1. A six-degree-of-freedom motion platform device for pose measurement and calibration is characterized by comprising:

the device comprises a first six-frame assembly (1), a rotating assembly (2) which is in spherical hinge with the first six-frame assembly (1), a dovetail groove upper sliding plate assembly (3) which is in meshed connection with the rotating assembly (2), a cross sliding table lead screw motor assembly (4) which is fixedly connected with the dovetail groove upper sliding plate assembly (3), a second six-frame assembly (6) which is fixedly connected with the cross sliding table lead screw motor assembly (4), and a stay wire displacement sensor (5) which is fixed on the second six-frame assembly (6);

the rotating assembly (2) comprises a support frame (21), a Y-axis shifting fork (22) and an X-axis shifting fork (29) which are respectively arranged on the support frame (21), a Y-axis pointer (23) and an X-axis pointer (28) which are respectively fixedly connected with the Y-axis shifting fork (22) and the X-axis shifting fork (29), and an orthogonal spherical hinge (27) which is arranged at the middle position of the support frame (21), wherein the Y-axis shifting fork (22) and the X-axis shifting fork (29) are concentrically matched with the orthogonal spherical hinge (27);

under support frame (21) fixedly connected with disc seat (24), disc seat (24) are kept away from on support frame (21) one terminal surface and are rotated and be connected with down lift stand (25), the rigid coupling has lifting rack (26) on the vertical direction is followed to the side of lower lift stand (25).

2. The six-degree-of-freedom motion platform device for pose measurement and calibration according to claim 1, wherein the first six-frame assembly (1) comprises a first six-frame (11), an upper stay wire displacement sensor fixing plate (13) fixedly connected to the first six-frame (11), a small universal joint fork (12) fixed on the upper stay wire displacement sensor fixing plate (13), and a lower connection upright post (14) fixed on the first six-frame (11) through a connecting rod.

3. The six-degree-of-freedom motion platform device for pose measurement and calibration according to claim 1, wherein the support frame (21) comprises a flat plate and three fixed plates respectively fixed on one end surface of the flat plate close to the orthogonal spherical hinge (27), the fixed plates are respectively connected with a Y-axis shifting fork (22) and an X-axis shifting fork (29), and the flat plate is provided with a long hole for the lower connecting upright post (14) to rotate around the X-axis direction.

4. The six-degree-of-freedom motion platform device for pose measurement and calibration according to claim 1, wherein the dovetail groove upper sliding plate assembly (3) comprises a dovetail upper sliding plate, a hollow cylinder (31) fixed on the dovetail upper sliding plate, an upright locking bolt handle (33) fixed on one side face of the hollow cylinder (31), and a Z-axis motor (36) fixed on one side of the hollow cylinder (31) opposite to the upright locking bolt handle (33).

5. The six-degree-of-freedom motion platform device for pose measurement and calibration according to claim 4, wherein an adjusting slit is formed in one end, located at an upright locking bolt handle (33), of the hollow cylinder (31), locking plates extend in the vertical direction along the edge of the adjusting slit, the locking plates are locked with a sliding plate lead screw nut (32) through bolts, an upright locking handle bolt (34) is arranged right below the bolts, and the upright locking bolt handle (33) is fixedly connected to the upright locking handle bolt (34).

6. The six-degree-of-freedom motion platform device for pose measurement and calibration according to claim 4, wherein a Z-axis gear displacement hole is formed in one side face of the hollow cylinder (31) opposite to the upright locking bolt handle (33), a Z-axis motor (36) is arranged on the Z-axis gear displacement hole, a lifting gear (35) is fixedly connected to an output shaft of the Z-axis motor (36), the lifting gear (35) is embedded in the Z-axis gear displacement hole, and the lifting gear (35) is meshed with the lifting rack (26).

7. The six-degree-of-freedom motion platform device for pose measurement and calibration according to claim 1, wherein the cross sliding table lead screw motor assembly (4) comprises a moving boss (44), a Y-axis motor base (41) and an X-axis motor base (46), the Y-axis motor (42) is fixedly connected to the Y-axis motor base (41), a Y-axis displacement lead screw (43) is fixedly connected to an output shaft of the Y-axis motor (42), the Y-axis displacement lead screw (43) is fixedly connected to the moving boss (44), an X-axis lead screw motor (45) is fixedly connected to the X-axis motor base (46), an X-axis displacement lead screw (47) is fixedly connected to an output shaft of the X-axis lead screw motor (45), and the X-axis displacement lead screw (47) is fixedly connected to the Y-axis motor base (41).

8. The six-degree-of-freedom motion platform device for pose measurement and calibration according to claim 1, wherein the second six-frame assembly (6) comprises a second six frame (61) and a lower pull line displacement sensor fixing plate (65) fixedly connected to the second six frame (61), a right pull line ruler (62) is fixedly connected to the lower pull line displacement sensor fixing plate (65), a centering ball (63) is fixedly connected to one end of the right pull line ruler (62), the centering ball (63) is connected to the pull line displacement sensor (5), and a left pull line ruler (64) is fixedly connected to the centering ball (63) of the adjacent lower pull line displacement sensor fixing plate (65).

9. The six-degree-of-freedom motion platform device for pose measurement and calibration according to claim 1, wherein the upper end of the stay wire displacement sensor (5) is connected with the small universal joint fork (12) on the first six-frame (11) and is in spherical hinge connection through a centering ball (63), and the lower end of the stay wire displacement sensor (5) is connected with the centering ball (63) on the second six-frame (61) through hinge connection.

Background

With the high-speed development of economy in China, railway operation lines are increasing day by day, the demand and the daily increase of passenger trains and freight source trains are increased, higher requirements are provided for high speed, safety and comfort of passenger trains, heavy load, stability, environmental protection and the like of freight trains, the operation environments of vehicles and parts are worse, and therefore a test bed capable of accurately reproducing the operation posture of the trains on the actual lines needs to be developed. The measurement of the spatial motion attitude of the moving object plays a crucial role in the test bed. In the same way, spacecraft space docking and the like in the aerospace field all relate to a common point, namely a space pose measurement problem. The existing pose measurement technology has the purpose of realizing pose measurement based on a grating ruler and an angle sensor, is a direct measurement method, but is easily influenced by the installation precision and the measurement precision of a mechanical structure, and the indirect measurement methods such as laser and machine vision have the defects of high cost, time consumption and the like of a measurement system.

Nowadays, the pose measurement technology is widely applied to the measurement of large equipment and precision instruments in the fields of military, aerospace, transportation and the like. At present, six-degree-of-freedom platform measuring devices are researched more, for example, a device for measuring six degrees of freedom of a platform (invention patent, Soviet construction, 20130807) provides a measuring device for measuring six degrees of freedom change of the platform, which simplifies the measuring mode but is not suitable for measuring in narrow space. The patent "a test bench calibrating device" (utility model, the friendship, 20160914), provides a calibrating device based on Stewart platform, though can synthesize the calibration to the test bench, nevertheless the installation is more complicated, and the cost is higher, and the device motion is compound motion, can not realize the calibration function through the decoupling zero motion. The study of domestic and foreign scholars about six-degree-of-freedom platforms is mostly six-degree-of-freedom measuring devices based on a Stewart platform, the motions of the devices are all compound motions, and the strong dynamic coupling factors of the spatial six-degree-of-freedom platform are not considered.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a six-degree-of-freedom motion platform device for pose measurement and calibration, which realizes translation or rotation of a single degree of freedom by a method of decoupling compound motion so as to achieve the functions of real-time measurement and calibration. To achieve the above objects and other advantages and in accordance with the purpose of the invention, there is provided a six-degree-of-freedom motion platform apparatus for pose measurement and calibration, comprising:

the device comprises a first six-frame assembly, a rotating assembly in spherical hinge with the first six-frame assembly, a dovetail groove upper sliding plate assembly in meshed connection with the rotating assembly, a cross sliding table screw motor assembly fixedly connected with the dovetail groove upper sliding plate assembly, a second six-frame assembly fixedly connected with the cross sliding table screw motor assembly and a pull wire displacement sensor fixed on the second six-frame assembly;

the rotating assembly comprises a support frame, a Y-axis shifting fork and an X-axis shifting fork which are respectively arranged on the support frame, a Y-axis pointer and an X-axis pointer which are respectively fixedly connected with the Y-axis shifting fork and the X-axis shifting fork, and an orthogonal spherical hinge arranged at the middle position of the support frame, wherein the Y-axis shifting fork and the X-axis shifting fork are concentrically matched with the orthogonal spherical hinge;

the disc seat is fixedly connected with the disc seat under the support frame, the disc seat is connected with a lower lifting stand column in a rotating mode on one end face, away from the support frame, of the disc seat, and a lifting rack is fixedly connected to the side face of the lower lifting stand column in the vertical direction.

Preferably, the first hexagonal frame assembly comprises a first hexagonal frame, an upper stay wire displacement sensor fixing plate fixedly connected to the first hexagonal frame, a small universal joint fork fixed on the upper stay wire displacement sensor fixing plate, and a lower connection upright fixed on the first hexagonal frame through a connecting rod.

Preferably, the support frame includes a panel and is fixed in three fixed plate on the panel is close to quadrature spherical hinge terminal surface respectively, be connected with Y axle shift fork and X axle shift fork on the fixed plate respectively, just a rectangular hole has been seted up on the panel, rectangular hole is used for linking up the stand down and rotates around X axle direction.

Preferably, the dovetail groove upper sliding plate component comprises a dovetail upper sliding plate, a hollow cylinder fixed on the dovetail upper sliding plate, an upright column locking bolt handle fixed on one side face of the hollow cylinder and a Z-axis motor fixed on one side of the hollow cylinder opposite to the upright column locking bolt handle.

Preferably, the hollow cylinder is located stand locking bolt handle one end and has seted up an adjustment seam, follows the vertical direction extension at adjustment seam border has the locking plate, lock through bolt and slide lead screw nut between the locking plate, be provided with stand locking handle bolt under the bolt, the last rigid coupling of stand locking handle bolt has stand locking bolt handle.

Preferably, a Z-axis gear displacement hole is formed in a side face, opposite to the upright column locking bolt handle, of the hollow cylinder, a Z-axis motor is arranged on the Z-axis gear displacement hole, a lifting gear is fixedly connected to an output shaft of the Z-axis motor and is embedded into the Z-axis gear displacement hole, and the lifting gear is meshed with the lifting rack.

Preferably, cross slip table lead screw motor subassembly is including removing boss, Y axle motor cabinet and X axle motor cabinet, the rigid coupling has Y axle motor on the Y axle motor cabinet, the output shaft rigid coupling of Y axle motor has Y axle displacement lead screw, Y axle displacement lead screw and removal boss rigid coupling, the rigid coupling has X axle lead screw motor on the X axle motor cabinet, the output shaft rigid coupling of X axle lead screw motor has X axle displacement lead screw, X axle displacement lead screw and Y axle motor cabinet rigid coupling.

Preferably, the second hexagonal frame subassembly include the second hexagonal frame and rigid coupling in lower pull wire displacement sensor fixed plate on the second hexagonal frame, the rigid coupling has right stay wire chi on the lower pull wire displacement sensor fixed plate, one serves the rigid coupling on the right pull wire chi and has centering ball, centering ball is connected with pull wire displacement sensor, and the rigid coupling has left stay wire chi on the centering ball of adjacent lower pull wire displacement sensor fixed plate.

Preferably, the upper end of the stay wire displacement sensor is connected with the small universal joint fork on the first hexagonal frame and is connected with the small universal joint fork through a centering ball spherical hinge, and the lower end of the stay wire displacement sensor is connected with the centering ball on the second hexagonal frame through a hinge.

Compared with the prior art, the invention has the beneficial effects that:

(1) the six-degree-of-freedom motion platform device for pose measurement and calibration can achieve the purpose of measurement in a direct structure decoupling mode. When the first hexagonal frame assembly moves in six spatial degrees of freedom, the rotating assembly follows the first hexagonal frame assembly, and the rotating assembly can directly measure the rotating angle around X, Y, Z in real time; the cross sliding table lead screw motor assembly is matched with the dovetail groove upper sliding plate assembly, and the translation displacement along the X, Y, Z axis is measured in real time, so that the compound motion decoupling is realized, and the measuring speed and accuracy are improved.

(2) The invention can also be used as a calibrator. By arranging the rotary component, the cross sliding table lead screw motor and the pose quantity of each component of the dovetail groove upper sliding plate, the pose quantity with six degrees of freedom of the first six-frame component is obtained by means of matching among the components, the pose is reversely solved, 6 displacement quantities are solved and compared with the displacement quantity measured by the stay wire displacement sensor, the aim of calibration or calibration is achieved by continuous adjustment, and dynamic and static calibration of the measuring system is achieved.

(3) The device is simple to assemble, convenient to carry and wide in measuring range, is not limited to measurement of one device (and is not limited to calibration by using the stay wire displacement sensor), does not affect measuring precision by an installation process, improves measuring accuracy and working efficiency, and has certain universality.

(4) The cross sliding table lead screw motor assembly provided by the invention has self-locking property due to lead screw transmission, can effectively prevent the measuring device from sliding in the measuring process, and ensures the reliability and the measuring accuracy of the measuring device.

Drawings

FIG. 1 is a schematic three-dimensional structure diagram of a six-DOF motion platform device for pose measurement and calibration according to the present invention;

FIG. 2 is a schematic three-dimensional structure diagram of a first six-frame assembly of a six-DOF motion platform apparatus for pose measurement and calibration according to the present invention;

FIG. 3 is a schematic three-dimensional structure diagram of a rotating assembly of a six-DOF motion platform device for pose measurement and calibration according to the present invention;

FIG. 4 is a schematic structural diagram of a dovetail groove upper slide plate assembly of a six-degree-of-freedom motion platform device for pose measurement and calibration according to the present invention;

FIG. 5 is a schematic structural view of a cross slide lead screw motor assembly of a six-DOF motion platform apparatus for pose measurement and calibration according to the present invention;

fig. 6 is a schematic three-dimensional structure diagram of a second six-frame assembly of the six-degree-of-freedom motion platform device for pose measurement and calibration according to the present invention.

In the figure: 1 a first sixth bezel assembly; 2, rotating the assembly 3, namely a dovetail groove upper sliding plate assembly; 4, a cross sliding table screw motor assembly; 5, pulling a wire displacement sensor; 6 a second sixth bezel assembly; 11 a first sixth frame; 12 a small gimbal fork; 13, fixing a stay wire displacement sensor; 14 lower connecting upright posts; 21, a support frame; a 22Y-axis fork; 23Y-axis pointers; 24 a disc seat; 25 lower lifting columns; 26 lifting rack; 27 orthogonal spherical hinge; 28X-axis pointer; 29X-axis forks; 31 a hollow cylinder; 32 a sled screw nut; 33 column locking bolt handle; 34 column locking handle bolts; 35 a lifting gear; a 36Z-axis motor; a 41Y-axis motor base; a 42Y-axis lead screw motor; 43Y-axis displacement screw; 44 moving boss 45X-axis lead screw motor; a 46X-axis motor mount; a 47X axis displacement screw; 61 a second sixth frame; 62, a right pull wire ruler; 63 a centering ball; 64 left pull lines; 65 lower pull-down wire displacement sensor fixing plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-6, a six-degree-of-freedom motion platform device for pose measurement and calibration comprises: the device comprises a first six-frame assembly 1, a rotating assembly 2 in spherical hinge with the first six-frame assembly 1, a dovetail groove upper sliding plate assembly 3 in meshed connection with the rotating assembly 2, a cross sliding table screw motor assembly 4 fixedly connected with the dovetail groove upper sliding plate assembly 3, a second six-frame assembly 6 fixedly connected with the cross sliding table screw motor assembly 4 and a stay wire displacement sensor 5 fixed on the second six-frame assembly 6; the rotating assembly 2 comprises a support frame 21, a Y-axis shifting fork 22 and an X-axis shifting fork 29 which are respectively arranged on the support frame 21, a Y-axis pointer 23 and an X-axis pointer 28 which are respectively fixedly connected with the Y-axis shifting fork 22 and the X-axis shifting fork 29, and an orthogonal spherical hinge 27 arranged at the middle position of the support frame 21, wherein the Y-axis shifting fork 22 and the X-axis shifting fork 29 are concentrically matched with the orthogonal spherical hinge 27; under support frame 21 fixedly connected with disc seat 24, disc seat 24 is kept away from and is rotated on support frame 21 terminal surface and be connected with down lift stand 25, the rigid coupling has lifting rack 26 on vertical direction is followed to lift stand 25's side down, it has the Z axle number of graduations to be carved with on the disc on the lift stand 25 down, is connected through quadrature ball pivot 27 between first six frame subassemblies 1 and the rotating assembly 2, and dovetail upper slide subassembly 3 passes through rack and pinion with the rotating assembly body 2 and is connected, and the pinhole connection between cross sliding table lead screw motor element 4 and the dovetail upper slide subassembly 3 is acted as go-between to the displacement sensor 5 that acts as go-between for realize calibration or mark purpose. The device to be measured is fixed on the first six-frame assembly 1, and the second six-frame assembly 6 is kept fixed during measurement.

Further, the first six-frame assembly 1 comprises a first six-frame 11, an upper stay wire displacement sensor fixing plate 13 fixedly connected to the first six-frame 11, a small universal joint fork 12 fixed on the upper stay wire displacement sensor fixing plate 13, and a lower connecting column 14 fixed on the first six-frame 11 through a connecting rod, the support frame 21 comprises a flat plate and three fixing plates respectively fixed on one end surface of the flat plate close to an orthogonal spherical hinge 27, the fixing plates are respectively connected with a Y-axis fork 22 and an X-axis fork 29, the flat plate is provided with a long hole for the rotation of the lower connecting column 14 around the X-axis direction, the lower connecting column 14 is connected with the orthogonal spherical hinge 27 in the rotating assembly 2, so that the first six-frame assembly and the rotating assembly 2 move together to realize the spatial six-degree-of-freedom motion, the X-axis fork and the Y-axis fork are respectively concentrically matched with the orthogonal spherical hinge, meanwhile, the Y-axis shifting fork 22 and the X-axis shifting fork 29 realize orthogonal rotation around an X, Y axis through orthogonal spherical hinges, the upper part of the support frame 21 is provided with a long hole, so that the lower connecting upright post 14 on the first six-frame component 1 can conveniently rotate around the X axis direction, and the scale marks on the disc seat 24 and the support frame 21 are respectively Y-axis scale marks and X-axis scale marks, so that the rotation angle around a X, Y axis can be measured. Protruding triangle fin appears on the disc seat 24 can survey the Z axle scale mark on the lift stand 25 down, measures around Z axle rotation amount, is convenient for read data. Meanwhile, the lifting rack 26 on the lower lifting upright post 25 is meshed with the lifting gear 35 inside the dovetail groove upper sliding plate component 3 through a gear rack, so that the movement along the z axis is realized.

Further, the dovetail groove upper sliding plate component 3 comprises a dovetail upper sliding plate, a hollow cylinder 31 fixed on the dovetail upper sliding plate, an upright post locking bolt handle 33 fixed on one side surface of the hollow cylinder 31 and a Z-axis motor 36 fixed on one side of the hollow cylinder 31 opposite to the upright post locking bolt handle 33, wherein one end of the hollow cylinder 31, which is positioned at the upright post locking bolt handle 33, is provided with an adjusting seam, a locking plate extends along the vertical direction of the edge of the adjusting seam, the locking plates are locked with a sliding plate screw nut 32 through bolts, an upright post locking handle bolt 34 is arranged under the bolts, the upright post locking handle bolt 34 is fixedly connected with an upright post locking bolt handle 33, one side surface of the hollow cylinder 31, which is opposite to the upright post locking bolt handle 33, is provided with a Z-axis gear displacement hole, and the Z-axis motor 36 is arranged on the Z-axis gear displacement hole, and a lifting gear 35 is fixedly connected to an output shaft of the Z-axis motor 36, the lifting gear 35 is embedded in a Z-axis gear displacement hole, the lifting gear 35 is meshed with the lifting rack 26, and the device can vertically move up and down through gear and rack meshing. The Z-axis motor 36 is matched with the lifting gear 35 through a key to drive the lifting gear 35 to rotate, wherein the upright column locking handle bolt 34 and the dovetail groove upper sliding plate can be locked through the rotation of the upright column locking bolt handle 33 and a bolt connection mode, so that the movement along the Z-axis direction is limited.

Further, it is preferred, cross slip table lead screw motor subassembly 4 is including removing boss 44, Y axle motor cabinet 41 and X axle motor cabinet 46, the rigid coupling has Y axle motor 42 on the Y axle motor cabinet 41, Y axle motor 42's output shaft rigid coupling has Y axle displacement lead screw 43, Y axle displacement lead screw 43 with remove boss 44 rigid coupling, the rigid coupling has X axle screw motor 45 on the X axle motor cabinet 46, X axle screw motor 45's output shaft rigid coupling has X axle displacement lead screw 47, X axle displacement lead screw 47 and Y axle motor cabinet 41 rigid coupling. The X-axis displacement screw 47 is concentrically matched with the X-axis motor base 46, and the Y-axis motor 42 is concentrically matched with the Y-axis motor base 41; the X-axis displacement screw 47 is concentrically matched with the Y-axis motor base 41, the Y-axis motor base 41 is driven to move along the X axis through screw transmission, the Y-axis displacement screw 43 is concentrically matched with the movable boss 44, and the movable platform 44 is driven to move along the Y axis through screw transmission, so that the movement of a single degree of freedom in the directions of the X axis and the Y axis is realized, and linear matching is formed. Meanwhile, the pin on the moving platform 44 is matched with the pin hole on the upper sliding plate of the dovetail groove, so that the upper sliding plate of the dovetail groove is driven to move. Meanwhile, the screw transmission has self-locking performance, can effectively prevent slippage in the measuring process, and ensures the safety and reliability of measurement.

Further, preferably, the second sixth frame assembly 6 includes a second sixth frame 61 and a lower pull line displacement sensor fixing plate 65 fixedly connected to the second sixth frame 61, the lower pull line displacement sensor fixing plate 65 is fixedly connected to a right pull line ruler 62, one end of the right pull line ruler 62 is fixedly connected to a centering ball 63, the centering ball 63 is connected to the pull line displacement sensor 5, a left pull line ruler 64 is fixedly connected to the centering ball 63 of the adjacent lower pull line displacement sensor fixing plate 65, the upper end of the pull line displacement sensor 5 is connected to the small universal joint fork 12 of the first sixth frame 11 and is in spherical hinge connection with the centering ball 63, the lower end of the pull line displacement sensor 5 is connected to the centering ball 63 of the second sixth frame 61 through hinge joint, mechanical displacement conversion resistance or voltage of the platform is output through a potentiometer element, the first sixth frame assembly randomly moves in six degrees of freedom to cause displacement change, and further cause resistance change of the moving end of the potentiometer, the amount of change in resistance can reflect the magnitude of the system displacement, and an increase or decrease in resistance can indicate the direction of the displacement. The second six frames 61 are hexagonal structures, the number of the lower pull line displacement sensor fixing plates 65 is 6, the lower pull line displacement sensor fixing plates are connected with the second six frames 61 through screws, pull line rulers are mounted on the lower pull line displacement sensor fixing plates, wherein 3 pull line rulers 64 and 3 pull line rulers 62 are mounted on the second six frames 61 respectively, and only one of the positions is described here. The left pull rule 64 is connected with the pull displacement sensor through a centering ball in a spherical hinge mode. The X-axis motor base 46 on the cross sliding table lead screw motor assembly 4 is fixedly connected with the second six frames 61.

Example 1

The measuring instrument has the following functions: the rotation angle around the X, Y, Z shaft, the translation amount along X, Y, Z obtained by the matching between the cross sliding table lead screw motor assembly and the dovetail groove upper slide plate assembly are directly measured in real time through the rotating assembly 2, so that the position and attitude amount of the first six-frame is obtained, and the position and attitude amount of the measured moving device is obtained. For example: the automobile driving simulator is used as a tool capable of simulating the driving condition of an automobile and is used as an active part, the device disclosed by the invention can be adopted at the moment, the simulator is fixedly connected to the first six-frame component 1 and drives the first six-frame component 1 to move, the rotation amount can be directly measured by the rotating component 2, and the axial displacement is obtained through the matching between the cross sliding table lead screw motor component 4 and the dovetail groove upper sliding plate component 3, so that the pose amount of the first six-frame component is obtained. The pose of the first sixth frame component can also be measured by a pose forward solution method, and the pose of the first sixth frame component can also be obtained by using the displacement measured by the 6 calibrated stay wire displacement sensors and the 6 stay wire displacement sensors and by pose forward solution calculation.

(1) When the device is used as a measuring instrument, the measured motion device is fixedly connected to the first six-edge frame, the measured motion device with six-degree-of-freedom compound motion drives the first six-edge frame to move together, and meanwhile, the rotating assembly 2 follows the first six-edge frame to follow up, so that the rotation amount of the first six-edge frame around the X, Y, Z axis can be directly measured, and the purpose of rotary decoupling can be achieved.

(2) The cooperation between the cross sliding table lead screw motor assembly 4 and the dovetail groove upper sliding plate assembly 3 enables the tested moving device to perform single translation along an X, Y, Z axis, and the part is the key for realizing the position decoupling of the device. Through adjusting X axle and Y axle lead screw motor, can realize along the removal of X axle with the single degree of freedom of Y axle direction, form linear cooperation, obtain along X, Y axle's translation volume, through adjusting Z axle motor 36 on dovetail upper sliding plate subassembly 3, it passes through the parallel key cooperation with lifting gear 35, drives lifting gear 35 and rotates, passes through rack and pinion cooperation with lifting rack 26 to make down lift stand 25 remove along Z axle direction, obtain along the translation volume of Z axle.

The function of the calibrator:

(1) when the device is used as a calibrator, the device to be tested is fixedly connected to the sixth frame, and the motion rule of the platform is given. For example, an X-axis shifting fork 29 in the adjusting and rotating assembly 2 rotates around the X axis through an orthogonal spherical hinge 27, so that the first six frames are driven to rotate around the X axis; similarly, the Y-axis fork 22 is adjusted to rotate the first six frames about the Y-axis. The cross sliding table screw motor is adjusted to move along the axial direction, the rotating angle around the shaft is measured through the rotating assembly 2 between the first six frames and the second six frames, the axial translation amount is obtained through the matching of the cross sliding table screw motor assembly 4 and the dovetail groove sliding plate assembly 3, the pose amount of the first six frames is obtained, the pose amount is sent to the pose inverse solution module, 6 displacement amounts are solved, the displacement amounts measured by the 6 stay wire displacement sensors are compared, the aim of calibration is achieved in the continuous adjusting process, and therefore dynamic calibration of the measuring system is achieved.

The number of devices and the scale of the processes described herein are intended to simplify the description of the invention, and applications, modifications and variations of the invention will be apparent to those skilled in the art.

While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.