CN105508829B - A kind of framework photoelectric platform inside casing frame mechanism of two axle four - Google Patents
A kind of framework photoelectric platform inside casing frame mechanism of two axle four Download PDFInfo
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- CN105508829B CN105508829B CN201610044436.XA CN201610044436A CN105508829B CN 105508829 B CN105508829 B CN 105508829B CN 201610044436 A CN201610044436 A CN 201610044436A CN 105508829 B CN105508829 B CN 105508829B
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- voice coil
- linking arm
- connecting shaft
- rotary voice
- support platform
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- 238000005516 engineering process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000003019 stabilising effect Effects 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/125—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction for tilting and rolling
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The present invention relates to a kind of framework photoelectric platform inside casing frame mechanism of two axle four, the mechanism includes motor support platform and four rotary voice coil motors being arranged in around motor support platform, load linking arm, first, second, third connecting shaft, first, second, third linking arm；Load is fixed on motor support platform and is rigidly connected with load linking arm；First connecting shaft is arranged in the axis hole of load linking arm, and the 3rd connecting shaft is arranged in the axis hole of the 3rd linking arm, and the first connecting shaft and the 3rd connecting shaft are hinged by the first linking arm and the second linking arm with the second connecting shaft respectively；The axis of first, second, third connecting shaft is met at a bit upwards.The present invention greatly reduces the size and volume of framework, adds platform carrying load ability, and the bearing wall and frame structure of small size is smaller by the constraint in space, there is more preferable adaptability, has widened development and the application of photoelectric platform.
Description
Technical field
The invention belongs to spatial light technical field, and in particular to a kind of new framework photoelectric platform inside casing of two axle four
Frame mechanism.
Background technology
For photoelectric platform as a kind of new realtime graphic investigation equipment, it is to integrate light, mechanical, electrical system.And adopt
Photoelectric platform with the four gimbaled rock-steady structure form of two axles is a kind of highly developed, conventional stabilising arrangement, and outer framework is used for
Rough tracking, the control accuracy of platform are mainly realized by inner frame system.For this structure type, due to inner frame and outer framework
Between have mechanical connection, the athletic meeting of outer framework is coupled on inner frame, influences the precision of inner frame.Therefore it is high-precision in order to realize
Spend the control of high stable photoelectric platform, photoelectric platform needs the new frame structure of two axle four to realize higher precision, preferably
Stability.
" a kind of method of servo-controlling and system of the framework photoelectric nacelle of two axle four " disclosed in Chinese patent publication is (open
Number：CN104635746), and in particular to the platform stable technology of framework photoelectric nacelle of two axle four a kind of and high precision photoelectric with
Track control technology.The invention devises a kind of internal and external frame linkage platform stability control techniques first makes the gondola have well
Platform stable performance, the platform stable control technology can ensure that inner orientation framework is orthogonal all the time with interior pitching frame, reduce
The geometrical constraint coupling of pod framework, make photoelectric nacelle that also there is good platform stable performance when crossing top；It is basic herein
On, the invention devises a kind of interior housing and links photo-electric tracking control technology to improve photoelectric tracking precision again, finally makes the light
Electric gondola realizes that the photoelectric tracking of the high accuracy and high stability of the gondola controls.The invention is used as and can apply to the frame of two axle four
The critical servo control technology of frame photoelectric nacelle, there is preferable application prospect, larger economic benefit and military benefit can be produced.
The photoelectric platform of above-mentioned traditional frame structure of two axle four, orientation, pitching, the roll fortune of platform stance can be realized
It is dynamic, so as to the following function of target after complete.This compound frame structure is perceived flat by the photoelectric encoder installed on axial direction
The relative attitude motion such as the orientation of platform internal and external frame and pitching, and then provide input ginseng for more closed loop servo-control systems of platform
Consider and benchmark.But said structure occupies big quantity space due to shafting be present with framework, causes under platform carrying load ability
Drop, limit development and the application of photoelectric platform.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of size and volume that can substantially reduce framework, increases platform
The framework photoelectric platform inside casing frame mechanism of two axle four of carrying load ability, the mechanism can realize orientation, roll, the fortune of the axle of pitching three
It is dynamic.
In order to solve the above-mentioned technical problem, the framework photoelectric platform inside casing frame mechanism of two axle four of the invention includes motor support
Platform and four rotary voice coil motors being arranged in around motor support platform, load linking arm, first, second, third connection
Axle, first, second, third linking arm；Load is fixed on motor support platform and is rigidly connected with load linking arm；First connects
Spindle be arranged on load linking arm axis hole in, the 3rd connecting shaft be arranged on the 3rd linking arm axis hole in, the first connecting shaft and
3rd connecting shaft is hinged by the first linking arm and the second linking arm with the second connecting shaft respectively；First, second, third connecting shaft
Axis meet at upwards a bit.
The motor support platform is rectangle, and four rotary voice coil motors are arranged in four vertex of rectangle, and four
The axis of rotary voice coil motor overlaps with rectangle diagonal.
The motor support platform can also be square, and four rotary voice coil motors are arranged in four drift angles of square
Place, and the axis of four rotary voice coil motors overlaps with square diagonal.
The motor support platform can also be circular, and four rotary voice coil motors are arranged in the circumference of motor support platform
On.
3rd linking arm position is fixed, can be real by the rotation direction and angle of four rotary voice coil motor rotors of control
The orientation of existing load, pitching, the small-angle movement of the axle of roll three.
Beneficial effect：The present invention is realized in Traditional photovoltaic platform using a kind of space connecting-rod respective outer side edges using four motors
The function of framework, the fortune of orientation, roll, pitching scope in ± 5 ° can be realized by the space connecting-rod structure and four motors
It is dynamic, the size and volume of framework are greatly reduced, due to the problem of taking big quantity space in the absence of shafting and framework, is added flat
Platform carrying load ability, and the bearing wall and frame structure of small size is smaller by the constraint in space, has more preferable adaptability, widens
The development of photoelectric platform and application.
Brief description of the drawings
The present invention is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is the shafting structure figure in the framework photoelectric platform inside casing frame mechanism of two axle four of the present invention.
Fig. 2 is the top view that motor support platform is connected with four rotary voice coil motors.
Fig. 3 is the upward view that motor support platform is connected with four rotary voice coil motors.
Fig. 4 is the stereogram that motor support platform is connected with four rotary voice coil motors.
Four rotary voice coil motor rotor rotation direction schematic diagrames when Fig. 5 is load azimuth motion.
Four rotary voice coil motor rotor rotation direction schematic diagrames when Fig. 6 is load roll motion.
Four rotary voice coil motor rotor rotation direction schematic diagrames when Fig. 7 is load elevating movement.
1 in figure, load linking arm, the 2, first connecting shaft, the 3, first linking arm, the 4, second connecting shaft, the 5, second linking arm,
6th, the 3rd linking arm, the 7, the 3rd connecting shaft, 81,83,85,87, rotary voice coil motor, 82,84,86,88, connection section, 9, load,
10th, motor support platform.
Embodiment
As shown in Figure 1, Figure 2, Figure 3 shows, the framework photoelectric platform inside casing frame mechanism of two axle four of the invention is put down including motor support
Platform 10 and four rotary voice coil motors 81,83,85,87 being arranged in around motor support platform 10, load linking arm 1, first,
Second, third connecting shaft 2,4,7, first, second, third linking arm 3,5,6.
The motor support platform 10 is square, and four rotary voice coil motors 81,83,85,87 are arranged in motor support
Four vertex of platform 10, and the axis of four rotary voice coil motors overlaps with square diagonal.Four rotary voice coil electricity
The rotor 811,831,851,871 of machine 81,83,85,87 saves 82,84,86,88 and motor support platform by four connections respectively
10 connections.Load 9 is arranged on motor support platform 10, and its rear end and the side 11 of load linking arm 1 are connected.
First connecting shaft 2 is arranged in the axis hole of load linking arm 1, and the 3rd connecting shaft 7 is arranged on the axle of the 3rd linking arm 6
In hole, the first connecting shaft 2 and the 3rd connecting shaft 7 are cut with scissors by the first linking arm 3 and the second linking arm 5 with the second connecting shaft 4 respectively
Connect；The axis of first, second, third connecting shaft 2,4,7 meets at any upwards can form a triangular pyramid.3rd linking arm 6
Can be by being fixed with the rigidly connected mode of photoelectric platform miscellaneous part.
After load linking arm 1 is connected by the present invention with load, by the rotor realization side for controlling four rotary voice coil motors
Position, pitching, roll motion.
As shown in figure 5, four rotary voice coil motor rotors of control press (or counterclockwise) direction clockwise with equal angular
Rotate, the azimuth motion of load can be implemented separately.
As shown in fig. 6, the rotor of control rotary voice coil motor 83,81 is rotated, rotary voice coil by (or counterclockwise) clockwise
The rotor of motor 85,87 is rotated by (or clockwise) direction counterclockwise with equal angular, and load roll direction can be implemented separately
Motion.
As shown in fig. 7, the rotor of control rotary voice coil motor 83,85 is rotated, the first, the 4th by (or counterclockwise) clockwise
The rotor of rotary voice coil motor 81,87 is rotated by (or clockwise) direction counterclockwise with equal angular, and load can be implemented separately
The motion of pitch orientation.
When controlling four rotary voice coil motors to be rotated in different directions with angle, orientation and roll direction can be achieved
Move, orientation and moved while motion, roll and pitch orientation while pitch orientation simultaneously, and orientation and roll, bow
Moved while facing upward direction.
Wherein described motor support platform can also be rectangle, circle or any axisymmetric shape of other shapes, and four revolve
Turn voice coil motor to be located on the diagonal of axisymmetric shape.
Obviously, above-mentioned implementation is only intended to clearly illustrate example, and is not the restriction to embodiment.For
For those of ordinary skill in the art, other various forms of changes or change can also be made on the basis of the above description
It is dynamic.There is no necessity and possibility to exhaust all the enbodiments.And the obvious change or change thus amplified out
Among moving still in the protection domain of the invention.
Claims (4)
1. a kind of framework photoelectric platform inside casing frame mechanism of two axle four, it is characterised in that including motor support platform (10) and be arranged in
Four rotary voice coil motors (81,83,85,87) around motor support platform (10), load linking arm (1), first, second,
3rd connecting shaft (2,4,7), first, second, third linking arm (3,5,6)；Load (9) is fixed on motor support platform (10)
And it is rigidly connected with load linking arm (1)；First connecting shaft (2) is arranged in the axis hole of load linking arm (1), the 3rd connecting shaft
(7) in the axis hole of the 3rd linking arm (6), the first connecting shaft (2) and the 3rd connecting shaft (7) pass through the first linking arm respectively
(3) it is hinged with the second linking arm (5) with the second connecting shaft (4)；The axis of first, second, third connecting shaft (2,4,7) is to submitting
In a bit；The motor support platform is axisymmetric shape, and four rotary voice coil motors are located on the diagonal of axisymmetric shape；
The rotor of four rotary voice coil motors (81,83,85,87) is connected by four connection sections with motor support platform (10) respectively；
When four rotary voice coil motor rotors with equal angular by being rotated clockwise or counterclockwise, driving load is made single
Azimuth motion；When the rotor of the rotary voice coil motor (81,83) positioned at the quadrant of rectangular coordinate system first, second is by clockwise or inverse
Clockwise, the 3rd, the rotor of the rotary voice coil motor (85,87) of fourth quadrant is by counterclockwise or clockwise with same angular
Degree rotates, and driving load makees the motion in roll direction；When the rotor of the rotary voice coil motor (83,85) of second, third quadrant is pressed
Rotate clockwise or counterclockwise, first, the rotor of the rotary voice coil motor (81,87) of fourth quadrant is by counterclockwise or clockwise side
Rotated to equal angular, driving load makees the motion of pitch orientation；Four rotary voice coil motors are in different directions and angle
During rotation, motion, roll and pitching while driving load does motion, orientation and the pitch orientation in orientation and roll direction simultaneously
Moved while direction, and orientation while roll, pitch orientation with moving.
2. the framework photoelectric platform inside casing frame mechanism of two axle four according to claim 1, it is characterised in that the motor support
Platform (10) is rectangle, and four rotary voice coil motors (81,83,85,87) are arranged in four vertex of rectangle, and four rotations
The axis of voice coil motor (81,83,85,87) overlaps with rectangle diagonal.
3. the framework photoelectric platform inside casing frame mechanism of two axle four according to claim 1, it is characterised in that the motor support
Platform (10) is square, and four rotary voice coil motors (81,83,85,87) are arranged in four vertex of square, and four
The axis of rotary voice coil motor (81,83,85,87) overlaps with square diagonal.
4. the framework photoelectric platform inside casing frame mechanism of two axle four according to claim 1, it is characterised in that the motor support
Platform (10) is circular, and four rotary voice coil motors (81,83,85,87) are arranged on the circumference of motor support platform (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610044436.XA CN105508829B (en) | 2015-10-13 | 2016-01-22 | A kind of framework photoelectric platform inside casing frame mechanism of two axle four |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510669881 | 2015-10-13 | ||
| CN2015106698810 | 2015-10-13 | ||
| CN201610044436.XA CN105508829B (en) | 2015-10-13 | 2016-01-22 | A kind of framework photoelectric platform inside casing frame mechanism of two axle four |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105508829A CN105508829A (en) | 2016-04-20 |
| CN105508829B true CN105508829B (en) | 2018-02-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610044436.XA Active CN105508829B (en) | 2015-10-13 | 2016-01-22 | A kind of framework photoelectric platform inside casing frame mechanism of two axle four |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106678265B (en) * | 2017-01-20 | 2018-07-17 | 长春通视光电技术有限公司 | Self-centering locking vibration absorber suitable for vehicular photoelectric turntable |
| CN108216661A (en) * | 2017-12-22 | 2018-06-29 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of photoelectric nacelle of two axis, four frame mechanism of voice coil motor driving |
| CN108088373B (en) * | 2017-12-25 | 2019-03-08 | 北京航空航天大学 | Photoelectric nacelle is surely as flyback integrated control unit and measurement method |
| CN111324151A (en) * | 2018-12-17 | 2020-06-23 | 北京华航无线电测量研究所 | Two-axis four-frame pod control system based on 485 bus |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6758623B2 (en) * | 2001-12-07 | 2004-07-06 | Mts Systems Corporation | High axial stiffness swivel joint |
| CN100582850C (en) * | 2008-11-17 | 2010-01-20 | 华中科技大学 | Quick control reflector |
| CN103335618B (en) * | 2013-06-24 | 2016-01-13 | 中国科学院长春光学精密机械与物理研究所 | Inner load attitude measurement device for onboard photoelectric platform |
| CN104850140B (en) * | 2015-05-27 | 2018-09-14 | 北京合众思壮科技股份有限公司 | A kind of double freedom rotating control assembly and the application system equipped with the device |
| CN205534903U (en) * | 2015-10-13 | 2016-08-31 | 长春通视光电技术有限公司 | Frame mechanism in four frame photoelectricity platforms of diaxon |
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| CN105508829A (en) | 2016-04-20 |
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Address after: Building 2, Changchun Jingyue Technology Achievement Undertaking and Transformation Base, No. 888 Dujuan Road, Jingyue Development Zone, Changchun City, Jilin Province, 130033 Patentee after: Changchun Tongshi Optoelectronic Technology Co.,Ltd. Address before: 130000 No. 600 Weihai Road, Economic Development Zone, Changchun City, Jilin Province Patentee before: CHANGCHUN TONGSHI PHOTOELECTRIC TECHNOLOGY Co.,Ltd. |