CN113119045A - Three-degree-of-freedom attitude adjusting device and method - Google Patents
Three-degree-of-freedom attitude adjusting device and method Download PDFInfo
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- CN113119045A CN113119045A CN202110471282.3A CN202110471282A CN113119045A CN 113119045 A CN113119045 A CN 113119045A CN 202110471282 A CN202110471282 A CN 202110471282A CN 113119045 A CN113119045 A CN 113119045A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
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Abstract
The invention discloses a three-degree-of-freedom attitude adjusting device and a three-degree-of-freedom attitude adjusting method, and the three-degree-of-freedom attitude adjusting device comprises an upper-layer attitude adjusting platform, a lower-layer platform, a front driving device, a middle driving device, a rear driving device, two measuring units and four locking mechanisms, wherein the front driving device comprises a front driving device servo electric cylinder, a front driving device mounting base, a front driving device piston rod, a joint, a slide block mounting base, a front driving device servo motor, a front driving device guide rail and a first guide rail mounting plate; the three-freedom-degree posture adjusting device is simple in structure and easy to operate, three freedom-degree postures of the upper-layer posture adjusting table can be adjusted through the front driving device, the middle driving device, the rear driving device and the measuring unit, the three freedom-degree postures comprise front and rear movement, transverse movement and rotation around the center of the platform, the collection of the freedom-degree parameters of the upper-layer posture adjusting table during assembly is facilitated, the accuracy of mechanical positioning is improved, the mechanical assembly efficiency is improved, and the three-freedom-degree posture adjusting device is suitable for structural posture adjustment in various forms.
Description
Technical Field
The present disclosure relates to attitude adjusting apparatuses, and particularly to an attitude adjusting apparatus and method with three degrees of freedom.
Background
The degree of freedom refers to the quantity of variables which describe a physical state in physics and independently affect the result of the physical state, the degree of freedom of motion is the minimum number of coordinates required for determining the position of a system in space, the degree of freedom is the number of independent motion parameters which must be given when determining motion according to a mechanical principle, and mechanical assembly positioning points can be accurately calculated according to the determined degree of freedom and a parameter equation when mechanical equipment is assembled.
At present, in the civil and aerospace military industry field, when equipment is assembled, people are collided by adopting a mode of assembling or manually calibrating a traditional mechanical lifting device, the existing positioning and calibrating device is long in installation process time, poor in working precision, overlong in manual work time and low in assembling efficiency.
Disclosure of Invention
The invention aims to solve the defects in the prior art and simplify the posture adjustment process, and provides a three-degree-of-freedom posture adjustment device and a three-degree-of-freedom posture adjustment method.
In order to achieve the purpose, the invention adopts the following technical scheme:
a three-degree-of-freedom posture adjusting device comprises an upper-layer posture adjusting platform, a lower-layer platform, a front driving device, a middle driving device, a rear driving device, two measuring units and four locking mechanisms, wherein the front driving device comprises a front driving device servo electric cylinder, a front driving device mounting base, a front driving device piston rod, a joint, a sliding block mounting base, a front driving device servo motor, a front driving device guide rail and a first guide rail mounting plate, the middle driving device comprises a middle driving device servo electric cylinder, a middle driving device mounting base, a middle driving device piston rod, a joint, a sliding block mounting base, a middle driving device servo motor, a middle driving device guide rail, a second guide rail mounting plate and a target, the rear driving device comprises a rear driving device electric cylinder, a rear driving device mounting base, a rear driving device piston rod, a joint, a sliding block mounting base, a rear driving device servo motor, The rear driving device comprises a rear driving device guide rail and a third guide rail mounting plate, wherein each measuring unit comprises a camera, a laser displacement sensor and a measuring unit mounting bottom plate; the upper-layer posture adjusting platform is connected with the front driving device, the middle driving device and the rear driving device through a first guide rail mounting plate, a second guide rail mounting plate and a third guide rail mounting plate respectively, and the lower-layer platform is connected with the front driving device, the middle driving device and the rear driving device through a front driving device mounting base, a middle driving device mounting base and a rear driving device mounting base respectively; each measuring unit is connected with the upper-layer posture adjusting platform through a measuring unit mounting bottom plate; each locking mechanism is connected with the lower platform through a side baffle; the target is a checkerboard calibration plate.
Preferably, when the front driving device, the middle driving device and the rear driving device are in the initial state, the piston rod of the front driving device and the piston rod of the rear driving device are in the extending state, the extending distances are equal and are Lpiston/2，LpistonThe piston rod of the middle driving device extends by 0; joints are respectively arranged at one ends of the front drive device piston rod, the middle drive device piston rod and the rear drive device piston rod, a first joint hole, a second joint hole and a third joint hole are respectively formed in one side of each joint, and the distances between the first joint hole and the second joint hole and the distances between the third joint hole and the second joint hole are L in the initial statejoint。
Preferably, the front drive device guide rail and the rear drive device guide rail are both installed along the front-rear direction, and the middle drive device guide rail is installed along the left-right direction.
Preferably, the front driving device guide rail, the middle driving device guide rail and the rear driving device guide rail are in sliding connection with the slide block mounting seats opposite to the positions.
Preferably, the first joint hole, the second joint hole and the third joint hole are positioned on the same line in an initial state, and the second joint hole is positioned at the center between the first joint hole and the third joint hole.
Preferably, a base coordinate system is arranged at the center of the top end of the lower platform, the origin of the base coordinate system is arranged at the center of the hole of the second joint, the X axis is perpendicular to the guide rail of the middle driving device, and the Y axis is parallel to the guide rail of the middle driving device.
Preferably, the distance between the two laser displacement sensors is Lsensor(ii) a The target is installed in the field of view of the two cameras, and the distances between the target and the two cameras are Ltarget。
Preferably, the upper-layer posture adjusting table has three freedom degrees of motion, including forward and backward movement, transverse movement and rotation around the center of the platform.
The invention has the technical effects and advantages that:
(1) three freedom degree posture adjustment of the upper layer posture adjusting platform can be achieved through the front driving device, the middle driving device, the rear driving device and the measuring unit, the three freedom degree posture adjustment comprises front and rear movement, transverse movement and rotation around the center of the platform, the freedom degree parameters of the upper layer posture adjusting platform during assembly are convenient to collect, and therefore the accuracy of mechanical positioning is improved, and the mechanical assembly efficiency is improved.
(2) Three degrees of freedom of an upper-layer posture adjusting table required by mechanical assembly can be subjected to data acquisition in time through the laser displacement sensor and the camera, so that the measurement, calculation and adjustment are convenient in time, and the assembly efficiency is improved.
Drawings
Fig. 1 is an overall structural view of the present invention.
FIG. 2 is a schematic view of a front drive, a middle drive and a rear drive of the present invention.
FIG. 3 is a schematic view of a joint structure according to the present invention.
FIG. 4 is a schematic representation of the target of the present invention.
Fig. 5 is a schematic diagram of the movement of the present invention.
In the figure: 1. an upper posture adjusting table; 2. a lower stage; 3. a locking mechanism; 4. the front driving device is provided with a base; 5. the front driving device serves an electric cylinder; 6. a front drive servo motor; 7. a front drive piston rod; 8. a front drive rail; 9. a measuring unit mounting base plate; 10. a laser displacement sensor; 11. a camera; 12. a middle drive piston rod; 13. a middle drive rail; 14. the middle driving device serves as an electric cylinder; 15. the middle driving device is provided with a base; 16. a middle drive device servo motor; 17. the rear driving device is provided with a base; 18. a rear drive servo motor; 19. a rear drive electric cylinder; 20. a rear drive piston rod; 21. a rear drive guide rail.
Detailed Description
The technical solution of the present patent will be described in further detail with reference to the following embodiments.
Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.
In the description of this patent, it is to be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for the convenience of describing the patent and for the simplicity of description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the patent.
In the description of this patent, it is noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can include, for example, fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meaning of the above terms in this patent may be understood by those of ordinary skill in the art as appropriate.
As shown in fig. 1-5, the three-degree-of-freedom posture adjustment device comprises an upper-layer posture adjustment table 1, a lower-layer platform 2, a front driving device, a middle driving device, a rear driving device, two measurement units and four locking mechanisms 3, wherein the front driving device comprises a front driving device servo electric cylinder 5, a front driving device mounting base 4, a front driving device piston rod 7, a joint, a slider mounting base, a front driving device servo motor 6, a front driving device guide rail 8 and a first guide rail mounting plate, the middle driving device comprises a middle driving device servo electric cylinder 14, a middle driving device mounting base 15, a middle driving device piston rod 12, a joint, a slider mounting base, a middle driving device servo motor 16, a middle driving device guide rail 13, a second guide rail mounting plate and a target, and the rear driving device comprises a rear driving device electric cylinder 19, a rear driving device mounting base 17, a front driving device mounting base 4, a, The device comprises a rear driving device piston rod 20, a joint, a sliding block mounting seat, a rear driving device servo motor 18, a rear driving device guide rail 21 and a third guide rail mounting plate, wherein each measuring unit comprises a camera 11, a laser displacement sensor 10 and a measuring unit mounting bottom plate 9; the upper-layer posture adjusting platform 1 is connected with the front driving device, the middle driving device and the rear driving device through a first guide rail mounting plate, a second guide rail mounting plate and a third guide rail mounting plate respectively, and the lower-layer platform 2 is connected with the front driving device, the middle driving device and the rear driving device through a front driving device mounting base 4, a middle driving device mounting base 15 and a rear driving device mounting base 17 respectively; each measuring unit is connected with the upper-layer posture adjusting table 1 through a measuring unit mounting bottom plate 9; each locking mechanism 3 is connected with the lower platform 2 through a side baffle; the target is a checkerboard calibration plate.
As shown in fig. 1-5, when the front drive device, the middle drive device and the rear drive device are in the initial state, the piston rod 7 of the front drive device and the piston rod 20 of the rear drive device are in the extending state, and the extending distances are equal and are Lpiston/2，LpistonThe piston rod of the middle driving device extends by 0; front drive device piston rod 7 and middle drive device piston rod12 and one end of the piston rod 20 of the rear driving device are respectively provided with a joint, one side of each joint is provided with a first joint hole, a second joint hole and a third joint hole, and the distances between the first joint hole and the second joint hole and the distances between the third joint hole and the second joint hole are L in the initial statejointThe front driving device guide rail 8 and the rear driving device guide rail 21 are installed along the front-back direction, the middle driving device guide rail 13 is installed along the left-right direction, the front driving device guide rail 8, the middle driving device guide rail 13 and the rear driving device guide rail 21 are all in sliding connection with the slider installation seats opposite to the positions, the first joint hole, the second joint hole and the third joint hole are located on the same straight line in the initial state, the second joint hole is located at the center between the first joint hole and the third joint hole, a base coordinate system is arranged at the center of the top end of the lower-layer platform 2, the origin of the base coordinate system is arranged at the center of the second joint hole, the X axis is perpendicular to the middle driving device guide rail 13, the Y axis is parallel to the middle driving device guide rail 13, the distance between the two laser displacement sensors 10 is Lsensor(ii) a The target is arranged in the field range of the two cameras 11, and the distances between the target and the two cameras 11 are both LtargetThe upper posture adjusting platform 1 has three freedom degrees of motion, including forward and backward movement, transverse movement and rotation around the center of the platform.
The working principle of the invention is as follows: coordinate system conversion relation between calibration camera 11 and attitude adjusting device
2, placing the target in the field of view of the camera 11, the device performs the following six actions, after each action, the camera collects the target image, and records the position of the posture adjusting device as
g) The middle driving device extends out by 20 mm;
h) the middle driving device extends out by 20 mm;
i) the middle driving device retracts by 40mm, the front driving device extends by 20mm, and the rear driving device retracts by 20 mm;
j) the front driving device retracts by 40mm, and the rear driving device extends by 40 mm;
k) the front driving device extends out 30mm, and the rear driving device retracts back 30 mm;
l) the front driving device retracts by 20mm, and the rear driving device extends by 20 mm;
extracting the coordinates of the corner points of the acquired images after the six actions, defining a target coordinate system at the lower left corner of the checkerboard, transversely setting a Y axis, longitudinally setting an X axis, setting a Z axis to be vertical to the target plane, and calculating the coordinate system conversion relation between the camera and the target
An equation is established:
in the formula, i is 1, 2, m, n is (1, …, 6), and the coordinate system conversion relation between the camera 11 and the attitude adjusting device is calculated by using a TSAI-LENZ method; the laser displacement sensors 10 of the two measuring units measure the targets and respectively obtain distance values Dsensor1And Dsensor2Calculating the absolute values of the driving quantities of the front and rear drive piston rods 7 and 20
The front drive piston rod 7 and the rear drive piston rod 20 act in two ways: if D issensor1≤Dsensor2The front drive piston rod 7 and the rear drive piston rod 20 are retracted by deltadpiston(ii) a If D issensor1＞Dsensor2The front drive piston rod 7 and the rear drive piston rod 20 are extended by Δ Dpiston(ii) a The laser displacement sensors 10 of the two measuring units continue to measure the target and respectively obtain new distance values Dsensor1And Dsensor2If | Dsensor1-Dsensor2|≤δsensorStopping measurement; if it is not|Dsensor1-Dsensor2|＞δsensorRepeating the first step and the second step; two cameras 11 collect target images, extract target corner coordinates and obtain a current corner point set C2D_corner1And C2D_corner2Respectively calculating C by PNP algorithm2D_corner1、C2D_corner2And set of points C2D_baseConversion relationship between, T1＝(ΔX1 ΔZ1) And T2＝(ΔX2 ΔZ2) (ii) a Absolute values of the front and rear drive piston rods 7, 20
Absolute value of driving quantity of piston rod 12 of middle driving device
Therefore, the freedom degree parameters of the upper-layer investment adjusting platform during assembly can be collected, so that the mechanical assembly positioning is facilitated and the mechanical assembly efficiency is improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (9)
1. The utility model provides a three degree of freedom gesture adjusting device, includes that upper strata transfers appearance platform (1), lower floor's platform (2), preceding drive arrangement, well drive arrangement, back drive arrangement, two measuring unit and four locking mechanism (3), its characterized in that: the front driving device comprises a front driving device servo electric cylinder (5), a front driving device mounting base (4), a front driving device piston rod (7), a joint, a sliding block mounting base, a front driving device servo motor (6), a front driving device guide rail (8) and a first guide rail mounting plate, the middle driving device comprises a middle driving device servo electric cylinder (14), a middle driving device mounting base (15), a middle driving device piston rod (12), a joint, a sliding block mounting base, a middle driving device servo motor (16), a middle driving device guide rail (13), a second guide rail mounting plate and a target, the rear driving device comprises a rear driving device electric cylinder (19), a rear driving device mounting base (17), a rear driving device piston rod (20), a joint, a sliding block mounting base, a rear driving device servo motor (18), a rear driving device guide rail (21) and a third guide rail mounting plate, each measuring unit comprises a camera (11), a laser displacement sensor (10) and a measuring unit mounting bottom plate (9); the upper-layer posture adjusting platform (1) is connected with the front driving device, the middle driving device and the rear driving device through a first guide rail mounting plate, a second guide rail mounting plate and a third guide rail mounting plate respectively, and the lower-layer platform (2) is connected with the front driving device, the middle driving device and the rear driving device through a front driving device mounting base (4), a middle driving device mounting base (15) and a rear driving device mounting base (17) respectively; each measuring unit is connected with the upper-layer posture adjusting platform (1) through a measuring unit mounting bottom plate (9); each locking mechanism (3) is connected with the lower platform (2) through a side baffle; the target is a checkerboard calibration plate.
2. The three-degree-of-freedom attitude adjustment device according to claim 1, characterized in that: when the front driving device, the middle driving device and the rear driving device are in initial states, the piston rod (7) of the front driving device and the piston rod (20) of the rear driving device are in extending states, the extending distances are equal and are Lpiston/2，LpistonThe piston rod of the middle driving device extends by 0; joints are respectively arranged at one ends of the front drive device piston rod (7), the middle drive device piston rod (12) and the rear drive device piston rod (20), a first joint hole, a second joint hole and a third joint hole are respectively formed in one side of each joint, and the distances between the first joint hole and the second joint hole and the distances between the third joint hole and the second joint hole are L in the initial statejoint。
3. The three-degree-of-freedom attitude adjustment device according to claim 1, characterized in that: the front driving device guide rail (8) and the rear driving device guide rail (21) are installed along the front-rear direction, and the middle driving device guide rail (13) is installed along the left-right direction.
4. The three-degree-of-freedom attitude adjustment device according to claim 1, characterized in that: the front driving device guide rail (8), the middle driving device guide rail (13) and the rear driving device guide rail (21) are in sliding connection with the slide block mounting seats opposite to the positions.
5. The three-degree-of-freedom attitude adjustment device according to claim 1, characterized in that: the first joint hole, the second joint hole and the third joint hole are positioned on the same straight line in an initial state, and the second joint hole is positioned in the center between the first joint hole and the third joint hole.
6. The three-degree-of-freedom attitude adjustment device according to claim 1, characterized in that: and a base coordinate system is arranged at the center of the top end of the lower layer platform (2), the origin of the base coordinate system is arranged at the center of the hole of the second joint, the X axis is vertical to the guide rail (13) of the middle driving device, and the Y axis is parallel to the guide rail (13) of the middle driving device.
7. The three-degree-of-freedom attitude adjustment device according to claim 1, characterized in that: the distance between the two laser displacement sensors (10) is Lsensor(ii) a The target is installed in the field of view of the two cameras (11), and the distances between the target and the two cameras (11) are both Ltarget。
8. The adjusting method of a three-degree-of-freedom attitude adjusting apparatus according to any one of claims 1 to 7, characterized in that: the upper-layer posture adjusting platform (1) has three freedom degrees of motion, including front-back movement, transverse movement and rotation around the center of the platform.
9. The adjusting method of a three-degree-of-freedom attitude adjusting apparatus according to any one of claims 1 to 8, characterized by comprising the steps of:
the first step,
Calibration phaseCoordinate system conversion relation between machine (11) and attitude adjusting device
Placing the target in the field of view of a camera (11), the device performs six actions, the camera acquires the target image after each action, and records the position of the attitude adjusting device as
a) The middle driving device extends out by 20 mm;
b) the middle driving device extends out by 20 mm;
c) the middle driving device retracts by 40mm, the front driving device extends by 20mm, and the rear driving device retracts by 20 mm;
d) the front driving device retracts by 40mm, and the rear driving device extends by 40 mm;
e) the front driving device extends out 30mm, and the rear driving device retracts back 30 mm;
f) the front driving device retracts by 20mm, and the rear driving device extends by 20 mm;
step two,
Extracting the coordinates of the corner points of the acquired images after the six actions, defining a target coordinate system at the lower left corner of the checkerboard, transversely setting a Y axis, longitudinally setting an X axis, setting a Z axis to be vertical to the target plane, and calculating the coordinate system conversion relation between the camera and the target
Step three,
An equation is established:
wherein i is 1, 2, m, n is 1, …, 6, and TSAI-LENZ method is used to calculate the distance between the camera (11) and the attitude adjusting deviceConverting the coordinate system; the laser displacement sensors (10) of the two measuring units measure the targets and respectively acquire a distance value Dsensor1And Dsensor2Calculating the absolute value of the driving quantity of the front driving device piston rod (7) and the rear driving device piston rod (20)
Step four,
The action of the front drive piston rod (7) and the rear drive piston rod (20) is divided into two conditions: if D issensor1≤Dsensor2The front drive piston rod (7) and the rear drive piston rod (20) are retracted by delta Dpiston(ii) a If D issensor1＞Dsensor2The front drive piston rod (7) and the rear drive piston rod (20) are extended by delta Dpiston；
Step five,
The laser displacement sensors (10) of the two measuring units continue to measure the target and respectively acquire new distance values Dsensor1And Dsensor2If | Dsensor1-Dsensor2|≤δsensorStopping measurement; if | Dsensor1-Dsensor2|＞δsensorRepeating the first step and the second step;
step six,
Two cameras (11) collect target images, extract target corner coordinates and obtain a current corner point set C2D_corner1And C2D_corner2Respectively calculating C by PNP algorithm2D_corner1、C2D_corner2And set of points C2D_baseConversion relationship between, T1＝(ΔX1ΔZ1) And T2＝(ΔX2 ΔZ2)；
Step seven,
Absolute value of front drive piston rod (7) and rear drive piston rod (20)
The absolute value of the driving quantity of a piston rod (12) of the middle driving device
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110471282.3A CN113119045A (en) | 2021-04-29 | 2021-04-29 | Three-degree-of-freedom attitude adjusting device and method |
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| CN202110471282.3A CN113119045A (en) | 2021-04-29 | 2021-04-29 | Three-degree-of-freedom attitude adjusting device and method |
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