CN109556517B - Real-time measurement system for terminal pose of six-foot positioning platform - Google Patents
Real-time measurement system for terminal pose of six-foot positioning platform Download PDFInfo
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- CN109556517B CN109556517B CN201811617550.2A CN201811617550A CN109556517B CN 109556517 B CN109556517 B CN 109556517B CN 201811617550 A CN201811617550 A CN 201811617550A CN 109556517 B CN109556517 B CN 109556517B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to the technical field of measuring equipment, in particular to a real-time measuring system for the terminal pose of a hexapod positioning platform. It includes: the device comprises a movable platform, a fixed platform and six telescopic grating ruler measuring rods. The device can be used for six-dimensional pose closed-loop control in the large-range adjustment process of a large-scale six-degree-of-freedom positioning platform, and when the movable platform moves to a certain pose, the pose of the movable platform is calculated in real time through the length change values of the six grating rulers; the device adopts gapless spline track and spline bearing to realize the axial concertina movement of grating chi measuring stick and restrict grating chi measuring stick's rotation motion, guarantees high measurement accuracy. The grating ruler measuring rod is a follower rod, can be extended or shortened along with the change of the pose of the movable platform, does not bear the pressure caused by the high load of the movable platform, can reduce the change of the measuring precision caused by the stress deformation of the grating ruler measuring rod, and further ensures the high-precision measurement of the pose of the movable platform.
Description
Technical Field
The invention relates to the technical field of measuring equipment, in particular to a real-time measuring system for the terminal pose of a hexapod positioning platform.
Background
The future 3 m-magnitude space optical load has the characteristics of large size, high precision, difficulty in test and verification and the like. These features will bring great difficulty to the optical detection of the optical remote sensor, especially the optical detection of the whole machine. According to the experience of the development process of the spacecraft, the time for debugging and testing generally accounts for about 30% -50% of the whole development cycle of the spacecraft, and particularly for optical loads, the optical detection and debugging efficiency directly influences the development cycle and the cost of the whole model.
Therefore, a special six-degree-of-freedom high-precision rotary table is needed to be developed to meet the optical detection and adjustment requirements of a large-caliber optical remote sensor in the next 10 years. Optical detection and adjustment of a large-caliber optical remote sensor usually have requirements on stroke, precision, table surface size, turntable height and bearing capacity of a special turntable with six degrees of freedom and high precision. The key technical problem to be solved for developing the six-degree-of-freedom high-precision special turntable is to solve the problem that the three-direction rotation precision of the turntable is better than 2' under the conditions of the table top size of 5m multiplied by 5m and the load of 25 tons.
In view of this, the above defects in the prior art are overcome, and a new real-time measurement system for the end pose of the hexapod positioning platform becomes a technical problem to be solved in the field.
Disclosure of Invention
The invention aims to provide a real-time measuring system for the end pose of a hexapod positioning platform, aiming at the defects in the prior art.
The object of the invention can be achieved by the following technical measures:
the invention provides a real-time measuring device for the terminal pose of a hexapod positioning platform, which comprises: the device comprises a movable platform, a fixed platform and a plurality of telescopic grating ruler measuring rods obliquely arranged between the movable platform and the fixed platform;
the grating ruler measuring rod comprises a first connecting part, a guide rail component and a second connecting part which are connected in sequence, the movable platform is installed at the upper end of the grating ruler measuring rod through the first connecting part, the fixed platform is installed at the lower end of the grating ruler measuring rod through the second connecting part, a rotatable first hinge is arranged in the first connecting part, a rotatable second hinge is arranged in the second connecting part, and the first hinge and the second hinge rotate to change the pose of the movable platform and drive the telescopic length of the grating ruler measuring rod to change;
the guide rail assembly includes: the installation shell is installed on the installation flange, the gapless spline track is arranged inside the installation shell, the spline bearing is sleeved on the outer side of the gapless spline track and is arranged between the installation shell and the gapless spline track, the installation flange is connected with the first hinge, the second hinge is connected with the gapless spline track, and the spline bearing drives the gapless spline track to do telescopic motion along the axial direction along with the grating ruler measuring rod and measure the change value of the telescopic length of the grating ruler measuring rod in real time so as to obtain the pose of the moving platform.
Further, the first hinge and the second hinge are both ball-type hinges, and the first hinge, the second hinge and the guide rail assembly are in an SPS configuration.
Furthermore, the guide rail assembly further comprises a reading head arranged on the zero-clearance spline track and a grating ruler which is fixed inside the installation shell and positioned at the upper end of the zero-clearance spline track, and the reading head is connected with the zero-clearance spline track through an adapter piece.
Furthermore, the grating ruler is a closed grating ruler, and the interior of the grating ruler is made of a glass material.
Furthermore, the number of the grating ruler measuring rods is six, and every two adjacent grating ruler measuring rods are symmetrically arranged.
Furthermore, six connection points of the grating ruler measuring rod and the movable platform are first hinge points, the first hinge points are distributed on the same circle of the lower surface of the movable platform, and connecting lines between the first hinge points form a symmetrical hexagon.
Furthermore, six connection points of the grating ruler measuring rod and the fixed platform are second hinge points, the second hinge points are distributed on the same circle on the upper surface of the fixed platform, and connecting lines between the second hinge points form a symmetrical hexagon.
Further, the distribution radius of the first hinge points on the movable platform is smaller than that of the second hinge points on the fixed platform.
Furthermore, the first hinge point of the movable platform and the second hinge point of the fixed platform are distributed in a 6-SPS type Stewart parallel mechanism.
Further, the radian of an arc between every two adjacent first hinge points is 80 degrees or 40 degrees; the arc of the arc between every two adjacent second hinge points is 80 degrees or 40 degrees.
The device of the invention can be used for the closed-loop control of the six-dimensional pose in the large-range adjustment process of the six-degree-of-freedom positioning platform, the grating ruler measuring rod in the device is respectively fixed on the movable platform and the fixed platform of the six-foot positioning platform through a first hinge and a second hinge, when the movable platform moves to a certain pose, the pose of the movable platform is obtained in real time through the length change value of the grating ruler measuring rod, the grating ruler measuring rod in the device can extend or shorten along with the pose change of the movable platform without bearing the pressure caused by the high load of the movable platform, can reduce the change of the measurement precision caused by the deformation of the grating ruler measuring rod due to stress, further ensure the high-precision measurement of the pose of the movable platform, meanwhile, the axial telescopic motion of the grating ruler measuring rod is realized by adopting a gapless spline track and a spline bearing, the autorotation motion of the grating ruler measuring rod is limited, and high measuring precision is ensured.
Drawings
FIG. 1 is a schematic overall structure diagram of a device for measuring the end pose of a hexapod positioning platform in real time according to an embodiment of the invention;
fig. 2 is a schematic structural diagram of a measuring rod of a grating ruler according to an embodiment of the present invention;
FIG. 3 is a cross-sectional view of a grating ruler measurement rod of an embodiment of the present invention;
FIG. 4 is a schematic view of the distribution of the first hinge point on the movable platform according to the embodiment of the present invention;
fig. 5 is a schematic diagram of the distribution of the second hinge point on the fixed platform according to the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In order to make the description of the present disclosure more complete and complete, the following description is given for illustrative purposes with respect to the embodiments and examples of the present invention; it is not intended to be the only form in which the embodiments of the invention may be practiced or utilized. The embodiments are intended to cover the features of the various embodiments as well as the method steps and sequences for constructing and operating the embodiments. However, other embodiments may be utilized to achieve the same or equivalent functions and step sequences.
The embodiment of the invention discloses a real-time measuring device for the end pose of a six-foot positioning platform, which can be used for six-dimensional pose closed-loop control in the large-range adjustment process of an ultra-large six-freedom positioning platform with the platform surface size of 5m multiplied by 5m, six grating ruler measuring rods in the device are fixed on a movable platform and a fixed platform of the large six-foot positioning platform through hinges, when the movable platform moves to a pose, the pose of the movable platform is calculated in real time through the length change value of the six grating ruler measuring rods, the grating ruler measuring rods in the device can extend or shorten along with the change of the pose of the movable platform without bearing the pressure caused by the high load of the movable platform, the change of the measuring precision caused by the forced deformation of the grating ruler measuring rods can be reduced, the high-precision measurement of the pose of the movable platform is further ensured, and simultaneously, the axial telescopic motion of the grating ruler measuring rods and the self-rotation motion of the grating ruler measuring rods are limited by adopting a spline track and a, ensuring high measurement accuracy.
Fig. 1 shows a device for measuring the end pose of a hexapod positioning platform in real time, please refer to fig. 1, and the device comprises: the device comprises a movable platform 10, a fixed platform 20 and a plurality of telescopic grating ruler measuring rods 30.
Further, please refer to fig. 1 and fig. 2, fig. 2 is a schematic structural diagram of a grating ruler measuring rod, the grating ruler measuring rod 30 is obliquely disposed between the movable platform 10 and the fixed platform 20, the grating ruler measuring rod 30 includes a first connecting portion 301, a guide rail assembly 302 and a second connecting portion 303, which are sequentially connected, wherein the movable platform 10 is mounted at the upper end of the grating ruler measuring rod 30 through the first connecting portion 301, the fixed platform 20 is mounted at the lower end of the grating ruler measuring rod 30 through the second connecting portion 303, a rotatable first hinge 3010 is disposed in the first connecting portion 301, and a rotatable second hinge 3030 is disposed in the second connecting portion 303, in this embodiment, the first hinge 3010 and the second hinge 3030 are disposed identically, and the first hinge 3010 and the second hinge 3030 rotate to change the pose of the movable platform 10 and drive the telescopic length of the grating ruler measuring rod 30 to change; further, referring to fig. 3, fig. 3 is a cross-sectional view of the measurement rod of the grating ruler, and the first hinge 3010 and the second hinge 3030 are both ball-type hinges, preferably gapless ball bearings, to ensure the measurement accuracy. The first hinge 3010, the second hinge 3030 and the rail assembly 302 are in an SPS (S represents a spherical pair, and P represents a kinematic pair) configuration.
Further, referring to fig. 2 and 3, the guide rail assembly 302 includes: the mounting structure comprises a mounting shell 3023, a mounting flange 3024, a zero clearance spline track 3020 and a spline bearing 3021, wherein the mounting shell 3023 is fixedly mounted on the mounting flange 3024, the zero clearance spline track 3020 is arranged inside the mounting shell 3023, the spline bearing 3021 is sleeved on the outer side of the zero clearance spline track 3020 and arranged between the mounting shell 3023 and the zero clearance spline track 3020, a first hinge 3010 is connected with the mounting flange 3024, and a second hinge 3030 is connected with the zero clearance spline track 3020. Further, the track assembly 302 further comprises: a reading head 3022 arranged on the gapless spline track 3020 is fixed inside the mounting shell 3023 and is positioned on a grating scale 3025 at the upper end of the gapless spline track 3020, and the reading head 3022 is connected with the gapless spline track 3020 through an adapter (not shown in the figure). The spline bearing 3021 drives the gapless spline track 3020 to make reciprocating telescopic motion along with the grating ruler measurement rod 30 along the axial direction and drives the reading head 3022 arranged on the gapless spline track 3020 to move together, so that the length change of the grating ruler measurement rod 30 is measured in real time through the reading head 3022, and the pose of the movable platform 10 is calculated.
Further, the grating ruler 3025 built in the grating ruler measurement rod 30 is high-precision and closed, the inside of the grating ruler 3025 is made of a glass material, linear expansion is close to zero, and measurement precision is guaranteed.
In this embodiment, an ultra-long spline bearing 3021 is used to increase the rigidity of the grating ruler measurement rod 30, so as to implement high-load pose measurement, and meanwhile, the spline bearing 3021 can only perform telescopic movement in the axial direction and cannot rotate; the grating ruler measuring rod 30 is a follower rod, can be extended or shortened along with the change of the pose of the movable platform 10, does not bear the pressure caused by the high load of the movable platform 10, can reduce the change of the measuring precision caused by the stress deformation of the grating ruler measuring rod 30, and further ensures the high-precision measurement of the pose of the movable platform 10.
Further, referring to fig. 1, six grating ruler measuring rods 30 are provided, and each two adjacent grating ruler measuring rods 30 are symmetrically arranged, so that six-dimensional movement of the movable platform 10 can be realized. Referring to fig. 4, fig. 4 is a schematic diagram of the distribution of the first hinge point on the movable platform, and six connection points of the measurement rod 30 of the grating ruler and the lower surface of the movable platform 10 are the first hinge point (the first hinge point includes P in fig. 4)1、P2、P3、P4、P5、P6) The first hinge points are positioned at the outer side of the connection point of the grating ruler measuring rod 30 and the first hinge 3010, the first hinge points are distributed on the same circle of the lower surface of the movable platform 10, and the connection lines between the first hinge points form a symmetrical hexagon; referring to fig. 5, fig. 5 is a schematic diagram of the distribution of the second hinge point on the fixed platform, and six connection points of the grating ruler measuring rod 30 and the upper surface of the fixed platform 20 are the second hinge points (the second hinge points include B in fig. 5)1、B2、B3、B4、B5、B6) The second hinge points are located at the outer side of the connecting point of the grating ruler measuring rod 30 and the second hinge 3030, the second hinge points are distributed on the same circle on the upper surface of the fixed platform 20, and the connecting lines between the second hinge points form a symmetrical hexagon. Because the rotation angle precision requirement of the large six-foot positioning platform is superior to 2', the first hinge point is positioned at the outer side of the connection point of the grating ruler measuring rod 30 and the first hinge 3010, and the second hinge point is positioned at the outer side of the connection point of the grating ruler measuring rod 30 and the second hinge 3030, the maximum displacement variable of the six grating ruler measuring rods 30 can be measured by the arrangement mode, and the precision requirements on the precision model selection and the processing and manufacturing of the measuring element are further reduced.
Furthermore, the distribution radius of the first hinge points on the movable platform is smaller than that of the second hinge points on the fixed platform, and the first hinge points of the movable platform and the second hinge points of the fixed platform are distributed in a 6-SPS type Stewart parallel mechanism mode. The arc of the arc between the first and second hinge points is 120 deg.. Referring to fig. 4, the first hinge point forms a circle with OPAs a circle center, radius RP1900mm, arc line between every two adjacent first hinge pointsThe arc is 80 ° or 40 °, for example: center of circle OPTo the first pivot point P1Is marked as OPP1Center of circle OPTo the first pivot point P2Is marked as OPP2Line segment OPP1And line segment OPP2The included angle between the two is phiP，φPIs 80 degrees; first pivot point P2To the first pivot point P3Is marked as A1First pivot point P4To the first pivot point P5Is marked as A2Center of circle OPAnd midpoint A1Is marked as OPA1Center of circle OPAnd midpoint A2Is marked as OPA2Line segment OPA1And line segment OPA2The included angle between the two is phiA，φAIs 120 deg.. Referring to fig. 5, the circle formed by the six second hinge points is represented by OBAs a circle center, radius RBIs 2100mm, the arc of the arc between each two adjacent second hinge points is 80 ° or 40 °, for example: center of circle OBAnd a second hinge point B1Is marked as OBB1Center of circle OBAnd a second hinge point B2Is marked as OBB2Line segment OBB1And line segment OBB2The included angle between the two is phiB，φBIs 40 degrees; second pivot point B3And a second hinge point B4Is marked as C1Second pivot point B5And a second hinge point B6Is marked as C2Center of circle OBAnd the midpoint C1Is marked as OBC1Center of circle OBAnd the midpoint C2Is marked as OBC2Line segment OBC1And line segment OBC2The included angle between the two is phiC，φCIs 120 deg..
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (4)
1. The utility model provides a real-time measuring device of six sufficient positioning platform terminal position appearance which characterized in that includes: the system comprises a movable platform, a fixed platform and six telescopic grating ruler measuring rods obliquely arranged between the movable platform and the fixed platform, wherein every two adjacent grating ruler measuring rods are symmetrically arranged, six connecting points of the grating ruler measuring rods and the movable platform are first hinge points, the first hinge points are positioned at the outer sides of the connecting points of the grating ruler measuring rods and the first hinge and are distributed on the same circle of the lower surface of the movable platform, and connecting lines between the first hinge points form symmetrical hexagons; six connecting points of the grating ruler measuring rod and the fixed platform are second hinge points, the second hinge points are positioned at the outer sides of the connecting points of the grating ruler measuring rod and the second hinge and are distributed on the same circle on the upper surface of the fixed platform, and connecting lines between the second hinge points form a symmetrical hexagon; the first hinge point of the movable platform and the second hinge point of the fixed platform adopt a 6-SPS type Stewart parallel mechanism distribution mode; the radian of an arc between every two adjacent first hinge points is 80 degrees or 40 degrees; the radian of an arc between every two adjacent second hinge points is 80 degrees or 40 degrees;
the grating ruler measuring rod comprises a first connecting part, a guide rail component and a second connecting part which are connected in sequence, the movable platform is installed at the upper end of the grating ruler measuring rod through the first connecting part, the fixed platform is installed at the lower end of the grating ruler measuring rod through the second connecting part, a rotatable first hinge is arranged in the first connecting part, a rotatable second hinge is arranged in the second connecting part, the first hinge and the second hinge are both gapless ball bearings in a spherical hinge, the first hinge, the second hinge and the guide rail component are in an SPS configuration, and the first hinge and the second hinge rotate to change the pose of the movable platform and drive the telescopic length of the grating ruler measuring rod to change;
the guide rail assembly includes: the installation shell is installed on the installation flange, the gapless spline track is arranged inside the installation shell, the spline bearing is sleeved on the outer side of the gapless spline track and is arranged between the installation shell and the gapless spline track, the installation flange is connected with the first hinge, the second hinge is connected with the gapless spline track, and the spline bearing drives the gapless spline track to do telescopic motion along the axial direction along with the grating ruler measuring rod and measure the change value of the telescopic length of the grating ruler measuring rod in real time so as to obtain the pose of the moving platform.
2. The device for measuring the end pose of the hexapod positioning platform in real time according to claim 1, wherein the guide rail assembly further comprises a reading head arranged on the gapless spline track and a grating ruler fixed inside the mounting shell and positioned at the upper end of the gapless spline track, and the reading head is connected with the gapless spline track through an adapter.
3. The device for measuring the end pose of the hexapod positioning platform in real time according to claim 2, wherein the grating ruler is a closed grating ruler, and the interior of the grating ruler is made of a glass material.
4. The device for measuring the pose of the tail end of the hexapod positioning platform in real time according to claim 1, wherein the distribution radius of a first hinge point on the movable platform is smaller than that of a second hinge point on the fixed platform.
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| CN201811617550.2A CN109556517B (en) | 2018-12-28 | 2018-12-28 | Real-time measurement system for terminal pose of six-foot positioning platform |
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| CN201811617550.2A CN109556517B (en) | 2018-12-28 | 2018-12-28 | Real-time measurement system for terminal pose of six-foot positioning platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101216291A (en) * | 2008-01-17 | 2008-07-09 | 吉林大学 | Six freedom degree platform precision measurement device |
| CN102221123A (en) * | 2011-04-22 | 2011-10-19 | 陕西豪曼机电科技工程有限公司 | Submicron-level positioning accuracy parallel regulating platform and regulating method thereof |
| CN102636140B (en) * | 2012-04-12 | 2014-07-30 | 重庆大学 | Telescopic parallel pull rod type device used for measuring spatial six-degree-of-freedom motion |
| CN202712431U (en) * | 2012-08-27 | 2013-01-30 | 中国电子科技集团公司第五十四研究所 | Antenna sub-reflector system comprising fixed adjusting mechanism |
| CL2013003817A1 (en) * | 2013-12-31 | 2014-08-22 | Univ Santiago Chile | System to teach welding, which allows to form experienced welders in a short time, which is formed by a base from which six actuators emerge that allow a higher platform to move in six degrees of freedom, from whose base a fixed bench emerges having a surface, on which a plate to be welded is mounted, wherein said upper platform has an adapter on which a welding gun is mounted; and methods. |
| CN104295231B (en) * | 2014-09-16 | 2016-08-24 | 西南石油大学 | A kind of low frictional resistance reducing hydrodynamic thrust device |
| CN105415349A (en) * | 2015-12-30 | 2016-03-23 | 中国科学院长春光学精密机械与物理研究所 | Spatial multidimensional micro-vibration simulator based on six-dimensional parallel mechanism |
| CN106247934B (en) * | 2016-08-02 | 2019-01-29 | 北京航空航天大学 | A kind of pose measuring apparatus based on 6-SPS parallel institution |
| CN205852787U (en) * | 2016-10-15 | 2017-01-04 | 山西省交通科学研究院 | A kind of multiaxis regulation platform with pose self-checking function |
| CN106886227A (en) * | 2016-12-26 | 2017-06-23 | 中国科学院长春光学精密机械与物理研究所 | A kind of six degree of freedom high accuracy adjustment alignment system based on 6RRRPRR |
| CN106891322A (en) * | 2016-12-27 | 2017-06-27 | 中国科学院长春光学精密机械与物理研究所 | A kind of novel six freedom parallel connection platform |
| CN107065113B (en) * | 2017-05-18 | 2019-06-11 | 中国科学院长春光学精密机械与物理研究所 | High-precision six-freedom degree optical module pose adjusts device |
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