CN103488193B - A kind of spaceborne high precision points to follower - Google Patents
A kind of spaceborne high precision points to follower Download PDFInfo
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- CN103488193B CN103488193B CN201310465325.2A CN201310465325A CN103488193B CN 103488193 B CN103488193 B CN 103488193B CN 201310465325 A CN201310465325 A CN 201310465325A CN 103488193 B CN103488193 B CN 103488193B
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Abstract
The invention provides a kind of spaceborne high precision and point to follower, comprise azimuth motion mechanism and luffing mechanism; Azimuth motion mechanism comprises casing, azimuth axis motor, azimuth axis speed reduction unit, transition axis, revolving dial and azimuth axis scrambler; Luffing mechanism comprises ears support, pitch axis motor, pitch axis speed reduction unit, pitching platform, rig bracket, pitching output shaft and pitch axis scrambler.It is larger that the present invention has sensing scope, can reach accurate hemisphere spatial direction target; Short transverse yardstick is less, the sports envelope pointing to follower entirety is shunk thereupon, not easily block other directive property load on same plane in two dimension; It is higher that each motion exports angle precision.
Description
Technical field
The present invention relates to a kind of spaceborne high precision and point to follower, belong to field of aerospace technology.
Background technology
Along with spacecraft application scale is day by day huge and the development of laser technology, photoelectron technology and computer technology, develop electro-optical system and products such as diversified communication facilities, remote sensing equipment, optical measuring device, laser weapon equipment.These equipment in the application, need to take into account that all multi-loads such as spectrometer realize the catching of target, follow the tracks of, aim at by laser, infrared, antenna, photometer, radiation, the function such as angle and distance measuring and Radiation biodosimetry.The effective integration of these load needs a kind ofly public to debug carrying platform, and Here it is points to tracker.
Point to follower and be divided into two dimension, three-dimensional and multidimensional by sensing degree of freedom, it is comparatively conventional that two dimension points to follower, and from type of service, it is generally to being mutually arranged vertically by two motor shafts that two dimension points to follower, by the arrangement form of these two motors, two dimension points to follower can be divided into orientation/pitching, pitching/driftage two kinds of mechanism forms.By controlling the rotation of these two motors, realizing the rotate multifreedom motion of moving axis of load and target object is caught; The real-time follow-up to target object is realized by the rotating speed controlling two motors; By high-precision encoder feedback, the function that position, implementation space is accurately pointed to.Assembling can be increased according to demand and launch sway brace, enable mechanism obtain larger capture space, so that load catches the signal of appointed area, that greatly improves detector catches serviceability, meanwhile, mechanism provides the support structure of load, strengthens the reliability of detector work.
Formulate the version of two-dimensional pointing mechanism in the distribution mode of all the other directive property load of this installed surface according to load geometrical feature, platform geometrical feature and platform.Content of the present invention, according to above-mentioned requirements, selects orientation/luffing mechanism form to design.
Summary of the invention
The problem to be solved in the present invention is to provide one and can adapts to work under micro-low-gravity environment, has high to point to positioning precision, can the spaceborne sensing follower of acquisition and tracking known characteristics of motion target two-freedom.
For solving the problems of the technologies described above, the technical solution used in the present invention is: provide a kind of spaceborne high precision to point to follower, comprise azimuth motion mechanism and luffing mechanism.
Described azimuth motion mechanism comprises casing, azimuth axis motor, azimuth axis speed reduction unit, transition axis, revolving dial and azimuth axis scrambler; Casing is provided with fabrication hole; Described azimuth axis motor is connected by orientation shaft coupling with azimuth axis speed reduction unit, the i.e. output shaft of orientation shaft coupling one end connection orientation spindle motor, the input shaft of the other end connection orientation axle speed reduction unit of orientation shaft coupling, and azimuth axis motor and azimuth axis speed reduction unit are installed in casing, described transition axis is connected on the output shaft of azimuth axis speed reduction unit, and transition the tip of the axis connects revolving dial; Stator and the casing of described azimuth axis scrambler are affixed, and its rotor is set with and is fixed on transition axis.
In described azimuth motion mechanism, azimuth axis motor drives the work of azimuth axis speed reduction unit by orientation shaft coupling, and azimuth axis speed reduction unit drives transition axis to rotate further, thus the revolving dial be connected with transition axis is rotated; And transition axis rotarily drives the rotor turns of azimuth axis scrambler, to reach the object of the record transition axis anglec of rotation.
Described luffing mechanism comprises ears support, pitch axis motor, pitch axis speed reduction unit, pitching platform, rig bracket, pitching output shaft and pitch axis scrambler; Described ears support comprises base plate and left and right riser, and left and right two risers are parallel to each other and perpendicular with base plate; Described base plate is fixed on the revolving dial of azimuth motion mechanism by bolt/screw, described pitch axis motor and pitch axis speed reduction unit are fixed on two end faces of left riser respectively by screw or bolt, and pitch axis speed reduction unit is between two risers, pitch axis motor is connected by pitching shaft coupling with pitch axis speed reduction unit, namely one end of pitching shaft coupling is connected with the output shaft of pitch axis motor, and the other end of pitching shaft coupling is connected with the input shaft of pitch axis speed reduction unit; Output shaft, the pitching output shaft of pitch axis speed reduction unit are all affixed with rig bracket, and two output shaft coaxial lines; The stator of pitching scrambler is fixed on right riser, and its rotor is set with and is fixed on pitching output shaft; Pitching platform is fixed in rig bracket, moves with rig bracket; Detector load is arranged on pitching platform.
In described luffing mechanism, pitch axis motor drives the work of pitch axis speed reduction unit by pitching shaft coupling, and pitch axis speed reduction unit drives rig bracket to rotate further, and rig bracket drives pitching output shaft and pitching platform to rotate further; And the rotation of pitching output shaft drives the rotor turns of pitch axis scrambler simultaneously, to reach the object of the record pitching output shaft anglec of rotation.
Acquisition and tracking function of the present invention is realized by azimuth motion mechanism and the coupling of luffing mechanism kinematic, and the motion of azimuth motion mechanism is within the scope of-180 ° ~+180 °; And the motion of luffing mechanism is within the scope of 0 ° ~ 90 °, therefore, the effect after diaxon coupling makes end detector load realize the sensing location of half spherical space.
The present invention adopts orientation/luffing mechanism form, because the sensing follower of this form has, sensing scope is large, compact conformation, drive disk assembly are few, be coupled less, control the advantages such as simple, is applicable to the sensing tracking work in half spherical space; End effector is driven by drive motor, harmonic speed reducer, adopts scrambler to feed back, not only solves the directive property problem of directing mechanism in half spherical space, and substantially increase pointing accuracy.
In the present invention, the setting of each driving shaft is drive motor, harmonic speed reducer, scrambler connect to form successively, harmonic speed reducer has the feature that reduction gear ratio is large, axial distance is short, therefore can shorten the size of whole driving mechanism on the one hand, improve the precision of system on the other hand; The closed-loop control system that is added to of scrambler introduces feedback element, improves Systematical control precision.
Further, in described azimuth motion mechanism, transition the tip of the axis is set with and an affixed transition axle sleeve, and revolving dial is fixed in the end of this transition axle sleeve, the affixed stop end cap of distal end faces of transition axis; Wherein, transition axis and the affixed mode of transition axle sleeve are that key is connected, and revolving dial, stop end cap are bolt/screw with the affixed mode of transition axis and are connected; Transition axle sleeve can be stuck on transition axis by arranging of stop end cap, prevents its axial motion; Revolving dial, transition axle sleeve rotate with transition axis.
Further, in described azimuth motion mechanism, casing comprises base, main casing, adapter flange and endsocket, and affixed by screw/bolt successively from bottom to top; Described azimuth axis motor and azimuth axis speed reduction unit are installed on main casing, and the stator of described azimuth axis scrambler is fixed on adapter flange; Described transition axle sleeve is connected by bearing with between endsocket, namely the outer ring of bearing and endsocket affixed, inner ring and the transition axle sleeve of bearing are affixed, thus reach the object that transition axle sleeve rotates relative to endsocket, realize revolving dial rotary motion.
Further, in described luffing mechanism, pitch axis motor is fixed on the left riser of ears support by an adapter flange, and namely pitch axis motor is fixed on adapter flange by bolt or screw, and adapter flange is fixed on the left riser of ears support by bolt or screw; The affixed output flange of output shaft of pitching speed reduction unit, rig bracket is fixed on output flange.
Further, in described luffing mechanism, an affixed stop sleeve on the right riser of ears support, be connected by bearing between stop sleeve with pitching output shaft, namely the outer ring of bearing and supporting sleeve affixed, inner ring and the pitching output shaft of bearing are affixed, thus reach the object that pitching output shaft rotates relative to supporting sleeve, the rotary motion of implementation platform bracket and pitching platform.
Further, be also provided with position-limit mechanism, described position-limit mechanism comprises limiting bracket, limited block and limit switch; Described limiting bracket is fixed on the revolving dial of azimuth motion mechanism, and is positioned at the other end of luffing mechanism; Described limited block is fixed on the lower surface of pitching platform of luffing mechanism; Limit switch is fixed on limiting bracket.When pitching platform rotates to an angle the upper surface being about to or having collided limited block, namely the contact of limited block and limit switch is about to or when contacting, limit switch is started working and is sent signal, make the stop motion of pitching platform, thus reach the effect limiting pitching position of platform, and ensure that the safety of pitch axis motor, can adjust the depth of parallelism of pitching platform and revolving dial ground level simultaneously, make it meet design accuracy.
The Main Function of position-limit mechanism is adjustment pitching initial stage position; Motion zero time limit fixed platform position, prevents from damaging structure or motor.
Further, described position-limit mechanism also comprises switches frame, and the extrusion of described switches frame to be xsect be " L " shape, described limit switch is fixed on switches frame by screw/nut, and switches frame is fixed on limiting bracket.
Further, the set nut that described position-limit mechanism also comprises adjustment screw and is connected with it, the upper surface of described adjustment screw and limiting bracket is connected; Adjustment screw can adjust the length that it stretches out limiting bracket upper end, and to reach the levelness of adjustment pitching platform, the effect of set nut makes locking adjust the position of screw, prevents it from loosening.
The advantage that the present invention has and good effect are:
(1) scope is pointed to larger: conventional two-dimensional points to follower generally because the restriction of load volume or self structure reason can not reach accurate hemisphere spatial direction, and design configuration of the present invention is exactly to meet can not interfere between each orientation part and part in hemisphere sensing, accurate hemisphere spatial direction target therefore can be reached;
(2) short transverse yardstick is less: another feature of the present invention is exactly the bending-type configuration that have employed revolving dial, force down whole height, the sports envelope pointing to follower entirety in two dimension is shunk thereupon, not easily blocks other directive property load on same plane;
(3) each motion output angle precision is higher, and under the condition not changing Automatic manual transmission, by adding the algorithm of subdivision of controller, can improve angle output accuracy further;
(4) end pitching platform area is large, and need not load any adaptor and get final product the larger detector load of erection space, the back side remaining space of pitching platform is large, easily does the design compressing releasing means;
(5) setting of fabrication hole: the first, facilitate personnel manually or use instrument the carrying out of corresponding operating and overall assembling is carried out to mechanism; The second, be convenient to the reasonable setting of cable, when reducing length of cable and joint revolution, have larger radius bend; 3rd, decrease one-piece construction weight;
(6) cabinet design is open, during installation can critical component mostly outside exposed, as motor and scrambler, so easily lay heat controlled thin film, thermal control coating to these parts, the thermal control implementing measures such as heating plate are installed.
Accompanying drawing explanation
Fig. 1 is the front elevational schematic that the spaceborne high precision of the specific embodiment of the invention points to follower;
Fig. 2 is the schematic top plan view that in Fig. 1, spaceborne high precision points to follower;
Fig. 3 is that schematic diagram is looked on a left side for spaceborne high precision sensing follower in Fig. 1;
Fig. 4 is the azimuth motion mechanism cross-sectional schematic in Fig. 2 shown in C-C cut-open view;
Fig. 5 is the luffing mechanism cross-sectional schematic in Fig. 1 shown in A-A cut-open view;
Fig. 6 is the position-limit mechanism cross-sectional schematic of C-C cut-open view in Fig. 2;
Fig. 7 is the position-limit mechanism schematic diagram in Fig. 1 shown in B direction view.
In figure:
1. azimuth motion mechanism: 101. bases, 102. orientation shaft couplings, 103. main casings, 104. adapter flange, 105. revolving dials, 106. endsockets, 107. stop end caps, 108. transition axle sleeves, 109. bearings, 110. azimuth axis scramblers, 111. transition axises, 112. azimuth axis speed reduction units, 113. azimuth axis motors;
2. luffing mechanism: 201. ears supports, 202. adapter flanges, 203. pitch axis motors, 204. pitching shaft couplings, 205. pitch axis speed reduction units, 206. output flanges, 207. pitching platforms, 208. rig bracket, 209. stop sleeve, 210. ball bearings, 211. pitching output shafts, 212. pitch axis scramblers;
3. position-limit mechanism: 301. limiting brackets, 302. limited blocks, 303. set nuts, 304. adjustment screws, 305. limit switches, 306. switches framves.
Embodiment
In order to the more deep understanding of the present invention, enumerate a specific embodiment below, and by reference to the accompanying drawings, the present invention is described in further detail.
This example is that one can be adapted to micro-low-gravity environment, and the high-precision two-dimensional with hemisphere direction-pointing function points to follower, and be made up of azimuth motion mechanism, luffing mechanism and position-limit mechanism, mechanism general shape figure is as shown in Fig. 1-Fig. 3.
As shown in Figure 4, azimuth motion mechanism comprises the parts such as base 101, orientation shaft coupling 102, main casing 103, adapter flange 104, revolving dial 105, endsocket 106, stop end cap 107, transition axle sleeve 108, bearing 109, azimuth axis scrambler 110, transition axis 111, azimuth axis speed reduction unit 112, azimuth axis motor 113; Base 101 is arranged on platform, and base 101 is connected with main casing 103 screw, and main casing 103 is connected with adapter flange 104 screw, and adapter flange 104 is connected with endsocket 106 screw; Installation position spindle motor 113 and azimuth axis speed reduction unit 112 on main casing 103, and azimuth-drive motor 113 enters the input end of azimuth axis speed reduction unit 112 by orientation shaft coupling 102; Installation position shaft encoder 110 on adapter flange 104; Endsocket 106 is installed bearing 109, the inner ring of bearing 109 installs transition axle sleeve 108, and therefore transition axle sleeve 108 can relatively rotate relative to end axle sleeve 106 and adapter flange 104, main casing 103, base 101; The output terminal of transition axis 111 connection orientation axle speed reduction unit 112, through azimuth axis scrambler 110 and transition axle sleeve 108, and the rotor portion of azimuth axis scrambler 110 rotates with transition axis 111, the record anglec of rotation, transition axle sleeve 108 is rotated with transition axis 111 by key connection; Stop end cap 107 is connected with transition axis 111 screw and blocks transition axis and overlap 108, prevents its axial motion; Revolving dial 105 is connected with transition axle sleeve 108 screw, and two part movement rules are completely the same; Revolving dial 105 is installed luffing mechanism 2 and position-limit mechanism 3; Wherein, azimuth axis motor 113 output drive strength, be input in azimuth axis speed reduction unit 112 by orientation shaft coupling 102, slow down after 11 through azimuth axis and to be rotated output by transition axis 111, transition axis 111 is fixedly connected with transition axle sleeve 108 by key through azimuth axis scrambler 110, transition axle sleeve 108 is fixedly connected with by screw with revolving dial 105, makes revolving dial 105 with transition axle sleeve 108 synchronous rotary.Axial force transmission route: the surface being delivered to platform from the pressure of revolving dial 105 by transition axle sleeve 108, bearing 109, endsocket 106, adapter flange 104, main casing 103, base 101.
As shown in Figure 5, pitch axis motion comprises the parts such as ears support 201, adapter flange 202, pitch axis motor 203, pitching shaft coupling 204, pitch axis speed reduction unit 205, output flange 206, pitching platform 207, rig bracket 208, stop sleeve 209, ball bearing 210, pitching output shaft 211, pitch axis scrambler 212, ears support 201 is connected with revolving dial 105 screw in azimuth motion mechanism 1, two part movement rules are completely the same, one ear outer face of ears support 201 is connected with adapter flange 202 screw, inner face is connected with the casing screws of pitch axis speed reduction unit 205, and another ear of ears support 201 is connected with stop sleeve 209 screw, adapter flange 202 is connected with pitch axis motor 203 screw, pitch axis motor 203 is connected by key and is connected with pitching shaft coupling 204, pitching shaft coupling 204 is connected as the input end of speed reduction unit with pitch axis speed reduction unit 205, the output terminal of pitch axis speed reduction unit 205 is connected with output flange 206 screw, output flange 206 is connected with one end screw of rig bracket 208, the other end of rig bracket 208 is connected with pitching output shaft 211 screw, pitching output shaft 211 coordinates with ball bearing 210 inner ring, ball bearing 210 outer shroud coordinates with stop sleeve 209, pitching output shaft 211 is through pitch axis scrambler 212, compressed by circlip with pitch axis scrambler 212 rotor, pitch axis scrambler 212 stator is connected with stop sleeve 209 screw, the luffing angle of pitch axis scrambler 212 output stage bracket 208, rig bracket 208 is connected with pitching platform 207 screw, pitching platform 207 is installed detector load, wherein, pitch axis motor 203 output drive strength, pitch axis speed reduction unit 205 input end is connected by pitching shaft coupling 204, pitch axis speed reduction unit 205 output terminal connects output flange 206, output flange 206 and rig bracket 208 are connected by screw, and rig bracket 208 and pitching output shaft 211 are connected by screw, pitching platform 207 and rig bracket 208 are connected by screw.The characteristics of motion of output flange 206, rig bracket 208, pitching platform 207, pitching output shaft 211 is completely the same, and luffing angle, through pitch axis scrambler 212, does and feeds back and export by pitching output shaft 211.
As shown in Figure 6 and Figure 7, position-limit mechanism comprises the parts such as limiting bracket 301, limited block 302, set nut 303, adjustment screw 304, limit switch 305, switches frame 306; Relative to the other end of luffing mechanism 2 on the revolving dial 105 that limiting bracket 301 is arranged on azimuth motion mechanism 1; Limited block 302 is arranged on pitching platform 207 lower surface of luffing mechanism 2; Switches frame 306 is arranged on limiting bracket 301 by screw, and limit switch 305 is arranged on switches frame 306 by screw/nut; The extrusion of switches frame 306 to be cross sections be " L " shape, its one end and limiting bracket 301 are connected by screw, and the other end and limit switch 305 are connected by screw; Adjustment screw 304 is arranged on above limiting bracket 301 through set nut 303.
The present embodiment realizes the adjustment to the angle of revolution in surface level of the detector on this sensing follower by azimuth motion mechanism, and adjustment angular range is-180 ° ~+180 °; Realized the adjustment of detector luffing angle by luffing mechanism, adjustment angular range is 0 ° ~ 90 °; Two angle coupling adjustment, realize detector and point to tracking target in the hemispheres of space; Position-limit mechanism Main Function is adjustment pitching initial stage position, and motion zero time limit fixed platform position, prevents from damaging structure or motor.
Speed reduction unit selected by this example has the features such as axial distance is short, reduction gear ratio is comparatively large, quality is light, and more general being applied to is pursued in miniaturization, lightweight, high-precision plant equipment; Output accuracy of the present invention is under the condition that drive motor step angle is certain, on the one hand can by selecting the speed reduction unit that reduction gear ratio is larger, by controller, motion refinement is carried out to drive motor on the other hand, reduce monopulse and export angle, and then improve system accuracy.
Above one embodiment of the present of invention have been described in detail, but described content being only preferred embodiment of the present invention, can not being considered to for limiting practical range of the present invention.All equalizations done according to the present patent application scope change and improve, and all should still belong within patent covering scope of the present invention.
Claims (7)
1. spaceborne high precision points to a follower, it is characterized in that: comprise azimuth motion mechanism and luffing mechanism;
Described azimuth motion mechanism comprises casing, azimuth axis motor, azimuth axis speed reduction unit, transition axis, revolving dial and azimuth axis scrambler; Described azimuth axis motor is connected by orientation shaft coupling with azimuth axis speed reduction unit, and is installed in casing, and described transition axis is connected on the output shaft of azimuth axis speed reduction unit, and transition the tip of the axis connects revolving dial; Stator and the casing of described azimuth axis scrambler are affixed, and its rotor is set with and is fixed on transition axis;
Described luffing mechanism comprises ears support, pitch axis motor, pitch axis speed reduction unit, pitching platform, rig bracket, pitching output shaft and pitch axis scrambler; Described ears support comprises base plate and left and right riser, and left and right two risers are parallel to each other and perpendicular with base plate; Described base plate is fixed on the revolving dial of azimuth motion mechanism, described pitch axis motor and pitch axis speed reduction unit are fixed on two end faces of left riser respectively, and pitch axis speed reduction unit is between two risers, pitch axis motor is connected by pitching shaft coupling with pitch axis speed reduction unit; Output shaft, the pitching output shaft of pitch axis speed reduction unit are all connected with rig bracket, and two output shaft coaxial lines; The stator of pitching scrambler is fixed on right riser, and its rotor is set with and is fixed on pitching output shaft; Pitching platform is fixed in rig bracket;
Also be provided with position-limit mechanism, described position-limit mechanism comprises limiting bracket, limited block and limit switch; Described limiting bracket is fixed on the revolving dial of azimuth motion mechanism, and is positioned at the other end of luffing mechanism; Described limited block is fixed on the lower surface of pitching platform of luffing mechanism; Limit switch is fixed on limiting bracket.
2. spaceborne high precision according to claim 1 points to follower, it is characterized in that: in described azimuth motion mechanism, transition the tip of the axis is set with and an affixed transition axle sleeve, and revolving dial is fixed in the end of this transition axle sleeve, the affixed stop end cap of distal end faces of transition axis.
3. spaceborne high precision according to claim 2 points to follower, it is characterized in that: in described azimuth motion mechanism, casing comprises base, main casing, adapter flange and endsocket, and affixed successively from bottom to top; Described azimuth axis motor and azimuth axis speed reduction unit are installed on main casing, and the stator of described azimuth axis scrambler is fixed on adapter flange; Described transition axle sleeve is connected by bearing with between endsocket.
4. spaceborne high precision according to claim 1 points to follower, and it is characterized in that: in described luffing mechanism, pitch axis motor is fixed on the left riser of ears support by an adapter flange; The affixed output flange of output shaft of pitching speed reduction unit, rig bracket is fixed on output flange.
5. spaceborne high precision according to claim 1 points to follower, and it is characterized in that: in described luffing mechanism, on the right riser of ears support, an affixed stop sleeve, is connected by bearing between stop sleeve with pitching output shaft.
6. spaceborne high precision according to claim 1 points to follower, it is characterized in that: described position-limit mechanism also comprises switches frame, the extrusion of described switches frame to be xsect be " L " shape, described limit switch is fixed on switches frame, and switches frame is fixed on limiting bracket.
7. spaceborne high precision according to claim 1 points to follower, it is characterized in that: the set nut that described position-limit mechanism also comprises adjustment screw and is connected with it, and the upper surface of described adjustment screw and limiting bracket is connected.
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| CN201310465325.2A CN103488193B (en) | 2013-09-29 | 2013-09-29 | A kind of spaceborne high precision points to follower |
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| CN201310465325.2A CN103488193B (en) | 2013-09-29 | 2013-09-29 | A kind of spaceborne high precision points to follower |
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| CN106774443B (en) * | 2016-08-31 | 2019-11-29 | 北京空间机电研究所 | A kind of spaceborne novel high-precision high stability two-dimensional pointing mechanism |
| CN107168389B (en) * | 2017-07-04 | 2024-03-26 | 北京梵天博创科技有限公司 | Two-dimensional ultra-high speed rotating platform |
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| CN111288850A (en) * | 2018-12-06 | 2020-06-16 | 中国科学院长春光学精密机械与物理研究所 | Space photoelectric countermeasure method and equipment based on near space platform |
| CN109342994B (en) * | 2018-12-12 | 2023-05-26 | 北京无线电测量研究所 | Optical guiding system |
| CN110147112B (en) * | 2019-04-11 | 2022-03-18 | 上海卫星工程研究所 | Medium-low orbit spacecraft sky-ground two-dimensional pointing mechanism and tracking method thereof |
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| CN112924777B (en) * | 2021-01-22 | 2023-07-28 | 中国航空工业集团公司北京长城航空测控技术研究所 | High-precision two-axis turntable applied to large-angle motion |
| CN117707225B (en) * | 2024-02-06 | 2024-04-09 | 中国科学院长春光学精密机械与物理研究所 | Portable two-axis electric pointing mechanism |
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