CN103115233A - Space scanning bracket with self-balancing function - Google Patents
Space scanning bracket with self-balancing function Download PDFInfo
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- CN103115233A CN103115233A CN2011103660601A CN201110366060A CN103115233A CN 103115233 A CN103115233 A CN 103115233A CN 2011103660601 A CN2011103660601 A CN 2011103660601A CN 201110366060 A CN201110366060 A CN 201110366060A CN 103115233 A CN103115233 A CN 103115233A
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Abstract
The invention relates to a satellite scanning system and discloses a space scanning bracket with a self-balancing function. The space scanning bracket with the self-balancing function comprises an azimuth scanning bracket (5) which is arranged on an arc-shaped bracket (4), the azimuth scanning bracket is provided with two sliding rails and two sliding blocks, and the arc-shaped bracket (4) is provided with an internal arc and an arc-shaped sliding rail. A loading instrument (7) and a balance weight (1) are arranged on two sides of the azimuth scanning bracket (5) and do oscillatory scanning with speed in the opposite direction on the sliding rails of the azimuth scanning bracket (5) through rollers, the product of rotation inertia and rotation speed of the loading instrument encircling a rotation center and the product of rotation inertia and rotation speed of the balance weight encircling the rotation center are equal in number and opposite in direction. The space scanning bracket with the self-balancing function solves the problems of a complex control system, a high manufacturing cost and unreasonable structure design and the like existing in an existing scanning mechanism and achieves the beneficial effects of relieving the burden of the satellite attitude and the orbital control system, reducing the development cost, prolonging the satellite service life and the like.
Description
Technical field
The present invention relates to the scanning system of satellite load, specifically a kind of spacescan support with Self-balancing.
Background technique
Along with the development of modern science and technology, satellite has become the indispensable important component part of the modern life, and wherein, the main task of spacescan system is comprehensively, stably to scan the area of observation coverage, and accurate telemetry.At outer space high speed operation, according to the momentum conservation principle, the rotation of each dimension of sweep mechanism will affect the operation attitude of satelloid due to satellite.According to the special requirement of satellite work, sweep mechanism has following requirement: mechanism can realize the scanning of certain amplitude, and swings and the front and back pitching must be around the same center of circle; Under the condition that guarantees certain rigidity, the quality of mechanism is light as far as possible, and during work, the momentum moment that mechanism acts on celestial body is as far as possible little; Mechanism is compact as far as possible, takes full advantage of finite volume; Mechanism's top platform can bear the counterweight of certain volume.
At present, space two-dimensional scanning has two kinds of ways of realization: parallel and tandem.Parallel sweep mechanism is by a plurality of driver drives scanning turntables, and attitude is very abundant, can realize the scanning of multiple directions; Mechanism is comparatively simple, and is easy for installation.Its shortcoming is a plurality of driver synchronous workings, and the synchronism between the part driver is had relatively high expectations, and has strengthened the probability of makeing mistakes; For keeping scanning process around concentric rotation, control system will be complicated, and then increased the manufacture cost of satellite, and restriction mutually between the driving arm bottom the scanning turntable, limited the mobile range of turntable on single direction.The tandem sweep mechanism is in series by the one-dimensional driving mechanism, and the motion of each dimension is driven by single driver respectively, has independence preferably, and is simple in structure, is convenient to control, and reliability is high, but need do appropriate design on structure.
The load instrument that the space has scanning to require generally all need to carry out azimuth scan fast on a dimension, carry out relatively slow pitching scanning on another dimension, and then realizes the scanning to earth location.The disturbance torque that rapid scanning causes is larger, and is serious to the disturbance of satellite attitude; The disturbance that slow scanning causes can be eliminated by the Satellite attitude and orbit control system.Through the literature search of prior art is found, spacescan mechanism does not possess momentum moment self-compensating function, and mainly offsets by controlling momentum balance flywheel, gyrostatic motion etc. the moment of momentum that produces in the scanning system scanning process.This method all requires very high to Control system resolution, speed of response, add the cost of large satellite, and it is large to work as the spacescan counterweight, when sweep rate is relatively very fast, realizes that in this way the elimination of the system spare moment of momentum just has great limitation.
Do not find at present explanation or the report of technology similar to the present invention, not yet collect both at home and abroad similarly data yet.
Summary of the invention
Complicated in order to solve the control system that the parallel of prior art and tandem sweep mechanism exist, manufacture cost is high, and the problem such as structural design is unreasonable, the object of the present invention is to provide a kind of spacescan support with Self-balancing.Utilize the present invention, realized that the orientation rapid scanning of load instrument rotates and the pitching slow scanning, wherein the azimuth scan of load instrument can realize homeostasis, offset most of surplus momentum moment; The present invention can alleviate the burden of Satellite attitude and orbit control system effectively, extends the lifetime of satellite.
In order to reach the foregoing invention purpose, the present invention is that the technological scheme that its technical problem of solution adopts is to provide a kind of spacescan support with Self-balancing, and this device comprises:
The top that is installed on the scaffold on satellite shell is equipped with curved support; The azimuth scan support is installed on curved support, and curved support is with interior sector and cambered way;
Load instrument and counterweight are arranged on the both sides of azimuth scan support, do the opposite oscillatory scanning of velocity attitude by roller [14] and roller [18] on the slideway of azimuth scan support respectively; The two ends of tooth-shaped conveying belt [8] are fixed on the load instrument; The load instrument is driven by tooth-shaped conveying belt [8] by motor [6], gear [9] and gear [17], carries out oscillatory scanning; Its middle gear [17] has two, is distributed in the cambered way two ends of azimuth scan support; The two ends of tooth-shaped conveying belt [2] are fixed on counterweight; Counterweight is driven by tooth-shaped conveying belt [2] by motor [3], gear [11] and gear [15], carries out oscillatory scanning; Its middle gear [15] has two, is distributed in the two ends of the cambered way of azimuth scan support;
The combination of one group of motor [16] and gear [12] is installed on the azimuth scan support, and the arc shaped slider on the azimuth scan support can slide in the center of circle around curved support in the cambered way of curved support.
A kind of spacescan support with Self-balancing of the present invention, due to the azimuth scan support of taking above-mentioned technological scheme, comprising to have two slideways and two slide blocks, the curved support with interior sector and cambered way.Wherein: load instrument and counterweight are distributed in the both sides of support, do the opposite oscillatory scanning of velocity attitude on slideway by roller; Slide in can unroll in the cambered way of the curved support center of circle of curved support of arc shaped slider on the azimuth scan support.The combination of one group of motor gear is installed on the azimuth scan support, and this combination can become gear driving pair with curved support is capable, drives the azimuth scan support and slides along the slideway of curved support.Therefore, the invention solves the control system that existing sweep mechanism exists complicated, the problem such as the high and structural design of manufacture cost is unreasonable can realize load azimuth pitch scanning motion together; In the azimuth scan process, load instrument and counterweight are done reversing motion, have offset the moment that produces in most of scanning process.The present invention obtains following beneficial effect: alleviate the burden of Satellite attitude and orbit control system, reduced development cost, extended the lifetime of satellite.
Description of drawings
Fig. 1 is the mechanical schematic diagram of realizing azimuth scan self balancing of the present invention;
Fig. 2 is that the present invention is with the plan view of the spacescan support of Self-balancing;
Fig. 3 is the plan view of Fig. 2;
Fig. 4 is the structural representation of azimuth scan support in the present invention;
Fig. 5 is the structural representation of curved support in the present invention.
Be labeled as in figure: 1, counterweight; 2, tooth-shaped conveying belt; 3, motor; 4, curved support; 5, azimuth scan support; 6, motor; 7, load instrument; 8, tooth-shaped conveying belt; 9, gear; 10, satellite; 11, gear; 12, gear; 13, scaffold; 14, roller; 15, gear 16, motor; 17, gear; 18, roller.
Embodiment
Fig. 1 is the mechanical schematic diagram of realizing azimuth scan self balancing of the present invention; As shown in the embodiment of Fig. 1, the gyration center of load instrument m1 and counterweight m2 is distributed in both sides, and the opposite rotation of travel direction, carry out the counteracting of perturbed force simultaneously.Wherein, for reaching the interference of eliminating torque disturbance, m1 is around the product of the rotary inertia of gyration center and rotating speed and m2 around the rotary inertia of gyration center and the product equal and opposite in direction of angle of revolution speed, opposite direction; M1 is around the product of the rotary inertia of gyration center and angle of revolution acceleration and m2 around the rotary inertia of gyration center and the product equal and opposite in direction of rotating speed, opposite direction.
Below in conjunction with description of drawings the preferred embodiments of the present invention.
Fig. 2 is that the present invention is with the plan view of the spacescan support of Self-balancing; Fig. 3 is the plan view of Fig. 2.As shown in the embodiment of Fig. 2 and Fig. 3, this device comprises:
The top that is installed on the scaffold 13 on satellite 10 housings is equipped with curved support 4; Azimuth scan support 5 is installed on curved support 4, and curved support 4 is with interior sector and cambered way.
One group of motor 16 and gear 12 combinations are installed on azimuth scan support 5, and the arc shaped slider on azimuth scan support 5 can slide in the center of circle around curved support 4 in the cambered way of curved support 4.By above-mentioned motion, realize the pitching scanning of load instrument 7.
Above-mentioned load instrument 7 is around the product of the rotary inertia of gyration center and rotating speed and counterweight 1 around the rotary inertia of gyration center and the product equal and opposite in direction of angle of revolution speed, opposite direction; Load instrument 7 is around the product of the rotary inertia of gyration center and angle of revolution acceleration and counterweight 1 around the rotary inertia of gyration center and the product equal and opposite in direction of rotating speed, opposite direction.
Fig. 4 is the structural representation of azimuth scan support 5 in the present invention; As shown in the embodiment of Fig. 4, azimuth scan support 5 has two slideways and two arc shaped sliders, and the arc of its slide block is identical with the center of circle of curved support 4.
Fig. 5 is the structure of curved support 4 in the present invention; As shown in the embodiment of Fig. 5, curved support 4 has slideway and interior sector, and this slideway is the identical structure in the center of circle with interior sector.
From the above mentioned, the present invention includes an azimuth scan support with two slideways and two slide blocks, the curved support with interior sector and cambered way.Wherein: load instrument and counterweight are distributed in the both sides of support, do the opposite oscillatory scanning of velocity attitude on slideway by roller; Slide in can unroll in the cambered way of the curved support center of circle of curved support of arc shaped slider on the azimuth scan support.The combination of one group of motor gear is installed on the azimuth scan support, and this combination can become gear driving pair with curved support is capable, drives the azimuth scan support and slides along the slideway of curved support.
Claims (4)
1. the spacescan support with Self-balancing, is characterized in that, this device comprises:
The top that is installed on the scaffold [13] on satellite [10] housing is equipped with curved support [4]; Azimuth scan support [5] is installed on curved support [4], and curved support [4] is with interior sector and cambered way;
Load instrument [7] and counterweight [1] are arranged on the both sides of azimuth scan support [5], do the opposite oscillatory scanning of velocity attitude by roller [14] and roller [18] on the slideway of azimuth scan support [5] respectively; The two ends of tooth-shaped conveying belt [8] are fixed on load instrument [7]; Load instrument [7] is driven by tooth-shaped conveying belt [8] by motor [6], gear [9] and gear [17], carries out oscillatory scanning; Its middle gear [17] has two, is distributed in the cambered way two ends of azimuth scan support [5]; The two ends of tooth-shaped conveying belt [2] are fixed on counterweight [1]; Counterweight [1] is driven by tooth-shaped conveying belt [2] by motor [3], gear [11] and gear [15], carries out oscillatory scanning; Its middle gear [15] has two, is distributed in the two ends of the cambered way of azimuth scan support [5];
The combination of one group of motor [16] and gear [12] is installed on azimuth scan support [5], and the arc shaped slider on azimuth scan support [5] can slide in the center of circle around curved support [4] in the cambered way of curved support [4].
2. spacescan support as claimed in claim 1, it is characterized in that: described azimuth scan support [5] has two slideways and two arc shaped sliders, and the arc of its slide block is identical with the center of circle of curved support [4].
3. spacescan support as claimed in claim 1, it is characterized in that: described curved support [4] has slideway and interior sector, and this slideway is the identical structure in the center of circle with interior sector.
4. spacescan support as claimed in claim 1, it is characterized in that: described load instrument [7] is around the product of the rotary inertia of gyration center and rotating speed and counterweight [1] around the rotary inertia of gyration center and the product equal and opposite in direction of angle of revolution speed, opposite direction; Load instrument [7] is around the product of the rotary inertia of gyration center and angle of revolution acceleration and counterweight [1] around the rotary inertia of gyration center and the product equal and opposite in direction of rotating speed, opposite direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110366060.1A CN103115233B (en) | 2011-11-17 | 2011-11-17 | A kind of spacescan support with Self-balancing |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110366060.1A CN103115233B (en) | 2011-11-17 | 2011-11-17 | A kind of spacescan support with Self-balancing |
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| CN103115233A true CN103115233A (en) | 2013-05-22 |
| CN103115233B CN103115233B (en) | 2015-11-25 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106324829A (en) * | 2016-10-13 | 2017-01-11 | 中国科学院上海技术物理研究所 | Precise and two-dimensional scanning mechanism with integrated space |
| CN110312887A (en) * | 2018-03-23 | 2019-10-08 | 深圳市大疆创新科技有限公司 | Vertical Zeng Wen mechanism and vertical tranquilizer |
| CN111717423A (en) * | 2020-06-24 | 2020-09-29 | 刘二中 | Spacecraft capsule gravimeter |
| US11603959B2 (en) | 2018-03-23 | 2023-03-14 | SZ DJI Technology Co., Ltd. | Load-stabilizing apparatus |
| CN116215881A (en) * | 2023-01-19 | 2023-06-06 | 中国科学院微小卫星创新研究院 | Load swinging mechanism for satellite and satellite |
| CN117212643A (en) * | 2023-09-14 | 2023-12-12 | 广东省核工业地质局测绘院 | Geographic information mapping equipment and mapping method thereof |
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| CN101711632A (en) * | 2009-10-22 | 2010-05-26 | 陈军 | Self-balancing link mechanism and bed using same |
| CN102080760A (en) * | 2010-10-30 | 2011-06-01 | 上海交通大学 | Self-balance space scanning support |
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2011
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| US4012019A (en) * | 1974-08-26 | 1977-03-15 | Hitachi, Ltd. | Car signaling system |
| EP0396922A2 (en) * | 1989-05-10 | 1990-11-14 | Paul Troester Maschinenfabrik | Device for controlling plants treating rope formed articles manufactured by extruders and/or calenders for processing rubber and/or plastics |
| CN2139705Y (en) * | 1992-12-02 | 1993-08-04 | 中国科学院上海技术物理研究所 | High precision pendulum lens for scanner of optical machine |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106324829A (en) * | 2016-10-13 | 2017-01-11 | 中国科学院上海技术物理研究所 | Precise and two-dimensional scanning mechanism with integrated space |
| CN110312887A (en) * | 2018-03-23 | 2019-10-08 | 深圳市大疆创新科技有限公司 | Vertical Zeng Wen mechanism and vertical tranquilizer |
| US11603959B2 (en) | 2018-03-23 | 2023-03-14 | SZ DJI Technology Co., Ltd. | Load-stabilizing apparatus |
| CN111717423A (en) * | 2020-06-24 | 2020-09-29 | 刘二中 | Spacecraft capsule gravimeter |
| CN116215881A (en) * | 2023-01-19 | 2023-06-06 | 中国科学院微小卫星创新研究院 | Load swinging mechanism for satellite and satellite |
| CN116215881B (en) * | 2023-01-19 | 2023-11-28 | 中国科学院微小卫星创新研究院 | Load swinging mechanism for satellite and satellite |
| CN117212643A (en) * | 2023-09-14 | 2023-12-12 | 广东省核工业地质局测绘院 | Geographic information mapping equipment and mapping method thereof |
| CN117212643B (en) * | 2023-09-14 | 2024-02-27 | 广东省核工业地质局测绘院 | Geographic information mapping equipment and mapping method thereof |
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| CN103115233B (en) | 2015-11-25 |
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Effective date of registration: 20170629 Address after: 200233 Shanghai City Caoxi Road No. 222 Patentee after: Shanghai Aerospace Technology Institute Address before: 200086 No. 881 Tianbao Road, Shanghai, Hongkou District Patentee before: Shanghai Aerospace Measurement Control Communication Institute |
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