CN111853481B - Multi-degree-of-freedom flexible supporting structure and photoelectric stabilized sighting turret universal frame - Google Patents
Multi-degree-of-freedom flexible supporting structure and photoelectric stabilized sighting turret universal frame Download PDFInfo
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- CN111853481B CN111853481B CN202010816064.4A CN202010816064A CN111853481B CN 111853481 B CN111853481 B CN 111853481B CN 202010816064 A CN202010816064 A CN 202010816064A CN 111853481 B CN111853481 B CN 111853481B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
- F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/002—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion characterised by the control method or circuitry
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
- F16F15/067—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs using only wound springs
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/04—Balancing means
- F16M2200/041—Balancing means for balancing rotational movement of the head
Abstract
The invention belongs to the technical field of airborne photoelectricity, discloses a multi-degree-of-freedom flexible supporting structure suitable for a photoelectric stabilized sighting turret, and relates to a flexible supporting structure and an outer pitching frame suitable for the multi-degree-of-freedom photoelectric turret, wherein the flexible supporting structure comprises three flexible springs, a connector, a mounting bracket and a mounting screw; the optical bench is mounted inside the outer pitch frame through the flexible support structure. The flexible structure can effectively improve the utilization rate of the inner ring space of the photoelectric stabilized sighting turret, has the characteristics of simple structure, multiple degrees of freedom and frictionless motion, is favorable for improving the stable precision of the photoelectric stabilized sighting turret, and is a novel flexible structure of an airborne photoelectric stabilized sighting turret.
Description
Technical Field
The invention belongs to the technical field of airborne photoelectricity, and relates to a multi-degree-of-freedom flexible supporting structure suitable for a photoelectric stabilized sighting turret and a photoelectric stabilized sighting turret universal frame.
Background
The airborne photoelectric stabilized sighting turret is a precise optical instrument device which utilizes a universal frame system to install sensors such as a visible light television, an infrared thermal image and a laser illuminator, realizes the precise movement of the photoelectric stabilized sighting turret through the control of servo software, becomes an important device for realizing the search, detection and positioning of an aircraft, and has the advantages of small volume, light weight, high precision and the like. However, when the carrier is in operation, the photoelectric stabilized sighting turret influences the control of the servo system on the stable precision of the sighting line due to the vibration brought by the external environment, so that the stable precision of the sighting line becomes an important index for evaluating the performance of the photoelectric stabilized sighting turret.
At present, a two-axis four-frame photoelectric sight-stabilizing turret is a mainstream structural form adopted by an airborne photoelectric turret, namely, the turret consists of two inner and outer universal frames, each universal frame consists of an azimuth rotating shaft and a pitching rotating shaft, the azimuth and pitching structure of an outer ring universal frame is a follow-up and system, the azimuth and pitching structure of an inner ring universal frame is a core component, the integral rigidity is higher, and the final image stabilizing effect can be realized. Along with the progress of the combat performance, the airborne photoelectric stabilized sighting platform develops towards the direction of precision and miniaturization, and the traditional two-axis four-frame stabilized precision is more and more difficult to meet the requirements. In addition, the traditional two-axis four-frame structure only has two freedom degree stabilizing functions of pitching and azimuth, and the novel flexible supporting structure can realize the stabilizing function of multiple freedom degrees (increasing the rolling direction).
Disclosure of Invention
Objects of the invention
The purpose of the invention is: the utility model provides a multi freedom flexible support structure and photoelectricity steady sighting capstan head gimbal suitable for photoelectricity steady sighting capstan head, on keeping the basis of the outer every single move and the azimuth structure of traditional two-axis four-frame photoelectricity steady sighting capstan head, utilize flexible support structure to replace original shock insulation mechanism and motion shafting, solve the optical sensor subassembly of photoelectricity steady sighting capstan head among the prior art to the demand problem of more spaces and weight to and the system is to the steady demand of like of rolling when the automatic identification target, improve holistic stable precision.
(II) technical scheme
In order to solve the technical problems, the invention provides a multi-degree-of-freedom flexible supporting structure which is arranged between an outer pitching frame 1 and an optical bench 3 of a photoelectric stabilized sighting turret and is used for realizing the multi-degree-of-freedom stable function of the photoelectric stabilized sighting turret; the flexible supporting structure comprises a plurality of flexible supporting structure monomers which are uniformly distributed, one end of each flexible supporting structure monomer is connected with the inner side wall of the outer pitching frame 2, the other end of each flexible supporting structure monomer is connected with the outer side wall of the optical bench 3, and each flexible supporting structure monomer enables the optical bench 3 to perform linear translation on three degrees of freedom in pitching, azimuth and rolling directions and rotation on three degrees of freedom relative to the outer pitching frame 1.
Wherein the flexible support structure 2 is driven by a motor array to realize rotation.
Wherein, flexible bearing structure 2 includes eight flexible bearing structure monomers, and the shock insulation array layout structure form behind eight flexible bearing structure monomers arrangement is the square form, and every flexible bearing structure monomer arranges the summit department at the square that forms, and the free one end of every flexible bearing structure links firmly in the inside wall of outer every single move frame 1, and the other end is connected with 3 lateral walls of optical bench.
The flexible supporting structure 2 comprises four flexible supporting structure monomers, the shock insulation array layout structure form after the four flexible supporting structure monomers are arranged is a regular tetrahedron form, each flexible supporting structure monomer is arranged at the vertex of the formed regular tetrahedron, one end of each flexible supporting structure monomer is connected to the inner side wall of the outer pitching frame 1, one end of each flexible supporting structure monomer is connected with the rear cover of the photoelectric sighting tower, and the other end of each flexible supporting structure monomer is connected with the optical bench 3.
The flexible supporting structure single body comprises a screw 2-1, a connector 2-2, a mounting bracket 2-3 and a flexible spring 2-4; the mounting support 2-3 comprises two mounting plates, a plurality of flexible springs 2-4 are arranged between the two mounting plates, through holes are formed in the mounting plates, the positions of the through holes correspond to the positions of the internal thread holes in the end portions of the flexible springs 2-4, the outer end faces of the two mounting plates are respectively provided with a connector 2-2, external thread columns corresponding to the internal thread holes in the end portions of the flexible springs 2-4 are arranged on the connectors 2-2, internal threads at the upper end and the lower end of each flexible spring 2-4 are connected with external threads of the connector 2-2, and the connectors 2-2 are connected to the mounting plates of the mounting supports 2-3 through screws 2-1.
Wherein the flexible springs 2-4 are machined, double-ended, helical flexible springs.
Wherein, in each flexible supporting structure single body, three or more than three flexible springs 2-4 are used in parallel.
When the number of the flexible springs 2-4 is three, the elastic coefficients of the three flexible springs 2-4 are equal, and the three flexible springs 2-4 are all symmetrical compression springs.
The invention also provides a photoelectric stabilized sighting turret universal frame which comprises an outer pitching frame 1, a flexible supporting structure 2 and an optical bench 3, wherein the flexible supporting structure 2 is the multi-degree-of-freedom flexible supporting structure, the flexible supporting structure 2 is arranged in the outer pitching frame 1, and the optical bench 3 is arranged in the outer pitching frame 1 through the flexible supporting structure 2.
An active driving isolation system is arranged between the outer pitching frame 1 and the optical bench 3, and comprises an array formed by at least three supporting motors, so that low-frequency disturbance suppression and active motion control of the optical bench 3 are realized.
(III) advantageous effects
The multi-degree-of-freedom flexible supporting structure suitable for the photoelectric stabilized sighting turret and the photoelectric stabilized sighting turret universal frame provided by the technical scheme have the following beneficial effects:
(1) the shafting-free optical bench component supporting scheme replaces a traditional two-shaft four-frame shafting structure form with a flexible supporting component, so that not only can the space and the weight occupied by the original shafting structure be converted into the improving space of the performance of the sensor, but also the active isolation capability of a servo control system to low-frequency disturbance can be improved by eliminating the nonlinear friction force generated by the original shafting structure.
(2) The flexible supporting structure can complete passive vibration isolation of high-frequency disturbance at the same time, and a vibration isolation structure does not need to be additionally arranged, so that the flexible supporting structure has the advantages of saving the internal space, simplifying the system and enhancing the reliability.
(3) The flexible supporting structure is a symmetrical array formed by eight flexible supporting structure bodies with eight vertexes of a cube, and thus the axial direction of each flexible supporting structure body is distributed by emitting outward radiation from the common point inside the circumference of the optical bench 3, so that the mass center of the optical bench assembly with the sensor load can be very close to the mass center of the whole photoelectric stabilized sighting turret, the balancing is simpler and more accurate, and the good imaging effect can be obtained more easily.
(4) The flexible supporting structure has a symmetrical position relation, and can generate an image stabilizing function in the rolling direction without adding a shaft system, which cannot be achieved by the traditional two-shaft four-frame structure, so that convenience is created for automatic tracking and identification of a target.
Drawings
Fig. 1 is a front view of an outer pitch frame assembly according to the present invention.
Fig. 2 is a schematic view of the installation of the flexible supporting structure of the photoelectric stabilized sighting turret of the invention.
Fig. 3 is a schematic diagram of a cubic structure layout of the flexible supporting structure of the photoelectric stabilized sighting turret of the invention.
Fig. 4 is a schematic layout diagram of a regular tetrahedron structure of the flexible support structure of the photoelectric stabilized sighting turret of the invention.
Fig. 5 is a schematic structural diagram of a single flexible supporting structure of the photoelectric stabilized sighting turret of the invention.
Fig. 6 is an exploded view of the flexible support structure of the photoelectric stabilized sighting turret of the invention.
Detailed Description
In order to make the objects, contents and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
As shown in fig. 1 to 6, the multi-degree-of-freedom flexible support structure 2 suitable for the photoelectric stabilized sighting turret of the invention is used between an outer pitching frame 1 and an optical bench 3 of the photoelectric stabilized sighting turret to form a photoelectric stabilized sighting turret gimbal for realizing the multi-degree-of-freedom stabilization function of the photoelectric stabilized sighting turret.
The photoelectric stabilized sighting turret universal frame formed based on the flexible supporting structure 2 comprises an outer pitching frame 1, a flexible supporting structure 2 and an optical bench 3, wherein the flexible supporting structure 2 is arranged inside the outer pitching frame 1, and the optical bench 3 is installed inside the outer pitching frame 1 through the flexible supporting structure 2; the flexible supporting structure 2 comprises a plurality of flexible supporting structure monomers which are uniformly distributed, one end of each flexible supporting structure monomer is connected with the inner side wall of the outer pitching frame 1, and the other end of each flexible supporting structure monomer is connected with the outer side wall of the optical bench 3. Each of the flexible support structure elements is capable of enabling the optical bench 3 to perform linear translation and rotation in three degrees of freedom in pitch, azimuth and roll directions with respect to the outer pitch frame 1.
The flexible supporting structure 2 can be driven by a motor array to rotate; the flexible support structure 2 formed by the plurality of flexible support structure monomers forms an isolation array for supporting the optical bench 3 and isolating the optical bench 3 from the outer pitching frame 1, so that the optical bench 3 can not only move in the outer pitching frame 1, but also provide passive isolation for the optical bench 3 relative to the outer pitching frame 1.
In this embodiment, there are several arrangement forms of the plurality of flexible supporting structure units. Preferably, one of the ways is: choose for use eight flexible supporting structure monomers, as shown in fig. 3, the shock insulation array layout structure form behind eight flexible supporting structure monomers arrangement is the square form, and every flexible supporting structure monomer arranges the apex of the square that forms, and eight apices of the square that forms respectively arrange a flexible supporting structure monomer promptly, and the free one end of every flexible supporting structure links firmly in the inside wall of outer every single move frame 1, and the other end is connected with 3 lateral walls of optical bench. The layout of eight flexible supporting structure monomers is in a form that 8 top angles of a cube are opposite, a common point is the center of the cube, equal rigidity can be obtained in three linear directions through the layout, and a high-frequency attenuation effect similar to that of a rubber vibration isolator can be generated.
The other arrangement mode is as follows: four flexible supporting structure single bodies are selected, as shown in fig. 4, the shock insulation array layout structure form after the four flexible supporting structure single bodies are arranged is a regular tetrahedron shape, each flexible supporting structure single body is arranged at the vertex of the formed regular tetrahedron, namely, one flexible supporting structure single body is arranged at each of the four vertices of the formed regular tetrahedron. In the flexible supporting structure formed by the method, one end of each of three flexible supporting structure monomers is connected to the inner side wall of the outer pitching frame 1, one end of the fourth flexible supporting structure monomer is connected with the rear cover of the photoelectric stabilized sighting turret, the other ends of the four flexible supporting structure monomers are connected with the optical bench 3, and the common intersection point is located at the mass center of the regular tetrahedron.
Generally, the undamped frequency corresponding to the translational motion of the flexible support structure 2 in the axial linear direction formed in fig. 3 is at least 2-3 times of the undamped frequency corresponding to the torsional motion in the axial linear direction, in this embodiment, the load of the photoelectric stabilized aiming turret sensor is 15kg, the whole seismic isolation array has the layout form shown in fig. 3, the natural frequency corresponding to the translational motion of the whole photoelectric stabilized aiming turret is 16Hz, and the natural frequency corresponding to the rotational motion is 1.6Hz, so that the natural frequency of the translational motion is 10 times of the natural frequency of the rotational motion.
As shown in fig. 5 and 6, the flexible supporting structure unit of the present embodiment includes a screw 2-1, a connector 2-2, a mounting bracket 2-3 and a flexible spring 2-4; the mounting support 2-3 comprises two mounting plates, a plurality of flexible springs 2-4 are arranged between the two mounting plates, through holes are formed in the mounting plates, the positions of the through holes correspond to the positions of the internal thread holes in the end portions of the flexible springs 2-4, the outer end faces of the two mounting plates are respectively provided with a connector 2-2, external thread columns corresponding to the internal thread holes in the end portions of the flexible springs 2-4 are arranged on the connectors 2-2, internal threads at the upper end and the lower end of each flexible spring 2-4 are connected with external threads of the connector 2-2, and the connectors 2-2 are connected to the mounting plates of the mounting supports 2-3 through screws 2-1.
The key part of the flexible supporting structure single body is a flexible spring 2-4, the flexible spring 2-4 is preferably a machined, double-ended, spiral flexible spring, when the flexible supporting structure single body is machined into an integral structure, three or more flexible springs 2-4 are used in parallel, the flexible springs 2-4 can apply a certain pre-tightening force in the axial direction, and then a smaller positive lateral stiffness can be generated, so that a shock insulation array formed by the whole flexible supporting structure 2 can generate a low torsion lateral stiffness and a high lateral axial stiffness which are expected to be needed, the whole outer pitching frame 1 can perform limited rotation angle or translation along three orthogonal axial directions, and a traditional universal frame, a balance ring or other related mechanical equipment is not needed, namely, a driving motor can drive an optical bench 3 suspended by the flexible supporting structure 2 to perform orientation without too large driving force, And the rotation motion in three directions of pitching and rolling.
Wherein, taking three flexible springs 2-4 as an example, the elastic coefficients of the three flexible springs 2-4 are equal; the three flexible springs 2-4 are all symmetrical compression springs; the heads of the two ends of the three flexible springs 2-4 are provided with internal connecting threads; a pretightening force N is axially applied to the combined flexible springs 2-4, so that low lateral stiffness is generated; the flexible supporting structure single body can meet the condition that the undamped frequency corresponding to the axial translation is at least more than 2-7 of the undamped frequency corresponding to the axial rotation.
When the flexible supporting structure 2 works, the passive vibration isolation function of high-frequency disturbance of a vibration isolation mechanism in a transmission two-axis four-frame structure can be replaced, and a stable working environment is provided for the airborne photoelectric stabilized sighting turret; furthermore, the flexible supporting structure can replace the traditional shafting structure form of a two-shaft four-frame, and an active driving isolation system which comprises an array formed by at least three supporting motors can be preferably added between the outer pitching frame 1 and the optical bench 3 to realize the low-frequency disturbance suppression and the active motion control of the optical bench 3; most importantly, a roll shaft system structure is not required to be additionally arranged, the roll image stabilizing function can be provided for the photoelectric stabilized sighting turret, the image rotation is eliminated, and the automatic tracking and identification of the system to the implementation target are facilitated.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (6)
1. A multi-degree-of-freedom flexible supporting structure is arranged between an outer pitching frame (1) and an optical bench (3) of a photoelectric stabilized sighting turret and is used for realizing the multi-degree-of-freedom stabilizing function of the photoelectric stabilized sighting turret; the flexible supporting structure is characterized by comprising a plurality of flexible supporting structure monomers which are uniformly distributed, wherein one end of each flexible supporting structure monomer is connected to the inner side wall of the outer pitching frame (1), the other end of each flexible supporting structure monomer is connected with the outer side wall of the optical bench (3), and each flexible supporting structure monomer enables the optical bench (3) to perform linear translation on three degrees of freedom in pitching, azimuth and rolling directions and rotation on three degrees of freedom relative to the outer pitching frame (1);
the flexible supporting structure (2) comprises eight flexible supporting structure monomers, the shock insulation array layout structure after the eight flexible supporting structure monomers are arranged is in a cube shape, each flexible supporting structure monomer is arranged at the vertex of the formed cube, one end of each flexible supporting structure monomer is fixedly connected to the inner side wall of the outer pitching frame (1), and the other end of each flexible supporting structure monomer is connected with the outer side wall of the optical bench (3);
or the flexible supporting structure (2) comprises four flexible supporting structure monomers, the shock insulation array layout structure after the four flexible supporting structure monomers are arranged is in a regular tetrahedron shape, each flexible supporting structure monomer is arranged at the vertex of the formed regular tetrahedron, one end of each flexible supporting structure monomer is connected to the inner side wall of the outer pitching frame (1), one end of each flexible supporting structure monomer is connected with the rear cover of the photoelectric stabilized sighting turret, and the other ends of the four flexible supporting structure monomers are connected with the optical bench (3);
the flexible supporting structure (2) is driven by a motor array to realize rotation.
2. The multi-degree-of-freedom flexible support structure according to claim 1, wherein the flexible support structure single body comprises a screw (2-1), a connector (2-2), a mounting bracket (2-3) and a flexible spring (2-4); the mounting support (2-3) comprises two mounting plates, a plurality of flexible springs (2-4) are arranged between the two mounting plates, through holes are formed in the mounting plates, the positions of the through holes correspond to the positions of internal thread holes in the end portions of the flexible springs (2-4), the outer side end faces of the two mounting plates are respectively provided with a connector (2-2), external thread columns corresponding to the internal thread holes in the end portions of the flexible springs (2-4) are arranged on the connectors (2-2), internal threads at the upper end and the lower end of each flexible spring (2-4) are connected with external threads of the connector (2-2), and the connectors (2-2) are connected to the mounting plates of the mounting supports (2-3) through screws (2-1).
3. The multiple degree of freedom flexible support structure according to claim 2, characterized in that the flexible springs (2-4) are machined, double-ended, helical flexible springs.
4. The multiple degree of freedom flexible support structure of claim 3, characterized in that in each of said flexible support structure units, three or more flexible springs (2-4) are used in parallel.
5. The multiple degree of freedom flexible support structure according to claim 4, characterized in that when there are three flexible springs (2-4), the three flexible springs (2-4) have equal spring constants, and all three flexible springs (2-4) are symmetrical compression springs.
6. A photoelectric stabilized sighting turret gimbal, characterized in that the gimbal comprises an outer pitching frame (1), a flexible supporting structure (2) and an optical bench (3), wherein the flexible supporting structure (2) is a multi-degree-of-freedom flexible supporting structure as claimed in any one of claims 1-5, the flexible supporting structure (2) is arranged inside the outer pitching frame (1), and the optical bench (3) is installed inside the outer pitching frame (1) through the flexible supporting structure (2);
an active driving isolation system is arranged between the outer pitching frame (1) and the optical bench (3), and the active driving isolation system comprises an array formed by at least three supporting motors, so that low-frequency disturbance suppression and active motion control of the optical bench (3) are realized.
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| CN202010816064.4A CN111853481B (en) | 2020-08-14 | 2020-08-14 | Multi-degree-of-freedom flexible supporting structure and photoelectric stabilized sighting turret universal frame |
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| CN202010816064.4A CN111853481B (en) | 2020-08-14 | 2020-08-14 | Multi-degree-of-freedom flexible supporting structure and photoelectric stabilized sighting turret universal frame |
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