CN107052735A - Self-adapting flexible dress calibration system based on self-balancing - Google Patents
Self-adapting flexible dress calibration system based on self-balancing Download PDFInfo
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- CN107052735A CN107052735A CN201611268344.6A CN201611268344A CN107052735A CN 107052735 A CN107052735 A CN 107052735A CN 201611268344 A CN201611268344 A CN 201611268344A CN 107052735 A CN107052735 A CN 107052735A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
Abstract
A kind of self-adapting flexible dress calibration system based on self-balancing, it includes being sequentially connected in series a Z-direction motion together, one pitching α motion, one rolling γ motion, one driftage β motion, one X is to motion and a Y-direction motion, so that the six-freedom degree of self-adapting flexible dress calibration system that should be based on self-balancing separate can be controlled, it is operated alone, each free degree can be avoided to intercouple many solutions and error of generation, so as to improve the response speed and kinematic accuracy that the self-adapting flexible based on self-balancing fills calibration system.
Description
Technical field
It is used for the flexible dress calibration system to connection module the present invention relates to a kind of, belongs to and school field is filled to connection module, especially
It is related to a kind of self-adapting flexible dress calibration system based on self-balancing.
Background technology
Space dress check and correction connection technology is widely used in modern industry, national defense industry and aerospace industry, it is ensured that
The joint quality and operating efficiency for filling school process are the key points of the technology.Because interfacing part geomery is different, in dress school
In docking operation, also by various interference so that the inaccurate of pose occurs in interfacing part, dress school quality is had a strong impact on, need to be to right
Fitting pose is adjusted in real time.According to manual intervention, then cost can be greatly improved, is taken time and effort, dress school quality can not
Ensure well.Existing most multiple degrees of freedom dress calibration systems are complicated and cost is higher, it is impossible to meet large-scale promotion certainly
The requirement of dynamic precisely dress calibration system, therefore a kind of self-adapting flexible dress calibration system simple in construction based on self-balancing is proposed, should
System can constantly detect interfacing part pose in real time during dress school, and by the x of control platform, and y is to movement, it is ensured that right
The vertical rising of fitting, realizes and precisely installs.Therefore, the present invention provides a kind of self-adapting flexible dress school system based on self-balancing
System, to solve the above problems.
The content of the invention
Calibration system is filled it is an object of the invention to provide a kind of self-adapting flexible based on self-balancing, for each generic module
Accurate installation, wherein self-adapting flexible dress the simple in construction of calibration system based on self-balancing, kinematic accuracy are high, the response time
It is short, and can be according to the real-time pose adjust automatically direction of motion and speed of module, to realize the accurate installation of module.
In order to achieve the above object, the self-adapting flexible dress calibration system that should be based on self-balancing that the present invention is provided is including one
Three straight-line motion mechanisms and a driftage β that Z-direction motion, an X are formed to motion, a Y-direction motion
Three angular displacement motions that motion, pitching α motions, a rolling γ motion are formed.
The Z-direction motion, X of the self-adapting flexible dress calibration system based on self-balancing are transported to motion, the Y-direction
Motivation structure, driftage β motions, each free degree motion point of pitching α motions and rolling γ motions
Layer realizes that it is cascaded and fills calibration system to form the self-adapting flexible based on self-balancing.This is based on the adaptive of self-balancing
Should flexible dress calibration system series sequence be the Z-direction motion, pitching α motions, rolling γ motions, this is inclined
β motions, the X navigate to motion and the Y-direction motion.
The Z-direction motion realizes that the Z-direction drive mechanism is by one by Z-direction pedestal and a set of Z-direction drive mechanism
Z-direction servomotor drives a Z-direction feed screw nut to drive two Z-direction sliding blocks to be transported along a pair of Z-direction tracks by a Z-direction leading screw
Move to realize the motion of Z-direction.
Pitching α motions are realized by the fixed Z-direction pedestal and rotate one lower leveling face, under this
One of a lift being fixed on a pinboard is driven during the rotation of adjustment plane by an elevation servo motor
Impeller-hub is flexible and the pinboard around a pair of copper sheathings axis swing so that the downward flattens face around being fixed on the Z
Rotated to a simple chain of the other end on substrate, wherein downward leveling platform is rotated around Y-axis.
Correspondingly, rolling γ motions are a whole Planar realizations of up-regulation by rotating, up-regulation leveling face
Rotation be the lift being fixed on by the driving of rolling servomotor on the downward leveling face the thrust axis it is flexible with
And the pinboard is around the axis swing of the copper sheathing, flattened so that the up-regulation flattens face around the downward is fixed on platform
The simple chain of the other end is rotated, and wherein up-regulation leveling face is turned about the X axis.By above-mentioned elevating movement and rolling movement,
Realize the horizontal adjustment of plane.
Driftage β motions are mainly by a yaw rotation platform in the ball being placed on a retainer
Surface pivots are realized.The retainer is placed between the yaw rotation platform and the up-regulation leveling face, and each several part passes through
A piece central shaft is connected, simultaneously because up-regulation leveling Middle face has an a diameter of 100mm through hole, and the central shaft can be
Moved in the range of the through hole, therefore driftage β motions can also realize the X of small range to the linear motion with Y-direction, in order to
Prevent from coming off, the central shaft lower end is mounted with that a diameter is more than the catch of the diameter of the through hole in up-regulation leveling face, then
Axial restraint is carried out with a circlip for shaft.
The X realizes that an X is logical to servomotor to motion by an X to motion platform with a pair of X direction guiding rails
Cross an X to leading screw drive an X to feed screw nut drive four X moved to sliding block along the X direction guiding rails so that allow the X to
Motion platform moves to realize along the X direction guiding rails.
The Y-direction motion realizes that a Y-direction servomotor leads to by a Y-direction motion platform with a pair of Y-direction guide rails
Crossing Y-direction leading screw drives a Y-direction feed screw nut to drive four Y-direction sliding blocks to be moved along the Y-direction guide rail, so as to allow the Y-direction
Motion platform moves to realize along the Y-direction guide rail.
The present invention provides a kind of self-adapting flexible dress calibration system based on self-balancing, and it includes Z-direction motion, one
Individual pitching α motions, rolling γ motion, a driftage β motion, an X are to motion and a Y
To motion, the Z-direction motion, pitching α motions, rolling γ motions, driftage β motions, the X
It is sequentially connected in series from bottom to up together to motion and the Y-direction motion, to form this based on the adaptive of self-balancing
Should flexible dress calibration system.
, should as the further preferred embodiment of the self-adapting flexible dress calibration system that should be based on self-balancing to the present invention
Self-adapting flexible dress calibration system based on self-balancing includes a rotatable platform and a mounting seat, and the mounting seat is arranged at this
Rotatable platform, the rotatable platform is arranged at the Y-direction motion, and one is removably installed in the mounting seat to connection module, real
Existing flexible dress school.
, should as the further preferred embodiment of the self-adapting flexible dress calibration system that should be based on self-balancing to the present invention
Adaptive dress calibration system based on self-balancing includes a detection module and a control module, the detection module, Z-direction fortune
Motivation structure, pitching α motions, rolling γ motions, driftage β motions, the X are to motion and the Y
The control module is connected to motion, the docking mould is driven in the self-adapting flexible dress calibration system based on self-balancing
During block rises, the detection module detects the pose of this pair of connection module, with after being compared with expected pose, by this
Control module control the Z-direction motion, pitching α motions, rolling γ motions, driftage β motions, should
X adjusts the pose of this pair of connection module to motion and the Y-direction motion.
, should as the further preferred embodiment of the self-adapting flexible dress calibration system that should be based on self-balancing to the present invention
Detection module detects the pose of this pair of connection module in real time.
, should as the further preferred embodiment of the self-adapting flexible dress calibration system that should be based on self-balancing to the present invention
Self-adapting flexible dress calibration system based on self-balancing includes a framework, the Z-direction motion, pitching α motions, the rolling
γ motions, driftage β motions, the X are respectively arranged in the framework to motion and the Y-direction motion
Portion.
, should as the further preferred embodiment of the self-adapting flexible dress calibration system that should be based on self-balancing to the present invention
Z-direction motion includes a Z-direction pedestal and a Z-direction drive mechanism, and the Z-direction drive mechanism is arranged at the framework, and this is bowed
Face upward α motions and be arranged at the Z-direction pedestal, the Z-direction pedestal is drivingly disposed in the Z-direction drive mechanism.
, should as the further preferred embodiment of the self-adapting flexible dress calibration system that should be based on self-balancing to the present invention
Z-direction drive mechanism includes Z-direction servomotor, Z-direction leading screw, Z-direction feed screw nut, a pair of Z-direction sliding blocks, a pair of Z
Direction guiding rail, the Z-direction leading screw is driveably arranged at the Z-direction servomotor, the Z-direction feed screw nut and is driveably arranged at the Z-direction
Leading screw, the Z-direction sliding block are fixedly connected on the Z-direction feed screw nut, and the Z-direction pedestal is fixedly connected on the Z-direction sliding block, the Z-direction servo
Motor drives the Z-direction feed screw nut to drive the Z-direction sliding block to move by the Z-direction leading screw, so that the Z-direction sliding block drives the Z-direction base
Seat is moved along the Z-direction guide rail.
, should as the further preferred embodiment of the self-adapting flexible dress calibration system that should be based on self-balancing to the present invention
Pitching α motions and rolling γ motions one horizontal adjustment platform of formation, the horizontal adjustment platform are included on one
Adjust platform and one is lowered leveling platform, downward leveling platform is adjustably arranged at the Z-direction pedestal, and up-regulation leveling platform can
Downward leveling platform is arranged to adjustment, driftage β motions are arranged at up-regulation leveling platform.
, should as the further preferred embodiment of the self-adapting flexible dress calibration system that should be based on self-balancing to the present invention
X includes X to motion platform, a pair of X direction guiding rails, an X to servomotor, an X to leading screw, an X to motion
To feed screw nut and four X to sliding block, the X is driveably connected to the X to leading screw to servomotor, and the X is to feed screw nut
The X is driveably arranged to leading screw, the X is fixedly connected on the X to feed screw nut to sliding block, and the X is fixed to motion platform to be connected
The X is connected to sliding block, the X is movably arranged at the X direction guiding rails to sliding block, the wherein X is to servomotor by the X to leading screw
The X is driven to drive the X to be slided to sliding block along the X direction guiding rails to feed screw nut, to drive the X to be moved to motion platform.
, should as the further preferred embodiment of the self-adapting flexible dress calibration system that should be based on self-balancing to the present invention
Y-direction motion includes Y-direction motion platform, a pair of Y-direction guide rails, Y-direction servomotor, Y-direction leading screw, a Y
To feed screw nut and four Y-direction sliding blocks, the Y-direction leading screw is driveably connected to the Y-direction servomotor, the Y-direction feed screw nut
The Y-direction leading screw is driveably arranged at, the Y-direction sliding block is fixedly connected on the Y-direction feed screw nut, the Y-direction motion platform, which is fixed, to be connected
The Y-direction sliding block is connected to, the Y-direction sliding block is movably arranged at the Y-direction guide rail, wherein the Y-direction servomotor passes through the Y-direction leading screw
The Y-direction feed screw nut is driven to drive the Y-direction sliding block to be slided along the Y-direction guide rail, to drive the Y-direction motion platform to move.
The present invention should based on self-balancing self-adapting flexible fill calibration system beneficial effect be：
The self-adapting flexible dress calibration system that should be based on self-balancing of the present invention includes being sequentially connected in series Z-direction fortune together
Motivation structure, pitching α motion, a rolling γ motion, a driftage β motion, an X are to motion
And a Y-direction motion, so that the six-freedom degree of self-adapting flexible dress calibration system that should be based on self-balancing can be mutual
Independent control, be operated alone, each free degree can be avoided to intercouple many solutions and error of generation, thus improve this be based on from
The self-adapting flexible of balance fills the response speed and kinematic accuracy of calibration system.
The self-adapting flexible dress calibration system based on self-balancing is arranged using stacked serial mechanism, can realize space
Multiplexing, reduces the width of framework and improves the integral rigidity that the self-adapting flexible based on self-balancing fills calibration system, so that
So that the structure of the self-adapting flexible dress calibration system based on self-balancing is compacter and reliable.
The self-adapting flexible dress calibration system based on self-balancing employs automatic detection and automaton, realizes essence
It is accurate and rapidly adjust to the pose of connection module and ensure that the vertical rising to connection module.
Brief description of the drawings
In order to obtain the above and other advantage and feature of the present invention, hereinafter with reference to the tool of the invention shown in accompanying drawing
Body embodiment carries out more specific description to the present invention outlined above.It should be understood that these accompanying drawings illustrate only the present invention
Exemplary embodiments, therefore be not construed as limiting the scope of the present invention, by using accompanying drawing, the present invention will be carried out more
Specific and more detailed description and elaboration.In the accompanying drawings：
Fig. 1 is the schematic diagram that the self-adapting flexible based on self-balancing fills calibration system.
Fig. 2 is the horizontal adjustment platform sketch schematic diagram that the self-adapting flexible based on self-balancing fills calibration system.
Fig. 3 is the half-section diagram of the driftage β motions of the self-adapting flexible dress calibration system based on self-balancing.
Fig. 4 is that the self-adapting flexible based on self-balancing fills the X of calibration system to the sketch schematic diagram of motion.
Fig. 5 is the sketch schematic diagram of the Y-direction motion of the self-adapting flexible dress calibration system based on self-balancing.
Fig. 6 is the sketch schematic diagram of the Hooke's hinge of the self-adapting flexible dress calibration system based on self-balancing.
Fig. 7 is the global coordinate system that the self-adapting flexible based on self-balancing fills calibration system.
Fig. 8 is the X-Z of the self-adapting flexible dress calibration system based on self-balancing floor map.
Embodiment
Describe to be used to disclose the present invention below so that those skilled in the art can realize the present invention.It is excellent in describing below
Embodiment is selected to be only used as citing, it may occur to persons skilled in the art that other obvious modifications.Define in the following description
General principle of the invention can apply to other embodiments, deformation program, improvement project, equivalent and do not carry on the back
From the other technologies scheme of the spirit and scope of the present invention.
As shown in Figures 1 to 8, a kind of self-adapting flexible based on self-balancing is provided according to the spirit of the present invention and fills school system
System, with the Dock With Precision Position for the module that achieves a butt joint and installation, self-adapting flexible dress calibration system that wherein should be based on self-balancing includes one
Individual Z-direction motion 1, pitching α motion 2, rolling γ motion 3, driftage β motion 4, one
X moves the mechanism 6 to motion 5 and a Y-direction, the Z-direction motion 1, pitching α motions 2, rolling γ fortune
The mechanism 3, driftage β motions 4, the X is moved to be sequentially connected in series and formed together to motion 5 and the Y-direction motion 6
One is somebody's turn to do the self-adapting flexible based on self-balancing and fills calibration system.
Further, self-adapting flexible dress calibration system that should be based on self-balancing includes a framework 7, the Z-direction motion
1st, pitching α motions 2, rolling γ motions 3, driftage β motions 4, the X are transported to motion 5 and the Y-direction
Motivation structure 6 is arranged on the inside of the framework 7.
As shown in figure 1, self-adapting flexible dress calibration system that should be based on self-balancing is a six degree of freedom serial mechanism, first
Layer is the Z-direction motion 1, and the Z-direction motion 1 is arranged on the inside of the framework 7, passes through one of the Z-direction motion 1
Z-direction pedestal 11 and a set of Z-direction drive mechanism 12 are realized.The Z-direction drive mechanism 12 is passed through by a Z-direction servomotor 121
One Z-direction leading screw 122 drives a Z-direction feed screw nut 123 to drive a Z-direction sliding block 124 to be moved along a Z-direction guide rail 125
To realize that Z-direction is moved, wherein the Z-direction guide rail 125 is fixed on the inwall of the framework 7, and two Z-direction guide rails 125 with nut
It is symmetrical.That is, the Z-direction motion 1 includes the Z-direction pedestal 11 and the Z-direction drive mechanism 12, the Z-direction driving machine
Structure 12 further comprise the Z-direction servomotor 121, the Z-direction leading screw 122, the Z-direction feed screw nut 123, the Z-direction sliding block 124 and
The Z-direction guide rail 125.
Such as Fig. 2, a horizontal adjustment platform of self-adapting flexible dress calibration system that should be based on self-balancing includes a up-regulation
Flatten platform 31 and one is lowered leveling platform 21, downward leveling platform 2 can realize that the motion of pitching is by fixed one
One downward leveling face 28 of individual Z-direction substrate 24 and rotation is come what is realized, and the rotation in downward leveling face 28 is bowed by one
Facing upward servomotor 21 drives a thrust axis 23 of a lift 22 being fixed on a pinboard 26 flexible and this turn
Fishplate bar 26 around a copper sheathing 25 axis swing, wherein the copper sheathing 25 be arranged on the Z-direction substrate 24 on groove in so that
Downward leveling face 28 is rotated around a simple chain 27 of the other end for being fixed on the Z-direction substrate 24, and the wherein downward is flattened
Face 28 is rotated around Y-axis.Similarly, up-regulation leveling platform 3 realizes that the motion of rolling is a up-regulation leveling face 31 by rotating
Come what is realized, up-regulation leveling face 31 is turned about the X axis.Pass through the above-mentioned elevating movement referred to and rolling movement, it is possible to achieve flat
The horizontal adjustment in face.It is understood that pitching α motions 2 and the formation of rolling β motions 3 should be based on self-balancing
Self-adapting flexible fill calibration system the horizontal adjustment platform.
As shown in figure 3, the yawing rotation of self-adapting flexible dress calibration system that should be based on self-balancing is mainly inclined by one
Navigate rotatable platform 41 to realize, ball is installed between the yaw rotation platform 41 and up-regulation leveling face 31, the ball axle
Hold and be held in position, each several part is connected by a central shaft 42, the central shaft 42 utilizes the middle part of yaw rotation platform 41
Groove positioned, have a diameter of 100mm through hole because the up-regulation flattens the middle part of face 31, the central shaft 42 can be logical at this
Moved in the range of hole, therefore driftage β motions 4 can also realize the X of small range to the linear motion with Y-direction.In order to anti-
Anti-avulsion falls, and the lower end of central shaft 42 is mounted with that a diameter is more than the catch 43 that the up-regulation flattens the through-hole diameter in face 31, then uses
One circlip for shaft 44 carries out axial restraint.
As shown in Figure 4 and Figure 5, the self-adapting flexible based on self-balancing is somebody's turn to do to fill the X of calibration system to the motion mechanism 5 and be somebody's turn to do
The motion principle of Y-direction motion 6 is identical.
In Fig. 4, the X is realized by an X to motion 5 to motion platform 51 with an X direction guiding rail 52, wherein
One X to servomotor 53 by an X to leading screw 54 drive an X to feed screw nut 55 drive four X to sliding block 56 along
One X direction guiding rail 52 is moved, so as to allow the X to move to realize to motion platform 51 along the X direction guiding rails 52.That is, the X
To motion 5 include the X to motion platform 51, the X direction guiding rails 52, the X to servomotor 53, the X to leading screw 54, the X to
Feed screw nut 55 and the X are to sliding block 56, and the X is driveably arranged at the X to servomotor 53 to leading screw 54, and the X is to leading screw
Nut 55 is driveably arranged at the X to leading screw 54, and the X is fixedly connected on the X to feed screw nut 55 to sliding block 56, and the X is to fortune
Moving platform 51 is connected to the X to sliding block 56.The X is driven to be rotated to leading screw 54 when the X is rotated to servomotor 53, so that the X
The X is driven to be transported to motion platform 51 to sliding block 56 by the X while being moved along the X to leading screw 54 to feed screw nut 55
It is dynamic.
In Figure 5, this is realized to motion 6 by a Y-direction motion platform 61 with a Y-direction guide rail 62, wherein
One Y-direction servomotor 63 by Y-direction leading screw 64 drive a Y-direction feed screw nut 66 drive four Y-direction sliding blocks 66 along
One Y-direction guide rail 62 is moved, so as to allow the Y-direction motion platform 61 to move to realize along the Y-direction guide rail 62.That is, the Y
Include the Y-direction motion platform 61, the Y-direction guide rail 62, the Y-direction servomotor 63, the Y-direction leading screw 64, the Y-direction to motion 6
Feed screw nut 66 and the Y-direction sliding block 66, the Y-direction leading screw 64 are driveably arranged at the Y-direction servomotor 63, the Y-direction leading screw
Nut 66 is driveably arranged at the Y-direction leading screw 64, and the Y-direction sliding block 66 is fixedly connected on the Y-direction feed screw nut 66, Y-direction fortune
Moving platform 61 is connected to the Y-direction sliding block 66.The Y-direction leading screw 64 is driven to rotate when the Y-direction servomotor 63 is rotated, so that the Y
The Y-direction motion platform 61 is driven to transport by the Y-direction sliding block 66 while being moved along the Y-direction leading screw 64 to feed screw nut 66
It is dynamic.
The self-adapting flexible dress calibration system that should be based on self-balancing of the present invention uses detection technique and automatic control technology,
The pose of the module is constantly detected during rising to connection module (abbreviation module) in real time, and is compared with setting pose,
With the steering of controlled motor after being handled by digital-to-analogue and rotating speed, X is set independently to be moved to Y-direction platform, so that should
Module keeps vertical and risen.Coordinate system as shown in Figure 7, the self-adapting flexible dress calibration system based on self-balancing is abstracted into only
The system being made up of fixed platform and module, sets up global coordinate system oxyz as shown in Figure 7.L is block length in figure, lxy,
Lyz be respectively module in x-z, the mapping length of y-z plane, θ is the angle of module and z-axis direction, and α, β is module respectively in x-
Z, the mapping of y-z plane and the angle in z-axis direction.Then understand as shown in Figure 7：
tan2θ=tan2α+tan2β (1.1)
There are α, β ＜ ＜ 1 near the equilbrium position of module vertically upward, then now approximately can think lxz≈lyz≈
l.Now according to the definition of coordinate, only consider that situation is as shown in Figure 8 in x-z-plane：
Wherein Mx be x-axis direction on platform mass, s be small mass ds to the length of platform upper module, then have：
Because having nothing but on generalized coordinates in the self-adapting flexible dress calibration system that should be based on self-balancing of the present invention
Gesture generalized external force is acted on, so Lagrange equation is turned to：
For the self-adapting flexible dress calibration system based on self-balancing, it is somebody's turn to do the self-adapting flexible based on self-balancing and fills school
The kinetic energy T and potential energy V of system can be calculated by following equations group respectively
For：
DV=ρ dsgscos α (1.7)
The kinetic energy that can obtain the self-adapting flexible dress calibration system based on self-balancing by equation group (2.9) is distinguished with potential energy
It is：
If orderThen equation group (2.12) abbreviation is
Y-z plane equation group can similarly be drawn
As can be seen here, the self-adapting flexible based on self-balancing is being filled into calibration system near equilbrium position vertically upward
Carry out after approximate processing, module is non-coupled in two mutually perpendicular directions, therefore can be distinguished in X, Y both direction
Design controller without worry both direction on the problem of interfering with each other.
The linearization process of mathematical modeling.
Set first this based on self-balancing self-adapting flexible dress calibration system state variable as：
And it is zero to take the value of each variable during poised state, is designated as x0=0, it is somebody's turn to do the self-adapting flexible based on self-balancing and fills school system
The control input of system be x, acceleration from y to platform, then：
(1.11) formula is subjected to Taylor series expansions in equilbrium position, and linearizes and can obtain：
It can be obtained after solution
Similarly solve
Composite type (1.15), (1.16), (1.17) can obtain the self-adapting flexible dress calibration system based on self-balancing
System state space equation is：
As shown in fig. 6, module by fixture install be positioned on a servo-actuated rotatable platform 8, and the rotatable platform 8 with
One outer ring 9a and a mounting seat 9b constitute a Hooke's hinge, and mounting seat 9b and the Y-direction of the Y-direction motion 6 are moved
Platform 61 is connected, and pitching and the rolling movement of module can be achieved, by controlling x, y platforms realize the vertical rising of module.
One embodiment of the present of invention is described in detail above, but the content is only the preferable implementation of the present invention
Example, it is impossible to be considered as the practical range for limiting the present invention.All equivalent changes made according to the present patent application scope and improvement
Deng within the patent covering scope that all should still belong to the present invention.
Claims (10)
1. a kind of self-adapting flexible dress calibration system based on self-balancing, it is characterised in that should the self-adapting flexible based on self-balancing
Filling calibration system includes a Z-direction motion, pitching α motions, rolling γ motions, a driftage β fortune
Motivation structure, an X are to motion and a Y-direction motion, the Z-direction motion, pitching α motions, the rolling
Turn γ motions, driftage β motions, the X to be sequentially connected in series from bottom to up to motion and the Y-direction motion
Together, calibration system is filled to form the self-adapting flexible based on self-balancing.
2. a kind of self-adapting flexible dress calibration system based on self-balancing as claimed in claim 1, it is characterised in that should be based on certainly
The self-adapting flexible dress calibration system of balance includes a rotatable platform and a mounting seat, and the mounting seat is arranged at the rotation and put down
Platform, the rotatable platform is arranged at the Y-direction motion, and one is removably installed in the mounting seat to connection module.
3. a kind of self-adapting flexible dress calibration system based on self-balancing as claimed in claim 2, it is characterised in that should be based on certainly
The adaptive dress calibration system of balance includes a detection module and a control module, the detection module, the Z-direction fitness machine
Structure, pitching α motions, rolling γ motions, driftage β motions, the X are transported to motion and the Y-direction
Motivation structure is connected to the control module, is driven in the self-adapting flexible dress calibration system based on self-balancing on this pair of connection module
During rising, the detection module detects the pose of this pair of connection module, after being compared with expected pose, to pass through the control
Module control the Z-direction motion, pitching α motions, rolling γ motions, driftage β motions, the X to
Motion and the Y-direction motion adjust the pose of this pair of connection module.
4. a kind of self-adapting flexible dress calibration system based on self-balancing as claimed in claim 3, it is characterised in that the detection mould
Block detects the pose of this pair of connection module in real time.
5. a kind of self-adapting flexible dress calibration system based on self-balancing as claimed in claim 4, it is characterised in that should be based on certainly
The self-adapting flexible dress calibration system of balance includes a framework, the Z-direction motion, pitching α motions, rolling γ motions
Mechanism, driftage β motions, the X are respectively arranged in the inside of the framework to motion and the Y-direction motion.
6. a kind of self-adapting flexible dress calibration system based on self-balancing as claimed in claim 5, it is characterised in that the Z-direction is transported
Motivation structure includes a Z-direction pedestal and a Z-direction drive mechanism, and the Z-direction drive mechanism is arranged at the framework, pitching α fortune
Motivation structure is arranged at the Z-direction pedestal, and the Z-direction pedestal is drivingly disposed in the Z-direction drive mechanism.
7. a kind of self-adapting flexible dress calibration system based on self-balancing as claimed in claim 6, it is characterised in that the Z-direction is driven
Motivation structure is led including Z-direction servomotor, Z-direction leading screw, Z-direction feed screw nut, Z-direction sliding block, a Z-direction
Rail, the Z-direction leading screw be driveably arranged at the Z-direction servomotor, the Z-direction feed screw nut be driveably arranged at the Z-direction leading screw,
The Z-direction sliding block is fixedly connected on the Z-direction feed screw nut, and the Z-direction pedestal is fixedly connected on the Z-direction sliding block, and the Z-direction servomotor leads to
Cross the Z-direction leading screw drive the Z-direction feed screw nut drive the Z-direction sliding block move so that the Z-direction sliding block drive the Z-direction pedestal along
The Z-direction guide rail is moved.
8. a kind of self-adapting flexible dress calibration system based on self-balancing as claimed in claim 6, it is characterised in that pitching α
Motion and rolling γ motions one horizontal adjustment platform of formation, the horizontal adjustment platform include a up-regulation leveling
Platform and a downward leveling platform, downward leveling platform are adjustably arranged at the Z-direction pedestal, and up-regulation leveling platform is adjustably
Downward leveling platform is arranged at, driftage β motions are arranged at up-regulation leveling platform.
9. a kind of self-adapting flexible dress calibration system based on self-balancing as claimed in claim 8, it is characterised in that the X is to fortune
Motivation structure includes X to motion platform, an X direction guiding rail, an X to servomotor, an X to leading screw, an X to leading screw
Nut and an X are to sliding block, and the X is driveably connected to the X to leading screw to servomotor, and the X can drive to feed screw nut
Ground is arranged at the X to leading screw, and the X is fixedly connected on the X to feed screw nut to sliding block, and the X is fixedly connected on the X to motion platform
To sliding block, the X is movably arranged at the X direction guiding rails to sliding block, and the wherein X drives the X by the X to servomotor to leading screw
The X is driven to be slided to sliding block along the X direction guiding rails to feed screw nut, to drive the X to be moved to motion platform.
10. a kind of self-adapting flexible based on self-balancing fills calibration system as claimed in claim 8 or 9, it is characterised in that the Y
Include Y-direction motion platform, Y-direction guide rail, Y-direction servomotor, Y-direction leading screw, a Y-direction to motion
Feed screw nut and a Y-direction sliding block, the Y-direction leading screw are driveably connected to the Y-direction servomotor, and the Y-direction feed screw nut can
It is drivingly disposed in the Y-direction leading screw, the Y-direction sliding block is fixedly connected on the Y-direction feed screw nut, the Y-direction motion platform is fixedly connected
In the Y-direction sliding block, the Y-direction sliding block is movably arranged at the Y-direction guide rail, and wherein the Y-direction servomotor is driven by the Y-direction leading screw
Moving the Y-direction feed screw nut drives the Y-direction sliding block to be slided along the Y-direction guide rail, to drive the Y-direction motion platform to move.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611268344.6A CN107052735A (en) | 2016-12-31 | 2016-12-31 | Self-adapting flexible dress calibration system based on self-balancing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611268344.6A CN107052735A (en) | 2016-12-31 | 2016-12-31 | Self-adapting flexible dress calibration system based on self-balancing |
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| Publication Number | Publication Date |
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| CN107052735A true CN107052735A (en) | 2017-08-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611268344.6A Pending CN107052735A (en) | 2016-12-31 | 2016-12-31 | Self-adapting flexible dress calibration system based on self-balancing |
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| CN (1) | CN107052735A (en) |
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Application publication date: 20170818 |