CN2482480Y - Six-freedom parallel-series digit attitude measuring machine based on three-freedom parallel mechanism - Google Patents
Six-freedom parallel-series digit attitude measuring machine based on three-freedom parallel mechanism Download PDFInfo
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- CN2482480Y CN2482480Y CN 01248526 CN01248526U CN2482480Y CN 2482480 Y CN2482480 Y CN 2482480Y CN 01248526 CN01248526 CN 01248526 CN 01248526 U CN01248526 U CN 01248526U CN 2482480 Y CN2482480 Y CN 2482480Y
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Abstract
The utility model relates to a 6-DOF series and parallel measuring machine based on a 3-DOF parallel mechanism, the 6-DOF series and parallel measuring machine comprises a measuring head, a ball pair and a 3-DOF parallel mechanism, wherein, the parallel mechanism is composed of three branches, one end of each branch is connected with a fixed plane through a universal joint, the other end thereof is intersected with the other two branches in the center of the ball pair, presenting a triangle pyramid shape; the ball pair is composed of three revolute pair series and connected with a shaft line, i.e. being the 3-DOF revolute pair series structure, a rotary encoder is arranged on each output shaft, the utility model is characterized in high measurement accuracy, wide measurement scope, and real-time and rapid analysis.
Description
The utility model relates to a kind of mechanical measurement equipment, specifically is based on the 6 degree-of-freedom paralleling-serial measurer of 3-freedom parallel mechanism.
In the prior art, six coordinate measuring machines mainly divide two kinds of forms, and a kind of is the cascaded structure form; A kind of is the parallel-connection structure form.The cascaded structure form mainly is composed in series by six-freedom degree (revolute pair or moving sets), and rectilinear transducer is equipped with in mobile vice division chief, rotates vice division chief rotary encoder is housed.Because the normal solution of serial mechanism has demonstration to separate, and unique, so this measuring machine can directly be measured the pose of testee.But along with the increase of measurement category, the rigidity of system can descend significantly, and certainty of measurement also can obviously reduce.Further, serial mechanism has the error enlarging function, and the measure error that promptly is installed in the sensor of chassis or waist can be exaggerated at the measuring machine end, wants to improve certainty of measurement, must increase substantially the precision and the resolution ratio of sensor.The measuring machine of parallel-connection structure form, mainly be based on stewart platform form, such measuring machine certainty of measurement height, system stiffness are big, but such measuring machine does not have analytic solutions, position and the attitude of calculating testee need adopt the method for receiving rope that iterates, thereby amount of calculation is big, and not unique, so bring inconvenience when measuring.
In order to overcome the deficiency of above-mentioned measuring machine, the purpose of this utility model provide a kind of certainty of measurement height, measurement category extensively, the 6 degree-of-freedom paralleling-serial measurer based on 3-freedom parallel mechanism of analytic solutions real-time.
The purpose of this utility model is achieved in that and comprises gage outfit, ball pair, 3-freedom parallel mechanism, wherein parallel institution is made of three branches, one end of each branch is connected with fixed pan with universal joint, and the other end and two other branch intersect at the center of ball pair, becomes triangular pyramidal;
Described ball pair is composed in series by three revolute pairs, and axis intersects at a bit, is three degree of freedom revolute pair cascaded structure, on its each output shaft rotary encoder is housed respectively; Described each branch is made up of guide rail, slide block, linear displacement transducer, and slide block is installed on the guide rail, and connects with the ball parafacies, and guide rail one end links to each other with fixed pan by universal joint, and linear displacement transducer is between ball pair and universal joint; The pyrometric cone side surface that described parallel institution forms is an arbitrary triangle.
The utlity model has following advantage:
1. the utility model utilizes 3-freedom parallel mechanism to realize the testee pose measurement, has that real time parsing is separated, precision height, speed be fast.
2. the utility model has been avoided the shortcoming and defect of in parallel and series connection measuring machine in the prior art, under the situation of wide-measuring range, still can guarantee high measurement accuracy.
3. the utility model combines advantage in parallel and series connection form measuring machine, and applied range can be measured in real time to various curved surfaces.
4. simple in structure, low cost of manufacture.
Fig. 1 is the utility model schematic diagram of mechanism.
Fig. 2 is the secondary schematic diagram of mechanism of the ball among Fig. 1.
Fig. 3 is single branch sketch among Fig. 1.
Below in conjunction with accompanying drawing the utility model is described in further detail.
As shown in Figure 1, the utility model comprises gage outfit 1, ball pair 2,3-freedom parallel mechanism 3, wherein parallel institution 3 is made of three branches 33, one end of each branch 33 is connected with fixed pan 35 with universal joint 34, the other end and two other branch intersect at the center of ball pair 2, become triangular pyramidal;
As shown in Figure 2, described ball pair 2 is composed in series by three revolute pairs, and axis intersects at a bit, is three degree of freedom revolute pair cascaded structure, on its each output shaft rotary encoder is housed respectively;
As shown in Figure 3, each branch 33 is made up of guide rail 331, slide block 332, linear displacement transducer 333, slide block 332 is installed on the guide rail 331, and link to each other with ball secondary 2, guide rail 331 1 ends link to each other with fixed pan 35 by universal joint 34, linear displacement transducer 333 can provide branch length in real time between ball secondary 2 and universal joint 34.
The utility model operation principle is:
The length of every single branch 33 is from the information calculations of linear displacement transducer 333, in case the length of three branches 33 determines that the apex coordinate of 3-freedom parallel mechanism 3 is promptly determined; When gage outfit 1 with after testee contacts, testee tested surface attitude just can directly be obtained with analytic solutions by three rotary encoders of servo-actuated.That is to say,, can directly provide the attitude of tested surface by the value of three rotary encoders when gage outfit 1 and tested surface are face when contacting; When gage outfit 1 contacted for point with tested surface, coordinate figure (by the length and the Attitude Calculation of the gage outfit 1) algebraical sum that the apex coordinate value of the 3-freedom parallel mechanism 3 of triangular pyramidal and gage outfit 1 length derive from was the position coordinates of measured point.
Claims (4)
1. 6 degree-of-freedom paralleling-serial measurer based on 3-freedom parallel mechanism, it is characterized in that: comprise gage outfit (1), ball pair (2), 3-freedom parallel mechanism (3), wherein parallel institution (3) is made of three branches (33), one end of each branch (33) is connected with fixed pan (35) with universal joint (34), the other end and two other branch intersect at the center of ball pair (2), become triangular pyramidal.
2. according to the described 6 degree-of-freedom paralleling-serial measurer of claim 1 based on 3-freedom parallel mechanism, it is characterized in that: described ball pair (2) is composed in series by three revolute pairs, axis intersects at a bit, be three degree of freedom revolute pair cascaded structure, on its each output shaft rotary encoder be housed respectively.
3. according to the described 6 degree-of-freedom paralleling-serial measurer of claim 1 based on 3-freedom parallel mechanism, it is characterized in that: described each branch (33) is made up of guide rail (331), slide block (332), linear displacement transducer (333), slide block (332) is installed on the guide rail (331), and link to each other with ball pair (2), guide rail (331) one ends link to each other with fixed pan (35) by universal joint (34), and linear displacement transducer (333) is positioned between ball pair (2) and the universal joint (34).
4. according to the described 6 degree-of-freedom paralleling-serial measurer based on 3-freedom parallel mechanism of claim 1, it is characterized in that: the pyrometric cone side surface that described parallel institution (3) forms is an arbitrary triangle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01248526 CN2482480Y (en) | 2001-07-04 | 2001-07-04 | Six-freedom parallel-series digit attitude measuring machine based on three-freedom parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01248526 CN2482480Y (en) | 2001-07-04 | 2001-07-04 | Six-freedom parallel-series digit attitude measuring machine based on three-freedom parallel mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2482480Y true CN2482480Y (en) | 2002-03-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 01248526 Expired - Fee Related CN2482480Y (en) | 2001-07-04 | 2001-07-04 | Six-freedom parallel-series digit attitude measuring machine based on three-freedom parallel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2482480Y (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100351546C (en) * | 2002-07-25 | 2007-11-28 | 伊强德斯股份有限公司 | Rotation system with three degree of freedom and application of the same |
| CZ301781B6 (en) * | 2009-01-23 | 2010-06-23 | Ústav teorie informace a automatizace AV CR, v.v.i | Robotic device |
| CN102248531A (en) * | 2011-06-13 | 2011-11-23 | 天津理工大学 | Three-legged six-freedom-degree parallel mechanism |
| CN102962838A (en) * | 2012-11-15 | 2013-03-13 | 南京航空航天大学 | Six-degrees-of-freedom parallel mechanism with closed kinematics positive solution and analytic method thereof |
| CN105180831A (en) * | 2015-09-29 | 2015-12-23 | 湖南科技大学 | Four-degree of freedom 3D scanning frame |
-
2001
- 2001-07-04 CN CN 01248526 patent/CN2482480Y/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100351546C (en) * | 2002-07-25 | 2007-11-28 | 伊强德斯股份有限公司 | Rotation system with three degree of freedom and application of the same |
| CZ301781B6 (en) * | 2009-01-23 | 2010-06-23 | Ústav teorie informace a automatizace AV CR, v.v.i | Robotic device |
| CN102248531A (en) * | 2011-06-13 | 2011-11-23 | 天津理工大学 | Three-legged six-freedom-degree parallel mechanism |
| CN102962838A (en) * | 2012-11-15 | 2013-03-13 | 南京航空航天大学 | Six-degrees-of-freedom parallel mechanism with closed kinematics positive solution and analytic method thereof |
| CN102962838B (en) * | 2012-11-15 | 2015-01-14 | 南京航空航天大学 | Six-degrees-of-freedom parallel mechanism with closed kinematics positive solution and analytic method thereof |
| CN105180831A (en) * | 2015-09-29 | 2015-12-23 | 湖南科技大学 | Four-degree of freedom 3D scanning frame |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |