CN106927066A - A kind of five axle position markers - Google Patents
A kind of five axle position markers Download PDFInfo
- Publication number
- CN106927066A CN106927066A CN201710165373.8A CN201710165373A CN106927066A CN 106927066 A CN106927066 A CN 106927066A CN 201710165373 A CN201710165373 A CN 201710165373A CN 106927066 A CN106927066 A CN 106927066A
- Authority
- CN
- China
- Prior art keywords
- twin shaft
- gimbals
- position marker
- shaft framework
- axle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000003550 marker Substances 0.000 claims abstract description 34
- 230000003287 optical effect Effects 0.000 claims abstract description 17
- 238000001514 detection method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003019 stabilising effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/36—Guiding or controlling apparatus, e.g. for attitude control using sensors, e.g. sun-sensors, horizon sensors
- B64G1/369—Guiding or controlling apparatus, e.g. for attitude control using sensors, e.g. sun-sensors, horizon sensors using gyroscopes as attitude sensors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
- G01C19/04—Details
Abstract
The invention discloses a kind of five axles position marker, it includes free gyro and twin shaft Gimbal servo mechanism, is arranged on the twin shaft framework inside casing of twin shaft Gimbal servo mechanism by free gyro, constitutes five axle position markers.Optical system is integrated on gyrorotor, and detector is connected on the gimbals base of free gyro.This position marker can have bigger tracking and faster tracking angular rate, it is ensured that efficient stable and precision that product works under full azimuth, improve position marker detection performance.
Description
Technical field
The present invention relates to Aero-Space product structure field, more particularly to a kind of five axles position marker.
Background technology
For the position marker of adoption rate guidance law, a spatial stability device has been required for.It is most common at present
It is power gyrocontrol formula position marker, it has a gyrorotor for rotating at a high speed, the moment of momentum for producing a numerical value very big
H.The gyrorotor is arranged in gimbals system and constitutes tracking gyroscope.Gyro relies on the space gyroscopic inertia of H, in inertial space
Realize dead axle.
The advantage of existing power gyrocontrol formula position marker is：Compact conformation, lightweight, size is small, and three good axles are steady
Determine visual field, low cost.However, power gyrocontrol formula position marker also has tracking field small, the slow limitation of tracking angular rate, this
Outward, its shortcoming is also manifested by：When azimuth increases, detector can not be with the confocal face of optical system, the essence when azimuth increases
Degree characteristic drastically deteriorates, and limits the performance of position marker detection performance.So in order to break through the upper of power gyrocontrol formula position marker
Limitation is stated, it is necessary to design a kind of new stabilising arrangement, precision characteristic will not drastically deteriorate when azimuth increases.
The content of the invention
It is an object of the invention to provide a kind of five axles position marker, effectively solve when azimuth increases, detector can not be with
The confocal face of optical system causes the problem that Product Precision characteristic is drastically reduced, and with bigger tracking and tracking faster
Angular speed.
To solve the above problems, the invention provides a kind of five axles position marker：It is included：
Twin shaft Gimbal servo mechanism, it includes twin shaft framework inside casing, twin shaft framework housing and twin shaft frame base；In twin shaft framework
Frame, twin shaft framework housing and twin shaft frame base are in X to being co-axially mounted；Twin shaft framework housing is connected to twin shaft axle frame by bearing
Frame base inner side, makes twin shaft framework housing to be rotated around the housing axle of Y-direction；Twin shaft framework inside casing is connected to twin shaft frame by bearing
Frame housing inner side, makes twin shaft framework inside casing to be rotated around the inner axis of Z-direction；
Free gyro, it passes through shell in X to being co-axially mounted to twin shaft framework inside casing, free gyro comprising gyrorotor,
Gimbals, detector；Gimbals include inner ring, outer shroud, gimbals base；Outer shroud is connected to the outer of inner ring by bearing
Side, inner ring is connected to gimbals chassis outer side by bearing；Gyrorotor is connected to gimbals outside, and by gimbals
Support makes gyrorotor rotatable；Optical system is integrated on gyrorotor, and detector is connected on gimbals base.
Preferably, the Y-direction housing axle of the inner axis of the Z-direction of twin shaft framework inside casing and twin shaft framework housing intersects vertically.
Preferably, gyrorotor around gimbals X to inner axle rotate, the optical axis of optical system and gyrorotor
X to pole axis overlap.
Preferably, outer shroud, inner ring and gyrorotor have one, two and three freedom respectively with respect to gimbals base
Degree.
Preferably, twin shaft framework inside casing and twin shaft framework housing respectively have a rotational freedom.
Preferably, detector stretches into the inside of gimbals base, detector photosurface and gimbals center superposition.
Preferably, the center of the Y-direction axle of gimbals and Z-direction axle, the housing axle of twin shaft Gimbal servo mechanism Y-direction and Z-direction
Inner axis center and the coincidence of 3 points of detector photosurface position.
Preferably, free gyro（3）In the work of nearly bearing null.
Preferably, twin shaft framework is with respect to twin shaft frame base（1）Range of deflection be ± 60 °, free gyro（3）Relative to
The range of deflection of twin shaft framework is ± 15 °.
Compared with prior art, beneficial effects of the present invention are：（1）A kind of five axles position marker of the invention realizes bigger
Tracking and faster tracking angular rate.（2）Full-scale spy is installed on gimbals base rather than on gyrorotor simultaneously
Device is surveyed, position marker detection performance is improve, and remain the inheritance of single rotor free gyro product processes.
Brief description of the drawings
Fig. 1 is five axles position marker structural representation of the invention；
Fig. 2 is free gyro structural representation of the invention；
Fig. 3 a are gimbals structure top views of the invention；
Fig. 3 b are gimbals structural section figures of the invention；
Fig. 4 is five axles schematic diagram of the invention.
Wherein：1. twin shaft frame base；2. twin shaft framework housing；3. free gyro；4. twin shaft framework inside casing；5. optical system
System；6. gimbals；7. detector；8. gyrorotor；9. outer shroud；10. inner ring；11. gimbals bases；12. bearings；13.
Shell；14. bearings.
Specific embodiment
The invention provides a kind of five axles position marker, to become apparent the present invention, below in conjunction with the accompanying drawings with specific side
Formula is described in further details to the present invention.
The invention provides a kind of five axles position marker, as shown in figure 1, it includes free gyro 3, twin shaft Gimbal servo machine
Structure, is combined and constitutes a kind of five axles position marker.Twin shaft Gimbal servo mechanism includes twin shaft framework inside casing 4, twin shaft framework housing 2, double
Axle frame base 1 and bearing.Free gyro 3 passes through shell 13 in X to being co-axially mounted to the inner side of twin shaft framework inside casing 4, constitutes five
Axle position marker.
As shown in Fig. 2 free gyro 3 includes gyrorotor 8, gimbals 6, detector 7.Optical system 5 is integrated in top
On spiral shell rotor 8, free gyro 3 is set to carry out gyrocontrol to optical system 5.Gyrorotor 8 is connected in the outside of gimbals 6,
And make gyrorotor 8 rotatable by the support of gimbals 6.
As best shown in figures 3 a and 3b, gimbals 6 include inner ring 10, outer shroud 9, gimbals base 11.Outer shroud 9 passes through bearing
12 are connected to the outside of inner ring 10, and inner ring 10 is connected to the outside of gimbals base 11, outer shroud 9, inner ring 10 and top by bearing 14
Spiral shell rotor 8 has one, two and three rotational freedom respectively with respect to gimbals base 11.
Gyrorotor 8 is connected with gimbals 6, and the free gyro 3 of formation constitutes Three Degree Of Freedom tracking gyroscope.Gyro turns
Son 8 around gimbals 6 X to inner axle rotate at a high speed, its axis of rotation be exactly gyro X to pole axis, the optical axis of optical system 5
With gyro X to pole axis overlap.
Detector 7 is connected on the gimbals base 11 of free gyro 3, and detector 7 stretches into gimbals base 11
Inside, makes the photosurface of detector 7 be overlapped with the center of rotation of gimbals 6.
Twin shaft framework inside casing 4, twin shaft framework housing 2 and twin shaft frame base 1 are in X to being co-axially mounted.Outside twin shaft framework
Frame 2 is connected to the inner side of twin shaft frame base 1 by bearing, twin shaft circle frame housing 2 is rotated around the housing axle of Y-direction, twin shaft
Framework inside casing 4 is connected to the inner side of twin shaft axle framework housing 2 by bearing, twin shaft framework inside casing 4 is turned around the inner axis of Z-direction
It is dynamic.
The inner axis of the Z-direction of twin shaft framework inside casing 4 intersect vertically with the housing axle of the Y-direction of twin shaft framework housing 2, twin shaft frame
Frame inside casing 4, twin shaft framework housing 2 can realize identical hard-over by position limiting structure, and two axles are implemented in combination with position marker most
Big optical axis angle of rotation.
Twin shaft framework inside casing 4, twin shaft framework housing 2 can be rotated around the housing axle of the inner axis of Z-direction and Y-direction respectively, when certainly
Shell 13 is passed through with twin shaft framework inside casing 4 after X is to being co-axially mounted from gyro 3, then free gyro 3 is universal in bearing null
The housing axle and the inside casing of Z-direction of two axis Y-direction axles and Z-direction axle of support 6 and two axis Y-directions of twin shaft Gimbal servo mechanism
Axle correspondence overlaps（As shown in Figure 4）.So the free gyro 3 being connected with twin shaft framework inside casing 4 correspondingly also has two frees degree.
After free gyro 3 and twin shaft Gimbal servo Mechanism Combination, five axle position markers are formed, five axle schematic diagrames are as shown in Figure 4.
The installation of each part more than, is capable of achieving two axle Y-direction axles of gimbals 6 and center, the twin shaft framework of Z-direction axle
The center of the inner axis of the housing axle and Z-direction of servo control mechanism Y-direction, the coincidence of 3 points of 7 photosurface position of detector.When azimuth increase
When, detector 7 remains in that confocal face with optical system 5, it is ensured that it is efficient steady that five axle position markers work under full azimuth
Fixed and precision.Twin shaft Gimbal servo mechanism realizes larger tracking and tracking angular rate faster.
Existing power gyrocontrol formula position marker, when azimuth increases, detector can not with the confocal face of optical system,
Cause Product Precision characteristic to drastically reduce, thus free gyro be typically restricted to respect to the deflection angle of gimbals base ±
30 °, i.e. position marker tracking field are ± 30 °.
In preference of the present invention, the free gyroscope of use adds five axle position markers of twin shaft framework composition, twin shaft frame
Frame is ± 60 ° with respect to twin shaft frame base range of deflection, and free gyroscope is ± 15 ° with respect to twin shaft framework range of deflection,
Ensure that position marker has ± 75 ° of tracking fields in structure.Because there is enough tracking to put to good use, the position marker of this example it is maximum with
Track angular speed can reach 50 °/s, and the maximum tracking angular rate of power gyrocontrol formula position marker is generally 10 °/s.It is larger
Tracking field and tracking angular rate enables the five axle position markers of this example to be competent at more complicated and difficult use requirement faster.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for of the invention
Various modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (9)
1. a kind of five axles position marker, it is characterised in that it is included：
Twin shaft Gimbal servo mechanism, it includes twin shaft framework inside casing（4）, twin shaft framework housing（2）With twin shaft frame base（1）；
The twin shaft framework inside casing（4）, twin shaft framework housing（2）With twin shaft frame base（1）In X to being co-axially mounted；Outside twin shaft framework
Frame（2）Twin shaft axle frame base is connected to by bearing（1）Inner side, makes twin shaft framework housing（2）Can turn around the housing axle of Y-direction
It is dynamic；Twin shaft framework inside casing（4）Twin shaft framework housing is connected to by bearing（2）Inner side, makes twin shaft framework inside casing（4）Can be around Z-direction
Inner axis rotate；
Free gyro（3）, it passes through shell（13）In X to being co-axially mounted to the twin shaft framework inside casing（4）Inner side, the freedom
Gyro（3）Comprising gyrorotor（8）, gimbals（6）, detector（7）；The gimbals（6）Comprising inner ring（10）, outer shroud
（9）, gimbals base（11）；Outer shroud（9）By bearing（12）It is connected to inner ring（10）Outside, inner ring（10）By bearing
（14）It is connected to gimbals base（11）Outside；Gyrorotor（8）It is connected to gimbals（6）Outside, and by gimbals
（6）Support makes gyrorotor（8）Rotatably；Optical system（5）It is integrated in the gyrorotor（8）On, the detector（7）Gu
It is connected in gimbals base（11）On.
2. a kind of five axles position marker according to claim 1, it is characterised in that the twin shaft framework inside casing（4）Z-direction
Inner axis and twin shaft framework housing（2）The housing axle of Y-direction intersect vertically.
3. a kind of five axles position marker according to claim 1, it is characterised in that the gyrorotor（8）Around gimbals
（6）X to inner axle rotate, the optical system（5）Optical axis and gyrorotor（8）X to pole axis overlap.
4. a kind of five axles position marker according to claim 1, it is characterised in that the outer shroud（9）, inner ring（10）And gyro
Rotor（8）With respect to gimbals base（11）There is one, two and three degree of freedom respectively.
5. a kind of five axles position marker according to claim 1 and 2, it is characterised in that the twin shaft framework inside casing（4）And institute
State twin shaft framework housing（2）Respectively there is a rotational freedom.
6. a kind of five axles position marker according to claim 1, it is characterised in that the detector（7）Stretch into gimbals
Base（11）Inside, detector（7）Photosurface and gimbals（6）Center superposition.
7. a kind of five axles position marker according to claim 1 or 6, it is characterised in that the gimbals（6）Y-direction axle
The center of the inner axis at center, the housing axle of twin shaft Gimbal servo mechanism Y-direction and Z-direction with Z-direction axle and detector（7）Photosurface
The coincidence of 3 points of position.
8. a kind of five axles position marker according to claim 1, it is characterised in that the free gyro（3）In nearly null direction
Angle works.
9. a kind of five axles position marker according to any one in claim 1 ~ 3, it is characterised in that the twin shaft framework phase
To the twin shaft frame base（1）Range of deflection be ± 60 °, free gyro（3）Range of deflection relative to twin shaft framework is
±15°。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710165373.8A CN106927066B (en) | 2017-03-20 | 2017-03-20 | A kind of five axis position markers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710165373.8A CN106927066B (en) | 2017-03-20 | 2017-03-20 | A kind of five axis position markers |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106927066A true CN106927066A (en) | 2017-07-07 |
| CN106927066B CN106927066B (en) | 2019-03-26 |
Family
ID=59432867
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710165373.8A Active CN106927066B (en) | 2017-03-20 | 2017-03-20 | A kind of five axis position markers |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106927066B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109304693A (en) * | 2017-07-28 | 2019-02-05 | 湖南航天机电设备与特种材料研究所 | A kind of twin shaft turn device and tilting integrated platform component assembly method |
| CN109498159A (en) * | 2018-11-10 | 2019-03-22 | 谢小姣 | A kind of multiple degrees of freedom neurosurgical operation instrument operating device |
| CN111366107A (en) * | 2020-03-16 | 2020-07-03 | 上海机电工程研究所 | Five revolving stage axis measuring subassembly |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4006632A (en) * | 1975-11-04 | 1977-02-08 | Aeritalia S.P.A. | Aircraft turn coordinator |
| CN102645974A (en) * | 2012-02-24 | 2012-08-22 | 姜展伟 | Positioning identification system and method of three-dimensional motions |
| CN103528843A (en) * | 2013-10-17 | 2014-01-22 | 上海新跃仪表厂 | Electro-hydraulic hybrid-driven vertical five-shaft simulation turntable |
| CN104990457A (en) * | 2015-06-29 | 2015-10-21 | 南京理工大学 | Direct drive type infrared imaging seeker position marker |
| CN106123883A (en) * | 2016-08-31 | 2016-11-16 | 大连民族大学 | Spheroid rotor three-axis gyroscope |
| CN106482590A (en) * | 2016-11-15 | 2017-03-08 | 河北汉光重工有限责任公司 | A kind of miniaturization, lightweight Seeker Coordinator |
-
2017
- 2017-03-20 CN CN201710165373.8A patent/CN106927066B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4006632A (en) * | 1975-11-04 | 1977-02-08 | Aeritalia S.P.A. | Aircraft turn coordinator |
| CN102645974A (en) * | 2012-02-24 | 2012-08-22 | 姜展伟 | Positioning identification system and method of three-dimensional motions |
| CN103528843A (en) * | 2013-10-17 | 2014-01-22 | 上海新跃仪表厂 | Electro-hydraulic hybrid-driven vertical five-shaft simulation turntable |
| CN104990457A (en) * | 2015-06-29 | 2015-10-21 | 南京理工大学 | Direct drive type infrared imaging seeker position marker |
| CN106123883A (en) * | 2016-08-31 | 2016-11-16 | 大连民族大学 | Spheroid rotor three-axis gyroscope |
| CN106482590A (en) * | 2016-11-15 | 2017-03-08 | 河北汉光重工有限责任公司 | A kind of miniaturization, lightweight Seeker Coordinator |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109304693A (en) * | 2017-07-28 | 2019-02-05 | 湖南航天机电设备与特种材料研究所 | A kind of twin shaft turn device and tilting integrated platform component assembly method |
| CN109304693B (en) * | 2017-07-28 | 2023-12-15 | 湖南航天机电设备与特种材料研究所 | Double-shaft indexing device and inclined integrated table body assembly assembling method |
| CN109498159A (en) * | 2018-11-10 | 2019-03-22 | 谢小姣 | A kind of multiple degrees of freedom neurosurgical operation instrument operating device |
| CN111366107A (en) * | 2020-03-16 | 2020-07-03 | 上海机电工程研究所 | Five revolving stage axis measuring subassembly |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106927066B (en) | 2019-03-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106927066A (en) | A kind of five axle position markers | |
| CN105416428A (en) | Spherical robot with in-situ rotation function carried with control moment gyro | |
| CN103587602B (en) | Active simple pendulum spherical robot | |
| CN106873645B (en) | Spherical gyro mechanism capable of conducting omnidirectional precession and control method | |
| CN109515755A (en) | A kind of five degree of freedom magnetic suspension control moment gyro of single framework | |
| CN104638983A (en) | Small magnetic levitation stabilization platform | |
| CN105466425A (en) | Spherical inertial stabilization platform | |
| CN109781085A (en) | A kind of three float-type gyroscopes of miniaturization | |
| CN1256218C (en) | Wire walking robot | |
| CN108519087A (en) | Tracking platform device based on MEMS gyro and tracking | |
| CN105179477B (en) | A kind of pure electromagnetism magnetic bearing of the axial sphere of rotation modulation | |
| CN102195537A (en) | Partitioned winding magnetic suspension spherical induction motor | |
| CN106895075A (en) | A kind of implicit Lorentz force deflection magnetic bearing of D.D | |
| CN105281034A (en) | Miniature antenna servo apparatus | |
| CN207616572U (en) | Parallel three NC axes tilter | |
| CN102829783B (en) | Frame shafting support system for three-shaft inertially stabilized platform | |
| CN110355773A (en) | A kind of rolling robot with outer swing arm | |
| CN109597438A (en) | A kind of control-moment gyro | |
| CN109229426A (en) | A kind of five degree of freedom double-frame magnetic suspension control moment gyro | |
| US3327538A (en) | Two-axis case rotating gyroscope | |
| TWI731288B (en) | Wind electricity generation appratus | |
| WO2023125383A1 (en) | Electric motor | |
| CN106949145B (en) | A kind of pure electromagnetism magnetic bearing of rotation modulation twin coil axial direction spherical surface | |
| US2898765A (en) | Gyroscope | |
| NO345263B1 (en) | Gyro stabilizer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |