CN1971217A - Multiple-degree-of-freedom motion attitude angle detection mechanism - Google Patents
Multiple-degree-of-freedom motion attitude angle detection mechanism Download PDFInfo
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- CN1971217A CN1971217A CN 200610155010 CN200610155010A CN1971217A CN 1971217 A CN1971217 A CN 1971217A CN 200610155010 CN200610155010 CN 200610155010 CN 200610155010 A CN200610155010 A CN 200610155010A CN 1971217 A CN1971217 A CN 1971217A
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- 238000001514 detection method Methods 0.000 title claims abstract description 27
- 238000009434 installation Methods 0.000 claims description 17
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 230000000386 athletic effect Effects 0.000 description 6
- 238000005259 measurement Methods 0.000 description 3
- 230000010355 oscillation Effects 0.000 description 3
- 206010034719 Personality change Diseases 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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Abstract
The invention discloses a detection mechanism for multi freedom degree motion attitude angle. It contains: two connecting rods, two optical-electricity encoders, two rotation sliding blocks, spindle bearing, bearing support and two mounting plates; the deadeyes of two mounting plates connect with the lower end of the rotation sliding blocks, the optical-electricity encoders are mounted on the top of the rotation sliding blocks, two connecting rods connect with each deadeyes of mounting plate by slip connection, the end of two connecting rods connect with bearing support equipped with spindle bearing by 90degree, the one end of rob articulates with bearing support, the other end fixed connects with the other bearing support. The invention could detect working position of various electric machine, improve the versatility of detection mechanism; the structure could realize multi freedom degree position detection control; the structure is simple and easy to manufacture; high accuracy of control detection.
Description
Technical field
The present invention relates to a kind of multiple-degree-of-freedom motion attitude angle detection mechanism.
Background technology
The normal athletic posture that adopts two photoelectric encoders and spherical hinge structure to determine ball motor of motor position attitude measurement, through discovering, spherical hinge structure add man-hour to the heart relatively the difficulty, and when using different ball rotors, it is corresponding with it just to need different spherical hinge structures, and this detection for motor performance has caused very big difficulty.In addition, this class formation only is fit to the ball motor of two-freedom, can not use the ball motor of three degree of freedom.
Summary of the invention
The object of the present invention is to provide a kind of multiple-degree-of-freedom motion attitude angle detection mechanism.
The technical solution adopted for the present invention to solve the technical problems is: attitude angle detection mechanism comprises two connecting rods, two photoelectric encoders, two turning blocks, self-aligning bearing, Bearing Installation seat and two installation base plates; In two dead eyes that base plates are installed respectively the lower end of dress and separately turning block be rotationally connected, the upper end of two turning blocks is equipped with photoelectric encoder respectively, two connecting rods are slidingly connected with separately turning block hole respectively, one end of two connecting rods becomes 90 ° to be connected with the Bearing Installation seat that self-aligning bearing is housed respectively, wherein an end of a connecting rod is to be articulated and connected with mount pad of bearing, and an end of another root connecting rod is fixedlyed connected with another Bearing Installation seat.
Described two connecting rods and self-aligning bearing are installed in the same plane.
The multi-freedom electric motor athletic posture can drive decision by motor stator (but electromagnetic stator, ultrasound wave stator), by control to stator, the movement velocity of may command ball rotor and turning to turns to all directions (showing the deflection of ball rotor of output shaft axle to all directions) by attitude detection mechanism control ball able to programme rotor.On the athletic posture that detects the ball rotor, external spherical hinge structure and the two photoelectric encoder combine detection of adopting, can be owing to the ball structure that tangles be realized difficulty, adopted the measurement structure of self-aligning bearing and connecting rod after, the athletic posture angle of ball rotor reflects by the corner on the photoelectric encoder and realizes.
The beneficial effect that the present invention has is:
1. the machine operation position probing of all kinds of property can detect in this testing agency, has improved the versatility of testing agency.
2. this structure can realize the multiple degrees of freedom position detection control.
3. one-piece construction is simple, and is easy to process.
4. the control detection precision is higher.
Description of drawings
Fig. 1 is the attitude angle detection mechanism scheme of installation;
Fig. 2 is the attitude angle detection mechanism structural representation;
Fig. 3 is a structural representation that is rotationally connected in the attitude angle detection mechanism.
Among the figure: a, output shaft, b, attitude detection mechanism, c, ball rotor, d, stator, 1, connecting rod, 2, slide block, 3, base plate is installed, 4, screw is installed, 5, bolt, 6, nut, 7, self-aligning bearing, 8, the Bearing Installation seat, 9, connecting pin, 10, base plate is installed, 11, slide block, 12 connecting rods, 13, photoelectric encoder, 14, photoelectric encoder, 15, mounting screw
Embodiment
As Fig. 1, Fig. 2, shown in Figure 3, attitude angle detection mechanism b comprises 14,13, two turning blocks 2,11 of 1,12, two photoelectric encoders of two connecting rods, self-aligning bearing 7, Bearing Installation seat 10 and two installation base plates 3,10; Two base plate 3 is installed, adorn respectively and turning block 2 separately in 10 the dead eye, 11 lower end is rotationally connected, mounting blocks is by mounting screw 4,15 are fixed on the motor body, two turning blocks 2,11 upper end is equipped with photoelectric encoder 14 respectively, 13, two connecting rods 1,12 respectively with separately turning block 2,11 holes are slidingly connected, two connecting rods 1, an end of 12 is connected for 10 one-tenth 90 ° with the Bearing Installation seat that self-aligning bearing 7 is housed respectively, wherein an end of a connecting rod 1 is to adopt connecting pin 8 (Fig. 3 a that is articulated and connected with mount pad of bearing, the synoptic diagram that expression is rotationally connected among Fig. 3 b), an end of another root connecting rod 12 adopts bolt 5 to fixedly connected with nut 6 with another Bearing Installation seat.
Described two connecting rods 1,12 and self-aligning bearing 7 are installed in the same plane.
And for the realization of ball pivot, adopted the measurement structure of self-aligning bearing and connecting rod, as Fig. 1, shown in Figure 2, output shaft (its axis passes through the centre of sphere) is installed on the ball rotor, the rotating self-aligning bearing of energy two-freedom is housed on the output shaft, on the bearing seat annulus of self-aligning bearing, be connected with connecting rod that photoelectric encoder separately links, two connecting rods and self-aligning bearing be (this plane and four capable ripple stators are formed plane parallel) in same plane, when output shaft during (output shaft axis normal in plane that four capable ripple stators are formed time) in the center, two connecting rods are mutually perpendicular, be that intersect at each connecting rod center line and self-aligning bearing center, during the ball rotor rotation, self-aligning bearing also outwards moves thereupon and two-freedom rotates, and its bearing center is still in the plane that two connecting rods are formed.In addition, each connecting rod and each photoelectric encoder intersect vertical axis, connecting rod can slide with the joining of photoelectric encoder axle, and drive photoelectric coding axle revolution, simultaneously, for avoiding occurring redundant degree of freedom, connecting rod 1 is connected with the regulating center bearing base annulus, connecting rod 2 is hinged with the regulating center bearing base annulus, do like this, during output shaft off-center position, when promptly ball rotor motion attitude changes, connecting rod 1 center line continues to keep by the self-aligning bearing center, connecting rod 2 center lines then can not guarantee to have adopted above-mentioned athletic posture measuring mechanism by the self-aligning bearing center, can be converted into ball rotor attitude the corner of two photoelectric encoders, also the attitude of ball rotor is converted into the position and the corresponding sports track thereof at self-aligning bearing center in the measuring mechanism plane, and also both economical reliable in processing.In addition, go up photoelectric encoder, just can realize the detection of the 3rd attitude angle if the output shaft of ball rotor connects.
1, Bearing Installation seat 8 and self-aligning bearing 7 are seen Fig. 2, Fig. 3: the Bearing Installation seat also is connected with connecting rod except self-aligning bearing is installed in addition, and its one side is hinged with pin with connecting rod, with connecting rod with bolt and nut be connected on one side.And self-aligning bearing provides certain angle of oscillation (angle of oscillation sees that Fig. 1 annotates) when doing motion for ball stator output shaft on the Z axle, the Z axle rotation of can having mercy on simultaneously, make photoelectric encoder detect the position in the motor point of the output shaft on surface level (X-Y), realized the control on the multifreedom motion direction.
2, the realization principle explanation of attitude detection mechanism kinematic: spherical spinner drives by the combination of row ripple stator, can realize multifreedom motion, when the attitude of ball rotor output is controlled, need measure the athletic posture of ball rotor, as Fig. 1, shown in Figure 2, at spherical spinner output handle (output shaft of supersonic motor) is installed, bearing seat and the connecting rod of output handle by self-aligning bearing is installed, Bearing Installation seat one end is connected, the other end is hinged, two vicinals are (X-Y surface level) in same plane, when the output handle is positioned at rotor when center (forming the plane when vertical with X-axis line and Y-axis line), two connecting rods are vertical mutually, and the output handle can slide in self-aligning bearing when the rotor attitude changed, but then all directions rotation in neck collar of self-aligning bearing, each slide block that links to each other with connecting rod is connected with photoelectric encoder respectively, drive two photoelectric encoders during the ball rotor rotation and rotate, can convert the corner of photoelectricity coder to the corner of spherical spinner, realized the multi-freedom electric motor position control by geometric relationship.
Be that one group attitude angle detection mechanism is contained among the output shaft a of multi-degree of freedom spherical traveling wave-type ultrasonic motor with above-mentioned two when 3, using, c is the ball rotor among Fig. 1, and d is a stator.When motor is started working, as the rotor output shaft along directions X angle of oscillation ∠ xoz=21 degree, photoelectric encoder 13 was not worked and was not both had detection signal this moment, it is that angle of rotation is 0 degree that connecting rod 12 moves in slide block 11, and photoelectric encoder 14 has detection signal, driving the slide block rotation when connecting rod 1 is done to move in slide block 2 is angle of rotation ∠ yox=21 degree, this moment, connecting rod was learnt the motor action direction together with the angle that slide block turns over by the photoelectric encoder induction, control by control program, the work of control stator, thereby control motor working motion in different directions.In like manner can detect the working position of all the other all directions motors, thereby realize control motor.
Claims (2)
1. multiple-degree-of-freedom motion attitude angle detection mechanism, it is characterized in that: attitude angle detection mechanism (b) comprises two connecting rods (1,12), two photoelectric encoders (14,13), two turning blocks (2,11), self-aligning bearing (7), Bearing Installation seat (10) and two installation base plates (3,10); Two base plate (3 is installed, 10) adorn respectively and turning block (2 separately in the dead eye, 11) lower end is rotationally connected, two turning blocks (2,11) upper end is equipped with photoelectric encoder (14 respectively, 13), two connecting rods (1,12) respectively with separately turning block (2,11) hole is slidingly connected, two connecting rods (1,12) a end becomes 90 ° with the Bearing Installation seat (10) that self-aligning bearing (7) is housed respectively and is connected, wherein an end of a connecting rod (1) is to be articulated and connected with a mount pad of bearing (1), and an end of another root connecting rod (12) is fixedlyed connected with another Bearing Installation seat (10).
2. multiple-degree-of-freedom motion attitude angle detection mechanism according to claim 1 is characterized in that: described two connecting rods (1,12) are installed in the same plane with self-aligning bearing (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101550108A CN100476363C (en) | 2006-12-04 | 2006-12-04 | Multiple-degree-of-freedom motion attitude angle detection mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101550108A CN100476363C (en) | 2006-12-04 | 2006-12-04 | Multiple-degree-of-freedom motion attitude angle detection mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1971217A true CN1971217A (en) | 2007-05-30 |
| CN100476363C CN100476363C (en) | 2009-04-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006101550108A Expired - Fee Related CN100476363C (en) | 2006-12-04 | 2006-12-04 | Multiple-degree-of-freedom motion attitude angle detection mechanism |
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| Country | Link |
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| CN (1) | CN100476363C (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102009413A (en) * | 2010-11-02 | 2011-04-13 | 北京航空航天大学 | TDOF (Three Degrees of Freedom) passive ball joint with attitude detection and applicable to ball motor |
| CN109751993A (en) * | 2019-03-20 | 2019-05-14 | 扬州大学 | A kind of spherical spinner apparatus for detecting position and posture and its detection method based on Photoelectric Detection |
-
2006
- 2006-12-04 CN CNB2006101550108A patent/CN100476363C/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102009413A (en) * | 2010-11-02 | 2011-04-13 | 北京航空航天大学 | TDOF (Three Degrees of Freedom) passive ball joint with attitude detection and applicable to ball motor |
| CN102009413B (en) * | 2010-11-02 | 2012-03-21 | 北京航空航天大学 | TDOF (Three Degrees of Freedom) passive ball joint with attitude detection and applicable to ball motor |
| CN109751993A (en) * | 2019-03-20 | 2019-05-14 | 扬州大学 | A kind of spherical spinner apparatus for detecting position and posture and its detection method based on Photoelectric Detection |
| CN109751993B (en) * | 2019-03-20 | 2023-09-01 | 扬州大学 | Spherical rotor pose detection device based on photoelectric detection and detection method thereof |
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| Publication number | Publication date |
|---|---|
| CN100476363C (en) | 2009-04-08 |
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Granted publication date: 20090408 Termination date: 20111204 |