A three-axis rotary measurement platform based on air static pressure ball shaft system

Abstract

The application discloses a three-axis rotation measuring platform based on an air static pressure ball shaft system, which comprises an air static pressure ball shaft system, a driving module, an angle measuring module and a base; the air static pressure ball shaft system is characterized in that a ball head is arranged in a cavity in a ball socket, airflow is introduced through a ball shell throttle hole to make the ball head axially float, a floating platform is formed by fixing a platform on the top of the ball head, a ball hinge rod is fixedly connected to the bottom of the ball head, the ball hinge rod is sleeved in an air static pressure shaft sleeve, the ball hinge rod is driven by a motor to rotate around a Z axis, the ball socket is fixedly arranged on the base, X-axis and Y-axis movement supports are arranged on the base respectively, the lower end of the air static pressure shaft sleeve is driven by a motor and is brought to rotate around the X axis and the Y axis through the X-axis and Y-axis movement supports, three-axis rotation is realized, and an angle measuring grating is arranged to measure a rotation angle in real time; the application has high measuring precision, can be widely used in simulation of object motion states in a weightless environment and simulation of space postures of related devices, and can be used for calibrating the precision and working performance of an angle sensor on a load.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of three-axis rotation measurement platform, and particularly relates to a three-axis measurement platform based on air static pressure ball shaft system. BACKGROUND

[0002] The three-axis rotation measurement platform is a device that realizes three-dimensional angular motion simulation and angular calibration in space, and is widely used in the fields of aviation and aerospace to simulate various attitude angle motions of aircraft and reproduce various dynamic characteristics in the motions. The three-axis rotation measurement platform needs to provide direction, attitude, position and other information in three-dimensional space, which requires high-precision spatial positioning and measurement technology to ensure the accuracy and reliability of data.

[0003] The three-axis rotation measurement platform in the prior art generally has the problems of large friction torque and insufficient precision.

[0004] As disclosed in the patent document CN212254123U, a manual inertial navigation test turntable includes a U-shaped base, a table top is arranged on the inner side of the upper end of the U-shaped base, left and right main shafts are respectively connected to the two ends of the table top, a seat bearing assembly and an angle measuring assembly are arranged on the left end of the U-shaped base and are sleeved on the left main shaft; a right bearing assembly and a worm gear are arranged on the right end of the U-shaped base and are sleeved on the right main shaft, and the lower end of the worm gear is in meshing connection with a worm in the adjusting assembly. However, the worm gear and the worm are arranged in the test turntable, which has a large friction loss, greatly affecting the precision of the turntable.

[0005] As disclosed in the patent document CN112857844A, a three-axis simulation test turntable includes a rotating group, a test platform group, a 70° displacement group and a test base, the rotating group includes a rotating disc, a fixed disc, universal ball bearings and a rotating shaft, four groups of knife direction ball bearings are installed at the bottom end of the rotating disc and are uniformly arranged on the surface of the fixed disc, the rotating disc is connected to the fixed disc through the rotating shaft at the center, and the rotating disc rotates 360° around the Z-axis on the fixed disc. The test turntable is driven by a motor, but only uses a scale board pointer to position at the required angle, and the attitude position of the turntable cannot be obtained in real time, and the measurement precision is difficult to guarantee. SUMMARY

[0006] The present application is to avoid the shortcomings of the prior art, and provides a three-axis rotation measurement platform based on air static pressure ball shaft system, which is used to simulate the motion state of an object in a weightless environment and simulate the spatial attitude of related devices, and realizes high-precision real-time measurement.

[0007] The present application adopts the following technical solutions to achieve the purpose of the application:

[0008] The three-axis rotary measurement platform based on the air static pressure ball shaft system has the characteristics that: it comprises an air static pressure ball shaft system, a driving module, an angle measurement module and a base; the air static pressure ball shaft system is that a gas floating ball head is arranged in a cavity in a ball socket, air flow is introduced through throttle holes on the ball shell to make the gas floating ball head axially float, a platform is fixedly arranged on the top of the gas floating ball head to form a floating platform, a ball hinge rod is fixedly connected to the bottom of the gas floating ball head, the ball hinge rod is sleeved in an air static pressure shaft sleeve, and the ball hinge rod is driven by a motor to rotate around the Z axis; the ball socket is fixedly arranged on the base, and an X-axis movement support and a Y-axis movement support are arranged on the base respectively, the lower end of the air static pressure shaft sleeve is driven by the X-axis movement support and the Y-axis movement support respectively to rotate around the X axis and the Y axis by the motors, and three-axis rotation is realized; the angle measurement module is used for real-time measurement of three-axis rotation angles.

[0009] The three-axis rotary measurement platform based on the air static pressure ball shaft system also has the characteristics that:

[0010] The ball socket is composed of an upper half ball socket and a lower half ball socket; the upper half ball socket is fixed on the base, the lower half ball socket is fixedly connected with the upper half ball socket to form a cavity, and throttle holes are distributed on the ball shells of the upper half ball socket and the lower half ball socket, gas enters the cavity along the throttle holes to form gas film pressure, so that the ball head in the cavity can float in the vertical direction inside the cavity;

[0011] The driving module is provided with an X-axis driving motor, a Y-axis driving motor and a Z-axis driving motor; the motor base of the X-axis driving motor is fixed on the base, and the X-axis driving motor is used for driving the X-axis movement support to swing around the X axis; the motor base of the Y-axis driving motor is fixed on the base, and the Y-axis driving motor is used for driving the Y-axis movement support to swing around the Y axis; the air static pressure shaft sleeve is driven by the X-axis movement support and the Y-axis movement support to swing at the lower end; the Z-axis driving motor is arranged at the bottom of the air static pressure shaft sleeve, the ball hinge rod is arranged in the shaft sleeve of the air static pressure shaft sleeve, the rotating shaft of the Z-axis driving motor is fixedly connected with the ball hinge rod, and the rotation torque around the Z axis is transmitted by the ball hinge rod;

[0012] The angle measurement module comprises an X-axis angle measurement grating, a Y-axis angle measurement grating and a Z-axis angle measurement grating; the X-axis angle measurement grating is arranged on one side of the X-axis movement support and is used for measuring the swing angle of the X-axis movement support around the X axis; the Y-axis angle measurement grating is arranged on one side of the Y-axis movement support and is used for measuring the swing angle of the Y-axis movement support around the Y axis; and the Z-axis angle measurement grating is arranged on the top of the ball hinge rod and is used for measuring the rotation angle of the ball hinge rod around the Z axis.

[0013] The three-axis rotary measurement platform based on the air static pressure ball shaft system also has the characteristics that:

[0014] The X-axis movement support is a U-shaped frame with a long slot, two ends of the U-shaped frame are fixedly connected with inner rotating shafts of X-axis air floating bearings, the X-axis air floating bearing seat is fixedly connected with the upper half spherical cavity, and a rotating shaft of the X-axis driving motor is fixedly connected with one end of the X-axis movement support through the inner rotating shaft of the X-axis air floating bearing.

[0015] The Y-axis movement support is a U-shaped frame with a long slot, two ends of the U-shaped frame are fixedly connected with inner rotating shafts of Y-axis air floating bearings, the Y-axis air floating bearing seat is fixedly connected with the upper half spherical cavity, and a rotating shaft of the Y-axis driving motor is fixedly connected with one end of the Y-axis movement support through the inner rotating shaft of the Y-axis air floating bearing.

[0016] The U-shaped frames of the X-axis movement support and the Y-axis movement support are stacked one above the other, the air static pressure shaft sleeves jointly penetrate the long slots in the X-axis movement support and the Y-axis movement support and can move in the long slots, and the air floating ball heads are synchronously rotated with the platform around the X-axis and the Y-axis.

[0017] Compared with the prior art, the present application has the following beneficial effects:

[0018] 1. The air static pressure ball shaft system of the present application greatly reduces the friction, and improves the dynamic response characteristics and motion precision.

[0019] 2. The present application adopts the cross-over vertical frame type driving technology and synchronously realizes three-axis rotary measurement.

[0020] 3. The present application can be used for simulating the motion state of objects in a weightless environment and simulating the space posture of related devices and loads.

[0021] 4. The present application can also be used for comparing and calibrating the precision and working performance of the angle sensor on the load. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a whole structure schematic view of the three-axis rotary measurement platform in the present application.

[0023] Figure 2 It is a top view of the X-axis and Y-axis movement supports in the present application.

[0024] Figure 3 It is a schematic view of the X-axis assembly in the present application.

[0025] Figure 4 It is a schematic view of the Y-axis assembly in the present application.

[0026] Figure 5 It is a schematic view of the Z-axis assembly in the present application.

[0027] The figure mark: 1 platform, 2 upper half of the socket, 3 for Y axis angle grating, 4 for X axis drive motor, 5 lower half of the socket, 6 for Y axis movement support, 7 air float ball head, 8 for X axis angle grating, 9 for X axis movement support, 10 air static pressure shaft sleeve, 11 base, 12 for Z axis drive motor, 13 for Y axis drive motor, 101 ball hinge, 102 motor support, 103 for Z axis angle grating, 104 air static pressure gasket, 105 end face thrust air float bearing, 106 flexible coupling. DETAILED DESCRIPTION

[0028] The embodiments of the present application will be further described in conjunction with the drawings and examples. The detailed description of the following examples and drawings are used to exemplarily illustrate the principles of the present application, but cannot be used to limit the scope of the present application, i.e. the present application is not limited to the described examples, covering any modification, replacement and improvement of parts, components and connection modes without departing from the spirit of the present application.

[0029] Reference Figure 1 , the three-axis rotary measurement platform based on air static pressure ball shaft system in the embodiment includes air static pressure ball shaft system, drive module, angle measurement module and base 11; the air static pressure ball shaft system is that the air float ball head 7 is placed in the cavity in the socket, the airflow is introduced through the throttle hole on the ball shell to form the air film pressure to make the air float ball head 7 axially float, the platform 1 is fixedly arranged on the top of the air float ball head 7 to form the floating platform, the ball hinge 101 is fixedly connected to the bottom of the air float ball head 7, the ball hinge 101 is sleeved in the air static pressure shaft sleeve 10, and the ball hinge 101 is driven around the Z axis by the motor; the socket is fixedly arranged on the base, and the X axis movement support 9 and the Y axis movement support 6 are arranged on the base respectively, the lower end of the air static pressure shaft sleeve 10 is driven to rotate around the X axis and the Y axis by the motor and through the X axis movement support 9 and the Y axis movement support 6 respectively, and three-axis rotation is realized; the angle measurement module is used for measuring the three-axis rotation angle in real time.

[0030] As Figure 1 shown, the socket in the embodiment is composed of the upper half of the socket 2 and the lower half of the socket 5; the upper half of the socket 2 is fixed on the base 11, the lower half of the socket 5 is fixedly connected with the upper half of the socket 2 to form a cavity, the throttle holes are distributed on the ball shells of the upper half of the socket 2 and the lower half of the socket 5, the gas enters the cavity along the throttle holes, the air film pressure is formed to make the air float ball head 7 located in the cavity float in the vertical direction inside the cavity.

[0031] The X-axis driving motor 4, the Y-axis driving motor 13 and the Z-axis driving motor 12 are arranged in the driving module; the motor base of the X-axis driving motor 4 is fixed on the base 11, and the X-axis driving motor 4 is used for driving the X-axis moving support 9 to swing around the X-axis; the motor base of the Y-axis driving motor 13 is fixed on the base 11, and the Y-axis driving motor 13 is used for driving the Y-axis moving support 6 to swing around the Y-axis; the air static pressure shaft sleeve 10 is driven to swing by the X-axis moving support 9 and the Y-axis moving support 6 at the lower end respectively; the Z-axis driving motor 12 is arranged at the bottom of the air static pressure shaft sleeve 10, the spherical hinge rod 101 is arranged in the shaft sleeve of the air static pressure shaft sleeve 10, the rotating shaft of the Z-axis driving motor 12 is fixedly connected with the spherical hinge rod 101, and the rotating torque around the Z-axis is transmitted by the spherical hinge rod 101.

[0032] The angle measuring module comprises the X-axis angle measuring grating 8, the Y-axis angle measuring grating 3 and the Z-axis angle measuring grating 103; the X-axis angle measuring grating 8 is arranged on one side of the X-axis moving support 9 and is used for measuring the swing angle of the X-axis moving support 9 around the X-axis; the Y-axis angle measuring grating 3 is arranged on one side of the Y-axis moving support 6 and is used for measuring the swing angle of the Y-axis moving support 6 around the Y-axis; and the Z-axis angle measuring grating 103 is arranged on the top of the spherical hinge rod 101 and is used for measuring the rotation angle of the spherical hinge rod 101 around the Z-axis.

[0033] In the specific implementation, the corresponding technical measures also include:

[0034] As shown in Figure 2 and Figure 3 , the X-axis moving support 9 is a U-shaped frame with a long groove, the two ends of the U-shaped frame are fixedly connected with the X-axis air floating bearing inner rotating shaft, the X-axis air floating bearing seat is fixedly connected with the upper half spherical socket 2, and the rotating shaft of the X-axis driving motor 4 is fixedly connected with one end of the X-axis moving support 9 through the X-axis air floating bearing inner rotating shaft.

[0035] As shown in Figure 2 and Figure 4 , the Y-axis moving support 6 is a U-shaped frame with a long groove, the two ends of the U-shaped frame are fixedly connected with the Y-axis air floating bearing inner rotating shaft, the Y-axis air floating bearing seat is fixedly connected with the upper half spherical socket 2, and the rotating shaft of the Y-axis driving motor 13 is fixedly connected with one end of the Y-axis moving support 6 through the Y-axis air floating bearing inner rotating shaft.

[0036] As shown in Figure 2 and Figure 5As shown, the X-axis moving support 9 and the U-shaped support of the Y-axis moving support 6 are stacked one above the other; the air static pressure shaft sleeve 10 penetrates the long slots in the X-axis moving support 9 and the Y-axis moving support 6 and can move in the long slots, and the width of the long slots is appropriately set to ensure that the air static pressure shaft sleeve 10 is accurately guided and smoothly slides in the long slots, so that the air floating ball head 7 and the platform 1 rotate synchronously around the X-axis and the Y-axis; the motor support 102 below the air static pressure shaft sleeve 10 is used to fix the Z-axis driving motor 12; the spherical hinge rod 101 is coupled with the output shaft of the Z-axis driving motor 12 through the flexible coupling 106; the air static pressure gasket 104 and the end face thrust air floating bearing 105 are arranged in the air static pressure shaft sleeve 10 to reduce the friction of the spherical hinge rod 101 in motion.

[0037] In this embodiment, the X-axis and Y-axis directions of the platform 1 are fixed, the Z-axis direction is the axis direction of the spherical hinge rod, and the Z-axis direction is not a fixed coordinate. When the air floating ball head 7 and the platform 1 rotate around the X-axis or the Y-axis, the Z-axis direction changes.

[0038] The entire air static pressure spherical shaft system is placed on a symmetrically structured base 11, and the system is overall designed to be axisymmetric, can form force balance and thermal balance, has small overall deformation, and is convenient for stable precision.

[0039] It should be clear that each of the embodiments in the specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment mainly describes the differences from other embodiments. The present application is not limited to the specific steps and structures described above and shown in the drawings. Moreover, for the sake of brevity, detailed description of known methods and techniques is omitted.

[0040] The above is only an embodiment of the present application and is not limited to the present application. The present application can have various modifications and changes for those skilled in the art without departing from the scope of the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the scope of the claims of the present application.

Claims

1. A three-axis gyroscopic survey platform based on an air static pressure ball shaft system, characterized in that: The utility model provides an air static pressure ball shafting, drive module, angle measuring module and pedestal, the air static pressure ball shafting is in the cavity of ball socket inserts air float ball head (7), introduces airflow through the throttle hole on the ball shell and makes air float ball head (7) axial floating, the top fixed setting platform (1) forms floating platform in air float ball head (7), the bottom fixed connection ball hinge rod (101) of air float ball head (7), the ball hinge rod (101) is sleeved in air static pressure shaft sleeve (10), and the ball hinge rod (101) is driven around Z axle by motor, the ball socket is fixedly arranged on the pedestal, and X axle movement support (9) and Y axle movement support (6) are arranged on the pedestal respectively, and the lower end of air static pressure shaft sleeve (10) is driven around X axle and around Y axle by X axle movement support (9) and Y axle movement support (6) respectively by motor, realizes three -axis rotation, the angle measuring module is used for real -time measurement three -axis rotation angle, the ball socket is formed by upper half ball socket (2) and lower half ball socket (5), and X axle drive motor (4), Y axle drive motor (13) and Z axle drive motor (12) are arranged in the drive module, the motor base of X axle drive motor (4) is fixed on the pedestal (11), and X axle drive motor (4) is used for driving X axle movement support (9) swing around X axle, the motor base of Y axle drive motor (13) is fixed on the pedestal (11), and Y axle drive motor (13) is used for driving Y axle movement support (6) swing around Y axle, air static pressure shaft sleeve (10) is driven swing by X axle movement support (9) and Y axle movement support (6) respectively in the lower end, Z axle drive motor (12) is arranged at the bottom of air static pressure shaft sleeve (10), and ball hinge rod (101) is placed in the shaft sleeve of air static pressure shaft sleeve (10), the rotating shaft of Z axle drive motor (12) is fixedly connected with ball hinge rod (101), and the rotation torque around Z axle is transmitted by ball hinge rod (101), X axle movement support (9) is the U-shaped frame with long slot, and the both ends of the U-shaped frame are fixedly connected with X axle air float bearing inner rotating shaft, X axle air float bearing seat is fixedly connected with upper half ball socket (2), and the rotating shaft of X axle drive motor (4) is fixedly connected with one end of X axle movement support (9) through X axle air float bearing inner rotating shaft, Y axle movement support (6) is the U-shaped frame with long slot, and the both ends of the U-shaped frame are fixedly connected with Y axle air float bearing inner rotating shaft, Y axle air float bearing seat is fixedly connected with upper half ball socket (2), and the rotating shaft of Y axle drive motor (13) is fixedly connected with one end of Y axle movement support (6) through Y axle air float bearing inner rotating shaft, the U-shaped frame of X axle movement support (9) and Y axle movement support (6) is stacked one above the other, air static pressure shaft sleeve (10) penetrates the long slot in X axle movement support (9) and Y axle movement support (6) together and can move in each long slot, make air float ball head (7) and platform (1) synchronous rotation around X axle and around Y axle.

2. The triaxial gyroscopic survey platform based on the air static pressure ball shaft system according to claim 1, characterized in that: The upper half of the spherical cavity (2) is fixed on the base (11), the lower half of the spherical cavity (5) is fixedly connected with the upper half of the spherical cavity (2) to form a cavity, and the spherical shells of the upper half of the spherical cavity (2) and the lower half of the spherical cavity (5) are distributed with throttle holes, gas enters the cavity along the throttle holes to form gas film pressure, so that the ball head (7) located in the cavity can float in the vertical direction inside the cavity; the angle measuring module comprises an X-axis angle measuring grating (8), a Y-axis angle measuring grating (3) and a Z-axis angle measuring grating (103), the X-axis angle measuring grating (8) is arranged on one side of the X-axis movement support (9) and is used for measuring the swing angle of the X-axis movement support (9) around the X-axis; the Y-axis angle measuring grating (3) is arranged on one side of the Y-axis movement support (6) and is used for measuring the swing angle of the Y-axis movement support (6) around the Y-axis; and the Z-axis angle measuring grating (103) is arranged on the top of the spherical hinge rod (101) and is used for measuring the rotation angle of the spherical hinge rod (101) around the Z-axis.

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