CN110954906A - Two-degree-of-freedom servo mechanism suitable for miniature sonar - Google Patents
Two-degree-of-freedom servo mechanism suitable for miniature sonar Download PDFInfo
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- CN110954906A CN110954906A CN201911122136.9A CN201911122136A CN110954906A CN 110954906 A CN110954906 A CN 110954906A CN 201911122136 A CN201911122136 A CN 201911122136A CN 110954906 A CN110954906 A CN 110954906A
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- spherical hinge
- miniature sonar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
- F16H37/124—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types for interconverting rotary motion and reciprocating motion
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/521—Constructional features
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Acoustics & Sound (AREA)
- Mechanical Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention relates to a two-degree-of-freedom servo mechanism suitable for a miniature sonar, belongs to the technical field of miniature sonar servo, and solves the problem that the existing servo mechanism is not suitable for miniature sonar installation. The two-degree-of-freedom servo mechanism comprises: the fixed spherical hinge and a transverse transmission part and a longitudinal transmission part which have the same structure; the center of the bottom of the miniature sonar is connected with the mounting carrier of the miniature sonar through a fixed spherical hinge, other positions of the bottom of the miniature sonar are connected with the mounting carrier of the miniature sonar through a transverse transmission part and a longitudinal transmission part, and the transverse transmission part and the longitudinal transmission part are orthogonally arranged; horizontal transmission portion is connected with the installation carrier of miniature sonar including articulated servo spherical hinge, connecting rod, the sharp actuating mechanism in proper order, servo spherical hinge and miniature sonar. The miniature sonar equipment has reasonable structural layout and high integration, fully utilizes the rear end installation space of the miniature sonar, can simultaneously realize the motions of the miniature sonar in the pitching and yawing directions, and has high reliability.
Description
Technical Field
The invention relates to the technical field of miniature sonar servo, in particular to a two-degree-of-freedom servo mechanism suitable for miniature sonars.
Background
Sonar is an electronic device which utilizes the characteristic that sound waves are transmitted underwater and realizes functions of underwater detection, underwater communication and the like through sound-electricity conversion, and is the most common navigation and positioning technology of underwater submergence vehicles, underwater robots and the like. The sonar emits some form of acoustic signal, and utilizes the echo reflected by an obstacle or a target during the signal propagation in water to detect.
The traditional sonar installation mode is fixedly installed at the foremost position of an underwater vehicle or an underwater robot, and the sonar emission and echo reception have limitations, so that the sonar effective detection area is severely limited. The most forward position of an underwater vehicle or an underwater robot is generally a conical cabin section, and the available installation area of a sonar is very compact.
The servo mechanism is an automatic control system which operates following a command signal to obtain accurate position, speed or force output, and is a high-precision position control system.
Common servo mechanisms generally comprise a hydraulic servo mechanism, an electric servo mechanism and an electric servo mechanism, and the hydraulic servo mechanism is suitable for aircrafts with larger power grades, is large in size and weight and is easy to leak oil; the structural form of the electric servo mechanism can be changed according to the installation space, a battery on an aircraft is used as an energy source, the environment is protected, the control is convenient, and the application range is wider. The electric power servo mechanism consists of an electric signal processing device and a hydraulic power mechanism, integrates the characteristics of the electric servo mechanism and the hydraulic servo mechanism, and has the advantages of high output power, high control precision and flexible signal processing.
The existing electric servo mechanism is limited by installation space, generally adopts the integrated design of rotary output, and the rotary design needs to occupy a great radial space. The existing installation mode of sonar is fixed mounting, and the position is fixed after the installation, and the transmission sound wave has the limitation with receiving the echo, seriously restricts the effective detection area of sonar, and the sonar is installed at foremost position, and the servo of rotation type output can not be put down to usable radial space around, and miniature sonar is as the small-size sonar with miniaturized design as the main objective, and its radial space on every side is littleer, is difficult to provide installation and motion space for current servo.
Disclosure of Invention
In view of the above analysis, the present invention aims to provide a two-degree-of-freedom servo mechanism suitable for a miniature sonar, so as to solve the problem that the existing servo mechanism is not suitable for mounting the miniature sonar.
The purpose of the invention is mainly realized by the following technical scheme:
the technical scheme of the invention provides a two-degree-of-freedom servo mechanism suitable for a miniature sonar, which comprises the following components: the fixed spherical hinge and a transverse transmission part and a longitudinal transmission part which have the same structure; the center of the bottom of the miniature sonar is connected with the mounting carrier of the miniature sonar through a fixed spherical hinge, other positions of the bottom of the miniature sonar are connected with the mounting carrier of the miniature sonar through a transverse transmission part and a longitudinal transmission part, and the transverse transmission part and the longitudinal transmission part are orthogonally arranged;
horizontal transmission portion is connected with the installation carrier of miniature sonar including articulated servo spherical hinge, connecting rod, the sharp actuating mechanism in proper order, servo spherical hinge and miniature sonar.
In the technical scheme of the invention, the linear actuating mechanism comprises: the device comprises an upper base body, a lower base body, a motor, a nut and screw pair and a guide rail seat;
the upper base body is fixedly connected with the lower base body, and the motor is fixedly connected with the upper base body; the motor drives the screw of the nut-screw pair to rotate, the nut of the nut-screw pair can translate in the guide rail seat, and the nut of the nut-screw pair is hinged with the first end of the connecting rod.
In the technical scheme of the invention, the output shaft of the motor and the screw are both vertical to the upper base body, and the output shaft of the motor drives the screw to rotate through the reduction gear pair.
In the technical scheme of the invention, the reduction gear pair is arranged between the upper base body and the lower base body;
the reduction gear pair comprises a motor gear, a transmission gear and a screw gear which are sequentially meshed; the motor gear is fixedly connected with an output shaft of the motor, and the screw gear is fixedly connected with the screw.
In the technical scheme of the invention, the screw penetrates through the upper base body and is connected with the upper base body and the lower base body through the screw bearing.
In the technical scheme of the invention, the linear actuating mechanism also comprises a sensor, the sensor is fixedly connected with the lower base body, and the input end of the sensor is vertical to the upper base body; the input end of the sensor is connected with the nut through a feedback arm and a pin.
In the technical scheme of the invention, the fixed spherical hinge and the servo spherical hinge are spherical hinge pairs with the same structure, and the distance from the servo spherical hinge of the transverse transmission part to the fixed spherical hinge is equal to the distance from the servo spherical hinge of the longitudinal transmission part to the fixed spherical hinge.
In the technical scheme of the invention, the spherical hinge pair comprises: the golf club head comprises an upper support, a lower support, a golf club, a sleeve and a fixed seat;
the upper support and the lower support are arranged in the sleeve, and the ball part of the ball rod can rotate between the upper support and the lower support; the shaft part of the ball arm penetrates through the upper support and the top of the sleeve; the rod part is hinged with the second end of the connecting rod; the fixing seat is fixedly connected with the bottom of the sleeve.
In the technical scheme of the invention, the transverse transmission part meets the following requirements: distance between the fixed spherical hinge and the servo spherical hinge
Length of connecting rod
When the nut is positioned at two limit positions, the included angle of the servo spherical hinge and the fixed spherical hinge connecting line segment
Transverse projection distance between fixed spherical hinge and screw rod
Nozzle angle transmission angle of connecting rod and servo spherical hinge and fixed spherical hinge connecting line segment
Wherein K is the stroke speed ratio coefficient, when the nut is positioned at the position of the screw rod close to the bottom limit position, the included angle between the connecting rod and the screw rod is β, and H is the stroke length of the nut.
In the technical scheme of the invention, the transverse transmission part and the longitudinal transmission part are respectively provided with a power supply part, and the power supply parts are used for supplying power to the linear actuating mechanism.
The technical scheme of the invention can at least realize one of the following effects:
1. the invention can effectively solve the problems of limited effective detection area and compact available installation space caused by the installation of the fixed position of the miniature sonar, improves the fixed installation mode of the traditional form, and simultaneously realizes the motions of the miniature sonar in two directions of pitching and yawing by two electric servo mechanisms by utilizing the working principle of a crank-slider mechanism: the servo mechanism is equivalent to a sliding block, the mounting position can be staggered from the miniature sonar, and the size requirement of the mounting space is greatly reduced; the spherical hinge pair ensures that the miniature sonar can realize up-down pitching and left-right yawing, and also ensures that the central position of the miniature sonar cannot deviate; the linear actuator converts the rotation output of the motor into the linear output of the nut-screw pair by utilizing the nut-screw pair and the guide rail seat.
2. This scheme structural layout is reasonable, have highly integrated's characteristics, make full use of the rear end installation space of miniature sonar, can realize the motion of miniature sonar every single move and two directions of driftage simultaneously, greatly increased the detection area of sonar, the reliability is high.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a side view of an embodiment of the present invention;
FIG. 2 is a top view of an embodiment of the present invention;
FIG. 3 is a perspective view of an embodiment of the present invention;
FIG. 4 is a schematic view of a ball-and-socket joint assembly according to an embodiment of the present invention;
FIG. 5 is a side view of a linear actuator according to an embodiment of the present invention;
FIG. 6 is a perspective view of a linear actuator according to an embodiment of the present invention;
FIG. 7 is a bottom view of a linear actuator of an embodiment of the present invention;
FIG. 8 is a diagram of an actuator mechanism for a linear actuator in accordance with an embodiment of the present invention;
FIG. 9 is a schematic view of a screw connection of a linear actuator according to an embodiment of the present invention;
FIG. 10 is a simplified schematic illustration of an offset slider-crank according to an embodiment of the present invention;
FIG. 11 is a simplified schematic diagram of the operation of an offset slider-crank according to an embodiment of the present invention;
reference numerals:
1-spherical hinge pair, 2-connecting rod, 3-linear actuator, 4-miniature sonar, 5-upper support, 6-lower support, 7-ball rod, 8-sleeve, 9-fixed seat, 10-upper base body, 11-lower base body, 12-motor, 13-sensor, 14-nut screw pair, 15-reduction gear pair, 16-guide rail seat, 17-actuator mounting hole, 18-wire passing hole, 19-fixed spherical hinge, 20-pin, 21-motor gear, 22-screw gear, 23-transmission gear, 24-screw bearing, 25-transmission gear bearing, 26-feedback arm, 27-servo spherical hinge, 28-sensing nut, 29-nut and 30-screw.
Detailed Description
The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the embodiments of the invention serve to explain the principles of the invention and not to limit its scope.
In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly stated or limited, the term "connected" should be interpreted broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection, which may be a mechanical connection, an electrical connection, which may be a direct connection, or an indirect connection via an intermediate medium. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The terms "top," "bottom," "above … …," "below," and "on … …" as used throughout the description are relative positions with respect to components of the device, such as the relative positions of the top and bottom substrates inside the device. It will be appreciated that the devices are multifunctional, regardless of their orientation in space.
As shown in fig. 1 to 3 and 10, an embodiment of the present invention provides a micro sonar two-degree-of-freedom servo mechanism based on a slider-crank mechanism, including: the horizontal transmission part and the vertical transmission part have the same structure; the transverse transmission part comprises a crank, a rocker and a sliding block which are sequentially hinged, the crank of the transverse transmission part, the crank of the longitudinal transmission part and the miniature sonar 4 are fixedly connected together, and the connection part is connected with the mounting carrier of the miniature sonar 4 through a fixed spherical hinge 19; the slide block of the transverse transmission part and the slide block of the longitudinal transmission part can independently move away from or close to the miniature sonar 4 along the parallel direction; the transverse transmission part and the longitudinal transmission part are orthogonally arranged. The crank of the transverse transmission part is connected with the connecting rod 2 through a servo spherical hinge 27; the slide block is driven by the driving device to move in translation
In order to make the structure simpler, in the embodiment of the invention, the crank of the transmission part, the crank of the longitudinal transmission part and the bottom surface of the miniature sonar 4 are of an integrated structure, and the intersection of the crank of the transverse transmission part and the crank of the longitudinal transmission part is positioned at the center of the bottom surface of the miniature sonar 4 and is overlapped. In addition, horizontal drive portion includes servo spherical hinge 27, connecting rod 2, the linear actuator 3 that articulates in proper order, and servo spherical hinge 27 is connected with miniature sonar 4's bottom, and linear actuator 3 is connected with miniature sonar 4's installation carrier. The portion of the line connecting the servo spherical hinge 27 and the fixed spherical hinge 19 corresponding to the bottom surface of the miniature sonar 4 corresponds to a crank, and the linear actuator 3 corresponds to a slider and a driving device for driving the slider to move linearly.
In the embodiment of the invention, the center of the bottom of the miniature sonar 4 is connected with the mounting carrier of the miniature sonar 4 through the fixed spherical hinge 19 to limit the position of the miniature sonar 4, even if the angle of the miniature sonar 4 in two directions of pitching and yawing is adjusted through the servo mechanism of the embodiment of the invention, the center position of the miniature sonar 4 cannot be changed, and the accuracy of the monitoring result of the miniature sonar 4 is ensured. Other positions in miniature sonar 4's bottom are connected with miniature sonar 4's installation carrier through horizontal drive division and vertical drive division, and horizontal drive division and vertical drive division quadrature set up, realize miniature sonar 4 horizontal angle's rotation through horizontal drive division on the horizontal, realize miniature sonar 4's vertical angle rotation through vertical drive division in vertical, have realized two degree of freedom's mechanical servo promptly.
It should be noted that, the transverse direction and the longitudinal direction are vertical directions, and one does not necessarily correspond to the pitch direction, and the other corresponds to the yaw direction.
Since the horizontal transmission unit and the vertical transmission unit have the same structure, only the horizontal transmission unit and the vertical transmission unit can control the rotation direction of the miniature sonar 4 to be vertical, and in order to avoid repeated characters, only the horizontal transmission unit will be mainly described below.
In the embodiment of the invention, the transverse transmission part also comprises a slide rail, the slide rail is fixedly connected with the mounting carrier of the miniature sonar 4, the slide block slides in the slide rail along a straight line, and the driving device comprises a power source and a telescopic mechanism; the driving device is connected with the slide rail, the telescopic end of the telescopic mechanism is fixedly connected with the slide block, and the telescopic direction of the telescopic end of the telescopic mechanism is the same as the direction of the slide rail. Specifically, as shown in fig. 5 to 9, the linear actuator 3 includes: the device comprises an upper base body 10, a lower base body 11, a motor 12, a nut screw pair 14 and a guide rail seat 16; the upper base body 10 and the lower base body 11 are fixedly connected, the motor 12 is fixedly connected with the upper base body 10, the upper base body 10 and the lower base body 11 are mainly used as mounting carriers of all parts of the linear actuating mechanism 3, the linear actuating mechanism 3 also needs to be fixedly mounted, and correspondingly, the upper base body 10 and/or the lower base body 11 are fixedly connected with the mounting carriers of the miniature sonar 4; the motor 12 drives the screw 30 of the nut-screw pair 14 to rotate, the nut 29 of the nut-screw pair 14 can translate in the rail seat 16, which is equivalent to that the slider moves linearly in the slide rail, and the nut 29 of the nut-screw pair 14 is hinged with the first end of the connecting rod 2, which is equivalent to that the slider is hinged with the connecting rod 2. When the motor 12 of the linear actuator 3 operates, the motor 12 drives the screw 30 to rotate, and the nut 29 cannot rotate along with the screw 30 due to the limitation of the guide rail seat 16, so that the nut 29 translates in the guide rail seat 16, thereby realizing the reciprocating motion of the linear actuator 3 on the corresponding straight line, further serving as a slider of a slider-crank mechanism and driving the miniature sonar 4 serving as a crank to rotate.
In order to facilitate the installation of each component of the linear actuator 3 and the upper base 10, in the embodiment of the present invention, the output shaft of the motor 12 and the screw 30 are both perpendicular to the upper base 10, which is also beneficial to simplifying the structural design of the part of the miniature sonar 4 mounting carrier, which is fixedly connected with the linear actuator 3.
Considering that the output rotation speed of the motor 12 is relatively fast and needs to be adjusted to a suitable rotation speed of the screw 30, in the embodiment of the present invention, the output shaft of the motor 12 drives the screw 30 to rotate through the reduction gear pair 15. The speed reduction is carried out only by one-time meshing of a pair of gears, the transmission with a large speed reduction ratio is difficult to realize, the power loss is large, a form of a plurality of gears is adopted, the embodiment of the invention adopts a form of 2-time meshing of 3 gears, and the speed reduction gear pair 15 comprises a motor gear 21, a transmission gear 23 and a screw gear 22 which are meshed in sequence; the motor gear 21 is fixedly connected with the output shaft of the motor 12, and the screw gear 22 is fixedly connected with the screw 30, so that a larger reduction ratio can be ensured, excessive power loss can be avoided, and the occupied space is smaller.
In addition, in order to protect the reduction gear pair 15 and prevent foreign matters from being stuck into the reduction gear pair 15, in the embodiment of the invention, a protection structure is arranged outside the reduction gear pair 15 between the upper base 10 and the lower base 11, and the space between the protection structure and the upper base 10 and the lower base 11 is filled with lubricant.
Since the screw 30 is a long rod-shaped structure and can be in a rotating state, it is necessary to ensure that the screw 30 can stably rotate, and in the embodiment of the present invention, the screw 30 passes through the upper base 10 and is connected with the upper base 10 and the lower base 11 through the screw bearing 24, so that the screw 30 can occasionally stably and smoothly rotate.
In order to confirm whether the actual rotation angle of the miniature sonar 4 is the same as the target angle, in the embodiment of the invention, the linear actuator 3 further comprises a sensor 13, the sensor 13 is fixedly connected with the lower base 11, and the input end of the sensor 13 is perpendicular to the upper base 10; the input of the sensor 13 is connected to a nut 29 via a feedback arm 26 via a pin 20. In the embodiment of the invention, the moving distance of the nut 29 is measured by the sensor 13, and the rotating angle of the miniature sonar 4 is reflected by the moving distance of the nut 29.
Considering that the nut 29 reciprocates in the middle of the screw 30, in the embodiment of the present invention, the rail housing 16 is provided with an axial slide groove through which the feedback arm 26 passes and moves along with the nut 29, i.e., the feedback arm 26 is displaced by the slide groove, so as to prevent the feedback arm 26 from being oversized.
In order to facilitate production, processing and installation of the embodiment of the invention, in the embodiment of the invention, the fixed spherical hinge 19 and the servo spherical hinge 27 are spherical hinge pairs 1 with the same structure, and when actually processing parts, only one spherical hinge pair 1 needs to be processed. Specifically, as shown in fig. 4, the spherical hinge pair 1 includes: the golf club head comprises an upper support 5, a lower support 6, a golf club 7, a sleeve 8 and a fixed seat 9; the upper support 5 and the lower support 6 are arranged in the sleeve 8, and the ball part of the ball rod 7 can rotate between the upper support 5 and the lower support 6; the shaft of the club 7 passes through the upper support 5 and the top of the sleeve 8; the rod part is hinged with the second end of the connecting rod 2; the fixed seat 9 is fixedly connected with the bottom of the sleeve 8. When the spherical hinge pair 1 is installed, the rod part of the ball rod 7 and the installation object of the fixing seat 9 can be exchanged, the spherical hinge pair 1 needs to be connected with the end part of the connecting rod 2, the rod part is hinged with the connecting rod 2 from the angle of convenient connection, and the fixing seat 9 is fixedly connected with the back of the miniature sonar 4.
When the embodiment of the invention is installed, the transverse transmission part and the longitudinal transmission part can be installed firstly, and then the transverse transmission part and the longitudinal transmission part are installed together with the miniature sonar 4, therefore, the transverse transmission part and the longitudinal transmission part are respectively provided with a power supply part which is used for supplying power to the linear actuator 3 and is connected with the motor 12 and the sensor 13 through a lead wire passing through the wire passing hole 18, and the power supply source of the actuator assembly is determined according to the power supply requirements of the motor and the sensor 13, and the embodiment of the invention adopts 5V direct current.
In addition, in the embodiment of the invention, the upper base body 10 is connected with the mounting carrier of the miniature sonar 4 through the actuator mounting hole 17 by screw threads; considering that the back of the miniature sonar 4 is circular, the servo spherical hinge 27 is in threaded connection with the external thread on the back of the miniature sonar 4; the sleeve 8 of the spherical hinge pair 1 is in threaded connection with the fixed seat 9; the motor 12 is in threaded connection with the upper base body 10; the motor gear 21 is fixedly bonded with the output shaft of the motor 12; the transmission gear 23 is connected with the upper base body 10 and the lower base body 11 through a transmission gear bearing 25; the upper base 10 and the lower base 11 are fixed by being set through both; the sensor 13 is in threaded connection with the lower base body 11; the input end of the sensor 13 is fixedly connected with the feedback arm 26 through a sensing nut 28; the guide rail seat 16 is in threaded connection with the upper base body 10; the shape of the upper base 10 of the linear actuator 3 may be designed to be elliptical or rectangular according to the shape of the mount carrier of the micro sonar 4.
As shown in fig. 10, when the embodiment of the present invention is operated, the fixed spherical hinge 19 located at the center of the miniature sonar 4, the servo spherical hinge 27 connected to the link 2, and the linear actuator 3 correspond to a set of offset crank-slider mechanisms: the output part of the actuating mechanism, the nut 29, is equivalent to a slide block in a crank slide block mechanism; the fixed spherical hinge 19, the servo spherical hinge 27 and the miniature sonar 4 jointly form a crank in a crank sliding block mechanism; the fixed spherical hinge 19 at the center of the miniature sonar 4 is equivalent to the rotation center of the crank. The motor 12 of the actuating mechanism drives the reduction gear pair 15 to rotate, drives the nut 29 of the nut screw pair 14 to move linearly, and the nut 29 drives the connecting rod 2 to drive the miniature sonar 4 to do pitching or yawing motion around the fixed spherical hinge 19. The sensor 13 feeds back the position information of the nut screw pair 14 in real time, and the position information can be converted into the position information of sonar through calculation. Two sets of slider-crank mechanisms orthogonal setting installation realize miniature sonar 4's every single move and driftage motion simultaneously.
It should be noted that, in the embodiment of the present invention, the range of the rotation angle of the miniature sonar 4 can be adjusted through the position relationship between the components and the stroke of the nut 29, and considering that the embodiment of the present invention is convenient for production, processing and installation, the horizontal transmission part and the vertical transmission part adopt the same structure, and from the perspective of convenient calculation and control, in the embodiment of the present invention, the distance from the servo spherical hinge 27 of the horizontal transmission part to the fixed spherical hinge 19 is equal to the distance from the servo spherical hinge 27 of the vertical transmission part to the fixed spherical hinge 19.
As shown in fig. 11, in the embodiment of the present invention, the lateral transmission portion satisfies: the distance between the fixed ball joint 19 and the servo ball joint 27
Length of the connecting rod 2
When the nut 29 is in the two extreme positions, the angle between the servo spherical hinge 27 and the segment connecting the fixed spherical hinge 19
Transverse projected distance between fixed spherical hinge 19 and screw 30
Mouth angle transmission angle of connecting rod 2 and connecting line segment of servo spherical hinge 27 and fixed spherical hinge 19
Wherein K is the stroke speed ratio coefficient, when the nut 29 is positioned at the bottom limit position of the screw rod 30, the included angle between the connecting rod 2 and the screw rod 30 is β, and H is the stroke length of the nut 29.
The maximum output torque and the maximum rotation speed of the linear actuator 3 assembly are determined by the motor, the reduction gear pair 15 and the nut screw pair 14 together, and can be designed according to actual requirements. The turned angle of sonar is decided by the 14 strokes of nut screw pair of actuating mechanism subassembly, connecting rod 2 length and the distance between two spherical hinge pair 1 jointly, can design according to actual demand.
In summary, the embodiment of the present invention provides a two-degree-of-freedom servo mechanism for a miniature sonar based on a slider-crank mechanism, which can effectively solve the problems of limited effective detection area and compact available installation space caused by the fixed position installation of the miniature sonar 4, improve the fixed installation manner of the conventional form, and simultaneously realize the motions of the miniature sonar 4 in two directions of pitching and yawing by using the working principle of the slider-crank mechanism through two electric servo mechanisms: the servo mechanism is equivalent to a sliding block, the mounting position can be staggered with the miniature sonar 4, and the size requirement of the mounting space is greatly reduced; the spherical hinge pair 1 not only ensures that the miniature sonar 4 can realize up-down pitching and left-right yawing, but also ensures that the central position of the miniature sonar 4 cannot deviate; the linear actuator 3 converts the rotation output of the motor into the linear output of the nut 29 of the nut-screw pair 14 by using the nut-screw pair 14 and the guide rail seat 16; this scheme structural layout is reasonable, have highly integrated's characteristics, make full use of miniature sonar 4's rear end installation space, can realize the motion of miniature sonar 4 every single move and two directions of driftage simultaneously, greatly increased the detection area of sonar, the performance is outstanding, the reliability is high.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. The utility model provides a two degree of freedom servomechanism suitable for miniature sonar which characterized in that includes: a fixed spherical hinge (19) and a transverse transmission part and a longitudinal transmission part which have the same structure; the bottom center of miniature sonar (4) is passed through fixed ball pivot (19) is connected with the installation carrier of miniature sonar (4), the other positions in bottom of miniature sonar (4) are connected with the installation carrier of miniature sonar (4) through horizontal drive division and vertical drive division, just horizontal drive division and vertical drive division quadrature set up.
2. The two-degree-of-freedom servo mechanism suitable for the miniature sonar according to claim 1, wherein the transverse transmission part comprises a servo spherical hinge (27), a connecting rod (2) and a linear actuator (3) which are sequentially hinged, the servo spherical hinge (27) is connected with the bottom of the miniature sonar (4), and the linear actuator (3) is connected with a mounting carrier of the miniature sonar (4).
3. The two-degree-of-freedom servo mechanism suitable for miniature sonars according to claim 2, wherein the linear actuator (3) comprises: the device comprises an upper base body (10), a lower base body (11), a motor (12), a nut-screw pair (14) and a guide rail seat (16);
the upper base body (10) is fixedly connected with the lower base body (11), and the motor (12) is fixedly connected with the upper base body (10); the motor (12) drives the screw (30) of the nut-screw pair (14) to rotate, the nut (29) of the nut-screw pair (14) can translate in the guide rail seat (16), and the nut (29) of the nut-screw pair (14) is hinged to the first end of the connecting rod (2).
4. The two-degree-of-freedom servo mechanism suitable for the miniature sonar according to claim 3, wherein the output shaft of the motor (12) and the screw (30) are both perpendicular to the upper base body (10), and the output shaft of the motor (12) drives the screw (30) to rotate through a reduction gear pair (15).
5. The servo mechanism with two degrees of freedom suitable for miniature sonar according to claim 4, wherein the reduction gear pair (15) is provided between the upper base (10) and the lower base (11);
the reduction gear pair (15) comprises a motor gear (21), a transmission gear (23) and a screw gear (22) which are meshed in sequence; the motor gear (21) is fixedly connected with an output shaft of the motor (12), and the screw gear (22) is fixedly connected with the screw (30).
6. The two-degree-of-freedom servo mechanism suitable for a miniature sonar according to claim 5, wherein the screw (30) passes through the upper base (10) and is connected with the upper base (10) and the lower base (11) through a screw bearing (24).
7. The two-degree-of-freedom servo mechanism suitable for the miniature sonar according to any one of claims 4 to 6, wherein the linear actuator (3) further comprises a sensor (13), the sensor (13) is fixedly connected with the lower base body (11), and the input end of the sensor (13) is perpendicular to the upper base body (10); the input end of the sensor (13) is connected with the nut (29) through a feedback arm (26) and a pin (20).
8. The two-degree-of-freedom servo mechanism suitable for the miniature sonar according to claim 7, wherein the fixed spherical hinge (19) and the servo spherical hinge (27) are spherical hinge pairs (1) with the same structure, and the distance from the servo spherical hinge (27) of the transverse transmission part to the fixed spherical hinge (19) is equal to the distance from the servo spherical hinge (27) of the longitudinal transmission part to the fixed spherical hinge (19).
9. The two-degree-of-freedom servo mechanism suitable for the miniature sonar according to claim 8, wherein the traverse transmission part satisfies: the distance between the fixed spherical hinge (19) and the servo spherical hinge (27)
Length of the connecting rod (2)
When the nut (29) is positioned at two extreme positions, the included angle of the connecting line segment of the servo spherical hinge (27) and the fixed spherical hinge (19)
The transverse projection distance between the fixed spherical hinge (19) and the screw (30)
The mouth angle transmission angle of the connecting line segment of the connecting rod (2) and the servo spherical hinge (27) and the fixed spherical hinge (19)
Wherein K is a stroke speed ratio coefficient, when the nut (29) is positioned at the bottom limit position of the screw rod (30), the included angle between the connecting rod (2) and the screw rod (30) is β, and H is the stroke length of the nut (29).
10. The servo mechanism with two degrees of freedom applicable to a miniature sonar according to claims 1-9, wherein one power supply part is provided for each of the horizontal transmission part and the vertical transmission part, and the power supply parts are used for supplying power to the linear actuator (3).
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| US20120227389A1 (en) * | 2008-04-16 | 2012-09-13 | Hinderks M V | Reciprocating machine & other devices |
| CN102269816A (en) * | 2011-05-06 | 2011-12-07 | 中南大学 | Ultrasonic underwater microtopography detection testing device and method |
| US20130215719A1 (en) * | 2012-02-22 | 2013-08-22 | Johnson Outdoors Inc. | 360 Degree Imaging Sonar and Method |
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