SU953460A1 - Device for setting object position in space - Google Patents

Description

(54) DEVICE FOR TASKING THE POSITION OF AN OBJECT IN SPACE

one

The invention relates to reference measurement technology and can be used to set the position of an object relative to a local or base vertical.

A device is known for determining the angles of inclination of objects, comprising a housing, a laser, one mirror of which is suspended on a master, a light receiver, the input of which is connected to the measuring system JQ of the difference in the movement of the master when the object is inclined and horizontal, and the oscillatory system of the antenna is connected to the unit excitation of oscillations, and the measurement system of the difference of 15 half-periods of oscillation of the tandem is made in the form of a reversible counter

The disadvantage of this device is the complexity of the design, the absence of the angle adjuster, the complexity of the adjustments: 20 ki and the need for zero correction, since the error accumulates over time. In addition, this device has a limited service life determined by the laser resource, the difficulty of metrological certification, as well as stringent requirements for environmental conditions (temperature, vibration, pressure, etc.)

The closest to the technical essence of the invention is a device for setting the angular position of an object, comprising a tiller suspended on a support, a platform, a damper-stabilizer mounted on the base, a meter, an angular position and a G21 positioner.

A disadvantage of this device is the ability to set the angle strictly in one plane and the error due to the significant temperature deformations of the shoulders of the tambourine.

The purpose of the invention is to improve the accuracy of the spatial position of the object.

The goal is achieved by the fact that the device contains a platform for placing the test object, which was established using stops on the basis of

yin, rotary mechanisms and gauges of the platform position, block of atralemie, displacement direction, rotary mechanisms in the form of electromotors with locking rotors and eccentrics and connected kinematically to the platform at three points, the control unit being electrically connected to each of the engines , with angular position meters and travel direction sensors; at least one of the rotary mechanisms is mounted on the stop using elastic elements; rotary mechanisms in the form of piezoelectric motors with locking rotors; rotary mechanisms are articulated to the platform at three points, separated from each other through the utah 120.

FIG. 1 and FIG. 2 shows a structural diagram of the device; in fig. 3 rotary mechanism mounted on the stop with the help of elastic elements, general view.

The device comprises a foundation 1, adjustment supports 2, a base 3, stops 4, a vertical groove 5, elastic elements 6, swivel mechanisms 7, 7, 7, fixed rotors 8, a platform for accommodating the test object 9, sliders 10, eccentric trunnions 11, shanks 12, cheeks 13, spherical heads 14, eccentricity direction indicators 15, spherical sockets 16, 1b, 16, test object 17, angle meters 18, is, control unit 19, control and measurement channels 20, heat-tight Casing 21, basic axis OO (. local - vertical), longitudinal axis MM, transverse o cn nn.

On the foundation 1, with the help of an alignment support 2, the base 3 is installed, on which the supports 4 are fixed. On each support 4, having a vertical groove .5 (Fig. H), the appropriate turning mechanism 7, 7, and 7 is installed with locking rotors 8. Swivel mechanisms 7, 7% 7 are kinematically connected with stops 4 and platform 9 by means of sliders 10 and eccentric daf 11, including a shank 12, a neck 13 and a spherical head 14. The shanks 12 are fastened with corresponding fixing rotors 8 n fitted with directional indicators the ex Esrisi 15. Necks 13 are movably articulated with sliders 10, which are nested in vertical grooves of 5 stops 4. Spherical heads 13 are mounted in spherical sockets 16, 16 and 1b, which are articulated with tef platform 9, and the spherical nest 16 is stationary, and spherical sockets 16 and 1b are mobile and spring loaded.

On the platform 9, the test object 17 and angle meters 18 n 18 are located.

On base 3, a control block 19 is installed, which through channels 20

5, the control and measurement is electrically connected with the rotary mechanisms 7, 7 and 7, the eccentricity direction indicators 15 and the angle meters 18, 18,

0 The device is closed with a heat-sealed casing 21 to reduce the environmental impact of temperature stabilization.,

The operation of the device is based on the conversion of the rotation of the eccentric pin 11, kinematically connected with the platform 9, to the angular deviation of the plane of the latter. The kinematic interaction of all elements of the transformation with the continuous supply of the control signal occurs in the following relationship.

When applying an electrical signal. on the rotary mechanism 7, its rotor 8 and the eccentric pin 11 which is still articulated with it perform a rotary motion, while the eccentric pin 11 with its neck 13 at the expense of eccentricity e moves the slide 10 in the vertical groove 5 of the stop 4 and, resting on it, attaches a swinging movement turning mechanism. around the axis of shcharsh 6, and its spherical head 14, having one axis with a cheek 13, making a vertical movement,

 through the spherical nest 16 tilts the platform 9 around the axis passing through the spherical heads 14 eccentric Papf 11, articulated with turning mechanisms 7 and 7 "

 By rotating two (of the three existing) eccentric pins 11, the boards are provided with an independent form for the form 9 of the angular deviation in two mutually perpendicular directions.

Claims (4)

Before the operation of the platform 9, it is brought to its initial position, for which the following operations are carried out. The eccentric trunnions 11 are installed relative to the base 3 to the zero position, in which each indicator of the direction of eccentricity 15 shows a zero half-flow of eccentricity in a plane parallel to the plane of the base 3. Then the base 3 is adjusted to a horizontal position and fixed. The position of the platform 9 is controlled by means of angle meters 18 (in the OMM plane) and 18 (in the O N N plane). After the horizontal position of the platform 9 is shown, the device is ready for operation. The required angle in a given OMM plane (or ОNN) is set manually or by applying an electric signal from the control unit 19 to the rotary mechanism 7 (7, 7). If it is necessary to deviate the platform 9 in the OMM plane by an angle A)) from the control unit 19 to the rotary mechanism 7, a calibrated electrical signal, for example, фикси fixed pulses (of equal amplitude) of positive polarity, subscale. The electrical signal causes a deviation of the rotor 8 of the rotary mechanism 7, which rotates the eccentric pin. 11 in the positive direction (clockwise) at a predetermined angle about, which causes a deviation of the platform. 9 relative to its horizontal position at an angle. The magnitude of the angle d Cp is measured with an angle meter 18, the value of which is transmitted to the control unit 19 via the channel 2O, where the measured value is compared with the desired value. The rotation of the eccentric pin 11 can be performed manually or with the help of a reversible piezoelectric motor. After setting the specified angle and performing measurements with the object 17, the board farm 9 returns to its original position by applying an electric signal (P pulse) from the control unit 19 of a negative field. An electric signal of negative polarity causes a reverse (counterclockwise) rotation of the rotor 8 of the rotary mechanism 7 and, accordingly, the eccentric pin 11, with which the platform 9 returns to its original (horizontal) position. The measurement of the angle of inclination, S1a; tforma 9 is carried out using an angle gauge 18. To set a negative LSR angle, a negative electrical signal is applied from block 19 (1) or manually, in the same way as described, but in the opposite direction (counterclockwise). The return of the platform 9 to its initial position is carried out by applying a positive electric signal h of pulses in the same way as described. To tilt the platform 9 by the angle i in the plane O NN, an electrical signal (P pulses) of positive polarity is supplied from the control unit 19 to the turning mechanism 7, which turns the eccentric pin 11 clockwise by the angle oi, while the platform 9 is inclined by - angle. D (p. The measurement of the angle in the plane O NN is carried out using an angle meter 18, the readings of which are transmitted to the control unit 19 on the control unit 19, where the values of the required angle are compared (Chzd) and measured (D Fm). After measuring the measurement, the platform 9 returns to the initial horizontal position by applying an electric signal of negative polarity (P pulses of negative polarity). The initial position is measured with an angle gauge 18, the angle (-) s to the initial position is similarly set and returned to the initial position For specifying the angles A C oschyu feeding the rotary mechanism 7, a negative electric signal |.) And d. at the same time in two planes (OMM h ONN) work is performed en; logically described, but under the condition of simultaneous supply of electric signals to the two turning mechanisms 7 and 7. The return of the platform 9 to its initial position is carried out by simultaneously (or differently) sending a negative electric signal to the turning mechanisms 7 and 7. The measurement and comparison of the measurement results and the angular position setting are performed simultaneously in two directions. The device can be used as a space-stabilized platform. The operation in this case is performed as follows. Platform 9 is set to its original, e.g. horizontal, position. HaMepitrejiH 18 and 18 corners work like iiynb-opraHbi, i.e. when the angle of the initial deviation of the initial voltage is deviated, the electrical error signals are transmitted to the control unit 19. The control unit 19, which compares the measured and recalled signals, controls the electrical signals supplied to the rotary mechanisms 7 and 7, which together with the eccentric pins 11, act as actuators, maintaining the platform 9 in a predetermined, for example, horizontal position. The maximum possible deviation of the platform 9 from the initial position with its size and double the eccentricity of the pins 11 is possible. The maximum resolution of the device, for example, for determining the sensitivity threshold of perspective angle sensors, is obtained by using electrical reduction when transmitting electrical signals that differ from each other frequency for all three rotary mechanism 7,7 and 7 at the same time. In order to obtain ultra-low angles of inclination of the platform 9 in the plane of the OMM, electrical signals should simultaneously be sent to the rotary mechanism 7 with a frequency, for example 1OOO Hz, and to the rotary mechanisms 7 and 7 simultaneously with a frequency of 1001 Hz or vice versa. In this case, platform 9 will receive a vertical displacement with simultaneous deviation of the eccentricity e, the dimensions of platform 9, and the coefficient of electrical reduction. The device can be used to set a dynamic mode to the test object 17 — angular pumping through an angle in one or two planes (OMM and ONN). The operation of the device occurs in this case in the same way as described, but the angle change is continuous with a given angular velocity determined by the program incorporated in the control unit 19. In the described construction of the device, the hinges 6 connecting the pivot mechanisms 7, 7, 7 with the respective stops 4 can be made in the form of elastic elements, as shown in FIG. 3. As elastic elements can be applied, for example. 608 rods from a special copper alloy with super elastic properties. The use of elastic elements simplifies the design and reduces the cost of izpo-. stating the device. The device, in comparison with the known ones, possesses the accuracy of setting the angular position of the test object due to the use of eccentric trunnions, which ensure smooth movement, high accuracy, repeatability and resolving power of converting the rotation to the platform deflection angle; provides the ability to set the angular position of the platform in two mutually perpendicular planes by using eccentric pins with locking rottas; provides relatively disarranged Gs barites and weight; reduces metal consumption and manufacturing cost by eliminating cardan hangers and intermediate slewing frames; provides stable stability at given positions under dynamic loads due to the use of trunnions with locking rotors. The device for setting the position of an object in space has the following parameters: the resolution of setting the angle is at least 1 x 10 arcs. with; the error of the specified angle is not less than f-10 arcs. with. In addition, the device has the ability to simultaneously set angles in two mutually perpendicular planes; the possibility of metrological certification; low temperature perturbation-. nosti; lack of hysteresis; remote control capability; the ability to set angles according to the program; possibility of setting a dynamic mode; the ability to install the device in any position in space; possibility of being used as a stabilized spatial positioning platform. Claim 1. 1. A device for setting the position of an object in space, containing a platform for placing the test object, mounted with stops on the base, turning mechanisms and angular position meters of platforms we are designed with, in order to improve the accuracy of setting spatial position of an object, a control block, moving direction shaders, rotary the mechanisms are made in the form of electrically motors with locking rotors and eccentrics and are kinematically connected to the platform at those points, the control unit being electrically connected to each of the motors, with angular position gauges and movement direction indicators. 2. The device according to claim 1, of which there are at least one of the turning mechanisms in the support with the help of elastic elements. 3. The device according to claim 1, of which is that the turning mechanisms are made in the form of piezoelectric engines with locking rotors. 4. The device according to PP. 1 and 2, that is, in which the turning mechanisms in it are articulated with the plate by a form at three points, spaced from one another through an angle of 120. Sources of information taken into account in the examination 1. USSR author's certificate number 528448, cl. q 01 C 9/12, 12.03.73. 2. USSR author's certificate number 678285, cl. Q O1 C 9/12, 21.06.77 (prototype). 2} ig.1 YU M Phi. 3