CN105865447B - inertial platform - Google Patents
inertial platform Download PDFInfo
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- CN105865447B CN105865447B CN201610276324.7A CN201610276324A CN105865447B CN 105865447 B CN105865447 B CN 105865447B CN 201610276324 A CN201610276324 A CN 201610276324A CN 105865447 B CN105865447 B CN 105865447B
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- arc
- guide rail
- support
- shaped guide
- component
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Seats For Vehicles (AREA)
Abstract
The invention discloses a kind of inertial platforms, including pedestal, the first opening up arc-shaped guide rail group on pedestal, the first support component of the first load is fixed with being used to support of being slidably matched of the first arc-shaped guide rail group, the first drive component that the lower end of the first support component can be driven free to slide in the first arc-shaped guide rail group and the first sensor that the angle that the first support component is slided in the first arc-shaped guide rail group can be detected, the whole center of gravity of first load and the first support component is located at vertical with plane where the first arc-shaped guide rail group and crosses on the straight line in its center of circle.Above-mentioned inertial platform will be loaded and be overlapped with the pivot center of support component with the whole center of gravity of support component, therefore need not be increased clump weight and can be made load self-balancing.
Description
Technical field
The present invention relates to a kind of inertial platforms of inertance element.
Background technology
Inertial platform, also known as gyro-stabilized platform are to keep the dress that platform stage body direction is stablized using gyroscope characteristic
It sets, can be used to measure motion carrier posture, establish reference frame to measure carrier linear acceleration, or in stable carrier
Certain equipment.It is the inertial guidance system of guided missile, spacecraft, aircraft, naval vessel, battlebus etc. and the main dress of inertial navigation system
It sets.
At present in technology, inertial platform is by several equipped with inertance element and electromechanical compo frequently with ring stand, frame structure
A ring stand is linked together by bearing, to obtain the mechanical device of mutual rotational freedom.Frame structure has generally comprised
Shaft is arranged in the both sides of inside casing in outline border, the inside casing in outline border, and shaft can be around its axis rotation, and inertance element is then
It is arranged on the periphery wall of shaft.The inertial platform of this frame structure is simple in structure, easily manufactured, and control system is all very
It is ripe.But for height of C.G. for high, heavier-weight load, the inertial platform of conventional frame structure needs separately to match and load
Weight is suitable, even more heavy weight member, i.e., weight member is arranged in shaft and realizes static balance with loading relatively, this
Overall weight can be increased, have strict demand for weight is generally speaking unpractical.
Invention content
In view of the above shortcomings of the prior art, the technical problem to be solved by the present invention is to：There is provided one kind need not be separately
The inertial platform of static balance can be realized in load counterweight.
In order to solve the above technical problems, one aspect of the present invention is：A kind of inertial platform, including base are provided
Seat, the first opening up arc-shaped guide rail group on pedestal are used to support admittedly with what the first arc-shaped guide rail group was slidably matched
First support component of fixed first load can drive the lower end of the first support component free to slide in the first arc-shaped guide rail group
The first drive component and can detect the angle that the first support component is slided in the first arc-shaped guide rail group first sensing
The whole center of gravity of device, first load and the first support component is located at is formed by rotation axis with the first arc-shaped guide rail group
On.
Further, first support component includes first support, is set in first support and for being driven with first
First driving matable assembly of component cooperation and first in first support and for coordinating with the first arc-shaped guide rail group
Be slidably matched component, and the first support is matched by described first component and the first arc-shaped guide rail group sliding that is slidably matched
It closes, driving first support is come up in the first arc-shaped guide rail group after first drive component is matched with the first driving matable assembly
It returns free to slide.
Further, the first support include the first support arm coordinated with the first arc-shaped guide rail group and be set to first
Support arm upper end is used to support the first fixed seat for fixing the first load；Described first is slidably matched component set on described first
Support arm lower end corresponds at the position of the first arc-shaped guide rail group, and the first driving matable assembly is set to first fixed seat
Bottom face corresponds at the position of first drive component.
Further, first drive component include be set to the first motor on pedestal and below the first support with
And the first gear being connected with the output shaft of first motor, the axial direction of the first gear and the first arc-shaped guide rail group institute shape
At rotation axis it is parallel；The first driving component is to be fixed on the bottom face of first fixed seat and with described the
First arc-shaped rack of one gear cooperation, the rotation that the axial direction of first arc-shaped rack is formed with the first arc-shaped guide rail group
Axis is parallel, the axis of the first arc-shaped rack, the first arc-shaped guide rail axis of movement and the first support component pivot center phase
It overlaps.
Further, it is located on the pedestal at the position near the first arc-shaped guide rail group and is provided with for being passed with first
First detected member of sensor detection cooperation, the first sensor are set in the first support and the first detected member phase
At the position answered, the whole center of gravity of first load and the first support component is to be provided with the first support group of first sensor
The whole center of gravity of part and the first load；When length direction sliding of first support arm along the first arc-shaped guide rail group,
First sensor detects its displacement of the lines between the first detected member, which is converted to angular displacement between the two,
To obtain angle that the first support component is slided in the first arc-shaped guide rail group.
Further, the upper surface of the pedestal is in the cancave cambered surface of downward concave arc；
The first arc-shaped guide rail group includes the arc-shaped guide rail of the two sides for the upper end for being respectively arranged on pedestal, two first arcs
The radian of shape guide rail and the radian of the upper surface of the pedestal match；
First support arm be two, two first support arms be respectively arranged at the both ends of first fixed seat so that
The first support is in straddle in the lower frame-shaped on pedestal；Described first is slidably matched component to be respectively arranged on two first supports
Arm lower end corresponds to the sliding block of corresponding first arc-shaped guide rail, and two first support arms pass through respective sliding block and two first arcs
Guide rail is slidably matched, so that first support can be slided under the driving of the first drive component on first arc-shaped guide rail
It is dynamic.
Further, limit switches are respectively set in the both ends for group being led in first arc.
Further, the second opening up arc-shaped guide rail group is provided in the upper end of first support component, it is described
The length direction of second arc-shaped guide rail group and the length direction of the first arc-shaped guide rail group are perpendicular；
First load includes fixing the second of the second load with being used to support of being slidably matched of the second arc-shaped guide rail group
Support component, the second drive component that the lower end of the second support component can be driven free to slide in the second arc-shaped guide rail group with
And the second sensor for the angle that the second support component is slided in the second arc-shaped guide rail group can be detected, first load is also
The second load including being fixed on the first load upper end；The whole center of gravity of second load and the second support component is positioned at the
Two arc-shaped guide rail groups are formed by rotation axis.
Further, second support component includes second support, is set in second support and for being driven with second
Second driving matable assembly of component cooperation, second in second support and for coordinating with the second arc sliding guide rail group
Be slidably matched component.
Further, the second support include the second support arm coordinated with the second arc-shaped guide rail group and be set to second
Support arm upper end is used to support the second fixed seat for fixing the second load；Described second is slidably matched component set on described second
Support arm lower end corresponds at the position of the second arc sliding guide rail group, and it is solid that the second driving matable assembly is set to described second
Reservation bottom face corresponds at the position of second drive component.
Further, in first support component be located at the second arc-shaped guide rail near position at be provided with for
Second detected member of second sensor detection cooperation, the second sensor are set to second support arm lower end and are detected
It surveys at the corresponding position of part, the whole center of gravity of second load and the second support component is be provided with second sensor second
The whole center of gravity of support component and the second load；When second support arm is slided along the length direction of the second arc-shaped guide rail group
When dynamic, second sensor detects its displacement of the lines between the second detected member, which is converted to angle between the two
Displacement, to obtain angle that the second support component is slided in the second arc-shaped guide rail group.
The inertial platform of the present invention, during designing pedestal, support component, you can by the rotation axis of support component
It is increased to and is overlapped with its center of gravity, reduce and even eliminate counterweight, reduce the rotary inertia of platform rotatable parts, reduce
The power requirement of driving motor；Using protective device appropriate, the platform of the structure also can reach in GJB 150-2009 to height
Low temperature, the damp and hot, standards such as drench with rain.
To sum up, compared with prior art, inertial platform of the invention has advantageous effect below：
1, virtual rotation axle construction is used, that is, when being supported on the arc-shaped guide rail movement of finite angle, axis of rotation can
It is constrained with detaching structure, rises to and overlapped with load center of gravity so that its axis of rotation is balanced when load movement, reduces counterweight
Quality then reduces the quality and volume of moving component, reduces the rotary inertia of moving component, to reduce driving motor
Power requirement, reach and subtract weight and volume, the purpose of reducing power consumption.
2, since virtual axle construction uses the arc-shaped guide rail of finite angle, the more traditional bearing arrangement of the radius of gyration
The radius of gyration is much larger, and when carrying out displacement of the lines-angular displacement conversion, the big structure of the radius of gyration is easier to realize accurate angular displacement
It measures.Similarly, when the occasion for needing same measurement accuracy, the sensor accuracy requirement that the big structure of the radius of gyration uses just is dropped
Low, cost can also be reduced.
3, traditional frame structure inertial platform, due to the roller bearing of use, little framework can only be placed on greatly by when assembly
Then lower portion is inserted into rotating shaft from both ends, bearing is placed into after fixing, and assembly is complex and difficult.Piecemeal group
The inertial platform of box-like structure, structure determine that platform overall stiffness is limited, it is difficult to carry heavier load.Float-ball type frame
Platform structure is complicated, and assembly repair is more difficult.The arc-shaped guide rail of inertial platform using the present invention, finite angle is mounted on
On guide rail mounting surface, then support component ridden on guide rail slide block from top to bottom, installation can be completed in clamp-screw, and assembly and disassembly are particularly
Simplicity saves labor cost.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is the stereogram of one embodiment of inertial platform of the present invention.
Fig. 2 is one embodiment stereogram of inertial platform of the present invention.
Fig. 3 is the schematic diagram concealed in Fig. 2 after pedestal.
Fig. 4 is the whole center of gravity schematic diagram of the second load and the second support component in one embodiment of inertial platform of the present invention.
Fig. 5 is the whole center of gravity schematic diagram of the first load and the first support component in one embodiment of inertial platform of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
A kind of inertial platform of the present invention, including pedestal 10, the first opening up arc-shaped guide rail on pedestal 10
Group 12 fixes the first support component 14 of the first load with being used to support of being slidably matched of the first arc-shaped guide rail group 12, can drive
It the lower end of dynamic first support component 14 the first drive component 16 free to slide in the first arc-shaped guide rail group 12 and can examine
Survey the first sensor for the angle that the first support component 14 is slided in the first arc-shaped guide rail group 12（It is not shown）, described first
Load（It is not shown）It is located at the whole center of gravity of the first support component 14 vertical with the mounting surface where the first arc-shaped guide rail group
And it crosses on the straight line in its center of circle（The whole center of gravity of i.e. described first load and the first support component 14 is located at the first support group
Part 14 is on the pivot center when being slided in the first arc-shaped guide rail group 12）.
Specific embodiment refers to Fig. 1, and Fig. 1 is the structural schematic diagram of inertial platform preferred embodiment of the present invention.This compared with
In good embodiment：
The projection of the pedestal 10 in the horizontal plane is generally rectangular shaped, the projection of the pedestal 10 of the present embodiment in the horizontal plane
It is rectangle, the upper surface of pedestal 10 is in the cancave cambered surface of downward concave arc, and the arc length and the length of pedestal 10 of cancave cambered surface match（This
The benefit of sample is can to save the volume of pedestal 10）, the radian progress of radian the first arc-shaped guide rail group 12 of reference of the cancave cambered surface
Design.The upper surface of pedestal 10 is designed as lower to the benefit of concave arc shape being that pedestal 10 is made with the first arc-shaped guide rail group 12 to match,
In addition, the space of concave arc can place the first drive component 16 downwards.It is intelligible, in some embodiments, the pedestal 10
Upper surface not necessarily need the cancave cambered surface for being designed as downward concave arc, the upper surface of pedestal 10 that can be horizontal or are
Facilitate and place the first drive component 16, can the accommodating space of first drive component 16 be set in 10 upper end of pedestal.
In the preferred embodiment, the first arc-shaped guide rail group 12 is to separately design in the both sides of the edge of 10 upper surface of pedestal
One arc-shaped guide rail, two first arc-shaped guide rail length, radians are consistent.Intelligible, above-mentioned two first arc-shaped guide rails are set
The mode of setting is not limited to above-mentioned set-up mode, such as in some embodiments, and two first arc-shaped guide rails can be set to base
At two side positions of 10 upper ends of seat, not necessarily design in the both sides of the edge of upper surface.In another example in some embodiments, it is described
First arc-shaped guide rail can directly be set up in the upper surface of pedestal 10, be located at the top of pedestal 10.Also for example in some embodiments
In, the first arc-shaped guide rail group 12 is first arc-shaped guide rail, and the first arc-shaped guide rail can be along the length direction of 10 upper end of pedestal
It is arranged in the upper surface of pedestal 10, can also be directly set up in the upper end of pedestal 10.
First support component 14 includes first support, in first support and for matching with the first drive component 16
The the first driving matable assembly closed and the first sliding in first support and for coordinating with the first arc-shaped guide rail group 12
Matable assembly, the first support is slidably matched by described first component that is slidably matched with first arc-shaped guide rail, described
First drive component 16 with first driving matable assembly match after driving first support in the first arc-shaped guide rail group 12 back and forth
It is free to slide.The first support include the first support arm 141 coordinated with the first arc-shaped guide rail group 12 and be set to first
141 upper end of brace is used to support the first fixed seat 142 for fixing the first load；Described first is slidably matched component set on described
First support arm, 141 lower end corresponds at the position of the first arc-shaped guide rail group 12, and the first driving matable assembly is set to described
First fixed seat, 142 bottom face corresponds at the position of first drive component 16.
In this preferred embodiment, first support arm 141 is two, and two first support arms 141 are respectively arranged at institute
The both ends of the first fixed seat 142 are stated so that the first support is in straddle in the lower frame-shaped on pedestal 10.First sliding
Matable assembly is the sliding block for being respectively arranged on two first support arm, 141 lower ends and corresponding to corresponding first arc-shaped guide rail, two pieces the
One support arm 141 is slidably matched by respective sliding block and the first arc-shaped guide rail set on 10 upper end both sides of pedestal, so that
First support can be slided under the driving of the first drive component 16 on first arc-shaped guide rail.It should be understood that one
Implement in embodiment, first support arm 141 may be one, be slidably matched with above-mentioned first arc-shaped guide rail.When
When the radical of first arc-shaped guide rail is more, the quantity of first support arm 141 matches with the first arc-shaped guide rail quantity.
In this preferred embodiment, the first drive component 16 includes first be set on pedestal 10 and below first support
Motor 161 and the first gear 162 being connected with the output shaft of first motor 161.The first motor 161 is fixed on pedestal 10
On the cancave cambered surface of upper end, and positioned at the lower section of the first fixed seat 142.First motor 161 is laterally set on pedestal 10, first motor
161 output axis direction and the face where the first arc-shaped guide rail are perpendicular, where the sagittal plane of output shaft and the first arc-shaped guide rail
Face it is parallel.The sagittal plane of the first gear 162 is parallel with the face where the first arc-shaped guide rail, axial direction with it is described
Face where first arc-shaped guide rail group 12 is perpendicular.Intelligible, above-mentioned driving first support is slided on the first arc-shaped guide rail
Mode be not limited to aforesaid way, the driving knot that existing any type can drive object to be slided on sliding rail may be used
Structure, such as in some specific embodiments, first drive component 16 can also be the side of first motor 161 and worm gear scroll bar
Formula drives the first support to be slided on the first arc-shaped guide rail.
In this preferred embodiment, the first driving component is the bottom end for being fixed on first fixed seat 142
Face and the first arc-shaped rack 143 coordinated with the first gear 162, the first arc-shaped rack 143 fixed by a fixed structure
In the bottom end of the first fixed seat 142.The length of the length direction of first arc-shaped rack 143 and the first arc-shaped guide rail group 12
Degree direction is consistent, and the center of circle of first arc-shaped rack 143 can be located at together with the center of circle of the first arc-shaped guide rail group 12
On one center line（I.e. above-mentioned pivot center）.In driving, the output shaft of first motor 161 drives first gear 162 to rotate, the
One gear 162 drives the first arc-shaped rack 143 to be swung along the direction of the first arc-shaped guide rail, so that with the first arc-shaped rack
143 fixed first supports are swung, and 141 lower end of the first support arm is so made to be slided on the first arc-shaped guide rail.
It is located to be provided at the position near the first arc-shaped guide rail group 12 on the pedestal 10 and is used for and first sensor
Detect the first detected member of cooperation（It is not shown）, the first sensor be set to 141 lower end of the first support arm with
At the corresponding position of first detected member.In this example, first detected member is set on pedestal 10 close to wherein one piece the
The side of one arc-shaped guide rail is along position.When first support arm 141 slides in the first arc-shaped guide rail group 12, first
Sensor detects its displacement of the lines between the first detected member, which is converted to angular displacement between the two, to
Obtain the angle that the first support component 14 is slided in the first arc-shaped guide rail group 12.
In the present embodiment, the whole center of gravity of above-mentioned first load and the first support component 14 is to be provided with first sensor
The whole center of gravity of first support component 14 and first load.Intelligible, the center of gravity of the first support component 14 includes being set to the
Include the center of gravity for the first support component 14 for being provided with any object after any object in one support component 14, and first
The whole center of gravity that support component 14 and first loads then is provided with the first support component 14 and first load of any object
Whole center of gravity.
First support component 14 in the first arc-shaped guide rail group 12 when sliding, the generation of some emergency cases in order to prevent,
Motor rotation blockage or guide rail slide block, which move to after the guide rail end, when such as super angular range operating falls off etc., in first arc
Limit switches 121 are respectively set in the both ends that shape leads group, such as close to switch, effect is can to move to guide rail in moving component
The power supply that respective driving motor is cut off before extreme position prevents from burning because of driving motor stall or moving component falls off and makes
At man-machine peril.
First load can be inertance element, such as gyro, detector, radar laser transmitter etc..When first
When load is inertance element, then the inertial platform is then single imaginary axis inertial platform, imaginary axis is that the first support component 14 exists
Rotation axis when its rotation of the first arc-shaped guide rail group upper edge.
And in this preferred embodiment, first load includes the second support similar with 14 structure of the first support component
Component 24, the second drive component 26, the second support component 24, which is used to support, fixes the second load（It is not shown）, and the second load
It can be then above-mentioned inertance element either third support component etc..If the second load is structure and the second support component 24 or the
When the similar third support component of one support component structure, then the upper end of the second support component 24 then needs to be designed as and first
The similar arc of support component supplies.If the second load is inertance element, then the upper end of the second support component 24 can be direct
It is designed as a fixed pan.
Specifically, the second opening up arc-shaped guide rail group 22, institute are provided in the upper end of first support component 14
Length direction and the length direction of the first arc-shaped guide rail group 12 for stating the second arc-shaped guide rail group 22 are perpendicular.The reason of so designing
It is that first can be made to be supported on the direction slided in the second arc-shaped guide rail group 22 with the first support component 14 in the first arc-shaped guide rail
The direction slided in group 12 is perpendicular, makes the load of the first support component 14 and second respectively in X-axis and Y direction along respective arc
Shape guide rail group is slided.
In the preferred embodiment, the shape phase of 142 shape of the first fixed seat and pedestal 10 of the first support component 14
Matching, the upper surface of first fixed seat 142 equally can be in the cancave cambered surface of downward concave arc, and the arc length of cancave cambered surface is fixed with first
The length of seat 142 matches, and the length direction of the length direction and pedestal 10 of the first fixed seat 142 is perpendicular, the cancave cambered surface
Radian is designed with reference to the radian of the second arc-shaped guide rail group 22.
In the preferred embodiment, the second arc-shaped guide rail group 22 is to separately design in the both sides of 142 upper surface of the first fixed seat
Second arc-shaped guide rail at edge, two second arc-shaped guide rail length, radians are consistent.It is intelligible, two second arc-shaped guide rails
Set-up mode be not limited to above-mentioned set-up mode, be referred to the set-up mode of above-mentioned first arc-shaped guide rail.
Specifically, first load includes that fix second with being used to support of being slidably matched of the second arc-shaped guide rail group 22 negative
Second support component 24 of load can drive the lower end of the second support component 24 free to slide in the second arc-shaped guide rail group 22
Second drive component 26 and it can detect the second of the angle that the second support component 24 is slided in the second arc-shaped guide rail group 22
Sensor, first load further include being fixed on the second load of the first load upper end；Second load and the second support
The whole center of gravity of component 24 is located at vertical with plane where the second arc-shaped guide rail and crosses on the straight line in its center of circle（I.e. described second is negative
It carries and the whole center of gravity of the second support component 24 is located at rotation axis of second support component 24 when being slided on the second arc-shaped guide rail
On）.
Second support component 24 includes second support, in second support and for matching with the second drive component 26
Second closed drives matable assembly, the second sliding in second support and for coordinating with the second arc sliding guide rail group to match
Seaming element.The second support is slidably matched by described second component that is slidably matched with the second arc-shaped guide rail group, described
Second drive component 26 with second driving matable assembly match after driving second support in the second arc-shaped guide rail group 22 back and forth
It is free to slide.The second support include the second support arm 241 coordinated with the second arc-shaped guide rail group 22 and be set to second
241 upper end of brace is used to support the second fixed seat 242 for fixing the second load；Described second is slidably matched component set on described
Second support arm, 241 lower end corresponds at the position of the second arc sliding guide rail group, and the second driving matable assembly is set to institute
242 bottom face of the second fixed seat is stated to correspond at the position of second drive component 26.
In this preferred embodiment, second support arm 241 is two, and two second support arms 241 are respectively arranged at institute
The both ends of the second fixed seat 242 are stated so that the second support is in straddle in the lower frame-shaped in the first fixed seat 142.Described
Two be slidably matched component be respectively arranged on two second support arm, 241 lower ends correspond to corresponding second arc-shaped guide rail sliding block,
Two second support arms 241 are slided by respective sliding block and the second arc-shaped guide rail set on 142 upper end both sides of the first fixed seat
Cooperation, so that second support can be slided under the driving of the second drive component 26 on second arc-shaped guide rail.It can
With understanding, in one implements embodiment, second support arm 241 may be one, be led with above-mentioned second arc
Rail is slidably matched.When the radical of the second arc-shaped guide rail is more, the quantity of second support arm 241 and the second arc-shaped guide rail number
Amount matches.
In this preferred embodiment, the second drive component 26 includes being set in the second fixed seat 242 and under second support
Second motor of side and the second gear being connected with the output shaft of the second motor.Second motor is fixed on the first fixed seat
On 142 upper end cancave cambered surface, and positioned at the lower section of the second fixed seat 242.Second motor is laterally set in the first fixed seat 142,
The output axis direction of second motor and the face where the second arc-shaped guide rail are perpendicular, output shaft sagittal plane and the second arc-shaped guide rail institute
Face it is parallel.The sagittal plane of the second gear is parallel with the face where the second arc-shaped guide rail, axial direction with it is described
Face where second arc-shaped guide rail group 22 is perpendicular.Intelligible, above-mentioned driving second support is slided on the second arc-shaped guide rail
Mode be not limited to aforesaid way, the driving knot that existing any type can drive object to be slided on sliding rail may be used
Structure, such as in some specific embodiments, second drive component 26 can also be the mode of the second motor and worm gear scroll bar
To drive second support to be slided on the second arc-shaped guide rail.
In this preferred embodiment, the second driving component is the bottom end for being fixed on second fixed seat 242
Face and with the second arc-shaped rack 243 of second gear cooperation, the second arc-shaped rack 243 is fixed on the by two fixed structures
The bottom end of two fixed seats 242.The length side of the length direction of second arc-shaped rack 243 and the second arc-shaped guide rail group 22
To consistent, second arc-shaped rack 243 is identical as the center of circle of the second arc-shaped guide rail group 22.In driving, the second electricity
The output shaft of machine drives second gear rotation, second gear to drive the second arc-shaped rack 243 along the direction of the second arc-shaped guide rail
It swings, so that swung with the fixed second support of the second arc-shaped rack 243, so makes 241 lower end of the second support arm the
It is slided on two arc-shaped guide rails.
It is located in first fixed seat 142 at the position near second arc-shaped guide rail group 22 and is provided with for second
Second detected member of sensor detection cooperation, the second sensor are set to 241 lower end of the second support arm and second
At the corresponding position of detected member.In this example, second detected member is set in the first fixed seat 142 upper close to wherein one
The side of the second arc-shaped guide rail of root is along position.When second support arm 241 slides in the second arc-shaped guide rail group 22,
Second sensor detects its displacement of the lines between the second detected member, which is converted to angular displacement between the two,
To obtain angle that the second support component 24 is slided in the second arc-shaped guide rail group 22.
In the present embodiment, the whole center of gravity of above-mentioned second load and the second support component 24 is to be provided with second sensor
The whole center of gravity of second support component 24 and second load.Intelligible, the center of gravity of the second support component 24 includes being set to the
Include the center of gravity for the second support component for being provided with any object after any object in two support components 24, and the second support
The whole center of gravity that component 24 and second loads then is provided with the entirety of the second support component 24 and second load of any object
Center of gravity.
Second support component 24 in the second arc-shaped guide rail group 22 when sliding, the generation of some emergency cases in order to prevent,
Motor rotation blockage or guide rail slide block, which move to after the guide rail end, when such as super angular range operating falls off etc., in second arc
Limit switches 221 are respectively set in the both ends that shape leads group, such as close to switch, effect is can to move to guide rail in moving component
The power supply that respective driving motor is cut off before extreme position prevents from burning because of driving motor stall or moving component falls off and makes
At man-machine peril.
Above embodiment described the inertial platform of two virtual axle construction, the first imaginary axis is then first support in the first arc
Rotation axis when being slided in shape guide rail group 12, the second imaginary axis are then second supports when being slided in the second arc-shaped guide rail group 22
Rotation axis.The present invention inertial platform, breach traditional platform structure limitation so that the rotation axis of support component can more than
It is raised to space any position, convenient for overlapping its rotary shaft with center of gravity is loaded, is generated to eliminating load weight to platform quiet
Unbalanced moments so can reach the effect of inertial platform static balance, opposite in load without as the prior art, needing
Rotation axis is provided opposite to weight member and could realize the static balance of inertial platform.
The inertial platform of the virtual axle construction has simple in structure, light, easy to assembly advantage, and essence is machined to part
Degree requires moderate, and the displacement sensor using general precision is that can reach the effect of traditional platform high-precision angle sensor；
During designing pedestal, support component, you can be increased to the rotation axis of support component and overlapped with its center of gravity, reduced even
Counterweight is eliminated, the rotary inertia of platform rotatable parts is reduced, reduces the power requirement of driving motor；Using appropriate
Protective device, the platform of the structure also can reach in GJB 150-2009 to high/low temperature, the damp and hot, standards such as drench with rain.
To sum up, compared with prior art, inertial platform of the invention has advantageous effect below：
1, virtual rotation axle construction is used, that is, when being supported on the arc-shaped guide rail movement of finite angle, axis of rotation can
It is constrained with detaching structure, rises to and overlapped with load center of gravity so that its axis of rotation is balanced when load movement, reduces counterweight
Quality then reduces the quality and volume of moving component, reduces the rotary inertia of moving component, to reduce driving motor
Power requirement, reach and subtract weight and volume, the purpose of reducing power consumption.
2, since virtual axle construction uses the arc-shaped guide rail of finite angle, the more traditional bearing arrangement of the radius of gyration
The radius of gyration is much larger, and when carrying out displacement of the lines-angular displacement conversion, the big structure of the radius of gyration is easier to realize accurate angular displacement
It measures.Similarly, when the occasion for needing same measurement accuracy, the sensor accuracy requirement that the big structure of the radius of gyration uses just is dropped
Low, cost can also be reduced.
3, traditional frame structure inertial platform, due to the roller bearing of use, little framework can only be placed on greatly by when assembly
Then lower portion is inserted into rotating shaft from both ends, bearing is placed into after fixing, and assembly is complex and difficult.Piecemeal group
The inertial platform of box-like structure, structure determine that platform overall stiffness is limited, it is difficult to carry heavier load.Float-ball type frame
Platform structure is complicated, and assembly repair is more difficult.The arc-shaped guide rail of inertial platform using the present invention, finite angle is mounted on
On guide rail mounting surface, then support component ridden on guide rail slide block from top to bottom, installation can be completed in clamp-screw, and assembly and disassembly are particularly
Simplicity saves labor cost.
Refer to the structural schematic diagram that Fig. 2 and Fig. 3, Fig. 2 and Fig. 3 are another embodiment of inertial platform of the present invention.This implementation
As with a kind of first embodiment optional scheme side by side.The inertial platform of the present embodiment includes and first embodiment structure or work(
Can same or analogous pedestal, be respectively arranged on pedestal upper end both sides the first arc-shaped guide rail, straddle in being in pedestal on pedestal
The first support component arranged in length and breadth and the first load.
The inertial platform of the present embodiment and the inertial platform of first embodiment difference lies in：
The first drive component in the present embodiment include the worm screw 301 being arranged on pedestal along the length direction of pedestal, with
Driving motor 302, the worm gear in lower convex set on the first fixed seat lower face of first support of 301 one end of worm screw connection
303, the length direction of worm gear 303 is consistent with the length direction of pedestal, and driving motor 302 drives worm screw 301 to rotate, to band
Dynamic worm gear 303 is slided along the length direction of pedestal, and then the first support component is made to be slided on the first arc-shaped guide rail.
The difference of the present embodiment and first embodiment also resides in：The lower face of first fixed seat is provided with fixed block 32,
First sensor 34 is set to the lower face of the first fixed block 32, and the first detected member is then set to the upper surface of pedestal and is somebody's turn to do
At 34 corresponding position of first sensor, since the radian of pedestal upper surface is consistent with the radian of the first arc-shaped guide rail, because
This first detected member can be set on pedestal.
First is slidably matched component as the first sliding block 36, and the lower end for being set to the first supporting walls of first support corresponds to first
At the position of arc-shaped guide rail, second is slidably matched component as the second sliding block 38, is set to the lower end of the second supporting walls of second support
At the position of the second arc-shaped guide rail.
Same first load of inertial platform of the present embodiment equally can be similar to first embodiment, can be inertia
Element can also include the second support component similar with the first support component structure or function, for driving the second support group
The second drive component that part slides on the second arc-shaped guide rail and second sensor etc., no longer repeat one by one herein.
Fig. 4 and Fig. 5 is referred to, in Fig. 4, the second load is inertance element, and a is the center of gravity of the second load, and b is second negative
The whole center of gravity with the second support component is carried, c is the second load and the entirety that the second support component is constituted, with the second arc-shaped guide rail
Group is formed by rotation axis.
In Figure 5, a1 is the center of gravity of the second load, and b1 is the whole center of gravity of the first load and the first support component, and c1 is
The rotation axis that first support component is formed with the first arc-shaped guide rail group.
It these are only embodiments of the present invention, be not intended to limit the scope of the invention, it is every to utilize the present invention
Equivalent structure or equivalent flow shift made by specification and accompanying drawing content is applied directly or indirectly in other relevant technologies
Field is included within the scope of the present invention.
Claims (10)
1. a kind of inertial platform, it is characterised in that：The first opening up arc-shaped guide rail group including pedestal, on pedestal,
The first support component for being used to support the first load that is slidably matched with the first arc-shaped guide rail group can drive the first support component
Lower end the first drive component free to slide in the first arc-shaped guide rail group and the first support component can be detected first
The first sensor for the angle slided in arc-shaped guide rail group, it is described first load and the first support component whole center of gravity positioned at
First arc-shaped guide rail group is formed by rotation axis.
2. inertial platform as described in claim 1, it is characterised in that：First support component includes first support, is set to
In first support and for driving matable assembly with the first drive component coordinate first and in first support and being used for
Be slidably matched component with the first of the cooperation of the first arc-shaped guide rail group, the first support by described first be slidably matched component with
The first arc-shaped guide rail group is slidably matched, and first drive component drives first after being matched with the first driving matable assembly
Holder is free to slide back and forth in the first arc-shaped guide rail group.
3. inertial platform as claimed in claim 2, it is characterised in that：The first support includes being assembled with the first arc-shaped guide rail
The first support arm for closing and fix the first fixed seat of the first load set on being used to support for the first support arm upper end；Described
One is slidably matched at position of the component set on first support arm lower end corresponding to the first arc-shaped guide rail group, first driving
Matable assembly is set to the first fixed seat bottom face and corresponds at the position of first drive component.
4. inertial platform as claimed in claim 3, it is characterised in that：First drive component includes on pedestal and position
First motor below first support and the first gear being connected with the output shaft of first motor, the axis of the first gear
It is parallel to the rotation axis formed with the first arc-shaped guide rail group；The first driving component is to be fixed on described first
The bottom face of fixed seat and with the first gear cooperation the first arc-shaped rack, the axial direction of first arc-shaped rack with it is described
First arc-shaped guide rail group formed rotation axis it is parallel, the axis of the first arc-shaped rack, the first arc-shaped guide rail rotation axis with
The pivot center of first support component coincides.
5. inertial platform as claimed in claim 3, it is characterised in that：It is located near the first arc-shaped guide rail group on the pedestal
Position at be provided with for the first detected member with first sensor detection cooperation, the first sensor is set to described
In first support at position corresponding with the first detected member, the whole center of gravity of first load and the first support component is to set
It is equipped with the whole center of gravity of the first support component and the first load of first sensor；When first support arm is along first arc
When the length direction sliding of shape guide rail group, first sensor detects its displacement of the lines between the first detected member, by the line position
Transfer is changed to angular displacement between the two, to obtain angle that the first support component is slided in the first arc-shaped guide rail group.
6. inertial platform as claimed in claim 3, it is characterised in that：The upper surface of the pedestal is in the concave arc of downward concave arc
Face；
The first arc-shaped guide rail group includes the arc-shaped guide rail of the two sides for the upper end for being respectively arranged on pedestal, and two first arcs are led
The radian of rail and the radian of the upper surface of the pedestal match；
First support arm is two, and two first support arms are respectively arranged at the both ends of first fixed seat so that described
First support is in straddle in the lower frame-shaped on pedestal；Described first is slidably matched component to be respectively arranged under two first support arms
End corresponds to the sliding block of corresponding first arc-shaped guide rail, and two first support arms pass through respective sliding block and two first arc-shaped guide rails
It is slidably matched, so that first support can be slided under the driving of the first drive component on first arc-shaped guide rail.
7. the inertial platform as described in any one of claim 1 to 6 claim, it is characterised in that：In first support
The upper end of component is provided with the second opening up arc-shaped guide rail group, the length direction and the first arc of the second arc-shaped guide rail group
The length direction of shape guide rail group is perpendicular；
First load includes that the second support of the second load is fixed with being used to support of being slidably matched of the second arc-shaped guide rail group
Component, the second drive component and energy that the lower end of the second support component can be driven free to slide in the second arc-shaped guide rail group
The second sensor for the angle that the second support component is slided in the second arc-shaped guide rail group is enough detected, first load further includes
It is fixed on the second load of the first load upper end；The whole center of gravity of second load and the second support component is located at and the second arc
Shape guide rail group is formed by rotation axis.
8. inertial platform as claimed in claim 7, it is characterised in that：Second support component includes second support, is set to
The second driving matable assembly in second support and for coordinate with the second drive component is set in second support and is used for and the
The second of two arc sliding guide rail groups cooperation is slidably matched component.
9. inertial platform as claimed in claim 8, it is characterised in that：The second support includes being assembled with the second arc-shaped guide rail
The second support arm for closing and fix the second fixed seat of the second load set on being used to support for the second support arm upper end；Described
Two are slidably matched at position of the component set on second support arm lower end corresponding to the second arc sliding guide rail group, and described second
It drives matable assembly to be set to the second fixed seat bottom face to correspond at the position of second drive component.
10. inertial platform as claimed in claim 9, it is characterised in that：It is located at the second arc in first support component
It is provided at position near guide rail for the second detected member with second sensor detection cooperation, the second sensor is set
It is placed at the position corresponding with detected member of second support arm lower end, the entirety of second load and the second support component
Center of gravity is the whole center of gravity of the second support component and the second load that are provided with second sensor；When second support arm is along institute
When stating the length direction sliding of the second arc-shaped guide rail group, second sensor detects its displacement of the lines between the second detected member,
The displacement of the lines is converted into angular displacement between the two, to obtain what the second support component was slided in the second arc-shaped guide rail group
Angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610276324.7A CN105865447B (en) | 2016-04-29 | 2016-04-29 | inertial platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610276324.7A CN105865447B (en) | 2016-04-29 | 2016-04-29 | inertial platform |
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| CN105865447A CN105865447A (en) | 2016-08-17 |
| CN105865447B true CN105865447B (en) | 2018-10-16 |
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| CN111301625A (en) * | 2018-12-11 | 2020-06-19 | 青岛远洋船员职业学院 | Anti-rolling device |
| CN109807774B (en) * | 2019-03-08 | 2023-08-25 | 聊城大学 | Rotary orientation instrument |
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| CN101619971A (en) * | 2009-07-31 | 2010-01-06 | 北京航空航天大学 | Aerophotography gyrostabilized platform with three freedom degrees and large load |
| CN102230801A (en) * | 2011-03-30 | 2011-11-02 | 北京航空航天大学 | Light-type triaxial ISP (inertially stabilized platform) system using aerial remote sensing technology |
| CN102589522A (en) * | 2012-02-28 | 2012-07-18 | 冯小勇 | Optical autocollimation-type dynamic precise horizontal measuring method |
| CN103575295A (en) * | 2012-07-27 | 2014-02-12 | 中国航空工业第六一八研究所 | Inertial element magnetic-field sensitivity measuring system |
| CN104653963A (en) * | 2014-12-26 | 2015-05-27 | 北京兴华机械厂 | Dual-freedom degree tracking cloud deck with inertial orientation function |
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2016
- 2016-04-29 CN CN201610276324.7A patent/CN105865447B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101619971A (en) * | 2009-07-31 | 2010-01-06 | 北京航空航天大学 | Aerophotography gyrostabilized platform with three freedom degrees and large load |
| CN102230801A (en) * | 2011-03-30 | 2011-11-02 | 北京航空航天大学 | Light-type triaxial ISP (inertially stabilized platform) system using aerial remote sensing technology |
| CN102589522A (en) * | 2012-02-28 | 2012-07-18 | 冯小勇 | Optical autocollimation-type dynamic precise horizontal measuring method |
| CN103575295A (en) * | 2012-07-27 | 2014-02-12 | 中国航空工业第六一八研究所 | Inertial element magnetic-field sensitivity measuring system |
| CN104653963A (en) * | 2014-12-26 | 2015-05-27 | 北京兴华机械厂 | Dual-freedom degree tracking cloud deck with inertial orientation function |
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