CN103395499A - System-integrated double-shaft driving mechanism - Google Patents

Abstract

The invention provides a system-integrated double-shaft driving mechanism which comprises a second optical grating assembly (1), a second output shafting (2), a second harmonic gear (3), a second input shafting (4), a first input shafting (5), a second stepping motor (6), a first-grade bevel gear pair (7), a first optical grating assembly (8), a first output shafting (9), a first shell body (10), a first harmonic gear (11), a first stepping motor (12) and a second shell body (13). System-integrated cooperation and integration design are applied to the system-integrated double-shaft driving mechanism. Two driving assemblies share the shell bodies, so that the size and the weight are effectively reduced. Due to the fact that a support between shafts is eliminated, the system adjustment precision is guaranteed mainly depending on the machining precision of structural components. Therefore, adjustment is easy and the perpendicularity of the double shafts is convenient to achieve, and the overall rigidity and the dynamic characteristics of the driving mechanism are improved. The two axes are orthogonal and intersect, so that the control law design is facilitated, and the output inertia is reduced. The system-integrated double-shaft driving mechanism can serve as a universal two-freedom-degree driving device of spacecraft mechanisms.

Description

System integration Two axle drive mechanism

Technical field

The invention belongs to mechanical field, relate to the general two-freedom actuating device of a kind of spacecraft mechanism, be particularly useful for directional antenna Two axle drive mechanism, small space mechanical arm two-freedom degree joint, The Cloud Terrace, camera directing mechanism, vector propeller driver train etc.

Background technology

Along with the space application of movable capacity weight, multiple degree of freedom directional antenna and space manipulator is increasingly extensive, active demand has multiple degree of freedom, the driver train of two-freedom particularly, and at aspects such as structural weight, dynamic property, integrations, have higher requirement.

As shown in Figure 1, in tradition twin shaft driver train design plan, A axle and B axle design separately, the A axle is connected with fixed end by T-shaped metallic support, diaxon connects by L-type between centers metallic support, due to the envelope dimensional restriction that is subject to Two axle drive mechanism, adopt the type of attachment of L-type between centers support be difficult to realize the A axle with the B axle in same plane and mutually vertical.The rigidity of structure of this connection mode is limit by the rigidity of between centers support often, and weight is larger.In addition, be subjected to the impact of load and working accuracy, the between centers support is difficult to guarantee that the diaxon driver train has good orthogonality, thereby affects control accuracy.And the axis of two driver trains is non-intersect, can increase again the load inertia of A axle driver train, has limited to a certain extent the load-carrying capacity of driver train.In addition, because the B axle is whole, relative to the A axle, rotate, the cable arrangements of B spindle motor and angular transducer is also comparatively complicated.

Summary of the invention

Technology of the present invention is dealt with problems and is: the structure that causes of design is not compact separately to overcome each axle of existing Two axle drive mechanism, weight is large, and rigidity is low, and axis is non-intersect, connect up, debug the deficiency of difficulty, a kind of compact conformation is provided, and lightweight, volume is little, rigidity is large, axes intersect, connect up, debug conveniently, the better Two axle drive of dynamic characteristics mechanism.

Technical solution of the present invention is: system integration Two axle drive mechanism comprises the second grating assembly, the second output shaft system, second harmonic gear, the second input shaft system, the first input shaft system, the second stepping motor, one-level bevel-gear pair, the first grating assembly, the first output shaft system, the first housing, first harmonic gear, the first stepping motor, the second housing; Wherein the top of the first housing is provided with the installing port of the second stepping motor, the below of the first housing is provided with the installing port of the first stepping motor, the left side of the first housing is provided with the installing port of the second housing, and the axis of the axis of the installing port of described the first stepping motor and the installing port of the second housing is in same plane and mutually vertical; The second housing is provided with the installing port of the first output shaft system and the installing port of the second output shaft system, and the dead in line of the axis of the installing port of the first output shaft system and the installing port of the first stepping motor, the dead in line of the axis of the installing port of the second output shaft system and the installing port of the second housing; The first stepping motor is installed on the first housing and by the first harmonic direct geared and drives the first output shaft system, drives thus the second housing rotation, realizes rotatablely moving of A axle; The first grating assembly is installed on the first enclosure interior the corner of A axle is measured; The second stepping motor is installed on the first housing, the first input shaft system, the second input shaft system and one-level bevel-gear pair are installed on the second enclosure interior, the second stepping motor drives the first input shaft system, drive the second input shaft system by the first input shaft system by the one-level bevel-gear pair, and drive the rotation of second harmonic gear drive the second output shaft system, realize rotatablely moving of B axle; The second grating assembly is installed on the second enclosure interior the corner of B axle is measured.

Described second harmonic gear or the input of first harmonic gear employing wave producer, the form that just wheel is fixing, flexbile gear is exported.

The present invention's advantage compared with prior art is: the present invention has broken traditional each axle of twin shaft driver train thinking of design separately, carry out the collaborative and Integrated design of twin shaft from system level (aspects such as structure, transmission and control), two driven unit common housings, effectively reduced volume, weight; Owing to having cancelled the between centers support, the working accuracy that system is debug the main dependency structure spare of precision guarantees, makes to debug simple, diaxon squareness and be convenient to realize; Two axial lines quadrature and crossing, be convenient to design of control law, and reduced output inertia; Diaxon driven unit characteristics of compact layout and shaftless support, thus the dynamic characteristics of integral rigidity and driver train improved; Two motor coaxles are installed, and with fixed end all without relative motion, convenient wiring.In addition, driver train adopts modular product and design for Universal Interface, can be used as the general two-freedom actuating device of spacecraft mechanism, as directional antenna Two axle drive mechanism, small space mechanical arm two-freedom degree joint, The Cloud Terrace, camera directing mechanism, vector propeller driver train etc.

Description of drawings

Fig. 1 is the schematic diagram of traditional twin shaft driver train;

Fig. 2 is the outside drawing of driver train of the present invention;

Fig. 3 is initial position and two limit angle position schematic diagrams of A axle in driver train of the present invention;

Fig. 4 is the composition constructional drawing of driver train of the present invention;

Fig. 5 is the first housing structure schematic diagram of driver train of the present invention;

Fig. 6 is the second housing structure schematic diagram of driver train of the present invention.

The specific embodiment

As shown in Figure 2, be the outside drawing of mechanism of the present invention.The coordinate of definition A axle, B axle as shown in FIG..Wherein the A axle can be realized around o _Ay _AAxle (being the A axle) ± 90 ° of corner motions, the B axle can be realized around o _Bx _BAxle (being the B axle) ± corner of 360 ° motion.Wherein the initial position of A axle and two limit angle positions are as shown in Figure 3.Wherein Fig. 3 a is 0 ° of angle position, and Fig. 3 b is+90 ° of angle positions, and Fig. 3 c is-90 ° of angle positions.Therefore, but the motion of the total space of this driver train implementation space mechanical arm, or the total space of directional antenna is pointed to.

Driver train of the present invention consists of the two on all four stepping motors of cover model, harmonic gear reducer and grating assembly, as shown in Figure 4, comprise that the second grating assembly 1, the second output shaft are 2, second harmonic gear 3, the second input shaft be that the 4, first input shaft is that the 5, second stepping motor 6, one-level bevel-gear pair 7, the first grating assembly 8, the first output shaft are the 9, first housing 10, first harmonic gear 11, the first stepping motors 12, the second housing 13.

Be installed on the first stepping motor 12 of the first housing 10 by first harmonic gear 11, directly driving the first output shaft is 9, drives thus the second housing 13 around the rotation of A axle, realizes rotatablely moving of A axle.The structure design of the first housing 10 as shown in Figure 5, which is provided with the installation cylinder seam with the B axle, adopts the spacing design of this structure, and making the scope that rotatablely moves of A axle is-90 °～+ 90 °.The 11 employing wave producer inputs of first harmonic gear, the form that just wheel is fixing, flexbile gear is exported.Wave producer is sleeved on the output shaft of the first stepping motor 12, and just wheel is connected with the first housing 10 by structural connection, and flexbile gear mouth and the first output shaft are 9 to be connected, and the first grating assembly 8 is hollow structure, is installed on the first housing 10 inside.

The second stepping motor 6 is arranged on the first housing 10 equally, it is 5 that the second stepping motor 6 drives the first input shaft, be that 5 to drive the second input shafts by one-level bevel-gear pair 7 be 4 by the first input shaft, be the B axle with hand of rotation by the A principal axis transformation, and driving second harmonic gear 3, to drive the second output shafts be 2 around the B axle, to rotate, and realizes rotatablely moving of B axle, because there is not constructive interference in mouth, but the second output shaft is 2 complete cycles to rotate, and the scope of rotatablely moving that is also the B axle is 0 °～+ 360 °.The structure design of the second housing 13 as shown in Figure 6, which is provided with the installation cylinder seam with A axle and B axle, and two that cylindrical axis are installed is vertical and be positioned at same plane, thereby has guaranteed the quadrature of A axle and B axle and intersected.

Second harmonic gear 3 also adopts the form of wave producer input, just fixing, the flexbile gear output of wheel.It is on 4 that wave producer is sleeved on the second input shaft, and just wheel is connected with the second housing 13 by structural connection, and the mouth of flexbile gear and the second output shaft are 2 to be connected.The second grating assembly 2 is also hollow structure, is installed on the inside of the second housing 13.

The second grating assembly 1 and the first grating assembly 8 are used for respectively the angle position of dynamic measurement B axle and A axle.

Under normal mode of operation, after receiving bus command, according to instruction, form drive pulse, realize the rotation of driver train at A axle and B axle both direction, gather simultaneously movement angle information, the current of electric information of twin shaft and carry out signal and process, being used for closed loop control and remote measurement and showing.

Under the fail operation pattern, after referring to that mainly angular transducer breaks down, can adopt the mode of open loop control, realize the location of mechanism by the step number of control step motor movement.

Aspect control law, under configuration of the present invention, the B axle rotates with the A axle and rotates and have coupling, and the characteristics of motion of B axle of the present invention is shown below., for this problem,, according to the A axle real time kinematics pattern that bus command provides, according to the characteristics of motion shown in following formula, the B axle is controlled.

$\left\{\begin{array}{c}{\mathrm{\θ}}_B^c={\mathrm{\θ}}_B^d-\frac{{\mathrm{\θ}}_A^d}{N}\\ {\mathrm{\ω}}_B^c={\mathrm{\ω}}_B^d-\frac{{\mathrm{\ω}}_A^d}{N}\end{array}\right.$

In formula, With

Be respectively the angle on target of A axle, the angle on target of B axle and the instruction angle of B axle,

With

Be respectively the target angular velocity of A axle, the target angular velocity of B axle and the instruction angular speed of B axle, N is the reduction ratio of harmonic speed reducer.

The content that is not described in detail in specification sheets of the present invention belongs to those skilled in the art's known technology.

Claims (2)

1. system integration Two axle drive mechanism, is characterized in that comprising: the second grating assembly (1), the second output shaft system (2), second harmonic gear (3), the second input shaft system (4), the first input shaft system (5), the second stepping motor (6), one-level bevel-gear pair (7), the first grating assembly (8), the first output shaft system (9), the first housing (10), first harmonic gear (11), the first stepping motor (12), the second housing (13); Wherein the top of the first housing (10) is provided with the installing port of the second stepping motor (6), the below of the first housing (10) is provided with the installing port of the first stepping motor (12), the left side of the first housing (10) is provided with the installing port of the second housing (13), and the axis of the axis of the installing port of described the first stepping motor (12) and the installing port of the second housing (13) is in same plane and mutually vertical; The second housing (13) is provided with the installing port of the first output shaft system (9) and the installing port of the second output shaft system (2), and the dead in line of the axis of the installing port of the first output shaft system (9) and the installing port of the first stepping motor (12), the dead in line of the axis of the installing port of the second output shaft system (2) and the installing port of the second housing (13); The first stepping motor (12) is installed on the first housing (10) and goes up and pass through first harmonic gear (11) and directly drive the first output shaft system (9), drives thus the second housing (13) rotation, realizes rotatablely moving of A axle; The first grating assembly (8) is installed on the first housing (10) inside the corner of A axle is measured; The second stepping motor (6) is installed on the first housing (10), the first input shaft system (5), the second input shaft system (4) and one-level bevel-gear pair (7) are installed on the second housing (13) inside, the second stepping motor (6) drives the first input shaft system (5), drive the second input shaft system (4) by the first input shaft system (5) by one-level bevel-gear pair (7), and drive the rotation of second harmonic gear (3) driving the second output shaft system (2), realize rotatablely moving of B axle; The second grating assembly (2) is installed on the second housing (13) inside the corner of B axle is measured.

2. system integration Two axle drive according to claim 1 mechanism is characterized in that: described second harmonic gear (3) or first harmonic gear (11) adopt the form of wave producer input, just fixing, the flexbile gear output of wheel.

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