CN216848554U - Rapid follow-up platform attitude detection system - Google Patents
Rapid follow-up platform attitude detection system Download PDFInfo
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- CN216848554U CN216848554U CN202122986291.4U CN202122986291U CN216848554U CN 216848554 U CN216848554 U CN 216848554U CN 202122986291 U CN202122986291 U CN 202122986291U CN 216848554 U CN216848554 U CN 216848554U
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Abstract
The utility model relates to a rapid follow-up platform attitude detection system which comprises a two-dimensional working platform, a laser gyroscope, a lifting rope, a universal joint, a guide rod, a coder and a towing rope, wherein the two-dimensional working platform is connected with a tension adjusting system mounting platform, and a roller is fixed below the tension adjusting system mounting platform; the first end of the lifting rope is wound to the roller; the guide rod is connected to the mounting platform through a universal joint; the encoder is arranged below the tension adjusting system mounting platform and is positioned on the universal joint, the laser gyroscope is arranged above the tension adjusting system mounting platform, a lifting rope guide is arranged on the side part of the guide rod and is fixed to the guide rod, and the second end of the lifting rope is guided by the lifting rope guide; the horizontal attitude of the rapid follow-up platform is measured through a laser gyroscope, and the relative inclination angle of the lifting rope and the platform is measured through an encoder.
Description
Technical Field
The utility model relates to the technical field of force measuring systems, in particular to a rapid follow-up platform attitude detection system.
Background
The extraterrestrial low-gravity simulation test platform is one of key facilities of ground verification tests for Mars detection for the first time, is connected with a detector through a lifting rope, moves along with the detector, keeps the verticality and the constant tension and simulates the low-gravity environment of the extraterrestrial sky and the earth. In the test process, the postures of the rapid follow-up platform and the lifting rope need to be detected, state feedback is provided for a control system, the lifting rope is made to be perpendicular to the ground all the time, and the system is a key system of the low-gravity simulation test platform.
At present, PSD (Phase-sensitive Detection) Detection technology is mainly adopted for detecting the attitude of a follow-up platform, the basic principle is that a laser emitting device is arranged on the follow-up platform, a transmitting mirror and a lens device are arranged above a detector, the dip angle of a lifting rope is calculated according to the measurement of a light spot by the PSD Detection device, the technology requires that the follow-up platform is always kept horizontal in the moving process, and because the Detection plane of the PSD is small, the Detection range of the dip angle is closely related to the length of the lifting rope, and under the condition that the PSD plane is 10CM in side length and 10 m in lifting rope length, the angle Detection range is less than 0.3 oAnd the rapid follow-up platform can not be kept horizontal completely, and the attitude detection and control in a high-speed follow-up state can not meet the requirements.
Disclosure of Invention
Aiming at the defects in the prior art, the utility model aims to provide a rapid follow-up platform attitude detection system. A laser gyroscope is arranged on a two-dimensional follow-up platform, and the detection precision reaches 0.05 oThe inclination angle of the platform relative to the horizontal plane can be measured, a universal joint and a guide rod are arranged at the rope outlet point of the tension lifting rope of the two-dimensional follow-up platform, and the guide rod is used for
The technical scheme of the utility model is as follows:
a rapid follow-up platform attitude detection system comprises a two-dimensional working platform, a laser gyroscope, a lifting rope, a universal joint, a guide rod, a coder and a towing rope, wherein the two-dimensional working platform is connected with a tension adjusting system mounting platform, and a roller is fixed below the tension adjusting system mounting platform; the first end of the lifting rope is wound to the roller; the guide rod is connected to the mounting platform through a universal joint; the encoder is arranged below the tension adjusting system mounting platform and is positioned on the universal joint, the laser gyroscope is arranged above the tension adjusting system mounting platform, a lifting rope guide is arranged on the side part of the guide rod and is fixed to the guide rod, and the second end of the lifting rope is guided by the lifting rope guide; the horizontal attitude of the rapid follow-up platform is measured through a laser gyroscope, and the relative inclination angle of the lifting rope and the platform is measured through an encoder.
Preferably, the axis of the sash-line guide is perpendicular to the axis of the guide bar.
Preferably, the end of the lifting rope guide is provided with a pulley, the gap of the pulley is adjusted, the pulley clamps the lifting rope in the middle and eliminates the gap, the lifting rope is parallel to the guide rod, and the lifting rope can drive the pulley to move freely.
Preferably, the encoder and the laser gyroscope are powered and communicate through the streamer.
Preferably, the streamers are supported by streamer mounts disposed below the fast leveling platforms.
Preferably, the two-dimensional working platform is arranged on the lower surface of the quick follow-up platform and comprises a first guide rail and a second guide rail perpendicular to the length direction of the first guide rail, and the second guide rail is positioned below the first guide rail.
Preferably, the first guide rail is a beam arranged on the lower surface of the fast follow-up platform and parallel to each other, and the beam clings to the lower surface of the fast follow-up platform.
Preferably, the first guide rail is a horizontal guide rail, and the number of the horizontal guide rails is multiple.
Preferably, the second guide rail is a vertical guide rail, the upper surface of which is provided with a first sliding groove, and the lower surface of which is provided with a second sliding groove.
Preferably, when the lifting rope deviates, the guide rod drives the encoder of the universal joint to deflect, and the encoder reads the inclination angle of the lifting rope in the X direction and the Y direction.
Compared with the prior art, the utility model has the advantages that:
the posture detection system of the rapid follow-up platform can cancel the limitation that the rapid follow-up platform must keep a horizontal plane, the length of a lifting rope can reach 20 meters, and the angle detection range can reach
±90 oAnd the requirements of detecting and controlling the inclination angle of the lifting rope of the rapid follow-up system are met.
Drawings
The advantages of the above and/or additional aspects of the present invention will become apparent and readily appreciated from the following description of the embodiments taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a fast follow-up platform in the fast follow-up platform attitude detection system of the present invention.
Fig. 2 is a schematic layout of the guide rails of the two-dimensional follow-up platform of the fast follow-up platform attitude detection system according to the present invention.
Fig. 3 is a schematic diagram of a first structure of the fast follow-up platform attitude detection system according to the present invention.
FIG. 4 is a second schematic diagram of a fast following platform attitude detection system according to the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the utility model will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
The present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 4, in the system for detecting the attitude of the fast follow-up platform according to the embodiment of the utility model, the fast follow-up platform 1 is connected with the ring truss 3 through the steel wire rope group 2, wherein the fast follow-up platform is a disc. The disc is a frame structure.
The rapid follow-up platform attitude detection system is arranged on a rapid follow-up platform 1 and comprises a two-dimensional working platform 4, a laser gyroscope 5, a lifting rope 6, a universal joint 7, a guide rod 8, an encoder 9 and a towing cable 10, wherein a connecting rod is arranged below the two-dimensional working platform, the tension adjusting system mounting platform is fixed through the connecting rod, the first end of the lifting rope is wound to a roller 12 in a tension adjusting system 11 of the rapid follow-up system, and the roller is fixed below the tension adjusting system mounting platform so as to realize the connection of the roller and the two-dimensional working platform. The second end of the lifting rope, i.e. the lower end of the lifting rope, is connected to the spreader. The guide bar 8 is connected to the two-dimensional work platform by a universal joint 7, in particular, the guide bar is connected to the underside of the tension adjustment system mounting platform by a universal joint. Encoder 9 is installed in the below of quick follow-up platform, and specifically, the encoder is installed in the below of pulling force governing system mounting platform, and the encoder is located the universal joint, and laser gyroscope installs in the top of pulling force governing system mounting platform. A sling guide is provided at a side of the guide rod, fixed to the guide rod, with an axis perpendicular to that of the guide rod, and a drawing hole for the sling to pass through is provided at an end of the sling guide. The inclination angle of the lifting rope is read through an encoder and a laser gyroscope arranged below a two-dimensional working platform of the quick follow-up system. Specifically, the horizontal attitude of the rapid follow-up platform is measured through the laser gyroscope, the relative inclination angle of the lifting rope and the platform is measured through the encoder, the inclination angle of the lifting rope and the horizontal plane is obtained through the comprehensive calculation of the readings of the gyroscope and the encoder, and the encoder and the laser gyroscope are powered and communicated through the towing cable 10. Preferably, the streamer 10 passes through streamer mounts disposed below the fast leveling platform 1.
The two-dimensional working platform is arranged on the lower surface of the quick follow-up platform and comprises a guide rail and a motor. The lower surface of the rapid follow-up platform is provided with beams which are parallel to each other, the beams are used as first guide rails 13, the first guide rails are used as horizontal guide rails, and the horizontal guide rails are tightly attached to the lower surface of the rapid follow-up platform. Preferably, the number of the horizontal guide rails is 3-4. The first servo motor 14 drives the towing cable and the second guide rail 18 to move along the direction of the beam through the synchronous movement of the first servo driving mechanism 15 and the second servo motor 16 through the second servo driving mechanism 17, the movement of the direction is along the X direction, the second guide rail is a vertical guide rail, the second guide rail is positioned below the first guide rail, the length direction of the first guide rail is perpendicular to the length direction of the second guide rail, and the first servo driving mechanism and the second servo driving mechanism slide along the first guide rail. Preferably, a guide groove is arranged below or at the side part of the first guide rail, and the first servo driving mechanism and the second servo driving mechanism are driven by respective servo motors to move along the guide groove of the first guide rail.
And a vertical guide rail connecting piece is arranged below the first servo driving mechanism and the second servo driving mechanism, and a sliding block at the lower end of the connecting piece is arranged in a first sliding groove arranged on the upper surface of the vertical guide rail. The lower surface of the vertical guide rail is provided with a second sliding groove, the upper end of the connecting rod, for example, the sliding part at the upper end is arranged in the second sliding groove, and the tension adjusting system mounting platform is fixed through the connecting rod. The third servo motor 19 drives the tension adjusting system and the towing cable to move along the direction Y through a third servo driving mechanism 20.
The servo motor is an alternating current servo motor.
The universal coupling is arranged on the lower surface of the base of the horizontal follow-up system in the Y direction, the universal coupling can flexibly deflect in the X direction and the Y direction at the same time, and the encoder is arranged on the universal coupling.
The universal joint is provided with a guide rod, two groups of pulleys are arranged on the guide rod, the gap between the pulleys is adjusted, the pulleys clamp a lifting rope in the middle and eliminate the gap, the lifting rope is parallel to the guide rod and can drive the pulleys to move freely, when the lifting rope deviates, an encoder of the universal joint is driven to deflect through the guide rod, and the inclination angle of the lifting rope in the X and Y directions, namely the pulling force inclination angle, is read through the encoder.
Preferably, a high-precision absolute value dual encoder with the resolution of 16 bits is arranged on the universal coupling, and the measurement precision is 0.011oRespectively measuring the relative fast inclination angles of the lifting rope in the X and Y directions of the follow-up platform
Preferably, the measurement accuracy of the laser gyroscope mounted on the two-dimensional working platform is 0.05oDrift of less than 0.01oMeasuring the X and Y direction inclination angles of the rapid follow-up platform relative to the horizontal plane respectively in one hour
，
。
The inclination angle of the lifting rope relative to the X and Y directions of the horizontal plane is
，
The calculation formula is as follows:
it will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. Those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; the communication may be direct or indirect through an intermediate medium, or may be internal to both elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, in the description of the present invention, "at least three" means two or more unless otherwise specified.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention, which is intended to cover any modifications, equivalents, improvements, etc. within the spirit and scope of the present invention.
Claims (10)
1. A rapid follow-up platform attitude detection system is characterized by comprising a two-dimensional working platform, a laser gyroscope, a lifting rope, a universal joint, a guide rod, an encoder and a towing rope, wherein the two-dimensional working platform is connected with a tension adjusting system mounting platform, and a roller is fixed below the tension adjusting system mounting platform; the first end of the lifting rope is wound to the roller; the guide rod is connected to the mounting platform through a universal joint; the encoder is arranged below the tension adjusting system mounting platform and is positioned on the universal joint, the laser gyroscope is arranged above the tension adjusting system mounting platform, a lifting rope guide is arranged on the side part of the guide rod and is fixed to the guide rod, and the second end of the lifting rope is guided by the lifting rope guide; the horizontal attitude of the rapid follow-up platform is measured through a laser gyroscope, and the relative inclination angle of the lifting rope and the platform is measured through an encoder.
2. The rapid follow-up platform attitude detection system of claim 1, wherein the axis of the hoist rope guide is perpendicular to the axis of the guide bar.
3. The fast follow-up platform attitude sensing system of claim 2, wherein pulleys are provided at the ends of the sling guide members, and the pulley clearance is adjusted so that the pulleys clamp the sling in the middle and eliminate the clearance, and so that the sling is parallel to the guide bar, and the sling can freely move the pulleys.
4. The fast motion platform attitude sensing system of claim 3, wherein the encoders and the laser gyroscopes are powered and in communication through the streamers.
5. The rapid follow-up platform attitude detection system of claim 4, wherein the streamers are supported by streamer mounts disposed below the rapid level platform.
6. The fast servo platform attitude detection system of claim 5 wherein the two-dimensional work platform is mounted on a lower surface of the fast servo platform and includes a first rail and a second rail perpendicular to a length of the first rail, the second rail being located below the first rail.
7. The fast servo platform attitude detection system of claim 6, wherein the first rail provides mutually parallel beams for a lower surface of the fast servo platform that cling to the lower surface of the fast servo platform.
8. The rapid follow-up platform attitude detection system of claim 7, wherein the first rail serves as a horizontal rail, and the number of the horizontal rails is plural.
9. The rapid follow-up platform attitude detection system of claim 8, wherein the second guide rail is a vertical guide rail, an upper surface of which is provided with the first runner, and a lower surface of which is provided with the second runner.
10. The fast follow-up platform attitude sensing system of claim 9, wherein when the hoist rope is deflected, the encoder of the universal joint is driven to deflect by the guide rod, and the inclination angle of the hoist rope in the X, Y directions is read by the encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122986291.4U CN216848554U (en) | 2021-11-30 | 2021-11-30 | Rapid follow-up platform attitude detection system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122986291.4U CN216848554U (en) | 2021-11-30 | 2021-11-30 | Rapid follow-up platform attitude detection system |
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| CN216848554U true CN216848554U (en) | 2022-06-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117387588A (en) * | 2023-12-13 | 2024-01-12 | 江苏正路工程检测有限公司 | Engineering verticality detection device and detection method |
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2021
- 2021-11-30 CN CN202122986291.4U patent/CN216848554U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117387588A (en) * | 2023-12-13 | 2024-01-12 | 江苏正路工程检测有限公司 | Engineering verticality detection device and detection method |
| CN117387588B (en) * | 2023-12-13 | 2024-02-09 | 江苏正路工程检测有限公司 | Engineering verticality detection device and detection method |
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