A tetrahedral IMU clamp mounting device based on a three-axis rotary table

Abstract

This utility model belongs to the field of inertial navigation precision instrument manufacturing technology, specifically disclosing a tetrahedral IMU fixture mounting device based on a three-axis turntable. It includes a lifting platform and an adjustment plate. The height of the lifting platform is adjustable. The adjustment plate is located on top of the lifting platform and includes a lower adjustment plate and an upper adjustment plate arranged in parallel. The lower adjustment plate can slide left and right relative to the top plate of the lifting platform, and the upper adjustment plate can slide forward and backward relative to the lower adjustment plate. The upper adjustment plate is used to support the tetrahedral IMU fixture. Using this tetrahedral IMU fixture mounting device based on a three-axis turntable, it is possible to conveniently perform IMU clamping and transfer, fixture lifting, and adjustment of the installation posture in multiple degrees of freedom, such as up / down, forward / backward, and left / right. This achieves precise, stable, and repeatable positioning, installation, and fixation of the tetrahedral IMU fixture to the inner frame of the three-axis turntable, reducing labor intensity and improving production efficiency.

Description

Technical Field

[0001] This utility model belongs to the field of inertial navigation precision instrument manufacturing technology, specifically disclosing a tetrahedral IMU fixture mounting device based on a three-axis turntable. Background Technology

[0002] The IMU (Integrated Measurement Unit) is the core component of an aircraft's navigation and control system. It typically consists of three orthogonal gyroscopes and three accelerometers, responsible for accurately measuring the aircraft's linear acceleration, angular rate, and attitude information. To maintain the aircraft's navigation accuracy, the IMU needs to be periodically calibrated and technically compensated. Before calibration, the aircraft's IMU needs to be installed in the inner frame of a three-axis turntable. During installation, the IMU is first assembled into a tetrahedral fixture. After adjusting the installation attitude, the IMU, along with the tetrahedral fixture, is pushed into the inner frame of the three-axis turntable while maintaining a horizontal position. During the transfer, care must be taken to prevent the fixture from colliding with the turntable. After the bottom mounting surface of the fixture contacts the mounting surface of the turntable's inner frame, the fixture is positioned using the surrounding blocks on the inner frame's mounting surface. Finally, the four bolts securing the fixture to the turntable are tightened using an Allen wrench, completing the installation. Because the tetrahedral IMU fixture is assembled with the inner frame of the three-axis turntable with a "precise fit and tight connection", it is time-consuming and laborious to install it by manually lifting it up. Moreover, the bottom of the inner frame of the three-axis turntable is about 1.3 meters above the ground, and there is also a risk of falling during manual installation. Summary of the Invention

[0003] To address the problems in the background art, this utility model discloses a tetrahedral IMU fixture installation device based on a three-axis rotary table, including a lifting platform and an adjustment plate, which enables precise, stable, and repeatable positioning, installation, and fixation of the tetrahedral IMU fixture to the inner frame of the three-axis rotary table, reducing labor intensity and improving production efficiency.

[0004] To achieve the above-mentioned objectives, the present invention adopts the following technical solution: A tetrahedral IMU fixture mounting device based on a three-axis rotary table includes a lifting platform and an adjustment plate. The height of the lifting platform is adjustable. The adjustment plate is located on the top of the lifting platform and includes a lower adjustment plate and an upper adjustment plate arranged in parallel. The lower adjustment plate is slidably connected to the top plate of the lifting platform via a second guide rail and can slide left and right relative to the top plate of the lifting platform. The upper adjustment plate is slidably connected to the lower adjustment plate via a first guide rail and can slide back and forth relative to the lower adjustment plate. The upper adjustment plate is used to support the tetrahedral IMU fixture.

[0005] Furthermore, the tetrahedral IMU fixture mounting device based on a three-axis rotary table has a positioning component on the upper adjustment plate. The positioning component includes a vertically arranged side positioning plate and a rear positioning plate. The side positioning plate is located on the left side of the upper adjustment plate, and the rear positioning plate is located at the rear end of the upper adjustment plate. The side positioning plate and the rear positioning plate are detachably connected to the upper adjustment plate for positioning the tetrahedral IMU fixture relative to the upper adjustment plate.

[0006] Furthermore, the tetrahedral IMU fixture mounting device based on a three-axis turntable includes a lifting platform comprising a top plate, a partition plate, and a bottom plate arranged parallel to each other. Several vertically arranged support columns are provided between the partition plate and the bottom plate, and several vertically arranged guide shafts are provided between the partition plate and the top plate. The upper and lower ends of the guide shafts are respectively fixedly connected to the top plate and the partition plate through an upper end mounting sleeve and a linear bearing. A drive assembly is provided between the partition plate and the top plate. Under the action of the drive assembly and the linear bearing, the top plate can be vertically raised and lowered relative to the partition plate.

[0007] Furthermore, the tetrahedral IMU fixture mounting device based on a three-axis rotary table includes a driving component comprising a lifting screw. The upper end of the lifting screw is fixedly connected to the top plate via a screw upper sleeve. A handwheel nut is threadedly connected to the middle of the lifting screw. The handwheel nut is fixedly connected to the upper ring of the thrust bearing, and the lower ring of the thrust bearing is fixedly connected to the bearing seat. The bearing seat is fixed on the partition plate. By rotating the handwheel nut, the lifting screw can be vertically raised to lift the top plate or vertically lowered to drop the top plate.

[0008] Furthermore, the tetrahedral IMU fixture mounting device based on a three-axis rotary table has corresponding through holes on the top plate, the lower adjustment plate, and the rear end of the upper adjustment plate. A steel ball pin is connected to the upper adjustment plate by a connecting line, and the steel ball pin can be inserted into the through hole to restrict the movement of the lower and upper adjustment plates.

[0009] Furthermore, the tetrahedral IMU fixture mounting device based on a three-axis rotary table is also provided with a fastening strap for securing the tetrahedral IMU fixture on the upper adjustment plate. One end of the fastening strap is rotatably connected to the clamp seat on the left side of the upper adjustment plate via a pin, and the other end of the fastening strap is detachably connected to the clamp on the clamp seat on the right side of the upper adjustment plate.

[0010] Furthermore, the tetrahedral IMU fixture mounting device based on a three-axis turntable is provided with omnidirectional casters and / or directional casters with self-locking function at the four bottom corners of the base plate.

[0011] Compared with the prior art, the beneficial effects of this utility model are: This utility model relates to a tetrahedral IMU clamping installation device based on a three-axis rotary table. It includes a lifting platform and an adjustment plate. The height of the lifting platform is adjustable. The adjustment plate is located on top of the lifting platform and includes a lower adjustment plate and an upper adjustment plate arranged in parallel. The lower adjustment plate can slide left and right relative to the top plate of the lifting platform, and the upper adjustment plate can slide forward and backward relative to the lower adjustment plate. The upper adjustment plate is used to support the tetrahedral IMU clamp. Using this tetrahedral IMU clamping installation device based on a three-axis rotary table, it is possible to conveniently perform IMU clamping and transfer, clamp lifting, and adjustment of the clamping posture in multiple degrees of freedom, such as up / down, forward / backward, and left / right. This enables precise, stable, and repeatable positioning, installation, and fixation of the tetrahedral IMU clamp to the inner frame of the three-axis rotary table, reducing labor intensity and improving production efficiency. Attached Figure Description

[0012] Figure 1 This is a three-dimensional structural diagram of the tetrahedral IMU fixture mounting device based on a three-axis rotary table according to this utility model; Figure 2 This is a three-dimensional structural diagram of the lifting platform in this utility model; Figure 3 This is a side view of the lifting platform in this utility model. Figure 4 This is a three-dimensional structural diagram of the adjustment disc in this utility model; Figure 5 This is a side view of the adjustment disc in this utility model. In the above diagram: 1-Lifting platform; 1.1-Base plate; 1.2-Support column; 1.3-Partition plate; 1.4-Guide shaft; 1.5-Top plate; 1.6-Lifting screw; 1.7-Handwheel nut; 1.8-Thrust bearing; 1.9-Universal caster; 1.10-Directional caster; 1.11-Linear bearing; 1.12-Upper end mounting sleeve; 1.13-Screw upper end sleeve; 1.14-Bearing end cover; 1.15-Bearing seat; 2-Adjusting plate; 2.1-Lower adjusting plate; 2.2-Upper adjusting plate; 2.3-Side positioning plate; 2.4-Rear positioning plate; 2.5-Steel ball pin; 2.6-First guide rail; 2.7-Second guide rail; 2.8-Clamp; 2.9-Securing strap; 2.10-Clamp seat; 2.11-Pin shaft; 2.12-Limit pin; 3-Tetrahedral IMU clamp. Detailed Implementation

[0013] To better understand this utility model, the following embodiments further illustrate the content of this utility model, but the content of this utility model is not limited to the following embodiments.

[0014] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0015] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0016] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0017] Combined with appendix Figure 1-5 This invention details a tetrahedral IMU fixture mounting device based on a three-axis turntable, comprising a lifting platform 1 and an adjustment plate 2. The height of the lifting platform 1 is adjustable. The adjustment plate 2 is located on the top of the lifting platform 1 and includes a lower adjustment plate 2.1 and an upper adjustment plate 2.2 arranged in parallel. The lower adjustment plate 2.1 is slidably connected to the top plate 1.5 of the lifting platform 1 via a second guide rail 2.7. Several limiting pins 2.12 are provided between the second guide rail 2.7 and the top plate 1.5 for positioning the second guide rail 2.7. The lower adjustment plate 2.1 can slide left and right relative to the top plate 1.5 of the lifting platform 1. The upper adjustment plate 2.2 is slidably connected to the lower adjustment plate 2.1 via a first guide rail 2.6 and can slide back and forth relative to the lower adjustment plate 2.1. The upper adjustment plate 2.2 is used to support the tetrahedral IMU fixture 3. During operation, the IMU is first assembled into the tetrahedral fixture. Then, the IMU, along with the tetrahedral fixture, is placed on the upper adjustment plate 2.2. The posture of the IMU relative to the inner frame of the three-axis rotary table is adjusted by the lifting platform 1 (lifting up) and the sliding adjustment plates 2.1 and 2.2 (lower and upper). After adjusting the installation posture, the IMU and the tetrahedral fixture are pushed horizontally into the inner frame of the three-axis rotary table as much as possible to prevent the tetrahedral fixture from colliding with the inner frame. After the bottom mounting surface of the fixture contacts the mounting surface of the inner frame of the rotary table, the tetrahedral fixture is prevented from falling off by the surrounding blocks of the inner frame. Using the tetrahedral IMU fixture installation device based on the three-axis rotary table of this invention, it is possible to easily perform the transfer of the IMU during clamping, the lifting of the fixture, and the adjustment of the installation posture in multiple degrees of freedom, such as up and down, forward and backward, and left and right. This enables precise, stable, and repeatable positioning, installation, and fixation of the tetrahedral IMU fixture and the inner frame of the three-axis rotary table, reducing labor intensity and improving production efficiency.

[0018] As an optional design, the preferred tetrahedral IMU fixture mounting device based on a three-axis rotary table has a positioning component on the upper adjustment plate 2.2. The positioning component includes a vertically arranged side positioning plate 2.3 and a rear positioning plate 2.4. The side positioning plate 2.3 is located on the left side of the upper adjustment plate 2.2, and the rear positioning plate 2.4 is located at the rear end of the upper adjustment plate 2.2. The side positioning plate 2.3 and the rear positioning plate 2.4 are detachably connected to the upper adjustment plate 2.2 for positioning the tetrahedral IMU fixture 3 relative to the upper adjustment plate 2.2. The tetrahedral IMU fixture is pressed against the side positioning plate 2.3 and the rear positioning plate 2.4 to achieve positioning of the tetrahedral IMU fixture.

[0019] As an optional design, the preferred tetrahedral IMU fixture mounting device based on a three-axis rotary table includes a top plate 1.5, a partition plate 1.3, and a bottom plate 1.1 arranged parallel to each other on the lifting platform 1. Several vertically arranged support columns 1.2 are provided between the partition plate 1.3 and the bottom plate 1.1, and several vertically arranged guide shafts 1.4 are provided between the partition plate 1.3 and the top plate 1.5. The upper ends of the guide shafts 1.4 are fixedly connected to the top plate 1.5 via upper end mounting sleeves 1.12, and the lower ends of the guide shafts 1.4 are fixedly connected to the partition plate 1.3 via linear bearings 1.11. A drive assembly is provided between the partition plate 1.3 and the top plate 1.5, allowing the top plate 1.5 to rise and fall vertically relative to the partition plate 1.3 under the action of the drive assembly and the linear bearings.

[0020] As an optional design, the preferred tetrahedral IMU fixture mounting device based on a three-axis rotary table includes a driving assembly comprising a lifting screw 1.6. The upper end of the lifting screw 1.6 is fixedly connected to the upper screw sleeve 1.13 by a pin, and the upper screw sleeve 1.13 is fixedly connected to the top plate 1.5 by screws. The lower end of the lifting screw 1.6 extends downward through the partition 1.3, and the middle part of the lifting screw 1.6 is threadedly connected to the handwheel nut 1.7. The handwheel nut 1.7 is fixedly connected to the upper ring of the thrust bearing 1.8, and the lower ring of the thrust bearing 1.8 is fixedly connected to the bearing housing 1.15. A spacer is provided between the upper and lower rings of the thrust bearing 1.8. The rolling element and bearing housing 1.15 are fixed on the partition plate 1.3. A bearing end cover 1.14 is provided at the upper end of the thrust bearing 1.8 to limit the axial displacement of the thrust bearing 1.8. During operation, the handwheel nut 1.7 is rotated. Under the action of the thrust bearing 1.8, the handwheel nut 1.7 rotates relative to the partition plate 1.3. At the same time, the rotation of the handwheel nut 1.7 drives the lifting screw 1.6 to vertically lift or lower the top plate 1.5. It should be noted that the drive assembly can also be a hydraulic, electric or pneumatic telescopic rod. Hydraulic, electric or pneumatic telescopic rods are existing technologies, so they will not be described in detail here.

[0021] As an optional design, the preferred tetrahedral IMU clamping mounting device based on a three-axis rotary table has corresponding through holes on the top plate 1.5, the rear end of the lower adjustment plate 2.1 and the upper adjustment plate 2.2. A steel ball pin 2.5 is connected to the upper adjustment plate 2.2 by a connecting wire. The steel ball pin 2.5 is inserted into the through hole to restrict the movement of the lower adjustment plate 2.1 and the upper adjustment plate 2.2, ensuring product safety during adjustment and movement of the tetrahedral IMU clamping mounting device based on a three-axis rotary table. When the steel ball pin 2.5 is pulled out of the through hole, the lower adjustment plate 2.1 and the upper adjustment plate 2.2 can slide and adjust their positions along the corresponding guide rails.

[0022] As an optional design, the preferred tetrahedral IMU clamp mounting device based on a three-axis rotary table is equipped with a fastening strap 2.9 for securing the tetrahedral IMU clamp 3 on the upper adjustment plate 2.2. One end of the fastening strap 2.9 is rotatably connected to the clamp seat 2.10 on the left side of the upper adjustment plate 2.2 via a pin 2.11, and the other end of the fastening strap 2.9 is detachably connected to the clamp 2.8 on the clamp seat 2.10 on the right side of the upper adjustment plate 2.2. The fastening strap 2.9 can be used to easily lock the position of the tetrahedral IMU clamp 3.

[0023] As an optional design, the tetrahedral IMU clamping device based on a three-axis turntable is preferably provided with omnidirectional casters and / or directional casters with self-locking function at the four corners of the bottom of the base plate, so as to facilitate the transfer of the tetrahedral IMU clamping device based on a three-axis turntable of this utility model.

[0024] The working process of this utility model is as follows: During operation, first adjust the positions of the side positioning plate 2.3 and the rear positioning plate 2.4 according to the size of the tetrahedral fixture, assemble the IMU into the tetrahedral fixture, and then place the IMU together with the tetrahedral fixture on the upper adjustment plate 2.2. Press the tetrahedral IMU fixture against the side positioning plate 2.3 and the rear positioning plate 2.4 to achieve the positioning of the tetrahedral IMU fixture. Tighten the fastening strap 2.9 to bind the tetrahedral IMU fixture 3 relative to the upper adjustment plate 2.2. Insert the steel ball pin 2.5 into the through holes at the rear ends of the top plate 1.5, the lower adjustment plate 2.1 and the upper adjustment plate 2.2 to restrict the movement of the lower adjustment plate 2.1 and the upper adjustment plate 2.2. Push the lifting platform 1 to transfer the fixture to a position near the test equipment. Step on the brake of the bottom caster of the lifting platform 1 to lock the horizontal position of the lifting platform 1. Then rotate the handwheel nut 1.7 to vertically raise and lower the lifting screw 1.6 to adjust the height of the top plate 1.5. Pull out the steel ball pin 2.5 from the through holes at the rear ends of the top plate 1.5, lower adjusting plate 2.1, and upper adjusting plate 2.2. Push the lower adjusting plate 2.1 to slide left and right along the second guide rail 2.7 relative to the top plate 1.5 of the lifting platform 1. Push the upper adjusting plate 2.2 to slide back and forth along the first guide rail 2.6 relative to the lower adjusting plate 2.1. Adjust the posture of the IMU relative to the inner frame of the three-axis turntable. Adjust the installation posture, loosen the fastening strap 2.9, push the tetrahedral clamp horizontally into the inner frame of the three-axis turntable, pull out the upper adjusting plate 2.2, reset the lower adjusting plate 2.1 and the upper adjusting plate 2.2, insert the steel ball pin 2.5 into the through holes at the rear ends of the top plate 1.5, lower adjusting plate 2.1, and upper adjusting plate 2.2 to lock it, push the lifting platform 1 out, and start the test. The tetrahedral IMU clamping device based on a three-axis rotary table of this invention can be used to conveniently transfer the IMU during clamping, lift the clamp, and adjust the loading posture in multiple degrees of freedom, such as up and down, forward and backward, and left and right. This enables precise, stable, and repeatable positioning, installation, and fixation of the tetrahedral IMU clamp to the inner frame of the three-axis rotary table, reducing labor intensity and improving production efficiency.

[0025] The above description is only an application implementation of this utility model, but the protection scope of this utility model is not limited thereto and cannot be used to limit the scope of rights of this utility model. Any equivalent changes made according to the technical solution of this utility model should be included within the protection scope of this utility model.

Claims

1. A tetrahedral IMU clamping and mounting device based on a three-axis rotary table, characterized in that: It includes a lifting platform and an adjustment plate. The height of the lifting platform is adjustable. The adjustment plate is located on the top of the lifting platform and includes a lower adjustment plate and an upper adjustment plate arranged in parallel. The lower adjustment plate is slidably connected to the top plate of the lifting platform through a second guide rail and can slide left and right relative to the top plate of the lifting platform. The upper adjustment plate is slidably connected to the lower adjustment plate through a first guide rail and can slide back and forth relative to the lower adjustment plate. The upper adjustment plate is used to support a tetrahedral IMU fixture.

2. The tetrahedral IMU fixture mounting device based on a three-axis rotary table according to claim 1, characterized in that: in The upper adjustment plate is equipped with a positioning component, which includes a vertically arranged side positioning plate and a rear positioning plate. The side positioning plate is located on the left side of the upper adjustment plate, and the rear positioning plate is located at the rear end of the upper adjustment plate. The side positioning plate and the rear positioning plate are detachably connected to the upper adjustment plate for positioning the tetrahedral IMU fixture relative to the upper adjustment plate.

3. The tetrahedral IMU fixture mounting device based on a three-axis rotary table according to claim 1 or 2, characterized in that: The lifting platform includes a top plate, partitions, and a bottom plate arranged parallel to each other. Several vertically arranged support columns are provided between the partitions and the bottom plate, and several vertically arranged guide shafts are provided between the partitions and the top plate. The upper and lower ends of the guide shafts are respectively fixedly connected to the top plate and the partitions through upper end mounting sleeves and linear bearings. A drive assembly is provided between the partitions and the top plate. Under the action of the drive assembly and the linear bearings, the top plate can be vertically raised and lowered relative to the partitions.

4. The tetrahedral IMU fixture mounting device based on a three-axis rotary table according to claim 3, characterized in that: The drive assembly includes a lifting screw, the upper end of which is fixedly connected to the top plate via a screw upper sleeve. A handwheel nut is threadedly connected to the middle of the lifting screw, and the handwheel nut is fixedly connected to the upper ring of the thrust bearing. The lower ring of the thrust bearing is fixedly connected to the bearing seat, which is fixed on the partition plate. By rotating the handwheel nut, the lifting screw can be raised vertically to lift the top plate or lowered vertically to lower the top plate.

5. The tetrahedral IMU fixture mounting device based on a three-axis rotary table according to claim 3, characterized in that: The top plate, the lower adjustment plate, and the upper adjustment plate are respectively provided with corresponding through holes. A steel ball pin is connected to the upper adjustment plate by a connecting line. The steel ball pin can be inserted into the through hole to restrict the movement of the lower adjustment plate and the upper adjustment plate.

6. The tetrahedral IMU fixture mounting device based on a three-axis rotary table according to claim 3, characterized in that: in The upper adjustment plate is also equipped with a fastening strap for securing the tetrahedral IMU clamp. One end of the fastening strap is rotatably connected to the belt clamp seat on the left side of the upper adjustment plate via a pin, and the other end of the fastening strap is detachably connected to the belt clamp on the belt clamp seat on the right side of the upper adjustment plate.

7. The tetrahedral IMU fixture mounting device based on a three-axis rotary table according to claim 3, characterized in that: The bottom four corners of the base plate are equipped with swivel casters and / or fixed casters with self-locking function.

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