movement, the front end of stayed pole 2-2 rotates around rack shaft hole 1-2-1-1 by hollow shaft 2-1 band dynamic loading installing plate 1-3, thereby load is transformed into detected state by confined state.Load installing plate 1-3 can carry out the arbitrary overturn at pitching inclination angle in the polarizers of big angle scope of-5 ° to 95 °, thereby provide the elevating movement of a low precision of large stroke, assembling and the detection pose adjustment process of auxiliary implementation space optical sensor on this four-dimension adjusting device.
When space optical remote sensor need to accurately change attitude when adapting to detect demand by four-dimensional adjusting device of the present invention, after ventilating respectively to six air supporting supporting component 3-5 of two polypody air supporting supporting mechanisms 3, under gas pressure, between the high accuracy platform 3-6 of each air supporting piece and himself below, can form one deck air film, this air film can be eliminated frictional force and two polypody air supporting supporting mechanisms 3 are floated respectively.The adjusting handle 5-3 that manual rotation rocks governor motion 5 can apply accurate driving thrust to a side of pedestal 1-1 by rocking adjusting screw(rod) 5-2, the maintaining body 6 that rocks that is positioned at pedestal 1-1 opposite side continues to apply reaction force for the location to pedestal 1-1 and attitude maintenance to the opposite side of pedestal 1-1 by the piston rod front end of its air spring 6-2, rocks adjustment thereby realize around the high accuracy microspur of spherical pair bearing 4-2.After source of the gas is closed, air film disappears, under Action of Gravity Field, and the high accuracy platform 3-6 laminating of six air supporting supporting component 3-5 and himself below.Now, in the time that air supporting load bearing arm ball stud 3-2 and primary load bearing plate 3-4 are any angle, air supporting load bearing arm 3-1 still can be realized along the axis of air supporting load bearing arm ball stud 3-2 and being moved up and down by rotating screw bolt, realizes the one-sided height adjustment of pedestal 1-1.Determine face principle from 3, by adjusting respectively the height of two air supporting load bearing arm 3-1, and the straight adjustable height that moves load bearing arm 4-1 of cooperation simultaneously, can realize adjustment such as the high-precision vertical lifting of pedestal 1-1, pitching and rolls, thereby greatly simplify the structure of rocking axle system, reduced development cost and process-cycle.
In sum, first, two air supporting load bearing arm 3-1 and a straight moving load bearing arm 4-1 form the supported at three point to pedestal 1-1 jointly, these three strong points all possess elevating function on vertical direction and the angle adaptation function of attached spherical pair, regulate high accuracy vertical displacement, pitching and the adjustment of roll attitude that can realize pedestal 1-1 by the interlock to them.Secondly, polypody air supporting supporting mechanism 3, rock governor motion 5, rock maintaining body 6 and spherical pair bearing 4-2 interlock, the high-precision two-dimensional that can realize pedestal 1-1 rocks attitude adjustment, and effectively eliminates creeping phenomenon.The interlock of above-mentioned multiple fine tuning structures forms the little stroke drive system of the four-dimension with high-resolution inching function.Coordinate the pitching of the low precision with polarizers of big angle scope to adjust the slide block rocker-type switching mechanism 2 of function, can make large space optical sensor on this four-dimensional adjusting device, realize pitching in company with load installing plate 1-3, rock, the microspur adjustment of displacement action of four frees degree such as roll and lifting, the resolution ratio of its fine setting stroke is high, accurately controlled, can substitute traditional large-scale precision two dimension turntable completely and calibration requirements is debug on the ground of meeting spatial optical sensor, and drive space optical remote sensor to realize corresponding high precision position attitude adjustment action, completing its ground debugs and pose adjustment testing calibration demand.
Claims (3)
1. the four-dimensional adjusting device of large space optical sensor, it is characterized in that, this device comprises load-bearing frame (1), slide block rocker-type switching mechanism (2), two polypody air supporting supporting mechanisms (3), spherical pair supporting mechanism (4), rocks governor motion (5), rocks maintaining body (6) and the straight moving assembly (7) of heavy duty, and load-bearing frame (1) comprises pedestal (1-1), two supports (1-2), load installing plate (1-3) and two installing plate axle beds (1-4); Described support (1-2) comprises vertical beam (1-2-1) and horizontal gird (1-2-2), two vertical beams (1-2-1) symmetry is fixed on pedestal (1-1) upper end, both sides, and the epimere of vertical beam (1-2-1) is provided with rack shaft hole (1-2-1-1); Horizontal gird (1-2-2) is fixed on the top of vertical beam (1-2-1); Two installing plate axle beds (1-4) are connected with the two ends of load installing plate (1-3) respectively, and installing plate axle bed (1-4) is provided with upset axis hole (1-4-1) and tractive axis hole (1-4-2); All by one, the rotating shaft with bearing and a rack shaft hole (1-2-1-1) are rotationally connected each upset axis hole (1-4-1);
Described slide block rocker-type switching mechanism (2) comprises tractive hollow shaft (2-1), stayed pole (2-2), the little axle of slip threaded block (2-3), heavy duty screw mandrel (2-4), screw mandrel front-end bearing pedestal (2-5), wind (2-6), slip threaded block (2-7), the two set of rails (2-8) of heavy duty straight line and screw mandrel rear bearing block (2-9), the two ends of stayed pole (2-2) are respectively equipped with axis hole, the axis hole of tractive hollow shaft (2-1) one end and stayed pole (2-2) front end is dynamically connected by bearing rotary, tractive axis hole (1-4-2) on the other end and the load installing plate of tractive hollow shaft (2-1) is connected,
The two set of rails (2-8) of described heavily loaded straight line are made up of jointly two parallel line slideways, screw mandrel front-end bearing pedestal (2-5) and screw mandrel rear bearing block (2-9) lay respectively at the forward and backward two ends of the two set of rails (2-8) of heavily loaded straight line, and guide rail, screw mandrel front-end bearing pedestal (2-5) and screw mandrel rear bearing block (2-9) in the two set of rails (2-8) of heavily loaded straight line are all connected with the upper surface of horizontal gird (1-2-2); The thread segment two ends at heavy duty screw mandrel (2-4) middle part are rotationally connected by bearing and screw mandrel front-end bearing pedestal (2-5) and screw mandrel rear bearing block (2-9) respectively, and the rocking arm front end of the end of heavily loaded screw mandrel (2-4) and wind (2-6) is connected;
The both sides, lower end of described slip threaded block (2-7) respectively with the two set of rails (2-8) of heavily loaded straight line in slide block be connected; Slip threaded block (2-7) middle part is provided with along the screwed hole of guide rail sliding chute direction, and is threaded with the thread segment at the middle part of heavily loaded screw mandrel (2-4) by its screwed hole; The upper end of slip threaded block (2-7) is provided with the horizontal shaft hole perpendicular to guide rail sliding chute direction, and this axis hole is rotationally connected by the little axle of slip threaded block (2-3) and the axis hole of stayed pole (2-2) rear end;
Described two polypody air supporting supporting mechanisms (3) symmetry is positioned over the both sides of pedestal (1-1), each polypody air supporting supporting mechanism (3) comprises air supporting load bearing arm (3-1), air supporting load bearing arm ball stud (3-2), ball-and-socket shaft assembly (3-3), primary load bearing plate (3-4), three air supporting supporting components (3-5) and high accuracy platform (3-6), ball-and-socket shaft assembly (3-3) comprises air supporting load bearing arm ball-and-socket axle (3-3-1), the first cap fall prevention (3-3-2) and connection bearing (3-3-3), air supporting supporting component (3-5) comprises fastening pad (3-5-1), the little axle of bulb (3-5-2), the gentle floating block of the second cap fall prevention (3-5-3) (3-5-4), the upper end of described air supporting load bearing arm ball stud (3-2) is screw rod, lower end is provided with bulb, the upper end screw rod of air supporting load bearing arm ball stud (3-2) is threaded with the screw of air supporting load bearing arm (3-1) one end, and the bulb of air supporting load bearing arm ball stud (3-2) and air supporting load bearing arm ball-and-socket axle (3-3-1) form the first spherical pair, the lateral wall of the other end of air supporting load bearing arm (3-1) and pedestal (1-1) side is connected,
Described primary load bearing plate (3-4) is regular triangular prism structure, the pivot of its upper surface is provided with central recess, each drift angle of its triangular prism upper surface equilateral triangle is respectively equipped with a drift angle through hole, and described air supporting load bearing arm ball-and-socket axle (3-3-1) is connected with the central recess of primary load bearing plate (3-4) by connection bearing (3-3-3); Described the first cap fall prevention (3-3-2) is provided with tapped centre bore, the diameter of this centre bore is less than the bulb diameter of air supporting load bearing arm ball stud (3-2), and the first cap fall prevention (3-3-2) is connected with the upper surface of primary load bearing plate (3-4);
The little axle of bulb (3-5-2) of described three air supporting supporting components (3-5) passes respectively a drift angle through hole of primary load bearing plate (3-4), the upper end of the little axle of bulb (3-5-2) is connected by fastening pad (3-5-1) and primary load bearing plate (3-4), and fastening pad (3-5-1) is connected by the upper surface of bolt and primary load bearing plate (3-4); The upper surface of air supporting piece (3-5-4) is provided with ball-and-socket, the center-hole diameter of the second cap fall prevention (3-5-3) is less than the bulb diameter of the little axle of bulb (3-5-2), the second cap fall prevention (3-5-3) is connected by the upper surface of bolt and air supporting piece (3-5-4), and the ball-and-socket of the lower end bulb of the little axle of bulb (3-5-2) and air supporting piece (3-5-4) forms the second spherical pair; The lower surface of high accuracy platform (3-6) fixes on the ground, and three air supporting supporting components (3-5) are placed on the upper end of a high accuracy platform (3-6) jointly;
Described spherical pair supporting mechanism (4) comprises straight moving load bearing arm (4-1) and spherical pair bearing (4-2), straight moving one end of load bearing arm (4-1) and the sidewall of pedestal (1-1) front end are connected, and the other end and spherical pair bearing (4-2) are rotationally connected;
The described governor motion (5) that rocks comprises and rocks Connection Block (5-1), rocks adjusting screw(rod) (5-2) and adjusting handle (5-3), rock the lower end of Connection Block (5-1) and the sidewall of a high accuracy platform (3-6) is connected, the upper end of rocking Connection Block (5-1) by screw with rock adjusting screw(rod) (5-2) and be threaded, rock adjusting screw(rod) (5-2) front end and withstand on the lateral wall of pedestal (1-1) side, the other end and the adjusting handle (5-3) that rock adjusting screw(rod) (5-2) are coaxially connected;
The described maintaining body (6) that rocks comprises compression Connection Block (6-1) and air spring (6-2), compressing the lower end of Connection Block (6-1) and the sidewall of a high accuracy platform (3-6) is connected, compress the upper end of Connection Block (6-1) and the cylinder barrel of air spring (6-2) and be connected, the piston rod front end of air spring (6-2) withstands on the lateral wall of pedestal (1-1) side.
2. the four-dimensional adjusting device of a kind of large space optical sensor as claimed in claim 1, it is characterized in that, described spherical pair bearing (4-2) comprises bulb minor axis (4-2-1), ball-and-socket pad (4-2-2) and little bearing (4-2-3), ball-and-socket pad (4-2-2) is coaxially fixed on the top of the straight moving assembly (7) of heavy duty, the bulb of bulb minor axis (4-2-1) lower end and ball-and-socket pad (4-2-2) form the 3rd spherical pair, the upper end of bulb minor axis (4-2-1) is connected with the inner ring of little bearing (4-2-3), the outer ring of little bearing (4-2-3) is rotationally connected with the axis hole of straight moving load bearing arm (4-1) front end.
3. the four-dimensional adjusting device of a kind of large space optical sensor as claimed in claim 1, it is characterized in that, described heavy duty directly moving assembly (7) comprises straight lever (7-1), guide cover (7-2), bearing lock jack panel (7-3), high accuracy load nut (7-4), load shell (7-5), harmonic speed reducer (7-6), input hollow shaft (7-7), torque motor (7-8), spacer (7-9), force-bearing base (7-10), the axis of guide (7-11), fairlead (7-12), dust cap (7-13), clutch shaft bearing (7-14), the second bearing (7-15), the 3rd bearing (7-16), the stage casing of straight lever (7-1) is provided with external screw thread, the inside of straight lever (7-1) is provided with blind hole (7-1-1), the upper surface of described guide cover (7-2) is provided with the centre bore of perforation, straight lever (7-1) is through the centre bore of guide cover (7-2), the two forms moving sets, and guide cover (7-2) is connected with the top of load shell (7-5),
Described high accuracy load nut (7-4) is threaded with straight lever 1 by internal thread, high accuracy load nut (7-4) and load shell (7-5) are secondary drum structure, the first order drum of high accuracy load nut (7-4) is coaxially nested in the first order drum of load shell (7-5), and the stage casing of high accuracy load nut (7-4) first order drum is rotationally connected by clutch shaft bearing (7-14) and the inwall of load shell (7-5); The epimere of high accuracy load nut (7-4) is provided with external screw thread, bearing lock jack panel (7-3) is threaded with the epimere of high accuracy load nut (7-4) first order drum, and clutch shaft bearing (7-14) is fixed; The second level drum of high accuracy load nut (7-4) is coaxially nested in the second level drum of load shell (7-5); The inwall of the second level drum of high accuracy load nut (7-4) is rotationally connected by the second bearing (7-15) and the outer wall on input hollow shaft (7-7) top;
Described harmonic speed reducer (7-6) comprises output steel wheel (7-6-1), fixing steel wheel (7-6-2), flexbile gear (7-6-3), first harmonic generator (7-6-4) and second harmonic generator (7-6-5), the top of output steel wheel (7-6-1) and the bottom of high accuracy load nut (7-4) are connected, and the inwall of output steel wheel (7-6-1) engages with the epimere outer wall gear of flexbile gear (7-6-3); The bottom of fixing steel wheel (7-6-2) is flange arrangement, the fixing flange upper surface of steel wheel (7-6-2) and the lower end of load shell (7-5) are connected, and the fixing flange lower surface of steel wheel (7-6-2) and the top of force-bearing base (7-10) are connected; The hypomere outer wall of flexbile gear (7-6-3) engages with the inwall gear of fixing steel wheel (7-6-2), and the inwall of flexbile gear (7-6-3) is rotationally connected with the outer wall in input hollow shaft (7-7) stage casing by first harmonic generator (7-6-4) and second harmonic generator (7-6-5) respectively; Spacer (7-9) is enclosed within the stage casing of input hollow shaft (7-7), the upper end of spacer (7-9) is connected with first harmonic generator (7-6-4), and the lower end of spacer (7-9) is connected with second harmonic generator (7-6-5);
Described force-bearing base (7-10) is secondary drum structure, and the outer wall of torque motor (7-8) stator and the first order drum inwall of force-bearing base (7-10) are connected; Input hollow shaft (7-7) is enclosed within the middle hypomere outside of straight lever (7-1); The rotor inner wall of input hollow shaft (7-7) outer wall stage casing and torque motor (7-8) is connected, and input hollow shaft (7-7) outer wall hypomere is rotationally connected by the 3rd bearing (7-16) and the second level drum inwall of force-bearing base (7-10);
Described dust cap (7-13) is connected with the bottom of force-bearing base (7-10), and the axis of guide (7-11) is coaxially connected with dust cap (7-13); The lateral wall of described fairlead (7-12) is connected with the hypomere of the blind hole (7-1-1) of straight lever (7-1), the madial wall of fairlead (7-12) coordinates with the outside profile of the axis of guide (7-11), its two formation moving sets.
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| CN105673880A (en) * | 2016-03-28 | 2016-06-15 | 杨静怡 | Operation device for electrically regulating water pressure of water supply hose |
| CN105736738A (en) * | 2016-03-28 | 2016-07-06 | 杨国华 | Water supply hose water pressure adjusting device with LED indicating lamp |
| CN105824328A (en) * | 2016-03-28 | 2016-08-03 | 杨静怡 | Water hose water pressure regulation operation device with LED indication lamp |
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| CN108161872A (en) * | 2017-12-23 | 2018-06-15 | 安徽鑫宏机械有限公司 | A kind of multi-level investment-casting combined suspension tooling |
| CN107907967A (en) * | 2017-12-25 | 2018-04-13 | 东方宏海新能源科技发展有限公司 | Point focused-type solar energy lens controlling device |
| CN111452967A (en) * | 2019-08-15 | 2020-07-28 | 北京理工大学 | Bearing position adjustable bearing frame and mooring cable connection position are along with traction mechanism of mooring unmanned aerial vehicle gesture self-adaptation |
| CN111452967B (en) * | 2019-08-15 | 2021-06-25 | 北京理工大学 | Mooring cable connecting position is along with traction mechanism of mooring unmanned aerial vehicle gesture self-adaptation |
| CN113183137A (en) * | 2020-06-28 | 2021-07-30 | 中国科学院长春光学精密机械与物理研究所 | Parameter calibration device and method for six-degree-of-freedom parallel mechanism |
| CN113183137B (en) * | 2020-06-28 | 2022-07-01 | 中国科学院长春光学精密机械与物理研究所 | Parameter calibration device and method for six-degree-of-freedom parallel mechanism |
| CN115157157A (en) * | 2022-06-22 | 2022-10-11 | 沈阳飞机工业（集团）有限公司 | Adjustable pressing device with swinging pressing head |
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