CN201902779U - Six-degree-of-freedom posture adjusting platform - Google Patents
Six-degree-of-freedom posture adjusting platform Download PDFInfo
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- CN201902779U CN201902779U CN2010206422127U CN201020642212U CN201902779U CN 201902779 U CN201902779 U CN 201902779U CN 2010206422127 U CN2010206422127 U CN 2010206422127U CN 201020642212 U CN201020642212 U CN 201020642212U CN 201902779 U CN201902779 U CN 201902779U
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- distortion tooth
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Abstract
The utility model discloses a six-degree-of-freedom posture adjusting platform, which comprises a moving platform, a fixed platform and six support components for connecting the moving platform with the fixed platform. The upper end and the lower end of each support component are respectively used for connecting the moving platform and the fixed platform through hinges, each support component at least includes a driving device which includes a driving component, an upper casing and a lower casing slidably matched with the upper casing, a telescopic rod is arranged on the upper casing, the driving component is disposed on the inner wall of the lower casing, a length sensing component is connected with the telescopic rod and is a curve type support, a plurality of A-side deformed teeth and a plurality of B-side deformed teeth are respectively evenly disposed on two opposite sides of the curve type support, and correspondingly distributed on two sides of a signal fiber, and a testing unit is connected to the signal fiber and connected with a processing unit. The six-degree-of-freedom posture adjusting platform is simple in structure, reasonable in design, fine in electromagnetic interference resistance, and fine in stability and reliability.
Description
Technical field
The utility model relates to a kind of attitude and adjusts platform, and particularly a kind of six-degree-of-freedom is adjusted platform.
Background technique
In the fields such as limb activity of flight simulator, semiconductor manufacturing, precision optical machinery processing, biological medicine, optics and optical fiber align and intelligent robot, use various precisely locating platforms.As the optical fiber splitter in the fiber optic passive device aborning, just need to use sextuple regualting frame that splitter chip and fiber array termination are aimed at encapsulation, no matter present employed regualting frame is manual or all main automatically regualting frame based on cascaded structure, and cascaded structure its shortcoming with respect to parallel-connection structure is: positional error is the accumulation of each degrees of freedom, rigidity is low, inertia is big, the regualting frame of this feasible cascaded structure of having relatively high expectations is produced difficulty, the fine adjustment frame of the domestic PLC of being used for type optical branching device production is monopolized by external product substantially, to stability, reliability and high-precision high requirement are one of reasons.
This special water (stewart) platform structure is the sextuple controlling device of typical parallel-connection structure type, and it is will go up lower bolster by six supporting members to be formed by connecting, and is mounted with telescopic and drives compression apparatus on each supporting member.Its positional error is the mean value of each degrees of freedom error, and has rigidity height, characteristics that inertia is little, extensively is used in a plurality of fields such as robot, Aero-Space, machining, profile measurement, automobile, medical treatment at present.But existing this special water (stewart) is gone up the sensor of arrangement based on strain gauge or piezoelectric material, its dynamic range is little, sensitivity is low, make the sextuple attitude of this special water (stewart) platform structure adjust low, the low precision of platform bearer power dynamic range, and be subject to electromagnetic interference, limited it and promoted the use of.
The model utility content
The purpose of this utility model is to overcome above-mentioned deficiency of the prior art, provides a kind of six-degree-of-freedom attitude to adjust platform.The utility model is simple in structure, reasonable in design, processing and fabricating convenient, cost is low and usage mode is flexible, the life-span is long, highly sensitive, have good anti-electromagnetic interference capability and good stable and reliability, has promotional value.
For achieving the above object, the technical solution adopted in the utility model is: the six-degree-of-freedom attitude is adjusted platform, it is characterized in that: comprise moving platform, fixed platform and six supporting members that are connected moving platform and fixed platform, the upper and lower end of each supporting member is connected moving platform by hinge respectively with fixed platform, at least comprise a drive unit on each supporting member, described drive unit comprises driver part, upper shell and the lower shell body that is slidingly matched with upper shell, described upper shell is provided with flexible rod, described driver part is arranged on the lower shell body inwall, described flexible rod is connected with the length sensing part, described length sensing part is a curved support, relative both sides on described curved bracket are laid with a plurality of A side distortion teeth and a plurality of B side distortion tooth, be between staggered laying and the head of the two between a plurality of A side distortion teeth and a plurality of B side distortion tooth and form the curvilinerar figure passage that passes for one or more signal optical fibres, A side distortion tooth and B side distortion tooth correspondence are laid in the signal optical fibre both sides, the two ends of described curved bracket are respectively fixedly on upper shell and the lower shell body, described signal optical fibre is connected with the test cell that the optical signal power variable quantity in the signal optical fibre is carried out synchronism detection, and described test cell is connected with processing unit.
Above-mentioned six-degree-of-freedom attitude is adjusted platform, strong value sensing part also is set on the described supporting member, described power value sensing part also is that two ends are separately fixed at the curved support on upper shell and the lower shell body, relative both sides on described curved bracket are laid with a plurality of A side distortion teeth and a plurality of B side distortion tooth, be the curvilinerar figure passage that formation is passed for one or more signal optical fibres between staggered laying and the head of the two between a plurality of A side distortion teeth and a plurality of B side distortion tooth, A side distortion tooth and B side distortion tooth correspondence are laid in the signal optical fibre both sides.
Above-mentioned six-degree-of-freedom attitude is adjusted platform, and described curved support is made of the curved housing, and a plurality of A side distortion teeth and a plurality of B side distortion tooth correspondence are laid on the inwall of curvilinerar figure housing.
Above-mentioned six-degree-of-freedom attitude is adjusted platform, one end of the curvilinerar figure housing of described formation length sensing part is fixed in upper enclosure inner wall, one end of the other end of curvilinerar figure housing and a secondary spring is fixed together, and the other end of secondary spring is fixed on the driver part.
Above-mentioned six-degree-of-freedom attitude is adjusted platform, and the signal optical fibre at described curved housing two ends is equipped with light reflecting device.
Above-mentioned six-degree-of-freedom attitude is adjusted platform, and described curved support is a spring, and A side distortion tooth and B side distortion tooth correspondence are laid in the spring between the two adjacent rings spring thread.
Above-mentioned six-degree-of-freedom attitude is adjusted platform, is provided with optical switch between described signal optical fibre and the test cell.
Above-mentioned six-degree-of-freedom attitude is adjusted platform, and described driver part is oil hydraulic cylinder, pneumatic cylinder, direct current generator or actuating motor.
The utility model compared with prior art has the following advantages:
1, simple in structure, processing and fabricating is easy, input cost is low and usage mode is flexible, highly sensitive.
2, this device can conveniently carry out the adjustment of sextuple attitude, have delicate structure, adaptability is strong, precision is high, good stability, rigidity height, advantage that dynamic performance is good, applicable to many aspects such as intelligent robot, detection automatically, control and manufacturing fields.
3, according to the test result of power value sensing part, the state of suffered sextuple power that can this device of perception for the upper level control unit provides the data basis, prevents the generation of overload time, guarantees the safe operation of this device.
4, this device adopts Fibre Optical Sensor and transmission signal to make this device have anti-electromagnetic interference capability preferably, has wider application area.
In sum, the utility model is simple in structure, reasonable in design, processing and fabricating is convenient, cost is low and usage mode is flexible, highly sensitive, using effect good, and good anti-electromagnetic interference capability is arranged, and has promotional value.
Below by drawings and Examples, the technical solution of the utility model is described in further detail.
Description of drawings
Fig. 1 is the utility model embodiment 1 a structural representation.
Fig. 2 is the structural representation of the utility model curved housing.
Fig. 3 is the structural representation of drive unit among the utility model embodiment 1.
Fig. 4 is the internal structure schematic representation of the utility model curved housing.
Fig. 5 is the utility model embodiment 2 a structural representation.
Fig. 6 is the utility model embodiment 2 a spring structure schematic representation.
Fig. 7 is a driving device structure schematic representation among the utility model embodiment 2.
Fig. 8 is the utility model embodiment 3 a structural representation.
Fig. 9 is the utility model embodiment 4 a structural representation.
Figure 10 is the utility model embodiment 5 a structural representation.
Description of reference numerals:
The 1-optical cable; 4-1-A side distortion tooth; 4-2-B side distortion tooth;
The 5-test cell; The 7-processing unit; The 10-supporting member;
The 11-moving platform; 12-power value sensing part; The 15-driver part;
The 16-fixed platform; The 17-hinge; 19-curved housing;
The 20-upper shell; The 21-lower shell body; The 22-secondary spring;
The 23-flexible rod; The 24-drive motor; The 25-control gear;
The 26-connecting line; The 33-signal optical fibre; The 35-optical switch;
36-length sensing part; The 38-spring; The 46-light reflecting device.
Embodiment
As Fig. 1, Fig. 2, Fig. 3 and a kind of six-degree-of-freedom attitude shown in Figure 4 are adjusted platform, comprise moving platform 11, fixed platform 16 and six supporting members 10 that are connected moving platform 11 and fixed platform 16, the upper and lower end of each supporting member 10 is connected moving platform 11 by hinge 17 respectively with fixed platform 16, at least comprise a drive unit on each supporting member 10, described drive unit comprises driver part 15, upper shell 20 and the lower shell body 21 that is slidingly matched with upper shell 20, described upper shell 20 is provided with flexible rod 23, described driver part 15 is arranged on lower shell body 21 inwalls, described flexible rod 23 is connected with length sensing part 36, described length sensing part 36 is a curved support, relative both sides on described curved bracket are laid with a plurality of A side distortion tooth 4-1 and a plurality of B side distortion tooth 4-2, be between staggered laying and the head of the two between a plurality of A side distortion tooth 4-1 and a plurality of B side distortion tooth 4-2 and form the curvilinerar figure passage that passes for one or more signal optical fibres 33, A side distortion tooth 4-1 and B side distortion tooth 4-2 correspondence are laid in signal optical fibre 33 both sides, the two ends of described curved bracket are respectively fixedly on upper shell 20 and the lower shell body 21, described signal optical fibre 33 is connected with the test cell 5 that the optical signal power variable quantity in the signal optical fibre 33 is carried out synchronism detection, and described test cell 5 is connected with processing unit 7.
In the present embodiment, the curved bracket formula is made of curvilinerar figure housing 19, and a plurality of A side distortion tooth 4-1 and a plurality of B side distortion tooth 4-2 correspondence are laid on the inwall of curvilinerar figure housing 19.Driver part 15 is a drive motor 24, described drive motor 24 is connected with the control gear 25 of controlling and driving motor 24 by connecting line 26, upper shell 20 and the lower shell body 21 that is slidingly matched with it are being connected two parts of supporting member 10 respectively, it in the last lower shell body drive motor 24, flexible rod 23 and two ends are separately fixed at the curvilinerar figure housing 19 on upper shell 20 inwalls and the drive motor 24, drive motor 24 is fixed on the inwall of lower shell body 21, flexible rod 23 elongates or shortens under the driving of drive motor 24, thereby make the length change of supporting member 10, make the length change of curvilinerar figure housing 19 again, thereby make the A that is laid in the curvilinerar figure housing 19, the distance of B both sides distortion between cog changes, cause being held on A, the bending curvature of the signal optical fibre 33 of B both sides distortion between cog changes, make the variable power that is transmitted in the optical signal in the signal optical fibre 33, record this variable signal and pass to processing unit 7 by optical cable 1 test cell 5, processing unit 7 calculates the length change state of curvilinerar figure housing 19, and extrapolate flexible rod 23 shape bodies and change, draw the length change of supporting member 10 then, by determining the length state of six supporting members 10, the attitude of moving platform 11 is adjusted.
A kind of preferred way is also to settle strong value sensing part 12 on supporting member 10, adjusts the stress of each supporting member 10 of platform so that determine sextuple attitude, prevents to transship and damages.Preferred way is that power value sensing part 12 is that the curved bracket on the supporting member 10 is fixed at another two ends, relative both sides on described curved bracket are laid with a plurality of A side distortion tooth 4-1 and a plurality of B side distortion tooth 4-2, be the curvilinerar figure passage that formation is passed for one or more signal optical fibres 33 between staggered laying and the head of the two between a plurality of A side distortion tooth 4-1 and a plurality of B side distortion tooth 4-2, A side distortion tooth 4-1 and B side distortion tooth 4-2 correspondence are laid in signal optical fibre 33 both sides.In the present embodiment, what the curved bracket in the power value sensing part 12 also adopted is curvilinerar figure housing 19.
Described driver part 15 also can be oil hydraulic cylinder, pneumatic cylinder, linear electric motor, actuating motor.
A kind of preferred way is on the signal optical fibre 33 at curvilinerar figure housing 19 two ends in length sensing part 36 and the power value sensing part 12 light reflecting device 46 to be installed, thereby make test cell 5 eliminate light source, prober and concern the influence of the performance variation or the attenuation change of link, further improve testing precision in when test.Described light reflecting device 46 can be light reflection mirror, fiber bragg grating or the optical fiber that comprises light reflection bubble.
Described signal optical fibre 33 is the outside optical fiber that is surrounded by multi-protective layer, and described signal optical fibre 33 is for the outside optical fiber that is surrounded by the multilayer fibers protective layer, as tight tube fiber, carbon coated fiber, polyimide coated optical fiber etc.; Described signal optical fibre 33 also can be plastic optical fiber, multi-core fiber, thin footpath optical fiber or photonic crystal fiber; Or many signal optical fibres 33 are clamped between A side distortion tooth 4-1 and the B side distortion tooth 4-2 side by side, or many signal optical fibres 33 are merged into signal optical fibre bundle or signal optical fibre band by resin.Described signal optical fibre 33 external packets are covered with one deck waterproof layer, as waterproofing unction, can further prevent the erosion of water molecule to signal optical fibre 33, have prolonged the working life of signal optical fibre 33.
Embodiment 2
As Fig. 5, Fig. 6, shown in Figure 7, in the present embodiment, as different from Example 1: described curved bracket is a spring 38, and A side distortion tooth 4-1 and B side distortion tooth 4-2 correspondence are laid in the spring 38 between the two adjacent rings spring thread, and A side distortion tooth 4-1 and the interlaced laying of B side distortion tooth 4-2.In the present embodiment, the structure of remaining part, annexation and working principle are all identical with embodiment 1.
Embodiment 3
As shown in Figure 8, in the present embodiment, as different from Example 1: an end of the curvilinerar figure housing 19 of described formation length sensing part 36 is fixed in upper shell 20 inwalls, one end of the other end of curvilinerar figure housing 19 and a secondary spring 22 is fixed together, the other end of secondary spring 22 is fixed on the drive motor 24, and this can make curvilinerar figure housing 19 have bigger length testing dynamic range.In the present embodiment, the structure of remaining part, annexation and working principle are all identical with embodiment 1.
Embodiment 4
As shown in Figure 9, in the present embodiment, as different from Example 1: a plurality of curvilinerar figure housings 19 on a plurality of supporting members 10 are connected on the signal optical fibre 33, and connect test cell 5 by optical cable 1, at this moment the preferred employing OTDR monitoring instrument of test cell 5, can test the state of a plurality of curvilinerar figure housings 19 simultaneously, a kind of preferred way is to be mounted with light reflecting device 46 at each curvilinerar figure housing 19 two ends, catoptrical watt level by monitoring light reflecting device 46 calculates the loss of each curvilinerar figure housing 19, and can eliminate light source, the influence of the variation of part such as prober and optical cable.In the present embodiment, the structure of remaining part, annexation and working principle are all identical with embodiment 1.
As shown in figure 10, in the present embodiment, as different from Example 1: optical cable 1 is connected with test cell 5 by optical switch 35, and optical switch 35 is under the control of processing unit 7, respectively each curvilinerar figure housing 19 is tested monitoring when reaching to a plurality of curvilinerar figure housing 19.In the present embodiment, the structure of remaining part, annexation and working principle are all identical with embodiment 1.
The above; it only is preferred embodiment of the present utility model; be not that the utility model is imposed any restrictions; every according to the utility model technical spirit to any simple modification, change and equivalent structure transformation that above embodiment did, all still belong in the protection domain of technical solutions of the utility model.
Claims (8)
1. the six-degree-of-freedom attitude is adjusted platform, it is characterized in that: comprise moving platform (11), fixed platform (16) and six supporting members (10) that are connected moving platform (11) and fixed platform (16), the upper and lower end of each supporting member (10) is connected moving platform (11) by hinge (17) respectively with fixed platform (16), at least comprise a drive unit on each supporting member (10), described drive unit comprises driver part (15), upper shell (20) and the lower shell body (21) that is slidingly matched with upper shell (20), described upper shell (20) is provided with flexible rod (23), described driver part (15) is arranged on lower shell body (21) inwall, described flexible rod (23) is connected with length sensing part (36), described length sensing part (36) is a curved support, relative both sides on described curved bracket are laid with a plurality of A side distortion teeth (4-1) and a plurality of B side distortion tooth (4-2), be between staggered laying and the head of the two between a plurality of A side distortion teeth (4-1) and a plurality of B side distortion tooth (4-2) and form the curvilinerar figure passage that passes for one or more signal optical fibres (33), A side distortion tooth (4-1) and B side distortion tooth (4-2) correspondence are laid in signal optical fibre (33) both sides, the two ends of described curved bracket are respectively fixedly on upper shell (20) and the lower shell body (21), described signal optical fibre (33) is connected with the test cell (5) that the optical signal power variable quantity in the signal optical fibre (33) is carried out synchronism detection, and described test cell (5) is connected with processing unit (7).
2. six-degree-of-freedom attitude according to claim 1 is adjusted platform, it is characterized in that: strong value sensing part (12) also is set on the described supporting member (10), described power value sensing part (12) also is that two ends are separately fixed at the curved support on upper shell (20) and the lower shell body (21), relative both sides on described curved bracket are laid with a plurality of A side distortion teeth (4-1) and a plurality of B side distortion tooth (4-2), be the curvilinerar figure passage that formation is passed for one or more signal optical fibres (33) between staggered laying and the head of the two between a plurality of A side distortion teeth (4-1) and a plurality of B side distortion tooth (4-2), A side distortion tooth (4-1) and B side distortion tooth (4-2) correspondence are laid in signal optical fibre (33) both sides.
3. six-degree-of-freedom attitude according to claim 1 and 2 is adjusted platform, it is characterized in that: described curved support is made of curved housing (19), and a plurality of A side distortion teeth (4-1) and a plurality of B side distortion tooth (4-2) correspondence are laid on the inwall of curvilinerar figure housing (19).
4. six-degree-of-freedom attitude according to claim 3 is adjusted platform, it is characterized in that: an end of the curvilinerar figure housing (19) of described formation length sensing part (36) is fixed in upper shell (20) inwall, one end of the other end of curvilinerar figure housing (19) and a secondary spring (22) is fixed together, and the other end of secondary spring (22) is fixed on the driver part (15).
5. six-degree-of-freedom attitude according to claim 3 is adjusted platform, and it is characterized in that: the signal optical fibre (33) at described curved housing (19) two ends is equipped with light reflecting device (46).
6. six-degree-of-freedom attitude according to claim 1 and 2 is adjusted platform, and it is characterized in that: described curved support is spring (38), and A side distortion tooth (4-1) and B side distortion tooth (4-2) correspondence are laid between the middle two adjacent rings spring thread of spring (38).
7. six-degree-of-freedom attitude according to claim 1 is adjusted platform, it is characterized in that: be provided with optical switch (35) between described signal optical fibre (33) and the test cell (5).
8. six-degree-of-freedom attitude according to claim 1 is adjusted platform, it is characterized in that: described driver part (15) is oil hydraulic cylinder, pneumatic cylinder, direct current generator or actuating motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206422127U CN201902779U (en) | 2010-12-03 | 2010-12-03 | Six-degree-of-freedom posture adjusting platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206422127U CN201902779U (en) | 2010-12-03 | 2010-12-03 | Six-degree-of-freedom posture adjusting platform |
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| CN201902779U true CN201902779U (en) | 2011-07-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010206422127U Expired - Fee Related CN201902779U (en) | 2010-12-03 | 2010-12-03 | Six-degree-of-freedom posture adjusting platform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103206595A (en) * | 2012-01-11 | 2013-07-17 | 昆山允升吉光电科技有限公司 | Electric objective table |
-
2010
- 2010-12-03 CN CN2010206422127U patent/CN201902779U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103206595A (en) * | 2012-01-11 | 2013-07-17 | 昆山允升吉光电科技有限公司 | Electric objective table |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110720 Termination date: 20111203 |