CN108216661A - A kind of photoelectric nacelle of two axis, four frame mechanism of voice coil motor driving - Google Patents
A kind of photoelectric nacelle of two axis, four frame mechanism of voice coil motor driving Download PDFInfo
- Publication number
- CN108216661A CN108216661A CN201711398493.9A CN201711398493A CN108216661A CN 108216661 A CN108216661 A CN 108216661A CN 201711398493 A CN201711398493 A CN 201711398493A CN 108216661 A CN108216661 A CN 108216661A
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- Prior art keywords
- voice coil
- coil motor
- main shaft
- interior
- pitching
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
Abstract
The present invention relates to a kind of photoelectric nacelles of two axis, four frame mechanism of voice coil motor driving, using interior pitching and inner orientation integrated combination and pass through damping means and connected firmly with outer framework, effectively reduce volume, avoid the quadrature error of the interior pitch axis and inner orientation axis generated when interior pitching and separately installed inner orientation, interior pitching and inner orientation integrated combined structure are connected firmly by damping means and outer framework, the effect of vibration damping is played in the vibration that damping means will absorb carrier aircraft transmission.Driving part is arranged in the arc ball interior of photoelectric nacelle using linear voice coil motor, circumferentially to arrangement, is not take up sphere main space, more can lay various sensors using sphere space.The invention can effectively improve photoelectric nacelle inner space service efficiency, and relatively low frictional resistance can improve the lasting accuracy of photoelectric nacelle, and interior pitching and inner orientation integrated combined structure are reliably compact, can be widely used in various airborne photoelectric gondola.
Description
Technical field
The invention belongs to airborne photoelectric technical fields, are related to a kind of photoelectricity of two axis, four frame mechanism of voice coil motor driving
Gondola.
Background technology
Airborne photoelectric gondola be it is a kind of be mounted on unmanned plane, helicopter or Fixed Wing AirVehicle for observing, search for and
The optoelectronic device of mapping, its small volume, light-weight, mostly using the optical devices such as visible ray, infrared, laser, carrier aircraft is being flown
Middle to be disturbed by itself engine and external air flow, airborne photoelectric gondola is controlled by the angular speed that gyro sensitive carrier disturbs
The interference of carrier movement is isolated in motor movement, it is ensured that the image quality of optical device.
In order to which aircraft disturbance is isolated, high precision photoelectric gondola is the outer pitching and outer using two axis, four frame structure at present
Orientation frame is as seal protection and servomechanism.Inner frame as high-accuracy stable platform mechanism is mainly used to that 30Hz is isolated
Within angular disturbance, lasting accuracy can be controlled in 25 μ rad or so, but increasing and apart from increase with carrier aircraft flying height,
Camera lens there is an urgent need to more than 1m overlength focal lengths carrys out object observing, the lasting accuracy of photoelectric nacelle is needed to control 5 μ rad with
It is interior, it can ensure the image quality of image.
For stabilized platform mechanism, existing mechanism and driving method are will to use two direct current torque motors, interior pitching
Motor and inner orientation motor are acted directly on the interior pitch axis and inner orientation axis of movement, are respectively believed the collected offset of gyro
Number the two motors are acted on after controlling signal processing, manipulate respective shafting movement to offset the disturbance of carrier aircraft.Due to direct current
Torque motor is directly mounted in shafting, and shafting is moving component, and two shafting structures of mutually orthogonal effect cause directly
It flows torque motor and shaft components occupancy size is larger, after shafting increase, the increase of shafting internal friction resistance is to seriously affect
The key index of lasting accuracy, in addition the contact area size of direct current torque motor coil and permanent magnet determine practical output
The size of torque, and airborne equipment is very high to weight demands, cause inside casing frame mechanism and driving structure occupy it is larger
Inner space causes difficulty to the arrangement of internal optics sensor.
Invention content
Technical problems to be solved
In order to avoid the shortcomings of the prior art, the present invention proposes a kind of two axis, four frame mechanism of voice coil motor driving
Photoelectric nacelle, do not changing the premise of pitching and foreign side's bit architecture outside two axis, four frame photoelectric nacelle, a kind of two axis four be provided
The inside casing frame mechanism driving structure of frame photoelectric nacelle, so as to effectively solve inside casing frame mechanism driving dimensions big, weight is big
Problem.
Technical solution
A kind of photoelectric nacelle of two axis, four frame mechanism of voice coil motor driving, including exterior orientation component 1 and outer pitching portion
Part 2；Characterized by further comprising stabilized platform structure frames 3, interior pitching main shaft 5, interior pitch bearing 6, inner orientation main shaft 8, interior
Bearing 7, linear voice coil motor stent 9, left side linear voice coil motor coil component 13, right side linear voice coil motor coil part
Part 10, right side linear voice coil motor permanent magnet element 11 and left side linear voice coil motor permanent magnet element 14；Linear voice coil motor
Stent 9 is located at the bottom of spherical outer 2 inner cavity of pitch components, and both ends connect left side linear voice coil motor coil component 13 and the right side respectively
Side linear voice coil motor coil component 10；The top of two coils is straight for right side linear voice coil motor permanent magnet element 11 and left side
Line voice coil motor permanent magnet element 14；It is mutually perpendicular to there are two being set in the middle part of outer 2 inner cavity of pitch components, the interior pitching master intersected
Axis 5 and inner orientation main shaft 8, interior pitching main shaft 5 are fixed on by damping means 12 in the middle part of outer 2 inner cavity of pitch components, interior pitch axis
The inner ring and interior pitching main shaft 5 for holding 6 are fixed, and outer ring is fixed with inner orientation main shaft 8；Inner orientation main shaft 8 is interior with inner orientation bearing 7
Circle is fixed, and outer ring and the stabilized platform structure frame 3 of inner orientation bearing 7 are fixed；Stabilized platform structure frame 3 passes through straight line voice coil
The column of electric machine support 9 is connected with it；When coil galvanization, torque is generated with two magnet pieces, drives linear voice coil motor
Stent 9 rotates, and the rotation of linear voice coil motor stent 9 drives stabilized platform structure frame around interior pitching main shaft and inner orientation main shaft phase
Pitching and inner orientation direction rotate in external pitch components progress.
The folder between angle and interior pitching main shaft and outer pitch components between the interior pitching main shaft and inner orientation main shaft
Angle size is identical and orthogonal, and both for 90 °, stabilized platform structure frame is around the rotation angle of interior pitching main shaft and inner orientation main shaft
Size is identical, both for ± 3 °~± 6 °.
The stabilized platform structure frame 3 is equipped with multiple mounting platforms for placing sensor.
Advantageous effect
A kind of photoelectric nacelle of two axis, four frame mechanism of voice coil motor driving proposed by the present invention uses interior pitching and interior
Orientation integrated combination simultaneously passes through damping means and is connected firmly with outer framework, wherein：Interior pitching and inner orientation integrated combined structure can
Volume is effectively reduced, avoids the quadrature error of the interior pitch axis and inner orientation axis generated when interior pitching and separately installed inner orientation,
Interior pitching and the installation of inner orientation integrated combined structure and detection are also allowed for, interior pitching and inner orientation integrated combined structure lead to
It crosses damping means to connect firmly with outer framework, the vibration that damping means will absorb carrier aircraft transmission, plays the effect of vibration damping.Driving part is adopted
The arc ball interior of photoelectric nacelle is arranged in linear voice coil motor, circumferentially to arrangement, is not take up sphere main space, it can
More to lay various sensors using sphere space.The invention can effectively improve photoelectric nacelle inner space and use effect
Rate, relatively low frictional resistance can improve the lasting accuracy of photoelectric nacelle, and interior pitching and inner orientation integrated combined structure can be close to
It gathers, can be widely used in various airborne photoelectric gondola.
Description of the drawings
Fig. 1 is the front view of photoelectric nacelle inner frame driving mechanism of the present invention；
Fig. 2 is the side view of photoelectric nacelle inner frame driving mechanism of the present invention；
Fig. 3 is the schematic diagram of photoelectric nacelle inner frame driving mechanism of the present invention；
Fig. 4 is the schematic diagram of photoelectric nacelle inner frame driving mechanism linear voice coil motor movement of the present invention,
Wherein, the outer pitch components of 1- exterior orientations component, 2-, 3- stabilized platform structures frame, 4- sensor elements, bow in 5-
Face upward main shaft, pitch bearing in 6-, 7- inner orientations main shaft, 8- inner orientations bearing, 9- linear voice coil motors stent, straight line on the right side of 10-
Linear voice coil motor permanent magnet element, 12- damping means, 13- left sides straight line voice coil electricity on the right side of voice coil motor coil component, 11-
Linear voice coil motor permanent magnet element on the left of machine coil component, 14-
Specific embodiment
In conjunction with embodiment, attached drawing, the invention will be further described：
Current embodiment require that four sensors of carrying, set that there are three mounting platform, stabilized platform and stents on stabilized platform
Connection structure on set there are one platform, place four different types of photoelectric sensors respectively.
As shown in Figure 1,3, it is the structure diagram of invention photoelectric nacelle inner frame driving mechanism.Including outer
Orientation component, outer pitch components, stabilized platform structure frame, sensor element, interior pitching main shaft, interior pitch bearing, inner orientation
Main shaft, inner orientation bearing, linear voice coil motor stent, right side linear voice coil motor coil component, right side linear voice coil motor are forever
Magnet assembly, left side linear voice coil motor coil component, damping means, left side linear voice coil motor permanent magnet element.Exterior orientation
Component 1 is fixed with aircraft, and outer pitch components 2 are connect with exterior orientation component 1, and the inner ring of interior pitching main shaft 5 and interior pitch bearing 6 is consolidated
Fixed, outer ring and the inner orientation main shaft 8 of interior pitch bearing 6 are fixed, and interior pitching main shaft 5 can be around interior pitching master by interior pitch bearing 6
The axis direction rotation of axis 5, inner orientation main shaft 8 and the inner ring of inner orientation bearing 7 are fixed, the outer ring of inner orientation bearing 7 and stabilization
Platform structure frame 3 is fixed, and inner orientation main shaft 8 can be rotated by inner orientation bearing 7 around the axis direction of inner orientation main shaft 8, directly
Line voice coil motor stent 9 and left side linear voice coil motor coil component 13 and right side linear voice coil motor coil component 10 and stabilization
Platform structure frame 3 is fixed, and interior pitching main shaft 5 is fixed by damping means 12 and outer pitch components 2, stabilized platform structure frame
3 can around interior pitching main shaft 5 and inner orientation main shaft 8, pitching and inner orientation direction rotate in the progress of outer pitch components, right side is straight
Line voice coil motor permanent magnet element 11 and left side linear voice coil motor permanent magnet element 14 are fixed with outer pitch components 2, and left side is straight
Line voice coil motor coil component 13 can move forward and backward in left side linear voice coil motor permanent magnet element 14, right side straight line voice coil electricity
Machine coil component 10 can move forward and backward in right side linear voice coil motor permanent magnet element 11, sensor element 4 and stabilized platform
Structural framing 3 is fixed, and when stabilized platform structure frame 3 moves, sensor element 4 is driven to move.
The inside casing frame mechanism driving method implementation process of two axis of the invention, four frame photoelectric nacelle is as follows：As shown in figure 4, light
During electric gondola work, interior pitching motor and inner orientation motor actual motion angle and the direction of motion are provided, when left side straight line voice coil
Electrical-coil component 13 travel forward in left side linear voice coil motor permanent magnet element 14 and simultaneously right side linear voice coil motor
When coil component 10 is synchronized with the movement forward in right side linear voice coil motor permanent magnet element 11, stabilized platform structure frame 3 around
Interior pitching main shaft 5 rotates forward.When left side linear voice coil motor coil component 13 is in left side linear voice coil motor permanent magnet element
In 14 backward movement and simultaneously right side linear voice coil motor coil component 10 in right side linear voice coil motor permanent magnet element 11
When being synchronized with the movement backward, stabilized platform structure frame 3 rotates backward around interior pitching main shaft 5.When left side linear voice coil motor coil
Component 13 movement and simultaneously right side linear voice coil motor coil component backward in left side linear voice coil motor permanent magnet element 14
10 in right side linear voice coil motor permanent magnet element 11 when being synchronized with the movement forward, and stabilized platform structure frame 3 is around inner orientation master
Axis 8 turns left.When left side linear voice coil motor coil component 13 in left side linear voice coil motor permanent magnet element 14 forward
It moves and right side linear voice coil motor coil component 10 synchronizes backward in right side linear voice coil motor permanent magnet element 11 simultaneously
During movement, stabilized platform structure frame 3 turns right around inner orientation main shaft 8.This completes stabilized platform structure frames four
The movement in a direction.The process terminates.
Vibration damping, inside casing frame mechanism low friction resistance and photoelectric nacelle inner space ruler present invention mainly solves photoelectric nacelle
The problem of very little.
Claims (3)
1. a kind of photoelectric nacelle of two axis, four frame mechanism of voice coil motor driving, including exterior orientation component (1) and outer pitching portion
Part (2)；Characterized by further comprising stabilized platform structure frame (3), interior pitching main shaft (5), interior pitch bearing (6), inner orientations
Main shaft (8), inner orientation bearing (7), linear voice coil motor stent (9), left side linear voice coil motor coil component (13), right side are straight
Line voice coil motor coil component (10), right side linear voice coil motor permanent magnet element (11) and left side linear voice coil motor permanent magnet
Component (14)；For linear voice coil motor stent (9) positioned at the bottom of spherical outer pitch components (2) inner cavity, both ends connect left side respectively
Linear voice coil motor coil component (13) and right side linear voice coil motor coil component (10)；The top of two coils is straight for right side
Line voice coil motor permanent magnet element (11) and left side linear voice coil motor permanent magnet element (14)；In outer pitch components (2) inner cavity
Portion is mutually perpendicular to there are two setting, and the interior pitching main shaft (5) intersected and inner orientation main shaft (8), interior pitching main shaft (5) is by subtracting
The component (12) that shakes is fixed in the middle part of outer pitch components (2) inner cavity, and the inner ring of interior pitch bearing (6) is fixed with interior pitching main shaft (5),
Outer ring is fixed with inner orientation main shaft (8)；Inner orientation main shaft (8) and the inner ring of inner orientation bearing (7) are fixed, inner orientation bearing (7)
Outer ring and stabilized platform structure frame (3) it is fixed；Stabilized platform structure frame (3) passes through linear voice coil motor stent (9)
Column is connected with it；When coil galvanization, torque is generated with two magnet pieces, linear voice coil motor stent (9) is driven to rotate,
Linear voice coil motor stent (9) rotation drives stabilized platform structure frame around interior pitching main shaft and the relatively outer pitching of inner orientation main shaft
Pitching and inner orientation direction rotate in component progress.
2. the photoelectric nacelle of two axis, four frame mechanism of voice coil motor driving according to claim 1, it is characterised in that：It is described
Angle between interior pitching main shaft and inner orientation main shaft it is identical with the corner dimension between interior pitching main shaft and outer pitch components and
Orthogonal, both for 90 °, stabilized platform structure frame is identical with the rotation angle size of inner orientation main shaft around interior pitching main shaft, and two
Person is ± 3 °~± 6 °.
3. the photoelectric nacelle of two axis, four frame mechanism of voice coil motor driving according to claim 1, it is characterised in that：It is described
Stabilized platform structure frame (3) is equipped with multiple mounting platforms for placing sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711398493.9A CN108216661A (en) | 2017-12-22 | 2017-12-22 | A kind of photoelectric nacelle of two axis, four frame mechanism of voice coil motor driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711398493.9A CN108216661A (en) | 2017-12-22 | 2017-12-22 | A kind of photoelectric nacelle of two axis, four frame mechanism of voice coil motor driving |
Publications (1)
| Publication Number | Publication Date |
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| CN108216661A true CN108216661A (en) | 2018-06-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711398493.9A Pending CN108216661A (en) | 2017-12-22 | 2017-12-22 | A kind of photoelectric nacelle of two axis, four frame mechanism of voice coil motor driving |
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Cited By (6)
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| CN109733627A (en) * | 2018-11-21 | 2019-05-10 | 武汉华中天经通视科技有限公司 | A kind of aspherical airborne photoelectric capstan head |
| CN110873187A (en) * | 2018-08-29 | 2020-03-10 | 中国科学院长春光学精密机械与物理研究所 | Sealing vibration damper for airborne photoelectric equipment and airborne photoelectric equipment |
| CN111506119A (en) * | 2020-04-27 | 2020-08-07 | 中国科学院光电技术研究所 | Photoelectric pod device with non-orthogonal driving three-degree-of-freedom inner frame |
| CN111846240A (en) * | 2020-08-03 | 2020-10-30 | 北京环境特性研究所 | Weight-reduction pod pitching package |
| CN112278301A (en) * | 2020-09-17 | 2021-01-29 | 河北汉光重工有限责任公司 | Two-shaft four-frame mechanism photoelectric pod with passive vibration isolation |
| CN115585790A (en) * | 2022-12-05 | 2023-01-10 | 中国科学院长春光学精密机械与物理研究所 | Surveying and mapping device, surveying and mapping method and computer equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110873187A (en) * | 2018-08-29 | 2020-03-10 | 中国科学院长春光学精密机械与物理研究所 | Sealing vibration damper for airborne photoelectric equipment and airborne photoelectric equipment |
| CN110873187B (en) * | 2018-08-29 | 2021-02-12 | 中国科学院长春光学精密机械与物理研究所 | Sealing vibration damper for airborne photoelectric equipment and airborne photoelectric equipment |
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| CN112278301A (en) * | 2020-09-17 | 2021-01-29 | 河北汉光重工有限责任公司 | Two-shaft four-frame mechanism photoelectric pod with passive vibration isolation |
| CN115585790A (en) * | 2022-12-05 | 2023-01-10 | 中国科学院长春光学精密机械与物理研究所 | Surveying and mapping device, surveying and mapping method and computer equipment |
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