CN106813696B - Six-degree-of-freedom control device - Google Patents
Six-degree-of-freedom control device Download PDFInfo
- Publication number
- CN106813696B CN106813696B CN201611209328.XA CN201611209328A CN106813696B CN 106813696 B CN106813696 B CN 106813696B CN 201611209328 A CN201611209328 A CN 201611209328A CN 106813696 B CN106813696 B CN 106813696B
- Authority
- CN
- China
- Prior art keywords
- horizontal
- gear
- vertical
- moving mechanism
- baffle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 125
- 238000012360 testing method Methods 0.000 abstract description 12
- 238000004422 calculation algorithm Methods 0.000 abstract description 10
- 206010034719 Personality change Diseases 0.000 abstract description 4
- 238000005457 optimization Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Automatic Assembly (AREA)
- Transmission Devices (AREA)
Abstract
The invention provides a six-degree-of-freedom control device, which comprises a fixing mechanism, a horizontal moving mechanism, a vertical moving mechanism, a horizontal rotating mechanism and a vertical rotating mechanism which are sequentially connected; the horizontal moving mechanism can drive the vertical moving mechanism to slide in a first horizontal direction relative to the fixing mechanism, and the position of the vertical moving mechanism can be adjusted in a second horizontal direction; the horizontal rotating mechanism can drive the vertical rotating mechanism to rotate in a horizontal plane relative to the vertical moving mechanism; the vertical rotating mechanism can drive the target controlled part to rotate in the vertical plane and can adjust the position of the target controlled part in the normal direction of the vertical plane. The invention can be used as a carrier capable of controlling the target attitude, can be used as a testing device to carry an unmanned aerial vehicle, a robot or a non-cooperative target model, gives attitude change of the device relative to an initial state in six degrees of freedom, and can be applied to the fields of unmanned aerial vehicle control algorithm debugging, target attitude algorithm debugging optimization and the like.
Description
Technical Field
The invention relates to the field of attitude control carriers, in particular to a six-degree-of-freedom control device, and particularly relates to a six-degree-of-freedom testing device.
Background
In the prior art, the traditional scheme is that the posture of a target controlled part is controlled and adjusted through a double-shaft gyro testing turntable, but the double-shaft gyro testing turntable in the traditional mode has the following defects:
1, the double-shaft gyroscope test turntable only has 2 degrees of freedom, and has limitation on the control of a target controlled piece; the device has more degrees of freedom, can complete more attitude transformation, namely can assist in completing measurement of more degrees of freedom, for example, when a target attitude calculation algorithm is debugged, the rotation angles of X, Y and Z axes need to be adjusted simultaneously, compared with the result of algorithm calculation, and the double-shaft gyroscope test rotary table cannot realize the function;
2, the readability of the rotation precision of the common rotary table is poor, the common rotary table is usually driven by an electric motor, no scale is arranged on the rotary table, the reading cannot be accurately measured, and the cost is high; the device is provided with the scale in each degree of freedom, so that the reading precision is high, the position can be represented by coordinates, the error is reduced, and the reliability of the test can be obviously improved;
3, the common rotary table is inconvenient to mount, a fixed mounting bracket is not provided, and an object can be unstable or even fall off the rotary table during rotation; the device of the invention is provided with the fixed clamping plate, so that the tested object can be more stably fixed, the error of object sliding in the moving process is eliminated, and the testing precision is improved;
4, a common test turntable is heavy in main body, is attached with a large circuit control device, and is inconvenient to move and disassemble; the device has the characteristics of convenience in disassembly, assembly and movement.
Disclosure of Invention
In view of the defects in the prior art, the invention aims to provide a six-degree-of-freedom control device.
The six-degree-of-freedom control device provided by the invention comprises a fixing mechanism, a horizontal moving mechanism, a vertical moving mechanism, a horizontal rotating mechanism and a vertical rotating mechanism which are sequentially connected;
the horizontal moving mechanism can drive the vertical moving mechanism to slide in a first horizontal direction relative to the fixing mechanism, and the position of the vertical moving mechanism can be adjusted in a second horizontal direction;
the horizontal rotating mechanism can drive the vertical rotating mechanism to rotate in a horizontal plane relative to the vertical moving mechanism;
the vertical rotating mechanism can drive the target controlled part to rotate in the vertical plane and can adjust the position of the target controlled part in the normal direction of the vertical plane.
Preferably, the fixing mechanism comprises a first support column 1, a base 2; the base 2 comprises a rear baffle 3, a side baffle 4, a front baffle 6 and a bottom baffle 49;
the bottom baffle 49 is supported by the first support column 1;
the left side surface and the right side surface of the bottom baffle plate 49 respectively extend upwards to form the side baffle plates 4, and the horizontal moving mechanism is limited between the two side baffle plates 4;
a front baffle 6 is connected between the front ends of the two side baffles 4; a horizontal distance scale along the first horizontal direction is arranged on the front baffle 6 and is matched with a horizontal distance scale in the horizontal moving mechanism;
a rear baffle 3 is connected between the rear ends of the two side baffles 4;
the lower portions of the front and rear fences 6, 3 each have a rail 50, and the horizontal movement mechanism is slidable in a first horizontal direction along the rail 50.
Preferably, the horizontal movement mechanism includes a bottom plate 21, a limiting plate 20, a second supporting column 9, a top plate 10, a housing case 17, an outer cover case 16;
the front end and the rear end of the bottom plate 21 are respectively provided with a first sliding chute 8, and the first sliding chutes 8 are installed in a matching way with the guide rails 50 of the fixing mechanism;
the bottom plate 21 can be relatively fixed with a bottom baffle plate 49 of the fixing mechanism through a locking screw;
the front end and the rear end of the top plate 10 are respectively connected to the bottom plate 21 through a second support column 9, and the top plate 10 extends along a second horizontal direction;
the hollow area 51 of the top plate 10 forms a sliding groove extending along the second horizontal direction, and the outer cover shell 16 forms a sliding block matched with the sliding groove extending along the second horizontal direction;
the top surface of the top plate 10 is provided with horizontal distance scales along a first horizontal direction;
the bottom of the outer cover shell 16 is connected with the top of the outer shell 17;
the bottom of the shell housing 17 is provided with a side sliding groove 52, and the side sliding groove 52 can slide along a guide rail of the limiting plate 20 arranged on the bottom plate 21;
the housing case 17 is confined in the second horizontal direction between two second support columns 9 that connect the front and rear ends of the top plate 10, respectively;
a part of the vertical moving mechanism is installed in the housing case 17.
Preferably, the vertical moving mechanism comprises a rocking handle 18, a first handle 22, a second gear 25, a fourth gear 27, a third gear 26, the lifting column 12, the lifting base 14, a first gear 23;
the second gear 25, the fourth gear 27, the third gear 26 and the first gear 23 are positioned in the horizontal movement mechanism shell 17;
the rocking handle 18 can drive the second gear 25 through the first handle 22;
the second gear 25, the fourth gear 27 and the third gear 26 are sequentially meshed and connected;
the third gear 26 is meshed with the teeth on the lifting column 12;
the top of the lifting column 12 is provided with a lifting base 14;
the horizontal rotating mechanism is rotatably arranged on the lifting base 14;
the first handle 22 is connected with the first gear 23 through a shaft, a positioning groove matched with the first gear 23 in profile is formed in the inner wall of the shell 17, and the first handle 22 can drive the first gear 23 to be embedded into the positioning groove for limiting through the shaft and drive the first gear 23 to be separated from the positioning groove;
the lifting base 14 is provided with a reference line.
Preferably, the horizontal rotation mechanism comprises a second handle 28, a gasket 33, a first dial 34, a mounting nut 30, a porous nut 31;
the first dial plate 34, the gasket 33 and the porous nut 31 are arranged from bottom to top and are tightly connected through bolts matched with the porous nut 31;
a mounting nut 30 is embedded in a central through hole of the porous nut 31, wherein the mounting nut 30 is tightly connected with a bolt on the lifting base 14 of the vertical moving mechanism;
the second handle 28 extends outwards from the side of the pad 33 and can drive the pad 33 to rotate in the horizontal plane;
the bolts on the porous nuts 31 are tightly connected with the vertical rotating mechanism.
Preferably, the vertical rotating mechanism comprises a bracket 38, a limit plate 39, a sliding sleeve 36, a pulley 35, a third support column 44, a second dial 42, a second sliding chute 43 and a clamping plate 40;
the bracket 38 extends in an arc; the lower end of the bracket 38 is fixedly connected to the horizontal rotating mechanism; a limit plate 39 is arranged at the upper end of the bracket 38;
the sliding sleeve 36 is sleeved on the bracket 38 and can move along the bracket 38 through the pulley 35;
the sliding sleeve 36 can be fixed relative to the bracket 38 by means of a locking screw;
the second dial 42 and the second sliding groove 43 are connected to a third supporting column 44 on the sliding sleeve 36 through bolts;
the second dial 42 is fastened and connected with the bolt, the second sliding chute 43 can rotate relative to the second dial 42, and the bottom surface of the second sliding chute 43 is tightly attached to the scale surface of the second dial 42;
two clamping plates 40 are arranged on the second sliding groove 43;
the two clamping plates 40 can be fixed relative to the second sliding groove 43 by locking screws, so as to clamp the target controlled piece.
Compared with the prior art, the invention has the following beneficial effects:
the invention can be used as a carrier capable of controlling the target attitude, can be used as a testing device to carry an unmanned aerial vehicle, a robot or a non-cooperative target model, gives attitude change of the device relative to an initial state in six degrees of freedom, and can be applied to the fields of unmanned aerial vehicle control algorithm debugging, target attitude algorithm debugging optimization and the like.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic diagram of a six-degree-of-freedom motion model of a six-degree-of-freedom control device provided by the invention.
Fig. 2 is a schematic view of the overall structure of the six-degree-of-freedom control device provided by the present invention.
Fig. 3 is a schematic view of the overall structure of the six-degree-of-freedom control device provided by the present invention.
Fig. 4 is a schematic view of the overall structure of the six-degree-of-freedom control device provided by the present invention.
Fig. 5 is a schematic view of the overall structure of the six-degree-of-freedom control device provided by the present invention.
Fig. 6 is a schematic view of the overall structure of the six-degree-of-freedom control device provided by the present invention.
Fig. 7 is a schematic view of the overall structure of the six-degree-of-freedom control device provided by the present invention.
Fig. 8 is a schematic structural diagram of a horizontal moving mechanism, a vertical moving mechanism, a horizontal rotating mechanism, and a vertical rotating mechanism in the six-degree-of-freedom control device provided by the present invention.
Fig. 9 is a schematic structural diagram of a horizontal moving mechanism and a vertical moving mechanism in the six-degree-of-freedom control device provided by the invention.
Fig. 10 is an assembly view of a horizontal moving mechanism and a vertical moving mechanism in the six-degree-of-freedom control device provided by the invention.
Fig. 11 is an assembly view of a rocking handle of a vertical moving mechanism in the six-degree-of-freedom control device provided by the invention.
Fig. 12 is an assembly view of a vertical moving mechanism in the six-degree-of-freedom control device provided by the present invention.
Fig. 13 is an assembly view of a horizontal rotation mechanism in the six-degree-of-freedom control device according to the present invention.
Fig. 14 is an assembly view of a horizontal rotation mechanism in the six-degree-of-freedom control device provided by the present invention.
Fig. 15 is a schematic structural diagram of a vertical rotation mechanism in the six-degree-of-freedom control device provided by the present invention.
Fig. 16 is an assembly view of a vertical rotation mechanism in the six-degree-of-freedom control device provided by the present invention.
Fig. 17 is a front view of a six degree of freedom control arrangement provided by the present invention.
Fig. 18 is a left side view of a six degree of freedom control apparatus provided by the present invention.
Fig. 19 is a right side view of a six degree of freedom control apparatus provided by the present invention.
Fig. 20 is a rear view of a six degree of freedom control arrangement provided by the present invention.
Fig. 21 is a top view of a six-degree-of-freedom control device provided by the present invention.
In the figure:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The six-degree-of-freedom control device provided by the invention comprises a fixing mechanism, a horizontal moving mechanism, a vertical moving mechanism, a horizontal rotating mechanism and a vertical rotating mechanism which are sequentially connected; the horizontal moving mechanism can drive the vertical moving mechanism to slide in a first horizontal direction relative to the fixing mechanism to obtain a first degree of freedom, and the position of the vertical moving mechanism can be adjusted in a second horizontal direction to obtain a second degree of freedom; obtaining a third degree of freedom through a vertical moving mechanism; the horizontal rotating mechanism can drive the vertical rotating mechanism to rotate in a horizontal plane relative to the vertical moving mechanism, so that a fourth degree of freedom is obtained; the vertical rotating mechanism can drive the target controlled piece to rotate in the vertical plane and can adjust the position of the target controlled piece in the normal direction of the vertical plane, so that the fifth degree of freedom and the sixth degree of freedom are obtained respectively. The attitude change of the device relative to the initial position on six degrees of freedom at any moment is known (can be calculated); the target controlled and carried by the device can rotate around the X axis, the Y axis and the Z axis by a certain angle respectively; the device controls the carried target to realize translation in the X, Y and Z axis directions at a certain distance respectively;
the fixing mechanism comprises a first support column 1 and a base 2; the base 2 comprises a rear baffle 3, a side baffle 4, a front baffle 6 and a bottom baffle 49; the bottom baffle 49 is supported by the first support column 1; the left side surface and the right side surface of the bottom baffle plate 49 respectively extend upwards to form the side baffle plates 4, and the horizontal moving mechanism is limited between the two side baffle plates 4; a front baffle 6 is connected between the front ends of the two side baffles 4; a horizontal distance scale along the first horizontal direction is arranged on the front baffle 6 and is matched with a horizontal distance scale in the horizontal moving mechanism; a rear baffle 3 is connected between the rear ends of the two side baffles 4; the lower portions of the front and rear fences 6, 3 each have a rail 50, and the horizontal movement mechanism is slidable in a first horizontal direction along the rail 50.
Specifically, the base 2 is an immovable part, and the side baffle 4 is provided with a bulge and is meshed and connected with the grooves of the front baffle 6 and the rear baffle 3 on the base 2; the horizontal distance scale on the front baffle 6 and the horizontal distance scale in the horizontal moving mechanism are respectively used as a main scale and an auxiliary scale for matching, so that the displacement reading precision can be improved.
The horizontal moving mechanism comprises a bottom plate 21, a limiting plate 20, a second supporting column 9, a top plate 10, a shell body 17 and an outer shell 16; the front end and the rear end of the bottom plate 21 are respectively provided with a first sliding chute 8, and the first sliding chutes 8 are installed in a matching way with the guide rails 50 of the fixing mechanism; the bottom plate 21 can be relatively fixed with a bottom baffle plate 49 of the fixing mechanism through a locking screw; the front end and the rear end of the top plate 10 are respectively connected to the bottom plate 21 through a second support column 9, and the top plate 10 extends along a second horizontal direction; the hollow area 51 of the top plate 10 forms a sliding groove extending along the second horizontal direction, and the outer cover shell 16 forms a sliding block matched with the sliding groove extending along the second horizontal direction; the top surface of the top plate 10 is provided with horizontal distance scales along a first horizontal direction; the bottom of the outer cover shell 16 is connected with the top of the outer shell 17; the bottom of the shell housing 17 is provided with a side sliding groove 52, and the side sliding groove 52 can slide along a guide rail of the limiting plate 20 arranged on the bottom plate 21; the housing case 17 is confined in the second horizontal direction between two second support columns 9 that connect the front and rear ends of the top plate 10, respectively; a part of the vertical moving mechanism is installed in the housing case 17. The first horizontal direction and the second horizontal direction are shown as an X-axis direction and a Y-axis direction in fig. 1.
The vertical moving mechanism comprises a rocking handle 18, a first handle 22, a second gear 25, a fourth gear 27, a third gear 26, a lifting column 12, a lifting base 14 and a first gear 23; the second gear 25, the fourth gear 27, the third gear 26 and the first gear 23 are positioned in the horizontal movement mechanism shell 17; the rocking handle 18 can drive the second gear 25 through the first handle 22; the second gear 25, the fourth gear 27 and the third gear 26 are sequentially meshed and connected; the third gear 26 is meshed with the teeth on the lifting column 12; the top of the lifting column 12 is provided with a lifting base 14; the horizontal rotating mechanism is rotatably arranged on the lifting base 14; the first handle 22 is connected with the first gear 23 through a shaft, a positioning groove matched with the first gear 23 in profile is formed in the inner wall of the shell 17, and the first handle 22 can drive the first gear 23 to be embedded into the positioning groove through the shaft for limiting and drive the first gear 23 to be separated from the positioning groove.
Specifically, the extending direction of the lifting column 12 is the Z-axis direction in fig. 1. The first gear 23 is used for limiting, namely after the height is adjusted to a desired value, the first gear 23 is pushed into the groove of the shell body 17 through the rocking handle 18, and then the second gear 25 cannot lift or shake by a small amplitude due to the self gravity of the device. The lifting column 12 is provided with a scale for reading the ascending or descending displacement of the device.
The horizontal rotating mechanism comprises a second handle 28, a gasket 33, a first dial 34, a mounting nut 30 and a porous nut 31; the first dial plate 34, the gasket 33 and the porous nut 31 are arranged from bottom to top and are tightly connected through bolts matched with the porous nut 31; a mounting nut 30 is embedded in a central through hole of the porous nut 31, wherein the mounting nut 30 is tightly connected with a bolt on the lifting base 14 of the vertical moving mechanism; the second handle 28 extends outwards from the side of the pad 33 and can drive the pad 33 to rotate in the horizontal plane; the bolts on the porous nuts 31 are tightly connected with the vertical rotating mechanism.
Specifically, the second handle 28 rotates the pad 33 in the direction of the arrow about the Z-axis in fig. 1. When the second handle 28 drives the first dial 34 to rotate through the gasket 33, the bracket 38 rotates, the rotated scale is read from the first dial 34, and when the expected position is reached, the second handle 28 is pushed into the bolt embedded in the lifting base 14, so that the first dial 34 is fixedly locked.
The vertical rotating mechanism comprises a bracket 38, a limiting plate 39, a sliding sleeve 36, a pulley 35, a third supporting column 44, a second dial 42, a second sliding groove 43 and a clamping plate 40; the bracket 38 extends in an arc; the lower end of the bracket 38 is fixedly connected to the horizontal rotating mechanism; a limit plate 39 is arranged at the upper end of the bracket 38; the sliding sleeve 36 is sleeved on the bracket 38 and can move along the bracket 38 through the pulley 35; the sliding sleeve 36 can be fixed relative to the bracket 38 by means of a locking screw; the second dial 42 and the second sliding groove 43 are connected to a third supporting column 44 on the sliding sleeve 36 through bolts; the second dial 42 is fastened and connected with the bolt, the second sliding chute 43 can rotate relative to the second dial 42, and the bottom surface of the second sliding chute 43 is tightly attached to the scale surface of the second dial 42; two clamping plates 40 are arranged on the second sliding groove 43; the two clamping plates 40 can be fixed relative to the second sliding groove 43 by locking screws, so as to clamp the target controlled piece.
In a preferred embodiment, considering that if the sliding groove adopts a wheel type structure, the base can slide too sensitively, so that the base is not stable, and the adjustment is influenced, if a common groove sliding structure is adopted, the appearance is not attractive, and the track is not a straight line possibly caused by machining or workpiece deformation; therefore, a small groove can be added in the groove to fix the position of the base more. The screw for locking may be a thumb screw.
In a preferred embodiment, if the lifting mechanism adopts a hinge bracket structure, the lifting mechanism can cause the height and the Y-axis position to change simultaneously, so that the lifting mechanism is not used; therefore, a gear type lifting structure is adopted, and lifting is controlled by rotating a handle. The fixed elevation structure of mode that uses fixed handle at first, but the degree of difficulty is great, has finally adopted plug structural formula structure, takes out partly when the handle rotates and can rotate, after rotating, inserts tight handle and can fix elevation structure. The invention also adjusts the position of the lifting handle, so that the handle cannot be rotated due to the blockage of the rack in the extreme position.
In a preferred embodiment, for the rotating mechanism, a part of the lifting column protrudes to be used as a rotating shaft, meanwhile, a perforated column with scales is added on the lifting column, and the topmost part of the rotating shaft is fixed by a nut, so that the rotation is more stable. And then combined with the top sliding rotation part using 4 screws above the graduated cylinder. And added the second handle as the handle, conveniently rotated, added the gasket, reduce wearing and tearing, added 4 reference lines on the rotation axis base and made things convenient for the reading. Adopt threaded connection with top sliding rotation part the top, separate top sliding rotation part and this part revolution mechanic, easy to assemble makes 2 parts combine still closely simultaneously. The position of the gasket and the position of the handle part are exchanged, and the scales are transferred to the gasket, so that the problem that the gasket cannot be read due to the fact that the gasket is covered by the handle is avoided.
In a preferred embodiment, as the vertical rotating mechanism of the sliding rotating structure, if a sliding structure with a groove formed inside an outer groove is adopted, but the connection is unstable, a structure with 3 pulleys connected externally is adopted, the connection is stable, and 2 fixing knobs are added on the sliding body for fixing the sliding body. And a top plate is added at the top of the bracket as a sliding rack to serve as a limiting plate for installing a sliding sleeve as a sliding body and preventing the sliding body from sliding out. The sliding body is provided with three layers of rotating shafts for fixing the clamping plate base frame, and the clamping plate is fixed by clamping the clamping plate base frame through an external rotating disk with scales and a fastening nut. A reference line is added at the lower part of the splint base frame to facilitate reading. The clamping plate adopts a sliding clamping plate with a groove, so that objects in most shapes can be fixed, and the clamping plate is fixed by screws.
The device provided by the invention can be applied to the following fields:
1) in the research and development process of the unmanned aerial vehicle, the attitude test control algorithm of the unmanned aerial vehicle needs to be adjusted repeatedly, the device can carry the unmanned aerial vehicle, the attitude of the unmanned aerial vehicle is adjusted freely to be used as a nominal value to be compared with an algorithm output value, and the debugging and optimization of the unmanned aerial vehicle control algorithm are assisted;
2) in the non-cooperative target attitude calculation process, the attitude of the non-cooperative target needs to be adjusted repeatedly, and the change of the attitude of the non-cooperative target relative to the initial state is output in real time, so that the device can be used for testing the attitude of the non-cooperative target;
3) in the teaching process, the device can be used as a data acquisition device, and inertial navigation equipment is fixed on the device and used for teaching algorithm demonstration equipment.
4) The device can quantitatively adjust the posture and the displacement of the carrier through a manual control device;
5) the equipment can output the attitude change of a target in the process of accelerated motion by adding an electric control module;
6) the device has high displacement or angle reading precision, the precision is improved by adopting the vernier, and the motion amount of each degree of freedom can be accurately measured;
7) the device has 6 degrees of freedom, is stable and can accurately adjust the target position;
8) the shielding is less, so that the target can be better observed;
9) the operation is convenient, and the adjustment part is provided with a rocking handle for convenient adjustment;
10) objects with different sizes can be placed to adapt to measurement under different conditions;
11) the device comprises a fixing mechanism, a horizontal moving mechanism, a vertical moving mechanism, a horizontal rotating mechanism, a vertical rotating mechanism and the like, wherein each part can be disassembled and assembled, can be disassembled, assembled and moved according to different application scenes, and the operation among the parts does not influence and obstruct the space.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (5)
1. A six-degree-of-freedom control device is characterized by comprising a fixing mechanism, a horizontal moving mechanism, a vertical moving mechanism, a horizontal rotating mechanism and a vertical rotating mechanism which are sequentially connected;
the horizontal moving mechanism can drive the vertical moving mechanism to slide in a first horizontal direction relative to the fixing mechanism, and the position of the vertical moving mechanism can be adjusted in a second horizontal direction;
the horizontal rotating mechanism can drive the vertical rotating mechanism to rotate in a horizontal plane relative to the vertical moving mechanism;
the vertical rotating mechanism can drive the target controlled piece to rotate in a vertical plane and can adjust the position of the target controlled piece in the normal direction of the vertical plane;
the vertical moving mechanism comprises a rocking handle (18), a first handle (22), a second gear (25), a fourth gear (27), a third gear (26), a lifting column (12), a lifting base (14) and a first gear (23);
the second gear (25), the fourth gear (27), the third gear (26) and the first gear (23) are positioned in the horizontal movement mechanism shell (17);
the rocking handle (18) can drive the second gear (25) through the first handle (22);
the second gear (25), the fourth gear (27) and the third gear (26) are sequentially meshed and connected;
the third gear (26) is meshed with the teeth on the lifting column (12);
a lifting base (14) is arranged at the top of the lifting column (12);
the horizontal rotating mechanism is rotatably arranged on the lifting base (14);
the first handle (22) is connected with a first gear (23) through a shaft, a positioning groove matched with the first gear (23) in profile is formed in the inner wall of the shell (17), and the first handle (22) can drive the first gear (23) to be embedded into the positioning groove through the shaft for limiting and drive the first gear (23) to be separated from the positioning groove;
the lifting base (14) is provided with a reference line.
2. The control device of six degrees of freedom according to claim 1, characterized in that the fixation means comprise a first support column (1), a base (2); the base (2) comprises a rear baffle (3), a side baffle (4), a front baffle (6) and a bottom baffle (49);
the bottom baffle (49) is supported by the first support column (1);
the left side surface and the right side surface of the bottom baffle (49) respectively extend upwards to form side baffles (4), and the horizontal moving mechanism is limited between the two side baffles (4);
a front baffle (6) is connected between the front ends of the two side baffles (4); a horizontal distance scale along a first horizontal direction is arranged on the front baffle (6), and the horizontal distance scale is matched with a horizontal distance scale in the horizontal moving mechanism;
a rear baffle (3) is connected between the rear ends of the two side baffles (4);
the lower parts of the front baffle (6) and the rear baffle (3) are respectively provided with a guide rail (50), and the horizontal moving mechanism can slide along the guide rails (50) in a first horizontal direction.
3. The control device of six degrees of freedom according to claim 1, wherein the horizontal movement mechanism comprises a bottom plate (21), a limiting plate (20), a second support column (9), a top plate (10), a housing case (17), an outer cover case (16);
the front end and the rear end of the bottom plate (21) are respectively provided with a first sliding chute (8), and the first sliding chutes (8) are installed in a matching way with the guide rail (50) of the fixing mechanism;
the bottom plate (21) can be relatively fixed with a bottom baffle plate (49) of the fixing mechanism through a locking screw;
the front end and the rear end of the top plate (10) are respectively connected to the bottom plate (21) through a second supporting column (9), and the top plate (10) extends along a second horizontal direction;
the hollow area (51) of the top plate (10) forms a sliding groove extending along the second horizontal direction, and the outer cover shell (16) forms a sliding block matched with the sliding groove extending along the second horizontal direction;
the top surface of the top plate (10) is provided with horizontal distance scales along a first horizontal direction;
the bottom of the outer cover shell (16) is connected with the top of the outer shell body (17);
the bottom of the shell (17) is provided with a side sliding chute (52), and the side sliding chute (52) can slide along a guide rail of a limiting plate (20) arranged on the bottom plate (21);
the shell (17) is limited between two second supporting columns (9) which are respectively connected with the front end and the rear end of the top plate (10) in the second horizontal direction;
a part of the vertical movement mechanism is installed in the housing case (17).
4. The six-degree-of-freedom control device according to claim 1, wherein the horizontal rotation mechanism comprises a second handle (28), a washer (33), a first dial (34), a mounting nut (30), a porous nut (31);
the first dial (34), the gasket (33) and the porous nut (31) are arranged from bottom to top and are tightly connected through a bolt matched with the porous nut (31);
a mounting nut (30) is embedded in a central through hole of the porous nut (31), wherein the mounting nut (30) is tightly connected with a bolt on a lifting base (14) of the vertical moving mechanism;
the second handle (28) extends outwards from the side surface of the gasket (33) and can drive the gasket (33) to rotate in a horizontal plane;
and the bolts on the porous nuts (31) are tightly connected with the vertical rotating mechanism.
5. The control device with six degrees of freedom according to claim 1, characterized in that the vertical rotation mechanism comprises a bracket (38), a limit plate (39), a sliding sleeve (36), a pulley (35), a third support column (44), a second dial (42), a second chute (43), a clamping plate (40);
the bracket (38) extends along an arc line; the lower end of a bracket (38) is fixedly connected to the horizontal rotating mechanism; a limiting plate (39) is arranged at the upper end of the bracket (38);
the sliding sleeve (36) is sleeved on the bracket (38) and can move along the bracket (38) through the pulley (35);
the sliding sleeve (36) can be fixed relative to the bracket (38) through a locking screw;
the second dial (42) and the second sliding groove (43) are connected with a third supporting column (44) on the sliding sleeve (36) through bolts;
the second dial (42) is tightly connected with the bolt, the second sliding chute (43) can rotate relative to the second dial (42), and the bottom surface of the second sliding chute (43) is tightly attached to the scale surface of the second dial (42);
two clamping plates (40) are arranged on the second sliding groove (43);
the two clamping plates (40) can be fixed relative to the second sliding groove (43) through locking screws, so that the target controlled part is clamped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611209328.XA CN106813696B (en) | 2016-12-23 | 2016-12-23 | Six-degree-of-freedom control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611209328.XA CN106813696B (en) | 2016-12-23 | 2016-12-23 | Six-degree-of-freedom control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106813696A CN106813696A (en) | 2017-06-09 |
| CN106813696B true CN106813696B (en) | 2020-01-07 |
Family
ID=59110616
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611209328.XA Active CN106813696B (en) | 2016-12-23 | 2016-12-23 | Six-degree-of-freedom control device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106813696B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312137B (en) * | 2018-03-26 | 2023-08-15 | 河南工程学院 | Unmanned aerial vehicle landing docking mechanism based on multi-joint mechanical arm |
| CN108761154A (en) * | 2018-05-18 | 2018-11-06 | 深圳市艾特讯科技有限公司 | Shielded box |
| CN109821254B (en) * | 2019-04-12 | 2020-08-07 | 厦门扬恩科技有限公司 | Novel 3D rocker remote controller |
| CN113816302A (en) * | 2021-10-21 | 2021-12-21 | 武汉华中天经通视科技有限公司 | Five-degree-of-freedom adjustable loading and unloading device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2090045U (en) * | 1991-05-18 | 1991-12-04 | 李为民 | Tool tracks simulated test machine |
| CN201787966U (en) * | 2010-05-13 | 2011-04-06 | 扬州大学 | Serial-parallel connection combined adjusting mechanism with six degrees of freedom |
| CN202920235U (en) * | 2012-10-17 | 2013-05-08 | 吴宗贵 | Experimental animal ultrasonic support device for auxiliary positioning |
| CN105619042A (en) * | 2014-11-05 | 2016-06-01 | 北京航天计量测试技术研究所 | Mechanism capable of implementing six-degree-of-freedom adjustment of large workpieces |
| CN106124157A (en) * | 2016-05-11 | 2016-11-16 | 中国空气动力研究与发展中心超高速空气动力研究所 | A kind of space mechanism in six degree of freedom for the test of hypersonic wind tunnel Multi-bodies Separation |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050277092A1 (en) * | 2004-06-01 | 2005-12-15 | Thong-Shing Hwang | Motion platform device for spatial disorientation simulation |
-
2016
- 2016-12-23 CN CN201611209328.XA patent/CN106813696B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2090045U (en) * | 1991-05-18 | 1991-12-04 | 李为民 | Tool tracks simulated test machine |
| CN201787966U (en) * | 2010-05-13 | 2011-04-06 | 扬州大学 | Serial-parallel connection combined adjusting mechanism with six degrees of freedom |
| CN202920235U (en) * | 2012-10-17 | 2013-05-08 | 吴宗贵 | Experimental animal ultrasonic support device for auxiliary positioning |
| CN105619042A (en) * | 2014-11-05 | 2016-06-01 | 北京航天计量测试技术研究所 | Mechanism capable of implementing six-degree-of-freedom adjustment of large workpieces |
| CN106124157A (en) * | 2016-05-11 | 2016-11-16 | 中国空气动力研究与发展中心超高速空气动力研究所 | A kind of space mechanism in six degree of freedom for the test of hypersonic wind tunnel Multi-bodies Separation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106813696A (en) | 2017-06-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106813696B (en) | Six-degree-of-freedom control device | |
| CN111044220B (en) | Unmanned aerial vehicle mass center inertia integrated test method | |
| CN103869834B (en) | Three-axis air-bearing table barycenter intelligent adjusting method based on empirical modal method | |
| CN202421522U (en) | Three-axis nonmagnetic turntable | |
| CN101865697A (en) | Minitype two-axle rotating table based on stepping motor | |
| CN102607538A (en) | Automatic leveling device and method of quick automatic leveling laser swinger | |
| CN107741238B (en) | Angular rate gyro testing device | |
| CN215445656U (en) | Engineering measuring instrument support for building engineering | |
| CN106767902B (en) | Star sensor principal point measuring device and method thereof | |
| CN105589062A (en) | Dynamic target tracking accuracy test device for photoelectric detection equipment | |
| CN110285816A (en) | A kind of moonlet on-board equipment high-precision attitude measuring system and method | |
| CN101419081B (en) | Clamping device | |
| CN201828276U (en) | Small two-axis turntable based on stepping motors | |
| CN201583282U (en) | Adjustable bracket of earth simulator used for satellite | |
| CN109443765B (en) | RV reduction gear rigidity testing arrangement that overturns | |
| CN106556413A (en) | A kind of two axles based on piezoelectric ceramic motor are without magnetic electrical turntable | |
| RU74418U1 (en) | INSTALLATION FOR GRADING AND CALIBRATION OF INCLINOMETERS | |
| CN113465629A (en) | Calibration equipment for calibrating attitude detection device of detector in pipeline | |
| CN112664787A (en) | Miniaturized worm gear and worm indirect transmission non-magnetic double-shaft turntable equipment | |
| US3704846A (en) | Apparatus for micropositioning an operational member and a workpiece platform | |
| CN103744438A (en) | Spherical stable tracking platform | |
| CN202661065U (en) | Portable automatic level gauge | |
| CN107340001B (en) | Geomagnetic measurement error compensation test device | |
| CN210161009U (en) | Tower type multi-shaft flexible detection positioning device | |
| RU2439493C1 (en) | Complex for verification and calibration of well inclinometer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |