CN207066344U - A kind of space two degrees of freedom tumbler for laser tracking - Google Patents
A kind of space two degrees of freedom tumbler for laser tracking Download PDFInfo
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- CN207066344U CN207066344U CN201720820408.2U CN201720820408U CN207066344U CN 207066344 U CN207066344 U CN 207066344U CN 201720820408 U CN201720820408 U CN 201720820408U CN 207066344 U CN207066344 U CN 207066344U
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- rotating mechanism
- ball bearing
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- contact ball
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Abstract
The utility model discloses a kind of space two degrees of freedom tumbler for laser tracking, including upper rotating mechanism (1), lower rotating mechanism (2), vertical axes and pedestal (4), it is characterised in that：The vertical axes are installed on pedestal (4), and the lower rotating mechanism (2) is installed in vertical axes, can be horizontally rotated around vertical axes；Described upper rotating mechanism (1) is mounted on lower rotating mechanism (2), it is possible to achieve pitch rotation, and can be rotated together around vertical axes with lower rotating mechanism (2).The utility model rotating mechanism rotates flexible, easy to control, using Driven by Ultrasonic Motors, the shortcomings that having evaded traditional electromagnetic machine, reduce the influence of the non-linear factors such as friction, the gap of additional mechanism providing additional operation, there is the characteristics of gapless, high rigidity, compact-sized, light weight.
Description
Technical field
It the utility model is related to laser tracking technology field, and in particular to a kind of space two degrees of freedom for laser tracking
Tumbler.
Background technology
Laser tracking system is the 3 d space coordinate measurement apparatus for developing rapidly and being widely applied in recent years.Should
Measuring system measurement range is big, and measurement accuracy is high, easy to carry.The mechanical structure portion of measuring system can realize two, space
The rotation of the free degree, tilting mirror can carry out rotary motion in the both direction of orthogonal vertical with mechanism, so as to realize to target
The tracking of ball.
University Of Tianjin Zhang Yajuan doctor's thesis《Single step form laser tracks the research of coordinate measuring system》And Ha Er
Shore polytechnical university Zhang Yifei《The quick tracking measurement key technology research of laser tracker》Separately designed two kinds be used for laser with
The space two degrees of freedom tumbler of track, two kinds of devices are driven using servo electromagnetic machine.Electromagnetic machine quality is big, causes
The quality of upper rotating mechanism is big, and rotary inertia also increases, and is unfavorable for the motion control of whole system.Electromagnetic machine needs increase to subtract
The additional mechanism providing additional operations such as fast device carry out driving load, add the influence of the non-linear factors such as friction, gap, elastic deformation.
Utility model content
The purpose of this utility model is to provide a kind of space two degrees of freedom tumbler for laser tracking, can be with
The rotation of two frees degree in space is realized, tilting mirror can carry out rotary motion in the both direction of orthogonal vertical with mechanism, so as to
Realize the tracking to target ball.
To achieve the above object, the technical solution of the utility model is：
A kind of space two degrees of freedom tumbler for laser tracking, including upper rotating mechanism (1), lower rotating mechanism
(2), vertical axes and pedestal (4), the vertical axes are installed on pedestal (4), and the lower rotating mechanism (2) is installed on vertical axes
On, it can horizontally rotate around vertical axes；Described upper rotating mechanism (1) is mounted on lower rotating mechanism (2), it is possible to achieve
Pitch rotation, and can be rotated together around vertical axes with lower rotating mechanism (2).
Further, the space two degrees of freedom tumbler for laser tracking also includes being fixed on pedestal (4),
And it is sheathed on the outer sleeve outside vertical axes (3).
Further, described lower rotating mechanism (2) include it is lower driving side chain (21) and under driven side chain (22)；Described
It is lower driving side chain (21) include motor I (211), motor mounting plate (212), thrust ball bearing (213), shaft coupling I (214), under
Drive shaft (215), drive gear (216) and snap ring I (217)；Described motor I (211) is mounted on motor mounting plate
(212) on；Described motor mounting plate (212) is fixedly installed on pedestal (4)；Described thrust ball bearing (213) is installed on
In the mounting hole of motor mounting plate (212), and coordinate with motor I (211) and install；Described drive gear (216) is arranged on
On lower drive shaft (215), and connected by shaft coupling I (214) and motor I (211)；Described snap ring I (217) is installed on down
In groove in drive shaft (215), stationary drive gear (216)；
Driven side chain (22) includes angular contact ball bearing to I (221), lower driven shaft (222), angular contact ball axle under described
Honour II (223), axle sleeve (224), driven gear (225) and snap ring II (226)；Described driven gear (225) is installed on
It is fixed by the axle sleeve (224) and snap ring (224) that are installed on lower driven shaft (222) on lower driven shaft (222)；Described angle
Contact ball bearing is matched by the angular contact ball bearing of two arranged in series respectively to I (221) and angular contact ball bearing to II (223)
Composition, is installed in the mounting hole of lower driven shaft (222) and outer sleeve (3), the lower driven shaft (222) is installed on rotating machine
On structure (1).
Further, described upper rotating mechanism (1) includes upper driving side chain (11), tilting mirror structure (12), upper rotation base
Seat (13) and counterweight side chain (14), the upper rotating base (13) are installed on lower rotating mechanism (2).
Further, described upper driving side chain (11) includes motor II (111), motor mounting rack (112), shaft coupling II
(113), upper drive shaft (114) and angular contact ball bearing pass through motor mounting rack to III (115), described motor II (111)
(112) it is fixedly installed on rotating base (13), described upper drive shaft (114) passes through shaft coupling II (113) and motor II
(111) connect, III (115) are connected with tilting mirror pedestal (121) through upper rotating base (13) and angular contact ball bearing；Described
Angular contact ball bearing is composed of to III (115) by two angular contact ball bearings configured face-to-face, is installed on drive shaft
(114) and in the mounting hole of upper rotating base (13).
Further, described tilting mirror structure (12) includes tilting mirror (122) and tilting mirror pedestal (121)；Described tilting mirror
(122) it is fixedly installed on tilting mirror pedestal (121).
Further, described counterweight side chain (14) includes balancing weight (141), balancer shaft (142) and angular contact bearing
To IV (143)；Described balancing weight (141) is mounted on balancer shaft (142)；Described balancer shaft (142) passes through upper turn
Moving base (13) and angular contact ball bearing are connected to IV (143) with tilting mirror pedestal (121)；Described angular contact ball bearing is to IV
(143) it is composed of by two angular contact ball bearings configured face-to-face, is installed on balancer shaft (142) and upper rotating base (13)
Mounting hole in.
Further, described motor I (211) uses ultrasound electric machine.
Further, the motor II (111) uses ultrasound electric machine.
The beneficial effects of the utility model are：The rotating mechanism rotation of the present apparatus is flexible, easy to control, is driven using ultrasound electric machine
It is dynamic, the shortcomings that having evaded traditional electromagnetic machine, reduce the influence of the non-linear factors such as friction, the gap of additional mechanism providing additional operation, have
The characteristics of gapless, high rigidity, compact-sized, light weight.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model specific embodiment；
Fig. 2 is the lower rotating mechanism explosive view of the utility model specific embodiment；
Fig. 3 is the upper rotating mechanism explosive view of the utility model specific embodiment.
Embodiment
Design, concrete structure and caused technique effect of the present utility model are carried out below with reference to embodiment and accompanying drawing
Clearly and completely describe, to be completely understood by the purpose of this utility model, feature and effect.Obviously, described embodiment
It is part of the embodiment of the present utility model, rather than whole embodiments, those skilled in the art are not paying creative labor
The other embodiment obtained on the premise of dynamic, belong to the scope of the utility model protection.
Reference picture 1, a kind of space two degrees of freedom tumbler for laser tracking, including upper rotating mechanism 1, lower rotation
Mechanism 2, vertical axes, outer sleeve 3 and pedestal 4, vertical axes are installed on pedestal 4, and lower rotating mechanism 2 is installed in vertical axes,
It can horizontally rotate around vertical axes；Upper rotating mechanism 1 is mounted on lower rotating mechanism 2, it is possible to achieve pitch rotation, and
And it can be rotated together around vertical axes with lower rotating mechanism 2.
With further reference to Fig. 2, described lower rotating mechanism 2 includes lower driving side chain 21 driven side chain 22 with；Described
It is lower driving side chain 21 include motor I 211, motor mounting plate 212, thrust ball bearing 213, shaft coupling I 214, lower drive shaft 215,
Drive gear 216 and snap ring I 217；Described motor I 211 is mounted on motor mounting plate 212；Described motor installation
Plate 212 is fixedly installed on pedestal 4；Described thrust ball bearing 213 is installed in the mounting hole of motor mounting plate 212, and
Coordinate with motor I 211 and install；Described drive gear 216 is arranged in lower drive shaft 215, and passes through shaft coupling 214 and electricity
Machine I 211 connects；Described snap ring I 217 is installed in the groove in lower drive shaft 215, stationary drive gear 216；Under described
Driven chain 22 includes angular contact ball bearing to I 221, lower driven shaft 222, angular contact ball bearing to II 223, axle sleeve 224, driven tooth
Wheel 225 and snap ring II 226；Described driven gear 225 is installed on 222 on lower driven shaft, by being installed on lower driven shaft
222 axle sleeve 224 and snap ring 224 is fixed；Described angular contact ball bearing to I 221 and angular contact ball bearing to II 223 respectively by
The angular contact ball bearing of two arranged in series is composed of, and is installed in the mounting hole of lower driven shaft 222 and outer sleeve 3.
With further reference to Fig. 3, described upper rotating mechanism 1 includes upper driving side chain 11, tilting mirror structure 12, upper rotating base
13 and counterweight side chain 14；Described upper driving side chain 11 includes motor II 111, motor mounting rack 112, shaft coupling II 113, upper drive
Moving axis 114 and angular contact ball bearing are to III 115.Described motor II 111 is fixedly installed in by motor mounting rack 112 to be turned
On moving base 13.Described upper drive shaft 114 is connected by shaft coupling II 113 and motor II 111, through the upper He of rotating base 13
Angular contact ball bearing is connected to III 115 with tilting mirror pedestal 121；Described angular contact ball bearing is matched somebody with somebody face-to-face to III 115 by two
The angular contact ball bearing put is composed of, and is installed in the mounting hole of drive shaft 114 and upper rotating base 13.Described tilting mirror
Structure 12 includes tilting mirror 122 and tilting mirror pedestal 121；Described tilting mirror 122 is fixedly installed on tilting mirror pedestal 121；Described is upper
Rotating base 13 and lower driven shaft 222 are fixedly mounted；Described counterweight side chain 14 includes balancing weight 141, balancer shaft 142 and angle
Contact bearing is to IV 143；Described balancing weight 141 is mounted on balancer shaft 142；Described balancer shaft 142 passes through upper turn
Moving base 13 and angular contact ball bearing are connected to IV 143 with tilting mirror pedestal 121；Described angular contact ball bearing is to IV 143 by two
The individual angular contact ball bearing configured face-to-face is composed of, and is installed in the mounting hole of balancer shaft 142 and upper rotating base 13.
Described motor I 211 and motor II 111 use ultrasound electric machine.
During work, space two degrees of freedom tumbler is positioned on flat supporter, laser beam passes through lower driven shaft
222, and be transmitted into by tilting mirror 122 in reflection target ball.When reflecting target ball position changes, space two degrees of freedom tumbler
The motion of two frees degree is carried out, ensures that laser beam traces into reflection target ball always.
It should be noted that simply preferred embodiment of the present utility model described above, the utility model not office
It is limited to above-mentioned embodiment, as long as it reaches technique effect of the present utility model with identical means, it is new should all belongs to this practicality
The protection domain of type.
Claims (9)
1. a kind of space two degrees of freedom tumbler for laser tracking, including upper rotating mechanism (1), lower rotating mechanism (2),
Vertical axes and pedestal (4), it is characterised in that：The vertical axes are installed on pedestal (4), lower rotating mechanism (2) installation
In in vertical axes, can horizontally rotate around vertical axes；Described upper rotating mechanism (1) is mounted on lower rotating mechanism (2),
Pitch rotation can be realized, and can be rotated together around vertical axes with lower rotating mechanism (2).
A kind of 2. space two degrees of freedom tumbler for laser tracking according to claim 1, it is characterised in that：Also
Including being fixed on pedestal (4), and it is sheathed on the outer sleeve outside vertical axes (3).
A kind of 3. space two degrees of freedom tumbler for laser tracking according to claim 1, it is characterised in that：Institute
The lower rotating mechanism (2) stated include it is lower driving side chain (21) and under driven side chain (22)；Described lower driving side chain (21) includes
Motor I (211), motor mounting plate (212), thrust ball bearing (213), shaft coupling I (214), lower drive shaft (215), sliding tooth
Take turns (216) and snap ring I (217)；Described motor I (211) is mounted on motor mounting plate (212)；Described motor peace
Loading board (212) is fixedly installed on pedestal (4)；Described thrust ball bearing (213) is installed on the installation of motor mounting plate (212)
Kong Zhong, and coordinate with motor I (211) and install；Described drive gear (216) is arranged in lower drive shaft (215), and is led to
Cross shaft coupling I (214) and motor I (211) connection；Described snap ring I (217) is installed in the groove in lower drive shaft (215),
Stationary drive gear (216)；
Driven side chain (22) includes angular contact ball bearing to I (221), lower driven shaft (222), angular contact ball bearing under described
To II (223), axle sleeve (224), driven gear (225) and snap ring II (226)；Described driven gear (225) is installed on down
It is fixed by the axle sleeve (224) and snap ring II (226) that are installed on lower driven shaft (222) on driven shaft (222)；Described angle
Contact ball bearing is matched by the angular contact ball bearing of two arranged in series respectively to I (221) and angular contact ball bearing to II (223)
Composition, is installed in the mounting hole of lower driven shaft (222) and outer sleeve (3), the lower driven shaft (222) is installed on rotating machine
On structure (1).
A kind of 4. space two degrees of freedom tumbler for laser tracking according to claim 1, it is characterised in that：Institute
The upper rotating mechanism (1) stated includes upper driving side chain (11), tilting mirror structure (12), upper rotating base (13) and counterweight side chain
(14), the upper rotating base (13) is installed on lower rotating mechanism (2).
A kind of 5. space two degrees of freedom tumbler for laser tracking according to claim 4, it is characterised in that：Institute
The upper driving side chain (11) stated includes motor II (111), motor mounting rack (112), shaft coupling II (113), upper drive shaft (114)
And angular contact ball bearing, to III (115), described motor II (111) is fixedly installed in by motor mounting rack (112) to be turned
On moving base (13), described upper drive shaft (114) is connected by shaft coupling II (113) and motor II (111), through upper rotation
Pedestal (13) and angular contact ball bearing are connected to III (115) with tilting mirror pedestal (121)；Described angular contact ball bearing is to III
(115) it is composed of by two angular contact ball bearings configured face-to-face, is installed on drive shaft (114) and upper rotating base
(13) in mounting hole.
A kind of 6. space two degrees of freedom tumbler for laser tracking according to claim 4, it is characterised in that：Institute
The tilting mirror structure (12) stated includes tilting mirror (122) and tilting mirror pedestal (121)；Described tilting mirror (122) is fixedly installed in tilting mirror base
On seat (121).
A kind of 7. space two degrees of freedom tumbler for laser tracking according to claim 4, it is characterised in that：Institute
The counterweight side chain (14) stated includes balancing weight (141), balancer shaft (142) and angular contact bearing to IV (143)；Described counterweight
Block (141) is mounted on balancer shaft (142)；Described balancer shaft (142) passes through upper rotating base (13) and angular contact ball
Bearing is connected to IV (143) with tilting mirror pedestal (121)；Described angular contact ball bearing is to IV (143) by two configurations face-to-face
Angular contact ball bearing be composed of, be installed in the mounting hole of balancer shaft (142) and upper rotating base (13).
A kind of 8. space two degrees of freedom tumbler for laser tracking according to claim 3, it is characterised in that：Institute
The motor I (211) stated uses ultrasound electric machine.
A kind of 9. space two degrees of freedom tumbler for laser tracking according to claim 5, it is characterised in that：Institute
State motor II (111) and use ultrasound electric machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720820408.2U CN207066344U (en) | 2017-07-07 | 2017-07-07 | A kind of space two degrees of freedom tumbler for laser tracking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720820408.2U CN207066344U (en) | 2017-07-07 | 2017-07-07 | A kind of space two degrees of freedom tumbler for laser tracking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207066344U true CN207066344U (en) | 2018-03-02 |
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ID=61510225
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720820408.2U Active CN207066344U (en) | 2017-07-07 | 2017-07-07 | A kind of space two degrees of freedom tumbler for laser tracking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207066344U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110726997A (en) * | 2019-10-09 | 2020-01-24 | 秦皇岛达则科技有限公司 | Intelligent laser positioning and tracking system |
-
2017
- 2017-07-07 CN CN201720820408.2U patent/CN207066344U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110726997A (en) * | 2019-10-09 | 2020-01-24 | 秦皇岛达则科技有限公司 | Intelligent laser positioning and tracking system |
| CN110726997B (en) * | 2019-10-09 | 2023-11-03 | 秦皇岛达则科技有限公司 | Intelligent laser positioning and tracking system |
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