CN203254417U - Three-rotation-freedom-degree decoupling adjusting device - Google Patents
Three-rotation-freedom-degree decoupling adjusting device Download PDFInfo
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- CN203254417U CN203254417U CN 201320238991 CN201320238991U CN203254417U CN 203254417 U CN203254417 U CN 203254417U CN 201320238991 CN201320238991 CN 201320238991 CN 201320238991 U CN201320238991 U CN 201320238991U CN 203254417 U CN203254417 U CN 203254417U
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Abstract
The utility model relates to a three-rotation-freedom-degree adjusting device, in particular to a three-rotation-freedom-degree decoupling adjusting device, and belongs to the technical field of precise measurement. The three-rotation-freedom-degree decoupling adjusting device is characterized in that the rotation axes of a pitching mechanism, a transverse-rolling mechanism and an off-course mechanism intersect at one point, the three rotation axes are mutually perpendicular, so that movement decoupling can be achieved, and the states of a space object can be conveniently and quickly adjusted and obtained. Control signals sent from software directly control a bias motor to drive a screw rod to move, the screw rod stretches out, then a steel ball directly acts to overcome tension of a spring, the pitching mechanism, the transverse-rolling mechanism and the off-course mechanism are made to rotate around corresponding axes, and the purpose of quickly adjusting the states of the space object is achieved. Meanwhile, the problems that clearances are not certain in a mode that a motor directly drives connection and serious coupling in parallel driving are successfully solved, and the three-rotation-freedom-degree decoupling adjusting device is simple in structure, convenient to operate and strong in practicability.
Description
Technical field
The utility model relates to a kind of three rotary freedom adjusting devices, and particularly a kind of three rotary freedom decoupling zero adjusting devices belong to the Technology of Precision Measurement field.
Background technology
Modern Precision Measurement Technology is a comprehensive cross discipline that integrates precision optical machinery, optics, electronics, sensor, computer technology, and various technology had obtained to develop rapidly in recent years more than vision measurement was integrated just.In vision measurement, whether target imaging reflects truly that actual measurand is most important, image is the basis that successive image is processed and analyzed clearly, and it is directly connected to the certainty of measurement of whole system, and the pose that obtains exactly space object wherein key factor just.
Before this patent, various pose guiding mechanisms respectively have its limitation.For example rotary freedom adopts three elastic rods in parallel to regulate, and has the control difficulty, and can not solve coupled problem; Adopt electric-machine directly-driven, have the gap between motor-driven gear clearance and the attaching parts, thus uncontrollable to the attitude of space object; Adopt the biasing screw drive to regulate and to solve clearance issues, but because close coupling causes adjusting difficulty.
The utility model content
The purpose of this utility model is exactly in order to overcome defects, develops a kind of three rotary freedom decoupling zero adjusting devices, solves the problem of gap and coupling, thereby can adjust quickly and easily the attitude of space object.
The purpose of this utility model is achieved through the following technical solutions, a kind of three rotary freedom decoupling zero adjusting devices, described device forms by facing upward the mechanism of bowing, roll mechanism, Yawing mechanism and supporting device, it is characterized in that, face upward face upward roll frame in bow dull and stereotyped bipod and the roll mechanism in the mechanism of bowing both sides respectively through facing upward the bearing pin pin joint of bowing, in the Yawing mechanism in both sides and the roll mechanism of driftage frame other both sides of roll frame respectively through roll bearing pin pin joint, sleeve in the supporting device is fixed in the installing plate, and the connecting axle in the supporting device and the driftage frame in the Yawing mechanism are fixed; The rotation of facing upward the mechanism of bowing, roll mechanism, Yawing mechanism is vertical in twos, and meets at the space a bit; Motor biasing in each mechanism, each motor output shaft drives corresponding screw motion, and each screw rod consists of screw thread pair with corresponding screwed hole, and screw thread pair is eliminated the gap by self-locking.
The described mechanism of bowing of facing upward is by facing upward the flat board of bowing, face upward the bearing pin of bowing, face upward the motor of bowing, face upward the screw rod of bowing, facing upward to bow steel ball and face upward the extension spring of bowing and consist of; Face upward the flat board of bowing and be sit astride on a horse type, its both sides are by facing upward the both sides pin joint of roll frame in bow bearing pin and the roll mechanism; The motor of bowing is fixed on roll frame one side in the roll mechanism, facing upward the screw rod of bowing screws at the screwed hole of roll frame one side and the external screw thread formation screw thread pair of screw rod, the output shaft of facing upward the motor of bowing inserts to be faced upward in the endoporus of the screw rod of bowing, facing upward the steel ball of bowing places and faces upward on the screw rod endoporus of bowing, its sphere with face upward dull and stereotyped contact of bowing, face upward extension spring one end of bowing and be fixed on and face upward on the flat board of bowing, the other end is fixed on the roll frame.
Described roll mechanism is made of roll frame, roll bearing pin, roll motor, roll screw rod, roll steel ball and roll extension spring; The in addition both sides of roll frame are by the driftage frame both sides pin joint in roll bearing pin and the Yawing mechanism; The roll motor is fixed on driftage frame one side in the Yawing mechanism, the roll screw rod screws at the external screw thread formation screw thread pair of the screwed hole of driftage on the frame with screw rod, the output shaft of roll motor inserts in the endoporus of roll screw rod, the roll steel ball places on the roll screw rod endoporus, its sphere contacts with the roll frame, roll extension spring one end is fixed on the roll frame, and the other end is fixed on the driftage frame.
Described Yawing mechanism is made of driftage frame, yaw motor, driftage screw rod, driftage steel ball and driftage extension spring; The driftage frame is grooved, and its both sides are by the both sides pin joint of roll frame in roll bearing pin and the roll mechanism; Yaw motor is fixed on the support, support is fixed on the installing plate, the driftage screw rod screws the external screw thread formation screw thread pair of screwed hole and screw rod on support, the output shaft of yaw motor inserts in the endoporus of driftage screw rod, the driftage steel ball places on the driftage screw rod endoporus, its sphere touches with the driftage bridge joint, and driftage extension spring one end is fixed on the driftage frame, and the other end is fixed on the support.
Connecting axle in the described supporting device is bearing on the pair of bearings, there is a spacer that it is separated by a distance between the pair of bearings and forms the two point supporting, flush nut is locked at bearing and spacer on the connecting axle, one duplex bearing is bearing on the sleeve, sleeve is installed on the installing plate, flange is installed in the bottom of sleeve, limits moving axially of bearing, and described driftage frame is bearing on the pair of bearings by connecting axle.
Advantage of the present utility model and effect are: owing to three rotations meet at a bit, and three axis are vertical in twos, realize mobile decoupling, can adjust quickly and easily the attitude of obtaining space object.The control signal that it sends through software is directly controlled the motion of biasing motor drive screw, screw rod stretches out, overcome spring tension by the steel ball direct effect, make and face upward the mechanism of bowing, roll mechanism, Yawing mechanism and rotate around corresponding axis, reach the purpose of rapid adjustment space object status, simultaneously, gap uncertain problem and the serious problem that is coupled of parallel drive that motor direct-drive connects have successfully been solved.The present invention is simple in structure, and convenient operation has very strong practicality.
Description of drawings
Fig. 1 is the utility model master TV structure schematic diagram;
Fig. 2 is that Fig. 1 is at the left TV structure schematic diagram that removes under the Yawing mechanism;
Fig. 3 is the plan structure schematic diagram behind the Yawing mechanism inverse clock half-twist among Fig. 1;
Among the figure, face upward bow dull and stereotyped 1, face upward the bearing pin 2 of bowing, face upward the motor 3 of bowing, face upward the motor output shaft 4 of bowing, face upward the screw rod 5 of bowing, face upward the steel ball 6 of bowing, face upward the extension spring 7 of bowing, roll frame 8, roll bearing pin 9, roll motor 10, roll motor output shaft 11, roll screw rod 12, roll steel ball 13, roll extension spring 14, driftage frame 15, connecting axle 16, yaw motor 17, yaw motor output shaft 18, driftage screw rod 19, driftage steel ball 20, driftage extension spring 21, bearing 22, spacer 23, flush nut 24, flange 25, sleeve 26, support 27, installing plate 28.
The specific embodiment
Further specify in conjunction with the accompanying drawings and embodiments the utility model, such as Fig. 1, Fig. 2, shown in Figure 3: the utility model forms by facing upward the mechanism of bowing, roll mechanism and Yawing mechanism.Wherein, face upward bow mechanism by face upward bow dull and stereotyped 1, face upward the bearing pin 2 of bowing, face upward the motor 3 of bowing, face upward the screw rod 5 of bowing, face upward to bow steel ball 6 and face upward the extension spring 7 of bowing and form; Roll mechanism forms by rolling frame 8, roll bearing pin 9, roll motor 10, roll screw rod 12, roll steel ball 13 and roll extension spring 14; Yawing mechanism is comprised of driftage frame 15, yaw motor 17, driftage screw rod 19, driftage steel ball 20 and driftage extension spring 21.During application, the installing plate 28 in the utility model is installed on working plate or the work top by screw threads for fastening.
Its position relationship and annexation are as follows:
Face upward the mechanism of bowing and place topmost, mid portion is roll mechanism, is Yawing mechanism bottom.
Facing upward bows dull and stereotyped 1 is installed on the roll frame 8 by facing upward the bearing pin 2 of bowing, facing upward the motor 3 of bowing also is installed on the roll frame 8, facing upward the screw rod 5 of bowing screws on roll frame 8 by screw thread, the output shaft 4 of facing upward the motor 3 of bowing is inserted in the endoporus of facing upward the screw rod 5 of bowing, facing upward the steel ball 6 of bowing places and faces upward on the screw rod endoporus of bowing, its sphere with face upward dull and stereotyped upper contact of bowing, face upward extension spring 7 one ends of bowing and be fixed on and face upward on the flat board 1 of bowing, the other end is fixed on the roll frame 8.
Explanation when the utility model is used:
If facing upward the motor 3 of bowing drives and faces upward the screw rod 5 of bowing and move upward, then face upward the screw rod 5 of bowing and promote to face upward the steel ball 6 of bowing, since face upward bow steel ball 6 with face upward the flat board of bowing and 1 contact, facing upward the screw rod 5 of bowing by facing upward the transmission of the steel ball 6 of bowing like this, make that facing upward bows dull and stereotyped 1 overcomes the elastic force of facing upward the extension spring 7 of bowing and rotate around facing upward the bearing pin 2 of bowing, realize looking up adjustment.
Drive and face upward the screw rod 5 of bowing and move downward if face upward the motor 3 of bowing, then owing to face upward the effect of the extension spring 7 of bowing, will make and face upward dull and stereotyped upward rotate around facing upward the bearing pin 2 of bowing of bowing, realize overlooking adjustment.
If roll motor 10 drives roll screw rod 12 and moves upward, then roll screw rod 12 promotes roll steel ball 13, because roll steel ball 13 contacts with roll frame 8, like this in the transmission of roll screw rod 12 by roll steel ball 13, the elastic force that makes roll frame 8 overcome roll extension spring 14 rotates around roll bearing pin 9, realizes backward roll adjustment.
If roll motor 10 drives roll screw rod 12 and moves downward, then because the effect of roll extension spring 14 will make the roll frame rotate around roll bearing pin 9, realize forward roll adjustment.
If yaw motor 17 drives driftage screw rod 19 and moves upward, the screw rod 19 of then going off course promotes driftage steel ball 20, because driftage steel ball 20 contacts with driftage frame 15, like this in 19 transmission by driftage steel ball 20 of driftage screw rod, the elastic force that makes driftage frame 15 overcome driftage extension spring 21 rotates around connecting axle 16, realizes yaw steering to the right.
If yaw motor 17 drives driftage screw rod 19 and moves downward, then because the effect of driftage extension spring 21 will make driftage frame 15 rotate around connecting axle 16, realize yaw steering left.
Claims (5)
1. rotary freedom decoupling zero adjusting device, describedly face upward the mechanism of bowing, roll mechanism, Yawing mechanism and supporting device by device and form, it is characterized in that, face upward face upward roll frame in bow dull and stereotyped bipod and the roll mechanism in the mechanism of bowing both sides respectively through facing upward the bearing pin pin joint of bowing, in the Yawing mechanism in both sides and the roll mechanism of driftage frame other both sides of roll frame respectively through roll bearing pin pin joint, sleeve in the supporting device is fixed in the installing plate, and the connecting axle in the supporting device and the driftage frame in the Yawing mechanism are fixed; The rotation of facing upward the mechanism of bowing, roll mechanism, Yawing mechanism is vertical in twos, and meets at the space a bit; Motor biasing in each mechanism, each motor output shaft drives corresponding screw motion, and each screw rod consists of screw thread pair with corresponding screwed hole, and screw thread pair is eliminated the gap by self-locking.
2. three rotary freedom decoupling zero adjusting devices according to claim 1 is characterized in that, the described mechanism of bowing of facing upward is by facing upward the flat board of bowing, face upward the bearing pin of bowing, face upward the motor of bowing, face upward the screw rod of bowing, facing upward to bow steel ball and face upward the extension spring of bowing and consist of; Face upward the flat board of bowing and be sit astride on a horse type, its both sides are by facing upward the both sides pin joint of roll frame in bow bearing pin and the roll mechanism; The motor of bowing is fixed on roll frame one side in the roll mechanism, facing upward the screw rod of bowing screws at the screwed hole of roll frame one side and the external screw thread formation screw thread pair of screw rod, the output shaft of facing upward the motor of bowing inserts to be faced upward in the endoporus of the screw rod of bowing, facing upward the steel ball of bowing places and faces upward on the screw rod endoporus of bowing, its sphere with face upward dull and stereotyped contact of bowing, face upward extension spring one end of bowing and be fixed on and face upward on the flat board of bowing, the other end is fixed on the roll frame.
3. three rotary freedom decoupling zero adjusting devices according to claim 1 is characterized in that, described roll mechanism is made of roll frame, roll bearing pin, roll motor, roll screw rod, roll steel ball and roll extension spring; The in addition both sides of roll frame are by the driftage frame both sides pin joint in roll bearing pin and the Yawing mechanism; The roll motor is fixed on driftage frame one side in the Yawing mechanism, the roll screw rod screws at the external screw thread formation screw thread pair of the screwed hole of driftage on the frame with screw rod, the output shaft of roll motor inserts in the endoporus of roll screw rod, the roll steel ball places on the roll screw rod endoporus, its sphere contacts with the roll frame, roll extension spring one end is fixed on the roll frame, and the other end is fixed on the driftage frame.
4. three rotary freedom decoupling zero guiding mechanism devices according to claim 1 is characterized in that, described Yawing mechanism is made of driftage frame, yaw motor, driftage screw rod, driftage steel ball and driftage extension spring; The driftage frame is grooved, and its both sides are by the both sides pin joint of roll frame in roll bearing pin and the roll mechanism; Yaw motor is fixed on the support, support is fixed on the installing plate, the driftage screw rod screws the external screw thread formation screw thread pair of screwed hole and screw rod on support, the output shaft of yaw motor inserts in the endoporus of driftage screw rod, the driftage steel ball places on the driftage screw rod endoporus, its sphere touches with the driftage bridge joint, and driftage extension spring one end is fixed on the driftage frame, and the other end is fixed on the support.
5. three rotary freedom decoupling zero adjusting devices according to claim 1, it is characterized in that, connecting axle in the described supporting device is bearing on the pair of bearings, have a spacer that it is separated by a distance between the pair of bearings and form the two point supporting, flush nut is locked at bearing and spacer on the connecting axle, and a duplex bearing is bearing on the sleeve, sleeve is installed on the installing plate, flange is installed in the bottom of sleeve, limits moving axially of bearing, and described driftage frame is bearing on the pair of bearings by connecting axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320238991 CN203254417U (en) | 2013-05-07 | 2013-05-07 | Three-rotation-freedom-degree decoupling adjusting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320238991 CN203254417U (en) | 2013-05-07 | 2013-05-07 | Three-rotation-freedom-degree decoupling adjusting device |
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| Publication Number | Publication Date |
|---|---|
| CN203254417U true CN203254417U (en) | 2013-10-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320238991 Expired - Fee Related CN203254417U (en) | 2013-05-07 | 2013-05-07 | Three-rotation-freedom-degree decoupling adjusting device |
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| CN (1) | CN203254417U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104596131A (en) * | 2014-11-28 | 2015-05-06 | 冼泰来 | Multifunctional mechanical device capable of rotating simultaneously in three dimensions |
| CN110186642A (en) * | 2019-06-12 | 2019-08-30 | 中国空气动力研究与发展中心高速空气动力研究所 | A kind of schlieren off axis paraboloidal mirror disappears gravity three-dimensional regulation bracket |
-
2013
- 2013-05-07 CN CN 201320238991 patent/CN203254417U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104596131A (en) * | 2014-11-28 | 2015-05-06 | 冼泰来 | Multifunctional mechanical device capable of rotating simultaneously in three dimensions |
| CN110186642A (en) * | 2019-06-12 | 2019-08-30 | 中国空气动力研究与发展中心高速空气动力研究所 | A kind of schlieren off axis paraboloidal mirror disappears gravity three-dimensional regulation bracket |
| CN110186642B (en) * | 2019-06-12 | 2023-12-29 | 中国空气动力研究与发展中心高速空气动力研究所 | Off-axis parabolic mirror gravity-eliminating three-dimensional adjusting bracket for schlieren instrument |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131030 Termination date: 20160507 |