CN103963032B - The four-dimensional adjusting device of a kind of large space optical sensor - Google Patents
The four-dimensional adjusting device of a kind of large space optical sensor Download PDFInfo
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- CN103963032B CN103963032B CN201410187098.6A CN201410187098A CN103963032B CN 103963032 B CN103963032 B CN 103963032B CN 201410187098 A CN201410187098 A CN 201410187098A CN 103963032 B CN103963032 B CN 103963032B
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Abstract
The four-dimensional adjusting device of large space optical sensor belongs to a pose adjusting device field, dress school, ground for large-scale precision optical device, and this device 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 heavily loaded direct acting assembly.In use, the installation process operational risk of optical sensor is little, and during posture adjustment, range of pitch motion is large for device of the present invention; Many gas foots are in parallel to be used, and effectively eliminates creeping phenomenon, improves and rock Adjustment precision.Fixing direct acting fulcrum and air supporting fulcrum are with the use of forming the little stroke drive system of the four-dimension with high-resolution fine adjustment function, this device can meet the high accuracy posture adjustment demand of optical detection to optical sensor, and enormously simplify shafting structure, reduce resetting difficulty.This device appearance and size is little, and it is low, with short production cycle to rotate center of gravity, can be used for the fields such as large space optical sensor is installed, fixing and position and attitude adjustment.
Description
Technical field
The invention belongs to the pose adjusting device field, dress school, ground of large-scale precision optical device, 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 is before being admitted to space, needs to complete on the ground in advance to debug and testing calibration.The large-scale precision dimensional turntable that it is main body guiding mechanism that existing method adopts with straight line or arc guide rail usually fixes space optical remote sensor, to carry out the pitching of implementation space optical sensor on fixed datum by large-scale precision dimensional turntable and to rock operation.
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, the method table in traditional dress school, optical sensor ground, large-scale precision dimensional turntable implementation space is adopted to reveal some shortcomings, such as, when large-scale precision dimensional 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, in order to the weight of bearing space optical sensor, the continuous precision guide rail that large-scale precision dimensional turntable Structure of need intensity is higher, volume is larger, this not only significantly adds production cost and the production cycle of guide rail, also increase resetting difficulty and maintainability, therefore, traditional large-scale precision dimensional turntable the ground of meeting spatial optical sensor cannot debug calibration requirements gradually.
In addition, modular air-float supporting device can realize air supporting under higher bearing load and support, and the bearing capacity of small-sized air supporting block is limited, although and large-scale air supporting block bearing capacity is large, but processing difficulties, the production cycle is long, and cost is high.
Moreover existing large-scale dimensional turntable volume is large, take up room large; Quality weight, transport difficult; 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 dimensional 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, needs to carry out accurate center of gravity coupling, complex operation, time-consuming technical problem for different loads, 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 heavily loaded direct acting assembly, 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; Each upset axis hole is all rotationally connected by the rotating shaft of a band bearing and a rack shaft 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 rotationally connected by bearing, 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 is 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; Thread segment two ends in the middle part of heavy duty screw mandrel are rotationally connected respectively by bearing and screw mandrel front-end bearing pedestal and screw mandrel rear bearing block, and the end of heavily loaded screw mandrel and the rocking arm front end of wind are connected;
The slide block of both sides, lower end respectively with heavily loaded straight line in two set of rails of described slip threaded block is connected; Be provided with the screwed hole along guide rail sliding chute direction in the middle part of slip threaded block, and be threaded by the thread segment of its screwed hole with the middle part of heavily loaded screw mandrel; 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 mechanisms symmetry is 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 bulb and the air supporting load bearing arm ball-and-socket axle of air supporting load bearing arm ball stud form the first spherical pair; The other end of air supporting load bearing arm and the lateral wall of pedestal side are 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 by the central recess of connection bearing with primary load bearing plate; Described 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 each passed 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 block 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 block, and the lower end bulb of the little axle of bulb and the ball-and-socket of air supporting block 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 direct acting load bearing arm and spherical pair bearing, and one end of direct acting load bearing arm and the sidewall of pedestal front end are connected, and the other end and spherical pair bearing are rotationally connected;
The described governor motion that rocks comprises and rocks Connection Block, rocks adjusting screw(rod) and adjusting handle, the sidewall of the lower end and a high accuracy platform of rocking Connection Block is connected, the upper end of rocking Connection Block by screw with rock adjusting screw(rod) and be threaded, rock adjusting screw(rod) front end to withstand on the lateral wall of pedestal 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, the compression lower end of Connection Block and the sidewall of a high accuracy platform are connected, the compression upper end of Connection Block and the cylinder barrel of air spring are connected, and the piston rod front end of air spring withstands on the lateral wall of pedestal 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 heavily loaded direct acting assembly, 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 and the axis hole of direct acting load bearing arm front end are rotationally connected.
Described heavily loaded direct acting assembly comprises direct acting bar, 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 direct acting bar is provided with external screw thread, and the inside of direct acting bar is provided with blind hole; The upper surface of described guide cover is provided with through centre bore, and direct acting bar 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 direct acting bar 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 is fixed by clutch shaft bearing; 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 outer wall of the second bearing with 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 export the inwall of steel wheel and the epimere outer wall gears meshing of flexbile gear; 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 fixing flange lower surface of steel wheel and the top of force-bearing base are connected; The hypomere outer wall of flexbile gear and the inwall gears meshing of fixing steel wheel, the inwall of flexbile gear is rotationally connected with the outer wall in input hollow shaft stage casing respectively by first harmonic generator and second harmonic generator; 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 outer wall of torque motor stator and the first order drum inwall of force-bearing base are connected; Input hollow shaft sleeve is in direct acting bar outside hypomere; 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 hypomere of the lateral wall of described fairlead and the blind hole of direct acting bar is connected, and the madial wall of fairlead and the outside positive of the axis of guide, form moving sets both it.
Beneficial effect of the present invention: the load installing plate designed by the present invention is the mechanism of elevating movement on a large scale, optical sensor can adjust to detected state by this adjusting device horizontally rotating level on the very low load installing plate of center of gravity after installing, and reduces operational risk.Many gas foots are in parallel to be used, and effectively eliminates creeping phenomenon, improves and rock Adjustment precision, reduce development cost and process-cycle simultaneously.Fixing direct acting fulcrum and air supporting fulcrum, with the use of forming 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 enormously simplify shafting structure, reduce resetting difficulty.In addition, this device appearance and size is little, and it is low to rotate center of gravity, 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.
Accompanying drawing explanation
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 Fig. 5 side-looking axial partial sectional view;
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 present invention's heavy duty direct acting assembly;
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 mechanism 4, rocks governor motion 5, rocks maintaining body 6 and heavily loaded direct acting assembly 7, 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; Each upset axis hole 1-4-1 is all rotationally connected by the rotating shaft of a band bearing and a rack shaft hole 1-2-1-1.
Described slide block rocker-type switching mechanism 2 comprises tractive hollow shaft 2-1, stayed pole 2-2, slip threaded block little axle 2-3, 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 and screw mandrel rear bearing block 2-9 of heavily loaded straight line, 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 rotationally connected by bearing, and the tractive axis hole 1-4-2 on the other end of tractive hollow shaft 2-1 and load installing plate is connected.
The two set of rails 2-8 of described heavily loaded straight line is 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; Thread segment two ends in the middle part of heavy duty screw mandrel 2-4 are rotationally connected respectively by bearing and screw mandrel front-end bearing pedestal 2-5 and screw mandrel rear bearing block 2-9, and the end of heavily loaded screw mandrel 2-4 and the rocking arm front end of wind 2-6 are connected;
The slide block of both sides, lower end respectively with heavily loaded straight line in two set of rails 2-8 of described slip threaded block 2-7 is connected, be provided with the screwed hole along guide rail sliding chute direction in the middle part of slip threaded block 2-7, and be threaded by the thread segment of its screwed hole with the middle part of heavily loaded screw mandrel 2-4; 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, air supporting supporting component 3-5 comprise fastening pad 3-5-1, bulb little axle 3-5-2, 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 realize moving up and down along the axis of air supporting load bearing arm ball stud 3-2 by rotating screw bolt, bulb and the air supporting load bearing arm ball-and-socket axle 3-3-1 of air supporting load bearing arm ball stud 3-2 form the first spherical pair; The other end of air supporting load bearing arm 3-1 and the lateral wall of pedestal 1-1 side are connected.Many gas foots are in parallel to be used, and effectively eliminates creeping phenomenon, improves and rock Adjustment precision, reduce 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 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 is each passed through 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 block 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, second cap fall prevention 3-5-3 is connected by the upper surface of bolt and air supporting block 3-5-4, and the lower end bulb of the little axle 3-5-2 of bulb and the ball-and-socket of air supporting block 3-5-4 form 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 block, polypody air supporting supporting mechanism 3 has shared by the air supporting supporting component 3-5 that three bottom surfaces are coplanar the load-bearing pressure transmitted by load bearing arm ball stud 3-2 equably, 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 block process-cycle, advantage that cost is low, and overcome the limited shortcoming of single small-sized air supporting block bearing capacity.The distribution of three small-sized air supporting blocks takes full advantage of the stability action that determine face at 3, and meanwhile, the use of multiple socket arrangement also utilizes spherical centering principle, makes the mechanics bang path of polypody air supporting supporting mechanism 3 accurate, stable.
Described spherical pair supporting mechanism 4 comprises direct acting load bearing arm 4-1 and spherical pair bearing 4-2, and one end of direct acting 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, the sidewall of the lower end and a high accuracy platform 3-6 of rocking Connection Block 5-1 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 to 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, the sidewall of the lower end and a high accuracy platform 3-6 that compress Connection Block 6-1 is connected, the cylinder barrel of the upper end and air spring 6-2 that compress Connection Block 6-1 is connected, and the piston rod front end of air spring 6-2 withstands on the lateral wall of pedestal 1-1 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 heavily loaded direct acting assembly 7, bulb and the ball-and-socket pad 4-2-2 of bulb minor axis 4-2-1 lower end 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 and the axis hole of direct acting load bearing arm 4-1 front end are rotationally connected.
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 determine the principle in face from 3, two the first spherical pairs and the 3rd spherical pair can determine the inclination angle relation between pedestal 1-1 bottom surface and ground uniquely.
Described heavily loaded direct acting assembly 7 comprises direct acting bar 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 direct acting bar 7-1 is provided with external screw thread, and the inside of direct acting bar 7-1 is provided with blind hole 7-1-1; The upper surface of described guide cover 7-2 is provided with through centre bore, and direct acting bar 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 direct acting bar 1 by internal thread, high accuracy load nut 7-4 and load shell 7-5 is 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 is fixed by clutch shaft bearing 7-14; 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 bottom on the top and high accuracy load nut 7-4 that export steel wheel 7-6-1 is connected, and exports the inwall of steel wheel 7-6-1 and the epimere outer wall gears meshing 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 and the inwall gears meshing of fixing steel wheel 7-6-2, the inwall of flexbile gear 7-6-3 is rotationally connected respectively by first harmonic generator 7-6-4 and second harmonic generator 7-6-5 and the outer wall in input hollow shaft 7-7 stage casing; 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 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 outside the middle hypomere of direct acting bar 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 is coaxially connected; The hypomere of the lateral wall of described fairlead 7-12 and the blind hole 7-1-1 of direct acting bar 7-1 is connected, and the madial wall of fairlead 7-12 and the outside positive of axis of guide 7-11, form moving sets both it.
This heavily loaded direct acting assembly 7 possesses compact conformation simultaneously, it is little to take up room, bearing capacity is large, stroke is long, precision advantages of higher, can be widely used in similar large-scale precision optical device and various application scenarios displacement accuracy and bearing capacity all being proposed to high requirement such as debug.
During the embody rule large space optical sensor four-dimension of the present invention adjusting device, first utilize slide block rocker-type switching mechanism 2 that the load installing plate 1-3 horizontally rotating center of gravity very low is adjusted to horizontal attitude, and space optical remote sensor is arranged on load installing plate 1-3 upper end, can installation accuracy be improved like this, and reduce installation operation easier and risk.After this, slide block rocker-type switching mechanism 2 is driven again by rotating wind 2-6, 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 the process, the end of stayed pole 2-2 is synchronized with the movement by the drive of slip threaded block 2-7, the front end of stayed pole 2-2 is then with dynamic loading installing plate 1-3 to rotate around rack shaft hole 1-2-1-1 by hollow shaft 2-1, thus 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 °, thus provide the elevating movement of a low precision of Long Distances, the assembling of auxiliary implementation space optical sensor on this four-dimensional adjusting device and detect pose adjustment process.
When space optical remote sensor needs accurately to change attitude to adapt to detection 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, can form one deck air film between each air supporting block and the high accuracy platform 3-6 below himself, this air film can be eliminated frictional force and two polypody air supporting supporting mechanisms 3 are floated respectively.Namely the adjusting handle 5-3 that manual rotation rocks governor motion 5 applies to drive thrust accurately to the side of pedestal 1-1 by rocking adjusting screw(rod) 5-2, the maintaining body 6 that rocks being positioned at pedestal 1-1 opposite side then continues to apply reaction force for keeping the location of pedestal 1-1 and attitude to the opposite side of pedestal 1-1 by the piston rod front end of its air spring 6-2, thus the high accuracy microspur realized around spherical pair bearing 4-2 rocks adjustment.After source of the gas is closed, air film disappears, and under gravity, six air supporting supporting component 3-5 and the high accuracy platform 3-6 below himself fit.Now, when air supporting load bearing arm ball stud 3-2 and primary load bearing plate 3-4 is any angle, air supporting load bearing arm 3-1 still can realize moving up and down along the axis of air supporting load bearing arm ball stud 3-2 by rotating screw bolt, realizes the one-sided Height Adjustment of pedestal 1-1.Face principle is determined from 3, by adjusting the height of two air supporting load bearing arm 3-1 respectively, and coordinate the adjustable height of direct acting load bearing arm 4-1 simultaneously, can realize adjustment such as the high-precision vertical lifting of pedestal 1-1, pitching and rolls, thus greatly simplify the structure of rocking axle system, reduce development cost and process-cycle.
In sum, first, two air supporting load bearing arm 3-1 and direct acting load bearing arm 4-1 form the supported at three point to pedestal 1-1 jointly, these three strong points all possess the angle adaptation function of elevating function on vertical direction and attached spherical pair, by their interlock is regulated can realize pedestal 1-1 high accuracy vertical displacement, pitching and roll pose adjustment.Secondly, polypody air supporting supporting mechanism 3, rock governor motion 5, rock maintaining body 6 and spherical pair bearing 4-2 links, the high-precision two-dimensional that can realize pedestal 1-1 rocks pose adjustment, and effectively eliminates creeping phenomenon.The interlock of above-mentioned multiple fine tuning structure forms the little stroke drive system of the four-dimension with high-resolution inching function.Coordinate the slide block rocker-type switching mechanism 2 with the pitching adjustment function of the low precision of polarizers of big angle scope, large space optical sensor can be made on this four-dimensional adjusting device, to 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, controllable precise, traditional large-scale precision dimensional turntable can be substituted completely and calibration requirements is debug on the ground of meeting spatial optical sensor, and drive space optical remote sensor to realize the action of corresponding high precision position pose adjustment, complete its ground to debug 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 mechanisms (4), rocks governor motion (5), rocks maintaining body (6) and heavily loaded direct acting assembly (7), 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 beam (1-2-1) symmetries are 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); Each upset axis hole (1-4-1) is all rotationally connected by the rotating shaft of a band bearing and a rack shaft hole (1-2-1-1);
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 rotationally connected by bearing, tractive axis hole (1-4-2) on the other end of tractive hollow shaft (2-1) and load installing plate is connected,
The two set of rails (2-8) of described heavily loaded straight line is 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 respectively by bearing and screw mandrel front-end bearing pedestal (2-5) and screw mandrel rear bearing block (2-9), and the end of heavily loaded screw mandrel (2-4) and the rocking arm front end of wind (2-6) are connected;
The slide block of both sides, lower end respectively with heavily loaded straight line in two set of rails (2-8) of described slip threaded block (2-7) is connected; Slip threaded block (2-7) middle part is provided with the screwed hole along guide rail sliding chute direction, and is threaded by the thread segment of its screwed hole with the middle part of heavily loaded screw mandrel (2-4); 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 of slip threaded block (2-3) with 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 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), 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), second cap fall prevention (3-5-3) gentle floating block (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 bulb and air supporting load bearing arm ball-and-socket axle (3-3-1) of air supporting load bearing arm ball stud (3-2) form the first spherical pair, the other end of air supporting load bearing arm (3-1) and the lateral wall of pedestal (1-1) side are 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 by the central recess of connection bearing (3-3-3) with primary load bearing plate (3-4); Described 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) is each passed through 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 block (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), second cap fall prevention (3-5-3) is connected by the upper surface of bolt and air supporting block (3-5-4), and the lower end bulb of the little axle of bulb (3-5-2) and the ball-and-socket of air supporting block (3-5-4) form 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 direct acting load bearing arm (4-1) and spherical pair bearing (4-2), one end of direct acting 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), the sidewall of the lower end and a high accuracy platform (3-6) of rocking Connection Block (5-1) 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 to 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), the sidewall of the lower end and a high accuracy platform (3-6) that compress Connection Block (6-1) is connected, the cylinder barrel of the upper end and air spring (6-2) that compress Connection Block (6-1) is connected, and 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 heavily loaded direct acting assembly (7), bulb and the ball-and-socket pad (4-2-2) of bulb minor axis (4-2-1) lower end 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) and the axis hole of direct acting load bearing arm (4-1) front end are rotationally connected.
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 heavily loaded direct acting assembly (7) comprises direct acting bar (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), second bearing (7-15), 3rd bearing (7-16), the stage casing of direct acting bar (7-1) is provided with external screw thread, the inside of direct acting bar (7-1) is provided with blind hole (7-1-1), the upper surface of described guide cover (7-2) is provided with through centre bore, direct acting bar (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 direct acting bar (7-1) 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) with 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 is fixed by clutch shaft bearing (7-14); 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 outer wall of the second bearing (7-15) with 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 bottom on the top and high accuracy load nut (7-4) that export steel wheel (7-6-1) is connected, and exports the inwall of steel wheel (7-6-1) and the epimere outer wall gears meshing 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) and the inwall gears meshing of fixing steel wheel (7-6-2), the inwall of flexbile gear (7-6-3) is rotationally connected with the outer wall in input hollow shaft (7-7) stage casing respectively by first harmonic generator (7-6-4) and second harmonic generator (7-6-5); 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 outside the middle hypomere of direct acting bar (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) with 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) and dust cap (7-13) are coaxially connected; The hypomere of the lateral wall of described fairlead (7-12) and the blind hole (7-1-1) of direct acting bar (7-1) is connected, the madial wall of fairlead (7-12) and the outside positive of the axis of guide (7-11), form moving sets both it.
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