CN111059962A - A spherical motion mechanism - Google Patents
A spherical motion mechanism Download PDFInfo
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- CN111059962A CN111059962A CN201911305640.2A CN201911305640A CN111059962A CN 111059962 A CN111059962 A CN 111059962A CN 201911305640 A CN201911305640 A CN 201911305640A CN 111059962 A CN111059962 A CN 111059962A
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Abstract
本发明公开一种球面运动机构，包括第一关节、第一臂、能够调节探测器高度和倾角的转动机构、探测器；所述第一臂的一端转动连接所述第一关节，所述第一臂的另一端连接旋转机构的一端，旋转机构的另一端转动连接所述探测器；所述第一关节位于点光源正上方，所述第一关节的旋转中心轴线与点光源的竖直光轴重合，所述探测器的探测面正面对点光源。本发明的有益效果：实现所述探测器沿以点光源为球心、球径可变的球面运动；结构简单、所需空间较小、重量轻。
The invention discloses a spherical motion mechanism, comprising a first joint, a first arm, a rotating mechanism capable of adjusting the height and inclination of a detector, and a detector; one end of the first arm is rotatably connected to the first joint, and the first The other end of one arm is connected to one end of the rotating mechanism, and the other end of the rotating mechanism is connected to the detector in rotation; the first joint is located directly above the point light source, and the rotation center axis of the first joint is connected to the vertical light of the point light source. The axes are coincident, and the detection surface of the detector faces the point light source. The beneficial effects of the invention are as follows: the detector can move along a spherical surface with a point light source as the center and a variable spherical diameter; the structure is simple, the required space is small, and the weight is light.
Description
Technical Field
The invention relates to the field of spherical motion, in particular to a spherical motion mechanism.
Background
The spherical motion is an important component of a target optical characteristic measurement system and an optical imaging guidance head performance test system based on semi-physical simulation. In the target optical characteristic measurement system, in order to perform optical characteristic measurement in different illumination directions and observation directions, generally, the light source and the measurement target are not moved, and it is necessary to change the position of the detector or the measurement target or the pitch angle of the detector in the detection direction. In the optical imaging guidance leader performance test system, a semi-physical simulation technology is adopted to simulate the motion characteristics of a target under a laboratory condition, so that the test on the tracking performance of the optical imaging guidance leader is realized.
In 2005, Nordson Dage company disclosed a spherical motion mechanism applied to an X-ray imaging apparatus (US patent: US7497617B2), which is technically characterized in that: the detector moves along an arcuate frame, both ends of which are pivotally mounted by bearings and provided with counterweights.
2017, Harbin Industrial university discloses a spherical motion mechanism applied to an optical target motion simulation system (Chinese invention patent: No. ZL201610847376.5), the optical target motion simulation system comprises an optical target simulator, a spherical motion system and a supporting platform mechanism, the spherical motion system comprises an azimuth arc motion mechanism, a pitching arc motion mechanism and a guide rail connecting piece, the side surface of the optical target simulator is arranged on the pitching arc motion mechanism, the optical axis of the optical target simulator is parallel to the mounting surface, the connecting line of the rotation center of the optical axis and the circle center of the azimuth circular arc motion mechanism is vertical to the guide rail surface of the azimuth circular arc motion when the optical target simulator does the pitching circular arc motion by adjusting the position of the guide rail connecting piece, therefore, the spherical motion track of the optical target simulator is realized, and the optical axis of the optical target simulator always points to the spherical center of the spherical motion system.
In 2019, thirty-eighth institute of the Chinese electronic technology group corporation disclosed a spherical motion mechanism based on horizontal rotation support and arc guide rail motion, which is applied to an X-ray imaging device (Chinese patent: application No. 201910592325.6), and comprises a lead room, a five-axis motion platform, a mounting assembly, an X-ray source assembly, a detector, a motion control room and a ray source control room; the five-axis motion platform is arranged in the lead room and comprises a rigid frame, a three-axis linear motion mechanism, a two-axis rotary motion mechanism and a supporting assembly, wherein the three-axis linear motion mechanism is fixed at the bottom end in the rigid frame through the supporting assembly, and the two-axis rotary motion mechanism is fixed at the top end in the rigid frame; the X-ray source assembly is fixed on the three-axis linear motion mechanism, and the detector is fixed on the two-axis rotary motion mechanism; the motion control room and the ray source control room are respectively arranged at two ends of the bottom surface in the lead room.
In the prior art, the movement track of the spherical surface with a large inclination angle and a large spherical diameter is realized by depending on a large-size arc guide rail, and once the size of the guide rail is determined, the spherical surface movement spherical diameter can be changed by a tool, so that the adaptability is poor, and the traditional spherical surface movement structure is complex, the required space is large, and the weight is large.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: how to solve the problem that the existing spherical motion structure is complex.
The invention solves the technical problems through the following technical means:
a spherical motion mechanism comprises a first joint, a first arm, a rotating mechanism capable of adjusting the height and the inclination angle of a detector and the detector; one end of the first arm is rotatably connected with the first joint, the other end of the first arm is connected with one end of the rotating mechanism, and the other end of the rotating mechanism is rotatably connected with the detector;
the first joint is positioned right above the point light source, the rotating central axis of the first joint is superposed with the vertical optical axis of the point light source, and the detection surface of the detector is right opposite to the point light source.
The rotation mechanism is rotated through the first joint, so that the azimuth conversion of the detector is realized, the rotation mechanism can adjust the height and the inclination angle of the detector, the spherical motion of the detector is finally realized, the structure is simple and practical, and the problem that the existing spherical motion structure is complex is solved.
Preferably, the rotating mechanism comprises a second joint, a second arm, a third joint, a third arm and a fourth joint;
the other arm of the first arm is fixedly connected with the second joint, one end of the second arm is rotatably connected with the second joint, the other end of the second arm is fixedly connected with the third joint, one end of the third arm is rotatably connected with the third joint, and the other end of the third arm is fixedly connected with the fourth joint.
The first joint can drive the first arm to rotate through rotation, and the first arm drives the lower structure to realize circumferential rotation, so that the angular rotation of the azimuth is finally realized; the included angle between the second arm and the third arm can be changed through the rotation of the second joint and the third joint, the height adjustment of the detector is realized, the spherical diameter of spherical motion can be changed, the change of the inclination angle of the detector is realized, the adaptability is strong, the detection surface of the detector is always in front of a point light source through the fourth joint, and finally the detector moves along the spherical surface with the point light source as the spherical center and the spherical diameter being variable; the invention has simple structure, small required space and light weight.
Preferably, the joint further comprises a first mounting plate, and the first joint is fixedly mounted on the bottom surface of the first mounting plate.
Preferably, the first mounting plate is an annular flange structure, and the central axis of the annular flange structure coincides with the central axis of rotation of the first joint.
Preferably, still include the second mounting panel, fourth joint rotation connects the second mounting panel, the second mounting panel is the rectangle structure, detector fixed mounting be in the bottom surface of second mounting panel.
Preferably, the first arm has a hollow cylindrical structure, and a rotation central axis of the first joint coincides with a central axis of the first arm.
Preferably, the second joint, the third joint and the fourth joint are all right-angled joints.
Preferably, the second arm and the third arm are both in a right-angle hollow cylindrical structure.
The first arm, the second arm and the third arm are all of hollow structures and light in weight.
Preferably, the first joint, the second joint, the third joint and the fourth joint all include an encoder, a motor and a speed reducer which are connected in sequence, and all include a shell, wherein the shell of the first joint is a cylindrical shell, and the second joint, the third joint and the fourth joint are the same and are all T-shaped cylindrical shells.
The invention has the advantages that:
(1) the first joint can drive the first arm to rotate through rotation, and the first arm drives the lower structure to realize circumferential rotation, so that the angular rotation of the azimuth is finally realized; the included angle between the second arm and the third arm can be changed through the rotation of the second joint and the third joint, the height adjustment of the detector is realized, the spherical diameter of spherical motion can be changed, the change of the inclination angle of the detector is realized, the adaptability is strong, the detection surface of the detector is always in front of a point light source through the fourth joint, and finally the detector moves along the spherical surface with the point light source as the spherical center and the spherical diameter being variable; the invention has simple structure and small required space;
(2) the first arm, the second arm and the third arm are all of hollow structures and light in weight.
Drawings
FIG. 1 is a schematic structural diagram of a spherical motion mechanism according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a detector with a certain inclination angle.
Reference numbers in the figures: the device comprises a first mounting plate 1, a first joint 2, a first arm 3, a rotating mechanism 4, a second joint 41, a second arm 42, a third joint 43, a third arm 44, a fourth joint 45, a second mounting plate 5, a detector 6, a point light source 7 and a vertical optical axis 71.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
as shown in fig. 1 and 2, a spherical motion mechanism includes a first mounting plate 1, a first joint 2, a first arm 3, a second mounting plate 5, a detector 6, a point light source 7, and a vertical optical axis 71; the rotation mechanism 4 includes a second joint 41, a second arm 42, a third joint 43, a third arm 44, and a fourth joint 45.
The first joint 2 is fixedly installed on the bottom surface of the first installation plate 1, one end of the first arm 3 is rotatably connected with the output end of the first joint 2, the other end of the first arm 3 is fixedly connected with the second joint 41, one end of the second arm 42 is rotatably connected with the output end of the second joint 41, the other end of the second arm 42 is fixedly connected with the third joint 43, one end of the third arm 44 is rotatably connected with the output end of the third joint 43, the other end of the third arm 44 is fixedly connected with the fourth joint 45, the second installation plate 5 is rotatably connected with the output end of the fourth joint 45, and the detector 6 is fixedly installed on the second installation plate 5; the first mounting plate 1 is located right above the point light source 7, the rotation central axis of the first joint 2 is overlapped with the vertical optical axis 71 of the point light source 7, and the detection surface of the detector 6 faces the point light source 7.
In the embodiment, the first arm 3 can be driven to rotate by the rotation of the first joint 2, and the first arm 3 drives the lower structure (comprising the rotating mechanism 4, the second mounting plate 5 and the detector 6) to realize circumferential rotation, so that the angular rotation of the azimuth is finally realized; through the rotation of the second joint 41 and the third joint 43, the included angle between the second arm 42 and the third arm 44 can be changed, the height adjustment of the detector 6 is realized, the spherical diameter of spherical motion can be changed, the change of the inclination angle of the detector is realized, the adaptability is strong, the detection surface of the detector 6 is always in front alignment with the light source 7 through the fourth joint 45, and finally the spherical motion of the detector 6 with the point light source 7 as the spherical center and the variable spherical diameter is realized;
the embodiment has the advantages of simple structure, small required space and light weight.
Example two:
as shown in fig. 1 and 2, the first mounting plate 1 is an annular flange structure, and the central axis thereof coincides with the rotation central axis of the first joint 2.
The first arm 3 is a hollow cylinder structure, and the rotation central axis of the first joint 2 coincides with the central axis of the first arm 3. The second arm 42 and the third arm 44 have the same structural length and are both in a right-angled hollow cylinder structure, and the first arm 3, the second arm 42 and the third arm 44 are all in a hollow structure, so that the weight is light.
The first joint 2 is a linear joint, and the motion form of the first joint is to drive the first arm 3 to rotate, so that the shell of the first joint 2 is a cylindrical shell, the first joint 2 comprises an encoder, a motor and a speed reducer which are sequentially connected, the output end of the speed reducer is fixedly connected with the first arm 3, and a bearing is arranged at the connection position to play a supporting role;
the second joint 41, the third joint 43, and the fourth joint 45 are all right-angled joints. The shells of the second joint 41, the third joint 43 and the fourth joint 45 are the same and are all T-shaped cylindrical shells, the second joint 41, the third joint 43 and the fourth joint 45 respectively comprise an encoder, a motor and a speed reducer which are sequentially connected, and the central axis of the output end of the speed reducer is perpendicular to the vertical optical axis.
The second mounting plate 5 is of a rectangular structure, and the detector 6 is fixedly mounted on the bottom surface of the second mounting plate 5.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911305640.2A CN111059962A (en) | 2019-12-18 | 2019-12-18 | A spherical motion mechanism |
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| CN201911305640.2A CN111059962A (en) | 2019-12-18 | 2019-12-18 | A spherical motion mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111830069A (en) * | 2020-07-24 | 2020-10-27 | 中国电子科技集团公司第三十八研究所 | A motion platform and method for X-ray detection based on spherical motion detection |
| CN113483603A (en) * | 2021-06-28 | 2021-10-08 | 东风越野车有限公司 | Laser dazzling control method and device for identifying multiple types of threat targets |
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Patent Citations (7)
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| JP2004294228A (en) * | 2003-03-26 | 2004-10-21 | Fuji Photo Film Co Ltd | Light measuring device |
| CN106291919A (en) * | 2015-06-29 | 2017-01-04 | 株式会社三丰 | Optical probe and the equipment of measurement |
| CN107803590A (en) * | 2016-09-09 | 2018-03-16 | 发那科株式会社 | Examine electrical scanner |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111830069A (en) * | 2020-07-24 | 2020-10-27 | 中国电子科技集团公司第三十八研究所 | A motion platform and method for X-ray detection based on spherical motion detection |
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Application publication date: 20200424 |