CN112319387B - Stay wire control type following stable platform - Google Patents
Stay wire control type following stable platform Download PDFInfo
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- CN112319387B CN112319387B CN202011297894.7A CN202011297894A CN112319387B CN 112319387 B CN112319387 B CN 112319387B CN 202011297894 A CN202011297894 A CN 202011297894A CN 112319387 B CN112319387 B CN 112319387B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
- B60R2011/0092—Adjustable or movable supports with motorization
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
- B63B2017/0054—Rests or supports for movable ship-borne equipment
Abstract
The invention belongs to the technical field of intelligent control, and particularly relates to a stay wire control type following stable platform. The invention comprises a base, a spherical pair correction component, a plurality of pull wire drivers which are uniformly arranged, an imaging system component and a gyroscope sensor; the ball pair correction assembly comprises: the outer ring is fixedly arranged on the base, and the inner ring is connected with the outer ring through a ball pair; the pull wire driver includes: the device comprises an execution motor fixed on a base or an outer ring, a speed reducing mechanism rotationally connected with an output shaft of the execution motor, a linear guide rail connected with the speed reducing mechanism, and pull wires with two ends respectively fixed with the linear guide rail and the inner ring. The invention realizes the quick adjustment of the posture of the imaging system component by the cooperation of the length variable quantities of the plurality of stay wires, and has the advantages of small rotational inertia, strong load capacity, high response speed and high control precision. The invention adopts the high-precision stay wire driver, reduces the influence of external disturbance such as vibration, impact, wind resistance and the like on the system, and realizes the optical visual axis stability and target tracking of the system.
Description
Technical Field
The invention belongs to the technical field of intelligent control, and particularly relates to a stay wire control type following stable platform.
Background
With the rapid development of modern information technology, the vehicle-mounted photoelectric imaging system can rapidly detect, locate and identify various targets, and is widely applied to the military and civil fields. At present, the vehicle-mounted parallel mechanism in the form of multiple connecting rods is adopted along with the stable platform, so that the defects of small load capacity, complex structure, complex control system, high manufacturing cost and incapability of large-scale popularization and use exist, and under the conditions of poor road conditions, overlarge wind speed or high vehicle carrying speed, stronger wind resistance moment or unbalance loading moment can be generated, and the stable precision of snapshot of the photoelectric imaging system on the platform is influenced.
Disclosure of Invention
The invention aims to overcome the technical defects in the prior art and provide a stay wire control type stable following platform which is strong in loading capacity, easy to control, high in precision and low in manufacturing cost.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a stay wire control formula is along with steady platform which characterized in that: the device comprises a base, a spherical pair correction assembly, a plurality of pull wire drivers which are uniformly arranged, an imaging system assembly and a gyroscope sensor; the ball pair correction assembly comprises: the outer ring is fixedly arranged on the base, and the inner ring is connected with the outer ring through a ball pair;
the pull wire driver includes: the pull wire is fixed with the output end of the linear guide rail and the inner ring at two ends; the imaging system assembly is disposed on the inner race; the gyroscope sensor is fixed on the base and used for detecting the angle variation of the base and the horizontal plane; the linear guide rail is a ball screw, and one end of the ball screw is fixed on the base; and the ball screw is sleeved with a screw nut, and the screw nut is fixedly connected with the pull wire and drives the pull wire to perform linear motion.
Furthermore, the lead screw nut is square, a first rope connecting boss is arranged on one side of the lead screw nut, a square guide frame which is parallel to the axial direction of the lead screw is arranged outside the lead screw, a guide groove is formed in one side face of the square guide frame, and the first rope connecting boss penetrates out of the guide groove and is fixedly connected with one end of the stay wire.
Further, the imaging system assembly comprises: the U-shaped frame is rotationally connected to the inner ring, the first motor is fixedly installed on the U-shaped frame and drives the U-shaped frame to rotate in a horizontal direction, the follower gear is installed on an output shaft of the first motor, the inner gear ring is installed on the inner ring and meshed with the follower gear, the second motor is fixedly installed on the U-shaped frame and drives the camera to rotate in a pitching mode, the driving gear is connected to an output shaft of the second motor, and the driven belt wheel is connected with the driving belt wheel through synchronous belt transmission; and the rotating shaft of the driven belt wheel is fixedly connected with the camera.
Furthermore, the speed reducing mechanism comprises a pinion coaxially and fixedly connected with the output shaft of the actuating motor, a bull gear in meshing transmission with the pinion, a small belt wheel coaxially and fixedly connected with the bull gear, and a large belt wheel connected with the small belt wheel through a transmission belt; the large belt wheel is coaxially and fixedly connected with the ball screw.
Furthermore, a first guide wheel and a second guide wheel are fixedly mounted on the base, one end of a pull wire of each linear guide rail is fixed on the first rope connecting boss, then sequentially bypasses the first guide wheel and the second guide wheel, and finally is fixed on the inner ring; the trajectory of the pull wire forms a U-shape lying on the same plane.
Further, the actuating motor, the first motor and the second motor are all HB type stepping motors.
Further, the number of the wire drivers is equal to or greater than 3.
Furthermore, the material of the stay wire is stainless steel.
Further, a spherical housing is arranged outside the imaging system assembly.
Further, a synchronous belt is adopted for the transmission belt.
The stay wire control type stable following platform has the advantages that:
1. the invention adopts a spherical pair correction component, an outer ring is fixedly connected with a base, and an inner ring bears an imaging system component; the structure is compact, the rotational inertia is small, the load capacity is strong, the requirements of miniaturization and light weight of vehicles, ships, unmanned planes and the like can be met, and the function of quickly adjusting the attitude of the movable platform can be realized; the flexibility, maneuverability and concealment of the photoelectric imaging system are improved, tasks such as rapid detection, target identification and target tracking can be efficiently completed, and the photoelectric imaging system can be widely applied to the civil field and the military field, such as traffic control police cars, cameras and snapshot violation vehicles.
2. The invention can increase the number of the stay wires and improve the loading capacity of the stabilized platform, can achieve the requirements of high response speed and high control precision by cooperatively controlling the position of the inner ring through the length variation of the stay wires, and can realize the quick adjustment of the posture of the inner ring.
3. The spherical outer cover is arranged outside the wind resistance type wind resistance.
4. The invention adopts the gear transmission, belt transmission and ball screw transmission modes to greatly improve the control precision of the stay wire, reduce the influence of external disturbance such as vibration, impact, wind resistance and the like on the system and realize the optical visual axis stability and target tracking of the system.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic diagram of an embodiment of a pull-line controlled ballast platform according to the present invention;
FIG. 2 is a cross-sectional view of the whole of the pull-line control type stabilized platform according to the embodiment of the present invention;
FIG. 3 is a partial cross-sectional view of an embodiment of a ball set alignment assembly of the present invention;
FIG. 4 is a partial cross-sectional view of an embodiment of the pull-wire driver of the present invention;
FIG. 5 is a partial cross-sectional view of an embodiment of an imaging system assembly of the present invention;
FIG. 6 is a perspective view of a portion of the ball correction assembly of the present invention;
FIG. 7 is a diagram of a kinematic model of a pull-line controlled stabilized platform.
In the figure, 1, a base; 2. a ball pair correction assembly; 21. an outer ring; 22. an inner ring; 221. a second rope connecting boss; 3. a pull wire driver; 30. a square guide frame 31, an actuating motor; 32. a pinion gear; 33. a bull gear; 34. a transmission belt; 35. a small belt pulley; 36. a large belt pulley; 37. a ball screw; 38. a feed screw nut; 381. a first rope connecting boss; 39. a pull wire; 310. a first guide wheel 311, a second guide wheel 4, an imaging system component; 41. u-shaped frame 42, first motor; 43. a follower gear; 44. an inner gear ring; 46. a second motor; 47. a driving pulley; 48. a camera; 49. the device comprises a spherical outer cover, 50, a driven pulley, 51, angular contact ball bearings, 52, bearing end covers, 53, a stepped rotating shaft, 54 and a coupling.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
Fig. 1-7 show a specific embodiment of a pull-line control type stabilized platform according to the present invention.
As shown in fig. 1 and fig. 2, the pull-wire control type stabilized platform of the present invention includes a base 1, a ball pair correction assembly 2, a plurality of pull-wire drivers 3 uniformly arranged, and an imaging system assembly 4. In addition, a gyro sensor is fixed to the base 1 to detect a motion parameter of the base 1. When the invention is used as a vehicle-mounted stay wire control type stable platform, the base 1 is fixedly arranged on a vehicle, when the vehicle runs on a complicated road condition, a turning of the vehicle and a rugged road surface, the motion parameters of the vehicle base 1 are detected by the gyroscope sensor, the detection data are input into the stepping motor controller, and the ball pair correction component 2 is corrected by the stay wire driver 3, so that the imaging system component 4 is kept stable to a certain degree, and the camera quality is improved.
As shown in fig. 3, the ball set correcting unit 2 includes: an outer ring 21 fixedly mounted on the base 1 and an inner ring 22 connected with the outer ring 21 through a ball pair. Wherein, outer lane 21 and the base 1 fixed connection of platform, inner circle 22 and imaging system subassembly 4 link firmly. The inner ring 22 and the outer ring 21 form a ball pair, and the mechanism has the characteristics of high response speed and strong loading capacity.
With reference to fig. 2, 4 and 6, the pull wire driver 3 includes: the device comprises an actuating motor 31 fixed on the base 1 or the outer ring 21, a speed reducing mechanism rotationally connected with an output shaft of the actuating motor 31, a linear guide rail connected with the speed reducing mechanism, and pull wires with two ends respectively fixed with the output end of the linear guide rail and the inner ring 22. The number of the stay wire drivers 3 is at least three, more than three stay wires 39 are required to be configured according to the principle of 'three points and one surface', and the relative rotating postures of the ball pair inner ring 22 and the ball pair outer ring 21 are cooperatively controlled by the length variation of the plurality of stay wires 39; the length control components of each stay wire have the same structure, and the embodiment takes 3 stay wire drivers as an example.
The invention proposes a preferred embodiment of the pull wire drive 3 as follows: as shown in fig. 4 and 6, the linear guide is a ball screw 37, one end of the ball screw 37 is fixed on the base 1, and the ball screw 37 is sleeved with a screw nut 38. The output shaft of the actuating motor 31 is coaxially and fixedly connected with a small gear 32, the output shaft of the actuating motor 31 is connected with a rotating shaft of the small gear 32 through a coupling 54, the small gear 32 is meshed with a transmission large gear 33, the large gear 33 is coaxially and fixedly connected with a small belt wheel 35, the small belt wheel 35 is connected with a large belt wheel 36 through a transmission belt 34, the large belt wheel 36 is coaxially and fixedly connected with a ball screw 37, the large belt wheel 36 is positioned at the bottom end of the ball screw 37, one end of a stay wire 39 is fixed on a screw nut 38, and the other end of the stay wire is fixed on an inner ring 22. The lead screw nut 38 is square, and one side of the lead screw nut is provided with a first rope connecting boss 381, the outside of the lead screw 37 is provided with a square guide frame 30 which is arranged in parallel with the axial direction of the lead screw, one side surface of the square guide frame 30 is provided with a guide groove, and the first rope connecting boss 381 penetrates out of the guide groove and is fixedly connected with one end of the pull wire 39. A first guide wheel 310 and a second guide wheel 311 are fixedly arranged on the base 1, one end of a stay wire 39 of each linear guide rail is fixed on the first rope connecting boss 381, then sequentially bypasses the first guide wheel 310 and the second guide wheel 311, and finally is fixed on the inner ring 22; the trajectory of the wire 39 forms a U lying in the same plane. In order to meet the requirements of low speed and large torque of the stay wire driving assembly, a synchronous belt transmission mechanism and a gear transmission mechanism of the stay wire driver adopt speed reduction transmission.
The imaging system assembly 4 is arranged on the inner ring 22, and when the stay wire driver 3 drives the inner ring 22 to perform the attitude adjustment, the imaging system assembly 4 also follows the inner ring 22 to perform the corresponding adjustment. When the output shaft of the actuating motor 31 rotates, the ball screw 37 is indirectly driven to rotate, so that the screw nut 38 is driven to perform linear motion, and the pull wire 39 is driven to perform linear motion.
The ball screw has wide application in precise machine, can convert rotation into linear motion, and has high motion precision and small return error. The structure abandons a drum-type wire pulling mode and adopts full linear motion, thereby fundamentally solving the problem of low wire pulling driving precision. In addition, in order to solve the problem that the control precision of the stay wire is influenced by the elastic expansion of the stay wire, the stay wire is made of stainless steel.
The ball screw 37 is rotated to move, so that the actuating motor 31, the speed reducing mechanism and the ball screw 37 are more three-dimensional and more reasonable in layout, the space is effectively utilized, the structure is compact, and the whole size is reduced.
Preferably, the ball screw 37 has a lead of 10mm and a diameter of 12mm in order to satisfy the response speed of the stage control and the moving speed of the imaging system assembly 4.
As shown in fig. 5, the present invention also discloses an embodiment of an imaging system assembly 4, as follows: the U-shaped frame 41 is rotatably connected to the inner ring 22, a stepped rotating shaft 53 is fixed at the lower end of the U-shaped frame 41, the stepped rotating shaft 53 is concentric with the axis of the inner ring 22, and a stepped surface at the lower part of the stepped rotating shaft 53 is installed on the inner ring 22 through two angular contact ball bearings 51 which are installed back to form a rotary pair. The first motor 42 is fixedly arranged on the U-shaped frame 41, the follower gear 43 is fixedly arranged on an output shaft of the first motor 42, the inner gear ring 44 is fixedly arranged on the upper part of the inner ring 22, and the follower gear 43 is meshed with the inner gear ring 44. The U-shaped frame 41 can realize the horizontal rotation of the camera 48 through the rotation of the following gear 43 along the inner gear ring 44 under the driving of the first motor 42. The camera 48 is rotatably installed on the U-shaped frame 41, the second motor 46 is fixedly installed on the U-shaped frame 41, the output shaft of the second motor 46 is connected with the driving pulley 47, the driven pulley 50 is connected with the driving pulley 47 through a transmission belt, and the rotating shaft of the driven pulley 50 is fixedly connected with the camera 48. The second motor 46 may drive the camera 48 to tilt via a belt drive. As another embodiment, the gear transmission mechanism may be driven by the second motor 46 to drive the camera 48 to perform a tilting motion. The first motor 42 and the second motor 46 drive the camera 48 for adjustment of the horizontal rotation and the pitch rotation, respectively.
The kinematic model of the present invention can be simplified as shown in fig. 7. In fig. 7, the outer ring 21 fixing surface is simplified to a surface M1M2M3The movable surface of the inner ring 22 is simplified to a surface N1N2N3Line segment M1N1、M2N2、M3N3Respectively represent three independent stay wires L1、L2、L3Point of, O1、O2Are respectively a face M1M2M3Flour N1N2N3A central origin. Z1Axis and Z2Axes are respectively at point O1And O2Is at the origin and perpendicular to the plane M1M2M3Dough kneading N1N2N3. Establishing a coordinate system { X1、Y1、Z1}、{X2、Y2、Z2And the two coordinate systems can rotate along the X axis and the Y axis respectively. Surface M at the assumed initial position1M2M3Dough kneading N1N2N3D, then for the coordinate system { X1、Y1、Z1}、{X2、Y2、Z2When { X }1、Y1、Z1Around X1Rotation of the shaft by angle theta, translation upwards by dAfter O1And O2And (4) overlapping. Rewinding Y1After the shaft rotates alpha angle and { X2、Y2、Z2Coincide, then a homogeneous transform matrix can be obtained:
at the surface N1N2N3Upper access point N1，∠N1O2X290 ° is set. Then in the plane M1M2M3Upper and N1Corresponding point M of1Is also less than M1O1X1＝90°，
Available in {1 }:
in {2 }:
from the previous calculation, it can be solved1N1Comprises the following steps:
the length of the pull wire L1 is then further calculated as:
similarly, | M can be obtained2N2|,|M3N3Length formula of |.
The gyroscope sensor is fixedly connected with the base 1, an included angle between the outer ring 21 of the ball pair and the horizontal plane is monitored in real time, and data are provided for controlling the horizontal posture of the inner ring 22 of the ball pair through the stay wire driving assembly.
When the gyroscope sensor detects the change angles of the roll angle and the pitch angle of the base 1, the length variable of the stay wire at every moment can be calculated by the formula. Inputting corresponding pulse to the stepping motor through the controller to accurately control the length of the stay wire so as to ensure that the surface N1N2N3Is always in a horizontal state.
In this embodiment, only 3 pull wires are used for the principle, and actually, the number of the pull wires can be increased, for example, 4 or more, according to the mass and the load of the inner ring 22, so as to improve the driving force, better resist the external disturbance load force, and still achieve the posture adjustment effect.
Preferably, in the embodiment, the spherical housing 49 is arranged outside the imaging system assembly 4, the imaging systems are uniformly arranged inside the spherical housing 49 to form an integrated structure, and the spherical housing 49 is provided with an optical window. Under the condition that the wind speed is too big or the vehicle speed is faster, the curved surface structure of spherical shell can effectively reduce wind resistance and wind resistance moment. The structure has the characteristics of low wind resistance coefficient, high structural rigidity, light weight, high system integration level, good electromagnetic compatibility effect and the like, and has good impact resistance, vibration resistance and environment adaptability.
Preferably, to improve the control accuracy, the actuator motor 31, the first motor 42 and the second motor 46 are all HB type stepping motors, which have a small step angle and high control accuracy.
Preferably, in this embodiment, the gyroscope is a MEMS gyroscope, which has the advantages of small size, low power consumption, low cost, and integration of digitization and intelligence.
It should be understood that the above-described specific embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Obvious variations or modifications which are within the spirit of the invention are possible within the scope of the invention.
Claims (10)
1. The utility model provides a stay wire control formula is along with steady platform which characterized in that: the device comprises a base (1), a spherical pair correction component (2), a plurality of pull wire drivers (3) which are uniformly arranged, an imaging system component (4) and a gyroscope sensor; the ball set correction assembly (2) comprises: an outer ring (21) fixedly mounted on the base (1) and an inner ring (22) connected with the outer ring (21) through a ball pair;
the pull wire driver (3) comprises: the device comprises an actuating motor (31) fixed on the base (1) or the outer ring (21), a speed reducing mechanism rotationally connected with an output shaft of the actuating motor (31), a linear guide rail connected with the speed reducing mechanism, and a pull wire (39) of which two ends are respectively fixed with the output end of the linear guide rail and the inner ring (22); the imaging system component (4) is disposed on the inner ring (22); the gyroscope sensor is fixed on the base (1) and used for detecting the angle variation of the base (1) and the horizontal plane; the linear guide rail is a ball screw (37), and one end of the ball screw (37) is fixed on the base (1); the ball screw (37) is sleeved with a screw nut (38), and the screw nut (38) is fixedly connected with the pull wire (39) and drives the pull wire (39) to perform linear motion.
2. The pull-wire controlled stabilized platform of claim 1, wherein: the lead screw nut (38) is square, a first rope connecting boss (381) is arranged on one side of the square lead screw nut, a square guide frame (30) which is arranged in parallel to the axial direction of the ball screw nut is arranged outside the ball screw (37), a guide groove is formed in one side face of the square guide frame (30), and the first rope connecting boss (381) penetrates out of the guide groove and is fixedly connected with one end of the pull wire (39).
3. The pull-wire controlled stabilized platform of claim 2, wherein: the imaging system assembly (4) comprises: the device comprises a U-shaped frame (41) rotationally connected to the inner ring (22), a first motor (42) fixedly mounted on the U-shaped frame (41) and driving the U-shaped frame (41) to rotate in a horizontal direction, a follower gear (43) mounted on an output shaft of the first motor (42), an inner gear ring (44) mounted on the inner ring (22) and meshed with the follower gear (43), a second motor (46) fixedly mounted on the U-shaped frame (41) and driving a camera (48) to rotate in a pitching manner, a driving pulley (47) connected to an output shaft of the second motor (46) and a driven pulley (50) connected with the driving pulley (47) through synchronous belt transmission; and the rotating shaft of the driven belt wheel (50) is fixedly connected with the camera (48).
4. The pull-wire controlled stabilized platform of claim 1, wherein: the speed reducing mechanism comprises a pinion (32) coaxially and fixedly connected with an output shaft of the actuating motor (31), a large gear (33) in meshing transmission with the pinion (32), a small belt pulley (35) coaxially and fixedly connected with the large gear (33), and a large belt pulley (36) connected with the small belt pulley (35) through a transmission belt (34); the large belt wheel (36) is coaxially and fixedly connected with the ball screw (37).
5. The pull-wire controlled stabilized platform of claim 2, wherein: a first guide wheel (310) and a second guide wheel (311) are fixedly mounted on the base (1), one end of a pull wire (39) of each linear guide rail is fixed on the first rope connecting boss (381), then sequentially bypasses the first guide wheel (310) and the second guide wheel (311), and finally is fixed on the inner ring (22); the trajectory of the pull wire (39) forms a U-shape lying on the same plane.
6. The pull-wire controlled stabilized platform of claim 3, wherein: the execution motor (31), the first motor (42) and the second motor (46) are all HB type stepping motors.
7. The pull-wire controlled stabilized platform of claim 1, wherein: the number of the stay wire drivers (3) is more than or equal to 3.
8. A pull-cord controlled stabilized platform according to any one of claims 1 to 7, wherein: the pull wire (39) is made of stainless steel.
9. A pull-cord controlled stabilized platform according to any one of claims 1 to 7, wherein: the imaging system component (4) is externally provided with a spherical outer cover (49).
10. The pull-wire controlled stabilized platform of claim 4, wherein: the transmission belts (34) are all synchronous belts.
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| CN202011297894.7A CN112319387B (en) | 2020-11-19 | 2020-11-19 | Stay wire control type following stable platform |
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