CN101609209B

CN101609209B - Space swing mirror driving device with high integration level

Info

Publication number: CN101609209B
Application number: CN200910067302XA
Authority: CN
Inventors: 汪逸群; 颜昌翔; 刘伟; 谢涛; 刘长顺
Original assignee: Changchun Institute of Optics Fine Mechanics and Physics of CAS
Current assignee: Changchun Institute of Optics Fine Mechanics and Physics of CAS
Priority date: 2009-07-21
Filing date: 2009-07-21
Publication date: 2010-11-03
Anticipated expiration: 2029-07-21
Also published as: CN101609209A

Abstract

The invention relates to a space swing mirror driving device with high integration level, which is especially suitable for a space optical remote sensor and used for driving a swing mirror. The space swing mirror driving device comprises a stepper motor, a harmonic speed reducing mechanism formed by a rigid gear, a flexible gear, a roller, an output rigid gear and an output shaft fixedly connected with the output rigid gear, and an optical electric axial angle encoder formed by a coded disc stuck on a coded disc seat, a narrow slit arranged on a narrow slit base, a receiving plate and a luminescent board; wherein the harmonic speed reducing mechanism and the optical electric axial angle encoder share the same main shaft and are encapsulated into a closed cavity consisting of a box body, a left box cover and a right box cover. The space swing mirror driving device can reduce the weight and the volume to the utmost extent, and improves the accuracy of a system, so as to meet the special requirements of the space application environment. Therefore, the device has the advantages of high accuracy and reliability, long service life, small volume, light weight, low manufacturing cost and convenient installation and debugging.

Description

The space swing mirror driving device of high integration

Technical field

The present invention relates to a kind of be specially adapted in the space optical remote sensor to the drive unit that drives of pendulum mirror.

Background technology

In various space optical remote sensors, according to different imaging modes, the pendulum mirror often is used to reflect the atural object optical signalling, atural object is carried out motion compensation, enlarges field range and to the enterprising line scanning of vertical flight direction of remote sensing target.Its performance directly has influence on the image quality of remote sensor, is the important component part of space optical remote sensor.Although it is different that the remote sensor of different task background requires the performance index of pendulum illuminating apparatus structure, these pendulum illuminating apparatus structures have many common features,, low-power consumption little as: low speed, big inertia, volume weight, position and velocity accuracy height, reliability height or the like.Satisfy these harsh technical requirements, the design of swing mirror driving device just becomes one of gordian technique of pendulum illuminating apparatus structure and even the design of whole remote sensor.

At present both at home and abroad space swing mirror driving device mainly contains two kinds: the one, utilize scrambler provide stepper motor desired position feedback signal by stepper motor through speed reduction unit deceleration rear-guard movable pendulum mirror, relatively be typically the scan mirror drive control module in French SPOT-5 satellite remote sensing system.The 2nd, finite corner DC brushless torque motor and angle, speed pickup are formed closed-loop control system and are realized to putting the driving of mirror, as the scanning mirror control system in satellite infrared multispectral scanner of domestic resource.These two kinds of drive units respectively have relative merits, have at home and abroad all obtained in the Space Remote Sensing Systems using widely.According to present documents and materials, elements such as the motor in these drive units, speed reduction unit and sensor are independent design, make and debug, and are difficult to the technical requirement that realizes that volume is little, in light weight, precision is high and reliability is high.More at the document of robot field's modularized joint design aspect in addition, although they can be integrated into driver element with motor, speed reduction unit and feedback element, but they are difficult to satisfy the demand of low speed smooth operation, and its position and velocity accuracy do not reach the technical requirement of space optical remote sensor yet.According to the master thesis " research of high-performance filtering driving device " that the Tang Feng of University Of Chongqing writes, the high-performance filtering driving device of this school exploitation can be used for space industry.This drive unit comprises output shaft coupling, filtering gear train, motor and four parts of angular transducer.The motion of motor passes to the output shaft coupling after deceleration of filtering gear train and filtering, the rotation of output shaft coupling is by feeding back with its coaxial angular transducer that connects.This drive unit is integrated permanent-magnet brushless DC electric machine, speed ratio is 160 filter speed reducer and digital hall sensor, have higher integrated level and output torque, but this type speed reducer speed ratio is lower, the research of transmission accuracy aspect is still immature and do not see the report of engineering application facet, so be difficult to satisfy the development requirement of space flight model task.

Summary of the invention

The objective of the invention is provides the space swing mirror driving device of the high integration of a kind of control accuracy height, reliability height, compact conformation for overcoming the above-mentioned defective of the swing mirror driving device existence that is used for space optical remote sensor at present.

The space swing mirror driving device of high integration of the present invention, comprise stepper motor, by firm wheel, the flexbile gear that is meshed with just wheel internal tooth, be arranged on the wave producer that drives flexbile gear in the flexbile gear, the output that is meshed with flexbile gear is just taken turns, take turns the harmonic reduction mechanism that the output shaft of fixedlying connected constitutes with output is firm, by sticking on code-disc on the encoder basement, being arranged on the optical electric axial angle encoder that slit, dash receiver and luminous plaque on the slit base constitute;

Described wave producer comprises being nested with at the bending resistance ring on the described flexbile gear madial wall, driving the interior ring that is connected with the output shaft of described stepper motor, being arranged on 4 rollers between bending resistance ring and the interior ring by retainer;

Described harmonic reduction mechanism and optical electric axial angle encoder are encapsulated in the airtight cavity of being made up of casing, left case lid and right case lid as follows: described firm wheel is installed in the casing on the left end tank wall by left case lid, and described and output just the wheel output shaft of fixedlying connected are erected on the interior shouldered wall at casing middle part by crossed roller bearing;

Described luminous plaque is installed on the right flank of shouldered wall in the casing middle part by backing plate and screw, described encoder basement be installed in the shaft shoulder of exporting the output shaft that firm wheel fixedlys connected on, described slit base is connected on the casing, and described dash receiver is installed on the right flank of slit base.

The principle of work of space swing mirror driving device of the present invention is: stepper motor drives the wave producer of being made up of interior ring, roller, retainer and bending resistance ring and rotates, the realization first order is slowed down, and forces flexbile gear to produce continuous elastic deformation by the characteristics of motion of four roller wave producers.The firm tooth number of the number of teeth of flexbile gear is few 2 again, and meshes fully at the tooth at major axis two ends and the tooth of firm wheel, throws off fully at the tooth at minor axis two ends and the tooth of just having taken turns.Therefore just taking turns under the situation that fixedly flexbile gear rotates, when wave producer was goed around, flexbile gear relatively just wheel turned over two pairing angles of tooth, slowed down with the realization second level.When code-disc rotates with output shaft, the relative slit of code-disc produces motion, it is just modulated that photoelectric receiving device on the dash receiver receives the luminous flux that luminous plaque sends, and is formed with the signal of certain Changing Pattern by opto-electronic conversion, can obtain the position, real-time angle of output shaft after treatment.

Crossed roller bearing has a bearing can bear radial load, and axial load and moment load wait the load of all directions, and can obtain specific functions such as high rigidity, high precision when inside and outside circle has reduced size.By means of this bearing realized by output just unique axle of forming of wheel, single crossed roller bearing and output shaft be, this new profile shaft system tradition axle system has not only reduced amount of parts (reducing a bearing and the corresponding part of installing) but also has simplified shafting structure, shortened the length that axle is, has improved shafting precision.In addition because optical electric axial angle encoder and harmonic wave reducing gear shared axle system and housing, parts such as shaft coupling in traditional swing mirror driving device, optical electric axial angle encoder shell, axle system have been saved, only keep key componentses such as code-disc, slit, luminous plaque and dash receiver, thereby reduced machine volume and weight significantly.

Harmonic reduction mechanism utilizes the friction gearing in the wave producer to realize first order deceleration, thereby the method that combines by friction gearing and harmonic drive has realized the large speed ratio (surpassing 300) of single-stage harmonic reduction mechanism.

The present invention is based on the light, mechanical, electrical incorporate design philosophy of high integration, integrated and fusion is assembled in the casing with stepper motor, large speed ratio harmonic reduction mechanism and optical electric axial angle encoder height under the volume and weight restrictive condition of strictness, a shared main shaft, reduce weight and volume to greatest extent, improve system accuracy, to satisfy the specific demand of space applied environment.Thereby high precision, high reliability, long-life, small size, light-weighted space swing mirror driving device have been realized, this installs low cost of manufacture, Installation and Debugging are convenient, be specially adapted to drive the pendulum illuminating apparatus structure of Space Optical System, after the modification design of concrete application scenario, also can be used for the driver element of other space operation parts.

Description of drawings

Fig. 1 is the structural representation of the space swing mirror driving device of high integration;

Fig. 2 is that A-A shown in Fig. 1 is to cut-open view;

Fig. 3 is that B-B shown in Fig. 1 is to cut-open view;

Fig. 4 is that C-C shown in Fig. 1 is to cut-open view.

Embodiment

The embodiment that provides below in conjunction with accompanying drawing describes in further detail apparatus of the present invention.

Referring to figs. 1 through Fig. 4, a kind of space swing mirror driving device of high integration, comprise stepper motor 1, by firm wheel 3, the flexbile gear 4 that is meshed with just wheel 3 internal tooths, be arranged on the wave producer that drives flexbile gears 4 in the flexbile gear 4, the output that is meshed with flexbile gear 4 just wheel 8, take turns the harmonic reduction mechanism that 8 output shafts of fixedlying connected 10 constitute with output is firm, by sticking on code-disc 18 on the encoder basement 12, being arranged on the optical electric axial angle encoder that slit 19, dash receiver 14 and luminous plaque 20 on the slit base 13 constitute;

Described wave producer comprises the bending resistance ring 5 that is nested with on described flexbile gear 4 madial walls, drives the interior ring 23 that is connected with the output shaft of described stepper motor 1, is arranged on 4 rollers 7 between bending resistance ring 5 and the interior ring 23 by retainer 24;

Described harmonic reduction mechanism and optical electric axial angle encoder are encapsulated in the airtight cavity of being made up of casing 6, left case lid 2 and right case lid 15 as follows: described firm wheel 3 is installed in the casing 6 on the left end tank walls by left case lid 2, and described output shaft 10 is erected on the interior shouldered wall at casing 6 middle parts by crossed roller bearing 9;

Described luminous plaque 20 is installed on the right flank of shouldered wall in casing 6 middle parts by backing plate 11 and screw (not indicating among the figure), described encoder basement 12 is installed on the shaft shoulder of output shaft 10, described slit base 13 is connected on the casing 6, and described dash receiver 14 is installed on the right flank of slit base 13.

Also have a code-disc trim ring 16 that is screwed onto on the described output shaft 10 that described code-disc 18 is pressed on the encoder basement 12.Among the figure 17 for the O-ring seals that is arranged on 10 of right case lid 15 and output shafts, 21 for bearing cap, 22 be that retainer covers.

Claims

1. the space swing mirror driving device of a high integration, comprise stepper motor (1), by firm wheel (3), the flexbile gear (4) that is meshed with just wheel (3) internal tooth, be arranged on the wave producer that drives flexbile gear (4) in the flexbile gear (4), the output that is meshed with flexbile gear (4) just takes turns (8), just taken turns the harmonic reduction mechanism of output shaft (10) formation of (8) fixedlying connected with output, by sticking on code-disc (18) on the encoder basement (12), being arranged on the optical electric axial angle encoder that slit (19), dash receiver (14) and luminous plaque (20) on the slit base (13) constitute, it is characterized in that:

Described wave producer comprises being nested with at the bending resistance ring (5) on described flexbile gear (4) madial wall, driving the interior ring (23) that is connected with the output shaft of described stepper motor (1), being arranged on 4 rollers (7) between bending resistance ring (5) and the interior ring (23) by retainer (24);

Described harmonic reduction mechanism and optical electric axial angle encoder are encapsulated in the airtight cavity of being made up of casing (6), left case lid (2) and right case lid (15) as follows: described firm wheel (3) is installed on the interior left end tank wall of casing (6) by left case lid (2), and described and output just wheel (8) output shaft (10) of fixedlying connected are erected on the interior shouldered wall in the middle part of the casing (6) by crossed roller bearing (9);

Described luminous plaque (20) is installed on the right flank of shouldered wall in casing (6) middle part by backing plate (11) and screw, described encoder basement (12) be installed in the shaft shoulder of exporting the output shaft (10) that firm wheel (8) fixedlys connected on, described slit base (13) is connected on the casing (6), and described dash receiver (14) is installed on the right flank of slit base (13).

2. the space swing mirror driving device of a kind of high integration according to claim 1, it is characterized in that also having one to be screwed onto described code-disc trim ring (16) of just having taken turns on the output shaft (10) of (8) fixedlying connected described code-disc (18) is pressed on the encoder basement (12) with output.