A spatial multi-degree-of-freedom positioning device and its spatial position calculation method
A positioning device and space position technology, applied to large fixed members, metal processing equipment, metal processing machinery parts, etc., can solve the problems of inapplicable application background and inability to simulate three-dimensional space position and attitude
Inactive Publication Date: 2019-11-05
SOUTHEAST UNIV +1
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[0005] The existing positioning devices are generally used for the installation of water pipes and gas pipelines. The pipe joints of such pipes generally do not need to have complex position and attitude relationships in space, so the above positioning devices cannot simulate the relationship between two objects in three-dimensional space. The position and posture of the above-mentioned application background are not applicable
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[0035] The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0036] The spatial multi-degree-of-freedom positioning device designed by the present invention, such as figure 1 As shown, it includes a bottom plate platform 1; a first three-dimensional turntable 201, a second three-dimensional turntable 202; a first turntable base 301, a second turntable base 302; a screw 4; a servo motor 5; a first clamp 601, a second clamp 602; The first clamp base 701, the second clamp base 702; the guide rail 8.
[0037] The initial state of the spatial multi-degree-of-freedom positioning device is as figure 2 As shown, this state is referred to as the zero state in the present invention. At this time, the states of the two sets of three-dimensional turntables are shown as 110 and 120, and the movement amount of each axis of the two sets of three-dimensional turntables is zero. The two clamp bases are in a horizontal st...
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The invention discloses a space multi-freedom-degree locating device and a space position calculating method of the space multi-freedom-degree locating device. The space multi-freedom-degree locatingdevice comprises a base plate platform, a first three-dimensional rotating platform, a second three-dimensional rotating platform, a first rotating platform base, a second rotating platform base, a servo motor, a lead screw and a guide rail. The guide rail is laid on the base plate platform. The first three-dimensional rotating platform is installed on the first rotating platform base. The first rotating platform base is fixed to one end of the base plate platform. The second three-dimensional rotating platform is installed on the second rotating platform base. The second rotating platform base can move to be close to or far away from the first rotating platform base along the guide rail. Two target objects are fixed to the first three-dimensional rotating platform and the second three-dimensional rotating platform correspondingly. According to the space position calculating method, according to the mechanical structure features of the space multi-freedom-degree locating device, by means of the expected space position posture relationship between the two objects fixed to clamps, the movement quantity of each moving composite on the device is calculated. The space multi-freedom-degree locating device can achieve locating of the complicated relative position posture between two objects in space.
Description
Technical field [0001] The invention belongs to the field of component spatial positioning, and particularly relates to a spatial multi-degree-of-freedom positioning device and a spatial position solution method thereof. Background technique [0002] Some occasions in the fields of modern industry, national defense, and aerospace need to simulate the spatial position and attitude relationship between two objects to facilitate measurement, positioning, assembly, and design. [0003] In space, spacecraft often have to make a specific relative position and attitude to complete a certain task, such as the docking between two satellites, the robotic arm extending from the space station needs to grasp a distant object, two A spacecraft needs to perform relative motion with a specific attitude and rotation angle, etc., which require a lot of simulation in the early stage. Due to the limitation of the level of science and technology, it is currently impossible for humans to go to space to...
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IPC IPC(8): B23Q1/54
CPCB23Q1/5406
Inventor 付兴贺陈泽华刘凯
Owner SOUTHEAST UNIV