CN211821502U - Pose adjusting and positioning device - Google Patents
Pose adjusting and positioning device Download PDFInfo
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- CN211821502U CN211821502U CN202020351090.XU CN202020351090U CN211821502U CN 211821502 U CN211821502 U CN 211821502U CN 202020351090 U CN202020351090 U CN 202020351090U CN 211821502 U CN211821502 U CN 211821502U
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- base
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- carousel
- positioning device
- removable cover
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Abstract
The utility model relates to a position appearance is adjusted and positioner, including base, removable cover, carousel locking plate and locking bolt, the base passes through the hinge pin with the removable cover and rotates to be connected, removable cover and arc strip fixed connection, the arc strip passes through locking bolt locking with the base and fixes, the removable cover rotates with the carousel to be connected. The utility model has the advantages of the gesture location is accurate, can effectively carry out the small-angle regulation, satisfy high strength vibration environmental condition, possess certain commonality.
Description
Technical Field
The utility model relates to a position appearance is adjusted and positioner especially relates to a mechanical platform who adjusts its space three-dimensional angle (promptly position appearance) during six-dimensional acceleration sensor vibration measurement.
Background
The spatial motion of an object can be decomposed into translation and rotation motions corresponding to three coordinate systems in space, and the motion information comprises three-dimensional linear acceleration and three-dimensional angular acceleration, which are collectively called six-dimensional acceleration. The traditional sensor measures the space motion information of an object by combining three single-dimensional accelerometers and a gyroscope, and has serious inner rod arm effect and transverse sensitivity effect in principle, so that a single-mass six-dimensional acceleration sensor is required to be developed and tested. At the present stage, a one-dimensional vibration platform is generally adopted in the vibration test environment of the sensor in China, the obvious defects exist in the face of complex multi-dimensional vibration characteristic information expression, the inclined blocks with fixed angles are adopted in some tests for dealing with the complex vibration test environment with inclination angles, if different space posture requirements are met, different inclined blocks need to be replaced, and therefore resource waste and inconvenience are caused. When the traditional positioning device is used for positioning, the environment condition which is usually aimed at is not extreme, and the device is not suitable for the high-frequency multi-posture vibration environment.
It has been found through search that patent publication No. CN105783858B describes an adjustable spatial angle measuring and mounting device, which can satisfy the basic requirement of inclination angle, but the positioning and locking device is easy to wear, and cannot be used in high-frequency vibration environment, and cannot satisfy the requirement of testing in a sensor with complex posture environment. Patent publication No. CN109702093A describes a multi-angle fast-adjusting tilting tool, which has the features of fast adjusting the tilting table angle, stable supporting of the table, etc., but its disadvantages are also obvious, and the tool has a large size and a complex positioning structure, mainly faces to a numerical control machine, and is not suitable for being installed on a relatively miniaturized vibration platform for sensor test. Therefore, a platform device which has a simple structure, is convenient to install, can adjust the spatial pose of the measuring instrument and can cope with a high-frequency vibration environment is needed to be designed.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem that will solve is: the pose adjusting and positioning device can adjust the pose of the sensor under a single-dimensional vibration test, can meet the requirements of the sensor required by the test under various spatial poses only by loading one-dimensional vibration test conditions, and completes the determination of six-dimensional acceleration information. Meanwhile, the device has the advantages of good positioning and locking capacity, light weight and suitability for the vibration environment with high frequency.
The utility model provides a technical scheme as follows of its technical problem:
the utility model provides a position appearance is adjusted and positioner, includes base, removable cover, carousel locking plate and locking bolt, the base passes through the hinge pin with removable cover and rotates to be connected, removable cover and arc strip fixed connection, the arc strip passes through locking bolt locking with the base and fixes, removable cover rotates with the carousel to be connected.
The utility model provides a platform is adjusted to space position appearance of convertible single dimension motion adopts base and the surperficial looks adaptation of the workstation of all kinds of experimental drive arrangement of reality. Through the utility model discloses with six-dimensional acceleration sensor and experimental drive arrangement's cooperation, solved and need frequently to change the sloping block and acquire six-dimensional acceleration sensor multi-attitude six-dimensional acceleration measurement information acquisition problem on single-dimensional experimental vibrating device.
The utility model discloses further perfect technical scheme as follows:
preferably, a base groove is formed in the upper surface of the base, a plurality of penetrating workbench fixing threaded holes are formed in the bottom surface of the base groove, and first bolts are arranged in a manner of being matched with the workbench fixing threaded holes; the base is provided with arc strip slots matched with the arc strips, base locking threaded holes communicated with the arc strip slots are respectively formed in two sides of the base, and the locking bolts are matched with the base locking threaded holes.
By adopting the structure, the locking bolt locks the base and the arc strip on the movable cover plate in a matching way through the base locking threaded hole. The upper surface of the base is provided with a base groove, a workbench fixing threaded hole corresponding to the fixing characteristic of the test driving device is processed at the position of the base groove, the test driving device is connected with the base through a first bolt for pre-tightening, a first bolt fixed with the test driving device is hidden by the base groove, namely the test device is connected with the base groove on the upper surface of the base through the first bolt in a locking manner, and when the base groove is used for ensuring that the movable cover plate is parallel to the base in a laminating manner, the head of the bolt does not interfere with the movable cover plate structure. In addition, a group of locking holes matched with the locking bolts are formed in the arc strip, and the locking bolts penetrate through the base locking threaded holes and then are matched with the locking holes or the side faces of the arc strip to complete locking work.
Preferably, a first-stage matching groove is formed in the lower surface of the movable cover plate, and a rotating disc is arranged in the first-stage matching groove.
Preferably, the carousel comprises location boss and stylobate, the upper surface parallel and level of location boss and removable cover, the stylobate cooperatees with first order cooperation groove.
Preferably, the lower surface of removable cover is located first order cooperation groove outer lane system and is had second level cooperation groove, be provided with carousel locking plate in the second level cooperation groove the upper surface of carousel locking plate is equipped with the friction cotton, and the contact surface between carousel locking plate and the carousel is located to the friction cotton for fixed carousel.
Preferably, the turntable locking plate is fixedly connected with the movable cover plate through a second bolt.
Preferably, threaded positioning holes are formed in four corners of the turntable locking plate, second bolts are arranged in a matched mode with the threaded positioning holes, and the second bolts penetrate through the threaded positioning holes and then are fixed to the second-stage matching grooves.
In the structure, the movable cover plate, the turntable and the turntable locking plate form an integral structure together. The lower surface of the movable cover plate is provided with two-stage matching grooves, namely a round matching groove and a square matching groove, and the two-stage matching grooves are used for fixing the rotary table and the rotary table locking plate. During installation, the pointer surface of the rotary table is upwards installed in the first-stage matching groove, then the rotary table locking plate is embedded into the second-stage matching groove and locked through the second bolt. The turntable locking plate is a vertical square platform, the shape of the turntable locking plate is matched with that of the base groove, the turntable locking plate can be placed in the base groove when the movable cover plate is attached to the base, and the second bolt can be hidden in the base groove (see fig. 9).
Preferably, a plurality of test device fixing threaded holes are formed in the rotary table, third bolts are arranged in a matching mode with the test device fixing threaded holes, and the rotary table and the test devices are connected and pre-tightened through the third bolts.
Preferably, the upper surface of the rotating disc is provided with a rotating disc scale pointer, the upper surface of the movable cover plate, which is positioned at the first-stage matching groove, is provided with a cover plate indicating dial matched with the rotating disc scale pointer, the scale range of the cover plate indicating dial is 0-180 degrees, and the rotating angle is determined by reading through the pointer on the rotating disc in positioning matching with the movable cover plate.
Preferably, a circumferential angle dial is arranged at the hinged position of the side surface of the base, the scale range of the circumferential angle dial is 0-120 degrees, the side line of the lower surface of the movable cover plate is used as a pointer, and reading is carried out through the pointer.
By adopting the utility model, the rotation angle of the six-dimensional acceleration sensor on the turntable can be clearly positioned, and the turntable is fixed only by the bolts and the turntable locking plate, so that the installation quality of the mechanism can be effectively ensured and the basic characteristics of the mechanism which is simple and light can be satisfied; the base can guarantee that the device uses in many occasions according to required experimental vibrating device design. The utility model has the advantages of the gesture location is accurate, can effectively carry out the small-angle regulation, satisfy high strength vibration environmental condition, possess certain commonality.
Drawings
The present invention will be further described with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of the middle base of the present invention.
Fig. 3 is an enlarged view of the corner scale of the base of the present invention.
Fig. 4 is a schematic structural view of the middle removable cover plate of the present invention.
Fig. 5 is an assembly schematic view of the middle movable cover plate and the rotary plate of the present invention.
Fig. 6 is a top scale view of the middle removable cover of the present invention.
Fig. 7 is a positioning diagram of the posture coordinate system of the present invention.
Fig. 8 is the state diagram of the angle change of the movable cover plate during the actual operation of the present invention.
Fig. 9 is a state diagram of the present invention when and only when the angle of the turntable changes during the actual operation process.
Fig. 10 is a schematic diagram of the state of the angle change of the composite movable cover plate and the turntable in the actual operation process of the present invention.
In the figure: 1. the vibration exciter comprises a hinge pin, a 10-six-dimensional acceleration sensor, a 11-vibration exciter, a 2-locking bolt, a 3-base, a 30-base locking threaded hole, a 31-arc strip slot, a 32-base groove, a 33-workbench fixing threaded hole, a 40-movable cover plate, a 40 a-cover plate indication dial, a 40 b-arc strip, a 41-rotary disc, a 41 a-rotary disc scale pointer, a 42-rotary disc locking plate and friction cotton.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings in conjunction with embodiments. The invention is not limited to the examples given.
In the description of the present invention, it is specifically stated that the term "pitch angle" refers to a specific value of the side line of the removable cover indicated on the circumferential dial of the side surface of the base when the removable cover is in motion, i.e. θ1(ii) a The term "azimuth angle" refers to a specific indication value between a dial scale pointer on the dial and a dial scale pointer on the removable cover when the dial is in motion, namely theta2。
Example 1
As shown in figure 1, the posture adjusting and positioning device comprises a base 3, a movable cover plate 40, a rotary table 41, a rotary table locking plate 42 and a locking bolt 2, wherein the base 3 is rotatably connected with the movable cover plate 40 through a hinge pin 1 on one side of a long edge. A circumferential angle dial is arranged at the hinged position of the side surface of the base 3, the scale range of the circumferential angle dial is 0-120 degrees, and the circumferential angle dial is matched with the lower surface of the movable cover plate 40 to adjust the rotating angle of the movable cover plate 40 (see figure 3). The movable cover plate 40 is rotatably connected with the rotary disc 41, the rotary disc locking plate 42 is arranged at the bottom of the rotary disc 41, and the base 3 and the arc strip 40b positioned on the lower surface of the movable cover plate 40 are locked and fixed through the locking bolt 2.
As shown in fig. 2, a base groove 32 is formed in the middle of the upper surface of the base 3, four penetrating table fixing threaded holes 33 are formed in the bottom surface of the base groove 32, a first bolt is arranged in cooperation with the table fixing threaded holes 33, and the base 3 is connected with the vibration exciter 11 through the first bolt. Arc-bar slots 31 are respectively formed in the base 3 at two sides of the base groove 32, and the distance between the two arc-bar slots 31 is greater than the maximum distance between any two points of any section of the vibration exciter 11 in the movement direction. Base locking threaded holes 30 matched with the locking bolts 2 are respectively formed in two sides of the base 3, the number of holes in the same side is 2, and the two base locking threaded holes 30 are communicated with arc strip inserting grooves 31 arranged on the same side.
As shown in fig. 4, two arc strips 40b are fixedly connected to the lower surface of the movable cover plate 40, the two arc strips 40b are symmetrical with respect to the central axis of the long side of the lower surface of the movable cover plate 40, and the arc lengths and diameters of the two arc strips 40b are the same. The radian of the arc strip 40b is 130 degrees, a locking hole is arranged on the arc strip 40b along the length direction of the arc strip every 5 degrees, the locking hole is far away from the circle center of the arc strip 40b, and the locking hole can be matched with the locking bolt 2. The arc strip 40b with locking holes arranged at every 5 degrees is designed, so that the test work under the high-frequency vibration test can be effectively carried out. The arc bar 40b is matched with the arc bar slot 31, the outer shape of the upper surface of the arc bar slot 31 corresponds to the section of the insertion part of the arc bar 40b, and the length of the arc bar slot 31 is slightly larger than that of the section of the arc bar 40b. The arc strip 40b is locked in the arc strip slot 31 of the base 3 through the locking bolt 2, that is, the locking bolt 2 passes through one of the base locking threaded holes 30 on the same side of the base 3 and then is matched with the corresponding locking hole or the side surface of the arc strip 40b to complete the locking work. The matching relationship between the two base locking threaded holes 30 located on the same side of the base 3 and the locking holes is as follows: when the pitch angle is a multiple of 5 degrees, the locking bolt 2 penetrates through one base locking threaded hole 30 and then is inserted into the locking hole for locking, and when the pitch angle is other, the locking bolt 2 penetrates through the other base locking threaded hole 30 and then abuts against the side face of the arc strip 40b for rotary locking. Through the rotation of removable cover 40, arc 40b can insert base arc slot 31, can carry out the locking angle of fixation through locking bolt 2 after the angle of pitch is confirmed.
In addition, a first-stage engagement groove is formed in the lower surface of the movable cover plate 40, both ends of the first-stage engagement groove are open, and a rotary plate 41 is provided in the first-stage engagement groove. A dial scale pointer 41a is arranged on the upper surface of the dial 41, a cover plate indicating dial 40a matched with the dial scale pointer 41a is arranged at the first-stage matching groove on the upper surface of the movable cover plate 40, the scale range of the cover plate indicating dial 40a is 0-180 degrees, and the cover plate indicating dial 40a determines the rotation angle through the dial upper pointer matched with the movable cover plate 40 (see fig. 6). As shown in fig. 5, the turntable 41 is stepped and is composed of a circular positioning boss and a circular pillar stand, a dial scale pointer 41 is processed on the positioning boss, the positioning boss is matched with the upper surface of the movable cover plate 40 for positioning, the pillar stand is matched with the first-stage matching groove, and the pillar stand is embedded in the first-stage matching groove of the movable cover plate 40 for axial rotation. The lower surface that is located removable cover 40 is equipped with second level cooperation groove at first level cooperation groove outer lane system, and second level cooperation groove is the open form of one end, is provided with the carousel locking plate 42 of square in the second level cooperation groove, and carousel 41 bottom is located to carousel locking plate 42, and carousel locking plate 42 passes through second bolt and removable cover 40 fixed connection. The contact surface of the turntable locking plate 42 and the turntable 41 is provided with square friction cotton 42a. And penetrating thread positioning holes are formed at four corners of the turntable locking plate 42, second bolts are arranged in a matching manner with the thread positioning holes, and the second bolts penetrate through the thread positioning holes and then are fixed in the second-stage matching grooves, so that the turntable locking plate 42 is connected with the movable cover plate 40 through the second bolts, and the second bolts are rotationally locked after the azimuth angle is determined. As shown in fig. 6, four test device fixing threaded holes are formed in the rotary plate 41, third bolts are provided in cooperation with the test device fixing threaded holes, and the rotary plate 41 and the six-dimensional acceleration sensor 10 are connected and pre-tightened by the third bolts. The six-dimensional acceleration sensor 10 is fixed on the turntable 41, the azimuth angle of 0-180 degrees can be obtained by manually adjusting the angle of the turntable 41, and after the azimuth angle is locked, the turntable locking plate 42 locks to complete the fixing work of the sensor.
In this embodiment, the base 3 is also a base of the platform of the apparatus, the shape of the base and the arrangement of the table fastening threaded holes 33 in the base grooves 32 may vary with the shape of the vibration exciter 11, and the distance between the two arc-bar slots 31 arranged on the base 3 should be greater than the maximum diameter of the vibration exciter 11 to ensure a sufficient working safety space. The specific steps in this example should follow the following sequence: (1) pre-calculating a sensor attitude Euler angle under a specific angle value corresponding to the azimuth angle and the pitch angle so as to meet the test requirement; (2) fixing the base 3 on the vibration exciter 11; (3) fixing the six-dimensional acceleration sensor 10 on the turntable 41, loosening the second bolt on the turntable locking plate 42, and locking the turntable 41 after rotating to the determined azimuth angle; (4) and (3) loosening the locking bolt 2 on the base 3, and adjusting the movable cover plate 40 to a locking arc strip 40b after the pitch angle is determined. In actual operation, the platform of the present embodiment is mounted on the exciter 11, and the six-dimensional acceleration sensor 11 is fixed on the turntable 41 of the platform, and then the angle change of the platform is as shown in fig. 8 if and only when the removable cover 40 rotates, as shown in fig. 9 if and only when the turntable 41 rotates, and as shown in fig. 10 if the removable cover 40 and the turntable 41 rotate simultaneously.
The embodiment also provides a method for determining the attitude of the euler angle in the three-dimensional space in the actual use process, and the specific attitude positioning solving method is as follows:
first, as shown in fig. 7, spatial coordinate systems with the same direction and according with the right-hand rule are respectively established at the center of the circumferential angle dial on the side of the base 3 and the center of the mass block of the six-dimensional acceleration sensor 10, which are respectively expressed as: O-XYZ and O-XYZ, the coordinate axes are respectively parallel to the side lines of the orthocubic six-dimensional acceleration sensor 10 when the scale indexes on the cover plate indication dial 40a and the circumferential angle dial in the initial state are 0 °.
Next, the rotation angles of the turntable 41 on which the movable cover 40 and the six-dimensional acceleration sensor 10 are sequentially rotated and locked are defined as θ1And theta2. When only one of the two angles is changed, at least the sensor can be rotated around any one of three axes of the space coordinate system (wherein the rotation around the Y axis requires that the initial value of the scale on the turntable 41 is set to 90 ° by default). When both of them are changed, the Euler angle of the three-dimensional space corresponding to the attitude matrix is deduced as follows:
(1) theta when the movable cover 40 is rotated and locked1A change occurs. The rotation matrix at this time is:
(2) theta when rotating and locking the turntable 412A change occurs. The rotation matrix at this time is:
(3) based on the above two transformations, the rotation matrix when the composite transformation occurs can be expressed as:
the rotation matrix is recorded as:
its euler angle is then:
then, according to the actual three-dimensional space attitude requirement, the pitch angle theta is taken160 ° azimuth θ2The test attitude requirement of the six-dimensional acceleration sensor 10 can be met when the angle is 45 degrees, and theta is measured1、θ2Carry over into (3) to get the rotation matrix:
namely, the three-dimensional attitude angle:
then canTo obtain: phi shapex＝39.2°，фy＝127.8°，фz＝63.4°。
As shown in fig. 8, the six-dimensional acceleration sensor 10 is fixed to the upper surface of the turntable 41 through the test fixture screw hole of the turntable 41, and the device of the present embodiment is fixed to the upper surface of the exciter 11 through the table fixture screw hole 33 provided in the base groove 32.
In addition to the above embodiments, the present invention may have other embodiments. All the technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope claimed by the present invention.
Claims (10)
1. The utility model provides a position appearance is adjusted and positioner which characterized in that: including base (3), removable cover (40), carousel (41), carousel locking plate (42) and locking bolt (2), base (3) are connected through hinge pin (1) rotation with removable cover (40), removable cover (40) and arc strip (40 b) fixed connection, arc strip (40 b) are fixed through locking bolt (2) locking with base (3), removable cover (40) rotate with carousel (41) and are connected.
2. The pose adjusting and positioning device according to claim 1, wherein: a base groove (32) is formed in the upper surface of the base (3), a plurality of workbench fixing threaded holes (33) are formed in the base groove (32), and a first bolt is arranged in a manner of being matched with the workbench fixing threaded holes (33); the arc strip locking device is characterized in that arc strip slots (31) matched with arc strips (40 b) are formed in the base (3), base locking threaded holes (30) communicated with the arc strip slots (31) are formed in two sides of the base (3) respectively, and the locking bolts (2) are matched with the base locking threaded holes (30).
3. The pose adjusting and positioning device according to claim 2, wherein: the lower surface of the movable cover plate (40) is provided with a first-stage matching groove, and a turntable (41) is arranged in the first-stage matching groove.
4. The pose adjusting and positioning device according to claim 3, wherein: carousel (41) comprises location boss and pylon, the upper surface parallel and level of location boss and removable cover (40), the pylon cooperatees with first order cooperation groove.
5. The pose adjusting and positioning device according to claim 4, wherein: the lower surface of the movable cover plate (40) is positioned on the outer ring of the first-stage matching groove and is provided with a second-stage matching groove, a turntable locking plate (42) is arranged in the second-stage matching groove, and friction cotton (42 a) is arranged on the upper surface of the turntable locking plate (42).
6. The pose adjusting and positioning device according to claim 5, wherein: the turntable locking plate (42) is fixedly connected with the movable cover plate (40) through a second bolt.
7. The pose adjusting and positioning device according to claim 6, wherein: threaded positioning holes are formed in four corners of the turntable locking plate (42), second bolts are arranged in a matched mode with the threaded positioning holes, and the second bolts penetrate through the threaded positioning holes and then are fixed to the second-stage matching grooves.
8. The pose adjusting and positioning device according to claim 7, wherein: the rotary table is provided with a plurality of test device fixing threaded holes, and third bolts are matched with the test device fixing threaded holes.
9. The pose adjusting and positioning device according to claim 8, wherein: the upper surface of carousel (41) is equipped with carousel scale pointer (41 a) the upper surface of removable cover (40) is located first order cooperation groove department and is equipped with apron instruction dial (40 a) with carousel scale pointer (41 a) assorted.
10. The pose adjusting and positioning device according to claim 9, wherein: a circumferential angle dial is arranged at the hinged position of the side surface of the base (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020351090.XU CN211821502U (en) | 2020-03-19 | 2020-03-19 | Pose adjusting and positioning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020351090.XU CN211821502U (en) | 2020-03-19 | 2020-03-19 | Pose adjusting and positioning device |
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| Publication Number | Publication Date |
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| CN211821502U true CN211821502U (en) | 2020-10-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020351090.XU Expired - Fee Related CN211821502U (en) | 2020-03-19 | 2020-03-19 | Pose adjusting and positioning device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117904631A (en) * | 2024-03-18 | 2024-04-19 | 广东大湾区空天信息研究院 | Enamel enameling equipment |
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2020
- 2020-03-19 CN CN202020351090.XU patent/CN211821502U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117904631A (en) * | 2024-03-18 | 2024-04-19 | 广东大湾区空天信息研究院 | Enamel enameling equipment |
| CN117904631B (en) * | 2024-03-18 | 2024-06-07 | 广东大湾区空天信息研究院 | Enamel enameling equipment |
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Granted publication date: 20201030 Termination date: 20210319 |