CN206223130U - A kind of device of real-time measurement rotating shaft spatial pose - Google Patents
A kind of device of real-time measurement rotating shaft spatial pose Download PDFInfo
- Publication number
- CN206223130U CN206223130U CN201621256396.7U CN201621256396U CN206223130U CN 206223130 U CN206223130 U CN 206223130U CN 201621256396 U CN201621256396 U CN 201621256396U CN 206223130 U CN206223130 U CN 206223130U
- Authority
- CN
- China
- Prior art keywords
- rotating shaft
- axis
- mounting hole
- displacement
- real
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Abstract
The utility model discloses a kind of device of real-time measurement rotating shaft spatial pose；Including rotating shaft, the displacement sensor component that two groups structure is identical, position is different；Every group of displacement sensor component includes mounting bracket, two telescopic displacement transducers；The two ends of mounting bracket respectively offer one for position mounting hole；Telescopic displacement transducer include fix bar and installed in its end and can axial stretching expansion link, in the end install sensor measurement head of expansion link；Two axis of mounting hole in each mounting bracket in the same plane, and between two axis of mounting hole are in 90 ° of angles, make the axis of two expansion links orthogonal, and intersection point is on the pivot of rotating shaft；The present apparatus can be used for locus and attitude information of the Real-time Collection rotating shaft under the influence of supported clearance, and the data for obtaining can be used to study the movement warp of rotating shaft and its connected movable part, so as to be corrected.
Description
Technical field
The utility model is related to spatial pose to measure in real time, more particularly to a kind of dress of real-time measurement rotating shaft spatial pose
Put.
Background technology
Rotate the basic composition that pair is mechanism.Because tumbler needs continuously to be rotated in pair is rotated, tumbler
Must be separated with fixture.General, rotate secondary for axle is constituted with bearing.Axle will be rotated swimmingly within the bearing, rotating shaft with branch
Gap in the connecting link held is inevitable.If rotating shaft rotating speed is high, it is desirable to which frictional resistance is smaller when rotating, bearing clearance can not
Too small, the clearance of bearing is one needs the value of control.
Rotate secondary in actual application, the deformation of the contact position of roller is caused because movable part applies load, and
Ball causes that rotating shaft has jerk value within the bearing with the factor such as abrasion of working time.Rotating shaft and bearing clearance it is non-linear with
And the joint effect of roller contact deformation makes the jerk value of axle be not easy to determine, pole is brought to precision positioning and precise trajectory motion
Big difficulty.
The content of the invention
The purpose of this utility model is the shortcoming and defect for overcoming above-mentioned prior art, there is provided a kind of simple structure, survey
The device of the simple and easy to do real-time measurement rotating shaft spatial pose of trial work section.
The utility model is achieved through the following technical solutions：
A kind of device of real-time measurement rotating shaft spatial pose, including rotating shaft 2, the rotating shaft 2 are arranged on two axles by bearing 1
On bearing plate, a base plate 6 is installed on the two bearings seat board；Two bearings seat board is connected as overall with base plate 6, constitutes and rotates
Secondary frame；
Two groups of displacement sensor components that structure is identical, position is different, i.e. one of which displacement sensing are installed on base plate 6
Device assembly is arranged on the end side of rotating shaft 2, and another set displacement sensor component is arranged on the middle part side of rotating shaft 2；
Every group of displacement sensor component includes 3, two telescopic displacement transducers 5 of a mounting bracket；The installation
The two ends of support 3 respectively offer one for position mounting hole 31；The telescopic displacement transducer 5 includes the He of fix bar 53
Installed in its end and can axial stretching expansion link 52, in the end install sensor measurement head 51 of expansion link 52；Expansion link
52 and fix bar 53 axle center on same axis；
Two axis of mounting hole 31 in each mounting bracket 3 in the same plane, and two axles of mounting hole 31
It is in 90 ° of angles between line, two fix bars of telescopic displacement transducer 5 53 are separately mounted in the mounting hole 31, make two to stretch
The axis of contracting bar 52 is orthogonal, and intersection point is on the pivot of rotating shaft 2；Sensor head 51 and the periphery of rotating shaft 2
It is in contact.
The sensor head 51 is shaped as rectangle, the short side of rectangle and the diameter parallel of rotating shaft 2, side long and rotating shaft
2 axis is vertical.
The rotating shaft 2 it is equal with the diameter of axle of the contact position of sensor head 51.
Being oriented by a locking lasso 4 for centering for the fix bar 53 is arranged in mounting hole 31.
A kind of method of real-time measurement rotating shaft spatial pose, it comprises the following steps：
Step one：Centerline direction with bearing 1 is passed as first Dui as z-axis using one of which displacement sensor component
Sensor, the axis direction of their two expansion links 52 is respectively x, and y-axis sets up space coordinates；Make the initial of the axis of rotating shaft 2
Position overlaps with the center line of bearing 1, resets displacement transducer registration, remembers this group of the two of displacement sensor component displacement sensings
The indicating value of device is respectively x1, y1；
Step 2：Used as second pair of sensor, their two displacement transducers show another group of displacement sensor component
It is x2 to be worth, y2；
The distance of two interplanars where a pair of sensors and second pair of sensor difference is L；
Radial displacement of the axis of rotating shaft 2 at a pair of sensors be：
Radial displacement at second pair of sensor is：
Corner (around x1 axle rotation, just to x1 axle counterclockwise for just) of the axis of rotating shaft 2 in yoz planes be：
Corner (around y1 axle rotation, just to y1 axle counterclockwise for just) of the axis of rotating shaft 2 in xoz planes be：
Within a sampling period, a pair of sensors and second pair of sensor obtain four surveys in two planes simultaneously
Value, is converted by the model set up, and just obtains four numerical quantities of parameter of the relatively initial pose of rotating shaft 2.
The utility model has the following advantages and effect relative to prior art：
Every group of displacement sensor component of the utility model includes 3, two telescopic displacement transducers of a mounting bracket
5；The two ends of the mounting bracket 3 respectively offer one for position mounting hole 31；The telescopic displacement transducer 5 includes
Fix bar 53 and installed in its end and can axial stretching expansion link 52, in the end install sensor measurement head of expansion link 52
51；The axle center of expansion link 52 and fix bar 53 is on same axis；Two axis of mounting hole 31 in each mounting bracket 3
In the same plane, and between two axis of mounting hole 31 it is in 90 ° of angles, two fix bars of telescopic displacement transducer 5
53 are separately mounted in the mounting hole 31, make the axis of two expansion links 52 orthogonal, and intersection point is in the pivot of rotating shaft 2
On；Sensor head 51 is in contact with the periphery of rotating shaft 2.Using this topology layout, can be used for Real-time Collection rotating shaft and exist
Position and attitude information in gap, the data for obtaining can be used to study the movement warp of rotating shaft and its connected movable part,
So as to be corrected.
The utility model directly measures position and the attitude of rotating shaft in real time, and the information for measuring can be with analysis axis and fixed bearing
Between under certain interval the characteristics of motion, can further probe into contacting for the characteristics of motion and mechanism dynamic performance, from
And formulate more excellent motion control and compensation policy.In addition, the description that the utility model can be used for bearing wear process is surveyed
Amount.
Brief description of the drawings
Fig. 1 is that the utility model measures the device of rotating shaft spatial pose and rotates secondary rack construction scheme of installation in real time.
Fig. 2 is Fig. 1 schematic side views.
Fig. 3 is Fig. 1 mounting bracket schematic diagrames.
Fig. 4 is telescopic displacement transducer schematic diagram shown in Fig. 1.
Specific embodiment
The utility model is more specifically described in detail with reference to specific embodiment.
Embodiment
As shown in Figures 1 to 4.The utility model discloses a kind of device of real-time measurement rotating shaft spatial pose, including rotating shaft
2, the rotating shaft 2 is arranged on two bearings seat board by bearing 1, and a base plate 6 is provided with the two bearings seat board；Two bearings seat
Plate is connected as overall with base plate 6, constitutes and rotates secondary frame；
Two groups of displacement sensor components that structure is identical, position is different, i.e. one of which displacement sensing are installed on base plate 6
Device assembly is arranged on the end side of rotating shaft 2, and another set displacement sensor component is arranged on the middle part side of rotating shaft 2；It is described
The displacement sensor component that two groups structure is identical, position is different, installed in the same side of rotating shaft 2.
Every group of displacement sensor component includes 3, two telescopic displacement transducers 5 of a mounting bracket；The installation
The two ends of support 3 respectively offer one for position mounting hole 31；The telescopic displacement transducer 5 includes the He of fix bar 53
Installed in its end and can axial stretching expansion link 52, in the end install sensor measurement head 51 of expansion link 52；Expansion link
52 and fix bar 53 axle center on same axis.
Two axis of mounting hole 31 in each mounting bracket 3 in the same plane, and two axles of mounting hole 31
It is in 90 ° of angles between line, two fix bars of telescopic displacement transducer 5 53 are separately mounted in the mounting hole 31, make two to stretch
The axis of contracting bar 52 is orthogonal, and intersection point is on the pivot of rotating shaft 2；Sensor head 51 and the periphery of rotating shaft 2
It is in contact.
The sensor head 51 is shaped as rectangle, the short side of rectangle and the diameter parallel of rotating shaft 2, side long and rotating shaft
2 axis is vertical.The face contact of rectangle is to keep contact property constant when indexable appearance changes.
The rotating shaft 2 it is equal with the diameter of axle of the contact position of sensor head 51.
Being oriented by a locking lasso 4 for centering for the fix bar 53 is arranged in mounting hole 31.
Radial direction pose of the rotating shaft in hole can be determined by four amounts.Assuming that rotating shaft in initial position rotation centerline with
Bearing axis overlap, and the heart sets up fixed space coordinates within the bearing, and with bearing axis as z-axis, x, y-axis direction is position
The axis direction of displacement sensor.The present apparatus uses four displacement transducers, and two is one group, two expansion links 52 in a group
The pivot for pointing to rotating shaft in 90 ° between axis, the x with the coordinate system set up, y-axis is parallel.Two groups of displacement transducers are along axle
To arranged apart into certain distance；So the real time position of rotating shaft is determined by centre coordinate x, the y value of its axis point；Rotating shaft
Real-time attitude is by rotating shaft around x, the angle-determining of the swing of y-axis.Here, rotating shaft around z-axis rotation and along z-axis axial direction displacement not
Measure.The ideal movements of rotating shaft are the rotation around z-axis, are read by the encoder data of motor, along this dress of the displacement of z-axis axial direction
Putting to measure.
The method that the utility model measures rotating shaft spatial pose in real time, can be achieved by the steps of：
Step one：Centerline direction with bearing 1 is passed as first Dui as z-axis using one of which displacement sensor component
Sensor, the axis direction of their two expansion links 52 is respectively x, and y-axis sets up space coordinates；Make the initial of the axis of rotating shaft 2
Position overlaps with the center line of bearing 1, resets displacement transducer registration, remembers this group of the two of displacement sensor component displacement sensings
The indicating value of device is respectively x1, y1；
Step 2：Used as second pair of sensor, their two displacement transducers show another group of displacement sensor component
It is x2 to be worth, y2；
The distance of two interplanars where a pair of sensors and second pair of sensor difference is L；
Radial displacement of the axis of rotating shaft 2 at a pair of sensors be：
Radial displacement at second pair of sensor is：
Corner (around x1 axle rotation, just to x1 axle counterclockwise for just) of the axis of rotating shaft 2 in yoz planes be：
Corner (around y1 axle rotation, just to y1 axle counterclockwise for just) of the axis of rotating shaft 2 in xoz planes be：
Within a sampling period, a pair of sensors and second pair of sensor obtain four surveys in two planes simultaneously
Value, is converted by the model set up, and just obtains four numerical quantities of parameter of the relatively initial pose of rotating shaft 2.
The supporting (bearing) of the utility model rotating shaft to be measured, can be fixed using paired taper roll bearing two ends and matched somebody with somebody
Put.The displacement transducer arrangement form of the present apparatus can be used for the measurement of the rotating shaft of all similar configurations.
Because rotating shaft needs to bear moment of flexure, the utility model bearing is generally and is organized in pairs.
As described above, just can preferably realize the utility model.
Implementation method of the present utility model is simultaneously not restricted to the described embodiments, and other are any without departing from of the present utility model
Spirit Essence and the change, modification, replacement made under principle, combine, simplify, should be equivalent substitute mode, being included in
Within protection domain of the present utility model.
Claims (4)
1. a kind of device of real-time measurement rotating shaft spatial pose, including rotating shaft (2), the rotating shaft (2) is arranged on by bearing (1)
On two bearings seat board, a base plate (6) is installed on the two bearings seat board；Two bearings seat board is connected as entirety with base plate (6),
Constitute and rotate secondary frame；It is characterized in that：
Two groups of displacement sensor components that structure is identical, position is different, i.e. one of which displacement transducer are installed on base plate (6)
Component is arranged on the end side of rotating shaft (2), and another set displacement sensor component is arranged on the middle part side of rotating shaft (2)；
Every group of displacement sensor component includes mounting bracket (3), two telescopic displacement transducers (5)；The installation
The two ends of support (3) respectively offer one for position mounting hole (31)；The telescopic displacement transducer (5) is including fixation
Bar (53) and installed in its end and can axial stretching expansion link (52), in the end install sensor measurement of expansion link (52)
Head (51)；The axle center of expansion link (52) and fix bar (53) is on same axis；
Two axis of mounting hole (31) in each mounting bracket (3) in the same plane, and two mounting holes (31)
It is in 90 ° of angles between axis, the fix bar (53) of two telescopic displacement transducers (5) is separately mounted in the mounting hole (31),
Make the axis of two expansion links (52) orthogonal, and intersection point is on the pivot of rotating shaft (2)；Sensor head (51) with
The periphery of rotating shaft (2) is in contact.
2. the device of rotating shaft spatial pose is measured in real time according to claim 1, it is characterised in that：The sensor head
(51) be shaped as rectangle, the short side of rectangle and the diameter parallel of rotating shaft (2), side long are vertical with the axis of rotating shaft (2).
3. the device of rotating shaft spatial pose is measured in real time according to claim 1, it is characterised in that：The rotating shaft (2) with
The diameter of axle of sensor head (51) contact position is equal.
4. the device of rotating shaft spatial pose is measured in real time according to any one of claims 1 to 3, it is characterised in that：It is described
Being oriented by a locking lasso 4 for centering for fix bar (53) is arranged in mounting hole (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621256396.7U CN206223130U (en) | 2016-11-23 | 2016-11-23 | A kind of device of real-time measurement rotating shaft spatial pose |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621256396.7U CN206223130U (en) | 2016-11-23 | 2016-11-23 | A kind of device of real-time measurement rotating shaft spatial pose |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206223130U true CN206223130U (en) | 2017-06-06 |
Family
ID=58790871
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621256396.7U Withdrawn - After Issue CN206223130U (en) | 2016-11-23 | 2016-11-23 | A kind of device of real-time measurement rotating shaft spatial pose |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206223130U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106482691A (en) * | 2016-11-23 | 2017-03-08 | 华南理工大学 | A kind of apparatus and method of real-time measurement rotating shaft spatial pose |
| CN107088743A (en) * | 2017-06-14 | 2017-08-25 | 浙江日发航空数字装备有限责任公司 | A kind of aircraft canard automatic installation method and erecting device |
-
2016
- 2016-11-23 CN CN201621256396.7U patent/CN206223130U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106482691A (en) * | 2016-11-23 | 2017-03-08 | 华南理工大学 | A kind of apparatus and method of real-time measurement rotating shaft spatial pose |
| CN106482691B (en) * | 2016-11-23 | 2018-09-14 | 华南理工大学 | A kind of real-time apparatus and method for measuring shaft spatial pose |
| CN107088743A (en) * | 2017-06-14 | 2017-08-25 | 浙江日发航空数字装备有限责任公司 | A kind of aircraft canard automatic installation method and erecting device |
| CN107088743B (en) * | 2017-06-14 | 2023-12-01 | 浙江日发航空数字装备有限责任公司 | Automatic installation method and installation device for airplane duck wings |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| He et al. | A new error measurement method to identify all six error parameters of a rotational axis of a machine tool | |
| CN105723182B (en) | Reduce the method and apparatus of the error of slewing | |
| CN103827637B (en) | The calibration of whirligig and operation, in particular for making the spy contact of coordinate measuring apparatus and/or visiting calibration and the operation of the whirligig that contact element rotates | |
| CN105479268B (en) | Five-axle number control machine tool swinging axle geometric error discrimination method based on RTCP | |
| JP3001989B2 (en) | Correction method of coordinate measuring device and coordinate measuring device | |
| WO2019148895A1 (en) | Position precision measuring device and method for mechanical arm | |
| CN101772690A (en) | Surface sensor offset | |
| CN106482691B (en) | A kind of real-time apparatus and method for measuring shaft spatial pose | |
| CN206223130U (en) | A kind of device of real-time measurement rotating shaft spatial pose | |
| CN108655827A (en) | Five-axle number control machine tool space error discrimination method | |
| CN101473190B (en) | pivot joint assembly | |
| JP2009236571A (en) | Apparatus and method for measuring rotational accuracy for bearings | |
| CN111678472A (en) | Error identification method for rotary table of four-axis coordinate measuring machine | |
| CN104454962A (en) | Ball hinge capable of detecting spatial revolution angle | |
| US5767380A (en) | Measuring arrangement and method for checking the geometric and dynamic accuracy of two machine elements displaceable with respect to one another | |
| JP2012083192A (en) | Calibration method and calibration jig for three-dimensional measuring machines | |
| CN112192317B (en) | Method for measuring machine tool spindle space three-dimensional error by using double-ball bar instrument | |
| US5743020A (en) | Three-axis continuous probe | |
| EP3265756B1 (en) | Assembly for determining a movement fault of a rotating device | |
| JP4174955B2 (en) | Device for measuring radial clearance of rolling bearings | |
| CN103335618A (en) | Inner load attitude measurement device for onboard photoelectric platform | |
| CN106769050A (en) | Measurement apparatus for measuring the bearing group rigidity of machine tool chief axis | |
| CN104454963A (en) | Ball hinge capable of measuring spatial revolution angle and offset in three degrees of freedom | |
| CN210775764U (en) | Three-degree-of-freedom spherical motor attitude and moment detection rack | |
| Wang et al. | Full-scale measurement of CNC machine tools |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170606 Effective date of abandoning: 20180914 |
|
| AV01 | Patent right actively abandoned |