CN102519672A - Monocular-principle-based six-degree-of-freedom position and attitude measuring device for measuring static balance of gyroscope - Google Patents

Abstract

The invention discloses a six-degree-of-freedom position and attitude measuring device based on the monocular principle for measuring the static balance of a gyroscope. The measuring device includes an X-axis for collecting image information in the X-axis direction of a tested sample (40). An image acquisition component (10), a Y-axis image acquisition component (20) for acquiring image information in the Y-axis direction of the tested sample (40), and a Y-axis image acquisition component (20) for acquiring image information in the Z-axis direction of the tested sample (40). A Z-axis image acquisition component (30), a support frame (1) and a background plate. The X-axis image acquisition component (10), the Y-axis image acquisition component (20) and the Z-axis image acquisition component (30) are installed outside the support frame (1), and the background plate is installed inside the support frame (1). The measurement device of the present invention collects the front view, side view and top view of the tested sample (40) through three cameras, without direct contact with the tested sample, so it will not interfere with the attitude change of the tested sample, which is useful for improving The measurement accuracy is extremely beneficial.

Description

A six-degree-of-freedom pose measurement device based on the monocular principle for measuring the static balance of a gyroscope

technical field

The present invention relates to a statically balanced measuring device, more particularly, to a measuring device based on the monocular principle for measuring the statically balanced six-degree-of-freedom pose of a gyroscope.

Background technique

The working principle of the gyroscope: the direction pointed by the motion axis based on the high-speed rotating rigid body will not change relative to the inertial space when it is not affected by external forces. It can use the momentum moment of the high-speed revolving body to measure the angular motion of the housing relative to one or two axes perpendicular to the rotation axis in the inertial space. Because its detection results do not depend on external reference signals, gyroscopes play a wide and irreplaceable role in aviation, spaceflight, navigation and land autonomous navigation.

The mass imbalance of the gyroscope will cause a large zero error (zero drift) in its output signal, and the zero error is one of the most important factors affecting the performance of the inertial system. Therefore, in the production process of the gyroscope, it must be tested for static balance. The traditional static balance test is carried out manually based on the naked eye or theodolite, the accuracy is difficult to be guaranteed, and the production efficiency is also very low.

Contents of the invention

The object of the present invention is to provide a six-degree-of-freedom position and attitude measurement device based on the monocular principle for measuring the static balance of a gyroscope. The static balance measurement device performs image tracking and recognition on the gyroscope rotor in three directions, thereby Realize non-contact, high-precision, high-speed real-time measurement of the gyroscope rotor.

A six-degree-of-freedom position and attitude measurement device based on the monocular principle for measuring the static balance of a gyro according to the present invention, the measurement device includes an X-axis image for collecting image information in the X-axis direction of the tested sample (40) A collection component (10), a Y-axis image collection component (20) for collecting image information in the Y-axis direction of the tested sample (40), a Z-axis image collection component (20) for collecting image information in the Z-axis direction of the tested sample (40). An axis image acquisition assembly (30), a support frame (1) and a background plate; wherein, the X-axis image acquisition assembly (10), the Y-axis image acquisition assembly (20) and the Z-axis image acquisition assembly (30) have the same structure;

The support frame (1) is a frame structure, and the first lead screw frame (11) is installed on the outside of the first plate surface (1A) of the support frame (1); the second plate surface (1B) of the support frame (1) ) is installed on the outside of the third lead screw frame (13); the inside of the third plate surface (1C) of the support frame (1) is equipped with the first background plate (2); the fourth plate of the support frame (1) A third background plate (3) is installed on the inner side of the surface (1D); a third background plate (4) is installed on the bottom surface (1E) of the support frame (1); The fifth screw frame (15);

The X-axis image acquisition assembly (10) includes a first lead screw frame (11), a first lead screw (11B), a first motor (11A), a second lead screw frame (12), and a second lead screw (12B) , the second motor (12A), the first slide block (21), the second slide block (22) and the first camera (17); the first camera (17) is used to collect the front view of the tested object (40) picture;

One end of the first lead screw (11B) is installed in the A ball bearing (11E) of the A side plate (11C) of the first lead screw frame (11), and the A ball bearing (11E) is installed in the A side plate (11C) in the A through hole (11F); the other end of the first lead screw (11B) is connected with the output shaft of the first motor (11A) through a coupling; the first motor (11A) is installed on the first lead screw frame (11 ) on side panel B (11D);

One end of the second lead screw (12B) is installed in the B ball bearing (12E) of the A side plate (12C) of the second lead screw frame (12), and the B ball bearing (12E) is installed in the A side plate (12C) In the B through hole (12F), the other end of the second lead screw (12B) is connected with the output shaft of the second motor (12A) through a coupling; the second motor (12A) is installed on the second lead screw frame (12 ) on side panel B (12D);

The first slide block (21) is installed on the back of the second lead screw frame (12), and the central lead screw hole on the first slide block (21) is used for the first lead screw (11B) to pass through; the second slide block (22) is equipped with a first camera (17), and the center lead screw hole on the second slide block (22) is used for the second lead screw (12B) to pass through;

The Y-axis image acquisition assembly (20) includes a third lead screw frame (13), a third lead screw (13B), a third motor (13A), a fourth lead screw frame (14), a fourth lead screw (14B) , the fourth motor (14A), the third slide block (23), the fourth slide block (24) and the third camera (18); the third camera (18) is used to collect the side of the tested object (40) view;

One end of the third lead screw (13B) is installed in the C ball bearing (13E) of the A side plate (13C) of the third lead screw frame (13), and the C ball bearing (13E) is installed in the A side plate (13C) In the C through hole (13F), the other end of the third lead screw (13B) is connected with the output shaft of the third motor (13A) through a coupling; the third motor (13A) is installed on the third lead screw frame (13 ) on side panel B (13D);

One end of the fourth lead screw (14B) is installed in the D ball bearing (14E) of the A side plate (14C) of the fourth lead screw frame (14), and the D ball bearing (14E) is installed in the A side plate (14C) In the D through hole (14F), the other end of the fourth lead screw (14B) is connected with the output shaft of the fourth motor (14A) through a coupling; the fourth motor (14A) is installed on the fourth lead screw frame (14 ) on side panel B (14D);

The third slide block (23) is installed on the back of the fourth lead screw frame (14), and the center lead screw hole on the third slide block (23) is used for the third lead screw (13B) to pass through; the fourth slide block The second camera (18) is installed on (24), and the central screw hole on the fourth slide block (24) is used for the fourth leading screw (14B) to pass through;

The Z-axis image acquisition assembly (30) includes a fifth lead screw frame (15), a fifth lead screw (15B), a fifth motor (15A), a sixth lead screw frame (16), a sixth lead screw (16B) , the sixth motor (16A), the fifth slide block (25), the sixth slide block (26) and the third camera (19); the third camera (19) is used to collect the top view of the tested object (40) ;

One end of the fifth lead screw (15B) is installed in the E ball bearing (15E) of the A side plate (15C) of the fifth lead screw frame (15), and the E ball bearing (15E) is installed in the A side plate (15C) In the E through hole (15F), the other end of the fifth lead screw (15B) is connected with the output shaft of the fifth motor (15A) through a coupling; the fifth motor (15A) is installed on the fifth lead screw frame (15 ) on side panel B (15D);

One end of the sixth lead screw (16B) is installed in the F ball bearing (16E) of the A side plate (16C) of the sixth lead screw frame (16), and the F ball bearing (16E) is installed in the A side plate (16C) In the F through hole (16F), the other end of the sixth lead screw (16B) is connected with the output shaft of the sixth motor (16A) through a coupling; the sixth motor (16A) is installed on the sixth lead screw frame (16 ) on side panel B (16D);

The fifth slide block (25) is installed on the back of the sixth lead screw frame (16), and the center lead screw hole on the fifth slide block (25) is used for the fifth lead screw (15B) to pass through; the sixth slide block The third camera (19) is installed on (26), and the center lead screw hole on the sixth slide block (26) is used for the sixth lead screw (16B) to pass through.

The described six-degree-of-freedom position and attitude measurement device based on the monocular principle for measuring the static balance of the gyroscope, the movement mode of its six motors is as follows: the first motor (11A) and the second motor (12A) control the first motor (11A) and the second motor (12A) respectively. A lead screw (11) and a second lead screw (12) generate synchronous motion, thereby pushing the first slide block (21) and the second slide block (22), so that the first camera (17) produces a movement in the Y and Z directions. Linkage; the third lead screw (13) and the fourth lead screw (14) are controlled by the third motor (13A) and the fourth motor (14A) to generate synchronous motion, thereby pushing the third slider (23) and the fourth slider Block (24), makes the second camera (18) produce linkage on the X and Y directions; Control the 5th leading screw (15) and the 6th leading screw ( 16) Synchronous movement is generated, thereby pushing the fifth slider (25) and the sixth slider (26), so that the third camera (19) generates linkage in the X and Z directions.

The advantages of the six-degree-of-freedom pose measurement device based on the monocular principle of the present invention are:

(1) Since the measurement device is based on visual measurement and does not need to be in direct contact with the tested sample (gyroscope), it will not interfere with the attitude change of the tested sample, which is extremely beneficial for improving the measurement accuracy.

(2) Since the current visual measurement technology can reach the sub-pixel level, the precision of the static balance measurement device designed with this technology is much higher than the current manual measurement method.

(3) The measuring device can realize the dynamic, high-speed and real-time measurement of the gyroscope rotor, which is of great help to improve the detection and production efficiency.

(4) The support frame with a cavity hexahedron structure is used as the spatial position positioning, and the vertical installation of the three screw frames and the support frame ensures that the cameras distributed on the three axis positions are aligned with the image information (front view, side view, top view) collection.

(5) The two screw frames on each axis are vertically installed in pairs, which is beneficial for the camera mounted on the screw frames to move within the mounting surface, thereby realizing image acquisition from different angles of view.

Description of drawings

Fig. 1 is a structural diagram of the static balance measuring device of the present invention.

Fig. 1A is a structural view of the static balance measuring device of the present invention without a supporting frame.

Fig. 1B is a structural diagram of the support frame of the present invention.

Fig. 2 is a structural diagram of the X-axis image acquisition assembly of the present invention.

Fig. 3 is a structural diagram of the Y-axis image acquisition component of the present invention.

Fig. 4 is a structural diagram of the Z-axis image acquisition assembly of the present invention.

Fig. 5A is a schematic diagram of collecting images by using three cameras in the measuring device of the present invention.

Fig. 5B is a schematic diagram of the tested object being a cylinder and the cylinder being expanded.

Numbers in the figure: 1. Support frame; 1A. First board; 1B. Second board; 1C. Third board; 1D. Fourth board; 1E. Bottom board; 2. First background board; 3 .The second background plate; 4. The third background plate; 11. The first screw frame; 11A. The first motor; 11B. The first screw; 11C.A side plate; 11D.B side plate; 11E.A ball Bearing; 11F.A through hole; 12. Second screw frame; 12A. Second motor; 12B. Second screw; 12C.A side plate; 12D.B side plate; 12E.B ball bearing; 12F.B Through hole; 13. The third screw frame; 13A. The third motor; 13B. The third screw; 13C.A side plate; 13D.B side plate; 13E.C ball bearing; 13F.C through hole; 14. The fourth screw frame; 14A. The fourth motor; 14B. The fourth screw; 14C.A side plate; 14D.B side plate; 14E.D ball bearing; 14F.D through hole; 15. The fifth screw frame ; 15A. Fifth motor; 15B. Fifth screw; 15C.A side plate; 15D.B side plate; 15E.E ball bearing; Motor; 16B. Sixth lead screw; 16C.A side plate; 16D.B side plate; 16E.F ball bearing; 16F.F through hole; 17. First camera; 18. Second camera; 19. Third camera ;21. The first slider; 22. The second slider; 23. The third slider; 24. The fourth slider; 25. The fifth slider; 26. The sixth slider; 10. X-axis image acquisition component ; 20. Y-axis image acquisition component; 30. Z-axis image acquisition component; 40. Tested sample.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings.

Referring to Fig. 1 and shown in Fig. 1A, the present invention is a six-degree-of-freedom position and attitude measuring device based on the monocular principle for measuring the static balance of a gyroscope, and the measuring device includes an X-axis direction for collecting the tested sample 40 The X-axis image acquisition assembly 10 for the upper image information, the Y-axis image acquisition assembly 20 for collecting the image information in the Y-axis direction of the tested sample 40, and the Z-axis image acquisition assembly 20 for collecting the image information in the Z-axis direction of the tested sample 40 Image acquisition component 30, support frame 1 and background plate. Wherein, the structures of the X-axis image acquisition assembly 10 , the Y-axis image acquisition assembly 20 and the Z-axis image acquisition assembly 30 are the same.

(1) Support frame

Referring to Fig. 1 and Fig. 1B, the support frame 1 is a frame structure, and the support frame 1 is made of tempered glass.

A first lead screw frame 11 is installed on the outer side of the first plate surface 1A of the support frame 1;

A third lead screw frame 13 is installed on the outer side of the second plate surface 1B of the support frame 1;

A first background plate 2 is installed on the inner side of the third plate surface 1C of the support frame 1;

A third background plate 3 is installed on the inner side of the fourth plate surface 1D of the support frame 1;

A third background plate 4 is installed on the bottom surface 1E of the support frame 1;

A fifth lead screw frame 15 is installed on the upper top of the support frame 1 .

In the present invention, the supporting frame 1 is used to support the whole measuring device. The support frame 1 is designed as a hexahedron structure, which can facilitate the acquisition of the image information of the test piece 40 by the camera on the three axes of X, Y, and Z, and is also a spatial positioning component for the test piece 40 in space.

(2) Background board

Referring to Fig. 1 and Fig. 1A, the background plate in the present invention is used to enhance the image contrast and improve the measurement accuracy of the measuring device. The background board is made of black aluminum.

The first background plate 2 is installed on the inner side of the third plate surface 1C of the support frame 1;

The second background plate 3 is installed on the inner side of the fourth plate surface 1D of the support frame 1;

The fourth background plate 4 is installed on the bottom surface 1E of the support frame 1 .

(3) X-axis image acquisition component 10

1, FIG. 1A, and FIG. 2, the X-axis image acquisition assembly 10 includes a first screw frame 11, a first screw 11B, a first motor 11A, a second screw frame 12, and a second screw 12B. , the second motor 12A, the first slider 21 , the second slider 22 and the first camera 17 . The first camera 17 is used to collect the front view of the tested object 40 .

One end of the first lead screw 11B is installed in the A ball bearing 11E of the A side plate 11C of the first lead screw frame 11 (the connection between the lead screw and the ball bearing is a conventional technology), and the A ball bearing 11E is installed on the A side plate 11C In the A through hole 11F; the other end of the first leading screw 11B is connected with the output shaft of the first motor 11A by a coupling (not shown in the figure, the connection of the leading screw, the coupling and the motor is conventional technology); The first motor 11A is installed on the B-side plate 11D of the first screw frame 11 .

One end of the second lead screw 12B is installed in the B ball bearing 12E of the A side plate 12C of the second lead screw frame 12 (the connection between the lead screw and the ball bearing is a conventional technology), and the B ball bearing 12E is installed on the A side plate 12C In the B through hole 12F of the second leading screw 12B, the other end of the second leading screw 12B is connected with the output shaft of the second electric motor 12A by a shaft coupling (not shown in the figure, the connection of the leading screw, the shaft coupling and the motor is conventional technology); The second motor 12A is installed on the B-side plate 12D of the second screw frame 12 .

The first slider 21 is installed on the back of the second screw frame 12 , and the first camera 17 is installed on the second slider 22 . In the present invention, the image information collection of the first camera 17 in the X-axis plane can be realized through two sliders and two lead screws.

The central lead screw hole on the first slider 21 is used for the first lead screw 11B to pass through.

The central lead screw hole on the second slider 22 is used for the second lead screw 12B to pass through.

In the present invention, the X-axis image acquisition assembly 10 utilizes the first lead screw frame 11 installed on the first plate surface 1A (X installation surface) of the support frame 1 to realize the image of the test piece 40 collected by the first camera 17. The image information is the front view.

(4) Y-axis image acquisition component 20

1, FIG. 1A, and FIG. 3, the Y-axis image acquisition assembly 20 includes a third lead screw frame 13, a third lead screw 13B, a third motor 13A, a fourth lead screw frame 14, and a fourth lead screw 14B. , the fourth motor 14A, the third slider 23 , the fourth slider 24 and the third camera 18 . The third camera 18 is used to collect a side view of the tested object 40 .

One end of the third lead screw 13B is installed in the C ball bearing 13E of the A side plate 13C of the third lead screw frame 13 (the connection between the lead screw and the ball bearing is a conventional technology), and the C ball bearing 13E is installed on the A side plate 13C In the C through hole 13F of the third leading screw 13B, the other end of the third leading screw 13B is connected with the output shaft of the third electric motor 13A by a shaft coupling (not shown in the figure, the connection of the leading screw, the shaft coupling and the motor is conventional technology); The third motor 13A is installed on the B-side plate 13D of the third screw frame 13 .

One end of the fourth lead screw 14B is installed in the D ball bearing 14E of the A side plate 14C of the fourth lead screw frame 14 (the connection between the lead screw and the ball bearing is a conventional technology), and the D ball bearing 14E is installed in the A side plate 14C In the D through hole 14F, the other end of the fourth leading screw 14B is connected with the output shaft of the fourth electric motor 14A by a shaft coupling (not shown in the figure, the connection of the leading screw, shaft coupling and motor is conventional technology); The fourth motor 14A is installed on the B-side plate 14D of the fourth screw frame 14 .

The third slider 23 is installed on the back of the fourth screw frame 14 , and the second camera 18 is installed on the fourth slider 24 . In the present invention, the image information collection of the second camera 18 in the Y-axis plane can be realized through two sliders and two lead screws.

The central lead screw hole on the third slider 23 is used for the third lead screw 13B to pass through.

The central lead screw hole on the fourth slider 24 is used for the fourth lead screw 14B to pass through.

In the present invention, the Y-axis image acquisition assembly 20 utilizes the third lead screw frame 13 installed on the second plate surface 1B (Y installation surface) of the support frame 1 to realize the image of the test piece 40 collected by the second camera 18. The image information is all side views.

(5) Z-axis image acquisition component 30

1, FIG. 1A, and FIG. 4, the Z-axis image acquisition assembly 30 includes a fifth lead screw frame 15, a fifth lead screw 15B, a fifth motor 15A, a sixth lead screw frame 16, and a sixth lead screw 16B. , the sixth motor 16A, the fifth slider 25 , the sixth slider 26 and the third camera 19 . The third camera 19 is used to collect a top view of the tested object 40 .

One end of the fifth lead screw 15B is installed in the E ball bearing 15E of the A side plate 15C of the fifth lead screw frame 15 (the connection between the lead screw and the ball bearing is a conventional technology), and the E ball bearing 15E is installed in the A side plate 15C In the E through hole 15F, the other end of the fifth leading screw 15B is connected with the output shaft of the fifth electric motor 15A by a coupling (not shown in the figure, the connection of the leading screw, the coupling and the motor is conventional technology); The fifth motor 15A is mounted on the B-side plate 15D of the fifth screw frame 15 .

One end of the sixth lead screw 16B is installed in the F ball bearing 16E of the A side plate 16C of the sixth lead screw frame 16 (the connection between the lead screw and the ball bearing is a conventional technology), and the F ball bearing 16E is installed in the A side plate 16C In the F through hole 16F, the other end of the 6th leading screw 16B is connected with the output shaft of the 6th electric motor 16A by coupling (not shown in the figure, the connection of leading screw, coupling and motor is conventional technology); The sixth motor 16A is installed on the B-side plate 16D of the sixth screw frame 16 .

The fifth slider 25 is installed on the back of the sixth screw frame 16 , and the third camera 19 is installed on the sixth slider 26 . In the present invention, the image information collection of the third camera 19 in the Z-axis plane can be realized through two sliders and two lead screws.

The central lead screw hole on the fifth slider 25 is used for the fifth lead screw 15B to pass through.

The central lead screw hole on the sixth slider 26 is used for the sixth lead screw 16B to pass through.

In the present invention, the fifth lead screw frame 15 in the Z-axis image acquisition assembly 30 is installed above the support frame 1, and the fifth lead screw frame 15 is parallel to the bottom plate surface 1E of the support frame 1, thereby realizing the acquisition by the third camera 19 The obtained image information of the tested piece 40 is a top view.

In the present invention, the first camera 17 , the second camera 18 and the third camera 19 use cameras with the same performance. For example, the camera adopts the Gazelle 4.0 industrial camera from American Point Gray Company, the image resolution is 2048×2048, and the frame rate is 170fps; the lens adopts the LM8HC megapixel lens from Kowa, Japan, and the focal length is 8.5mm.

Referring to Fig. 5A, shown in Fig. 5B, the motion of measuring device of the present invention is mainly to carry out real-time dynamic adjustment according to the barycenter position of the rotor of tested object 40 (gyroscope), and its steps have:

In the first step, a helix is printed on the side of the test piece 40 (gyroscope rotor), which is equivalent to the diagonal of a certain expanded rectangle on the side of the rotor (as shown in Figure 5B);

In the second step, image information is collected with the first camera 17 (collecting the front view), the second camera 18 (collecting the side view) and the third camera 19 (collecting the top view);

In the third step, the image information is transmitted to the computer, and the edge detection and contour recognition processing software is installed in the computer; after being processed by the edge detection and contour recognition processing software, the gyro rotor can be detected on the top view and the front view. The side straight line feature; by calculating the tilt angle of the side straight line of the cylinder in the front view and the top view, the pitch and yaw angle of the gyro rotor can be converted;

The fourth step is to calculate the coordinates of the center of mass of the gyro rotor through the contour features detected by the views collected by the three cameras;

The fifth step is to use edge detection and contour recognition processing software to detect features such as circles, rectangles and arrows formed on the side view of the gyro rotor; combine the intersection position of the surface printing line and the side straight line in the front and top views and the side view The circle, rectangle and arrow positions in the figure can be converted to the roll angle of the gyro rotor.

In the measurement device designed in the present invention, when the position of the gyroscope rotor changes, the first camera 17, the second camera 18 and the third camera 19 all need to dynamically track the position of the center of mass of the rotor. The tracking process is as follows: firstly, according to the information of the first camera 17 and the second camera 18, the latest centroid position of the rotor is judged through image processing, and then the displacement of the rotor on the three coordinate axes of X, Y, and Z is calculated, and then passed Six motors control the linkage in three directions of the camera. That is, the first lead screw 11 and the second lead screw 12 are controlled to move synchronously by the first motor 11A and the second motor 12A, thereby pushing the first slider 21 and the second slider 22 to make the first camera 17 generate Y and Linkage in the Z direction; through the third motor 13A and the fourth motor 14A respectively control the third lead screw 13 and the fourth lead screw 14 to produce synchronous motion, thereby pushing the third slider 23 and the fourth slider 24, so that the second The camera 18 produces linkage in the X and Y directions; the fifth lead screw 15 and the sixth lead screw 16 are controlled by the fifth motor 15A and the sixth motor 16A to generate synchronous motion, thereby pushing the fifth slider 25 and the sixth slider 26. Make the third camera 19 generate linkage in the X and Z directions.

Claims (5)

1. one kind is used to measure the statically balanced six degree of freedom pose measuring apparatus based on the monocular principle of gyroscope, it is characterized in that: this measurement mechanism include the X-direction epigraph information that is used to gather tested sample (40) X axle image collection assembly (10), be used to gather the Y direction epigraph information of tested sample (40) Y axle image collection assembly (20), be used to gather Z axle image collection assembly (30) and the bracing frame (1) and the background board of the Z-direction epigraph information of tested sample (40); Wherein, X axle image collection assembly (10), Y axle image collection assembly (20) are identical with the structure of Z axle image collection assembly (30);

Bracing frame (1) is a shaped as frame structure, and the first leading screw frame (11) is installed on the outside of the first plate face (1A) of bracing frame (1); The 3rd leading screw frame (13) is installed on the outside of the second plate face (1B) of bracing frame (1); On the inboard of the 3rd plate face (1C) of bracing frame (1) first background board (2) is installed; On the inboard of the 4th plate face (1D) of bracing frame (1) the 3rd background board (3) is installed; On the base plate face (1E) of bracing frame (1) the 3rd background board (4) is installed; Push up on the bracing frame (1) the 5th leading screw frame (15) is installed;

X axle image collection assembly (10) includes the first leading screw frame (11), first leading screw (11B), first motor (11A), the second leading screw frame (12), second leading screw (12B), second motor (12A), first slide block (21), second slide block (22) and first camera (17);

One end of first leading screw (11B) is installed in the A ball bearing (11E) of A side plate (11C) of the first leading screw frame (11), and this A ball bearing (11E) is installed in the A through hole (11F) of A side plate (11C); The other end of first leading screw (11B) is connected with the output shaft of first motor (11A) through shaft coupling; First motor (11A) is installed on the B side plate (11D) of the first leading screw frame (11);

One end of second leading screw (12B) is installed in the B ball bearing (12E) of A side plate (12C) of the second leading screw frame (12); This B ball bearing (12E) is installed in the B through hole (12F) of A side plate (12C), and the other end of second leading screw (12B) is connected with the output shaft of second motor (12A) through shaft coupling; Second motor (12A) is installed on the B side plate (12D) of the second leading screw frame (12);

First slide block (21) is installed in the back of the second leading screw frame (12), and the center lead screw hole on first slide block (21) is used for first leading screw (11B) and passes; First camera (17) is installed on second slide block (22), and the center lead screw hole on second slide block (22) is used for second leading screw (12B) and passes;

Y axle image collection assembly (20) includes the 3rd leading screw frame (13), the 3rd leading screw (13B), the 3rd motor (13A), the 4th leading screw frame (14), the 4th leading screw (14B), the 4th motor (14A), the 3rd slide block (23), Four-slider (24) and the 3rd camera (18);

One end of the 3rd leading screw (13B) is installed in the C ball bearing (13E) of A side plate (13C) of the 3rd leading screw frame (13); This C ball bearing (13E) is installed in the C through hole (13F) of A side plate (13C), and the other end of the 3rd leading screw (13B) is connected with the output shaft of the 3rd motor (13A) through shaft coupling; The 3rd motor (13A) is installed on the B side plate (13D) of the 3rd leading screw frame (13);

One end of the 4th leading screw (14B) is installed in the D ball bearing (14E) of A side plate (14C) of the 4th leading screw frame (14); This D ball bearing (14E) is installed in the D through hole (14F) of A side plate (14C), and the other end of the 4th leading screw (14B) is connected with the output shaft of the 4th motor (14A) through shaft coupling; The 4th motor (14A) is installed on the B side plate (14D) of the 4th leading screw frame (14);

The 3rd slide block (23) is installed in the back of the 4th leading screw frame (14), and the center lead screw hole on the 3rd slide block (23) is used for the 3rd leading screw (13B) and passes; Second camera (18) is installed on the Four-slider (24), and the center lead screw hole on the Four-slider (24) is used for the 4th leading screw (14B) and passes;

Z axle image collection assembly (30) includes the 5th leading screw frame (15), the 5th leading screw (15B), the 5th motor (15A), the 6th leading screw frame (16), the 6th leading screw (16B), the 6th motor (16A), the 5th slide block (25), the 6th slide block (26) and the 3rd camera (19);

One end of the 5th leading screw (15B) is installed in the E ball bearing (15E) of A side plate (15C) of the 5th leading screw frame (15); This E ball bearing (15E) is installed in the E through hole (15F) of A side plate (15C), and the other end of the 5th leading screw (15B) is connected with the output shaft of the 5th motor (15A) through shaft coupling; The 5th motor (15A) is installed on the B side plate (15D) of the 5th leading screw frame (15);

One end of the 6th leading screw (16B) is installed in the F ball bearing (16E) of A side plate (16C) of the 6th leading screw frame (16); This F ball bearing (16E) is installed in the F through hole (16F) of A side plate (16C), and the other end of the 6th leading screw (16B) is connected with the output shaft of the 6th motor (16A) through shaft coupling; The 6th motor (16A) is installed on the B side plate (16D) of the 6th leading screw frame (16);

The 5th slide block (25) is installed in the back of the 6th leading screw frame (16), and the center lead screw hole on the 5th slide block (25) is used for the 5th leading screw (15B) and passes; The 3rd camera (19) is installed on the 6th slide block (26), and the center lead screw hole on the 6th slide block (26) is used for the 6th leading screw (16B) and passes.

2. according to claim 1ly be used to measure the statically balanced six degree of freedom pose measuring apparatus of gyroscope based on the monocular principle; It is characterized in that: control first leading screw (11) and second leading screw (12) respectively through first motor (11A) and second motor (12A) and produce and be synchronized with the movement; Thereby promote first slide block (21) and second slide block (22), make first camera (17) produce the interlock on Y and the Z direction; Control the 3rd leading screw (13) and the 4th leading screw (14) respectively through the 3rd motor (13A) and the 4th motor (14A) and produce and be synchronized with the movement, thereby promote the 3rd slide block (23) and Four-slider (24), make the interlock on second camera (18) generation X and the Y direction; Control the 5th leading screw (15) and the 6th leading screw (16) respectively through the 5th motor (15A) and the 6th motor (16A) and produce and be synchronized with the movement, thereby promote the 5th slide block (25) and the 6th slide block (26), make the interlock on the 3rd camera (19) generation X and the Z direction.

3. according to claim 1ly be used to measure the statically balanced six degree of freedom pose measuring apparatus based on the monocular principle of gyroscope, it is characterized in that: bracing frame (1) is selected the tempered glass material for use.

4. according to claim 1ly be used to measure the statically balanced six degree of freedom pose measuring apparatus based on the monocular principle of gyroscope, it is characterized in that: background board is selected black aluminium fabrication and processing for use.

5. according to claim 1ly be used to measure the statically balanced six degree of freedom pose measuring apparatus of gyroscope based on the monocular principle; It is characterized in that: first camera 17, second camera 18 and the 3rd camera 19 are selected the camera of identical performance for use; Its image resolution ratio is 2048 * 2048; Frame speed is 170fps, focal length 8.5mm.

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