CN103410896B - A kind of 2 D photoelectric turntable locking device - Google Patents
A kind of 2 D photoelectric turntable locking device Download PDFInfo
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Abstract
本发明公开了一种用于二维转动设备的锁定装置，包括锁定装置底座、方位转动顶紧装置、锁紧机械臂、电磁制动器、锁紧轴系以及解锁扭簧。锁定装置安装在二维转动设备基座的端面，通过锁紧机械臂顶端实现对二维转动设备俯仰转动锁定，通过顶紧装置实现对方位转动的锁定。由失电式电磁制动器断电制动功能实现锁紧轴系的制动，并使锁定装置保持对二维转动设备的锁定。当需要锁定装置解除对二维转动设备制动时，对电磁制动器通电，制动解除。在解锁扭簧的扭力作用下锁紧机械臂绕锁紧轴系转动，并旋离二维转动设备的工作范围。再次对电磁制动器断电，制动力矩使锁紧装置保持解锁状态。
The invention discloses a locking device for two-dimensional rotating equipment, which comprises a locking device base, an azimuth rotation jacking device, a locking mechanical arm, an electromagnetic brake, a locking shaft system and an unlocking torsion spring. The locking device is installed on the end face of the base of the two-dimensional rotating equipment, and the pitching rotation locking of the two-dimensional rotating equipment is realized by locking the top of the mechanical arm, and the locking of the azimuth rotation is realized through the tightening device. The power-off braking function of the power-off electromagnetic brake realizes the braking of the locking shaft system, and keeps the locking device locked on the two-dimensional rotating equipment. When it is necessary for the locking device to release the brake on the two-dimensional rotating equipment, the electromagnetic brake is energized, and the brake is released. Under the action of the torsion force of the unlocking torsion spring, the locking mechanical arm rotates around the locking shaft system, and rotates out of the working range of the two-dimensional rotating device. Power off the electromagnetic brake again, and the braking torque keeps the locking device in the unlocked state.
Description
技术领域：Technical field:
本发明涉及一种二维光电转台，特别涉及一种二维光电转台的锁定装置，它用于二维光电转台转动锁定及锁定解除。The invention relates to a two-dimensional photoelectric turntable, in particular to a locking device for the two-dimensional photoelectric turntable, which is used for the rotation locking and unlocking of the two-dimensional photoelectric turntable.
背景技术：Background technique:
星载二维光电转台可以通过带动光电负载的两维大范围转动，实现对地面目标的跟踪和捕获并进行通讯作业。为了避免二维转台在上电工作前的大范围转动，以保护转台轴系和光电负载，对二维光电转台进行锁定；当二维转台上电工作前，需要解除对二维光电转台的锁定。The space-borne two-dimensional photoelectric turntable can realize the tracking and capture of ground targets and carry out communication operations by driving the two-dimensional large-scale rotation of the photoelectric load. In order to avoid the large-scale rotation of the two-dimensional turntable before power-on work, to protect the shaft system and photoelectric load of the turntable, the two-dimensional photoelectric turntable is locked; before the two-dimensional turntable is powered on, it is necessary to unlock the two-dimensional photoelectric turntable .
由于星载二维光电转台的不可维修性，对其进行锁定的装置需要具有非常高的可靠性。不但对转台的锁定具有高的可靠性，工作前的可靠解锁更是尤为重要。因为锁定机构的解锁失效，直接导致整个星载二维光电转台无法工作。Due to the non-repairability of the space-borne two-dimensional photoelectric turntable, the device for locking it needs to have very high reliability. Not only the locking of the turntable has high reliability, but also the reliable unlocking before work is particularly important. Because the unlocking of the locking mechanism fails, the entire space-borne two-dimensional photoelectric turntable cannot work directly.
由于某种原因,星载二维光电转台锁定阶段，，没有电力供应，需要在断电状态下实现对二维光电转台锁定。工作前，通电对其进行锁定解除。For some reason, there is no power supply during the locking stage of the two-dimensional photoelectric turntable on board, so the two-dimensional photoelectric turntable needs to be locked in a power-off state. Before working, turn on the power to unlock it.
二维光电转台的终端负载为光学和电子学设备，转台轴系也有很高的回转精度要求。二维光电转台及其锁定装置，在卫星平台发射阶段需要经历剧烈地空间力学环境。所以，需要对二维光电转台在工作前的振动环境中进行锁定，避免转台大范围转动。并且通过锁定装置减小振动环境对二维光电转台极其终端负载的破坏力，起到对光电载荷的保护作用。而且，不应引入刚性约束给转台轴系及负载带来不必要地附加作用力。The terminal load of the two-dimensional photoelectric turntable is optical and electronic equipment, and the shaft system of the turntable also has high requirements for rotation accuracy. The two-dimensional photoelectric turntable and its locking device need to experience severe space mechanical environment during the launch stage of the satellite platform. Therefore, it is necessary to lock the two-dimensional photoelectric turntable in the vibration environment before work to avoid the large-scale rotation of the turntable. Moreover, the destructive force of the vibration environment on the two-dimensional photoelectric turntable and its terminal load is reduced by the locking device, which plays a role in protecting the photoelectric load. Moreover, rigid constraints should not be introduced to bring unnecessary additional forces to the turntable shafting and loads.
星上载荷对二维光电转台及其锁定装置有苛刻地重量限制，所以希望锁定装置具有极轻的重量。The payload on the star has strict weight restrictions on the two-dimensional photoelectric turntable and its locking device, so it is hoped that the locking device has an extremely light weight.
发明内容：Invention content:
本发明目的是提供一种星载二维光电转台的锁定装置。以解决在没有电力供应的情况下，在一个装置上同时实现设备两维转动的锁定。The object of the present invention is to provide a locking device for a two-dimensional photoelectric turntable on board. In order to solve the problem of locking the two-dimensional rotation of the device on one device at the same time without power supply.
本发明利用电磁制动器保持装置处于对二维转动设备的锁定位置，通过锁紧机械臂顶端挡板对俯仰转动进行锁定，通过安装在锁紧机械臂中部的顶紧装置对方位转动进行锁定，从而满足二维转动设备工作前的锁定要求。且电磁制动器制动解除后，可通过解锁扭簧实现二维转动设备的制动解除。电磁制动器再次启动制动功能，保持装置处于对二维转动设备的锁定解除位置。同时该装置具有对二维转动设备在振动环境中的振动抑制功能。本发明特别适用于星载二维光电转台在卫星平台发射阶段的振动环境中对其两维转动进行有效锁定的同时起到对其振动的抑制作用，并在入轨工作前实现可靠性极高地锁定解除。In the present invention, the electromagnetic brake holding device is in the locking position of the two-dimensional rotating equipment, the pitching rotation is locked by the top baffle plate of the locking mechanical arm, and the azimuth rotation is locked by the top tightening device installed in the middle of the locking mechanical arm, thereby Meet the locking requirements of two-dimensional rotating equipment before work. And after the electromagnetic brake is released, the brake release of the two-dimensional rotating equipment can be realized by unlocking the torsion spring. The electromagnetic brake activates the braking function again, and the holding device is in the unlocking position of the two-dimensional rotating equipment. At the same time, the device has the function of suppressing the vibration of the two-dimensional rotating equipment in the vibration environment. The invention is especially suitable for the space-borne two-dimensional photoelectric turntable to effectively lock its two-dimensional rotation in the vibration environment of the satellite platform launch stage while suppressing its vibration, and to achieve extremely high reliability before entering orbit. The lock is released.
具体装置如附图1～4所示。The specific device is shown in Figures 1-4.
1、二维转动设备锁定装置由方位转动顶紧装置2、锁紧机械臂3、电磁制动器4、锁紧轴系5、解锁扭簧6及锁定装置底座1组成。方位转动顶紧装置2固定在锁紧机械臂3安装孔内，锁紧机械臂3固定在锁紧轴系5安装平台的端面，锁紧机械臂3顶端挡板插入两个俯仰转动限位装置8之间；所述的解锁扭簧6固定在锁紧轴系5一侧；所述的电磁制动器4固定在锁紧轴系5的另一侧。1. The two-dimensional rotating equipment locking device is composed of azimuth rotating jacking device 2, locking mechanical arm 3, electromagnetic brake 4, locking shaft system 5, unlocking torsion spring 6 and locking device base 1. The azimuth rotation jacking device 2 is fixed in the mounting hole of the locking mechanical arm 3, the locking mechanical arm 3 is fixed on the end face of the locking shaft system 5 installation platform, and the top baffle of the locking mechanical arm 3 is inserted into two pitch rotation limit devices 8; the unlocking torsion spring 6 is fixed on one side of the locking shaft system 5; the electromagnetic brake 4 is fixed on the other side of the locking shaft system 5.
2、锁紧机械臂3顶端挡板插入俯仰转动限位装置8中，方位转动顶紧装置2顶紧二维转动设备7底部，电磁制动器4断电制动锁紧轴系5时，二维转动设备处于锁定状态。2. Lock the top baffle plate of the mechanical arm 3 into the pitch rotation limiting device 8, and the azimuth rotation jacking device 2 tightens the bottom of the two-dimensional rotating device 7. When the electromagnetic brake 4 is powered off and brakes to lock the shafting 5, the two-dimensional The rotating device is locked.
3、电磁制动器4上电制动解除后，解锁扭簧6释放扭力矩将锁紧机械臂3沿锁紧轴系5转动，旋离二维转动设备7工作区域，锁定状态解除，二维转动设备可以进行转动工作。3. After the electromagnetic brake 4 is powered on and the brake is released, the unlocking torsion spring 6 releases the torque to rotate the locking mechanical arm 3 along the locking shaft system 5, away from the working area of the two-dimensional rotating device 7, the locked state is released, and the two-dimensional rotation The equipment can be rotated.
本发明的优点在于：The advantages of the present invention are:
1)本发明通过单点锁定及解除锁定来实现对两维转动的锁定及锁定解除，从而使可靠性得到极大的提高；1) The present invention realizes the locking and unlocking of two-dimensional rotation through single-point locking and unlocking, thereby greatly improving reliability;
2)本发明通过弹性顶紧装置实现对大惯量方位转动的锁定，通过柔性限位装置对携带光电负载的俯仰转动进行锁定，从而实现在振动环境中对轴系及光电负载的保护作用；2) The present invention realizes the locking of the large inertia azimuth rotation through the elastic jacking device, and locks the pitching rotation carrying the photoelectric load through the flexible limiting device, so as to realize the protection of the shafting and the photoelectric load in the vibration environment;
3)本发明对二维转动设备锁定时，利用失电型电磁制动器来实现锁定装置的位置锁定；当需要解除锁定时，利用解锁扭簧释放存储的变形能使锁紧装置旋离二维转动设备工作区；再次对电磁制动器断电，使锁定装置非常可靠地保持制动解除位置。3) When the present invention locks the two-dimensional rotating equipment, the power-off type electromagnetic brake is used to realize the position locking of the locking device; when it needs to be unlocked, the unlocking torsion spring is used to release the stored deformation to make the locking device rotate away from the two-dimensional rotation Equipment working area; power off the electromagnetic brake again, so that the locking device maintains the brake release position very reliably.
附图说明：Description of drawings:
图1是本发明锁定装置结构示意图；Fig. 1 is a schematic structural view of a locking device of the present invention;
图中：1——锁定装置底座；In the figure: 1 - locking device base;
2——方位转动顶紧装置；2——Azimuth rotation jacking device;
3——锁紧机械臂；3——Lock the mechanical arm;
4——电磁制动器；4 - Electromagnetic brake;
5——锁紧轴系；5——Lock shafting;
6——解锁扭簧。6——Unlock the torsion spring.
图2是本发明装置两种功能状态图，a.锁定状态；b.锁定解除状态。Fig. 2 is a diagram of two functional states of the device of the present invention, a. locked state; b. locked unlocked state.
图3是方位转动顶紧装置2的结构组成示意图；Fig. 3 is a schematic diagram of the structural composition of the azimuth rotation jacking device 2;
图中：2-1——活塞；In the figure: 2-1 - Piston;
2-2——套筒；2-2 - sleeve;
2-3——弹簧；2-3——spring;
2-4——螺纹压盖。2-4——Threaded gland.
图4是锁紧轴系5的结构组成示意图；Fig. 4 is a schematic diagram of the structural composition of the locking shaft system 5;
图中：5-1——制动端转轴；In the figure: 5-1 - the brake end shaft;
5-2——轴承1；5-2——Bearing 1;
5-3——轴系台面；5-3——shafting table;
5-4——解锁端转轴；5-4——The shaft at the unlocking end;
5-5——轴承2；5-5——Bearing 2;
5-6——轴承外压圈；5-6——Bearing outer pressure ring;
5-7——轴承内压圈。5-7——Bearing inner pressure ring.
图5是俯仰转动限位装置8的结构组成示意图；FIG. 5 is a schematic diagram of the structural composition of the pitch rotation limiting device 8;
图中：8-1——支架；In the figure: 8-1 - bracket;
8-2——弹性阻尼块。8-2——Elastic damping block.
具体实施方式：Detailed ways:
下面根据图1至图4给出本发明一个较好实施例，用以说明本发明的结构特征和实施方法，而非用来限定本发明的范围。A preferred embodiment of the present invention is given below according to FIG. 1 to FIG. 4 , to illustrate the structural features and implementation methods of the present invention, but not to limit the scope of the present invention.
本实施例中锁定装置包括如下几个部分：方位转动顶紧装置2、锁紧机械臂3、电磁制动器4、锁紧轴系5、解锁扭簧6、锁定装置底座1以及二维转动设备7和俯仰转动限位装置8。总重量小于1.2KG。In this embodiment, the locking device includes the following parts: azimuth rotation jacking device 2, locking mechanical arm 3, electromagnetic brake 4, locking shaft system 5, unlocking torsion spring 6, locking device base 1 and two-dimensional rotating device 7 And pitch rotation limiter 8. The total weight is less than 1.2KG.
1)锁紧机械臂3：由轻质、高模量的铝基复合材料整体加工成型，其底部较宽，用于安装；顶部伸出挡板实现俯仰转动限位；中部“两翼”外伸用于方位转动顶紧装置安装。本实施例中锁紧机械臂可由锁紧轴系5来支撑并绕其转动，当转至竖直状态时，锁紧机械臂实现对二维光电转台的锁定；转至水平状态时，锁紧机械臂旋离转台工作区，实现锁定解除。1) Locking mechanical arm 3: It is integrally processed and formed from lightweight, high-modulus aluminum-based composite materials, and its bottom is wide for installation; the top protrudes from the baffle to realize the pitch rotation limit; the middle "two wings" protrude It is used for azimuth rotation jacking device installation. In this embodiment, the locking mechanical arm can be supported by the locking shaft system 5 and rotate around it. When turned to the vertical state, the locking mechanical arm realizes the locking of the two-dimensional photoelectric turntable; The mechanical arm rotates away from the working area of the turntable to realize the unlocking.
2)方位转动顶紧装置2与俯仰转动限位装置8：分别实现对二维转动设备7方位转动和俯仰转动的锁定。本实施例方位转动顶紧装置2安装在锁紧机械臂3中部外伸“两翼”，左右各安装一个。每个顶紧装置由铝合金套筒2-2，安装在套筒2-2内孔中的聚酰亚胺制造的活塞2-1，通过弹簧2-3和旋入套筒2-2内孔尾部内螺纹的螺纹压盖2-4压靠在套筒2-2内孔前部挡肩上。活塞2-1顶紧二维转动设备7底部，实现方位转动锁定；俯仰转动限位装置8由铝合金支架8-1及安装在其上的两个弹性阻尼块8-2组成，对伸入其中的锁紧机械臂3顶端挡板限位，实现俯仰转动锁定；2) The azimuth rotation clamping device 2 and the pitch rotation limiting device 8: realize the locking of the azimuth rotation and the pitch rotation of the two-dimensional rotating device 7 respectively. In the present embodiment, the azimuth rotation jacking device 2 is installed on the "two wings" extending out from the middle part of the locking mechanical arm 3, and one is respectively installed on the left and right sides. Each top tightening device consists of an aluminum alloy sleeve 2-2, a piston 2-1 made of polyimide installed in the inner hole of the sleeve 2-2, and screwed into the sleeve 2-2 through a spring 2-3 The threaded gland 2-4 of the internal thread at the tail of the hole is pressed against the front shoulder of the inner hole of the sleeve 2-2. Piston 2-1 pushes against the bottom of the two-dimensional rotating device 7 to realize azimuth rotation locking; pitch rotation limiter 8 is composed of aluminum alloy bracket 8-1 and two elastic damping blocks 8-2 installed thereon, which extend into the The baffle plate at the top of the locking mechanical arm 3 is limited to realize the locking of the pitching rotation;
3)电磁制动器4：制动器为失电型双面干式电磁制动器，失电制动、上电制动解除。作用是将锁定装置保持在锁定位置或锁定解除位置。本实施例中电磁制动器4安装在锁紧轴系5一侧，通过渐开线花键与锁紧轴系5转轴配合，实现对锁紧轴系5的制动，从而保持锁紧机械臂3处于锁定位置。电磁制动器4失电时可以提供8N·m的制动力矩，上电时同过电磁吸合力解除制动。3) Electromagnetic brake 4: The brake is a power-off type double-sided dry electromagnetic brake, which can be released when the power is off and the power is on. The function is to keep the locking device in the locked position or the unlocked position. In this embodiment, the electromagnetic brake 4 is installed on one side of the locking shaft system 5, and the involute spline cooperates with the rotating shaft of the locking shaft system 5 to realize the braking of the locking shaft system 5, thereby keeping the locking mechanical arm 3 in the locked position. The electromagnetic brake 4 can provide a braking torque of 8N·m when the power is off, and release the brake with the electromagnetic force when the power is on.
4)锁紧轴系5由布置在两侧的两个背对背安装的71904型轴承5-2、5-5支撑，轴承通过内压圈5-7与转轴5-1、5-4固定，通过外压圈5-6与锁紧装置底座1固定。由于太空低温、高真空使用环境要求，轴承经固体润滑，防冷焊处理。制动端转轴5-1通过其轴段上直接加工成外渐开线花键与电磁制动器4连接；解锁端转轴5-4尾端安装解锁扭簧6。4) The locking shaft system 5 is supported by two 71904 type bearings 5-2 and 5-5 installed back to back arranged on both sides. The bearings are fixed to the rotating shafts 5-1 and 5-4 through the inner pressure ring 5-7. The outer pressure ring 5-6 is fixed with the base 1 of the locking device. Due to the low temperature and high vacuum environment requirements in space, the bearings are treated with solid lubrication and anti-cold welding. The brake end rotating shaft 5-1 is directly processed into an outer involute spline to connect with the electromagnetic brake 4 through its shaft section; the unlocking torsion spring 6 is installed at the tail end of the unlocking end rotating shaft 5-4.
5)解锁扭簧6：解锁扭簧6的作用是在电磁制动器6上电制动解除后，释放形变能带动锁紧机械臂旋离二维转动设备7工作区域。本实施例中解锁扭簧6由1Cr18Ni9Ti制备的平面蜗卷弹簧实现，一端固定在锁紧轴系5解锁端转轴5-4，另一端固定在锁定装置底座1上。锁定时存储形变能，解除锁定时释放。5) Unlocking torsion spring 6: the function of the unlocking torsion spring 6 is to release the deformation energy to drive the locking mechanical arm to rotate away from the working area of the two-dimensional rotating device 7 after the electromagnetic brake 6 is powered on and the electric brake is released. In this embodiment, the unlocking torsion spring 6 is realized by a planar scroll spring made of 1Cr18Ni9Ti, one end is fixed on the unlocking end rotating shaft 5-4 of the locking shaft system 5, and the other end is fixed on the base 1 of the locking device. Deformation energy is stored when locked and released when unlocked.
6)锁定装置底座1及二维转动设备7：锁紧装置底座1对整个锁定装置起过渡与支撑作用，由TC4钛合金整体加工制造而成，外形呈扁平“U”字型，底部安装、“两臂”开孔，内孔及端面共镗加工成型，分别为锁紧轴系5、解锁扭簧6和电磁制动器4提供优良的安装、定位基础。本实施例二维转动设备7总重量30KG，其方位转动范围-90°～+90°，俯仰转动范围-30°～+70°，要求工作前对其进行锁定，工作时进行锁定解除，不需要再次重复锁定。6) Locking device base 1 and two-dimensional rotating device 7: The locking device base 1 plays a transitional and supporting role for the entire locking device. It is made of TC4 titanium alloy as a whole and has a flat "U" shape. The bottom is installed, The "two arms" are bored, the inner hole and the end face are co-bored and formed, which provide excellent installation and positioning foundations for the locking shaft system 5, unlocking torsion spring 6 and electromagnetic brake 4 respectively. In this embodiment, the two-dimensional rotating device 7 has a total weight of 30KG, and its azimuth rotation range is -90°～+90°, and its pitch rotation range is -30°～+70°. It is required to lock it before work, and unlock it during work. The lock needs to be repeated again.
如上所述，锁定装置可将二维转动设备的两维转动有效地锁定，并可以在二维转动设备工作前，实现可靠性极高地的锁定解除。同时，在方位转动锁定中设计方位转动弹性顶紧装置，在俯仰转动锁定中设计柔性限位装置，可以在实现两维转动锁定的同时，实现对方位轴系的振动抑制和俯仰轴系光电负载和保护作用。As described above, the locking device can effectively lock the two-dimensional rotation of the two-dimensional rotating device, and can release the lock with high reliability before the two-dimensional rotating device works. At the same time, the azimuth rotation elastic clamping device is designed in the azimuth rotation lock, and the flexible limit device is designed in the pitch rotation lock, which can realize the vibration suppression of the azimuth shaft system and the photoelectric load of the pitch shaft system while realizing the two-dimensional rotation lock and protection.
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| CN104179927B (en) * | 2014-08-15 | 2016-07-06 | 中国科学院上海技术物理研究所 | A kind of locking-unlocking device of two-dimension translational mechanism |
| CN104948622A (en) * | 2015-07-01 | 2015-09-30 | 王丽 | Stop motion mechanism for threaded rotating column |
| CN109018449A (en) * | 2018-08-31 | 2018-12-18 | 深圳航星光网空间技术有限公司 | A kind of locking mechanism |
| CN111043187B (en) * | 2019-12-02 | 2021-05-14 | 中国科学院光电技术研究所 | Shafting locking device |
| CN111409874B (en) * | 2020-03-10 | 2022-06-03 | 上海卫星工程研究所 | Two-dimensional rotary table locking and unlocking device suitable for spacecraft |
| CN112389339B (en) * | 2020-10-30 | 2022-01-28 | 济南和普威视光电技术有限公司 | Photoelectric turntable locking device |
| CN115045937B (en) * | 2022-06-27 | 2023-07-25 | 南京信息工程大学 | A mechanical limit mechanism and method for a ±360° turntable |
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