CN106197246A - A kind of alignment system for spider gear planar motion mechanism - Google Patents
A kind of alignment system for spider gear planar motion mechanism Download PDFInfo
- Publication number
- CN106197246A CN106197246A CN201610748076.1A CN201610748076A CN106197246A CN 106197246 A CN106197246 A CN 106197246A CN 201610748076 A CN201610748076 A CN 201610748076A CN 106197246 A CN106197246 A CN 106197246A
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- Prior art keywords
- fixed
- installing rack
- motion mechanism
- magnet
- planar motion
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- 230000007246 mechanism Effects 0.000 title claims abstract description 42
- 241000239290 Araneae Species 0.000 title claims abstract description 35
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 238000006073 displacement reaction Methods 0.000 abstract description 6
- 238000001514 detection method Methods 0.000 abstract description 5
- 238000009434 installation Methods 0.000 description 4
- 230000004927 fusion Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
- G01B7/04—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving
- G01B7/042—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving for measuring length
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transmission Devices (AREA)
Abstract
A kind of alignment system for spider gear planar motion mechanism, belongs to spider gear planar motion mechanism pose detection technique field.The present invention is not only integrated with displacement information detecting device and rotation angle information detection device, and can calculate the pose of spider gear planar motion mechanism in real time；Its not only highly versatile, may be mounted on any spider gear planar motion mechanism, and is also used as the driven pulley of spider gear planar motion mechanism, and the structure making spider gear planar motion mechanism is simpler and more direct.The present invention includes benchmark installing rack, is fixed with gyroscope and data processing unit on benchmark installing rack；Benchmark installing rack is horizontally disposed with central shaft by bearing, is fixed with omni-directional wheel on center shaft；Being fixed with magnetic coder on the benchmark installing rack of omni-directional wheel side, be fixed with Magnet on center shaft and install set, be fixed with Magnet in Magnet installs set, Magnet is corresponding with magnetic coder；Gyroscope is connected with data processing unit respectively with magnetic coder.
Description
Technical field
The invention belongs to spider gear planar motion mechanism pose detection technique field, particularly relate to a kind of for spider gear
The alignment system of planar motion mechanism.
Background technology
Along with developing rapidly of robot industry, the robot with spider gear planar motion mechanism is easy to control by it
With to advantages such as plane strong adaptabilities, the numerous areas such as it is widely used at home, industrial and military.
Robot is during plane motion, it is necessary to the pose of detection in real time self, otherwise cannot ensure that robot is by rule
The path traveling pulled.
The pose of self can be detected in motor process in real time, the most generally to realize spider gear planar motion mechanism
The mode used is to install driven pulley speedometer and gyroscope on planar motion mechanism.Acquisition plane is responsible for by driven pulley speedometer
The displacement information of motion, the rotation angle information of acquisition plane motion is responsible for by gyroscope, by displacement information and rotation
Gyration information can calculate the pose of each moment planar motion mechanism self.
But owing to currently without unified product design standard, each producer is the most all the product according to oneself, determines
The actual installation position of driven pulley speedometer and gyroscope, and driven pulley speedometer and gyroscope install independently of one another, owing to producing
The restriction of product structure, makes troubles usually to the installation of driven pulley speedometer and gyroscope, causes driven pulley speedometer and gyro
The versatility extreme difference of instrument；Also as the reference for installation disunity of driven pulley speedometer and gyroscope, alignment error may be caused
Occur, and then make the signal of collection there is error, finally make the pose of product calculate and error occurs.
Summary of the invention
The problem existed for prior art, the present invention provides a kind of highly integrated for spider gear planar motion mechanism
Alignment system.The present invention is not only integrated with displacement information detecting device and rotation angle information detection device, and can be real
Time calculate the pose of spider gear planar motion mechanism；Its not only highly versatile, may be mounted at any spider gear plane
On motion, and it is also used as the driven pulley of spider gear planar motion mechanism, makes the knot of spider gear planar motion mechanism
Structure is simpler and more direct.
To achieve these goals, the present invention adopts the following technical scheme that a kind of for spider gear planar motion mechanism
Alignment system, including benchmark installing rack, is fixed with gyroscope and data processing unit on described benchmark installing rack；Pacify at benchmark
Shelve and be horizontally disposed with central shaft by bearing, be fixed with omni-directional wheel on center shaft；Benchmark in omni-directional wheel side is installed
It is fixed with magnetic coder on frame, is fixed with Magnet on center shaft and set is installed, in Magnet installs set, be fixed with Magnet, described magnetic
Ferrum is corresponding with magnetic coder；Described gyroscope is connected with data processing unit respectively with magnetic coder.
Described benchmark installing rack is provided with some installing holes.
A kind of alignment system for spider gear planar motion mechanism, including benchmark installing rack, at described benchmark installing rack
On be fixed with gyroscope and data processing unit；Relocation mechanism, described relocation mechanism bag it is provided with in the lower section of benchmark installing rack
Including guide rail, slide block and floating attachment, described guide rail is arranged vertically on benchmark installing rack, slide block and floating attachment
Fixing connection, described slide block matches with guide rail, is provided with spring between the top of slide block and benchmark fixed mount；In the company of floating
It is horizontally disposed with central shaft by bearing on fitting, is fixed with omni-directional wheel on center shaft；Floating connection in omni-directional wheel side
It is fixed with magnetic coder on part, is fixed with Magnet on center shaft and set is installed, in Magnet installs set, be fixed with Magnet, described magnetic
Ferrum is corresponding with magnetic coder；Described gyroscope is connected with data processing unit respectively with magnetic coder.
Described benchmark installing rack is provided with some installing holes.
Beneficial effects of the present invention:
1, the present invention is compared with prior art, has abandoned the driven pulley mileage that traditional spider gear planar motion mechanism is used
The mode that meter and gyroscope are installed independently of one another, and by magnetic coder together with gyroscope integration, effectively reduce
Installation dimension；
2, present invention ensures that gyroscope determines relative to position with magnetic coder, it is ensured that the positioning accurate of this alignment system
Degree；
3, the present invention is provided with four installing holes on benchmark installing rack, can be easily by the alignment system of the present invention
Fix with other spider gear planar motion mechanisms and be connected；
4, the alignment system of the present invention can use as driven pulley, and the structure making spider gear planar motion mechanism is simpler
Prompt；
5, the present invention may be mounted on any spider gear planar motion mechanism product, highly versatile.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment one of the alignment system for spider gear planar motion mechanism of the present invention；
Fig. 2 is the A-A sectional view of Fig. 1；
Fig. 3 is the axonometric chart of the embodiment two of the alignment system for spider gear planar motion mechanism of the present invention；
Fig. 4 is the front view of Fig. 3；
Fig. 5 is the B-B sectional view of Fig. 4；
In figure: 1-gyroscope and data processing unit, 2-benchmark installing rack, 3-omni-directional wheel, 4-screw, 5-Magnet is installed
Set, 6-central shaft, 7-bearing, 8-magnetic coder, 9-relocation mechanism, 10-spring, 11-slide block, 12-guide rail, 13-Magnet, 14-
Floating attachment.
Detailed description of the invention
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment one:
As shown in Figure 1 and Figure 2, a kind of alignment system for spider gear planar motion mechanism, including benchmark installing rack 2,
The top of described benchmark installing rack 2 is provided with mounting groove, gyroscope and data processing unit 1 and is fixed on the peace of benchmark installing rack 2
In tankage；Benchmark installing rack 2 is horizontally disposed with central shaft 6 by bearing 7, central shaft 6 has been fixed with by screw entirely
To wheel 3；The benchmark installing rack 2 of omni-directional wheel 3 side is fixed with magnetic coder 8 by screw 4, central shaft 6 is fixed with
Magnet installs set 5, is fixed with Magnet in Magnet installs set 5, and described Magnet is corresponding with magnetic coder 8；Described gyroscope and
Magnetic coder 8 is connected with data processing unit respectively, and data processing unit gathers mileage information and the gyroscope of magnetic coder 8
Rotation angle information, and carry out data fusion, ultimately generate displacement and rotation angle information output.At described benchmark installing rack
It is provided with four installing holes on 2, in use, is connected fixing with spider gear planar motion mechanism for the present invention by described installing hole
Connecing, the alignment system of the present invention can be loaded on spider gear planar motion mechanism as driven pulley.
Embodiment two:
As shown in Fig. 3～Fig. 5, a kind of alignment system for spider gear planar motion mechanism, including benchmark installing rack 2,
The top of described benchmark installing rack 2 is provided with mounting groove, gyroscope and data processing unit 1 and is fixed on benchmark installing rack 2
In mounting groove；Be provided with relocation mechanism 9 in the lower section of benchmark installing rack 2, described relocation mechanism 9 include guide rail 12, slide block 11 and
Floating attachment 14, described guide rail 12 is arranged vertically on benchmark installing rack 2, and slide block 11 is fixed with floating attachment 14
Connecting, described slide block 11 matches with guide rail 12, is provided with spring 10 between the top of slide block 11 and benchmark fixed mount 2；?
It is horizontally disposed with central shaft 6 by bearing 7 on floating attachment 14, central shaft 6 has been fixed with omni-directional wheel 3 by screw；?
It is fixed with magnetic coder 8 by screw 4 on the floating attachment 14 of omni-directional wheel 3 side, central shaft 6 is fixed with Magnet and installs
Set 5, is fixed with Magnet 13 in Magnet installs set 5, and described Magnet 13 is corresponding with magnetic coder 8；Described gyroscope and magnetic are compiled
Code device 8 is connected with data processing unit respectively, and data processing unit gathers mileage information and the rotation of gyroscope of magnetic coder 8
Gyration information, and carry out data fusion, ultimately generate displacement and rotation angle information output.On described benchmark installing rack 2
It is provided with four installing holes, in use, is connected fixing with spider gear planar motion mechanism for the present invention by described installing hole,
The alignment system of the present invention can be loaded on spider gear planar motion mechanism as driven pulley.
Claims (4)
1. the alignment system for spider gear planar motion mechanism, it is characterised in that include benchmark installing rack, at described base
Gyroscope and data processing unit it is fixed with on quasi-installing rack；Benchmark installing rack has been horizontally disposed with central shaft by bearing,
It is fixed with omni-directional wheel on center shaft；The benchmark installing rack of omni-directional wheel side is fixed with magnetic coder, solid on center shaft
Surely having Magnet to install set, be fixed with Magnet in Magnet installs set, described Magnet is corresponding with magnetic coder；Described gyroscope and
Magnetic coder is connected with data processing unit respectively.
Alignment system for spider gear planar motion mechanism the most according to claim 1, it is characterised in that at described base
Some installing holes it are provided with on quasi-installing rack.
3. the alignment system for spider gear planar motion mechanism, it is characterised in that include benchmark installing rack, at described base
Gyroscope and data processing unit it is fixed with on quasi-installing rack；Relocation mechanism it is provided with in the lower section of benchmark installing rack, described floating
Motivation structure includes that guide rail, slide block and floating attachment, described guide rail are arranged vertically on benchmark installing rack, and slide block is with floating
Follower link is fixing to be connected, and described slide block matches with guide rail, is provided with spring between the top of slide block and benchmark fixed mount；
Floating attachment is horizontally disposed with central shaft by bearing, is fixed with omni-directional wheel on center shaft；In omni-directional wheel side
It is fixed with magnetic coder on floating attachment, is fixed with Magnet on center shaft and set is installed, in Magnet installs set, be fixed with magnetic
Ferrum, described Magnet is corresponding with magnetic coder；Described gyroscope is connected with data processing unit respectively with magnetic coder.
Alignment system for spider gear planar motion mechanism the most according to claim 3, it is characterised in that at described base
Some installing holes it are provided with on quasi-installing rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610748076.1A CN106197246A (en) | 2016-08-29 | 2016-08-29 | A kind of alignment system for spider gear planar motion mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610748076.1A CN106197246A (en) | 2016-08-29 | 2016-08-29 | A kind of alignment system for spider gear planar motion mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106197246A true CN106197246A (en) | 2016-12-07 |
Family
ID=57526272
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610748076.1A Pending CN106197246A (en) | 2016-08-29 | 2016-08-29 | A kind of alignment system for spider gear planar motion mechanism |
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| Country | Link |
|---|---|
| CN (1) | CN106197246A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6327701A (en) * | 1986-07-02 | 1988-02-05 | コミツサリア タ レネルジ− アトミ−ク | Angular position determining device |
| JP2005024287A (en) * | 2003-06-30 | 2005-01-27 | Alps Electric Co Ltd | Angle detecting sensor |
| CN202847850U (en) * | 2012-09-10 | 2013-04-03 | 大连民族学院 | Self-balancing robot |
| CN203084554U (en) * | 2013-01-28 | 2013-07-24 | 美钻石油钻采系统(上海)有限公司 | Automatic adjusting device for attitude of remote operated vehicle |
| CN104615139A (en) * | 2015-02-02 | 2015-05-13 | 沈阳艾克申机器人技术开发有限责任公司 | Posture signal acquisition device for omni-directional plane movement mechanism |
| CN206002048U (en) * | 2016-08-29 | 2017-03-08 | 沈阳艾克申机器人技术开发有限责任公司 | A kind of alignment system for spider gear planar motion mechanism |
-
2016
- 2016-08-29 CN CN201610748076.1A patent/CN106197246A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6327701A (en) * | 1986-07-02 | 1988-02-05 | コミツサリア タ レネルジ− アトミ−ク | Angular position determining device |
| JP2005024287A (en) * | 2003-06-30 | 2005-01-27 | Alps Electric Co Ltd | Angle detecting sensor |
| CN202847850U (en) * | 2012-09-10 | 2013-04-03 | 大连民族学院 | Self-balancing robot |
| CN203084554U (en) * | 2013-01-28 | 2013-07-24 | 美钻石油钻采系统(上海)有限公司 | Automatic adjusting device for attitude of remote operated vehicle |
| CN104615139A (en) * | 2015-02-02 | 2015-05-13 | 沈阳艾克申机器人技术开发有限责任公司 | Posture signal acquisition device for omni-directional plane movement mechanism |
| CN206002048U (en) * | 2016-08-29 | 2017-03-08 | 沈阳艾克申机器人技术开发有限责任公司 | A kind of alignment system for spider gear planar motion mechanism |
Non-Patent Citations (2)
| Title |
|---|
| 刘龙江: "《机电一体化技术 第2版》", 31 July 2012, 北京理工大学出版社 * |
| 张宪民等: "《"机械工程概论 第二版》", 31 January 2015, 华中科技大学出版社 * |
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Application publication date: 20161207 |