CN102829783A - Frame shafting support system for three-shaft inertially stabilized platform - Google Patents
Frame shafting support system for three-shaft inertially stabilized platform Download PDFInfo
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- CN102829783A CN102829783A CN2012102960497A CN201210296049A CN102829783A CN 102829783 A CN102829783 A CN 102829783A CN 2012102960497 A CN2012102960497 A CN 2012102960497A CN 201210296049 A CN201210296049 A CN 201210296049A CN 102829783 A CN102829783 A CN 102829783A
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Abstract
A frame shafting support system for a three-shaft inertially stabilized platform is suitable for the support of shaftings of a rolling frame and a pitching frame of a three-shaft inertially stabilized platform; the support system of the invention adopts a double-support mechanism of a mechanical bearing and a driven magnetic bearing, which is different from a traditional mechanical bearing support mode. The support system mainly comprises a revolving shaft, a mechanical bearing, a magnetic bearing, and the like. The structure of the system has the advantages of less friction and great load bearing, when compared with a traditional mechanical support mode. The support system of the invention is suitable for the support of frame shaftings of inertially stabilized and photoelectric servo platforms for aviation remote sensing, target tracking, and the like.
Description
Technical field
The invention belongs to the aerial remote sens ing technique field; Relate to the roll of three inertially stabilized platforms and the support of pitching frame axle system; Be applicable to and carry big and require the less three inertially stabilized platform systems of airborne remote sensing of deadweight, also can be used for servo tracking stable platform systems such as vehicle-mounted, carrier-borne, radar and targeted surveillance.
Background technology
Three inertially stabilized platforms of airborne remote sensing are one of key equipments of airborne earth observation; Its function is to be supported to picture load and to isolate three direction attitude angle motions of flight carrier and external disturbance; The imaging load optical axis is followed the tracks of in inertial space all the time and, improved imaging resolution perpendicular to local level.Yet because the aerospace applications environmental limit, need have characteristics such as little, the in light weight and CBR of volume is big on the inertially stabilized platform structure simultaneously, therefore need carry out the compactedness optimal design under the prerequisite of dynamic and static state performance satisfying in the design.The frame supported system is a key component of inertially stabilized platform, is determining the overall performance of stable platform, comprises precision, load-bearing capacity, volume, weight, power consumption etc.
In the design of aviation inertially stabilized platform; Available frame rotary axis system supporting way all is swings that the traditional mechanical support of utilization realizes roll frame and pitching frame; If realize bigger carrying; Need take larger-size mechanical bearing, this has just caused the whole size of shafting structure to become big, complex structure.When load was big, mechanical bearing supported the also corresponding increase of friction force, and the platform driving moment is required to improve, and the control difficulty strengthens.To above-mentioned weak point, axle proposed by the invention is that support system can effectively address these problems.
Summary of the invention
Technology of the present invention is dealt with problems and is: to the deficiency of roll frame in three inertially stabilized platforms of airborne remote sensing with the existing supporting way of pitching frame axle system, propose a kind ofly to carry greatly, friction is little, volume is little, three inertially stabilized platform gimbal axis of light weight, features simple structure are support system.
Technical solution of the present invention is: a kind of three inertially stabilized platform gimbal axis are support system, by revolving shaft, shaft end nut, sleeve, bolt, back-up ring, mechanical bearing, outer end cap, outer end cap screw, inner end cap screw, inner end cap, outside steel loop, rotor installing ring, magnetic bearing bearing, enclosing cover screw, magnetic steel of stator, rotor magnetic steel, enclosing cover, stator set collar, rotor retaining ring, rotor hoop cover, stator pad, pad screw, bearing screw.Magnetic steel of stator, rotor magnetic steel, outside steel loop, stator pad have been formed the magnetic bearing structure; Wherein framed structure is installed in base through this support system; Revolving shaft one side external diameter is with sleeve, adds shaft end nut through bolt and is installed in the base, and mechanical bearing inner ring one side withstands on the shaft shoulder place of revolving shaft; Opposite side is fixed through back-up ring, and mechanical bearing outer ring one side withstands on outer end cap, and opposite side is fixed by inner end cap; Outer end cap is installed on the framework through the outer end cap screw, and inner end cap is fastened in the outer end cap through the inner end cap screw, and the interference of rotor installing ring is contained in revolving shaft; Rotor magnetic steel is installed on the rotor installing ring, and rotor magnetic steel axially is fixed on the rotor installing ring by rotor retaining ring, is radially fixed by rotor hoop cover; Magnetic steel of stator then is installed in the magnetic bearing bearing; With outside steel loop alternative arrangement, axially to fix through the stator set collar, the stator pad is fastened in the magnetic bearing bearing through the pad screw; The magnetic bearing bearing is fastened on framework through the bearing screw, and enclosing cover is installed in the magnetic bearing bearing outside through the enclosing cover screw;
Mechanical bearing adopts " face-to-face " established angle contact ball bearing, the axial pretightening mounted in pairs, and rigidity is big, carrying is big, precision is high, radial dimension is little, compact conformation.
This magnetic bearing structure is the radially passive magnetic bearing of unsymmetric structure, and working method is attractive; Rotor magnetic steel and magnetic steel of stator gap are fixed, and constant exerting oneself played the unloading effect; Rotor magnetic steel is a domain structure, and magnetic steel of stator is non-domain structure; Rotor magnetic steel is divided into five parts vertically, and wherein the radial magnetizing part radially is a sectional type, and the axial charging part radially is a monoblock type, does not need piecemeal; Magnetic steel of stator axial charging part radially is a monoblock type, does not need piecemeal, and radial magnetizing partly changes the good outside steel loop of magnetic property into, and outside steel loop need not radially piecemeal.
The revolving shaft material is 2Cr13, and intensity is higher; Outer end cap, inner end cap, rotor installing ring, magnetic bearing bearing, stator pad material are ultralumin 7050, are the lower nonmagnetic substance of magnetic susceptibility, are guaranteeing to reduce weight under the system performance prerequisite; Magnetic steel of stator, rotor magnetic steel material are the samarium cobalt permanent magnet body, and it is little that magnetic susceptibility is stable, magnetic property is influenced by temperature and external magnetic field; Outside steel loop is No. 10 steel, and magnetic property is better.
Principle of the present invention is: in inertially stabilized platform; The pressure that bigger load weight is born each frame bearing of platform is very big; Therefore increased the friction force of mechanical bearing, when each gimbal axis of platform rotated the control load attitude, this friction force can further influence the platform control accuracy.Select for use magnetic bearing that the stable platform framework is unloaded, can reduce the required load size of bearing of roll frame mechanical bearing, and then the friction force can reduce the bearing rotation time, the control pointing accuracy improved.Because platform load gravity is in the radial direction of revolving shaft, and receive platform overall volume quality and power consumption requirement, platform need have the requirement of large bearing capacity small volume low watt consumption with magnetic bearing, and therefore adopting radially, passive magnetic bearing unloads the platform framework revolving shaft.
Adopt mechanical bearing to add the magnetic bearing dual-support structure, rigidity is higher.The magnetic bearing structure plays the unloading effect, and mechanical bearing has served as the protection bearing of magnetic bearing, and helping load capacity increases.The existence of mechanical bearing defines the variation in magnetic bearing gap, makes the radially passive magnetic bearing of traditional symmetric form can't externally show the effect of exerting oneself.In the stable platform unloading, adopt a kind of radially passive magnetic bearing of unsymmetric structure.The load-bearing direction with passive magnetic bearing in ring magnet steel or outer shroud magnet steel be designed to non-domain structure, then the effect of the power between ring and the outer shroud is no longer cancelled out each other in the magnet steel, when magnetic gap is constant, can externally show the effect of constant power.In asymmetric passive magnetic bearing; Because two magnet steel generation repulsion types are done the time spent itself and are had instability; If adopt repulsion type passive magnetic bearing then can produce bigger circumferential and axial component of force, therefore in suspension adopt attractive asymmetric passive magnetic bearing structure at the stable platform revolving shaft.
The present invention's advantage compared with prior art is:
(1) structure of the present invention is a kind of brand-new structure, has big, little, the characteristics such as volume is little, light weight of friction of carrying; Realized the support of the roll frame and the pitching frame of three inertially stabilized platforms.
(2) the present invention has adopted mechanical bearing to add the magnetic bearing dual-support structure, and magnetic bearing plays the unloading effect, and mechanical bearing has served as the protection bearing of magnetic bearing equally, has increased load capacity greatly.
(3) magnetic bearing structure of the present invention helps improving the platform control accuracy because the driven suspension unloading has reduced the friction that axle system rotates.
(4) revolving shaft of the present invention has adopted hollow structure, makes things convenient for bolt to use, and is simple and compact for structure, reduced overall weight.
(5) mechanical bearing of the present invention adopts " face-to-face " established angle contact ball bearing, the axial pretightening mounted in pairs, and rigidity is big, carrying is big, precision is high, radial dimension is little, compact conformation.
Description of drawings
Fig. 1 is the support system structural drawing for three inertially stabilized platform gimbal axis of the present invention;
Fig. 2 is the magnetic bearing structural drawing among the present invention, and wherein a is a front view, and b is a side view.
Embodiment
As shown in Figure 1, a kind of three inertially stabilized platform gimbal axis are that back-up system is by revolving shaft 1, shaft end nut 2, sleeve 3, bolt 4, back-up ring 5, mechanical bearing 6, outer end cap 7, outer end cap screw 8, inner end cap screw 9, inner end cap 10, outside steel loop 11, rotor installing ring 12, magnetic bearing bearing 13, enclosing cover screw 14, magnetic steel of stator 15, rotor magnetic steel 16, enclosing cover 17, stator set collar 18, rotor retaining ring 19, rotor hoop cover 20, stator pad 21, pad screw 22, bearing screw 23 among the present invention; Magnetic steel of stator 15, rotor magnetic steel 16, outside steel loop 9, stator pad 21 have been formed the magnetic bearing structure; Wherein framed structure 102 is installed in base 101 through this support system; Revolving shaft 1 one side external diameters are with sleeve 3, add shaft end nut 2 through bolt 4 and are installed in the base 101, and mechanical bearing 6 inner rings one side withstands on the shaft shoulder place of revolving shaft 1; Opposite side is fixing through back-up ring 5, and mechanical bearing 6 outer rings one side withstands on outer end cap 7, and opposite side is fixing by inner end cap 10; Outer end cap 7 is installed on the framework 102 through outer end cap screw 8, and inner end cap 10 is fastened in the outer end cap 7 through inner end cap screw 9, and 12 interference of rotor installing ring are contained in revolving shaft 1; Rotor magnetic steel 16 is installed on the rotor installing ring 12, and rotor magnetic steel 16 axially is fixed on the rotor installing ring 12 by rotor retaining ring 19, is radially fixed by rotor hoop cover 20; 15 of magnetic steel of stator are installed in the magnetic bearing bearing 13; With outside steel loop 11 alternative arrangement, axially fixing through stator set collar 15, stator pad 21 is fastened in the magnetic bearing bearing 13 through pad screw 22; Magnetic bearing bearing 13 is fastened on framework 102 through bearing screw 23, and enclosing cover 17 is installed in magnetic bearing bearing 13 outsides through enclosing cover screw 14.
Revolving shaft 1 as shown in Figure 1 is a hollow structure, makes things convenient for bolt 4 to install and use compact conformation.
As shown in Figure 1, mechanical bearing 6 adopts " face-to-face " established angle contact ball bearing, the C class precision, and the axial pretightening mounted in pairs, rigidity is big, carrying is big, precision is high, radial dimension is little, compact conformation.
Like Fig. 1, shown in 2, this magnetic bearing structure is the radially passive magnetic bearing of unsymmetric structure, and rotor magnetic steel 16 is a domain structure, and magnetic steel of stator 15 is non-domain structure; Because two magnet steel generation repulsion types are done the time spent itself and are had instability, if adopt repulsion type passive magnetic bearing then can produce bigger circumferentially and axial component of force, therefore in suspension adopt attractive asymmetric passive magnetic bearing structure at the stable platform revolving shaft; Because the fixed support of mechanical bearing 6, rotor magnetic steel 16 is fixed with magnetic steel of stator 15 gaps, and constant exerting oneself played passive unloading effect; Rotor magnetic steel 16 is divided into five parts vertically with magnetic steel of stator 15, adopts axial and radial magnetizing to replace modes of emplacement, and vertically one, three, five of magnet steel is an axial charging, and two, four is radial magnetizing, and magnetizing direction is as 1, shown in 2; Rotor magnetic steel 16 radial magnetizings part radially is a fraction block structure, and the axial charging part radially is a monolithic construction, does not need piecemeal; Magnetic steel of stator 15 axial chargings part radially is a monolithic construction; Do not need piecemeal, if the radial magnetizing part just greatly reduces the reliability of magnetic bearing according to the rotor magnetic steel 16 split type magnet rings that are spliced into required size then; Be prone to the little magnetic patch in the outside by the phenomenon of sucking-off; For improving the Mechanical Reliability of whole magnetic bearing, partly change passive magnetic bearing magnetic steel of stator 15 radial magnetizings into magnetic conductive material, i.e. outside steel loop 11.
Like Fig. 1, shown in 2; This magnetic bearing structure works long hours owing to platform because rotor magnetic steel 16 radial magnetizings partly for fraction block structure is stitched together, need stick with glue during installation; Lasting suction can cause the fritter of rotor magnetic steel 16 to separate; Final magnetic steel of stator 15 is attached together with rotor magnetic steel 16, therefore, is arranged on rotor magnetic steel 16 outside rotor hoop covers 20 this moment and has just played the limiting protecting effect.
Like Fig. 1, shown in 2; This magnetic bearing structure magnetic steel of stator 15 is non-domain structure with outside steel loop 11; Radially might have rotation, the stator pad 21 that therefore here is provided with is also located by pad screw 22, has just played magnetic steel of stator 15 and outside steel loop 11 spacing fixations.
Revolving shaft 1 material is 2Cr13, and intensity is higher; Outer end cap 7, inner end cap 10, rotor installing ring 12, magnetic bearing bearing 13, stator pad 21 materials are ultralumin 7050, are the lower nonmagnetic substance of magnetic susceptibility, are guaranteeing to reduce weight under the system performance prerequisite; Magnetic steel of stator 15, rotor magnetic steel 16 materials are the samarium cobalt permanent magnet body, and it is little that magnetic susceptibility is stable, magnetic property is influenced by temperature and external magnetic field; Outside steel loop 11 is No. 10 steel, and magnetic property is better.
The content of not doing in the instructions of the present invention to describe in detail belongs to this area professional and technical personnel's known prior art.
Claims (5)
1. three inertially stabilized platform gimbal axis are support system, it is characterized in that: comprise revolving shaft (1), shaft end nut (2), sleeve (3), bolt (4), back-up ring (5), mechanical bearing (6), outer end cap (7), outer end cap screw (8), inner end cap screw (9), inner end cap (10), outside steel loop (11), rotor installing ring (12), magnetic bearing bearing (13), enclosing cover screw (14), magnetic steel of stator (15), rotor magnetic steel (16), enclosing cover (17), stator set collar (18), rotor retaining ring (19), rotor hoop cover (20), stator pad (21), pad screw (22) and bearing screw (23); Magnetic steel of stator (15), rotor magnetic steel (16), outside steel loop (11) and stator pad (21) constitute the magnetic bearing structure; Framework (102) is that support system is installed on the base (101) through axle according to the invention; Revolving shaft (1) one side external diameter is with sleeve (3), and adds shaft end nut (2) through bolt (4) and be installed in the base (101); Mechanical bearing (6) inner ring one side withstands on the shaft shoulder place of revolving shaft (1); Opposite side is fixing through back-up ring (5), and mechanical bearing (6) outer ring one side withstands on outer end cap (7), and opposite side is fixing by little end cap (10); Outer end cap (7) is installed on the framework (102) through outer end cap screw (8); Little end cap (10) is fastened in the outer end cap (7) through little bolts (9), and rotor installing ring (12) interference is contained in revolving shaft (1), and rotor magnetic steel (16) is installed on the rotor installing ring (12); Rotor magnetic steel (16) axially is fixed on the rotor installing ring (12) by rotor retaining ring (19); Radially fixed by rotor hoop cover (20), magnetic steel of stator (15) then is installed in the magnetic bearing bearing (13), with outside steel loop (11) alternative arrangement; Axially fixing through stator set collar (15); Stator pad (21) is fastened in the magnetic bearing bearing (13) through pad screw (22), and magnetic bearing bearing (13) is fastened on framework (102) through bearing screw (23), and enclosing cover (17) is installed in magnetic bearing bearing (13) outside through enclosing cover screw (14).
2. be support system according to a kind of three inertially stabilized platform gimbal axis described in the claim 1, it is characterized in that: said revolving shaft (1) is a hollow structure, makes things convenient for bolt (4) to install and use, compact conformation.
3. be support system according to a kind of three inertially stabilized platform gimbal axis described in the claim 1; It is characterized in that: said mechanical bearing (6) is " face-to-face " double-row angular contact bal bearing mode; The C class precision, along the bearing axial pretightening, mounted in pairs is used during installation.
4. be support system according to a kind of three inertially stabilized platform gimbal axis described in the claim 1, it is characterized in that: said magnetic bearing structure is the radially passive magnetic bearing of unsymmetric structure, and working method is attractive; Wherein rotor magnetic steel (16) and magnetic steel of stator (15) gap are fixed, and constant exerting oneself played passive unloading effect; Rotor magnetic steel (16) is a domain structure, and magnetic steel of stator (15) is non-domain structure; Rotor magnetic steel (16) is divided into five parts vertically, and wherein the radial magnetizing part radially is a sectional type, and the axial charging part radially is a monoblock type, does not need piecemeal; Magnetic steel of stator (15) axial charging part radially is a monoblock type, does not need piecemeal, and radial magnetizing partly is an outside steel loop (11), and outside steel loop (11) need not radially piecemeal.
5. be support system according to a kind of three inertially stabilized platform gimbal axis described in the claim 1, it is characterized in that: said revolving shaft (1) material is 2Cr13; Outer end cap (7), inner end cap (10), rotor installing ring (12), magnetic bearing bearing (13) and stator pad (21) material are ultralumin 7050; Magnetic steel of stator (15), rotor magnetic steel (16) material are the samarium cobalt permanent magnet body, and outside steel loop (11) is No. 10 steel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210296049.7A CN102829783B (en) | 2012-08-17 | 2012-08-17 | Frame shafting support system for three-shaft inertially stabilized platform |
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| CN201210296049.7A CN102829783B (en) | 2012-08-17 | 2012-08-17 | Frame shafting support system for three-shaft inertially stabilized platform |
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| CN102829783B CN102829783B (en) | 2015-06-17 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103158884A (en) * | 2013-03-21 | 2013-06-19 | 北京航空航天大学 | Harmonic wave speed reducing mechanism of inertance stabilizing tracking platform |
| CN103217156A (en) * | 2013-03-19 | 2013-07-24 | 北京航空航天大学 | Azimuth drive support system structure of inertially stabilized platform |
| CN103712622A (en) * | 2013-12-31 | 2014-04-09 | 清华大学 | Gyroscopic drift estimation compensation method and device based on rotation of inertial measurement unit |
| CN104229150A (en) * | 2014-08-27 | 2014-12-24 | 中国科学院长春光学精密机械与物理研究所 | Horizontal roller system of onboard photoelectric pod |
| CN111649741A (en) * | 2020-06-03 | 2020-09-11 | 江苏和正特种装备有限公司 | Photoelectric detection system based on photoelectric turret and image stabilization and search method thereof |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103217156A (en) * | 2013-03-19 | 2013-07-24 | 北京航空航天大学 | Azimuth drive support system structure of inertially stabilized platform |
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| CN104229150A (en) * | 2014-08-27 | 2014-12-24 | 中国科学院长春光学精密机械与物理研究所 | Horizontal roller system of onboard photoelectric pod |
| CN111649741A (en) * | 2020-06-03 | 2020-09-11 | 江苏和正特种装备有限公司 | Photoelectric detection system based on photoelectric turret and image stabilization and search method thereof |
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