CN105404316A - Array type position attitude fine tuning method - Google Patents
Array type position attitude fine tuning method Download PDFInfo
- Publication number
- CN105404316A CN105404316A CN201510964937.5A CN201510964937A CN105404316A CN 105404316 A CN105404316 A CN 105404316A CN 201510964937 A CN201510964937 A CN 201510964937A CN 105404316 A CN105404316 A CN 105404316A
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- Prior art keywords
- self
- locking
- attitude
- bracing
- accurate
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Abstract
The invention discloses an array type position attitude fine tuning method. First of all, position attitude adjustment is performed on a work platform (1) in terms of three degrees of freedom by use of three precision self-locking position attitude adjustment devices (2) through a three-point positioning principle, and then, auxiliary supporting is carried out on the work platform (1) for stabilizing position attitude in a mode of presetting contact stress by use of a plurality of precision self-locking adaptive support devices (3) capable of presetting contact stress trigger thresholds, such that reliable contact between the precision self-locking adaptive support devices (3) and the platform is guaranteed under the condition that adjustment precision is not affected. All the precision self-locking position attitude adjustment devices (2) and the precision self-locking adaptive support devices (3) are arranged in an array, and the position attitude stability and the bearing capability of the work platform (1) are guaranteed. According to the invention, a deflection angle with two degrees of freedom and linear displacement with one degree of freedom can be adjusted, a quite large load can be borne, and the method has the advantages of accurate position attitude adjustment, large support structure rigidity and the like.
Description
Technical field
The invention belongs to the position and attitude control method of the bracing or strutting arrangement having Three Degree Of Freedom, particularly a kind of supporting mechanism multiple stage being had adaptive adjustment capability is arranged to the device of array.
Background technology
Along with the movable lifting day by day to accuracy requirement of modern industry, special checkout equipment and high-accuracy process equipment are used more and more frequently, often can use the bracing or strutting arrangement having adjusting position attitude function in the said equipment.
The method of conventional supporting device adjusting position attitude can be divided into manually and automatic two kinds.The mode automaticity of manual adjustments is low, and use very flexible, low precision, can not meet high efficiency job requirement.The mode of automatic adjustment uses precise part in a large number, and the rigidity of supporting construction is little, can not bear larger load, if load is excessive, gently then causes supporting structural elastic to be out of shape and increases, increase error, heavy then cause the damage of supporting construction precise part.
Have the bracing or strutting arrangement of automatic position adjusting function attitude function how under the prerequisite ensureing degree of regulation and flexible adjustment, increase rigidity and the load capacity of supporting construction, avoid the volume of bracing or strutting arrangement, quality excessive again simultaneously, just must seek a kind of support different from the past, regulative mode.
Summary of the invention
In view of this, for the deficiencies in the prior art, technical matters to be solved by this invention is to provide a kind of array position and attitude method for trimming, be set to leg-of-mutton accurate self-locking position attitude regulating mechanism (2) by three tablecloths and be responsible for adjusting position attitude, several accurate self-locking self-adaptation bracing or strutting arrangements (3) are responsible for multiple spot supplemental support, guarantee position and attitude is stablized, the present invention is had position and attitude degree of regulation is high, load capacity is large feature.
The present invention to achieve these goals, structure is composed as follows: workbench (1) is supported by three accurate self-locking position attitude regulating mechanisms (2) and several accurate self-locking self-adaptation bracing or strutting arrangements (3), described three accurate self-locking position attitude regulating mechanisms (2) are arranged to triangle, and all accurate self-locking position attitude regulating mechanisms (2) and accurate self-locking self-adaptation bracing or strutting arrangement (3) form array together and arrange.Accurate self-locking self-adaptation bracing or strutting arrangement (3) of every platform is all provided with sensor, can feed back the contact stress of support zone.
Advantage of the present invention is as follows: can regulate and be parallel to Y-axis and rotary freedom in orthogonal two planes and be parallel to the linear degrees of freedom of Y-axis, position and attitude regulates accurately; Supporting construction rigidity is large, can bear comparatively heavy load; Bracing or strutting arrangement has Automatic adjusument function, ensure adjust the precise and stable of load situation attitude.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention will be further described.
Fig. 1 is a kind of schematic diagram of array position and attitude method for trimming.
In figure, 1-workbench, 2-accurate self-locking position attitude regulating mechanism, 3-accurate self-locking self-adaptation bracing or strutting arrangement.
Embodiment
Exemplary embodiment is as follows: shown in Fig. 1, workbench (1) is for carrying weight, accurate self-locking position attitude regulating mechanism (2) of every platform, accurate self-locking self-adaptation bracing or strutting arrangement (3) all independently can do rectilinear motion along the positive negative direction of Y-axis, accurate self-locking self-adaptation bracing or strutting arrangement (3) of every platform is all provided with sensor, three accurate self-locking position attitude regulating mechanism (2) modes triangular in shape are arranged, all accurate self-locking position attitude regulating mechanisms (2) and accurate self-locking self-adaptation bracing or strutting arrangement (3) are decorated in array.
First, before adjustment work starts, user first presets a contact stress threshold value.When regulating the position and attitude of workbench (1), three accurate self-locking position attitude regulating mechanisms (2) do rectilinear motion according to steering order along the positive negative direction of Y-axis, regulate workbench (1) being parallel to Y-axis and rotary freedom in orthogonal two planes and be parallel to the linear degrees of freedom of Y-axis with three-point fix principle.Then, all accurate self-locking self-adaptation bracing or strutting arrangements (3) are moved along Y-axis positive dirction, and the support zone of accurate self-locking self-adaptation bracing or strutting arrangement (3) of every platform touches workbench (1) and the automatic stop motion after being equal to or greater than preset exposure stress threshold of suffered actual contact stress numerical value.Now whole adjustment end-of-job, the position and attitude of workbench (1) keeps stable.
Principle of work labor of the present invention is as follows: after the position and attitude of workbench (1) regulates, all accurate self-locking self-adaptation bracing or strutting arrangements (3) start, now the actual contact stress numerical value suffered by the support zone detected by sensor of all accurate self-locking self-adaptation bracing or strutting arrangements (3) is less than preset exposure stress threshold, and then all accurate self-locking self-adaptation bracing or strutting arrangements (3) are moved along Y-axis positive dirction.After the support zone of certain accurate self-locking self-adaptation bracing or strutting arrangement (3) touches workbench (1), actual contact stress numerical value suffered by support zone detected by its sensor increases, when actual contact stress numerical value is equal to or greater than preset exposure stress threshold, this accurate self-locking self-adaptation bracing or strutting arrangement (3) stop motion.When all accurate self-locking self-adaptation bracing or strutting arrangements (3) are through said process and after stop motion, unsettled situation can not be there is in each support zone, the effect of multiple spot supplemental support realizes, now the position and attitude of workbench (1) keeps steady state (SS), and the acquisition of whole supporting construction rigidity increases significantly.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, obviously, those skilled in the art can carry out various change and distortion to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and distortion belong within the scope of claim of the present invention and equivalent technologies thereof, then the present invention also comprises these changes and distortion.
Claims (6)
1. an array position and attitude method for trimming, it is characterized in that: workbench (1) is supported by three accurate self-locking position attitude regulating mechanisms (2) and several accurate self-locking self-adaptation bracing or strutting arrangements (3), first utilize described three accurate self-locking position attitude regulating mechanisms (2) to regulate workbench (1) position and attitude on three degree of freedom with three-point fix principle, then in the mode of preset exposure stress, multiple spot supplemental support is carried out to workbench (1) by described all accurate self-locking self-adaptation bracing or strutting arrangements (3).
2. a kind of array position and attitude method for trimming according to claim 1, it is characterized in that: described accurate self-locking position attitude regulating mechanism (2) is straight line top bracing mechanism, there is auto-lock function, accurate self-locking position attitude regulating mechanism (2) described in every platform can self-movement, and three described accurate self-locking position attitude regulating mechanisms (2) are arranged to triangle.
3. a kind of array position and attitude method for trimming according to claim 1, it is characterized in that: described accurate self-locking self-adaptation bracing or strutting arrangement (3) is straight line top bracing mechanism, there is auto-lock function, accurate self-locking self-adaptation bracing or strutting arrangement (3) described in every platform can self-movement, described in every platform, accurate self-locking self-adaptation bracing or strutting arrangement (3) is provided with sensor, can feed back the contact stress of support zone.
4. according to claim 1, a kind of array position and attitude method for trimming according to claim 3, it is characterized in that: the mode of described preset exposure stress threshold for: when described accurate self-locking self-adaptation bracing or strutting arrangement (3) support zone suffered by actual contact stress be less than preset exposure stress threshold time, described accurate self-locking self-adaptation bracing or strutting arrangement (3) moves upward; When described accurate self-locking self-adaptation bracing or strutting arrangement (3) support zone suffered by actual contact stress be equal to or greater than preset exposure stress threshold time, described accurate self-locking self-adaptation bracing or strutting arrangement (3) keeps transfixion.
5. a kind of array position and attitude method for trimming according to claim 1, is characterized in that: described three degree of freedom is parallel to Y-axis and rotary freedom in orthogonal two planes and be parallel to the linear degrees of freedom of Y-axis.
6. a kind of array position and attitude method for trimming according to claim 1, is characterized in that: described all accurate self-locking position attitude regulating mechanisms (2) and accurate self-locking self-adaptation bracing or strutting arrangement (3) are decorated in array.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510964937.5A CN105404316A (en) | 2015-12-21 | 2015-12-21 | Array type position attitude fine tuning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510964937.5A CN105404316A (en) | 2015-12-21 | 2015-12-21 | Array type position attitude fine tuning method |
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| CN105404316A true CN105404316A (en) | 2016-03-16 |
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| CN201510964937.5A Pending CN105404316A (en) | 2015-12-21 | 2015-12-21 | Array type position attitude fine tuning method |
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Citations (10)
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|---|---|---|---|---|
| US4216467A (en) * | 1977-12-22 | 1980-08-05 | Westinghouse Electric Corp. | Hand controller |
| JPS6277546A (en) * | 1985-07-13 | 1987-04-09 | アブダル ワブ エイチ．ナスラト | Tracking device tracking solar-energy receiver to movement of sun |
| CN1776471A (en) * | 2005-12-05 | 2006-05-24 | 北京航空航天大学 | Motion platform mechanism suitable for optical waveguide automatic-packaging robot system |
| CN102192213A (en) * | 2011-05-21 | 2011-09-21 | 汉川机床集团有限公司 | Internal recycle balance pressure oil cylinder |
| CN102359865A (en) * | 2011-08-17 | 2012-02-22 | 中国科学院西安光学精密机械研究所 | Testing method of magnetic-optic effect of linear polarized light and device thereof |
| CN103486418A (en) * | 2013-09-30 | 2014-01-01 | 张喆民 | Table-board supporting device for overlarge spliced platform |
| CN103624535A (en) * | 2013-11-11 | 2014-03-12 | 北京卫星环境工程研究所 | Precise adjustment device for pose of spacecraft |
| CN104229158A (en) * | 2014-09-03 | 2014-12-24 | 上海交通大学 | Six-degree-of-freedom positioning gesture adjusting equipment used for automatic assembling of large barrel-shaped thin-wall construction member |
| CN105109706A (en) * | 2015-08-26 | 2015-12-02 | 西北工业大学 | Locating and gripping experimental device for aircraft thin-wall parts |
| CN105158057A (en) * | 2015-07-17 | 2015-12-16 | 吉林大学 | Apparatus and method for testing in-situ triaxial tension fatigue under multi-field coupling |
-
2015
- 2015-12-21 CN CN201510964937.5A patent/CN105404316A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4216467A (en) * | 1977-12-22 | 1980-08-05 | Westinghouse Electric Corp. | Hand controller |
| JPS6277546A (en) * | 1985-07-13 | 1987-04-09 | アブダル ワブ エイチ．ナスラト | Tracking device tracking solar-energy receiver to movement of sun |
| CN1776471A (en) * | 2005-12-05 | 2006-05-24 | 北京航空航天大学 | Motion platform mechanism suitable for optical waveguide automatic-packaging robot system |
| CN102192213A (en) * | 2011-05-21 | 2011-09-21 | 汉川机床集团有限公司 | Internal recycle balance pressure oil cylinder |
| CN102359865A (en) * | 2011-08-17 | 2012-02-22 | 中国科学院西安光学精密机械研究所 | Testing method of magnetic-optic effect of linear polarized light and device thereof |
| CN103486418A (en) * | 2013-09-30 | 2014-01-01 | 张喆民 | Table-board supporting device for overlarge spliced platform |
| CN103624535A (en) * | 2013-11-11 | 2014-03-12 | 北京卫星环境工程研究所 | Precise adjustment device for pose of spacecraft |
| CN104229158A (en) * | 2014-09-03 | 2014-12-24 | 上海交通大学 | Six-degree-of-freedom positioning gesture adjusting equipment used for automatic assembling of large barrel-shaped thin-wall construction member |
| CN105158057A (en) * | 2015-07-17 | 2015-12-16 | 吉林大学 | Apparatus and method for testing in-situ triaxial tension fatigue under multi-field coupling |
| CN105109706A (en) * | 2015-08-26 | 2015-12-02 | 西北工业大学 | Locating and gripping experimental device for aircraft thin-wall parts |
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Application publication date: 20160316 |